Epson RC170 Guia do Utilizador descarregar pdf (Página 195)

6. The SPEL+ Language

6.17 Working with robot points

A robot point is a set of coordinates that define a position in the robot work envelope. For

SCARA and Cartesian robots, a point is defined by the position data (X, Y, Z) within the

reference rectangular coordinate space and the orientation data (U) which is the rotation

about the Z axis of the rectangular coordinate.

For 6-Axis robots, a point is defined by the position and orientation of the tool coordinate

system with respect to a reference rectangular coordinate system. The point is specified by

the position data (X, Y, Z) and the orientation is specified by the orientation data (U, V,

W) which correspond with roll (rotation about the Z axis), pitch (rotation about the Y axis),

and yaw (rotation about the X axis).

The X, Y, and Z coordinates of a point are specified in millimeters. The U, V, and W

coordinates are specified in degrees.

Points are referenced using the letter P followed by an integer number or integer

expression or by a label defined in the point file editor or Robot Manager Jog & Teach

page.

6.17.1 Defining points

You can define points in a program statement, points editor window, Robot Manager Jog

and Teach page, or at the Command window.

In a program statement or at the Command window, you can assign coordinates to a point,

or define a point that is the current robot arm position.

P1 = XY(200, 100, -25, 0) 'Assign coordinates to point P1

Pick = XY(300, 200, -45, 0) 'Assign coordinates to point pick

P10 = P* 'Assign a point to current position

6.17.2 Referencing points by name

You can assign names to point numbers so you can refer to points by name in a program.

Assign names from the point editor (see Editing Points) or the Robot Manager Jog and

Teach page. Names must be unique for each point number when used in the same point

file.

Point labels can include up to 32 alphanumeric characters and the underscore character.

Characters can be upper case or lower case. Only alphabets can be used for the first letter.

For i = 0 To 10

Go pick

Jump place

Next i

6.17.3 Referencing points with variables

Use the letter P followed by a variable name within parentheses that represents the point

number you are referencing.

For i = 0 To 10

Go P(i)

Next i

Although you can define points at the Command window for test purposes, it is

recommended that all points be defined in a program, point editor, or with the Robot

Manager Jog and Teach page. Points defined at the Command window will be cleared

from memory when you build a project or run a program unless you execute SavePoints.

)

NOTE

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