Mitsubishi Electric 4F-FS001-W200 Instruction Manual page 51

6.5.2.2 Parameter Setting Example 2
If, as shown below, the force sensor coordinate system origin is offset 50 mm in the +Zm direction and rotated
30 degrees around the Zm-axis as viewed from the mechanical interface coordinate system, set the parameters
as follows.
Force sense coordinate
system
(mechanical interface)
Left-hand system
[Coordinate system hand system]
The force sensor coordinate system will be the left-hand system, and should therefore be set as follows.
FSHAND = 0
[Parallel transfer]
The force sensor coordinate system origin position as viewed from the mechanical interface coordinate system
is (0, 0, 50), and therefore the FSXTL settings are as follows.
FSXTL 1st element = 0
FSXTL 2nd element = 0
FSXTL 3rd element = +50
[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 after rotating +30 degrees around the
Zm-axis, and therefore the FSXTL settings are as follows.
FSXTL 4th element = 0
FSXTL 5th element = +180
FSXTL 6th element = +30
+FXm
+FZm
+FYm
+Xm
Force sensor coordinate system
Left-hand system
6 Device Connection, Wiring, and Settings
Mechanical interface coordinate system
+Ym
Robot view side
+Zm
+30º
+FYs
50 mm
+FZs
+FXs
Default Parameter Settings 6-39