14. ECP Motion
EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4 285
2. Teaching
Teach the point data while moving the robot arm holding the actual part. In this section,
the part is assumed a rectangular solid and the arm is moved straight so that it touches one
side of the part to the ECP specified in the former section 1. Setting the ECP.
For details of teaching, refer to the section Jog and Teach Command (Tools Menu) in the
chapter The EPSON RC+ 5.0 GUI.
2-1 Teaching the motion start point
Move the arm to the motion start point and teach it as P1.
2-2 Teaching the motion end point
Move the arm to the motion end point and teach it as P2.
ECP Jog Motion:
The ECP jog motion is added to available jog motions for teaching besides Joint, World,
and Tool jog motions.
The ECP jog motion is based on the selected ECP coordinate systems.
3. Executing Motion
To move the arm with ECP motion, add an “ECP” parameter to a motion command.
Go P1 ' Moves the arm to the motion start point
Move P2 ECP ' Executes ECP motion
Use the Arc3 command to move the arm in an arc trajectory with the fixed tool. Use the
Curve and CVMove commands to move the arm in cubic spline curves.
NOTE
