EPSON RC+ 5.0 Ver.5.4 User's Guide Project Management and Development Rev.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Project Management and Development Rev.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Copyright © 2011-2012 SEIKO EPSON CORPORATION. All rights reserved. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the Manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times. WARRANTY The robot and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.
TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.
MANUFACTURER Toyoshina Plant Factory Automation Systems Dept. 6925 Toyoshina Tazawa, Azumino-shi, Nagano, 399-8285 JAPAN TEL : +81-(0)263-72-1530 FAX : +81-(0)263-72-1495 SUPPLIERS China EPSON China Co., Ltd Factory Automation Division 7F, Jinbao Building No. 89 Jinbao Street Dongcheng District, Beijing, China, 100005 TEL : +86-(0)-10-8522-1199 FAX : +86-(0)-10-8522-1120 Taiwan EPSON Taiwan Technology & Trading Ltd. Factory Automation Division 14F, No.
Southeast Asia India EPSON Singapore Pte Ltd. Factory Automation System 1 HarbourFrontPlace, #03-02 HarbourFront Tower one, Singapore 098633 TEL : +65-(0)-6586-5696 FAX : +65-(0)-6271-3182 Korea EPSON Korea Co, Ltd. Marketing Team (Robot Business) 11F Milim Tower, 825-22 Yeoksam-dong, Gangnam-gu, Seoul, 135-934 Korea : +82-(0)-2-3420-6692 TEL FAX Japan : +82-(0)-2-558-4271 EPSON SALES JAPAN CORPORATION Factory Automation Systems Department Nishi-Shinjuku Mitsui Bldg.
vi EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
Table of Contents TABLE OF CONTENTS 1. Introduction 1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 Welcome to EPSON RC+ 5.0 ............................................................. 1 System Overview................................................................................ 1 1.2.1 RC170/RC180 Controller ....................................................... 2 1.2.2 RC90 Controller .................................................................... 2 1.2.3 Software ..........................................
Table of Contents 3. Getting Started 3.1 3.2 Hardware Installation ........................................................................ 23 Software Installation.......................................................................... 23 4. Operation 4.1 4.2 4.3 4.4 4.5 5.3 5.4 5.5 5.6 viii 24 Simple Mode ..................................................................................... 24 System Power Up Procedure............................................................
Table of Contents 5.6.7 Restore Command ............................................................... 43 5.6.8 Rename Command .............................................................. 44 5.6.9 Delete Command ................................................................. 44 5.6.10 Import Command ................................................................. 45 5.6.11 Print Command .................................................................... 46 5.6.12 Exit Command.........................
Table of Contents 5.10.5 Walk Command .................................................................... 75 5.10.6 Resume Command .............................................................. 75 5.10.7 Stop Command..................................................................... 75 5.10.8 Toggle Breakpoint Command ............................................... 76 5.10.9 Clear All Breakpoints Command........................................... 76 5.10.10 Display Variables Command .....................
Table of Contents 5.11.9 Simulator Command............................................................118 5.11.10 Vision Command .................................................................118 5.12 Setup Menu .....................................................................................118 5.12.1 PC to Controller Communications Command......................119 5.12.2 Controller Command .......................................................... 120 General Page ...................................
Table of Contents 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.14 6.15 6.16 6.17 xii Program structure ........................................................................... 151 6.2.1 What is a SPEL+ program? ................................................ 151 6.2.2 Calling functions ................................................................. 151 Commands and statements ............................................................ 152 Function and variable names ..................
Table of Contents 6.17.5 Saving and loading Points.................................................. 178 6.17.6 Point attributes ................................................................... 178 6.17.7 Extracting and setting point coordinates............................. 180 6.17.8 Alteration of points.............................................................. 180 6.18 Input and output control .................................................................. 181 6.18.1 Hardware I/O................
Table of Contents 7.6 7.7 7.5.2 Debugging .......................................................................... 199 The Operator Window ..................................................................... 203 7.6.1 Operator Window Configuration ......................................... 204 Using Remote Control..................................................................... 204 8 Simulator 8.1 8.2 8.3 8.4 Simulator Functions ..................................................................
Table of Contents 10.5 Virtual I/O........................................................................................ 247 11 Remote Control 248 11.1 Overview......................................................................................... 248 11.2 Remote Control Input Output Configuration.................................... 249 11.3 Control Device Configuration .......................................................... 249 11.4 Auto Mode with Remote Control ..................................
Table of Contents xvi EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
1. Introduction 1. Introduction 1.1 Welcome to EPSON RC+ 5.0 Welcome to the EPSON RC+ 5.0 Project Management and Development Environment. EPSON RC+ 5.0 is used to develop application software for the EPSON RC90/RC180 Robot Controller. EPSON RC+ 5.0 features: - Runs on Microsoft Windows XP, Windows Vista, and Windows 7. - Integrated application development environment. - Communicates with controller using USB or Ethernet. - One PC can be used to manage several controllers. - Multiple simultaneous sessions.
1. Introduction 1.2.1 RC180 Controller The RC180 Controller is a compact robot controller that can drive EPSON SCARA and Pro Six robots. Features: - Small and compact, yet powerful. - Built in motion drive system. The motion drive system can control one robot with up to six motors. - Includes standard digital I/O. - Optional digital I/O expansion boards. - Optional Fieldbus slave support for DeviceNet, EtherNetI/P, PROFIBUS-DP, PROFINET, and CC-Link. - Optional RS232 ports.
1. Introduction 1.2.5 System Block Diagram The following system block diagram shows different methods for connecting a PC running EPSON RC+ 5.0 to one or more controllers. Method 1: Connect PC to one controller using USB 1.1 or USB 2.0 PC USB RC90/RC180 Controller Method 2: Connect PC to one controller using Ethernet PC Ethernet RC90/RC180 Controller Method 3: Connect PC to more than one controller using Ethernet.
1. Introduction 1.3 Software Version There are the following major software versions for EPSONRC+ 5.0. Ver.5.0.* Ver.5.1.* Ver.5.2.* Ver.5.3.* Ver.5.4.* There are the following major firmware versions for the RC180 controller firmware. For Controllers with S/N less than 10000 Ver.1.0.*.* Ver.1.2.*.* Ver.1.4.*.* Ver.1.6.*.* Ver.1.8.*.* Ver.1.10.*.* Ver.1.12.*.* Ver.1.14.*.* For Controllers with S/N 10001or later Ver.1.22.*.* There are the following major firmware versions for the RC90 firmware. Ver.3.0.*.
1. Introduction You can connect a controller and PC with any major version combinations. RC180 Controller Firmware Version EPSON RC+ 5.0 Ver.5.0.* Ver.5.1.* Ver.5.2.* Ver.5.3.* Ver.5.4.* Ver.1.0.*.* Ver.1.2.*.* Ver.1.4.*.* Ver.1.6.*.* Ver.1.8.*.* OK *1 ! ! ! ! ! OK *2 ! ! ! !! !! OK *3 ! ! !! !! !! OK *4 ! Ver.1.10.*.* Ver.1.12.*.* Ver.1.14.*.* Ver.1.22.*.* !! !! !! !! OK OK: Compatible All functions of the EPSON RC+ 5.0 and the Controller are available. *1 Refer to Ver.5.0 manuals.
1. Introduction 1.3.1 Version Confirmation To confirm the EPSON RC+ 5.0 version, refer to 5.14.6 About EPSON RC+ 5.0 Command (Help Menu). To confirm the RC180 Controller firmware version, refer to 5.12.2 Controller Command (Setup Menu). 1.3.2 Restrictions for Version Combination The functions are restricted according to the combination of the EPSON RC+ 5.0 and the controller firmware. Combination and Available Functions EPSON RC+ 5.0 Ver.5.1.* or later / Controller firmware Ver.1.2.*.
1. Introduction EPSON RC+ 5.0 Ver.5.2.* or later / Controller firmware Ver.1.6.*.* or later RC180 Controller Firmware Ver.1.6.*.* Ver.1.8.*.* Ver.1.0.*.* Ver.1.10.*.* Ver.1.2.*.* Ver.1.12.*.* Ver.1.4.*.* Ver.1.14.*.* Ver.1.22.*.* Ver.5.0.* Ver.5.1.* EPSON RC+ 5.0 Ver.5.2.* Ver.5.3.* Ver.5.4.
1. Introduction EPSON RC+ 5.0 Ver.5.4.* or later / Controller firmware Ver.1.10.*.* or later RC180 Controller Firmware Ver.1.0.*.* Ver.1.10.*.* Ver.1.2.*.* Ver.1.12.*.* Ver.1.4.*.* Ver.1.14.*.* Ver.1.6.*.* Ver.1.22.*.* Ver.1.8.*.* Ver.5.0.* Ver.5.1.* Ver.5.2.* EPSON RC+ 5.0 Ver.5.3.* Ver.5.4.
1. Introduction 1.4 Options You can purchase options that must be enabled in the controller. EPSON RC+ 5.0 is used to enable these options. See the chapter 15. Installing Controller Options for details. 1.5 Precautions When Using Windows Vista / Windows 7 Connecting development PC to robot controller using Ethernet The robot controller does not support internet protocol version 6 (TCP/IPv6).
1. Introduction 1.8 Documentation All documentation is installed on the PC in Adobe PDF format. To view manuals on the PC, select Manuals from the Help Menu in EPSON RC+ 5.0. You can also access the manuals from the Windows desktop by clicking Start - Programs - EPSON RC+ 5.0 and click on the manual you want to view. EPSON RC+ 5.0 User's Guide This manual contains detailed information for the entire system.
2. Safety 2. Safety 2.1 Overview This chapter explains the important safety requirements for robotic systems using EPSON RC+ 5.0 and the robot Controller. Installation of robots and robotic equipment should only be performed by qualified personnel in accordance with national and local codes. Please read and understand this entire chapter before using your EPSON RC+ 5.0 system. Remember that safety is the most important consideration when designing and operating any robotic system.
2. Safety 2.2.2 Safeguard To ensure safe operation of the robotic work cell, you must install a safety system using safety doors, light curtains, safety floor mats, etc. WARNING ■ There is a safeguard input circuit in the EMERGENCY connector on the controller that connects with the safety device interlock switch. In order to protect those working with the robot be sure that the interlock switch is connected and working properly.
2. Safety 2.2.5 Changing Operation Mode You can change from AUTO operation mode or PROGRAM operation mode to TEACH mode by setting the mode selector key switch on the Teach Pendant to the TEACH position. When the mode selector key switch is changed back to AUTO, the operation mode is returned to previous operation mode (AUTO or PROGRAM). The AUTO operation mode can be changed to PROGRAM mode during the EPSON RC+ 5.0 startup sequence.
2. Safety 2.3 Safety-related Requirements Specific tolerances and operating conditions for safety are contained in the manuals for the robot, controller and other devices. Be sure to read those manuals as well. For the installation and operation of the robot system, be sure to comply with the applicable local and national regulations. Robot systems safety standards and other examples are given in this chapter.
2. Safety 2.4 Installation and Design Precautions 2.4.1 Designing a Safe Robot System It is important to operate robots safely. It is also important for robot users to give careful consideration to the safety of the overall robot system design. This section summarizes the minimum conditions that should be observed when using EPSON robots in your robot systems. Please design and manufacture robot systems in accordance with the principles described in this and the following sections.
2. Safety Peripheral Equipment Design When designing equipment that removes and supplies parts and materials to the robot system, ensure that the design provides the operator with sufficient safety. If there is a need to remove and supply materials without stopping the robot, install a shuttle device or take other measures to ensure that the operator does not need to enter a potentially dangerous zone.
2. Safety Safeguard System To ensure safety, a safeguard system should be installed for the robot system. When installing the safeguard system, strictly observe the following points: Refer to each robot manual, and install the safeguard system outside the maximum space. Carefully consider the size of the end effector and the work pieces to be held so that there will be no error between the moving parts and the safeguard system.
2. Safety Resetting the Safeguard Ensure that the robot system can only be restarted through careful operation from outside the safeguarded system. The robot will never restart simply by resetting the safeguard interlock switch. Apply this concept to the interlock gates and presence sensing devices for the entire system. Robot Operation Panel When using the robot operation panel, it must be installed so as to operate the robot system from outside the safeguard. 2.4.
2. Safety Restarting after a Change When restarting the robot system after its hardware or software has been corrected or serviced, strictly observe the following: - Before supplying the system with power, check the locations where the hardware was modified. - Test the functions of the robot system to make sure that it operates correctly. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
2. Safety 2.5 Precautions regarding Robot Operation 2.5.1 General Precautions Before operation, become familiar with the location of all emergency stop switches. During an emergency, always press the nearest emergency stop switch. There should never be any emergency stop switches in the system that do not operate. After an emergency, do not restore the emergency stop circuit until it has been determined that the entire system is safe to restart.
2. Safety - If there is a possibility of a dangerous situation arising from the operation of a device other than the robot, such as an actuator, take steps to prevent such operation or ensure that these devices can only be controlled by the teaching operator. 2.5.4 Return to Automatic Operation If there are safety devices that have been temporarily disabled for system inspection or other reasons, always return them to their original status before restarting automatic operation. 2.5.
2. Safety 2.5.8 Backup of Projects and Controller After a project has been created or edited, or after system data including robot parameters has been edited, the project and controller files should be copied and stored in media other than the hard disk on the PC (e.g. USB memory key). Keep the backup media in a safe place in case of damaged data on the hard disk To backup, select Controller from the EPSON RC+ 5.0 Tools Menu and execute Backup Controller.
3. Getting Started 3. Getting Started This chapter contains instructions for setting up and using EPSON RC+ 5.0. It is recommended that first time users first read the preceding Safety chapter, then read through this chapter to get more familiar with the system. Contents - Hardware Installation - Software Installation 3.1 Hardware Installation EPSON RC+ 5.0 is used with the EPSON RC90/RC180 robot Controller. You need to install the controller and robot before you can use EPSON RC+ 5.
4. Operation 4. Operation This chapter contains instructions for operation of the EPSON RC+ 5.0 system. The main topics are: - Simple Mode - System Power Up Procedure - Starting EPSON RC+ 5.0 - System Shutdown Procedure - Communications with Controller - Writing your first program 4.1 Simple Mode EPSON RC+ 5.0 supports two development environments: Simple Mode and Normal Mode. Simple Mode is ideal for beginners or for simple application development.
