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Rev.4 EM12XS2357FEPSON RC+ 5.0 User's Guide Project Management and Development Ver.5.4

Table of Contents 3. Getting Started 23 3.1 Hardware Installation ... 23 3.2 S

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 comman

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, the

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 t

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 Manage

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 de

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

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 coordin

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

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 M

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 91 4. We will now teach the local origin point. Click the Teach button

Table of Contents 5.6.7 Restore Command ... 43 5.6.8 Rename Command ...

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 butt

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 93 Tools: Robot Manager: Tools Page This page allows you to define tool s

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 s

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.

5. The EPSON RC+ 5.0 GUI 96 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Tools: Robot Manager: Arms Page This page allows you to define Arm setti

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 (ext

5. The EPSON RC+ 5.0 GUI 98 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Tools: Robot Manager: Box Page When the RC180 Controller firmware is Ver

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 99 Tools: Robot Manager: Plane Page When the RC180 Controller firmware is

5. The EPSON RC+ 5.0 GUI 100 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Tools: Robot Manager: Weight Page This page is for changing the Weight

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 101 Tools: Robot Manager: Inertia Page This page is for changing the Iner

Table of Contents 5.10.5 Walk Command ... 75 5.10.6 Resume Command ...

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

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 th

5. The EPSON RC+ 5.0 GUI 104 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Tools: Robot Manager: Home Config Page Home Config allows you to config

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 105 5.11.2 Task Manager Command (Tools Menu) The Task Manager window al

5. The EPSON RC+ 5.0 GUI 106 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Item Description Halt Suspends the selected task. This temporarily st

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 l

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

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

5. The EPSON RC+ 5.0 GUI 110 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 To view bytes and words in hexadecimal format, check the Hexadecimal Va

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 111 5.11.5 Command Window Command (Tools Menu) The command window emulat

Table of Contents 5.11.9 Simulator Command...118 5.11.10 Vision Command ...

5. The EPSON RC+ 5.0 GUI 112 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Key Action Ctrl+V Execute Paste command. Paste from Clipboard to curre

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 To

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 f

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. Re

5. The EPSON RC+ 5.0 GUI 116 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 View Controller Status Click the View Controller Status button to view

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

5. The EPSON RC+ 5.0 GUI 118 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.11.9 Simulator Command (Tools Menu) This command opens the Simulato

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 119 5.12.1 PC to Controller Communications Command (Setup Menu) The PC

5. The EPSON RC+ 5.0 GUI 120 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.12.2 Controller Command (Setup Menu) The Controller command opens t

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 121 Setup: Controller: Configuration Page This page allows the user to vi

Table of Contents 6.2 Program structure ... 151 6.2.1 What is a SPEL+ program

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 pref

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 123 Include project files in when status exported This preference allows

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 th

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 125 Setup: Controller: Robot Setup: Controller: Robot Model Page Use this

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 Ente

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 joi

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 valu

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 config

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 configu

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 Re

Table of Contents 6.17.5 Saving and loading Points... 178 6.17.6 Point attributes ...

5. The EPSON RC+ 5.0 GUI 132 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Controller: Remote: RS232 Use this page to configure the Remote

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

5. The EPSON RC+ 5.0 GUI 134 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 4. Change the other settings as desired. 5. Click Apply to save the n

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

5. The EPSON RC+ 5.0 GUI 136 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Preferences: Startup: Windows Login Page The Windows Login page

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 137 Setup: Preferences: Workspace Page From this page, you can configure

5. The EPSON RC+ 5.0 GUI 138 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Preferences: Editor Page This page is used to configure your pre

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 139 Setup: Preferences: Robot Manager: General Page This page lets you co

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 conf

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 141 Setup: Preferences: Run Window Page This page allows you to change pr

Table of Contents 7.5.2 Debugging ... 199 7.6 The Operator Window...

