Document

Document
EPSON RC+ 5.0
Ver.5.4
User's Guide
Project Management and Development
Rev.6
EM153S2921F
EPSON RC+ 5.0 (Ver.5.4)
User's Guide Project Management and Development Rev.6
EPSON RC+ 5.0 (Ver.5.4)
User's Guide
Rev.6
Copyright  2011-2015 SEIKO EPSON CORPORATION. All rights reserved.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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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
warranty 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.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the robot or associated equipment is used outside of the usage conditions and product
specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Throughout this manual, Windows XP, Windows Vista, and Windows 7 refer to above
respective operating systems. In some cases, Windows refers generically to Windows XP,
Windows Vista, and Windows 7.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
INQUIRIES
Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier office for
your region.
Please prepare the following items before you contact us.
-
Your controller model and its serial number
Your manipulator model and its serial number
Software and its version in your robot system
A description of the problem
SERVICE CENTER
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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MANUFACTURER
Seiko Epson Corporation
Toyoshina Plant
Robotics Solutions Operations Division
6925 Toyoshina Tazawa,
Azumino-shi, Nagano, 399-8285
Japan
TEL : +81-(0)263-72-1530
FAX : +81-(0)263-72-1495
SUPPLIERS
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North & South America
Epson America, Inc.
Factory Automation/Robotics
18300 Central Avenue
Carson, CA 90746
USA
TEL
: +1-562-290-5900
FAX
: +1-562-290-5999
E-MAIL : info@robots.epson.com
Europe
Epson Deutschland GmbH
Factory Automation Division
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
TEL
: +49-(0)-2159-538-1391
FAX
: +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
China
Epson (China) Co., Ltd.
Factory Automation Division
7F, Jinbao Building No. 89, Jinbao Street,
Dongcheng District, Beijing,
China, 100005
TEL
: +86-(0)-10-8522-1199
FAX
: +86-(0)-10-8522-1120
Taiwan
Epson Taiwan Technology & Trading Ltd.
Factory Automation Division
14F, No.7, Song Ren Road, Taipei 110,
Taiwan, ROC
TEL
: +886-(0)-2-8786-6688
FAX
: +886-(0)-2-8786-6677
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Korea
Epson Korea Co., Ltd.
Marketing Team (Robot Business)
27F DaeSung D-Polis A, 606
Seobusaet-gil, Geumcheon-gu, Seoul, 153-803
Korea
TEL
: +82-(0)-2-3420-6692
FAX
: +82-(0)-2-558-4271
Southeast Asia
Epson Singapore Pte. Ltd.
Factory Automation System
1 HarbourFront Place, #03-02,
HarbourFront Tower One,
Singapore 098633
TEL
: +65-(0)-6586-5696
FAX
: +65-(0)-6271-3182
India
Epson India Pvt. Ltd.
Sales & Marketing (Factory Automation)
12th Floor, The Millenia, Tower A, No. 1,
Murphy Road, Ulsoor, Bangalore,
India 560008
TEL
: +91-80-3051-5000
FAX
: +91-80-3051-5005
Japan
Epson Sales Japan Corporation
Factory Automation Systems Department
Nishi-Shinjuku Mitsui Bldg. 6-24-1
Nishishinjuku, Shinjuku-ku, Tokyo 160-8324
Japan
TEL
: +81-(0)3-5321-4161
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Table of Contents
1. Introduction
1.1
1.2
1.3
1.4
1.5
1.6
1.7
1.8
Welcome to EPSON RC+ 5.0 ............................................................... 1
System Overview .................................................................................. 1
1.2.1 RC180 Controller ..................................................................... 2
1.2.2 RC90 Controller ...................................................................... 2
1.2.3 Software ................................................................................... 2
1.2.4 Simulator ................................................................................. 2
1.2.5 System Block Diagram............................................................. 3
Software Version................................................................................... 4
1.3.1 Version Confirmation................................................................ 6
1.3.2 Restrictions by Version Combination ....................................... 6
Options.................................................................................................. 9
Precautions When Using Windows Vista / Windows 7 ........................ 9
EPSON RC+ 3.x and 4.x Users............................................................ 9
SPEL for Windows Users ..................................................................... 9
Documentation .................................................................................... 10
2. Safety
2.1
2.2
2.3
2.4
2.5
2.6
2.7
1
11
Overview ............................................................................................. 11
Definitions ........................................................................................... 11
2.2.1 Robot Power .......................................................................... 11
2.2.2 Safeguard............................................................................... 12
2.2.3 Operation Modes ................................................................... 12
2.2.4 Start Mode.............................................................................. 12
2.2.5 Changing Operation Mode ..................................................... 13
2.2.6 Emergency Stop .................................................................... 13
2.2.7 Teach Control Device ............................................................. 13
Safety-related Requirements .............................................................. 14
Installation and Design Precautions ................................................... 15
2.4.1 Designing a Safe Robot System ............................................ 15
2.4.2 Robot System Installation, Start-up, and Testing .................. 18
Precautions regarding Robot Operation ............................................. 20
2.5.1 General Precautions .............................................................. 20
2.5.2 Automatic Operation .............................................................. 20
2.5.3 Teaching Robot Points ........................................................... 20
2.5.4 Return to Automatic Operation .............................................. 21
2.5.5 Program Verification............................................................... 21
2.5.6 Troubleshooting ..................................................................... 21
2.5.7 Maintenance........................................................................... 21
2.5.8 Backup of Projects and Controller ......................................... 22
End User Instruction Manual .............................................................. 23
End User Training ............................................................................... 23
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Table of Contents
3. Getting Started
3.1
3.2
Hardware Installation ..........................................................................24
Software Installation ............................................................................24
4. Operation
4.1
4.2
4.3
4.4
4.5
5.3
5.4
5.5
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25
Simple Mode .......................................................................................25
System Power Up Procedure..............................................................25
Starting EPSON RC+ 5.0 ....................................................................25
4.3.1 Startup sequence ...................................................................26
4.3.2 Startup Configuration .............................................................26
4.3.3 Start Mode ..............................................................................26
4.3.4 Start Mode Dialog...................................................................27
4.3.5 Startup Mode: Program ..........................................................27
4.3.6 Startup Mode: Auto.................................................................28
4.3.7 Auto Start................................................................................28
4.3.8 Windows Login .......................................................................29
4.3.9 Command Line Options .........................................................29
Starting EPSON RC+ 5.0 in Simple Mode ............................ 29
Starting EPSON RC+ 5.0 for a specific project ..................... 29
Change the EPSON RC+ 5.0 startup mode.......................... 30
Disabling the EPSON RC+ 5.0 splash window ..................... 30
4.3.10 Using Command Line Options ...............................................30
Running from the Windows Run Box .................................... 30
Making startup icons for your projects .................................. 30
Communications with Controller .........................................................31
4.4.1 Configuring Communications with the Controller................... 31
4.4.2 USB Communications ............................................................31
4.4.3 Ethernet Communications ......................................................32
4.4.4 Connecting When Control Device is not PC .......................... 32
Writing your first program....................................................................34
5. The EPSON RC+ 5.0 GUI
5.1
5.2
24
39
GUI Overview ......................................................................................39
Project Explorer Pane .........................................................................40
5.2.1 Context Menu ........................................................................40
Status Window Pane ...........................................................................40
Status Bar ...........................................................................................41
Online Help .........................................................................................41
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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5.6
File Menu ............................................................................................ 42
5.6.1 New Command .................................................................... 42
5.6.2 Open Command ................................................................... 43
5.6.3 Close Command .................................................................... 43
5.6.4 Save Command ..................................................................... 44
5.6.5 Save As Command ................................................................ 44
5.6.6 Save All Command ................................................................ 44
5.6.7 Restore Command ................................................................. 44
5.6.8 Rename Command ................................................................ 45
5.6.9 Delete Command ................................................................... 45
5.6.10 Import Command ................................................................... 46
5.6.11 Print Command ...................................................................... 47
5.6.12 Exit Command........................................................................ 48
5.7 Edit Menu ............................................................................................ 48
5.7.1 Undo Command ..................................................................... 48
5.7.2 Redo Command ..................................................................... 48
5.7.3 Cut Command ........................................................................ 48
5.7.4 Copy Command ..................................................................... 48
5.7.5 Paste Command .................................................................... 49
5.7.6 Find Command....................................................................... 49
5.7.7 Find Next Command .............................................................. 50
5.7.8 Replace Command ................................................................ 50
5.7.9 Select All Command............................................................... 51
5.7.10 Indent Command ................................................................... 51
5.7.11 Outdent Command................................................................. 51
5.7.12 Comment Block Command .................................................... 51
5.7.13 Uncomment Block Command ................................................ 51
5.7.14 Go To Definition Command .................................................... 51
5.8 View Menu .............................................................................................. 52
5.8.1 Project Explorer Command .................................................... 52
5.8.2 Status Window Command ..................................................... 52
5.8.3 System History Command ..................................................... 53
5.9 Project Menu .......................................................................................... 54
5.9.1 New Command ...................................................................... 54
5.9.2 Open Command ..................................................................... 55
5.9.3 Recent Projects Submenu ..................................................... 56
5.9.4 Close Command .................................................................... 56
5.9.5 Edit Command ....................................................................... 56
5.9.6 Save Command ..................................................................... 58
5.9.7 Save As Command ................................................................ 58
5.9.8 Rename Command ................................................................ 59
5.9.9 Import Command ................................................................... 60
5.9.10 Copy Command ..................................................................... 65
5.9.11 Delete Command ................................................................... 66
5.9.12 Build Command ..................................................................... 66
5.9.13 Rebuild Command ................................................................. 66
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Table of Contents
5.9.14 Synchronize Command ..........................................................67
5.9.15 Properties Command .............................................................68
5.10 Run Menu ............................................................................................75
5.10.1 Run Window Command .........................................................75
5.10.2 Operator Window Command..................................................75
5.10.3 Step Into Command ...............................................................75
5.10.4 Step Over Command .............................................................76
5.10.5 Walk Command ......................................................................76
5.10.6 Resume Command ................................................................76
5.10.7 Stop Command ......................................................................76
5.10.8 Toggle Breakpoint Command .................................................77
5.10.9 Clear All Breakpoints Command ............................................77
5.10.10 Display Variables Command ..................................................77
5.10.11 Call Stack Command .............................................................78
5.11 Tools Menu ..........................................................................................79
5.11.1 Robot Manager Command .....................................................79
Control Panel .........................................................................80
Jog & Teach ...........................................................................81
Points .....................................................................................86
Arch .......................................................................................87
Local ......................................................................................88
Tools ......................................................................................95
Arms ......................................................................................98
ECP .......................................................................................99
Box .......................................................................................100
Plane....................................................................................101
Weight ..................................................................................102
Inertia ...................................................................................103
XYZ Limits ...........................................................................104
Range ..................................................................................105
Home Config ........................................................................106
5.11.2 Task Manager Command .....................................................107
5.11.3 I/O Label Editor Command...................................................109
5.11.4 I/O Monitor Command .......................................................... 111
To open the I/O Monitor ....................................................... 111
Using the I/O Monitor........................................................... 111
5.11.5 Command Window Command ............................................. 113
To open the Command window ........................................... 113
To execute SPEL+ commands from
the Command window......................................................... 113
5.11.6 Macros Command ................................................................ 114
5.11.7 Controller Command ............................................................ 115
Backup Controller ................................................................ 115
Restore Controller ............................................................... 116
Export Controller Status ...................................................... 117
View Controller Status ......................................................... 118
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Reset Controller .................................................................. 119
5.11.8 User Error Editor Command ................................................ 119
5.11.9 Simulator Command ............................................................ 120
5.11.10 Vision Command .................................................................. 120
5.12 Setup Menu....................................................................................... 120
5.12.1 PC to Controller Communications Command...................... 121
5.12.2 Controller Command ............................................................ 122
General Page ...................................................................... 122
Configuration Page ............................................................. 123
Preferences Page................................................................ 124
Options ................................................................................ 126
Simulator ............................................................................. 126
Robot ................................................................................... 127
Inputs / Outputs ................................................................... 130
EtherNet/IP .......................................................................... 130
Remote Control ................................................................... 130
RS232.................................................................................. 135
TCP/IP ................................................................................. 135
5.12.3 Preferences Command ........................................................ 136
Startup ................................................................................. 136
Workspace........................................................................... 140
Editor ................................................................................... 141
Robot Manager.................................................................... 142
Run Window ........................................................................ 144
Command Window .............................................................. 145
Language ............................................................................ 146
5.13 Window Menu ................................................................................... 147
5.13.1 Cascade Command ............................................................. 147
5.13.2 Tile Horizontal Command .................................................... 147
5.13.3 Tile Vertical Command ......................................................... 148
5.13.4 Arrange Icons Command ..................................................... 148
5.13.5 Close All Command ............................................................. 148
5.13.6 1, 2, 3 Command ................................................................. 149
5.13.7 Windows Command ............................................................. 149
5.14 Help Menu......................................................................................... 150
5.14.1 How Do I Command............................................................. 150
5.14.2 Contents Command ............................................................. 150
5.14.3 Index Command ................................................................... 151
5.14.4 Search Command ................................................................ 151
5.14.5 Manuals Submenu ............................................................... 152
5.14.6 About EPSON RC+ 5.0 Command ...................................... 152
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Table of Contents
6 The SPEL+ Language
6.1
6.2
6.3
6.4
6.5
6.6
6.7
6.8
6.9
6.10
6.11
6.12
6.13
6.14
6.15
6.16
6.17
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153
Overview ...........................................................................................154
Program structure .............................................................................154
6.2.1 What is a SPEL+ program? .................................................154
6.2.2 Calling functions ...................................................................154
Commands and statements ..............................................................155
Function and variable names ............................................................155
Data types .........................................................................................156
Operators ..........................................................................................156
Working with variables ......................................................................157
6.7.1 Variable scopes ....................................................................157
6.7.2 Local variables .....................................................................157
6.7.3 Module variables ..................................................................157
6.7.4 Global variables....................................................................158
6.7.5 Global Preserve variables ....................................................158
6.7.6 Arrays ...................................................................................159
6.7.7 Initial values..........................................................................159
6.7.8 Clearing variables.................................................................159
Working with strings ..........................................................................160
Multi-statements ................................................................................161
Labels ................................................................................................161
Comments .........................................................................................161
Error handling....................................................................................162
Multi-tasking ......................................................................................164
Robot coordinate systems ................................................................165
6.14.1 Overview...............................................................................165
6.14.2 Robot Coordinate System ....................................................165
6.14.3 Local Coordinate Systems ...................................................168
6.14.4 Tool Coordinate Systems .....................................................168
6.14.5 ECP Coordinate Systems (Option) ......................................169
Robot arm orientations......................................................................170
6.15.1 SCARA robot arm orientations .............................................170
6.15.2 6-Axis robot arm orientations ...............................................171
6.15.3 RS series arm orientations ...................................................175
Robot motion commands ..................................................................177
6.16.1 Homing the robot ..................................................................177
6.16.2 Point to point motion ............................................................177
6.16.3 Linear motion........................................................................177
6.16.4 Curves ..................................................................................177
6.16.5 Joint motion ..........................................................................178
6.16.6 Controlling position accuracy ...............................................178
6.16.7 CP Motion Speed / Acceleration and Tool Orientation .........178
6.16.8 PTP Speed / Acceleration for Small Distances ....................179
Working with robot points..................................................................180
6.17.1 Defining points......................................................................180
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Table of Contents
6.17.2 Referencing points by name ................................................ 180
6.17.3 Referencing points with variables ........................................ 180
6.17.4 Using points in a program .................................................... 181
6.17.5 Saving and loading Points ................................................... 181
6.17.6 Point attributes ..................................................................... 181
6.17.7 Extracting and setting point coordinates.............................. 183
6.17.8 Alteration of points ............................................................... 183
6.18 Input and output control .................................................................... 184
6.18.1 Hardware I/O ........................................................................ 184
6.18.2 Memory I/O .......................................................................... 184
6.18.3 I/O Commands ..................................................................... 184
6.19 Using Traps ....................................................................................... 185
6.20 Special Task ...................................................................................... 186
6.20.1 Precautions to Use the Special Task .................................. 186
6.20.2 Special Task Specification ................................................... 187
6.20.3 Special Task Example .......................................................... 188
7 Building SPEL+ Applications
7.1
7.2
7.3
189
Designing Applications...................................................................... 189
7.1.1 Creating the simplest application ......................................... 189
7.1.2 Application Layout................................................................ 189
Program ............................................................................... 189
Operator interface ............................................................... 189
Safety interface ................................................................... 190
Robot Points, Pallets, Tools, Locals .................................... 190
Inputs and outputs ............................................................... 190
Peripherals .......................................................................... 190
Managing Projects ............................................................................ 191
7.2.1 Overview .............................................................................. 191
What is an EPSON RC+ 5.0 Project? ................................. 191
Why do you need projects? ................................................ 191
What's in an EPSON RC+ 5.0 project? .............................. 191
The Default Project ............................................................. 191
7.2.2 Creating a new project ......................................................... 192
7.2.3 Configuring a project ............................................................ 192
Editing a project................................................................... 192
7.2.4 Building a project ................................................................. 193
Status Pane ......................................................................... 193
7.2.5 Making copies of projects .................................................... 194
7.2.6 Backing up a project ............................................................ 194
7.2.7 Converting a simple mode project ....................................... 194
Editing Programs .............................................................................. 195
7.3.1 Program rules....................................................................... 195
7.3.2 Typing in program code ....................................................... 195
7.3.3 Syntax Help .......................................................................... 196
7.3.4 Syntax Errors ....................................................................... 197
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Table of Contents
7.4
7.5
7.6
7.7
Editing Points ....................................................................................198
Running and Debugging Programs ..................................................200
7.5.1 The Run Window ..................................................................200
7.5.2 Debugging ............................................................................202
The Operator Window .......................................................................206
7.6.1 Operator Window Configuration...........................................207
Using Remote Control.......................................................................207
8 Simulator
8.1
8.2
8.3
8.4
Simulator Functions ..........................................................................208
8.1.1 Overview...............................................................................208
8.1.2 System condition ..................................................................209
Using the Simulator ...........................................................................210
8.2.1 Using with sample ................................................................210
8.2.2 Using with original system....................................................212
Description of Functions ...................................................................219
8.3.1 Simulator window structure ..................................................219
(1) Tool bar...........................................................................219
(2) Layout Objects ...............................................................220
(3) Property Grid ..................................................................221
(4) 2D Layout .......................................................................228
(5) 3D Display ......................................................................229
(6) Record / Playback ..........................................................231
8.3.2 Simulator Settings ................................................................232
8.3.3 Collision detection ................................................................234
8.3.4 Virtual controller ...................................................................235
8.3.5 Connection with controller ...................................................236
Specification and Restriction of Simulator ........................................238
8.4.1 EPSON RC+ 5.0 package ....................................................238
8.4.2 Specification and precaution of 3D display ..........................238
8.4.3 Specification and precaution of Simulation
(program execution on PC) ..................................................239
8.4.4 Specification and precaution of EPSON RC+ .....................241
8.4.5 Restriction on SPEL+ command execution ..........................241
8.4.6 Specification & precaution of EPSON RC+ 5.0
Trial version ..........................................................................243
9 Robot Configuration
9.1
9.2
9.3
xiv
208
244
Setting the Robot Model ...................................................................244
Calibrating the Robot ........................................................................245
Changing Robot Parameters ............................................................248
9.3.1 Saving robot configuration data ...........................................248
9.3.2 Loading robot configuration data .........................................248
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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10 Inputs and Outputs
10.1
10.2
10.3
10.4
10.5
249
Overview ........................................................................................... 249
I/O Commands .................................................................................. 249
I/O Configuration............................................................................... 250
Monitoring I/O ................................................................................... 250
Virtual I/O .......................................................................................... 250
11 Remote Control
251
11.1 Overview ........................................................................................... 251
11.2 Remote Control Input Output Configuration ..................................... 252
11.3 Control Device Configuration............................................................ 252
11.4 Auto Mode with Remote Control....................................................... 253
11.5 Teach Mode with Remote Control .................................................... 253
11.6 Debugging Remote Control .............................................................. 253
11.7 Remote Inputs................................................................................... 254
11.8 Remote Outputs ................................................................................ 256
11.9 Remote Input Handshake Timing ..................................................... 258
11.10 Remote Ethernet............................................................................... 260
Remote command ............................................................................ 262
Response .......................................................................................... 266
Error response .................................................................................. 268
Communication sequence ................................................................ 268
11.11 Remote RS232 ................................................................................. 269
12 RS-232 Communications
280
12.1 RS-232 Software Configuration ........................................................ 280
12.2 RS-232 Commands .......................................................................... 281
13 TCP / IP Communications
282
13.1 TCP/IP Setup .................................................................................... 282
13.1.1 Ethernet Hardware ............................................................... 282
13.1.2 IP Addresses ........................................................................ 282
13.1.3 IP Gateway ........................................................................... 282
13.1.4 Testing Windows TCP/IP setup............................................ 283
13.2 TCP/IP Software Configuration ........................................................ 284
13.3 TCP/IP Commands ........................................................................... 284
13.4 TCP/IP Example ............................................................................... 285
14 ECP Motion
286
14.1 Overview ........................................................................................... 286
14.1.1 How to move the arm with ECP motion ............................... 287
1. Setting the ECP ............................................................................ 287
2. Teaching........................................................................................ 288
3. Executing Motion .......................................................................... 288
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Table of Contents
15 Installing Controller Options
289
16 Software License Agreement
290
Appendix A: Software Installation
A-1
Before Installing EPSON RC+ 5.0 Software .............................................. A-1
Installing EPSON RC+ 5.0 Software .......................................................... A-3
Appendix B: Automatic Processing of Project Import
B-1
Project for EPSON RC+ 3.*/4.*................................................................... B-1
Project for SPEL for Windows 2.* ............................................................... B-3
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
1. Introduction
1. Introduction
1.1 Welcome to EPSON RC+ 5.0
Welcome to the EPSON RC+ 5.0 Project Management and Development Environment.
EPSON RC+ 5.0 is used to develop application software for the EPSON RC90/RC180
Robot Controller.
EPSON RC+ 5.0 features:
- Runs on Microsoft Windows XP, Windows Vista, Windows 7, and Windows 8.1.
- Integrated application development environment.
- Communicates with controller using USB or Ethernet.
- One PC can be used to manage several controllers.
- Multiple simultaneous sessions.
- SPEL+ programming language. A powerful, easy to use BASIC-like programming
language that supports multi-tasking, robot motion control, I/O control, and networking.
- Controller I/O configuration.
- Controller TCP/IP and RS-232 communications setup.
- Wizards for robot tools, local coordinate systems, robot calibration.
- Vision Guide option. Enables you to create a vision system using an EPSON smart
camera and Compact Vision.
- VB Guide option. Enables you to control the system using Microsoft .NET programming
languages.
- ECP option supports CP motion relative to a fixed point.
- GUI Builder option (Integrated screen creation environment)
1.2 System Overview
The EPSON RC+ 5.0 software is used on a PC that connects with the EPSON
RC90/RC180 Controller. EPSON RC+ 5.0 can communicate with the Controller using
USB or Ethernet.
EPSON RC+ 5.0 and the Controller can be used in the following configurations:
- Slave System
In this configuration, the Controller is a PLC or PC cell
slave. EPSON RC+ 5.0 is only used to develop the
application. Once the object code is stored in the
controller, the PC is not required to be connected to the
Controller. The Controller is controlled by remote digital
I/O or Fieldbus.
- Stand Alone System
In this configuration, a PC is used as a mini cell controller.
EPSON RC+ 5.0 can be started in Auto mode to display a
simple operator window for the Controller. Or, the VB
Guide option can be used to control the Controller from
a .NET application.
- Offline Development System In this configuration, a PC is used to edit programs and
build projects on an offline computer.
- Simulation System
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
EPSON RC+ 5.0 is used on a PC connected to an
Controller without a robot using virtual I/O.
I/O
simulation tasks can be created to run the application
using simulated I/O.
1
1. Introduction
1.2.1 RC180 Controller
The RC180 Controller is a compact robot controller that can drive EPSON SCARA and
Pro Six robots.
Features:
- Small and compact, yet powerful.
- Built in motion drive system. The motion drive system can control one robot with up to
six motors.
- Includes standard digital I/O.
- Optional digital I/O expansion boards.
- Optional Fieldbus slave support for DeviceNet, EtherNetI/P, PROFIBUS-DP,
PROFINET, and CC-Link.
- Optional RS232 ports.
For detailed information on the Controller, refer to the controller manual.
1.2.2 RC90 Controller
The RC90 Controller is a robot controller that can drive EPSON LS series manipulators.
Features:
- Built in motion drive system. The motion drive system can control one robot.
- Standard I/O
- Optional digital I/O expansion boards
- Optional Fieldbus slave support for DeviceNet, PROFIBUS-DP, and CC-Link.
- RS232 ports (standard + optional)
For detailed information on the Controller, refer to the RC90 controller manual.
NOTE

The RC90 Controller with the following label attached can be used in combination with
EPSON RC+ 7.0. It cannot be used in combination with EPSON RC+ 5.0.
1.2.3 Software
The EPSON RC+ 5.0 software is installed on the development PC or laptop. To
communicate with the controller, the PC must support USB 1.1 / 2.0 or Ethernet
communications. Using EPSON RC+ 5.0, you can develop application software for the
SPEL+ language that runs in the Controller.
1.2.4 Simulator
Simulator functions enable easy robot motion check on your PC, which gives you
flexibility to consider the system layout, measure the operation time, and create the robot
programs.
They are useful in all the way from introduction stage of robot automation to launch of
robot system.
Simulator is supported from EPSON RC+ 5.0 Ver.5.4 or later.
For details, refer to 8. Simulator.
2
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
1. Introduction
1.2.5 System Block Diagram
The following system block diagram shows different methods for connecting a PC running
EPSON RC+ 5.0 to one or more controllers.
Method 1: Connect PC to one controller using USB 1.1 or USB 2.0
USB
PC
RC90/RC180
Controller
Method 2: Connect PC to one controller using Ethernet
Ethernet
PC
RC90/RC180
Controller
Method 3: Connect PC to more than one controller using Ethernet.
Controller 1
RC90/RC180
PC
Controller 2
RC90/RC180
Ethernet
Controller 3
RC90/RC180
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
3
1. Introduction
1.3 Software Version
There are the following major software versions for EPSONRC+ 5.0.
Ver.5.0.*
Ver.5.1.*
Ver.5.2.*
Ver.5.3.*
Ver.5.4.*
There are the following major firmware versions for the RC180 controller firmware.
For Controllers with S/N less than 10000
Ver.1.0.*.*
Ver.1.2.*.*
Ver.1.4.*.*
Ver.1.6.*.*
Ver.1.8.*.*
Ver.1.10.*.*
Ver.1.12.*.*
Ver.1.14.*.*
Ver.1.16.*.*
For Controllers with S/N 10001or later
Ver.1.22.*.*
Ver.1.24.*.*
There are the following major firmware versions for the RC90 firmware.
Ver.3.0.*.*
Ver.3.2.*.*
Ver.3.4.*.*
4
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
1. Introduction
You can connect a controller and PC with any major version combinations.
RC180 Controller Firmware Version
EPSON
RC+ 5.0
Ver.5.0.*
Ver.5.1.*
Ver.5.2.*
Ver.5.3.*
Ver.5.4.*
Ver.1.0.*.*
Ver.1.2.*.*
Ver.1.4.*.*
Ver.1.6.*.*
Ver.1.8.*.*
OK *1
!
!
!
OK *2
!
!!
!!
OK *3
!
!
!
!
!
!
!!
!!
!!
OK *4
!
Ver.1.10.*.*
Ver.1.12.*.*
Ver.1.14.*.*
Ver.1.16.*.*
Ver.1.22.*.*
Ver.1.24.*.*
!!
!!
!!
!!
OK
OK: Compatible All functions of the EPSON RC+ 5.0 and the Controller are available.
*1 Refer to Ver.5.0 manuals.
*2 Refer to Ver.5.1 manuals.
*3 Refer to Ver.5.2 manuals.
*4 Refer to Ver.5.3 manuals.
EPSON
RC+ 5.0
!: Compatible
Functions are partly limited.
!!: Compatible
Functions are partly limited.
When using additional functions at the controller, EPSON RC+ 5.0 may
not display the proper dialog. The version update of EPSON RC+ 5.0 is
recommended.
Before Ver.5.4.0
Ver.5.4.1 or later
RC90 Controller Firmware Version
Ver.3.0.*.*
Ver.3.2.*.*
Ver.3.4.*.*
!!!
OK
OK: Compatible All functions of the EPSON RC+ 5.0 and the Controller are available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+5.0 Ver. 5.4.1 or
later.
Controller firmware update cannot be executed.
The latest software and firmware versions are used for the description in this manual.
EPSON RC+ 5.0
RC180 Controller firmware
RC90 Controller firmware
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
: Ver.5.4.5 or later
: Ver.1.16.*.*and Ver.1.24.*.*
: Ver.3.4.*.*
5
1. Introduction
1.3.1 Version Confirmation
To confirm the EPSON RC+ 5.0 version, refer to 5.14.6 About EPSON RC+ 5.0 Command
(Help Menu).
To confirm the RC180 Controller firmware version and the RC90 Controller firmware
version, refer to 5.12.2 Controller Command (Setup Menu).
1.3.2 Restrictions for Version Combination
The functions are restricted according to the combination of the EPSON RC+ 5.0 and the
controller firmware.
Combination and Available Functions
EPSON RC+ 5.0 Ver.5.1.* or later / RC180 Controller firmware Ver.1.2.*.* or later
Ver.5.0.*
Ver.5.1.*
EPSON RC+ 5.0
Ver.5.2.*
Ver.5.3.*
Ver.5.4.*
OK : Available
× : Not available
RC180 Controller Firmware
Ver.1.2.*.*, Ver.1.4.*.*
Ver.1.6.*.*, Ver.1.8.*.*
Ver.1.0.*.*
Ver.1.10.*.*, Ver.1.12.*.*
Ver.1.14.*.*, Ver.1.16.*.*
Ver.1.22.*.*, Ver.1.24.*.*
×
×
×
OK
- Vision Guide option and command for Vision.
- EtherNet/IP option
- Select items for controller restore
- Setting “Safeguard open stops all tasks”
- TCPSpeed function
EPSON RC+ 5.0 Ver.5.2.* or later / RC180 Controller firmware Ver.1.6.*.* or later
RC180 Controller Firmware
Ver.1.6.*.*, Ver.1.8.*.*
Ver.1.0.*.*
Ver.1.10.*.*, Ver.1.12.*.*
Ver.1.2.*.*
Ver.1.14.*.*, Ver.1.16.*.*
Ver.1.4.*.*
Ver.1.22.*.*, Ver.1.24.*.*
Ver.5.0.*
Ver.5.1.*
EPSON RC+ 5.0
Ver.5.2.*
Ver.5.3.*
Ver.5.4.*
OK : Available
× : Not available
×
×
×
OK
- Task execution and monitoring of the following task types
NoPause NoEmgAbort
- Tool setting from 4 to 15
- Arm setting from 4 to 15
- Approach check area (Box) function - Approach check plane (Plane) function
- Remote output for approach check area and approach check plane
- Following commands
AccelMax Function ErrorOn Function
OLAccel Statement PlaneClr Statement
Box Statement
EstopOn Function
OLAccel Function
PlaneDef Function
Box Function
InsideBox Function
PauseOn Function
SaftyOn Function
6
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
1. Introduction
BoxClr Statement
InsidePlane Function Plane Statement
BoxDef Function
LJM Function
Plane Function
Forced keyword (On, Off, Out, OutW, OpBCD)
Normal, NoPause, NoEmgAbort keyword (Xqt)
SysErr Function
EPSON RC+ 5.0 Ver.5.3.* or later / RC180 Controller firmware Ver.1.8.*.* or later
RC180 Controller Firmware
Ver.1.0.*.*
Ver.1.8.*.*, Ver.1.10.*.*
Ver.1.2.*.*
Ver.1.12.*.*, Ver.1.14.*.*
Ver.1.4.*.*
Ver.1.16.*.*, Ver.1.22.*.*
Ver.1.6.*.*
Ver.1.24.*.*
Ver.5.0.*
Ver.5.1.*
Ver.5.2.*
EPSON RC+ 5.0
Ver.5.3.*
Ver.5.4.*
OK : Available
× : Not available
- RS series support
- Remote Ethernet function
- Following commands
TC Statement
TCLim Statement
TCSpeed Statement TCSpeed Function
J1Flag Statement
J1Flag Function
×
×
×
OK *1
TCLim Function
RealTorque Statement
J2Flag Statement
J2Flag Function
*1 EPSON RC+ 5.0 Ver.5.3.4 or later and the controller firmware Ver.1.8.5.0 or later
enable the following functions:
- Go, Pass, Jump3, Jump3CP
- InReal, OutReal, SetInReal commands
- AtHome Function
- LJM parameter support
- SysErr parameter support
EPSON RC+ 5.0 Ver.5.4.* or later / RC180 Controller firmware Ver.1.10.*.* or later
/ RC90 Controller firmware Ver.3.0.*.* or later
RC180 Controller
Firmware
Ver.1.10.*.*
Ver.1.0.*.*
Ver.1.12.*.*
Ver.1.2.*.*
Ver.1.14.*.*
Ver.1.4.*.*
Ver.1.16.*.*
Ver.1.6.*.*
Ver.1.22.*.*
Ver.1.8.*.*
Ver.1.24.*.*
Ver.5.0.*
Ver.5.1.*
×
EPSON
Ver.5.2.*
RC+ 5.0
Ver.5.3.*
Ver.5.4.*
×
OK : Available
× : Not available
- Simulator function
- Chinese support (Simplified / Traditional)
- Remote input of ForcePowerLow
- Remote output of PowerHigh
- Following commands
QPDecelR Statement
QPDecelS Statement
QPDecelR Function
QPDecelS Function
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
RC90 Controller
Firmware
Ver.3.0.*.*
Ver.3.2.*.*
Ver.3.4.*.*
×
×
OK*1
OK*1
ElapsedTime Function
ResetElapsedTime Statement
7
1. Introduction
*1 EPSON RC+ 5.0 Ver.5.4.1 or later and the RC180 controller firmware Ver.1.10.2.0 or
later and the RC90 controller firmware Ver.3.0.0.0 or later enable the following
functions:
- Vx** Commands
- PROFINET option
EPSON RC+ 5.0 Ver.5.4.2 or later and the RC180 controller firmware Ver.1.12.0.0 or
later and the RC90 controller firmware Ver.3.0.2.0 or later enable the following
functions:
- Compact Vision CV1 option
- New property methods added to VB Guide 5.0
EPSON RC+ 5.0 Ver.5.4.3 or later and the RC180 controller firmware Ver.1.14.0.0 or
later and Ver.1.22.0.0 or later and the RC90 controller firmware Ver.3.2.0.0 or later
enable the following functions:
- GUI Builder option
EPSON RC+ 5.0 Ver.5.4.4 or later and the RC180 controller firmware Ver.1.16.0.0 or
later and Ver.1.24.0.0 or later and the RC90 controller firmware Ver.3.4.0.0 or later
enable the following functions:
- AutoLJM command
- Remote Control Extended I/O feature
- Following commands for the singularity avoiding function
AvoidSingularity Statement SingularityAngle Statement SingularitySpeed Statement
AvoidSingularity Function SingularityAngle Function SingularitySpeed Function
EPSON RC+ 5.0 Ver.5.4.5 or later and the RC180 controller firmware Ver.1.16.0.4 or
later and Ver.1.24.0.4 or later and the RC90 controller firmware Ver.3.4.0.2 or later
enable the following functions:
- Outputs control during motion command in VB Guide 5.0
- Following method for VB Guide 5.0
GetRobotPos Statement GetRealTorque Statement
EPSON RC+ 5.0 Ver.5.4.6 or later and the RC180 controller firmware Ver.1.16.2.0 or
later and Ver.1.24.2.0 or later and the RC90 controller firmware Ver.3.4.2.0 or later
enable the following functions:
-
8
Alive remote input and output
“Disable LIM in Teach Mode” on controller preference settings
“Use LJM” checkbox on Jog&Teach
Following commands
SingularityDist Statement
LimitTorque Statement
SingularityDist Function
LimitTorque Function
MHour Function
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
1. Introduction
1.4 Options
You can purchase options that must be enabled in the controller. EPSON RC+ 5.0 is used
to enable these options. See the chapter 15. Installing Controller Options for details.
1.5 Precautions When Using Windows Vista / Windows 7
Connecting development PC to robot controller using Ethernet
The robot controller does not support internet protocol version 6 (TCP/IPv6). When
connecting the development PC to the robot controller using the Ethernet, be sure to use
internet protocol version 4 (TCP/IPv4).
Cannot find camera in the network using camera search
When the Network discovery is OFF, you cannot find the camera in the network using the
camera search. Make sure that the Network discovery is ON.
For details, refer to the EPSON RC+5.0 Option: Vision Guide 5.0 manual.
For Windows Vista
Set the Network discovery ON from [Control Panel]-[Network and Internet]-[Network
and Sharing Center] in Windows.
For Windows 7
Set the Network discovery ON from [Control Panel]-[Network and Internet]-[Network
and Sharing Center]-[Change advanced sharing settings] in Windows.
1.6 EPSON RC+ 3.x and 4.x Users
If you have used previous 3.x and 4.x versions of EPSON RC+ software, you will find that
EPSON RC+ 5.0 is very similar.
You can convert your previous EPSON RC+ projects by using Project | Import. EPSON
RC+ 5.0 will copy the entire project from the \EPSONRC\Project directory to the
\EpsonRC50\Project directory. You can then use the project in the EPSON RC+ 5.0
environment.
1.7 SPEL for Windows Users
If you have used SPEL for Windows 1.x or 2.x software, you will find that EPSON RC+
5.0 is very similar.
Many new commands have been added to the SPEL+ language, which replaces SPEL.
Also, several commands were made obsolete or replaced.
You can convert your SPEL for Windows 2.x project by using Project | Import. EPSON
RC+ 5.0 will copy the files to a new directory and optionally convert the programs.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
9
1. Introduction
1.8 Documentation
All documentation is installed on the PC in Adobe PDF format. To view manuals on the
PC, select Manuals from the Help Menu in EPSON RC+ 5.0. You can also access the
manuals from the Windows desktop by clicking Start - Programs - EPSON RC+ 5.0 and
click on the manual you want to view.
EPSON RC+ 5.0 User's Guide
This manual contains detailed information for the entire system.
SPEL+ Language Reference Manual
This manual contains detailed information for the entire SPEL+ language.
Vision Guide 5.0 Manual
This manual contains information for using the Vision Guide 5.0 option.
Vision Guide 5.0 Properties and Results Reference Manual
This manual contains information for using the Vision Guide 5.0 option.
VB Guide 5.0 Manual
This manual contains information for using the VB Guide 5.0 option.
GUI Builder 5.0 Manual
This manual contains information for using the GUI Builder 5.0 option.
Manipulator Manual
This manual contains detailed information for the manipulator you have purchased. Each
series of manipulators has its own manuals.
Controller Manual
This manual contains detailed information for the controller you have purchased.
NOTE

The “NOTE” sections describe important information to be
followed for operating the Robot system.
TIP
The "TIP" sections describe hints for easier or alternative
operations.

