EPSON RC+5.2 SPEL+ 语言参考手册

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"这是一份关于EPSON RC+5.2版本的SPEL+语言参考指南，主要针对EPSON品牌的机器人编程。这份文档详细介绍了如何正确使用操纵器，并且包含了EPSON机器人系统的安装、操作和维护等关键信息。" EPSON RC+5.0是EPSON公司提供的机器人控制系统，它配备了一种名为SPEL+（Special Purpose Programming Language Plus）的专用编程语言，用于编写控制EPSON机器人的程序。SPEL+是一种高级语言，设计用于简化机器人任务的编程，适用于自动化生产线、组装、搬运等应用场景。在SPEL+语言参考手册中，用户可以找到有关指令集、编程结构、错误处理以及系统配置等方面的详细信息。手册通常会包含以下内容： 1. **基本概念**：介绍SPEL+语言的基础语法、变量定义、数据类型、流程控制语句（如条件判断、循环）等，帮助初学者快速上手。 2. **函数与指令**：列出所有可用的内置函数和指令，包括运动控制（如关节运动、直线运动）、I/O操作、传感器接口、时间控制等，以及它们的用法和参数说明。 3. **编程环境**：描述EPSON RC+5.2提供的编程工具，包括编程界面、调试器、模拟器等，帮助程序员编写、测试和优化代码。 4. **示例程序**：提供实例代码，展示如何解决实际问题，帮助用户理解和应用SPEL+语言。 5. **安全指南**：强调在操作机器人时的安全注意事项，包括机器人系统安装、操作和维护的规范，防止意外伤害和设备损坏。 6. **故障排查**：提供错误代码列表和解决方案，帮助用户快速诊断和修复程序或硬件问题。 7. **保养与维护**：说明机器人系统的定期检查和保养步骤，以保持其最佳性能。该手册强调在安装和使用EPSON机器人系统前，应仔细阅读并遵循其中的指导。手册还提醒用户，产品在出厂前已经过严格的质量控制和测试，但即使在保修期内，因不正常操作或使用导致的损坏可能需要额外付费维修。建议用户咨询区域销售办公室获取详细的保修政策信息。这份EPSON SPEL+ Lite Language Ref-RC170_RC180(R52).pdf文件是EPSON机器人用户的重要参考资料，它涵盖了从基础编程到高级应用的全面内容，是开发和维护EPSON机器人系统的必备工具。

Summary of SPEL+ Commands

Era

Erf$

Erl

Err

Ert

MyTask

Stat

Sin

Cos

Tan

Acos

Asin

Atan

Atan2

Sqr

Abs

Sgn

Int

Not

LShift

RShift

String Commands

String Declares string variables.

Asc Returns the ASCII value of a character.

Chr$ Returns the character of a numeric ASCII value.

Left$ Returns a substring from the left side of a string.

Mid$ Returns a substring.

Right$ Returns a substring from the right side of a string.

Len Returns the length of a string.

LSet$ Returns a string padded with trailing spaces.

RSet$ Returns a string padded with leading spaces.

Space$ Returns a string containing space characters.

Str$ Converts a number to a string.

Val Converts a numeric string to a number.

ErrMsg$ Returns error message.

Returns robot joint number for last error.

Returns function name for last error.

Returns line number for last error.

Returns error number for last error.

Returns task number for last error.

Returns the status of the Wait condition and Wait timer

interval.

Returns current task.

Returns controller status bits.

Returns the sine of an angle.

Returns cosine of an angle.

Returns the tangent of an angle.

Returns arccosine.

Returns arcsine.

Returns arctangent.

Returns arctangent based on X, Y position.

Returns the square root of a number.

Returns the absolute value of a number.

Returns the sign of a number.

Converts a real number to an integer.

Not operator.

Shifts bits to the left.

Shifts bits to the right.

EPSON RC+ 5.0 (Ver.5.2) SPEL+ Language Reference Rev.2 6

!...! Parallel Processing

Processes input/output statements in parallel with motion.

> S

Syntax

motion cmd !statements !

Parameters

motion cmd Any valid motion command included in the following list: Arc, Arc3, Go, Jump,

Jump3, Jump3CP, Move.

statements Any valid parallel processing I/O statement(s) which can be executed during

motion. (See table below)

Description

Parallel processing commands are attached to motion commands to allow I/O statements to execute

simultaneously with the beginning of motion travel. This means that I/O can execute while the arm is

moving rather than always waiting for arm travel to stop and then executing I/O. There is even a

facility to define when within the motion that the I/O should begin execution. (See the Dn parameter

described in the table below.)

The table below shows all valid parallel processing statements. Each of these statements may be

used as single statements or grouped together to allow multiple I/O statements to execute during one

motion statement.

Used to specify %travel before the next parallel statement is executed. n is a

percentage between 0 and 100 which represents the position within the

motion where the parallel processing statements should begin. Statements

which follow the Dn parameter will begin execution after n% of the motion

travel has been completed.

When used with the Jump, Jump3, and Jump3CP commands, %travel does

not include the depart and approach motion. To execute statements after the

depart motion has completed, include D0 (zero) at the beginning of the

statement.

Dn may appear a maximum of 16 times in a parallel processing statement.

On / Off n Turn Output bit number n on or off.

MemOn / MemOff n Turns memory I/O bit number n on or off.

Out p,d Outputs data d to output port p.

MemOut p, d Outputs data d to memory I/O port p

Signal s Generates synchronizing signal.

Wait t

Delays for t seconds prior to execution of the next parallel processing

statement.

WaitSig s Waits for signal s before processing next statement.

Wait Sw(n) = j

Delays execution of next parallel processing statement until the input bit n is

equal to the condition defined by j. (On or Off)

Wait MemSw(n) = j

Delays execution of the next parallel processing statement until the memory

I/O bit n is equal to the condition defined by j. (On or Off)

Print / Input Prints data to and inputs data from the display device.

Print # / Input # Prints data to and inputs data from the specified communications port.

EPSON RC+ 5.0 (Ver.5.2) SPEL+ Language Reference Rev.2 10

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