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Epson TP1 Robotics User Manual

1. Foint File Mame Points pts Save fig Cance litte 8 Press the lt OK gt key to save the file TP1 Rev 5 Operation 2 TEACH Mode 2 TEACH Mode Switch the mode selector key switch to Teach to enter the TEACH mode In this mode jog teaching operation commands I O commands and other operations and commands can be executed using the Teach Pendant Note however that the program cluster cannot be executed Jog amp Teach 2 1 Jog amp Teach Point Editor 2 2 Editing Points Edit Distance 2 3 Changing the Jog Distance Data Arm Tool Local ECP 2 4 Arm Tool Local ECP I O Command 2 5 Executing I O Commands Motion Command wf 2 6 Executing Move Commands Teaching Maintenance Maintenance Calibration L 2 7 Calibrating E2 series G series 2 8 Calibrating PS series Brake 2 9 Releasing the Brake PS3 only Jog amp leach 006 Screen name CFA AN E EAE EEE EEA Function key a E AT ET Reference page NOTE A coordinate point including the arm pose is defined as position point and the data is called point data TP1 Rev 5 31 Operation 2 TEACH Mode 2 1 Jog amp Teach This section indicates settings in the Jog amp Teach screen 1 Switch the mode selector key switch to Teach to display th
2. tee 4 Operation 2 TEACH Mode 2 1 Calibration Procedures E2 Series Q m Calibrate Joint 3 first when aligning origins of more than one joint When Joint 3 is too low it may collide with peripheral equipment during the calibration of the other joints and may damage the peripheral equipment CAUTION The same calibration procedure is used for all joints Follow the steps below to calibrate each joint When calibrating Joint 4 you must calibrate Joint 3 and 4 at the same time You cannot calibrate Joint 4 alone because of the structure of the Manipulator 1 In the Calibration screen move the cursor to 0 Joint 1 4 and press the lt OK gt Calibration O Joint 1 1 Rigqty Letty Arr Select Fi ExecOia Cance l tee 2 The following screen appears Press the lt F2 gt key Calibration The point data for the calibration that taught before the motor and the encoder are exchanged is necessary to execute the calibration cance l Seba 3 The following screen appears calibration Please select the joint that executes the calibration Press the arrow key to select the joint then press the Right arrow key to decide it 4 TP1 Rev 5 TP1 Rev 5 4 5 Operation 2 TEACH Mode Move the cursor to the joint to calibrate Press the lt gt gt key to select the joint and press the lt F2 gt key lt gt key Joint selection lt lt gt key Joint
3. 4 5 6 the lt OK gt key The following screen appears system Restore fll basic controller settings will he restored In addition the following data can alsa be restored Robot name serial calibration Project Select T On fig Cancel When you restore the robot name serial number and the calibration data with the basic Controller settings move the cursor to Robot name serial calibration and press the lt gt key When you restore the project with the basic Controller settings move the cursor to Project and press the lt gt key Press the lt OK gt key The following screen appears Press the lt OK gt key System Restore Restore robot parameters from a file Please press the OF key to select the configuration OE W4 Cance l i The following screen appears Move the cursor to the desired folder Press the lt Enter gt key System Restore Select Backup files RCI O B 00000 20060711125450 B OO000 _ 20060530144013 E 00000 z006 0 71iilz 551 Select fal Restore Ma Down gees 89 Operation 3 AUTO Mode 7 8 90 The following screen appears Press the lt F1 gt key to start the restore System Restore B 00000 20060912094421 Ready to restore system files Continue Cance 1 Sebel When the Controller serial number does not match the serial number of the selected Controller setting data the following screen appears To con
4. Move the calibrated joints to the selected point data position accurately by the jog motion For an example Joint 5 and 6 is the calibrated joints Press the Jog key to move the joint to the basic pose as accurate as possible Press the lt F2 gt key 15 The following screen appears Press the lt F1 gt key Calibration Joint 1 The calibration is executed Calibrate 16 The origin calibration completed screen appears Calibration Joint 1 Calibration complete TP1 Rev 5 65 Operation 2 TEACH Mode 66 2 9 Releasing Brake PS series only This section indicates the brake ON OFF switching for each joint 1 Press the lt F8 gt key in the Jog amp Teach screen 2 The following screen appears Move the cursor to 1 Brake and press the lt OK gt key Maintenance 3 O Calibration 1 Brake Select i Or fis Cance l ia The following screen appears when the password is set up Enter the password 1 to 16 characters and press the lt OK gt key Maintenance Execute Ma Cance 1 hie For password setting refer to Operation 4 Password Setup The following screen appears on SER ort SERS ox is TP1 Rev 5 Operation 2 TEACH Mode To turn the brake ON 4 Press the lt Jog gt key of the joint whose brake On Off setting is to be switched 5 Press the lt OK gt key The brake is locked To turn the brake OFF 4 Press the lt Jog gt key of the joint wh
5. Move the cursor to the joint to calibrate Press the lt gt gt key to select the joint and press the lt F2 gt key lt gt key Joint selection lt lt gt key Joint selection reset The following screen appears when selection Joint 4 and Joint 3 is selected automatically Calibration When the calibration of the J4 is executed it ia necessary to execute the calibration of the J cance 1 Septet 4 The following screen appears Calibration Joint 1 Manually move Joint to its approximate O pulse position TP1 Rev 5 51 Operation 2 TEACH Mode 5 Manually move the joint that needs origin alignment to its approximate 0 pulse position 0 pulse position of Joint 1 position aligned with X axis in Manipulator coordinate system gt 0 pulse 0 pulse position of Joint 2 position where Arms 1 and 2 are in a straight line Regardless of the Joint 1 direction Upper limit 0 pulse position of Joint 4 position where the flat surface on the shaft faces toward the tip of Arm 2 52 TP1 Rev 5 Operation 2 TEACH Mode 6 Press the lt F2 gt key The following screen appears Press the lt F2 gt key again Calibration Joint 1 Encoder reset is executed when the Fe key ia pressed and the controller is rebooted Please wait until the selecting point Screen is displayed after it reboots 7 Controller reboots and the following screen appears
6. Please prepare the following items before you contact us Your controller model and its serial number Your manipulator model and its serial number Software and its version in your robot system A description of the problem SERVICE CENTER TP1 Rev 5 ili MANUFACTURER amp SUPPLIER Japan amp Others SUPPLIERS North amp South America Europe SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept 1010 Fujimi Fujimi machi Suwa gun Nagano 399 0295 JAPAN TEL 81 0 266 61 1802 FAX 8 1 0 266 61 1846 EPSON AMERICA INC Factory Automation Robotics 18300 Central Avenue Carson CA 90746 USA TEL 1 562 290 5900 FAX 1 562 290 5999 E MAIL info robots epson com EPSON DEUTSCHLAND GmbH Factory Automation Division Otto Hahn Str 4 D 40670 Meerbusch Germany TEL 49 0 2159 538 1391 FAX 49 0 2159 538 3170 E MAIL robot infos epson de Before Reading This Manual Following descriptions are indicated throughout the manual by these symbols iV NOTE NOTE NOTE eo TIP ce The NOTE sections describe important information to be followed for operating the Robot system The TIP sections describe hints for easier or alternative operations Do not connect the TP1 to following Robot Controllers Connecting to following Robot Controllers may result in malfunction of the device since the pin assignments are different RC42
