Setting the Force Control Object

The following describes how to set the force control object.

1. Click Epson RC+ menu-[Tools]-[Robot Manager]. The [Robot Manager] dialog box appears.
2. Select the [Force] tab.
3. Select the [Control] tab. The following panel is displayed.
   
4. Set the following data for force control object "FC1".

   Item	Value
   Label	FC1_Test
   CoordinateSystem	0
   Fx_Enabled	False
   Fy_Enabled	False
   Tx_Enabled	False
   Ty_Enabled	False
   Tz_Enabled	False
   Fz_Enabled	True
   Fz_TargetForce	-20
   Fz_Spring	0
   Fz_Damper	10
   Fz_Mass	10
   TargetForcePriorityMode	False
   LimitSpeedS	50
   LimitSpeedR	25
   LimitSpeedJ	50
   LimitAccelS	200
   LimitAccelR	100
   LimitAccelJ	100

5. Click the [Save] button.