4. Operation Start Method 2 1. Click the Windows Start button. 2. Select the EPSON RC+ 5.0 Program Group. 3. To use Simple Mode: Select EPSON RC+ 5.0 Simple To use Normal Mode: Select EPSON RC+ 5.0. Start Method 3 1. Configure EPSON RC+ 5.0 to start automatically after Windows starts. The details are described later in this chapter in the section Startup Configuration. NOTE ) When using the VB Guide option, you do not need to start EPSON RC+ 5.0. The library provided with VB Guide will load EPSON RC+ 5.
4. Operation 4.3.4 Start Mode Dialog When the start mode is set for Auto, then a dialog is displayed at start up that allows you to change the startup mode using a password. After several seconds, if the Change To Program Mode button has not been clicked, the system will initialize and the Operator Window will be displayed. You can disable this startup dialog using command line options described later in this section.
4. Operation 4.3.6 Start Mode: Auto Auto mode displays the Operator Window. The Operator Window is configured according to the settings in Project | Properties. The current controller Control Device sets the mode of Auto operation. Control Device Description PC The Operator Window can be used as a simple operator interface for production. Remote I/O OP The Operator window is displayed with no operator buttons to allow any diagnostic messages to be viewed. Remote Ethernet 4.3.
4. Operation 4.3.8 Windows Login You can configure automatic Windows login from EPSON RC+ 5.0. From the Setup | Preferences | Windows Login page, type in the name and password of the user logging in. Set the Enable windows auto login check box. Optionally, you can supply a domain, if required. You must have Windows Administrator rights to set login parameters. After making changes, you must reboot the system the first time. After the first reboot, Windows login will be automatic for boot or logout. 4.3.
4. Operation Change the EPSON RC+ 5.0 startup mode You can select the startup mode and override the startup dialog using command line options. To start in Program mode (no password required) ERC50.EXE /PROG To start in Auto mode ERC50.EXE /AUTO Use these command line options to override and hide the startup dialog and open the Operator Window directly. If only the AUTO flag is supplied and the control device is PC, EPSON RC+ 5.0 will open the project from the last session and display the operator window.
4. Operation 4.4 Communications with Controller Your PC running EPSON RC+ 5.0 can communicate with a controller using USB or Ethernet. 4.4.1 Configuring Communications with the Controller To configure communications with the controller, select PC to Controller Communications from the Setup Menu. This will open the dialog shown below: The dialog has a list of connections. The first connection is for USB and is fixed. You cannot delete it or rename it.
4. Operation 4.4.3 Ethernet Communications NOTE ) The robot controller does not support internet protocol version 6 (TCP/IPv6). When connecting the development PC to the robot controller using the Ethernet, be sure to use internet protocol version 4 (TCP/IPv4). You can communicate with one or more controllers from one PC using Ethernet. With Ethernet communications, each controller must have a unique IP address.
4. Operation This allows you leave the controller in Auto mode to monitor operation, or switch the controller to Program mode so you can edit and debug programs. If you choose to switch to Program mode, then the remote device cannot start programs until remote I/O has been enabled from the Run window. Connecting while tasks are running from Remote Control or OP If the controller is running tasks with the control device set to Remote or OP, you can connect the PC to the controller to monitor operation.
4. Operation 4.5 Writing your first program After installing the Controller, robot, and EPSON RC+ 5.0 software on your PC, follow these instructions to create a simple application program so that you will become more familiar with the EPSON RC+ 5.0 development environment. 1. Connect your PC to the Controller Install a USB cable between your PC and the Controller. Refer to the Communications with Controller section later in this chapter for more information. 2. Start EPSON RC+ 5.
4. Operation 4. Edit the program Type in the following program lines in the Program.prg edit window. Function main Print "This is my first program." Fend 5. Run the program (1) Press F5 to run the program. (F5 is the hot key for the Run Window selection of the Run Menu). You will see the Status window located at the bottom of the main window showing the build operation status. Run Window is displayed differently depending on the control device setting. Refer to 11.3 Control Device Configuration.
4. Operation (3) Click the Start button on the Run window to run the program. (4) You should see text similar to the following displayed in the Status window: 08:24:18 Task main started 08:24:18 All tasks stopped On the Run window, you will see the output of the print statement. Now let's teach some robot points and modify the program to move the robot. 6. Teach robot points on (1) Ensure that it is safe to operate the robot. Click the Robot Manager button the toolbar.
4. Operation (2) Click on the Motor On button to turn on the robot motors. You will be prompted to confirm the operation. (3) Answer Yes to continue. (4) Click the Jog & Teach tab in the Robot Manager. (5) Click the Teach button in the lower right corner to teach point P0. You will be prompted for a point label and description. (6) Jog the robot by clicking the +Y jog button. Hold the button down to continue jogging. Let go when the robot is about half way out in the work envelope.
4. Operation 8. Modify the program to change speed of robot motion commands (1) Insert the Power, Speed, and Accel commands as shown in the program below: Function main Print "This is my first program." Power High Speed 50 Accel 50, 50 Go P1 Go P2 Go P0 Fend (2) Run the program by pressing F5 (3) Click on the Start button on the Run window. The robot should go to each of the points you taught at 50% speed, acceleration, and deceleration.
5. The EPSON RC+ 5.0 GUI 5. The EPSON RC+ 5.0 GUI The chapter contains information on the EPSON RC+ 5.0 GUI. After an overview and discussing online help and toolbars, the remainder of the chapter is divided into sections that follow the menu system. Contents - Overview - Project Explorer Pane - Status Window Pane - Status Bar - Online Help - File Menu - Edit Menu - Project Menu - Run Menu - Tools Menu - Setup Menu - Window Menu - Help Menu 5.1 GUI Overview EPSON RC+ 5.
5. The EPSON RC+ 5.0 GUI 5.2 Project Explorer Pane The Project Explorer pane enables you to quickly open any file in the current project or jump to any function. The project files and functions are organized in a sorted tree structure. Open a file or jump to a function : Double-click on the item. Hide the Project Explorer : Click the X button on the bar above the pane. Show the Project Explorer : Select Project Explorer from the View Menu.
5. The EPSON RC+ 5.0 GUI 5.4 Status Bar The status bar located at the bottom of the main window displays the following: Message area Syntax error for the current line, system messages. Operation Mode status Indicates the controller operation mode. When EPSON RC+ 5.0 is connected to a controller, the controller operation status is shown: Program, Auto, and Teach. Emergency Stop status Indicates if emergency stop is active. Safeguard status Indicates if one or more safeguard circuits is open.
5. The EPSON RC+ 5.0 GUI For MDI child windows, the Help button is located on the main toolbar and is also shown as a question mark icon as shown below. Help button for the active MDI child window 5.6 File Menu The EPSON RC+ 5.0 File Menu includes commands for managing and printing files in the current project. 5.6.1 New Command (File Menu) The New command is used to add new files to the current project. When the New command is selected, the New File dialog is opened.
5. The EPSON RC+ 5.0 GUI 5.6.2 Open Command (File Menu) Open one or more files in the current project for editing. You can open program files, include files, or point files. If there is a file in the current project directory (as shown in the Edit Project dialog box) and the file is not in the current project, you will not be able to open the file. You must add the file to the project before you can open it. This also applies to include files and point files.
5. The EPSON RC+ 5.0 GUI 5.6.4 Save Command (File Menu) The Save command writes the current file to disk. The current file can be a program file, include file, points file, I/O label editor, etc. This command is disabled if the current file does not need to be saved. Shortcuts Keys: Ctrl + S 5.6.5 Save As Command (File Menu) Save the program, include file, or point file in the currently active window with a new file name. The original file will be left in the project directory unchanged.
5. The EPSON RC+ 5.0 GUI 5.6.8 Rename Command (File Menu) Use Rename to change the name of the program, include file, or point file you are currently editing. To rename a file 1. Make the file you want to rename the current active window by clicking anywhere on the program window, or selecting it from the list in the Window Menu, or by opening the file with the Open command from the File Menu. 2. Select Rename from the File Menu. 3. Type in a new name for the file and click OK.
5. The EPSON RC+ 5.0 GUI 5.6.10 Import Command (File Menu) Import a file into the current project. Use this command to import programs, points, labels, etc. from other EPSON RC+ 5.0 projects. - Program file names for importing must have a .PRG extension. - Include file names for importing must have a .INC extension. - Point file names for importing must have a .PTS extension. - I/O labels must have the file name IOLABEL.DAT - User errors must have the file name USERERRORS.DAT. - Macros must have the .
5. The EPSON RC+ 5.0 GUI 5.6.11 Print Command (File Menu) This command opens the Print dialog box. From this dialog, you can print one or more program, include, points, or label files in the current project. You can also print out a project summary. Each document is printed with a header that includes the file name, date and time, and page number. Shortcuts Toolbar: Keys: Ctrl+P Item Description Select items to print Check the items in the tree that you would like to print out.
5. The EPSON RC+ 5.0 GUI 5.6.12 Exit Command (File Menu) Exits from EPSON RC+ 5.0. If you are running a program from the Run Window and the control device is PC, you will see a message that a program is running and you will not be allowed to exit. You must stop all tasks first before you can exit. If there are any open program or point files that have not been saved, you will be prompted to save these files with Yes, No, or Cancel. If you select Yes, then all unsaved files in the project will be saved.
5. The EPSON RC+ 5.0 GUI 5.7.5 Paste Command (Edit Menu) Puts the contents of the Clipboard into the currently active document starting at the insertion point. Shortcuts Toolbar: Keys: Ctrl+V 5.7.6 Find Command (Edit Menu) Find a text string in the current program or all programs in the project. The first time you execute this command, the dialog box will be centered over the main window. If you reposition it, then the next time Find is executed, the dialog will appear where you last positioned it.
5. The EPSON RC+ 5.0 GUI 5.7.7 Find Next Command (Edit Menu) Find the next occurrence of the search text specified in the last Find command. Shortcuts Keys: F3 5.7.8 Replace Command (Edit Menu) Search for a text string and replace it with new text. The first time you execute this command, the dialog box will be centered over the main window. If you reposition it, then the next time Replace is executed, the dialog will appear where you last positioned it.
5. The EPSON RC+ 5.0 GUI 5.7.9 Select All Command (Edit Menu) Select the entire file. You can then execute Cut or Copy. Shortcuts Keys: Ctrl+A 5.7.10 Indent Command (Edit Menu) Move the selected text block one tab to the right. Shortcuts Keys: Tab 5.7.11 Outdent Command (Edit Menu) Move the selected text block one tab to the left. Shortcuts Keys: Shift+Tab 5.7.12 Comment Block Command (Edit Menu) Comments out the selected block of lines by adding the comment character to the beginning of each line.
5. The EPSON RC+ 5.0 GUI 5.8 View Menu The EPSON RC+ 5.0 View Menu includes commands for opening the Project Explorer and Status panes. In addition, there is a command for viewing the system history. 5.8.1 Project Explorer Command (View Menu) If you have closed the Project Explorer pane, you can open it by using this command. For details, see the section Project Explorer Pane in this chapter. 5.8.
5. The EPSON RC+ 5.0 GUI 5.8.3 System History Command (View Menu) This command opens the System History window. This window shows events, errors, and warnings that have been logged in the current controller's system history. The data can be sorted by clicking on any column header. To sort multiple columns, hold down the shift key and click on multiple columns headers. Item Description Data To Display Select which data you would like to view. Choices are All, Events, Errors, and Warnings.
5. The EPSON RC+ 5.0 GUI 5.9 Project Menu The EPSON RC+ 5.0 Project Menu includes commands for managing and building projects. 5.9.1 New Command (Project Menu) The New command is used to create a new EPSON RC+ 5.0 project. Projects can be on any disk drive on the system. They are stored in the \EpsonRC50\Projects directory on the selected drive. Subdirectories can also be created. Item Description Project Name Type in a new name for the project.
5. The EPSON RC+ 5.0 GUI 5.9.2 Open Command (Project Menu) Use this command to open an EPSON RC+ 5.0 project. When the project is opened, the previous project is closed. You will be prompted to save changes. Item Description Select Drive Select the desired disk drive for the project you want to open. Select Project to Open Select a project name from the list box. To open a folder, double click on the folder or click the + box located to the left of the folder.
5. The EPSON RC+ 5.0 GUI 5.9.3 Recent Projects Submenu (Project Menu) The Recent Projects submenu contains up to eight of the most recently used projects. When you select a project in the menu, the current project is closed and the selected project is opened the same as if you used the Open command from the Project Menu. 5.9.4 Close Command (Project Menu) Use the Close command to close the current project. Several menu and toolbar commands will be disabled after the project is closed. 5.9.
5. The EPSON RC+ 5.0 GUI To add an existing program source file 1. Select the program name you want to add by clicking on a program name in the program files list box. 2. Click the Add >> button Or Double click on the program name in the file list box. The file will be added to the list of programs. To create a new include file 1. Type the name of the include file in the File Name text box. The name of the include file can also be the same name as a program. 2. Click the Add >> button.
5. The EPSON RC+ 5.0 GUI 5.9.6 Save Command (Project Menu) This command saves all currently open files in the current project that need to be saved. This menu selection is grayed out if nothing needs to be saved. NOTE ) This command saves project files. It does not save changes made in the Simulator. Use the File | Save All command to save all project files and Simulator changes. 5.9.7 Save As Command (Project Menu) Saves all files in the current project to a new drive and/or project name.
5. The EPSON RC+ 5.0 GUI 5.9.8 Rename Command (Project Menu) This command renames the current project. The project directory and all associated project files are also renamed. Item Description New Project Name Type in a new name for the project. The name can include alphanumeric characters along with underscores. Existing Project This list box shows other projects on the selected drive. The new name you choose cannot be one of the names in this list. OK Renames the project.
5. The EPSON RC+ 5.0 GUI 5.9.9 Import Command (Project Menu) The Project Menu Import Command uses a wizard to import projects from a PC, the current controller, or a controller status folder. When a project is imported, the files from the source are copied to a new project folder, so the original project is not changed. NOTE ) If the project to be imported is an EPSON RC+ 3.x / 4.x project or a SPEL for Windows 2.0 project, the files are converted to EPSON RC+ 5.0 format.
5. The EPSON RC+ 5.0 GUI 3. Select the project type. You can select from the following: - Epson RC+ 5.0 - Epson RC+ 3.x / 4.x - SPEL for Windows 2.0 NOTE ) When a project for EPSON RC+ 3.* / 4.*or SPEL for Windows 2.0 is imported, the project is automatically converted to project for EPSON RC+ 5.0 format. For details, refer to Appendix B: Automatic Processing of Project Import. 4. Select the drive.