7. RC170 Option Teach Pendant TP1 EMO079P1591F RC170 Option Teach Pendant TP1 Rev 5 RC170 Option Teach Pendant IPI Rev 5 Copyright 2006 2007 SEIKO EPSON CORPORATION All rights reserved TP1 Rev 5 i FOREWORD Thank you for purchasing our robot products This manual contains the information necessary for the correct use of the Teach Pendant Please carefully read this manual and other related manuals before installing the robot system Keep this manual handy for easy access at all times WARRANTY The robot system and its optional parts are shipped to our customers only after being subjected to the strictest quality controls tests and inspections to certify its compliance with our high performance standards Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period Please ask your Regional Sales Office for watranty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disasters such as earthquake flood etc Warnings Cautions Usage 1 If the robot system associated equipm
8. _ _ _ _ ______ _ Program editor eo p 3 1 Program Command 3 2 I O Monitor 3 3 Memory I O Monitor 3 4 Task Monitor 3 5 System History 3 6 Program Mode 3 6 1 Opening Programs 3 6 2 Building Projects 3 6 3 Backing up Projects 3 6 4 Restoring Projects 3 6 5 Importing Files 3 6 6 Exporting Files 3 6 7 Backing up the System 3 6 8 Restoring the System 3 6 9 Changing Speed 3 6 10 Configuration 3 6 11 Changing the Display 3 6 12 Updating the System ___ _ _ __ 3 7 Backup Restore 3 8 Saving Controller Statuses _ __ __ amp 3 9 Displaying Date and Time 3 10 Adjusting Brightness and H T___ 3 11 Error Messages deeree Screen name TP1 Rev 5 Operation 3 AUTO Mode TP1 TIP Rev 5 Switch the mode selector key switch to Auto to display the Print screen Follow the description on the screen and press the lt F4 gt key to display the Main Menu screen Main Menu 1 3 4 5 6 5 5 3 Print Panel I O Monitor Memory I O Monitor Task Monitor aystem History Program Mode Backup Restore Controllor Status Date Time Brightness Contrast select GD to fis Menus with 99 at the end have following procedures after selecting the menu and cannot be executed only by pressing the lt OK gt key 69
9. Calibration Joint 1 The calibration is executed Calibrate 49 Operation 2 TEACH Mode 22 The origin calibration completed screen appears Calibration Joint 1 Calibration complete Ez For righty or lefty setting refer to 2 7 3 Setting Righty Lefty 2 2 Calibration Procedures G Series Calibrate Joint 3 first when aligning origins of more than one joint When Joint 3 is too low it may collide with peripheral equipment during the calibration of the other joints and may damage the peripheral equipment CAUTION The same calibration procedure is used for all joints Follow the steps below to calibrate each joint When calibrating Joint 4 you must calibrate Joint 3 and 4 at the same time You cannot calibrate Joint 4 alone because of the structure of the Manipulator 1 In the Calibration screen move the cursor to 0 Joint 1 4 and press the lt OK gt Calibration O Joint 1 4 1 Rigty Lefty Arm Select ia ExecO a Cance l tee 2 The following screen appears Press the lt F2 gt key Calibration The point data for the calibration that taught before the motor and the encoder are exchanged is necessary to execute the calibration 50 TP1 Rev 5 Operation 2 TEACH Mode 3 The following screen appears Calibration Please select the joint that executes the calibration Press the arrow key to select the joint then press the Right arrow key to decide it
10. and press the lt Enter gt key 2 The following screen appears Move the cursor to the desired function and press the lt OK gt key Go to Function Select Function The following screen appears during execution Go to Function Finding Function 3 The specified function screen appears 80 TP1 Rev 5 Operation 3 AUTO Mode 3 6 2 Building Projects Follow the procedure below to build projects 1 In the Program Mode screen move the cursor to 1 Build Project and press the lt OK gt key Building of the project is started The following screen appears during execution Starting project build 2 When building is successful The following screen appears after the project building is successfully completed Build Build complete no e rrars Select fil Goa to fe When building fails The error message list appears Move the cursor to the desired error and press the lt OK gt key inild Build aborted O 3511 Line 1 in mainZ prg ob4 Select fil Goa to fe The file with the error appears and the error line is indicated by the cursor TP1 Rev 5 81 Operation 3 AUTO Mode 82 lt OK gt 3 6 3 Backing up Projects Backs up projects to USB memory 1 Insert the USB memory into the Controller 2 In the Program Mode screen move the cursor to 2 Backup Project and press 3 the lt OK gt key The following screen appears Press the lt O
11. 3 Changing Jog Distance Data cccccccccceececeeeceeeceeeeceeeseeeeeeeeseeeseeeeaes 37 2 3 1 Changing Distance Data ccccccccccceccceeeceeeeseeeeeeeeaeeeseeeseeeeaes 37 232 Return Datato Defaults series E 37 24 Arim VOOWLOCAW ECP mnnt A a a 38 ZA CHang AM NOrsanee aaa 38 ZAZ Changing TOO NO sieer ii e ne Paseo E E R 38 24 3 Changing Local NOx srra a ea a 38 2AA ASNANGING EOF NOs ena a Ales ee 38 2 5 sEXecuting VO Command lt sccesesscxcchessccmeblereatancu aa a TTT 39 2 5 1 Switching Input Output Status Display cc eccceceeee eset eeeeees 39 292 OUDUT BILON OPF aeiou een eit abe elie 39 2 6 Executing Motion COMMANAS ccccecccsecceececeeeceeeeeueeseeecseesseeeseeesanes 40 26 1 E2 Senes GC SCNICS saieeiecctesscecaiiacteecttrectadeeenesenGeh een daa 40 202 PEONES cectetnsaneie nine diesomead E kien esaeendeecdies 40 TP1 Rev 5 Table of Contents TP1 Rev 5 2 f Calibrating Origin E2 Series G Series 2 0 cccceccceecceeeceeeeeeeeeeeeeaeeeees 41 2 7 1 Calibration Procedures E2 Serie S cccceeceseeeceeeeeeeeeeeeeeeeeaes 42 2 7 2 Calibration Procedures G Series ccccceccseeeceeeceeeeseeeseeeeaes 50 2 7 3 Setting Righty Lefty E2 Series G Series cee eecce seen ees 57 2 8 Calibrating Origin PS Series ccc cceccceecceseeseeeceeeseeeseeeeeeeeseneeaaeeses 60 2 9 Releasing Brake PS series OMy ccccccccececeeeeeeee
12. E A coordinate point including the arm pose is defined as position point and the data is called point data 1 1 Jog Operation Move the Robot to the teaching position by one of the following operation Step Jog operation Continuous Jog operation Step Jog Operation In Step Jog moves the Robot by pressing the Jog key each time Jog distance of the Robot is configured before hand Press the lt Jog Dist gt key to specify the Jog Dist Long Medium Short Execute the step jog by gripping the enable switch as pressing the Jog key Continuous Jog Operation In Continuous Jog moves the Robot while pressing the Jog key Press the lt Jog Dist gt key to select Cont Jog for the Jog Dist Execute the continuous jog by gripping the enable switch as pressing the Jog key TP1 Rev 5 27 Operation 1 Teaching Procedure 1 2 Teaching Apply the Robot position to the specified point number 1 Specify the point number by changing the value in the Point using the lt T gt and lt gt keys Label display changes by changing the point number 2 Press the lt Teach gt key 3 The following screen appears Yes Sg No tate When the point number is already used the following screen appears Teach Ready to assign current position Yes 4 Press the lt OK gt key to assign the robot position 5 Press the lt Save Points gt key to display the following screen Enter the file name a
