Epson EZ Modules 1-Axis Robots User guide

Category
Software
Type
User guide
Original instructions
Rev.9 ENM238S5864F
EPSON RC+ 7.0
User's Guide
Project Management and Development
Ver.7.5
EPSON RC+ 7.0 (Ver.7.5) User's Guide Project Management and Development Rev.9
EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 i
EPSON RC+ 7.0 (Ver.7.5)
User's Guide
Rev.9
Seiko Epson Corporation 2012-2023
ii EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Manipulator.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance with
our high performance standards. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
TRADEMARKS
Microsoft, Windows, Windows logo, Visual Basic, and Visual C++ are either registered
trademarks or trademarks of Microsoft Corporation in the United States and/or other
countries. Pentium is a trademark of Intel Corporation.
XVL is a registered trademark of Lattice Technology, Co., Ltd.
Other brand and product names are trademarks or registered trademarks of the respective
holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 8 operating system
Microsoft® Windows® 10 operating system
Microsoft® Windows® 11 operating system
Throughout this manual, Windows 8, Windows 10 and Windows 11 refer to above respective
operating systems. In some cases, Windows refers generically to Windows 8, Windows 10
and Windows 11.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in SUPPLIERS in the first pages of the following
manual:
Robot System Safety Manual Read this manual first
Table of Contents
EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 iii
1. Introduction 1
1.1 Welcome to EPSON RC+ 7.0 ..................................................................1
1.2 System Overview .....................................................................................2
1.2.1 Controller .....................................................................................2
1.2.2 Software ......................................................................................4
1.2.3 Simulator .....................................................................................5
1.2.4 System Requirements .................................................................5
1.2.5 System Block Diagram ................................................................6
1.3 Options .....................................................................................................7
1.4 Precautions When Using Windows 8 ......................................................7
1.5 EPSON RC+ 5.x and 6.x Users ...............................................................7
1.6 EPSON RC+ 3.x and 4.x Users ...............................................................7
1.7 SPEL for Windows Users .........................................................................7
1.8 Manuals ....................................................................................................8
1.9 Security for Controller Ethernet Connection ............................................9
1.9.1 Setting Password for PC Ethernet Controller Connection ..........9
1.9.2 PC Ethernet Connection to Controller ...................................... 11
1.9.3 Remote Ethernet ....................................................................... 11
1.9.4 Disable the PC Ethernet Controller Connection Authentication11
1.10 Security for Compact Vision CV2-A Ethernet Connection ...................12
1.11 Security for Feeder Ethernet Connection ............................................12
2. Safety 13
2.1 Conventions ...........................................................................................13
2.2 Definitions ..............................................................................................13
2.2.1 Robot Power ..............................................................................13
2.2.2 Safeguard ..................................................................................14
2.2.3 Operation Modes .......................................................................14
2.2.4 Start Mode .................................................................................15
2.2.5 Changing Operation Mode ........................................................15
2.2.6 Emergency Stop ........................................................................15
2.2.7 Teach Pendant ..........................................................................15
2.3 Installation and Design Precautions ......................................................16
2.4 Precautions regarding Robot Operation ................................................16
2.5 Backup of Projects and Controller .........................................................16
3. Getting Started 17
3.1 Hardware Installation .............................................................................17
3.2 Software Installation ...............................................................................17
3.3 Windows Security Administration ...........................................................17
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iv EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
4. Operation 18
4.1 System Power Up Procedure ................................................................ 18
4.2 Starting EPSON RC+ 7.0 ...................................................................... 18
4.2.1 Startup Sequence ..................................................................... 18
4.2.2 Startup Configuration ................................................................ 21
4.2.3 Start Mode ................................................................................ 21
4.2.4 Start Mode Dialog ..................................................................... 22
4.2.5 Start Mode: Program ................................................................ 22
4.2.6 Start Mode: Auto ....................................................................... 23
4.2.7 Auto Start .................................................................................. 23
4.2.8 Using Monitor Mode .................................................................. 24
4.2.9 Windows Login .......................................................................... 24
4.2.10 Command Line Options .......................................................... 25
4.2.11 Using Command Line Options ................................................ 26
4.3 Communications with Controller ............................................................ 27
4.3.1 Configuring Communications with the Controller ..................... 27
4.3.2 USB Communications ............................................................... 27
4.3.3 Ethernet Communications ........................................................ 28
4.3.4 Connecting When Control Device is not PC ............................. 29
4.3.5 Project Controller Tracking ....................................................... 30
4.4 Writing your first Program ...................................................................... 31
5. The EPSON RC+ 7.0 GUI 36