5. The EPSON RC+ 5.0 GUI Importing a Controller project NOTE ) For projects using Vision Guide, the calibration data and model files are not imported from the Controller because they are not stored there. After import, you will need to re-teach the vision models and perform the calibrations. Follow these steps to import a project from a controller: 1. Select Import from the Project Menu to open the Import Project dialog. 2. Select Controller and click Next.
5. The EPSON RC+ 5.0 GUI 4. Verify the import source, import project, and destination project. Check Open Destination Project After Import if you want the project to open after import. 5. Click the Import button. If the destination project already exists, you will be asked if you want to overwrite it. Importing a Controller Status project NOTE ) For projects using Vision Guide, the calibration data and model files are not imported from the Controller Status folder because they are not stored there.
5. The EPSON RC+ 5.0 GUI 3. Select a controller status folder and click OK. 4. The destination project name is set to the project found in the controller status folder. You can modify the destination project name if desired. Select the destination drive and folder, then click Next. 5. Verify the import source, import project, and destination project. Check Open Destination Project After Import if you want the project to open after import. 6. Click the Import button.
5. The EPSON RC+ 5.0 GUI 5.9.10 Copy Command (Project Menu) The Copy command copies all files in the current project to a specified drive, folder, and project name. You can use the current project name for the destination name if you select a new drive or folder. You can also specify a new name for the destination project. You should use the Copy command to make backup copies of your project on a regular basis. Item Description Destination Project Name Type in a name for the new copy of the project.
5. The EPSON RC+ 5.0 GUI 5.9.11 Delete Command (Project Menu) This command deletes an entire project from a PC disk. All files in the project directory will be destroyed. Item Description Project Drive Select drive for the project to delete. Project To Delete Select a project to delete from the list. Delete Delete the project. You will be prompted to confirm the operation. Cancel Cancel the operation. 5.9.
5. The EPSON RC+ 5.0 GUI 5.9.14 Synchronize Command (Project Menu) The Synchronize command is used to update files on the PC and controller. command is not available if the current project has not been built successfully. This This dialog will also appear automatically when you are connecting to a controller that has the same project as the current PC project, but the files on the controller are newer.
5. The EPSON RC+ 5.0 GUI 5.9.15 Properties Command (Project Menu) Project: Properties: General Page Use this page to view and edit general properties for the current project. All project property settings are stored in the project file, which is also stored in the controller during project build. TIP ) Item Description Name The name of the current project. Created Date and time when the project was created. Last Modified Date and time when the project was last modified.
5. The EPSON RC+ 5.0 GUI Project: Properties: Compiler Page This page allows you to configure the compiler settings. Item Compiler Version Description [Default] is the normal setting. When a project cannot be built because new keywords have been added to the language that interfere with declared variables or functions, you can select the compatible compiler version to build the project. Specify the controller firmware version that is used for the project.
5. The EPSON RC+ 5.0 GUI Project: Properties: Operator Settings : Operator Window: General Page This page allows you to configure the general settings for the Operator Window. Item Description Window Title Type in the title that you want to appear at the top of the operator window. Window Size Choose Normal (normal size, centered on screen) or Maximized (full screen). Font Click on the Font button to open the fonts dialog. Choose the font you desire for the operator window.
5. The EPSON RC+ 5.0 GUI Project: Properties: Operator Settings : Operator Window: Controls Page This page allows you to configure the controls for the Operator Window. Item Description Pause and Continue Check this box if you want the Pause and Continue buttons to be displayed. This will allow the operator to pause and continue from the operator window. I/O Monitor Check this box if you want the I/O Monitor button to be displayed. This will allow the operator to view input and output status.
5. The EPSON RC+ 5.0 GUI Project: Properties: Operator Settings: Robot Manager Page Use this page to configure the Robot Manager for operators. Item Description Page and options enabled for operators Check the pages that you want the operator to have access to when the Robot Manager is displayed from the operator window. In some pages, there are additional options. Allow SFree / SLock Allows the operator to free or lock joints from the Control Panel page.
5. The EPSON RC+ 5.0 GUI Project: Properties: Operator Settings: I/O Monitor Page Use this page to configure the I/O Monitor for operators. 72 Item Description Views Enabled for Operators Check that I/O views that you want your operators to use when they open the I/O Monitor from the operator window. You can configure the custom views from the I/O Monitor when it is open from the main window. Operators cannot configure custom views.
5. The EPSON RC+ 5.0 GUI Project: Properties: Vision The EPSON Smart Camera supports two vision projects simultaneously. Each vision project can be used by one controller, so two controllers can use the same camera. Project 1 is used by default. In this page, you can configure the project number used by each Smart Camera for this project. Item Description Smart Camera Project Numbers Select the project number used by each Smart Camera for this project in the "Project #" column.
5. The EPSON RC+ 5.0 GUI 5.10 Run Menu The EPSON RC+ 5.0 Run Menu includes commands for running and debugging programs. 5.10.1 Run Window Command (Run Menu) Opens the Run window to run a program in the current project. Before opening the Run window, you are prompted to save all files if there are any unsaved files if the Auto File Save preference is off (see Setup | Preferences | Workspace). Otherwise, all files are saved automatically. Then the project is built, if required.
5. The EPSON RC+ 5.0 GUI 5.10.4 Step Over Command (Run Menu) Execute the current source line. If the current line is a function, the entire function will be executed. Shortcuts Toolbar: Keys: F11, Shift+F8 5.10.5 Walk Command (Run Menu) Execute lines until after the next motion command or output command, depending on the Walk stops for output commands preference on the Setup | Controller | Preferences page. Shortcuts Keys: F12 5.10.6 Resume Command (Run Menu) Opens the Resume Tasks dialog box.
5. The EPSON RC+ 5.0 GUI 5.10.8 Toggle Breakpoint Command (Run Menu) Sets the current line as a breakpoint or returns the current line to normal. When a line is a breakpoint, a breakpoint icon is displayed in the program window left margin. You can set breakpoints while tasks are running. If a line cannot be a breakpoint (such as a blank line), then the breakpoint icon will not appear for that line. Shortcuts Toolbar: Keys: F9 5.10.9 Clear All Breakpoints Command (Run Menu) Clears all breakpoints.
5. The EPSON RC+ 5.0 GUI The Preserved page displays the Global Preserve variables. The numbers of used and available bytes for preserved variables are also displayed. You can save the values of Global Preserve variables in the controller to a file on the PC by clicking the Save button. The default file name is GlobalPreserves.dat. A GlobalPreserves.dat file is also saved by using Backup Controller from the Tools Menu.
5. The EPSON RC+ 5.0 GUI 5.11 Tools Menu EPSON RC+ 5.0 has several GUI tools to aid in development. All tools can be accessed from the Tools Menu. Many also have tool bar buttons and hot keys. The Tools Menu includes the following selections: - Robot Manager Motor control, Jog & Teach, change robot parameters. - Command Window Execute SPEL commands directly. - I/O Monitor Monitor and change I/O status. - Task Manager Monitor and control task execution. - Macros Opens the Command Macros Window.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Control Panel Page The Control Panel page contains buttons for basic robot operations, such as turning motors on/off and homing the robot. It also shows status for Emergency Stop, Safeguard, Motors, and Power. Status Indicators Indicator Description Emergency Stop Indicates if Emergency Stop has occurred. Once an Emergency Stop occurs, you must execute a Reset to clear it. Safeguard Indicates whether the Safeguard input is on or off.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Jog and Teach Page The Jog & Teach page is primarily used for jogging the robot to a desired position and teaching a point using the current coordinates and orientation. You can jog the robot in World, Tool, Local, Joint, or ECP modes. You can also execute motion commands. Jog Controls The Robot Manager Jog & Teach page contains several controls, described below. Jogging Group This group contains controls for setting jog mode, speed, and jogging.
5. The EPSON RC+ 5.0 GUI Speed The speed for jogging and motion commands can be changed by selecting Low or High. When the Robot Manager is first open, the speed is set to Low. Jogging is always in low power mode. The speeds and accelerations associated with the jog speed settings are shown in the next page.
5. The EPSON RC+ 5.0 GUI Execute Motion Group This group has controls for executing motion commands. Select the desired motion command from the Command dropdown list. Then click the Execute button. A dialog is displayed that lets you select the desired parameters for the motion command. Click Execute from this dialog to execute the motion. Motion commands can be disabled from Setup: Preferences: Robot Manager: Jogging. Local This drop down list is used to select the current Local for jogging and teaching.
5. The EPSON RC+ 5.0 GUI To change a jog distance, first select the distance to be changed, then type in the new value. Distance Set Value * Default Value Short 0 to 10 0.1 Medium 0 to 30 1 Long More than 0 to 180 10 * If you enter a too large value, an error message appears when you attempt to jog. When the jog mode is changed, the jog distance units change appropriately between millimeters (mm) and degrees (deg).
5. The EPSON RC+ 5.0 GUI To jog Select the jog mode: World, Tool, Local, Joint, or ECP. Select the jog speed: Low or High. Select Continuous, Long, Medium, or Short jog distance. You can type in the desired jog distance when Continuous is not selected. Click on one of the jog buttons with the left mouse button. If you hold the mouse button down, the robot will continue to jog. When jogging is started, the jog button picture color will change from yellow to cyan.
5. The EPSON RC+ 5.0 GUI Saving or aborting your work Click the Save button on the Robot Manager Points page to save the changes. Robot Manager MDI Child When the Robot Manager is used as an MDI child, use the File Menu to select Save or Restore for the current point file. You can also execute Project | Save or click the Save all files toolbar button. Robot Manager Dialog When you close the Robot Manager, you will be prompted if you want to save your changes.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Arch Page This page allows you to configure the depart Z and approach Z settings in the robot's Arch table. Arch is used for the Jump, Jump3, and Jump3CP motion commands. For details on using Arch with motion commands, see the SPEL+ Language Reference. There are seven different setting pairs in the Arch table. Each setting pair is one row in the grid on the Arch page. To change Arch settings 1.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Locals Page This page allows you to define local coordinate systems for a robot. When the page is selected, the current values are displayed. A grid is used to display all of the values for the locals you can define. Local 0 is the base coordinate system and cannot be changed from this page. NOTE ) To change the base coordinate system, use the Base command from the command window. See the SPEL+ Language Reference for more information.
5. The EPSON RC+ 5.0 GUI Using the Local Wizard A wizard is provided for defining a local coordinate system. You can define a local using a single point or three points, as described in the following sections. Using the Local Wizard to teach a single point local 1. Open the Robot Manager and click on Locals to show the Locals page. 2. Click the Local Wizard button. You will see the dialog shown below. 3. Select the local number you want to define. For How many points will be used, select 1 - Origin.
5. The EPSON RC+ 5.0 GUI 4. We will now teach the local origin point. Click the Teach button to open the Local Wizard Teach Point dialog. 5. Jog the robot until the end effector is aligned with the local origin point. Then click the Teach button. 6. The new local definition is displayed as shown below. Click Finish to accept the new definition. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI Using the Local Wizard to teach a three point local 1. Open the Robot Manager and click on Locals to show the Locals page. 2. Click the Local Wizard button. You will see the dialog shown below. 3. Select the local number you want to define. For How many points will be used, select 3 - Origin, X, Y. Since this is a three point local, you will teach the origin of the new coordinate system, and then teach one point anywhere along the X axis and one point anywhere along the Y axis.
5. The EPSON RC+ 5.0 GUI 4. We will now teach the local origin point. Click the Teach button to open the Local Wizard Teach Point dialog. 5. Jog the robot until the end effector is aligned with the origin point. Then click the Teach button. The next step will be displayed. 6. We will now teach a point on the local X axis. Click the Teach button and jog the robot until the end effector is aligned with a point anywhere along the X axis of the new coordinate system.
5. The EPSON RC+ 5.0 GUI 7. We will now teach a point on the local Y axis. Click the Teach button and jog the robot until the end effector is aligned with a point anywhere along the Y axis of the new coordinate system. Click the Teach button on the Teach Point dialog to continue. 8. The new local definition is displayed as shown below. Click Finish to accept the new definition. 92 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Tools Page This page allows you to define tool settings for a robot. When the tab is selected, the current values are displayed. A grid is used to display all the values for all 15 tools you can define. NOTE ) When the RC180 Controller firmware is Ver.1.4.*.* or before, the row from 4 to 15 will not be displayed. When a tool is undefined, then all fields for that tool will be blank.
5. The EPSON RC+ 5.0 GUI Using the Tool Wizard 1. Open the Robot Manager and click on Tools to show the Tools page. 2. Click the Tool Wizard button. You will see the dialog shown below. 3. Select the tool you want to define and click Next. 4. Click the Teach button to open the Tool Wizard Teach Point dialog. 94 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI 5. Jog the robot until the tool is aligned with the reference point. For 6-axis robots, ensure that U = 0, V = 0, and W = 180 at the reference point. Then click the Teach button. The next step will be displayed in the wizard. 6. Click the Teach button. Jog the robot so that the tool is aligned with the reference point, but from another U angle. To do this, jog the U axis several degrees, then jog X & Y until the tool is aligned with the reference point.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Arms Page This page allows you to define Arm settings for a robot. When the tab is selected, the current Arm values are displayed. The tab is disabled if the current robot does not support the Arm command. A grid is used to display all the values for all 15 arm configurations you can define. NOTE ) When the RC180 Controller firmware is Ver.1.4.*.* or before, the row from 4 to 15 will not be displayed.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: ECP Page This page allows you to define ECP (external control point) settings for a robot. When the page is selected, the current values are displayed. NOTE ) If the ECP option is not enabled in the controller, this page will not be visible. For detailed information on using external control points in your application, see the chapter ECP Motion. A grid is used to display all of the values for all ECPs you can define.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Box Page NOTE ) When the RC180 Controller firmware is Ver.1.4.*.* or before, this page will not be displayed. This page allows you to define Box (approach check area) settings for a robot. When the page is selected, the current values are displayed. When a Box is undefined, then all fields for that Box will be blank.
