Return to the Non-Contact State

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

Force to perform the Peg In Hole task is still applied even the task is completed.
If you operated an accurate Peg In Hole task such as an interval is tens of microns, large force may be applied even the task is in the end state.
To prevent the robot and the end effector from malfunction or damages, 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.

• Operate the jog motion for small distances such as 0.1 mm and set the robot to a non-inserting state.
• Make the cylinder to be non-grasped state.
• Create a force guide sequence that performs "pulling" (press in the opposite direction to the insertion) separately and pull the stick out.
  When five minutes have passed after the insertion task, you may not be able to pull the stick out since the detection values shift due to drift of the Force Sensor.
  For more details, refer to the following section.
  Software: Advanced Tasks - 2

In this tutorial, pull the stick out by the jog motion while checking on the force monitor.

1. Select Epson RC+ menu-[Tools]-[Force Monitor].
   The [Force Monitor] dialog box is displayed.
2. Select the [Start Live] button.
   Graph of the currently selected force monitor object is displayed.
3. Display the [Robot Manager] dialog box.
4. Select the [Jog & Teach] panel.
5. Click [Jogging]-[Mode] and select "Tool".
   It is a proper setting for removing perpendicular to the hole when the Peg In Hole task is performed to the hole with tilt while performing the follow motion.
6. Select [Short] button on [Jog Distance].
7. Move the robot in the -Z direction 0.1 mm at a time.
   Output value will be far from "0" with time due to the drift characteristic of the Force Sensor.
   Relative changes of the force value are reflected the contact state changes correctly.
   While checking the graph values to be displayed, click the Jog button to move the robot to X, Y direction. The robot will be to non-contact state.
   Reference: Software Resetting the Force Sensor

[Reference]
The [Jog] tab is in the [Force Guide] window. When you select this tab, the [Jog] window is displayed. You can move the robot and set to non-contact state by clicking the Jog button.