Mitsubishi Electric MELFA BFP-A3614, Manual

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2) Estimated Using the Robot Program
Using the robot program estimate the weight and the position of the center of gravity of the hand
load. If you want to estimate a robot program, use the following commands.
No. Command Function Overview
1
FsHndEst On Begin the processing of the force calibration.
2
FsHndEst Off Estimate the force calibration result, to complete the process.
3
FsGetDat
Get the data (current position and the force sensor data) required to
the force calibration.
Estimate the hand load by executing the following program.

Program example
1 '*** < Force sense calibration execution > ***
2 Dim PP(9)
3 Servo On
4 Mov PP(1)
'Robot moves to the start point.
5 Dly 1
6
FsHndEst On,0 'Execute the calibration
7 For M1=1 To 9 Step 1
8 Mov PP(M1)
'Robot moves to the calibration posture
9 Dly 1.5 'Wait until the robot stops
10 FsGetDat M1 'The current position and force sense data acquisition
11 Mov PP(1) 'Robot moves to the start point.
12 Dly 0.5
13 Next M1
14
FsHndEst Off 'Calibration is completed. Estiamte the load.
15 End