Training Textbook
RC620 , RC180 EPSON RC+ 6.0 , 5.0 Rev.0
Safety WARNING , CAUTION
Robot Coordinate Systems
Robot Coordinate Systems
Robot Arm Orientations SCARA
Robot Arm Orientations 6-Axis
Hardware Overview(RC620)
* System Configuration
RC620(PC Base Controller)
Back Front
Hardware Overview(RC180)
* System Configuration
RC180 Controller
Seven-Segment Massage
Particular Status Display
Cable Connection
Starting EPSON RC+ 6.0
System Power Up Starting RC+
EPSON RC+ 6.0 Overview
Online Help
Emergency Stop Status Error Status Warning Status .etc
~ 22 P
Writing your first program
Step-1 : Create a new project Step-2 : Edit the program Step-3 : Run the program
a. Press F5 to run the program b. Run by run window
RC+ 6.0 Robot Manager Control Panel
RC+ 6.0 Robot Manager
Jog & Teach
RC+ 6.0 Robot Manager
Speed & Accel
* Continuous joint speed and acceleration depends on robot model.
RC+ 6.0 Robot Manager
Editing Points
Click here to select a line.
~34P
Controller Status Storage
What is Controller Status Storage Function ?
Controller Status Storage
Controller Status Storage With Trigger Button
Controller Status Storage
Controller Status Storage & Load Data & View Status with EPSON RC+ 6.0
EpsonRC620/Status/S_serial number_date time Ex : EpsonRC620/Status/S_12345_201006181230
Controller Status Storage
Transfer with E-mail
~90P
How to Jog & Teach
Practice ( Direct Teach etc )
The SPEL+ Language
The SPEL+ Language
Overview
- SPEL+ is a BASIC-like programming language. - It supports multitasking, motion control, I/O control.
Program Structure
- Every program file has a .PRG extension. - Function ,Fend - 200 characters for one line including the line No. - Must be one function celled main
Function main Fend
The SPEL+ Language
Function Name
Multi-Statements & Comment
Function Test Jump P1 ; Go P2 ; Go P3 Fend
Notice
Multi - Statement
The SPEL+ Language
Operators Numeral System
&B
&H
The SPEL+ Language
Variables
Data Type
The SPEL+ Language
Variable scopes
project
main.prg Global Integer g_i Function main Integer i Fend Integer m_j Function test Fend
Sub.prg
Global Preserve Integer g_i
Global
Module
Local
Preserved variables are stored In the controllers SRAM.
Sub1.prg
Motion Command
Motion Command
The SPEL+ Language
Motion Command
PTP motion command
The SPEL+ Language
Motion Command
Modifier for Jump command 1/2
The SPEL+ Language
- If you want to change the a and b value corresponding to C0 to C6, use Arch command. -You can also select menu|Tools|Robot Manager|Arch panel to change the values. Example Arch 0, 10, 60 Arch ( 0~6 ), ? mm, ?mm
Motion Command
Modifier for Jump command 2/2
The SPEL+ Language
( -10 )
LimZ
Function Determines the default value of the Z joint height for Jump commands. Syntax Example 1. LimZ zLinit 1. LimZ -10 Jump P1 Jump destination 2. Jump destination LimZ zLimit 2. Jump P1 LimZ -10
Motion Command
CP motion command 1/2
The SPEL+ Language
Motion Command
CP motion command 2/2
The SPEL+ Language
Motion Command
Command for 6-axis robot ( PTP + CP )
The SPEL+ Language
Motion Command
Go & Move command
The SPEL+ Language
- Go
- Move
Each joint interpolates the current point and the target coordinate. The trajectory is uncertain. Be careful that the robot doesnt collide with peripheral equipment Move moves the arm from the current position to destination in a Straight line. Move coordinates all axes to start and stop at the same time.
