Epson T-B Series - PG Commands; R-I;O Commands; Force Sensing Commands; Robot Control Commands

T3-B T6-B Manipulator 17. Restrictions
138 T-B series Rev.1
17.3.3 PG Commands
If executing PG commands, motion error occurs.
PG_FastStop Stops the PG axes immediately.
PG_LSpeed Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
PG_Scan Starts the continuous spinning motion of the PG robot axes.
PG_SlowStop Stops slowly the PG axis spinning continuously.
17.3.4 R-I/O Commands
If executing R-I/O commands/functions, motion error occurs.
LatchEnable Enable/Disable the latch function for the robot position by the
R-I/O input.
LatchState Function Returns the latch state of robot position using the R-I/O.
LatchPos Function Returns the robot position latched using the R-I/O input signal.
SetLatch Sets the latch function of the robot position using the R-I/O
input.
17.3.5 Force Sensing Commands
If executing force sensing commands/functions, motion error occurs.
Force_Calibrate Sets zero offsets for all axes for the current force sensor.
Force_ClearTrigger Clears all trigger conditions for the current force sensor.
Force_GetForces Returns the forces and torques for all force sensor axes in an
array.
Force_GetForce Function
Returns the force for a specified axis.
Force_Sensor Sets the current force sensor for the current task.
Force_Sensor Function Returns the current force sensor for the current task.
Force_SetTrigger Sets the force trigger for the Till command.
17.3.6 Robot Control Commands
ROTOK Function Returns whether an ROT modifier parameter can be added
when issuing a move command to a destination.
DiffToolOrientation Function
Returns the angle between the coordinate axes of Tool
coordinate systems. * When COORD_ALL is specified, an
error will occur. When a command except for COORD_ALL is
specified, the operation will be executed.
DiffPoint Function Returns the difference between two specified points.
17.3.7 Other (FineDist)
You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine Specifies and displays the positioning error limits.
(Unit: pulse)
FineDist Specifies and displays the positioning error limits (Unit: mm)