Epson EZ Modules 4-Axis Robots User guide

Type
User guide
Rev.4 EM179S3539F
EPSON RC+ 7.0
User's Guide
Project Management and Development
Ver.7.3
EPSON RC+ 7.0 (Ver.7.3) User's Guide Project Management and Development Rev.4
EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
i
EPSON RC+ 7.0 (Ver.7.3)
User's Guide
Rev.4
Copyright 2012-2017 SEIKO EPSON CORPORATION. All rights reserved.
ii EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
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.
WARRANTY
The robot 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.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the manual, or
careless use.
2.
Malfunctions caused by customers’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair attempts.
4.
Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the robot or associated equipment is used outside of the usage conditions and product
specifications described in the manuals, this warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death
.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual cannot
warn the user of all possible hazards.
EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
iii
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® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows XP, Windows Vista, Windows 7, Windows 8, and
Windows 10 refer to above respective operating systems. In some cases, Windows refers
generically to Windows XP, Windows Vista, Windows 7, Windows 8, and Windows 10.
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
iv EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
Table of Contents
EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4 v
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 ...................................................................................... 3
1.2.3 Simulator ..................................................................................... 3
1.2.4 System Block Diagram ............................................................... 4
1.3 Options .................................................................................................... 5
1.4 Precautions When Using Windows 7 ...................................................... 5
1.5 EPSON RC+ 5.x and 6.x Users .............................................................. 5
1.6 EPSON RC+ 3.x and 4.x Users .............................................................. 5
1.7 SPEL for Windows Users ........................................................................ 5
1.8 Documentation ........................................................................................ 6
2. Safety 7
2.1 Overview .................................................................................................. 7
2.2 Definitions ................................................................................................ 7
2.2.1 Robot Power ................................................................................ 7
2.2.2 Safeguard ................................................................................... 8
2.2.3 Operation Modes ........................................................................ 8
2.2.4 Start Mode .................................................................................. 8
2.2.5 Changing Operation Mode ......................................................... 9
2.2.6 Emergency Stop ......................................................................... 9
2.2.7 Teach Control Device.................................................................. 9
2.3 Safety-related Requirements ................................................................. 10
2.4 Installation and Design Precautions ...................................................... 11
2.4.1 Designing a Safe Robot System .............................................. 11
2.4.2 Robot System Installation, Start-up, and Testing ..................... 14
2.5 Precautions regarding Robot Operation................................................ 16
2.5.1 General Precautions ................................................................. 16
2.5.2 Automatic Operation ................................................................. 16
2.5.3 Teaching Robot Points .............................................................. 16
2.5.4 Return to Automatic Operation ................................................. 17
2.5.5 Program Verification ................................................................. 17
2.5.6 Troubleshooting ........................................................................ 17
2.5.7 Maintenance ............................................................................. 17
2.5.8 Backup of Projects and Controller ............................................ 18
2.6 End User Instruction Manual ................................................................. 19
2.7 End User Training .................................................................................. 19
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vi EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
3. Getting Started 20
3.1 Hardware Installation ............................................................................. 20
3.2 Software Installation .............................................................................. 20
3.3 Windows Security Administration .......................................................... 20
4. Operation 21
4.1 System Power Up Procedure ................................................................ 21
4.2 Starting EPSON RC+ 7.0 ...................................................................... 21
4.2.1 Startup Sequence ..................................................................... 21
4.2.2 Startup Configuration ................................................................ 24
4.2.3 Start Mode ................................................................................. 24
4.2.4 Start Mode Dialog ..................................................................... 25
4.2.5 Start Mode: Program................................................................. 25
4.2.6 Start Mode: Auto ....................................................................... 26
4.2.7 Auto Start .................................................................................. 26
4.2.8 Using Monitor Mode .................................................................. 27
4.2.9 Windows Login .......................................................................... 27
4.2.10 Command Line Options .......................................................... 28
4.2.11 Using Command Line Options ................................................ 29
4.3 Communications with Controller ............................................................ 30
4.3.1 Configuring Communications with the Controller ..................... 30
4.3.2 USB Communications ............................................................... 30