5.1 GUI Overview ........................................................................................ 36
5.2 Tool Bar .................................................................................................. 37
5.3 Project Explorer Pane ............................................................................ 38
5.4 Status Window Pane ............................................................................. 38
5.5 Status Bar .............................................................................................. 39
5.6 Online Help ............................................................................................ 40
5.7 [File] Menu ............................................................................................. 41
5.7.1 New Command (File Menu) ...................................................... 41
5.7.2 Open Command (File Menu) .................................................... 42
5.7.3 Close Command (File Menu) .................................................... 42
5.7.4 Save Command (File Menu) ..................................................... 43
5.7.5 Save As Command (File Menu) ................................................ 43
5.7.6 Restore Command (File Menu) ................................................ 43
5.7.7 Rename Command (File Menu) ............................................... 43
5.7.8 Delete Command (File Menu) .................................................. 44
5.7.9 Import Command (File Menu) ................................................... 45
5.7.10 Print Command (File Menu) ................................................... 46
5.7.11 Exit Command (File Menu) ..................................................... 47
5.8 [Edit] Menu ............................................................................................. 48
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EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 v
5.8.1 [Undo] Command (Edit Menu) ..................................................48
5.8.2 [Redo] Command (Edit Menu) ..................................................48
5.8.3 [Cut] Command (Edit Menu) .....................................................48
5.8.4 [Copy] Command (Edit Menu) ..................................................48
5.8.5 [Paste] Command (Edit Menu)..................................................48
5.8.6 [Find] Command (Edit Menu) ....................................................49
5.8.7 [Find Next] Command (Edit Menu) ...........................................49
5.8.8 [Replace] Command (Edit Menu) .............................................50
5.8.9 [Select All] Command (Edit Menu) ............................................50
5.8.10 [Indent] Command (Edit Menu) ...............................................50
5.8.11 [Outdent] Command (Edit Menu) ............................................51
5.8.12 [Comment Block] Command (Edit Menu) ...............................51
5.8.13 [Uncomment Block] Command (Edit Menu) ...........................51
5.8.14 [Go To Definition] Command (Edit Menu) ...............................51
5.8.15 [Navigate Backward] (Edit Menu) ...........................................51
5.8.16 [Navigate Forward] (Edit Menu) ..............................................52
5.9 [View] Menu ...........................................................................................52
5.9.1 [Project Explorer] Command (View Menu) ...............................52
5.9.2 Status Window Command (View Menu) ...................................52
5.9.3 System History Command (View Menu) ...................................53
5.9.4 Start Window (View Menu) .......................................................54
5.10 [Project] Menu ......................................................................................55
5.10.1 [Wizard] Command (Project Menu) ........................................55
5.10.2 [New] Command (Project Menu) ............................................80
5.10.3 [Open] Command (Project Menu) ...........................................81
5.10.4 Recent Projects Submenu (Project Menu) .............................82
5.10.5 [Close] Command (Project Menu) ..........................................82
5.10.6 [Edit] Command (Project Menu) .............................................82
5.10.7 [Save] Command (Project Menu) ...........................................84
5.10.8 [Save As] Command (Project Menu) ......................................84
5.10.9 [Rename] Command (Project Menu) ......................................85
5.10.10 [Import] Command (Project Menu) .......................................86
5.10.11 [Export] Command (Project Menu) .......................................90
5.10.12 [Copy] Command (Project Menu) .........................................92
5.10.13 [Delete] Command (Project Menu) .......................................93
5.10.14 [Build] Command (Project Menu) ..........................................93
5.10.15 [Rebuild] Command (Project Menu) .....................................93
5.10.16 [Properties] Command (Project Menu) .................................94
5.10.17 [Synchronize Project] Command (Project Menu) .............. 108
5.11 [Run] Menu ......................................................................................... 110
5.11.1 [Run Window] Command (Run Menu) .................................. 110
5.11.2 [Operator Window] Command (Run Menu) .......................... 110
5.11.3 [Step Into] Command (Run Menu) ........................................ 110
5.11.4 [Step Over] Command (Run Menu) ...................................... 110
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vi EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
5.11.5 [Walk] Command (Run Menu) .............................................. 111
5.11.6 [Resume] Command (Run Menu) ......................................... 111
5.11.7 [Stop] Command (Run Menu) ............................................... 111
5.11.8 [Toggle Breakpoint] Command (Run Menu) ......................... 111
5.11.9 [Clear All Breakpoints] Command (Run Menu) ..................... 112
5.11.10 [Display Variables] Command (Run Menu)......................... 112
5.11.11 [Call Stack] Command (Run Menu) .................................... 113
5.12 [Tools] Menu ...................................................................................... 114
5.12.1 [Robot Manager] Command (Tools Menu) ........................... 114
5.12.2 [Command Window] Command (Tools Menu) ...................... 160
5.12.3 [I/O Monitor] Command (Tools Menu) .................................. 162
5.12.4 Task Manager Command (Tools Menu)................................ 166
5.12.5 Macros Command (Tools Menu) .......................................... 169
5.12.6 [I/O Label Editor] Command (Tools Menu) ........................... 170
5.12.7 User Error Editor Command (Tools Menu) ........................... 172
5.12.8 [Controller] Command (Tools Menu)..................................... 173
5.12.9 [Vision] Command (Tools Menu) .......................................... 177
