VI Reference

This section contains information for all VIs used in the Epson RC+ 8.0 LabVIEW VI Library.
The following information is provided for each VI:

Tool Palette	The tool palette where the VI is contained.
Description	Brief description of the function.
Inputs	Input parameters
Outputs	Output parameters
Remarks	Additional details.

Accel VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets the point to point acceleration and deceleration for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Accel	Integer value for point to point acceleration.
Decel	Integer value for point to point acceleration.
Depart Accel	Optional. Integer value for Jump depart acceleration.
Depart Decel	Optional. Integer value for Jump depart deceleration.
Appro Accel	Optional. Integer value for Jump approach acceleration.
Appro Decel	Optional. Integer value for Jump approach deceleration.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use Accel to set the point to point acceleration and deceleration values for the current robot. All values can be from 1 to 100%. If Depart Accel is specified, then the remaining inputs must also be specified.

Usually, the maximum value is 100. However, some robots allow setting larger than 100. In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning. However, you may require an operation with high acceleration to shorten the cycle time by decreasing the vibration at positioning. In this case, set the Accel to larger than 100. Except in some operation conditions, the cycle time may not change by setting Accel to larger than 100.

See Also
AccelS, Speed, SpeedS

Accel Example

AccelS VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets the linear acceleration and deceleration for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Accel	Double value for linear acceleration.
Decel	Double value for linear acceleration.
Depart Accel	Optional. Double value for Jump depart acceleration.
Depart Decel	Optional. Double value for Jump depart deceleration.
Appro Accel	Optional. Double value for Jump approach acceleration.
Appro Decel	Optional. Double value for Jump approach deceleration.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use AccelS to set the linear acceleration and deceleration values for the current robot. All values are in millimeters / sec2. If Depart Accel is specified, then the remaining inputs must also be specified.

See Also
Accel, Speed, SpeedS

AccelS Example

Arc VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Arc moves the arm to the specified point using circular interpolation in the XY plane.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Mid Point Number	Specifies the mid point by using an integer.
Mid Point Expr	Specifies the mid point by using a string expression. If this input is used, then you must also specify the end point with a string expression.
End Point Number	Specifies the end point by using an integer.
End Point Expr	Specifies the end point by using a string expression. You can include ROT, CP, SYNC, Till, Find, and a parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc3, BMove, Go, Jump, Jump3, Move, Speed, TGo, TMove, BGo, Find, Till

Arc Example

Arc3 VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Arc3 moves the arm to the specified point using circular interpolation in 3 dimensions.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Mid Point Number	Specifies the mid point by using an integer.
Mid Point Expr	Specifies the mid point by using a string expression. If this input is used, then you must also specify the end point with a string expression.
End Point Number	Specifies the end point by using an integer.
End Point Expr	Specifies the end point by using a string expression. You can include ROT, CP, SYNC, Till, Find, and a parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
AccelS, Arc, BMove, Go, Jump, Jump3, Move, SpeedS, TGo, TMove, BGo, Find, Till

Arc3 Example

Arch VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines ARCH parameters (Z height to move before beginning horizontal motion) for use with the JUMP instructions.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Arch Number	The depart distance in millimeters moved at the beginning of the Jump instruction before starting horizontal motion.
Depart Dist	The depart distance in millimeters moved at the beginning of the Jump instruction before starting horizontal motion.
Appro Dist	The approach distance in millimeters above the target position of the Jump instruction.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Jump, Jump3

Arch Example

Arm VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Selects the current robot arm.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Arm Number	Integer from 0-15. The user may select up to 16 different arms. Arm 0 is the standard (default) robot arm. Arm(s) 1-15 are auxiliary arms defined by the ArmSet instruction.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Armset, GetArm, Tool

Arm Example

Armset VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines an auxiliary robot arm.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
ArmNumber	Integer number: Valid range from 1-15.
Param1	(For SCARA Robots) The horizontal distance from the center line of the elbow joint to the center line of the new orientation axis. (I.E. the position where the new auxiliary arm's orientation axis center line is located.) (For Cartesian Robots) X axis direction position offset from the original X position specified in mm.
Param2	(For SCARA Robots) The offset (in degrees) between the line formed between the normal Elbow center line and the normal orientation Axis center line and the line formed between the new auxiliary arm elbow center line and the new orientation axis center line. (These 2 lines should intersect at the elbow center line and the angle formed is the Param2.) (For Cartesian Robots) Y axis direction position offset from the original Y position specified in mm.
Param3	(For SCARA & Cartesian Robots) The Z height offset difference between the new orientation axis center and the old orientation axis center. (This is a distance.)
Param4	(For SCARA Robots) The distance from the shoulder center line to the elbow center line of the elbow orientation of the new auxiliary axis. (For Cartesian Robots) This is a dummy parameter (Specify 0)
Param5	(For SCARA & Cartesian Robots) The angular offset (in degrees) for the new orientation axis vs. the old orientation axis.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

ArmSet Example

AtHome VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns True if the current robot is at the home position.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
At Home	Boolean indicating if the current robot is at the home position.