5. The EPSON RC+ 5.0 GUI NOTE ) Tools: Robot Manager: Plane Page When the RC180 Controller firmware is Ver.1.4.*.* or before, this page will not be displayed. This page allows you to define Plane (approach check plane) settings for a robot. When the page is selected, the current values are displayed. When a Plane is undefined, then all fields for that Plane will be blank.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Weight Page This page is for changing the Weight parameters for the robot. For details on the Weight parameters, see the SPEL+ Language Reference. 100 Item Description Weight Type in the new total weight of the payload on the robot. Kg/Lb Choose which unit the weight is represented in: kilograms or pounds. Length Type in the new length. Apply Set the current values. Restore Revert back to the previous values.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Inertia Page This page is for changing the Inertia parameters. For details on the Inertia parameters, see the SPEL+ Language Reference. Item Description Load inertia Type in the new load inertia of the payload on the robot in kg⋅m2. This includes the inertia of end effector plus the part to be carried. Eccentricity Type in the new eccentricity value in millimeters.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: XYZ Limits Page This page allows you to configure limits for X, Y and Z motion in the robot envelope. Item Description X, Y, Z Type in the minimum and maximum X, Y, and Z limit values. Setting both values to zero disables the limits. Read Current Click this button to read the value from the current robot position. The button text shows the axis and minimum or maximum depending on which text field has the current focus. 102 Apply Set the current values.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Range Page This page allows you to configure the robot joint software limits. For more information on Range, see the SPEL+ Language Reference and the manual for the robot you are using. Item Description J1 - J6 Type in the minimum and maximum encoder pulse values for each joint. Read Current Click this button to read the current joint value of the robot into the currently field. The button text will change depending on which text field has focus.
5. The EPSON RC+ 5.0 GUI Tools: Robot Manager: Home Config Page Home Config allows you to configure the optional user home position and home order used by the Home command. Changing home position When you select the Home Config tab, the current home position is read from the robot controller and displayed in the text boxes. If the home position has never been defined, then the text boxes will be blank.
5. The EPSON RC+ 5.0 GUI 5.11.2 Task Manager Command (Tools Menu) The Task Manager window allows you to Halt (suspend), Resume, and Quit (abort) tasks. To open the Task Manager Select Task Manager from the Tools Menu. Or Type Ctrl + T. Or button on the toolbar. Click on the Operation The Task Manager is used for suspending, resuming, stepping, and stopping tasks. When Task Manager is started, you will see a grid containing status information for 16 tasks standard tasks and 4 trap tasks.
5. The EPSON RC+ 5.0 GUI Item Description Halt Suspends the selected task. This temporarily stops the task so that it can be started again with the Resume button. Halt can only be executed when a task is running (status is Run). When Halt is executed, the Resume button will be enabled. If a motion command is executing with Halt occurs, the motion will be completed before the task reaches the Halt state. The task also temporarily stops when the task is NoPause type or NoEmgAbort type.
5. The EPSON RC+ 5.0 GUI 5.11.3 I/O Label Editor Command (Tools Menu) The I/O label editor lets you define meaningful names for inputs, outputs, and memory I/O for each project. The labels can be used in your programs, from the Command window, or in macros. They are also displayed in the I/O Monitor window. To open the I/O Label Editor Select I/O Label Editor from the Tools Menu. Or Type Ctrl + L. Or Click on the button on the toolbar.
5. The EPSON RC+ 5.0 GUI To add or edit a label Select the type of I/O you want to label in the tree. After you select the I/O type, the spreadsheet will be refreshed to display the labels for that type. The number of rows in the spreadsheet equals the number of bits, bytes, or words available for the type you have selected. Use the mouse to scroll through the spreadsheet and put the cursor in the Label field next to the bit, bytes, or words number that you want to add a label to.
5. The EPSON RC+ 5.0 GUI 5.11.4 I/O Monitor Command (Tools Menu) The I/O Monitor window lets you monitor all controller hardware inputs and outputs and also memory I/O. There are up to four views available: one standard view and three custom views. On the standard view, there are two grids. For each grid you can specify which type and size of I/O to monitor. For each custom view, you can specify a list of any combination of input, output, or memory. By default, there is one custom view available.
5. The EPSON RC+ 5.0 GUI To view bytes and words in hexadecimal format, check the Hexadecimal Values checkbox. You can resize the I/O monitor in the vertical direction to show more data. Move your mouse pointer to the lower right corner of the window to activate a size handle, then click down and drag the window down or up to the desired size. Custom I/O Views You can configure up to three custom I/O views. In each view, you can add any combination of I/O.
5. The EPSON RC+ 5.0 GUI 5.11.5 Command Window Command (Tools Menu) The command window emulates an ASCII terminal that communicates directly with the robot controller. You can execute SPEL+ immediate commands from this window and view the results. To open the Command window Select Command Window from the Tools Menu Or Click on the button on the toolbar. Or Type Ctrl+M To execute SPEL+ commands from the Command window 1. Type in the desired command after the prompt (>).
5. The EPSON RC+ 5.0 GUI Key Action Ctrl+V Execute Paste command. Paste from Clipboard to current selection. Ctrl+W Re-display last command line after the prompt. Ctrl+X Execute Cut command. Cut current selection and put in Clipboard. Ctrl+Z Undo last change. Ctrl+Home Go to the top of the window. Ctrl+End Go to last prompt at end of the window. ? Translates to "PRINT " when used as the first character of a command.
5. The EPSON RC+ 5.0 GUI 5.11.7 Controller Command (Tools Menu) Select Controller from the Tools Menu to open the Controller Tools dialog. From the Controller Tools dialog, you can save and restore the complete controller configuration and the project using the Backup Controller and Restore Controller commands. You can also save and view controller status, and reset the controller.
5. The EPSON RC+ 5.0 GUI Restore Controller Use Restore Controller to load controller settings from previously saved backup data. You cannot restore the controller data while tasks are running. If you attempt to do so, an error message will be displayed. To restore controller configuration: 1. Select Tools | Controller. 2. Click on the Restore Controller button to open the Browse For Folder dialog. 3. Select the drive and folder where the information is stored.
5. The EPSON RC+ 5.0 GUI 5. Click the button to restore the system information. NOTE ) Restore the system configuration saved using Backup Controller only for the same system. When different system information is restored, the following warning message appears. Click the No button cancel restoration of data except for special situations such as controller replacement. Export Controller Status You can export the current status of the controller using this button.
5. The EPSON RC+ 5.0 GUI View Controller Status Click the View Controller Status button to view the status data stored from a previous status export (see the Export Controller Status section above). To view controller status: 1. Select Tools | Controller. 2. Click on the View Controller Status button to open the Browse For Folder dialog. 3. Select the drive and folder where the information is stored.
5. The EPSON RC+ 5.0 GUI Reset Controller Use Reset Controller to reset the current controller from within EPSON RC+ 5.0. This is equivalent to powering the controller off and on. It is useful for when you want to reset the controller state remotely because you do not have easy access to the controller power switch. For example, a development team could be using a controller for development by connecting to it using Ethernet.
5. The EPSON RC+ 5.0 GUI 5.11.9 Simulator Command (Tools Menu) This command opens the Simulator window. For instructions on using the Simulator, see chapter 8. Simulator. Shortcuts Toolbar: 5.11.10 Vision Command (Tools Menu) This command opens the Vision Guide window. For instructions on using Vision Guide, refer to the EPSON RC+ 5.0 Option Vision Guide 5.0 Manual. Shortcuts Toolbar: 5.
5. The EPSON RC+ 5.0 GUI 5.12.1 PC to Controller Communications Command (Setup Menu) The PC to Controller Communications command opens a dialog box that is used for configuring communications between your PC and the Controller. Shortcuts Toolbar: Item Description Connect Connect to the currently selected connection. Disconnect Disconnect from the current connection. Add Add a new Ethernet or virtual controller connection.
5. The EPSON RC+ 5.0 GUI 5.12.2 Controller Command (Setup Menu) The Controller command opens the Setup Controller dialog. This dialog has several pages that can be accessed by selecting them from the tree on the left side of the dialog. Setup: Controller: General Page This page allows the user to view general information about the controller. 120 Item Description Serial # Displays the serial number of the current controller. MAC Address Displays the MAC Address of the controller.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Configuration Page This page allows the user to view and change the controller configuration settings. Item Description Name Use this text box to change the controller name. You may use any name up to 16 characters long using alphanumeric characters and underscore. IP Address Use this text box to set current IP address of the controller. The IP Address must be on the same subnet as the PC. IP Mask Use this text box to set the IP mask of the controller.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Preferences Page This page contains controller preference settings. RESET command turns off outputs When this preference is turned on, all outputs other than remote control outputs will be turned off when a Reset instruction is executed. The default setting is off.
5. The EPSON RC+ 5.0 GUI Include project files in when status exported This preference allows you to configure whether project files are included or not when the controller status is exported. See Tools | Controller for information on exporting and viewing controller status. The default setting is on. NOTE ) The project using Vision Guide cannot perfectly be stored by the Status storage. This is because some files are not transferred to the Controller.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Options This page is used to configure options in the controller. For instructions, refer to 15. Installing Controller Options. Setup: Controller: Simulator This page is used to configure the Simulator. For virtual controllers, the Enable Simulator checkbox is grayed out and checked. For real controllers, if the firmware supports simulation, then you can check the Enable Simulator checkbox. For more details, see Virtual Controller Configuration in section 8.3.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Robot Setup: Controller: Robot Model Page Use this page the set the model for the robot connected to the controller. Item Description Model Allows the user to select the robot model. You can only select a model that the current amplifier power ratings will allow. If Dry Run is active, or the controller is a virtual controller, then all robot models will be displayed.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Robot Configuration Page 126 Item Description Name Enter a Name for the robot. Serial # Enter the Serial number of the robot. Joints These checkboxes determine if the respective joint is enabled or disabled. Close Close the Setup Controller dialog. Apply Save the current changes. Restore Revert back to previous settings. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Robot Calibration Page You can calibrate each joint of the robot from this page. It is not displayed if the controller is virtual. Item Description Joint to Calibrate Select the joint that you want to Calibrate. Calibrate… This button starts the Calibration Wizard dialog that walks you through the calibration process. Calpls These are the Calpls settings for each joint. calibration wizard will calculate these values.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Robot Amplifiers Page This page shows the power values for the motor amplifiers installed in the controller. It is not displayed if the controller is virtual. Item Description Robot Amplifiers This shows the power for each robot amplifier currently in the controller. Close Close the Setup Controller dialog. The motor amplifiers and the motor powers may not be the same.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Remote Control Inputs Page Use this page to configure the controller remote control inputs. Item NOTE ) Description Input # Select an input bit to use for the corresponding input signal. Select "Not used" to disable the remote input. For example, if “Start” is assigned to I/O input bit 0, select “Not used” to use this as a normal I/O input. Close Close the Setup Controller dialog. Apply Save the current changes.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Remote Control Outputs Page Use this page to configure the controller remote control outputs. NOTE ) 130 Item Description Output # Select an output bit to use for the corresponding output signal. Select "Not used" to disable the remote output. For example, if “Ready” is assigned to I/O output bit 0, select “Not used” to use this as a normal I/O output. Close Close the Setup Controller dialog. Apply Save the current changes.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Remote: Ethernet Use this page to configure the Remote Ethernet. These settings are necessary when the control device is “Remote Ethernet”, or when the operator acquires the value using the Remote Ethernet while the control device is not “Remote Ethernet”. Item Description TCP/IP port Input the port number used by the Remote Ethernet client. Select a port that is not used for other TCP/IP communications.
5. The EPSON RC+ 5.0 GUI Setup: Controller: Remote: RS232 Use this page to configure the Remote RS232. When the Remote RS-232C port is not installed to the Controller, RS232 is not shown in the tree. These settings are necessary when the control device is “Remote Ethernet”, or when the operator acquires the value using the Remote Ethernet while the control device is not “Remote Ethernet”. Item Description Port Specify a port No. used for remote RS232 communication.
5. The EPSON RC+ 5.0 GUI Setup: Controller: RS232 Pages There is one page for each RS232 port installed in the controller. If there are no RS232 ports installed in the controller, then no RS232 selections are visible in the tree. To configure an RS-232 port 1. Select Controller from the Setup Menu and select the page for the RS232 port you want to configure. 2. Change the settings as desired. You can also click the Defaults button to use default settings. 3.
5. The EPSON RC+ 5.0 GUI 4. Change the other settings as desired. 5. Click Apply to save the new settings and click Close. 5.12.3 Preferences Command (Setup Menu) The Preferences command opens a dialog that contains several pages that are used to configure user preferences for the EPSON RC+ 5.0 environment. To open the Preferences dialog, select Setup | Preferences . Setup: Preferences: Startup Setup: Preferences: Startup: Start Mode Page From the Start Mode page, you can choose whether EPSON RC+ 5.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Startup: Auto Start Page Item Description Start EPSON RC+ afterCheck this box if you want EPSON RC+ 5.0 to automatically start after Windows starts. Windows start Command line options Enter the command line options used when EPSON RC+ 5.0 is automatically started. This has no effect if the Start EPSON RC+ 5.0 with Windows start checkbox is not checked. Apply Save the current changes. Restore Revert back to previous settings.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Startup: Windows Login Page The Windows Login page allows you to configure your PC to automatically login a user when Windows starts. This is useful when the PC is used to run EPSON RC+ 5.0 in Auto mode and display an operator window. The operator does not have to login to Windows. Item Description Enable windows autoCheck this box if you want to automatically login to Windows when it starts. You must supply a valid user name, password, login and domain.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Workspace Page From this page, you can configure your workspace preferences. Item Description Auto file save Checking this box will cause EPSON RC+ 5.0 to automatically save any open files before executing a command that requires the file to be saved. For example, if a file needs to be saved before executing a project build, the file will automatically be saved before running the build. Default is On.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Editor Page This page is used to configure your preferences for the program editor windows. 138 Item Description Auto Indent Check this box if you want new lines to follow the indentation for the previous line. Also, lines will automatically be indented after Do, If, Else, For, Select, and Case statements. Default is on. Auto End Construct Check this box if you want EPSON RC+ 5.0 to add the end construct statement for a loop construct.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Robot Manager: General Page This page lets you configure your preferences for the Robot Manager. Item Description Display Choose if you want the Robot Manager to be displayed as an MDI Window or as a Dialog. Close Close the Preferences dialog Apply Apply the current settings. Restore Revert back to the previous settings. Defaults Set default values. Close Close the Preferences dialog.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Robot Manager: Jogging Page This page lets you configure the Robot Manager Jog and Teach page. Setting Jog Button Orientation The jog button orientations are useful for “aligning” your PC monitor with the robot’s Cartesian coordinate system. Align the buttons so that the robot moves in the direction of the arrows.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Run Window Page This page allows you to change preferences for the Run Window. Item Description Confirm Start This checkbox allows you to select if you want to see a confirmation message box before a program is started. Clear text window on start Checking this will cause the Run Window text pane to be cleared each time the Start button is clicked.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Command Window Page This page allows you to change preferences for the Command Window. 142 Item Description Preserve contents Checking this option will cause the command window to preserve its contents between sessions. Font Click on the Font button to change the font for the Command window. Apply Save the current changes. Restore Revert back to the previous values. Defaults Set default values. Close Close the Preferences dialog. EPSON RC+ 5.
