Operating instructions

3. Configuring the Robot Controller

EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1

Outputs:

InCycle

BOOL output bit that indicates the status of execution of the AOI.

If this is high, then the AOI is executing.

Done

BOOL output bit that indicates the status of completion of the AOI.

If this is high, then the AOI execution is complete.

Error

BOOL output bit that indicates if an error occurred during execution.

ErrCode1 and

ErrCode2

INT error codes from the robot controller. These should be 0 in

normal operation, and one or both are greater than 0 when the Error

bit is high.

AOIs have additional inputs and/or outputs. These are described separately for each AOI

in the chapter 5.SPEL AOI Reference.

2.5 SPEL AOI General Operation

General operation of all SPEL AOIs is as follows:

1. SPEL_Init AOI must have been executed one time sucessfully before executing other

SPEL AOIs.

2. Set the Start input from low to high to start execution.

3. During execution, the Done and Error output bits are set to low and the InCycle output

bit is set to high.

4. After execution, the Done output bit is set to high and the InCycle output bit is set to

low. If an error occurred during execution, the Error output bit is set to high, and the

error code values ErrCode1 and ErrCode2 are set. See the chapter 6. Error Codes for

more information.

5. If an error occurs, SPEL AOI execution is prevented until the SPEL_ResetError AOI

is executed.

3. Configuring the Robot Controller

In this chapter we will describe how to configure the robot controller Fieldbus slave to

work with the PLC when using SPEL AOIs. Perform the following steps:

1. Start EPSON RC+ 7.0 on your PC.

2. Connect to the robot controller. You may need to configure a connection to the robot

controller in [Setup]-[PC to Controller Communications]. See the EPSON RC+ 7.0

User's Guide for instructions.

3. From the [Setup] menu, select [System Configuration].

4. Click [Controller]-[Inputs/Outputs]-[Fieldbus Slave]. Configure the number of input and

output bytes to 128 as shown below, then click <Apply>.