Workpiece Mass Measurement

Stacey Harimoto reviews the use of a FANUC Force Sensor for measuring workpiece mass. The measurement conditions are that the sensor flange must remain horizontal, the object's gravity is centered on the force sensor's axis, and the robot follows the same path and wrist orientation with constant speed. The process involves enabling/disabling the mass measurement function, defining registers for timing, and storing the calculated mass in a numeric register. Accuracy is ensured through force amplitude and standard deviation measurements. Example paths for base and mass measurements are provided, along with a teach pendant program for parameter setting and main program execution.