5. The EPSON RC+ 5.0 GUI Setup: Preferences: Language This page allows you to change the EPSON RC+ 5.0 GUI language. When EPSON RC+ 5.0 is installed on a Windows system using a Western language, then the English, German, and French selections are available. When it is installed on a Windows system using Japanese, then Japanese and English selections are available. When it is installed on a Windows system using Chinese, then English, Chinese (Simplified), and Chinese (Traditional) are available.
5. The EPSON RC+ 5.0 GUI 5.13 Window Menu The Window Menu contains selections for managing the currently open EPSON RC+ 5.0 child windows. 5.13.1 Cascade Command (Window Menu) Use Cascade to show all of the currently open files in windows of the same size, stacked one on top of another. 5.13.2 Tile Horizontal Command (Window Menu) Use Tile Horizontal to evenly display all open windows horizontally. 144 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI 5.13.3 Tile Vertical Command (Window Menu) Use Tile Vertical to evenly display all open windows vertically. 5.13.4 Arrange Icons Command (Window Menu) Arrange the icons for all child windows that have been minimized. 5.13.5 Close All Command (Window Menu) This command closes all EPSON RC+ 5.0 child windows. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
5. The EPSON RC+ 5.0 GUI 5.13.6 1, 2, 3 Command (Window Menu) A list of currently open document windows is displayed at the bottom of the Window Menu. When you choose an open window from the listing, you make that document active. A check mark appears in front of the document name of the currently active window. 5.13.7 Windows Command (Window Menu) This command displays a dialog that contains a list of all currently open EPSON RC+ 5.0 windows.
5. The EPSON RC+ 5.0 GUI 5.14 Help Menu The Help Menu contains selections for accessing the help system and manuals along with version information. 5.14.1 How Do I Command (Help Menu) Select How Do I to view topics that contain information for performing common tasks in EPSON RC+ 5.0. Shortcuts Keys: Ctrl +F1 5.14.2 Contents Command (Help Menu) This command opens the Contents view for the EPSON RC+ 5.0 on-line help system.
5. The EPSON RC+ 5.0 GUI 5.14.3 Index Command (Help Menu) This command opens the Index view for the EPSON RC+ 5.0 on-line help system. From the Index view, as you begin typing in a keyword, the alphabetical topic list will show the keywords starting with the letters you have typed. 5.14.4 Search Command (Help Menu) This command opens the Search view for the EPSON RC+ 5.0 on-line help system.
5. The EPSON RC+ 5.0 GUI 5.14.5 Manuals Submenu (Help Menu) The Help Menu Manuals submenu contains selections for each of the manuals installed on the PC in Adobe PDF format. These include manuals for EPSON RC+ 5.0, SPEL+ Language Reference, VB Guide 5.0, Controller, and various robot models. 5.14.6 About EPSON RC+ 5.0 Command (Help Menu) The About command displays a dialog box showing the current version of the EPSON RC+ 5.0 software, along with copyright and license information.
6. The SPEL+ Language 6. The SPEL+ Language This chapter contains information about the SPEL+ Language. Contents - Overview - Program structure - Commands and statements - Function and variable names - Date types - Operators - Working with variables - Working with strings - Multi-statements - Labels - Comments - Error handling - Multi-tasking - Robot coordinate systems - Robot arm orientations - Robot motion commands - Working with robot points - Input and output control - Using Traps 150 EPSON RC+ 5.
6. The SPEL+ Language 6.1 Overview SPEL+ is a BASIC-like programming language that runs in the controller. It supports multitasking, motion control, I/O control. Programs are written in ASCII text and then compiled into executable object files. Several language instructions can also be executed in immediate mode from the Command window. 6.2 Program structure 6.2.1 What is a SPEL+ program? A SPEL+ program is a collection of functions, variables, and macros. Each line in a program is a statement.
6. The SPEL+ Language 6.3 Commands and statements Commands and statements consist of a SPEL+ instruction followed by the parameters for that instruction. A command is executed immediately. You can execute commands from the Command window or from the Macros dialog box. Statements can be used only in programs. Statements can include more than one SPEL+ instruction by using a semi-colon (;) to separate instructions. The maximum length for a statement is 200 characters. This includes the line number. 6.
6. The SPEL+ Language 6.5 Data types You can declare different types of data in your program. All variables must be declared. The following table shows the different data types for the SPEL+ language. Data Type Size Range Boolean 2 byte True or False Byte 2 byte −128 to +127 Double 8 bytes −1.79E+308 to 1.79E+308 Number of significant figure is 14 Integer 2 bytes −32768 to +32767 Long 4 bytes −2147483648 to +2147483647 Real 4 bytes −3.40E+38 to 3.
6. The SPEL+ Language 6.7 Working with variables 6.7.1 Variable scopes There are three different scopes for variables in SPEL+: - Local - Module - Global 6.7.2 Local variables Local variables are available to all statements in the same function. Functions using local variable names can not refer to the same local variables in other functions. This is why they are called locals, because they are local to the function they are being used in.
6. The SPEL+ Language 6.7.4 Global variables Global variables can be shared between all functions in a project. The Global instruction is used to declare a global variable. To declare global variables in a program, use the Global instruction with the desired variable type (Boolean, Byte, Integer, Long, Real, Double, String) at the beginning of the program before any Function statements: One way to indicate that variables are global is to precede the name with "g_", as shown in the example below.
6. The SPEL+ Language 6.7.6 Arrays You can declare local, module, and global arrays with up to three dimensions for all data types. To declare an array, use this syntax: dataType name ( ubound1 [ , ubound2 [ , ubound3] ] ) SPEL+ arrays are zero based. The first element is referenced with a value of zero. The total available number of array elements for local and global preserve variables is 100 for strings and 1000 for all other types.
6. The SPEL+ Language 6.8 Working with strings A string in SPEL+ is a set of ASCII characters with a maximum length of 255. You must declare strings in your programs with the String instruction. All string variable names must end with a dollar sign ($) suffix. You can declare string arrays with up to three dimensions. The following table shows the string commands available in SPEL+. Keyword Description Asc Returns the decimal ASCII value of the first character in a string.
6. The SPEL+ Language 6.9 Multi-statements A program statement can contain several statements separated by semi-colons. The total length of a multi-statement program line cannot exceed 200 characters. For example: Function Test Pass P1; Pass P2; Go P3 Fend ' Multi-statement Even though multi-statements are supported (mainly for compatibility), it is strongly recommended that they not be used. Multi-statements can make your code more difficult to read and debug. 6.
6. The SPEL+ Language 6.12 Error handling When an error occurs in a SPEL+ function, you can cause execution to be transferred to an error handling routine for processing the error. The routine must be inside a function definition. The table on the next page shows the program instructions that are used for error handling. Item Purpose OnErr Use the OnErr statement to define the location of the error handling routine. Err Use Err to retrieve the number for the current error status.
6. The SPEL+ Language Example The following example shows a simple error handling routine. When an error occurs, program execution goes to the ErrHandler label, where the error handler starts. The error number is displayed and the operator is asked to continue or not. If the operator enters "N" then the program executes the Quit All statement to end the program.
6. The SPEL+ Language 6.13 Multi-tasking For some applications, you may want to control other equipment besides the robot, such as conveyors, pick and place units, etc. By using multi-tasking, you can control this other equipment with their own tasks. SPEL+ supports up to 16 tasks running simultaneously. A task is a function that has been started by the system or by the Xqt statement. Use the Xqt statement to start another task from within a function.
6. The SPEL+ Language 6.14 Robot coordinate systems 6.14.1 Overview In this section we discuss the coordinate systems for different types of robots supported in SPEL+. The following coordinate systems are used in SPEL+: Robot Coordinate System This is the native coordinate system of the robot. This is also known as the default base coordinate system. Local Coordinate System This is a user defined coordinate system located somewhere within the working envelop.
6. The SPEL+ Language Robot Coordinate Systems for 6-Axis Robot Floor Mounting Ceiling Mounting Side (Wall) Mounting EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
6. The SPEL+ Language Robot Coordinate Systems for RS series View from this direction Y+ Origin X+ Robot coordinate system Z axis Robot coordinate system U axis +Y ± 360° -X Z=0 -U -Z View from this direction +U Joint #3 in the center 164 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
6. The SPEL+ Language 6.14.3 Local Coordinate Systems With SPEL+, a maximum of 15 local coordinate systems can be defined. SPEL+ correlates robot coordinate systems and local coordinate systems by defining in advance the relative positional relationship of the local coordinate system from the robot coordinate system, assigning local numbers (1 to 15), and then assigning the local numbers to coordinate system attributes (local). To define a local coordinate system, use the Local statement. 6.14.
6. The SPEL+ Language 6.14.5 ECP Coordinate Systems (Option) Specify a coordinate system whose origin point is on the tip of the outside fixed tool (hereafter referred to as the external control point or ECP) to move the robot arm holding a part in the trajectory made on the external control point along with the part’s edges. External Control Point (ECP) Part Outside Fixed Tool Use the ECPSet statement for defining an ECP coordinate system. A maximum of 15 ECP coordinate systems can be defined.
6. The SPEL+ Language 6.15 Robot arm orientations When developing a robot a program, it is necessary to specify the point data taught for a particular arm orientation. If you fail to do so, the position can deviate slightly depending on the arm orientation, which in turn can cause the arm to follow an unexpected path, resulting in interference with peripheral equipment.
6. The SPEL+ Language 6.15.2 6-Axis robot arm orientations The 6-Axis robot can be operated in various arm orientations within a given work envelope as shown below: 168 Righty hand orientation Lefty hand orientation Above elbow orientation Below elbow orientation NoFlip wrist orientation Flip wrist orientation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
6. The SPEL+ Language To specify orientation for the 6-Axis robot, add a forward slash (/) followed by L (for Lefty hand orientation) or R (Righty hand orientation), A (Above elbow orientation) or B (Below elbow orientation), and NF (NoFlip wrist orientation) or F (Flip wrist orientation). There are eight available orientations as shown below, however, the 6-Axis robot cannot be operated in all of the orientations depending on point.
6. The SPEL+ Language PTP motion near the singularity When jogging a robot from a point near the singularity to a point calculated by point operations such as P1+X(10), the robot may move to unintended direction because the arm orientation is not properly specified. For example, when jogging from a point where the wrist is NoFlip to another point calculated by point operations, if the wrist keeps the NoFlip orientation while jogging, Joints #4 and #6 may rotate widely (by approx. 180 degrees).
6. The SPEL+ Language LJM function for CP motion command LJM function and AutoLJM command described above are also available for CP motion commands. However, since CP motion commands give priority to operate based on specified trajectories, the manipulator sometimes reach to the point with a different posture from the specified one. At this time, if CP motion command is used with CP On, an error from 4274 to 4278 will occur according to the mismatched point flag.
6. The SPEL+ Language 6.15.3 RS series arm orientations The RS series can be operated in various arm orientations within a given work envelope as shown below: 172 Lefty arm orientation Righty arm orientation J1 F0 arm orientation J1 F1 arm orientation J2 F0 arm orientation J2 F1 arm orientation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
6. The SPEL+ Language To specify orientation for the RS series, add a forward slash (/) followed by L (for Lefty hand orientation) or R (Righty hand orientation), J1F0 or J1F1, J2F0 or J2F1. The RS series can have the same position and orientation even if the first joint or second joint are rotated 360 degrees. To distinguish these points, the J1Flag and J2Flag point attributes are provided.
6. The SPEL+ Language 6.16 Robot motion commands SPEL+ includes several commands for controlling the robot from your programs. 6.16.1 Homing the robot The Home command moves the robot to a user defined "park" or "idle" position. This command works for all robots. It is mainly used for absolute encoder robots that normally do not need to be mechanically homed. Use the HomeSet command to set the home position and the Hordr command to set the home order. 6.16.
6. The SPEL+ Language 6.16.5 Joint motion Command Description JTran The JTran command can be used to move one joint of the robot to position specified in degrees or millimeters, depending on the joint type. The speed and acceleration are the same as for point to point motion commands. PTran The PTran command can be used to move one joint of the robot to an encoder pulse position. The speed and acceleration are the same as for point to point motion commands.
6. The SPEL+ Language 6.16.8 PTP Speed / Acceleration for Small Distances You can change the speed and acceleration for small distances using PTPBoost and PTPBoostOK. Normally, PTPBoost is not required. In certain cases, you may want to shorten the cycle time even if vibration becomes larger, or conversely you may want to reduce vibration even if cycle time becomes longer. PTPBoost is a robot parameter with values from 0 – 100 that affects the speed and acceleration for small distances.
6. The SPEL+ Language 6.17 Working with robot points A robot point is a set of coordinates that define a position in the robot work envelope. For SCARA and Cartesian robots, a point is defined by the position data (X, Y, Z) within the reference rectangular coordinate space and the orientation data (U) which is the rotation about the Z axis of the rectangular coordinate.
6. The SPEL+ Language 6.17.4 Using points in a program When starting programs, the default point file for the robot is loaded. You can also load other points in the program using the LoadPoints statement. Function main Integer i LoadPoints "model1.pts" For i = 0 To 10 Jump pick Jump place Next i Fend 6.17.5 Saving and loading points Use LoadPoints to load a point file in the current project.
6. The SPEL+ Language Elbow point attribute To specify elbow orientation for the 6-Axis robot in a point assignment statement, add a forward slash (/) followed by A (Above elbow orientation) or B (Below elbow orientation), Elbow orientation is Below. P1 = XY(0, 600, 400, 90, 0, 180) /B You can read and set point elbow orientation using the Elbow statement and function.
6. The SPEL+ Language 6.17.7 Extracting and setting point coordinates Use the CX, CY, CZ, CU, CV, and CW commands to get a coordinate of a point or set it. xcoord = CX(P1) P2 = XY(xcoord, 200, -20, 0) ycoord = CY(P*) ' Gets current Y position coordinate CX(pick) = 25.5 CY(pick) = CY(pick) + 2.3 6.17.8 Alteration of points There are several ways of modifying a point without re-teaching it. You can change one or more coordinate values with relative offsets or absolute values.
