Epson RC170 Guia do Utilizador descarregar pdf (Página 197)

6. The SPEL+ Language

Elbow point attribute

To specify elbow orientation for the 6-Axis robot in a point assignment statement, add a

forward slash (/) followed by A (Above elbow orientation) or B (Below elbow orientation),

Elbow orientation is Below.

P1 = XY(0, 600, 400, 90, 0, 180) /B

You can read and set point elbow orientation using the Elbow statement and function.

Wrist point attribute

To specify wrist orientation for the 6-Axis robot in a point assignment statement, add a

forward slash (/) followed by NF (NoFlip wrist orientation) or F (Flip wrist orientation).

Wrist orientation is Flip.

P2 = XY(0, 600, 400, 90, 0, 180) /F

You can read and set point wrist orientation using the Wrist statement and function.

J4Flag and J6Flag point attributes

At some points in the work envelope, the 6-Axis robot can have the same position and

orientation even if the fourth joint or the sixth joint is rotated 360 degrees. To distinguish

these points, the J4Flag and J6Flag point attributes are provided. These flags allow you to

specify a position range for joint 4 and joint 6 for a given point.

To specify the J4Flag in a point assignment statement, add a forward slash (/) followed by

J4F0 (-180 < the forth joint angle <= 180) or J4F1 (the forth joint angle <= -180 or 180 <

the forth joint angle).

P2 = XY(0, 600, 400, 90, 0, 180) /J4F1

To specify the J6Flag in a point assignment statement, add a forward slash (/) followed by

J6F0 (-180 < the sixth joint angle <= 180), J6F1 (-360 < the sixth joint angle <= -180 or

180 <the sixth joint angle <= 360), or J6Fn (-180*(n+1) < the sixth joint angle <= 180*n or

180*n <the sixth joint angle <= 180*(n+1)).

P2 = XY(50, 400, 400, 90, 0, 180) /J6F2

J1Flag and J2Flag point attributes

At some points in the work envelope, the RS series can have the same position and

orientation even if the first joint or the second joint is rotated 360 degrees. To distinguish

these points, the J1Flag and J2Flag point attributes are provided. These flags allow you to

specify a position range for joint 1 and joint 2 for a given point.

To specify the J1Flag in a point assignment statement, 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).

P2 = XY(-175, -175, 0, 90) /J1F1

To specify the J2Flag in a point assignment statement, add a forward slash (/) followed by

J2F0 (-180 < the second joint angle <= 180), J2F1 (-360 < the second joint angle <= -180

or 180 < the second joint angle <= 360).

P2 = XY(300, 175, 40, 90) /J2F1

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Epson RC170 Guia do Utilizador Página 197