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Training Textbook

RC620 , RC180

EPSON RC+ 6.0 , 5.0Rev.0

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Safety WARNING , CAUTION

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Robot Coordinate Systems

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Robot Coordinate Systems

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Robot Arm Orientations

SCARA

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Robot Arm Orientations

6-Axis

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Hardware Overview(RC620)* System Configuration

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RC620(PC Base Controller)

Front

Back

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Hardware Overview(RC180)* System Configuration

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Seven-Segment Massage

Particular Status Display

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Cable Connection

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Starting EPSON RC+ 6.0

System Power Up

Starting RC+

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EPSON RC+ 6.0 Overview

Emergency Stop StatusError StatusWarning Status.etc

Online Help

~ 22 P

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Writing your first program

Step-1 : Create a new project

Step-2 : Edit the programStep-3 : Run the program

a. Press F5 to run the program

b. Run by run window

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RC+ 6.0 Robot ManagerControl Panel

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RC+ 6.0 Robot ManagerJog & Teach

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RC+ 6.0 Robot ManagerSpeed & Accel

* Continuous joint speed and acceleration depends on robot model.

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RC+ 6.0 Robot ManagerEditing Points

Click here to select a line.

~34P

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Controller Status Storage

What is Controller Status Storage Function ?

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Controller Status StorageController Status Storage With Trigger Button

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Controller Status StorageController Status Storage & Load Data & View Status with EPSON

RC+ 6.0

EpsonRC620/Status/S_serial number_date timeEx :EpsonRC620/Status/S_12345_201006181230

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Controller Status StorageTransfer with E-mail

~90P

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How to Jog & Teach

Practice ( Direct Teach etc )

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The SPEL+ Language

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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

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The SPEL+ Language

Function Name

Multi-Statements & CommentFunction Test

Jump P1 ; Go P2 ; Go P3 Multi - StatementFend

Notice

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The SPEL+ LanguageOperators Numeral System

&B &H

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The SPEL+ Language

Variables

Data Type

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The SPEL+ Language

Variable scopes

project

main.prg

Global Integer g_i

Function mainInteger i

Fend

Integer m_j

Function testFend

Sub.prg

Sub1.prg

LocalModuleGlobal

Global Preserve Integer g_i

Preserved variables are storedIn the controllers SRAM.

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Motion Command The SPEL+ LanguageMotion Command

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Motion Command The SPEL+ Language

PTP motion command

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Motion Command The SPEL+ LanguageModifier for Jump command 1/2

- 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

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Motion Command The SPEL+ LanguageModifier for Jump command 2/2

LimZ

FunctionDetermines the default value of the Z joint height for Jump commands.

Syntax Example1. LimZ zLinit 1. LimZ -10

Jump P1Jump destination

2. Jump destinationLimZ zLimit 2. Jump P1 LimZ -10

( -10 )

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Motion Command The SPEL+ Language

CP motion command 1/2

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Motion Command The SPEL+ Language

CP motion command 2/2

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Motion Command The SPEL+ Language

Command for 6-axis robot ( PTP + CP )

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Motion Command The SPEL+ Language

Go & Move command

- Go 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 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.

P1 P2

Move

Go

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Motion Command The SPEL+ Language

Speed Specification Commands

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Motion Command The SPEL+ Language

Speed Specification for PTP motion Command 1/3

S

a b

Speed

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Motion Command The SPEL+ Language

Speed Specification for PTP motion Command 2/3

a bJump

c

d e

f

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Motion Command The SPEL+ Language

Speed Specification for PTP motion Command 3/3

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Motion Command The SPEL+ Language

Speed Specification for CP motion Command 1/2

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Motion Command The SPEL+ Language

Speed Specification for CP motion Command 2/2

*Units = mm/sec^2

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Motion Command The SPEL+ Language

Power Speed TorqueLow 1~5% LowHigh 1~100% High

~48P

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Motion Command The SPEL+ LanguageCommand Window

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I/O The SPEL+ Language

Input/Output Control ( ex.RC180)

PS : Expansion I/O card : Input 32 , output 32 / pcs Max 4 pcs.

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I/O The SPEL+ Language

Input/Output Control

Example :On 1, 0.5, 0Jump P2

Example :

On 1, 0.5, 1Jump P2

off

on0.5s

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I/O The SPEL+ Language

Input/Output Control

Example :Off 1, 0.5, 0Jump P2

Example :

Off 1, 0.5, 1Jump P2

off

on

0.5s

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I/O The SPEL+ LanguageInput/Output Control

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I/O The SPEL+ LanguageInput Statement

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I/O The SPEL+ LanguageInput Statement

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I/O The SPEL+ LanguageWait Statement

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I/O Label Editor The SPEL+ LanguageI/O Label Editor

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I/O Monitor The SPEL+ LanguageI/O Monitor

~55P

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Program Control Statements The SPEL+ Language

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Program Control Statements The SPEL+ Language

* For NextExample:

Fori = 1 To 5Jump p( i )

Next

* IfThenElseExample:

IfSw(0) = onThem

On 0

Else

Off 0EndIf

* CallExample :

Function main

Call subJump P0Jump P1

Fend

Function submotor onPower HighSpeed 100

Accel 100, 100Fend

- Exercise - 57P,59P,61P

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Program Control Statements The SPEL+ Language

* DoLoopExample:

DoUntil Sw(0) = on

Jump P0

Loop

* Print , InputExample:

Function InputNumber

Integer a

Print Please enter number

Inputa

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 OP24 TP

TCP/IP RS232~65P

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Pallet The SPEL+ Language

Pallet Definition

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Pallet The SPEL+ LanguageSpecifying Positions in the Pallet

Exercise Pallet ( 67P )

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Parallel Process The SPEL+ Language

-Go-Move-Arch

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Multi-tasking The SPEL+ Language

~70P

- RC180 16 tasks

- RC620 32 tasks

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Multi-tasking The SPEL+ LanguagePausing and Continuing Tasks

Exercise: Multi-tasking( 72,73P)

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Multi-tasking The SPEL+ LanguageTask Manager

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Multi-tasking The SPEL+ LanguageMemory I/O

Exercise: memo I/O 76P

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Project Control

Refer to page 77~79.

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Remote Control

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Remote ControlAuto Cycle Remote Control

Teach Mode with Remote Control

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Remote ControlDebugging Remote Control

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Remote ControlSelecting Programs

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Remote ControlRemote Inputs 1/2

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Remote ControlRemote Outputs

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Remote ControlRemote Control Software Configuration

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Maintenance

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Greasing

Robot Type Axis Greasing Part Grease Type Greasing IntervalJ1,2,3,4 Reduction Gear Units SK1-A Replacement of motor : 15,000~20,000h

J6 Bevel Gear SK2 Once a year or every 8,000 h

First Time : after 50km operation : 30 day2nd or more : after 100km operation : 90 day

J1,2 Reduction Gear Units SK1-A Replacement of motor : 15,000~20,000h

C3

G-SeriesJ3 Ball Screw Spline Shaft AFB

Greasing