Resetting Force Sensor - Epson RC700 Manual

2.9.4 Resetting Force Sensor

Epson's Force Sensors have a drift characteristic. Therefore, if a time passes, the sensor
may move even if the force is not applied to it when executing the impedance test due to
the drift errors.
If the sensor drift errors are accumulated, press the <F1> key to reset the sensor.
The Force Sensor can be reset at any time if the impedance test has not been executed.
(1) Press the <F1> key to move to the sensor reset screen.
(2) Perform either of the following steps.
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.
CAUTION
performed in this state, the robot may move unintentionally. Caution is required
in this regard.
RC700 / RC90 option TP2 Rev.11
Start Sensor Reset?
Caution: 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.
When executing sensor reset:
Press the <OK> key to return to the [Impedance Tester] screen after executing
sensor reset.
When not executing sensor reset:
Press the <Cancel key to return to the [Impedance Tester] screen.
Operation
2. TEACH Mode
If the force control function is
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