4.3.3 Ethernet Communications ........................................................ 31
4.3.4 Connecting When Control Device is not PC ............................. 31
4.4 Writing your first Program ...................................................................... 33
5. The EPSON RC+ 7.0 GUI 38
5.1 GUI Overview ......................................................................................... 38
5.2 Project Explorer Pane ............................................................................ 39
Context Menu ...................................................................................... 39
5.3 Status Window Pane ............................................................................. 39
5.4 Status Bar .............................................................................................. 40
5.5 Online Help ............................................................................................ 41
5.6 [File] Menu ............................................................................................. 42
5.6.1 New Command (File Menu) ...................................................... 42
5.6.2 Open Command (File Menu) .................................................... 43
5.6.3 Close Command (File Menu) .................................................... 43
5.6.4 Save Command (File Menu) ..................................................... 44
5.6.5 Save As Command (File Menu) ................................................ 44
5.6.6 Restore Command (File Menu) ................................................ 44
5.6.7 Rename Command (File Menu) ............................................... 44
5.6.8 Delete Command (File Menu) ................................................... 45
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5.6.9 Import Command (File Menu) .................................................. 46
5.6.10 Print Command (File Menu) ................................................... 47
5.6.11 Exit Command (File Menu) ..................................................... 48
5.7 [Edit] Menu............................................................................................. 49
5.7.1 [Undo] Command (Edit Menu) .................................................. 49
5.7.2 [Redo] Command (Edit Menu) .................................................. 49
5.7.3 [Cut] Command (Edit Menu) ..................................................... 49
5.7.4 [Copy] Command (Edit Menu) .................................................. 49
5.7.5 [Paste] Command (Edit Menu) ................................................. 49
5.7.6 [Find] Command (Edit Menu) ................................................... 50
5.7.7 [Find Next] Command (Edit Menu) ........................................... 50
5.7.8 [Replace] Command (Edit Menu) ............................................. 51
5.7.9 [Select All] Command (Edit Menu) ........................................... 51
5.7.10 [Indent] Command (Edit Menu) .............................................. 51
5.7.11 [Outdent] Command (Edit Menu) ............................................ 52
5.7.12 [Comment Block] Command (Edit Menu) ............................... 52
5.7.13 [Uncomment Block] Command (Edit Menu) ........................... 52
5.7.14 [Go To Definition] Command (Edit Menu) .............................. 52
5.8 [View] Menu ........................................................................................... 53
5.8.1 [Project Explorer] Command (View Menu) ............................... 53
5.8.2 Status Window Command (View Menu)................................... 53
5.8.3 System History Command (View Menu) .................................. 54
5.9 [Project] Menu ....................................................................................... 55
5.9.1 [New] Command (Project Menu) .............................................. 55
5.9.2 [Open] Command (Project Menu) ............................................ 56
5.9.3 Recent Projects Submenu (Project Menu) ............................... 57
5.9.4 [Close] Command (Project Menu) ............................................ 57
5.9.5 [Edit] Command (Project Menu) ............................................... 57
5.9.6 [Save] Command (Project Menu) ............................................. 59
5.9.7 [Save As] Command (Project Menu) ........................................ 59
5.9.8 [Rename] Command (Project Menu)........................................ 60
5.9.9 [Import] Command (Project Menu) ........................................... 61
5.9.10 [Export] Command (Project Menu) ......................................... 65
5.9.11 [Copy] Command (Project Menu) ........................................... 67
5.9.12 [Delete] Command (Project Menu) ......................................... 68
5.9.13 [Build] Command (Project Menu) ........................................... 68
5.9.14 [Rebuild] Command (Project Menu) ....................................... 68
5.9.15 [Properties] Command (Project Menu) ................................... 69
5.10 [Run] Menu .......................................................................................... 79
5.10.1 [Run Window] Command (Run Menu) ................................... 79
5.10.2 [Operator Window] Command (Run Menu) ............................ 79
5.10.3 [Step Into] Command (Run Menu) ......................................... 79
5.10.4 [Step Over] Command (Run Menu) ........................................ 79
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viii EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
5.10.5 [Walk] Command (Run Menu) ................................................ 80
5.10.6 [Resume] Command (Run Menu) ........................................... 80
5.10.7 [Stop] Command (Run Menu) ................................................. 80
5.10.8 [Toggle Breakpoint] Command (Run Menu) ........................... 80
5.10.9 [Clear All Breakpoints] Command (Run Menu) ...................... 81
5.10.10 [Display Variables] Command (Run Menu) .......................... 81
5.10.11 [Call Stack] Command (Run Menu) ...................................... 82
5.11 [Tools] Menu ......................................................................................... 83
5.11.1 [Robot Manager] Command (Tools Menu).............................. 83
5.11.2 [Command Window] Command (Tools Menu) ...................... 127
5.11.3 [I/O Monitor] Command (Tools Menu) ................................... 129
5.11.4 Task Manager Command (Tools Menu) ................................ 131
5.11.5 Macros Command (Tools Menu) ........................................... 134
5.11.6 [I/O Label Editor] Command (Tools Menu) ........................... 135
5.11.7 User Error Editor Command (Tools Menu) ........................... 137