5.13 [Setup] Menu ..................................................................................... 177
5.13.1 [PC to Controller Communications] Command (Setup Menu)178
5.13.2 [System Configuration] Command (Setup Menu) ................ 178
5.13.3 [Preferences] Command (Setup Menu) ................................ 199
5.13.4 [Options] Command (Setup Menu) ....................................... 206
5.14 [Window] Menu .................................................................................. 207
5.14.1 [Cascade] Command (Window Menu) ................................. 207
5.14.2 [Tile Vertical] Command (Window Menu) ............................. 207
5.14.3 [Tile Horizontal] Command (Window Menu) ......................... 208
5.14.4 [Arrange Icons] Command (Window Menu) ......................... 208
5.14.5 [Close All] Command (Window Menu) .................................. 209
5.14.6 1, 2, 3 Command (Window Menu) ........................................ 209
5.14.7 [Windows] Command (Window Menu) ................................. 209
5.15 [Help] Menu ....................................................................................... 210
5.15.1 [How Do I] Command (Help Menu) ...................................... 210
5.15.2 [Contents] Command (Help Menu) ....................................... 210
5.15.3 [Index] Command (Help Menu) ............................................ 211
5.15.4 [Search] Command (Help Menu) .......................................... 211
5.15.5 [Manuals] Submenu (Help Menu) ......................................... 212
5.15.6 [About EPSON RC+ 7.0] Command (Help Menu) ................ 212
6. The SPEL+ Language 213
6.1 Overview .............................................................................................. 214
6.2 Program Structure ............................................................................... 214
6.2.1 What is a SPEL+ program? .................................................... 214
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EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 vii
6.2.2 Calling functions ..................................................................... 214
6.3 Commands and Statements ............................................................... 215
6.4 Function and Variable Names (Naming restriction) ............................ 215
6.5 Data Types .......................................................................................... 216
6.6 Operators ............................................................................................ 216
6.7 Working with Variables ........................................................................ 217
6.7.1 Variable scopes ...................................................................... 217
6.7.2 Local variables ....................................................................... 217
6.7.3 Module variables .................................................................... 217
6.7.4 Global variables ..................................................................... 218
6.7.5 Global Preserve variables ...................................................... 218
6.7.6 Arrays ..................................................................................... 219
6.7.7 Initial values ........................................................................... 219
6.7.8 Clearing arrays ....................................................................... 219
6.8 Working with Strings ........................................................................... 220
6.9 Working with Files ............................................................................... 221
6.10 Multi-statements ................................................................................ 223
6.11 Labels ................................................................................................ 223
6.12 Comments ......................................................................................... 223
6.13 Error Handling ................................................................................... 224
6.14 Multi-tasking ...................................................................................... 226
6.15 Using Multiple Robots ....................................................................... 227
6.16 Coordinate Systems .......................................................................... 228
6.16.1 Overview .............................................................................. 228
6.16.2 Robot Coordinate Systems .................................................. 229
6.16.3 Local Coordinate Systems ................................................... 234
6.16.4 Tool Coordinate Systems ..................................................... 235
6.16.5 ECP Coordinate Systems (Option) ...................................... 238
6.17 Robot Arm Orientations..................................................................... 241
6.17.1 SCARA robot arm orientations ............................................. 241
6.17.2 6-axis robot arm orientations ............................................... 242
6.17.3 RS series arm orientations ................................................... 246
6.17.4 N series arm orientations ...................................................... 249
6.18 Robot Motion Commands ................................................................. 255
6.18.1 Homing the robot .................................................................. 255
6.18.2 Point to point motion ............................................................ 255
6.18.3 Linear motion ....................................................................... 255
6.18.4 Curves .................................................................................. 256
6.18.5 Joint motion .......................................................................... 256
6.18.6 Controlling position accuracy ............................................... 256
6.18.7 CP Motion Speed / Acceleration and Tool Orientation......... 257
6.18.8 PTP Speed / Acceleration for Small Distances .................... 257
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viii EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
6.18.9 Pressing Motion .................................................................... 257
6.18.10 Collision Detection Function (Detection Function of Robot
Motion Error) ........................................................................... 258
6.18.11 Torque Restriction Function ................................................ 261
6.18.12 Weight, Inertia, and Eccentricity / Offset Measurement Utility263
6.19 Working with Robot Points ................................................................ 269
6.19.1 Defining points ...................................................................... 269
6.19.2 Referencing points by point label ......................................... 269
6.19.3 Referencing points with variables ......................................... 270
6.19.4 Using points in a program ..................................................... 270