13. Executing When Enable Switch or GE key is released the manipulator stops stop Release OK or Enable 5U The following screen appears after executing Jump P1 Set the calibrated joints to the basic pose accurately by the jog key Press the lt F2 gt key Calibration Righty L Press the Jog keys to mowe each joint to the point accurately Speed Low Mode World Jog Dist Long 10 000 10 000 The following screen appears Press the lt F1 gt key Calibration Righty L The calibration is executed Calibrate Calibration complete 59 Operation 2 TEACH Mode 60 2 8 Calibrating Origin PS Series NOTE This section indicates the procedure to calibrate the origin when using PS series robots The same calibration procedure is used for all joints Follow the steps below to calibrate each joint When calibrating Joint 5 you must calibrate Joint 5 and 6 at the same time You cannot calibrate Joint 5 alone because of the structure of the Manipulator 1 Press the lt F8 gt key in the Jog amp Teach screen 2 The following screen appears Move the cursor to 0 calibration and press the lt OK gt key Maintenance O Calibration Select qi or is Cance l haere The following screen appears when the password is set up Enter the password 1 to 16 characters and press the lt OK gt key Maintenance Execute Sa Cance l siia For password setting refer to Operatio
14. Operation 3 AUTO Mode 3 1 Program Command Display This screen displays messages from the program and requests responses The Print screen appears when the mode selector key switch is switched to Auto To display the Print screen from the Main Menu screen move the cursor to Print Panel and press the lt OK gt key When only a message appears Program Example PRINT 24 Test Print Test Print Menu lt F4 gt The Main Menu screen appears When a message appears and a response is requested Program Example PRINT 24 Test Print INPUT 24 aS Print Test Print Input the response to the message at the cursor position Characters or numerical values lt F1 gt Deletes all entered characters or numerical values lt F4 gt The Main Menu screen appears 70 TP1 Rev 5 Operation 3 AUTO Mode TP1 3 2 I O Monitor This screen displays the bit status of I O In the Main Menu screen move the cursor to 1 I O Monitor and press the lt OK gt key I O status Inputs bit units I O Monitor status Label On nensord On nensorl On On On On Previous qi asterisk is displayed before the label name for remote setting display to separate remote setting and I O label lt F1 gt Switches between Inputs and Outputs lt F2 gt Switches the I O bit status display Bit units or port units 3 3 Memory I O Monitor This screen displays the bit status o
15. its home position This can be executed at any time in TEACH mode 2 1 9 Teaching The robot position is assigned to the specified point No 1 Press the lt Teach gt key 2 The following screen appears Yes ig Wo baa When the point number is already used the following screen appears Teach Ready to assign current position Yes 3 Press the lt OK gt key to assign the point data 4 Press the lt Save Points gt key TIP Ee This can also be executed in the Point Editor screen 34 TP1 Rev 5 Operation 2 TEACH Mode 2 1 10 Saving Point Data to File 1 Press the lt Save Points gt key 2 The following screen appears nave Points Point File Warme Points pts Enter the file name and press the lt Enter gt key Save fg Cance liebe 3 Press the lt OK gt key to save the positions to the file TIP Ce This can also be executed in the Point Editor screen 2 1 11 Loading Point Data from File 1 Press the lt LoadPoints gt key 2 The following screen appears Load Points Point File Move the cursor to select a file Select fl Load is Cance Lisette 3 Press the lt OK gt key to load the point data in the file memory y TIP e e e e Ez This can also be executed in the Point Editor screen TP1 Rev 5 35 Operation 2 TEACH Mode 36 2 2 Editing Points This section indicates settings in the Point Editor screen 1 Press the lt F1 gt key in the Jog
16. key to light Alph 2 Press the lt Sym 0 gt key to display the following screen De Ee E A OE Cance l ee 3 Select the symbol and press the lt Enter gt key Entering text using key words Candidate command statements are anticipated and displayed from text that is currently being entered Move the cursor select the desired command statement and press the lt Enter gt key Mask MemIn MemInW M emortt Menon Nemout MemQutl MemSw Merge Mid Mod Entering text using syntax help If you enter a space gt following a specific command statement such as MOTOR or POWER candidate characters to enter appear Move the cursor select the desired character and press the lt Enter gt key Main prog TP1 Rev 5 i Operation 3 AUTO Mode Save programs Save programs after editing the programs 1 Press the lt F1 gt key to save the program file The following screen appears during saving the program file Have Saving a file 2 After the save ends the screen returns to the program edit screen Exiting program edit Finish editing the program 1 Press the lt F2 gt key to exit the program file 2 After the save ends the screen returns to the program edit screen The following screen appears when the program file has been changed but not saved File nare Program file have been changed but not Saved Do you want to save this now and continue
17. lt F1 gt Saves the file and returns to the program edit screen lt F2 gt Returns to the Program Mode screen without saving the changes of the program file 78 TP1 Rev 5 Operation 3 AUTO Mode search character strings Search for character strings in the program 1 Press the lt F3 gt key The following screen appears Enter the character string to search and press the lt Enter gt key Select A cance 1 Seite lt l gt Displays a list of search text strings lt F1 gt Changes the search order descending ascending The following screen appears during the search ind Searching character String 2 Ifthe character string is found the cursor moves to the start of that character string If the character string is not found the cursor position does not change Jump This section describes settings that can be made in the Go to screen In the program edit screen press the lt F4 gt key The following screen appears Select i OR Mg cancel ie TP1 Rev 5 79 Operation 3 AUTO Mode Jumping to a specified line in the program 1 Move the cursor to Line and press the lt Enter gt key 2 The following screen appears Enter a numerical value at Enter line number to specify the line number Go to line Enter line number OE Cancel see 3 Move the cursor to the specified line Jumping to a function in the program file 1 Move the cursor to Function
18. motor power on The following screen appears Press the Jog key and move the joint close to 0 pulse When the joint does not move to 0 pulse move the joint to the set basic pose marked in Setup amp Operation Setting the Basic Pose for Calibration in the Manipulator manual Press the lt F2 gt key Calibration Joint 1 Press the Jog keys to wove the joint 1 to UO pulse position Jog Dist Medium Ji 1 000 J3 1 000 J5 1 000 The following screen appears Press the lt F2 gt key Calibration Joint 1 Encoder reset is executed when the Fe key ia pressed and the controller is rebooted Please wait until the selecting point screen is displayed after it reboots TP1 Rev 5 Operation 2 TEACH Mode 9 Select a point data that is easy to verify the accuracy of the joint that needs origin alignment from the currently registered point data using the lt f gt and lt gt keys and press the lt Enter gt key Press the lt F2 gt key Calibration Joint 1 Select point date that is easy to werity the accuracy of Joint from the currently registered point data Point 0 Label P Sec Canc cihaeoee 10 The following screen appears Press the lt Motor gt key to turn ON the motor Press the lt F2 gt key Calibration Joint 1 Please press the Motor Key on the pendant to turn the motor power on 11 The following screen appears Press the Jog key to move the joint to the basic
