Operating instructions

1. Introduction
EPSON RC+ 7.0 Option AOI (Add-On Instructions) Rev.1 1
1. Introduction
This manual contains instructions on how to use EPSON RC+ 7.0 SPEL AOI (Add-On-
Instructions). AOI allows Allen-Bradley® PLC users to execute commands in EPSON
robot controllers from a PLC ladder logic program. EPSON AOI uses extended remote I/O
to communicate with the controller via EtherNet/IP.
2. Operation
2.1 Requirements
To use SPEL Add-On-Instructions, the following are required:
- An EPSON robot controller with an EtherNet/IP Fieldbus slave board installed. The
controller must have firmware version 7.5.0.0 or greater installed.
- A Windows PC with EPSON RC+ 7.0 v7.5.0 or greater installed. This is used to
configure the robot controller for AOI operation, and to create a project in the controller
when a robot point file is used.
2.2 Robot Controller Preparation
To prepare the robot controller for SPEL AOI execution:
1. Install an EtherNet/IP Fieldbus slave board in the controller and connect it to the Ethernet
network used for communication with the PLC.
2. Configure the robot controller for use with SPEL AOI. See chapter 3. Configuring the
Robot Controller.
2.3 PLC Project Preparation
To prepare the PLC project for SPEL AOI execution:
1. Setup the A1 EtherNet module for communication with the robot controller. You can
import the EpsonEtherNetIP.L5X file (recommended), or you can manually set it up. See
chapter 5, Creating a PLC Program.
2. Either import all SPEL AOIs into the project by importing SPEL_All.L5x, or import the
desired SPEL AOIs separately. You must always import the SPEL_Init AOI.
3. Create a rung for execution of the SPEL_Init AOI. This must be executed once before
executing other AOIs. SPEL_Init executes SPEL_ResetError and checks robot controller
configuration. There are no errors, then AOI execution is allowed.
2.4 SPEL AOI Common Inputs and Outputs
Each SPEL AOI has the following common inputs and outputs:
Inputs:
Name of AOI
A local tag that references the name of the AOI.
ExtInputs
These are the input IO mapping.
ExtOutputs
These are the output IO mapping.
Start
This is the input that starts the AOI.