6.19.5 Importing points into program ............................................... 270
6.19.6 Saving and loading points..................................................... 271
6.19.7 Point attributes ...................................................................... 271
6.19.8 Extracting and setting point coordinates .............................. 272
6.19.9 Alteration of points ................................................................ 273
6.20 Input and output control ..................................................................... 274
6.20.1 Hardware I/O ......................................................................... 274
6.20.2 Memory I/O ........................................................................... 274
6.20.3 I/O Commands ...................................................................... 274
6.21 Using Traps ........................................................................................ 275
6.21.1 Cautions of Trap when it triggers the system condition ........ 276
6.22 Special Tasks ..................................................................................... 277
6.22.1 Precautions to Use the Special Tasks .................................. 277
6.22.2 NoPause/NoEmgAbort task specification ............................. 279
6.22.3 NoPause/NoEmgAbort task example ................................... 280
6.23 Background Task ............................................................................... 281
6.23.1 Primary features of background task .................................... 281
6.23.2 Setup and start the background task .................................... 282
6.23.3 Holding background task (from being activated) .................. 283
6.23.4 Commands that will cause error in background task ........... 285
6.23.5 Background task and Remote control .................................. 285
6.24 Predefined Constants ........................................................................ 286
6.25 Calling Native Functions in Dynamic Link Libraries .......................... 287
7. Building SPEL+ Applications 293
7.1 Designing Applications ........................................................................ 293
7.1.1 Creating the simplest application ............................................ 293
7.1.2 Application layout .................................................................... 293
7.1.3 Auto start at power up ............................................................. 295
7.2 Managing Projects ............................................................................... 296
7.2.1 Overview ................................................................................. 296
7.2.2 Creating a new project ............................................................ 297
7.2.3 Configuring a project ............................................................... 297
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EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 ix
7.2.4 Building a project .................................................................... 298
7.2.5 Backing up a project............................................................... 298
7.3 Editing Programs ................................................................................ 299
7.3.1 Program rules ......................................................................... 299
7.3.2 Typing in program code.......................................................... 299
7.3.3 Syntax Help ............................................................................ 300
7.3.4 Syntax Errors ......................................................................... 302
7.4 Editing Points ...................................................................................... 303
7.5 Running and Debugging Programs .................................................... 305
7.5.1 The Run window .................................................................... 305
7.5.2 Debugging .............................................................................. 307
7.6 The Operator Window .......................................................................... 311
7.6.1 Operator window configuration .............................................. 312
7.6.2 Auto start configuration .......................................................... 312
7.7 Using Remote Control ......................................................................... 313
7.8 Using Encrypt Files ............................................................................. 313
8. Simulator 315
8.1 Simulator Functions ............................................................................ 315
8.1.1 Overview ................................................................................ 315
8.2 Using the Simulator ............................................................................. 317
8.2.1 Working with the samples ...................................................... 317
8.2.2 Working with the user created system ................................... 319
8.3 Description of Functions ..................................................................... 327
8.3.1 [Robot Simulator] window layout ........................................... 327
8.3.2 Simulator Settings .................................................................. 359
8.3.3 Part/Mounted Device Settings ............................................... 367
8.3.4 Collision detection .................................................................. 369
8.3.5 CAD To Point .......................................................................... 371
8.3.6 CAD to Point for ECP ............................................................. 379
8.3.7 Virtual controller ..................................................................... 385
8.3.8 Connection with controller ...................................................... 386
8.3.9 Virtual Camera Settings and Camera View Display .............. 388
8.3.10 Motion restriction by BOX .................................................... 390
8.3.11 Virtual Direct Teaching ......................................................... 390
8.3.12 Jog Operation on the Robot Operation Panel ..................... 392
8.4 Simulator Specifications and Restrictions .......................................... 396
8.4.1 EPSON RC+ 7.0 package ..................................................... 396
8.4.2 Specifications and precautions for the 3D display ................. 396
8.4.3 Specifications and precautions for Simulation (program execution
on PC) .................................................................................... 398
8.4.4 Specifications and precautions of EPSON RC+ .................... 400
8.4.5 Restriction on SPEL+ command execution ........................... 400
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x EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
8.4.6 Specifications and precautions of EPSON RC+ 7.0 Trial ....... 403
9. Motion System 404
9.1 Standard Motion System ..................................................................... 404
