Mitsubishi Electric MELFA BFP-A3614, Manual

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(12) Offset cancel designation
To operate the force sense control function properly, it is necessary to perform a force/moment
offset cancel (error component elimination) for each axis with no external force (robot stopped or
with no contact made) other than gravity acting on the sensor.
If the offset cancel is set to "1 (enable)", the sensor offset components are offset to set all axis of
the force sensor data to 0. Normally, the offset cancel is used when enabled.
<Influence of gravity>
If changing the robot posture significantly, the force component applied to the sensor by gravity will
change, which offset cancel needs to be performed again. If the posture changes significantly in
every work, it is necessary to perform offset cancel again after the posture changes.
<Offset cancel conditions>
Always satisfy the following conditions when performing offset cancel.

Robot at complete stop

No contact with hand/workpiece, etc. (no external force applied)
<Offset cancel setting method>
The offset cancel is set in the following two methods.
1) Using Fsc On command in the program
Set the argument <Offset cancel designation> of Fsc On command to 1.
Fsc On, <Control mode>, <Control characteristics>, <Offset cancel
designation>
<Offset cancel designation> = 0 or 1
0: Not cancel (disable)
1: Cancel (enable)
Dly 0.5
'Input Dly before the offset cancel (wait until the control
completely stops)
Fsc On, 0, 0, 1
'Enable the force sense control.
(Control mode = 0, control characteristics = 0, offset
cancel enabled)
Program example