Mitsubishi Electric MELFA BFP-A3614, Manual, Page: 89 / 212

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1)-4 Specify the rotary angle at calibration
1) Input the rotary angle from the start position.
2) Click the [Next] button to automatically generate the position data for calibration for 9 points.
[Note] If a same value is set for the angle of movement 1 and movement 2, a correct calibration result
cannot be calculated. Set the different angle to movement 1 and movement 2.
1)-5 Check the calibration motion
Check the robot movement with the position data of calibration for 9 points that was automatically
generated from the rotary angle from the start position.
1) Select the position data to be checked from "Movement position data list", and then click the
[Position jump] button to check the robot movement.
1)
2)
(1) Set the angle smaller than reference value if the robot interferes with the
peripheral device or the tension of air hose attached to hand of various cable
changes by the robot
’
s posture change and load is applied to force sensor other
than gravity.
(2) If the rotary angle is below 10[deg], calibration calculation error can occur. In that
case, set the rotary angle large and re-execute the calibration.
Caution
1)
Posture 1 to 9
selection