Position Teaching
The following describes how to teach start position of the connector insertion motion.
- Click Epson RC+ menu-[Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.
- Select the [Jog & Teach] tab.
- Select Epson RC+ menu-[Tools]-[Force Monitor]. The [Force Monitor] dialog box is displayed.
- Select the [Start Live] button. Start displaying the output value from the current Force Sensor.
- Click the Jog button and move the robot to a position where the two USB connectors will face each other and be parallel.
- Click the [Reset Sensor] button. Since the effect of gravity and drift of sensor value are eliminated, the current value will be "zero" position.
- Select [Jog & Teach]-[Jog Distance] and click the [Short] button. Move the robot to translational direction. Move the robot while clicking the Jog button several times until the USB connector contacts with the USB port.
When the connector contacts with the port, output value of the Force Sensor changes. Check the change of monitor value according to the timing of jog motion.
- Select "P5" in the [Point] dropdown.
- Click the [Teach] button.
- The [New Point Information] dialog box is displayed. Enter "USBContact" on [Point Label] and click the [OK] button.
- Select [Medium] on [Jog Distance]. Move the robot 3mm (click the Jog button three times) in a direction where the USB connector does not make contact with the USB port. Also, visually move the robot in the +Y direction by approximately 1 mm from the center of the connector. Set this position as a start point of inserting the connector.
- Select "P4" in the [Point] dropdown.
- The [New Point Information] dialog box is displayed. Enter "USBStart" on [Point Label] and click the [OK] button.
- Click Epson RC+ menu-[File]-[Save All]. The file is saved.