Overview

An ECP (external control point) motion is when the robot arm holding a part follows a specified trajectory (part's edges, etc.) using an outside fixed tool.

Symbol	Description
a	External control point (ECP)
b	Outside fixed tool
c	Workpiece

The ECP option supports the following:

• ECP definition by ECPSet statement and selection by ECP statement
• ECP motion commands (additional functions of Move, Arc3, Curve, and CVMove commands)
• Teaching with ECP jogging

This option is available for SCARA (including RS series), Cartesian and 6-axis robots (including N series). Also, it can be used with multi-robot systems.

Up to 15 ECP coordinate systems can be defined.