5.11.8 [Controller] Command (Tools Menu) ..................................... 138
5.12 [Setup] Menu ...................................................................................... 142
5.12.1 [PC to Controller Communications] Command (Setup Menu)142
5.12.2 [System Configuration] Command (Setup Menu) ................. 143
5.12.3 [Preferences] Command (Setup Menu) ................................ 160
5.12.4 [Options] Command (Setup Menu) ....................................... 167
5.13 [Window] Menu .................................................................................. 168
5.13.1 [Cascade] Command (Window Menu) .................................. 168
5.13.2 [Tile Vertical] Command (Window Menu) ............................. 168
5.13.3 [Tile Horizontal] Command (Window Menu) ......................... 169
5.13.4 [Arrange Icons] Command (Window Menu) ......................... 169
5.13.5 [Close All] Command (Window Menu) .................................. 170
5.13.6 1, 2, 3 Command (Window Menu) ........................................ 170
5.13.7 [Windows] Command (Window Menu) ................................. 170
5.14 [Help] Menu ........................................................................................ 171
5.14.1 [How Do I] Command (Help Menu) ...................................... 171
5.14.2 [Contents] Command (Help Menu) ....................................... 171
5.14.3 [Index] Command (Help Menu)............................................. 172
5.14.4 [Search] Command (Help Menu) .......................................... 172
5.14.5 [Manuals] Submenu (Help Menu) ......................................... 173
5.14.6 [About EPSON RC+ 7.0] Command (Help Menu) ................ 173
6. The SPEL+ Language 174
6.1 Overview .............................................................................................. 175
6.2 Program Structure ............................................................................... 175
6.2.1 What is a SPEL+ program? .................................................... 175
6.2.2 Calling functions ...................................................................... 175
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EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4 ix
6.3 Commands and Statements ................................................................ 176
6.4 Function and Variable Names (Naming restriction) ............................ 176
6.5 Data Types ........................................................................................... 177
6.6 Operators ............................................................................................. 177
6.7 Working with Variables ........................................................................ 178
6.7.1 Variable scopes ...................................................................... 178
6.7.2 Local variables ........................................................................ 178
6.7.3 Module variables..................................................................... 178
6.7.4 Global variables ...................................................................... 179
6.7.5 Global Preserve variables ...................................................... 179
6.7.6 Arrays ...................................................................................... 180
6.7.7 Initial values ............................................................................ 180
6.7.8 Clearing arrays ....................................................................... 180
6.8 Working with Strings ............................................................................ 181
6.9 Working with Files ............................................................................... 182
6.10 Multi-statements ................................................................................ 184
6.11 Labels ................................................................................................ 184
6.12 Comments ......................................................................................... 184
6.13 Error Handling ................................................................................... 185
6.14 Multi-tasking ...................................................................................... 187
6.15 Using Multiple Robots ....................................................................... 188
6.16 Coordinate Systems .......................................................................... 189
6.16.1 Overview ............................................................................... 189
6.16.2 Robot Coordinate Systems................................................... 190
6.16.3 Local Coordinate Systems.................................................... 193
6.16.4 Tool Coordinate Systems ...................................................... 194
6.16.5 ECP Coordinate Systems (Option) ....................................... 197
6.17 Robot Arm Orientations ..................................................................... 200
6.17.1 SCARA robot arm orientations ............................................. 200
6.17.2 6-axis robot arm orientations ................................................ 201
6.17.3 RS series arm orientations ................................................... 205
6.17.4 N series arm orientations....................................................... 209
6.18 Robot Motion Commands .................................................................. 214
6.18.1 Homing the robot .................................................................. 214
6.18.2 Point to point motion ............................................................. 214
6.18.3 Linear motion ........................................................................ 214
6.18.4 Curves................................................................................... 215
6.18.5 Joint motion .......................................................................... 215
6.18.6 Controlling position accuracy ............................................... 215
6.18.7 CP Motion Speed / Acceleration and Tool Orientation ......... 216
6.18.8 PTP Speed / Acceleration for Small Distances .................... 216
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x EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
6.18.9 Pressing Motion .................................................................... 216
6.18.10 Collision Detection Function ............................................... 217
6.18.11 Torque Restriction Function ................................................ 219
6.19 Working with Robot Points ................................................................. 221
6.19.1 Defining points ...................................................................... 222
6.19.2 Referencing points by point label ......................................... 222