10
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
2. Safety
2.1 Overview
This chapter explains the important safety requirements for robotic systems using EPSON
RC+ 5.0 and the robot Controller.
Installation of robots and robotic equipment should only be performed by qualified
personnel in accordance with national and local codes. Please read and understand this
entire chapter before using your EPSON RC+ 5.0 system.
Remember that safety is the most important consideration when designing and operating
any robotic system.
WARNING
This symbol indicates that a danger of possible serious injury or
death exists if the associated instructions are not followed
properly.
WARNING
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people or
physical damage to equipment and facilities exists if the
associated instructions are not followed properly.
2.2 Definitions
2.2.1 Robot Power
The status of robot power is explained below in terms of restriction to operation:
Operation-prohibited status:
Robot cannot be operated.
Restricted (low power) status:
Robot can operate at low speed and low torque.
Unrestricted (high power) status: Robot can operate without restriction.
The robot will not operate regardless of the control actions taken by the operator when in
the operation-prohibited state. During operation, when the safeguard circuit opens, the
system will switch to operation-prohibited state.
The robot will operate at low speed and torque in the restricted state (low power). In the
unrestricted state (high power), the robot will operate at the programmed speed and torque.
In the event that the robot should make an unexpected movement, the restricted state (low
power) decreases operating speed allowing the operator to avoid danger. The torque is
also decreased to minimize serious injury to the operator should one be struck by the robot.
The maximum values of the decreased speed and torque are set according to the robot used
and cannot be changed by the user.
As a safety precaution the initial power state of the robot will be set to either the restricted
(low power) state or the operation-prohibited state. The system will not change to the
unrestricted (high power) state if the appropriate procedures are not followed.
When the system is in restricted (low power) state or operation-prohibited state, a single
failure will not cause a runaway action that surpasses the assigned speed or torque decrease.
This is due to the multi-protect circuit and mutual monitoring circuit in the control system.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
11
2. Safety
2.2.2 Safeguard
To ensure safe operation of the robotic work cell, you must install a safety system using
safety doors, light curtains, safety floor mats, etc.
WARNING
■ There is a safeguard input circuit in the EMERGENCY connector on the
controller that connects with the safety device interlock switch. In order to protect
those working with the robot be sure that the interlock switch is connected and
working properly.
If a closed safeguard is open during robot motion, the robot stops immediately and enters
pause state. All robot motors are turned off. The descriptions below explain how the
safeguard input works.
Safeguard closed: The safeguard input is turned ON. The robot can automatically
operate in unrestricted (high power) state.
Safeguard open:
The safeguard input is turned OFF, and the interlock function
operates. The robot stops immediately, motors are turned off, and
further operation is impossible until either the safeguard is closed or
Teach mode is turned ON and the enable circuit is engaged.
For further details on the safeguard and interlock, refer to the section Installation and
Design Precautions later in this chapter. For detailed wiring instructions, refer to the Setup
& Operation EMERGENCY in the controller manual.
2.2.3 Operation Modes
The operation mode is defined as the single control point for the controller, therefore you
cannot use more than one operation mode at the same time.
There are three operation modes for the controller: AUTO, PROGRAM, and TEACH.
- AUTO operation modes allow you to execute programs in the controller when the
safeguard is closed.
- PROGRAM operation mode allows you to execute and debug programs when the
safeguard is closed.
- TEACH operation mode allows you to jog and teach the robot at slow speed while inside
the safeguarded area.
2.2.4 Start Mode
The Start mode specifies the operation mode for EPSON RC+ 5.0 when it starts.
You can set the EPSON RC+ 5.0 to start in AUTO or PROGRAM mode.
For information on how to change the start mode, refer to the Operation chapter.
12
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
2.2.5 Changing Operation Mode
You can change from AUTO operation mode or PROGRAM operation mode to TEACH
mode by setting the mode selector key switch on the Teach Pendant to the TEACH
position.
When the mode selector key switch is changed back to AUTO, the operation mode is
returned to previous operation mode (AUTO or PROGRAM).
The AUTO operation mode can be changed to PROGRAM mode during the EPSON RC+
5.0 startup sequence. A password can be used to allow only certain personnel to change
the startup operation mode.
When EPSON RC+ 5.0 starts in AUTO operation mode, the AUTO operation mode cannot
be changed to PROGRAM operation mode after the system has started. To change the
operation mode, restart the system and log into PROGRAM mode, then set the start mode
again and restart EPSON RC+ 5.0.
For more information, refer to the Operation chapter.
2.2.6 Emergency Stop
The controller is equipped with an emergency stop input terminal. If the normally closed
emergency stop circuit is broken, the power supplied to all motors will be shut off (and
enter servo-free status) and the robot will be stopped by dynamic braking.
CAUTION
■ The path that the robot will follow from the time the emergency stop switch is
pressed until the device stops, as well as the stop position itself, cannot be
positively determined. In many cases, the stop position will not exceed the
target position for the operation prior the emergency stop. Depending on the
robot’s loading condition and operation speed, overruns are inevitable. Taking
this into consideration, be sure the layout for the peripheral equipment includes
extra space.
For detailed wiring instructions, refer to the section EMERGENCY in the controller manual.
2.2.7 Teach Control Device
Operators can use the TP1 teach pendant to operate the robot in the TEACH operation
mode.
Refer to the TP1 manual for operation instructions.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
13
2. Safety
2.3 Safety-related Requirements
Specific tolerances and operating conditions for safety are contained in the manuals for the
robot, controller and other devices. Be sure to read those manuals as well.
For the installation and operation of the robot system, be sure to comply with the
applicable local and national regulations.
Robot systems safety standards and other examples are given in this chapter. Therefore, to
ensure that safety measures are complete, please refer to the other standards listed as well.
(Note: The following is only a partial list of the necessary safety standards.)
EN ISO 10218-1
EN ISO 10218-2
ANSI/RIA R15.06
EN ISO 12100
EN ISO 13849-1
EN ISO 13850
EN ISO 13855
EN ISO 13857
ISO 14120
EN953
IEC 60204-1
EN 60204-1
CISPR11
EN 55011
IEC 61000-6-2
EN 61000-6-2
Robots and robotic devices -- Safety requirements for industrial
robots -- Part 1: Robots
Robots and robotic devices -- Safety requirements for industrial
robots -- Part 2: Robot systems and integration
American National Standard for Industrial Robots and Robot
Systems -- Safety Requirements
Safety of machinery -- General principles for design -- Risk
assessment and risk reduction
Safety of machinery -- Safety-related parts of control systems -- Part
1: General principles for design
Safety of machinery -- Emergency stop -- Principles for design
Safety of machinery -- Positioning of safeguards with respect to the
approach speeds of parts of the human body.
Safety of machinery -- Safety distances to prevent hazard zones
being reached by upper and lower limbs.
Safety of machinery -- Guards -- General requirements for the design
and construction of fixed and movable guards
Safety of machinery -- Electrical equipment of machines -- Part 1:
General requirements
Industrial, scientific and medical (ISM) radio-frequency equipment - Electromagnetic disturbance characteristics -- Limits and methods
of measurement
Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards
-- Immunity for industrial environments
RC180 Controller - UL Specification
Compatibility assessment of the UL specification model is performed according to the
following standards.
UL1740 (Third Edition, Dated December 7, 2007)
ANSI/RIA R15.06-1999
NFPA 79 (2007 Edition)
CSA/CAN Z434-03 (February 2003)
CE Marking (Machinery Directive, EMC Directive)
14
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
2.4 Installation and Design Precautions
2.4.1 Designing a Safe Robot System
It is important to operate robots safely. It is also important for robot users to give careful
consideration to the safety of the overall robot system design.
This section summarizes the minimum conditions that should be observed when using
EPSON robots in your robot systems.
Please design and manufacture robot systems in accordance with the principles described
in this and the following sections.
Environmental Conditions
Carefully observe the conditions for installing robots and robot systems that are listed in
the “Environmental Conditions” tables included in the manuals for all equipment used in
the system.
System Layout
When designing the layout for a robot system, carefully consider the possibility of error
between robots and peripheral equipment. Emergency stops require particular attention,
since a robot will stop after following a path that is different from its normal movement
path. The layout design should provide enough margins for safety. Refer to the manuals
for each manipulator, and ensure that the layout secures ample space for maintenance and
inspection work.
When designing a robot system to restrict the area of motion of the robots, do so in
accordance with the methods described in each manipulator manual. Utilize both software
and mechanical stops as measures to restrict motion.
Install the emergency stop switch at a location near the operation unit for the robot system
where the operator can easily press and hold it in an emergency.
Do not install the controller at a location where water or other liquids can leak inside the
controller. In addition, never use liquids to clean the controller.
Disabling Power to the System using lock out / tag out
The power connection for the robot controller should be such that it can be locked and
tagged in the off position to prevent anyone from turning on power while someone else is
in the safeguarded area. For further details, refer to the section Procedure of
Lockout/Tagout in the chapter Safety Precautions in the controller manual.
End Effector Design
Provide wiring and piping that will prevent the robot end effector from releasing the object
held (the work piece) when the robot system power is shut off.
Design the robot end effector such that its weight and moment of inertia do not exceed the
allowable limits. Use of values that exceed the allowable limits can subject the robot to
excessive loads. This will not only shorten the service life of the robot but can lead to
unexpectedly dangerous situations due to additional external forces applied to the end
effector and the work piece.
Design the size of the end effector with care, since the robot body and robot end effector
can interfere with each other.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
15
2. Safety
Peripheral Equipment Design
When designing equipment that removes and supplies parts and materials to the robot
system, ensure that the design provides the operator with sufficient safety. If there is a
need to remove and supply materials without stopping the robot, install a shuttle device or
take other measures to ensure that the operator does not need to enter a potentially
dangerous zone.
Ensure that an interruption to the power supply (power shutoff) of peripheral equipment
does not lead to a dangerous situation. Take measures that not only prevent a work piece
held from being released as mentioned in “End effector Design” but that also ensure
peripheral equipment other than the robots can stop safely. Verify equipment safety to
ensure that, when the power shuts off, the area is safe.
Remote Control
To prevent operation by remote control from being dangerous, start signals from the
remote controller are allowed only when the control device is set to REMOTE, TEACH
mode is OFF, and the system is configured to accept remote signals. Also when remote is
valid, motion command execution and I/O output are available only from remote. For the
safety of the overall system, however, safety measures are needed to eliminate the risks
associated with the start-up and shutdown of peripheral equipment by remote control.
Emergency Stop
Each robot system needs equipment that will allow the operator to immediately stop the
system’s operation. Install an emergency stop device that utilizes emergency stop input
from the controller and all other equipment.
During an emergency stop, the power that is supplied to the motor driving the robot is shut
off, and the robot is stopped by dynamic braking.
The emergency stop circuit should also remove power from all external components that
must be turned off during an emergency. Do not assume that the robot controller will turn
off all outputs if configured to. For example, if an I/O card is faulty, the controller cannot
turn off a component connected to an output. The emergency stop on the controller is
hardwired to remove motor power from the robot, but not external power supplies.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.
Pressing the switch during the operation makes the brakes work. This will shorten the life
of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Before using the Emergency Stop switch, be aware of the followings.
-
-
The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
To stop the Manipulator operating the program except in emergency, use Pause (halt) or
STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does not
function.
For the Safeguard system, do not use the circuit for E-STOP.
For details of the Safeguard system, refer to the following manuals.
Safety and Installation
2.6 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.2.2 Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
5.2 Inspection Point - Inspection While the
Power is ON (Manipulator is operating)
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
Safeguard System
To ensure safety, a safeguard system should be installed for the robot system.
When installing the safeguard system, strictly observe the following points:
Refer to each robot manual, and install the safeguard system outside the maximum space.
Carefully consider the size of the end effector and the work pieces to be held so that there
will be no error between the moving parts and the safeguard system.
Manufacture the safeguard system to withstand calculated external forces (forces that will
be added during operation and forces from the surrounding environment).
When designing the safeguard system, make sure that it is free of sharp corners and
projections, and that the safeguard system itself is not a hazard.
Make sure that the safeguard system can only be removed by using a tool.
There are several types of safeguard devices, including safety doors, safety barriers, light
curtains, safety gates, and safety floor mats. Install the interlocking function in the
safeguard device. The safeguard interlock must be installed so that the safeguard interlock
is forced to work in case of a device failure or other unexpected accident. For example,
when using a door with a switch as the interlock, do not rely on the switch’s own spring
force to open the contact. The contact mechanism must open immediately in case of an
accident.
Connect the interlock switch to the safeguard input of the drive unit’s EMERGENCY
connector. The safeguard input informs the robot controller that an operator may be inside
the safeguard area. When the safeguard input is activated, the robot stops immediately and
enters pause status, as well as either operation-prohibited status or restricted status (low
power status).
Make sure not to enter the safeguarded area except through the point where the safeguard
interlock is installed.
The safeguard interlock must be installed so that it can maintain a safe condition until the
interlock is released on purpose once it initiates. The latch-release input is provided for the
EMERGENCY connector on the Controller to release the latch condition of the safeguard
interlock. The latch release switch of the safeguard interlock must be installed outside of
the safeguarded area and wired to the latch-release input.
It is dangerous to allow someone else to release the safeguard interlock by mistake while
the operator is working inside the safeguarded area. To protect the operator working inside
the safeguarded area, take measures to lock out and tag out the latch-release switch.
Presence Sensing Device
The above mentioned safeguard interlock is a type of presence sensing device, since it
indicates the possibility of somebody being inside the safeguard system. When separately
installing a presence sensing device, however, perform a satisfactory risk assessment and
pay thorough attention to its dependability.
Here are precautions that should be noted:
- Design the system so that when the presence sensing device is not activated or a
dangerous situation still exists that no personnel can go inside the safeguard area or place
their hands inside it.
- Design the presence sensing device so that regardless of the situation the system operates
safely.
- If the robot stops operating when the presence sensing device is activated, it is necessary
to ensure that it does not start again until the detected object has been removed. Make
sure that the robot cannot automatically restart.
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2. Safety
Resetting the Safeguard
Ensure that the robot system can only be restarted through careful operation from outside
the safeguarded system. The robot will never restart simply by resetting the safeguard
interlock switch. Apply this concept to the interlock gates and presence sensing devices
for the entire system.
Robot Operation Panel
When using the robot operation panel, it must be installed so as to operate the robot system
from outside the safeguard.
2.4.2 Robot System Installation, Start-up, and Testing
Installation
When installing the robot and robot system, follow the instructions contained in each of the
manipulator and controller manuals.
Start-up and Functional Testing
If the safeguard system is not ready at the time of start-up and functional testing, specify an
area to install the safeguard system (as a temporary measure) and then begin.
During start-up and functional testing, do not allow workers inside the safeguarded area
until the safeguard function is activated.
Before start-up and functional testing, carefully read the related manuals and obtain a good
understanding of safety-related precautions.
Before supplying the robot and robot system with power for the first time, verify the items
listed below.
Items to check before supplying with power
- Prescribed bolts are securely tightened to the robot.
- Electrical connections are set up correctly, and power supply conditions (including
voltage, frequency, and error level) are within the specified range.
- Compressed air source (if applicable) is properly connected.
- Peripheral devices are properly connected.
- Safety device is equipped with an interlock switch, and it functions properly.
- Operating environment conditions conform to the conditions specified in the manipulator
and controller manuals.
Items to check after supplying with power
- Start/stop, mode selection, and other functions work properly.
- Moving axes operate normally, and that the area of motion is limited as stipulated in the
specifications.
- Emergency stop circuit functions correctly.
- Power supply can be shut off.
- Teach operation mode is functioning properly.
- Safety device and interlock switch function correctly.
- Other safeguards (if applicable) are installed correctly in their prescribed locations.
- Robot operates accurately in restricted status (low power status).
- Robot operates properly under rated loads and at maximum speed.
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
Restarting after a Change
When restarting the robot system after its hardware or software has been corrected or
serviced, strictly observe the following:
- Before supplying the system with power, check the locations where the hardware was
modified.
- Test the functions of the robot system to make sure that it operates correctly.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
19
2. Safety
2.5 Precautions regarding Robot Operation
2.5.1 General Precautions
Before operation, become familiar with the location of all emergency stop switches.
During an emergency, always press the nearest emergency stop switch. There should
never be any emergency stop switches in the system that do not operate.
After an emergency, do not restore the emergency stop circuit until it has been determined
that the entire system is safe to restart.
If your robot is a 6-Axis type, record the pulse values of the reference points used for
calibration. For details, refer to the section Setup & Operation 3.6 Setting the Reference
Points for Calibration in the 6-Axis manipulator manual.
2.5.2 Automatic Operation
Ensure that system automatic operation is enabled only while the following requirements
are being met:
- Emergency stop switches are installed in the prescribed location and operate correctly.
- No personnel are inside the safeguarded area of the system.
- Safety procedures that are established separately for the robot system (if applicable) are
being followed.
2.5.3 Teaching Robot Points
If possible, teaching should be performed with no personnel inside the safeguarded area.
Teach mode can be used to allow the robot to be jogged or moved at slow speed when the
safeguard is open. Before going inside the safeguarded area, robot operators that need to
move the robot under servo control must switch Teach mode to ON by using the mode
selector key switch of the teach pendant. Operators then carry the teach pendant while
inside the safeguarded area. As a result, the operation mode cannot be changed from
outside the safeguarded system while somebody is inside the safeguarded area.
Auto Mode and Program Mode
With the safeguard circuit open, the robot motors will be turned off and the robot cannot be
jogged under power. However, the robot can be moved by hand to a position with the
safeguard circuit open and the position can then be taught.
Teach Mode
The robot can be jogged or moved at slow speed as long as the three position enable (dead
man) switch is engaged.
Please observe the following guidelines for teaching points:
- Robot operators must receive training that utilizes the same type of robot.
teaching, the operator should be thoroughly familiar with teaching procedures.
Before
- Before teaching, remove all errors and malfunctions.
- Before the robot operator goes inside the safeguard system, confirm that the robot motors
go off when the safeguard is open and that emergency stop switches are functioning
correctly.
- The robot operator should visually check the robot system and safeguard system interior
to ensure that there are no potential hazards.
- Design the system in such a way that prevents the overall robot system from being started
up from any location while the operator is inside the safeguarded area.
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2. Safety
- If there is a possibility of a dangerous situation arising from the operation of a device
other than the robot, such as an actuator, take steps to prevent such operation or ensure
that these devices can only be controlled by the teaching operator.
2.5.4 Return to Automatic Operation
If there are safety devices that have been temporarily disabled for system inspection or
other reasons, always return them to their original status before restarting automatic
operation.
2.5.5 Program Verification
If it is necessary to verify a program while the system is in unrestricted (high power) status,
first make sure that no personnel are inside the safeguarded area.
2.5.6 Troubleshooting
Troubleshoot from outside the safeguard system. If that is not possible, strictly observe the
requirements below.
- Operators responsible for troubleshooting should be trained and qualified to perform such
work.
- Establish work safety procedures to minimize the danger that operators inside the
safeguard system will be exposed to.
2.5.7 Maintenance
In order to keep the robot and robot system operating safely, maintenance (and inspection)
is important. Adequately trained personnel should perform the procedures required to do
the maintenance work safely. Make sure that maintenance is performed according to the
instructions in the manipulator and controller manuals (maintenance sections).
If maintenance is required inside the safeguarded area, take the following precautions:
- Shut off the power supply using lockout / tagout to prevent anyone from turning ON the
robot power supply by mistake. For further details, refer to the section Procedure of
Lockout/Tagout in the chapter Safety Precautions in the controller manual.
- If the robot system power supply cannot be shut off, strictly observe the following:
(1) Visually inspect the robot system to ensure that there are no conditions that could lead
to a malfunction.
(2) If it is discovered that the robot system is damaged or malfunctioning, perform the
required repairs and retest it before allowing the operator to go inside the safeguard
system.
- Grant full control of the robot and robot system to those performing maintenance and/or
repairs inside the safeguard system.
- Ensure that the robot system does not respond to any remote control devices.
- Ensure that all emergency stop devices are functioning correctly.
- Before starting the robot system in automatic operation, return all temporarily disabled
safety devices to their original enabled status.
- Do not use tweezers or other metal tools to aid in battery replacement. This could cause a
battery short. Replace a battery using only the specified type and be careful to observe
the polarity of the battery.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
21
2. Safety
2.5.8 Backup of Projects and Controller
After a project has been created or edited, or after system data including robot parameters
has been edited, the project and controller files should be copied and stored in media other
than the hard disk on the PC (e.g. USB memory key). Keep the backup media in a safe
place in case of damaged data on the hard disk
To backup, select Controller from the EPSON RC+ 5.0 Tools Menu and execute Backup
Controller. Refer to the section Controller Command (Tools Menu) in the chapter The
EPSON RC+ 5.0 GUI in this manual.
Backup Controller is a function to backup both the project and the controller.
To backup only the project data, select Copy from the EPSON RC+ 5.0 Project Menu.
Refer to the section Copy Command (Project Menu) in the chapter The EPSON RC+ 5.0
GUI in this manual.
NOTE

CAUTION
22
- When the version of the connected RC180 controller firmware is Ver.1.0.*.*, Backup
Controller does not backup the project data. Be sure to backup the project data
individually.
- You cannot restore the backup data of the RC180 robot controller to RC90 robot
controller. Also, you cannot restore the backup data of RC90 robot controller to RC180
robot controller.
■ If your system cannot be restored using Restore Controller, you must restore
robot calibration parameters (Hofs, CalPls) before operating the robot. Failure to
do so will cause the robot to move to incorrect positions.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
2. Safety
2.6 End User Instruction Manual
Be sure that the robot system instruction manual supplies a list of all the equipment
included in the system (such as the robots, associated equipment, and safety devices) as
well as a description of how to use each.
Be sure to provide the following in the manual:
- An easy to follow explanation of the robot system and how to install it, as well as a step
by step summary of the system installation and external power supply connections.
- A description of all hazards and how to avoid them.
- A description (including interconnection diagrams) of the safety devices, interacting
functions, and safeguard’s interlocking function against hazardous conditions, in
particular, the safeguard’s interlocking function for devices installed to perform
interactively.
- Precise instructions regarding usage of the system.
2.7 End User Training
Be sure those in charge of safety management confirm that the operators who program,
operate, and maintain the robot and robot system obtain proper training and have the
expertise to conduct the work safely.
Training should include at least the following:
- Study of regulation safety procedures, and safety-related recommendations by robot
manufacturers and system designers.
- Clear explanation of the work involved.
- Description of all control equipment required for the work and their functions.
- Explanation of potential hazards involved in the work.
- Work safety procedures and specific methods of avoiding potential hazards.
- Safety device and interlock function testing and confirmation methods are working
properly.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
23
3. Getting Started
3. Getting Started
This chapter contains instructions for setting up and using EPSON RC+ 5.0. It is
recommended that first time users first read the preceding Safety chapter, then read
through this chapter to get more familiar with the system.
Contents
- Hardware Installation
- Software Installation
3.1 Hardware Installation
EPSON RC+ 5.0 is used with the EPSON RC90/RC180 robot Controller. You need to
install the controller and robot before you can use EPSON RC+ 5.0 to develop and run
SPEL+ applications. You also need a PC running Windows that will run EPSON RC+ 5.0
and connect to the controller via USB or Ethernet.
The Controller comes pre-configured at the factory. For instructions on installation, refer
to the RC90/RC180 robot Controller manual.
3.2 Software Installation
EPSON RC+ 5.0 must be installed on a user supplied PC that runs Windows. Refer to the
section Installing EPSON RC+ 5.0 Software in Appendix A for instructions on installing
EPSON RC+ 5.0.
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4. Operation
4. Operation
This chapter contains instructions for operation of the EPSON RC+ 5.0 system. The main
topics are:
- Simple Mode
- System Power Up Procedure
- Starting EPSON RC+ 5.0
- System Shutdown Procedure
- Communications with Controller
- Writing your first program
4.1 Simple Mode
EPSON RC+ 5.0 supports two development environments: Simple Mode and Normal
Mode. Simple Mode is ideal for beginners or for simple application development.
Simple Mode features include:
- One program file and one point file No file management is required.
- No project configuration required You do not need to edit the project configuration.
- Simple Robot Manager
Three pages of the Robot Manager are used in
simple mode: Control Panel, Jog & Teach, and
Points.
- Simple Help
When using Simple Mode, the Help system is
tailored for simple mode.
To run EPSON RC+ 5.0 in Simple Mode, the command line option /Simple is used.
During installation, a desktop shortcut is created for Simple Mode. You can also start in
Simple Mode by select EPSON RC+ 5.0 Simple from Start | Programs | EPSON RC+ 5.0.
NOTE

You cannot use Vision Guide 5.0 option in Simple mode.
To use Vision Guide 5.0, make sure that the mode is in Normal mode.
4.2 System Power Up Procedure
Follow this procedure to power up the system:
1. Ensure that all safeguards are in place and that all personnel are clear of the equipment.
2. Apply power to the Controller and I/O devices. Also apply power to the PC and
monitor, if used.
3. Start the EPSON RC+ 5.0 software on the PC if a PC is being used in the system.
4.3 Starting EPSON RC+ 5.0
There are three ways to start EPSON RC+ 5.0. You can also configure the mode that
EPSON RC+ 5.0 starts in.
Start Method 1
1. To use Simple Mode:
Double click on the EPSON RC+ 5.0 Simple robot icon located on the Windows
desktop.
To use Normal Mode:
Double click on the EPSON RC+ 5.0 robot icon located on the Windows desktop.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
25
4. Operation
Start Method 2
1. Click the Windows Start button.
2. Select the EPSON RC+ 5.0 Program Group.
3. To use Simple Mode:
Select EPSON RC+ 5.0 Simple
To use Normal Mode:
Select EPSON RC+ 5.0.
Start Method 3
1. Configure EPSON RC+ 5.0 to start automatically after Windows starts. The details are
described later in this chapter in the section Startup Configuration.
NOTE

When using the VB Guide option, you do not need to start EPSON RC+ 5.0. The library
provided with VB Guide will load EPSON RC+ 5.0 into your .NET application process
automatically.
4.3.1 Startup sequence
When EPSON RC+ 5.0 starts, it reads initial settings for the current user and local system
from the Windows registry.
If there are no project files specified on the startup command line, then the last project that
was opened will be opened at startup time. The program files that were last opened will be
opened again.
If the Start Mode is Auto, the Start Mode dialog is opened (see the Start Mode Dialog
section later in this chapter).
If the Start Mode is Program, the EPSON RC+ 5.0 GUI is opened.
4.3.2 Startup Configuration
To configure startup, select Preferences from the Setup Menu. The Startup section has
pages for Start Mode, Auto Start, and Windows Login.
4.3.3 Start Mode
This page has settings for the EPSON RC+ 5.0 start mode.
There are two start modes:
Program
Auto
This mode allows you to develop your projects. This is the default startup
mode.
This mode starts the system and displays the Operator Window.
Use the Password button to change the start mode password.
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4. Operation
4.3.4 Start Mode Dialog
When the start mode is set for Auto, then a dialog is displayed at start up that allows you to
change the startup mode using a password. After several seconds, if the Change To
Program Mode button has not been clicked, the system will initialize and the Operator
Window will be displayed.
You can disable this startup dialog using command line options described later in this
section.
If you click the Change To Program Mode button, another dialog will be displayed, as
shown below:
To change to Program mode, you must supply the password and click OK, or you can
abort startup all together by clicking Cancel.
This allows authorized personnel to enter Program mode temporarily to make changes or
adjustments.
NOTE

When you change to PROGRAM mode from this dialog, it is only temporary. The next
time EPSON RC+ 5.0 runs, the original start mode setting will be used. To permanently
change the start mode, you must change it from the Setup | Preferences | Startup | Start
Mode page.
4.3.5 Start Mode: Program
Program mode is the default start mode. This is the EPSON RC+ 5.0 development
environment, from which you can:
- Create / edit projects.
- Configure the controller and set preferences.
- Run and debug programs.
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27
4. Operation
4.3.6 Start Mode: Auto
Auto mode displays the Operator Window. The Operator Window is configured according
to the settings in Project | Properties.
The current controller Control Device sets the mode of Auto operation.
Control Device
Description
PC
The Operator Window can be used as a simple operator interface for
production.
Remote I/O
OP
The Operator window is displayed with no operator buttons to allow
any diagnostic messages to be viewed.
Remote Ethernet
4.3.7 Auto Start
You can configure EPSON RC+ 5.0 to automatically start when Windows starts.
From the Setup | Preferences | Auto Start page, set the Start EPSON RC+ 5.0 after
Windows start check box.
You can specify EPSON RC+ 5.0 command line options (/auto, /nosplash, etc.) in the
Command line options text box. Refer to the section Command Line Options in this
chapter for details.
NOTE

28
When using the Windows 8.1, select the [Desktop] tile on the start screen and then check if
the EPSON RC+5.0 starts up automatically.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
4. Operation
4.3.8 Windows Login
You can configure automatic Windows login from EPSON RC+ 5.0. From the Setup |
Preferences | Windows Login page, type in the name and password of the user logging in.
Set the Enable windows auto login check box. Optionally, you can supply a domain, if
required.
You must have Windows Administrator rights to set login parameters. After making
changes, you must reboot the system the first time. After the first reboot, Windows login
will be automatic for boot or logout.
4.3.9 Command Line Options
There are command line options for EPSON RC+ 5.0 that provide the following functions:
- Start EPSON RC+ 5.0 in Simple Mode.
- Start EPSON RC+ 5.0 for a specified project.
- Change the EPSON RC+ 5.0 startup mode without a dialog.
- Disable splash screen
Starting EPSON RC+ 5.0 in Simple Mode
You can start EPSON RC+ 5.0 in Simple Mode using the /Simple command line option.
ERC50.EXE
/SIMPLE
Starting EPSON RC+ 5.0 for a specific project
When you start EPSON RC+ 5.0, you can optionally specify a project name in the
command line.
ERC50.EXE
[drive:project_name]
drive:project_name The drive letter and name of a project. The name can include a
subfolder of the \EpsonRC50\Projects directory.
Example
Open project myapp on drive C: at startup:
ERC50.EXE c:myapp
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29
4. Operation
Change the EPSON RC+ 5.0 startup mode
You can select the startup mode and override the startup dialog using command line
options.
To start in Program mode (no password required)
ERC50.EXE
/PROG
To start in Auto mode
ERC50.EXE
/AUTO
Use these command line options to override and hide the startup dialog and open the
Operator Window directly.
If only the AUTO flag is supplied and the control device is PC, EPSON RC+ 5.0 will open
the project from the last session and display the operator window. EPSON RC+ 5.0 will
only be visible in the Windows Task Manager. When the operator window is closed,
EPSON RC+ 5.0 will be terminated.
NOTE

When the control device is PC, you cannot close the operator window while tasks are
running.
Example
Open project myapp on drive C and display the operator window:
ERC50.EXE c:myapp /AUTO
NOTE

The Controller should be ON before starting EPSON RC+ 5.0 with the /AUTO command
line option. If EPSON RC+ 5.0 cannot communicate with the controller, then an error
message will be displayed with a retry button.
For more details, see the Operator Window section in the chapter Building Applications in
SPEL+.
Disabling the EPSON RC+ 5.0 splash window
You can suppress the splash window displayed at startup using the following syntax:
ERC50.EXE /NOSPLASH
4.3.10 Using Command Line Options
Examples of command line options are:
- Command input from Windows Start Menu | Run
- Target property of desktop shortcut
Running from the Windows Run Box
You can specify a command (e.g. C:\EpsonRC50\exe\erc50.exe C:myapp) from the
Windows Start menu | Run | Open text box.
Making startup icons for your projects
You can create icons that automatically start EPSON RC+ 5.0 for different projects and
start modes.
1. Create a new shortcut to ERC50.EXE on your desktop by selecting the EPSON RC+
5.0 icon, then right clicking and selecting Create Shortcut.
2. Right click on the icon and select Properties.
In the command line text box, type ERC50.EXE followed by the name of the project
file you want to open as described above. Add any other options to the command line,
such as /AUTO, /PROG, etc.
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4. Operation
4.4 Communications with Controller
Your PC running EPSON RC+ 5.0 can communicate with a controller using USB or
Ethernet.
4.4.1 Configuring Communications with the Controller
To configure communications with the controller, select PC to Controller Communications
from the Setup Menu. This will open the dialog shown below:
The dialog has a list of connections. The first connection is for USB and is fixed. You
cannot delete it or rename it.
You can add one or more Ethernet connections and give each one a meaningful name.
The name for each connection is also shown in the Connections dropdown list on the main
toolbar. If no name is supplied, the Ethernet IP address is shown in the dropdown list.
For more information on PC to Controller Communications, see the PC to Controller
Communications section in chapter 5.
4.4.2 USB Communications
USB 2.0 or USB 1.1 can be used to communicate with one controller. This is the default
communication method for EPSON RC+ 5.0 and requires no configuration.
To connect to a controller via USB:
1. Connect a USB cable between the PC and the controller.
2. Turn on power to the controller.
3. Start EPSON RC+ 5.0.
4. Click the PC to Controller Communications button on the tool bar.
5. Ensure that connection #1 (USB) is selected.
6. Click the Connect button.
7. Click the Close button.
NOTE

If the EPSON RC+ 7.0 is installed in the same computer and is performing the USB
communication, the EPSON RC+ 5.0 cannot perform the USB communication. Make sure
that the EPSON RC+ 7.0 is disconnected before connecting the EPSON RC+5.0.
 When performing the USB communication using the computer with Windows 7 or later,
CAUTION
communication with the Controller is disconnected as the PC enters a sleep state. Before
performing the USB communication, make sure to change the PC setting so that it will not
enter the sleep mode.
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31
4. Operation
4.4.3 Ethernet Communications
NOTE

The robot controller does not support internet protocol version 6 (TCP/IPv6). When
connecting the development PC to the robot controller using the Ethernet, be sure to use
internet protocol version 4 (TCP/IPv4).
You can communicate with one or more controllers from one PC using Ethernet. With
Ethernet communications, each controller must have a unique IP address. You can set the
IP address, mask, and gateway for the controller from the Setup | Controller | Configuration.
The gateway setting is only required if you will be accessing the controller from outside of
the local network.
You can connect a PC to a controller directly using an Ethernet cross-over cable, or you
can connect the PC and controller to an Ethernet switch or hub.
Before you can communicate with a controller using Ethernet, you must configure the
controller's IP address, IP mask, and IP gateway. This is accomplished by first connecting
to the controller with USB, and then from the EPSON RC+ 5.0 Setup | Controller |
Configuration page, set the IP address, IP mask, and IP gateway of the controller as shown
below.
The following is the configuration of the controller at the time of shipment.
IP Address : 192.168.0.1
IP Mask
: 255.255.255.0
IP Gateway : 0.0.0.0
Use the USB connection to configure Ethernet communications.
4.4.4 Connecting When Control Device is no PC
Connecting while control device is not PC and tasks are not running
When you connect to a controller whose control device is not PC and tasks are not running,
you will see the following message box:
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This allows you leave the controller in Auto mode to monitor operation, or switch the
controller to Program mode so you can edit and debug programs. If you choose to switch
to Program mode, then the remote device cannot start programs until remote I/O has been
enabled from the Run window.
Connecting while tasks are running from Remote Control or OP
If the controller is running tasks with the control device set to Remote or OP, you can
connect the PC to the controller to monitor operation. For example, you can connect to a
controller that is running tasks to temporarily monitor display output, tasks, and I/O, and
then disconnect while tasks continue to run.
If the project on the PC is the same as on the controller, you will see the following message
box when connection is established:
If the project on the PC is not that same as the project in the controller, you will see the
following message box when connection is established:
If you choose to monitor controller operation, the Run window will open if EPSON RC+
5.0 is started in Program mode. If EPSON RC+ 5.0 is started in Auto mode, the Operator
window will appear. From the Run window or Operator window, you can view display
output from Print statements executing in the application. You can also use the Task
Manager and I/O monitor.
When monitoring controller operation, the controller remains in Auto mode. You cannot
stop tasks from EPSON RC+ 5.0, because the control device is not PC. If you want to
switch the controller to Program mode, you must first stop all tasks from the current
control device, then connect to the controller from EPSON RC+ 5.0 and choose to switch
to Program mode (see the previous section Connecting while control device is not PC and
tasks are not running).
Disconnecting while tasks are running
You can only disconnect from the controller with tasks running when the control device is
set to Remote.
1. Stop communications with the controller by selecting Offline from the Connections
dropdown list on the toolbar.
2. You may now disconnect the communications cable between the PC and the controller.
Tasks will continue to run in the controller.
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4. Operation
4.5 Writing your first program
After installing the Controller, robot, and EPSON RC+ 5.0 software on your PC, follow
these instructions to create a simple application program so that you will become more
familiar with the EPSON RC+ 5.0 development environment.
1. Connect your PC to the Controller
Install a USB cable between your PC and the Controller. Refer to the Communications
with Controller section later in this chapter for more information.
2. Start EPSON RC+ 5.0 Simple Mode
Double-click the EPSON RC+ 5.0 Simple icon on the desktop.
3. Create a new project
(1) Select New from the Project Menu.
(2) Type in a name for a project, for example, FirstApp.
(3) Click OK to create the new project.
When the new project is created, a program called Program.prg is created. You will see
a window open with the title Program.prg with a cursor flashing in the upper left corner.
Now you are ready to start entering your first program.
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4. Edit the program
Type in the following program lines in the Program.prg edit window.
Function main
Print "This is my first program."
Fend
5. Run the program
(1) Press F5 to run the program. (F5 is the hot key for the Run Window selection of
the Run Menu). You will see the Status window located at the bottom of the main
window showing the build operation status.
Run Window is displayed differently depending on the control device setting.
Refer to 11.3 Control Device Configuration.
(2) During project build, your program is compiled and linked. Then communications
is established with the controller and project files are sent to the controller. If there
are no errors during build, the Run window will appear.
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4. Operation
(3) Click the Start button on the Run window to run the program.
(4) You should see text similar to the following displayed in the Status window:
08:24:18 Task main started
08:24:18 All tasks stopped
On the Run window, you will see the output of the print statement.
Now let's teach some robot points and modify the program to move the robot.
6. Teach robot points
(1) Ensure that it is safe to operate the robot. Click the Robot Manager button
on
the toolbar. You will see the Robot Manager window with the Control Panel page
displayed.
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(2) Click on the Motor On button to turn on the robot motors. You will be prompted to
confirm the operation.
(3) Answer Yes to continue.
(4) Click the Jog & Teach tab in the Robot Manager.
(5) Click the Teach button in the lower right corner to teach point P0. You will be
prompted for a point label and description.
(6) Jog the robot by clicking the +Y jog button. Hold the button down to continue
jogging. Let go when the robot is about half way out in the work envelope.
(7) Jog the robot down by clicking the -Z button.
(8) Now change the current point to P1 by selecting P1 in the Point dropdown list next
to the Teach button.
(9) Click the Teach button. You will see a confirmation message to teach the point.
(10) Answer Yes.
(11) Click the +X button to jog the robot in the +X direction.
(12) Change the current point to P2 by selecting P2 in the Point dropdown list.
(13) Click the Teach button. You will see a confirmation message to teach the point.
(14) Answer Yes.
(15) Click the Save Project
toolbar button to save the changes.
7. Modify the program to include robot motion commands
(1) Insert three new Go statements into the Program.prg program as shown below:
Function main
Print "This is my first program."
Go P1
Go P2
Go P0
Fend
(2) Run the program by pressing F5 and then click on the Start button on the Run
window.
(3) The robot should move to each of the points you taught.
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4. Operation
8. Modify the program to change speed of robot motion commands
(1) Insert the Power, Speed, and Accel commands as shown in the program below:
Function main
Print "This is my first program."
Power High
Speed 50
Accel 50, 50
Go P1
Go P2
Go P0
Fend
(2) Run the program by pressing F5
(3) Click on the Start button on the Run window.
The robot should go to each of the points you taught at 50% speed, acceleration, and
deceleration. The Power High statement enables your program to run the robot at
high (normal) power, which in turn allows the robot speed and acceleration to be
increased.
9. Backup the project and system configuration
Even though this is only a sample project, we will backup the project and controller
configuration. This is easy to do with EPSON RC+ 5.0. It is important that you keep
regular backups of your applications on an external media such as a USB memory key.
Follow these steps to backup the project and system configuration:
(1) From the Project Menu, select Copy.
(2) Change the Destination Drive to another drive.
(3) Click OK. The project will be copied to the external media.
(4) From the Tools Menu, select Controller.
(5) Click on the Backup Controller button.
(6) Select the desired drive.
(7) Click OK. The system configuration will be backed up on the external media.
Now that you have written your first program, you should read the chapter Building SPEL+
Applications.
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5. The EPSON RC+ 5.0 GUI
The chapter contains information on the EPSON RC+ 5.0 GUI. After an overview and
discussing online help and toolbars, the remainder of the chapter is divided into sections
that follow the menu system.
Contents
- Overview
- Project Explorer Pane
- Status Window Pane
- Status Bar
- Online Help
- File Menu
- Edit Menu
- Project Menu
- Run Menu
- Tools Menu
- Setup Menu
- Window Menu
- Help Menu
5.1 GUI Overview
EPSON RC+ 5.0 is a multiple document interface (MDI) application. There is one main
parent window and several child windows which can be opened simultaneously. The main
window has a menu bar, tool bar, and status bar, as shown below. In addition, there is a
Project Explorer pane and Status Window pane.
Main Window
Menu Bar
Child Window
Tool Bar
Project
Explorer
Status Pane
Status Bar
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5.2 Project Explorer Pane
The Project Explorer pane enables you to quickly open any file in the current project or
jump to any function. The project files and functions are organized in a sorted tree
structure.
Open a file or jump to a function : Double-click on the item.
Hide the Project Explorer
: Click the X button on the bar above the pane.
Show the Project Explorer
: Select Project Explorer from the View Menu.
Resize the Project Explorer
: Move the mouse cursor over the right side of the pane,
then drag the pane right or left to the desired width.
You can move the Project Explorer pane to either the left or right side of the main window.
To move the pane, click down on the bar above the pane, then drag to either the left or
right side of the main window and release the mouse button.
5.2.1 Context Menu
The Project Explorer Pane has a context menu for various operations for elements in the
project tree. To access the context menu, right click on an item in the project tree.
Context menu
5.3 Status Window Pane
The status pane displays status messages, such as project build status, system errors and
warnings, etc.
Hide the Status pane
: Click the X button on the bar above the pane.
Show the Status pane
: Select Status Window from the View Menu.
To resize the Status pane, move the mouse cursor over the top edge of the pane, then drag
the top edge up or down.
The Status pane is always located at the bottom of the main window and cannot be moved.
NOTE

40
If the Status pane is closed and an error message is displayed on the status pane, such as
during project build, the Status pane will automatically be opened so that the error message
can be seen.
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5.4 Status Bar
The status bar located at the bottom of the main window displays the following:
Message area
Syntax error for the current line, system messages.
Operation Mode status
Indicates the controller operation mode. When EPSON RC+
5.0 is connected to a controller, the controller operation
status is shown: Program, Auto, and Teach.
Emergency Stop status
Indicates if emergency stop is active.
Safeguard status
Indicates if one or more safeguard circuits is open.
Error status
Indicates if the controller is in the error state. Position the
mouse cursor over the Error status area to see the error
message.
Warning status
Indicates if there is a warning. Position the mouse cursor
over the Warning status area to see the warning message.
Tasks running status
Indicates that one or more tasks are running.
Current Line and Column When a program editor window is active, the current line
and column are displayed.
INS / OVR status
Indicates insert or overtype mode.
5.5 Online Help
EPSON RC+ 5.0 has an extensive context sensitive help system.
There are several methods to get help.
- Select Contents from the Help Menu to browse help topics.
- Select Index from the Help Menu to enter the name of a specific topic.
- Select Search from the Help Menu to search for a specific topic.
- When editing programs, press F1 with the caret in the keyword of interest.
When a dialog is open, press F1 or click the Help button. For dialogs, the Help button is
located in the window title bar on the right side and is shown as a question mark icon as
shown below.
Help button for a dialog
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For MDI child windows, the Help button is located on the main toolbar and is also shown
as a question mark icon as shown below.
Help button for the
active MDI child window
5.6 File Menu
The EPSON RC+ 5.0 File Menu includes commands for managing and printing files in the
current project.
5.6.1 New Command (File Menu)
The New command is used to add new files to the current project. When the New
command is selected, the New File dialog is opened.
Shortcuts
Toolbar:
Item
42
Description
File Name
Enter a name for the new file in this box. If you supply a valid file
extension, the File Type selection will change to match the extension.
File Type
Use this dropdown list to select Program, Include or Point file.
Existing Files
This section shows the files for the selected type currently in the Project
directory.
OK
Click OK when you are ready to create the new file.
Cancel
Cancels the operation.
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5.6.2 Open Command (File Menu)
Open one or more files in the current project for editing. You can open program files,
include files, or point files.
If there is a file in the current project directory (as shown in the Edit Project dialog box)
and the file is not in the current project, you will not be able to open the file. You must
add the file to the project before you can open it. This also applies to include files and
point files.
Shortcuts
Toolbar:
Keys:
TIP

Ctrl+O
Item
Description
Program
Select this radio button to show a list of program files in the current
project.
Include
Select this radio button to show a list of include files in the current
project.
Points
Select this radio button to show a list of point files in the current
project.
Select file to open
Click on the file name you want to open. You can select more than
one file by using the Ctrl key or Shift key. The Ctrl key allows you
to select or deselect any file. The Shift key allows you to select a
group of files.
Open
Opens the selected file(s).
Cancel
Cancels the open operation.
You can also double click on a file name in the Select file to open list box to open the file
without having to choose the OK button.
5.6.3 Close Command (File Menu)
Close the currently active window.
Shortcuts
Keys:
Ctrl + D, Alt + F4
Any of the windows can be closed with this command: Programs, Include files, Points,
Command Window, Run, Status, I/O Label Editor.
TIP

You can also close a window or dialog box by double clicking on the control box button
located in the upper left corner of the window or dialog box.
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5. The EPSON RC+ 5.0 GUI
5.6.4 Save Command (File Menu)
The Save command writes the current file to disk. The current file can be a program file,
include file, points file, I/O label editor, etc. This command is disabled if the current file
does not need to be saved.
Shortcuts
Keys:
Ctrl + S
5.6.5 Save As Command (File Menu)
Save the program, include file, or point file in the currently active window with a new file
name. The original file will be left in the project directory unchanged. The new name will
be used throughout the current project in place of the old name.
If you use Save As on an include file, you must rename the file in each of your #include
statements that refer to it.
5.6.6 Save All Command (File Menu)
This command saves all files in the current project and any changes made to the Simulator.
This menu selection is grayed out if nothing needs to be saved.
Shortcuts
Toolbar:
TIP

