[Setup]-[System Configuration]-[Controller]-[Preferences] Page
This page contains controller preference settings.
| Item | Description |
|---|---|
| Default | Reverts back to the default settings. |
* The controller will be restarted after the setting is applied.
When changing an item marked with "*", click the [Apply] button to immediately reboot the Controller.
When changing an item not marked with “*”, close the [System Configuration] dialog to reboot the Controller (Excluding the “Auto safeguard position recovery” setting that is not included in the Controller Status).
RESET command turns off outputs
When this preference is turned on, all outputs other than remote control outputs will be turned off when a Reset instruction is executed. This is turned off by default.
KEY POINTS
The outputs of the standard I/O, expansion I/O, and Fieldbus I/O are included in the "outputs" mentioned in the above preferences [RESET command turns off outputs] and [Outputs off during Emergency Stop]. Memory I/O is not affected by these preferences. Therefore, memory I/O bits are not turned off by the RESET command execution or during Emergency Stop.
Regardless of whether it is checked or not, the output set for the hand will not be turned off even if the Reset command is executed. This is to prevent the workpiece from being unintentionally released by executing the Reset command. For the hand function, refer to the following manual:
"Hand Function Manual"
Outputs off during Emergency Stop
When this preference is turned on, all outputs other than remote control outputs will be turned off when emergency stop occurs. Also, no outputs can be turned on until the emergency stop condition is cleared. This is turned on by default.
Uncheck this preference to execute I/O On/Off using the NoEmgAbort task or background task after Emergency Stop. If it remains checked, the execution order of turn off by this preference and turn on using the task are not guaranteed.
KEY POINTS
You should design your system to always remove all power to output devices when emergency stop occurs. Even if the controller turns off outputs, the I/O hardware could malfunction.
Regardless of whether it is checked or not, the output set for the hand will not be turned off even if emergency stop is performed. This is to prevent the workpiece from being unintentionally released by performing emergency stop. For the hand function, refer to the following manual:
"Hand Function Manual"
Allow motion with one or more joints free
When this preference is turned on, motion commands can be executed after SFree has been used to free one or more joints. This is turned off by default.
Walk stops for output commands
When checked, the Walk command from the Run Menu will execute lines until after the next motion or output statement (whichever comes first). When unchecked, the Walk command will execute lines until after the next motion statement and will not stop for output statements. This is turned on by default.
Dry run
This preference allows you to run programs without a robot connected to the controller. All program statements will work. Motion statements will execute approximately the same amount of time as when connected to a robot. This is turned off by default.
KEY POINTS
When using safety function (the Controller with Safety Board), the setting cannot be changed at this window. Use the safety function manager and change it. For details, refer to the following manual.
"Robot Controller Safety Function Manual - Making Dry Run Settings"
Virtual I/O
This preference allows you to run programs using virtual I/O. When Virtual I/O is enabled, I/O commands do not affect the hardware I/O. There are also several commands available for turning on inputs from within a program. This is turned off by default.
KEY POINTS
Remote function is also available when virtual I/O is enabled.
Include project files when status exported
This preference allows you to configure whether project files are included or not when the controller status is exported. For information on saving controller status, see below. This is turned on by default.
[Controller] Command (Tools Menu)
Safeguard open stops all tasks
Check this option to cause all normal tasks and NoPause task to stop when the safeguard is open. Only NoEmgAbort task and background tasks will continue.
This option can be used in applications where pause / continue are not required.
This is turned off by default.
Auto safeguard position recovery
This preference allows you to move a robot back to the position where it was at the safeguard opened when continuing the program execution. This is turned on by default.
Auto recover ON
Automatically turns ON a motor and moves a robot in low power status to the position where it was when the safeguard opened. Continues the usual cycle. (Default)
Auto recover OFF
In the Run Window and Operator Window, when an operator clicks the [Resume] button, a dialog with a [Recover] button will be shown.
The operator needs to hold down the [Recover] button until the motor is ON and the robot's return is finished. Otherwise the robot will stop before reaching final position. After verifying that the robot's return is finished, the operator clicks the [Continue] button to continue the usual cycle.
KEY POINTS
The peak current is generated in each manipulator when the motor is turned ON. If multiple manipulators are connected using a Drive Unit or a PG Unit, the motor on timing at recovery is changed intentionally for each manipulator to avoid generating the peak current simultaneously. In this case, each manipulator requires approx. 1.5 seconds to turn on the motor.
Independent mode
This preference allows you to use the controller without interfacing with the Windows (Independent mode).
Use this option when you want to use the controller through the external device using Remote I/O. This is turned on by default.
Initialize global variables when function starts
This preference allows you to initialize the global variables as the function becomes active.
Turn off this preference when you sue the global variables from the background task. Otherwise, the variables will be initialized by the controller and the variable-access conflict from tasks will occur. This is turned on by default.
Enable background tasks
This preference allows you to execute background tasks. This is turned off by default.
