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Epson RC+ 8.0 Ver.8.0 User's Guide Project Management and Development
- 010
  - Introduction
    - 010-010
- 020
  - Epson RC+ Overview
    - 020-010
- 030
  - Safety
    - 030-010
- 040
  - Getting Started
    - 040-010
- 050
  - Operation
    - 050-010
- 060
  - Epson RC+ 8.0 GUI
    - 060-010
- 070
  - The SPEL+ Language
    - 070-010
      
      Overview
      Program Structure
      070-010-020
      
      What is a SPEL+ program?
      Calling functions
      Commands and Statements
      Function and Variable Names (Naming restriction)
      Date Types
      Operators
      Working with Variables
      070-010-070
      
      Variable scopes
      Local variables
      Module variables
      Global variables
      Global Preserve variables
      Arrays
      Initial values
      Clearing arrays
      Working with Strings
      Files
      Multi-statements
      Labels
      Comments
      Error Handling
      Multi-tasking
      Using Multiple Robots
      Coordinate Systems
      070-010-160
      
      Overview
      Robot Coordinate Systems
      Local Coordinate Systems
      Tool Coordinate Systems
      ECP Coordinate Systems (Option)
      Robot Arm Orientations
      070-010-170
      
      SCARA robot arm orientations
      6-axis robot arm orientations
      RS series arm orientations
      N series arm orientations
      Robot Motion Commands
      070-010-180
      
      Homing the robot
      Point to point motion
      Linear motion
      Curves
      Joint motion
      Controlling position accuracy
      CP Motion Speed / Acceleration and Tool Orientation
      PTP Speed / Acceleration for Small Distances
      Pressing Motion
      Collision Detection Function (Detection Function of Robot Motion Error)
      Torque Restriction Function
      Weight, Inertia, and Eccentricity / Offset Measurement Utility
      Working with Robot Points
      070-010-190
      
      Defining points
      Referencing points by point label
      Referencing points with variables
      Using points in a program
      Importing points into program
      Saving and loading points
      Point attributes
      Extracting and setting point coordinates
      Alteration of points
      Input and output control
      070-010-200
      
      Hardware I/O
      Memory I/O
      I/O Commands
      Using Traps
      070-010-210
      
      Cautions of Trap when it triggers the system condition
      Special Tasks
      070-010-220
      
      Precautions to Use the Special Tasks
      NoPause/NoEmgAbort task specification
      NoPause/NoEmgAbort task example
      Background Task
      070-010-230
      
      Primary features of background task
      Setup and start the background task
      Holding background task (from being activated)
      Commands that will cause error in background task
      Background task and Remote control
      Constants
      Calling native functions in dynamic link libraries
- 080
  - Building SPEL+ Applications
    - 080-010
- 090
  - Simulator
    - 090-010
- 100
  - Motion System
    - 100-010
- 110
  - Robot Configuration
    - 110-010
- 120
  - Inputs and Outputs
    - 120-010
- 130
  - Remote Control
    - 130-010
- 140
  - RS-232C Communications
    - 140-010
- 150
  - TCP/IP Communications
    - 150-010
- 160
  - Security
    - 160-010
- 170
  - Conveyor Tracking
    - 170-010
- 180
  - ECP Motion
    - 180-010
- 190
  - Distance Tracking Function
    - 190-010
- 200
  - Real-Time I/O
    - 200-010
- 210
  - Additional Axis
    - 210-010
- 220
  - Absolute Accuracy Calibration
    - 220-010
- 230
  - Calibration of Commercial Vision Sensor and Robot
    - 230-010
- 240
  - Installing Controller License
    - 240-010
- 250
  - Appendix
    - 250-010

Coordinate Systems

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