Epson RC170 Guia do Utilizador descarregar pdf (Página 54)

4. Operation

36 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

(2) Click on the Motor On button to turn on the robot motors. You will be prompted to

confirm the operation.

(3) Answer Yes to continue.

(4) Click the Jog & Teach tab in the Robot Manager.

(5) Click the Teach button in the lower right corner to teach point P0. You will be

prompted for a point label and description.

(6) Jog the robot by clicking the +Y jog button. Hold the button down to continue

jogging. Let go when the robot is about half way out in the work envelope.

(7) Jog the robot down by clicking the -Z button.

(8) Now change the current point to P1 by selecting P1 in the Point dropdown list next

to the Teach button.

(9) Click the Teach button. You will see a confirmation message to teach the point.

(10) Answer Yes.

(11) Click the +X button to jog the robot in the +X direction.

(12) Change the current point to P2 by selecting P2 in the Point dropdown list.

(13) Click the Teach button. You will see a confirmation message to teach the point.

(14) Answer Yes.

(15) Click the Save Project

toolbar button to save the changes.

7. Modify the program to include robot motion commands

(1) Insert three new Go statements into the Program.prg program as shown below:

Function main

Print "This is my first program."

Go P1

Go P2

Go P0

Fend

(2) Run the program by pressing F5 and then click on the Start button on the Run

window.

(3) The robot should move to each of the points you taught.

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Epson RC170 Guia do Utilizador Página 54