9.2 Drive Module Software Configuration .................................................. 404
9.3 PG Motion System ............................................................................... 404
10. Robot Configuration 405
10.1 Setting the Robot Model .................................................................... 405
10.1.1 Adding a standard robot ........................................................ 405
10.1.2 Calibrating a standard robot ................................................. 406
10.1.3 Changing robot system parameters ..................................... 406
10.1.4 Deleting a standard robot ..................................................... 407
10.1.5 Changing the Robot .............................................................. 408
10.2 Configuration of Additional Axes ........................................................ 409
10.2.1 Adding the additional S axis ................................................. 409
10.2.2 Adding the additional T axis .................................................. 409
10.2.3 Changing the parameters of robot with additional axes installed
................................................................................................. 409
10.2.4 Differences of the standard robot and robot with additional axes
................................................................................................. 410
10.2.5 Deleting the additional axes ................................................. 412
11. Inputs and Outputs 413
11.1 Overview ............................................................................................ 413
11.2 I/O Commands ................................................................................... 414
11.3 I/O Configuration ................................................................................ 415
11.4 Monitoring I/O..................................................................................... 415
11.5 Virtual I/O ........................................................................................... 415
11.6 Fieldbus Master I/O ............................................................................ 415
11.7 Fieldbus Slave I/O .............................................................................. 416
11.7.1 Modbus Slave ....................................................................... 416
11.7.2 Supported Functions ............................................................. 416
11.7.3 Address map ......................................................................... 417
11.7.4 Modbus RTU ......................................................................... 418
11.7.5 Modbus TCP ......................................................................... 418
11.7.6 How to Configure Modbus .................................................... 418
12. Remote Control 421
12.1 Remote I/O......................................................................................... 421
12.1.1 Remote Control Input Output Configuration ......................... 422
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EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 xi
12.1.2 Control Device Configuration ............................................... 422
12.1.3 Auto Mode with Remote Control .......................................... 423
12.1.4 Teach Mode with Remote Control ........................................ 423
12.1.5 Debugging Remote Control ................................................. 423
12.1.6 Remote Inputs ...................................................................... 424
12.1.7 Remote Outputs ................................................................... 428
12.1.8 Remote Input Handshake Timing ........................................ 432
12.2 Remote Ethernet ............................................................................... 435
12.2.1 Remote Ethernet Configuration ........................................... 435
12.2.2 Control Device Configuration ............................................... 436
12.2.3 Remote Ethernet Control Execution .................................... 436
12.2.4 Debugging Remote Ethernet Control ................................... 436
12.2.5 Remote Ethernet Command ................................................ 437
12.2.6 Monitoring command ........................................................... 442
12.2.7 Response ............................................................................. 443
12.2.8 Response timing of Remote Ethernet control ...................... 445
12.3 Remote RS232 ................................................................................. 445
12.3.1 Remote RS232 setting ......................................................... 445
12.3.2 Control device setting .......................................................... 446
12.3.3 Execution of remote RS232 control ..................................... 446
12.3.4 Debugging remote RS232 control ....................................... 447
12.3.5 Remote RS232 Command ................................................... 447
12.3.6 Monitoring command ........................................................... 453
12.3.7 Response ............................................................................. 453
12.3.8 Response timing of Remote Ethernet control ...................... 456
12.4 User-defined Remote Output I/O ...................................................... 456
12.4.1 What is user-defined remote output I/O? ............................. 456
12.4.2 Output conditions ................................................................. 456
12.4.3 Output ................................................................................... 457
12.4.4 Restrictions .......................................................................... 459
12.4.5 How to set the user-defined output remote I/O.................... 461
12.4.6 Usage example .................................................................... 463
13. RS-232C Communications 465
13.1 RS-232C Software Configuration ..................................................... 465
13.2 RS-232C Commands ........................................................................ 467
14. TCP/IP Communications 468
14.1 TCP/IP Setup .................................................................................... 468
14.1.1 Ethernet Hardware ............................................................... 468
14.1.2 IP Addresses ........................................................................ 468
14.1.3 IP Gateway ........................................................................... 469
14.1.4 Testing Windows TCP/IP setup ............................................ 469
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xii EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
14.2 TCP/IP Software Configuration ......................................................... 470
14.3 TCP/IP Commands ............................................................................ 470
15. Security 471
