Return to the Non-Contact State

Force continues to be applied to between the robot and the workpiece even after "Screw Driving" is completed. To prevent the robot and the end effector from malfunction or damages, after the operation ends, 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.

The following describes how to return to non-contact state by clicking [Robot Manager]-[Jog & Teach]-[Execute Motion] tab.

1. Display the [Robot Manager] dialog box.
2. Click the [Jog & Teach] tab.
3. Select the [Execute Motion] tab.
4. Select "Move" in [Command].
5. Select "P1" in [Destination].
6. Click the [Execute] button.
   The robot moves to the start point: P1. Now, it is the non-contact state.