Introduction

The PG Motion System option enables you to create robots that use third party drives and motors. PG robots can coexist with and behave similar to standard robots in the Epson RC+ system. Use PG robots to control auxiliary equipment such as XY tables, slides, rotary axes, etc.

Features include:

• One or more PG robots can be used along with standard robots on the same system. (Max. 16 robots in total)
• PG robots can be a Cartesian or Joint type.
• Both stepper motors and servo motors are supported.
• Cartesian type PG robots with 2 or more axes can use Vision Guide.
• PG robots are fully integrated into the Epson RC+ environment and basically operate the same as standard robots. However, Joint motion is not synchronized for PG robots. When a motion command using more than one joint is executed, the joints do not complete their motion at the same time.
• Safety features include Emergency Stop, Safeguard, over travel limits, and drive alarm.

Before using the PG Motion System option, read through this entire manual.