5. The EPSON RC+ 5.0 GUI 142 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Setup: Preferences: Command Window Page This page allows you to change

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 143 Setup: Preferences: Language This page allows you to change the EPSO

5. The EPSON RC+ 5.0 GUI 144 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.13 Window Menu The Window Menu contains selections for managing the

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 145 5.13.3 Tile Vertical Command (Window Menu) Use Tile Vertical to even

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 documen

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 147 5.14 Help Menu The Help Menu contains selections for accessing the

5. The EPSON RC+ 5.0 GUI 148 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.14.3 Index Command (Help Menu) This command opens the Index view fo

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 149 5.14.5 Manuals Submenu (Help Menu) The Help Menu Manuals submenu co

6. The SPEL+ Language 6. The SPEL+ Language This chapter contains information about the SPEL+ Language. Contents - Overview - Program structure - Co

6. The SPEL+ Language 6.1 Overview SPEL+ is a BASIC-like programming language that runs in the controller. It supports multitasking, motion contro

Table of Contents 10.5 Virtual I/O... 247 11 Remote Control 248

6. The SPEL+ Language 6.3 Commands and statements Commands and statements consist of a SPEL+ instruction followed by the parameters for that instru

6. The SPEL+ Language 6.5 Data types You can declare different types of data in your program. All variables must be declared. The following table

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

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

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 a

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 string

6. The SPEL+ Language 6.9 Multi-statements A program statement can contain several statements separated by semi-colons. The total length of a mult

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

6. The SPEL+ Language Example The following example shows a simple error handling routine. When an error occurs, program execution goes to the ErrHa

6. The SPEL+ Language 6.13 Multi-tasking For some applications, you may want to control other equipment besides the robot, such as conveyors, pick

Table of Contents xvi EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

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 robo

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)

6. The SPEL+ Language Robot Coordinate Systems for RS series Origin Y+X+ View from this direction Robot coordinate system Z axis Robot coordinate

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

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

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 particu

6. The SPEL+ Language 6.15.2 6-Axis robot arm orientations The 6-Axis robot can be operated in various arm orientations within a given work envelop

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 ha

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 operati

6. The SPEL+ Language LJM function for CP motion command LJM function and AutoLJM command described above are also available for CP motion commands.

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 Pro

6. The SPEL+ Language 6.15.3 RS series arm orientations The RS series can be operated in various arm orientations within a given work envelope as

6. The SPEL+ Language To specify orientation for the RS series, add a forward slash (/) followed by L (for Lefty hand orientation) or R (Righty hand

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

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 positionspecifie

6. The SPEL+ Language 6.16.8 PTP Speed / Acceleration for Small Distances You can change the speed and acceleration for small distances using PTPBo

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

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 ot

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 (/

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

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 inp

EPSON RC+ 5.0 (Ver.5.4) User's Guide Project Management and Development Rev.4

1. Introduction 2 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 1.2.1 RC180 Controller The RC180 Controller is a compact robot controller that c

6. The SPEL+ Language 6.19 Using Traps Traps are used to cause program execution to jump to a label or enable a function to be called or executed a

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. There

6. The SPEL+ Language Outputs off during Emergency Stop Uncheck Outputs off during Emergency Stop in the Preferences page of Setup Controller to ex

6. The SPEL+ Language EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 185 Task Exection Normal Omit the task type in Xqt statement, or specify Norma

7. Building SPEL+ Applications 7. Building SPEL+ Applications 7.1 Designing Applications 7.1.1 Creating the simplest application The simplest S

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 Manag

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

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 \Ep

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 bui

7. Building SPEL+ Applications 7.2.5 Making copies of projects Use the Copy Project command in the Project Menu to copy all of the files in the cur

1. Introduction EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 3 1.2.5 System Block Diagram The following system block diagram shows different

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

7. Building SPEL+ Applications 7.3.3 Syntax Help When you type in a SPEL+ keyword or user function, the syntax help window will appear to show the

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

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,

7. Building SPEL+ Applications Wrist column Drop down list with two values for robot wrist orientation: Flip and NoFlip. This column is shown only

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 Wi

7. Building SPEL+ Applications Item Description Text area This is the area that takes up most of the run window. Output from your programs is displ

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

7. Building SPEL+ Applications Stepping through a program There are three commands on the Run Menu that are used for stepping through code. Step In

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

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

7. Building SPEL+ Applications 2. Select Display Variables from the Run Menu to display the variable display dialog. This dialog has three tabs for

