SCARA, 6-Axis and Modules
Technical Support Notes

Article ID: T1032
Date: 10/27/00 (revised 11/2/00)
Product: EPSON RC+  (all versions)
Subject: Using SteepleChase on a EPSON RC+ system

Purpose
This document contains instructions on using SteepleChase on a EPSON RC+ system.
Initial testing has been completed at Epson America, Inc. and it has been found that SteepleChase will run on a EPSON RC+ PC along with EPSON RC+.
There are a few items that you need to be aware of as described below.

System Startup
The SteepleChase VLC system uses the INtime real time operating system.  This system must be started first, before starting EPSON RC+.
If EPSON RC+ is started before VLC, then when VLC is started, an interrupt overtime message will be displayed and you will have to restart the SPEL runtime drivers.
Once VLC has been started for the first time, you can close and reopen both VLC and EPSON RC+.


VLC Scan Rates
You may need to increase scan time to allow more CPU time for Windows NT processes (including EPSON RC+).  This depends on how much time each system needs to complete processing.

Live Video
You can display live video while VLC is running with no problem.  However, to minimize CPU usage during runtime, it is recommended that vision sequences have their RuntimeFreeze properties set to True (which is default) so that video is not constantly live.  Again, this depends on how much time each system needs to complete processing.

Communication between EPSON RC+ and VLC
VLC supports OPC, DLL, and DDE communcations.  You can use Visual Basic or Visual C++ to communicate with VLC and with EPSON RC+ using the SPELCom ActiveX controls.  SPEL+ can also make DLL calls.

 

 


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