6.19.3 Referencing points with variables ......................................... 223
6.19.4 Using points in a program ..................................................... 223
6.19.5 Importing points into program ............................................... 223
6.19.6 Saving and loading points ..................................................... 223
6.19.7 Point attributes ...................................................................... 224
6.19.8 Extracting and setting point coordinates .............................. 225
6.19.9 Alteration of points ................................................................ 225
6.20 Input and output control ..................................................................... 226
6.20.1 Hardware I/O ......................................................................... 226
6.20.2 Memory I/O ........................................................................... 226
6.20.3 I/O Commands ...................................................................... 226
6.21 Using Traps ........................................................................................ 227
6.21.1 Cautions of Trap when it triggers the system condition ........ 228
6.22 Special Tasks ..................................................................................... 229
6.22.1 Precautions to Use the Special Tasks .................................. 229
6.22.2 NoPause/NoEmgAbort task specification ............................. 231
6.22.3 NoPause/NoEmgAbort task example ................................... 232
6.23 Background Task ............................................................................... 233
6.23.1 Primary features of background task .................................... 233
6.23.2 Setup and start the background task .................................... 233
6.23.3 Holding background task (from being activated) .................. 234
6.23.4 Commands that will cause error in background task ........... 236
6.23.5 Background task and Remote control .................................. 236
6.24 Predefined Constants ........................................................................ 237
6.25 Calling Native Functions in Dynamic Link Libraries .......................... 242
7. Building SPEL+ Applications 247
7.1 Designing Applications ......................................................................... 247
7.1.1 Creating the simplest application ............................................ 247
7.1.2 Application layout .................................................................... 247
7.1.3 Auto start at power up ............................................................. 249
7.2 Managing Projects ............................................................................... 250
7.2.1 Overview ................................................................................. 250
7.2.2 Creating a new project ............................................................ 251
7.2.3 Configuring a project ............................................................... 251
7.2.4 Building a project .................................................................... 252
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EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4 xi
7.2.5 Backing up a project ............................................................... 252
7.3 Editing Programs ................................................................................. 253
7.3.1 Program rules ......................................................................... 253
7.3.2 Typing in program code .......................................................... 253
7.3.3 Syntax Help ............................................................................ 254
7.3.4 Syntax Errors .......................................................................... 255
7.4 Editing Points ....................................................................................... 256
7.5 Running and Debugging Programs ..................................................... 258
7.5.1 The Run window ..................................................................... 258
7.5.2 Debugging .............................................................................. 260
7.6 The Operator Window ......................................................................... 264
7.6.1 Operator window configuration ............................................... 265
7.6.2 Auto start configuration ........................................................... 265
7.7 Using Remote Control ......................................................................... 265
7.8 Using Encrypt Files .............................................................................. 266
8. Simulator 267
8.1 Simulator Functions ............................................................................. 267
8.1.1 Overview ................................................................................. 267
8.1.2 System Requirements ............................................................ 268
8.2 Using the Simulator ............................................................................. 269
8.2.1 Working with the samples ....................................................... 269
8.2.2 Working with the user created system ................................... 271
8.3 Description of Functions ...................................................................... 279
8.3.1 Simulator window layout ......................................................... 279
8.3.2 Simulator Settings................................................................... 298
8.3.3 Collision detection................................................................... 300
8.3.4 CAD To Point .......................................................................... 302
8.3.5 Virtual controller ...................................................................... 310
8.3.6 Connection with controller ...................................................... 311
8.3.7 Motion restriction by BOX ....................................................... 313
8.4 Simulator Specifications and Restrictions ........................................... 314
8.4.1 EPSON RC+ 7.0 package ...................................................... 314
8.4.2 Specifications and precautions for the 3D display ................. 314
8.4.3 Specifications and precautions for Simulation (program execution
on PC) ..................................................................................... 315
8.4.4 Specifications and precautions of EPSON RC+ .................... 317
8.4.5 Restriction on SPEL+ command execution ............................ 318
8.4.6 Specifications and precautions of EPSON RC+ 7.0 Trial ...... 321
9. Motion System 322
9.1 Standard Motion System ..................................................................... 322