7. Building SPEL+ Applications 7.6 The Operator Window The Operator Window can be used as a simple interface for operators. You can configure EPSO

7. Building SPEL+ Applications 7.6.1 Operator Window Configuration You can configure the Operator Window from the Operator Window pages in Project

8. Simulator 8. Simulator 8.1 Simulator Functions Simulator functions enable easy robot motion checking on your PC, which gives you flexibility t

8. Simulator 8.1.2 System Requirements Recommended specification When using CAD data, we recommend using a PC running Windows 7 Professional 32 bi

8. Simulator 8.2 Using the Simulator You can try the simulation functions using the provided sample virtual controllers and projects. See section

8. Simulator (3) Click the <Open> button. Then, the following program window appears. 3. Display the simulator window Click the Tool bar-&

8. Simulator 4. Operate the robot by executing program (1) Click the Tool bar-<Run Window > button. The project will be built and the [Run

8. Simulator Click the <Add> button. (2) The [New Controller Connection] dialog appears. Select the <Connection to new virtual controlle

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)

1. Introduction EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5 You can connect a controller and PC with any major version combinations. RC180 C

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 ba

8. Simulator (2)-3 Select the [Jog & Teach] tab. The following window appears. (2)-4 In the [Robot Simulator] window, move the robot joint t

8. Simulator 7. Operate the robot by executing program (1) Click the Tool bar-<Run Window> button. The following dialog appears. (2) Cli

8. Simulator (5) Select “main2” in the [Function] dropdown list. (6) Click the <Start> button. The message “Are you ready to start?” appears

8. Simulator 8.3 Description of Functions This section describes how to use the simulator window and its functions. 8.3.1 Simulator window layou

8. Simulator Button Description Create Movie Plays a simulation result (log file) in the Playback mode and savesinto a movie file. A dialog appears

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 L

8. Simulator Check Self Collision Enables / disables the collision detection for a robot itself. Enable : True (default) Disable : False Changing

8. Simulator Points Display the point display setting status in the point file. Switch to show/non-show all points. Property Description File Name

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 speci

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

8. Simulator ◆ Layout Object Layout Box / Layout Sphere / Layout Cylinder / Layout Plane / CAD There are common attributes for all objects and other

8. Simulator Height Cylinder Plane Cylinder height Floor length / Wall height Width Plane Floor width / Wall width Rotation All Object angle

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 sho

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.

8. Simulator (5) 3D Display In the 3D display, you can check the robot orientation and motion from various points of view. Change the robot / layo

8. Simulator Check for collisions When a collision between a robot and layout object is detected, the collided robot joint and layout object are disp

8. Simulator (6) Record / Playback In Playback mode, you can record and produce simulation results. Also, you can store the simulation results in m

8. Simulator 8.3.2 Simulator Settings When you click the Tool bar-<Simulator Settings > button, the [Simulator Settings] dialog appears.

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.

8. Simulator 8.3.3 Collision detection In the simulation, collisions can be detected between the robots including its hand and the layout objects.

1. Introduction EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 7 EPSON RC+ 5.0 Ver.5.2.* or later / Controller firmware Ver.1.6.*.* or later RC18

8. Simulator It cannot guarantee that it has enough time for robots to stop when the simulator detects the collision. Caution about the collision de

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.

8. Simulator Enable the Simulator in controller From the [Setup]-[Controller]-[Simulator], check the [Enable Simulator] check box to enable the simu

8. Simulator 8.4 Simulator Specifications and Restrictions This section describes the simulator specification, its restrictions, and precautionary

8. Simulator CAD data setup orientation Some CAD data coordinates may be different from those of the simulator. Adjust the coordinates to the corre

8. Simulator Collision Detection Precision The Simulator Collision Detection provides an indication whether robots collide with the peripheral equip

8. Simulator 8.4.4 Specification and precaution of EPSON RC+ Restriction on the controller settings When you connect with a virtual controller, t

8. Simulator (3) Ethernet / RS-232C communication command (Print #, Input #, OpenCom, OpenNet, etc.) All ports including the option RS-232C board a

8. Simulator (4) Vision command (VRun, VGet, etc.) For Vision-related commands, the communication with Smart Camera (SC300 / SC1200) is not performe

9. Robot Configuration EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 241 9. Robot Configuration This chapter contains information for configuri

1. Introduction 8 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 EPSON RC+ 5.0 Ver.5.4.* or later / Controller firmware Ver.1.10.*.* or later RC18

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 fo

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 descr

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 bu

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 f

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

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 S

11. Remote Control 248 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 11. Remote Control 11.1 Overview The controller can be controlled by exter

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 249 11.2 Remote Control Input Output Configuration This is the procedure to as

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

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 251 11.7 Remote Inputs Remote inputs are used to control the Manipulators and

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.

