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5. The EPSON RC+ 5.0 GUI

82 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

Execute Motion Group

This group has controls for executing motion commands. Select the desired motion

command from the Command dropdown list. Then click the Execute button. A dialog is

displayed that lets you select the desired parameters for the motion command. Click

Execute from this dialog to execute the motion.

Motion commands can be disabled from Setup: Preferences: Robot Manager: Jogging.

Local

This drop down list is used to select the current Local for jogging and teaching. Only

Locals that have been defined are shown in the list. When you teach a point, the Local

point attribute defaults to the current local number.

Tool

This drop down list is used to select the current Tool for jogging and teaching. Only Tools

that have been defined are shown in the list.

Arm

This drop down list is used to select the current Arm for jogging and teaching. Only Arms

that have been defined are shown in the list. Arms are not used with 6-axis robots.

ECP

This drop down list is used to select the current ECP for jogging. Only ECPs that have

been defined are shown in the list. ECPs are only allowed if the External Control Point

option has been activated.

Current Position Group

This group displays the current position of the robot. There are three ways to display

position.

World displays the current position and tool orientation in the selected local

coordinate system,

Joint displays the current joint values, and Pulse displays the current

encoder pulse count for each joint.

Current Arm Orientation Group

The current Hand, Elbow, Wrist, J4Flag, and J6Flag values are displayed. For 4 axes

robots, only Hand is displayed.

Jog Distance Group

This group contains text boxes that are used to specify the distance that each axis moves

when its corresponding jog button is pressed. There are radio buttons for selecting

Continuous, Long, Medium, and Short jog distances. When Continuous is selected, the

robot is jogged in continuous mode and the jog distance text boxes are grayed out. When

Long, Medium, or Short are selected, the robot is jogged in step mode for the distance

specified in the jog distance text box for the axis being jogged.

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Epson RC170 Guia do Utilizador Página 100