Epson RC170- Manuals

Page 3 - Copyright

Page 4 - FOREWORD; specifications described in the manuals, this warranty is void.

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 T...

Page 6 - China; Taiwan; North & South America; EPSON DEUTSCHLAND GmbH

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, Bei...

Page 7 - EPSON Singapore Pte Ltd.; India; EPSON SALES JAPAN CORPORATION

Southeast Asia EPSON Singapore Pte Ltd. India 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, Se...

Page 9 - TABLE OF CONTENTS; vii

Table of Contents TABLE OF CONTENTS 1. Introduction 1 1.1 Welcome to EPSON RC+ 5.0 ............................................................. 1 1.2 System Overview ................................................................................ 1 1.2.1 RC170/RC180 Controller ........................

Page 12 - Table of Contents

Table of Contents 5.10.5 Walk Command .................................................................... 75 5.10.6 Resume Command .............................................................. 75 5.10.7 Stop Command..................................................................... 75 5.10.8 Tog...

Page 13 - The SPEL+ Language; xi

Table of Contents 5.11.9 Simulator Command............................................................118 5.11.10 Vision Command .................................................................118 5.12 Setup Menu .....................................................................................1...

Page 15 - Building SPEL+ Applications; the

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...

Page 16 - Simulator; Robot Configuration; 0 Inputs and Outputs; xiv

Table of Contents 7.5.2 Debugging .......................................................................... 199 7.6 The Operator Window ..................................................................... 203 7.6.1 Operator Window Configuration ......................................... 204 7.7 Usi...

Page 19 - System Overview; Slave System

1. Introduction EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 1 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 featur...

Page 22 - Software Version; There are the following major software versions for EPSONRC+ 5.0.

1. Introduction 4 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 wit...

Page 24 - Restrictions for Version Combination; Combination and Available Functions; RC180 Controller Firmware

1. Introduction 6 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 Restrictio...

Page 27 - Installing Controller Options; Precautions When Using Windows Vista / Windows 7; Connecting development PC to robot controller using Ethernet; For Windows Vista; For Windows 7; Network discovery; SPEL for Windows Users

1. Introduction EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 9 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...

Page 28 - This manual contains detailed information for the entire system.; SPEL; This manual contains detailed information for the entire SPEL; Vision Guide 5.0 Manual; This manual contains information for using the VB Guide 5.0 option.; GUI Builder 5.0 Manual

1. Introduction 10 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 - Pr...

Page 32 - RC180 Controller - UL Specification

2. Safety 14 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 r...

Page 33 - Installation and Design Precautions; Environmental Conditions; Procedure of; End Effector Design

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 15 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 sect...

Page 34 - Before using the Emergency Stop switch, be aware of the followings.; For the Safeguard system, do not use the circuit for E-STOP.; Safety and Installation

2. Safety 16 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 witho...

Page 35 - Here are precautions that should be noted:

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 17 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 th...

Page 37 - Restarting after a Change

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 19 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 modif...

Page 38 - Precautions regarding Robot Operation; Setup & Operation 3.6 Setting the Reference; Auto Mode and Program Mode; Please observe the following guidelines for teaching points:

2. Safety 20 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 a...

Page 40 - Backup of Projects and Controller; The; End User Instruction Manual

2. Safety 22 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 41 - Contents; Hardware Installation; to the RC90/RC180 robot Controller manual.; Software Installation; in

3. Getting Started EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 23 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...

Page 42 - System Power Up Procedure; Start Method 1

4. Operation 24 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 -...

Page 43 - Startup Configuration; Program

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 25 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 auto...

Page 45 - Windows start; Command Line Options

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 27 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 Descrip...

Page 46 - Enable windows auto login; Disable splash screen; Starting EPSON RC+ 5.0 for a specific project; The drive letter and name of a project. The name can include a; Example; Open project

4. Operation 28 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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. Optionall...

Page 47 - Building Applications in; Disabling the EPSON RC+ 5.0 splash window

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 29 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...

Page 48 - Communications with Controller; Configuring Communications with the Controller; To connect to a controller via USB:

4. Operation 30 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 Cont...

Page 49 - Use the USB connection to configure Ethernet communications.; Connecting When Control Device is no PC

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 31 4.4.3 Ethernet Communications 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)....

Page 50 - Connecting while tasks are running from Remote Control or OP; Connecting while control device is not PC and; Disconnecting while tasks are running; dropdown list on the toolbar.