19. password is set up the following screen appears before displaying the Program Mode screen Enter the password 1 to 16 characters Press the lt OK gt key Program Mode Execute Ma Cancel Wiep For password setting refer to Operation 4 Password Setup TP1 Rev 5 Operation 3 AUTO Mode 3 6 1 Open Programs 1 Inthe Program Mode screen move the cursor to 0 Open Program and press the lt OK gt key The screen that appears next differs according to the number of files that are currently saved When there is only one file Select the function and press the lt OK gt key to open the file Open Program Select Function Select fl Open fig Cance 1 bie When there are two or more files Select the file and press the lt OK gt key to open the file Open Program Select qt Open fg Cancel ete 2 The following screen appears Program edit screen example Function main zgt uniti zgt unite zgt OPUnNits aqt EtherUnit4 Zqt LoopTask aqt LoopTaske Zqt LoopTasks zgt LoopTask4 azqt LoopTask5 TP1 Rev 5 75 Operation 3 AUTO Mode 76 Entering programs The character and numerical value input modes are switched according to whether the Alph lamp is ON or OFF Press the lt Alph Num gt key to switch Alph between ON or OFF Alph 0 to 9 Numerical value input Numerical value input mode minus period ABC to WXYZ Character in
20. switch on right Side of the switch SD1 for 1 or more seconds Remove the acrylic panel on the sensor monitor on the base connector plate Acrylic Panel 9 Set one of the DIP switches SD1 1 to 4 corresponding to the calibrating Joint to its ON position Sensor monitor DIP switch Reset switch SD1 SW 1 10 Press and hold the reset switch SW 1 for 1 or more seconds 11 Press the lt F2 gt key to display the following screen TP1 Rev 5 Calibration Joint 1 Return the switch SDB1l 1 to the OFF position 45 Operation 2 TEACH Mode NOTE 46 13 Press the lt F2 gt key The following screen appears Press the lt F2 gt key again Calibration Joint 1 Encoder reset isas executed when the Fe key ia pressed and the controller is rebooted Please wait until the Jog screen is displayed after it reboots 14 Controller reboots and the following screen appears Calibration Joint 1 Select point date that is easy to verify the accuracy of Joint from the currently registered point data Point i Label P fil T Cance 1 ithe Select one of the currently registered point data that is easy to verify the accuracy of the calibrating joint using the lt T gt and lt J gt keys and press the lt Enter gt key Press the lt F2 gt key The Manipulator does not move to the exact point because the specified origin is determined visually Although the
21. the mode selector key switch on the Teach Pendant TEACH mode Turn the mode selector key switch to Teach for TEACH mode Pauses the executing program when operation mode is switched to TEACH mode The operating Robot stops by Quick Pause AUTO mode Turn the mode selector key switch to Auto and change the latch release input signal to ON position for AUTO mode TP1 Rev 5 19 Functions amp Installation 5 Operation Panel Key Description 5 Operation Panel Key Description E STOP lamp Safety lamp Gri Alphabet and Number Input keys Jog keys A mace Reset key Arrow keys E E EE a Horka E e Load do Cancel key Teaching keys Alphabet and Number Input Keys Input mode alphabet number switches by turning ON OFF the Alph lamp Press the lt Alph Num gt key to turn ON OFF the Alph lamp Mode Key Function From 0 to 9 Number input minus period ABC to WXYZ Alphabet input 20 TP1 Rev 5 Functions amp Installation 5 Operation Panel Key Description Arrow Keys Mode switches by turning ON OFF the F5 8 lamp Press the lt F1 4 F5 8 gt key to turn ON OFF the F5 8 lamp the value Move the cursor up Normal mode 1 the value Move the cursor down Move the cursor to the left Move the cursor to the right A 10 the value Move to previous page 10 the value Scroll mode a ae to next np rape Te lt lt Hi
22. 0 RC520 SRC5 SRC 3 SRC 2 A coordinate point including the arm pose is defined as position point and the data is called point data TP1 Rev 5 TABLE OF CONTENTS Functions amp Installation TP1 Rev 5 1 Safety 3 lel SCANS TMV ONNS 5 sig eee te hg a Sse eae ated ncaa eas ects 3 t2 Sately Precautions seose E a E aa 3 13 BMERGENCY OTOP seriti aE E Sancti et Gs 7 1 4 Mode Selector Key Switch ccccccccccsecccssesseeeeeeeseeeseeeseeeeseeseeesseeeseeesanes 8 1 5 Using Teach Pendant in Safeguarded Area cccceccceccceeeseeeseeeeeeeeaees 8 2 Specifications 9 21 ParNames and FUNCHONS 2sccscto ctntesebierencensnet a a Enean 9 22 Slandard SHCCIICATONS mierni a a 11 2 3 Outer DIMENSION Sorena E E eceaennidaast et eates a cascls 11 3 Installation 12 2k COMEN eors a a Sava d atest paacate 12 3 2 Environmental Conditions cccccccccseccseceseeeceseeeeeeseeeseeeeeeeeseeesaeeeaeeess 12 3 3 Operating Precautions rsrsrsr ea teen aan las bene aee 12 34 GONMC CUO scesa a Ee aa 13 3 4 1 Typical Cable CONNECTION cccccc secs eeeceecceeeaeesa esse eeseeeseeeaeeeaeees 13 3 4 2 Connection to the Controller ccccccccccceccceeeceeeeeeeeeeeeteeeeseeaes 14 3 4 3 Operator Panel Connections ninsis a 14 39 POWER SUD DIY ereinen E TE 15 3 6 Wall Bracket Option isorine noe e a a e aae E aE 16 4 Operation Mode TEACH AUTO 18 4At OUNEN A e EOE 18 4 2 Swit
23. 3 Hang the cable of the Teach Pendant to Hook B Teach Pendant Cable 17 Functions amp Installation 4 Operation Mode TEACH AUTO 4 Operation Mode TEACH AUTO NOTE A coordinate point including the arm pose is defined as position point and the data is CE called point data 4 1 Outline Robot system has two operation modes TEACH mode and AUTO mode TEACH mode This mode enables point data teaching and check close from the Robot using the Teach Pendant Robot operates in Low power status AUTO mode This mode enables automatic operation program execution of the Robot system at the manufacture operation besides programming debug adjustment and maintenance of the Robot system This mode cannot operate Robots or run program with the Safety Door open TEACH mode Teaching Jog amp Teach 2 1 Jog amp Teach RC170 2 3 Changing the Jog Distance data 2 4 Arm Tool Local ECP 2 5 Executing I O Commands Point Editor 2 2 Editing Points Motion Command gt 2 6 Executing Motion Commands Maintenance Calibration 2 7 Calibration E2 series G series 2 8 Calibration p Brake Release aaa Six axis m gt 2 9 Releasing the Brake PS3 only AUTO mode 18 TP1 Rev 5 Functions amp Installation 4 Operation Mode TEACH AUTO Change the TEACH mode and AUTO mode with