AtHome Example

AvoidSing VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Enables / disables the singularity avoidance feature for Move, Arc, and Arc3 motion methods.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Enable	True enables singularity avoidance and False disables it.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

AvoidSing Example

BGo VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Executes Point to Point relative motion in the selected local coordinate system.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used. When using a string expression, you can include SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BMove, Go, Jump, Jump3, Move, Speed, TGo, TMove, Find, Till

BGo Example

BMove VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Executes linear interpolated relative motion in the selected local coordinate system

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used. When using a string expression, you can include ROT, SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
AccelS, Arc, Arc3, BGo, Go, Jump, Jump3, Move, SpeedS, TGo, TMove, Find, Till

BMove Example

Box VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies an approach check area defined within a box.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
AreaNumber	Integer number from 1-15 representing which of the 15 boxes to define.
Min X	The minimum X coordinate position of the approach check area.
Max X	The maximum X coordinate position of the approach check area.
Min Y	The minimum Y coordinate position of the approach check area.
Max Y	The maximum Y coordinate position of the approach check area.
Min Z	The minimum Z coordinate position of the approach check area.
Max Z	The maximum Z coordinate position of the approach check area.
Polarity On	Set the remote output logic when the corresponding remote output is used. To set I/O output to On when the end effector is in the box area, use True. To set I/O output to Off when the end effector is in the box area, use False.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
XYLim

Box Example

Continue VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Causes all tasks in the Controller that were paused to resume.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Continue Example

Delay VI

Tool Palette
Epson Robots 8.0 | System

Description
Delays processing for the specified number of milliseconds.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Milliseconds	The number of milliseconds to delay.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Delay Example

ECP VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Selects the current ECP definition.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
ECPNumber	Integer number from 0-15 representing which of 16 ECP definitions to use with the next motion instructions.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
ECPSet, GetECP

ECP Example

ECPset VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines an ECP (external control point).

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
ECPNumber	Integer number from 1-15 representing which of 15 external control points to define.
X	The external control point X coordinate.
Y	The external control point Y coordinate.
Z	The external control point Z coordinate.
U	The external control point U coordinate.
V	The external control point V coordinate.
W	The external control point W coordinate.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
ECP, GetECP

ECPSet Example

EStopOn VI

Tool Palette
Epson Robots 8.0 | System

Description
Returns the Emergency Stop status.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
EStopOn	True if the status EmergencyStop, otherwise is False

See Also
SafetyOn

EStopOn Example

Find VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Specifies a condition for storing coordinates during motion.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Condition	String expression that contains functions and operators .

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use Find to specify when a position should be stored during motion. When the condition is satisfied, the current position is stored in FindPos.

See Also
FindPos

Find Example

Fine VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies and displays the positioning accuracy for target points.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
J1MaxErr - J9MaxErr	Integer number ranging from (0-32767) which represents the allowable positioning error for the each joint. The values for joints 7, 8, and 9 are optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Fine Example

GetArm VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the current Arm number for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Arm Number	The current arm number.

GetArm Example

GetAvoidSing VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns the state of AvoidSingularity.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
EStopOn	True if the status EmergencyStop, otherwise is False

See Also
AvoidSing

GetAvoidSing Example

GetECP VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the current ECP number for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
ECP Number	The current ECP number.

GetECP Example

GetLimZ VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns the current LimZ setting.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Z Limit	The current LimZ setting.

See Also
LimZ

GetLimZ Example

GetMotor VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the motor on status for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Motors On	True if motors are on and false if not.

See Also
GetPower, MotorOn, MotorOff

GetMotor Example

GetOprMode VI

Tool Palette
Epson Robots 8.0 | System

Description
Reads the Epson RC+ 8.0 mode of operation.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Operation Mode	The mode of operation for the associated Epson RC+ 8.0 server process.
Mode Setting	ID	Description
Auto	1	Epson RC+ 8.0 is in auto mode.
Program	2	Epson RC+ 8.0 is in program mode..

Remarks
When Operation Mode is set to Program, the Epson RC+ 8.0 GUI for the associated server process is opened and the Controller operation mode is set to Program. If the user closes the RC+ GUI, Operation Mode is set to Auto. If Operation Mode is set to Auto, the RC+ GUI also closes.

See Also
OprMode

GetOprMode Example

GetPoint VI

Tool Palette
Epson Robots 8.0 | Points

Description
Retrieves coordinate data for a robot point.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
X - W	X, Y, Z, U, V, W coordinates of the specified point.

See Also
LoadPoints, Robot, SavePoints, SetPoint

GetPoint Example

GetPower VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the power high status for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Power High	True if power is high and false if not.

See Also
PowerHigh, PowerLow

GetPower Example

GetRobot VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the current robot number.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Robot Number	The current robot number.