It’s a good idea to save frequently while you are editing project and Simulator files. Just
click the disk button on the toolbar to save all of your files.
5.6.7 Restore Command (File Menu)
Restores the currently active program, include file, I/O labels, user errors, or points from
disk.
Use this command to change a document to the state it was in since last saved.
You will be prompted to confirm this operation.
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5.6.8 Rename Command (File Menu)
Use Rename to change the name of the program, include file, or point file you are currently
editing.
To rename a file
1. Make the file you want to rename the current active window by clicking anywhere on
the program window, or selecting it from the list in the Window Menu, or by opening
the file with the Open command from the File Menu.
2. Select Rename from the File Menu.
3. Type in a new name for the file and click OK. Refer to the existing files list to see
what other programs are in the current project directory. The new file name you enter
cannot be the same as any other file in the project directory. You will get an error
message if you enter a new name that is already being used.
If you use Rename on an include file, you must rename the file in each of your #include
statements that refer to it.
5.6.9 Delete Command (File Menu)
This command allows you to delete a file in the current project directory. You can delete
program files, include files, and point files. The file does not have to be in the project
make list to delete it.
Item
Description
Select file to delete Click on the file name you want to delete. This file list displays
all .PRG, .INC, and .PTS files in the current project directory.
Delete
Delete the selected file. You will be prompted with a confirmation
message before the file is deleted. If the file is currently open, it will
be closed and removed from the current project before it is deleted
from disk.
Cancel
Cancels the delete operation.
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5. The EPSON RC+ 5.0 GUI
5.6.10 Import Command (File Menu)
Import a file into the current project. Use this command to import programs, points, labels,
etc. from other EPSON RC+ 5.0 projects.
- Program file names for importing must have a .PRG extension.
- Include file names for importing must have a .INC extension.
- Point file names for importing must have a .PTS extension.
- I/O labels must have the file name IOLABEL.DAT
- User errors must have the file name USERERRORS.DAT.
- Macros must have the .MAC extension.
To import a file
1. Select the file type from the File Type list box.
2. Navigate to the file you want to import.
3. Click Open to continue. If a file is being overwritten, you will be prompted to continue.
The file will then be copied to the current project's directory.
NOTE

46
If you need to import files from previous versions of EPSON RC+ or from SPEL for
Windows 2.0, you must first import the project using Project | Import, which converts the
point files and label files into EPSON RC+ 5.0 formats. Then you can use File Import to
import the desired files.
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5.6.11 Print Command (File Menu)
This command opens the Print dialog box. From this dialog, you can print one or more
program, include, points, or label files in the current project. You can also print out a
project summary.
Each document is printed with a header that includes the file name, date and time, and page
number.
Shortcuts
Toolbar:
Keys:
Ctrl+P
Item
Description
Select items to print Check the items in the tree that you would like to print out.
Project Summary
Select this check box to print a summary of the programs and
points used in the current project.
Program Files
Select this check box to print all program files, or click on the +
button to view all program files and check the ones you want
printed.
Include Files
Select this check box to print all include files, or click on the +
button to view all include files and check the ones you want
printed. This check box is not shown if there are no include files in
the current project.
Robot Points
Select this check box to print all point files, or click on the + button
to view all point files and check the ones you want printed.
Input Output Labels Select this check box to print a listing of the all of the I/O labels
used in the project.
User Errors
Prints a listing of all user errors for the current project. If either the
label or message is non-blank, then the error definition will be
printed.
Print
Print the selected files. This button will be dimmed if nothing is
selected to be printed.
Preview
Preview the selected files before printing. This button will be
dimmed if nothing is selected to be printed.
Font...
Opens a dialog for selecting the printer font. The selected font is
saved for subsequent printing.
Cancel
Closes the dialog box without printing anything.
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5.6.12 Exit Command (File Menu)
Exits from EPSON RC+ 5.0.
If you are running a program from the Run Window and the control device is PC, you will
see a message that a program is running and you will not be allowed to exit. You must
stop all tasks first before you can exit.
If there are any open program or point files that have not been saved, you will be prompted
to save these files with Yes, No, or Cancel.
If you select Yes, then all unsaved files in the project will be saved.
If you select No, then the program will exit without saving the files.
If you select Cancel, then the exit command will be aborted.
5.7 Edit Menu
TIP

The EPSON RC+ 5.0 Edit Menu includes commands for editing files.
You can also access the Edit Menu by right-clicking anywhere in a program editor window.
5.7.1 Undo Command (Edit Menu)
Undo the changes to the currently active program since it was open.
Shortcuts
Keys: Ctrl+Z
5.7.2 Redo Command (Edit Menu)
Redo the previous undo.
Shortcuts
Keys: Ctrl+Y
5.7.3 Cut Command (Edit Menu)
Copies the current selection into the Clipboard and then deletes the selection.
Shortcuts
Toolbar:
Keys:
Ctrl+X
5.7.4 Copy Command (Edit Menu)
Copies the current selection into the Clipboard.
Shortcuts
Toolbar:
Keys:
48
Ctrl+C
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5.7.5 Paste Command (Edit Menu)
Puts the contents of the Clipboard into the currently active document starting at the
insertion point.
Shortcuts
Toolbar:
Keys:
Ctrl+V
5.7.6 Find Command (Edit Menu)
Find a text string in the current program or all programs in the project. The first time you
execute this command, the dialog box will be centered over the main window. If you
reposition it, then the next time Find is executed, the dialog will appear where you last
positioned it.
Shortcuts
Keys: Ctrl + F
Item
Description
Find What
Type the text you want to search for. If any text was
selected when you execute the Find command, it will be
displayed here. If no text was selected, then the text from
the last Find will be displayed. You are limited to one line
of text. If you select more than one line before executing
Find, then only the first line will be displayed here. Tabs
are represented by "\t".
Current File
Search only in the current program file.
All Files
Search all files in the project.
Whole Word
Search for the full word by itself and not as part of another
word. This check box is not available if the search string
contains more than one word.
Match Case
Text must also match lower and upper case in order to be
found.
Find
Start the search. If the text is found in a file that is not open,
then it will be opened.
Close
Closes the dialog box.
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5. The EPSON RC+ 5.0 GUI
5.7.7 Find Next Command (Edit Menu)
Find the next occurrence of the search text specified in the last Find command.
Shortcuts
Keys: F3
5.7.8 Replace Command (Edit Menu)
Search for a text string and replace it with new text. The first time you execute this
command, the dialog box will be centered over the main window. If you reposition it, then
the next time Replace is executed, the dialog will appear where you last positioned it.
Shortcuts
Keys: Ctrl+R
50
Item
Description
Find What
Type the text you want to search for. If any text was selected
when you execute the Replace command, it will be displayed
here. If no text was selected, then the text from the last Find will
be displayed.
Replace With
Enter the replacement text here. The replacement text can be
empty.
Current File
Search only in the current program file.
All Files
Search all files in the project.
Whole Word
Search for the full word by itself and not as part of another word.
This check box is not available if the search string contains more
than one word.
Match Case
Text must also match lower and upper case in order to be found.
Find
Find the next occurrence.
Replace
If already found, replace the current find, otherwise search for
the next occurrence.
Replace All
Replace all occurrences in the current project.
Close
Closes the dialog box.
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5.7.9 Select All Command (Edit Menu)
Select the entire file. You can then execute Cut or Copy.
Shortcuts
Keys: Ctrl+A
5.7.10 Indent Command (Edit Menu)
Move the selected text block one tab to the right.
Shortcuts
Keys: Tab
5.7.11 Outdent Command (Edit Menu)
Move the selected text block one tab to the left.
Shortcuts
Keys: Shift+Tab
5.7.12 Comment Block Command (Edit Menu)
Comments out the selected block of lines by adding the comment character to the
beginning of each line. To use, select one or more lines to be commented. Then select
Comment Block from the Edit Menu, or right click and select Comment Block from the
pop-up menu. A comment character will be added to the beginning of each of the selected
lines.
5.7.13 Uncomment Block Command (Edit Menu)
Removes leading comment character from the selected block of lines. To use, select one
or more lines to be uncommented. Then select Uncomment Block from the Edit Menu, or
right click and select Uncomment Block from the pop-up menu. The first comment
character from each of the selected lines will be removed.
5.7.14 Go To Definition Command (Edit Menu)
Opens the window and sets the line where a function, variable, macro, point label, I/O
label, or user error label is defined. To use, click on an identifier in a program window,
then select Go To Definition from the Edit Menu or toolbar. You can also right click on
the identifier and select Go To Definition from the pop-up menu.
If the identifier is a function name or variable, the program window where it is declared
will be opened and the current line number will be set.
If the identifier is an point label, the point file will be opened and the current row for the
label will be displayed.
If the identifier is an I/O label, the I/O label editor will be opened and the current row for
the label will be displayed.
If the identifier is a user error label, the User Error editor will be opened and the current
row for the label will be displayed.
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5. The EPSON RC+ 5.0 GUI
5.8 View Menu
The EPSON RC+ 5.0 View Menu includes commands for opening the Project Explorer
and Status panes. In addition, there is a command for viewing the system history.
5.8.1 Project Explorer Command (View Menu)
If you have closed the Project Explorer pane, you can open it by using this command. For
details, see the section Project Explorer Pane in this chapter.
5.8.2 Status Window Command (View Menu)
If you have closed the Status Window pane, you can open it by using this command. For
details, see the section Status Window Pane in this chapter.
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5.8.3 System History Command (View Menu)
This command opens the System History window. This window shows events, errors, and
warnings that have been logged in the current controller's system history.
The data can be sorted by clicking on any column header. To sort multiple columns, hold
down the shift key and click on multiple columns headers.
Item
Description
Data To Display
Select which data you would like to view. Choices are All, Events,
Errors, and Warnings.
From / To
Select the dates you want to view data from. When the window is
first opened, these are automatically set to the first and last dates in
the history data.
Message Contains Type in text to be found in the error message. After typing in the text,
click the Refresh button.
Refresh
Click this button to reload the data from the controller.
Type Event
Information for operation and mode change.
Error
Program can be executed continuously, however, needs
countermeasure.
Warning
Error occurred in the program or the Robot.
Number
For details of the number, refer to SPEL+ Error Message in the
SPEL+ Language Reference.
Message
Function and Function name and the line number are displayed when error occurred
Line number while executing a program.
Robot and the axis number are displayed when Robot error occurred.
Robot and
axis number
Task number Task number of the task with error is displayed when error occurred
while executing the program. “0” is displayed for others.
Additional More details are displayed for some errors.
information For details, refer to SPEL+ Error Message in the SPEL+ Language
1 and 2
Reference.
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5.9 Project Menu
The EPSON RC+ 5.0 Project Menu includes commands for managing and building
projects.
5.9.1 New Command (Project Menu)
The New command is used to create a new EPSON RC+ 5.0 project. Projects can be on
any disk drive on the system. They are stored in the \EpsonRC50\Projects directory on the
selected drive. Subdirectories can also be created.
Item
Description
Project Name
Type in a new name for the project. The name can include
alphanumeric characters along with underscores.
Template
Select a project template. The new project will be a copy of the
template project.
Select Drive
Select the desired disk drive for the new project.
Select Project Folder 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.
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New Folder
Click this button to create a new folder in the currently selected
folder.
OK
Click OK to create the new project.
Cancel
Click Cancel to abort creating a new project.
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5.9.2 Open Command (Project Menu)
Use this command to open an EPSON RC+ 5.0 project. When the project is opened, the
previous project is closed. You will be prompted to save changes.
Item
Description
Select Drive
Select the desired disk drive for the project you want to open.
Select Project to Open Select a project name from the list box. To open a folder, double
click on the folder or click the + box located to the left of the
folder.
NOTE

Open
Open the selected project.
Cancel
Cancel the operation.
Project Info
Displays general project properties for the selected project. To
view project information, first select a project in the list, then
click the Project Info button.
Project information for a project can be changed by selecting Properties from the Project
Menu after opening the project.
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5.9.3 Recent Projects Submenu (Project Menu)
The Recent Projects submenu contains up to eight of the most recently used projects.
When you select a project in the menu, the current project is closed and the selected project
is opened the same as if you used the Open command from the Project Menu.
5.9.4 Close Command (Project Menu)
Use the Close command to close the current project. Several menu and toolbar commands
will be disabled after the project is closed.
5.9.5 Edit Command (Project Menu)
The Edit command is used to define which program source files and point files are to be
used in the current project. It is divided into two main sections. The left section contains a
list of files in the current project disk directory. You can select which files to view from
the File Type list box. The right section contains a project make tree that includes
program files, include files, and robot point files.
The files shown in the file list are in the current project disk directory. Before you can use
a file in the project, you must put it into the project make tree using the Add button.
To create a new program
1. Type the name of the program in the File Name text box in the Program Files section.
2. Click the Add >> button next to the program files list. You will get a message asking
if it's okay to create the new file. Answer Yes to create the file and put it in Program
Files folder in the project make tree.
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To add an existing program source file
1. Select the program name you want to add by clicking on a program name in the
program files list box.
2. Click the Add >> button
Or
Double click on the program name in the file list box.
The file will be added to the list of programs.
To create a new include file
1. Type the name of the include file in the File Name text box. The name of the include
file can also be the same name as a program.
2. Click the Add >> button. You will get a message asking if it’s okay to create the new
file. Click Yes to create the file and put it in the Include Files folder in the project
make tree.
To add an existing include file to the project
1. Select the include file name you want to add to the project by clicking on an include file
name in the file list box.
2. Click the Add >> button.
Or
Double click on the include file name in the file list box.
The file will be added to the list of include files for project make.
To add a new robot point file
1. Enter the name of the point file you want to create. Use the PTS extension.
2. Click the Add >> button. You will get a message asking if it's okay to create the new
file. Click Yes to create the file and put it in the Robot Points folder in the project
make tree
To add an existing robot point file
1. Select Points from the File Type list box.
2. Select the point file you want to add from the list.
3. Click the Add >> button.
To remove a file from the project
1. Select the file you want to remove in the project make tree.
2. Click the Remove button to remove the file from project make. The file is not deleted
from the project folder, so you will still see the file in the file list.
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5.9.6 Save Command (Project Menu)
This command saves all currently open files in the current project that need to be saved.
This menu selection is grayed out if nothing needs to be saved.
NOTE

This command saves project files. It does not save changes made in the Simulator. Use
the File | Save All command to save all project files and Simulator changes.
5.9.7 Save As Command (Project Menu)
Saves all files in the current project to a new drive and/or project name. The current
project will be preserved.
Item
Description
New Project Name
Type in a new name for the project. The name can include
alphanumeric characters along with underscores. The maximum
number of characters is 24. You can use the same name as the
current project if you select a drive and folder that is not the same
as the current project's drive and folder.
New Project Drive
Drive for the new project location.
Select Project Folder Click on the desired folder for the project.
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New Folder
Click this button to create a new folder under the currently
selected folder.
OK
Save the project using the new name and location.
Cancel
Cancel the operation.
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5.9.8 Rename Command (Project Menu)
This command renames the current project. The project directory and all associated
project files are also renamed.
Item
Description
New Project Name
Type in a new name for the project. The name can include
alphanumeric characters along with underscores.
Existing Project
This list box shows other projects on the selected drive. The
new name you choose cannot be one of the names in this list.
OK
Renames the project.
Cancel
Cancels the operation.
After a project is renamed, the next time you build, the entire project is rebuilt and when
connection is established with the controller, you will be prompted to overwrite the project
in the controller (since it has a different name).
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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.
2. Select PC and click Next.
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3. Select the project type. You can select from the following:
- Epson RC+ 5.0
- Epson RC+ 3.x / 4.x
- SPEL for Windows 2.0
NOTE

When a project for EPSON RC+ 3.* / 4.*or SPEL for Windows 2.0 is imported, the project
is automatically converted to project for EPSON RC+ 5.0 format.
For details, refer to Appendix B: Automatic Processing of Project Import.
4. Select the drive. After you select the project type and drive, the project list will be
updated to show the projects available for import. Select the project to import in the list
and click Next.
5. The destination project name is set to the name of the imported project. You can
modify the destination project name if desired. Select the destination drive and folder,
then click Next.
6. Verify the import source, import project, and destination project. Check Open
Destination Project After Import if you want the project to open after import.
7. Click the Import button. If the destination project already exists, you will be asked if
you want to overwrite it.
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Importing a Controller project
NOTE

For projects using Vision Guide, the calibration data and model files are not imported from
the Controller because they are not stored there. After import, you will need to re-teach the
vision models and perform the calibrations.
Follow these steps to import a project from a controller:
1. Select Import from the Project Menu to open the Import Project dialog.
2. Select Controller and click Next. Communications with the controller will be
established if EPSON RC+ 5.0 is not already connected.
3. The destination project name is set to the name of the current project in the controller.
You can modify the destination project name if desired. Select the destination drive
and folder, then click Next.
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4. Verify the import source, import project, and destination project. Check Open
Destination Project After Import if you want the project to open after import.
5. Click the Import button. If the destination project already exists, you will be asked if
you want to overwrite it.
Importing a Controller Status project
NOTE

For projects using Vision Guide, the calibration data and model files are not imported from
the Controller Status folder because they are not stored there. 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.
2. Select Controller Status Folder and click Next.
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3. Select a controller status folder and click OK.
4. The destination project name is set to the project found in the controller status folder.
You can modify the destination project name if desired. Select the destination drive
and folder, then click Next.
5. Verify the import source, import project, and destination project. Check Open
Destination Project After Import if you want the project to open after import.
6. Click the Import button. If the destination project already exists, you will be asked if
you want to overwrite it.
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5.9.10 Copy Command (Project Menu)
The Copy command copies all files in the current project to a specified drive, folder, and
project name. You can use the current project name for the destination name if you select
a new drive or folder. You can also specify a new name for the destination project.
You should use the Copy command to make backup copies of your project on a regular
basis.
Item
Description
Destination Project Name Type in a name for the new copy of the project. The name
can include alphanumeric characters along with underscores.
The maximum number of characters is 24. You can use the
same name as the current project if you select a drive and
folder that is not the same as the current project's drive and
folder.
Drive for the project copy.
Destination Drive
Perform the copy process.
OK
Cancel the operation.
Cancel
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5.9.11 Delete Command (Project Menu)
This command deletes an entire project from a PC disk. All files in the project directory
will be destroyed.
Item
Description
Project Drive
Select drive for the project to delete.
Project To Delete Select a project to delete from the list.
Delete
Delete the project. You will be prompted to confirm the operation.
Cancel
Cancel the operation.
5.9.12 Build Command (Project Menu)
This command builds the current project so that it can be executed. The Build command
does the minimum amount of work required to bring the project up to date in the robot
controller. For example, if a change was made to one program file in the project, then
Build will compile the changed program, link it with the remaining object files (if they
exist), and send the new files to the controller.
During the build process, the status pane displays each step of the build. If there are any
errors, they will be displayed on the status pane.
Shortcuts
Toolbar:
Keys:
Ctrl+B
5.9.13 Rebuild Command (Project Menu)
Rebuilds the entire current project. All program files are re-compiled, linked, and sent to
the controller. All point files in the project are sent to the controller.
Shortcuts
Keys:
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Ctrl + Shift + B
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5.9.14 Synchronize Command (Project Menu)
The Synchronize command is used to update files on the PC and controller.
command is not available if the current project has not been built successfully.
This
This dialog will also appear automatically when you are connecting to a controller that has
the same project as the current PC project, but the files on the controller are newer. For
example, if the teach pendant is used to teach a point and save a point file in the project,
then the point file will be newer than the corresponding file in the PC project, so it must be
updated on the PC after it is connected to the controller.
NOTE

You can also transfer files that are not in the current project between the PC and controller,
such as curve files (.CVT) and point files (.PTS).
If there are any project files to be transferred, the status for these files is "Pending". For
non-project files, you must select the direction of transfer.
Click the Start button to transfer the files in the direction specified in the Transfer column.
After a successful transfer, the status for a file will change to "Complete". If an error
occurs, the status will change to "Error".
Item Description
Synchronization Method
Select the desired method for synchronization.
three methods:
There are
- 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
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.
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5.9.15 Properties Command (Project Menu)
Project: Properties: General Page
Use this page to view and edit general properties for the current project. All project
property settings are stored in the project file, which is also stored in the controller during
project build.
TIP

68
Item
Description
Name
The name of the current project.
Created
Date and time when the project was created.
Last Modified
Date and time when the project was last modified.
Version
User version number of the project. You can type any text here.
Description
A description of the project. You can type any text here.
Notes
Any project notes can be entered into this section.
Close
Close the Project Properties dialog.
Apply
Set current values after changes have been made.
Restore
Revert back to previous values.
When the Open Project dialog is used, the Project Info button will open a dialog that
contains the general project properties entered on this page.
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Project: Properties: Compiler Page
This page allows you to configure the compiler settings.
Item
Compiler Version
Description
[Default] is the normal setting.
When a project cannot be built because new keywords have been
added to the language that interfere with declared variables or
functions, you can select the compatible compiler version to build
the project. Specify the controller firmware version that is used for
the project.
Project: Properties: Source Files In Controller Page
This page allows you to select which source files will be stored in the controller during
project build.
Operators can edit one or more programs in the controller via the teach pendant by
providing a password. So you can store just the programs you want the operators to be
able to change. (Only TP1. TP2 does not support this function.)
After applying changes, the next project build will clear the project in the controller and
perform a rebuild.
Item
Description
Select Source Files To
Store in Controller
This is a list of the source files in the project. Select which
source files you want to have stored in the controller.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
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Project: Properties: Operator Settings
: Operator Window: General Page
This page allows you to configure the general settings for the Operator Window.
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Item
Description
Window Title
Type in the title that you want to appear at the top of the
operator window.
Window Size
Choose Normal (normal size, centered on screen) or
Maximized (full screen).
Font
Click on the Font button to open the fonts dialog. Choose the
font you desire for the operator window. The current font
name and size is displayed next to the Font button.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
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Project: Properties: Operator Settings
: Operator Window: Controls Page
This page allows you to configure the controls for the Operator Window.
Item
Description
Pause and Continue Check this box if you want the Pause and Continue buttons to be
displayed. This will allow the operator to pause and continue from
the operator window.
I/O Monitor
Check this box if you want the I/O Monitor button to be displayed.
This will allow the operator to view input and output status.
Robot Manager
Check this box if you want the Robot Manager button to be
displayed. This will allow the operator to open the Robot Manager
from the operator window.
Program Selections For each program, you can edit the Caption and select if you want
that program to be enabled for the Operator Window. See details
below.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
Program Selections Details
Each project can have up to 8 programs that can be started from the Operator Window.
The programs are named main, main1 main2, … main7. Each program has an associated
startup function using the same name as the program (main, main1, main2…main7). In the
program selections grid, you can define an operator friendly name for each of the eight
programs. You can also define which selections will be displayed in the Operator Window
program list by checking the Enable checkbox.
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Project: Properties: Operator Settings: Robot Manager Page
Use this page to configure the Robot Manager for operators.
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Item
Description
Page and options
enabled for operators
Check the pages that you want the operator to have access to
when the Robot Manager is displayed from the operator window.
In some pages, there are additional options.
Allow SFree / SLock
Allows the operator to free or lock joints from the Control Panel
page.
Allow Home
Allows the operator to home the robot from the Control Panel
page.
Allow Teach
Allows the operator to teach points from the Jog & Teach page.
Teach only defined
points
Only defined points are shown in the point list on the Jog &
Teach page.
Prompt for new point
information
When the operator teaches a new point, a dialog will be displayed
for entering the point label and description.
Allow Motion
Commands
Allows the operator to execute motion commands from the Jog &
Teach page.
Allow Edit
Allows the operator to edit point data on the Points page.
Allow Delete
Allows the operator to delete points on the Points page.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
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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 open the I/O Monitor from the operator window. You can
configure the custom views from the I/O Monitor when it is open
from the main window. Operators cannot configure custom
views.
Allow output status
change
Check this box if you want to allow operators to turn outputs on
or off.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
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Project: Properties: Vision
The EPSON Smart Camera supports two vision projects simultaneously. Each vision
project can be used by one controller, so two controllers can use the same camera. Project
1 is used by default. In this page, you can configure the project number used by each
Smart Camera for this project.
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Item
Description
Smart Camera
Project Numbers
Select the project number used by each Smart Camera for this
project in the "Project #" column.
Apply
Set current values after changes have been made.
Restore
Revert back to the previous values.
Close
Close the Project Properties dialog.
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5.10 Run Menu
The EPSON RC+ 5.0 Run Menu includes commands for running and debugging programs.
5.10.1 Run Window Command (Run Menu)
Opens the Run window to run a program in the current project. Before opening the Run
window, you are prompted to save all files if there are any unsaved files if the Auto File
Save preference is off (see Setup | Preferences | Workspace). Otherwise, all files are saved
automatically. Then the project is built, if required. If there are any errors during build,
the Run window will not be opened.
After the Run window is open, you must click on the Start button to initialize program
execution.
For more information, see The Run Window section in the chapter Running and Debugging
Programs.
Shortcuts
Toolbar:
Keys:
F5
5.10.2 Operator Window Command (Run Menu)
Opens the Operator Window to run the current project. Before opening the Operator
window, you are prompted to save all files if there are any unsaved files. Then the project
is built, if required. If there are any errors during build, the Operator Window will not be
opened.
If the project is ready to run (last build was successful), then the Operator Window will be
opened.
For more information, see the Operator Window section in the chapter Building
Applications in SPEL+.
Shortcuts
Keys:
Shift+F5
5.10.3 Step Into Command (Run Menu)
Execute the current source line. If the current line is a function, the next step will be the
first line in the function.
Shortcuts
Toolbar:
Keys:
F10, F8
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5.10.4 Step Over Command (Run Menu)
Execute the current source line. If the current line is a function, the entire function will be
executed.
Shortcuts
Toolbar:
Keys:
F11, Shift+F8
5.10.5 Walk Command (Run Menu)
Execute lines until after the next motion command or output command, depending on the
Walk stops for output commands preference on the Setup | Controller | Preferences page.
Shortcuts
Keys:
F12
5.10.6 Resume Command (Run Menu)
Opens the Resume Tasks dialog box. Use this command to resume one or more halted
tasks. This command is available only when one or more tasks is in halt mode.
Shortcuts
Toolbar:
Keys:
F7
Item
Description
Select tasks to resume
A list of all currently halted tasks. Click on one or more tasks to
resume.
Resume
Click to resume.
Select All
Click to select all of the tasks in the list.
5.10.7 Stop Command (Run Menu)
Stops all tasks. This command is disabled when no tasks are running.
Shortcuts
Toolbar:
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5.10.8 Toggle Breakpoint Command (Run Menu)
Sets the current line as a breakpoint or returns the current line to normal. When a line is a
breakpoint, a breakpoint icon is displayed in the program window left margin.
You can set breakpoints while tasks are running.
If a line cannot be a breakpoint (such as a blank line), then the breakpoint icon will not
appear for that line.
Shortcuts
Toolbar:
Keys:
F9
5.10.9 Clear All Breakpoints Command (Run Menu)
Clears all breakpoints.
Shortcuts
Keys:
Ctrl+Shift+F9
5.10.10 Display Variables Command (Run Menu)
Displays a dialog box that shows the values for all variables in robot controller memory.
Shortcuts
Keys:
F4
To change a variable value
1. Check the Edit checkbox.
2. Type the new value in the Value column. As you type in new values, the text color
changes to red, indicating that the value is new and as not been written.
3. Click the Write button to save the changes. Click Read or uncheck Edit to cancel
changes and restore the previous values.
When an array is displayed, the first element is shown. You can change which element to
view by typing in the desired array subscript and then clicking the Read button.
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The Preserved page displays the Global Preserve variables. The numbers of used and
available bytes for preserved variables are also displayed.
You can save the values of Global Preserve variables in the controller to a file on the PC
by clicking the Save button. The default file name is GlobalPreserves.dat.
A GlobalPreserves.dat file is also saved by using Backup Controller from the Tools Menu.
You can load the variables that are stored in the file on the PC by clicking Load button.
For module variables, you must select the desired program.
Local variables are not displayed unless one or more tasks have reached a breakpoint or
have been halted from the Task Manager. You can view local variables for each function
in the call stack for each halted task.
5.10.11 Call Stack Command (Run Menu)
The Call Stack dialog displays the function call stack for one task.
The Call Stack command is available when a program window is clicked which contains a
function that is currently halted.
The most recent function is at the top of the list, and parent functions are listed afterwards
in descending order. The last function is the task function.
Each row in the list shows a program, function, and line number.
You can view the code for any of the function calls in the list by selecting a function, then
clicking Show. The program window for the function you selected is then displayed and
the line of the function call is marked by a yellow arrow in the editor left margin.
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5.11 Tools Menu
EPSON RC+ 5.0 has several GUI tools to aid in development. All tools can be accessed
from the Tools Menu. Many also have tool bar buttons and hot keys.
The Tools Menu includes the following selections:
- Robot Manager
Motor control, Jog & Teach, change robot parameters.
- Command Window
Execute SPEL commands directly.
- I/O Monitor
Monitor and change I/O status.
- Task Manager
Monitor and control task execution.
- Macros
Opens the Command Macros Window.
- I/O Label Editor
Define and edit I/O labels.
- User Error Editor
Define and edit user errors.
- Controller
Use controller tools, such as backup and restore.
- Simulator
Opens the Simulator window.
- Vision
Opens the Vision Guide window.
5.11.1 Robot Manager Command (Tools Menu)
This command opens the Robot Manager window. This window contains several tabs that
are used to control the robot motors and power, jog the robot and teach points, and
view/edit several parameters for the robot.
You can configure how the Robot Manager window can be viewed in the development
environment from the Setup | Preferences | Robot Manager | General page.
NOTE

MDI window
The Robot Manager is displayed as a child window along
with the other child windows inside the EPSON RC+ 5.0
development environment main window.
Dialog
The Robot Manager is displayed as a modal dialog which is
displayed in the foreground over the development
environment main window.
If the screen resolution is less than 1024 x 768, the Robot Manager will always be
displayed in dialog mode so it can fit on the screen.
Shortcuts
Toolbar:
Keys:
F6
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Tools: Robot Manager: Control Panel Page
The Control Panel page contains buttons for basic robot operations, such as turning motors
on/off and homing the robot. It also shows status for Emergency Stop, Safeguard, Motors,
and Power.
Status Indicators
Indicator
Description
Emergency Stop
Indicates if Emergency Stop has occurred. Once an Emergency
Stop occurs, you must execute a Reset to clear it.
Safeguard
Indicates whether the Safeguard input is on or off.
Motors
Indicates whether the robot motors are on or off.
Power
Indicates whether the robot motor power is high or low.
Controls
Description
MOTOR ON
Turns on all robot motors for the robot. You will be prompted to
confirm this operation.
MOTOR OFF
Turns off all robot motors for the robot.
POWER LOW
Puts the robot servo system in low power mode.
POWER HIGH
Puts the robot servo system in high power mode.
J1 to J4 checkboxes You can free one or more joints using the checkboxes. These will
be disabled for 6-axis robots.
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Free All
Click this button to free all joints from servo control.
Lock All
Click this button to lock all joints under servo control.
Reset
Resets the robot servo system and Emergency Stop condition.
Home
Moves the robot to the position specified with the HomeSet
command.
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Tools: Robot Manager: Jog & Teach Page
The Jog & Teach page is primarily used for jogging the robot to a desired position and
teaching a point using the current coordinates and orientation.
You can jog the robot in World, Tool, Local, Joint, or ECP modes. You can also execute
motion commands.
Jog Controls
The Robot Manager Jog & Teach page contains several controls, described below.
Jogging Group
This group contains controls for setting jog mode, speed, and jogging.
Mode
This dropdown list contains the following choices jog mode.
World
Jogs the robot along the X, Y, Z axes in the current local, tool, arm, and
ECP. For robots with 4 DOF, you can also jog U (roll). For robots with 6
DOF, you can jog U (roll), V (pitch), and W (yaw). This is the default
setting.
Tool
Jogs the robot in the coordinate system defined by the current tool.
Local
Jogs the robot in the coordinate system defined by the current local.
Joint
Jogs each joint of the robot. A separate set of jog buttons will appear when
using joint mode when using non-Cartesian robots.
ECP
Jogs the robot along the axes of the coordinate system defined by the
current external control point. Coordinates are World coordinates.
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Speed
The speed for jogging and motion commands can be changed by selecting Low or High.
When the Robot Manager is first open, the speed is set to Low. Jogging is always in low
power mode. The speeds and accelerations associated with the jog speed settings are
shown in the next page.
SCARA robot RS series PS series
Jog Speed
Jog Method
Speed
High
Decel
100 mm/sec
200 mm/sec2
Continuous World/Tool/ECP UVW 2 deg/sec
20 deg/sec2
40 deg/sec2
Continuous Joint
*
10 deg/sec2
20 deg/sec2
Step
1/5 of default PTP speed
Default PTP Default PTP
acceleration deceleration
Continuous World/Tool/ECP XYZ
50 mm/sec
100 mm/sec2 200 mm/sec2
Continuous World/Tool/ECP XYZ
Low
Accel
10 mm/sec
2
Continuous World/Tool/ECP UVW 10 deg/sec
20 deg/sec2
40 deg/sec2
Continuous Joint
*
10 deg/sec2
20 deg/sec2
Step
Default PTP speed
Default PTP Default PTP
acceleration deceleration
*Continuous joint speed depends on robot model
6-Axis robot
Jog Speed
Jog Method
Speed
High
Decel
200 mm/sec
400 mm/sec2
Continuous World/Tool/ECP UVW 2 deg/sec
20 deg/sec2
40 deg/sec2
Continuous Joint
*
20 deg/sec2
40 deg/sec2
Step
1/5 of default PTP speed
Default PTP Default PTP
acceleration deceleration
Continuous World/Tool/ECP XYZ
*
200 mm/sec2 400 mm/sec2
Continuous World/Tool/ECP XYZ
Low
Accel
10 mm/sec
2
Continuous World/Tool/ECP UVW 15 deg/sec
20 deg/sec2
40 deg/sec2
Continuous Joint
*
20 deg/sec2
40 deg/sec2
Step
Default PTP speed
Default PTP Default PTP
acceleration deceleration
*Continuous joint speed and High Continuous XYZ depends on robot model
Jog Buttons
The jog buttons are used to jog the robot throughout the work envelope. They can be
actuated only with the mouse.
The robot jogs one step at a time as you click the button in either “Long”, “Medium”, or
“Short” mode of the Jog Distance. The robot jogs continuously by holding the button
down.
To jog continuously without stepping, set the Jog Distance to Continuous. See How to jog
robot for details
You can change the orientation of the jog buttons to align your PC monitor with the robot
from Setup: Preferences: Robot Manager: Jogging.
The jog buttons are displayed differently depending on the Jog mode. For World, Local,
Tool, and ECP jogging, the X, Y, Z, U, V, W buttons appear (V and W are only for 6-Axis
robots). For Joint jogging, the joint buttons labeled J1 - J6 appear.
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The X, Y, and Z buttons jog the robot along the associated Cartesian axis.
The U buttons rotate the tool coordinate system about the Z axis. This is also known as
roll.
For 6-Axis robots, the V buttons rotate the tool coordinate system about the Y axis. This is
also known as pitch. The W buttons rotate the tool coordinate system about the X axis.
This is also known as yaw.
Local
This drop down list is used to select the current Local for jogging and teaching. Only
Locals that have been defined are shown in the list. When you teach a point, the Local
point attribute defaults to the current local number.
Tool
This drop down list is used to select the current Tool for jogging and teaching. Only Tools
that have been defined are shown in the list.
Arm
This drop down list is used to select the current Arm for jogging and teaching. Only Arms
that have been defined are shown in the list. Arms are not used with 6-axis robots.
ECP
This drop down list is used to select the current ECP for jogging. Only ECPs that have
been defined are shown in the list. ECPs are only allowed if the External Control Point
option has been activated.
Execute Motion Group
This tab executes motion commands.
Click <Execute> from this group to execute the motion.
When [USE LJM (Least Joint Motion)] checkbox is checked, posture of the manipulator is
automatically adjusted to reduce the motion distance.
The default setting is unchecked.
The [Execute Motion] tab can be disabled from [Setup]-[Preferences]-[Robot Manager][Jog & Teach].
Current Position Group
This group displays the current position of the robot. There are three ways to display
position. World displays the current position and tool orientation in the selected local
coordinate system, Joint displays the current joint values, and Pulse displays the current
encoder pulse count for each joint.
Current Arm Orientation Group
The current Hand, Elbow, Wrist, J4Flag, and J6Flag values are displayed. For 4 axes
robots, only Hand is displayed.
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Jog Distance Group
This group contains text boxes that are used to specify the distance that each axis moves
when its corresponding jog button is pressed. There are radio buttons for selecting
Continuous, Long, Medium, and Short jog distances. When Continuous is selected, the
robot is jogged in continuous mode and the jog distance text boxes are grayed out. When
Long, Medium, or Short are selected, the robot is jogged in step mode for the distance
specified in the jog distance text box for the axis being jogged.
To change a jog distance, first select the distance to be changed, then type in the new value.
Distance
Set Value *
Default Value
Short
0 to 10
0.1
Medium
0 to 30
1
Long
More than 0 to 180
10
* If you enter a too large value, an error message appears when you attempt to jog.
When the jog mode is changed, the jog distance units change appropriately between
millimeters (mm) and degrees (deg).
NOTE

When the jog distance is longer than the default, jog distance is reset to default status by
rebooting the controller.
Teach Points Group
This group shows the current point number and name for Teach and Edit commands.
Use the Teach button to read the current robot position into the coordinates of the current
point.
Use the Edit button to select and view the current point in the Points tab.
See How to teach points for more information.
How to jog
In the upper left hand corner of the Jog & Teach page, you will see a control group called
Jogging that contains jog buttons. In the World, Local, Tool, and ECP jog modes, the
robot is jogged in the Cartesian coordinate system (X, Y, Z). In the Joint jog mode, each
robot joint can be jogged separately.
The jog speed is determined by the Speed setting. In step mode, each time you click a jog
button, the robot moves along the appropriate axis by the amount specified in the Jog
Distance control group. In continuous mode, when a jog button held down, the robot
moves continuously using linear interpolated motion.
NOTE

For robots other than the 6-axis robots, the jog motion in step mode is PTP (point to point)
motion. It is difficult to predict exact jog motion trajectory. Therefore, be careful that the
robot doesn't collide with peripheral equipment and that the robot arms don’t collide with
the robot itself during jogging.
For the 6-axis robots, the jog motion in step mode is CP (Continuous Path) motion. Please
note that when jogging near the singularity, if you try to pass through the singularity, a
warning dialog below will appear.
Click the <OK> button and click the same Jog button again to jog using PTP motion and
pass the singularity. It is difficult to predict exact jog motion trajectory in the PTP motion.
Therefore, be careful that the robot doesn't collide with peripheral equipment and that the
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robot arms don’t collide with the robot itself during jogging. Also, if you attempt the other
jogs or operations, it cancels the switching to PTP motion. So when jogging near the
singularity again, the same warning dialog will appear.
Note that when jogging in continuous mode, if you try to pass through the singularity, a
warning dialog below will appear.
When jogging in continuous mode, if an out of range condition occurs, the robot motors
will turn off and an error will be displayed. In this case you must execute a Reset and
Motor On from the Control Panel page to continue the jog.
To jog
Select the jog mode: World, Tool, Local, Joint, or ECP.
Select the jog speed: Low or High.
Select Continuous, Long, Medium, or Short jog distance. You can type in the desired
jog distance when Continuous is not selected.
Click on one of the jog buttons with the left mouse button. If you hold the mouse button
down, the robot will continue to jog.
When jogging is started, the jog button picture color will change from yellow to cyan.
After jogging is completed, the jog button picture color will change back to yellow.
If you click any jog button during a step jog, the robot will stop.
TIP

You can change the orientation of the jog buttons for the robot by selecting Preferences:
Robot Manager: Jogging from the Setup Menu. This will allow you to align your PC
monitor with the orientation of the robot.
Jogging in Teach Mode
You can jog and move the robot at slow speed with the safeguard open by using the Teach
Pendant. See the Teach Pendant manual for instructions.
How to teach points
Teaching a robot point means that you are defining a location for the robot to move to
using the current robot position.
Follow these steps to teach points from the Robot Manager:
1. Select the point file you are teaching points for by using the Point File dropdown list
box on the Points page.
2. On the Jog & Teach page, select the point number you want to teach in the Teach
Points control group in the lower right corner of the window.
3. Jog the robot to the desired position or free some or all axes and manually move the
robot into position.
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4. Click on the Teach button. This will retrieve the robot's current position and store it in
the coordinates for the point. If the Prompt for New Point Data preference is active,
you will be prompted for a point label and description.
Point labels can include up to 32 alphanumeric characters and the underscore character.
Characters can be upper case or lower case. Only alphabets can be used for the first
letter.
As an alternative to clicking the Teach button, on the Points tab you can type in the
coordinates of the point.
Saving or aborting your work
Click the Save button on the Robot Manager Points page to save the changes.
Robot Manager MDI Child
When the Robot Manager is used as an MDI child, use the File Menu to select Save or
Restore for the current point file. You can also execute Project | Save or click the Save all
files toolbar button.
Robot Manager Dialog
When you close the Robot Manager, you will be prompted if you want to save your
changes. Answer Yes to make your changes permanent or No to abort all changes.
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Tools: Robot Manager: Points Page
The Points page is used for managing the current Robot Manager point file.
You can select any of the point files in the current project. When a point file is selected,
the robot controller loads the file into memory.
When a point file is open in the Robot Manager, it cannot be opened in a separate point
editor window.
As points are taught on the Robot Manager Jog & Teach page, the spreadsheet on the
Points page is updated.
If a point is defined on the Points page by typing in coordinates, the Jog & Teach page will
show the point in the Teach Points list.
When the Robot Manager is used as an MDI child window, you can type Ctrl + S to the
point file. You can also access the File Menu to save or restore point data.
Item
Description
Point File
Selects a point file in the current project for the Points page and the Jog &
Teach page.
Delete Pxxx
Deletes the selected point. You will be asked to confirm the operation.
Delete All
Deletes all points in the file. You will be asked to confirm the operation.
Save
Save the current values.
Restore
Revert back to the previous values.
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Tools: Robot Manager: Arch Page
This page allows you to configure the depart Z and approach Z settings in the robot's Arch
table. Arch is used for the Jump, Jump3, and Jump3CP motion commands.
For details on using Arch with motion commands, see the SPEL+ Language Reference.
There are seven different setting pairs in the Arch table. Each setting pair is one row in the
grid on the Arch page.
To change Arch settings
1. Put the cursor in the Depart Z or Approach Z cell of the row you want to change.
2. Type in the new value.
Press the TAB key to move to the next cell.
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Item
Description
Apply
Set the current values.
Restore
Revert back to the previous values.
Defaults
Click the defaults button to display factory default settings.
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Tools: Robot Manager: Locals Page
This page allows you to define local coordinate systems for a robot. When the page is
selected, the current values are displayed.
A grid is used to display all of the values for the locals you can define. Local 0 is the base
coordinate system and cannot be changed from this page.

