Epson RC170 Guia do Utilizador descarregar pdf (Página 232)

8. Simulator

7. Operate the robot by executing program

(1) Click the Tool bar-<Run Window> button. The following dialog appears.

(2) Click the <Start> button.

The message “Are you ready to start?” appears. Click <Yes> button.

The program starts and the robot moves in the 3D display.

8. Measure the robot operation time

The elapsed program run time (cycle time) is displayed in the Tool bar of the [Robot

Simulator] window.

It is the execution time of the program from start to finish.

The following describes how to measure the operation time between two points (P0 Æ P1).

(1) Change the program in the “Main.prg” file to the following program.

Function main

Motor On

Power High

Speed 100

Accel 100,100

Go P0

Fend

Function main2

Go P1

Fend

(2) Click the Tool bar-<Build> button to build the project.

When the project build is complete, the message “Build complete, no errors” appears

in the [Status] window.

(3) Click the Tool bar-<Run Window> button.

(4) Confirm that “main” is selected in the [Function] dropdown list and click the <Start>

button.

The message “Are you ready to start?” appears. Click <Yes> button.

The program starts and the robot goes to P0, the point to start the time measurement,

in the 3D display.

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Epson RC170 Guia do Utilizador Página 232