See Also
Robot

GetRobot Example

GetTool VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Returns the current Tool number for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Tool Number	The current tool number.

GetTool Example

GetVar VI

Tool Palette
Epson Robots 8.0 | Variables

Description
Returns the value of a SPEL+ global preserve variable in the Controller.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Var Name	The name of the SPEL+ global preserve variable. For an array, the entire array can be returned or just one element.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	A variant containing the value.

See Also
SetVar

GetVar Example

Go VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Moves the arm in a Point to Point fashion from the current position to the specified point or XY position. The GO instruction can move any combination of the robot axes at the same time.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used. When using a string expression, you can include SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Jump, Jump3, Move, Speed, TGo, TMove, Find, Till

Go Example

Halt VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Suspends execution of the specified task.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Task Number	Optional. The task number of the task to be suspended. The range of the task number is 1 to 32. If Task Name is specified, then Task Number is ignored.
Task Name	Optional. Specifies the name of the task to be suspended. If Task Name is not specified, then the Task Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Quit, Resume

Halt Example

Here VI

Tool Palette
Epson Robots 8.0 | Points

Description
Teaches a point at the current position.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Name	Optional. Specifies the name of the point. If Point Name is not specified, then the Point Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Here Example

HideWindow VI

Tool Palette
Epson Robots 8.0 | GUI

Description
Hides an Epson RC+ 8.0 window that was previously displayed with ShowWindow.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Window ID	The ID of the Epson RC+ 8.0 window to show.

Window name	ID	Description
IOMonitor	1	ID for the I/O Monitor window.
TaskManager	2	ID for the Task Manager window.
ForceMonitor	3	ID for the Force Monitor window.
Simulator	4	ID for the Simulator window.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
RunDialog, ShowWindow

HideWindow Example

In VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified input port. Each port contains 8 input bits (one byte).

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each port contains 8 input bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Integer from 0 to 255 representing the status of the input port.

See Also
InBCD, InW, Sw

In Example

InBCD VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the input status of 8 inputs using BCD format. (Binary Coded Decimal)

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each port contains 8 input bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Integer expression from 0 to 9 representing the input port status.

See Also
In, InW, Sw

InBCD Example

InsideBox VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns whether the current robot end effector is inside a specified box area.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Area Number	Integer number from 1-15 representing which of the 15 boxes to check.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Status	Boolean that is True if the robot end effector is inside the box.

See Also
Box, InsidePlane, Plane

InsideBox Example

InsidePlane VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns whether the current robot end effector is inside a specified plane.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
AreaNumber	Integer number from 1-15 representing which of the 15 boxes to check.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Status	Boolean that is True if the robot end effector is inside the plane.

See Also
Box, InsideBox, Plane

InsidePlane Example

InW VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified input word port. Each word port contains 16 input bits.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each port contains 8 input bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Integer expression from 0 to 65535 representing the input port status.

See Also
In, InBCD, Sw

InW Example

Inertia VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies the load inertia and eccentricity for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
LoadInertia	Double value that specifies total moment of inertia in kgm2 around the center of the end effector joint, including end effector and part.
Eccentricity	Double value that specifies eccentricity in mm around the center of the end effector joint, including end effector and part.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Weight
Inertia Example

Initialize VI

Tool Palette
Epson Robots 8.0 | System

Description
Initializes the instance of Spel used by the LabVIEW VI library.

Inputs

Server Product Type	Optional. Specifies which Epson RC+ product to interface with.
Connection Number	Optional. Specifies which Controller connection to use.
Project	Optional. Specifies the Epson RC+ project to be used.
ServerInstance	Optional. Specifies which instance of Epson RC+ server to use.
ConnectionPassword	Optional. String expression for the connection password. If the controller has a password for its connection and the password was not configured in the RC+ Setup - PC to Controller Communications dialog, then you must specify a password in order to connect with the controller.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
The Initialize VI must be called for each instance of the library that will be used.
Server Product Type is used to specify which Epson RC+ product to use. The default is RC80 (Epson RC+ 8.0).
When Connection Number is not specified, then the connection last used in the Epson RC+ 8.0 will be used.
When Project is not specified, the default LabVIEW Epson RC+ 8.0 project will be used. The project must be used in the Epson RC+ product specified with Server Product Type.

See Also
Shutdown

Initialize Example

JRange VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines the permissible working range of the specified robot joint in pulses.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
JointNumber	Integer number between 1 - 9 representing the joint for which JRange will be specified.
LowerLimitPulses	Integer number representing the encoder pulse count position for the lower limit range of the specified joint.
UpperLimitPulses	Integer number representing the encoder pulse count position for the upper limit range of the specified joint

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

JRange Example

JS VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Jump Sense detects whether the arm stopped prior to completing a JUMP instruction (which used a SENSE input) or if the arm completed the JUMP move. JS returns the Jump Sense status.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
JS	True if the SENSE input was detected during motion, False if not.