24. Calibration Joint 1 Select point date that is easy to wWerlty the accuracy of Joint from the currently registered point data Point 1 Label P TEN Cance 1 titel Select one of the currently registered point data that is easy to verify the accuracy of the calibrating joint using the lt gt and lt gt keys and press the lt Enter gt key Press the lt F2 gt key NOTE The Manipulator does not move to the exact point because the specified origin is er determined visually Although the error is less than one revolution of the motor be careful not to allow the Manipulator to interfere with peripheral equipment One revolution of the Joint 1 motor 4 5 degrees One revolution of the Joint 2 motor 7 2 degrees One revolution of the Joint 3 motor Z180 11 94 mm Z330 23 87 mm One revolution of the Joint 4 motor 24 06 degrees 8 The following screen appears Press the lt Motor gt key to turn ON the motor Press the lt F2 gt key Calibration Joint 1 Please press the Motor Key on the pendant to turn the motor power on cance 1 Septet TP1 Rev 5 53 Operation 2 TEACH Mode 9 10 The following screen appears Press the lt OK gt key to stop the servo control for all joints to enable the joints to be moved manually Press the lt F2 gt key to display the following screen Calibration Joint 1 Press the OK key to execute SFree All Free f11 8 Cancel Wimp T
25. Cance 1 peiie The following screen appears Press the lt F2 gt key To Save System files in the Folder When lt OK gt key is pressed without specifying a folder the backup file is stored directly in the USB memory For prcedure to specify th folder refer to 5 The following screen appears Move the cursor to export and press the lt OK gt key Export File Select Backup Folder Option activater Epsonkcso Select Fi EXport ie Down apes Displays the hierarchy one level below the selected folder Displays the hierarchy one level above the selected folder 85 Operation 3 AUTO Mode 86 6 The following screen appears Press the lt OK gt key Export File fEpsonkcsSo Projects MyProject Main preg To Save System files in the Folder 7 lt F1 gt lt F2 gt Executes the file export When a file of the same name already exists the following screen appears Export File Main prg Tile already exist CVeEerwrite Overwrites the file Moves to the Program Mode screen TP1 Rev 5 Operation 3 AUTO Mode 3 6 7 Backup System Backs up system files in the Controller to the USB memory 1 Insert the USB memory into the Controller 2 In the Program Mode screen move the cursor to 6 System Backup and press the lt OK gt key 3 The following screen appears Enter the file name and press the lt Enter gt key System Backup Backup robot parameters to a fil
26. K gt key to execute the project backup Saves the project to the folder EpsonRC50 Projects in the USB memory Backup Project Backup project to USE memory stick MyProject Backup is Cance 1 tte When a project of the same name exists in the USB memory the following screen appears Backup Project Project HyProject already exist Overwrite Overurite Wa Cance 1 bee Overwrites the project lt Cancel gt Cancels the project backup TP1 Rev 5 TP1 Rev 5 Operation 3 AUTO Mode 3 6 4 Restore Projects Restores projects backed up in USB memory to the Controller 1 2 3 4 5 6 Insert the USB memory into the Controller In the Program Mode screen move the cursor to 3 Restore Project and press the lt OK gt key The following screen appears Press the lt OK gt key Restore Restore project from USE memory stick Please press the GE key to select the project I a Cance 1 The following screen appears Displays the project list in the folder EpsonRC50 Projects in the USB memory Move the cursor to the desired project and press the lt OK gt key Restore Project Select Project Select D Open fis Cancel beta The following screen appears Press the lt F1 gt key Restore Project fMyProject Ready to restore the project files Continue FE z l I lance 1 eae Executes the project restore 83 Operati
27. K1 TP Cable B D sub connector to connect directly to the Controller NOTE When Teach Pendant with Operator Panel cable is inserted to the TP port of the er Operator Panel both Operator Panel and Teach Pendant are available Connection D NOTE Do not connect TP1 to the following Robot Controllers Connecting to the er following Robot Controllers may result in malfunction of the device since the pin assignments are different RC420 RC520 SRC5 SRC 3 SRC 2 3 4 2 Connection to the Controller 1 Make sure that the Controller and the Robot is connected properly 2 Connect the connector of the Teach Pendant cable to the TP OP port of Controller 3 Turn ON the controller NOTE Teach Pendant insert and removal from the Controller are available when the C Controller power is ON NOTE When Teach Pendant connector is removed from the Controller with the mode CS selector key switch of Teach Pendant that is in Teach position the operation mode will remain in TEACH mode The operation mode cannot be switched to AUTO mode Make sure to remove the Teach Pendant after switching the operation mode to Auto mode 3 4 3 Operator Panel Connection 1 Make sure that the Controller and the Robot is connected properly 2 Connect the connector of the Operator Panel to the TP OP port of Controller 3 Turn ON the Controller 4 Connect the connector of Teach Pendant to the Operator Panel NOTE Teach Pendant ins
28. Rev 5 Operation 3 AUTO Mode 3 8 Save Controller Statuses Indicate the procedure to save the status of the Controller to the USB memory 1 Insert the USB memory into the Controller 2 In the Main Menu screen move the cursor to Controller States and press the lt OK gt key The following screen appears Controller Status Preservation Controller status are preserved in the USB memory Stick with the file i To Save System files in the Folder Preserve Wa Cance l i 3 Select a folder to save the data The root directory is selected by default 4 Press the lt OK gt key to save the status 3 9 Display Date and Time This screen displays the Controller s date and time 1 In the Main Menu screen move the cursor to 8 Date Time and press the lt OK gt key 2 The following screen appears Able to check the date and time Date Time Date 2006 05 30 Time 10 36 43 lt F1 gt Returns to the Main Menu screen TP1 Rev 5 97 Operation 3 AUTO Mode 1 In the Main Menu screen move the cursor to 9 Brightness Contrast and press the lt OK gt key 2 The following screen appears Press the lt OK gt key to apply the setting Brightness Contrast Brightness t Contrast lt j gt lt T gt These arrow keys can adjust the brightness lt lt gt lt gt These arrow keys can adjust the contrast The following screen appears when an e
29. Safety Turns ON when the safeguard is open 22 TP1 Rev 5 Functions amp Installation 6 Enable Switch 6 Enable Switch In TEACH mode several operations require use of the 3 position enable switch located on the left rear of the pendant The enable switch can be operated either hand When the enable switch is required to execute an operation you must grip the switch to the center enable position To do this pull the switch with the left hand fingers until it just stops at the center detent If you pull harder or let go then the switch will be disengaged and the operation will be canceled Enable Switch for Left Hand Enable Switch for Right Hand Right side view Back view Left side view How to press the Enable switch Grip the enable switch by the finger on the hand holding the handler Example When gripping by the left hand TP1 Rev 5 23 Functions amp Installation 6 Enable Switch 24 TP1 Rev 5 Operation This section contains information about operation of the Teach Pendant and maintenance procedure Operation 1 Teaching Procedure Teaching Procedure The basic jog operation and teaching procedure is indicated Switch the mode selector switch to Teach to display the following screen Jog Teach Foints pts Current Position 0 000 675 000 Jog Mode World OO speed Jog Dist Medium Koci 1 00 E 1 00 a a 1 00 Edit Fnt Edit Dist Motion Ifa Cmd PH p NOTE
