Motion Analysis by Monitor

The following describes how to use Epson RC+ to check the operation results of a force guide sequence.

1. Open the [Force Guide] window.
   
2. Click the sequence flow of [Press].
3. The operation results (Passed / Failed), detected force values at the end of the robot motion, and the time that was required are displayed under [Result].

• [Monitor] tab
  Force and position during the [Press] sequence execution are displayed in the graph. Click the object flows of [Step1] and [Step2] to display the force and the position during the execution of the selected force guide object.
  

• [1D Pos] tab
  It is a graph for analysis. (horizontal axis: Time, vertical axis: Position) The robot moves to direction where CurZ of the position Z chart is getting low (small). Since the "Step 1" ends near 3.4 seconds and the force control has been completed, you can see that the value of RefZ (reference position) is falling (jumping) straight down to CurZ (current position).
  

• [2D Pos] tab
  It is a graph for analysis. (horizontal axis, vertical axis: Position) It is not required for simple pressing operation to Z direction since the robot does not move to X-Y directions. Execute the following and check the graph.
  Software "3" in Advanced Tasks

• [Pos Diff] tab
  It shows the relative change of positions due to the force control.
  Change the unit of the graph and check the changes of force or positions.