6. The SPEL+ Language 6.18 Input and output control 6.18.1 Hardware I/O There are 24 DC inputs and 16 DC outputs on a standard controller. 8 inputs and 8 outputs are assigned to remote function. However, these inputs and outputs can be reset and be used as standard I/O. By purchasing I/O boards, you can add additional 128 inputs and 128 outputs. You can also add Fieldbus I/O option that allows the controller to function as a Fieldbus slave. See I/O Systems chapter for details. 6.18.
6. The SPEL+ Language 6.19 Using Traps Traps are used to cause program execution to jump to a label or enable a function to be called or executed as a task when a certain event occurs. Four traps are user defined and are triggered by an input condition. Note that Traps must be re-armed before they will fire again. To re-arm a trap, execute a Trap statement at the end of the trap function. You should keep trap functions short and avoid continuous loops. You cannot execute motion commands in trap functions.
6. The SPEL+ Language 6.20 Special Tasks Each task of SPEL+ pauses by Pause input or Safety Door open and stops by Emergency Stop or Error. Therefore you cannot create a system that monitors the whole system. RC90/RC180 controller is designed to use upper level PLC or PC to monitor the whole system. However, you may require a system that continues at Pause input or Safety Door open and need to handle the Emergency Stop or error with the controller.
6. The SPEL+ Language Outputs off during Emergency Stop Uncheck Outputs off during Emergency Stop in the Preferences page of Setup Controller to execute I/O On/Off using the NoEmgAbort task after Emergency Stop. If this check box is checked, the execution order of turn Off by the controller and turn On using the task are not guaranteed. NoPause Task NoPause task continues the operation during the Pause or Safety Door open condition.
6. The SPEL+ Language Task Exection Normal NoPause NoEmgAbort Omit the task type in Xqt statement, or specify Normal for the task type. Xqt NormalTask Xqt NormalTask, Normal Specify NoPause in Xqt statement. Xqt NoPauseTask, NoPause Specify NoEmgAbort in Xqt statement. Xqt NoEmgAbortTask, NoEmgAbort You cannot change the task type after executing a task. main to main7 that are executed at the beginning of the program are executed as normal tasks. Tasks executed in Trap Xqt are normal tasks.
7. Building SPEL+ Applications 7. Building SPEL+ Applications 7.1 Designing Applications 7.1.1 Creating the simplest application The simplest SPEL+ application has one program and one point file. This is what is automatically defined for you when you create a new project. A blank program named Main.prg (Program.prg for simple mode) and a blank point file named Points.pts are created. To write and run a simple application 1. Select New Project from the Project Menu to create a new project. 2.
7. Building SPEL+ Applications Operators can select from 1 to 8 programs that you specify. They can also optionally use the I/O Monitor, Robot Manager, and System History viewer. To use the Operator Window, a PC must be connected to the controller. The RC90/RC180 Control Device must be set to PC. For details on configuring EPSON RC+ 5.0 for auto start, see section Start Mode in the Operation chapter. Remote Control Use remote control to turn motors on/off, home the robot, start programs, etc.
7. Building SPEL+ Applications 7.2 Managing Projects 7.2.1 Overview What is an EPSON RC+ 5.0 Project? An EPSON RC+ 5.0 project is a collection of SPEL+ program files, robot point files, and setup parameters used to run a SPEL+ application. Why do you need projects? Projects are a safe and convenient way to manage your SPEL+ applications. All the information for each application is kept in one project.
7. Building SPEL+ Applications 7.2.2 Creating a new project Projects can be created on any drive on your system. Projects always reside in the \EpsonRC50\Projects directory or sub-directory. To create a new project 1. Select New Project from the Project Menu. The New Project dialog box will appear. 2. Select the disk drive where you want the project to be stored on. 3. Select the project directory or create a new directory by clicking the New Folder button after selecting the parent directory. 4.
7. Building SPEL+ Applications 7.2.4 Building a project Before you can run any of the code in your application, you must build the project. To build your application project Select Build from the Project Menu or click on the Build button on the toolbar. Or Select Rebuild from the Project Menu. This will rebuild the entire project. Or Select Run Window from the Run Menu or click the Run button project will be built before the Run Window appears. on the toolbar.
7. Building SPEL+ Applications 7.2.5 Making copies of projects Use the Copy Project command in the Project Menu to copy all of the files in the current project to another disk drive or directory. You can also save the project under a different name. This command is useful for making backups or for transferring a project to an external media such as a USB memory key so that it can be loaded on another machine.
7. Building SPEL+ Applications 7.3 Editing Programs Before you can edit a program, it must be in the current project and opened in a program editor window. When you first create a new project, this is done for you automatically. You can open several program editors during one session. To open a program for editing 1. Select Open from the File Menu. 2. Select the file(s) you want to open. 3. Choose OK to open the file. 7.3.1 Program rules A program contain one or more SPEL+ function definitions.
7. Building SPEL+ Applications 7.3.3 Syntax Help When you type in a SPEL+ keyword or user function, the syntax help window will appear to show the syntax of the statement or function. After the statement is entered, the syntax helper will automatically close, or you can press the Esc key to close it. You can enable / disable Syntax Help from the Setup | Preferences | Editor tab. A list box will be displayed for some parameters as you type.
7. Building SPEL+ Applications 7.3.4 Syntax Errors When a syntax error is detected, the line with the error will be displayed in red. If the caret is placed on the line with the error, then a brief message will be displayed on the status bar. For example, in the program shown below, the message "Expression expected" is displayed on the status bar. Red indicates syntax error Error message in status bar 194 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
7. Building SPEL+ Applications 7.4 Editing Points EPSON RC+ 5.0 provides a spreadsheet editor for robot points. You can define new points or cut, copy, and paste points from one point file to another, including between projects. Robot teach point definitions are kept in files on your PC and in the robot controller. EPSON RC+ 5.0 always keeps project point files in the robot controller up to date with the files on the PC. To open a point file for editing 1.
7. Building SPEL+ Applications Wrist column Drop down list with two values for robot wrist orientation: Flip and NoFlip. This column is shown only for 6-axis robots. J4Flag column Drop down list with two values for robot J4Flag: 0 and 1. This column is shown only for 6-axis robots. J6Flag column Drop down list with values for robot J6Flag: 0 - 127. This column is shown only for 6-axis robots. J1Flag column Drop down list with values for robot J1Flag: 0 and 1. This column is shown only for RS series.
7. Building SPEL+ Applications 7.5 Running and Debugging Programs You can run programs from the Run Window or from the Operator Window. The Run Window is used primarily for testing and debugging. The Operator Window is used as an operator interface for simple applications or demos. To run a program Select Run Window from the Run Menu. This command will build the project (if required) and open the Run Window. The Run Window allows you to choose which function to execute. Select a function, then click Start.
7. Building SPEL+ Applications 198 Item Description Text area This is the area that takes up most of the run window. Output from your programs is displayed here. When your program uses an Input statement, you can type in the requested input from this text box. You can use the scroll bars to view the entire text buffer. If an error occurs while running a program, the error number, line number and function name will be displayed in this text area.
7. Building SPEL+ Applications 7.5.2 Debugging EPSON RC+ 5.0 supports source level debugging. You can set breakpoints and step through your source code. You can also suspend a task using the Task Manager Halt command and then step through the code. Setting and clearing breakpoints Open the program where you want to set a breakpoint, then click on the line where you want to stop.
7. Building SPEL+ Applications Stepping through a program There are three commands on the Run Menu that are used for stepping through code. Step Into steps through each line and also steps into functions when a step is executed on a Call statement. Step Over steps through each line but when a Call statement is encountered, the function in the statement is executed completely. Walk executes lines until after the next motion command and then halts the task.
7. Building SPEL+ Applications After you select a function in the Call Stack list, the function will be displayed in a program window and an arrow in the left margin will point to the line where the next function in the call stack is being called. In the example below, the arrow in the SingleCycle function is pointing to the Gripper On statement to indicate that Gripper was called from SingleCycle. Displaying variables To view variable values, you can do one of the following: 1.
7. Building SPEL+ Applications 2. Select Display Variables from the Run Menu to display the variable display dialog. This dialog has three tabs for viewing Global, Module, and Local variables. You can change the value of a variable by checking the Edit check box, then type in the new value in the value column. Next, click the Write button to change the variable. When the Edit box is checked, the variable values are not automatically updated. You can click the Read button to update all values.
7. Building SPEL+ Applications 7.6 The Operator Window The Operator Window can be used as a simple interface for operators. You can configure EPSON RC+ 5.0 to open only the Operator Window when started. In addition, when Remote Control is being used, the Operator Window can be displayed for monitoring purposes. Title Status bar Operator buttons Item Description Program to Run Start the program to run. Start Start the first function in the main program. Stop Stops all tasks.
7. Building SPEL+ Applications 7.6.1 Operator Window Configuration You can configure the Operator Window from the Operator Window pages in Project | Properties. There are several settings for operator Robot Manager and I/O Monitor. See Properties Command (Project Menu) section in the chapter EPSON RC+ 5.0 GUI for details. 7.7 Using Remote Control You can design your application to be run from external equipment using hardware I/O control. This includes push button boxes, PLCs, and other PC systems.
8. Simulator 8. Simulator 8.1 Simulator Functions Simulator functions enable easy robot motion checking on your PC, which gives you flexibility to consider the system layout, measure the operation time, and create robot programs. They are useful from the introduction stage to the launch of robot system. The Simulator is supported in EPSON RC+ 5.0 Ver.5.4 or later. 8.1.
8. Simulator 8.1.2 System Requirements Recommended specification When using CAD data, we recommend using a PC running Windows 7 Professional 32 bit version. OS CPU Memory Hard disk spare capacity Graphic Windows 7 Professional 32 bit version Core i3 or more 1 GB or more 4 GB or more DirectX9 or later must be available. OpenGL2.1 or later must be supported. Minimum specification To use one robot with several peripherals and operate them in a simple manner, the following environment is required.
8. Simulator 8.2 Using the Simulator You can try the simulation functions using the provided sample virtual controllers and projects. See section 8.2.1 Working with the samples. You can also select the robot model and build your own system. See section 8.2.2 Working with a user created system. 8.2.1 Working with the samples You can operate a robot easily using the samples provided. Follow the steps below: 1. Connect with a sample virtual controller (robot) 2. Open the corresponding sample project 3.
8. Simulator (3) Click the button. Then, the following program window appears. 3. Display the simulator window Click the Tool bar- button. The [Robot Simulator] window appears. 208 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
8. Simulator 4. Operate the robot by executing program (1) Click the Tool bar- button. The project will be built and the (2) Click the button. The message “Are you ready to start?” appears. Click the button. The program starts and the robot moves in the 3D display. 5. Next step If you want to change the sample, follow the steps in 8.2.2 Using with a user created system - Steps 5 to 7. If you want to create your own system, start from Step 1.
8. Simulator Click the button. (2) The [New Controller Connection] dialog appears. Select the option button and click the button. (3) A new virtual controller named “Virtual 1” is created. Click the button. (4) Close the dialog to return to the EPSON RC+ 5.0 main window. 2. Connect with the virtual controller (1) Select the created “Virtual 1” connection from the EPSON RC+ 5.0 Tool bar list box.
8. Simulator 3. Configure a robot In this tutorial, a G6-551S robot model is used. (1) Select the EPSON RC+ 5.0 menu-[Setup]-[Controller]. (2) Select the [Robot]-[Model] from the tree on the left side of the window. The [Robot Model] page appears. (3) Select “G6-551S” from the [Model] list box. (4) Click the button. The message “Restarting Controller” appears. (5) When the message disappears, close the window and go back to the EPSON RC+ 5.0 main window. 4.
8. Simulator 5. Place the objects For this tutorial, we will add a box to the layout. (1) Drag & drop the button on the Tool bar to the [2D Layout] panel. (2) Select “SBox_1” from the [Layout Objects] and change the [Property]-[Position]. For this tutorial, enter X = 600, Y = 300. TIP ) To change the position, you can also drag the objects in the [2D Layout] panel. To save the layout change, execute the EPSON RC+ 5.0 menu-[File]-[Save]. 6.
8. Simulator (2)-3 Select the [Jog & Teach] tab. The following window appears. (2)-4 In the [Robot Simulator] window, move the robot joint to a point where it does not interfere with the box. To move the robot joint, drag the robot joint while simultaneously pressing the key. (2)-5 Go back to the [Robot Manager] window and click the button on the lower right. The message appears to confirm the operation. Click the button. (2)-6 The [New Point Information] dialog appears.
8. Simulator 7. Operate the robot by executing program (1) Click the Tool bar- button. The following dialog appears. (2) Click the button. The message “Are you ready to start?” appears. Click button. The program starts and the robot moves in the 3D display. 8. Measure the robot operation time The elapsed program run time (cycle time) is displayed in the Tool bar of the [Robot Simulator] window. It is the execution time of the program from start to finish.
8. Simulator NOTE ) TIP ) (5) Select “main2” in the [Function] dropdown list. (6) Click the button. The message “Are you ready to start?” appears. Click the button. The program starts and the robot moves in the 3D display. Now, the cycle time displayed in the Tool bar is the execution time to move the robot from P0 to P1. When you operate the real robot, the actual cycle time will be longer than the simulated cycle time according to the model, Fine, load settings. For details, refer to 8.
8. Simulator 8.3 Description of Functions This section describes how to use the simulator window and its functions. 8.3.1 Simulator window layout (1) Tool bar (5) 3D Display shows the robot orientation and motion from various points of view. (2) Layout Objects shows the list of robots and layout objects. (4) 2D Layout Places and shows the robot and layout object positions. (3) Property Grid shows the settings of the robots and layout objects.
8. Simulator Button Description Create Movie Plays a simulation result (log file) in the Playback mode and saves into a movie file. A dialog appears to specify the file and format to save. Shows the program execution time as if you ran the same program with a real controller (RC180/RC90). Elapsed Time When a program starts, the elapsed time counter counts from 0 and stops when the program finished. It pauses counting when the program is paused and resumes when the program continues execution.
8. Simulator (3) Property Grid Pane In the Property Grid pane, you can view and change the settings of the robot objects and layout objects in the Layout Object pane. ◆ Robot Object Properties Robot Property Value Name Robot name You can specify any name for a robot. Type Robot type The robot type (Scara, 6-Axis, and RS) is shown. This property is readonly. Series Robot series The robot series is shown. This property is read-only. Model Robot model name The robot model is shown.
