1. Introduction
1.1 Welcome to EPSON RC+ 6.0
Welcome to the EPSON RC+ 6.0 Project Management and Development Environment.
EPSON RC+ 6.0 is used to develop application software for the EPSON RC620 Robot Controller.
EPSON RC+ 6.0 features
• Integrated application development environment
• 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
• VB Guide option
Enables you to control the system using standard programming environments includes 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
1. Introduction
1.2 System Overview
The EPSON RC+ 6.0 software contains several components that enable you to control an entire robotic work cell.
EPSON RC+ 6.0 supports the EPSON RC620 Controller
1.2.1 RC620 Controller
The RC620 Controller is a powerful robotic work cell controller that controls our robot (G series, RS series, PS series, C3 series, and EZ module X5 series).
Controller features
• Integral with PC and sophisticated yet achieving reliability and stability
• Built in Motion System
The motion drive system can control up to 8 axes simultaneously and two robots, and can add up to two drive units
• Includes standard I/O
• Wide variety of options
For detailed information on the Controller, refer to the controller manual.
1.2.2 Software
The EPSON RC+ 6.0 software comes pre-installed in the controller.
You can purchase options with the product or add them later.
The software can be installed on your PC using the installation disk supplied with the controller.
Using EPSON RC+ 6.0, you can develop application software for the SPEL+ language that runs in the RC620 controller.
1. Introduction
1.2.3 System Block Diagram
The following system block diagram shows different methods for connecting a PC running EPSON RC+ 6.0 to one or more controllers.
Keyboard Display Mouse
RC620 Control Unit PCI slot
Vision Board
Standard I/O Camera
Input Bit 0-23 Output Bit 0-15
Special slot
Expansion I/O Drive Unit Interface
I/O Board
Drive Unit 1 Drive Unit 2 Input Bit 32-55 Input Bit 256-279 Output Bit 32-47 Output Bit 256-271
Robot 1 Robot 2 Robot 3
1. Introduction
1.3 Options
You can purchase options that must be enabled in the controller. EPSON RC+ 6.0 is used to enable these options. Refer to 18. Installing Controller Options for details.
1.4 EPSON RC+ 5.0 Ver.5.x Users
EPSON RC+ 6.0 is compatible with EPSON RC+ 5.0 for the operation and language.
For EPSON RC+ 6.0, you can use all commands of EPSON RC+ 5.0.
You can use the current numbers for the I/O and communication port.
To enable the EPSON RC+ 5.x project in EPSON RC+ 6.0 environment, convert the project using Project menu | Import.
With above conversion, the entire project will be copied by EPSON RC+ 6.0.
\EPSONRC50\Project directory → \EpsonRC60\Project directory
Refer to Appendix A: Automatic Processing of Project Import for the details.
1.5 EPSON RC+ 3.x and 4.x Users
EPSON RC+ 6.0 is compatible with EPSON RC+ 3.x and 4.x for the operation.
For EPSON RC+ 6.0, there are new commands added to SPEL+ language. Though there are also some commands deleted or amended, most commands are available.
To enable the project of EPSON RC+ 3.x or 4.x in EPSON RC+ 6.0 environment, convert the project using Project menu | Import.
With above conversion, the entire project will be copied by EPSON RC+ 6.0.
\EPSONRC\Project directory → \EpsonRC60\Project directory
Refer to Appendix A: Automatic Processing of Project Import for the details.
1.6 SPEL for Windows Users
EPSON RC+ 6.0 is compatible with SPEL for Windows 1.x and 2.x for the operation.
For EPSON RC+ 6.0, there are many new commands added to SPEL+ language, which replaces SPEL. Also there are some commands deleted or amended.
To enable the project of SPEL for Windows 2.x in EPSON RC+ 6.0 environment, convert the project using Project menu | Import.
With above conversion, the file will be copied to a new directory or the program will optionally be converted by EPSON RC+ 6.0.
1. Introduction
1.7 Documentation
All documentation is installed on the PC in PDF format.
To view manuals on the PC:
• Select Manuals from the Help Menu in EPSON RC+ 6.0
• From Windows desktop, click Start | Programs | EPSON RC+ 6.0 Available manuals are shown in the table below.
Title Contents EPSON RC+ 6.0 Users Guide Information for the entire system
SPEL+ Language Reference Information for the SPEL+ Language Vision Guide 6.0
Information for options Vision Guide 6.0 reference
VB Guide 6.0 GUI Builder 6.0 Fieldbus IO PG Motion System
Manipulator manual Information for the purchased robot Each series has its own manual Controller manual Information for the purchased robot
Safety & Installation Information for installing the robot system safely Paper manual will come with the product
)
NOTE The “NOTE” sections describe important information to be followed for operating the Robot system.)
TIP The "TIP" sections describe hints for easier or alternative operations.
This chapter explains the important safety requirements for robotic systems using EPSON RC+ 6.0 and the RC620 Controller.
Installation of robots and robotic equipment should only be performed by qualified personnel in accordance with national and local codes. Please read and understand this entire chapter before using your EPSON RC+ 6.0 system.
Remember that safety is the most important consideration when designing and operating any robotic system.
WARNING
This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.
WARNING
This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.
2.2 Definitions
2.2.1 Robot Power
The status of robot power is explained below in terms of restriction to operation:
Operation-prohibited status: Robot cannot be operated.
Restricted (low power) status: Robot can operate at low speed and low torque.
Unrestricted (high power) status: Robot can operate without restriction.
The robot will not operate regardless of the control actions taken by the operator when in the operation-prohibited state. During operation, when the safeguard circuit opens, the system will switch to operation-prohibited state.
The robot will operate at low speed and torque in the restricted state (low power). In the unrestricted state (high power), the robot will operate at the programmed speed and torque.
In the event that the robot should make an unexpected movement, the restricted state (low power) decreases operating speed allowing the operator to avoid danger. The torque is also decreased to minimize serious injury to the operator should one be struck by the robot.
The maximum values of the decreased speed and torque are set according to the robot used and cannot be changed by the user.
As a safety precaution the initial power state of the robot will be set to either the restricted (low power) state or the operation-prohibited state. The system will not change to the unrestricted (high power) state if the appropriate procedures are not followed.