Epson RC170 Guia do Utilizador descarregar pdf (Página 233)

8. Simulator

(5) Select “main2” in the [Function] dropdown list.

(6) Click the <Start> button.

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

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

Now, the cycle time displayed in the Tool bar is the execution time to move the robot

from P0 to P1.

When you operate the real robot, the actual cycle time will be longer than the simulated

cycle time according to the model, Fine, load settings. For details, refer to 8.4

Specification and Restriction of Simulator.

)

NOTE

Also, when Speed, Accel values in the program are changed, the cycle time will reflect it.

Motion command includes Move and Jump as well as Go.

)

TIP

For the information on how to use these commands, refer to Online Help or SPEL

Language Reference manual.

9. Test the collision detection

(1) Go back to the [Robot Simulator] window.

(2) Drag the robot joint while simultaneously pressing the <Ctrl> key to a point where it

interferes with the box. When the robot joint hits the box, the display turns to red.

(3) In the [Robot Manager] window, select “P2 - (undefined)” from the [Point] list box on

the lower right of the window.

(4) Click the <Teach> button.

The message to confirm the operation appears. Click the <Yes> button.

(5) The [New Point Information] dialog appears. Click the <OK> button.

(6) Click the Tool bar-<Save all files> button and save the P2 information.

(7) Go back to the [Robot Simulator] window and drag the robot joint while

simultaneously pressing the <Ctrl> key to the point where it does not interfere with

the box.

(8) Click the Tool bar-<Reset Collision

> button. Then, the red display returns to

normal.

(9) Add the following function to the “Main.prg” program file.

Function main3

Go P2

Fend

(10) 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.

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

(12) Select “main2” in the [Function].

(13) Click the <Start> button. The message “Are you ready to start?” appears. Click the

<Yes> button. The program starts and the robot moves in the 3D display. When the

robot joint hits the box, the display turns to red.

)

TIP

When a collision happens, the users can stop the controller program execution with an

error. For details, refer to 8.3.3 Collision detection.

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