NOTE
To change the base coordinate system, use the Base command from the command window.
See the SPEL+ Language Reference for more information.
When a local is undefined, then all fields for that local will be blank. When you enter a
value in any of the fields for an undefined local, then the remaining fields will be set to
zero and the local will be defined when you click the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
For more information on locals, see the description for the Local command.
Item
Description
Local Wizard Click this button to start the Local Wizard. Follow the instructions for
each step to define a local. See details in the next section.
X
The X coordinate of the local origin in the base coordinate system.
Y
The Y coordinate of the local origin in the base coordinate system.
Z
The Z coordinate of the local origin in the base coordinate system.
U
Rotation angle of the local about the base Z axis (roll).
V
Rotation angle of the local about the base Y axis (pitch).
W
Rotation angle of the local about the base X axis (yaw).
Apply
Save the current changes.
Restore
Revert back to the previous values.
Clear
Clear all values for the selected local.
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Using the Local Wizard
A wizard is provided for defining a local coordinate system. You can define a local using
a single point or three points, as described in the following sections.
Using the Local Wizard to teach a single point local
1. Open the Robot Manager and click on Locals to show the Locals page.
2. Click the Local Wizard button. You will see the dialog shown below.
3. Select the local number you want to define. For How many points will be used, select
1 - Origin. Since this is a single point local, you will just teach the origin of the new
coordinate system. If you want to use the U, V, or W axes for the orientation of the
coordinate system, check the Use U, V, W tool coordinates for local rotation
checkbox. If this checkbox is unchecked, the new coordinate system is offset from
local 0 in X and Y, but is not rotated about any axis. Click the Next button.
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4. We will now teach the local origin point. Click the Teach button to open the Local
Wizard Teach Point dialog.
5. Jog the robot until the end effector is aligned with the local origin point. Then click the
Teach button.
6. The new local definition is displayed as shown below. Click Finish to accept the new
definition.
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Using the Local Wizard to teach a three point local
1. Open the Robot Manager and click on Locals to show the Locals page.
2. Click the Local Wizard button. You will see the dialog shown below.
3. Select the local number you want to define. For How many points will be used, select
3 - Origin, X, Y. Since this is a three point local, you will teach the origin of the new
coordinate system, and then teach one point anywhere along the X axis and one point
anywhere along the Y axis. Select which axis will be used to align the coordinate
system. For example, if you select X, then the new coordinate system X axis will be
aligned to the X axis point that you will teach in a later step. The Y axis point will be
used to determine tilt. Click the Next button.
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4. We will now teach the local origin point. Click the Teach button to open the Local
Wizard Teach Point dialog.
5. Jog the robot until the end effector is aligned with the origin point. Then click the
Teach button. The next step will be displayed.
6. We will now teach a point on the local X axis. Click the Teach button and jog the
robot until the end effector is aligned with a point anywhere along the X axis of the new
coordinate system. Click the Teach button on the Teach Point dialog to continue.
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7. We will now teach a point on the local Y axis. Click the Teach button and jog the
robot until the end effector is aligned with a point anywhere along the Y axis of the new
coordinate system. Click the Teach button on the Teach Point dialog to continue.
8. The new local definition is displayed as shown below. Click Finish to accept the new
definition.
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Tools: Robot Manager: Tools Page
This page allows you to define tool settings for a robot. When the tab is selected, the
current values are displayed.
A grid is used to display all the values for all 15 tools you can define.
NOTE

When the RC180 Controller firmware is Ver.1.4.*.* or before, the row from 4 to 15 will
not be displayed.
When a tool is undefined, then all fields for that tool will be blank. When you enter a
value in any of the fields for an undefined tool, then the remaining fields will be set to zero
and the tool will be defined when you click the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
For more information on tools, see the description for the TLSet command.
Item
Description
Tool Wizard This button starts the Tool Wizard. Follow the instructions for each step of
the wizard to define a tool. See details in the next section.
X
The X coordinate of the tool.
Y
The Y coordinate of the tool.
Z
Z offset of tool.
U
Rotation angle of the tool about the Z axis (roll).
V
Rotation angle of the tool about the Y axis (pitch).
W
Rotation angle of the tool about the X axis (yaw).
Apply
Set the current values.
Restore
Revert back to the previous values
Clear
Clear all values for the selected tool.
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Using the Tool Wizard
1. Open the Robot Manager and click on Tools to show the Tools page.
2. Click the Tool Wizard button. You will see the dialog shown below.
3. Select the tool you want to define and click Next.
4. Click the Teach button to open the Tool Wizard Teach Point dialog.
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5. Jog the robot until the tool is aligned with the reference point. For 6-axis robots, ensure
that U = 0, V = 0, and W = 180 at the reference point. Then click the Teach button.
The next step will be displayed in the wizard.
6. Click the Teach button. Jog the robot so that the tool is aligned with the reference
point, but from another U angle. To do this, jog the U axis several degrees, then jog X
& Y until the tool is aligned with the reference point. After you have finished jogging
to the reference point, click Teach.
7. For 6-axis robots only: Jog the robot back to the reference point with U = 0, V = 0, and
W = 180. Jog the W axis several degrees, then jog X and Y until the tool is aligned
with the reference point. Ensure that U and V remain at 0 degrees.
8. The new tool definition is displayed as shown below. Click Finish to accept the new
definition.
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Tools: Robot Manager: Arms Page
This page allows you to define Arm settings for a robot. When the tab is selected, the
current Arm values are displayed. The tab is disabled if the current robot does not support
the Arm command.
A grid is used to display all the values for all 15 arm configurations you can define.
NOTE

When the RC180 Controller firmware is Ver.1.4.*.* or before, the row from 4 to 15 will
not be displayed.
When an arm is undefined, then all fields for that arm will be blank. When you enter a
value in any of the fields for an undefined arm, then the remaining fields will be set to zero
and the tool will be defined when you click the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
For more information on arm parameters, see the description for the ArmSet command in
the SPEL+ Language Reference.
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Item
Description
L2 Dist
Distance between the center of joint 2 and the center of the orientation joint
in millimeters.
J2 Offset
Angle of the line from the center of joint 2 to the center of the orientation
joint in degrees.
Z Offset
The Z offset between the new orientation axis and the standard orientation
axis.
L1 Dist
Distance between the center of the shoulder joint and the center of the
elbow joint in millimeters.
U Offset
The angle offset between the standard orientation zero position and the new
orientation axis zero position in degrees.
Apply
Set current values.
Restore
Revert to the previous values.
Clear
Clear all values for the selected arm
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Tools: Robot Manager: ECP Page
This page allows you to define ECP (external control point) settings for a robot. When the
page is selected, the current values are displayed.
NOTE

If the ECP option is not enabled in the controller, this page will not be visible.
For detailed information on using external control points in your application, see the
chapter ECP Motion.
A grid is used to display all of the values for all ECPs you can define.
When an ECP is undefined, then all fields for that ECP will be blank. When you enter a
value in any of the fields for an undefined ECP, then the remaining fields will be set to
zero and the ECP will be defined when you press the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
Item
Description
X
The X coordinate of the ECP.
Y
The Y coordinate of the ECP.
Z
The Z coordinate of the ECP.
U
Rotation angle of the ECP about the Z axis (roll).
V
Rotation angle of the ECP about the Y axis (pitch).
W
Rotation angle of the ECP about the X axis (yaw).
Apply
Set current values.
Restore
Revert back to the previous values.
Clear
Clear all values for the selected ECP.
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Tools: Robot Manager: Box Page
NOTE

When the RC180 Controller firmware is Ver.1.4.*.* or before, this page will not be
displayed.
This page allows you to define Box (approach check area) settings for a robot. When the
page is selected, the current values are displayed. When a Box is undefined, then all fields
for that Box will be blank. When you enter a value in any of the fields for an undefined
Box, then the remaining fields will be set to zero and the Box will be defined when you
press the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
Item
Description
Min X
Type in the minimum X limit value in millimeters.
Max X
Type in the maximum X limit value in millimeters.
Min Y
Type in the minimum Y limit value in millimeters.
Max Y
Type in the maximum Y limit value in millimeters.
Min Z
Type in the minimum Z limit value in millimeters.
Max Z
Type in the maximum Z limit value in millimeters.
Apply
Set current values.
Restore
Revert back to the previous values.
Clear
Clear all values.
Setting both values to zero disables the limits.
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Tools: Robot Manager: Plane Page
NOTE

When the RC180 Controller firmware is Ver.1.4.*.* or before, this page will not be
displayed.
This page allows you to define Plane (approach check plane) settings for a robot. When
the page is selected, the current values are displayed. When a Plane is undefined, then all
fields for that Plane will be blank. When you enter a value in any of the fields for an
undefined Plane, then the remaining fields will be set to zero and the Plane will be defined
when you press the Apply button.
Navigating the grid
Use the TAB key to move to the next field. Use the arrow keys or the mouse to move to
any field.
Item
Description
X
Sets the X origin of the coordinate for approach check plane.
Y
Sets the Y origin of the coordinate for approach check plane.
Z
Sets the Z origin of the coordinate for approach check plane.
U
Sets the U origin of the coordinate for approach check plane.
V
Sets the V origin of the coordinate for approach check plane.
W
Sets the W origin of the coordinate for approach check plane.
Apply
Set current values.
Restore
Revert back to the previous values.
Clear
Clear all values.
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Tools: Robot Manager: Weight Page
This page is for changing the Weight parameters for the robot.
For details on the Weight parameters, see the SPEL+ Language Reference.
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Item
Description
Weight
Type in the new total weight of the payload on the robot.
Kg/Lb
Choose which unit the weight is represented in: kilograms or pounds.
Length
Type in the new length.
Apply
Set the current values.
Restore
Revert back to the previous values.
Defaults
Click the defaults button to display factory default settings.
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Tools: Robot Manager: Inertia Page
This page is for changing the Inertia parameters.
For details on the Inertia parameters, see the SPEL+ Language Reference.
Item
Description
Load inertia Type in the new load inertia of the payload on the robot in kg⋅m2. This
includes the inertia of end effector plus the part to be carried.
Eccentricity Type in the new eccentricity value in millimeters. This is the distance from
rotational center of joint 4 to the center of gravity of end effector and part.
Apply
Set the current values.
Restore
Revert back to the previous values.
Defaults
Press the defaults button to display factory default settings.
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Tools: Robot Manager: XYZ Limits Page
This page allows you to configure limits for X, Y and Z motion in the robot envelope.
Item
Description
X, Y, Z
Type in the minimum and maximum X, Y, and Z limit values. Setting
both values to zero disables the limits.
Read Current Click this button to read the value from the current robot position. The
button text shows the axis and minimum or maximum depending on
which text field has the current focus.
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Apply
Set the current values.
Restore
Revert back to previous values.
Defaults
Set default values.
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Tools: Robot Manager: Range Page
This page allows you to configure the robot joint software limits.
For more information on Range, see the SPEL+ Language Reference and the manual for
the robot you are using.
Item
Description
J1 - J6
Type in the minimum and maximum encoder pulse values for each joint.
Read Current Click this button to read the current joint value of the robot into the
currently field. The button text will change depending on which text
field has focus.
Apply
Save the current changes.
Restore
Revert back to the previous values.
Defaults
Set the default values.
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Tools: Robot Manager: Home Config Page
Home Config allows you to configure the optional user home position and home order
used by the Home command.
Changing home position
When you select the Home Config tab, the current home position is read from the robot
controller and displayed in the text boxes. If the home position has never been defined,
then the text boxes will be blank.
To define the home position, you can enter an encoder position value for each of the four
robot joints in the text boxes, or you can select the Jog & Teach page to jog the robot to the
desired home position, then select the Home Config page and click the Read Current
Position button to read the current encoder position values.
Changing home order
The home command executes in steps. The number of steps equals the number of joints on
the robot. Select the home step number for each joint using the dropdown list for each
joint. More than one joint can be homed in the same step.
Testing home
After making changes to the home position and home order, you can click the Robot
Manager Control Panel tab and click the Home button.
Item
Description
Read Current Click this button to read the current position encoder pulse value into the
currently selected text field. The button text will change according which
text field is selected.
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Defaults
Set the value of the [Home order] group box to the default value.
Apply
Save the current changes.
Restore
Revert back to the previous values.
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5.11.2 Task Manager Command (Tools Menu)
The Task Manager window allows you to Halt (suspend), Resume, and Quit (abort) tasks.
To open the Task Manager
Select Task Manager from the Tools Menu.
Or
Type Ctrl + T.
Or
Click on the
button on the toolbar.
Operation
The Task Manager is used for suspending, resuming, stepping, and stopping tasks.
When Task Manager is started, you will see a grid containing status information for 16
tasks standard tasks and 4 trap tasks. There are several items shown for each task. To
view all of the columns, use the scroll bar or resize the window.
Task
Number of task from 1 to 16 and four trap tasks.
Name
Name of the function that was started as a task.
Status
Current task status: Run, Waiting, Halt, Pause, Quit, Step.
Type
Task types
Normal
NoPause
This task is a normal task
This task does not pause with Pause statement or when
Pause input or Safety Door open occur.
NoEmgAbort This task continuously processes during the Emergency
Stop or error occurrence.
Line
Current task line number.
Function
Current task function name.
Program
Current task program name.
Start
The date and time that the task was started.
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Item
Description
Halt
Suspends the selected task. This temporarily stops the task so that it
can be started again with the Resume button. Halt can only be
executed when a task is running (status is Run). When Halt is
executed, the Resume button will be enabled. If a motion command is
executing with Halt occurs, the motion will be completed before the
task reaches the Halt state.
The task also temporarily stops when the task is NoPause type or
NoEmgAbort type.
Resume
After one or more tasks have been suspended with the Halt button,
clicking on Resume will make the halted tasks continue where they left
off. First, a confirmation dialog is displayed.
Quit
This button stops the selected task permanently. You cannot Resume a
task once you have executed Quit. To restart the task, you must start it
from within a program or from the Run window. The task also stops
when the task is NoPause type or NoEmgAbort type.
Pause
This button pauses tasks that can be paused. After pause, you must use
either Continue or Stop.
The task does not pause when the task is NoPause type or NoEmgAbort
type.
Continue
This button continues all tasks that were paused with the Pause button.
Stop
This button stops all tasks.
To Halt, Step, Walk, and Resume a task
Use the mouse to click on the desired task in the task list. You can click on any field to
select a task. The current task status must be Run before it can be halted. The Halt button
will become active after you have selected the task.
After a task has been halted, the source code will be displayed and the next step will be
indicated. You can either click on the Resume button to resume execution, or executed
Step Into, Step Over, or Walk from the Run Menu.
To Pause and Continue tasks
Pause allows you to "suspend" all tasks that can be suspended.
Click on the Pause button to pause available tasks. The robot will decelerate to a stop
immediately.
After executing Pause, click on Continue to resume all suspended tasks.
To view source code at the current execution line
Select a task row. Then right click and select Go To Line. The program editor will be
opened at the current execution line
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5.11.3 I/O Label Editor Command (Tools Menu)
The I/O label editor lets you define meaningful names for inputs, outputs, and memory I/O
for each project. The labels can be used in your programs, from the Command window, or
in macros. They are also displayed in the I/O Monitor window.
To open the I/O Label Editor
Select I/O Label Editor from the Tools Menu.
Or
Type Ctrl + L.
Or
Click on the
button on the toolbar.
The I/O Label Spreadsheet
When you select I/O Label Editor from the Tools Menu, a window opens that contains a
tree and a spreadsheet editor.
The tree on the left side of the window shows the various types of I/O for the controller.
For each type of I/O you can view and edit labels for bits, bytes (8 bits), and words (16
bits).
The first column of the spreadsheet shows the bit, byte, or word number, depending on
which type of I/O you are viewing.
The second column contains the label for each bit, byte, or word in column 1. You can
type in up to 16 characters for a label. Label characters can be alphanumeric or underscore.
The third column contains the description associated with the label.
If you add a description to an I/O point, then the description will be displayed as a tool tip
on the I/O Monitor.

NOTE
All I/O types are shown in the I/O Label Editor, but some may not be available on your
controller. For example, you can edit Fieldbus I/O labels, but you may not have a Fieldbus
board installed in the controller. This allows you to edit labels when you are disconnected
from a controller. Verify that the controller to be used with the project has the hardware
installed for the I/O you are using.
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To add or edit a label
Select the type of I/O you want to label in the tree. After you select the I/O type, the
spreadsheet will be refreshed to display the labels for that type. The number of rows in the
spreadsheet equals the number of bits, bytes, or words available for the type you have
selected.
Use the mouse to scroll through the spreadsheet and put the cursor in the Label field next
to the bit, bytes, or words number that you want to add a label to. Type in the label, which
can be up to 16 alphanumeric characters without any spaces. Optionally, you can type a
description for the label in the Description field.
After adding or editing labels, save the changes by executing Save from the File Menu or
by clicking on the Save Project
toolbar button. If any duplicate labels are detected, an
error message will be displayed and the save operation will be aborted. You must correct
the duplication before you can save the labels successfully.
To cut and paste labels and descriptions
You can cut and paste labels and descriptions by selecting with the mouse, then executing
Copy, Cut, and Paste from the Edit Menu.
You can also cut and paste entire rows using the following steps:
1. Select one or more rows by using the row selectors on the left and execute either the
Cut or Copy command from the Edit Menu. When selecting multiple rows, hold down
the shift or control key while selecting rows with the mouse.
2. Select the destination I/O type, if required.
3. Select the row where you want to start the paste by clicking the row selector on the left
of the row.
4. Execute the Paste command from the Edit Menu.
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5.11.4 I/O Monitor Command (Tools Menu)
The I/O Monitor window lets you monitor all controller hardware inputs and outputs and
also memory I/O. There are up to four views available: one standard view and three
custom views.
On the standard view, there are two grids. For each grid you can specify which type and
size of I/O to monitor.
For each custom view, you can specify a list of any combination of input, output, or
memory. By default, there is one custom view available. To use the other two custom
views, right click on a tab and check the views you want to be visible. See the section
Custom I/O Views later in this chapter.
Labels that have been defined using the I/O Label Editor are displayed next to each bit,
byte, or word.
After the I/O Monitor window has been opened, the input and output status for the current
view is constantly updated.
The I/O monitor will always be displayed on top of other child windows, such as program
windows and point windows.
If a description has been entered for an I/O port (bit, byte, or word) in the I/O Label Editor,
then a tool tip will be displayed when the mouse pointer is over the row containing the port.
You can turn outputs on and off by double clicking on the output LED images in the Status
column.
To open the I/O Monitor
Select I/O Monitor from the Tools Menu.
Or
Click on the
Or
tool bar button.
Type Ctrl + I.
Using the I/O Monitor
Select the tab for the type of I/O you want to monitor.
Scroll through the grids to locate the desired inputs or outputs to monitor.
You can split each grid into two scroll regions by selecting the split bar in the upper right
corner of the grid and dragging it down. Each scroll region can be individually scrolled.
To turn an output off or on, double click on the LED image for the desired output.
When Virtual I/O is active, you can turn input bits on and off by double clicking on the
input LED images in the Status column.
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To view bytes and words in hexadecimal format, check the Hexadecimal Values
checkbox.
You can resize the I/O monitor in the vertical direction to show more data. Move your
mouse pointer to the lower right corner of the window to activate a size handle, then click
down and drag the window down or up to the desired size.
Custom I/O Views
You can configure up to three custom I/O views. In each view, you can add any
combination of I/O. You can also change the name of each view and hide each view.
To change a view
1. Click on a custom view tab. If none are currently shown, right click on the Standard
View tab and select one of the three custom views to show it.
2. Click the Add button to add a new row to the list.
3. Select the Type by clicking in the Type column, then click the arrow to view a list of
I/O types and select one.
4. In the Port column, select the port (bit, byte, or word, depending on I/O type).
5. Add more rows as needed by repeating steps 2 - 4.
6. Save the changes by clicking the Apply button.
7. Click the Delete button to delete a row.
8. Use the Restore button to cancel changes.
To rename a view
1. Click on a custom view tab. If none are currently shown, right click on the Standard
View tab and select one of the three custom views to show it.
2. Right click on the view tab and select Rename.
3. Enter the new name for the view.
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5.11.5 Command Window Command (Tools Menu)
The command window emulates an ASCII terminal that communicates directly with the
robot controller. You can execute SPEL+ immediate commands from this window and
view the results.
To open the Command window
Select Command Window from the Tools Menu
Or
Click on the
button on the toolbar.
Or
Type Ctrl+M
To execute SPEL+ commands from the Command window
1. Type in the desired command after the prompt (>). Commands can be entered in upper
or lower case.
2. Press the Enter key to execute the command. The cursor can be anywhere on the line
when you press Enter.
3. Wait for the prompt to return before typing in a new command.
When an error occurs, an error number will be displayed along with an error message.
You can use the arrow keys or the mouse to move the cursor to any line in the window that
starts with a prompt (>) character and execute it by pressing Enter.
Command Window Keys
Key
Action
Ctrl+A
Select entire window.
Ctrl+C
Stop the program and initialize robot controller. If a robot motion
command is in progress, the prompt will return when the command has
been completed.
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Key
Action
Ctrl+V
Execute Paste command. Paste from Clipboard to current selection.
Ctrl+W
Re-display last command line after the prompt.
Ctrl+X
Execute Cut command. Cut current selection and put in Clipboard.
Ctrl+Z
Undo last change.
Ctrl+Home
Go to the top of the window.
Ctrl+End
Go to last prompt at end of the window.
?
Translates to "PRINT " when used as the first character of a command.
This can be used to display variables or any statement that requires a
PRINT command.
5.11.6 Macros Command (Tools Menu)
You can create SPEL+ command macros using the Macro Editor. Macros consist of one or
more SPEL+ statements that can be executed from the command window. A macro
statement may use global variables, I/O labels, and point labels. You can assign a macro to
each of the Alt function keys except for Alt+F4, which is a Windows shortcut to close the
application.
1. Select Tools | Macros to open the Command Macros dialog.
2. Type the macro statements in the Macro text box.
3. Click the Apply button to save changes.
4. Click Execute to run the macro.
5. Click Close to close the dialog. You will be prompted to save the macros you have
created or changed.
To open a macro and execute it, type Alt+function key to open the macro. Then click
Execute to run it. Macros never execute by pressing the function key. The separate
execute step is provided for safety, since macros can move the robot and control I/O.
Macros can be executed while tasks are running. If one or more commands in a macro are
not valid while tasks are running, an error will occur.
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5.11.7 Controller Command (Tools Menu)
Select Controller from the Tools Menu to open the Controller Tools dialog.
From the Controller Tools dialog, you can save and restore the complete controller
configuration and the project using the Backup Controller and Restore Controller
commands. You can also save and view controller status, and reset the controller.
Before servicing the system, you should execute Backup Controller and store the system
configuration on an external media such as a USB memory key.
If required, you can use Restore Controller to restore previously stored data.
Backup Controller
Use Backup Controller to save controller configuration data on your PC. You cannot
backup the controller data while tasks are running. If you attempt to do so, an error
message will be displayed.
1. Select Tools | Controller.
2. Click on the Backup Controller button to open the Browse For Folder dialog.
3. Select the disk drive and parent folder where you want to save the information. You
can create a new parent folder by clicking the Make New Folder button.
4. Click OK. A new folder containing the backup files will be created in the selected
folder named "B_" plus the controller serial number followed by the current date / time.

NOTE
When the version of the connected RC180 controller firmware is Ver.1.0.*.*, Backup
Controller does not backup the project data.
Be sure to backup the project data individually by selecting Copy from the Project Menu.
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Restore Controller
Use Restore Controller to load controller settings from previously saved backup data. You
cannot restore the controller data while tasks are running. If you attempt to do so, an error
message will be displayed.
To restore controller configuration:
1. Select Tools | Controller.
2. Click on the Restore Controller button to open the Browse For Folder dialog.
3. Select the drive and folder where the information is stored. Controller backup
information is stored in a folder that is named “B” plus the controller serial number
followed by the date / time.

NOTE
You can also select a folder containing export controller status information.
Export controller status is stored in a folder that is named “S” plus the controller serial
number followed by the date / time.
4. Click OK to display the dialog to select the restore data.
Robot name, serial #, calibration Checkbox
This checkbox allows you to restore the robot name, robot serial number, Hofs data,
and CalPls data. Make sure that the correct Hofs data is restored. If the wrong Hofs
data is restored, the robot may move to wrong positions.
The default setting is unchecked.
Project Checkbox
This checkbox allows you to restore the files related to projects.
The default setting is unchecked.
When the project is restored, all the values of Global Preserve variables are restored.
For details about Global Preserve variable backup, refer to 5.10.10 Display Variables
Command (Run Menu).

NOTE
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When the version of the connected RC180 controller firmware is Ver.1.0.*.*, this
dialog does not appear. Robot name, serial number, and calibration data is always
restored.
The project is not restored.
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5. Click the <OK> button to restore the system information.

NOTE
Restore the system configuration saved using Backup Controller only for the same system.
When different system information is restored, the following warning message appears.
Click the No button cancel restoration of data except for special situations such as
controller replacement.
Export Controller Status
You can export the current status of the controller using this button. Tasks can be running
when this command is executed. The current status is saved in a folder containing several
files. The controller configuration settings, task status, I/O status, robot status, etc. are
saved in these files. This is useful for an end user to send a snapshot of the controller
status to a system vendor or to Epson technical support, should the need arise.
NOTE

Export Controller Status is equivalent to connecting a USB memory key to the controller
and pressing the TRIG button on the controller to save controller status.
You can configure the controller whether to save the project files in the status folder or not.
See Setup | Controller | Preferences.
You can view the exported status using the View Controller Status button (see next
section).
To export controller status
1. Select Tools | Controller.
2. Click on the Export Controller Status button to open the Browse For Folder dialog.
3. Select the drive and parent folder where the information is to be saved.
4. Click OK to save the current controller status. A new folder will be created inside the
parent folder using the controller serial number and the current date / time.
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View Controller Status
Click the View Controller Status button to view the status data stored from a previous
status export (see the Export Controller Status section above).
To view controller status:
1. Select Tools | Controller.
2. Click on the View Controller Status button to open the Browse For Folder dialog.
3. Select the drive and folder where the information is stored. Controller status
information is stored in a folder that is named "S_" plus the controller serial number
followed by the date / time.
4. Click OK to view the selected controller status.
5. The Controller Status Viewer dialog will be displayed.
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.
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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.
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 your code.
Some user error examples:
Error #
Label Message
8000
ER_VACUUM Vacuum error has occurred.
8001
ER_INDEXOT Indexer overtime has occurred.
In your program code, use the Error statement to generate a user error. For example:
On Vacuum
Wait Sw(VacOn), 1
If Tw = 1 Then
Error ER_VACUUM
EndIf
The user error information is stored in the current project directory in a file called
UserErrors.dat.
You can use the Import command from the File Menu to import user errors from other
projects.
After adding new error definitions, save the changes by executing Save from the File Menu
or by clicking on the Save all files
toolbar button. If any duplicate labels are detected,
an error message will be displayed and the save operation will be aborted. You must
correct the duplication before you can save the labels successfully.
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5.11.9 Simulator Command (Tools Menu)
This command opens the Simulator window. For instructions on using the Simulator, see
chapter 8. Simulator.
Shortcuts
Toolbar:
5.11.10 Vision Command (Tools Menu)
This command opens the Vision Guide window. For instructions on using Vision Guide,
refer to the EPSON RC+ 5.0 Option Vision Guide 5.0 Manual.
Shortcuts
Toolbar:
5.12 Setup Menu
The Setup Menu contains the following commands:
- PC to Controller Communications
- Controller
- Vision
- Preferences
For details on the Vision command, refer to EPSON RC+ 5.0 Option Vision Guide 5.0.
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5.12.1 PC to Controller Communications Command (Setup Menu)
The PC to Controller Communications command opens a dialog box that is used for
configuring communications between your PC and the Controller.
Shortcuts
Toolbar:
Item
Description
Connect
Connect to the currently selected connection.
Disconnect
Disconnect from the current connection.
Add
Add a new Ethernet or virtual controller connection. When
you click this button, another dialog will open that allows you
to specify the connection type.
Delete
Delete the currently selected connection. You cannot delete
connection #1, USB.
Apply
Save the current changes.
Restore
Revert back to the previous settings.
Work Offline
When Work Offline is checked, EPSON RC+ 5.0 does not
attempt to connect to a controller during operations such as
building a project. Some windows such as Robot Manager
will not be available while working offline.
Auto Connect
When Auto Connect is selected, EPSON RC+ 5.0 will
automatically connect if the current connection is available.
Close
Close the dialog.
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5.12.2 Controller Command (Setup Menu)
The Controller command opens the Setup Controller dialog. This dialog has several pages
that can be accessed by selecting them from the tree on the left side of the dialog.
Setup: Controller: General Page
This page allows the user to view general information about the controller.
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Item
Description
Serial #
Displays the serial number of the current controller.
MAC Address
Displays the MAC Address of the controller.
Firmware Version
Displays the firmware version used in the current controller.
Date / Time
Displays the current date and time in the controller.
Project Name
Displays the name of the project in the controller.
Close
Close the Setup Controller dialog.
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Setup: Controller: Configuration Page
This page allows the user to view and change the controller configuration settings.
Item
Description
Name
Use this text box to change the controller name. You may
use any name up to 16 characters long using
alphanumeric characters and underscore.
IP Address
Use this text box to set current IP address of the
controller. The IP Address must be on the same subnet as
the PC.
IP Mask
Use this text box to set the IP mask of the controller.
Note that the IP Mask must match the IP mask used for
your network.
IP Gateway
Use this text box to set the IP gateway of the controller.
This is only required if you will be accessing the
controller from outside of the local network.
USB Speed
Select the speed of the USB connection.
Control Device
Allows you to select the Control Device.
TP Program Mode Password Allows you to change the TP Program Mode password.
Close
Close the Setup Controller dialog.
Apply
Save the current changes. If necessary, the controller will
be reset to use the new settings.
Restore
Revert back to previous settings.
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Setup: Controller: Preferences Page
This page contains controller preference settings.
RESET command turns off outputs
When this preference is turned on, all outputs other than remote control outputs will be
turned off when a Reset instruction is executed. The default setting is off.
NOTE

The outputs of the standard I/O, expansion I/O, and Fieldbus I/O are included in the
“outputs” mentioned in the above preferences RESET command turns off outputs and
Outputs off during Emergency Stop. Memory I/O is not affected by these preferences.
Therefore, memory I/O bits are not turned off by the RESET command execution or during
Emergency Stop.
Outputs off during Emergency Stop
When this preference is turned on, all outputs other than remote control outputs will be
turned off when emergency stop occurs. Also, no outputs can be turned on until the
emergency stop condition is cleared. The default setting is on.
NOTE

You should design your system to always remove all power to output devices when
emergency stop occurs. Even if the controller turns off outputs, the I/O hardware could
malfunction.
Allow motion with one or more joints free
When this preference is turned on, motion commands can be executed after SFree has been
used to free one or more joints. The default setting is off.
Walk stops for output commands
When checked, the Walk command from the Run Menu will execute lines until after the
next motion or output statement (whichever comes first). When unchecked, the Walk
command will execute lines until after the next motion statement and will not stop for
output statements. The default setting is on.
Dry run
This preference allows you to run programs without a robot connected to the controller.
All program statements will work. Motion statements will execute approximately the same
amount of time as when connected to a robot.
Virtual I/O
This preference allows you to run programs using virtual I/O. When Virtual I/O is enabled,
I/O commands do not affect the hardware I/O. There are also several commands available
for turning on inputs from within a program. The default setting is off.
NOTE

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Remote function is also available when virtual I/O is enabled.
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Include project files in when status exported
This preference allows you to configure whether project files are included or not when the
controller status is exported. See Tools | Controller for information on exporting and
viewing controller status. The default setting is on.
NOTE

The project using Vision Guide cannot perfectly be stored by the Status storage. This is
because some files are not transferred to the Controller.
If you are using Vision Guide, please back up the project files with RC+.
Safeguard open stops all tasks
Check this option to cause all tasks to stop when the safeguard is open.
This option can be used in applications where pause / continue are not required.
The default setting is off.
NOTE

When the version of the connected RC180 controller firmware is Ver.1.0.*.*, this check
box cannot be checked.
Enable CP – PTP connection when CP is on
This preference allows you to overlap the trajectories of CP motion and PTP motion during
CP ON.
NOTE

Over-speed error or Over-acceleration-speed error may occur according to the motion
acceleration / deceleration speed setting. If the error occurs, adjust the acceleration /
deceleration speed setting or uncheck this checkbox.
Auto LJM (Least Joint Motion)
This preference allows you to enable Auto LJM at the controller start up. To disable Auto
LJM temporarily, use AutoLJM Off command.
NOTE

If Auto LJM is enabled at all times, this function automatically adjusts the posture of the
manipulator to reduce the motion distance, even when you intended to move the joint
widely. Therefore, it is recommended to disable Auto LJM at the controller start up and
operate the manipulator as you desired using AutoLJM On command or LJM function.
Disable LJM in Teach Mode
This preference allows you to invalidate LJM in the TEACH mode. The LJM function
becomes invalid regardless of the command of AutoLJM. The default setting is unchecked.
Disable Point flag check
This preference allows you to continue operation even when point flags, one was specified
as a target point and the other one after the motion completion, do not match in a CP
motion.
However, if the flags do not match at the transferring point while CP On is used, the
manipulator will stop at the point and the motion will not become a path motion.
Motor off when Enable switch off in Teach Mode
This preference is read-only. It shows whether motors will be turned off when the Enable
switch is off during Teach Mode.
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Setup: Controller: Options
This page is used to configure options in the controller. For instructions, refer to 15.
Installing Controller Options.
Setup: Controller: Simulator
This page is used to configure the Simulator. For virtual controllers, the Enable Simulator
checkbox is grayed out and checked. For real controllers, if the firmware supports
simulation, then you can check the Enable Simulator checkbox.
For more details, see Virtual Controller Configuration in section 8.3.4.
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Setup: Controller: Robot
Setup: Controller: Robot Model Page
Use this page the set the model for the robot connected to the controller.
Item
Description
Model
Allows the user to select the robot model.
You can only select a model that the current amplifier power
ratings will allow.
If Dry Run is active, or the controller is a virtual controller, then all
robot models will be displayed.
If you select "None", then the current robot will be removed from
the controller when Apply is clicked.
Type
Displays the robot type.
Length
Displays the robot length (J1 + J2 for SCARA robots) or reach for
6-axis robots.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Close
Close the Setup Controller dialog.
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5. The EPSON RC+ 5.0 GUI
Setup: Controller: Robot Configuration Page
128
Item
Description
Name
Enter a Name for the robot.
Serial #
Enter the Serial number of the robot.
Joints
These checkboxes determine if the respective joint is
enabled or disabled.
Close
Close the Setup Controller dialog.
Apply
Save the current changes.
Restore
Revert back to previous settings.
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Setup: Controller: Robot Calibration Page
You can calibrate each joint of the robot from this page. It is not displayed if the controller
is virtual.
Item
Description
Joint to Calibrate
Select the joint that you want to Calibrate.
Calibrate…
This button starts the Calibration Wizard dialog that walks you
through the calibration process.
Calpls
These are the Calpls settings for each joint.
calibration wizard will calculate these values.
Normally, the
Hofs
These are the Hofs settings for each joint.
calibration wizard will calculate these values.
Normally, the
Load Cal
This button is used to load data from a previously save calibration
file. After the data is loaded, the grid will be refreshed to show the
values.
Save Cal
This button is used to save the calibration data to a calibration file.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Close
Close the Setup Controller dialog.
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Setup: Controller: Robot Amplifiers Page
This page shows the power values for the motor amplifiers installed in the controller. It is
not displayed if the controller is virtual.
Item
Description
Robot Amplifiers
This shows the power for each robot amplifier currently in
the controller.
Close
Close the Setup Controller dialog.
The motor amplifiers and the motor powers may not be the same.
Setup: Controller: Inputs / Outputs Page
This page shows the I/O hardware installed in the controller. There are no settings to
configure.
Setup: Controller: EtherNet/IP Page
If an EtherNet/IP board is installed in the controller, a configuration page is shown under
Inputs / Outputs. For details on EtherNet/IP configuration, refer to the controller manual.
Setup: Controller: Remote Control
For details of Remote function, refer to 10. Remote Control.
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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 "Not
used" to disable the remote input.
For example, if “Start” is assigned to I/O input bit 0, select “Not used” to
use this as a normal I/O input.
Close
Close the Setup Controller dialog.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Defaults
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.
Load
Read the assigned remote inputs and outputs from a file on the PC and save
it in the controller.
Save
Save the assigned remote inputs and outputs shown in the dialog to a file
on the PC.
NOTE

Both the remote inputs and outputs are loaded or saved together when using Load or Save.
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Setup: Controller: Remote Control Outputs Page
Use this page to configure the controller remote control outputs.
NOTE

132
Item
Description
Output #
Select an output bit to use for the corresponding output signal. Select "Not
used" to disable the remote output.
For example, if “Ready” is assigned to I/O output bit 0, select “Not used”
to use this as a normal I/O output.
Close
Close the Setup Controller dialog.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Defaults
Click this button to set the default remote outputs. First, a dialog box will
be displayed asking you which type of outputs to use for defaults: Standard
I/O or Fieldbus. You can also select Clear All to set all remote outputs to
Not used.
Load
Read the assigned remote inputs and outputs from a file on the PC and save
it in the controller.
Save
Save the assigned remote inputs and outputs shown in the dialog to a file
on the PC.
Both the remote inputs and outputs are loaded or saved together when using Load or Save.
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Setup: Controller: Remote: Ethernet
Use this page to configure the Remote Ethernet.
These settings are necessary when the control device is “Remote Ethernet”, or when the
operator acquires the value using the Remote Ethernet while the control device is not
“Remote Ethernet”.
Item
Description
TCP/IP port
Input the port number used by the Remote Ethernet client.
Select a port that is not used for other TCP/IP communications.
Terminator
Use only for
monitoring
Select the code that indicates the line terminator (end-of-data) for
the Remote Ethernet client.
Specify the longest interval time for a remote command during
Remote Ethernet communications (in units of seconds).
If there is no remote command from the client during the time set in
[Timeout], task execution stops with a communication error.
Specify a password for client authentication to connect.
Authentication is accomplished with the Login command.
Specify to acquire the value using Remote Ethernet, if the control
device is not “Remote Ethernet”.
Close
Close the dialog.
Apply
Save the current changes.
Restore
Revert back to the previous settings.
Defaults
Click this button to set the Remote Ethernet default settings.
Timeout
Password
Default setting
TCP/IP port No.
: 5000
Terminator
: CRLF
Timeout
: 60 seconds
Password
: No setting
Use only for monitoring
: Not checked
 If you set “0” in the [Timeout] textbox, then the time out duration is infinite. In this
CAUTION
case, the task(s) continue to execute even without the communication from
client. This means the robot may keep moving and cause unexpected damage.
Ensure that tasks will be stopped appropriately in your system.
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Setup: Controller: Remote: RS232
Use this page to configure the Remote RS232.
When the Remote RS-232C port is not installed to the Controller, RS232 is not shown in
the tree.
These settings are necessary when the control device is “Remote Ethernet”, or when the
operator acquires the value using the Remote Ethernet while the control device is not
“Remote Ethernet”.
Item
Description
Port
Specify a port No. used for remote RS232 communication.
For example, RS-232C port of the Controller is allotted to the
Remote RS232 connection in the above dialog.
Specify the port No. that is not used for other RS-232C
communication.
RS-232C port setting is the value specified at Controller | RS-232C |
Specified port No.
Use only for
monitoring
Specify a password for client authentication to connect.
Authentication is accomplished with the Login command.
Select to acquire the value using Remote Ethernet, if Control device
is not Remote Ethernet.
Close
Close the dialog.
Apply
Save the current changes.
Restore
Revert back to the previous settings.
Defaults
Click this button to set the Remote RS232 default settings.
Password
Default setting
RS-232C port No.
Password
Use for monitoring
:1
: No setting
: No
 If you set “0” in the [Timeout] textbox of the specified RC-232C port, then the
CAUTION
134
time out duration is infinite. In this case, the task(s) continue to execute even
without the communication from client. This means the robot may keep moving
and cause unexpected damage. Ensure that tasks will be stopped appropriately
in your system.
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Setup: Controller: RS232 Pages
There is one page for each RS232 port installed in the controller. If there are no RS232
ports installed in the controller, then no RS232 selections are visible in the tree.
To configure an RS-232 port
1. Select Controller from the Setup Menu and select the page for the RS232 port you want
to configure.
2. Change the settings as desired. You can also click the Defaults button to use default
settings.
3. Click Apply to save the new settings and click Close.
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5. The EPSON RC+ 5.0 GUI
Setup: Controller: TCP/IP Pages
You can configure TCP/IP settings for the robot controller in a SPEL+ program using the
SetNet command. You can also configure settings from the TCP/IP tab on the Setup |
Controller dialog.
To configure a TCP/IP port
1. Select Controller from the Setup Menu and select the page for the TCP/IP port you
want to configure.
2. Enter the host name or IP address for the controller or PC that you want this controller
to communicate with.
NOTE

The controller does not support DNS, so you must specify an IP address for the host
you are communicating with. You cannot specify a name for the host.
3. Enter the TCP/IP port number. This must be the same port number that is used on the
host device. It must be different from any of the other TCP/IP port numbers used for
the other TCP/IP ports.
4. Change the other settings as desired.
5. Click Apply to save the new settings and click Close.
5.12.3 Preferences Command (Setup Menu)
The Preferences command opens a dialog that contains several pages that are used to
configure user preferences for the EPSON RC+ 5.0 environment.
To open the Preferences dialog, select Setup | Preferences
.
Setup: Preferences: Startup
Setup: Preferences: Startup: Start Mode Page
From the Start Mode page, you can choose whether EPSON RC+ 5.0 starts in Auto mode
or Program mode.
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Item
Description
Auto
Select Auto to start EPSON RC+ 5.0 in Auto mode. See the Operation
chapter for details.
Program
Select Program to start EPSON RC+ 5.0 in Program mode.
Operation chapter for details.
Password
Click this button the change the password required to enter Program mode
from Auto mode when EPSON RC+ 5.0 starts.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Defaults
Click this button to set the default startup mode.
Close
Close the Preferences dialog.
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5. The EPSON RC+ 5.0 GUI
Setup: Preferences: Startup: Auto Start Page
Item
138
Description
Start EPSON RC+ after
Windows start
Check this box if you want EPSON RC+ 5.0 to automatically
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.
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5. The EPSON RC+ 5.0 GUI
Setup: Preferences: Startup: Windows Login Page
The Windows Login page allows you to configure your PC to automatically login a user
when Windows starts. This is useful when the PC is used to run EPSON RC+ 5.0 in Auto
mode and display an operator window. The operator does not have to login to Windows.
Item
Description
Enable windows auto
login
Check this box if you want to automatically login to Windows
when it starts. You must supply a valid user name, password,
and domain.
User Name
Enter the name of a valid Windows user on the system.
Password
Enter the login password for the user.
Domain
Optional. If the PC is the member of a domain, enter the name
here.
Apply
Save the current changes.
Restore
Revert back to previous settings.
Close
Close the Preferences dialog.
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5. The EPSON RC+ 5.0 GUI
Setup: Preferences: Workspace Page
From this page, you can configure your workspace preferences.
Item
Description
Auto file save
Checking this box will cause EPSON RC+ 5.0 to automatically
save any open files before executing a command that requires
the file to be saved. For example, if a file needs to be saved
before executing a project build, the file will automatically be
saved before running the build. Default is On.
Stop compile after
first error
Stops compile after first error occurs. This makes it easier to see
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.
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Open last project and
program windows
If this radio button is selected, the last project will be opened and
any program windows that were previously opened will be
opened.
Open last project and
all windows
If this radio button is selected, the last project will be opened and
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.
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Setup: Preferences: Editor Page
This page is used to configure your preferences for the program editor windows.
Item
Description
Auto Indent
Check this box if you want new lines to follow the indentation
for the previous line. Also, lines will automatically be indented
after Do, If, Else, For, Select, and Case statements. Default is
on.
Auto End Construct
Check this box if you want EPSON RC+ 5.0 to add the end
construct statement for a loop construct. For example, if you
enter a For statement, then a Next statement will be added
automatically. Default is on.
Margin Indicators
Check this box to display a margin on the left side. This margin
is used to indicate lines with breakpoints, current step line, and
current execution line. Default is on.
Function Separators
Check this box to display a line after each Fend statement.
Default is on.
Syntax Help
Check this box to enable the Syntax Help window. The Syntax
Help window displays syntax for a keyword after it has been
typed. Default is on.
Tab Stops
Type in the number of columns to move for the TAB key.
Default is 4.
Font
Click on the Font button to open the fonts dialog. Choose the
font you desire for the editor. The monitor window also uses the
editor font. The current font name and size is displayed next to
the Font button.
Apply
Apply the current settings.
Restore
Revert back to the previous settings.
Defaults
Set default values.
Close
Close the Preferences dialog.
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5. The EPSON RC+ 5.0 GUI
Setup: Preferences: Robot Manager: General Page
This page lets you configure your preferences for the Robot Manager.
Item
Description
Display
Choose if you want the Robot Manager to be displayed as an MDI
Window or as a Dialog.
Close
Close the Preferences dialog
Apply
Apply the current settings.
Restore
Revert back to the previous settings.
Defaults
Set default values.
Close
Close the Preferences dialog.
The Robot Manager can be displayed as an MDI child window (default) or as a dialog.
When displayed as an MDI child, the Robot Manager is displayed in the MDI document
area and can remain open while you work with other windows and dialogs. When
displayed as a dialog, you can only work with the Robot Manager controls until you close
the dialog. When using screen resolutions less than 1024 x 768, the Robot Manager MDI
window will not fit in the MDI document area. In this case, only the Dialog mode is
allowed.
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Setup: Preferences: Robot Manager: Jogging Page
This page lets you configure the Robot Manager Jog & Teach page.
Setting Jog Button Orientation
The jog button orientations are useful for “aligning” your PC monitor with the robot’s
Cartesian coordinate system. Align the buttons so that the robot moves in the direction of
the arrows.
You can change the orientation of the jogging buttons and arrow keys for the X and Y axes
by selecting the desired top button from the Top Button dropdown list.
You can also click on one of the buttons to change it to the top button position.
Program Mode Options
NOTE