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xii EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
9.2 Drive Module Software Configuration .................................................. 322
9.3 PG Motion System ............................................................................... 322
10. Robot Configuration 323
10.1 Setting the Robot Model .................................................................... 323
10.1.1 Adding a standard robot ........................................................ 323
10.1.2 Calibrating a standard robot ................................................. 324
10.1.3 Changing robot system parameters ..................................... 324
10.1.4 Deleting a standard robot ..................................................... 325
10.1.5 Changing the Robot .............................................................. 326
10.2 Configuration of Additional Axes ........................................................ 327
10.2.1 Adding the additional S axis .................................................. 327
10.2.2 Adding the additional T axis .................................................. 327
10.2.3 Changing the parameters of robot with additional axes installed
................................................................................................. 327
10.2.4 Differences of the standard robot and robot with additional axes
................................................................................................. 328
10.2.5 Deleting the additional axes .................................................. 330
11. Inputs and Outputs 331
11.1 Overview ............................................................................................ 331
11.2 I/O Commands ................................................................................... 331
11.3 I/O Configuration ................................................................................ 332
11.4 Monitoring I/O ..................................................................................... 332
11.5 Virtual I/O ........................................................................................... 332
11.6 Fieldbus Master I/O ............................................................................ 332
11.7 Fieldbus Slave I/O .............................................................................. 333
11.7.1. ModBus Slave ...................................................................... 333
11.7.2. Supported Functions ............................................................ 333
11.7.3. Address map ........................................................................ 334
11.7.4. ModBus RTU ........................................................................ 335
11.7.5. ModBus TCP ........................................................................ 335
11.7.6. How to Configure ModBus ................................................... 335
12. Remote Control 338
12.1 Remote I/O ......................................................................................... 338
12.1.1 Remote Control Input Output Configuration ......................... 339
12.1.2 Control Device Configuration ................................................ 339
12.1.3 Auto Mode with Remote Control ........................................... 340
12.1.4 Teach Mode with Remote Control......................................... 340
12.1.5 Debugging Remote Control .................................................. 340
12.1.6 Remote Inputs ....................................................................... 341
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12.1.7 Remote Outputs.................................................................... 345
12.1.8 Remote Input Handshake Timing ......................................... 348
12.2 Remote Ethernet ............................................................................... 351
12.2.1 Remote Ethernet Configuration ............................................ 351
12.2.2 Control Device Configuration ............................................... 351
12.2.3 Remote Ethernet Control Execution ..................................... 352
12.2.4 Debugging Remote Ethernet Control ................................... 352
12.2.5 Remote Ethernet Command ................................................. 353
12.2.6 Monitoring command ............................................................ 356
12.2.7 Response .............................................................................. 357
12.2.8 Response timing of Remote Ethernet control ...................... 359
12.3 Remote RS232 .................................................................................. 359
12.3.1 Remote RS232 setting ......................................................... 359
12.3.2 Control device setting ........................................................... 360
12.3.3 Execution of remote RS232 control...................................... 360
12.3.4 Debugging remote RS232 control ........................................ 361
12.3.5 Remote RS232 Command ................................................... 361
12.3.6 Monitoring command ............................................................ 367
12.3.7 Response .............................................................................. 367
12.3.8 Response timing of Remote Ethernet control ...................... 370
12.4 User-defined Remote Output I/O ...................................................... 370
12.4.1 What is user-defined remote output I/O? ............................. 370
12.4.2 Output conditions .................................................................. 370
12.4.3 Output ................................................................................... 371
12.4.4 Restrictions ........................................................................... 373
12.4.5 How to set the user-defined output remote I/O .................... 374
12.4.6 Usage example ..................................................................... 376
13. RS-232C Communications 378
13.1 RS-232C Software Configuration ...................................................... 378
13.2 RS-232C Commands ........................................................................ 380
14. TCP/IP Communications 381
14.1 TCP/IP Setup ..................................................................................... 381
14.1.1 Ethernet Hardware ............................................................... 381
14.1.2 IP Addresses ......................................................................... 381
14.1.3 IP Gateway ........................................................................... 382
14.1.4 Testing Windows TCP/IP setup ............................................ 382
14.2 TCP/IP Software Configuration ......................................................... 383
