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EPSON RC+5.0 Manual

1. Joint 3 in the center 160 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 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 4 Tool Coordinate Systems Point data is defined by the position and orientation of the tool coordinate system with respect to some reference rectangular coordinate system The position is specified by the position data X Y Z and the orientation is specified by the orientation data U V W that correspond with roll pitch and yaw You can also define and use your own tool coordinate systems To define the tool coordinate systems use Tlset The default TOOL 0 coordinate systems are defined as follows according to the robot type SCARA Tool 0 coordinate system The origin of tool 0 for SCARA robots is the center of the forth joint rotation joint When the fourth joint is adjusted to the position of 0 degrees the tool 0 coordinate system axes are parallel to the robot coordinate system axes see the figure below The tool 0 coordinate system ro
2. Output bit label is not specified EStop Safety Tasks Running Line5 Col12 INS EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 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 a EPSON RC 5 0 0 Project C EpsonRC50 Projects MyProject Fie Edit view Project Run Tools Setup Window Help EZ soe fr E HP E s I Connection Ethernet 1 Function main Long CycleCount Do On Vacuum E 10 Labels Wait 1 ERR User Errors Jump Pick a Sy Functions Off Vacuum iE mai Jump Place Wait 1 CycleCount CycleCount Red indicates syntax error Error message in status bar Invalid parameter ts specified EStop Satety Tasks Running Line 11 Col 35 INS Wee EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 189 7 Building SPEL Applications 7 4 Editing Points Row select 190 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 contro
3. Item Input Close Apply Restore Defaults Load Save Description Select an input bit to use for the corresponding input signal Select Not used to disable the remote input For example if Start 1s assigned to I O input bit 0 select Not used to use this as a normal I O input Input Mot used Input Signal Motor HMotorL ft Home Start Pauze Reset SelProgl SelProge SelProg4 40 om ee i Mi Mot used Close the Setup Controller dialog Save the current changes Revert back to previous settings Click this button to set the default remote inputs First a dialog box will be displayed asking you which type of inputs to use for defaults Standard I O or Fieldbus You can also select Clear All to set all remote inputs to Not used Read the assigned remote inputs and outputs from a file on the PC and save it in the controller Save the assigned remote inputs and outputs shown in the dialog to a file on the PC NOTE S Both the remote inputs and outputs are loaded or saved together when using Load or Save 126 EPSON RC 5 0 Ver 5 4 User s Guide Rev NOTE 5 The EPSON RC 5 0 GUI Setup Controller Remote Control Outputs Page Use this page to configure the controller remote control outputs Setup Controller General Configuration Preferences Options H Robot Inputs Outputs Remote Control Inputs Ethernet TCP IP Remote Control Ou
4. Item Auto Program Password Apply Restore Defaults Close Start Mode Auto Program Password Description Select Auto to start EPSON RC 5 0 in Auto mode See the Operation chapter for details Select Program to start EPSON RC 5 0 in Program mode See the Operation chapter for details Click this button the change the password required to enter Program mode from Auto mode when EPSON RC 5 0 starts Save the current changes Revert back to previous settings Click this button to set the default startup mode Close the Preferences dialog EPSON RC 5 0 Ver 5 4 User s Guide Rev 5 The EPSON RC 5 0 GUI Setup Preferences Startup Auto Start Page Preferences Startup Auto Start Start Mode Windows Login Workspace Editor C Start EPSON RC 5 0 after Windows start H Robot Manager Run Window Command Window Language Command line options Item Description Start EPSON RC afterCheck this box if you want EPSON RC 5 0 to automatically Windows start start after Windows starts 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 Close Close the Preferences dialog EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 131 5 The EPSON
5. Do not open last project Defaults Open last project and program windows Open last project and all windows Show Tip of the Day 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 Stop compile after Stops compile after first error occurs This makes it easier to see first error the first error in the status pane and allows you to fix one error at a time Default is On Do not open last project If this radio button is selected the last project will not be opened when EPSON RC 5 0 is started Open last project and If this radio button is selected the last project will be opened and program windows any program windows that were previously opened will be opened Open last project and If this radio button is selected the last project will be opened and all windows all windows will be restored to their previous locations This is the default setting Show Tip of the Day If this check box is on the Tip of the Day dialog will be displayed when EPSON RC 5 0 is started Apply Save the current changes Restore Revert back to previous settings Close Close the Preferences dialog EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 133 5 The EPSO
