FT 300 Force Torque Sensor - Instruction Manual
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3.6. Calibration Procedure
The Sensor outputs the force and moment data according to a reference, i.e. a zero value. In order to compensate for any deviation
of this reference, Robotiq provides a new feature which allows the Sensor to automatically compute and compensate the
installation offset, the weight of the tool and its center of mass.
Warning
The Sensor must be re-calibrated after each uninstall / install on the robot. Mounting screws will induce internal stress
that needs to be compensated for. Not doing so will significantly affect the sensor signal.
The procedure requires moving the robot in three configurations for which each orientation of the tool is different. Using an internal
accelerometer, the Sensor is then able to associate the measurements corresponding to the tool alone for each orientation. After
the procedure is completed, the Sensor will output the force and moment values measured without the effect of the weight of the
tool and the installation offset.