4. Operation 32 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 51 - Writing your first program; Connect your PC to the Controller; to create the new project.

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 33 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 devel...

Page 53 - On the Run window, you will see the output of the print statement.; Teach robot points; the toolbar. You will see the Robot Manager window with the; Control Panel; page

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 35 (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 outpu...

Page 55 - button on the Run window.; Backup the project and system configuration; Building SPEL

4. Operation EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 37 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 P...

Page 59 - Use this dropdown list to select Program, Include or Point file.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 41 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 comman...

Page 61 - If you use; Save As; on an include file, you must rename the file in each of your #include; Shortcuts; You will be prompted to confirm this operation.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 43 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...

Page 68 - Select the entire file. You can then execute Cut or Copy.; Move the selected text block one tab to the right.; Move the selected text block one tab to the left.

5. The EPSON RC+ 5.0 GUI 50 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 76 - Renames; Cancel; Cancels

5. The EPSON RC+ 5.0 GUI 58 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 77 - Importing a PC project; Follow these steps to import a project from a PC:; PC; and click; Next

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 59 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 copi...

Page 78 - if you want the project to open after import.; Import; you want to overwrite it.

5. The EPSON RC+ 5.0 GUI 60 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 When a project for EPSON RC+ 3.* / 4.*or SPEL for Windows 2.0 is imported, the project is automatically c...

Page 79 - Importing a Controller project; Follow these steps to import a project from a controller:; Controller; . Communications with the controller will be

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 61 Importing a Controller project 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 model...

Page 80 - Importing a Controller Status project

5. The EPSON RC+ 5.0 GUI 62 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 81 - Select a controller status folder and click; OK

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 63 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...

Page 82 - Drive for the project copy.; Perform the copy process.; Cancel the operation.

5. The EPSON RC+ 5.0 GUI 64 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 o...

Page 84 - Select files and; Start

5. The EPSON RC+ 5.0 GUI 66 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.9.14 Synchronize Command (Project Menu) The Synchronize command is used to update files on the PC and controller. This command is not available if the current project has not been built successfully. This dialog will also appea...

Page 86 - This page allows you to configure the compiler settings.; Project: Properties: Source Files In Controller Page; Set current values after changes have been made.

5. The EPSON RC+ 5.0 GUI 68 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Project: Properties: Compiler Page This page allows you to configure the compiler settings. Item Description Compiler Version [Default] is the normal setting. When a project cannot be built because new keywords have been added to...

Page 90 - Use this page to configure the I/O Monitor for operators.; Item Description; Restore; Revert back to the previous values.; Close; Close the Project Properties dialog.

5. The EPSON RC+ 5.0 GUI 72 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Project: Properties: Operator Settings: I/O Monitor Page Use this page to configure the I/O Monitor for operators. Item Description Views Enabled for Operators Check that I/O views that you want your operators to use when they op...

Page 95 - For module variables, you must select the desired program.; Show

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 77 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 th...

Page 97 - Tools: Robot Manager: Control Panel Page; Status Indicators

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 79 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 Powe...

Page 98 - Tools: Robot Manager: Jog and Teach Page; Jog Controls; Jogging Group

5. The EPSON RC+ 5.0 GUI 80 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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, T...

Page 99 - Speed; Continuous joint speed and acceleration depends on robot model; Jog Buttons; How to jog robot

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 81 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 ...

Page 100 - displays the current joint values, and; Pulse; displays the current

5. The EPSON RC+ 5.0 GUI 82 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 p...

Page 101 - Teach Points Group; Teach; How to teach points; How to jog

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 83 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 ...

Page 102 - Jogging in Teach Mode; Teach Pendant manual

5. The EPSON RC+ 5.0 GUI 84 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 103 - Saving or aborting your work; Click the; Robot Manager MDI Child; Save the current values.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 85 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 ...

Page 104 - Set the current values.; Defaults; Click the defaults button to display factory default settings.

5. The EPSON RC+ 5.0 GUI 86 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 motio...

Page 105 - Navigating the grid

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 87 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 ca...

Page 106 - Open the Robot Manager and click on Locals to show the Locals page.; Local Wizard; button. You will see the dialog shown below.; How many points will be used

5. The EPSON RC+ 5.0 GUI 88 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 poi...

Page 107 - We will now teach the local origin point. Click the; button to open the Local; The new local definition is displayed as shown below. Click; Finish; to accept the new

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 89 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 ...