See Also
Jump, Sense

JS Example

JTran VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Executes a relative joint move.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
JointNumber	The specific joint to move.
Distance	The distance to move. Units are in degrees for rotary joints and millimeters for linear joints.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

JTran Example

Jump VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Moves the arm from the current position to the specified point using point to point motion while first moving in a vertical direction up, then horizontally and then finally vertically downward to arrive on the final destination point.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Specifies the end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used. When using a string expression, you can include SYNC, Sence, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Go, Jump3, Move, Speed, TGo, TMove, Find, Sence, Till

Jump Example

Jump3 VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Motion with 3D gate using a combination of two CP motions and one PTP motion. The robot moves to the depart point, then the approach point, and finally the destination point.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Depart Point Number	Specifies the depart point by using an integer.
Depart Point Expr	Specifies the depart point by using a string expression. If this input is used, then you must also specify the approach and destination points with string expressions.
Appro Point Number	Specifies the approach point by using an integer.
Appro Point Expr	Specifies the approach point by using a string expression. If this input is used, then you must also specify the depart and destination points with string expressions.
Dest Point Number	Specifies the destination point by using an integer.
Dest Point Expr	Specifies the destination point by using a string expression. If this input is used, then you must also specify the depart and approach points with string expressions.

When using a string expression, you can include ROT, SYNC, Sence, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Go, Jump, Move, Speed, TGo, TMove, Find, Sence, Till

Jump3 Example

Jump3CP VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Motion with 3D gate using a combination of three CP motions. The robot moves to the depart point, then the approach point, and finally the destination point.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Depart Point Number	Specifies the depart point by using an integer.
Depart Point Expr	Specifies the depart point by using a string expression. If this input is used, then you must also specify the approach and destination points with string expressions.
Appro Point Number	Specifies the approach point by using an integer.
Appro Point Expr	Specifies the approach point by using a string expression. If this input is used, then you must also specify the depart and destination points with string expressions.
Dest Point Number	Specifies the destination point by using an integer.
Dest Point Expr	Specifies the destination point by using a string expression. If this input is used, then you must also specify the depart and approach points with string expressions.

When using a string expression, you can include ROT, SYNC, Sence, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Go, Jump, Jump3, Move, Speed, TGo, TMove, Find, Sence, Till

Jump3CP Example

LimZ VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Sets the default value of the Z axis height for JUMP commands.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Z Limit	A coordinate value within the movable range of the Z axis.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Jump, Jump3

LimZ Example

LoadPoints VI

Tool Palette
Epson Robots 8.0 | Points

Description
Loads a SPEL+ point file into the Controller's point memory for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
File Name	A valid point file that is in the current Spel project or was previously saved with the SavePoints VI.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetPoint, Robot, SavePoints, SetPoint

LoadPoints Example

MemIn VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified memory I/O byte port. Each port contains 8 memory I/O bits.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each port contains 8 input bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Integer from 0 to 255 representing the status of the port.

See Also
MemInW, MemOut, MemOutW

MemIn Example

MemInW VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified memory I/O word port. Each word port contains 16 memory I/O bits.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each word port contains 16 input bits. If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Integer from 0 to 255 representing the status of the port.

See Also
MemIn, MemOut, MemOutW

MemInW Example

MemOut VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Simultaneously sets 8 memory I/O bits based on the 8 bit value specified by the user.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the input ports. Each port contains 8 input bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing an input byte label. If Label is specified, then Port Number is ignored.
Value	Integer containing the output pattern for the specified byte. Valid values are from 0 - 255.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MemIn, MemInW, MemOutW

MemOut Example

MemOff VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Turns off the specified bit of the S/W memory I/O.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. Integer representing one of the memory I/O bits. If Label is not specified, then Bit Number is used.
Label	Optional. String containing an input bit label. If Label is specified, then Bit Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MemOn, MemOut, MemOutW
MemOff Example**

MemOn VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Turns on the specified bit of memory I/O.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. Integer representing one of the memory I/O bits. If Label is not specified, then Bit Number is used.
Label	Optional. String containing an input bit label. If Label is specified, then Bit Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MemOff, MemOut, MemOutW

MemOn Example

MemOut VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Simultaneously sets 8 memory I/O bits based on the 8 bit value specified by the user.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer expressing one of the memory I/O ports. Each port contains 8 memory I/O bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. String containing a memory I/O byte label. If Label is specified, then Port Number is ignored.
Value	Integer containing the output pattern for the specified byte. Valid values are from 0 - 255.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MemOn, MemOff, MemOutW

MemOut Example

MemOutW VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Simultaneously sets 16 memory I/O bits based on the 16 bit value specified by the user.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. Integer representing one of the memory I/O ports. Each word port contains 16 input bits. If Label is not specified, then Port Number is used.
Label	Optional. String containing a memory I/O byte label. If Label is specified, then Port Number is ignored.
Value	Integer containing the output pattern for the specified word. Valid values are from 0 - 65535.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MemOn, MemOff, MemOut

MemOutW Example

MemSw VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified memory I/O bit.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. Integer representing one of the memory I/O bits. If Label is not specified, then Bit Number is used.
Label	Optional. String containing a memory I/O bit label. If Label is specified, then Bit Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Boolean that is True with the memory I/O bit is on.

