Explanation of Epson robot programming

1 Create a new project

Explanation of Epson robot programming

1) Click "Project" to open the project menu shown in the left figure, and click "New" to open the window shown in the right figure

2 Open an item (stored in a computer program file)

1) Click "Project" and select "Flip" to open the window shown in the figure below

3 Compile and download the program

1) Click on the Create and Download Program icon on the toolbar

Or click the flip open window icon

The software compiles the program and, if it is not faulty, downloads the program to the controller. If the program is faulty, the status bar displays the program error information, as shown in the following figure. Move the cursor to the error information column, double-click the left button to jump to the line where the program is wrong, and then correct the program and download the program from the beginning

4 Operational Procedures

1) On the toolbar, click the Flip Open Window icon

5 Single-step debugging procedure

1) Click on the far left of the program to set a breakpoint

2) Click the Flip Open Running Window icon on the toolbar and click "Start" to run the program

3) Press "F11" or click the icon

Run the next line. Press F7 or click the icon

Move to the next breakpoint.

6 Boundaries and differences between local, module and global variables

1) Local variables: variables that are said to be in the inner bounds of a function can only be used in the same function

2) Module variables: In the initial definition of the program, they can be used in the same program

3) Global variables: can be used in the same project

7 Write an initialization function to turn over the motor, set the operating power and speed (see program init_demo)

8 Write a simple program with GO, JUMP, MOVE, ARC commands (see Program move_demo)

9 Writing a Cycle Control Program (see Program xunhuan_demo)

10 Write an RS232 serial communication program (see Program RS232_demo)

1) Serial port settings

Click "Settings", select "System Equipment" and open the controller settings screen. Click "RS232", select "Port 1" to enter the serial port setting screen shown in the figure below, the serial port communication parameter settings are the same as those of the host computer, click "Use" after setting, and then close the setting screen

11 Writing an Ethernet Communication Program (see Program internet_demo)

1) Controller IP setting

Click "Settings", select "System Equipment" and open the controller settings screen. Click "Equipment" to enter the Ethernet setting screen as shown in the figure below, the first 3 digits of the IP address are the same as those of the host computer, and the last bit is different from the host computer. Once the settings are complete, click "Use" and close the settings screen

2) Ethernet port settings

Click "Settings", select "System Equipment" and open the controller settings screen. Click "TCP/IP", select a port number, and enter the Ethernet port setting screen as shown in the figure below, the IP address, port, and end character settings are the same as those of the host computer. Once the settings are complete, click "Use" and close the settings screen

3) Ethernet communication program

12 Matrix Procedure (see Procedure pallet_demo)

1) Matrix Circles Say

13 points file operation and point correction

1) Point boundary theory (generally use the teaching method to teach the point, pay attention to the characteristics of the point when directly specifying, otherwise it will simply collide with the machine during movement)

P1 = XY(200, 100, -25, 0) 'Assign coordinates to point P1

Pick = XY(300, 200, -45, 0) 'Assign coordinates to the point pick bearing

P10 = Here 'Assign a point to the current bearing

P1=p2 'Assign the value of the point P2 to P1

2) Call the point with the point label

　　For i = 0 To 10

　　Go pick

　　Jump place

　　Next i

3) Call points with variables

　　For i = 0 To 10

　　Go P（i）

　　Next i

4) Upload the midpoint file of the program

When the program is launched, the robot's default point file "robot1.pts" will be loaded. You can also use the LoadPoints sentence to load other points in the program.

　　Function main

　　Integer i

　　LoadPoints "model1.pts"

　　For i = 0 To 10

　　Jump pick

　　Jump place

　　Next i

　　Fend

5) Save the point file

　　Function main

P1 = XY(200, 100, -25, 0) 'Assign coordinates to point P1

Pick = XY(300, 200, -45, 0) 'Assign coordinates to the point pick bearing

Savepoints "robot1.pts" 'Save points to the point file 'robot1.pts'

　　Fend

6) Specify the characteristics of the point

1. LOCAL feature (specifying that the robot coordinates are relative to the orientation of that coordinate system)

P1 = XY(300, -125.54, -42.3, 0) /1 'P1 is in local coordinate 1

2. The posture of the left and right hands is specified

To specify a direction for a SCARA or 6-axis robot, add a slash (/), followed by L (left-hand direction) or R (right-hand direction).

P2 = XY(200, 100, -20, -45) /L ' The direction of the hand is left

P3 = XY(50, 0, 0, 0) /2 /R ' Local 2 is right-hand direction

You can use Hand sentences and functions to read and set the direction of the dot hand.

　　Hand P1, Righty

3. 6-axis elbow posture designation

To specify the direction of the elbow for a 6-axis robot in a point assignment sentence, add a slash (/), followed by A (upper elbow direction) or B (lower elbow direction)

Specify the direction of P1 elbow downward.

　　P1 = XY （0, 600, 400, 90, 0, 180） /B

14. Write a sample program for the standby position

Explanation of Epson robot programming

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