Epson RC170 Betriebsanweisung PDF herunterladen (Seite 101)

5. The EPSON RC+ 5.0 GUI

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

To change a jog distance, first select the distance to be changed, then type in the new value.

Distance Set Value * Default Value

Short 0 to 10 0.1

Medium 0 to 30 1

Long More than 0 to 180 10

* If you enter a too large value, an 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).

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.

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 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.

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.

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