Go P1 Move P2
Motion Command
Speed Specification Commands
The SPEL+ Language
Motion Command
The SPEL+ Language
Speed Specification for PTP motion Command 1/3
Speed
S a b
Motion Command
The SPEL+ Language
Speed Specification for PTP motion Command 2/3
a d c b e f
Jump
Motion Command
The SPEL+ Language
Speed Specification for PTP motion Command 3/3
Motion Command
The SPEL+ Language
Speed Specification for CP motion Command 1/2
Motion Command
The SPEL+ Language
Speed Specification for CP motion Command 2/2
*Units = mm/sec^2
Motion Command
The SPEL+ Language
Power Low High
Speed 1~5% 1~100%
Torque Low High
~48P
Motion Command
Command Window
The SPEL+ Language
I/O
The SPEL+ Language
Input/Output Control ( ex.RC180)
PS : Expansion I/O card : Input 32 , output 32 / pcs
Max 4 pcs.
I/O
Input/Output Control
The SPEL+ Language
Example : On 1, 0.5, 0 Jump P2
on off
0.5s
Example : On 1, 0.5, 1 Jump P2
I/O
Input/Output Control
The SPEL+ Language
Example : Off 1, 0.5, 0 Jump P2
on off 0.5s
Example : Off 1, 0.5, 1 Jump P2
I/O
Input/Output Control
The SPEL+ Language
I/O
Input Statement
The SPEL+ Language
I/O
Input Statement
The SPEL+ Language
I/O
Wait Statement
The SPEL+ Language
I/O Label Editor
I/O Label Editor
The SPEL+ Language
I/O Monitor
I/O Monitor
The SPEL+ Language
~55P
Program Control Statements
The SPEL+ Language
Program Control Statements
* For Next
Example:
For i = 1 To 5 Jump p( i ) Next
The SPEL+ Language
* Call
Example :
Function main Call sub Jump P0 Jump P1 Fend Function sub motor on Power High Speed 100 Accel 100, 100 Fend
* IfThenElse
Example:
If Sw(0) = on Them On 0 Else Off 0 EndIf
- Exercise -
57P,59P,61P
Program Control Statements
* DoLoop
Example: Do Until Sw(0) = on Jump P0 Loop
The SPEL+ Language
* Print , Input
Example: Function InputNumber Integer a Print Please enter number Input a Print a = , a Fend
* Print# , Input# , Cls ( 64P , 65P )
- Print , input , clean the data to specified communications port or device.
Device ID 21 RC+ 23 OP 24 TP TCP/IP RS232
~65P
Pallet
Pallet Definition
The SPEL+ Language
Pallet
The SPEL+ Language
Specifying Positions in the Pallet
Exercise Pallet ( 67P )
Parallel Process
The SPEL+ Language
-Go -Move -Arch
Multi-tasking
The SPEL+ Language
- RC180 16 tasks - RC620 32 tasks
~70P
Multi-tasking
Pausing and Continuing Tasks
The SPEL+ Language
Exercise: Multi-tasking( 72,73P)
Multi-tasking
Task Manager
The SPEL+ Language
Multi-tasking
Memory I/O
The SPEL+ Language
Exercise: memo I/O 76P
Project Control
Refer to page 77~79.
Remote Control
Remote Control
Auto Cycle Remote Control
Teach Mode with Remote Control
Remote Control
Debugging Remote Control
Remote Control
Selecting Programs
Remote Control
Remote Inputs 1/2
Remote Control
Remote Outputs
Remote Control
Remote Control Software Configuration
Maintenance
Greasing
Robot Type Axis Greasing Part J1,2,3,4 Reduction Gear Units C3 J6 Bevel Gear G-Series J3 Ball Screw Spline Shaft J1,2 Reduction Gear Units Greasing Grease Type Greasing Interval SK1-A Replacement of motor : 15,000~20,000h SK2 Once a year or every 8,000 h First Time : after 50km operation : 30 day AFB 2nd or more : after 100km operation : 90 day SK1-A Replacement of motor : 15,000~20,000h
