Method of Setting the Safety Board

The SRCI BASE coordinate system differs from the coordinate system assumed by the RC+ Safety Function Manager (the BASE coordinate system used when control is performed using the Epson robot control programming language, SPEL+).

Therefore, when restricting the robot operating range by the safety board, be sure to first understand the precautions below.

BASE coordinate system	Description
SRCI	The front of the robot base corresponds to the +X axis. The 0° of the J1 rotation axis is on the +X axis.
SPEL+	The front of the robot base is the +Y axis. The 0° of the J1 rotation axis is on the +X axis.

Coordinate system during control by the SRCI.

Coordinate system during control by SPEL+ language.