Direct Teach
CAUTION
Executing the direct teaching with improper settings of the Force Sensor, coordinate transformation, and gravity compensation may result in unintended motion. Be careful when configuring the settings and check operation before executing the direct teaching.
For details of the setting and operation check, refer to the following manual.
"Epson RC+ Option Force Guide"
KEY POINTS
This function is available when Force Guide is setup.
For usage of the Force Guide, refer to the following manual.
"Epson RC+ Option Force Guide"
Perform direct teaching on [Direct Teach] panel.
To display the [Direct Teach] panel, switch the mode selector key switch to “TEACH/T1” and tap [Direct Teach] on the menu.
c: Tap the tool button to display [Command Window], [Force Monitor], and [I/O Monitor] panels.
For details of the panels displayed, refer to the following.
Tool
Changing Local, Tool, and Arm
The coordinate system to perform teaching can be selected from the user-defined coordinate systems.
Robot Parameters
| Item | Description |
|---|---|
| Local | Defined Local coordinate system 0 is the same as the Base coordinate system. |
| Tool | Defined Tool coordinate system |
| Arm | Arm coordinate system defined as the additional arm. This is available for the following robots. - Rectangular coordinate robots - SCARA robots |
Force Settings
Perform the setup for the direct teach on [Force Settings] panel.
| [Mass Properties] | Select the mass property object. The mass property object can be set in [Mass/Gravity] panel of Epson RC+. For details, refer to the following manual. "Epson RC+ Option Force Guide" |
| [Mode] | Select the mode. |
| [Motion Direction] | Select the motion direction. |
| [Hardness] | Select the hardness. |
| [Sensor Reset] Button | Reset the Force Sensor. Our Force Sensor has drift feature. Because of that, it may move without applying force when executing direct teach due to drift error. When the drift error of the sensor accumulates, push the [Sensor Reset] button to reset the sensor. Executing the Direct Teach without resetting for 10 or more minutes, an error occurs. |
| [Direct Teach Start] button | Start the direct teach. 1. Tap the [Direct Teach Start] button. The confirmation dialog box will appear. 2. Tap the [OK] button with turning ON the Enable switch. Execute while pushing the enable switch. Stop the operation when turn OFF the enable switch. |
CAUTION
- Executing the direct teaching with improper settings of the mass property object may result in unintended motion. Be careful when configuring the settings before executing the direct teaching
- Be sure to reset the Force Sensor with no external force applied to it. If it is reset with an external force applied to it, the state in which an external force applied is “0”. Therefore, if the force applied is removed, the Force Sensor detects a force even if no force is applied. If executing the direct teach in this state, the robot may move unintentionally. Caution is required in this regard.
- Executing the direct teaching with improper mode or motion direction may result in unintended motion. Be careful when configuring the setting before executing the direct teach.
- Apply the force to the hand or workpiece which is attached near the tip than the Force Sensor when applying the force to the Force Sensor. The Force Sensor cannot detect the force when it is applied to the robot arm or the Force Sensor itself, and it may result in unintended robot motion. Caution is required in this regard.
- When operating the robot, pay attention not only to the position of the hand or workpiece, but also to the movement of the robot arm. Especially when the robot is near the singularity, the robot arm may move significantly. Caution is required in this regard.
Registering the Robot Position
This group is used for registering the current robot position.
For details about registration of robot position, refer to the following.
Jog & Teach
Current Position
Robot 3D View
The [Current Position] panel displays the robot 3D view and current position of the robot.
To display the [Current Position] panel, tap the [Current Position] tab.
The robot can be displayed in the 3D.
The coordinate axes and points are displayed on the same panel as the robot. This allows you to check the robot posture and motion from various points of view.
Robot Display:
One currently selected robot can be displayed. The display changes as you change the robot.
Coordinate system display:
To display the coordinate system, tap the [Local], [Tool], or [ECP] button to select the coordinate system you want to display and select the coordinate number. You can select several items.
