Epson RC170 Betriebsanweisung Seite 192
- Seite / 312
- Inhaltsverzeichnis
- LESEZEICHEN
Bewertet. / 5. Basierend auf Kundenbewertungen
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.
174 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4
- User's Guide 1
- FOREWORD 4
- WARRANTY 4
- MANUFACTURER 6
- SUPPLIERS 6
- TABLE OF CONTENTS 9
- 3. Getting Started 23 10
- 4. Operation 24 10
- 6 The SPEL+ Language 150 13
- xiii 15
- 8 Simulator 205 16
- 9 Robot Configuration 241 16
- 10 Inputs and Outputs 246 16
- Table of Contents 18
- 1. Introduction 19
- 1.2.1 RC180 Controller 20
- 1.2.2 RC90 Controller 20
- 1.2.3 Software 20
- 1.2.4 Simulator 20
- 1.2.5 System Block Diagram 21
- 1.3 Software Version 22
- 1.3.1 Version Confirmation 24
- 1.4 Options 27
- 1.7 SPEL for Windows Users 27
- 1.8 Documentation 28
- 2. Safety 29
- 2.2.2 Safeguard 30
- 2.2.3 Operation Modes 30
- 2.2.4 Start Mode 30
- 2.2.6 Emergency Stop 31
- 2.2.7 Teach Control Device 31
- 2.5.1 General Precautions 38
- 2.5.2 Automatic Operation 38
- 2.5.3 Teaching Robot Points 38
- 2.5.5 Program Verification 39
- 2.5.6 Troubleshooting 39
- 2.5.7 Maintenance 39
- 2.7 End User Training 40
- 3. Getting Started 41
- 4. Operation 42
- 4.3.1 Startup sequence 43
- 4.3.2 Startup Configuration 43
- 4.3.3 Start Mode 43
- 4.3.4 Start Mode Dialog 44
- 4.3.5 Start Mode: Program 44
- 4.3.6 Start Mode: Auto 45
- 4.3.7 Auto Start 45
- 4.3.8 Windows Login 46
- 4.3.9 Command Line Options 46
- 4.4.2 USB Communications 48
- Function main 52
- 08:24:18 Task main started 53
- 08:24:18 All tasks stopped 53
- 5. The EPSON RC+ 5.0 GUI 56
- 5.2 Project Explorer Pane 57
- 5.3 Status Window Pane 57
- 5.4 Status Bar 58
- 5.5 Online Help 58
- 5.6 File Menu 59
- 5.7 Edit Menu 65
- 5.8 View Menu 69
- 5.9 Project Menu 71
- Project: Properties: Vision 91
- 5.10 Run Menu 92
- 5.11 Tools Menu 96
- 101 119
- 103 121
- 105 123
- 107 125
- 109 127
- 111 129
- Backup Controller 131
- Restore Controller 132
- Export Controller Status 133
- View Controller Status 134
- Reset Controller 135
- 5.12 Setup Menu 136
- 119 137
- 121 139
- 123 141
- Setup: Controller: Options 142
- Setup: Controller: Simulator 142
- Setup: Controller: Robot 143
- 127 145
- 129 147
- CAUTION 149
- 133 151
- Setup: Preferences: Startup 152
- 135 153
- 137 155
- 139 157
- 141 159
- Setup: Preferences: Language 161
- 5.13 Window Menu 162
- 145 163
- 5.14 Help Menu 165
- 149 167
- 6. The SPEL+ Language 168
- 6.1 Overview 169
- 6.2 Program structure 169
- 6.3 Commands and statements 170
- 6.5 Data types 171
- 6.6 Operators 171
- 6.7 Working with variables 172
- 6.7.4 Global variables 173
- 6.7.6 Arrays 174
- 6.7.7 Initial values 174
- 6.7.8 Clearing arrays 174
- 6.8 Working with strings 175
- 6.9 Multi-statements 176
- 6.10 Labels 176
- 6.11 Comments 176
- 6.12 Error handling 177
- 6.13 Multi-tasking 179
- 6.14.1 Overview 180
- External Control Poin 184
- Outside Fixed Tool 184
- 6.15 Robot arm orientations 185
- Proper motion 188
- 6.16 Robot motion commands 192
- 6.16.5 Joint motion 193
- 6.17.1 Defining points 195
- 6.17.6 Point attributes 196
- 6.17.8 Alteration of points 198
- 6.18.1 Hardware I/O 199
- 6.18.2 Memory I/O 199
- 6.18.3 I/O Commands 199
- 6.19 Using Traps 200
- 6.20 Special Tasks 201
- 7.1 Designing Applications 204
- Safety interface 205
- Inputs and outputs 205
- Peripherals 205
- 7.2 Managing Projects 206
- 7.2.3 Configuring a project 207
- Editing a project 207
- 7.2.4 Building a project 208
- Status Pane 208
- 7.2.6 Backing up a project 209
- 7.3 Editing Programs 210
- 7.3.3 Syntax Help 211
- 7.3.4 Syntax Errors 212
- 7.4 Editing Points 213
- 7.5.1 The Run Window 215
- 7.5.2 Debugging 217
- 7.6 The Operator Window 221
- 7.7 Using Remote Control 222
- 8. Simulator 223
- 8.2 Using the Simulator 225
- ◆ Layout Object 240
- 9. Robot Configuration 259
- 9.2 Calibrating the Robot 260
- 9. Robot Configuration 261
- 10. Inputs and Outputs 264
- 10.3 I/O Configuration 265
- 10.4 Monitoring I/O 265
- 10.5 Virtual I/O 265
- 11. Remote Control 266
- 11. Remote Control 267
- 11.7 Remote Inputs 269
- 11.8 Remote Outputs 271
- 11.10 Remote Ethernet 275
- Remote command 277
- Response 281
- Error response 283
- 11.11 Remote RS232 284
- Communication sequence 294
- 12. RS-232 Communications 295
- 12.2 RS-232 Commands 296
- 13. TCP / IP Communications 297
- 13.3 TCP/IP Commands 299
- 13.4 TCP/IP Example 300
- 14. ECP Motion 301
- 14. ECP Motion 303
- User Program Conversion 309
- Point File Conversion 309
- I/O Label File Conversion 309
- Global Variable Conversion 312
- Local Variable Conversion 312
Verwandte Produkte und Handbücher für Drucken & Scannen Epson RC170
(422 Seiten)
Drucken & Scannen Epson TM-P60 Spezifikationen
(132 Seiten)
(132 Seiten)
Drucken & Scannen Epson ME 2 Wartungshandbuch
(85 Seiten)
(85 Seiten)
Drucken & Scannen Epson TM-T82 Bedienungsanleitung
(126 Seiten)
(126 Seiten)
Drucken & Scannen Epson DS-510 Betriebsanweisung
(74 Seiten)
(74 Seiten)
(231 Seiten)
Drucken & Scannen Epson M205 Bedienungsanleitung
(200 Seiten)
(200 Seiten)
Drucken & Scannen Epson PA-295 Betriebsanleitung
(28 Seiten)
(28 Seiten)
© 2020, manymanuals.de. Alle Rechte vorbehalten. | 0.056 s |
Manymanuals.com
Manymanuals.de
Manymanuals.fr
Manymanuals.it
Manymanuals.pl
Manymanuals.cz
Manymanuals.es
Manymanuals-pt.com
Kommentare zu diesen Handbüchern