Return to the Non-Contact State

The following describes how to return to the non-contact state.

Force continues to be applied to between the robot and the USB device even the connector is connected.
To prevent the robot and the end effector from malfunction or damage, move the robot away from the object immediately after the operation ends, and make sure that no force is applied to the object. If it is obvious that no force is applied to the object, you can omit this step.

Steps to return to a non-contact state are as follows:

• Click Epson RC+ menu-[Tools]-[Robot Manager]-[Jog & Teach] panel-[Jog] group and perform jog motion manually to move the robot away from the object.
• Click Epson RC+ menu-[Tools]-[Robot Manager]-[Jog & Teach] panel-[Execute Motion] tab and move the robot away from the object.
• Execute Move command on [Command Window] and move the robot away from the object.
• Add SPELFunc object after Press object, and automatically move the robot away from the object at the end of the force guide sequence.

This section describes how to set the robot to the non-contact state by clicking [Robot Manager]-[Jog & Teach].

1. Display the [Robot Manager] dialog box.
2. Select the [Jog & Teach] panel. Set the Jog Distance to [Continuous] or less than "1mm". If you select [Long] and move the robot, the workpiece may get damaged if you click the wrong direction button. note that
3. Use the Jog button to move the robot in the +X direction (opposite to the insertion direction).

Now, it is the non-contact state.