Enable advanced task commands
This preference allows you to execute StartMain, Cont, Recover, Reset Error commands. This is turned off by default.
CAUTION
Before you execute StartMain, Cont, Recover, Reset Error commands, you should understand each command's specification and verify that the system has the appropriate condition to execute these commands. Improper use, such as executing commands continuously in a loop, can reduce the security of system. Be careful.
Enable CP – PTP connection when CP is ON
This preference allows you to overlap the trajectories of CP motion and PTP motion during CP ON. This is turned off by default.
KEY POINTS
Over-speed error or Over-acceleration-speed error may occur according to the motion acceleration / deceleration speed setting. If the error occurs, adjust the acceleration / deceleration speed setting or uncheck this checkbox.
Auto LJM (Least Joint Motion)
This preference allows you to enable Auto LJM at the controller start up. This is turned off by default. To disable Auto LJM temporarily, use AutoLJM Off command.
KEY POINTS
If Auto LJM is enabled at all times, this function automatically adjusts the posture of the robot to reduce the motion distance, even when you intended to move the joint widely. Therefore, it is recommended to disable Auto LJM at the controller start up and operate the robot as you desired using AutoLJM On command or LJM function.
Disable LJM in Teach Mode
This preference allows you to invalidate LJM in the TEACH mode. The LJM function becomes invalid regardless of the command of AutoLJM. This is turned off by default.
Disable Point flag check
This preference allows you to continue operation even when point flags, one was specified as a target point and the other one after the motion completion, do not match in a CP motion. However, if the flags do not match at the transferring point while CP On is used, the robot will stop at the point and the motion will not become a path motion. This is turned off by default.
Motor off when Enable switch off in Teach Mode
This preference is read-only. It shows whether motors will be turned off when the Enable switch is off during Teach Mode. This is turned on by default.
Enable robot maintenance data
This preference allows you to enable the parts consumption management for the Controller and robot parts. This is turned on by default.
Motor power low when ForcePowerLow signal OFF
This preference allows you to specify whether or not to invert the logic of the ForcePowerLow signal input value.
When this checkbox is selected, the ForcePowerLow signal will work as the forced low power function which operates the robot in the low power mode when remote I/O input signal is Low.
When this checkbox is unchecked, the ForcePowerLow signal will work as the forced low power function which operates the robot in the low power mode when the remote I/O input signal is High.
This is turned off by default.
For details of the ForcePowerLow signal, see below.
ForcePowerLow signal change pauses all tasks
This preference allows you to specify whether to stop or temporarily stop the tasks when the input of the ForcePowerLow (forced low power) signal is changed.
When this checkbox is selected, all tasks and commands will be temporarily stopped when the remote I/O input signal is changed. The program execution can be continued.
When this checkbox is unchecked, all tasks and commands will be stopped when the remote I/O input signal is changed. The program needs to be restarted.
This is turned off by default.
For details of the ForcePowerLow signal, see below.
Disable Test (T2)
This preference is read-only. It shows whether the execution of Test (T2) of TP3 and TP4 is prohibited. This is turned off by default.
Disable connection password
This preference allows you to disable the PC (Ethernet) authentication for PC (Ethernet) connections. This is turned off by default.
Disable connection from Epson RC+ Express Edition
When this checkbox is checked, the connection from Epson RC+ Express Edition is restricted. Security features do not apply to Epson RC + Express Edition. Check this checkbox if you want to limit unintended connections. This is turned off by default.
Applying XYLim to motion trajectory and pulse motion
When this checkbox is checked, XYLim is applied to not only the motion commands of target coordinate, but also motion trajectory from starting point of motion to target coordinate. Moreover, XYim is applied to pulse motion. This is turned on by default.
CAUTION
When this checkbox is not checked, robot may pass outside of XYlim area. Be careful.
Include error controller data when saving the state to a USB flash drive.
Check this checkbox to include Controller data at time of error in the backup data from the RC800 series Controller to the USB flash drive. This is turned off by default.
Limit motion speed by orientation rotation speed
Check this checkbox to enable SpeedRLimitation at Controller startup. When SpeedRLimitation is enabled, the tool orientation change speed during CP operation is limited so that the motion speed does not exceed set SpeedR. To temporarily disable, use the SpeedRLimitation Off command.
This is turned off by default.
KEY POINTS
The SpeedR default value is set to low, so if SpeedR is not set properly, CP movements will be slow with orientation changes. If SpeedRLimitation is always enabled, set SpeedR (upper limit of tool orientation change speed) appropriately along with SpeedS.
Reserved tasks for API
This setting is used to execute more than one Spel class methods of the RC+ API. You can set up to 16 tasks. The default is 0.
KEY POINTS
The RC+ API tasks use some of the normal tasks. Therefore, if this setting is used, the number of normal tasks available for the Spel+ programs will be as follows:
(Normal tasks) = 32 - (RC+ API tasks)