robotics-university.com | Hello my friends, I hope my articles about EPSON Robot are useful for you. Today I will continue guide you learning about EPSON robot motion control. In this article, we will learn how to create a new project, how to open robot simulator, how to open robot manager, how to turn robot motors ON, how to jog (move) robot, how to teach robot, how to create robot controlling program, how to build/rebuild SPEL+ program, and how to run the SPEL+ program to control EPSON robot moving. To know the complete explanation, let’s read all of the steps carefully!
1. CREATE NEW PROJECT
Before you start to create a new project, at the first time, in simulator environment, you have to select a connection to a virtual controller. Select one virtual controller one the connection drop-down that you want to use. See figure 1
Figure 1. Connection drop-down to select a controller connection (Virtual controller/USB)
If you work in real environment (you use a real EPSON robot unit), for the connection, please choose the USB connection. It will make you can control the EPSON robot unit from your computer that make serial communication via USB port. See figure 1!
Figure 2. Start to create new project
If you have selected a virtual controller (or connect to real EPSON robot), now you can start to create a new project. Select “Project” menu on EPSON RC+ menu-bar, then click “New” option. See figure 2! After that, “New Project” window will opened. See figure 3!
Figure 3. New Project window
On new project window, determine and type your project name on the available new project name field and create a new storage folder by click the “New Folder” button. See figure 3! Then give the new folder a name and click OK button. See figure 4!
Figure 4. New storage folder name
If your new storage folder has created on a right drive/directory that has chosen by you, then click OK button (See figure 5!) in order a new project environment opened. See figure 6!
Figure 5. A new storage folder has created
Figure 6. New project environment
2. OPEN EPSON ROBOT SIMULATOR
Read my guidance how to open EPSON robot simulator, on my previous article here!
3. OPEN EPSON ROBOT MANAGER
Read my guidance how to open EPSON Robot Manager, on my previous article here!
4. TURN EPSON ROBOT MOTORS ON
Read my guidance how to turn EPSON robot motor ON, on my previous article here!
5. JOG THE EPSON ROBOT (ON ROBOT SIMULATOR ENVIRONMENT)
Read my guidance how to jog (moving) EPSON robot manually, on my previous article here!
6. TEACH THE EPSON ROBOT (ON ROBOT SIMULATOR ENVIRONMENT)
Read my guidance how to teach EPSON robot, on my previous article here!
7. CREATE SPEL+ PROGRAM TO CONTROL THE EPSON ROBOT MOVING
After you determine the robot position (points) in EPSON robot teaching steps above, now it's time to create a program to control the EPSON robot moving. For robot control programming, EPSON RC+ software provide a special programming language. SPEL+ is that programming language name, a Visual Basic (VB) look-like programming language. So for users who have been familiar programming with VB, there is no meaningful difficulties to create EPSON robot control program using SPEL+ language.
With robot positions that the robot has “memorized” on teaching steps (P0, P1, P2, and P3), below (Program 1) is the example SPEL+ program to control EPSON robot moving. The program purpose is to make the robot move, first, from P0 to P1 and back to P0. Then second, move from P0 to P2 and back to P0. Then third, from P0 to P3 and back to P0, and then looping-back from first moving.
Type the program above on the RC+ program field. See figure 7!
Figure 7. SPEL+ program field
After you have finished type the program, don’t forget to save you SPEL+ program. Select file menu on the RC+ software menu-bar, then click “Save” option or you can use shortcut-key “Ctrl + S.” See figure 8!
Figure 8. Step to save SPEL+ program
8. BUILD & REBUILD SPEL+ PROGRAM
Before you run the SPEL+ program to control the EPSON robot moving, you have to build/compile it first. In order the robot controller (machine) understand instructions that you type in SPEL+ language program and make the EPSON robot move as your expectation.
Figure 9 show you the steps to build/compile your SPEL+ program. Select “Project” menu on the RC+ software menu-bar, then click “build” option or you can use shortcut-key “Ctrl + B.”
Figure 9. Step to build (compile) SPEL+ program
After you did the build step above, if your SPEL+ program has no errors, on the status field of RC+ software will displayed information that the building process are complete and no errors. See figure 10!
Figure 10. SPEL+ program building status - no error
If your SPEL+ program build complete and no errors, you can continue to run your program and make the EPSON robot moving. But if in-fact in your SPEL+ program has some errors, on the status field of RC+ software will displayed information that the building process aborted due to errors. See figure 11! If this condition happen, you have to correct your SPEL+ program first before you rebuild/recompile it.
Figure 11. SPEL+ program building status - if some error occur
After you have finished correct your SPEL+ program, to rebuild/recompile it, select “Project” menu on the RC+ software menu-bar, then click “rebuild” option or you can use shortcut-key “Ctrl + Shit + B.” See figure 12!
Figure 12. Step to rebuild (recompile) SPEL+ program
If the build/rebuild process of SPEL+ program complete without errors, on your project directory will generate project files as displayed on figure 13 below.
Figure 13. Generated files if build/rebuild process of SPEL+ program complete
9. RUN SPEL+ PROGRAM TO MAKE THE EPSON ROBOT MOVING
When your SPEL+ program build or re-build process has been completed and success (without errors), the next step is applied your program on your EPSON robot. To apply the program to the EPSON robot, you have to open “Run Window.” Select “Run” menu on RC+ software menu-bar, then click “Run Window” option, or you can use shortcut-key F5. See figure 14!
Figure 14. Step to open EPSON RC+ software run window
After you do the steps above, Run window will be open as displayed on figure 15 below.
Figure 15. EPSON RC+ software run window
To start apply your SPEL+ program to the EPSON Robot, select “Function” radio-button and choose one program function on the function drop-down. Don’t check “Low Power” option and for the “Speed Factor,” set to 100 percent (100%). If the setting has been finished, click “Start” button. See figure 15!
Figure 16. Confirmation window - Are you ready to start running the program?
After you click the “Start” button, a confirmation window that ask you, “Are you ready to start running the program?” will opened (See figure 16!). Click “Yes,” so your SPEL+ program that you create to make EPSON robot moving will run on EPSON robot simulator. See figure 17!
Figure 17. SPEL+ program has running on EPSON Robot Simulator