6. Use Redim to change the bounds of an array at run time Integer a 10 Redim a 20 To preserve values when using Redim add the Preserve optional argument Integer a 10 Redim Preserve a 20 Use UBound to get the upper bound of an array dimension Integer i a 10 For i 1 to UBound a a i Next i 6 7 7 Initial values All variables are initialized when first used except for Global Preserve variables Strings are set to empty and all other variables are set to zero 6 7 8 Clearing arrays Use Redim without Preserve to clear all of the elements of an array at run time 152 EPSON RC 5 0 Ver 5 4 User s Guide Rev 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 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 Keyword Description Asc Returns the decimal ASCII value of the first character in a string Chr Converts an ASCII value into a one character string FmtStr Formats a numerical or date time expression Hex Returns a string containing the hexadecimal value of a number InStr Returns the position of a substring within a string LCase Returns the specified stri
7. 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 EpsonRCS0 Projects directory on the selected drive Subdirectories can also be created New Project Project Name Template None Select Drive e CL Select Project F older Sy Projects G SampleProjects MyProject Item Project Name Template Select Drive Select Project Folder New Folder OK Cancel New Folder Description Type in a new name for the project The name can include alphanumeric characters along with underscores Select a project template The new project will be a copy of the template project Select the desired disk drive for the new project This is a list of folders and projects on the selected drive If you click on a name in this list it will be displayed in the New Project Name text box You can then edit the name or you can create a new project with the same name as one that has already been created In the later case you will be prompted to overwrite the old project if it is in the same folder Click this button to create a new folder in the currently selected folder Click OK to create the new project Click Cancel to abort creating a new project EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 5 The EPSON RC 5 0 GUI 5 9 2 Open Command Project Menu Use this co
8. Allow Teach Teach only defined points Prompt for new point information Allow Motion Commands Allow Edit Allow Delete C Arch Page C Locals Page l Tools Page Item Page and_ options enabled for operators Allow SFree SLock Allow Home Allow Teach Teach only defined points Prompt for new point information Allow Motion Commands Allow Edit Allow Delete Apply Restore Close Description 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 Allows the operator to free or lock joints from the Control Panel page Allows the operator to home the robot from the Control Panel page Allows the operator to teach points from the Jog amp Teach page Only defined points are shown in the point list on the Jog amp Teach page When the operator teaches a new point a dialog will be displayed for entering the point label and description Allows the operator to execute motion commands from the Jog amp Teach page Allows the operator to edit point data on the Points page Allows the operator to delete points on the Points page Set current values after changes have been made Revert back to the previous values Close the Project Properties dialog EPSON RC 5 0 Ver 5 4 User s Guide Rev 5 The EPSON RC 5 0 GUI Project Properties Operator Settings I O Mon
9. Close 6 Select items to view from the tree on the left side of the dialog 7 To view another controller status click the ellipses button next to the Status Folder name and select a new status folder EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 113 5 The EPSON RC 5 0 GUI 114 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 By executing this command a team member can reset the controller from his development system 5 11 8 User Error Editor Command Tools Menu The User Error Editor allows you to define user errors for the current project If a user error is caught in an error handler then the ErrMsg function will return the error message defined in the editor The label associated with an error can be used in any integer expression ii User Errors Error Label Message 8000 ER_ V4 amp CUUM Vacuum error has occured ER_INDEXOT User error numbers can be from 8000 to 8999 Labels can be up to 16 characters in length It is recommended that you use the ER_ prefix for each error label and use all caps for the label This makes it easy to see error labels in you
