Startup Sequence

When Epson RC+ 8.0 starts, it reads initial settings for the current user and local system from information stored on the PC.

The startup sequence depends on the following two factors:

  • Control device
  • Independent mode

When start mode is other than Independent mode (Any control device)

  • If there is no project file specified in the startup command line, the last-opened project will be opened.

  • If the start mode is Auto, the [Start Mode] dialog will be displayed. See details below.

    Start Mode Dialog

  • If the start mode is Program, the Epson RC+ 8.0 GUI will be displayed.

When start mode is Independent mode (using any control device other than PC)

  • If there is no project file specified in the startup command line, the last-opened project will be opened as read only.

  • If tasks are currently running, Epson RC+ 8.0 will prompt to enter Monitor Mode.

    KEY POINTS

    The same dialog appears when starting Epson RC+ 8.0 in Program mode and using USB connection.

  • If no tasks are currently running, a dialog below will be displayed.

Cooperative mode and Independent mode

The Robot Controller consists of the following two parts.

  • Real Part: Controls the SPEL+ program (Specialized for the real time control)
  • Windows Part: Controls the Windows applications (GUI)

The main function of the robot can be run by Real Part and some functions of the Controller uses the connected Windows Part. (See below)

Function Operable with SPEL+ control device Operable with connected Windows Part
Detail of available function
  • Vision Guide (PV1)
  • RC+ API option
  • Fieldbus master
  • PC file
  • PC RS-232C
  • Database access
  • DLL calling

Real Part and connected Windows Part are started up separately at the each timing.

To operate the robot system without problem, you should synchronize these two parts. At the shipment of the Robot Controller, the Independent mode which these parts operate individually is applied.

KEY POINTS

According to the design of robot system, it may not need to synchronize Real Part and connected Windows Part. In this case, change to Cooperative mode. For the instructions of this settings, see the section below How to set the Cooperative mode.

When the controller is in Cooperative mode, it has to wait until both of Real Part and connected Windows Part can start up without failure.

Meanwhile, on the front surface of the controller displays as below:

  • RC700 series Seven-segment LED

    Repeat

    ←→

  • RC90 series LED

    Repeat

    ←→

  • T, VT series LED *

    Repeat

    ←→

    • Illustration: T series

Then, it also has to wait until connected Windows part is ready and RC+ 7.0 can start up without failure.

The table below shows the startup sequence when the controller is in Cooperative mode:

RC700, RC800 series Seven-segment LED RC90 series LED T, VT series LED * Console instruction Background task
(1) Power ON No display Blinking Blinking Not available Not started yet
(2) Real Part starts up Repeat ←→ alternately. Repeat ←→ alternately. Repeat ←→ alternately. Not available Not started yet
(3) Windows part starts up Repeat ←→ alternately. Repeat ←→ alternately. Repeat ←→ alternately. Not available Not started yet
(4) RC+starts up Blinking Blinking Blinking Available Already started

(* Illustration: T series)

(Includes the startup of the Operator Window and RC+ API application)

The table below shows the startup sequence when the controller is in Independent mode:

RC700, RC800 series Seven-segment LED RC90 series LED T, VT series LED * Console instruction Background task
(1) Power ON No display Blinking Blinking Not available Not started yet
(2) Real Part starts up Blinking Blinking Blinking Available *1 Already started
(3) Windows part starts up Blinking Blinking Blinking Available *1 Continue
(4) RC+starts up Blinking Blinking Blinking Available Continue

(* Illustration: T series)

*1

  • When the control device is "PC": It waits the command execution from the Operator Window or RC+ API application.
  • When the control device is other than "PC": (2) At Real Part starts up, Remote function becomes enable and starts operating.

KEY POINTS

When the controller is in Cooperative mode, the state does not back to wait for the Epson RC+ connection even after Epson RC+ shutdown. Also when the control device is other than "PC", you need to be careful during the Epson RC+ shutdown because the remote command is still executable.

How to set the Cooperative mode

  1. The [System Configuration] command opens a dialog that contains several pages that are used to configure the system for the Epson RC+ 8.0 environment.

  2. Select [Controller]-[Preferences].

  3. Uncheck the [Independent mode] checkbox.

  4. Click the [Apply] button.

  5. Click the [Close] button.

← Startup Configuration →

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