Tool Setting

During "Peg In Hole" task, the robot moves to X, Y, and Z directions while following to each rotation direction.
Make sure to complete the tool setting when operating "Peg In Hole" task. Tool setting is also required when operating the surface align task.
Use a caliper to measure distance from J6 flange plane to the end of the cylinder. In the case of the following picture, the distance is 109mm. (Force Sensor: 49mm, End Effector: 60mm)

Execute the following command in [Command Window]. Enter the value measured in step (1) to "LENGTH". (unit: mm) Set and select Tool 2. > TLSet 2, XY( 0, 0, LENGTH, 0, 0, 0) > Tool 2
Click Epson RC+ menu-[Tools]-[Simulator]. The [Simulator] window is displayed.
Click the object tree-[Tool].
Place a checkmark in the "No.2"-[Visible] check box.
Confirm the position and the orientation (direction) of Tool 2 by using the both simulator and the actual robot. If they are different, check the settings and reset Tool 1.