15.1 Overview ............................................................................................ 471
15.2 Security Configuration ....................................................................... 471
15.3 Security Audit Viewer ......................................................................... 476
15.4 SPEL+ Security Command ................................................................ 476
16. Conveyor Tracking 477
16.1 Overview ............................................................................................ 477
16.2 Conveyor Tracking Processes ........................................................... 479
16.3 System Structure ............................................................................... 480
16.4 Hardware Installation ......................................................................... 483
16.5 Wiring Example of Vision Conveyor Tracking System ...................... 490
16.6 Conveyor Encoder Configuration ...................................................... 491
16.7 Verifying Encoder Operation .............................................................. 492
16.8 Verifying Hardware Conveyor Trigger / Vision Trigger ...................... 493
16.9 Key Terms .......................................................................................... 494
16.10 Conveyor Tracking Commands ....................................................... 495
16.11 Creating Conveyors in a Project ...................................................... 497
16.12 Configuring Conveyors .................................................................... 498
16.13 Vision Conveyors ............................................................................. 500
16.14 Sensor Conveyors ........................................................................... 522
16.15 Calibration Results........................................................................... 540
16.16 Pickup Area ...................................................................................... 542
16.17 Adjusting the Z value ....................................................................... 550
16.18 Queue Sorting .................................................................................. 552
16.19 Double Registration Prevention ....................................................... 553
16.20 Sample Program .............................................................................. 554
16.21 Multiple Conveyors .......................................................................... 559
16.22 Multi-robot Conveyor ....................................................................... 564
16.23 Abort Tracking .................................................................................. 569
16.24 Conveyor Tracking with 6-Axis Robot ............................................. 569
16.25 Tracking Mode ................................................................................. 570
16.26 How to shorten the picking cycle time ............................................. 579
16.27 Manipulator Posture ........................................................................ 579
16.28 Tracking Abort Line .......................................................................... 579
16.29 Tips for Accuracy Improvement of Conveyor Tracking .................... 587
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16.29.1 Overview ............................................................................ 587
16.29.2 Tips for System Construction ............................................. 587
16.29.3 Tips for Vision Calibration .................................................. 589
16.29.4 Tips for Conveyor Calibration ............................................ 590
16.29.5 Troubleshooting for Work Piece Detection ........................ 591
16.29.6 Offset .................................................................................. 594
16.30 Dispense Application on Conveyors ............................................... 596
16.30.1 Overview ............................................................................ 596
16.30.2 Setting a Target Point ......................................................... 596
16.30.3 Adjusting an Amount of Dispensing ................................... 598
17. ECP Motion 599
17.1 Overview ........................................................................................... 599
18. Force Sensing 601
18.1 Overview ........................................................................................... 601
18.2 Specifications .................................................................................... 602
18.3 Installation ......................................................................................... 602
18.4 Force Sensing Commands ............................................................... 607
18.5 Using the Force Sensing Trigger ...................................................... 608
19. Distance Tracking Function 609
19.1 Overview ........................................................................................... 609
19.1.1 Distance Tracking Accuracy ................................................. 610
19.2 Connection Example .......................................................................... 611
19.2.1 Basic Connection Example ................................................... 611
19.2.2 Connection Example for Dispense Application ..................... 611
19.3 Commands ........................................................................................ 612
19.4 Steps to adjust parameters ............................................................... 612
19.4.1 Check Motions of Analog I/O Board ..................................... 614
19.4.2 Teaching a Robot ................................................................. 614
19.4.3 Create a Motion Program ..................................................... 615
19.4.4 Add a Program for Distance Sensor Logging ...................... 616
19.4.5 ProportionalGain Setting ...................................................... 618
19.4.6 IntegralGain Setting ............................................................. 620
19.4.7 DifferentialGain Setting ........................................................ 621
19.5 Example of Dispense Application ..................................................... 622
19.5.1 Basic Example ..................................................................... 622
19.5.2 Example with Application Amount Control ........................... 623
Table of Contents
xiv EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
20. Real-Time I/O 624
20.1 Overview ............................................................................................ 624
20.2 Specifications ..................................................................................... 624
20.3 Usage ................................................................................................. 626
21. Additional Axis 630
21.1 Overview ............................................................................................ 630