14.3 TCP/IP Commands ............................................................................ 383
15. Security 384
15.1 Overview ............................................................................................ 384
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xiv EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
15.2 Security Configuration ....................................................................... 384
15.3 Security Audit Viewer ......................................................................... 388
15.4 SPEL+ Security Command ................................................................ 388
16. Conveyor Tracking 389
16.1 Overview ............................................................................................ 389
16.2 Conveyor Tracking Processes ........................................................... 391
16.3 System Structure ............................................................................... 392
16.4 Hardware Installation ......................................................................... 394
16.5 Wiring example of Vision Conveyor Tracking System ....................... 402
16.6 Conveyor Encoder Configuration ..................................................... 403
16.7 Verifying Encoder Operation .............................................................. 404
16.8 Verifying Hardware Conveyor Trigger / Vision Trigger ...................... 405
16.9 Key Terms .......................................................................................... 406
16.10 Conveyor Tracking Commands ....................................................... 407
16.11 Creating Conveyors in a Project ...................................................... 409
16.12 Configuring Conveyors .................................................................... 410
16.13 Vision Conveyors ............................................................................. 412
16.14 Sensor Conveyors ........................................................................... 433
16.15 Pickup Area ...................................................................................... 449
16.16 Adjusting the Z value ....................................................................... 457
16.17 Queue Sorting .................................................................................. 459
16.18 Cnv_QueReject ............................................................................... 460
16.19 Sample Program .............................................................................. 461
16.20 Multiple Conveyors .......................................................................... 467
16.21 Multi-robot Conveyor ....................................................................... 472
16.22 Abort Tracking .................................................................................. 477
16.23 Conveyor Tracking with 6-Axis Robot ............................................. 477
16.24 Tracking Mode ................................................................................. 477
16.25 How to shorten the picking cycle time ............................................. 478
16.26 Manipulator Posture ......................................................................... 478
16.27 Tracking Abort Line .......................................................................... 479
16.28 Tips for Accuracy Improvement of Conveyor Tracking .................... 484
16.28.1 Overview ............................................................................. 484
16.28.2 Tips for System Construction .............................................. 484
16.28.3 Tips for Vision Calibration ................................................... 486
16.28.4 Tips for Conveyor Calibration ............................................. 487
16.28.5 Troubleshooting for Work Piece Detection ......................... 488
16.28.6 Offset ................................................................................... 491
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17. ECP Motion 493
17.1 Overview ............................................................................................ 493
18. Force Sensing 495
18.1 Overview ............................................................................................ 495
18.2 Specifications .................................................................................... 495
18.3 Installation.......................................................................................... 496
18.4 Force Sensing Commands ................................................................ 501
18.5 Using the Force Sensing Trigger ....................................................... 502
19. Real-Time I/O 503
19.1 Overview ............................................................................................ 503
19.2 Specifications .................................................................................... 503
19.3 Usage ................................................................................................ 505
20. Additional Axis 508
20.1 Overview ............................................................................................ 508
20.2 Specifications .................................................................................... 508
20.3 Usage ................................................................................................ 510
21. Calibration of Commercial Vision Sensor and Robot 512
21.1 Overview ............................................................................................ 512
21.2 Specifications .................................................................................... 513
21.3 Camera Installation............................................................................ 514
21.4 Reference Points ............................................................................... 515
21.5 Reference Points for Mobile Camera ................................................ 515
21.6 Reference Points for Fixed Camera .................................................. 515
21.7 Command List ................................................................................... 516
22. Installing Controller Options 517
23. Software License Agreement 518
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xvi EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
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
Before Installing EPSON RC+ 7.0 Software ............................................... B-1
EPSON RC+ 7.0 Software Installation ...................................................... B-3
EPSON RC+ 7.0 Software Update ............................................................ B-5
1. Introduction
EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4 1
1. Introduction
1.1 Welcome to EPSON RC+ 7.0
Welcome to the EPSON RC+ 7.0 Project Management and Development Environment.
