SPEL+ workbench for the lab's EPSON C8 6‑axis arm. Learn, write, generate, and lint offline, then paste into RC+.
Nine short lessons from a first program to a full dispensing cell. Each one loads into the Playground.
Top‑down XY view of taught points and simulated motion.
Robot coordinates in mm / deg. Referenced by Go P0, Jump P1 …
Click an input bit to toggle it for Sw(n) / Wait Sw(n)=1. Outputs light up as the program runs.
Barrel on the J6 flange, pneumatic pressure triggered from a controller output. Set the parameters, then paste the result into Main.prg in EPSON RC+.
The barrel tip offset is set with TLSet and must be measured on the real arm before the first print. Pressure is released with Off on every abort path — check your dispenser fails closed.
For parts that need orienting on the way, like turning a small solar cell square to its pads.
Rotating joint 6 past ±180° needs a J6Flag attribute on the target point, otherwise the controller can pick the other turn. Check wrist singularities near the pick pose at low speed first.
Fill in the cell parameters and get clean SPEL+ you can drop straight into Main.prg.
Static checks for structure, motion safety, and undefined references. Nothing is sent anywhere.
Click a line number to jump the caret there.
From the C series manual, Appendix A. These are the numbers the Bioprint and Pick & Place tabs check against.
Condensed working set for the C‑series. Search by name or purpose.