21.2 Specifications ..................................................................................... 630
21.3 Usage ................................................................................................. 632
22. Absolute Accuracy Calibration 634
22.1 Overview ............................................................................................ 634
22.2 Arm Length Calibration ...................................................................... 634
22.2.1 Overview ............................................................................... 634
22.2.2 Replacing Parts Requiring Arm Length Calibration
Remeasurements .................................................................... 634
22.2.3 Arm Length Measurements .................................................. 634
22.2.4 Enabling and Disabling Arm Length Calibration ................... 635
22.3 Area distortion correction function ..................................................... 635
22.3.1 Overview ............................................................................... 635
22.3.2 Commands ............................................................................ 635
22.3.3 How to use ............................................................................ 636
22.3.4 During restoration ................................................................. 638
22.3.5 When reconfiguration of the area is needed ........................ 638
22.4 Joint Accuracy Calibration ................................................................. 639
22.4.1 Overview ............................................................................... 639
22.4.2 Replacing Parts Requiring Joint Accuracy Calibration
Remeasurements .................................................................... 639
22.4.3 Joint Accuracy Measurements .............................................. 639
23. Calibration of Commercial Vision Sensor and Robot 640
23.1 Overview ............................................................................................ 640
23.2 Specifications ..................................................................................... 641
23.3 Camera Installation ............................................................................ 642
23.4 Reference Points ............................................................................... 643
23.5 Reference Points for Mobile Camera ................................................ 643
23.6 Reference Points for Fixed Camera .................................................. 643
23.7 Command List .................................................................................... 644
24. Installing Controller Options 645
Table of Contents
EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 xv
25. Software License Agreement 646
Appendix A: Automatic Processing of Project Import A-1
Project Import for EPSON RC+ 6.* ................................................... A-1
Project Import for EPSON RC+ 5.* ................................................... A-1
Project Import for EPSON RC+ 3.* / 4.* ............................................ A-1
Project Import for SPEL for Windows 2.* .......................................... A-3
Appendix B: EPSON RC+ 7.0 Software B-1
EPSON RC+ 7.0 Software Installation .............................................. B-1
To install the service pack ................................................................. B-3
After Installing EPSON RC+ 7.0 Software ........................................ B-4
EPSON RC+ 7.0 Software Update ................................................... B-4
Appendix C: Simulator Functions List of Unsupported Manipulator
Models C-1
X5 series Manipulators ...................................................................... C-1
G6 series Manipulators ..................................................................... C-1
G10 series Manipulators ................................................................... C-2
G20 series Manipulators ................................................................... C-2
Table of Contents
xvi EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
1. Introduction 1
1.1 Welcome to EPSON RC+ 7.0 .................................................................. 1
1.2 System Overview ..................................................................................... 2
1.3 Options ..................................................................................................... 7
1.4 Precautions When Using Windows 8 ...................................................... 7
1.5 EPSON RC+ 5.x and 6.x Users ............................................................... 7
1.6 EPSON RC+ 3.x and 4.x Users ............................................................... 7
1.7 SPEL for Windows Users ........................................................................ 7
1.8 Manuals ................................................................................................... 8
1.9 Security for Controller Ethernet Connection ............................................ 9
1.10 Security for Compact Vision CV2-A Ethernet Connection .................. 12
1.11 Security for Feeder Ethernet Connection ............................................ 12
2. Safety 13
2.1 Conventions ........................................................................................... 13
2.2 Definitions .............................................................................................. 13
2.3 Installation and Design Precautions ...................................................... 16
2.4 Precautions regarding Robot Operation ................................................ 16
2.5 Backup of Projects and Controller ......................................................... 16
3. Getting Started 17
3.1 Hardware Installation ............................................................................. 17
3.2 Software Installation .............................................................................. 17
3.3 Windows Security Administration .......................................................... 17
4. Operation 18
4.1 System Power Up Procedure ................................................................ 18
4.2 Starting EPSON RC+ 7.0 ...................................................................... 18
4.3 Communications with Controller ............................................................ 27
4.4 Writing your first Program ...................................................................... 31
5. The EPSON RC+ 7.0 GUI 36
5.1 GUI Overview ........................................................................................ 36
5.2 Tool Bar .................................................................................................. 37
5.3 Project Explorer Pane ............................................................................ 38
5.4 Status Window Pane ............................................................................. 38
5.5 Status Bar .............................................................................................. 39