Page 108 - Using the Local Wizard to teach a three point local

5. The EPSON RC+ 5.0 GUI 90 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 110 - We will now teach a point on the local Y axis. Click the; button and jog the; button on the Teach Point dialog to continue.

5. The EPSON RC+ 5.0 GUI 92 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 112 - Using the Tool Wizard; Open the Robot Manager and click on Tools to show the Tools page.; Tool Wizard; button to open the Tool Wizard Teach Point dialog.

5. The EPSON RC+ 5.0 GUI 94 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 113 - The next step will be displayed in the wizard.; button. Jog the robot so that the tool is aligned with the reference; The new tool definition is displayed as shown below. Click

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 95 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. ...

Page 115 - ECP Motion; The X coordinate of the ECP.; Apply; Clear; Clear all values for the selected ECP.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 97 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. If the ECP option is not enabled in the controller, thi...

Page 120 - Revert back to previous values.

5. The EPSON RC+ 5.0 GUI 102 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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. Settingboth values to...

Page 121 - This page allows you to configure the robot joint software limits.; Save the current changes.; Set the default values.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 103 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 ...

Page 125 - The I/O Label Spreadsheet

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 107 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 mac...

Page 126 - You can also cut and paste entire rows using the following steps:

5. The EPSON RC+ 5.0 GUI 108 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 127 - later in this chapter.; To open the I/O Monitor; Click on the; Using the I/O Monitor; Select the tab for the type of I/O you want to monitor.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 109 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 t...

Page 131 - Backup Controller; button to open the; Browse For Folder; can create a new parent folder by clicking the; Make New Folder

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 113 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 u...

Page 132 - To restore controller configuration:; Restore Controller; to display the dialog to select the restore data.

5. The EPSON RC+ 5.0 GUI 114 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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...

Page 133 - You can view the exported status using the; View Controller Status; To export controller status; Export Controller Status

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 115 5. Click the <OK> button to restore the system information. Restore the system configuration saved using Backup Controller only for the same system. When different system information is restored, the following warning mess...

Page 135 - Reset Controller; On Vacuum

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 117 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 bec...

Page 140 - This page contains controller preference settings.; RESET command turns off outputs; and; Outputs off during Emergency Stop; Remote function is also available when virtual I/O is enabled.

5. The EPSON RC+ 5.0 GUI 122 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 Re...

Page 142 - Installing Controller Options; Virtual Controller Configuration

5. The EPSON RC+ 5.0 GUI 124 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 v...

Page 144 - Setup: Controller: Robot Configuration Page; Enter a Name for the robot.

5. The EPSON RC+ 5.0 GUI 126 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Controller: Robot Configuration Page 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 isenabled or disabled. Close ...

Page 145 - Setup: Controller: Robot Calibration Page; Select the joint that you want to Calibrate.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 127 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 Calibrat...

Page 146 - Setup: Controller: Robot Amplifiers Page; Close the Setup Controller dialog.

5. The EPSON RC+ 5.0 GUI 128 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 p...

Page 147 - Setup: Controller: Remote Control Inputs Page; Use this page to configure the controller remote control inputs.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 129 Setup: Controller: Remote Control Inputs Page Use this page to configure the controller remote control inputs. Item Description Input # Select an input bit to use for the corresponding input signal. Select "Notused" to d...

Page 148 - Setup: Controller: Remote Control Outputs Page; Use this page to configure the controller remote control outputs.

5. The EPSON RC+ 5.0 GUI 130 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Controller: Remote Control Outputs Page Use this page to configure the controller remote control outputs. Item Description Output # Select an output bit to use for the corresponding output signal. Select "Not used"...

Page 149 - CAUTION

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 131 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 whi...

Page 151 - To configure an RS-232 port; Change the settings as desired. You can also click the; button to use default; to save the new settings and click; to communicate with.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 133 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 ...

Page 153 - Revert back to previous settings.; Close the Preferences dialog.

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 135 Setup: Preferences: Startup: Auto Start Page Item Description Start EPSON RC+ afterWindows start Check this box if you want EPSON RC+ 5.0 to automaticallystart after Windows starts. Command line options Enter the command line op...

Page 158 - This page lets you configure the Robot Manager Jog and Teach page.; Setting Jog Button Orientation; Apply the current settings.

