Checking the Connection

Check the connection between the Force Sensor and the robot system with the following procedure.

Start Epson RC+ 8.0 and establish a connection with the Robot Controller.
Check that there is no error.
From the Setup menu, select [System Configuration]. Check that tree-[Controller]- [Force Sensor] are displayed.
Click [Sensor 1] and check that the serial code of the connected Force Sensor is displayed correctly. (It is the number of the sensor port of the Force Sensor to which the Force Sensor is connected.)
If an error does not occur and [Force Sensor] is displayed in the tree, the connection is successful.

If an error occurs, select [System History] from the View menu, identify the error, and take action.
If [Force Sensor] is not displayed in the tree, please check the followings.

Force Sensor board may not be mounted properly on the option slot of the Robot Controller. Make sure to mount properly.

Checking the Acquisition of Output Values

Perform the following procedure to check that the output values of the Force Sensor can be acquired correctly.

Start Epson RC+ 8.0 and establish a connection with the Robot Controller.
From the Epson RC+ 8.0 menu, click [Tools]-[Force Monitor].
Select [Live] in [Mode].
Select "None" in [Live]-[Robot].
Select the sensor number to be checked in [Live]-[Sensor]. (The force and torque in the Force Sensor coordinate system are displayed.)
Select the [Start Live] button.
Click the [Reset Sensor] button.
Apply a force along the direction of each axis of the Force Sensor coordinate system and check that the force is detected within the specified accuracy of the Force Sensor.

CAUTION

When entering the safe guarded area in order to apply a force to the Force Sensor, ensure safety by safety measures such as setting the Manipulator to operation-prohibited status.

For details of safety, refer to the following manual.

"Epson RC+ 8.0 User's Guide"

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