Coordinate axes are displayed as follows:
- X axis: Green
- Y axis: Blue
- Z axis: Red
Point display:
To display the point, tap the [Point] button and select the point number from the current point file. You can select several items. The point can be displayed on the 3D display.
Field of View Control:
- Enlarge or reduce the panel: Pinch-out to enlarge and pinch-in to reduce the panel display size.
- Rotate the view: Swipe with one finger.
- Scroll the view: Swipe with two fingers.
- Return to default: Long-tap to display the menu, and tap the [Reset Viewpoint] button.
Menu:
To display the menu, long-tap the menu.
- Set Zoom Large: Makes the zoom-in and zoom-out size larger.
- Set Zoom Small: Makes the zoom-in and zoom-out size smaller.
- Reset Viewpoint: Resets the viewpoint.
Current Position
This group displays the current position of the robot. There are three ways to display the position.
Some display modes may not be available depending on the type of the robot.
| Item | Description |
|---|---|
| World | Current position and tool orientation in the selected Local coordinate system |
| Joint | Current coordinate of the joints |
| Pulse | Current pulse of the joints |
Current Arm Orientation
This group displays the current arm orientation.
Flags representing the arm orientation vary depending on the type of the robot.
Point Data
On the [Points] panel, you can edit the point data of the point files.
To display the [Points] panel, tap the [Points] tab.
The list of data from the point file selected on the [Points] tab is displayed.
Change the point data values
- Double-tap the cell of the value to change.
- Enter a value.
You can copy a point data value and paste it to another cell. The menu of functions, such as copy, can be displayed by long-tapping the text input area while a cell is selected.
To select the line, check the checkbox. You can select several items.
To scroll, flick the table up and down.
| Item | Description |
|---|---|
| Save | Saves changes to the Robot system. |
| Cut | Cuts the data of the selected line. |
| Copy | Copies the data of the selected line. |
| Paste | Pastes the copied or cut data to the checked lines. The data will be overwritten. If the data copied or cut from the multiple lines are held, these will be pasted to the lines following the checked line. |
| Delete Line(s) | Deletes the data of the selected lines. If several lines are selected, several point data will be deleted. The point numbers whose data is deleted will be dead-numbers. |
| Delete All | Deletes all data. The file will be empty. |
| Search | Searches for a label within the point data. |
| Restore | Restores changes. The file will be restored to the last saved state. |
| Teach | This group is used for registering the current robot position. |
| Execute Motion | Executes the motion commands such as Go and Move. |
Execute Motion
On the [Execute Motion] panel, you can execute the motion commands such as Go and Move.
To display the [Execute Motion] panel, tap the [Execute Motion] tab.
Execute the motion commands
- Select the command name and parameters, and then tap the [Execute] button. The confirmation dialog box will appear.
- Press the [Exe] key with the Enable switch ON. The command is executed while the [Exe] key is being pressed. The motion stops when either one or both of the Enable switch and [Exe] key is released.
Control Panel
In the [Control Panel] panel, basic robot operations such as freeing a joint and calibration can be performed.
Tap the [Control Panel] tab to display the [Control Panel] panel.
Free Joints
Setting the lock joint state and free joint state of joints individually.
When teaching the SCARA robot by the direct teaching, frees joint the robot axes.
This is not available for the vertical 6-axis robots.
The following are descriptions for the buttons.
| [J*] | When the toggle switch of each joint is turned on, it will become the free joint state. When the toggle switch is turned off, it will be the lock joint state. |
| [ Free All ] | Frees joint the all robot axes. |
| [ Lock All ] | Locks joint the all robot axes. |
Command Buttons
The buttons vary depending on the type of the selected robot.
The following are descriptions for the buttons.
| [Home] | Moves the robot to the point specified by HomeSet command. This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |
| [Pulse0] | Moves each joint to the 0 pulse position. This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |
| [MCal] | Performs calibration (detect the mechanical home position). This can be executed by pressing the [Exe] key with the Enable switch ON while the confirmation dialog is displayed. |