For RC800 series:
| Name | Default | Description | Input acceptance condition (*1) |
|---|---|---|---|
| Start | 0 | Executes function selected at SelProg. (*2) (*3) | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON Pause input OFF Stop input OFF |
| SelProg1 | 1 | Specifies the executing Main function number. (*2) | |
| SelProg2 | 2 | ||
| SelProg4 | 3 | ||
| SelProg8 | Not set | ||
| SelProg16 | Not set | ||
| SelProg32 | Not set | ||
| Stop | 4 | All tasks and commands are stopped. | |
| Pause | 5 | All tasks are paused. (*4) | Running output ON |
| Continue | 6 | Continues the paused task.(*5) | Paused output ON Pause input OFF Stop input OFF |
| ContinueManualRecover | Not set | Resumes a task that has been halted (manual recovery) (*6). | |
| Reset | 7 | Resets emergency stop and error. (*7) | Ready output ON |
| ForcePowerLow | Not set | Operates as the forced low power function. The robot is operated in the low power mode. Power High control from the command is not accepted. Executes the following according to the controller preferences. Stops or temporarily stops all the tasks and commands. (*8) | Any time This input is acceptable even AutoMode output is OFF. |
| SelRobot | Not set | Changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd. (*9) | |
SelRobot1 SelRobot2 SelRobot4 SelRobot8 SelRobot16 | Not set | Specify the number of robot which executes a command. (*10) | |
| SetMotorsOn | Not set | Turn ON robot motors. (*10) (*11) | Ready output ON EStopOn output OFF SafeguardOn output OFF EStopOff output ON SetMotorsOff input OFF |
| SetMotorsOff | Not set | Turn OFF robot motors. (*10) | Ready output ON |
| SetPowerHigh | Not set | Set the robot power mode to High (*10) | Ready output ON EStopOn output OFF SafeguardOn output OFF EStopOff output ON SetPowerLow input OFF |
| SetPowerLow | Not set | Set the robot power mode to Low. (*10) | Ready output ON |
| Home | Not set | Move the Robot Arm to the home position defined by the user. | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON MotorsOn output ON Pause input OFF Stop input OFF |
| MCal | Not set | Execute MCal (*10) (*12) | Ready output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON MotorsOn output ON Pause input OFF Stop input OFF |
| Recover | Not set | After the safeguard is closed, recover to the position where the safeguard was open.(*13)(*14) | Paused output ON Error output OFF EStopOn output OFF SafeguardOn output OFF EStopOff output ON RecoverReqd output ON Pause input OFF Stop input OFF |
| ExtCmdSet | Not set | Commands for an extended remote IO. For details, refer to the following manual. "Remote Control Reference-. Remote I/O to Be Used" | |
| ExtRespGet | Not set | ||
| ExtCmdReset | Not set | ||
| ALIVE | Not set | Input signal for alive monitoring of the controller. Same signal as the input will be output to ALIVE output. The master equipment can perform alive monitoring of the controller by switching the input periodically and checking the output signal. | |
| ExtCmd_0-15 | Not set | Commands for an extended remote IO. For details, refer to the following manual. "Remote Control Reference-. Remote I/O to Be Used" | |
| ExtCmd_16-31 | Not set | ||
| ExtCmd_32-47 | Not set | ||
| ExtCmd_48-63 | Not set | ||
| ExtCmd_64-79 | Not set | ||
| ExtCmd_80-95 | Not set | ||
| ExtCmd_96-111 | Not set | ||
| ExtCmd_112-127 | Not set | ||
| SelAxis | Not set | Target Robot | |
| SelAxis1-4 | Not set | Target axis (*15) | |
| ResetCtrlParts | Not set | Clear Maintenance data (for Controllers) (*16) | |
| SelCtrlParts1-8 | Not set | Select Maintenance data (for Controllers) (*16) | |
| ResetRbParts | Not set | Clear Maintenance data (for robots) (*17) | |
| SelRbParts1-8 | Not set | Select Maintenance data (for robots) (*17) |
*1: "AutoMode output" ON is omitted from the table. This is an input acceptance condition for all functions.
