Configuring the Force Sensor Unit

From the tree, select [Controller]- [Force Sensor]-[Sensor*]. Configure the Force Sensor in [System Configuration].

Item	Description
Serial	This is the serial number of the Force Sensor. (up to 10 characters)
Enabled	Set the use of the Force Sensor. Checkbox selected: Gets the force information from the sensor.
Name	Set the name of the Force Sensor. (up to 32 single-byte characters)
Robot	Set the link of the Force Sensor with the added robot. Select the number of the robot to which the Force Sensor is connected.
Description	The user can enter any comments. (up to 255 single-byte characters)
Close	Close the [System Configuration] dialog. Restart the system if the settings are changed.
Apply	Saves the changed values.
Restore	Restores the original values.

Force Sensor Connection Procedure

Connect the Force Sensor with the following procedure.

1. Connect the Force Sensor and the Controller with a Force Sensor cable and a Force Sensor M/I cable.

2. Turn ON the Robot Controller.

3. Start Epson RC+ 8.0 and establish a connection with the Robot Controller.

4. From the Setup menu, select [System Configuration].
   The [System Configuration] dialog box is displayed.

5. From the tree, select [Controller]-[Force Sensor]-[Sensor 1].
   (Select the number of the sensor port of the Force Sensor to which the Force Sensor is connected.)
   

6. Make sure that the Force Sensor has been recognized.

   • Next to [Serial #] the serial code of the connected Force Sensor is displayed.
   • The [Enabled] checkbox should be enabled.
   • In [Robot], select the number of the robot to which the Force Sensor is mounted.
     If it has not been properly recognized, check the connections of the Force Sensor cable and the Force Sensor M/I connection cable.

7. Check the flange offset.
   The default value may differ depending on the Manipulator.
   When you make a sensor flange yourself, measure the offset and set the flange offset.
   For details, refer to the following.
   Coordinate Conversion

Below are the procedures to follow if you are going to change the settings.

8. Change whichever settings you wish to change.
9. To apply the changes to the settings, click the [Apply] button.
   To cancel the changes, click the [Restore] button.
10. Click the [Close] button.
    Clicking the button restarts the system and applies the changes to the settings.

Force Sensor Disconnection Procedure

Disconnect the Force Sensor with the following procedure.

1. Start Epson RC+ 8.0 and establish a connection with the Robot Controller.
2. From the Setup menu, select [System Configuration].
3. From the tree, click [Controller]- [Force Sensor]- [Sensor 1]. (Select the number of the sensor port of the Force Sensor to which the Force Sensor is connected.)
4. Unselect the [Enabled] checkbox.
5. Click the [Apply] button.
6. Click the [Close] button. The robot controller restarts and the changes to the settings are applied.
7. Turn OFF the Robot Controller.
8. Remove the Force Sensor from the Controller.

Force Sensor Replacement Procedure

Replace the Force Sensor with the following procedure.

1. Refer to "Force Sensor Disconnection Procedure" described above and disconnect the Force Sensor.
2. Refer to "Force Sensor Connection Procedure" described above and connect a new Force Sensor.