10. 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 You can optionally specify a task number from 1 to 16 in the Xqt statement The table below shows the program instructions that are used for multitasking Statement Xqt Halt Resume Quit Signal SyncLock WaitSig Pause Purpose Starts a function as a task Temporarily suspends execution of a task Resumes a task that has been halted Stops a task Sends a signal to one or more tasks that are waiting for the signal using WaitSig Locks a resource for use by the current task and blocks other tasks from using the resource until SyncUnlock is executed Waits for a signal from another task Pause all tasks One example for starting another task is to run a conveyor system for the robot work cell Program MAINTASK PRG Function Main Xgt Conveyor Start the conveyor task Do Loop Fend Program CONVTASK PRG Function Conveyor Do Select True Case Sw 10 On Off convCtrl Case Sw 11 On Loop Fend On convCtrl Send EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 157 6 The SPEL
11. Select files and direction to synchronize v PC Files Transfer Controller Files Status mypoints pts 2006 04 09 09 16 50 2006 04 09 09 16 50 Pending Item Description Synchronization Method Select the desired method for synchronization There are three methods Select files and direction to synchronize Send files only from PC to Controller Send files only from Controller to PC Transfer When the synchronization method is set for Select files and direction to synchronize you can change the direction of transfer by clicking in the transfer cell for the desired file and then clicking on the dropdown list arrow TIP If the status is Select the files are updated in both the S Controller and PC Select the direction to synchronize Start Click this button to start the transfer of files This button is grayed out if there are not files to transfer Close Close the dialog EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 63 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 a Project Properties TST gt Project General Properties Source Files In Controller Name MyProject Operator Settings Createct Last Modified 11 2 2005 8 05 47 AM Vers
12. 260 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 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 For example when a drawing shows that the ECP is located at X 300 Y 300 Z 300 based on the robot coordinate system specify it as shown below ECPSet 1 X4Y 300 300 300 0 0 0 Defines ECP No 1 When you have no ECP location data you can specify it by teaching As an example attach the tool of which you know the data precisely and bring the tip of the tool close to the ECP and then teach its position anywhere as PO Then specify the ECP using PO coordinate data as shown below ECPSet 1 P0 U 0 V 0 W 0 Defines ECP No 1 The orientation data U V W were set to 0 in the above examples In these cases the orientation in the ECP coordinate system is equal to that in the reference robot coordinate system You can specify U V and W coordinates in the ECP coordinate system However this data is valid only during the tangential correction mode ON in the Curve statement and ECP jog motion EPSON RC 5 0 Ver 5
13. 8 oo d Property Description Visible Displays a base local coordinate system Visible Check Not visible Uncheck default TIP E For Local 0 Base Visible is the default 214 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 8 Simulator Point If the point of the corresponding number is not defined yet the check box is grayed No Name Visible La 1 u 3 3 4 5 6 7 8 E ee oe E E Property Description Name Shows a point label In the Property Grid point labels cannot be configured or edited Visible Shows Not show a point Visible Check Not visible Uncheck default TIP E If you cannot see the Visible column increase the property grid display width Hand When a hand is registered with a robot Hand is added in the Layout Objects tree Property Value Name Hand Rotation degree 0 00 Filename g6_hand_main_a wrl Collision Margin mm 0 Property Value Name Hand name You can specify any name for a hand Default Hand Rotation Hand mounting direction File name CAD data file name of the hand It cannot be changed Collision Margin Margin of collision detection Thickness For example when you specify 10 mm it detects a collision even if an object is 10 mm away from a hand EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 215 8 Simulator Layout Object Layout Box Layout Sphere Layout Cylinder Layout Plane CAD There are common attributes for all objects
14. Close EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 145 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 146 EPSON RC 5 0 Ver 5 4 User s Guide Rev 6 The SPEL Language SPEL is a BASIC like programming language that runs in the RC170 RC180 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 The program statements are stored in one or more program text files Every program file has a PRG extension and resides in the project directory on the PC and optionally in the controller Each project must contain at least one program and there must be one function called main This is the default function