See Also
MemIn, MemInW

MemSW Example

MotorOff VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Turns motors off for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MotorOn, PowerHigh, PowerLow, Robot

MotorOff Example

MotorOn VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Turns motors on for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MotorOff, PowerHigh, PowerLow, Robot

MotorOn Example

Move VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Moves the arm from the current position to the specified point using linear interpolation (i.e. moving in a straight line).

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

When using a string expression, you can include ROT, ECP, SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
AccelS, Arc, Arc3, BGo, BMove, Go, Jump, Jump3, SpeedS, TGo, TMove, ECP, Find, Till

Move Example

Off VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Turns off the specified output bit.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Integer representing one of the output bits. If Label is not specified, Bit Number is used. Optional.
Label	String containing the input bit label. If Label is specified, Bit Number is ignored. Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Off Example

On VI

Tool Palette
EpsonRobots 8.0 | Inputs & outputs

Description
Turns on the specified output bit.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. Integer representing one of the output bits. If Label is not specified, then Bit Number is used.
Label	Optional. String containing an input bit label. If Label is specified, then Bit Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

On Example

OPort VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified output bit.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Integer representing one of the output bits. If Label is not specified, Bit Number is used. Optional.
Label	String containing the output bit label. If Label is specified, Bit Number is ignored. Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Boolean that is True with the output bit is on.

See Also
In, InW, On, Off, Out, Sw

Oport Example

OprMode VI

Tool Palette
Epson Robots 8.0 | System

Description
Sets the Epson RC+ 8.0 mode of operation..

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Operation Mode	The mode of operation for the associated Epson RC+ 8.0 server process.

Mode	ID	Description
Auto	1	Epson RC+ 8.0 is in auto mode.
Program	2	Epson RC+ 8.0 is in program mode..

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetOprMode

OprMode Example

Out VI

Tool and Control Palettes
Epson Robots 8.0 | Inputs & Outputs

Description
Sets eight output bits (one byte) at a time.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. An integer indicating the output port. Each port comprises 8 output bits (one byte). If Label is not specified, then Port Number is used.
Label	Optional. A character string indicating the output byte label. If Label is specified, Port Number is ignored.
Value	An integer indicating the specified byte output pattern. Valid range: 0 to 255

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
On, Off, OutW

Out Example

OutW VI

Tool and Control Palettes
Epson Robots 8.0 | Inputs & Outputs

Description
Sets 16 output bits (one word) at a time.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Port Number	Optional. An integer indicating the output port. Each word port comprises 16 output bits (one word). If Label is not specified, then Port Number is used.
Label	Optional. A character string indicating the output word label. If Label is specified, Port Number is ignored.
Value	An integer indicating the specified word output pattern. Valid range: 0 to 65535

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
On, Off, Out

Out Example

Pause VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Causes all normal SPEL+ tasks in the Controller to pause. If the robot is moving, it will immediately decelerate to a stop.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Continue, Stop

Pause Example

Plane VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines a Plane.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Plane Number	Integer expression from 1-15 representing which of 15 planes to define.
X	The plane coordinate system origin X coordinate.
Y	The plane coordinate system origin Y coordinate.
Z	The plane coordinate system origin Z coordinate.
U	The plane coordinate system rotation about the Z axis.
V	The plane coordinate system rotation about the Y axis.
W	The plane coordinate system rotation about the X axis.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Box, InsideBox, InsidePlane

Plane Example

PowerHigh VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets motor power to high for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MotorOff, MotorOn, PowerLow, Robot

PowerHigh Example

PowerLow VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets motor power to low for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
MotorOff, MotorOn, PowerHigh, Robot

PowerLow Example

Quit VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Terminates execution of the specified task.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Task Number	Optional. The task number of the task to be terminated. The range of the task number is 1 to 32. If Task Name is specified, then Task Number is ignored.
Task Name	Optional. Specifies the name of the task to be terminated. If Task Name is not specified, then the Task Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Halt, Resume

Quit Example

Reset VI

Tool Palette
Epson Robots 8.0 | System

Description
Resets the Controller to the initialized state.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Reset Example

Resume VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Resumes a task which was suspended by the Halt VI.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Task Number	Optional. The task number of the task to be resumed. The range of the task number is 1 to 32. If Task Name is specified, then Task Number is ignored.
Task Name	Optional. Specifies the name of the task to be resumed. If Task Name is not specified, then the Task Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Halt, Quit

Resume Example

Robot VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Selects the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Robot Number	Integer from 1-16.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetRobot, MotorOff, MotorOn, PowerHigh, PowerLow

Robot Example

RunDialog VI

Tool Palette
Epson Robots 8.0 | GUI

Description
Runs an Epson RC+ 8.0 dialog.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Dialog ID	The ID of the Epson RC+ 8.0 dialog to run.