11. Remote Control 252 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Function SelProg1 SelProg2 SelProg4 Main 0 0 0 Main1 1 0 0 Main2 0 1 0 Main3

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

11. Remote Control 254 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 (*1) Outputs the current or the last function number of CurrProg1, CurrProg2,

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 timin

11. Remote Control 256 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Timing Diagram for Safety Door Input Sequence 8 1052 1052 500 9 11 11 928

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 ro

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 fro

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 259 Remote command Format: $ remote command {, parameter...} terminator Remot

11. Remote Control 260 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Remote command Parameter Contents Input acceptance condition (*1) SetIOWord

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 261 (*1) The Controller state bit from GetStatus. (*2) Execute the function s

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.

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. Foll

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 i

11. Remote Control 264 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Flag Contents Warnig Turn ON in the warning condition Task can be executed a

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 corre

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 c

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 267 For the details of the dialog setting, refer to the section 5.12.2 Control

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

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 269 Remote Command Send command Data Description Input Acceptance Condition (*

11. Remote Control 270 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Remote Command Send command Data Description Input Acceptance Condition (*1)

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 271 Remote Command Send command Data Description Input Acceptance Condition (*

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 11 2. Safety 2.1 Overview This chapter explains the important safety requirements for

11. Remote Control 272 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 For the backup parameters when the parameter name and type are same. (*7) Fo

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

11. Remote Control 274 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Command Format GetIOMemWord [ACK] ‘u’[ Word value(16Bit) (&H0000～&HFF

11. Remote Control EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 275 Flag Contents Paused Turn ON with paused task Running Turn ON with task ex

11. Remote Control 276 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Communication sequence 180Controller Port xx RS-232C RemoteController

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

12. RS-232 Communications 278 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 12.2 RS-232 Commands Here is a list of all of the commands associated

13. TCP / IP Communications EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 279 13. TCP / IP Communications EPSON RC+ 5.0 supports eight TCP/IP p

13. TCP / IP Communications 280 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 13.1.4 Testing Windows TCP/IP setup Use the ping command from a Com

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 setti

EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Copyright © 2011-2012 SEIKO EPSON CORPORATION. All rights re

2. Safety 12 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 2.2.2 Safeguard To ensure safe operation of the robotic work cell, you must install a

13. TCP / IP Communications 282 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 13.4 TCP/IP Example This example shows how to configure 2 PCs runni

14. ECP Motion EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 283 14. ECP Motion 14.1 Overview An ECP (external control point) motion is when

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 pro

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

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 wi

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

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 mak

Appendix A: Software Installation Appendix A: Software Installation EPSON RC+ 5.0 supports the following OS. Windows XP Professional Service Pack 3

Appendix A: Software Installation 4. Click the Next button to continue. 5. Enter your user name and company name, then click Next. 6. Select th

Appendix B: Project Import Automatic Processing Appendix B: Project Import Automatic Processing Project for EPSON RC+ 3.* / 4.* When projects created

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 13 2.2.5 Changing Operation Mode You can change from AUTO operation mode or PROGRAM op

Appendix B: Project Import Automatic Processing User Error Label File Conversion Files are changed automatically as the user error numbers are changed

Appendix B: Project Import Automatic Processing Project Import for SPEL for Windows 2.* When projects created in SPEL for Windows 2.* are imported,

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 ar

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 safe

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 i

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 an

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 ro

2. Safety 18 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Resetting the Safeguard Ensure that the robot system can only be restarted through care

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 soft

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 operati

2. Safety EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 21 - If there is a possibility of a dangerous situation arising from the operation of a

FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the Manipulator. Please c

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

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 us

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

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 Pr

4. Operation 26 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 4.3.4 Start Mode Dialog When the start mode is set for Auto, then a dialog is displ

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 Win

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.