15. EPSON RC 5 0 User s Guide Project Management and Development EM111S2106F EPSON RC 5 0 Ver 5 4 User s Guide Project Management and Development Rev 1 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 Copyright 2011 SEIKO EPSON CORPORATION All rights reserved EPSON RC 5 0 Ver 5 4 User s Guide Rev i 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 Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period Please ask your Regional Sales Office for watranty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use e3 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disasters such
16. EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 55 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 The sections below have instructions for importing a project from each type of source location Importing a PC project Follow these steps to import a project from a PC 1 Select Import from the Project Menu to open the Import Project dialog Import Project Select Import Location Import project from where PC Controller Controller Status Folder 2 Select PC and click Next Import Project Select Project To Import Project Type Epson RC 5 0 Select Drive Sac Select Project To Import a Sy Projects Assembly1 Assembly2 MyProject 56 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 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 Ce is automat
17. Or Select Operator Window from the Run Menu The project will be built before the Operator Window appears After the files have been compiled and linked the project files are sent to the controller Status Pane This window shows progress messages and error messages during project build i RC NG 1 0 0 Project C EpsonRCNGProjects MyP roject Window Help 333 Gl sm o Connection Offline S Program Files Ea Main pre a E I Main prg 5 Include Files Function main Sq Robot Points Points pts Motor On Sy Labels 3S 1 0 Labels Do ERR User Errors Jump Pick S E Functions On Vacuum Jump place Off Vacuum Wait 2 CycleCount CycleCount 1 Double click this line to go to the source code Error 3052 File Main prg Line 12 No error message for error 3052 Build aborted due to errors _EStop _Satety Line 14 Col13_ INS When errors occur during the build process a message is displayed that includes the error number program name and line number Double click on the line with the error to go directly to the source code that caused the error EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 185 7 Building SPEL Applications 186 7 2 50 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
18. 11 2 Remote Control Input Output Configuration This is the procedure to assign the remote functions to the I O l Select Controller from the Setup Menu and select the Remote Control Inputs or Remote Control Outputs page 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 Click OK to save the new settings Setup Controller Genera Remote Control Inputs Configuration Preferences Options H Robot Input Signal Input Inputs Outputs Remote Control SelProgl Inputs Outputs SelProg2 Ethernet SelProg4 TCP IP Stop Pause Continue Reset SetMotorsOn zu4ryrnont wr For details of dialog setting refer to 5 12 2 Controller Command Setup Menu 11 3 Control Device Configuration This is the procedure to set the control device to Remote I O IE Set the controller control device to Remote Select Controller from the Run Menu click on Configuration in the tree on the left then select Remote I O from the Control Device dropdown list Click Apply to save the new setting and the click Close Setup Controller Controller Configuration Configuration Preferences Name Controller1 Apply Options Robot IP Address 192 168 0 1 Remote Control IP Mask 255 255 255 0 TCP IP IP Gateway 0 0 0 0 wi Inputs Outputs USB Speed Auto Control
19. 4 Operation 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 1 Ensure that it is safe to operate the robot Click the Robot Manager button IFI on the toolbar You will see the Robot Manager window with the Control Panel page displayed EPSON RC 5 0 0 Simple Project c EpsonRC50 Projects Firstapp File Edit Yiew Project Run Tools Setup Window Help l ee 01 Connection Ethernet 1 Program pra Points pts a Labels SE 1 0 Labels ERR User Errors Points Sy Functions main Status Pei Emergency Stop OFF Safeguard OFF Motors ON Power LOW Motors Free Joints MOTOR OFF Free All EStop Safety Error Warming Tasks Running ie 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 amp Teach tab in the Robot Manager i EPSON RC 5 0 0 Simple Project c EpsonRC50 Projects FirstApp File Edit Yiew Project Run Tools Setup Window Help Ba eye GS DB 383 GA se oa Connection Ethernet 1 eix y Files Program pra Jogging Current Position Points pts i Pat one Mode World d X mm Y mm Z mm i World 1 0 Labels
20. 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 Cn 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 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 status folder 1 Select Import from the Project Menu to open the Import Project dialog Import Project Select Import Location Import project from where Cee Controller Controller Status Folder Browse For Folder Select folder for controller status to import From H G download H O epson E O epsonrc O Epsonrcso H O Backup gt calib D exe O Help Manuals O Projects gt ProjectsSave O rc170 B Status a W E E E E E EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 59 5 The EPSON RC 5 0 GUI 60 3 Select a controller status folder and click OK Import Project Select Destination Project Destination Project Name Assembly2q Destination Drive a C Select Project Folder Sy Projects New Folder Assembly1 Assembly2 MyProject 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 dest
