Procedure to Create a Project

In Epson RC+ 8.0 or later, a CODESYS Function Blocks library is installed in the following folder:

\EpsonRC80\Fieldbus\FunctionBlockLibraries\CODESYS

In this section, we will show how to create a simple example program to turn robot motors on and off.

First, create a new project.
1. Start the CODESYS, then click [New Project].
2. Select [Projects]-[Standard project]. Enter a project name and save location, then click [OK].
3. Select the appropriate device and [Ladder Logic Diagram] and click [OK].
4. You have just created a new empty project.
Now you need to import a CODESYS Function Blocks library in the new project.
1. Double click [Library Manager].
  
  Then, click [Library Repository].
2. Click [Install].
3. Select the “SPEL_Library.compiled-library” file provided by Epson and click [Open].
  
  The file is in \EpsonRC80\Fieldbus\FunctionBlockLibraries\CODESYS folder.
4. Make sure that there is “SPEL Library” in [Miscellaneous].
5. Click [Add Library] in [Library Manager].
6. Select [SPEL Library], then click [OK].
7. Function Blocks are installed.
Then, create a program.
1. Double click [PLC_PRG] to display the program screen.
  
  Then, drag and drop three [Box] to the program screen.
2. Click [???] in Box.
  
  Then, click [...] next to [???].
3. Select [SPEL_Init] from the list of the Function Blocks, then click [OK].
4. The name of the Function Block is displayed.
  
  Press the [Enter] key.
5. The inputs/outputs of the Function Block are displayed.
  
  Press the [Enter] key.
6. Auto declare screen is displayed.
  
  Click [OK].
7. A variable is added automatically.
8. Click [???] of the a contact (blue frame in the figure above) connected to Start.
  
  Then, enter a name of this contact. In this case we will use, “Start_Init_0”.
  
  Then, press [Enter] key.
9. Auto declare screen is displayed. Click [OK].
10. A variable is added automatically.
11. Follow the same procedure to change all [???] as follows.
Then, prepare to connect with a robot.
1. Right click [Device], then click [Add Device].
2. Select [EtherCAT Master], then click [Add Device].
3. “EtherCAT_Master” is added.
  
  Select [Tools], then click [Device Repository].
4. Click [Install].
5. Select the configuration file according to the robot to be used.
  
  The configuration file is in the following folder:
  
  \EpsonRC80\Fieldbus\EtherCAT
  
  In this case we will select “EPSN_TSERIES_ECT_V2.3_for_OMRON_rev2.xml”, then click [Open].
6. The configuration file has been read and “TSERIES EtherCAT Slave” is displayed.
7. Right click [EtherCAT Master], then click [Add Device].
8. Change “Vendor” to [SEIKO EPSON Corporation].
  
  Select [TSERIES EtherCAT Slave], then click [Add Device].
9. Double click [TSERIES_Slave], then click [Process Data].
10. Have the check boxes the same as the image below.
  
  Use “32byte” to communicate with controllers.
  
  (Before using, match the number of inputs/outputs bytes of the Fieldbus slave with setting values.)
Execute Function Blocks.
1. Right click the PLC on the PC task bar or system tray, then click [Start PLC].
  
  Check that the PLC display has changed.
2. Double click [Device], then click [Communication Settings] - [Scan Network].
3. Select the displayed device, then click [OK].
4. Check that the color of device has changed to green.
5. Double click [EtherCAT_Master], then click [General] - [Browse].
  
  Select a network adapter to be used, then click [OK].
6. Select [Build], then click [Build].
  
  Check to make sure that there are no errors.
7. Right-click [Application], then click [Add Object] - [Global Variable List…].
8. Click the [Add] button.
9. A global variable list is added.
  
  Change “VAR_GLOBAL” to “VAR_CONFIG”.
10. Select [Declarations], then click [Add All Instance Paths].
11. Change the currently set address to the address to be used.
  
  An example for changing is the image below, refer to “4.2.2 Address to Use” and enter a proper address after “AT.
12. Select [Online], then click [Login].
13. Select [Debug], then click [Start].
14. Check that the green cycle is displayed on the left of “TSERIES_Slave”.
  
  Double-click the a contact of SPEL_Init, then “[TRUE]” is displayed.
  
  Then, right-click anywhere and click [Write All Values of ‘Device.Application’] to write values.
15. When the Function Block execution is finished, Done changes to TRUE.
  
  Follow the same procedure to execute SPEL_MotorOn and SPEL_MotorOff.

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