5.6 Online Help ............................................................................................ 40
Table of Contents
EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9 xvii
5.7 [File] Menu .............................................................................................41
5.8 [Edit] Menu .............................................................................................48
5.9 [View] Menu ...........................................................................................52
5.10 [Project] Menu ......................................................................................55
5.11 [Run] Menu ......................................................................................... 110
5.12 [Tools] Menu ....................................................................................... 114
5.13 [Setup] Menu ..................................................................................... 177
5.14 [Window] Menu ................................................................................. 207
5.15 [Help] Menu ....................................................................................... 210
6. The SPEL+ Language 213
6.1 Overview ............................................................................................. 214
6.2 Program Structure ............................................................................... 214
6.3 Commands and Statements ............................................................... 215
6.4 Function and Variable Names (Naming restriction) ............................ 215
6.5 Data Types .......................................................................................... 216
6.6 Operators ............................................................................................ 216
6.7 Working with Variables ........................................................................ 217
6.8 Working with Strings ........................................................................... 220
6.9 Working with Files ............................................................................... 221
6.10 Multi-statements ................................................................................ 223
6.11 Labels ................................................................................................ 223
6.12 Comments ......................................................................................... 223
6.13 Error Handling ................................................................................... 224
6.14 Multi-tasking ...................................................................................... 226
6.15 Using Multiple Robots ....................................................................... 227
6.16 Coordinate Systems .......................................................................... 228
6.17 Robot Arm Orientations..................................................................... 241
6.18 Robot Motion Commands ................................................................. 255
6.19 Working with Robot Points ................................................................ 269
6.20 Input and output control .................................................................... 274
6.21 Using Traps ....................................................................................... 275
6.22 Special Tasks .................................................................................... 277
6.23 Background Task .............................................................................. 281
6.24 Predefined Constants ....................................................................... 286
6.25 Calling Native Functions in Dynamic Link Libraries ......................... 287
7. Building SPEL+ Applications 293
Table of Contents
xviii EPSON RC+ 7.0 (Ver.7.5) User's Guide Rev.9
7.1 Designing Applications ........................................................................ 293
7.2 Managing Projects ............................................................................... 296
7.3 Editing Programs ................................................................................. 299
7.4 Editing Points ....................................................................................... 303
7.5 Running and Debugging Programs ..................................................... 305
7.6 The Operator Window .......................................................................... 311
7.7 Using Remote Control ......................................................................... 313
7.8 Using Encrypt Files .............................................................................. 313
8. Simulator 315
8.1 Simulator Functions ............................................................................. 315
8.2 Using the Simulator ............................................................................. 317
8.3 Description of Functions ...................................................................... 327
8.4 Simulator Specifications and Restrictions ........................................... 396
9. Motion System 404
9.1 Standard Motion System ..................................................................... 404
9.2 Drive Module Software Configuration .................................................. 404
9.3 PG Motion System ............................................................................... 404
10. Robot Configuration 405
10.1 Setting the Robot Model .................................................................... 405
10.2 Configuration of Additional Axes ........................................................ 409
11. Inputs and Outputs 413
11.1 Overview ............................................................................................ 413
11.2 I/O Commands ................................................................................... 414
11.3 I/O Configuration ................................................................................ 415
11.4 Monitoring I/O..................................................................................... 415
11.5 Virtual I/O ........................................................................................... 415
11.6 Fieldbus Master I/O ............................................................................ 415
11.7 Fieldbus Slave I/O .............................................................................. 416
12. Remote Control 421
12.1 Remote I/O......................................................................................... 421
12.2 Remote Ethernet ................................................................................ 435
12.3 Remote RS232 .................................................................................. 445
12.4 User-defined Remote Output I/O ....................................................... 456
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Epson EZ Modules 1-Axis Robots User guide

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