Test
In the [Test] panel, you can verify the program in TEST mode.
This mode enables the program verification while the Enable Switch is held down and the safeguard is open. This is a low speed program verification function (T1: manual deceleration mode) which is defined in Safety Standards.
In this mode, you can execute the specified function with multi-task / single-task, multi-Manipulator / single-Manipulator at low speed.
To display the [Test] panel, switch the mode selector key switch to “TEACH/T1”, and then tap [Test] on the menu. This is the Test mode.
Tap the icon on the menu button to display the [Task Monitor] and [I/O Monitor] panels. For details of the panels displayed, refer to the following.
Tool
The menu button cannot be used during program execution. Open the panels before starting the program or while it is paused.
Single-task Program Verification
The single-task program verification is used to verify a program in order to check the motion of the robot and peripherals by executing a single task with single- or multi-Manipulators (Cycle / Step execution) while the safeguard is open. Function can be specified and executed within a speed limit.
To execute the program:
After taping [Start], tap the operation key (Continue, Step In, Step Over, and Walk), and then press the [Exe] key while the Enable switch is ON with the confirmation window open.
To stop the program temporarily:
Release the Enable switch or the [Exe] key. The moving robot stops. (Quick Pause)
To resume the program:
Tap the operation key (Continue, Step In, Step Over, and Walk), and then press the [Exe] key while the Enable switch is ON with the confirmation window open. The program will resume from the paused position.
To abort the program:
Press the Emergency Stop switch. The program is also aborted when an error occurs. The moving robot stops. (Quick Pause)
Pause by Open/Close status of the safeguard:
The program pauses according to open/close status of the safeguard. The moving robot immediately stops. (Quick Pause)
To resume the program paused by Open/Close status of the safeguard:
Release the latched status of the safeguard interlock. Then, tap the operation key (Continue, Step In, Step Over, and Walk), and then press the [Exe] key while the Enable switch is ON with the confirmation window open.
WARNING
Before performing the program verification, check that the robot system operates normally by using the Epson RC+ debug function.
For details of the debug function of Epson RC+, refer to the following manual.
"Epson RC+ User's Guide"
If debugging is insufficient, the robot may cause unintended motion. This is extremely hazardous and may cause serious bodily injury or severe damage to the robot.
Before performing the program verification, make sure that no one is in the robot’s operation area.
The robot automatically starts moving as the program verification starts. If the operator is in the robot’s operation area, it is extremely hazardous and may cause serious bodily injury or severe damage to the robot.
CAUTION
- When abnormal operation such as interference with peripherals is predicted, release the [Exe] key immediately and stop the robot. The robot also can be stopped by releasing the Enable switch, or pushing the switch harder.
- After performing the program verification, be sure to follow the points below:
- Check the changed parts in software before supplying power.
- Perform the function test to check whether the robot system operates normally.
In the [Test] panel, the program cannot be changed. To change the program, edit it in the [Programming] panel.
Reference: Programming
To change the point data, perform the following:
Teach the point in the [Jog & Teach] panel.
Reference: Jog & Teach
Edit the point data in the [Programming] panel.
Reference: Programming
Task Behavior during Single Task Program Verification:
Background tasks stop when switching the mode to the TEST mode.
The tasks resume when switching to TEACH mode.
Behavior of Events and Tasks
| Event | Task Type | Background Task | ||
|---|---|---|---|---|
| Normal | NoPause | NoEmgAbort | ||
| Enable switch is OFF | Pause | *1 | *1 | *2 |
| [Exe] key is OFF | Pause | *1 | *1 | *2 |
| Change Open/Close status of the safeguard | Pause | *1 | *1 | *2 |
| Error during a test | Abort | *1 | *1 | *2 |
| Emergency stop | Abort | *1 | *1 | *2 |
| Switch a key switch | Abort | *1 | *1 | *2 |
*1 Xqt task types (NoPause, NoEmgAbort) cannot be executed. When these tasks are specified, program verification is performed as normal tasks.
*2 When background tasks are specified, program verification is performed as normal tasks.
Available Function:
Functions with source not hidden
Robot Motion Speed Setting (when T1 mode):
During the program verification, robots are always operated in Low power mode.
- Low power mode: Speed lower than 250 mm/s, Restrains the motor power output
Speed can be changed within a range specified for Low power mode by pressing [Speed].
- Low: 25% of speed of Low power mode
- Middle: 50% of speed of Low power mode
- High: 100% of speed of Low power mode
CAUTION
The faster the speed, the longer the stopping distance in the emergency stop or pause is. When operating the robot where interference with peripheral equipment is predictable, perform the program verification at low speed while taking the stopping distance into consideration.
You cannot specify a Function that is included in an encrypted program file.
Execution-restraint Functions and Commands:
Power High: T1 mode Power mode is always set to Low. Specification function cannot be executed. T2 mode Specification function can be executed.
| TRAP | Corresponding task cannot be executed even when a condition is met. |
| XQT | An error occurs and the program execution will be aborted. |
| INPUT | Input from the console causes an error and aborts the program execution. |
| PRINT #20 | Output to the Teach Pendant causes an error and aborts the program execution. |
By setting the product as explained below, execution-restraint functions and commands are not invoked during the TEST mode.
Integer A
If Stat(0) And &H4000000 Then ‘Check if the mode is the Test mode.
A = 1 ‘Tentative value if it is the Test mode.
Else
Input A ‘Use Input if it is the Auto mode.
EndIf
Multi-task Program Verification
The multi-task program verification is used to verify a program in order to check the motion of the robot and peripherals by executing a multiple task with single- or multi-Manipulators (Cycle execution) while the safeguard is open.