8. Simulator Check Self Collision Enables / disables the collision detection for a robot itself. Enable : True (default) Disable : False Changing the robot model When you want to change the displayed robot model, click on the button in the Change Robot property and the dialog shown below will be displayed. If you cannot see the button, increase the property grid width and click once on the [Value] column of the grid. Select a new robot type, series, mode and click on the button.
8. Simulator Points Display the point display setting status in the point file. Switch to show/non-show all points. Property Description File Name Show a point file name. Visible Shows / Not show all points Visible : Check Not visible : Uncheck If it is set to show some points, the check box shows indeterminate state. Point If the point of the corresponding number is not defined yet, the check box is grayed.
8. Simulator Hand When a hand is registered with a robot, “Hand” is added in the Layout Objects tree. Property Value Name Hand name You can specify any name for a hand. (Default: Hand) Position Mounting offset from the robot end effector position. Rotation Hand mounting direction File name CAD data file name of the hand It cannot be changed. Visible Visible Not visible Check Collision Detect collision : True (default) : True (default) : False Not detect collision EPSON RC+ 5.0 (Ver.5.
8. Simulator ◆ Layout Object Layout Box / Layout Sphere / Layout Cylinder / Layout Plane / CAD There are common attributes for all objects and others are for particular objects. Property Object Description Name All You can specify any name. Type Plane Floor Wall Position All Specifies a center point in simulator World coordinates. : Horizontal (default ) : Vertical Layout Cylinder: Bottom surface center 222 Half size Box Specifies a length from the center.
8. Simulator Height Cylinder Cylinder height Plane Floor length / Wall height Width Plane Floor width / Wall width Rotation All Object angle (Z-axis centering) File name CAD CAD data file name. It cannot be changed. Color Box Display color Sphere Click the drop-down Cylinder The display color setting dialog will be displayed. Visible All Refer to Change layout object color for the details. Visible : True (default) Not visible : False Check Collision All to change display color.
8. Simulator Change layout object color When you want to change layout object color, click on the drop-down in the Color property and the dialog shown below will be displayed. If you cannot see the drop-down , increase the property grid width. Click color you want to display. Layout object color will be changed. If you do not want to change color, click anywhere other than the display color setting window. The window will be closed.
8. Simulator (4) 2D Layout In the [2D Layout] panel, you can add layout objects, or modify and check the robot objects and layout objects positions. Adding a layout object Drag and drop a tool button (Box, Sphere, Cylinder, etc.) onto the [2D layout] panel. When you add a layout object while a robot object is selected in the [Layout Objects], the added object is a separate object.
8. Simulator (5) 3D Display In the 3D display, you can check the robot orientation and motion from various points of view. Change the robot / layout object position To display a guide which indicates the directions to move, press the key and click on the object (box, etc.). To move the object, drag the grid corresponding to the axis. Rotate the robot / layout object To rotate a layout object around the z-axis, press the key and move the object (box, etc.).
8. Simulator Check for collisions When a collision between a robot and layout object is detected, the collided robot joint and layout object are displayed in red. For details, refer to 8.3.3 Collision detection. EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
8. Simulator (6) Record / Playback In Playback mode, you can record and produce simulation results. Also, you can store the simulation results in movie files. Function Description RECORD , it saves the simulation result into the When the button is red specified log file. Every time you execute the program, the log file is overwritten with the new information. , it doesn’t save the simulation result. When the button is gray As the default, it doesn’t save the simulation result.
8. Simulator 8.3.2 Simulator Settings When you click the Tool bar- button, the [Simulator Settings] dialog appears. These settings are valid while EPSON RC+ 5.0 is running. However, when EPSON RC+ 5.0 is restarted, they return to the default settings. Render options In the [Render options] dialog above, you can specify the 3D display method. The specified display method is valid while EPSON RC+ 5.0 is running. However, when EPSON RC+ 5.
8. Simulator Produce the robot motion by outputting to a recording file (1) Confirm that the mode is “Simulation” mode on the Simulator Tool bar. (2) Click on the button in the [Record / Playback] window. The [New Recording] dialog appears. (3) Here, enter “TestPlayBack” and click the button. Now, you can see “TestPlayBack” in the Recording list. (4) Click on the button in the [Record / Playback] window, which enables . recording.
8. Simulator 8.3.3 Collision detection In the simulation, collisions can be detected between the robots including its hand and the layout objects. Here we describe the settings and details of collision detection. Basic settings for collision detection In the [Property Grid] of the robot, the following can be configured. Property Value Check Collision Enables / disables the collision detection for layout objects.
8. Simulator It cannot guarantee that it has enough time for robots to stop when the simulator detects the collision. Caution about the collision detection of Floor / Wall A collision is detected when a floor or wall is in contact with the robot. If the robot or plane positions are changed so that the robot passes completely through the plane, then no collision is detected. Accuracy of collision detection The collision detection in the simulator cannot guarantee accuracy.
8. Simulator (4) New “Virtual 2” is created. Click the button. (5) Close the dialog and go back to the EPSON RC+ 5.0 main window. (6) Connect to “Virtual 2” and display the simulator window. The robot setting and layout setting of 3D display has been taken over from “Virtual 1”. (7) When you want to change the robot type, use the [Change Robot] in the robot object property. For details, refer to 8.3.1 Simulator window structure – (3) Property Grid.
8. Simulator Enable the Simulator in controller From the [Setup]-[Controller]-[Simulator], check the [Enable Simulator] check box to enable the simulator function. After checking the check box, click the button and then click the button. If collision with the simulator object is detected during a Jog motion or a robot motion command execution when the Simulator is enabled, the Manipulator stops operation and a Warning occurs.
8. Simulator 8.4 Simulator Specifications and Restrictions This section describes the simulator specification, its restrictions, and precautionary statements. 8.4.1 EPSON RC+ 5.0 package EPSON RC+ 5.0 has two packages: - EPSON RC+ 5.0 : Standard package for developing the robot system - EPSON RC+ 5.0 Trial : Trial package for limited use (program execution on PC) * It cannot connect with an RC180 robot controller. Program execution on PC EPSON RC+ 5.0 EPSON RC+ 5.
8. Simulator CAD data setup orientation Some CAD data coordinates may be different from those of the simulator. Adjust the coordinates to the correct position by changing [Property]-[ Rotation] after loading the CAD data. When loading CAD data as a hand, set the origin of the CAD data in the Tool0 position of the manipulator. Set the coordinates to the correct position by changing [Property][ Position] after loading the CAD data.
8. Simulator Collision Detection Precision The Simulator Collision Detection provides an indication whether robots collide with the peripheral equipment or not when the program is executed. It does not consider the error in trajectory due to servo delay. Be aware that a margin is necessary for the real robot system. The Simulator judges collisions more accurately when the robot motion speed is slow. The judgment of collision detection during program execution is accomplished with the 3D display update.
8. Simulator 8.4.4 Specification and precaution of EPSON RC+ Restriction on the controller settings When you connect with a virtual controller, the following items are grayed and become unavailable to change. - Setup: Controller: Configuration Page: IP Address, etc. - Setup: Controller: Preference Page: Dry run, etc. Backup and restore of the controller setting The setting data that you backup in the virtual controller cannot be restored in a controller.
8. Simulator (3) Ethernet / RS-232C communication command (Print #, Input #, OpenCom, OpenNet, etc.) All ports including the option RS-232C board are available in a virtual controller. However, an Ethernet port requires configuration of the IP address and TCP/IP port. Ethernet / RS-232C communication commands do not perform actual communication. Output data from Print #, etc. is saved in the communication output file. In the input by Input#, etc, the return value is 0 (numeric data) or blank (string).
8. Simulator (4) Vision command (VRun, VGet, etc.) For Vision-related commands, the communication with Smart Camera (SC300 / SC1200) is not performed and the command quickly executes. If you execute VGet, the return value is 0 (numeric data) or blank (string). (5) Other restrictions For the Wait command, the following syntax is not supported: Wait InsideBox() Wait InsidePlane() For the Time and Date commands, the time can be displayed, but the time setting is not available.
9. Robot Configuration 9. Robot Configuration This chapter contains information for configuring robots installed on the controller. Robots are configured from the Robots folder on the Setup | Controller dialog tree. 9.1 Setting the Robot Model 1. From the Setup Menu, select Controller. 2. Click on the Robot folder in the tree on the left side to open the Robot Model page. 3. Select the model for your robot from the Model dropdown list.
9. Robot Configuration 9.2 Calibrating the Robot EPSON RC+ 5.0 provides a calibration wizard for calculating the robot calibration parameters Hofs and Calpls. To calibrate the robot: 1. From the Setup Menu, select Controller. 2. Click on the Robot folder in the tree on the left side to open the Robot Calibration page. 3. Select the joint to calibrate. 4. Click the Calibrate button to start the calibration wizard. The instructions for each step are shown on the right side of the dialog. 5.
9. Robot Configuration 7. For SCARA robots, reset the encoder for the selected joint as described on the dialog. For 6-axis robots, the encoder for the selected joint is automatically reset. 8. Click the Next button to view the next step. The controller is restarted before step 3 is displayed. 9. Select a point in the current project. By default, a Jump command will be inserted into the Motion command to move to reference point text box.
9. Robot Configuration 13. Click the Next button to view the next step. 14. Click the Finish button to save the calibration settings for the selected joint. 244 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
9. Robot Configuration 9.3 Changing Robot System Parameters The following system parameters for the robot can be changed from EPSON RC+ 5.0: - Enable/Disable Joints You can disable one or more joints from Setup | Controller | Robot | Configuration. On robots with ball screw Z axis, you must disable both joints 3 and 4 together. - Hofs Hofs are the joint home offsets. You can view and edit the values from Setup | Controller | Robot | Hofs.
10. Inputs and Outputs 10. Inputs and Outputs 10.1 Overview The RC90/RC180 controller I/O has the following types of I/O: Standard I/O This digital I/O comes standard with the controller. Expansion I/O This is optional digital I/O that can be added to the controller to expand standard I/O. For the RC180 controllers, up to four boards can be added, each with 32 inputs and 32 outputs. For the RC90 controllers, up to two boards can be added, each with 24 inputs and 16 outputs.
10. Inputs and Outputs 10.3 I/O Configuration To view the current I/O configuration, select Setup | Controller | Inputs and Outputs. This will show you what I/O is installed on the controller. Standard and expansion I/O is automatically configured by the controller. expansion I/O boards, see the controller manual. To add The optional fieldbus I/O board is automatically detected. You must configure the device ID using a DIP switch on the controller. See the controller manual for details. 10.
11. Remote Control 11. Remote Control 11.1 Overview The controller can be controlled by external equipment using Input/Output, Ethernet (TCP/IP), and RS-232C. The external equipment can execute several commands, including Motor On/Off, Start, Pause, Continue, and Stop. For details on extended function of the remote I/O, refer to EPSON RC+ 5.0 Remote Control Reference manual. For use of Ethernet, refer to the section 11.10 Remote Ethernet. For use of RS-232C, refer to the section 11.11 Remote RS232.
11. Remote Control 11.2 Remote Control Input Output Configuration This is the procedure to assign the remote functions to the I/O. 1. Select Controller from the Setup Menu and select the Remote Control Inputs or Remote Control Outputs page. 2. For each input or output you want to use for remote control, click on the Input # or Output # cell for the desired signal, then click the arrow and select a bit number. 3. Click OK to save the new settings. For details of dialog setting, refer to 5.12.
11. Remote Control 11.4 Auto Mode with Remote Control To run in auto cycle with remote control 1. The host device (e.g. PLC) should wait for the AutoMode or Ready remote output to turn on before issuing remote commands. 2. Now the remote input commands will be accepted. To monitor remote operation from the EPSON RC+ 5.0 Operator Window 1. Set the EPSON RC+ 5.0 Start Up Mode to Auto. See the section Start Up Mode in the chapter Operation for details. 2.
11. Remote Control 11.7 Remote Inputs Remote inputs are used to control the Manipulators and start programs. Certain conditions must be met before inputs are enabled, as shown in the table below. To accept external remote inputs, assign the remote function and set remote to the control device. When external remote input is available , “AutoMode output” turns ON. Except “SelProg”, the signals execute each function when the signal starts in input acceptance condition. The function executes automatically.
11. Remote Control Function Main Main1 Main2 Main3 Main4 Main5 Main6 Main7 SelProg1 SelProg2 SelProg4 0 1 0 1 0 1 0 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 0=OFF, 1=ON (*3) “NoPause task” and “NoEmgAbort task” do not pause. For details, refer to EPSON RC+ 5.0 Online Help or Pause in SPEL+ Language Reference. (*4) Turns OFF the I/O output and initializes the robot parameter. For details, refer to EPSON RC+ 5.0 Online Help or Reset in SPEL+ Language Reference. (*5) Initializes the robot parameter.
11. Remote Control 11.8 Remote Outputs Remote outputs provide status for the Manipulator and Controller. Remote outputs provide the assigned function using with any control device The outputs execute automatically. Therefore, no special programming is needed. Name Initial Description Turns ON when the controller startup completes and no task is running. Turns ON when task is running. However, turns OFF when “Paused output” is OFF. Turns ON when pause task exists.
11. Remote Control (*1) Outputs the current or the last function number of CurrProg1, CurrProg2, or CurrProg4. Function CurrProg1 CurrProg2 CurrProg4 Main Main1 Main2 Main3 Main4 Main5 Main6 Main7 0 1 0 1 0 1 0 1 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 0=OFF, 1=ON (*2) Remote function is available in the followings conditions. - The setting is Auto mode and the control device is remote. - The setting is Program mode and Remote I/O is enabled. (*3) When the Controller firmware version is Ver.1.4.*.
11. Remote Control 11.9 Remote Input Handshake Timing The following charts indicate the timing sequences for the primary operations of the Controller. The indicated time lapses (time durations) should be referred to only as reference values since the actual timing values vary depending on the number of tasks running, as well as CPU speed of the Controller. Check carefully and refer to the following charts for the timing interrelation when you enter an input signal.
11. Remote Control Timing Diagram for Safety Door Input Sequence Running Output Paused Output SafeguardOn Output MotorsOn Output 1052 11 1052 11 9 8 500 928 Safety Input Latch Input Continue Input Timing Diagram for Emergency Stop Sequence Running Output MotorsOn Output EStopOn Output Emergency Input 920 7 5 9 Reset Input If an error occurs, the Error output will turn on. To clear the error, you must turn on the Reset input. No other inputs will be accepted when there is an error condition.