These options affect the Robot Manager Jog & Teach page when used from program mode.
These settings do not affect the Robot Manager when used for operators in auto mode,
such as for the Operator Window or from VB Guide. To configure the Robot Manager for
operators, see Project | Properties | Operator Settings | Robot Manager.
Item
Description
Confirm teach
Check this box if you want a confirmation prompt each
time you press the Teach button on the Robot Manager
Jog & Teach page.
Enable motion commands
Check this box if you want to execute motion commands
(Go, Jump, etc.) from the Robot Manager Jog & Teach
page.
Prompt for new point
information
Check this box if you want to be prompted for point label
and description when a new point is taught using the
Teach button.
Apply
Apply the current settings.
Restore
Revert back to the previous settings.
Defaults
Set default values.
Close
Close the Preferences dialog.
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5. The EPSON RC+ 5.0 GUI
Setup: Preferences: Run Window Page
This page allows you to change preferences for the Run Window.
Item
Description
Confirm Start
This checkbox allows you to select if you want to see a
confirmation message box before a program is started.
Clear text window on start Checking this will cause the Run Window text pane to be
cleared each time the Start button is clicked.
144
Allow multiple tasks to be
started
Checking this allows you to start a task from the Run
window while other tasks are running. The Start button will
not be disabled after starting a task.
Font
Click on the Font button to open the fonts dialog. Choose
the font you desire for the Run window. The current font
name and size is displayed next to the Font button.
Apply
Apply the current settings.
Restore
Revert back to the previous settings.
Defaults
Set default values.
Close
Close the Preferences dialog.
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Setup: Preferences: Command Window Page
This page allows you to change preferences for the Command Window.
Item
Description
Preserve contents
Checking this option will cause the command window to
preserve its contents between sessions.
Font
Click on the Font button to change the font for the Command
window.
Apply
Save the current changes.
Restore
Revert back to the previous values.
Defaults
Set default values.
Close
Close the Preferences dialog.
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Setup: Preferences: Language
This page allows you to change the EPSON RC+ 5.0 GUI language.
When EPSON RC+ 5.0 is installed on a Windows system using a Western language, then
the English, German, and French selections are available.
When it is installed on a Windows system using Japanese, then Japanese and English
selections are available.
When it is installed on a Windows system using Chinese, then English, Chinese
(Simplified), and Chinese (Traditional) are available.
After selecting the desired language, you must re-start EPSON RC+ 5.0.
If you change the language to a language that does not match the Windows language, then
some system dialogs will be in the Windows language. For example, if you select German
for EPSON RC+ 5.0, but you are using English Windows, then messages boxes and some
file navigation dialogs will be in English.
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Item
Description
Language
This set of option buttons allows you to choose which language to use
for the EPSON RC+ 5.0 GUI.
Apply
Save the current changes.
Restore
Revert back to the previous values.
Defaults
Set the default language.
Close
Close the Preferences dialog.
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5.13 Window Menu
The Window Menu contains selections for managing the currently open EPSON RC+ 5.0
child windows.
5.13.1 Cascade Command (Window Menu)
Use Cascade to show all of the currently open files in windows of the same size, stacked
one on top of another.
5.13.2 Tile Horizontal Command (Window Menu)
Use Tile Horizontal to evenly display all open windows horizontally.
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5. The EPSON RC+ 5.0 GUI
5.13.3 Tile Vertical Command (Window Menu)
Use Tile Vertical to evenly display all open windows vertically.
5.13.4 Arrange Icons Command (Window Menu)
Arrange the icons for all child windows that have been minimized.
5.13.5 Close All Command (Window Menu)
This command closes all EPSON RC+ 5.0 child windows.
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5.13.6 1, 2, 3 Command (Window Menu)
A list of currently open document windows is displayed at the bottom of the Window
Menu.
When you choose an open window from the listing, you make that document active. A
check mark appears in front of the document name of the currently active window.
5.13.7 Windows Command (Window Menu)
This command displays a dialog that contains a list of all currently open EPSON RC+ 5.0
windows.
Item
Description
Activate
Brings the selected window into focus.
Save
Saves the contents of the selected windows.
Close
Closes the selected windows.
OK
Closes the dialog.
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5.14 Help Menu
The Help Menu contains selections for accessing the help system and manuals along with
version information.
5.14.1 How Do I Command (Help Menu)
Select How Do I to view topics that contain information for performing common tasks in
EPSON RC+ 5.0.
Shortcuts
Keys:
Ctrl +F1
5.14.2 Contents Command (Help Menu)
This command opens the Contents view for the EPSON RC+ 5.0 on-line help system.
From the Contents view, you can navigate through all of the topics in the help system.
Double-click on a book icon to open or close the subtopic list contained within the book
folder.
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5.14.3 Index Command (Help Menu)
This command opens the Index view for the EPSON RC+ 5.0 on-line help system.
From the Index view, as you begin typing in a keyword, the alphabetical topic list will
show the keywords starting with the letters you have typed.
5.14.4 Search Command (Help Menu)
This command opens the Search view for the EPSON RC+ 5.0 on-line help system.
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.
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5. The EPSON RC+ 5.0 GUI
5.14.5 Manuals Submenu (Help Menu)
The Help Menu Manuals submenu contains selections for each of the manuals installed on
the PC in Adobe PDF format. These include manuals for EPSON RC+ 5.0, SPEL+
Language Reference, VB Guide 5.0, Controller, and various robot models.
5.14.6 About EPSON RC+ 5.0 Command (Help Menu)
The About command displays a dialog box showing the current version of the EPSON
RC+ 5.0 software, along with copyright and license information. When calling technical
support about EPSON RC+ 5.0, you should report the version you are using from this
dialog.
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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
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6. The SPEL+ Language
6.1 Overview
SPEL+ is a BASIC-like programming language that runs in the controller. It supports
multitasking, motion control, I/O control.
Programs are written in ASCII text and then compiled into executable object files.
Several language instructions can also be executed in immediate mode from the Command
window.
6.2 Program structure
6.2.1 What is a SPEL+ program?
A SPEL+ program is a collection of functions, variables, and macros. Each line in a
program is a statement. 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. 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 Func1.
Function Main calls
MAIN.PRG
Function Main
Call Func1
...
Fend
Function Func1
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)
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6.3 Commands and statements
Commands and statements consist of a SPEL+ instruction followed by the parameters for
that instruction.
A command is executed immediately. You can execute commands from the Command
window or from the Macros dialog box.
Statements can be used only in programs.
Statements can include more than one SPEL+ instruction by using a semi-colon (;) to
separate instructions.
The maximum length for a statement is 200 characters. This includes the line number.
6.4 Function and variable names (Naming restriction)
Function and variable names can include up to 32 alphanumeric characters and the
underscore character. Characters can be upper case or lower case.
The following names are valid:
Function main
Real real_var
Integer IntVar
Function and variable names cannot begin with a numeric digit or underscore.
The strings that are already used as keywords cannot be use. (Example: Go / On)
String variables must have an additional dollar sign ('$') suffix, as shown in the example
below:
Function Test
String modname$
Print "Enter model name:"
Line Input modname$
Print "model is ", modname$
Fend
Restriction for naming in SPEL+ language
- Characters can be alphanumeric characters or underscore character.
- Use alphabets for the first letter.
- Characters can be upper case or lower case.
- No keywords can be used.
- Maximum limits of names are as follows.
Name
Max. limit
Point label
I/O label
User error label
Function name
Variable name
Line label
16
16
16
32
32
32
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6. The SPEL+ Language
6.5 Data types
You can declare different types of data in your program. All variables must be declared.
The following table shows the different data types for the SPEL+ language.
Data Type
Size
Range
Boolean
2 byte
True or False
Byte
2 byte
−128 to +127
Double
8 bytes
−1.79E+308 to 1.79E+308 Number of significant figure is 14
Integer
2 bytes
−32768 to +32767
Long
4 bytes
−2147483648 to +2147483647
Real
4 bytes
−3.40E+38 to 3.40E+38 Number of significant figure is 6
256 bytes
All ASCII characters Up to 255 characters
String
6.6 Operators
The following table shows the different operators for the SPEL+ language.
Keyword or Symbol
156
Description
+
Addition
−
Subtraction
*
Multiplication
/
Division
**
Exponentiation
=
Equal
>
Greater than
<
Less than
>=
Greater or equal
<=
Less or equal
<>
Not equal
And
Performs logical and bitwise AND operation.
Mod
Returns the remainder obtained by dividing a numeric
expression by another numeric expression.
Not
Performs logical or bitwise negation of the operand.
Or
Xor
Performs the bitwise Or operation on the values of the operands.
Performs the bitwise Xor operation on the values of the
operands.
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6.7 Working with variables
6.7.1 Variable scopes
There are three different scopes for variables in SPEL+:
- Local
- Module
- Global
6.7.2 Local variables
Local variables are available to all statements in the same function. Functions using local
variable names can not refer to the same local variables in other functions. This is why
they are called locals, because they are local to the function they are being used in.
To declare local variables in a function, use one of the variable declaration instructions at
the beginning of the function after the Function statement:
Boolean, Byte, Integer, Long, Real, Double, String
For example, the following function declares several local variables:
Function test
Integer intVar1, intVar2
Real realVar
String dataStr$
Integer array(10)
.....
Fend
6.7.3 Module variables
Module variables are available to all functions in the same program file.
To declare module variables in a program, use one of the variable declaration instructions
at the beginning of the program before any Function statements:
Boolean, Byte, Integer, Long, Real, Double, String
One way to indicate that a variable is module level is to precede the name with "m_", as
shown in the example below.
For example, the following function declares several module level variables:
' Module level vars, used by all functions in this file
Integer m_IntVar1, m_IntVar2
Real m_RealVar
String m_DataStr$
Integer m_Array(10)
Function main
m_IntVar1 = 25
Call test
Fend
Function test
Print m_IntVar1
Fend
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6.7.4 Global variables
Global variables can be shared between all functions in a project. The Global instruction is
used to declare a global variable.
To declare global variables in a program, use the Global instruction with the desired
variable type (Boolean, Byte, Integer, Long, Real, Double, String) at the beginning of the
program before any Function statements:
One way to indicate that variables are global is to precede the name with "g_", as shown in
the example below.
Program: MAIN.PRG
Global Integer g_TotalCycles
Function main
Call LoadPart
...
...
Fend
Program: LOADPART.PRG
Function LoadPart
Jump pick
On gripper
Wait .1
Jump place
Off gripper
Wait .1
g_TotalCycles = g_TotalCycles + 1
Fend
For more information, see Data Types.
6.7.5 Global Preserve variables
You can preserve global variable values by using the optional Preserve parameter when
you declare global variables.
Preserved variables are stored in the controller’s SRAM.
If the data type of a preserved variable is changed, or the number of dimensions is changed,
then the variable values will be cleared.
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6.7.6 Arrays
You can declare local, module, and global arrays with up to three dimensions for all data
types.
To declare an array, use this syntax:
dataType name ( ubound1 [ , ubound2 [ , ubound3] ] )
SPEL+ arrays are zero based. The first element is referenced with a value of zero.
The total available number of array elements for local and global preserve variables is 100
for strings and 1000 for all other types.
The total available number of array elements for global and module variables is 1000 for
strings and 10000 for all other types.
To calculate the total elements used in an array, use the following formula. (If a dimension
is not used, substitute 0 for the ubound value.)
total elements = (ubound1 + 1) * (ubound2 + 1) * (ubound3 + 1)
Array declaration examples:
' Global string array
Global String gData$(10)
Function main
' Arrays local to this function
Integer intArray(10)
Real coords(20, 10)
Use Redim to change the bounds of an array at run time.
Integer a(10)
Redim a(20)
To preserve values when using Redim, add the Preserve optional argument.
Integer a(10)
Redim Preserve a(20)
Use UBound to get the upper bound of an array dimension.
Integer i, a(10)
For i = 1 to UBound(a)
a(i) = i
Next i
6.7.7 Initial values
All variables are initialized when first used except for Global Preserve variables. Strings
are set to empty, and all other variables are set to zero.
6.7.8 Clearing arrays
Use Redim (without Preserve) to clear all of the elements of an array at run time.
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6.8 Working with strings
A string in SPEL+ is a set of ASCII characters with a maximum length of 255.
You must declare strings in your programs with the String instruction.
All string variable names must end with a dollar sign ($) suffix.
You can declare string arrays with up to three dimensions.
The following table shows the string commands available in SPEL+.
160
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 string in lower case characters.
Left$
Returns a substring beginning with the first character of a string.
Len
Returns the length (number of characters) of a string.
LTrim$
Returns the specified string with left spaces removed.
Mid$
Returns a substring of a string.
ParseStr
Parses a string into an array of tokens.
Right$
Returns a substring from the end of a string.
RTrim$
Returns the specified string with right spaces removed.
Space$
Returns a string containing a specified number of space (ASCII 32)
characters.
Str$
Converts a number to a string.
String
Declare a string variable in a program.
Trim$
Returns the specified string with left and right spaces removed.
UCase$
Returns the specified string in upper case characters.
Val
Converts a string to a number.
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6.9 Multi-statements
A program statement can contain several statements separated by semi-colons. The total
length of a multi-statement program line cannot exceed 200 characters.
For example:
Function Test
Pass P1; Pass P2; Go P3
' Multi-statement
Fend
Even though multi-statements are supported (mainly for compatibility), it is strongly
recommended that they not be used. Multi-statements can make your code more difficult
to read and debug.
6.10 Labels
A program label is an alphanumeric name followed by a colon (":") that marks a location
in a program for a GoTo or GoSub statement. The name may be up to 32 characters long
and can include alphanumeric characters and the underscore ("_") character if it is not the
first character. You cannot use any SPEL+ keywords as labels.
For example:
Function Main
Do
Jump P1
Jump P2
If Sw(1) Then GoTo MainAbort
Loop
MainAbort:
' Program label
Print "Program aborted"
Fend
6.11 Comments
Use comments to add notes to your programs.
comment.
An apostrophe character (') starts a
Examples of comments
Function Main
' ****** Main Demo Program ******
Xqt conveyor
' Start up the task for conveyor
Do
Print "Press ENTER to run demo cycle"
Print "Press CTRL+C to quit"
Input dumy
Call demo
' Execute the demo function
Loop
' Return to start of main loop
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6.12 Error handling
When an error occurs in a SPEL+ function, you can cause execution to be transferred to an
error handling routine for processing the error. The routine must be inside a function
definition.
The table on the next page shows the program instructions that are used for error handling.
Item
Purpose
OnErr
Use the OnErr statement to define the location of the error handling routine.
Err
Use Err to retrieve the number for the current error status. Use this in the
error handling routine to determine which error has occurred.
Error
Generate a user defined error which can be caught by an error handler.
Era
Use Era to retrieve the axis number for which the error occurred. This is
normally used in the error handling routine.
Erl
Use Erl to retrieve the line number in which the error occurred. This is
normally used in the error handling routine.
Ert
Use Ert to retrieve the task number in which the error occurred. This is
normally used in the error handling routine.
ErrMsg$
Use ErrMsg$ to retrieve the error message associated with a specified error
number.
User Errors
You can define your own error messages by using the User Error Editor which is available
from the Tools Menu. See the section on User Error Editor in the chapter EPSON RC+ 5.0
GUI for details.
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Example
The following example shows a simple error handling routine. When an error occurs,
program execution goes to the ErrHandler label, where the error handler starts. The error
number is displayed and the operator is asked to continue or not. If the operator enters "N"
then the program executes the Quit All statement to end the program.
Function Main
String cont$
Integer i
OnErr Goto Errhandler
For i = 1 To 10
Jump P(i)
Next i
Exit Function
' *** Error handler ***
Errhandler:
enum = Err
Print "Error #", enum, " occurred"
Print "Continue (Y or N)?"
Line Input cont$
Select cont$
Case "y", "Y"
EResume Next
Default
Quit All
Send
Fend
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6.13 Multi-tasking
For some applications, you may want to control other equipment besides the robot, such as
conveyors, pick and place units, etc. By using multi-tasking, you can control this other
equipment with their own tasks.
SPEL+ supports up to 16 tasks running simultaneously. A task is a function that has been
started by the system or by the Xqt statement.
Use the Xqt statement to start another task from within a function. 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
Purpose
Xqt
Starts a function as a task.
Halt
Temporarily suspends execution of a task.
Resume
Resumes a task that has been halted.
Quit
Stops a task.
Signal
Sends a signal to one or more tasks that are waiting for the signal using
WaitSig.
SyncLock
Locks a resource for use by the current task and blocks other tasks from
using the resource until SyncUnlock is executed.
WaitSig
Waits for a signal from another task.
Pause
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
Xqt Conveyor
Do
...
...
Loop
Fend
' Start the conveyor task
Program: CONVTASK.PRG
Function Conveyor
Do
Select True
Case Sw(10) = On
Off convCtrl
Case Sw(11) = On
On convCtrl
Send
Loop
Fend
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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
Center of third axis
Origin
Z axis in Robot Coordinate System
U axis in Robot Coordinate System
+Y
± 360°
+U
+X
Z=0
-Z
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Robot Coordinate Systems for 6-Axis Robot
Floor Mounting
Ceiling Mounting
Side (Wall) Mounting
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Robot Coordinate Systems for RS series
View from this
direction
Y+
Origin
X+
Robot coordinate system Z axis
Robot coordinate system U axis
+Y
± 360°
-X
Z=0
-U
-Z
View from this
direction
+U
Joint #3 in the center
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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 rotates as the fourth joint rotates.
yt0
yt1
Tool 1 coordinate system
xt1
Y
c
b
xt0
a
Tool 0 coordinate system
X
Robot coordinate system
6-Axis Tool 0 coordinate system
For table mounting, the origin of TOOL 0 is the flange side center of the sixth joint. In
TOOL 0, the tool Z axis is perpendicular to the sixth joint flange. (See the figure in the
previous section Robot Coordinate Systems). The TOOL 0 coordinate system moves as the
6-Axis robot changes its orientation.
For ceiling mounting and wall mounting robots, the TOOL 0 coordinate systems are
defined as shown in the figures in the section Robot Coordinate Systems.
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6.14.5 ECP Coordinate Systems (Option)
Specify a coordinate system whose origin point is on the tip of the outside fixed tool
(hereafter referred to as the external control point or ECP) to move the robot arm holding a
part in the trajectory made on the external control point along with the part’s edges.
Part
External Control Point
(ECP)
Outside Fixed Tool
Use the ECPSet statement for defining an ECP coordinate system. A maximum of 15 ECP
coordinate systems can be defined.
The following commands are available for optional ECP:
- Move command
- Arc3 command
- Curve and CVMove commands
- ECP jog motion
For details, refer to the chapter ECP Motion.
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6.15 Robot arm orientations
When developing a robot a program, it is necessary to specify the point data taught for a
particular arm orientation. If you fail to do so, the position can deviate slightly depending
on the arm orientation, which in turn can cause the arm to follow an unexpected path,
resulting in interference with peripheral equipment. This can be dangerous! To prevent
this from happening, the orientation that the arm will be in when moved to the given point
should be specified ahead of time in the point data. Such information can also be changed
from the program.
6.15.1 SCARA robot arm orientations
With two types of arm orientation, a SCARA robot can move to nearly any position and
orientation within a given work envelope. Examples are shown in the figures on the next
page.
Lefty arm orientation
Righty arm orientation
Examples of moving to the same point using Lefty and Righty arm orientations
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6.15.2 6-Axis robot arm orientations
The 6-Axis robot can be operated in various arm orientations within a given work envelope
as shown below:
Righty hand orientation
Lefty hand orientation
Above elbow orientation
Below elbow orientation
NoFlip wrist orientation
Flip wrist orientation
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To specify orientation for the 6-Axis robot, add a forward slash (/) followed by L (for
Lefty hand orientation) or R (Righty hand orientation), A (Above elbow orientation) or B
(Below elbow orientation), and NF (NoFlip wrist orientation) or F (Flip wrist orientation).
There are eight available orientations as shown below, however, the 6-Axis robot cannot
be operated in all of the orientations depending on point.
Available Orientation
1
/R /A /NF
5
/R /A /F
2
/L /A /NF
6
/L /A /F
3
/R /B /NF
7
/R /B /F
4
/L /B /NF
8
/L /B /F
At some points in the work envelope, the 6-Axis robot can have the same position and
orientation even if the fourth joint or the sixth joint are rotated 360 degrees. To distinguish
these points, the J4Flag and J6Flag point attributes are provided.
To specify the J4Flag, add a forward slash (/) followed by J4F0 (-180 < the forth joint
angle <= 180) or J4F1 (the forth joint angle <= -180 or 180 < the forth joint angle).
To specify the J6Flag, add a forward slash (/) followed by J6F0 (-180 < the sixth joint
angle <= 180), J6F1 (-360 < the sixth joint angle <= -180 or 180 <the sixth joint angle <=
360), or J6Fn (-180*(n+1) < the sixth joint angle <= 180*n or 180*n <the sixth joint angle
<= 180*(n+1)).
Singularity
The orientation in the boundary where the arm orientation switches to the other
Hand singularity : The boundary where Righty hand orientation and Lefty hand
orientation switch
Elbow singularity : The boundary where Above elbow orientation and Below elbow
orientation switch
Wrist singularity : The boundary where NoFlip wrist orientation and Flip wrist
orientation switch
Hand singularity
Elbow singularity
Wrist singularity
For the 6-axis robot, Hand / Wrist singularities exist also inside the motion range. When
jogging near the singularity, follow the directions below.
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PTP motion near the singularity
When jogging a robot from a point near the singularity to a point calculated by point
operations such as P1+X(10), the robot may move to unintended direction because the arm
orientation is not properly specified.
For example, when jogging from a point where the wrist is NoFlip to another point
calculated by point operations, if the wrist keeps the NoFlip orientation while jogging,
Joints #4 and #6 may rotate widely (by approx. 180 degrees).
In this case, switch to the Flip wrist orientation to jog smoothly through the wrist
singularity. This phenomenon occurs not only with the point operations but also when
creating points automatically with Pallet command or the result values that run from vision
sequence.
Proper motion
Unintended motion (Joints #4, #6 rotate 180 degrees)
However in the cases like this, it is difficult for users to specify the proper arm orientations
by a program. For this LJM function is a useful command. LJM function switches the arm
orientations to enable the least motion of the joints. For the details of LJM function, refer
to SPEL+ Language Reference manual.
Also, AutoLJM command can automatically apply LJM function to the motion commands
which are included in a particular section of the program without using LJM function.
For details of AutoLJM command, refer to the SPEL+ Language Reference.
In addition, you can set AutoLJM function to be enabled at the controller start up by
setting preferences of the controller. However, if Auto LJM is enabled in preferences, this
function automatically adjusts the posture of the manipulator to reduce the motion distance,
even when you intend to move the joint widely. Therefore, it is recommended to build a
program using AutoLJM command or LJM function to operate the manipulator as you
desired.
If you specify all points by teaching, the arm orientations are also recorded. Therefore, the
manipulator moves to the taught position without using LJM function or AutoLJM.
Instead, the manipulator may move differently from the taught position by the use of LJM
and AutoLJM.
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LJM function for CP motion command
LJM function and AutoLJM command described above are also available for CP motion
commands. However, since CP motion commands give priority to operate based on
specified trajectories, the manipulator sometimes reach to the point with a different posture
from the specified one. At this time, if CP motion command is used with CP On, an error
from 4274 to 4278 will occur according to the mismatched point flag. To avoid the error,
operate the manipulator with CP Off, or match the point flag of a target point and the one
after motion completion. If operated with CP Off, the error does not occur and the
manipulator can continue operation from the point where the mismatch happened.
Also, you can set the controller’s preference so that the mismatches of flags are not
considered as an error at the controller startup. However, path motions which use CP On
will be disabled.
CP motion near the singularity (singularity avoiding function in CP motion)
When executing Move or CP motion near the singularity, joint speed may increase rapidly.
The over speed error will occur and the joints will move widely and interfere with
peripherals. Particularly the position of Joint #1 changes greatly near the hand singularity
and the position of Joints #2 - #6 near the wrist singularity.
RC+5.0 has a singularity avoiding function to prevent acceleration errors during the
execution of CP motion commands that pass the wrist singularity described above. With
this function, the manipulator takes a detour to avoid an acceleration error by passing a
different trajectory and returns to the original trajectory after passing the singularity. For
details of the singularity avoiding function, refer to AvoidSingularity in the SPEL+
Language Reference.
Singularity avoiding function is enabled as default. If you want to avoid the error by
reducing the motion speed in order to maintain the trajectory accuracy, you can disable the
function temporarily by setting “0” to AvoidSingularity.
If you cannot avoid errors even if you use the singularity avoiding function, use PTP
motion to enable the least motion of the joints or arrange the manipulator installation
position and hand offset volume to prevent the CP motion near the singularity.
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6.15.3 RS series arm orientations
The RS series can be operated in various arm orientations within a given work envelope as
shown below:
Lefty arm orientation
Righty arm orientation
J1 F0 arm orientation
J1 F1 arm orientation
J2 F0 arm orientation
J2 F1 arm orientation
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To specify orientation for the RS series, add a forward slash (/) followed by L (for Lefty
hand orientation) or R (Righty hand orientation), J1F0 or J1F1, J2F0 or J2F1.
The RS series can have the same position and orientation even if the first joint or second
joint are rotated 360 degrees. To distinguish these points, the J1Flag and J2Flag point
attributes are provided.
To specify the J1Flag, add a forward slash (/) followed by J1F0 (-90 < the first joint angle
<= 270) or J1F1 (-270 < the first joint angle <= -90 or 270 < the first joint angle <= 450).
To specify the J2Flag, add a forward slash (/) followed by J2F0 (-180 < the second joint
angle <= 180) or J2F1 (-360 < the second joint angle <= -180 or 180 < the second joint
angle <= 360).
There are eight available orientations as shown below. However, the RS series cannot be
operated in all of the orientations depending on point.
Available Orientation
1 /R /J1F0 /J2F0
176
5
/R /J1F0 / J2F1
2
/L /J1F0 /J2F0
6
/L /J1F0 / J2F1
3
/R /J1F1 /J2F0
7
/R /J1F1 / J2F1
4
/L /J1F1 /J2F0
8
/L /J1F1 / J2F1
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6. The SPEL+ Language
6.16 Robot motion commands
SPEL+ includes several commands for controlling the robot from your programs.
6.16.1 Homing the robot
The Home command moves the robot to a user defined "park" or "idle" position. This
command works for all robots. It is mainly used for absolute encoder robots that normally
do not need to be mechanically homed. Use the HomeSet command to set the home
position and the Hordr command to set the home order.
6.16.2 Point to point motion
Point to point (PTP) commands move the robot from its current position to a specified
point. Motion may not be in a straight line.
To set the speed for point to point commands, use the Speed command. To set acceleration
and deceleration, use the Accel command.
Command
Description
Go
Move directly to a point using point to point motion.
Jump
Jump to a point. First move up to the current LimZ setting, the move
over the destination point, then move to the point. The Arch table
settings determine the Jump profile.
Jump3
Jump to a point in 3 dimensions.
Pass
Move near one or more points.
TGo
Move directly to a point in a tool coordinate system.
6.16.3 Linear motion
Linear motion commands move the robot from its current position to a specified point in a
straight line. Liner motion is a CP (Continuous Path) motion.
To set velocity (speed) for straight motion, use the SpeedS command. To set acceleration
and deceleration, use the AccelS command.
Command
Description
Move
Move in a straight line to the specified point.
TMove
Move in a straight line to the specified point in a tool coordinate system.
Jump3CP
Jump to a point in 3 dimensions using CP motion.
6.16.4 Curves
Curves commands move the robot in a circular arc. Curves is a CP (Continuous Path)
motion.
To set velocity (speed) for Curves, use the SpeedS command. To set acceleration and
deceleration, use the AccelS command.
Command
Description
Arc
Move the robot through one point to another point using circular
interpolation.
Arc3
Move the robot in 3D using circular interpolation.
Curve
Creates a file containing a path specification.
CVMove
Executes a path specified by Curve.
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6.16.5 Joint motion
Command
Description
JTran
The JTran command can be used to move one joint of the robot to position
specified in degrees or millimeters, depending on the joint type. The speed
and acceleration are the same as for point to point motion commands.
PTran
The PTran command can be used to move one joint of the robot to an
encoder pulse position. The speed and acceleration are the same as for point
to point motion commands.
Pulse
The Pulse command can be used to move all joints of the robot to encoder
pulse positions. The speed and acceleration are the same as for point to
point motion commands.
6.16.6 Controlling position accuracy
Use the Fine command to adjust position accuracy for the end of a motion command. Fine
specifies, for each joint, the allowable positioning error for detecting completion of any
given move. The lower the Fine settings, the more accurate the final position of the joint,
which can cause slower performance. Conversely, large Fine settings can speed up motion
commands, but position accuracy will decrease. For many applications, the default
settings can be used.
6.16.7 CP Motion Speed / Acceleration and Tool Orientation
When you attempt to change only the tool orientation while keeping the tool tip of the
robot arm at the specified coordinate point or when the tool orientation variation is larger
than the travel distance of the tool tip, moving the arm by normal CP motion commands
will cause an increase in the variation of speed, acceleration and deceleration of tool
orientation. In some cases, an error will occur.
To prevent these situations, add the ROT parameter to the CP motion commands. The arm
will be moved based on the specified angular velocity and acceleration/deceleration of the
main axis regarding the orientation variation.
The angular velocity and acceleration/deceleration of the main axis regarding the
orientation variation should be specified with the SpeedR and AccelR commands in
advance.
For example:
SpeedR 50
' degree/sec
AccelR 200, 200
' degree/sec2
Move P1 ROT
NOTE

The tool orientation variation is normally comprised of orientation variations of more than
one rotation axis.
The SpeedR and AccelR parameters specify the angular velocity and acceleration/
deceleration of the main axis regarding the orientation variation. Therefore, actual angular
velocity and acceleration/deceleration of the orientation variation are different from the
parameters except for the case where the rotation axis of the orientation is only one.
While the motion command with the ROT parameter is executed, the specified SpeedS and
AccelS parameters are invalid.
The ROT parameter can be used with the following motion commands:
Move
BMove
Arc
TMove
Arc3
Jump3CP
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6.16.8 PTP Speed / Acceleration for Small Distances
You can change the speed and acceleration for small distances using PTPBoost and
PTPBoostOK. Normally, PTPBoost is not required. In certain cases, you may want to
shorten the cycle time even if vibration becomes larger, or conversely you may want to
reduce vibration even if cycle time becomes longer. PTPBoost is a robot parameter with
values from 0 – 100 that affects the speed and acceleration for small distances. Normally,
for small distance motion, the desired speed cannot be attained using the current
acceleration. By increasing PTPBoost, acceralation, deceleration, and speed are increased
for small distance motion. To check if a motion command will be affected by PTPBoost,
use the PTPBoostOK function. See PTPBoost and PTPBoostOK in the SPEL+ Language
Reference manual for more details.
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6.17 Working with robot points
A robot point is a set of coordinates that define a position in the robot work envelope. For
SCARA and Cartesian robots, a point is defined by the position data (X, Y, Z) within the
reference rectangular coordinate space and the orientation data (U) which is the rotation
about the Z axis of the rectangular coordinate.
For 6-Axis robots, a point is defined by the position and orientation of the tool coordinate
system with respect to a reference rectangular coordinate system. The point is specified by
the position data (X, Y, Z) and the orientation is specified by the orientation data (U, V,
W) which correspond with roll (rotation about the Z axis), pitch (rotation about the Y axis),
and yaw (rotation about the X axis).
The X, Y, and Z coordinates of a point are specified in millimeters. The U, V, and W
coordinates are specified in degrees.
Points are referenced using the letter P followed by an integer number or integer
expression or by a label defined in the point file editor or Robot Manager Jog & Teach
page.
6.17.1 Defining points
You can define points in a program statement, points editor window, Robot Manager Jog
and Teach page, or at the Command window.
In a program statement or at the Command window, you can assign coordinates to a point,
or define a point that is the current robot arm position.
P1 = XY(200, 100, -25, 0)
'Assign coordinates to point P1
Pick = XY(300, 200, -45, 0) 'Assign coordinates to point pick
P10 = P*
'Assign a point to current position
6.17.2 Referencing points by name
You can assign names to point numbers so you can refer to points by name in a program.
Assign names from the point editor (see Editing Points) or the Robot Manager Jog and
Teach page. Names must be unique for each point number when used in the same point
file.
Point labels can include up to 32 alphanumeric characters and the underscore character.
Characters can be upper case or lower case. Only alphabets can be used for the first letter.
For i = 0 To 10
Go pick
Jump place
Next i
6.17.3 Referencing points with variables
Use the letter P followed by a variable name within parentheses that represents the point
number you are referencing.
For i = 0 To 10
Go P(i)
Next i
NOTE

180
Although you can define points at the Command window for test purposes, it is
recommended that all points be defined in a program, point editor, or with the Robot
Manager Jog and Teach page. Points defined at the Command window will be cleared
from memory when you build a project or run a program unless you execute SavePoints.
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6. The SPEL+ Language
6.17.4 Using points in a program
When starting programs, the default point file for the robot is loaded. You can also load
other points in the program using the LoadPoints statement.
Function main
Integer i
LoadPoints "model1.pts"
For i = 0 To 10
Jump pick
Jump place
Next i
Fend
6.17.5 Saving and loading points
Use LoadPoints to load a point file in the current project. You can optionally specify the
Merge parameter to combine points in a file with points that have already been loaded.
Use SavePoints to save the points in a point file. If the point file is in the current project, it
will be updated on the PC when it is connected and the same project is open.
If the point file is not the current project, it will not be automatically updated on the PC.
Use Project Synchronize to copy the file to the PC if desired.
NOTE

