Epson RC170 Guia do Utilizador descarregar pdf (Página 140)

5. The EPSON RC+ 5.0 GUI

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

Setup: Controller: Preferences Page

This page contains controller preference settings.

RESET command turns off outputs

When this preference is turned on, all outputs other than remote control outputs will be

turned off when a Reset instruction is executed. The default setting is off.

The outputs of the standard I/O, expansion I/O, and Fieldbus I/O are included in the

“outputs” mentioned in the above preferences

RESET command turns off outputs and

Outputs off during Emergency Stop. Memory I/O is not affected by these preferences.

Therefore, memory I/O bits are not turned off by the RESET command execution or during

Emergency Stop.

Outputs off during Emergency Stop

When this preference is turned on, all outputs other than remote control outputs will be

turned off when emergency stop occurs. Also, no outputs can be turned on until the

emergency stop condition is cleared. The default setting is on.

You should design your system to always remove all power to output devices when

emergency stop occurs. Even if the controller turns off outputs, the I/O hardware could

malfunction.

Allow motion with one or more joints free

When this preference is turned on, motion commands can be executed after SFree has been

used to free one or more joints. The default setting is off.

Walk stops for output commands

When checked, the Walk command from the Run Menu will execute lines until after the

next motion or output statement (whichever comes first). When unchecked, the Walk

command will execute lines until after the next motion statement and will not stop for

output statements. The default setting is on.

Dry run

This preference allows you to run programs without a robot connected to the controller.

All program statements will work. Motion statements will execute approximately the same

amount of time as when connected to a robot.

Virtual I/O

This preference allows you to run programs using virtual I/O. When Virtual I/O is enabled,

I/O commands do not affect the hardware I/O. There are also several commands available

for turning on inputs from within a program. The default setting is off.

Remote function is also available when virtual I/O is enabled.

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