Function can be specified and executed within a speed limit.
To execute the program:
After tapping [Start], tap the operation key (Continue), and then press the [Exe] key while the Enable switch is ON with the confirmation window open.
To stop the program temporarily:
Release the Enable switch or the [Exe] key. The moving robot stops. (Quick Pause)
To resume the program:
Tap the operation key (Continue), and then press the [Exe] key while the Enable switch is ON with the confirmation window open. The program will resume from the paused position.
To abort the program:
Press the Emergency Stop switch. The program is also aborted when an error occurs. The moving robot stops. (Quick Pause)
Pause by Open/Close status of the safeguard:
The program pauses according to open/close status of the safeguard. The moving robot immediately stops. (Quick Pause)
To resume the program paused by Open/Close status of the safeguard:
Release the latched status of the safeguard interlock. Then, tap the operation key (Continue) and press the [Exe] key while the Enable switch is ON with the confirmation window open.
WARNING
Before performing the program verification, check that the robot system operates normally by using the Epson RC+ debug function.
For details of the debug function of Epson RC+, refer to the following manual.
"Epson RC+ User's Guide"
If debugging is insufficient, the robot may cause unintended motion. This is extremely hazardous and may cause serious bodily injury or severe damage to the robot.
Before performing the program verification, make sure that no one is in the robot’s operation area.
The robot automatically starts moving as the program verification starts. If the operator is in the robot’s operation area, it is extremely hazardous and may cause serious bodily injury or severe damage to the robot.
CAUTION
- When abnormal operation such as collision with peripherals is predicted, release the [Exe] key immediately and stop the robot. The robot also can be stopped by releasing the Enable Switch, or pushing the switch harder.
- After performing the program verification, be sure to follow the points below:
- Check the changed parts in software before supplying power.
- Perform the function test to check whether the robot system operates normally.
In the [Test] panel, the program cannot be changed. To change the program, edit it in the [Programming] panel.
Reference: Programming
To change the point data, perform the following:
Teach the point in the [Jog & Teach] panel.
Reference: Jog & Teach
Edit the point data in the [Programming] panel.
Reference: Programming
Task Behavior during Multi-Task Program Verification
Background tasks stop when switching the mode to the TEST mode. The tasks run automatically at the start of the program verification and are performed the verification along with specified normal tasks.
These tasks stop when the multi-task program verification stops. The tasks resume when switching to TEACH mode.
Behavior of Events and Tasks
| Event | Task Type | Background Task | ||
|---|---|---|---|---|
| Normal | NoPause | NoEmgAbort | ||
| Enable switch is OFF | Pause | Pause | Continue | Continue |
| [Exe] key is OFF | Pause | Pause | Continue | Continue |
| Change Open/Close status of the safeguard | Pause | Pause | Continue | Continue |
| Error during a test | Abort | Abort | Abort | Abort |
| Emergency stop | Abort | Abort | Continue | Abort |
| Switch a key switch | Abort | Abort | Abort | Continue/Resume |
Available Function:
Functions with source not hidden
Robot Motion Speed Setting (when T1 mode):
During the program verification, robots are always operated in Low power mode.
- Low power mode: Speed lower than 250 mm/s, Restrains the motor power output
Speed can be changed within a range specified for Low power mode by pressing [Speed].
- Low: 25% of speed of Low power mode
- Middle: 50% of speed of Low power mode
- High: 100% of speed of Low power mode
CAUTION
The faster the speed, the longer the stopping distance in the emergency stop or pause is. When operating the robot where interference with peripheral equipment is predictable, perform the program verification at low speed while taking the stopping distance into consideration.
You cannot specify a Function that is included in an encrypted program file.
Execution-restraint Functions and Commands:
Power High: T1 mode Power mode is always set to Low.
Specification function cannot be executed.
T2 mode Specification function can be executed.
INPUT:
Input from the console causes an error and aborts the program execution.
PRINT #20:
Output to the Teach Pendant causes an error and aborts the program execution.
By setting the product as explained below, execution-restraint functions and commands are not invoked during the TEST mode.
Integer A
If Stat(0) And &H4000000 Then ‘Check if the mode is the Test mode.
A = 1 ‘Tentative value if it is the Test mode.
Else
Input A ‘Use Input if it is the Auto mode.
EndIf
TEST Mode Operation Method
Select “Single-task/Multi-task” in TEST mode.
To open the file:
Tap the project to display the list of programs.
Select the program file from [Program Files] tree and tap the file name. The program cannot be edited.
Verify the program:
Select the “Function” to execute from the [Function] list and tap [Start] to start a task. Then, tap the operation key (Continue, Step In, Step Over, and Walk). The confirmation dialog window will appear. Hold the Enable switch ON and press the [Exe] key while the dialog window is open. If you want to execute and confirm a part of the motion, set a breakpoint and stop the program, and then execute the part by [Step In], [Step Over], or [Walk] button. Tapping the line number on the left sets or cancels the breakpoint.
| Item | Description |
|---|---|
| Start | Executes a task. |
| Stop | Stops the ongoing tasks. |
| Continue | Continues execution of the paused task from the current line. |
| Step In | Executes the current line of the paused task and stops at the next line. If the next line is a function call, the program stops at the beginning of the called function. This is available for the single-task program verification. |
| Step Over | Executes the current line of the paused task and stops at the next line. If the next line is a function call, the program stops after executing the called function. This is available for the single-task program verification. |
| Walk | Executes until the next motion command or output command, and then stops. You can configure whether to stop the program by the output command in the Epson RC+. This is available for the single-task program verification. |