Epson RC170 Betriebsanweisung PDF herunterladen (Seite 196)

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.

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.

)

NOTE

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

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

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