Position Teaching

The following describes how to teach a start position of the "Peg In Hole" task and a plane where the cylinder starts to fit.

1. Click Epson RC+ menu-[Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.

2. Select [Jog & Teach] and open the panel.
   

3. Select Epson RC+ menu-[Tools]-[Force Monitor]. The [Force Monitor] dialog box is displayed.

4. Click the [Start Live] button on the [Force Monitor] dialog box. Start to display the output value from the current Force Sensor.

5. Click the Jog button on the [Jog & Teach] window to move the robot to a position where the cylinder and the hole face each other.
   Execute the following command in the command window if necessary.

   > Go Align(Here)
   

   By executing the above command, the robot will be a parallel orientation against the Base coordinate system based on the current position. The robot can move more easily when it and the contact point are facing one another.
   For details, refer to the following manual: Epson RC+ SPEL+ Language Reference Align Function
   

6. In the [Force Monitor] dialog box, click the [Reset Sensor] button. Eliminate the effect of gravity and drift of the sensor value, set the current position to "zero".

7. Click the Jog button on the [Jog & Teach] window to move the robot to a position where it is slightly away from the center of the insertion. To perform the pressing and probe motions, move the robot to a position where is slightly outside of taper (C plane).
   

8. Select [Short] button on [Jog Distance]. Click the Jog button several times to move the robot to -Z direction until it contacts with an object near the hole. When the robot contacts with the object, output value of Force Sensor changes. Check the changes of monitor value by the timing of the jog motion.
   

9. Select "P9" in the [Point] dropdown.

10. Click the [Teach] button.

11. The [New Point Information] dialog box is displayed. Enter "PegInHolePlane" to [Point Label] and click the [OK] button.

12. Select the [Medium] button on [Jog Distance].
    Click the Jog button three times to move the robot 3mm in the +Z direction and put the cylinder into a non-contact state.
    
    This is the start position for the insertion and the position where the Force Sensor is reset.

13. Select "P8" in the [Point] dropdown.

14. Enter "PegInHoleStart" in [Point Label]. Click the [OK] button.

15. Click Epson RC+ menu-[File]-[Save All]. The file is saved.