Pg Commands; R-I/O Commands; Force Sensing Commands; Other (Finedist) - Epson VT Series Manipulator Manual

20.3.2 PG Commands

If executing PG commands, motion error occurs.
PG_FastStop
PG_LSpeed
PG_Scan
PG_SlowStop

20.3.3 R-I/O Commands

If executing R-I/O commands/functions, motion error occurs.
LatchEnable
LatchState Function
LatchPos Function
SetLatch

20.3.4 Force Sensing Commands

If executing force sensing commands/functions, motion error occurs.
Force_Calibrate
Force_ClearTrigger
Force_GetForces
Force_GetForce Function
Force_Sensor
Force_Sensor Function
Force_SetTrigger

20.3.5 Other (FineDist)

You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine
FineDist

20.3.6 Other (HealthCalcPeriod)

You cannot use the command: HealthCalcPeriod
A period of parts consumption commands information to calculate "remaining months" is
one day and unable to change.
HealthCalcPeriod
HealthCalcPeriod Function Returns the calculation period of parts consumption

20.3.7 Other (ChDisk)

You cannot specify USB option to the command: ChDisk
250
Stops the PG axes immediately.
Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
Starts the continuous spinning motion of the PG robot axes.
Stops slowly the PG axis spinning continuously.
Enable/Disable the latch function for the robot position by the
R-I/O input.
Returns the latch state of robot position using the R-I/O.
Returns the robot position latched using the R-I/O input
signal.
Sets the latch function of the robot position using the R-I/O
input
Sets zero offsets for all axes for the current force sensor.
Clears all trigger conditions for the current force sensor.
Returns the forces and torques for all force sensor axes in an
array.
Returns the force for a specified axis.
Sets the current force sensor for the current task.
Returns the current force sensor for the current task.
Sets the force trigger for the Till command.
Specifies and displays the positioning error limits.
(Unit: pulse)
Specifies and displays the positioning error limits (Unit: mm)
Set the calculation period of parts consumption commands.
commands.
20. Restrictions
VT Rev.1