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6. The SPEL+ Language
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
Task Type
Event
Normal NoPause NoEmgAbort
Puase Statement
Pause Input
Pause Button
Pause Continue *1
Continue
Safety Door Open Pause *2 Continue *1 *2
Continue
Error during Auto Mode
Stop Stop Continue
Error during Program Mode Pause Pause
Continue
Emergency Stop
Stop Stop Continue
Stop Button
Stop Input
Stop Stop Stop
Halt Statement
Halt Button
Pause Pause Pause
Brake Point
Pause Pause Pause
Switching to Teach Mode
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.
184 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
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