Motion Analysis by Monitor
The following describes how to use Epson RC+ to check the operation results of a force guide sequence. The following windows are when the sequence motions are operated successfully.
- Open the [Force Guide] window.
- Click the sequence flow of [USBInsertion].
- Select the [Monitor] tab. Select the [Force] tab.
Force and position during the [USBInsertion] sequence execution are displayed in the graph.
- Click the object flows of [Step1] and [Step1] to display the force and the position during the execution of the selected force guide object.
- Click the [USBInsertion] sequence.
Select the [Monitor] tab. Select the [1D Pos] tab.
Graph for analysis is displayed. (horizontal axis: Time, vertical axis: Position)
- Select the [2D Pos] tab.
Graph for analysis is displayed. (horizontal axis, vertical axis: Position)
It helps to imagine the follow trajectory on the Y and Z planes.- Red line: Cross-sectional trajectory of probe motion
- Blue line: Insertion trajectory in the +X direction by the force control function
- Select the [Pos Diff] tab.
Record shifts by force control as relative position changes. It is different from the graph on the [1D Pos] tab.
- Change the unit of the graph and check the changes of force or positions.
If the connector is not connected properly, the setting may be not correct.
Refer to the following and check the procedures of the tutorial.
- Whether a pressing force direction is correct
- Whether a Plane setting is correct (relative positon based on tool or base coordinate)
- Whether a start position is correct Or whether a position of height Z is not misaligned
- Whether a setting of [TimeOut] is too short.
- Whether a robot operates slowly in low power mode