Property setting guidelines for the Contact object

Step 1. Set basic information
Set properties (Name, Description, Enabled, StepID, AbortSeqOnFail) related to the basic information.

Properties	Description, setting guide
Name	Name of the force guide object. Set a particular name.
Description	Description for the force guide object. Describe the operations. Set a character string.
Enabled	Set whether to execute the force guide object.
	True : Normal
	False : When you do not execute the force guide object (e.g., when you execute another force guide object instead).
StepID	StepID during the force guide object execution. Set an ID. StepID is an ID which is recorded in the log data. It helps you to understand which log data support a process. It is applied when AutoStepID of the force guide sequence is False.
AbortSeqOnFail	Set whether to abort or continue the force guide sequence when the force guide object fails.
	True : Normal End a force guide sequence.
	False : Cases where the force guide sequence contains recovery operations in case of failure; cases where the sequence will be able to continue even in the event of a failure.

Step 2. Set I/O processing before starting
Set properties (IOPreprocEnabled, IOPreprocOutputBit, IOPreprocOutputStatus) related to I/O processing before starting force guide object.

Properties	Description, setting guide
IOPreprocEnabled	Set whether to operate the output bit when starting the force guide object. You can operate only one output bit. To operate several output bit, use SPELFunc object.
	False : Normal
	True : You operate the output bit, as when you use or stop a peripheral device.
IOPreprocOutputBit	Set the output bit which is operated when the force guide object starts.
IOPreprocOutputStatus	Set whether to turn the output bit ON or OFF when the force guide object starts. Set the state to be output.

Step 3. Set contact direction and force control functions
Set properties (ContactOrient, ContactFirmnessF, ContactFirmnessT, CFEnabled) related to the contacting direction and force control functions.

Properties	Description, setting guide
ContactOrient	Set a direction to contact. The robot moves or rotates to the specified direction.
ContactFirmnessF ContactFirmnessT	Set a firmness of the force control functions. ContactFirmnessF: When ContactOrient is Fx, Fy, Fz ContactFirmnessT: When ContactOrient is Tx, Ty, Tz
	When setting a large value: The Force Control functions become stronger, but response to changes in force is slow.
	When setting a small value: The Force Control function will become weaker. Response to changes in force is fast; however, vibrations can easily occur.
	When setting a small absolute value: Movement speed of the contact motion will be fast.
CFEnabled	Set whether to continue the force control functions to the next force guide object.
	False : Normal Turn OFF the force control functions once, then execute the next force guide object.
	True : When you want to start the next force guide object, and keep the force constant after contact with the prior object. The next force guide object must maintain the force control in the direction selected in ContactOrient.

You can check the settings of ContactOrient by a simulator. A coordinate system with grayed out except the specified direction is displayed.
However, the robot is displayed based on the current position. When you check the settings, make sure to move the robot to the position where executing the force guide object.
For details on how to check by using simulator, refer to the following manual.
"Epson RC+ 8.0 User's Guide: - Simulator - Description of Functions"

Step 4. Set the end conditions
Set properties (ContactForceThresh, ContactTorqueThresh, Timeout Property) related to the end conditions.

Properties	Description, setting guide
ContactForceThresh ContactTorqueThresh	Set a threshold to determine a contact. Set this to a tolerable value considering the workpiece in use.
	ContactForceThresh: When ContactOrient is Fx, Fy, Fz, Set approx. 3 to 5[N].
	ContactTorqueThresh: When ContactOrient is Tx, Ty, Tz, Set to approximately 3 to 500 [N・mm].
	When setting a large absolute value: Movement speed until the robot makes contact will be fast.
	When the value is too small: Robot may not move.
Timeout	Set a time-out period of a contact motion. It fails if the specified time is passed before contacting.