Motion Commands; Slock And Sfree; Dry Run - Epson RC700 Manual

3. Software

3.4.4 Motion Commands

PTP (point to point) motion commands are supported for PG robots. These include Go,
TGo (Cartesian only), and Jump.
Joint motion is not synchronized for PG robots. When a motion command using more
than one joint is executed, the joints do not complete their motion at the same time.
CP motion (linear interpolated) commands are not supported. These include Move,
TMove, Arc, and Curve.
The Jump motion command is supported for PG robots that have a Z joint.
PASS operation with CP ON is not continuous. A PASS operation cannot be continued
to the next operation as one smooth continuous motion in which an action to the first
PASS operation/command slows down to move into another action in accelerating motion.
Attempting a PASS operation via CP ON command will only operate the manipulator by
one motion at a time.

3.4.5 SLock and SFree

Connecting the servo drive to the SVON signal enables servo excitation control via the
SLock and SFree commands. However, MCal must be executed before servos can be set
to free. (This is because the manipulator is possibly out of position while at servo-free.)
In order to ensure MCal execution, set as follows in the software: Enable the [Clear MCal]
in the Configuration dialog | System the Robot.
When you execute a manipulator motion command without executing MCal command,
error message "Error 4014: MCAL has not completed." is displayed.
The stepper motor itself is not capable of controlling excitation, and normally, the SVON
output signal cannot be used. However, by executing SFree, the manipulator can be
operated in a pseudo servo-free state when the motor is actually engaged. When you
execute SFree, make sure to execute SLock in order to restore the excitation state.

3.4.6 Dry Run

PG robots are not directly supported in Dry Run. For PG robots to be used, the PG board
hardware must exist on the system. If you enable Dry Run in EPSON RC+, the PG
robots will continue to operate from the hardware.
36
RC700 / RC90 option PG motion system Rev.2