5. The EPSON RC+ 5.0 GUI 140 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 rob...

Page 164 - Brings the selected window into focus.; Save; Saves the contents of the selected windows.; Closes the selected windows.

5. The EPSON RC+ 5.0 GUI 146 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 i...

Page 169 - Program structure; Here are some examples:

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 ...

Page 170 - Commands and statements; Function main; cannot; Function Test; Restriction for naming in SPEL+ language

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...

Page 172 - Working with variables; There are three different scopes for variables in SPEL

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 t...

Page 173 - Preserved variables are stored in the controller’s SRAM.

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, Lo...

Page 174 - ' Global string array; Use Redim to change the bounds of an array at run time.; Next i

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 o...

Page 175 - Working with strings

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 ...

Page 177 - Error handling; When an error occurs in a SPEL; User Errors; GUI

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 u...

Page 180 - Robot coordinate systems; The following coordinate systems are used in SPEL; Robot Coordinate System; Z axis in Robot Coordinate System

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. T...

Page 181 - Robot Coordinate Systems for 6-Axis Robot; Floor Mounting

6. The SPEL+ Language Robot Coordinate Systems for 6-Axis Robot Floor Mounting Ceiling Mounting S ide (Wall) Mounting EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 163

Page 182 - Robot Coordinate Systems for RS series; Robot coordinate system Z axis

6. The SPEL+ Language Robot Coordinate Systems for RS series Origin Y+ X+ View from this direction Robot coordinate system Z axis Robot coordinate system U axis - Z Z ＝ 0 Joint #3 in the center - X + Y ± 360 ° + U - U View from this direction 164 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

Page 183 - SCARA Tool 0 coordinate system; The tool 0 coordinate system rotates as the fourth joint rotates.; Tool 1 coordinate system; -Axis Tool 0 coordinate system; Robot Coordinate Systems

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 ...

Page 184 - Move command

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 a...

Page 185 - Robot arm orientations

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 ...

Page 187 - Available Orientation; Singularity; orientation switch

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...

Page 188 - PTP motion near the singularity; Proper motion; SPEL+ Language Reference manual

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 ...

Page 192 - Robot motion commands; straight line

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 f...

Page 193 - Move P1 ROT; The ROT parameter can be used with the following motion commands:

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 positionspecified in degrees or millimeters, depending on the joint type. The speedand acceleration are the same as for point to point motion commands. PTran The PTran ...

Page 195 - Working with robot points; roll; Referencing points with variables

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 (...

Page 196 - Merge; Local point attribute

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 Ne...

Page 197 - Elbow point attribute; Elbow orientation is Below.; Wrist point attribute; Wrist orientation is Flip.; J4Flag and J6Flag point attributes

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 ...

Page 198 - Extracting and setting point coordinates; Gets current Y position coordinate; Move to P1 with a z offset of -20mm

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...

Page 199 - Input and output control

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...

Page 201 - Special Tasks; Be sure to understand the followings when using these tasks.; Precautions to Use the Special Tasks; NoEmgAbort Task; Online Help

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....

Page 202 - Task Type

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...

Page 204 - Designing Applications; Creating the simplest application; To write and run a simple application; Programs; Program Name; Operator interface; Operator Window

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...

Page 205 - Remote Control; Safety interface

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. Fo...

Page 206 - Managing Projects; Why do you need projects?; Project file

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 convenie...

Page 207 - New Folder; button; Ok; to create the project.; Editing a project; EPSON

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. ...

Page 208 - Status Pane

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 ...

Page 210 - Editing Programs; To open a program for editing; Jump P0; Auto End Construct

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 prog...

Page 213 - To open a point file for editing; Select Open from the File Menu to show the Open dialog box.; The robot points spread sheet window; Local number drop down list. Range is from 0 to 15.

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 r...

Page 214 - Select the row where you want to start the paste.

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 Dro...

Page 215 - Running and Debugging Programs; To run a program

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 ...

Page 217 - Setting and clearing breakpoints; Or

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 w...

Page 218 - in the statement is executed completely.; Walk; Walk stops for; Viewing the Call Stack

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 s...

Page 219 - Displaying variables; To view variable values, you can do one of the following:

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 f...

Page 221 - The Operator Window

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 monitori...

Page 222 - Using Remote Control; See the chapter

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 R...

Page 223 - Simulator Functions; The following are the major simulator functions:; Robot motion 3D display; Offers accurate display data based on design data.; Interference check; Predicts the robot operation time for a program.; SPEL+ program execution; Allows you to create, execute, and debug SPEL

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 sys...