30. amp Teach screen The following screen appears gt PickUp Fas 00 000 300 000 zZ 300 000 U 90 000 V 0 000 W 180 000 Hand Righty Elbow 4hove Wrist No Flip J4F 0 Local O0 2 Set the data items currently displayed in the Point Editor screen See 2 2 1 to 2 2 4 3 Note down the robot position See 2 1 9 4 Back up the point data to a file See 2 1 10 2 2 1 Specifying Point No 1 Specify the point number by changing the value in the Point using the lt gt and lt 1 gt keys Chang the point No to change the indication at Label 2 Press the lt Enter gt key 3 Press the lt OK gt key to apply the memory 2 2 2 Changing Point Label 1 Press the lt F1 gt key and move the cursor to Label 2 Enter the label name at Label to set the name 3 Press the lt Enter gt key 4 Press the lt OK gt key to apply the memory 2 2 3 Changing Coordinate Data and Pose Flag 1 Press the lt F2 gt key and move the cursor to Position X 2 Move the cursor to each joint and set the coordinate data pose flag 3 Press the lt Enter gt key 4 Press the lt OK gt key to apply the memory 2 2 4 Deleting Point Data Press the lt F3 gt key to delete the point data TP1 Operation 2 3 Changing Jog Distance Data This section indicates settings in the Jog Distance screen TP1 Rev 5 Press the lt F2 gt key in the Jog amp Teach screen The following scree
31. ary calibration Press the lt OK gt key to servo control all joints Press the lt F2 gt key Calibration Joint 1 Press the OK key to execute SLock All 19 The following screen appears Calibration Joint 1 To set other joints to the position and the pose of the point accurately GO Fi is executed Hold the Enabel switch and press the OF key and hold down until the Jog screen is displayed Cance 1 Sepa Move the joints except the calibrated joints to the point data position by the motion command For an example the motion command will be executed to Joint 1 and 2 when Joint 4 is calibrated Press the lt OK gt key while gripping the enable switch to execute Go P1 48 TP1 Rev 5 TP1 Rev 5 20 Operation 2 TEACH Mode The following screen appears during Go P1 execution Calibration Joint 1 Executing When Enable Switch or GE key is released the manipulator stops stop Release OK or Enable 5U The following screen appears after Go P1 execution Calibration Joint 1 Press the Jog keys to move the Joint i1 to the point accurately Speed Low Mode Joint Jog Dist Long ws 10 000 J3 10 000 cance l Seba Set the calibrated joints to the selected point data position accurately by the jog motion Press the Jog key to move the joint to the basic pose as accurate as possible Press the lt F2 gt key 21 The following screen appears Press the lt F1 gt key
32. button and reboot the Controller TP1 Rev 5 99 Operation 5 Troubleshooting 5 Troubleshooting Display panel is blank The Controller supplies DC24V Check that the Controller is ON Check that the Controller is connected to the TP OP connector of the Controller properly An Error code appears and the Robot does not operate normally Please refer to the error code indicated in the Controller manual Robot does not move by pressing the Jog key Execute the Motor On command to energize the Robot motor Refer to Motor On in the SPEL Language Reference Energize the Robot motor Refer to SLock in the SPEL Language Reference Short jog distance may be selected Check the value in the Jog Distance screen and change the setting to long distance if needed Refer to Operation 2 3 Changing Jog Distance Data Operation mode does not switch from TEACH mode to AUTO mode Send the latch release input signal to release the latch status If the condition does not change after performing the countermeasure above the unit may have suffered a breakdown Please contact the service center or the manufacturer 100 TP1 Rev 5 Operation 6 Maintenance Parts List and Option TP1 6 Maintenance Parts List and Option Rev 5 Be sure to specify the proper codes and Option when ordering maintenance parts Conversion Kit R12B120111 Option CKI 101 Operation 6 Maintenance Parts List and Optio
33. ceeeceeeseeseseeeseneeaeeees 66 3 AUTO Mode 68 3 1 Program Command Display ccccccceecesececeeeceeeeseeeseeeeseeeseeeseeeeseeeseeees 70 22 Ja 19 oar een oo ne ar RE a 71 So Memon NIOMILON Ss tage dente teh el N 71 SA TASK MONIO sapiri aN e E eN eE 72 29 Oye MISON iscsi sical tas Chea ada aaa a tae ade 73 3 0 Progra MOOG necnon e A 14 20 Open Prog aSa S 75 57022 HUNOGING PIOlCCIS raa ae setknssnet ee benetamhatinlnneeratbeades 81 3 6 3 Backing UP Projects cccccccscceseceecceeceeeseeeceeeceecaueceeesseeneeseeneas 82 3 6 4 Restore Projects anc caci chee divid cass dantnione dente niaseernodcaktes bedsGaliectewauddiniaaee 83 FOS AMPE FIG San ee 84 2 6 0 EXDOM FE Sorsien a aAA taNes 85 267 Backup Systemes irerae a a i 87 3608 Restore Syste e neie a E E 89 20 9 Changing Speed Faclo ssnst gia e E esha entigeun Soe 91 326 10 SCOMMGUPAUON vate ihc o a A E 91 3 6 11 Change Display Language cccccccceeccseeeceeeceeeeaeeeseeeteeeeaeeeaes 93 3 6 12 Update System Software ccccccccccccceeceseeeceeeceeeeseeeseeteeeeaeeees 94 3r BIKU RESIO io reat en a rane are ee a oe 96 3 8 Save Controller Statuses sine arn a EEEE ie ONES 97 3 9 Display Date and Time ccccccceccseeceeeceeeceesseceecsecceeeseeeseecsesasesseesaes 97 3 10 Adjust Brightness and Contrast annannaanonnnennennnnnnnnnnnnnrnnnrenrrrrrnnrnnenne 98 SVI MOF WESSAG CS aiina aa T ap ace aoe ea
34. ch Operation Mode nesies niea R 19 5 Operation Panel Key Description 20 6 Enable Switch 23 Table of Contents Operation Vi 1 Teaching Procedure 2 ti JOO Operaio een Celeste bale th a alte ee rae ob ial 27 SU E AG IO IND eera E A T E eee 28 to Drect TeachiNg ecnin sacha Suc teneheia sh eceurtaerenceeeie 29 2 TEACH Mode 31 ZW Og S TOAGCIN winter enseitincd teh a a ad see hen Rhett 32 21T SDECIHYING Pont NO sssrin nee TE 32 2 1 2 Specifying Jog Mode ccccccssccsscecseeccecceececseecseecoeeecseeseesness 32 21 Specifying JOG Spee aicicccsseenyelalen en dediveee eo enel eS ised 33 251 4 Execut otep JOO oa a E San 33 2 1 5 Executing Continuous JOQ cccccceccccececeeeceeeeeeeeseeeeeeeseeeseeeeaes 33 ZO ONORE r a E A E A eeaeoednat 33 2N MOOrON OF Poineae a a a 34 2 1 8 Executing Return to HOME ccccccccccceeecseceeeceeeseeseeesaeeseeenaes 34 2N WEACIMING aunan E A a 34 2 1 10 Saving Point Data to File cc ccccceeeceeeeceeeeeeeeeeeeseeeeeeeaes 35 2 1 11 Loading Point Data from File cc cecccecccecceeeeeeeeeeeeeeeeeaeeeaes 35 22 Edn FOIN eaten cea as a Aa epee ua ea cece ae eee eee 36 2 2 1 OPeCiyInNG POINT NO csaces ciccsessccaliacttents sates eev necked a 36 2 2 2 Changing Point Label ccc ccccccccsececeeeceeeeeeeeseeeeeeseeeseeeeaes 36 2 2 3 Changing Coordinate Data and Pose Flag ccccccceeeeeeeeeees 36 224 Deleund Pont Dala eoria 36 2
35. ch Pendant when the switch does not function properly is extremely hazardous and may result in serious bodily injury and or serious damage to the equipment as the switch cannot fulfill its intended WARNING function in an emergency When nothing appears on its display window the Teach Pendant is not connected with the Controller In this case the EMERGENCY STOP switch on the Teach Pendant will not function When the EMERGENCY STOP switch is pushed stops the programs execution and halts the robot excitation Programs and point data will not be damaged When pushed the EMERGENCY STOP switch mechanically holds that state and electrically holds the emergency stop state Reset EMERGENCY STOP Follow these steps to reset Emergency Stop condition 1 Remove the cause of the Emergency Stop and verify that it is safe to operate the robot again 2 Release the EMERGENCY STOP switch To release the mechanical latch turn the EMERGENCY STOP switch to the right 3 Turn the Teach Pendant mode selector key switch to Teach 4 Press the lt Reset gt key on the operation Jd Lamp panel to reset the Emergency Stop 5 Make sure that the E STOP lamp on the operation panel is OFF lt Reset gt Key TP1 Rev 5 7 Functions amp Installation 1 Safety 1 4 Mode Selector Key Switch The mode selector key switch is used to select TEACH or AUTO operation mode For safety if the mode is changed during program execution al
