Tool

Tap the icon button to display the each tool menu.
The displayed icons differ depending on the currently used panel.

I/O Monitor

Tap [I/O Monitor] to display the [I/O Monitor] panel.

Inputs/outputs and memory I/O of the Controller can be monitored.
Inputs and outputs can be displayed at the same time. Bit, Byte, and Word can be selected.

Bit shows the I/O status and labels.
Byte and Word show values and labels.

If the [Hex Values] toggle switch is on, byte and word values are displayed in hexadecimal, when the switch is off, they are displayed in decimal.

Double-tapping [Status] of the bit you want to change with the Enable switch ON changes ON/OFF of the output bits. However, ON/OFF cannot be changed if the [I/O Monitor] panel is opened from the [Test] panel.

Statuses of the selected inputs are continuously updated. Outputs are updated when the output bits are changed.

The I/O can be searched by the I/O label. Enter the text to search and tap the search button. You can search through the currently displayed list.

For RC700-E/RC800-A, tap [Safety Board] to display the Safety I/O monitor.

Command Window

Tap [Command Window] to display [Command Window] panel.

You can execute SPEL+ commands by the Robot system and check the results.
Enter the SPEL+ commands and parameters following the prompt (>). To execute the robot motion commands and I/O output commands, tap the [Enter] button with the Enable switch ON.
Turning OFF the Enable Switch stops robot motion and returns to the [Command] panel.
To execute the commands other than robot motion commands and I/O output commands, tap the [Enter] button regardless of the Enable switch status.
For details of the executable commands, refer to the following manual:
"Epson RC+ SPEL+ Language Reference - Appendix A: SPEL+ Command Use Condition List"
An error message and error number appear when an error occurs.
Use the arrow keys to select a command from the history, and tap the [Enter] button to execute the command.
The commands can be entered with both uppercase and lowercase characters.

Task Monitor

Tap [Task Monitor] to display the [Task Monitor] panel.
In this panel, task status can be monitored while the program is running. The tasks cannot be operated.

When the [Task Monitor] panel is opened, the status information for 32 standard tasks and 11 trap tasks are displayed. If the background tasks are active, the status information for 16 background tasks can be displayed.

Item	Description
Task	Tasks numbered from 1 to 32 and 11 trap tasks
Name	Task name
Status	Task status: Run, Wait, Halt, Pause, Aborted, Finished
Type	Normal : Normal tasks NoPause : Tasks which do not pause at Pause statement and Pause input signal occurrence and safeguard open state. NoEmgAbort : Tasks which continue the processing at emergency stop and error occurrence
Line	Task line number
Function	Function name of the task
Program	Program name of the task
Start	Start time of the task
CPU	CPU load rate of each task This function assists problem detection of user-created tasks

Force Monitor

Tap [Force Monitor] to display the [Force Monitor] panel.
Display the current Force value.

Item	Description
Graph	Display each value on the graph.
Force (N) FX, FY, FZ	Display Force value of Fx, Fy, Fz. Display the final value of the each axis. Data which checked the checkbox is displayed.
Torque (N∙mm) TX, TY, TZ	Display the torque value of Tx, Ty, and Tz axes on the graph. Display the final value of the each axis. Data which checked the checkbox is displayed.
Force Scale	Set the vertical axis scale of the force graph.
Torque Scale	Set the vertical axis scale of the torque graph.
Time Scale	Set the horizontal axis scale of the force and torque graph.
Force Monitor Object	Select from defined object (number or label) list. If selecting the force monitor object, force and torque of force coordinate system appear.
Monitor Start	Display the current value on the graph.
Force Sensor Reset	Set force and torque value as “0”.