Operating instructions

5. SPEL AOI Reference
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EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1
SPEL_Jump3CP
Description
Moves the arm with 3D gate motion for a 6-axis robot. This is a combination of three CP motions.
Common Inputs and Outputs
Refer to section 2.4 SPEL AOI Common Inputs and Outputs.
Inputs
DepartPoint INT desired depart point.
ApproPoint INT desired approach point.
DestPoint INT desired destination point.
Operation
Refer to section 2.5 SPEL AOI General Operation.
Refer to Jump3CP Statement in the SPEL+ Language Reference manual.
Example
To move the robot to point P2 using gate trajectory, enter the values for the points and run the AOI as shown
below.