Confirmation of 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.

1. Use a caliper to measure distance from the 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)
   

2. Execute the following command in [Command Window]. Enter the value measured in step (1) to "LENGTH". (unit: mm) Set and select Tool 1.

   > TLSet 1, XY( 0, 0, LENGTH, 0, 0, 0)
   > Tool 1
   

3. Click Epson RC+ menu-[Tools]-[Simulator].
   The [Simulator] window is displayed.

4. Click the object tree-[Manipulator Name]-[Tool].

5. Place a checkmark in "No.1"-[Visible] check box.

6. Confirm the position and the orientation (direction) of Tool 1 by using both the simulator and the actual robot.
   If they are different, check the settings and reset Tool 1.