21. 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 Epson RC 5 0 Help Ef e gt amp P Hide Locate Back Forward Print Options ty Version 5 0 0 para wi PP What s new Version 5 0 0 Getting Started _ u ji ty a i Display 5 14 4 Search Command Help Menu This command opens the Search view for the EPSON RC 5 0 on line help system From the Search view you can type in one or more keywords and click List Topics to show a list of all topics containing one or more of the keywords The keywords are highlighted in the topics as shown below f Epson RC 5 0 Help A E e Hide Locate Back Forward Print Options Contents Index Search Favorites Accel Statement Type in the keyword to find See Also Example motor accel Sets or displays the acceleration and deceleration rates for the Go Jump and Pulse robot motion instructions Syntax nae ene i 1 teers feet decel departAccel departDecel approAccel approDecel cce atemen AccelS Statement 2 Stet Call Statement Parameters Select Topic to display cla erate Integer expression between 1 100 representing a percentage Motor Statement of maximum acceleration rate i ie aca in SPEL decel Integer expression between 1 100 representing a percentage Power S
22. A compile error will occur if function main is not found In addition seven more programs can be defined in the same project Each program has its own start function main1 main2 main7 Each of the eight programs can be started from the Operator window from the remote console or from VB Guide A function definition begins with the Function statement and ends with the Fend statement All source statements to be executed by a function must be included within the body of the function The following program file contains two function definitions Function Main calls function Funcl MAIN PRG Function Main Call Funcl Fend Function Funcl Jump pickpnt Fend 6 2 2 Calling functions You can execute a user function by using the Call statement The function can reside in any program file in the current project To get a return value you must use the function as an argument in a statement You can also omit the Call statement if you don t need the return value When Call is omitted then parentheses for the arguments must not be supplied Here are some examples Call MyFunc 1 2 MyFunc 1 2 Print MyFunc 1 2 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 147 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
23. 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 Setup Controller General Simulator nan Configuration Preferences Enable Simulator Options Apply Simulator C Generate error when collision detected H Robot H Inputs Outputs H Remote Control H RS232 TCP 7 IP For more details see Virtual Controller Configuration in section 8 3 4 EPSON RC 5 0 Ver 5 4 User s Guide Rev 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 Setup Controller Robot Model General Configuration Preferences Options Robot Model E2C2515 Configuration Calibration Type Scara Amplifiers Inputs Outputs J1 J2 Length 250 mm H Remote Control TCP IP Z Length 120 mm 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 If you select None then the current robot will be removed from the controller when Apply is clicked Type Displays the robot type Leng
24. File Save 6 Create a project and program 1 Create a new project 1 1 Click the EPSON RC 5 0 menu Project New Project 1 2 Enter anew project name For this tutorial enter Test 1 3 Click the lt OK gt button Then the project Test is created 2 Operate the robot and teach points 2 1 Click the Tool bar lt Robot Manager gt button The Robot Manager window appears 2 2 Select the Control Panel tab and click the lt MOTOR ON gt button The message appears to confirm the operation Click the lt Yes gt button EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 207 8 Simulator 208 2 3 Select the Jog amp Teach tab The following window appears 2 4 2 5 2 6 2 7 2 8 2 9 2 10 2 11 n Robot Manager P Jogging Control Pa Loca 0 Tool irm ow ECP oa Mode World w Current Position EA A Arch t t U ae O 4 Joint C000 FJ Ont Current Arm Orientation Loca 3 Oy Jog Distance X mm Y imm Z mm Continuous 1 000 1 000 1 000 Lone pion ert U deg deg WW dee Medium Weight Execute Motion Command Teach Points 7 phit Point File Pointspts Teach ae Command Jump Zi Execute KY ipie Point PO Edit v In the Robot Simulator window move the robot joint to a point where it does not interfere with
