Epson RC170 Guia do Utilizador descarregar pdf (Página 191)

6. The SPEL+ Language

To specify orientation for the RS series, add a forward slash (/) followed by L (for Lefty

hand orientation) or R (Righty hand orientation), J1F0 or J1F1, J2F0 or J2F1.

The RS series can have the same position and orientation even if the first joint or second

joint are rotated 360 degrees. To distinguish these points, the J1Flag and J2Flag point

attributes are provided.

To specify the J1Flag, add a forward slash (/) followed by J1F0 (-90 < the first joint angle

<= 270) or J1F1 (-270 < the first joint angle <= -90 or 270 < the first joint angle <= 450).

To specify the J2Flag, add a forward slash (/) followed by J2F0 (-180 < the second joint

angle <= 180) or J2F1 (-360 < the second joint angle <= -180 or 180 < the second joint

angle <= 360).

There are eight available orientations as shown below. However, the RS series cannot be

operated in all of the orientations depending on point.

Available Orientation

1 /R /J1F0 /J2F0 5 /R /J1F0 / J2F1

2 /L /J1F0 /J2F0 6 /L /J1F0 / J2F1

3 /R /J1F1 /J2F0 7 /R /J1F1 / J2F1

4 /L /J1F1 /J2F0 8 /L /J1F1 / J2F1

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Epson RC170 Guia do Utilizador Página 191