Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 50

6 Device Connection, Wiring, and Settings
6.5.2.1 Parameter Setting Example 1 (for Recommended Attachment)
When the force sensor attachment is the recommended attachment (described in section
settings for elements 1 to 4 for FSHAND and FSXTL will be the default factory settings. Change only elements 1
to 3 for FSXTL.
Force sense coordinate
system
(mechanical interface)
Left-hand system
[Recommended attachment]
Attach the sensor so that the
+FXs and +Xm directions match.
[Coordinate system hand system]
The force sensor coordinate system will be the left-hand system, and should therefore be set as follows.
FSHAND = 0 (default)
[Parallel transfer]
The force sensor coordinate system origin position as viewed from the mechanical interface coordinate system
is (0, 0, 32), and therefore the FSXTL settings are as follows.
FSXTL 1st element = 0
FSXTL 2nd element = 0
FSXTL 3rd element = +32
[Rotational transfer]
To align the posture of the force sense coordinate system (mechanical interface) and force sensor coordinate
system, it is sufficient to rotate +180 degrees around the Ym-axis, and therefore the FSXTL settings are as
follows.
FSXTL 4th element = 0 (default)
FSXTL 5th element = +180 (default)
FSXTL 6th element = 0 (default)
6-38 Default Parameter Settings
+FXm
+FZm
+FYm
+Xm
Force sensor coordinate
system
Left-hand system
Mechanical interface coordinate system
+Ym
Robot view side
+Zm
+FYs
5.3 the parameter
32 mm
(sensor attachment adapter
thickness + distance to the
origin of the force sensor
coordinate system)
+FZs
+FXs