11. Remote Control 11.10 Remote Ethernet Remote Ethernet makes it possible to control the robot and controller from external equipment by sending the remote commands through Ethernet (TCP/IP). To set the remote Ethernet functions valid, follow the procedures below to configure the parameter. (1) Select Controller from the Setup Menu and select the Remote Ethernet page. (2) Configure the necessary items for the remote Ethernet control. (3) Click Apply to save the new setting and click Close.
11. Remote Control Set the remote control available by the following procedure. (1) Connect from client equipment to the specified port in the Remote Ethernet of the Controller. (2) Specify the password set in the Remote Ethernet to the parameter and send the Login command. (3) Client equipment has to wait until Auto (GetStatus command response) is ON, before execution of remote command. (4) Now remote command will be accepted. Each command executes the function the input acceptance condition.
11. Remote Control Remote command Format: $ remote command {, parameter....} terminator Remote command Login Parameter password Logout Start Contents Start the Controller Remote Ethernet function Authentication by password Execute Login correctly, commands execution is enabled until Logout Exit Controller Remote Ethernet function After Logout, execute the Login command to start remote Ethernet function. Logout during task execution causes an error.
11. Remote Control Remote command Parameter I/O word SetIOWord Contents Set the I/O specified word port (8 bit) (*8) Acquire the specified memory I/O bit (*8) port No. & Input acceptance condition (*1) Auto ON Ready ON value GetMemIO Memory SetMemIO I/O bit No. & value GetMemIOByte Memory Set the specified memory I/O bit 1: Turn ON the bit 0: Turn OFF the bit (*8) Auto ON Ready ON Acquire the specified memory I/O port (*8) Available any time (*10) I/O port No.
11. Remote Control (*1) The Controller state bit from GetStatus. (*2) Execute the function specified in the Main[Function No.]. Function Name Main Main1 Main2 Main3 Main4 Main5 Main6 Main7 Function No. 0 1 2 3 4 5 6 7 (*3) Pause command is not available for “NoPause task” and “NoEmgAbort task”. For the details, refer to the help or the section “Pause” in the EPSON RC+5.0 Language reference manual. (*4) I/O output will be turned OFF and the robot parameter will be initialized.
11. Remote Control (*9) Specify the command and parameters in the double quotation marks. Following commands are available while Execute is running. Commands available while Execute is running Remote Command Abort GetStatus (*10) “Available anytime” applies only when the following conditions are met. When “Remote Ethernet” is set as the control device, or “Remote Ethernet” is not set as the control device, but set to be used for monitoring.
11. Remote Control Response When the Controller receives the command correctly, the response in the following format is shown in the executing command.
11. Remote Control Flag Warnig SError Safeguard EStop Error Paused Running Ready *4 264 Contents Turn ON in the warning condition Task can be executed as usual even a warning condition. However, take action for the warning as soon as possible. Turn ON in the serious error condition When a serious error occurs, Reboot the Controller to recover from the error condition. “Reset input” is not available.
11. Remote Control Error response When the Controller can not receive the remote command correctly, the error response is shown in the following format.
11. Remote Control 11.11 Remote RS232 Remote RS232 makes it possible to control the robot and controller from external equipment by sending the remote commands through RS-232C. To set the remote RS232 functions valid, follow the procedures below to configure the parameter. (1) Select Controller from the Setup Menu and select the Remote RS232 page. (2) Configure the necessary items for the remote RS232 control. (3) Click Apply to save the new setting and click Close.
11. Remote Control For the details of the dialog setting, refer to the section 5.12.2 Controller (Setup menu) Setup: Controller: Setup. Set the remote control available by the following procedure. (1) Open RS-232C port that is connected from client equipment to the specified port in the Remote RS232 of the Controller, using the communication parameter specified in the RS-232C port setting. (2) Send the remote start command (EOT).
11. Remote Control If you set “0” in the [Timeout] box, time out duration is infinite. In this case, the task continues to execute even without the communication from client. This means the robot may keep moving and cause unexpected damage. Ensure the ways other than the communication to stop the task. CAUTION Remote Command Remote start Start the Remote RS232function of the Controller.
11. Remote Control Remote Send Command command Reset Input Data Description Acceptance Condition (*1) ‘R’ Clear emergency stop and error ( Auto ON Ready ON Turn ON the robot motor ( Auto ON Ready ON EStop OFF Safeguard &H52 ‘M’ &H4D SetMotorsOn SetMotorsOf ‘N’ f &H4E OFF Auto ON Ready ON Turn OFF the robot motor ‘H’ Move the arm to home position defined by user &H48 Home Auto ON Ready ON Error OFF EStop OFF Safeguard ‘i’ GetIO &H69 ‘I’ &H49 SetIO I/O bit No. (2Byte) [I/O bit No.
11. Remote Control Remote Send Command command ‘O’ &H4F SetMemIO Input Data yte SetMemIOB Acceptance Condition (*1) [Memory I/O bit No.] (2Byte)[value] (1Byte) GetMemIOB Description ‘t’ Memory I/O &H74 port No.
11.
11. Remote Control For the backup parameters when the parameter name and type are same. (*7) For the array element, specify an element you acquire as the following: You need to specify an element when acquiring from the head of the array. Specify the array element in 2Byte value. 1D array Parameter name&H2C&H0000 Parameter name, element number.
11. Remote Control Commands available for monitoring When the Remote RS232 control is not set as the control device but set to be used for monitoring, following commands are only available to execute. Remote command Login Logout GetIO GetIOByte GetIOWord GetMemIO GetMemIOByte GetMemIOWord GetVariable GetStatus Response When the Controller receives the command correctly, the response in the following format is shown in the executing command.
11. Remote Control Command Format GetIOMemWord [ACK] ‘u’[ Word value(16Bit) (&H0000~ &HFFFF)] [ETX][BCC] GetVariable [ACK] ‘u’[parameter] [ETX][BCC] GetVariable (in case of array) [ACK] ‘u’[parameter 1][parameter 2]...
11. Remote Control Flag Paused Contents Turn ON with paused task Turn ON with task executing Turn OFF when “Paused output” is ON Turn ON with the Controller completed the startup and no task executing Running Ready *4 It returns values of specified number in the Number to acquire. Error response When the Controller cannot receive the remote command correctly, the error response is shown in the following format.
11. Remote Control Communication sequence RS-232C RemoteController Port zz ①EOT 180Controller Port xx ②Login ③Response ④Command request ⑤Response : : : ⑥Logout Request from the Remote Controller is only available ⑦Response 276 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
12. RS-232 Communications 12. RS-232 Communications The RC180 controllers can support up to 8 optional RS232 ports, 4 ports per board. The RC90 controllers can support one port as standard and up to 4 optional RS232 ports, 2 ports per board. Refer to the controller manual for instructions on how to install RS232 boards. 12.1 RS-232 Software Configuration To configure an RS-232 port 1. Select Controller from the Setup Menu and open the RS232 folder on the tree located on the left side of the dialog.
12. RS-232 Communications 12.2 RS-232 Commands Here is a list of all of the commands associated with RS-232 communications. For details, please see the online help or SPEL+ Language Reference Manual. 278 OpenCom Opens a communications port. ChkCom Returns port status: the number of bytes waiting to be read or error condition. CloseCom Closes a communications port. SetCom Sets communications port parameters at runtime or from the Command window. Print # Sends characters out of the port.
13. TCP / IP Communications 13. TCP / IP Communications EPSON RC+ 5.0 supports eight TCP/IP ports that allow peer to peer communications. This chapter contains instructions on using TCP/IP, including IP addresses, Windows TCP/IP configuration, and SPEL+ examples. 13.1 TCP/IP Setup Before you can use TCP/IP communications between PCs and controllers, you must configure your network. The following sections describe basic network configuration. 13.1.
13. TCP / IP Communications 13.1.4 Testing Windows TCP/IP setup Use the ping command from a Command Window to test communications. First, do a loopback test to check if you can ping your own address by using the local IP address: C:\>ping 127.0.0.1 Pinging 127.0.0.1 with 32 bytes of data: Reply from 127.0.0.1: bytes=32 time<10ms TTL=128 Reply from 127.0.0.1: bytes=32 time<10ms TTL=128 Reply from 127.0.0.1: bytes=32 time<10ms TTL=128 Reply from 127.0.0.
13. TCP / IP Communications 13.2 TCP/IP Software Configuration You can configure TCP/IP settings for the RC180 controller in a SPEL+ program using the SetNet command. You can also configure settings from the TCP/IP tab on the Setup | Controller dialog. To configure a TCP/IP port 1. Select Controller from the Setup Menu and select the page for the TCP/IP port you want to configure. 2. Enter the IP address for the controller or PC that you want this controller to communicate with.
13. TCP / IP Communications 13.4 TCP/IP Example This example shows how to configure 2 PCs running EPSON RC+ 5.0 to communicate using TCP/IP. Note that for the OpenNet command, one PC is the server, and the other is a client. Controller #1: Port: #201 IP Address: 192.168.0.
14. ECP Motion 14. ECP Motion 14.1 Overview An ECP (external control point) motion is when the robot arm holding a part follows a specified trajectory (part’s edges, etc.) using an outside fixed tool. The ECP option supports the following: - ECP definition by ECPSet statement and selection by ECP statement - ECP motion commands (additional functions of Move, Arc3, Curve and CVMove commands) - Teaching with ECP jogging This option is available for SCARA, Cartesian and 6-Axis robots.
14. ECP Motion 14.1.1 How to move the arm with ECP motion In the following paragraphs, the process for moving the 6-Axis robot arm with ECP motion is explained as an example. 1. Setting the ECP The ECP (external control point) is coordinate system data used for defining the robot position and orientation at a processing point on the tip of the outside fixed tool. The ECP should be defined based on the robot coordinate system or desired local coordinate system.
14. ECP Motion 2. Teaching Teach the point data while moving the robot arm holding the actual part. In this section, the part is assumed a rectangular solid and the arm is moved straight so that it touches one side of the part to the ECP specified in the former section 1. Setting the ECP. For details of teaching, refer to the section Jog and Teach Command (Tools Menu) in the chapter The EPSON RC+ 5.0 GUI. 2-1 Teaching the motion start point Move the arm to the motion start point and teach it as P1.
14. Installing Controller Options 15. Installing Controller Options When you purchase options with your system, the options are already installed on your system. However, you can enable additional options on site. The RC180 Controller has option software keys that are enabled from EPSON RC+ 5.0. To see what options are enabled on your system, select Setup | Controller | Options. The following dialog will be displayed, showing which options are enabled. Item Description Option Name of the option.
16. Software License Agreement 16. Software License Agreement THIS IS A CONTRACT. CAREFULLY READ ALL THE TERMS AND CONDITIONS CONTAINED IN THIS AGREEMENT. INSTALLING THE SOFTWARE (EPSON RC+ 5.0) INDICATES YOUR ACCEPTANCE OF THESE TERMS AND CONDITIONS. IF YOU DO NOT AGREE TO THESE TERMS AND CONDITIONS, SIMPLY DO NOT INSTALL OR USE THE EPSON RC+ 5.0 SOFTWARE. LICENSE SEIKO EPSON CORPORATION (the "Licenser") hereby grants to you (the "Licensee") a non-exclusive and transferable right to use the EPSON RC+ 5.
16. Software License Agreement PROTECTION AND SECURITY You agree not to deliver or otherwise make available the Licensed Materials or any part thereof, including, without limitation, the object code, to any person other than the Licenser or its employees, except for purposes specifically related to your use of the Licensed Materials on one (1) CPU, without the prior written consent of the Licenser.
Appendix A: Software Installation Appendix A: Software Installation NOTE ) EPSON RC+ 5.0 supports the following OS. Windows XP Professional Service Pack 3 (EPSON RC+ 5.0 Ver.5.2.0 SP3 or greater is required.) Windows Vista Business Service Pack 2 (EPSON RC+ 5.0 Ver.5.3.1 or greater is required.) Windows 7 Professional (EPSON RC+ 5.0 Ver.5.3.4 or greater is required.) Installing EPSON RC+ 5.0 Software The EPSON RC+ 5.0 software needs to be installed on your development PC.
Appendix A: Software Installation 4. Click the Next button to continue. 5. Enter your user name and company name, then click Next. 6. Select the drive where you want to install EPSON RC+ 5.0 and click Next. NOTE ) The installation directory is called EpsonRC50 and cannot be changed. You will be prompted to confirm installation. Click Yes to continue. 7. If required, Windows Installer and Microsoft .NET Framework 3.5 are installed on your system. This may take several minutes. 8.
Appendix B: Project Import Automatic Processing Appendix B: Project Import Automatic Processing Project for EPSON RC+ 3.* / 4.* When projects created in EPSON RC+ 3.* / 4.* are imported, the following processes are executed automatically: - User program conversion - Point file conversion - I/O label file conversion - User error label file conversion User Program Conversion The tables below show the syntax conversions from EPSON RC+ 3.* / 4.* to EPSON RC+ 5.0. Project Type EPSON RC+ 4.* EPSON RC+ 5.
Appendix B: Project Import Automatic Processing User Error Label File Conversion Files are changed automatically as the user error numbers are changed. Project Type EPSON RC+ 3.* / 4.* EPSON RC+ 5.0 30000 to 30999 8000 to 8999 User Error Label UserErrors.txt UserErrors.dat User Error Label File B-2 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.
Appendix B: Project Import Automatic Processing Project Import for SPEL for Windows 2.* When projects created in SPEL for Windows 2.* are imported, the following processes are executed automatically. - User program conversion - Point file conversion - I/O label file conversion - Global Preserve variable table conversion - Global variable conversion - Local variable conversion User Program Conversion The table below shows the syntax conversions from SPEL for Windows 2.* to EPSON RC+ 5.0.
Appendix B: Project Import Automatic Processing Point File Conversion EPSON RC+ 5.0 .PTS files are generated automatically from the .PNT files and corresponding .DEF files. Project Type SPEL for Windows 2.* EPSON RC+ 5.0 *.PNT file (Point file) *.PTS Point File *.DEF file (Point label) I/O Label File Conversion Converts the I/O labels automatically. Project Type SPEL for Windows 2.* ProjectName.IOL I/O Label File EPSON RC+ 5.0 IOLabels.