Motion Analysis by Monitor

The following describes how to use Epson RC+ to check the operation results of a force guide sequence.

1. Open the [Force Guide] window.
2. Click the sequence flow of [ScrewUp].
3. Select the [Monitor] tab.
   Select the [Force] tab. Force and position during the [ScrewUp] sequence execution are displayed in the graph.
   
4. Select the [1D Pos] tab.
   Graph for analysis is displayed. (horizontal axis: Time, vertical axis: Position)
   As you can see by looking the Position Z graph, CurZ (current position) is lowered by about 3mm. As you can see by looking the Position Z graph, CurZ (current position) is lowered about 3mm.
   Also, in the Position X and Position Y graphs, RefPos (reference position) is fixed, but CurPos moves up to approximately 0.1mm. It indicates that the robot follows the surface along with the screw insertion.
   
5. Select the [2D Pos] tab.
   Graph for analysis is displayed. (horizontal axis, vertical axis: Position)
   You can see what you have checked on the [1D Pos] tab as a graph projected on each plane. Be careful of the scale difference of horizontal axis and vertical axis when checking the graphs.
   
6. 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.
   
7. Change the unit of the graph and check the changes of force or positions.

If it is not inserted correctly, setting may not be correct. Refer to the following and check the procedures of the tutorial.

• Whether a pressing force direction is correct
• Whether the start point is largely moved from a hole
• Whether settings of AccelS, SpeedS are correct
• Whether a setting value of DestRelativeZ is short

Now, tutorial for screw driving is completed.