Technical Support Notes

Symptoms
1. After saving vision properties, a motion command from the Jog & Teach windows goes to the wrong location.
2. Sometimes when attempting to execute a motion command from the Jog & Teach window, error 380, "Invalid property value" occurs and RC+ quits.

Causes
This is caused by a bug in EPSON RC+ v4.0.0, v4.0.1, v4.0.2.  When vision properties are saved, the calibration points from the last calibration are loaded.

1. Create a project with a vision calibration for a robot world camera (not standalone).
2. Teach the calibration points and save.
3. Open the Jog & Teach window in MDI mode.
4. Teach 11 or more points and save.
5. Open the Vision Guide window.
6. Change a vision property.
7. Execute Project | Save or click the Save All button on the toolbar.
8. On the Jog & Teach window, select a point that was taught in step 4.
9. Attempt a motion command by clicking the Execute button on Jog & Teach.  Error 380 may occur if point labels were added in step 4.
10. The point labels for the last vision calibration are shown in the point list and the robot goes to the wrong position if the command is executed.

Remedy
Method 1
Use the Jog & Teach window in dialog mode.  You can change this from Setup | Preferences | Jogging.

Method 2
After saving vision properties, re-select the point file on the Jog & Teach window to reload the points.

Method 3
Close the Jog & Teach window before making changes to vision properties from the Vision Guide window.

Status
This problem was fixed in version 4.1.0.

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