Epson TP3 Manual page 79

Be sure to reset the Force Sensor with no external force applied to it.

If it is reset with an external force applied to it, the state in which an external force
applied is "0". Therefore, if the force applied is removed, the Force Sensor
detects a force even if no force is applied. If executing the direct teach in this
CAUTION
state, the robot may move unintentionally. Caution is required in this regard.
< Direct Teach Start> button:
Executing the direct teaching with improper mode or motion direction may result in

unintended motion.
Be careful when configuring the setting before executing the direct teach.
Apply the force to the hand or workpiece which is attached near the tip than the

Force Sensor.
CAUTION
The Force Sensor cannot detect the force when it is applied to the robot arm or
the Force Sensor itself, and it may result in unintended robot motion. Caution is
required in this regard.
RC700-A option TP3 Rev.8
Start the direct teach.
(1) Tap the <Direct Teach Start> button.
Confirmation panel appears.
(2) Tap the <OK> button with turning ON the enable switch.
Execute while pushing the enable switch.
Stop the operation when turn OFF the enable switch.
Operation 3. TEACH/T1 Mode
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