There are limits to the number of point files and number of total point. You can register up
to 100 files and 10,000 points in one project. If each number is over the limit, an error
occurs.
6.17.6 Point attributes
Each point definition can optionally specify a local number and various arm orientations,
depending on the robot type. You can specify point attributes in point assignment
statements or use individual statements and functions to change the attributes of a
previously defined point.
Local point attribute
To specify a local coordinate system number for a point in an assignment statement, add a
forward slash (/) followed by the local number after the coordinates of the point.
P1 = XY(300, -125.54, -42.3, 0) /1
' P1 is in local 1
The local number can also be an expression enclosed in parentheses.
P2 = P3 /(mylocal)
Use the PLocal function and statement to read and set the local attribute of a point.
Hand point attribute
To specify orientation for the SCARA or 6-Axis robot, add a forward slash (/) followed by
L (for Lefty hand orientation) or R (for Righty hand orientation).
P2 = XY(200, 100, -20, -45) /L ' Hand orientation is Lefty
P3 = XY(50, 0, 0, 0) /2 /R
' Righty in Local 2
You can read and set point hand orientation using the Hand statement and function.
Hand P1, Righty
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Elbow point attribute
To specify elbow orientation for the 6-Axis robot in a point assignment statement, add a
forward slash (/) followed by A (Above elbow orientation) or B (Below elbow orientation),
Elbow orientation is Below.
P1 = XY(0, 600, 400, 90, 0, 180) /B
You can read and set point elbow orientation using the Elbow statement and function.
Wrist point attribute
To specify wrist orientation for the 6-Axis robot in a point assignment statement, add a
forward slash (/) followed by NF (NoFlip wrist orientation) or F (Flip wrist orientation).
Wrist orientation is Flip.
P2 = XY(0, 600, 400, 90, 0, 180) /F
You can read and set point wrist orientation using the Wrist statement and function.
J4Flag and J6Flag point attributes
At some points in the work envelope, the 6-Axis robot can have the same position and
orientation even if the fourth joint or the sixth joint is rotated 360 degrees. To distinguish
these points, the J4Flag and J6Flag point attributes are provided. These flags allow you to
specify a position range for joint 4 and joint 6 for a given point.
To specify the J4Flag in a point assignment statement, add a forward slash (/) followed by
J4F0 (-180 < the forth joint angle <= 180) or J4F1 (the forth joint angle <= -180 or 180 <
the forth joint angle).
P2 = XY(0, 600, 400, 90, 0, 180) /J4F1
To specify the J6Flag in a point assignment statement, add a forward slash (/) followed by
J6F0 (-180 < the sixth joint angle <= 180), J6F1 (-360 < the sixth joint angle <= -180 or
180 <the sixth joint angle <= 360), or J6Fn (-180*(n+1) < the sixth joint angle <= 180*n or
180*n <the sixth joint angle <= 180*(n+1)).
P2 = XY(50, 400, 400, 90, 0, 180) /J6F2
J1Flag and J2Flag point attributes
At some points in the work envelope, the RS series can have the same position and
orientation even if the first joint or the second joint is rotated 360 degrees. To distinguish
these points, the J1Flag and J2Flag point attributes are provided. These flags allow you to
specify a position range for joint 1 and joint 2 for a given point.
To specify the J1Flag in a point assignment statement, add a forward slash (/) followed by
J1F0 (-90 < the first joint angle <= 270) or J1F1 (-270 <= the first joint angle <= -90 or
270 < the first joint angle <= 450).
P2 = XY(-175, -175, 0, 90) /J1F1
To specify the J2Flag in a point assignment statement, add a forward slash (/) followed by
J2F0 (-180 < the second joint angle <= 180), J2F1 (-360 < the second joint angle <= -180
or 180 < the second joint angle <= 360).
P2 = XY(300, 175, 40, 90) /J2F1
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6.17.7 Extracting and setting point coordinates
Use the CX, CY, CZ, CU, CV, and CW commands to get a coordinate of a point or set it.
xcoord = CX(P1)
P2 = XY(xcoord, 200, -20, 0)
ycoord = CY(P*)
' Gets current Y position coordinate
CX(pick) = 25.5
CY(pick) = CY(pick) + 2.3
6.17.8 Alteration of points
There are several ways of modifying a point without re-teaching it. You can change one or
more coordinate values with relative offsets or absolute values.
To set an absolute value for a coordinate, use a colon followed by the axis letter and the
value.
To add a relative offset to a coordinate, use an axis letter followed by the offset value or
expression in parentheses. If the offset is negative, then precede the axis letter with the
minus sign. If parentheses are omitted, they will be automatically added.
Go P1 -Z(20)
Move to P1 with a z offset of -20mm
Go P1 :Z(-25)
Move to P1 with a z absolute position of -25mm
Go P1 -X(20) +Y(50) :Z(-25) Move to P1 with offsets for X and Y relative
offsets and an absolute position for Z
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6.18 Input and output control
6.18.1 Hardware I/O
There are 24 DC inputs and 16 DC outputs on a standard controller. 8 inputs and 8 outputs
are assigned to remote function. However, these inputs and outputs can be reset and be
used as standard I/O. By purchasing I/O boards, you can add additional 128 inputs and
128 outputs. You can also add Fieldbus I/O option that allows the controller to function as
a Fieldbus slave. See I/O Systems chapter for details.
6.18.2 Memory I/O
There are 32 bytes (256 bits) of memory I/O. Memory I/O is especially useful for
synchronizing multi-tasking. Each memory bit can be treated as both an input and an
output.
Use the commands with the "Mem" prefix for memory I/O.
6.18.3 I/O Commands
184
Command
Description
In
Reads one byte (eight bits) of input data.
InW
Reads one word (sixteen bits) of input data.
MemIn
Reads one byte (eight bits) of Memory I/O.
MemInW
Reads one word (sixteen bits) of Memory I/O.
MemOff
Turns off one Memory I/O bit.
MemOn
Turns on one Memory I/O bit.
MemSw
Read status of one bit of memory I/O.
Off
Turns off one output bit.
On
Turns on one output bit.
Out
Sets/reads one byte (eight bits) of output data.
OutW
Sets/reads one word (sixteen bits) of output data.
Oport
Reads the status of one output bit.
InBCD
Reads one byte of input data in BCD (binary coded decimal) format.
OpBCD
Outputs one byte of output data in BCD format.
Sw
Read status of one bit of hardware inputs or memory inputs.
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6. The SPEL+ Language
6.19 Using Traps
Traps are used to cause program execution to jump to a label or enable a function to be
called or executed as a task when a certain event occurs. Four traps are user defined and
are triggered by an input condition.
Note that Traps must be re-armed before they will fire again. To re-arm a trap, execute a
Trap statement at the end of the trap function.
You should keep trap functions short and avoid continuous loops. You cannot execute
motion commands in trap functions.
For details on Trap statement, see the SPEL+ Language Reference manual.
Here is a simple example for a trap. In this example, when input 1 turns on, the Sw1 Trap
function executes as a task.
Function main
' Arm the trap
Trap 1 Sw(1) = On Xqt Sw1Trap
Do
RunCycle
Loop
Fend
Function Sw1Trap
' Turn on output 1 for 2 seconds
On 1, 2
' Wait for trap condition to clear
Wait Sw(1) = Off
' Re-arm the trap
Trap 1 Sw(1) = On Xqt Sw1Trap
Fend
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6.20 Special Tasks
Each task of SPEL+ pauses by Pause input or Safety Door open and stops by Emergency
Stop or Error. Therefore you cannot create a system that monitors the whole system.
RC90/RC180 controller is designed to use upper level PLC or PC to monitor the whole
system.
However, you may require a system that continues at Pause input or Safety Door open and
need to handle the Emergency Stop or error with the controller.
You can execute a task that continues at Pause input or Safety Door open by specifying
NoPause or NoEmgAbort task type when executing a task using Xqt.
These special tasks are useful tasks but may reduce the safety of the system by using them
improperly.
Be sure to understand the followings when using these tasks.
6.20.1 Precautions to Use the Special Tasks
Forced Flag
Specify Forced flag in the I/O output commands such as On/Off command to enable On/
Off of the I/O outputs during Emergency Stop, Safety Door open, and error.
CAUTION
Do not connect external equipment that operates mechanically such as actuator to the I/O
output that specifies Forced flag. Connecting external equipment may cause serious
safety problems and operate the external equipment during Emergency Stop, Safety Door
Open, or error occurrence.
Forced flag is designed to be specified for I/O outputs connected to external equipment
without mechanical motion such as status display LEDs.
NoEmgAbort Task
When Emergency Stop or error occur, finish the task promptly after completing the error
handling.
If you do not complete the NoEmgAbort task, the controller does not change to Ready
status and you cannot cancel the Emergency Stop or the error. You cannot execute Reset
command from the NoEmgAbort task to cancel the Emergency Stop or the error
automatically.
NoEmgAbort task is designed for I/O process without motion and communication with
external device using the Ethernet. Therefore there are commands such as robot motion
commands that cannot be executed in the NoEmgAbort task. An error occurs if you use
these commands. The list of these commands are in the next section.
For details, refer to EPSON RC+ 5.0 Online Help or Xqt in SPEL+ Language Reference.
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Outputs off during Emergency Stop
Uncheck Outputs off during Emergency Stop in the Preferences page of Setup
Controller to execute I/O On/Off using the NoEmgAbort task after Emergency Stop. If
this check box is checked, the execution order of turn Off by the controller and turn On
using the task are not guaranteed.
NoPause Task
NoPause task continues the operation during the Pause or Safety Door open condition.
However, when a robot is operating NoPause task, the task pauses as the the robot pauses.
Setting of Safeguard open stops all tasks
When Outputs off during Emergency Stop is checked in the Preferences page of Setup
Controller, NoPause task stops by Safety Door open. NoEmgAbort task continues the task.
6.20.2 Special Task Specification
Status by Event and Task
Event
Puase Statement
Pause Input
Pause Button
Safety Door Open
Error during Auto Mode
Error during Program Mode
Emergency Stop
Stop Button
Stop Input
Halt Statement
Halt Button
Brake Point
Switching to Teach Mode
Normal
Task Type
NoPause
NoEmgAbort
Pause
Continue *1
Continue
Pause *2
Continue *1 *2
Continue
Stop
Stop
Continue
Pause
Pause
Continue
Stop
Stop
Continue
Stop
Stop
Stop
Pause
Pause
Pause
Pause
Pause
Pause
Stop
Stop
Stop
*1 When the robot is operating, the task pauses as the robot pauses.
*2 When Outputs off during Emergency Stop is checked in the Preferences page of
Setup Controller, normal tasks and NoPause tasks stop by Safety Door open.
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6. The SPEL+ Language
Task Exection
Normal
NoPause
NoEmgAbort
Omit the task type in Xqt statement, or specify Normal for the task
type.
Xqt NormalTask
Xqt NormalTask, Normal
Specify NoPause in Xqt statement.
Xqt NoPauseTask, NoPause
Specify NoEmgAbort in Xqt statement.
Xqt NoEmgAbortTask, NoEmgAbort
You cannot change the task type after executing a task.
main to main7 that are executed at the beginning of the program are executed as normal
tasks.
Tasks executed in Trap Xqt are normal tasks.
Restricted Commands by Task Types
Normal
NoPause
NoEmgAbort
No restriction
No restriction
Cannot execute the following commands.
Command for robot motion
Commands for vision
Reset, Xqt, Trap, etc.
For details, refer to EPSON RC+ 5.0 Online Help or Xqt in SPEL+
Language Reference.
6.20.3 Special Task Example
The following example shows a program that monitors the error of the controller and
switches the I/O On/Off when error occurs according to the error number.
The program example of ErrOn, EStopOn, SafetyOn are indicated in the EPSON RC+ 5.0
SPEL+ Language Reference.
Function main
Xqt ErrorMonitor, NoEmgAbort
:
:
Fend
Function ErrorMonitor
Wait ErrorOn
If 4000 < SysErr Then
Print "Mortion Error = ", SysErr
Off 10, Forced
On 12, Forced
Else
Print "Other Error = ", SysErr
Off 11, Forced
On 13, Forced
EndIf
Fend
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7. Building SPEL+ Applications
7. Building SPEL+ Applications
7.1 Designing Applications
7.1.1 Creating the simplest application
The simplest SPEL+ application has one program and one point file. This is what is
automatically defined for you when you create a new project. A blank program named
Main.prg (Program.prg for simple mode) and a blank point file named Points.pts are
created.
To write and run a simple application
1. Select New Project from the Project Menu to create a new project.
2. Write your program source code in the file that was created for you called Main.prg.
3. Teach the robot points using the Robot Manager Jog and Teach page .
4. Run the program by selecting Run Window from the Run Menu or by pressing F5 (the
shortcut key for the Start command).
7.1.2 Application Layout
Before writing your application, you need to decide what your application will accomplish
and how the project will be structured. Here are some general guide lines.
Programs
Each project can contain up to eight programs that can be started from the Operator
Window, Remote Control, or VB Guide. Each program has a start function, as shown in
the table below.
Program #
Program Name
Start Function
0
main
main
1
main1
main1
2
main2
main2
3
main3
main3
4
main4
main4
5
main5
main5
6
main6
main6
7
main7
main7
Your project must always define function main so that the main program can be started.
The other programs are optional. If you use the Operator Window for your operator
interface, you can define meaningful names for each of the programs used in your project
in Project | Properties | Operator Window.
Operator interface
Operator Window
Use the operator window provided with EPSON RC+ 5.0. You can configure EPSON
RC+ 5.0 so that after Windows starts, EPSON RC+ 5.0 will start in Auto mode, which will
automatically open the Operator Window.
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7. Building SPEL+ Applications
Operators can select from 1 to 8 programs that you specify. They can also optionally use
the I/O Monitor, Robot Manager, and System History viewer.
To use the Operator Window, a PC must be connected to the controller. The RC90/RC180
Control Device must be set to PC.
For details on configuring EPSON RC+ 5.0 for auto start, see section Start Mode in the
Operation chapter.
Remote Control
Use remote control to turn motors on/off, home the robot, start programs, etc. A simple
push button box can be used, or a PLC can be connected.
When using Remote Control, a PC does not need to be connected to the controller. The
RC90/RC180 Control Device must be set to Remote.
Operator Panel
Use the OP1 Operator Panel. With the OP1, operators can run
programs and monitor I/O and task status. See the OP1 Manual for more information.
When using the Operator Panel, a PC does not need to be connected to the controller. The
RC90/RC180 Control Device must be set to OP.
Windows Application using VB Guide
Use the VB Guide Option along with a Windows development tool such as Visual Basic,
Visual C#, or Visual C++. See the VB Guide Manual for more information.
Safety interface
Use guard doors, safety mats, light curtains, etc. to protect the operator from injury.
Robot Points, Pallets, Tools, Locals
Decide on which points you need for the work cell. In many cases you will only need one
point file.
Take advantage of Pallets, Tools, and Locals. Time spent on using these can save hours
later on the production line. For example, if your cell has many points that take a lot of
time to train, consider using Locals so that if the end effecter is damaged or replaced, you
only need to redefine the Locals, not retrain all of the points.
Try to design in automatic or semi-automatic procedures for calibrating tools and locals.
Even if you define them manually, write instructions on how to define them so the process
can be repeated easily.
Inputs and outputs
Layout your I/O early in the design stages. Use I/O labels in your programs. You must
purchase additional I/O boards if you need more than 24 inputs or 16 outputs. You can
also use the Fieldbus option so the controller can be a Fieldbus slave.
Peripherals
RS-232C is not standard for RC90/RC180 Controller. You can also add more ports by
installing an optional RS232 expansion board. See the chapter RS-232 Communications.
The RC90 controllers have one RS-232C port as standard. In addition, you can add more
four ports by mounting the optional RS-232C expansion boards.
You can use TCP/IP to connect peripheral equipment.
Communications.
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7.2 Managing Projects
7.2.1 Overview
What is an EPSON RC+ 5.0 Project?
An EPSON RC+ 5.0 project is a collection of SPEL+ program files, robot point files, and
setup parameters used to run a SPEL+ application.
Why do you need projects?
Projects are a safe and convenient way to manage your SPEL+ applications. All the
information for each application is kept in one project. By keeping all of your application
code and point definitions in one project, it's easy to open a project and begin running or
editing. Also, it's easy to create new versions of an application and run older versions.
Projects make it easier to maintain your application code with less chance of a program
being lost.
There are also commands for copying and renaming projects, making it easy to create new
projects from previous versions and for backing up projects to an external media such as a
USB memory key.
What's in an EPSON RC+ 5.0 project?
Each project has its own directory on disk. This keeps all of the files for each project
separate from each other. The project directories are under the \EpsonRC50\Projects
directory on any drive. Sub directories may also be created.
The following paragraphs describe the components of a project.
Project file
This file contains all of the information that describes the project. This file is
automatically created by EPSON RC+ 5.0. You should never edit this file. Doing so may
cause errors when you open the project. This file has a .SPRJ extension.
Program source files
A program source file is an ASCII text file that contains one or more SPEL+ functions.
Each function in SPEL+ can be run as a separate task (thread) in the controller or called
from other functions.
Include files can also be used. These contain macro definitions and must be included in a
program file using the #include statement.
Point files
A point file contains a list of robot points. The file extension is PTS. Each point describes
a Cartesian coordinate in the robot work envelope.
The Default Project
When you create a new project, one program (Main.prg) and one point file (Points.pts) are
created for you. For some users, this is all they need to get started. They don't have to
configure the project. They can just type in a program, teach points using the Robot
Manager Jog and Teach Tool, and run the program.
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7.2.2 Creating a new project
Projects can be created on any drive on your system. Projects always reside in the
\EpsonRC50\Projects directory or sub-directory.
To create a new project
1. Select New Project from the Project Menu. The New Project dialog box will appear.
2. Select the disk drive where you want the project to be stored on.
3. Select the project directory or create a new directory by clicking the New Folder button
after selecting the parent directory.
4. Type in the name for the new project.
5. Optionally, select a template to base the project on.
6. Choose Ok to create the project.
7.2.3 Configuring a project
Each application project you create must be configured properly before you can run the
application.
There are two commands in the Project Menu that allow you to configure a project: Edit
and Properties.
Editing a project
Select Edit from the Project Menu to open the Edit Project dialog. From this dialog, you
configure which programs, include files, and point files are used in the current project.
For details on Project | Edit, see the Edit Command (Project Menu) in the chapter EPSON
RC+ 5.0 GUI.
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7.2.4 Building a project
Before you can run any of the code in your application, you must build the project.
To build your application project
Select Build from the Project Menu or click on the Build button
on the toolbar.
Or
Select Rebuild from the Project Menu. This will rebuild the entire project.
Or
Select Run Window from the Run Menu or click the Run button
project will be built before the Run Window appears.
on the toolbar. The
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.
Double click this
line to go to the
source code.
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.
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7.2.5 Making copies of projects
Use the Copy Project command in the Project Menu to copy all of the files in the current
project to another disk drive or directory. You can also save the project under a different
name. This command is useful for making backups or for transferring a project to an
external media such as a USB memory key so that it can be loaded on another machine.
Use the Save As command in the Project Menu to save the current project under a different
name or drive and re-open it using the new name and location. This command is useful for
making a test version of a project without making changes to the original project.
7.2.6 Backing up a project
To make a backup copy of the current project, use the Copy Project command in the
Project Menu to copy the project to another disk drive. Typically you will want to copy
the project to a USB memory key.
To restore a project from the external media such as a USB memory key (or different hard
drive), open the target project, then use the Copy Project command to copy the project to
the original disk
7.2.7 Converting a simple mode project
A project created in Simple mode can be converted to Normal mode by opening it while
operating in Normal mode. However, once the project is transferred to Normal mode, it
cannot be used in Simple mode.
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7.3 Editing Programs
Before you can edit a program, it must be in the current project and opened in a program
editor window. When you first create a new project, this is done for you automatically.
You can open several program editors during one session.
To open a program for editing
1. Select Open from the File Menu.
2. Select the file(s) you want to open.
3. Choose OK to open the file.
7.3.1 Program rules
A program contain one or more SPEL+ function definitions.
Lines can be blank. You can insert any number of blank lines to separate subroutines and
functions, if desired.
The maximum length for each line is 200 characters, including the line number, if used.
The maximum line number is 32767. You will get an error if you try to run a program
with a line number that is too large.
7.3.2 Typing in program code
Each line can optionally start with a line number.
You can enter program statements in upper or lower case. Whenever you leave a line that
has been changed, the line will be formatted. SPEL+ keywords are case formatted and
spaces are inserted around operators and after semi-colons and commas.
Consider using mixed case or lower case for variables and function names instead of all
CAPs. This will make your code easier to read.
Use indentation for statements within loops. The Auto Indent feature automatically
moves the cursor under the start of the previous line. It also indents lines after If, Else, For,
Select, Case, and While statements.
For i = 1 To 10
Jump P(i)
Jump P0
Next i
Use the Auto End Construct feature to automatically add the end construct statement.
For example, when you enter a For statement and press Enter, a Next statement is
automatically created with an indented blank line above it.
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7.3.3 Syntax Help
When you type in a SPEL+ keyword or user function, the syntax help window will appear
to show the syntax of the statement or function. After the statement is entered, the syntax
helper will automatically close, or you can press the Esc key to close it. You can enable /
disable Syntax Help from the Setup | Preferences | Editor tab.
A list box will be displayed for some parameters as you type. To select a value in the list,
use the up and down arrow keys, or type the first few characters, to highlight the desired
item, then press Tab to select the item. You can also type in a value not shown in the list,
such as a variable or literal constant. Press Esc to hide the list box. In addition to Tab, you
can use a comma or period to select an item. In the example shown below, the first
parameter of the On statement can be an output label, so a list of output labels in the
current project is displayed.
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7.3.4 Syntax Errors
When a syntax error is detected, the line with the error will be displayed in red. If the caret
is placed on the line with the error, then a brief message will be displayed on the status bar.
For example, in the program shown below, the message "Expression expected" is
displayed on the status bar.
Red indicates
syntax error
Error message
in status bar
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7.4 Editing Points
EPSON RC+ 5.0 provides a spreadsheet editor for robot points. You can define new
points or cut, copy, and paste points from one point file to another, including between
projects.
Robot teach point definitions are kept in files on your PC and in the robot controller.
EPSON RC+ 5.0 always keeps project point files in the robot controller up to date with the
files on the PC.
To open a point file for editing
1. Select Open from the File Menu to show the Open dialog box.
2. Choose the Points radio button. You will see a list of point file names in the files list
box.
3. Select the point file you want to edit by clicking on the name.
4. Press the Open button to open the file. You will see a spread sheet window for the
point file you selected.
The robot points spread sheet window
Row select
The spreadsheet window contains one row for each point in the file. The spreadsheet
always contains rows for all points, even if they are not defined. The cells for an
undefined point are blank.
Row select column
This is the first column on the left. Click on this column to select a
row.
Number column
Point number. Range is from 0 to 999.
Name column
Name of the point.
Coordinate columns Coordinates in millimeters for X, Y, Z and degrees for U, V, and
W.
Local number column Local number drop down list. Range is from 0 to 15.
Hand column
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Drop down list with two values for robot hand orientation: Lefty
and Righty.
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Elbow column
Drop down list with two values for robot elbow orientation: Above
and Below. This column is shown only for 6-axis robots.
Wrist column
Drop down list with two values for robot wrist orientation: Flip and
NoFlip. This column is shown only for 6-axis robots.
J4Flag column
Drop down list with two values for robot J4Flag: 0 and 1. This
column is shown only for 6-axis robots.
J6Flag column
Drop down list with values for robot J6Flag: 0 - 127. This column
is shown only for 6-axis robots.
J1Flag column
Drop down list with values for robot J1Flag: 0 and 1. This column
is shown only for RS series.
J2Flag column
Drop down list with values for robot J2Flag: 0 and 1. This column
is shown only for RS series.
To select one or more rows
Click on the row select column (first column on the left) to select a row. To select more
than one row, point to the row select column of the first row you want to select. Hold
down the left mouse button and drag the mouse down or up to select more rows.
To select all rows
Execute Select All from the Edit Menu, or type Ctrl+A.
To define a new point
Using the mouse put the spreadsheet cursor anywhere on the row of the point you want to
define and start entering information for the point. This automatically defines the point,
which means it will be sent to the robot controller at the next project build or Jog and
Teach command.
For example, put the cursor in the Name column and type in a name for the point.
Press the TAB key to move to the X coordinate column. Type a coordinate value, then
press Enter. You will see zeros automatically entered for all of the other coordinates of the
point. This indicates that the point as been defined.
To delete a point
Select the row containing the point and cut it by selecting Cut from the Edit Menu or by
typing Ctrl+X.
To cut and paste points
1. Select one or more rows and execute either the Cut or Copy command from the Edit
Menu.
2. Select the row where you want to start the paste.
3. Execute the Paste command from the Edit Menu.
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7.5 Running and Debugging Programs
You can run programs from the Run Window or from the Operator Window. The Run
Window is used primarily for testing and debugging. The Operator Window is used as an
operator interface for simple applications or demos.
To run a program
Select Run Window from the Run Menu. This command will build the project (if
required) and open the Run Window. The Run Window allows you to choose which
function to execute. Select a function, then click Start.
7.5.1 The Run Window
The Run window includes controls for running the programs in the current project.
To open the Run window
Select Run Window from the Run Menu, or click on the Run button
on the toolbar. If
necessary, all changed open files will be saved and the project will be built. If the build is
successful, the Run window will appear.
To close the Run window
Choose Close from the File Menu or double click on the Control menu in the upper left
hand corner of the window.
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Item
Description
Text area
This is the area that takes up most of the run window. Output
from your programs is displayed here. When your program uses
an Input statement, you can type in the requested input from this
text box. You can use the scroll bars to view the entire text
buffer.
If an error occurs while running a program, the error number, line
number and function name will be displayed in this text area.
You can double click on the line where the error is displayed to
directly go to the source line that caused the problem. You can
also get help on the error that occurred by putting the cursor
anywhere on the line and pressing F1.
Function
Select a function to start. Functions are sorted alphabetically.
Function main is selected by default.
Low Power
When this box is checked, SPEL+ ignores the Power High
command. This allows you to run your program in low power
mode to verify operation without having to change the program.
Speed Factor
Specifies the robot motion speed factor. The speed factor is a
percentage of maximum point to point speed and linear
interpolated speed. For example, if you program executes Speed
80 and the speed factor is 50%, the robot will move at speed 40.
Start
Starts the function shown in the function drop down list.
Stop
Stops all tasks. If the robot is executing a motion command
when this button is pressed, the robot will decelerate to a stop.
Pause
Pause all tasks with pause enabled. Activates the Continue
button. If the robot is executing a motion command when this
button is pressed, the robot will decelerate to a stop.
Continue
Continue paused tasks.
CTRL+C
Same as Stop button.
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7.5.2 Debugging
EPSON RC+ 5.0 supports source level debugging. You can set breakpoints and step
through your source code. You can also suspend a task using the Task Manager Halt
command and then step through the code.
Setting and clearing breakpoints
Open the program where you want to set a breakpoint, then click on the line where you
want to stop. Use one of the following methods to set a breakpoint:
- If Margin Indicators are enabled, then click in the margin next to the line on the left. You
will see a breakpoint symbol next to the line.
Or
- Type F9.
Or
- Select Toggle Breakpoint from the Run Menu.
Execute one of the methods above to clear a breakpoint, or select Clear All Breakpoints
from the Run Menu.
You cannot set a breakpoint on non-executing statements, such as #define, #include, or
blank lines.
You can set a breakpoint while a task is running. After setting the breakpoint, the task will
halt when the line is reached during execution. You can also remove a breakpoint while a
task is running.
When a breakpoint is reached, the editor window containing the program source line at the
breakpoint is opened and the line is highlighted in yellow. The task number is shown in
the title of the editor window.
If a breakpoint is reached by more than one task, then an editor window will be opened for
each task that is at the breakpoint. This allows you to step through each task that reached
the breakpoint.
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Stepping through a program
There are three commands on the Run Menu that are used for stepping through code.
Step Into steps through each line and also steps into functions when a step is executed on a
Call statement.
Step Over steps through each line but when a Call statement is encountered, the function
in the statement is executed completely.
Walk executes lines until after the next motion command and then halts the task. It will
halt after the next output command if the Setup | Controller | Preferences Walk stops for
outputs checkbox is checked.
To step through code, you must either set a breakpoint and run until the breakpoint is
reached, or suspend a task from the Task Manager using the Halt button.
Viewing the Call Stack
Sometimes you may want to examine the call stack for the current task after you halt the
task from the task manager, or reach a break point.
To view the call stack, select Call Stack from the Run Menu. The Call Stack list will be
displayed, as shown below.
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After you select a function in the Call Stack list, the function will be displayed in a
program window and an arrow in the left margin will point to the line where the next
function in the call stack is being called. In the example below, the arrow in the
SingleCycle function is pointing to the Gripper On statement to indicate that Gripper was
called from SingleCycle.
Displaying variables
To view variable values, you can do one of the following:
1. When a task is halted by halt or breakpoint, you can view the value for a variable by
moving the mouse cursor over the variable name. The value will be displayed in a tool
tip type window beneath the variable name.
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2. Select Display Variables from the Run Menu to display the variable display dialog.
This dialog has three tabs for viewing Global, Module, and Local variables.
You can change the value of a variable by checking the Edit check box, then type in the
new value in the value column. Next, click the Write button to change the variable. When
the Edit box is checked, the variable values are not automatically updated. You can click
the Read button to update all values.
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7.6 The Operator Window
The Operator Window can be used as a simple interface for operators. You can configure
EPSON RC+ 5.0 to open only the Operator Window when started. In addition, when
Remote Control is being used, the Operator Window can be displayed for monitoring
purposes.
Title
Status bar
Operator buttons
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Item
Description
Program to Run
Start the program to run.
Start
Start the first function in the main program.
Stop
Stops all tasks.
Pause
Pause all tasks that are enabled for pause.
Continue
Continue paused tasks.
Robot Manager
Opens the Robot Manager dialog in operator mode.
I/O Monitor
Opens the I/O Monitor in operator mode. This window can
remain open while programs are running.
System History
Opens the System History window. This window can remain
open while programs are running.
Simulator
Opens the Simulator Window.
Status Bar
The status bar is located at the top of the window and shows
emergency stop and safeguard status. In addition, if a warning
is detected from the controller (such as low encoder battery), a
warning label will be displayed on the right side of the status
bar. If the mouse is over this label, you can see the warning
error message. When there is no warning, the warning label is
hidden.
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7.6.1 Operator Window Configuration
You can configure the Operator Window from the Operator Window pages in Project |
Properties.
There are several settings for operator Robot Manager and I/O Monitor.
See Properties Command (Project Menu) section in the chapter EPSON RC+ 5.0 GUI for
details.
7.7 Using Remote Control
You can design your application to be run from external equipment using hardware I/O
control. This includes push button boxes, PLCs, and other PC systems.
See the chapter Remote Control for details.
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8. Simulator
8.1 Simulator Functions
Simulator functions enable easy robot motion checking on your PC, which gives you
flexibility to consider the system layout, measure the operation time, and create robot
programs.
They are useful from the introduction stage to the launch of robot system.
The Simulator is supported in EPSON RC+ 5.0 Ver.5.4 or later.
8.1.1 Overview
The following are the major simulator functions:
Robot motion 3D display
- Shows robot orientation and motion in a 3D display from various viewpoints.
- Offers accurate display data based on design data.
Interference check
- Checks whether the robot (including the hand) interferes with itself or its peripherals.
Robot operation time prediction
- Predicts the robot operation time for a program.
- Considers the speed setting (Speed, etc.) and acceleration / deceleration setting (Accel,
etc.) when predicting the robot motion time.
SPEL+ program execution
- Allows you to create, execute, and debug SPEL+ programs.
The restrictions on the simulator functions are described in 8.4 Specification and
Restriction of Simulator.
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8.1.2 System Requirements
Recommended specification
When using CAD data, we recommend using a PC running Windows 7 Professional 32 bit
version.
OS
CPU
Memory
Hard disk spare capacity
Graphic
Windows 7 Professional 32 bit version
Core i3 or more
1 GB or more
4 GB or more
DirectX9 or later must be available.
OpenGL2.1 or later must be supported.
Minimum specification
To use one robot with several peripherals and operate them in a simple manner, the
following environment is required.
OS
CPU
Memory
Hard disk spare capacity
Windows 7 Professional 32 bit version
Windows XP Professional 32 bit version, SP3 or later
Windows Vista Business 32 bit version, SP2 or later
1.6 GHz or more, 32 bit (x86) Multi Core Processor
512 MB or more
4 GB or more
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8.2 Using the Simulator
You can try the simulation functions using the provided sample virtual controllers and
projects. See section 8.2.1 Working with the samples.
You can also select the robot model and build your own system. See section 8.2.2
Working with a user created system.
8.2.1 Working with the samples
You can operate a robot easily using the samples provided. Follow the steps below:
1. Connect with a sample virtual controller (robot)
2. Open the corresponding sample project
3. Display the simulator window
4. Operate the robot by executing a program
5. Next step
1. Connect with a sample virtual controller
Select “G6 Sample” from the EPSON RC+ 5.0 Tool bar-<Connection> list box.
When the connection is complete, the <Connection> list box shows “G6 Sample”.
2. Open a corresponding sample project
(1) Click the EPSON RC+ 5.0 menu-[Project]-[Open…].
(2) Select “G6 Sample” from Projects\SimulatorDemos.
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(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.
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4. Operate the robot by executing program
(1) Click the Tool bar-<Run Window
[Run] window will appear.
> button. The project will be built and the
(2) 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.
5. Next step
If you want to change the sample, follow the steps in 8.2.2 Using with a user created
system - Steps 5 to 7. If you want to create your own system, start from Step 1.
If you want to change the sample virtual controller, follow the steps in 8.3.4 Virtual
controller - Copy the sample or configured virtual controller and change the copied
sample.
8.2.2 Working with a user created system
You can create your own system and simulate the robot operation on your PC.
Follow the steps below:
1. Create a new virtual controller (Connection setting)
2. Connect with the virtual controller
3. Configure a robot
4. Display the simulator window
5. Create and place objects
6. Create a project and program
7. Operate the robot by executing the program
8. Measure the robot operation time
9. Test for collisions
1. Create a new virtual controller (Connection setting)
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(1) Click the EPSON RC+ 5.0 Tool bar-<Setup PC to robot controller communications.
> button. Then, the [PC to Controller Communications] dialog appears.
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 the dialog to return to the EPSON RC+ 5.0 main window.
2. Connect with the virtual controller
(1) Select the created “Virtual 1” connection from the EPSON RC+ 5.0 Tool bar<Connection> list box. When the connection is complete, the <Connection> list box
shows “Virtual 1”.
(2) “Virtual 1” has no configured robot, so the following warning appears.
Click the <OK> button.
:
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3. Configure a robot
In this tutorial, a G6-551S robot model is used.
(1) Select the EPSON RC+ 5.0 menu-[Setup]-[Controller].
(2) Select the [Robot]-[Model] from the tree on the left side of the window. The [Robot
Model] page appears.
(3) Select “G6-551S” from the [Model] list box.
(4) Click the <Apply> button. The message “Restarting Controller” appears.
(5) When the message disappears, close the window and go back to the EPSON RC+ 5.0
main window.
4. Display the [Robot Simulator] window
(1) Click the Tool bar-<Simulator > button. The following window appears.
(2) Configure the robot name.
Select the robot in the [Layout Objects] and set its name in the [Property]-[Name] on
the lower left of the window. For this tutorial, enter “MyRobot”.
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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.
TIP

To change the position, you can also drag the objects in the [2D Layout] panel.
To save the layout change, execute the EPSON RC+ 5.0 menu-[File]-[Save].
6. 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 a new project name. For this tutorial, enter “Test”.
(1)-3 Click the <OK> button. Then, the project “Test” is created.
(2) Operate the robot and teach points.
(2)-1 Click the Tool bar-<Robot Manager
> button. The [Robot Manager]
window appears.
(2)-2 Select the [Control Panel] tab and click the <MOTOR ON> button.
The message appears to confirm the operation. Click the <Yes> button.
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(2)-3
Select the [Jog & Teach] tab. The following window appears.
(2)-4
In the [Robot Simulator] window, move the robot joint to a point where it does
not interfere with the box.
To move the robot joint, drag the robot joint while simultaneously pressing the
<Ctrl> key.
(2)-5
Go back to the [Robot Manager] window and click the <Teach> button on the
lower right. The message appears to confirm the operation. Click the <Yes>
button.
(2)-6 The [New Point Information] dialog appears. Click the <OK> button.
(2)-7 Select “P1 - (undefined)” from the [Point] list box on the lower right.
(2)-8 In the [Robot Simulator] window, drag the robot joint while simultaneously
pressing the <Ctrl> key to another point without interfering with the box.
(2)-9 Go back to the [Robot Manager] window and click the <Teach> button. The
message appears to confirm the operation. Click the <Yes> button.
(2)-10 The [New Point Information] window appears. Click the <OK> button.
(2)-11 Click the Tool bar-<Save all files> button to save the P0 and P1 data.
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You can also use the [Jog & Teach] window to move the robot.
(3) Create and execute a program with robot motion.
(3)-1 Create the following program in the program “Main.prg”.
Function main
Go P0
Go P1
Fend
(3)-2
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Click the Tool bar-<Build> button to build the program.
When the program building is completed, the message “Build complete, no
errors” appears in the [Status] window.
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8. Simulator
7. Operate the robot by executing program
(1) Click the Tool bar-<Run Window> button. The following dialog appears.
(2) Click the <Start> button.
The message “Are you ready to start?” appears. Click <Yes> button.
The program starts and the robot moves in the 3D display.
8. Measure the robot operation time
The elapsed program run time (cycle time) is displayed in the Tool bar of the [Robot
Simulator] window.
It is the execution time of the program from start to finish.
The following describes how to measure the operation time between two points (P0  P1).
(1) Change the program in the “Main.prg” file to the following program.
Function
Motor
Power
Speed
Accel
Go P0
Fend
main
On
High
100
100,100
Function main2
Go P1
Fend
(2) Click the Tool bar-<Build> button to build the project.
When the project build is complete, the message “Build complete, no errors” appears
in the [Status] window.
(3) Click the Tool bar-<Run Window> button.
(4) Confirm that “main” is selected in the [Function] dropdown list and click the <Start>
button.
The message “Are you ready to start?” appears. Click <Yes> button.
The program starts and the robot goes to P0, the point to start the time measurement,
in the 3D display.
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8. Simulator
NOTE
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(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 time to move the robot
from P0 to P1.
When you operate the real robot, the actual cycle time will be longer than the simulated
cycle time according to the model, Fine, load settings. For details, refer to 8.4
Specification and Restriction of Simulator.
Also, when Speed, Accel values in the program are changed, the cycle time will reflect it.
Motion command includes Move and Jump as well as Go.
For the information on how to use these commands, refer to Online Help or SPEL+
Language Reference manual.
9. Test the collision detection
(1) Go back to the [Robot Simulator] window.
(2) Drag the robot joint while simultaneously pressing the <Ctrl> key to a point where it
interferes with the box. When the robot joint hits the box, the display turns to red.
(3) In the [Robot Manager] window, select “P2 - (undefined)” from the [Point] list box on
the lower right of the window.
(4) Click the <Teach> button.
The message to confirm the operation appears. Click the <Yes> button.
(5) The [New Point Information] dialog appears. Click the <OK> button.
(6) Click the Tool bar-<Save all files> button and save the P2 information.
(7) Go back to the [Robot Simulator] window and drag the robot joint while
simultaneously pressing the <Ctrl> key to the point where it does not interfere with
the box.
(8) Click the Tool bar-<Reset Collision
> button. Then, the red display returns to
normal.
(9) Add the following function to the “Main.prg” program file.
Function main3
Go P2
Fend
(10) Click the Tool bar-<Build> button to build the project.
When the project build is complete, the message “Build complete, no errors” appears
in the [Status] window.
(11) Click the Tool bar-<Run Window> button.
(12) Select “main2” in the [Function].
(13) 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. When the
robot joint hits the box, the display turns to red.
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When a collision happens, the users can stop the controller program execution with an
error. For details, refer to 8.3.3 Collision detection.
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8. Simulator
8.3 Description of Functions
This section describes how to use the simulator window and its functions.
8.3.1 Simulator window layout
(1) Tool bar
(5) 3D Display
shows the robot orientation
and motion from various
points of view.
(2) Layout Objects
shows the list of robots
and layout objects.
(4) 2D Layout
Places and shows the robot
and layout object positions.
(3) Property Grid
shows the settings of the
robots and layout objects.
(6) Record / Playback
Records and reproduce
the simulation product.
(1) Tool bar
Button
Description
Simulator operating mode.
It switches between <Simulation Mode> and <Playback Mode>.
Layout Box
Layout Sphere
Layout Cylinder
Layout Plane
CAD
Hand
Reset Collision
Simulator Settings
Screenshot
Adds a box object in the 2D layout.
Adds a sphere object in the 2D layout.
Adds a cylinder object in the 2D layout.
Adds a floor / wall object in the 2D layout.
Adds a CAD object.
When you drag & drop this button in 2D layout, a dialog appears
to load the CAD data from a file.
Adds a hand object.
When you click this button, the dialog appears to load CAD data
from a file.
Resets the collision detection status.
When you click this button while the robot is not interfering with
any layout objects, the red display turns to normal.
Shows the [Simulator Settings] dialog.
In this dialog, the 3D [Render Options] can be configured.
Saves the current 3D display as an image file.
A dialog appears to specify a file name and format before saving.
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8. Simulator
Button
Description
Create Movie
Plays a simulation result (log file) in the Playback mode and saves
into a movie file. A dialog appears to specify the file and format
to save.
Shows the program execution time as if you ran the same program
with a real controller (RC180/RC90).
Elapsed Time
When a program starts, the elapsed time counter counts from 0 and
stops when the program finished. It pauses counting when the
program is paused and resumes when the program continues
execution.
Clear Elapsed Time
Clear end
effector path
Resets the elapsed time.
Clear the end effector path which the robot displays.
(2) Layout Objects Pane
The Layout Objects pane shows the robot objects and layout objects in a tree format.
When you right-click on a layout object, the deletion menu appears.
What is an Object?
The objects in the simulator are either a “Robot Object” or a “Layout Object”:
A “Robot Object” includes the robot itself, its hand, local coordinates, point information,
etc.
A “Layout Object” includes objects to be placed around the robot to simulate the robot
peripheral environment in the 3D display.
◆ Robot Object
Robot
: The robot itself. The display data is handled by the simulator.
Hand
: The hand is created by loading CAD data (VRML2.0, STEP, or
IGES) from a file.
Object to reflect a robot parameter
: Local, Tool, Box, Plane
Object to reflect robot point data
: Point, Pallet
◆ Layout Objects
Simple object : Box, Sphere, Cylinder, Floor / Wall
The display data for these objects is handled by the simulator.
The object size can be changed as desired by editing properties.
CAD object
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: These objects are created by loading CAD data (VRML2.0, STEP, or
IGES) from a file.
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(3) Property Grid Pane
In the Property Grid pane, you can view and change the settings of the robot objects and
layout objects in the Layout Object pane.
◆ Robot Object Properties
Robot
Property
Value
Name
Robot name
You can specify any name for a robot.
Type
Robot type
The robot type (Scara, 6-Axis, and RS) is shown. This property is readonly.
Series
Robot series
The robot series is shown. This property is read-only.
Model
Robot model name
The robot model is shown. This property is read-only.
Change Robot
If you want to change the robot model, click on button. When you
click on this button, a dialog appears to change the robot.
For details, see Changing the robot model described later in this
chapter.
Position
Robot position
Specifies the robot's base center in the simulator World coordinates.
Rotation
Robot angle
Check Collision
Enables / disables the collision detection for layout objects.
Enable : True (default)
Disable : False
Even if this is enabled, it does not detect collision between the robot
base and layout objects.
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8. Simulator
Check Self Collision Enables / disables the collision detection for a robot itself.
Enable : True (default)
Disable : False
Changing the robot model
When you want to change the displayed robot model, click on the
button in the Change
Robot property and the dialog shown below will be displayed. If you cannot see the
button, increase the property grid width and click once on the [Value] column of the grid.
Select a new robot type, series, mode and click on the <OK> button. After the message
“Restarting Controller”, the new robot will be displayed.
NOTE

When you change the displayed robot model, all the settings for the robot (Local
coordinates, Tool coordinates, etc.) will be initialized to the default values.
Type and Series
Type
Scara
6-Axis
RS
Series
G series, LS series
C3 series, S5 series
RS series
Local / Tool / Box / Plane / Pallet
If the local coordinate system of the corresponding number is not defined yet, the check
box is grayed.
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Property
Description
Visible
Displays a base / local coordinate system
Visible
: Check
Not visible : Uncheck (default)
For Local 0 (Base), Visible is the default.
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Points
Display the point display setting status in the point file. Switch to show/non-show all
points.
Property
Description
File Name
Show a point file name.
Visible
Shows / Not show all points
Visible
: Check
Not visible : Uncheck
If it is set to show some points, the check box shows indeterminate
state.
Point
If the point of the corresponding number is not defined yet, the check box is grayed.
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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)
If you cannot see the [Visible] column, increase the property grid display width.
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8. Simulator
Hand
When a hand is registered with a robot, “Hand” is added in the Layout Objects tree.
Property
Value
Name
Hand name
You can specify any name for a hand. (Default: Hand)
Position
Mounting offset from the robot end effector position.
Rotation
Hand mounting direction
File name
CAD data file name of the hand
It cannot be changed.
Visible
Visible
Not visible
Check Collision
Detect collision : True (default)
: True (default)
: False
Not detect collision
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: False
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8. Simulator
◆ Layout Object
Layout Box / Layout Sphere / Layout Cylinder / Layout Plane / CAD
There are common attributes for all objects and others are for particular objects.
Property
Object
Description
Name
All
You can specify any name.
Type
Plane
Floor
Wall
Position
All
Specifies a center point in simulator World coordinates.
: Horizontal (default )
: Vertical
Layout Cylinder: Bottom surface center
Half size
Box
Specifies a length from the center.
The box length is double this length.
Radius
Sphere
Sphere radius
Cylinder
Cylinder radius
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8. Simulator
Height
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Cylinder
Cylinder height
Plane
Floor length / Wall height
Width
Plane
Floor width / Wall width
Rotation
All
Object angle (Z-axis centering)
File name
CAD
CAD data file name. It cannot be changed.
Color
Box
Display color
Sphere
Click the drop-down
Cylinder
The display color setting dialog will be displayed.
Visible
All
Refer to Change layout object color for the details.
Visible
: True (default)
Not visible : False
Check
Collision
All
to change display color.
Detect collision : True (default)
Not detect collision
: False
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8. Simulator
Change layout object color
When you want to change layout object color, click on the drop-down
in the Color
property and the dialog shown below will be displayed. If you cannot see the drop-down
, increase the property grid width.
Click color you want to display. Layout object color will be changed.
If you do not want to change color, click anywhere other than the display color setting
window. The window will be closed.
If you create a custom color, right-click any color in the bottom two rows (16 colors) in the
[Custom] tab, and the color setting dialog will be displayed.
Create a custom color and click the <OK> button.
Created color will be displayed in the display color setting window.
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8. Simulator
(4) 2D Layout
In the [2D Layout] panel, you can add layout objects, or
modify and check the robot objects and layout objects
positions.
Adding a layout object
Drag and drop a tool button (Box, Sphere, Cylinder, etc.)
onto the [2D layout] panel.
When you add a layout object while a robot object is
selected in the [Layout Objects], the added object is a
separate object.
When you add a layout object while a layout object is
selected in the [Layout Objects], the added object will be
in a group with the selected objects.
Grouped objects move together when the parent object
moves.
RightTable/CenterTable/LeftTable of the sample virtual
controller “G6 Sample” is an example of grouping.
Change robot and layout object position
Drag an object (robot, box, etc.) to change its position.
To move an object in Z direction, use the <D> and <U>
keys.
Drag  to change the size of an object, and drag  to
rotate an object.
If you are moving a box, it is shown as in the figure on
the right:
Zoom the layout
To zoom the 2D layout, use the mouse wheel to scroll.
Move the display area
To move the 2D layout display area, drag the 2D layout while simultaneously pressing the
<Shift> key.
Rotate the display
To rotate the 2D layout display area, right-click on the 2D layout and use the options [Rotate Clockwise] [Rotate CounterClockwise].
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8. Simulator
(5) 3D Display
In the 3D display, you can check the robot
orientation and motion from various points of
view.
Change the robot / layout object position
To display a guide which indicates the directions to
move, press the <Shift> key and click on the object
(box, etc.).
To move the object, drag the grid corresponding to
the axis.
Rotate the robot / layout object
To rotate a layout object around the z-axis, press the <Ctrl> key and move the object (box,
etc.).
Move the robot joint
To move a robot joint, press the <Ctrl> key and
drag the robot joint. The selected joint is displayed
in blue.
If a robot moves to a point out of the motion
range, the joint comes back to the previous point.
Change the view point
To rotate the view point, press the mouse left button and drag the 3D display.
To move the view point up and down, press the mouse right and left button and drag the
3D display.
Also, you can use the <L>, <R>, <D>, and <U> key to move the view point.
You can reset the view point from the menu opened by right click.
Zoom the layout
To zoom the 3D display, use the mouse wheel to scroll.
You can change the zoom level from the menu opened by right clicking with the mouse.
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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.
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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 program, the log file is
overwritten with the new information.
When the button is gray
, it doesn’t save the simulation result.
As the default, it doesn’t save the simulation result.
PLAY
Plays a simulation result of a specified log file.
STOP
Stops the simulation playback.
REWIND
Puts the playback step to the starting point.
BACK
Goes back one step.
The number of steps back is specified in [Play Speed].
NEXT
Goes to next step.
The number of steps to go is specified in [Play Speed].
REPEAT
When this button is pressed, repeats the simulation playback.
Log list
New button
Specifies a recording file to record and play.
Create a new log file.
Displays the log file sampling interval.
Sampling
Specifies the playback interval with a number of steps.
Play Speed
Display the current playing position.
Play position
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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 [Render options] dialog above, you can specify the 3D display method.
The specified display method is valid while EPSON RC+ 5.0 is running. However, when
EPSON RC+ 5.0 is restarted, it returns to the default display settings.
Function
Description
Render Wireframe
Changes to the wire frame display (a three dimensional graphic
using lines and points).
Render Joints
Displays fulcrum points of robot joints.
Render Labels
Displays names of robots and layout objects.
Render Bounding Box
Displays robots and layout objects in bounding box.
Render End-Effector Path
Displays robot end effectors path of a certain period of time.
Render Duct Collision Area Available with G1 series and LS series manipulators.
Shows the collision detection range of the robot ducts with the
bounding view.
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Render End-Effector View
Displays the view from robot end effectors.
Render World Monitor
Render Grid
Displays the simulator World coordinates.
Displays the simulator grid.
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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 <OK> button.
Now, you can see “TestPlayBack” in the Recording list.
(4) Click on the <RECORD> button in the [Record / Playback] window, which enables
recording. Now, the <RECORD> button is in red
.
(5) Start a program from the [Run] window to move the robot. The simulation result is
saved in the recording file while executing the program.
(6) Change the simulator operating mode to “Playback Mode” again.
(7) Click on the <PLAY> button and the simulation result starts to play.
Produce the robot motion with saving in a movie file at once
(1) Confirm that the mode is set to “Playback” on the Simulator Tool bar.
(2) Click the <Create Movie> button in the Simulator Tool bar.
(3) When the [Create Movie] dialog appears, select “TestPlayBack” from the Log list.
(4) Specify the [Output File] and [AVI Compression] if necessary.
(5) Click on the <OK> button.
The [Create Movie] status window appears and the specified movie file is created
with playing the log file.
(6) The created movie file is “TestPlayBack.avi” in EPSON RC+ 5.0 project folder
(\EpsonRC50\projects\“a project name”).
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8. Simulator
8.3.3 Collision detection
In the simulation, collisions can be detected between the robots including its hand and the
layout objects. Here we describe the settings and details of collision detection.
Basic settings for collision detection
In the [Property Grid] of the robot, the following can be configured.
Property
Value
Check Collision
Enables / disables the collision detection for layout objects.
Enable: True (default)
Disable: False
Even if this is enabled, it does not detect collision between the robot
base and layout objects.
Check Self Collision
Enables / disables the collision detection for a robot itself.
Enable: True (default)
Disable: False
Target of collision detection
In the Property Grid of the layout objects, the following can be configured.
Property
Value
Check Collision
Enables / disables the collision detection for a robot.)
Enable: True (default)
Disable:
False
Even if this is enabled, it does not detect collision when the robot
collision detection is disabled.
Generate error when collision is detected
When you open the [Setup]-[Controller]-[Simulator] and check the [Generate error when
collision detected] checkbox, if a collision is detected during SPEL+ program execution,
an error occurs in the controller and the program stops.
After checking the check box, click the <Apply> button and then click the <Close> button.
NOTE