Page 225 - Using the Simulator; Working with a user created system

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...

Page 226 - Display the simulator window

8. Simulator (3) Click the <Open> button. Then, the following program window appears. 3. Display the simulator window Click the Tool bar-<Simulator > button. The [Robot Simulator] window appears. 208 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

Page 228 - Connect with the virtual controller

8. Simulator Click the <Add> button. (2) The [New Controller Connection] dialog appears. Select the <Connection to new virtual controller> option button and click the <OK> button. (3) A new virtual controller named “Virtual 1” is created. Click the <Apply> button. (4) Close t...

Page 229 - Configure a robot

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) ...

Page 230 - Place the objects; Create a project and program

8. Simulator 5. Place the objects For this tutorial, we will add a box to the layout. (1) Drag & drop the <Box > 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. T...

Page 233 - Specification and Restriction of Simulator; Motion command includes Move and Jump as well as Go.; For the information on how to use these commands, refer to; Function main3

8. Simulator (5) Select “main2” in the [Function] dropdown list. (6) Click the <Start> button. The message “Are you ready to start?” appears. Click the <Yes> button. The program starts and the robot moves in the 3D display. Now, the cycle time displayed in the Tool bar is the execution t...

Page 234 - Description of Functions; Button Description; Adds a box object in the 2D layout.

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 obj...

Page 235 - Create Movie; Robot Object; The robot itself. The display data is handled by the simulator.; Layout Objects; CAD object

8. Simulator Button Description Create Movie Plays a simulation result (log file) in the Playback mode and savesinto a movie file. A dialog appears to specify the file and format to save. Elapsed Time Shows the program execution time as if you ran the same program with a real controller (RC180/RC90)...

Page 236 - Changing the robot model

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 (...

Page 237 - Type and Series; Type Series; Property Description; Visible

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 dis...

Page 238 - File Name; Point; Name

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 i...

Page 239 - Mounting offset from the robot end effector position.

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 ...

Page 240 - Layout Object; Property Object Description

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 : Horizontal (default ) Wall : Vertical Po...

Page 241 - Change layout object color

8. Simulator Height Cylinder Plane Cylinder height 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 Sphere Cylinder Display color Click the drop-down to change display color....

Page 242 - When you want to change layout object color, click on the drop-down

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 wil...

Page 243 - to change the size of an object, and drag; Zoom the layout; To zoom the 2D layout, use the mouse wheel to scroll.; Move the display area

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...

Page 245 - Check for collisions

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.4 227

Page 246 - Function Description

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 When the button is red , it saves the simulation result into the specified log file. Every time you execute the p...

Page 247 - Render options

8. Simulator 8.3.2 Simulator Settings When you click the Tool bar-<Simulator Settings > 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...

Page 248 - Produce the robot motion by outputting to a recording file; Now, you can see “TestPlayBack” in the Recording list.; Produce the robot motion with saving in a movie file at once

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 <New> button in the [Record / Playback] window. The [New Recording] dialog appears. (3) Here, enter “TestPlayBack” and click the &l...

Page 249 - Target of collision detection; Check Collision; Generate error when collision is detected

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 followi...

Page 250 - Specification and Restriction of; Create a new virtual controller; Refer to; Copy the sample or configured virtual controller

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 t...

Page 251 - Virtual controller configuration; and Restriction of Simulator

8. Simulator (4) New “Virtual 2” is created. Click the <Apply> 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) Wh...

Page 252 - Pallets cannot be displayed.

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 <Apply> button and then click the <Close> button. If collision with the simulator ob...

Page 253 - Simulator Specifications and Restrictions; OK OK OK; Specifications and precautions for the 3D display; Available robots for 3D display; Available CAD data for 3D display

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....

Page 254 - Considered in the operation time prediction; Fine setting

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 p...

Page 255 - Execution on PC below the minimum of specification; Operation time prediction is not accurate

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 r...

Page 256 - command execution

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 P...

Page 257 - Communication output file; When executing the following program,; Integer i

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 communicatio...

Page 258 - Program execution time in EPSON RC+ Trial version

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 com...

Page 259 - Robot Configuration; Setting the Robot Model; button to save settings.

9. Robot Configuration EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 241 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 t...

