Checking the Gravity Compensation Operation
The following describes the procedure to check the Force Sensor correction operation.
Setting the force coordinate object
Setting the force monitor object
Checking that the coordinate conversion is correct in Force Monitor
Setting the mass properties and gravity direction
Checking that the gravity compensation is correct in Force Monitor
Setting the Force Coordinate Object
(1) From the Epson RC+ 8.0 menu, click [Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.
(2) Select [Force] to display the panel.
If the force file is not created, the [Force] panel does not appear. If the panel does not appear, refer to the following section to create a force file.
Software: [New File]- [File] menu
(3) Select the [Coordinate System] tab.
(4) In the [Position] property of any force coordinate object, set the origin position of the force coordinate system viewed from the tool coordinate system.
(5) In the [Orientation] property of any force coordinate object, set the orientation of the force coordinate system.
(6) Click the [Save] button to save the changes.Setting the Force Monitor Object
(1) From the Epson RC+ 8.0 menu, click [Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.
(2) Select [Force] to display the panel.
(3) Select the [Monitor] tab.
(4) Specify the Force Sensor number to be used in the [ForceSensor] property of any force monitor object.
(5) In the [CoordinateSystem] property of any force monitor object, specify the force coordinate system object number of the created force coordinate system.
(6) Click the [Save] button to save the changes.Checking that the Coordinate Conversion is Correct in Force Monitor
(1) From the Epson RC+ 8.0 menu, click [Tools]-[Force Monitor].
(2) Select [Live] in [Mode].
(3) Select the robot to be checked in [Live]-[Robot].
(4) In [Live]-[Force File], select the force file by which the force monitor object was set.
(5) In [Live]-[Force Monitor Object], select the set force monitor object. If the set force monitor object cannot be selected, check whether the force file is correct and the set ForceSensor property is correct.
(6) Select the [Start Live] button.
(7) Click the [Reset Sensor] button.
(8) Apply a force in each of the axis directions in the set force coordinate system to check that the force detected is within the specified accuracy of the Force Sensor.
If the force is not detected in the set force coordinate system, review the following settings.
Flange Offset, Base, Tool, Local
Force Coordinate Object, Force Monitor Object
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"
Setting the Mass Properties and Gravity Direction
(1) From the Epson RC+ 8.0 menu, click [Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.
(2) Select [Mass/Gravity] to display the panel.
(3) Enter the mass property and gravity direction with one of the following methods.- Directly enter the values in [MP] and [Gravity Direction].
- Click the [Mass/Gravity Wizard] to run the wizard.
(4) Click the [Apply] button to save the settings.
Checking that the Gravity Compensation is Correct in Force Monitor
(1) From Epson RC+ 8.0 menu, click [Tools]-[Command Window].
(2) Execute the MP statement and specify "MP0" to stop the gravity compensation.
(3) In the [Force Monitor] dialog box, click the [Reset Sensor] button.
(4) From Epson RC+ 8.0 menu, click [Tools]-[Robot Manager].
(5) Select the [Jog & Teach] panel.
(6) In Force Monitor, perform the jog operation while measuring the Force Sensor values to change the posture of the robot. Make sure that the robot does not come in contact with surrounding objects and no force from external objects is applied. No external force is applied, but since the gravity compensation is stopped, the sensor may be affected by gravity depending on the posture and detect a force.
(7) Execute the MP statement and specify the set mass properties.
(8) In the [Force Monitor] dialog box, click the [Reset Sensor] button.
(9) In Force Monitor, perform the jog operation while measuring the Force Sensor values to change the posture of the robot. When the gravity compensation works correctly, the absolute sensor value decreases compared with when the gravity compensation is stopped. However, when the robot is operating, a force actually generated by an increase or decrease in speed may be detected as a Force Sensor value. If there is no change from when the gravity compensation is stopped or the absolute Force Sensor value is larger, identify the set mass properties, and check that the gravity direction is correct and the set mass properties are selected.