234
The purpose of this function is to find where the program has a problem and not to prevent
the collision of robots.
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8. Simulator
It cannot guarantee that it has enough time for robots to stop when the simulator detects the
collision.
Caution about the collision detection of Floor / Wall
A collision is detected when a floor or wall is in contact with the robot. If the robot or
plane positions are changed so that the robot passes completely through the plane, then no
collision is detected.
Accuracy of collision detection
The collision detection in the simulator cannot guarantee accuracy. Make sure to have a
margin when you apply the simulation result for a real robot system.
The restrictions of the simulator are described in 8.4 Specification and Restriction of
Simulator.
8.3.4 Virtual controller
To execute programs in the simulator, you need to create a virtual controller with defined
robot and layout.
Robot settings and layout settings for the 3D display are saved for each virtual controller.
If you want to transfer the robot or layout data, you can copy and transfer the data.
Create a new virtual controller
Refer to 8.2.2 Working with a user created system.
Copy the sample or configured virtual controller
(1) Click the EPSON RC+ 5.0 Tool bar-<Connection
> button.
The [PC to Controller Communications] dialog appears.
(2) Click the <Add> button. The [New Controller Connection] dialog appears.
(3) Select the <Connection to new virtual controller> option button and specify a virtual
controller from the list box. Click the <OK> button.
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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) When you want to change the robot type, use the [Change Robot] in the robot object
property.
For details, refer to 8.3.1 Simulator window structure – (3) Property Grid.
Virtual controller configuration
Normally you don’t need to configure a virtual controller.
The configuration is available from the [Setup]-[Controller]-[Simulator] page.
[Performance]
: You normally don’t need to change the setting from 8 ms (default).
[Position Precision] : You normally don’t need to change the setting from 16 ms (default).
The situations when you need to change these settings are described in 8.4 Specification
and Restriction of Simulator.
8.3.5 Connection with controller
When the firmware of the RC170/RC180 controller is Ver.1.10.*.* or later, you can enable
the simulator function with the controller connected.
For the RC90 controllers, regardless of the firmware version, you can enable the simulator
function with the controller connected.
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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 object is detected during a Jog motion or a robot motion
command execution when the Simulator is enabled, the Manipulator stops operation and a
Warning occurs.
To avoid collision with peripherals by using the Simulator, set 15 mm or greater margins to
the simulator object.
Function restrictions when connected with controller
- Pallets cannot be displayed.
- You cannot change the robot from the Simulator window.
- You cannot select and move the robot arms in the Simulator window, except
during the controller Dry run.
- When the robot configured in the controller is not supported in the Simulator, a
warning message is displayed when the Simulator window is opened, and the
object list and the robot in 3D window are not displayed.
- The [Record/Playback] functions are not available.
Operator Window
When you enable the Simulator, the <Simulator> button is added to the Operator Window.
When you click on the <Simulator> button, the 3D display window appears.
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8. Simulator
8.4 Simulator Specifications and Restrictions
This section describes the simulator specification, its restrictions, and precautionary
statements.
8.4.1 EPSON RC+ 5.0 package
EPSON RC+ 5.0 has two packages:
- EPSON RC+ 5.0
: Standard package for developing the robot system
- EPSON RC+ 5.0 Trial : Trial package for limited use (program execution on PC)
* It cannot connect with an RC180 robot controller.
Program execution
on PC
EPSON RC+ 5.0
EPSON RC+ 5.0 Trial
OK
OK *2
Connection with
controller
Connection with controller
+ 3D display
OK
×
OK *1
×
*1 Requires the configuration to enable the simulator functions in EPSON RC+ 5.0.
Refer to 8.3.5 Connection with RC170/180 controller for the detail information.
*2 Continuous execution time of program is limited.
8.4.2 Specifications and precautions for the 3D display
Available robots for 3D display
In the future, we will add more robots for 3D display. Call your EPSON Regional Sales
Manager for the latest information.
NOTE

The duct of the G1 series and LS series is displayed roughly.
・
Check the dimensions in the manipulator manual.
・
The duct actually vibrates while the manipulator is moving, the simulator doesn’t
display the vibration. Check how the duct vibrates with your real manipulator.
The bellow for Cleanroom or Protection model is displayed roughly
・
Check the dimensions in the manipulator manual.
Available CAD data for 3D display
The following format is available for 3D display to show the robot hand and CAD object.
-
VRML 2.0
Limits of reading: VRML2.0 prototype is not supported.
-
STEP (AP203/AP214)
Limits of reading:
If Color is configured in Face, the specified Color is displayed.
IGES
NOTE

238
The data file must be saved in the specified folder on the PC and not saved in EPSON RC+.
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8. Simulator
CAD data setup orientation
Some CAD data coordinates may be different from those of the simulator.
Adjust the coordinates to the correct position by changing [Property]-[ Rotation] after
loading the CAD data.
When loading CAD data as a hand, set the origin of the CAD data in the Tool0 position of
the manipulator. Set the coordinates to the correct position by changing [Property][ Position] after loading the CAD data.
Number of available layout objects
You can create as many layout objects as you want.
However, when there are many objects to display, the display update interval becomes
longer and the judgment of collision detection becomes rough. Especially for CAD data,
displaying data that is too complicated is not recommended.
8.4.3 Specifications and precautions for Simulation (program execution on PC)
Overview
The Simulator produces the robot motions virtually on your PC.
It is designed to make the performance gap between the real system and the virtual system
as small as possible. However, a few differences in the virtual system are inevitable. The
operation time prediction and collision detection do not guarantee the precision.
Fully understand the contents in this chapter and check if the real system operates without
any problems before you go to full-scale operation.
Operation time prediction
Operation time displayed in the Simulator window is approximate time required for
executing the program.
Time for the motion commands such as Go, Jump reflects the Speed and Accel values in
the program. The operation time may vary when you operate the real robots from the
displayed operation time according to conditions such as the Fine setting and servo delay.
In particular, when small ranges are used with the Fine instruction, the real robots need a
longer operation time for accurate positioning.
The simulation cannot guarantee the precision but the margin of error in the operation time
is within 10% when you execute motions with the standard cycle time (with the default
Fine settings).
Considered in the operation time prediction
Not considered in the operation time prediction
Robot model
Speed settings (Speed, Speeds, etc.)
Acceleration settings (Accel, Accels, etc.)
Load (Weight, Inertia)
Others (ARCH, CP)
Fine setting
Error within 10% from the default
(Motions of standard cycle time)
With larger setting than the default,
the operation time will be shorter.
With smaller setting than the default,
the operation time will be shorter.
Servo delay
With the real robots, the operation will be longer.
Time for the other commands than the motion commands is a virtually executed time on
PC; therefore the actual time varies widely depending on the PC performance.
When measuring the motion time between two points, as simple program as possible is
recommended. Refer to 8.2.2 Working with a user created system - 8. Measure the robot
operation time.
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8. Simulator
Collision Detection Precision
The Simulator Collision Detection provides an indication whether robots collide with the
peripheral equipment or not when the program is executed. It does not consider the error
in trajectory due to servo delay. Be aware that a margin is necessary for the real robot
system.
The Simulator judges collisions more accurately when the robot motion speed is slow.
The judgment of collision detection during program execution is accomplished with the 3D
display update. When your PC has high graphics performance, the collision judgment
becomes more accurate.
In Playback mode, the Simulator judges collisions in all steps and is useful when you need
accurate detection.
The Simulator cannot guarantee the precision but the margin of error in the collision
detection is within 10 mm when you execute motions with Speed 100% on a PC of the
recommended specifications.
Motion duty and Overload error
In the Simulator, you cannot detect the overload error. Even when the motion duty is too
high and the robot should have the overload error and stop, it keeps moving.
Duty 50 % - As a measure of possible duty, the robot can really keep moving at duty 50%
with the maximum acceleration/deceleration speed and without the overload error.
However, it depends on the robot model type, load, points to go to, and
acceleration/deceleration speed setting, etc.
Time progress difference by PC condition
On a PC that meets the system condition, progress of the time in the Simulator and the real
time (as you see on the watch) are almost the same (few percentages difference).
If you are running other applications such as Windows Media Player simultaneously, the
time progress in the Simulator can widely vary from the real time. In this case, use the
Simulator function while other applications are not running.
Also, on some PC models, the time progress in the Simulator may widely vary from the
real time. In this case, set the [Performance] at 16 ms and the [Position Precision] at 20 ms,
which may close the gap of the time progress.
Time confirmation program
(If the two printed times are within 27 to 33 seconds, there is no problem.)
Function main
Print Time$
Wait 30
Print Time$
Fend
Execution on PC below the minimum of specification
You can install the EPSON RC+ and use the Simulator functions on a PC that doesn’t meet
the minimum of the specification.
However, it doesn’t guarantee the correct motions because the following may happen:
Operation time prediction is not accurate
Collision Detection has a large margin of error
3D display skips updates
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8. Simulator
8.4.4 Specification and precaution of EPSON RC+
Restriction on the controller settings
When you connect with a virtual controller, the following items are grayed and become
unavailable to change.
- Setup: Controller: Configuration Page: IP Address, etc.
- Setup: Controller: Preference Page: Dry run, etc.
Backup and restore of the controller setting
The setting data that you backup in the virtual controller cannot be restored in a controller.
Also, the setting data that you backup in a controller cannot be restored in a virtual
controller.
8.4.5 Restriction on SPEL+ command execution
(1) I/O operation and commands (On, Off, SW, Ctr, etc.)
All I/O including the option boards are available in a virtual controller. Operating I/O
data is stored in the PC memory (virtual I/O mode). The I/O input status can be
changed from the EPSON RC+ I/O Monitor window. Also, the I/O input status can
be changed using the SetSw or SetIn statements in a SPEL+ program.
NOTE
Even if you specify an asynchronous On/Off command, the I/O status cannot be
changed after the specified time and the Ctr function always returns 0.

(2) Pallet definition (Pallet statement)
In the Simulator, you can use the Pallet statement as in the controller.
However, once you define a pallet in a project, you cannot clear the pallet definition
unless you use the same project.
Even if you switch to another project, the pallet definition will be redefined when you
come back to the original project.
Simulator
(Virtual controller)
Controller
Timing of a pallet definition
Timing of a pallet reset
When executing a Pallet
statement in a program, etc.
- When building a project
- When turning OFF the controller
- When switching to other project
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When executing a Pallet
statement in a program, etc.
None
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8. Simulator
(3) Ethernet / RS-232C communication command
(Print #, Input #, OpenCom, OpenNet, etc.)
All ports including the option RS-232C board are available in a virtual controller.
However, an Ethernet port requires configuration of the IP address and TCP/IP port.
Ethernet / RS-232C communication commands do not perform actual communication.
Output data from Print #, etc. is saved in the communication output file. In the input
by Input#, etc, the return value is 0 (numeric data) or blank (string). However, if you
create a communication response file, the return value depends on the file content.
Communication output file
When calling OpenCom or OpenNet command, a communication output file is created
in the \EpsonRC\Virtual\Mounted Volume\Project folder on the PC.
DummySend***.dat : Communication output file (*** is the port number)
When a communication output file already exists, the previous output data is deleted.
The file is deleted when you switch the project; save the file in a proper folder if you
need.
When executing the following program,
OpenCom #1
Print #1, 123
Print #1, "TEST DATA"
CloseCom #1
the DummySend001.dat file will contain...
123
TEST DATA
Communication response file
Copy the communication response file to the \EpsonRC\Virtual\Mounted
Volume\Project folder in before running a program. The file is deleted when you
change the project; save the file in another folder if you need to keep it.
When calling OpenCom or OpenNet command, the communication response file is
loaded.
DummyRead***.dat : Communication response file (*** is a port number)
When the following DummyRead001.dat file is used,
321
Test Data
and the following program is executed,
Integer i
String s$
OpenCom #1
Input #1, i
Input #1, s$
CloseCom #1
Print i
Print s$
the return values are i = 321 (numeric data), and s$ = "Test Data" (string).
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8. Simulator
(4) Vision command (VRun, VGet, etc.)
For Vision-related commands, the communication with Smart Camera (SC300 /
SC1200) is not performed and the command quickly executes.
If you execute VGet, the return value is 0 (numeric data) or blank (string).
(5) Other restrictions
For the Wait command, the following syntax is not supported:
Wait InsideBox()
Wait InsidePlane()
For the Time and Date commands, the time can be displayed, but the time setting is
not available.
For the Box command, it always executes the default operation (I/O output On when
the Box approaches) even if you specify the remote output logic.
8.4.6 Specification and precaution of EPSON RC+ 5.0 Trial
Version upgrade from EPSON RC+ 5.0 Trial to EPSON RC+ 5.0
Follow the procedures in Appendix A: Software Installation to upgrade to EPSON RC+ 5.0.
The EPSON RC+ 5.0 Trial version doesn’t need to be uninstalled.
NOTE

You can continue to use the projects and virtual controllers (layout) that you used in the
EPSON RC+ 5.0 Trial in the EPSON RC+ 5.0 Standard version.
Program execution time in EPSON RC+ Trial version
In the Trial version, programs will execute continuously for up to one hour.
If continuous execution is over one hour, the following warning appears.
You can execute the program again after this warning is displayed, and the continuous
execution timer will be reset.
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9. Robot Configuration
9. Robot Configuration
This chapter contains information for configuring robots installed on the controller.
Robots are configured from the Robots folder on the Setup | Controller dialog tree.
9.1 Setting the Robot Model
1. From the Setup Menu, select Controller.
2. Click on the Robot folder in the tree on the left side to open the Robot Model page.
3. Select the model for your robot from the Model dropdown list. Only robot models that
can be used with the amplifiers currently in the controller are listed. When using Dry
Run, all robot models are shown in the list.
4. Click the Apply button to save settings.
5. Click on Robot Configuration in the tree to open the Robot Configuration page.
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.
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9. Robot Configuration
9.2 Calibrating the Robot
EPSON RC+ 5.0 provides a calibration wizard for calculating the robot calibration
parameters Hofs and Calpls.
To calibrate the robot:
1. From the Setup Menu, select Controller.
2. Click on the Robot folder in the tree on the left side to open the Robot Calibration page.
3. Select the joint to calibrate.
4. Click the Calibrate button to start the calibration wizard. The instructions for each
step are shown on the right side of the dialog.
5. Click the Jog button to jog the robot to the approximate zero pulse position, as shown
in the picture.
6. Click the Next button to view the next step.
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9. Robot Configuration
7. For SCARA robots, reset the encoder for the selected joint as described on the dialog.
For 6-axis robots, the encoder for the selected joint is automatically reset.
8. Click the Next button to view the next step. The controller is restarted before step 3 is
displayed.
9. Select a point in the current project. By default, a Jump command will be inserted into
the Motion command to move to reference point text box. You can change this
command as necessary to move to the known reference position.
10. Click the Execute button to execute the motion command to move to the reference
point. Note that the robot will only be close to the reference point, which will be
corrected in the next step.
11. Click the Next button to view the next step.
12. Click the Jog button to carefully jog the robot to the exact reference point position.
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9. Robot Configuration
13. Click the Next button to view the next step.
14. Click the Finish button to save the calibration settings for the selected joint.
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9. Robot Configuration
9.3 Changing Robot System Parameters
The following system parameters for the robot can be changed from EPSON RC+ 5.0:
- Enable/Disable Joints
You can disable one or more joints from Setup | Controller | Robot | Configuration. On
robots with ball screw Z axis, you must disable both joints 3 and 4 together.
- Hofs
Hofs are the joint home offsets. You can view and edit the values from Setup | Controller
| Robot | Hofs. However, it is recommended that you use the Robot Calibration wizard to
set these values. These values are unique for each robot and are supplied from the factory.
Hofs are especially important for SCARA robots because the values determine that both
lefty and righty hand orientation will position the robot at the same point.
- CalPls
CalPls values are joint calibration offsets. You can view and edit the values from Setup |
Controller | Robot | Calpls. However, it is recommended that you use the Robot
Calibration wizard to set these values. These values are unique for each robot and are
supplied from the factory. CalPls values are used to calibrate joint position after
replacing a motor / encoder.
These are one-time settings for each robot. Additional robot parameters can be set from
the Robot Manager.
To change robot parameters, follow these steps
1. Select Controller from the Setup Menu.
2. Under the Robot folder in the tree on the left, select Calibration, Hofs, or CalPls.
3. Perform a calibration or change values for Hofs or CalPls.
4. Click Apply to make the changes permanent.
9.3.1 Saving robot calibration data
You can save and load individual robot calibration files. This is useful for moving a robot
from one controller to another. When you save calibration data, a file is created with an
MPD file extension. This file contains Hofs and CalPls values.
To save robot calibration data
1. Select Controller from the Setup Menu.
2. Under the Robot folder in the tree on the left, select Calibration.
3. Ensure that the robot serial number is correct. The serial number will be used to create
the default file name. 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.
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10. Inputs and Outputs
10. Inputs and Outputs
10.1 Overview
The RC90/RC180 controller I/O has the following types of I/O:
Standard I/O
This digital I/O comes standard with the controller.
Expansion I/O
This is optional digital I/O that can be added to the controller to expand
standard I/O.
For the RC180 controllers, up to four boards can be added, each with
32 inputs and 32 outputs.
For the RC90 controllers, up to two boards can be added, each with 24
inputs and 16 outputs.
Fieldbus I/O
An optional board can be added that supports fieldbus slave mode for
DeviceNet, EtherNetI/P, PROFIBUS-DP, PROFINET, or CC-Link.
EtherNet/IP and PROFINET are not supported by the RC90 controller.
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 controller manual.
10.2 I/O Commands
The SPEL+ language has several commands for inputs and outputs listed below. For
details on each command, see the SPEL+ Language Reference.
Input Commands
In
Reads one byte of input bits.
InBCD
Reads one byte of input bits in Binary Coded Decimal format.
InW
Reads one word of input bits.
Oport
Reads one output bit.
Sw
Reads one input bit.
Output Commands
Off
Turns off one output bit with optional time.
On
Turns on one output bit with optional time.
OpBCD
Sets one byte of output bits in Binary Coded Decimal format.
Out
Sets / reads one byte of output bits.
OutW
Sets / reads one word of output bits.
Memory I/O Commands
MemOff
Turns off one memory bit.
MemOn
Turns on one memory bit.
MemOut
Sets / reads one byte of memory bits.
MemSw
Reads one bit of memory.
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10. Inputs and Outputs
10.3 I/O Configuration
To view the current I/O configuration, select Setup | Controller | Inputs and Outputs. This
will show you what I/O is installed on the controller.
Standard and expansion I/O is automatically configured by the controller.
expansion I/O boards, see the controller manual.
To add
The optional fieldbus I/O board is automatically detected. You must configure the device
ID using a DIP switch on the controller. See the controller manual for details.
10.4 Monitoring I/O
To monitor I/O, use the I/O Monitor tool by selecting Tools | I/O Monitor. From the I/O
monitor, you can view inputs and outputs or memory I/O in bit, byte, and word formats.
You can also configure up to three custom I/O views.
For details on how to use the I/O Monitor tool, see section I/O Monitor Command in the
GUI chapter.
10.5 Virtual I/O
The RC90/RC180 controller supports virtual I/O. When enabled, virtual I/O allows you to
simulate your hardwired I/O. You can turn on / off any input bit or output bit. Normally
this is used when the controller is in Dry Run mode with no robot or I/O connected.
Virtual I/O Commands
250
SetIn
Set the value of an 8 bit input port.
SetInW
Set the value of a 16 bit input port.
SetSw
Set the value of one input bit.
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11. Remote Control
11. Remote Control
11.1 Overview
The controller can be controlled by external equipment using Input/Output, Ethernet
(TCP/IP), and RS-232C. The external equipment can execute several commands,
including Motor On/Off, Start, Pause, Continue, and Stop.
For details on extended function of the remote I/O, refer to EPSON RC+ 5.0 Remote
Control Reference manual.
For use of Ethernet, refer to the section 11.10 Remote Ethernet.
For use of RS-232C, refer to the section 11.11 Remote RS232.
This section to 11.9 Remote Input Handshake timing describes the Remote control using
Input/Output.
There are two steps required for remote control:
1. Configure Remote Control inputs and outputs using the Remote Control tab on the
Setup | Controller | Remote Control page.
Inputs and outputs from 0 to 7 are initially assigned to remote functions. Change the
setting if needed.
2. Set the control device to remote on the Setup | Controller | Configuration page.
To enable external remote inputs, assign the remote functions and also set the control
device to remote. When control device setting is remote, the controller is only
controllable from the remote device.
Remote control function can be used in the following systems.
Example: Control the robot from a PLC
Use remote control to control the robot (controller) from a PLC.
When using a PLC, you will need to be familiar with the handshake required to use
remote inputs. See details below.
Example: Control the robot using a push button box with buttons and lights
The lights are connected to remote control outputs on the controller to indicate status,
such as AutoMode, MotorOn, Error, etc. The buttons are connected to remote inputs to
control motor power and start programs.
For details of each I/O connection, refer to the following:
Controller manual - Setup & Operation: I/O Connector
I/O Remote Set Up
Expansion I/O Board
Fieldbus I/O Board
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11. Remote Control
11.2 Remote Control Input Output Configuration
This is the procedure to assign the remote functions to the I/O.
1. Select Controller from the Setup Menu and select the Remote Control Inputs or
Remote Control Outputs page.
2. For each input or output you want to use for remote control, click on the Input # or
Output # cell for the desired signal, then click the arrow and select a bit number.
3. Click OK to save the new settings.
For details of dialog setting, refer to 5.12.2 Controller Command (Setup Menu).
11.3 Control Device Configuration
This is the procedure to set the control device to “Remote I/O”.
1. 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.
2. Click Apply to save the new setting and the click Close.
For details of setting, refer to 5.12.2 Controller Command (Setup Menu).
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11. Remote Control
11.4 Auto Mode with Remote Control
To run in auto cycle with remote control
1. The host device (e.g. PLC) should wait for the AutoMode or Ready remote output to
turn on before issuing remote commands.
2. Now the remote input commands will be accepted.
To monitor remote operation from the EPSON RC+ 5.0 Operator Window
1. Set the EPSON RC+ 5.0 Start Up Mode to Auto. See the section Start Up Mode in the
chapter Operation for details.
2. The PC should also be configured to auto log into Windows and start EPSON RC+ 5.0
during Windows start. See the section Start Up Mode in the chapter Operation for
details.
11.5 Teach Mode with Remote Control
When using Teach Mode with remote control, when Teach mode is ON, no remote input
commands can be used. Remote status outputs will still operate.
WARNING
■ Remote status outputs (such as MotorOn, Home, etc.) will operate when Teach
Mode is ON, even when the enable switch (dead man) is disengaged.
Therefore, DO NOT use remote status outputs to drive any devices that cause
motion or any other safety hazard.
You can monitor teach mode status using the TeachMode remote output.
11.6 Debugging Remote Control
You can debug programs using Remote Control from the EPSON RC+ 5.0 development
environment.
To run programs by remote control for debugging:
1. Create a program (in the same procedure as usual).
2. Open the Run Window and click Enable Remote I/O.
3. Now the remote commands will be accepted.
You can set breakpoints and print messages to the run window.
NOTE

If you cannot wire the I/O, use virtual I/O mode for debugging. Remote function is also
available when virtual I/O is enabled.
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11. Remote Control
11.7 Remote Inputs
Remote inputs are used to control the Manipulators and start programs. Certain conditions
must be met before inputs are enabled, as shown in the table below.
To accept external remote inputs, assign the remote function and set remote to the control
device. When external remote input is available , “AutoMode output” turns ON.
Except “SelProg”, the signals execute each function when the signal starts in input
acceptance condition. The function executes automatically. Therefore, no special
programming is needed.
NOTE

Name
When an error occurs, you must execute a “Reset” to clear the error condition before any
other remote input commands can be executed. Use the “Error output” and “Reset input”
to monitor the error status and clear error conditions from the remote device.
Initial
Input Acceptance Condition (*1)
Description
Executes function selected at SelProg.(*2 Ready output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
Pause input OFF
Stop input OFF
Specifies the executing Main function
number.
(*2)
Start
0
SelProg1
SelProg2
SelProg4
1
2
3
Stop
4
Stops all tasks and commands.
Pause
5
Pauses all tasks.
Continue
6
Reset
7
(*3)
Continues the paused task.
Resets emergency stop and error. (*4)
Turns ON robot motors.
SetMotorsOn
Not Set
SetMotorsOff
Not Set
(*5)
Turns OFF robot motors.
Moves the Robot Arm to the home
position defined by the user.
Home
Not Set
Running output ON
Paused output ON
Pause input OFF
Stop input OFF
Ready output ON
Ready output ON
EStopOn output OFF
SafeguardOn output OFF
SetMotorsOff input OFF
Ready output ON
Ready output ON
Error output OFF
EStopOn output OFF
SafeguardOn output OFF
MotorsOn output ON
Pause input OFF
Stop input OFF
ForcePowerLow
(*6)
254
Not Set
Stops all tasks and commands.
Sets the motor power at Low.
The status is Low power mode while
the input is ON even executing Power
High command.
Any time
This input is acceptable even
AutoMode output is OFF.
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11. Remote Control
Name
ALIVE
Input Acceptance Condition (*1)
Initial
Description
Not Set
Input signal for alive monitoring of the
controller. Same signal as the input
will be output to ALIVE output. The
master equipment can perform alive
monitoring of the controller by
switching the input periodically and
checking the output signal.
(*1) “AutoMode output” ON is omitted from the table. This is an input acceptance condition for all functions.
(*2) “Start input” executes Function specified by the “SelPlog1, 2, 4, and 3” bits.
Function
Main
Main1
Main2
Main3
Main4
Main5
Main6
Main7
SelProg1
SelProg2
SelProg4
0
1
0
1
0
1
0
1
0
0
1
1
0
0
1
1
0
0
0
0
1
1
1
1
0=OFF, 1=ON
(*3) “NoPause task” and “NoEmgAbort task” do not pause.
For details, refer to EPSON RC+ 5.0 Online Help or Pause in SPEL+ Language Reference.
(*4) Turns OFF the I/O output and initializes the robot parameter.
For details, refer to EPSON RC+ 5.0 Online Help or Reset in SPEL+ Language Reference.
(*5) Initializes the robot parameter.
For details, refer to EPSON RC+ 5.0 Online Help or Motor in SPEL+ Language Reference.
(*6) This is for the experienced. Make sure that you fully understand the input specification before using.
When the input changes from ON to OFF, all tasks and commands will stop.
It is supported by EPSON RC+ 5.0 Ver.5.4 and Firmware Ver. 1.10.*.*.
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11. Remote Control
11.8 Remote Outputs
Remote outputs provide status for the Manipulator and Controller.
Remote outputs provide the assigned function using with any control device The outputs
execute automatically. Therefore, no special programming is needed.
Name
Initial
Description
Turns ON when the controller startup completes and no
task is running.
Turns ON when task is running.
However, turns OFF when “Paused output” is OFF.
Turns ON when pause task exists.
Ready
0
Running
1
Paused
2
Error
3
EStopOn
4
Turns ON when an error occurs.
Use “Reset input” to recover from the error.
Turns ON at Emergency Stop.
SafeguardOn
5
Turns ON when the safeguard is open.
SError
6
Warnig
7
MotorsOn
Not set
Turns ON when critical error occurs.
When a critical error occurs, “Reset input” does not
function. Reboot the controller to recover.
Turns ON when warning occurs.
The task runs as normal with the warning. However, be
sure to eliminate the cause of the warning as soon as
possible.
Turns ON when the motor is ON.
AtHome
Not set
Turns ON when the robot is in the home position.
CurrProg1
CurrProg2
CurrProg4
Not set
Indicates the running or the last main function number
(*1)
AutoMode
Not set
Turns ON in remote input acceptable status.
TeachMode
Not set
Turns ON in TEACH mode.
ErrorCode1
.
.
.
ErrorCode8192
Indicates the error number.
Not set
InsideBox1 (*3)
.
.
.
Not set
InsideBox15
InsidePlane1(*3)
.
.
.
(*2)
Turns ON when the robot is in the approach check area.
For details, refer to EPSON RC+ 5.0 Online Help or Box
in SPEL+ Language Reference.
Not set
Turns ON when the robot is in the approach check plane.
For details, refer to EPSON RC+ 5.0 Online Help or
Plane in SPEL+ Language Reference.
Not set
Turns ON when the power status is High.
Not set
Output signal for alive monitoring of the controller. The
signal input by ALIVE input will be output. The master
equipment can perform alive monitoring of the controller
by switching the input periodically and checking the
output signal.
InsidePlane15
Power High (*4)
ALIVE
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11. Remote Control
(*1) Outputs the current or the last function number of CurrProg1, CurrProg2, or CurrProg4.
Function
CurrProg1
CurrProg2
CurrProg4
Main
Main1
Main2
Main3
Main4
Main5
Main6
Main7
0
1
0
1
0
1
0
1
0
0
1
1
0
0
1
1
0
0
0
0
1
1
1
1
0=OFF, 1=ON
(*2) Remote function is available in the followings conditions.
- The setting is Auto mode and the control device is remote.
- The setting is Program mode and Remote I/O is enabled.
(*3) When the Controller firmware version is Ver.1.4.*.* or before, the remote outputs do not provide
InsideBox1 to 15 and InsidePlane1 to 15.
(*4) It is supported by EPSON RC+ 5.0 Ver.5.4 and Firmware Ver. 1.10.*.*.
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257
11. Remote Control
11.9 Remote Input Handshake Timing
The following charts indicate the timing sequences for the primary operations of the
Controller.
The indicated time lapses (time durations) should be referred to only as reference values
since the actual timing values vary depending on the number of tasks running, as well as
CPU speed of the Controller. Check carefully and refer to the following charts for the
timing interrelation when you enter an input signal.
During system design, make sure that you actuate only one remote input operation at a
time, otherwise an error will occur.
The pulse width of an input signal must be 25 or more milliseconds to be detected.
[Unit: msec]
Timing Diagram for Operation Execution Sequence
MotorsOn
Output
AtHome
Output
940
924
Depending on
HOME motion
SetMotorsOn
Input
SetMotorsOff
Input
Home
Input
Timing Diagram for Program Execution Sequence
Ready
Output
17
CurrProg1
Output
13
Running
Output
17
* Paused
Output
162
107
16
107
15
162
SelProg1
Input
Start
Input
Pause
Input
Continue
Input
Stop
Input
* The duration varies depending on the Quick Pause (QP) setting and the program’s
operating status at the time of Pause input
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11. Remote Control
Timing Diagram for Safety Door Input Sequence
Running
Output
Paused
Output
SafeguardOn
Output
MotorsOn
Output
1052
11
1052
11
9
8
500
928
Safety Input
Latch Input
Continue
Input
Timing Diagram for Emergency Stop Sequence
Running
Output
MotorsOn
Output
EStopOn
Output
Emergency Input
920
7
5
9
Reset
Input
If an error occurs, the Error output will turn on. To clear the error, you must turn on the
Reset input. No other inputs will be accepted when there is an error condition.
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259
11. Remote Control
11.10 Remote Ethernet
Remote Ethernet makes it possible to control the robot and controller from external
equipment by sending the remote commands through Ethernet (TCP/IP).
To set the remote Ethernet functions valid, follow the procedures below to configure the
parameter.
(1) Select Controller from the Setup Menu and select the Remote Ethernet page.
(2) Configure the necessary items for the remote Ethernet control.
(3) Click Apply to save the new setting and click Close.
For the details of the dialog setting, refer to the section 5.12.2 Controller (Setup menu) Setup: Controller: Remote.
Following setting for the control device is not necessary when you select “Use only for
monitoring”, and only acquire the value using the Remote Ethernet control.
Set the control device to “Remote Ethernet” by the following procedure.
(1) Select Controller from the Setup Menu and select Controller Configuration page.
Select “Remote Ethernet” in the [Controller device] box.
(2) Click Apply button to save the new settings, click Close.
For the details of the dialog setting, refer to the section 5.12.2 Controller (Setup menu) Setup: Controller: Setup.
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11. Remote Control
Set the remote control available by the following procedure.
(1) Connect from client equipment to the specified port in the Remote Ethernet of the
Controller.
(2) Specify the password set in the Remote Ethernet to the parameter and send the Login
command.
(3) Client equipment has to wait until Auto (GetStatus command response) is ON, before
execution of remote command.
(4) Now remote command will be accepted.
Each command executes the function the input acceptance condition.
Program debug from EPSON RC+ 5.0 development environment is capable as follows.
(1) Build a program as usual.
(2) Open the Run window and Click the Ethernet Enable button.
When you only acquire the value using the Remote Ethernet control, the Ethernet
Enable button is not displayed. Click the Start button of the device specified as the
control device.
(3) Now remote command will be accepted.
Brakepoint setting and output to the Run window is available.
NOTE

If not Login within 5 minutes from external equipment, the connection will be cut down
automatically. After Login, if no command is send within the timeout duration of the
remote Ethernet, connection will be cut down. In this case, establish the connection again.
If error occurs execute the Reset command to clear the error condition before executing the
operation command. To clear the error condition from external equipment by monitoring,
use the “GetStatus” and “Reset” command.
WARNING
■ If you set “0” in the [Timeout] box, time out duration is infinite. In this case, the
task continues to execute even without the communication from client. This
means the robot may keep moving and cause unexpected damage. Ensure the
ways other than the communication to stop the task.
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11. Remote Control
Remote command
Format: $ remote command {, parameter....} terminator
Remote
command
Login
Parameter
password
Logout
Start
Contents
Start the Controller Remote Ethernet function
Authentication by password
Execute Login correctly, commands execution is enabled
until Logout
Exit Controller Remote Ethernet function
After Logout, execute the Login command to start remote
Ethernet function.
Logout during task execution causes an error.
Execute the function of specified number
(*2)
Function
No.
Stop
Stop all tasks and commands
Pause all tasks
Pause
(*3)
Continue paused tasks
Continue
Reset
Clear emergency stop and error
(*4)
Turn ON the robot motor
(*5)
SetMotorsOn
Turn OFF the robot motor
SetMotorsOff
Move the arm to home position defined by user
Home
GetIO
I/O bit No.
SetIO
I/O bit No.
& value
GetIOByte
SetIOByte
GetIOWord
262
I/O port
Acquire the specified I/O bit
Set the I/O specified bit
1: Turn ON the bit
0: Turn OFF the bit
Acquire the specified I/O port (8 bit)
(*8)
I/O word
port No.
Available any
time (*10)
Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard ON
Auto ON
Auto ON
Running ON
Auto ON
Paused ON
Auto ON
Ready ON
Auto ON
Ready ON
EStop OFF
Safeguard OFF
Auto ON
Ready ON
Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard OFF
Available any
time (*10)
Ready ON
Available any
time (*10)
No.
I/O port
No. & value
Input acceptance
condition (*1)
Available any
time (*10)
Set the I/O specified port (8 bit)
(*8)
Ready ON
Acquire the specified I/O word port (16 bit)
(*8)
Available any
time (*10)
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
11. Remote Control
Remote
command
Parameter
I/O word
SetIOWord
Contents
Set the I/O specified word port (8 bit)
(*8)
Acquire the specified memory I/O bit
(*8)
port No. &
Input acceptance
condition (*1)
Auto ON
Ready ON
value
GetMemIO
Memory
SetMemIO
I/O bit No.
& value
GetMemIOByte
Memory
Set the specified memory I/O bit
1: Turn ON the bit
0: Turn OFF the bit
(*8)
Auto ON
Ready ON
Acquire the specified memory I/O port
(*8)
Available any
time (*10)
I/O port No.
Memory
SetMemIOByte
time (*10)
I/O bit No.
Memory
Available any
Set the specified memory I/O port (8 bit)
(*8)
Auto ON
Ready ON
Acquire the specified memory I/O word port (16 bit)
(*8)
Available any
I/O port No.
& value
Memory
GetMemIOWord
I/O word
time (*10)
port No.
Memory
SetMemIOWord
(*8)
I/O word
Auto ON
Ready ON
port No. &
value
Parameter
name
{, type}
Acquire the value of backup (Global Preserve) parameter
(*6)
[Parameter
Acquire the value of backup (Global Preserve)
array parameter
name]
GetVariable
Set the specified memory I/O word port (16 bit)
Available any
time (*10)
(*7)
(Array
element),
[Parameter
name type],
[Number to
SetVariable
acquire]
Parameter
name &
Value
{, type}
GetStatus
Set the value in the backup (Global Preserve) parameter
(*6)
Auto ON
Ready ON
Acquire the Controller state
Available any
time (*10)
Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard OFF
Auto ON
Execute the command
Execute
Abort
(*8) (*9)
Command
string
Abort the command execution
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
(*8)
263
11. Remote Control
(*1) The Controller state bit from GetStatus.
(*2) Execute the function specified in the Main[Function No.].
Function Name
Main
Main1
Main2
Main3
Main4
Main5
Main6
Main7
Function No.
0
1
2
3
4
5
6
7
(*3) Pause command is not available for “NoPause task” and “NoEmgAbort task”.
For the details, refer to the help or the section “Pause” in the EPSON RC+5.0 Language reference manual.
(*4) I/O output will be turned OFF and the robot parameter will be initialized.
For the details, refer to the help or the section “Reset” in the EPSON RC+5.0 Language reference manual.
(*5) The robot parameter will be initialized.
For the details, refer to the help or the section “Motor” in the EPSON RC+5.0 Language reference manual.
(*6) Parameter type means {Boolean | Byte | Double | Integer | Long | Real | String}.
Type specified: for the backup parameters when the parameter name and type are same.
Type not specified: for the backup parameters when the parameter names are same.
(*7) Acquiring the value of array parameter is supported in the firmware Ver.1.10.*.* or later.
For the array element, specify an element you acquire as the following:
You need to specify an element if when acquiring from the head of the array.
1D array
2D array
3D array
Parameter name (0)
Parameter name
(Element number)
Parameter name (0,0)
Parameter name
(Element number 1, 2)
Parameter name (0,0,0)
Parameter name
(Element number 1, 2, 3)
Acquire from the head.
Acquire from the specified element number.
Acquire from the head.
Acquire from the specified element number.
Acquire from the head.
Acquire from the specified element number.
You cannot omit the parameter type and number to acquire.
You cannot specify a string for the parameter type.
Available number to acquire is up to 100. If you specify a number over the number of array elements, you
have an error.
e.g.) "$GetVariable,gby2(3,0),Byte,3"
It acquires values of gby2(3,0), gby2(3,1), gby2(3,2) of Byte type 2D array parameter gby2.
(*8) Following functions are supported in the firmware 1.13.*.* or later.
- Acquiring and setting I/O port,
- Acquiring and setting I/O word port,
- Acquiring and setting memory I/O,
- Acquiring and setting memory I/O port,
- Acquiring and setting memory I/O word port,
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11. Remote Control
- Execution and abortion of command
(*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
SetIO
SetIOByte
SetIOWord
SetMemIO
SetMemIOByte
SetMemIOWord
When the commands specified in (SetIO, SetIOByte, SetIOWord, SetMemIO, SetMemIOByte,
SetMemIOWrod) are the same and executed at the same time, the command executed later will result in
error. Make sure to check the execution result by using GetStatus after the execution of Execute
command and output command which the Execute command is being executed.
(*10) “Available anytime” applies only when the following conditions are met.
When “Remote Ethernet” is set as the control device,
or
“Remote Ethernet” is not set as the control device, but set to be used for monitoring.
Commands available for monitoring
When the Remote Ethernet control is not set as the control device but set to be used for
monitoring, following commands are only available to be executed.
Remote command
Login
Logout
GetIO
GetIOByte
GetIOWord
GetMemIO
GetMemIOByte
GetMemIOWord
GetVariable
GetStatus
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265
11. Remote Control
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
#[Remote command],[0] terminator
GetIO
#GetIO,[0 | 1] terminator
*1
GetMemIO
#GetMemIO,[0 | 1] terminator
*1
GetIOByte
#GetIOByte,[ Hex string (00 to FF) of Byte (8Bit)]
terminator
GetMemIOByte
#GetMemIOByte,[ Hex string (00 to FF) of Byte
(8Bit)] terminator
GetIOWord
#GetIOWord,[ Hex string (0000 to FFFF) of Word
(16Bit)] terminator
GetIOMemWord
#GetMemIOWord,[ Hex string (0000 to FFFF) of
Word (16Bit)] terminator
GetVariable
# GetVariable,[Parameter value] terminator
GetVariable (in case of array)
# GetVariable,[ Parameter value 1],[ Parameter
value 2],...,terminator
GetStatus
#GetStatus,[Status],[Error, Warning code] tenimator
Example) #GetStatus,aaaaaaaaaa,bbbb
*2
*3
*4
If the value is returned as a result of command
execution
Execute
#Execute,”[Execution result]” terminator
*1
[0 | 1] I/O bit ON: 1/ OFF: 0
*2
Status
In the example above, 10 digits “aaaaaaaaaa” is for the following 10 flags.
Teach/Auto/Warning/SError/Safeguard/EStop/Error/Paused/Running/Ready
1 is ON /0 is OFF
If Teach and Auto are ON, it is 1100000000.
*3
Error / Warning code
It is indicated in 4 digits. If there is no error and warning, it is 0000.
e.g.)1 : #GetStatus,0100000001,0000
The bits for Auto and Ready us ON (1).
This means that AutoMode is ON and be in Ready state. Command execution is
enabled.
e.g.)2 : #GetStatus,0110000010,0517
This means the warning occurs during the operation. Take appropriate action for
the warning code. (In this case, warning code is 0517 )
Flag
Teach
Auto
266
Contents
Turn ON in the TEACH mode
Turn ON in the remote input acceptance condition
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
11. Remote Control
Flag
Warnig
SError
Safeguard
EStop
Error
Paused
Running
Ready
*4
Contents
Turn ON in the warning condition
Task can be executed as usual even a warning condition. However, take
action for the warning as soon as possible.
Turn ON in the serious error condition
When a serious error occurs, Reboot the Controller to recover from the
error condition. “Reset input” is not available.
Turn ON with safety door open
Turn ON in the emergency condition
Turn ON in the error condition
Use “Reset input” to recover from the error condition.
Turn ON with paused task
Turn ON with task executing
Turn OFF when “Paused output” is ON
Turn ON with the Controller completed the startup and no task executing
It returns values of specified number in the Number to acquire.
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267
11. Remote Control
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
10
11
12
13
14
Contents
Remote command does not begin with $
Remote command is wrong
Login is not executed
Remote command format is wrong
Login command password is wrong
Specified number to acquire is out of range
(Less than 1 or more than 100)
Number to acquire is omitted
Specified a string parameter
15
19
20
21
99
Parameter is not existed
Dimension of parameter is wrong
Element out of range is called
Request time out
Controller is not ready
Cannot execute since the Execute is running
System error
Communication error
Communication sequence
(1) Login
Controller
Ethernet Client
IP zzz.zzz.zzz.zzz
(2) Response
IP xxx.xxx.xxx.xxx
(3) Command request
(4) Response
:
Request from
zzz.zzz.zzz.zzz:zz
is only available
:
(5) Logout
(6) Response
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11. Remote Control
11.11 Remote RS232
Remote RS232 makes it possible to control the robot and controller from external
equipment by sending the remote commands through RS-232C.
To set the remote RS232 functions valid, follow the procedures below to configure the
parameter.
(1) Select Controller from the Setup Menu and select the Remote RS232 page.
(2) Configure the necessary items for the remote RS232 control.
(3) Click Apply to save the new setting and click Close.
For the details of the dialog setting, refer to the section 5.12.2 Controller (Setup menu) Setup: Controller: Remote.
Following setting for the control device is not necessary when you select “Use only for
monitoring”, and only acquire the value using the remote RS232 control.
Set the control device to “Remote RS232” by the following procedure.
(1) Select Controller from the Setup Menu and select Controller Configuration page.
Select “Remote RS232” in the [Controller device] box.
(2) Click Apply button to save the new settings, click Close.
For the details of the dialog setting, refer to the section 5.12.2 Controller (Setup menu) Setup: Controller: Setup.
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269
11. Remote Control
Set the remote control available by the following procedure.
(1) Open RS-232C port that is connected from client equipment to the specified port in the
Remote RS232 of the Controller, using the communication parameter specified in the
RS-232C port setting.
(2) Send the remote start command (EOT).
(3) Specify the password set in the Remote RS232 to the parameter and send the Login
command.
(4) Client equipment has to wait until Auto (GetStatus command response) is ON, before
execution of remote command.
(5) Now remote command will be accepted.
Each command executes the function when the input acceptance condition is satisfied.
Program debug from EPSON RC+ 5.0 development environment is capable as follows.
(1) Build a program as usual.
(2) Open the Run window and Click the RS232 Enable button.
When you only acquire the value using the Remote RS232 control, the RS232 Enable
button is not displayed. Click the Start button of the device specified as the control
device.
(3) Now remote command will be accepted.
Brakepoint setting and output to the Run window is available.
NOTE

