Impedance Tester - Epson RC700 Manual

Operation
2. TEACH Mode

2.9 Impedance Tester

Executing the impedance test with improper settings of the Force Sensor,

coordinate transformation, and gravity compensation may result in unintended
motion. Be careful when configuring the settings and check operation before
executing the impedance test.
CAUTION
For details of the setting and operation check, refer to the following manual.
EPSON RC+ 7.0 option Force Guide 7.0
The [Jog & Teach] screen is used to change the mode to the impedance test mode.
First, check the preset settings to execute the impedance test.
(1) Press the <Shift> key, then press the <▲> key in the [Jog & Teach] screen.
(2) Perform either of the following steps.
88
The following screen appears.
If Force Sensor is not connected or linked to the robot:
Robot and force
sensor not linked.
System configuration
in RC+.
Press the <OK> key to return to the [Jog & Teach] screen.
If Force Sensor is linked to the robot:
Impedance Tester:
1. Make sure end
effector has no
contact.
The screen confirms with the user that the hand or workpiece at the end of the
Force Sensor do not touch other object since it may apply external force to the
force sensor.
<Guide> key : Displays the key operation guide for this screen.
If no external force is considered to be applied:
Press the <OK> key to move to the following screen.
2. If MP Object not
defined, Force
Control will be
affected by Gravity.
RC700 / RC90 option TP2 Rev.11