Dialog name	ID	Description
RobotManager	1	ID for Tools	Robot Manager dialog
ControllerTools	2	ID for Tools	Controller dialog
VisionGuide	3	ID for Tools	Vision Guide dialog

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

RunDialog Example

SafetyOn VI

Tool Palette
Epson Robots 8.0 | System

Description
Returns the Safety Door open status.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
SafetyOn	True if the SafetyDoor is Open, otherwise is False

See Also
EStopOn

SafetyOn Example

SavePoints VI

Tool Palette
Epson Robots 8.0 | Points

Description
Save points for the current robot into a file.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
File Name	The name of a point file that is in the current Spel project or a new file that will be stored in the Controller.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetPoint, LoadPoints, Robot, SetPoint

SavePoints Example

Sense VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Specifies input condition that, if satisfied, completes the Jump in progress by stopping the robot above the target position.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Condition	Specifies the I/O condition using a string expression. For details see the Sense Statement in the SPEL+ Language Reference manual.

Outputs

sSpel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
JS, Jump

Sense Example

SetPoint VI

Tool Palette
Epson Robots 8.0 | Points

Description
Sets the coordinate data for a point for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Name is specified, then Point Number is ignored.
Point Name	Optional. Specifies the point by using a string expression for the point name. If Point Name is not specified, then the Point Number input will be used.
X - W	X, Y, Z, U, V, W coordinates of the specified point.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetPoint, LoadPoints, Robot, SavePoints

SetPoint Example

SetVar VI

Tool Palette
Epson Robots 8.0 | Variables

Description
Sets the value of a SPEL+ global preserve variable in the Controller.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Var Name	The name of the SPEL+ global preserve variable.
Value	A variant containing the value.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
GetVar

SetVar Example

SFree VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Free joint the specified robot axes.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Axes	Optional. Integer array specifying which axes to free. If omitted, all axes are freed.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
If Axes is omitted, then all axes are freed.

See Also
MotorOff, MotorOn, SLock

SFree Example

ShowWindow VI

Tool Palette
Epson Robots 8.0 | GUI

Description
Displays an Epson RC+ 8.0 window.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Window ID	The ID of the Epson RC+ 8.0 window to show.

Window name	ID	Description
IOMonitor	1	ID for the I/O Monitor window.
TaskManager	2	ID for the Task Manager window.
ForceMonitor	3	ID for the Force Monitor window.
Simulator	4	ID for the Simulator window.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
HideWindow, RunDialog

ShowWindow Example

Shutdown VI

Tool Palette
Epson Robots 8.0 | System

Description
Shuts down the Epson RC+ 8.0 server process that was started when the Initialize VI was called.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Error Out

Error condition output for subsequent Spel nodes.

Remarks
The Shutdown VI must be called for each instance of the library. This will shutdown the associated Epson RC+ 8.0 server process.

See Also
Initialize

Shutdown Example

SLock VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Release the free joint state for the specified robot axes.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Axes	Optional. Integer array specifying which axes to lock. If omitted, all axes are locked.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
If Axes is omitted, then all axes are locked.

See Also
MotorOff, MotorOn, SFree

SLock Example

Speed VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies the arm speed for use with the point to point instructions Go, Jump and Pulse.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
PointToPoint Speed	Specifies the arm speed for use with the point to point instructions Go, Jump and Pulse.
Depart Speed	Integer number between 1-100 representing the Z axis upward motion speed for the Jump instruction.
Appro Speed	Integer number between 1-100 representing the Z axis downward motion speed for the Jump instruction.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use Speed to set the point to point speed for the current robot. All values can be from 1 to 100%. If Depart Speed is specified, then Appro Speed must also be specified.

See Also
Accel, AccelS, SpeedS

Speed Example

SpeedS VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies the arm speed for use with the Continuous Path instructions Jump3CP, Move, Arc, and CVMove.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Linear Speed	Specifies the arm speed for use with the Continuous Path instructions Jump3CP, Move, Arc, and CVMove.
Depart Speed	Double value between 1-5000 representing the Z axis upward motion speed for the Jump3CP instruction.
Appro Speed	Double value between 1-5000 representing the Z axis downward motion speed for the Jump3CP instruction.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Use Speed to set the linear speed for the current robot in millimeters / sec. If Depart Speed is specified, then Appro Speed must also be specified.

See Also
Accel, AccelS, Speed

SpeedS Example

Start VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Starts a program that will run in the Controller.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
ProgramNumber	The program number to start, corresponding to the 64 main functions in SPEL+ as shown in the table below. The range is 0 to 63.