EPSON RC+ 7.0 is used to develop application software for the Robot Controller.
EPSON RC+ 7.0 features
Operable on Windows -
Integrated application development environment -
Communicates with the Controller by USB or Ethernet -
Allows you to connect one computer with multiple Controllers -
Multi simultaneous session -
SPEL+ programming language -
A powerful, easy to use BASIC-like programming language that supports multi-
tasking, robot motion control, I/O control, and networking.
I/O systems including Digital I/O boards and Fieldbus I/O -
TCP/IP and RS-232 communications -
Background task -
Controls entire system
Database access -
Vision Guide option -
Integrated vision robot guidance
RC+ API option -
Enables you to control the system using standard Microsoft .NET programming
environments including Microsoft Visual Basic and Microsoft Visual C++.
Security option -
Allows you to administrate all EPSON RC+ users on your system. It also includes
usage auditing, so you can track how many hours are spent using the system, and if
changes were made.
Conveyor Tracking option -
Enables one or more robots to pick parts from moving conveyors using vision or
sensors.
PG Motion System option -
Allows you to use third party motors and drivers to control auxiliary equipment such
as XY tables, slides, etc.
ECP option -
Supports CP motion relative to a fixed point.
GUI Builder option -
Integrated GUI development tool
Force Sensing option -
Allows a robot to use torque/force sensing and measurement
Force Control -
Force is controlled or measured by force sensor.
1. Introduction
2 EPSON RC+ 7.0 (Ver.7.3) User's Guide Rev.4
1.2 System Overview
EPSON RC+ 7.0 software, which is installed to the computer connected to the robot
controller, contains several components that enable you to control an entire robotic work
cell. EPSON RC+ 7.0 communicates with the controller using USB or Ethernet.
EPSON RC+ 7.0 and the Controller can be used in following environments:
Slave system
The Controller is PLC or PC cell slave.
Application is developed with EPSON RC+ 7.0.
After saving the object code to the Controller, it does not need
to be connected to the computer.
The Controller is controlled by I/O or fieldbus.
Standalone system
Controls the robot and peripheral equipment as the robot
controller.
EPSON RC+ 7.0 displays the simple operator window in
AUTO mode.
By using RC+ API option, .NET application can be controlled.
Offline development
system
Program edition and project build can be checked on the offline
PC.
Simulation system
EPSON RC+ 7.0 on the PC which is connected to the
Controller can execute the program without the actual I/O or
robot by using the virtual I/O and dry run.
1.2.1 Controller
RC700
The RC700 Controller is a powerful robotic work cell controller that controls our SCARA
robots and 6-axis robots.
Controller features
Sophisticated yet achieving reliability and stability -
Built in Motion System -
The motion drive system can control up to 6 axes simultaneously and 1 robot,
and can add up to three drive units
Includes standard I/O -
Wide variety of options -
For detailed information on the Controller, refer to the controller manual.
RC90
The RC90 Controller with the following label attached can be used in combination with
EPSON RC+ 7.0.
EPSON RC+ 7.0
RC90 Controller firmware
Ver.7.0.2.0
Before Ver.7.0.1 !!!
Ver.7.0.2 or later OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver. 7.0.2
or later.
This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the
label.
NOTE
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Epson EZ Modules 4-Axis Robots User guide

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