WARNING
After Login, if no command is send within the timeout duration of the RS-232C, the
timeout error will be returned. In this case, re-execute from sending remote start command.
If error occurs, execute the Reset command to clear the error condition before executing
the operation command. To clear the error condition from external equipment by
monitoring, use the “GetStatus” and “Reset” command.
■ If you set “0” in the [Timeout] box, time out duration is infinite. In this case, the
task continues to execute even without the communication from client. This
means the robot may keep moving and cause unexpected damage. Ensure the
ways other than the communication to stop the task.
Remote Command
Remote start
Start the Remote RS232function of the Controller.
EOT
1byte
EOT : &H04(&H is hexadecimal)
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11. Remote Control
Request format
STX
Command
Data
ETX
BCC
1byte
1Byte
Variable
1Byte
1Byte
STX : &H02
ETX : &H03
BCC : Checksum of sent and received data
XOR value from the command to ETX per 1Byte
Remote
Send
Command
command
Input
Data
&H4C
Authentication by password
password
Execute Login correctly, commands execution is
enabled until Logout
Logout
‘l’
After Logout, execute the Login command to
&H6C
start remote RS232 function.
‘G’
Execute the function of specified number
Logout during task execution causes an error.
&H47
Start
Stop
Pause
Continue
Reset
Function No.
(1Byte)
‘Q’
Acceptance
Condition (*1)
‘L’
Login
Description
Example) Execute ‘main’
&H02&H47&H00&H03&H44
Stop all tasks and commands
Available any
time
(*10)
Available any
time
(*10)
( Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard ON
Auto ON
&H51
‘P’
Pause all tasks
&H50
‘C’
Continue paused tasks
&H43
‘R’
( Auto ON
Ready ON
Turn ON the robot motor
( Auto ON
Ready ON
EStop OFF
Safeguard
&H4D
SetMotorsOn
SetMotorsOf
‘N’
f
&H4E
‘H’
Auto ON
Paused ON
Clear emergency stop and error
&H52
‘M’
( Auto ON
Running ON
Turn OFF the robot motor
Move the arm to home position defined by user
&H48
Home
OFF
Auto ON
Ready ON
Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard
OFF
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271
11. Remote Control
Remote
Send
Command
command
‘i’
GetIO
&H69
‘I’
&H49
SetIO
Input
Data
I/O bit No.
(2Byte)
[I/O bit
No.](2Byte)
(1Byte)
GetIOByte
SetIOByte
&H62
Acceptance
Condition (*1)
[value]
‘b’
Description
I/O port
No.(1Byte)
Example) Acquire the I/O bit 1
&H02&H69&H0001&H03&H6B
Set the I/O specified bit
&H01: Turn ON the bit
&H00: Turn OFF the bit
Auto ON
Ready ON
Example) Turn ON the I/O bit 1
&H02&H49&H0001&H01&H03&H4A
Acquire the specified I/O port (8 bit)
(*8)
Example) Acquire the I/O port 1
Available any
time (*10)
&H02&H62&H01&H03&H60
‘B’
[I/O port
Set the I/O specified port (8 bit) (*8)
&H42
No.](1Byte)
Example) Set &H0F to the I/O port 1
[value]
Available any
time
(*10)
Acquire the specified I/O bit
Auto ON
Ready ON
&H02&H42&H01&H0F&H03&H4F
(1Byte)
GetIOWord
‘w’
I/O word
Acquire the specified I/O word port (16 bit) (*8)
&H77
Port No.
Example) Acquire the I/O word port 1
(1Byte)
&H02&H77&H01&H03&H75
‘W’
[I/O word
Set the I/O specified word port (16 bit)
&H57
port No.]
Example) Set &H010F to the I/O word port 1
(1Byte)
&H02&H57&H01&H010F&H03&H5B
SetIOWord
(*8)
Available any
time (*10)
Auto ON
Ready ON
[value]
(2Byte)
GetMemIO
‘o’
Memory I/O
Acquire the specified memory I/O bit
&H6F
bit No.
Example) Acquire memory I/O bit 1
(2Byte)
&H02&H6F&H0001&H03&H6D
‘O’
&H4F
SetMemIO
[Memory I/O
bit No.]
(2Byte)[value]
(1Byte)
GetMemIOB
yte
SetMemIOB
Set the I/O specified bit
&H01: Turn ON the bit
&H00: Turn OFF the bit
(*8)
Available any
time (*10)
(*8)
Auto ON
Ready ON
Example) Turn ON the memory I/O bit 1
‘t’
Memory I/O
&H74
port No.
&H02&H4F&H0001&H01&H03&H4C
Acquire the specified memory I/O port (8 bit) (*8) Available any
time (*10)
Example) Acquire the memory I/O port 1
(1Byte)
&H02&H74&H01&H03&H76
‘T’
[Memory I/O
Set the I/O specified port (8 bit)
&H54
port No.]
Example) Set &H0F to the memory I/O port 1
(1Byte)[value]
&H02&H54&H01&H0F&H03&H59
yte
(*8)
Auto ON
Ready ON
(1Byte)
‘u’
GetMemIO
Word
272
&H75
Memory I/O
word port
No.(1Byte)
Available any
Acquire the specified memory I/O word port
(16 bit)
(*8)
time (*10)
Example) Acquire the memory I/O word port 1
&H02&H75&H01&H03&H77
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
11. Remote Control
Remote
Send
Command
command
SetMemIOW
Input
Data
Description
Acceptance
Condition (*1)
‘U’
[Memory I/O
Set the I/O specified word port (16 bit)
&H55
word port No.]
Example) Set &H010F to the memory I/O word
(1Byte)
port 1
[value](1Byte)
&H02&H55&H01&H010F&H03&H59
ord
‘v’
&H76
Auto ON
Ready ON
(*8)
Available any
Acquire the value of backup (Global Preserve)
( time (*10)
[Parameter
parameter
name],(&H2C)
Example) Acquire the Global Integer g_Status
[type](1Byte)
&H02&H76&H67&H5F&H53&H74&H61&H74
&H75&H73&H2C&H03&H03&H56
Acquire the value of backup (Global Preserve)
[Parameter
name] (&H2C)
(Array
GetVariable
element)
(&H2C),
[Parameter
type](1Byte),
(&H2C)
[Number to
acquire]
(2Byte)
array parameter
(
Example) Acquire all of Global Integer
g_intArray(10)
&H02&H76&H67&H5F&H69&H6E&H74&H41
&H72&H72&H61&H79&H2C
&H0000&H2C&H03&H2C&H000A&H03&H42
E
Example) Acquire 10 elements from elements
(3,5,0) of Global Integer g_int3Array(10,10,10)
&H02&H76&H67&H5F&H69&H6E&H74&H33
&H41&H72&H72&H61&H79&H2C
&H0003&H2C&H0005&H2C&H0000&H2C&H
03&H2C&H000A&H03&H77
‘V’
[Parameter
&H56
name], (&H2C) parameter
[value]
Example) Set &H0 to Global Integer g_Status
SetVariable
GetStatus
Set the value in the backup (Global Preserve)
(type size)
&H02&H56&H67&H5F&H53&H74&H61&H74
(&H2C),[type]
&H75&H73&H2C&H0000&H2C&H03&H03&
(1Byte)
H5A
‘S’
Available any
Acquire the Controller state
&H53
‘X’
Execute the command
&H58
Example) Execute ‘print here’
(*8) (*9)
Command string &H02&H58&H22&H70&H72&H69&H6E&H7
4&H20&H68&H65&H72&H65&H22&H03&H
Execute
10
Abort
‘A’
Abort the command execution
Auto ON
( Ready ON
(*8)
time (*10)
Auto ON
Ready ON
Error OFF
EStop OFF
Safeguard
OFF
Auto ON
&H41
(*1) The Controller state bit from GetStatus.
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11. Remote Control
(*2) Execute the function specified in the Main[Function No.].
Function Name
Main
Main1
Main2
Main3
Main4
Main5
Main6
Main7
Function No.
0
1
2
3
4
5
6
7
(*3) Pause command is not available for “NoPause task” and “NoEmgAbort task”.
For the details, refer to the help or the section “Pause” in the EPSON RC+5.0 Language reference manual.
(*4) I/O output will be turned OFF and the robot parameter will be initialized.
For the details, refer to the help or the section “Reset” in the EPSON RC+5.0 Language reference manual.
(*5) The robot parameter will be initialized.
For the details, refer to the help or the section “Motor” in the EPSON RC+5.0 Language reference manual.
(*6) Parameter type
Parameter type
Boolean
Byte
Double
Integer
Long
Real
String
Type value(1Byte)
&H00
&H01
&H02
&H03
&H04
&H05
&H06
For the backup parameters when the parameter name and type are same.
(*7) For the array element, specify an element you acquire as the following:
You need to specify an element when acquiring from the head of the array.
Specify the array element in 2Byte value.
1D array
Parameter name&H2C&H0000
Parameter name, element number.
2D array
Parameter name
&H2C&H0000&H2C&H0000
Parameter name, element number 1, element
number 2
Parameter name
&H2C&H0000&H2C&H0000&H2C&H0000
Parameter name, element number 1, element
number 2, element number 3
3D array
Acquire from the head.
Acquire from the specified
element number.
Acquire from the head.
Acquire from the specified
element number.
Acquire from the head.
Acquire from the specified
element number.
You cannot specify a string for the parameter type.
Available number to acquire is up to 100. If you specify a number over the number of array elements, you
have an error.
(*8) Following functions are supported in the firmware 1.13.*.* or later.
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11. Remote Control
- Acquiring and setting I/O port,
- Acquiring and setting I/O word port,
- Acquiring and setting memory I/O,
- Acquiring and setting memory I/O port,
- Acquiring and setting memory I/O word port,
- Execution and abortion of command
(*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
SetIO
SetIOByte
SetIOWord
SetMemIO
SetMemIOByte
SetMemIOWord
When the commands specified in (SetIO, SetIOByte, SetIOWord, SetMemIO, SetMemIOByte,
SetMemIOWrod) are the same and executed at the same time, the command executed later will result
in error. Make sure to check the execution result by using GetStatus after the execution of Execute
command and output command which the Execute command is being executed.
(*10) “Available any time” applies only when the following conditions are met.
When “Remote RS232” is set as the control device,
or
“Remote RS232” is not set as the control device, but set to be used for monitoring.
Commands available for monitoring
When the Remote RS232 control is not set as the control device but set to be used for
monitoring, following commands are only available to execute.
Remote command
Login
Logout
GetIO
GetIOByte
GetIOWord
GetMemIO
GetMemIOByte
GetMemIOWord
GetVariable
GetStatus
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11. Remote Control
Response
When the Controller receives the command correctly, the response in the following format
is shown in the executing command.
Response Format
ACK
Command
Data
ETX
BCC
1Byte
1Byte
Variable
1Byte
1Byte
ACK : &H06
ETX : &H03
BCC : Checksum of sent and received data
XOR value from the command to ETX per 1Byte
Command
Remote command that acquire
the value
Format
[ACK][Command](1Byte)[ETX][BCC]
Except GetIO, GetVariable, and
GetStatus
GetIO
[ACK] ‘i’[&H00 | &H01] [ETX][BCC]
*1
GetMemIO
[ACK] ‘o’[&H00 | &H01] [ETX][BCC]
*1
GetIOByte
[ACK] ‘b’[ Byte value(8Bit) (&H00~&HFF)]
[ETX][BCC]
GetMemIOByte
[ACK] ‘t’[ Byte value(8Bit) (&H00~&HFF)]
[ETX][BCC]
GetIOWord
[ACK] ‘w’[ Word value(16Bit) (&H0000~
&HFFFF)] [ETX][BCC]
GetIOMemWord
[ACK] ‘u’[ Word value(16Bit) (&H0000~
&HFFFF)] [ETX][BCC]
GetVariable
[ACK] ‘u’[parameter] [ETX][BCC]
GetVariable (in case of array)
[ACK] ‘u’[parameter 1][parameter 2]...
[ETX][BCC]
GetStatus
[ACK] ‘S’ [Status],[Error, Warning code]
[ETX][BCC]
Example) [ACK]
‘S’[aaaaaaaaaa][bbbb][ETX][BCC]
*2
Execute
*4
*3
If the value is returned as a result of command
execution
[ACK] ‘X’”[Execution result]” [ETX][BCC]
276
*1
[&H00 | &H01] I/O bit ON: &H01/ OFF: &H00
*2
Status
In the example above, 10 digits [aaaaaaaaaa] is for the following 10 flags.
Teach/Auto/Warning/SError/Safeguard/EStop/Error/Paused/Running/Ready
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11. Remote Control
&H01 is ON /&H00 is OFF
If Teach and Auto are ON, it is
[&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01].
*3
Error / Warning code
It is indicated in 4 digits. If there is no error and warning, it is 0000
(&H30&H30&H30&h30).
e.g.)1 : [ACK]
‘S[&H00&H01&H00&H00&H00&H00&H00&H00&H00&H01][ &H30&H30&H
30&h30]
The bits for Auto and Ready us ON (&H01).
This means that AutoMode is ON and be in Ready state. Command execution is
enabled.
e.g.)2 : :[ACK]
‘S[&H00&H01&H01&H00&H00&H00&H00&H00&H01&H00][ &H30&H35&H
31&h37]
This means the warning occurs during the operation. Take appropriate action for
the warning code. (In this case, warning code is 0517 )
Flag
Contents
Teach
Turn ON in the TEACH mode
Turn ON in the remote input acceptance condition
Auto
Turn ON in the warning condition
Warnig
Task can be executed as usual even a warning condition. However, take
action for the warning as soon as possible.
Turn ON in the serious error condition
SError
When a serious error occurs, Reboot the Controller to recover from the
error condition. “Reset input” is not available.
Safeguard
Turn ON with safety door open
EStop
Turn ON in the emergency condition
Turn ON in the error condition
Error
Use “Reset input” to recover from the error condition.
Paused
Turn ON with paused task
Turn ON with task executing
Running
Turn OFF when “Paused output” is ON
Ready
Turn ON with the Controller completed the startup and no task executing
*4
It returns values of specified number in the Number to acquire.
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11. Remote Control
Error response
When the Controller cannot receive the remote command correctly, the error response is
shown in the following format.
NAK
Command
Error code
ETX
BCC
1Byte
1Byte
2Byte
1Byte
1Byte
NAK : &H15
ETX : &H03
BCC : Checksum of sent and received data
XOR value from the command to ETX per 1Byte
Error code
10
11
12
13
14
Contents
Remote command does not begin with $
Remote command is wrong
Login is not executed
Remote command format is wrong
Login command password is wrong
Specified number to acquire is out of range
(Less than 1 or more than 100)
Number to acquire is omitted
Specified a string parameter
15
Parameter is not existed
Dimension of parameter is wrong
Element out of range is called
16
BCC is wrong
19
Request time out
Controller is not ready
Cannot execute since Execute is running
System error
Communication error
20
21
99
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11. Remote Control
Communication sequence
RS-232C
RemoteController
Port zz
①EOT
②Login
180Controller
Port xx
③Response
④Command request
⑤Response
:
:
Request from the
Remote Controller is
only available
⑥Logout
⑦Response
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12. RS-232 Communications
12. RS-232 Communications
The RC180 controllers can support up to 8 optional RS232 ports, 4 ports per board.
The RC90 controllers can support one port as standard and up to 4 optional RS232 ports, 2
ports per board.
Refer to the controller manual for instructions on how to install RS232 boards.
12.1 RS-232 Software Configuration
To configure an RS-232 port
1. Select Controller from the Setup Menu and open the RS232 folder on the tree located
on the left side of the dialog.
NOTE

If RS232 boards have not been installed on the controller, you will not see the
corresponding ports in the tree.
2. Select the port you want to configure.
3. Change the settings as desired.
4. Click Apply to save the new settings.

NOTE
280
If the several ports are used in the communication at one time with more than 19200 baud
rate, error 2929 or 2922 may occur. In this case, select the lower baud rate or avoid using
several ports at one time.
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12. RS-232 Communications
12.2 RS-232 Commands
Here is a list of all of the commands associated with RS-232 communications. For details,
please see the online help or SPEL+ Language Reference Manual.
OpenCom
Opens a communications port.
ChkCom
Returns port status: the number of bytes waiting to be read or error
condition.
CloseCom
Closes a communications port.
SetCom
Sets communications port parameters at runtime or from the
Command window.
Print #
Sends characters out of the port.
Input #
Receives characters from the port into one or more variables.
Line Input #
Receives one line characters from the port into one string variable.
Read #
Receives one or more characters from the port into one string variable.
ReadBin #
Receives one or more bytes from the port.
Write #
Sends characters out of the port.
WriteBin #
Sends one or more bytes out of the port.
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13. TCP / IP Communications
13. TCP / IP Communications
EPSON RC+ 5.0 supports eight TCP/IP ports that allow peer to peer communications.
This chapter contains instructions on using TCP/IP, including IP addresses, Windows
TCP/IP configuration, and SPEL+ examples.
13.1 TCP/IP Setup
Before you can use TCP/IP communications between PCs and controllers, you must
configure your network. The following sections describe basic network configuration.
13.1.1 Ethernet Hardware
The RC180 controller includes a built in Ethernet interface with an RJ45 connector
accessible from the controller front panel. It supports 10BaseT (10 Mbps) and 10BaseTX
(100 Mbps).
Your PC will need a 10BaseT 10/100 adapter to communicate with a controller via
Ethernet.
13.1.2 IP Addresses
The RC180 controller has a fixed IP address that you can configure from EPSON RC+ 5.0.
To configure the IP address, mask, and gateway for an RC180 controller, see the section
Setup | Controller | Configuration in the chapter EPSON RC+ 5.0 GUI for instructions.
The following table shows a typical IP address configuration.
Host Name
IP Address
Subnet
Subnet Mask
PC1
192.168.0.1
192.168.0
255.255.255.0
PC2
192.168.0.2
192.168.0
255.255.255.0
Controller1
192.168.0.3
192.168.0
255.255.255.0
Controller2
192.168.0.4
192.168.0
255.255.255.0
In this example, the network address (subnet) is 192.168.0. With a subnet mask of
255.255.255.0, there can be 254 hosts on this subnet (0 and 255 cannot be used).
Refer to the Microsoft Windows operating system manual for instructions on setting the
PC IP address.
13.1.3 IP Gateway
If you are connecting PCs and controllers on different networks, you will need to route
traffic between the networks using one or more routers. Each device communicating via
Ethernet will need to have their default gateway address set to the address of the router for
its subnet.
To configure the gateway address for the RC180 controller, see the section Setup |
Controller | Configuration in the chapter EPSON RC+ 5.0 GUI for instructions.
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13. TCP / IP Communications
13.1.4 Testing Windows TCP/IP setup
Use the ping command from a Command Window to test communications.
First, do a loopback test to check if you can ping your own address by using the local IP
address:
C:\>ping 127.0.0.1
Pinging 127.0.0.1 with 32 bytes of data:
Reply from 127.0.0.1: bytes=32 time<10ms TTL=128
Reply from 127.0.0.1: bytes=32 time<10ms TTL=128
Reply from 127.0.0.1: bytes=32 time<10ms TTL=128
Reply from 127.0.0.1: bytes=32 time<10ms TTL=128
C:\>
Ping your PC’s IP address:
C:\>ping 192.168.0.1
Pinging 192.168.0.1 with 32 bytes of data:
Reply from 192.168.0.1: bytes=32 time<10ms TTL=128
Reply from 192.168.0.1: bytes=32 time<10ms TTL=128
Reply from 192.168.0.1: bytes=32 time<10ms TTL=128
Reply from 192.168.0.1: bytes=32 time<10ms TTL=128
C:\>
Now ping controller on the network. :
C:\>ping 192.168.0.3
Pinging pc2 [192.168.0.3] with 32 bytes of data:
Reply from 192.168.0.3: bytes=32 time<10ms TTL=128
Reply from 192.168.0.3: bytes=32 time<10ms TTL=128
Reply from 192.168.0.3: bytes=32 time<10ms TTL=128
Reply from 192.168.0.3: bytes=32 time<10ms TTL=128
C:\>
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13. TCP / IP Communications
13.2 TCP/IP Software Configuration
You can configure TCP/IP settings for the RC180 controller in a SPEL+ program using the
SetNet command. You can also configure settings from the TCP/IP tab on the Setup |
Controller dialog.
To configure a TCP/IP port
1. Select Controller from the Setup Menu and select the page for the TCP/IP port you
want to configure.
2. Enter the IP address for the controller or PC that you want this controller to
communicate with.
NOTE

The controller does not support DNS, so you must specify an IP address for the host
you are communicating with. You cannot specify a name for the host.
3. Enter the TCP/IP port number. This must be the same port number that is used on the
host device. It must be different from any of the other TCP/IP port numbers used for
the other TCP/IP ports.
4. Change the other settings as desired.
5. Click Apply to save the new settings and click Close.
13.3 TCP/IP Commands
Here is a list of all of the commands associated with TCP/IP communications. For details,
please see the online help or SPEL+ Language Reference Manual.
284
OpenNet
Opens a TCP/IP port.
ChkNet
Returns port status: the number of bytes waiting to be read or error
condition.
CloseNet
Closes a TCP/IP port.
SetNet
Sets communications port parameters at runtime or from the
Command window.
Print #
Sends characters out of the port.
Input #
Receives characters from the port into one or more variables.
Line Input #
Receives one line characters from the port into one string variable.
Read #
Receives one or more characters from the port into one string variable.
ReadBin #
Receives one or more bytes from the port.
Write #
Sends characters out of the port.
WriteBin #
Sends one or more bytes out of the port.
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13. TCP / IP Communications
13.4 TCP/IP Example
This example shows how to configure 2 PCs running EPSON RC+ 5.0 to communicate
using TCP/IP. Note that for the OpenNet command, one PC is the server, and the other is
a client.
Controller #1:
Port: #201
IP Address: 192.168.0.1
TCP/IP Port: 1000
Function tcpip1
String reply$
OpenNet #201 As Server
WaitNet #201
Do
Print "Sending data to host 2"
Print #201, "Data from host 1"
Input #201, reply$
Print "Received reply: ", reply$
Loop
Fend
Controller #2:
Port: #201
IP Address: 192.168.0.2
TCP/IP Port: 1000
Function tcpip2
String data$
OpenNet #201 As Client
WaitNet #201
Do
Input #201, data$
Print "Received '", data$, "' from host 1"
Print #201, "Received data"
Loop
Fend
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14. ECP Motion
14. ECP Motion
14.1 Overview
An ECP (external control point) motion is when the robot arm holding a part follows a
specified trajectory (part’s edges, etc.) using an outside fixed tool.
Part
External Control Point
(ECP)
Outside Fixed Tool
The ECP option supports the following:
- ECP definition by ECPSet statement and selection by ECP statement
- ECP motion commands (additional functions of Move, Arc3, Curve and CVMove
commands)
- Teaching with ECP jogging
This option is available for SCARA, Cartesian and 6-Axis robots. Also, it can be used
with multi-robot systems.
Up to 15 ECP coordinate systems can be defined.
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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,XY(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 P0. Then, specify the
ECP using P0 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.
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14. ECP Motion
2. Teaching
Teach the point data while moving the robot arm holding the actual part. In this section,
the part is assumed a rectangular solid and the arm is moved straight so that it touches one
side of the part to the ECP specified in the former section 1. Setting the ECP.
For details of teaching, refer to the section Jog and Teach Command (Tools Menu) in the
chapter The EPSON RC+ 5.0 GUI.
2-1 Teaching the motion start point
Move the arm to the motion start point and teach it as P1.
2-2 Teaching the motion end point
Move the arm to the motion end point and teach it as P2.
NOTE

ECP Jog Motion:
The ECP jog motion is added to available jog motions for teaching besides Joint, World,
and Tool jog motions.
The ECP jog motion is based on the selected ECP coordinate systems.
3. Executing Motion
To move the arm with ECP motion, add an “ECP” parameter to a motion command.
Go P1 ' Moves the arm to the motion start point
Move P2 ECP ' Executes ECP motion
Use the Arc3 command to move the arm in an arc trajectory with the fixed tool. Use the
Curve and CVMove commands to move the arm in cubic spline curves.
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15. Installing Controller Options
15. Installing Controller Options
When you purchase options with your system, the options are already installed on your
system. However, you can enable additional options on site.
The RC180 Controller has option software keys that are enabled from EPSON RC+ 5.0.
To see what options are enabled on your system, select Setup | Controller | Options. The
following dialog will be displayed, showing which options are enabled.
Item
Description
Option
Name of the option.
Enabled
Indicates that the option is enabled in the controller.
To enable an option on site
1. Write down the controller options key code. You can view this from the Setup |
Controller | Options page.
2. Call your distributor to purchase the option and give him the options code.
3. You will receive a code to enable the option from your distributor.
4. Select the option to enable on the grid, and then click the Enable button.
5. Enter in the code you received from your distributor.
NOTE

Key code is case sensitive.
Enabling an option
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16. Software License Agreement
16. Software License Agreement
THIS IS A CONTRACT. CAREFULLY READ ALL THE TERMS AND
CONDITIONS CONTAINED IN THIS AGREEMENT.
INSTALLING THE
SOFTWARE (EPSON RC+ 5.0) INDICATES YOUR ACCEPTANCE OF THESE
TERMS AND CONDITIONS. IF YOU DO NOT AGREE TO THESE TERMS AND
CONDITIONS, SIMPLY DO NOT INSTALL OR USE THE EPSON RC+ 5.0
SOFTWARE.
LICENSE
SEIKO EPSON CORPORATION (the "Licenser") hereby grants to you (the
"Licensee") a non-exclusive and transferable right to use the EPSON RC+ 5.0
Software program and documentation (the "Licensed Materials"). You may only use
this software on one (1) CPU. You may not use, copy, or modify the Licensed
Materials, in whole or in part, except as expressly provided for by this agreement.
OWNERSHIP
As the Licensee you own the magnetic or other physical media on which the Licensed
Materials are recorded or fixed, but the Licenser retains sole and exclusive title to and
ownership of the Licensed Materials recorded on the original disk and all subsequent
copies regardless of the form or media in or on which the original and other copies
may exist. By paying the fee required for this license, you do not become the owner of
the Licensed Materials, but are entitled to use the Licensed Materials according to the
terms of this agreement. You acknowledge that the Licensed Materials are not your
property and understand that giving away or selling copies of the Licensed Materials is
theft.
TERM
This license is effective until terminated. You may terminate this license by
destroying the Licensed Materials together with any backup copies that may have been
made. This license will also terminate if you fail to comply with any term or
conditions of this Agreement. You agree upon such termination to destroy the
Licensed Materials together with any copies which may have been made.
BACKUP AND TRANSFER
The Licensed Materials are copyrighted and contain proprietary information and trade
secrets of the Licenser. Unauthorized copying, modifying or reproducing of the
Licensed Materials, even if modified, merged or included with other software, is
expressly forbidden. You may make one (1) archival copy of the Licensed Materials
for the sole purpose of backing up the Licensed Materials. In no event does the limited
copying or reproduction permitted hereunder include the right to decompile,
disassemble or electronically transfer the Licensed Materials, or translate the Licensed
Materials into another language. You may sell your license rights in the software to
another party. If you sell your license rights in the Licensed Materials you must at the
same time transfer the documentation and the backup copy or destroy the backup copy.
You cannot sell your license rights in the Licensed Materials to another party unless
that party also agrees to the terms and conditions of this agreement.
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16. Software License Agreement
PROTECTION AND SECURITY
You agree not to deliver or otherwise make available the Licensed Materials or any
part thereof, including, without limitation, the object code, to any person other than the
Licenser or its employees, except for purposes specifically related to your use of the
Licensed Materials on one (1) CPU, without the prior written consent of the Licenser.
You agree to use your best efforts and take all reasonable steps to safeguard the
Licensed Materials to ensure that no unauthorized person shall have access thereto and
that no unauthorized copy, publication, disclosure or distribution thereof, in whole or
in part, in any form, shall be made. You recognize that the Licensed Materials contain
valuable confidential information and trade secrets.
LIMITED WARRANTY
The only warranty the Licenser makes to you in connection with this license to use the
Licensed Materials is that the media on which the Licensed Materials are recorded will
be replaced without charge, as long as the original diskette(s) are returned to the
licenser, with satisfactory proof of date of purchase, within ninety (90) days of
purchase. This warranty is limited to the Licensee and is not transferable. The
foregoing warranty does not extend to any Licensed Materials that have been damaged
as a result of accident, misuse or abuse.
EXCEPT FOR THE LIMITED WARRANTY DESCRIBED ABOVE, THESE
LICENSED MATERIALS ARE PROVIDED "AS IS". THE ENTIRE RISK AS TO
THE RESULTS AND PERFORMANCE OF THE LICENSED MATERIALS IS
ASSUMED BY YOU. THE LICENSER DOES NOT WARRANT, GUARANTEE
OR MAKE ANY REPRESENTATIONS REGARDING THE USE OF, OR THE
RESULTS OBTAINED WITH THE LICENSED MATERIALS IN TERMS OF
CORRECTNESS AND RELIABILITY OR LEGALITY. THE ABOVE IS THE
ONLY WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED.
INCLUDING, WITHOUT LIMITATION, LOSS OF PROFITS OR INABILITY TO
USE THE LICENSED MATERIALS, EVEN IF THE LICENSER OR SUCH OTHER
PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.
YOU AGREE THAT YOUR EXCLUSIVE REMEDIES, AND THE LICENSER'S
OR SUCH OTHER PARTY'S ENTIRE LIABILITY WITH RESPECT TO THE
LICENSED MATERIALS SHALL BE AS SET FORTH HEREIN, AND IN NO
EVENT SHALL THE LICENSER'S OR SUCH OTHER PARTY'S LIABILITY FOR
ANY DAMAGES OR LOSS TO YOU OR ANY OTHER PARTY EXCEED THE
LICENSED FEE PAID FOR THE LICENSED MATERIALS.
ENTIRE AGREEMENT
This Agreement represents the entire agreement between Licenser and Licensee with
respect to the License and use of the Licensed Materials.
SEVERABILITY
If any provision or a portion of this agreement is determined to be invalid under any
applicable law, it shall be deemed omitted and the remaining provisions and partial
provisions of this agreement shall continue in full force and effect.
NOTICE
Any notice or other communication relating to this license agreement to be sent to the
Licenser must be mailed by certified mail to your distributor.
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291
16. Software License Agreement
292
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Appendix A: Software Installation
Appendix A: Software Installation
NOTE

EPSON RC+ 5.0 supports the following OS.
Windows XP Professional Service Pack 3
(EPSON RC+ 5.0 Ver.5.2.0 SP3 or greater is required.)
Windows Vista Business Service Pack 2
(EPSON RC+ 5.0 Ver.5.3.1 or greater is required.)
Windows 7 Professional
(EPSON RC+ 5.0 Ver.5.3.4 or greater is required.)
Windows 8.1 Pro
(EPSON RC+ 5.0 Ver.5.4.6 or greater is required.)
Before Installing EPSON RC+ 5.0 Software
If you are using the Windows 8.1 Pro, follow the steps below and configure “.NET
Framework 3.5” before installing the EPSON RC+ 5.0 software.
EPSON RC+ 5.0 cannot be used with the Windows 8.1 Pro if “NET Framework 3.5” is not
configured.
When the computer can be connected to the Internet
If the Internet environment is available, insert the EPSON RC+5.0 setup DVD to the DVD
drive.
The following dialog box will appear if “.NET Framework 3.5” is not configured.
Select “Download and install this feature” and install “.NET Framework 3.5” by following
the instruction.
The EPSON RC+ 5.0 will be installed after “.NET Framework 3.5” is installed.
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Appendix A: Software Installation
When the computer cannot be connected to the Internet
If the computer cannot be connected to the Internet, install “.NET Framework 3.5” from
the media that you have installed the Windows 8.1 Pro from.
After installing “.NET Framework 3.5”, install the EPSON RC+ 5.0.
If you do not have the installation media of Windows 8.1 Pro, install the feature in the
environment where the Internet connection is available.
“.NET Framework 3.5” can be enabled by specifying the installation media (ISO image or
DVD) that you have installed the Windows 8.1 Pro from using Deployment Image
Servicing and Management (DISM) command line tool.
1. Open the WindowsPowerShell or the command prompt window using the
administrative credential. * WindowsPowerShell is recommended.
(Select [Run as an administrator].)
2. Execute the following command.
DISM /Online /Enable-Feature /FeatureName:NetFx3 /All /LimitAccess
/Source:d:\sources\sxs
* “/Source:d:\sources\sxs” is the path to the installarion disc. Select the drive
according to the PC environment.
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Appendix A: Software Installation
Installing EPSON RC+ 5.0 Software
The EPSON RC+ 5.0 software needs to be installed on your development PC.
If your application uses the EPSON RC+ 5.0 Operator Window you will also need to
install it on the production PC.
To install EPSON RC+ 5.0:
1. Insert the EPSON RC+ 5.0 Setup CD in the CD drive.
2. If EPSON RC+ 5.0 has previously been installed, you will be asked to uninstall the
previous version, otherwise go to step 3.
After uninstalling, you will be prompted to restart the computer. Start the setup
program again by double-clicking the installer CD icon in My Computer, or by reinserting the CD.
3. The welcome dialog will be displayed as shown below.
4. Click the Next button to continue.
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Appendix A: Software Installation
5. Enter your user name and company name, then click Next.
6. Select the drive where you want to install EPSON RC+ 5.0 and click Next.
NOTE

The installation directory is called EpsonRC50 and cannot be changed.
You will be prompted to confirm installation.
Click Yes to continue.
7. If required, Windows Installer and Microsoft .NET Framework 3.5 are installed on your
system. This may take several minutes.
8. Adobe Reader needs to be installed on your PC in order to view the EPSON RC+ 5.0
manuals. If the installer cannot find Adobe Reader on your system, it will be installed
at this time. Follow the instructions in the Adobe installer. Do not restart the system
after the Adobe Reader installation has completed.
9. After the installation has completed, you may be prompted to restart your computer.
10. The EPSON RC+ 5.0 software installation is now completed.
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Appendix B: Project Import Automatic Processing
Appendix B: Project Import Automatic Processing
Project for EPSON RC+ 3.* / 4.*
When projects created in EPSON RC+ 3.* / 4.* are imported, the following processes are
executed automatically:
- User program conversion
- Point file conversion
- I/O label file conversion
- User error label file conversion
User Program Conversion
The tables below show the syntax conversions from EPSON RC+ 3.* / 4.* to EPSON RC+
5.0.
Project Type
EPSON RC+ 4.*
EPSON RC+ 5.0
While
Do While
Syntax
Wend
Loop
Trap...Call
Trap...Xqt
Project Type
Syntax
EPSON RC+ 3.*
While
Wend
Trap...Call
On $, Off $
Sw($
Sw $(
In($
In $(
Out $
Xqt !
Quit !
Resume !
Halt !
EPSON RC+ 5.0
Do While
Loop
Trap...Xqt
MemOn, MemOff
MemSw(
MemSw(
MemIn(
MemIn(
MemOut
Xqt
Quit
Resume
Halt
Point File Conversion
For EPSON RC+ 3.*, the EPSON RC+ 5.0 .PTS files are generated automatically from
the .PNT files and corresponding .DEF files.
Project Type
EPSON RC+ 3.*
EPSON RC+ 5.0
*.PNT file (Point file)
*.PTS
Point File
*.DEF file (Point label file)
For EPSON RC+ 4.*, the EPSON RC+ 5.0 .PTS files are generated automatically from
the .PNT files.
Project Type
EPSON RC+ 4.*
EPSON RC+ 5.0
*.PNT file (Point file)
*.PTS
Point File
I/O Label File Conversion
IOLabels.dat is generated automatically from the following three files.
Project Type
EPSON RC+ 3.* / 4.*
EPSON RC+ 5.0
inplabel.txt
IOLabels.dat
I/O Label File
outlabel.txt
memlabel.txt
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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Appendix B: Project Import Automatic Processing
User Error Label File Conversion
Files are changed automatically as the user error numbers are changed.
Project Type
EPSON RC+ 3.* / 4.*
EPSON RC+ 5.0
30000 to 30999
8000 to 8999
User Error Label
UserErrors.txt
UserErrors.dat
User Error Label File
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
Appendix B: Project Import Automatic Processing
Project Import for SPEL for Windows 2.*
When projects created in SPEL for Windows 2.* are imported, the following processes are
executed automatically.
- User program conversion
- Point file conversion
- I/O label file conversion
- Global Preserve variable table conversion
- Global variable conversion
- Local variable conversion
User Program Conversion
The table below shows the syntax conversions from SPEL for Windows 2.* to EPSON
RC+ 5.0.
Project Type
SPEL for Windows 2.*
EPSON RC+ 5.0
Syntax
While
Do While
Wend
Loop
Trap n...Call
Trap n...Xqt
On $, Off $
MemOn, MemOff
Sw($
MemSw(
Sw $(
MemSw(
In($
MemIn(
In $(
MemIn(
Out $
MemOut
Xqt !
Xqt
Quit !
Quit
Resume !
Resume
Halt !
Halt
Palet
Pallet
Print"
Print "
Date$(0)
Date$
Time$(0)
Time$
JS(0)
JS
TW(0)
TW
ZeroFlg(0)
ZeroFlg
Entry
Global
Config statement
SetCom statement
Cooked
Line deleted
Line deleted
SetRaw
Line deleted
SelRB
Line deleted
SelRB1
Line deleted
Extern
End
Quit All
GetDate d$
d$ = Date$
GetTime t$
t$ = Time$
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Appendix B: Project Import Automatic Processing
Point File Conversion
EPSON RC+ 5.0 .PTS files are generated automatically from the .PNT files and
corresponding .DEF files.
Project Type
SPEL for Windows 2.*
EPSON RC+ 5.0
*.PNT file (Point file)
*.PTS
Point File
*.DEF file (Point label)
I/O Label File Conversion
Converts the I/O labels automatically.
Project Type
SPEL for Windows 2.*
EPSON RC+ 5.0
ProjectName.IOL
IOLabels.dat
I/O Label File
Global Preserve Variable Table Conversion
Backup variable definitions created in the SPEL for Windows 2.* Project Menu are
converted into Global Preserve declaration statements in the first program file.
(Example)
If the SPEL for Windows 2.* project defines an integer backup variable called
“s_iValue”, the following statement is generated in the first program of the project.
Global Preserve Integer s_iValue
Global Variable Conversion
Global variables (Entry / Extern) in SPEL for Windows 2.* projects are converted to
Global variables in EPSON RC+ 5.0.
Project Type
SPEL for Windows 2.*
EPSON RC+ 5.0
Entry
/
Extern
command
Global
command
Global Variable (Command)
Local Variable Conversion
Local variables in SPEL for Windows 2.* functions can be used throughout the entire file
in which they are declared. These variables are converted to module variables or local
variables in EPSON RC+ 5.0, depending on their scope.
If the variable is used in only one function, it is converted to a local variable in that
function.
If the variable is used in more than one function, it is converted to a module variable.
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EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.6
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