25. It is recommended that the serial number be used 4 Click the Save Cal button Browse to a destination directory and click Save 9 3 2 Loading robot calibration data To load robot calibration data 1 Select Controller from the Setup Menu 2 Under the Robot folder in the tree on the left select Calibration 3 Click the Load Cal button Browse to the desired MPD file and click Open EPSON RC 5 0 Ver 5 4 User s Guide Rev 237 10 Inputs and Outputs 10 Inputs and Outputs 10 1 Overview The RC170 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 Up to four boards can be added each with 32 inputs and 32 outputs Fieldbus I O An optional board can be added that supports fieldbus slave mode for DeviceNet EtherNetI P PROFIBUS DP PROFINET or CC Link Memory I O This is built in memory bits that can be used for inter task communications For Standard Expansion and Fieldbus I O there are input bits numbered starting with 0 and output bits numbered starting with 0 For example there is an input bit 3 and a separate output bit 3 For memory I O each memory bit is both an input and an output For specifications and instructions on wiring I O see the RC170 RC180 Controller Manual 10 2 1 0 Commands The SPEL language has several commands for
26. 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 Tool Coordinate System This is the coordinate system of the tool mounted on the robot end effector 6 14 2 Robot Coordinate System Robot Coordinate System of SCARA Robot Y Center of third axis Z axis in Robot Coordinate System U axis in Robot Coordinate System Y 360 U nw X 158 EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 6 The SPEL Language Robot Coordinate Systems for 6 Axis Robot Floor Mounting Ceiling Mounting 2 robot coordinate system tool 0 coordinate system robot coordinate system tool coordinate system Side Wall Mounting robot coordinate system Z tool coordinate system EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 159 6 The SPEL Language Robot Coordinate Systems for RS series Y View from this direction Robot coordinate system Z axis Robot coordinate system U axis View from this direction
27. ONGIVIOW an a a aae 183 What is an EPSON RC 5 0 Project ccc ccceeceeeceeeeeeeeeeeeeeeees 183 Why do you need projects cccccsssseecessseecceeseeceeseeecsenseesseaes 183 What s in an EPSON RC 5 0 project cceecccecseeeeeeeeeeeeeeees 183 Ehe Detaull ProjeCi icno Na a 183 7 2 2 Creating a new PLOjeCt ee cecccscecseccceeeseseeeeeeseeeseeeeeeeenaees 184 7 2 3 Configuring a project 0 cece ccceecceeeeeeeeeeeeeaeeeseeesaeeeseeenaees 184 Eding al PROJSCE saris tceta cnniuteanid bata nvenatnnanssannedsadielaamasentnbadeataateidss 184 724 Building a PROJ Clo acot x a ctuoonacnaencede Recs seeced Selena sted ae eactdaes ee 185 Status PANG srs seiccet etn detecciien ea ads tee eeasgatei aces Sani ceeatneae dese iececuate 185 7 2 5 Making copies Of projects ccccccceececeecceeeeseeseeeeeeeeseeeneees 186 G20 BACKING Ups PrOlOC s i23 niece eh a Sais es stadia 186 7 2 f Converting a simple mode Project ccccccceeccceeeeeeeeeeeeeeees 186 EPSON RC 5 0 Ver 5 4 User s Guide Rev Table of Contents 7 Ges ame Eding fd 6 2 p goed eee 187 Vode Prodorom MUICSsi252 tic ast al eh et cael iia setae helo 187 LaL TNP ogan eod enrian 187 haa DOYMA HG oane ae yaaaaaees 188 TOG VNA ETO Sart a eaeesd 189 Ta EduUng PONS nenia o eo a e ERa 190 7 5 Running and Debugging Programs ccccccesecceeeeeeeeeeeeeeeaeeeeeeaeeaees 190 Tod TERN VVINGOW sga a S 190 192 De
28. Once an Emergency Stop occurs you must execute a Reset to clear it Indicates whether the Safeguard input is on or off Indicates whether the robot motors are on or off Indicates whether the robot motor power is high or low Description Turns on all robot motors for the robot You will be prompted to confirm this operation Turns off all robot motors for the robot Puts the robot servo system in low power mode Puts the robot servo system in high power mode You can free one or more joints using the checkboxes These will be disabled for 6 axis robots Click this button to free all joints from servo control Click this button to lock all joints under servo control Resets the robot servo system and Emergency Stop condition Moves the robot to the position specified with the HomeSet command EPSON RC 5 0 Ver 5 4 User s Guide Rev 5 The EPSON RC 5 0 GUI Tools Robot Manager Jog and Teach Page The Jog amp 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 i Robot Manager Jogging Control Panel Locat 0 Toot 0 Am O ECP 0 w Mode World f z cE Jog amp Teach Current Position x lt mm Y mm Z mm Ponts Wot O Aal U deg Joint J Ld Pe Current 4rm Orientat
29. Preferences SFN Name MyRobat Robot ode Serial t 0001 Restore Configuration Calibration Amplifiers Joints Inputs 7 Outputs J1 Enabled J4 Enabled W Remote Control TCP IP J2 Enabled J3 Enabled 6 Type in a name for the new robot and enter the serial number from the robot s nameplate Any serial number can be used but it is recommended that you use the number that is stamped on the robot 7 Click Apply to save settings EPSON RC 5 0 Ver 5 4 User s Guide Rev 1 233 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 Setup Controller Robot Calibration General Configuration Preferences Options S Robot Joint To Calibrate Model Configuration Values are in encoder pulses Caution Calibration may change point locations Calibration Amplifiers Inputs 7 Outputs H Remote Control TCP IP Joint CalPls Hofs 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 Calibration Wizard Joint 1 Step 1 Move To Zero Pulse Position Move Joint 1 to its approximate z
30. Ver 5 4