Reset Statement
Resets the controller into an initialized state.
Syntax
(1) Reset
(2) Reset Error
Description
Reset resets the items shown below.
Reset Error finishes all non-background tasks and resets the error status and robot control parameters.
To execute the Reset Error statement from programs you need to set the [Enable advanced task commands] preference in the [Setup]-[System Configuration]-[Controller]-[Preference] page of the Epson RC+.
- Emergency Stop Status (reset by Reset only)
- Error status
- Output Bits (reset by Reset only) All Output Bits output set to Off except the I/O for Remote and the I/O for hand. User can set Option Switch to turn this feature off.
- Robot Control parameter
- Current robot Speed, SpeedR, SpeedS: (Initialized to default values)
- Accel, AccelR, AccelS: (Initialized to default values)
- Current robot QPDecelR , QPDecelS: (Initialized to default values)
- Current robot LimZ parameter: (Initialized to 0)
- Current robot CP parameter: (Initialized to Off)
- Current robot SoftCP parameter: (Initialized to Off)
- Current robot Fine: (Initialized to default values)
- Current robot Power Low: (Low Power Mode set to On)
- Current robot PTPBoost: (Initialized to default values)
- Current robot TCLim, TCSpeed: (Initialized to default values)
- Current robot PgLSpeed: (Initialized to default values)
For servo related errors, Emergency Stop status, and any other conditions requiring a Reset, no command other than Reset will be accepted. In this case first execute Reset, then execute other processing as necessary.
For example, after an emergency stop, first verify safe operating conditions, execute Reset, and then execute Motor On.
Critical error state will not be canceled by Reset.
When critical error occurs, turn Off the controller and solve the cause of the error.
The Reset Statement cannot be executed from a background task or tasks started with the Trap Emergency or Trap Error. Emergency Stop status cannot be reset from programs.
Note
Reset Outputs Preference
([Setup]-[System Configuration]-[Controller]-[Preferences]) If the [Reset command turns off outputs] checkbox is selected, all outputs except bit for hand will be turned OFF when the Reset command is issued. This is important to remember when wiring the system such that turning the outputs off should not cause tooling to drop or similar situations.
For details of hand, refer to the following manual:
"Hand Function"
See Also
Accel, AccelS, Fine, LimZ, Motor, Off, On, PTPBoost, SFree, SLock, Speed, SpeedS
Reset Statement Example
Example from the command window.
>reset
>