Program Number	SPEL+ Function Name
0	main
1	main1
2	main2
3	main3
4	main4
5	main5
6	main6
...	...
63	main63

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
When Start is executed, control will return immediately to the calling VI. You cannot start a program that is already running. Note that Start causes global variables in the Controller to be cleared and default robot points to be loaded.

See Also
Continue, Pause, Stop, Xqt

Start Example

Stop VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Stops all normal SPEL+ tasks running in the Controller and optionally stops all background tasks.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Stop Type	Optional. Specify StopNormalTasks (default) or StopAllTasks (also stop background tasks).

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Continue, Pause, Start, Xqt

Stop Example

Sw VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the specified input bit.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. Integer representing one of the input bits. If Label is not specified, then Bit Number is used.
Label	Optional. String containing an input bit label. If Label is specified, then Bit Number is ignored.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	Boolean that is True with the output bit is on.

See Also
In, InW, On, Off, OPort, Out

SW Example

TargetOK VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns a status indicating whether or not the PTP (Point to Point) motion from the current position to a target position is possible.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Target OK	The robot can move to the target position.
At Home	Boolean indicating if the current robot is at the home position.

See Also
BGo, Go, Jump, TGo

TargetOK Example

TGo VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Executes Point to Point relative motion, in the current tool coordinate system.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

When using a string expression, you can include SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Go, Jump, Jump3, Move, Speed, TMove, Find, Till

TGo Example

Till VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Specifies event condition that, if satisfied, completes the motion command (Jump, Go, Move, etc.) in progress by decelerating and stopping the robot at an intermediate position.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Condition	Specifies the I/O condition using a string expression. For details see the Till Statement in the SPEL+ Language Reference manual.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Accel, Arc, Arc3, BGo, BMove, Jump, Jump3, Move, Speed, TGo, TillOn, TMove

Till Example

TillOn VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Returns True if a stop has occurred from a till condition during the last Go/Jump/Move statement.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Till On	True if the till condition was detected during motion. False if not.

See Also
Accel, Arc, Arc3, BGo, BMove, Jump, Jump3, Move, Speed, TGo, Till, TMove

TillOn Example

TLSet VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Defines an ECP (external control point).

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
ToolNumber	Integer expression from 1-15 representing which of 15 tools to define. (Tool 0 is the default tool and cannot be modified.)
X	The tool coordinate system origin X coordinate.
Y	The tool coordinate system origin Y coordinate.
Z	The tool coordinate system origin Z coordinate.
U	The tool coordinate system rotation about the Z axis.
V	The tool coordinate system rotation about the Y axis.
W	The tool coordinate system rotation about the X axis.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

TLSet Example

TMove VI

Tool Palette
Epson Robots 8.0 | Motion

Description
Executes linear interpolation relative motion, in the current tool coordinate system.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Point Number	Optional. Specifies the target end point by using the point number for a previously taught point in the Controller's point memory for the current robot. If Point Expression is specified, then Point Number is ignored.
Point Expression	Optional. Specifies the target end point by using a string expression. If Point Expression is not specified, then the Point Number input will be used.

When using a string expression, you can include ROT, SYNC, Till, Find, and parallel processing statement.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
AccelS, Arc, Arc3, BGo, BMove, Go, Jump, Jump3, Move, SpeedS, TGo, Find, Till

TMove Example

Tool VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Selects the current robot tool.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Tool Number	Integer number from 0-15 representing which of 16 tool definitions to use with subsequent motion instructions.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Arm, Armset, GetTool, TLSet

Tool Example

TW VI

Tool Palette
Epson Robots 8.0 | Inputs & Outputs

Description
Returns the status of the wait condition.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Status	Returns the status of the wait condition.

TW Example

VGetBool VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Retrieves a vision property or result that returns a Boolean value.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	The Boolean value.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VRun, VGetDbl, VGetInt, VGetStr, VSetBool, VSetDbl, VSetInt, VSetStr

VGetBool Example

VGetDbl VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Retrieves a vision property or result that returns a double value.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	The double value.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VRun, VGetBool, VGetInt, VGetStr, VSetBool, VSetDbl, VSetInt, VSetStr

VGetDbl Example

VGetInt VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Retrieves a vision property or result that returns an integer value.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	The integer value.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VRun, VGetBool, VGetDbl, VGetStr, VSetBool, VSetDbl, VSetInt, VSetStr

VGetInt Example

VGetStr VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Retrieves a vision property or result that returns a string value.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Value	The string value.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VRun, VGetBool, VGetDbl, VGetInt, VSetBool, VSetDbl, VSetInt, VSetStr

VGetStr Example

VideoControl VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Controls a SPEL Video control.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
VideoRef In	Reference from a SPEL Video control.
Camera	Sets which camera video to display. Default is 0, which displays any camera.
Graphics Enabled	Sets whether graphics should be displayed.
Video Enabled	Sets whether video should be displayed.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Displaying Video, VGet, VRun

VideoControl Example

VRun VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Run a vision sequence in the current project.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
Refer to the Vision Guide 8.0 software manual for information on running vision sequences.

