Epson RC700 Manual page 107

(3) Press the <OK> key to change the force control object number.
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
Executing the impedance test with improper settings of the force control object

and force coordinate system object may result in unintended motion. Be sure to
CAUTION configure the settings with care before executing the impedance test.
RC700 / RC90 option TP2 Rev.11
<F2> key: Selects a standard 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 x,Fy,Fz
Spring of Fx,Fy,Fz
Mass of Tx,Ty,Tz
Damper of Tx,Ty,Tz
Spring of Tx,Ty,Tz
<F3> key: Selects a hard force control object.
C4 series, C8 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
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]
Unit
[mN/(mm/sec 2 )]
[N/(mm/sec)]
[N/mm]
[mN·mm/(deg/sec 2 )]
[N·mm/(deg/sec)]
[N·mm/deg]
Operation
2. TEACH Mode
Value
0.5
0.5
0
4000
500
0
Value
0.75
0.75
0
4000
500
0
Value
1
1
0
8000
1000
0
95