Change a Program

Identify the motion that generates vibrations. Then, add a measurement trigger command for reading parameter to the command generating vibrations.

Identify the motion that generates vibrations in program.

(You can confirm the effect easily by extracting motions that you want to improve vibrations from the program.)
Start Epson RC+ and display the sub window of the program.
Add “VRT_Trigger” command to the row of vibrating command.

Specify number (integer number from 1 to 4) after VRT_Trigger.

VRT parameters are displayed on the tab (specified number) of VR software.

Command example:
```
Go P1
```
↓
```
Go P1 VRT_Trigger 1
```
SPEL + program example:

Add VRT_Trigger command as shown in * below.
```
Function vibration_drive
   Motor On
   Power Low
   Weight 3
   Speed 10
   Accel 10, 10
   Go P1 ‘Start Point
   Wait 1
   Speed 100
   Accel 100, 100
   Power High
   Go P2 VRT_Trigger 1 *
   Wait 3
   Power Low
Fend
```
Execute the program added VRT_Trigger command and check that there are no errors. Also, check the robot motion to decide how to install the VR unit.

(No change in motions since the VR unit is not installed.)

VRT_Trigger Command and VR Software

VRT_Trigger has a function to send signals to VR software when the robot reaches to the destination point by the motion commands such as Go, Jump, and Move.

VR software measures residual vibrations. When “VRT_Trigger” command is added to the program, waiting time (1.5 seconds) is added automatically.

The functions of sending signals and adding the waiting time will be enabled when the following conditions are satisfied.

Epson RC+ and robot are connected
VR software is waiting for trigger condition

CAUTION

When releasing the waiting for trigger condition of VR software, VRT_Trigger command will be disabled. Additional waiting time will be reset and the robot operates normally.

← Read VRT Parameters and Confirm Vibration Reduction Effect Preparation for VR Unit →