See Also
VGetBool, VGetDbl, VGetInt, VGetStr, VSetBool, VSetDbl, VSetInt, VSetStr

VRun Example

VSetBool VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Sets the value of a vision property whose data type is Boolean.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VGetBool, VGetDbl, VGetInt, VGetStr, VRun, VSetDbl, VSetInt, VSetStr

VSetBool Example

VSetDbl VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Sets the value of a vision property whose data type is real or double.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VGetBool, VGetDbl, VGetInt, VGetStr, VRun, VSetBool, VSetInt, VSetStr

VSetDbl Example

VSetInt VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Sets the value of a vision property whose data type is integer.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VGetBool, VGetDbl, VGetInt, VGetStr, VRun, VSetBool, VSetDbl, VSetStr

VSetInt Example

VSetStr VI

Tool Palette
Epson Robots 8.0 | Vision

Description
Sets the value of a vision property whose data type is string.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Sequence	The name of a vision sequence in the current project.
Object	Optional.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

Remarks
See the Vision Guide 8.0 Properties and Results Reference manual for details on Vision Guide properties and results.

See Also
VGetBool, VGetDbl, VGetInt, VGetStr, VRun, VSetBool, VSetDbl, VSetInt

VSetStr Example

WaitMem VI

Tool and Control Palettes
Epson Robots 8.0 | Inputs & Outputs

Description
Waits for a memory bit status to change.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. An integer indicating the memory I/O bit. If Label is not specified, Bit Number is used.
Label	Optional. A character string indicating the memory bit label. If Label is specified, Bit Number is ignored.
Condition	A Boolean expression indicating the memory bit state.
Timeout	An integer indicating the maximum wait time (s).

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
WaitSw

WaitMem Example

WaitSw VI

Tool and Control Palettes
Epson Robots 8.0 | Inputs & Outputs

Description
Waits for input bit status to change.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Bit Number	Optional. An integer indicating the input bit. If Label is not specified, Bit Number is used.
Label	Optional. A character string indicating the input bit label. If Label is specified, Bit Number is ignored.
Condition	A Boolean expression indicating the input bit state. Timeout An integer representing the maximum wait time in seconds.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
WaitMem

WaitSw Example

WaitTaskDone VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Waits for a task to finish and returns the status.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Task Number	Optional. The task number of the task to be suspended. The range of the task number is 1 to 32. If Task Name is specified, then Task Number is ignored.
Task Name	Optional. Specifies the name of the task to be suspended. If Task Name is not specified, then the Task Number input will be used.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.
Task State	Indicates the final status of the task (Quit, Aborted, Finished).

See Also
Xqt

WaitTaskDone Example

Weight VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Specifies the weight parameters for the current robot.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Payload Weight	The weight of the end effector to be carried in Kg units.
Arm Length	The distance from the rotational center of the second arm to the center of the gravity of the end effector in mm units.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Inertia

Weight Example

Xqt VI

Tool Palette
Epson Robots 8.0 | Tasks

Description
Start one SPEL+ task.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Task Number	Optional. The task number of the task to execute. The range of the task number is 1 to 32. If Task Number is omitted, then a task number will automatically be assigned.
Func Name	The name of the function to be executed.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Halt, Quit, Resume, WaitForTaskDone

XQT Example

XYLim VI

Tool Palette
Epson Robots 8.0 | Robot Settings

Description
Sets the permissible motion range limits for the Manipulator.

Inputs

Spel Ref In	Spel reference from a previous Spel Ref Out.
Error In	Error condition from a previous Spel node.
Min X	The minimum X coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the X Coordinate less than min X.)
Max X	The maximum X coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the X Coordinate greater than max X.)
Min Y	The minimum Y coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Y Coordinate less than min Y.)
Max Y	The maximum Y coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Y Coordinate greater than max Y.)
Min Z	The minimum Z coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Z Coordinate less than min Z.)
Max Z	The maximum Z coordinate position to which the Manipulator may travel. (The Manipulator may not move to a position with the Z Coordinate greater than max Z.)

Remarks
XYLim is used to define motion range limits. Many robot systems allow users to define joint limits but the SPEL+ language allows both joint limits and motion range limits to be defined. In effect this allows users to create a work envelope for their application. (Keep in mind that joint range limits are also definable with SPEL.)

The motion range established with XYLim values applies to motion command target positions only, and not to motion paths from starting position to target position. Therefore, the arm may move outside the XYLim range during motion. (i.e. The XYLim range does not affect Pulse.)

To turn off motion range limits, specify 0 for the range limit parameters.

Outputs

Spel Ref Out	Spel reference output for next VI to use.
Error Out	Error condition output for subsequent Spel nodes.

See Also
Box

XYLim Example

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