Page 260 - Calibrating the Robot; To calibrate the robot:; Calibrate; button to start the calibration wizard. The instructions for each; Jog; button to view the next step.

9. Robot Configuration 242 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 folde...

Page 261 - Motion command to move to reference point; text box. You can change this; Execute; button to execute the motion command to move to the reference

9. Robot Configuration EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 243 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...

Page 262 - button to save the calibration settings for the selected joint.

9. Robot Configuration 244 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 13. Click the Next button to view the next step. 14. Click the Finish button to save the calibration settings for the selected joint.

Page 263 - Changing Robot System Parameters; To change robot parameters, follow these steps

9. Robot Configuration EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 245 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 r...

Page 264 - Inputs and Outputs; Input Commands

10. Inputs and Outputs 246 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 t...

Page 265 - Virtual I/O Commands

10. Inputs and Outputs EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 247 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 th...

Page 268 - Auto Mode with Remote Control; To run in auto cycle with remote control; Auto; Start Up Mode; Teach Mode with Remote Control; WARNING; Debugging Remote Control

11. Remote Control 250 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 271 - Remote Outputs; InsideBox1

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 253 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 n...

Page 273 - Remote Input Handshake Timing; Timing Diagram for Operation Execution Sequence; operating status at the time of Pause input

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 255 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 ac...

Page 275 - (2) Configure the necessary items for the remote Ethernet control.; to save the new setting and click; button to save the new settings, click; For the details of the dialog setting, refer to the section

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 257 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 proce...

Page 276 - the communication to stop the task.

11. Remote Control 258 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 se...

Page 277 - Remote command; Remote

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 259 Remote command Format: $ remote command {, parameter....} terminator Remote command Parameter Contents Input acceptance condition (*1) Login password Start the Controller Remote Ethernet function Authentication by password Execute Log...

Page 280 - Commands available while Execute is running; Remote Command; Commands available for monitoring

11. Remote Control 262 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 (*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” app...

Page 281 - Response; Command

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 263 Response When the Controller receives the command correctly, the response in the following format is shown in the executing command. Command Format Remote command that acquire the value Except GetIO, GetVariable, and GetStatus #[Remot...

Page 283 - Error response; Error code; Communication sequence

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 265 Error response When the Controller can not receive the remote command correctly, the error response is shown in the following format. Format: ![Remote command],[Error code] terminator Error code Contents 10 Remote command does not beg...

Page 284 - (2) Configure the necessary items for the remote RS232 control.

11. Remote Control 266 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 conf...

Page 286 - ways other than the communication to stop the task.

11. Remote Control 268 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 CAUTION  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. En...

Page 291 - Response Format

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 273 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 GetIOWor...

Page 295 - to save the new settings.

12. RS-232 Communications EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 277 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 th...

Page 299 - To configure a TCP/IP port

13. TCP / IP Communications EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 281 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....

Page 302 - How to move the arm with ECP motion; When you have no ECP location data, you can specify it by teaching.

14. ECP Motion 284 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 ...

Page 303 - ' Moves the arm to the motion start point

14. ECP Motion EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 285 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 th...

Page 304 - Installing Controller Options; Item; Indicates that the option is enabled in the controller.; To enable an option on site; Enter in the code you received from your distributor.

14. Installing Controller Options 286 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 softwar...

Page 305 - Software License Agreement; LICENSE

16. Software License Agreement EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 287 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. I...

Page 306 - PROTECTION AND SECURITY

16. Software License Agreement 288 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 employee...

Page 307 - Appendix A: Software Installation; previous version, otherwise go to step 3.

Appendix A: Software Installation Appendix A: Software Installation 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 ...

Page 308 - Select the drive where you want to install EPSON RC+ 5.0 and click; You will be prompted to confirm installation.; Yes

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 pro...

Page 309 - Appendix B: Project Import Automatic Processing; User Program Conversion

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...

Page 310 - User Error Label File Conversion; Project Type

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 User Error Label 30000 to 30999 8000 to 8999 User Error Label File UserErrors.txt UserErrors.dat B-2 ...

Page 311 - Project Import for SPEL for Windows 2.*

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 vari...

Page 312 - Point File Conversion; I/O Label File Conversion; ProjectName; Global Preserve Variable Table Conversion; Global Preserve Integer s_iValue; Global Variable Conversion; Entry / Extern command; Local Variable Conversion

Appendix B: Project Import Automatic Processing B-4 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 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 Point File *.PNT file (Point fil...