*2: "Start input" executes Function specified by the following six bits: SelProg 1, 2, 4, 8, 16, and 32.
| Function Name | SelProg1 | SelProg2 | SelProg4 | SelProg8 | SelProg16 | SelProg32 |
|---|---|---|---|---|---|---|
| Main | 0 | 0 | 0 | 0 | 0 | 0 |
| Main1 | 1 | 0 | 0 | 0 | 0 | 0 |
| Main2 | 0 | 1 | 0 | 0 | 0 | 0 |
| Main3 | 1 | 1 | 0 | 0 | 0 | 0 |
| ⋮ | ||||||
| Main60 | 0 | 0 | 1 | 1 | 1 | 1 |
| Main61 | 1 | 0 | 1 | 1 | 1 | 1 |
| Main62 | 0 | 1 | 1 | 1 | 1 | 1 |
| Main63 | 1 | 1 | 1 | 1 | 1 | 1 |
0=OFF, 1=ON
*3: Do not execute the Restart command of the SPEL+ program and the Start signal of the remote input at the same time. Error 2503 may occur when the programs are executed at the same time.
*4: Pause command is not available for "NoPause task" and "NoEmgAbort task". For details, refer to Help or the following manual:
"SPEL+ Language Reference- Pause"
*5: Continues paused tasks.
The "Auto safeguard position recovery" setting in the Controller preferences is for control from Epson RC+8.0. This setting does not enable or disable position recovery with the command.
If you want to control the enabling/disabling of auto recovery by remote command, use the Continue command and ContinueManualRecover command separately.
*6: Continues paused tasks.
With the Continue command, processing equivalent to the Recover command is also performed. Since no processing equivalent to the Recover command is performed with this command, the "Auto safeguard position recovery" is not performed.
The Recover command must be executed before this command is executed.
[Use case]
This command is used to return to the original position (safeguard open position) with the Recover command and resume the program while confirming that no collision will occur during the return (Recover Position) operation.
[How to recover/return]
- Safeguard closed → Recover → ContinueManualRecover
- Safeguard closed →Continue
- Safeguard closed →ContinueManualRecover → Continue
[Supplementary description]
Before executing this command, perform a Recover Position operation with the Recover command. Use the Continue command to perform the recovery operation and resume task execution all at once. If you execute the ContinueManualRecover command without executing the Recover command, an error will result.
*7: I/O output will be turned off and the robot parameter will be initialized. For details, refer to Help or the following manual:
"SPEL+ Language Reference- Reset"
*8: Operation of all tasks and commands, power mode of the robot, and PowerHigh command are executed by the setting value of the controller preferences.
- Preferences (1): "Motor power low when ForcePowerLow signal OFF"
- Preferences (2): "ForcePowerLow signal change pauses all tasks"
For details on controller preferences, see below.
[Setup]-[System Configuration]-[Controller]-[Preferences] Page
| Preferences (1) | Preferences (2) | ForcePowerLow | All tasks and commands | Power mode | PowerHigh |
|---|---|---|---|---|---|
| 0 | 0 | 1→0 | Abort | Low only | Accept |
| 0 | 0 | 0→1 | Abort | Low only | Not accept |
| 0 | 1 | 1→0 | Continue | High/Low | Accept |
| 0 | 1 | 0→1 | Pause | Low only | Not accept |
| 1 | 0 | 1→0 | Abort | Low only | Not accept |
| 1 | 0 | 0→1 | Abort | Low only | Accept |
| 1 | 1 | 1→0 | Pause | Low only | Not accept |
| 1 | 1 | 0→1 | Continue | High/Low | Accept |
*9: This function changes the output condition of MotorsOn, AtHome, PowerHigh, and MCalReqd.
By setting this signal with the condition selected using SelRobot1 - SelRobot16, you can switch the output condition.
Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All manipulators are selected as default.
*10: The values specified by "SelRobot1, 2, 4, 8, and 16" correspond to the robot numbers, when multiple robots are connected to the controller.
| Robot number | SelRobot1 | SelRobot2 | SelRobot4 | SelRobot8 | SelRobot16 |
|---|---|---|---|---|---|
| 0(All) | 0 | 0 | 0 | 0 | 0 |
| 1 | 1 | 0 | 0 | 0 | 0 |
| 2 | 0 | 1 | 0 | 0 | 0 |
| 3 | 1 | 1 | 0 | 0 | 0 |
0=OFF, 1=ON
With the RC800 series, 0 to 4 can be specified. If 5 or higher is specified, an error will occur because the robot cannot be registered.
*11: The robot parameter will be initialized. For details, refer to Help or the following manual:
"SPEL+ Language Reference- Motor"
*12: For details, refer to Help or the following manual:
"SPEL+ Language Reference- MCal"
*13: This is for experienced users only. Make sure that you fully understand the input specification before using.
CmdRunning output and CmdError output will not change for this input.
"NoEmgAbort task" will not stop by this input.
When the input changes from ON to OFF, all tasks and commands will stop.
*14: After the safeguard is closed, recover to the position where the safeguard was open..
