Changing Force Control Object Number - Epson RC700 Manual

Operation
2. TEACH Mode

2.9.5 Changing Force Control Object Number

Press the <F2> key to change the settings for the force control object.
This can be changed at any time if the impedance test has not been executed.
Set the force control object in advance by using the force editor.
For details of the force editor, refer to the following manual.
EPSON RC+ 7.0 option Force Guide 7.0
(1) Press the <F2> key. It turns to the force control object number input mode.
(2) Enter the force control object number you want to change.
94
FC001 MP01 P000
Using the numeric keys and arrow keys, enter the force control object number
configured in the EPSON RC+ force editor.
You can also use the preset objects assigned to <F1>, <F2>, and <F3> keys.
The following three preset objects are available.
Soft, Standard, and Hard
The following are parameters of the preset objects.
<F1> key: Selects a soft force control object.
C4 series, N2 series, N6 series, G series, RS series
Parameter
Mass of Fx,Fy,Fz
Damper of Fx,Fy,Fz
Spring of Fx,Fy,Fz
Mass of Tx,Ty,Tz
Damper of Tx,Ty,Tz
Spring of Tx,Ty,Tz
C8 series
Parameter
Mass of Fx,Fy,Fz
Damper of Fx,Fy,Fz
Spring of Fx,Fy,Fz
Mass of Tx,Ty,Tz
Damper of Tx,Ty,Tz
Spring of Tx,Ty,Tz
Unit
[mN/(mm/sec 2 )]
[N/(mm/sec)]
[N/mm]
[mN·mm/(deg/sec 2 )]
[N·mm/(deg/sec)]
[N·mm/deg]
Unit
[mN/(mm/sec )]
2
[N/(mm/sec)]
[N/mm]
[mN·mm/(deg/sec )]
2
[N·mm/(deg/sec)]
[N·mm/deg]
RC700 / RC90 option TP2 Rev.11
Value
0.2
0.2
0
1700
100
0
Value
0.5
0.5
0
4000
500
0