Changing Force Control Object Number
Press the [F2] key to change the settings for the force control object. This can be changed at any time if the impedance test has not been executed.
Set the force control object in advance by using the force editor.
For details of the force editor, refer to the following manual.
Epson RC+ Option Force Guide
Press the [F2] key.
It turns to the force control object number input mode.
Enter the force control object number you want to change.
Using the numeric keys and arrow keys, enter the force control object number configured in the Epson RC+ force editor.
You can also use the preset objects assigned to [F1], [F2], and [F3] keys.
The following three preset objects are available.
Soft, Standard, and Hard
The following are parameters of the preset objects.
[F1] key: Selects a soft force control object.
| Parameter | Unit | Value |
|---|---|---|
| Mass of Fx,Fy,Fz | [mN/(mm/sec2)] | 0.2 |
| Damper of Fx,Fy,Fz | [N/(mm/sec)] | 0.2 |
| Spring of Fx,Fy,Fz | [N/mm] | 0 |
| Mass of Tx,Ty,Tz | [mN·mm/(deg/sec2)] | 1700 |
| Damper of Tx,Ty,Tz | [N·mm/(deg/sec)] | 100 |
| Spring of Tx,Ty,Tz | [N·mm/deg] | 0 |
[F2] key: Selects a standard force control object.
| Parameter | Unit | Value |
|---|---|---|
| Mass of Fx,Fy,Fz | [mN/(mm/sec2)] | 0.5 |
| Damper of Fx,Fy,Fz | [N/(mm/sec)] | 0.5 |
| Spring of Fx,Fy,Fz | [N/mm] | 0 |
| Mass of Tx,Ty,Tz | [mN·mm/(deg/sec2)] | 4000 |
| Damper of Tx,Ty,Tz | [N·mm/(deg/sec)] | 500 |
| Spring of Tx,Ty,Tz | [N·mm/deg] | 0 |
[F3] key: Selects a hard force control object.
| Parameter | Unit | Value |
|---|---|---|
| Mass of Fx,Fy,Fz | [mN/(mm/sec2)] | 1 |
| Damper of Fx,Fy,Fz | [N/(mm/sec)] | 1 |
| Spring of Fx,Fy,Fz | [N/mm] | 0 |
| Mass of Tx,Ty,Tz | [mN·mm/(deg/sec2)] | 8000 |
| Damper of Tx,Ty,Tz | [N·mm/(deg/sec)] | 1000 |
| Spring of Tx,Ty,Tz | [N·mm/deg] | 0 |
Press the [OK] key to change the force control object number.
Set the force control object in advance by using the force editor.
For details of the force editor, refer to the following manual.
Epson RC+ Option Force Guide
CAUTION
Executing the impedance test with improper settings of the force control object and force coordinate system object may result in unintended motion.
Be sure to configure the settings with care before executing the impedance test.