Before Reading This Manual - Epson E2C Series Manipulator Manual

Before Reading This Manual

This section describes what you should know before reading this manual.
Structure of Control System
E2C Manipulators can be used with the following combinations of Controllers and software.
The operating methods and descriptions are different depending on which software you are
using.
descriptions that pertain to the software you are using.
RC520
RC420
RC170
For details on commands, refer to User's Guide or "On-line help".
Turning ON/OFF Controller
When you see the instruction "Turn ON/OFF the Controller" in this manual, be sure to
turn ON/OFF all the hardware components. For the Controller composition, refer to the
table above.
Differences in Terminology according to Software
Some expressions are different according to software.
For SPEL CT, a coordinate point including the arm pose is defined as "pose". The data
SPEL CT
is called "pose data".
For EPSON RC+, a coordinate point including the arm pose is defined as "point".
EPSON
RC+
The data is called "point data".
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
E2C Rev.6
The following icons are put beside appropriate text as necessary.
Controller
Type Composition (Hardware)
Control Unit
Drive Unit
Controller
Controller
Software
SPEL CT
SPEL CT
EPSON
EPSON RC+ 4.* or before
RC+
EPSON
EPSON RC+ 4.* or before
RC+
EPSON
EPSON RC+ 5.0 or later
RC+
Use the
v