The "Auto safeguard position recovery" setting in the Controller preferences is for control from Epson RC+8.0. This setting does not enable or disable position recovery with the command.
If you want to control the enabling/disabling of auto recovery by remote command, use the Continue command and ContinueManualRecover command separately.
*15: Select conditions with SelAxis1-SelAxis4 and perform axis switching with SelAxis.
| Name | Default | Description | Input acceptance condition |
|---|---|---|---|
| SelAxis | Not set | Change the Maintenance command's reflection conditions (*a) | AutoMode output ON |
SelAxis1 SelAxis2 SelAxis4 | Not set | Specify the number of axis which executes a command. (*b) | AutoMode output ON |
*a: Switches conditions for reflecting Maintenance.
By setting this signal with the condition selected using SelAxis1 - SelAxis4, you can switch the target condition.
Once you select the condition, it will be kept until you change it or turn off / restart the Controller. All Axis are selected as default.
The selectable axis numbers vary depending on SelAxis.
If a non-targeted axis is selected, the command execution is ignored.
*b: The values specified by "SelAxis1, 2, 4" correspond to the robot axis number.
You can specify from axis 1 to 6.
| Axis number | SelAxis1 | SelAxis2 | SelAxis4 |
|---|---|---|---|
| 0 (Reserve) | 0 | 0 | 0 |
| 1 | 1 | 0 | 0 |
| 2 | 0 | 1 | 0 |
| ⋮ | |||
| 6 | 0 | 1 | 1 |
| 7 (Reserve) | 1 | 1 | 1 |
0=OFF, 1=ON
*16: Select conditions with SelCtrlParts1 - SelCtrlParts8, and clear Controller Maintenance data with ResetCtrlParts.
| Name | Default | Description | Input acceptance condition |
|---|---|---|---|
| ResetCtrlParts | Not set | Clear Controller Maintenance data (*a) | AutoMode output ON |
SelCtrlParts1 SelCtrlParts2 SelCtrlParts4 SelCtrlParts8 | Not set | Specify the Maintenance number to be cleared (*b) | AutoMode output ON |
*a: Select conditions with SelCtrlParts1 - SelCtrlParts8 to clear the specified Maintenance data. Data is cleared regardless of whether errors and warnings occur.
*b: The target of data clearing is specified by SelCtrlParts1-8 and executed by ResetCtrlParts.
The value specified by the four bits of "SelCtrlParts1, 2, 4, 8" is a part-specifying number used to reset the data.
| SelCtrlParts1 | SelCtrlParts2 | SelCtrlParts4 | SelCtrlParts8 | Parts (Controller) |
|---|---|---|---|---|
| 0 | 0 | 0 | 0 | (Reserve) |
| 1 | 0 | 0 | 0 | Battery |
| 0 | 1 | 0 | 0 | (Reserve) |
| ⋮ | ||||
| 0 | 1 | 1 | 1 | (Reserve) |
| 1 | 1 | 1 | 1 | (Reserve) |
0=OFF, 1=ON
*17: Select conditions with SelRbParts1 - SelRbParts8, and clear robot Maintenance data with ResetRbParts.
| Name | Default | Description | Input acceptance condition |
|---|---|---|---|
| ResetRbParts | Not set | Clear Controller Maintenance data (*a) | AutoMode output ON |
SelRbParts1 SelRbParts2 SelRbParts4 SelRbParts8 | Not set | Specify the Maintenance number to be cleared (*b) | AutoMode output ON |
*a: Select conditions with SelRbParts1 - SelRbParts8 to clear the specified Maintenance data. Data is cleared regardless of whether errors and warnings occur.
*b: The target of data clearing is specified by SelRbParts1-8 and executed by ResetRbParts.
The value specified by the four bits of "SelRbParts1, 2, 4, 8" is a part-specifying number used to reset the data.
| SelRbParts1 | SelRbParts2 | SelRbParts4 | SelRbParts8 | Parts (Robot) |
|---|---|---|---|---|
| 0 | 0 | 0 | 0 | (Reserve) |
| 1 | 0 | 0 | 0 | Battery |
| 0 | 1 | 0 | 0 | Timing belt |
| 1 | 1 | 0 | 0 | Grease |
| 0 | 0 | 1 | 0 | Motor |
| 1 | 0 | 1 | 0 | Reduction gear unit |
| 0 | 1 | 1 | 0 | Ball screw spline |
| 1 | 1 | 1 | 0 | (Reserve) |
| ⋮ | ||||
| 0 | 1 | 1 | 1 | Reserve |
| 1 | 1 | 1 | 1 | Reserve |
0=OFF, 1=ON