User`s guide

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 Poin
t
(ECP)
Outside Fixed Tool
Part
Use the ECPSet statement for defining an ECP coordinate system. A maximum of 15 ECP
coordinate systems can be defined.
The following commands are available for optional ECP:
- Move command
- Arc3 command
- Curve and CVMove commands
- ECP jog motion
For details, refer to the chapter ECP Motion.
166 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4