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

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 w

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 pro

TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or o

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 th

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

4. Operation 34 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 4. Edit the program Type in the following program lines in the Program.prg edit wind

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

4. Operation 36 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 (2) Click on the Motor On button to turn on the robot motors. You will be prompted

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 Pow

5. The EPSON RC+ 5.0 GUI 38 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5. The EPSON RC+ 5.0 GUI The chapter contains information on the EPSON

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 39 5.2 Project Explorer Pane The Project Explorer pane enables you to qu

5. The EPSON RC+ 5.0 GUI 40 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.4 Status Bar The status bar located at the bottom of the main window

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

MANUFACTURER Toyoshina Plant Factory Automation Systems Dept. 6925 Toyoshina Tazawa, Azumino-shi, Nagano, 399-8285 JAPAN TEL : +81-(0)263-72-

5. The EPSON RC+ 5.0 GUI 42 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.6.2 Open Command (File Menu) Open one or more files in the current pr

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 fi

5. The EPSON RC+ 5.0 GUI 44 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.6.8 Rename Command (File Menu) Use Rename to change the name of the

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 45 5.6.10 Import Command (File Menu) Import a file into the current pro

5. The EPSON RC+ 5.0 GUI 46 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.6.11 Print Command (File Menu) This command opens the Print dialog b

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 47 5.6.12 Exit Command (File Menu) Exits from EPSON RC+ 5.0. If you ar

5. The EPSON RC+ 5.0 GUI 48 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.7.5 Paste Command (Edit Menu) Puts the contents of the Clipboard int

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 49 5.7.7 Find Next Command (Edit Menu) Find the next occurrence of the

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

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 51 5.8 View Menu The EPSON RC+ 5.0 View Menu includes commands for open

Southeast Asia EPSON Singapore Pte Ltd. India Factory Automation System 1 HarbourFrontPlace, #03-02 HarbourFront Tower one, Singapore 098633 T

5. The EPSON RC+ 5.0 GUI 52 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.8.3 System History Command (View Menu) This command opens the System

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 53 5.9 Project Menu The EPSON RC+ 5.0 Project Menu includes commands fo

5. The EPSON RC+ 5.0 GUI 54 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.9.2 Open Command (Project Menu) Use this command to open an EPSON RC

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 55 5.9.3 Recent Projects Submenu (Project Menu) The Recent Projects sub

5. The EPSON RC+ 5.0 GUI 56 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 To add an existing program source file 1. Select the program name you wa

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 57 5.9.6 Save Command (Project Menu) This command saves all currently o

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 p

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

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

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 ca

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

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. C

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 destinat

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 i

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 65 5.9.11 Delete Command (Project Menu) This command deletes an entire

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 u

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 67 5.9.15 Properties Command (Project Menu) Project: Properties: Genera

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

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 69 Project: Properties: Operator Settings : Operator Window: General Page

5. The EPSON RC+ 5.0 GUI 70 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 Project: Properties: Operator Settings : Operator Window: Controls Page

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 71 Project: Properties: Operator Settings: Robot Manager Page Use this pa

Table of Contents TABLE OF CONTENTS 1. Introduction 1 1.1 Welcome to EPSON RC+ 5.0 ... 1 1

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 t

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 73 Project: Properties: Vision The EPSON Smart Camera supports two visio

5. The EPSON RC+ 5.0 GUI 74 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.10 Run Menu The EPSON RC+ 5.0 Run Menu includes commands for running

5. The EPSON RC+ 5.0 GUI EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 75 5.10.4 Step Over Command (Run Menu) Execute the current source line.

5. The EPSON RC+ 5.0 GUI 76 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.10.8 Toggle Breakpoint Command (Run Menu) Sets the current line as a

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 numbe

5. The EPSON RC+ 5.0 GUI 78 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 5.11 Tools Menu EPSON RC+ 5.0 has several GUI tools to aid in developm

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 contai

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 pri

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 sele