36. ckup Screen Select fil Ga to fe Cancel ite TP1 Rev 5 91 Operation 3 AUTO Mode Configure program editor Set the preferences of the program editor 1 In the Configuration screen move the cursor to 0 Editor and press the lt OK gt key The setup screen appears Configuration Set Preferences for Editor i ee 4 rag Tab Stop Key Word Syntax Help To change an item Move the cursor to the left column To change item settings Move the cursor to the right column 2 Press the lt t gt lt gt keys to move the cursor to the item and press the lt gt key to move the cursor to the right to confirm the item Press the lt t gt lt gt keys to move the cursor to change the setting Changing the program edit area Select the Edit and select the program edit area Function File Function Set the area to a specific function File Set the area to the entire file Changing the tab width of the program editor Select the Tab Stop and input the tab width unit character 1 to 8 Turning the keyword candidate display function of the program editor On Off Select the Key Word and select On Off The default is On Turning the syntax help function of the program editor On Off Select the Syntax Help and select On Off The default is On 3 When a setting has been changed be sure to press the lt OK gt key to save the setting Pressing the lt F1 gt key r
37. control actuators Part 2 Displays Functions amp Installation 1 Safety EN 894 3 Safety of machinery Ergonomics requirements for the design of displays and control actuators Part 3 Control actuators EN 954 1 Safety of machinery Safety related parts of control systems ISO 13849 1 Part 1 General principles for design EN 60204 1 Safety of machinery Electrical equipment of machines General requirements UL 508 Industrial Control Panels CSA C22 2 No 14 EN 50178 Electronic equipment for use in power installations EN 61131 1 IEC1131 1 Programmable controllers Part 1 General information EN 61131 2 IEC1131 2 Programmable controllers part 2 equipment requirements and tests UL 1740 Industrial robots and robotic equipment ANSI RIA R15 06 American National Standard Industrial Robots and Robot CSA Z434 94 Systems Safety Requirements ISO 11161 Industrial automation systems Safety of integrated manufacturing systems Basic requirements EN 12417 Machine tools Safety Machining centers EN 14070 Safety of machine tools Transfer and special purpose machines 6 TP1 Rev 5 Functions amp Installation 1 Safety 1 3 EMERGENCY STOP E Immediately press the EMERGENCY STOP switch whenever you suspect any danger The Teach Pendant is equipped with an EMERGENCY STOP switch Before operating the Teach Pendant make sure that the EMERGENCY STOP switch on the Teach Pendant functions properly Operating the Tea
38. d the manipulator stops stop Release OK or Enable 5U TP1 Rev 5 55 Operation 2 TEACH Mode 13 The following screen appears after Go P1 execution Calibration Joint 1 Press the Jog keys to wove the Joint 1 to the point accurately speed Low Mode Joint Jog Dist Long Ji 10 000 J3 10 000 Set the calibrated joints to the selected point data position accurately by the jog motion Press the Jog key to move the joint to the basic pose as accurate as possible Press the lt F2 gt key 14 The following screen appears Press the lt F1 gt key Calibration Joint 1 The calibration is executed Calibrate 15 The origin calibration completed screen appears Calibration Joint 1 Calibration complete NOTE CS For righty or lefty setting refer to 2 7 3 Setting Righty Lefty 56 TP1 Rev 5 Operation 2 TEACH Mode 2 3 Setting Righty Lefty E2 Series G Sereis 1 In the Calibration screen move the cursor to Righty Lefty and press the lt OK gt Calibration 1 Rigty Letty Select ia ExecOa Cance l tee 2 The following screen appears Select one of the point data in the accessible area that is easy to verify the accuracy for both right and left arm orientations using the lt gt and lt gt keys and press the lt Enter gt key Press the lt F2 gt key Calibration Righty Lefty Select point data that is easy to verify the accuracy of Arm from th
39. d select the speed at Speed Low High Low Low jog speed High High jog speed 2 1 4 Executing Step Jog By step jog operation the robot moves when the Jog key 1s pressed Set the distance that the robot moves beforehand 1 Press the lt Jog Dist gt key and select the distance at Jog Dist Long _ Long jog distance Medium Medium jog distance Short Short jog distance 2 To execute step jog grip the Jog key with the enable switch held down 2 1 5 Executing Continuous Jog With continuous jog the robot moves continuously while the Jog key is held down 1 Press the lt Jog Dist gt key and select Cont Jog at Jog Dist 2 To execute continuous jog grip the enable switch while pressing the Jog key 2 1 6 ON OFF Specify On Off for each joint When performing direct teaching manually moving the robot by hand to perform teaching set the joint to Off Press the lt Jog Dist gt key and select Free Joint at Jog Dist Set On Off for each joint lt gt key Lock Sets the joint to Off lt gt key Free Sets the joint to On lt F2 gt key All Lock Sets all joints to Off lt F3 gt key All Free Sets all joints to On TP1 Rev 5 33 Operation 2 TEACH Mode 2 1 7 Motor ON OFF Press the lt Motor gt key to switch the motor ON and OFF TIP Ez This can be executed at any time in TEACH mode 2 1 8 Executing Return to Home Press the lt Home gt key to return the robot to
40. de Selector Key switch The mode selector key switch is used to change the operation mode between TEACH and AUTO The mode can be fixed by pulling out the key When the mode is switched while a program is executing the program will be stopped Close the latch when switching the mode from TEACH to AUTO For the procedure to switch the mode refer to Setup amp Operation 1 4 Mode Selector Key Switch EMERGENCY STOP switch When this switch is pushed the Emergency Stop state is held both mechanically and electrically Pushing the switch stops the program removes power to robot motors and stops the manipulator motion immediately To cancel the Emergency Stop state first turn the EMERGENCY STOP switch to the right to release the mechanical latch Switch the mode selector key switch to Teach Press the lt Reset gt key to reset the electrically held Emergency Stop state The E STOP lamp goes OFF For the procedure to reset the EMERGENCY STOP switch refer to Setup amp Operation 1 3 EMERGENCY STOP Display Displays various kinds of information Operation Panel Teaching operation automatic operation and data input are available Connection Cable This is a cable to connect the Teach Pendant and the Controller The connector is attached at the end of the cable Enable switch This is a three position switch Motion and I O output commands are available while the switch is gripped when the Teach Pendant is operated in TEACH mod
