Plane Statement
Specifies and displays the approach check plane.
Syntax
(1) Plane PlaneNum [, robotNumber], pCoordinateData
Plane PlaneNum [, robotNumber], pOrigin, pXaxis, pYaxis
(3) Plane PlaneNum [, robotNumber]
(4) Plane
Parameters
- PlaneNum
- Integer value representing the plane number from 1 to 15.
- robotNumber
- Specify the robot number to be set by an integer value. If omitted, the current robot will be specified.
- pCoordinateData
- Specify the coordinate system of the entry detection plane directly with point data.
- Origin
- Specify the position in the robot coordinate system that defines the origin of the entry detection plane as P#(integer) or P(expression).
- X axis specification
- Specify the position in the robot coordinate system that defines the point on the X-axis of the entry detection plane, as P#(integer) or P(expression).
- Y axis specification
- Specify the position in the robot coordinate system that defines the point on the Y-axis of the entry detection plane, as P#(integer) or P(expression).
Return Values
- When using syntax (3), the setting of the specified plane is displayed.
- When using syntax (4), the settings of all plane numbers for the current robot are displayed.
Description
Plane is used to set the approach check plane. The approach check plane is for checking whether the robot end effector is in one of the two areas divided by the specified approach check plane. The position of the end effector is calculated by the current tool. The approach check plane is set using the XY plane of the base coordinate system. The approach check plane detects the end effector when it approaches the area on the + Z side of the approach check plane.
When the approach check plane is used, the system detects approaches in any motor power status during the controller is ON.
The details of each syntax are as follows.
(1) Specifies a coordinate system to create the approach check plane using the point data representing the translation and rotation based on the base coordinate system, and sets the approach check plane.
Example:
Plane 1, XY(x, y, z, u, v, w)
Plane 1, P1
(2) Defines the approach check plane (XP coordinate) by specifying the origin point, point along the X axis, and point along the Y axis. Uses the X, Y, Z coordinates and ignores U, V, W coordinates. Calculates the Z axis in righty and sets the approach checking direction.
Example:
Plane 1, P1, P2, P3
(3) Displays the setting of the specified approach check plane.
(4) Displays all the approach check plane.
You can use the GetRobotInsidePlane function and the InsidePlane function to get the result of the approach check plane. The GetRobotInsidePlane function can be used as the condition for a Wait command. You can provide the detection result to the I/O by setting the remote output setting.
To use one plane with more than one robot, you need to define planes from each robot coordinate system.
| Symbol | Description |
|---|---|
| a | Approach check plane |
| b | Coordinate system of approach check plane |
Robot parameter data is stored in compact flash in controller. Therefore, writing to the compact flash memory occurs when executing this command. Frequent writing to the compact flash memory affects the lifetime of the compact flash memory. We recommend limiting the use of this command at a minimum.
Notes
Tool Selection
The approach check is executed for the current tool. When you change the tool, the approach check may display the tool approach from inside to outside of the plane or the other way although the robot is not operating.
Additional axis
For the robot which has the additional ST axes (including the running axis), the approach check plane to set doesn’t depend on the position of an additional axis, but is based on the robot base coordinate system.
See Also
Box, GetRobotInsidePlane, InsidePlane, PlaneClr, PlaneDef
Tip
Set Plane statement from Robot Manager
Epson RC+ has a point and click dialog box for defining the approach check plane. The simplest method to set the Plane values is by using the Plane page on the Robot Manager.
Plane Statement Example
These are examples to set the approach check plane using Plane statement.
Check direction is the lower side of the horizontal plane that is -20 mm in Z axis direction in the robot coordinate system:
> plane 1, xy(100, 200, -20, 90, 0, 180)
Approach check plane is the XY coordinate created by moving 50 mm in X axis and 200 mm in Y axis, rotating 45 degrees around Y axis:
> plane 2, xy(50, 200, 0, 0, 45, 0)
Set the approach check plane using the tool coordinate system of the robot. (6-axis robot)
> plane 3, here