Table of Contents
7.5.2 Debugging .......................................................................... 199
7.6 The Operator Window..................................................................... 203
7.6.1 Operator Window Configuration ......................................... 204
7.7 Using Remote Control..................................................................... 204
8 Simulator 205
8.1 Simulator Functions ........................................................................ 205
8.1.1 Overview ............................................................................ 205
8.1.2 System condition ................................................................ 206
8.2 Using the Simulator......................................................................... 207
8.2.1 Using with sample .............................................................. 207
8.2.2 Using with original system .................................................. 209
8.3 Description of Functions ................................................................. 216
8.3.1 Simulator window structure ................................................ 216
(1) Tool bar............................................................................... 216
(2) Layout Objects.................................................................... 217
(3) Property Grid ...................................................................... 218
(4) 2D Layout ........................................................................... 225
(5) 3D Display .......................................................................... 225
(6) Record / Playback............................................................... 228
8.3.2 Simulator Settings .............................................................. 229
8.3.3 Collision detection .............................................................. 231
8.3.4 Virtual controller ................................................................. 232
8.3.5 Connection with controller ................................................. 233
8.4 Specification and Restriction of Simulator....................................... 235
8.4.1 EPSON RC+ 5.0 package .................................................. 235
8.4.2 Specification and precaution of 3D display......................... 235
8.4.3
Specification and precaution of Simulation
(program execution on PC) .............................................
236
8.4.4 Specification and precaution of EPSON RC+ .................... 238
8.4.5 Restriction on SPEL
+
command execution......................... 238
8.4.6 Specification & precaution of EPSON RC+ 5.0
Trial version............................................................................. 240
9 Robot Configuration 241
9.1 Setting the Robot Model ................................................................. 241
9.2 Calibrating the Robot ...................................................................... 242
9.3 Changing Robot Parameters........................................................... 245
9.3.1 Saving robot configuration data.......................................... 245
9.3.2 Loading robot configuration data ........................................ 245
10 Inputs and Outputs 246
10.1 Overview ......................................................................................... 246
10.2 I/O Commands................................................................................ 246
10.3 I/O Configuration............................................................................. 247
10.4 Monitoring I/O ................................................................................. 247
xiv EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4
