Resetting the Force Sensor

Epson Force Sensor has drift characteristics. Therefore, it must be reset every time immediately before using the force functions. Use the force functions within 10 minutes after resetting the Force Sensor.
Executing the reset command initializes the Force Sensor and sets the current force and torque to "0". A reset can be performed in the Reset property of the force sensor object.
For details on the Reset property, refer to the following manual.
"Epson RC+ 8.0 Option Force Guide 8.0 SPEL+ Language Reference"
If the Force Sensor is used for a long time without being reset, an error accumulates due to the drift. A Force Sensor error may also occur. note that If the error occurs, executes the Reboot property of the force sensor object.

CAUTION

---

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. If the force control function is performed in this state, the robot may move unintentionally. Caution is required in this regard.