-163-
(2) Offset Cancel Operation
If the force sensor data zero point is offset, force sense control will not function properly. Always
perform the offset cancel operation (sensor zero point offset)
before use. The offset cancel
operation can only be performed when force sense control is disabled.
1) Move the robot to a position at which no external force acts on the sensor (position at which no
contact is made with hand, etc.)
2) Check that the robot has completely stopped, then perform the offset cancel operation.
The offset cancel status is reset by rebooting the controller. If the controller is rebooted, perform
the offset cancel operation again.
The effects of gravity are contained in the sensor offset component, and therefore if the robot
arm posture is changed significantly, it is necessary to perform the offset cancel operation again.
The offset amount may change if used for long periods of time due to changes in sensor
temperature (temperature drift). In such a case, perform the offset cancel operation again.
Offset cancel operation precautions
Pick Up
!
Press the [Offset Cancel] button.
The sensor zero point offsetting is performed.
Summary of Contents for MELFA BFP-A3614
Page 1: ...Mitsubishi Industrial Robot Robot Seminar Textbook Force Sensor Application BFP A3614 ...
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Page 34: ... 23 2 F series a CR750 D controller ...
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Page 36: ... 25 c CR750 Q CR751 Q controller CPU module ...
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