Setting Up Force Guide 8.0

The following describes the setup procedure to use Force Guide 8.0.
To use the force functions and Direct Teach + Touch Jog provided by Force Guide 8.0, perform the following tasks according to the steps shown below.

Force functions and Direct Teach + Touch Jog can be used alternately.

1. Setting up the robot system
   Refer to the following manual and set up the robot system.
   Safety Manual
   Epson RC+ 8.0 User's Guide
   Manipulator Manual
   Controller Manual

2. Checking the accessories
   Check the parts included in the Force Sensor package. For the details, refer to the following section.
   Hardware: Included Items

3. Mounting and wiring the Force Sensor
   Mount the Force Sensor to the robot and connect it with the Controller. For the details, refer to the following section.
   Hardware: How to Install

4. Installing the software
   The software of Force Guide 8.0 is included in Epson RC+ 8.0. For the installation procedure, refer to the following manual.
   "Epson RC+ 8.0 User's Guide"

5. Setting up the Force Sensor
   First link the Force Sensor with the robot. Then, check that the Force Sensor is connected with the Controller correctly and communication is successful. For the details, refer to the following section.
   Software: Checking the Connection

6. Configuring the Force Sensor correction
   Configure the settings necessary for Force Sensor correction and check that the sensor values that were corrected correctly in the force coordinate system can be acquired. For the details, refer to the following section.
   Software: Force Sensor Correction

7. Execute force functions
   Execute each force functions.
   Force function can be executed from Force Guidance Function or SPEL+ Program. We recommend using Force Guidance Function.

   • Execute force function using Force Guidance Function
     Create operations by using force guide sequence and force guide object, then execute each force functions.
     For the details, refer to the following section.
     Software Force guidance function

   • Execute force function by using SPEL+ Program
     Execute each force functions by using SPEL + Program.
     For the details, refer to the following section.
     Software: SPEL+ Programming of the Force Functions

8. Execute Direct Teach + Touch Jog
   Execute Direct Teach and Touch Jog.
   Touch jog is only available by TP2.

   • For details on executing Direct Teach + Touch Jog using TP2, refer to following manual.
     "Robot Controller Option Teach Pendant TP2 - Operation - Direct Teach + Touch Jog"

   • For details on executing Direct Teach using TP3, refer to following manual.
     "Robot Controller Option Teach Pendant TP3 - Operation - Direct Teaching of Force Sensor"

   • For details on executing Direct Teach using TP4, refer to following manual.
     "Robot Controller Option Teach Pendant TP4 - Direct Teaching of the Force Sensor"