41. disconnection or contact failure is extremely hazardous and t may result in improper function of the system E Make sure that the pins are not bent when connecting the connector CAUTION Connecting the connector with the pin bent may cause malfunction and result in improper function of the system m The connector connected to the end of the cable is a general purpose type connector When connecting the connector note that the waterproof efficiency and dustproof efficiency of the connector do not comply with IP65 3 4 1 Typical cable connection The Teach Pendant and the Operator Panel is connected to TP OP port of controller NOTE When nothing is connected to the TP OP port Emergency Stop status occurs to the Ce Controller When the Teach Pendant or the Operator Panel is not connected connect the TP OP bypass plug Example A Only using Teach Pendant TP Cable A TP Cable Teach Controller 4 pe Conversion Kit CK1 B Only using Teach Pendant TP Cable B A TP Cable Teach Controller B Pendant C Only using Operator Panel Operator D Using Teach Pendant and Operator Panel Controller Q OP Cable Operator g TP Cable Teach Panel A Pendant TP1 Rev 5 13 Functions amp Installation 3 Installation 14 NOTE The shape of the cable connector used in connection A and D differs to connection B er TP Cable A Circular connector to connect to the Operator Panel Direct connection is available with conversion kit C
42. e Please enter the Backup file name Set gEnter on fig Cance l i 4 The following screen appears Press the lt OK gt key Systerm Backup h20061005 To Save System files in the Folder CE ioe Z anc TIP When lt OK gt key is pressed without specifying a folder the backup file is stored ce directly in the USB memory For procedure to specify the folder refer to 5 5 The following screen appears Move the cursor to the folder to save the backup data and press the lt OK gt key System Backup Select Backup Folder 5 66 20060529120843 Io Select fil Backup a Cancel biel TP1 Rev 5 87 Operation 3 AUTO Mode 88 6 The following screen appears Press the lt OK gt key to execute the system backup System Backup Epsonkcso b20061003 To Save system files in the Folder OES C anc When a file of the same name already exists the following screen appears System Backup SYS file already exist Overwrite lt F1 gt Overwrites the file lt F2 gt Moves to the Program Mode screen 7 After execution is completed the following screen appears System Backup Backup completed successfully TP1 Rev 5 TP1 Rev 5 Operation 3 AUTO Mode 3 6 8 Restore System Restores system files backed up in USB memory to the Controller 1 Insert the USB memory into the Controller 2 In the Program Mode screen move the cursor to 7 System Restore and press 3
43. e The switch turns ON when it is at the midpoint and it turns OFF when it is fully gripped or released Handle Use this part as the hand strap while operating the Teach Pendant TP1 Rev 5 Functions amp Installation 2 Specifications 2 2 Standard Specifications Specification Rated voltage DC24 V General Electric power consumption specifications 1075 g Weight include EMERGANCY STOP switch and the mode selector key switch excluding cables Disol Display element F STN type Black and white LCD ISpla a level Gray scale specifications Back light LED Color White Serial interface nN ae Electrical characteristics Compliant with RS 422A standard specifications 2 3 Outer Dimensions 291 9 Unit mm NOTE ce Use the installation metal in the attachment when attaching the Teach Pendant to a panel or the like TP1 Rev 5 1 Functions amp Installation 3 Installation 3 Installation 3 1 Contents TP1 with cables 1 unit Mode selector key 2 units 3 2 Environmental Conditions The Teach Pendant must be used in an environment that conforms to the following requirements to ensure safe and reliable operation Condition Ambient temperature 0 to 50 deg C with minimal variation Ambient relative 5 to 95 temperature Protection structure IP65 excluding the connector Environment Keep away from dust oily smoke salinity metal powder and other contaminants Keep a
44. e currently registered point data Point i Label EEEN PH E Cance 1 titel 3 The following screen appears Press the lt Motor gt key to turn ON the motor Press the lt F2 gt key Calibration Righty Lefty Please press the Motor Key on the pendant to turn the motor power on cance l Sepia TP1 Rev 5 57 Operation 2 TEACH Mode 58 4 Continue to press the lt OK gt key with the enable switch held down to execute Jump Pl Calibration Righty L 5 6 Jurmp PL is executed Hold the Enable switch Then press the OF key and hold down The following screen appears during Jump P1 execution Calibration Righty Lefty Executing When Enable Switch or GE key iz released the manipulator stops stop Release OK or Enable 5U The following screen appears after Jump P1 execution Press the lt F2 gt key Calibration Righty Lefty The arm orientation is switched between right and left l The following screen appears Calibration Righty Lefty Jump Fi Ro is executed Hold the Enable switch Then press the OF key and hold down lt Back Switch the arm orientation between right and left and move to the same point Press the lt OK gt key while gripping the enable switch to execute Jump P1 TP1 Rev 5 Operation 2 TEACH Mode TP1 Rev 5 7 8 9 The following screen appears during Jump P1 Calibration Righty Lefty
45. e following screen 2 Jog Teach Points pts Current Position O 000 675 000 90 000 Jog Mode World OO Speed Jog Dist Medium mo 1 00 es 1 00 Vo 1 00 Edit Fnt Edit Dist Motion Ifo Cmd PH 0 Set the data items currently displayed in the Jog amp Teach screen See 2 1 1 to 2 1 6 3 Note down the robot position See 2 1 9 4 2 Back up the point data to a file See 2 1 10 1 1 Specifying Point No Change the value at Point using the lt gt and lt gt keys to specify a point No Changing the point No changes the indication at Label 2 1 2 Specifying Jog Mode Press the lt Jog Mode gt key and specify the Jog Mode World Tool Joint ECP The default setting is World World Jogs the robot along the X Y Z axes in the current local tool arm and ECP Tool Joint ECP 32 For robots with 4 DOF you can also jog U roll For robots with 6 DOF you can jog U roll V pitch and W yaw This is the default setting Jogs the robot in the coordinate system defined by the current tool Jogs each joint of the robot A separate set of jog buttons will appear when using joint mode when using non Cartesian robots Jogs the robot along the axes of the coordinate system defined by the current external control point Coordinates are World coordinates TP1 Rev 5 Operation 2 TEACH Mode 2 1 3 Specifying Jog Speed Press the lt Speed gt key an
46. ent is used outside of the usage conditions and product specifications described in the manuals this warranty is void 2 If you do not follow the WARNINGS and CAUTIONS in this manual we cannot be responsible for any malfunction or accident even if the result is injury or death 3 We cannot foresee all possible dangers and consequences Therefore this manual cannot warn the user of all possible hazards ii TP1 Rev 5 TRADEMARKS Microsoft Windows and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Other brand and product names are trademarks or registered trademarks of the respective holders TRADEMARK NOTATION IN THIS MANUAL Microsoft Windows XP Operating system Microsoft Windows Vista Operating system Throughout this manual Windows XP and Windows Vista refer to above respective operating systems In some cases Windows refers generically to Windows XP and Windows Vista NOTICE No part of this manual may be copied or reproduced without authorization The contents of this manual are subject to change without notice Please notify us if you should find any errors in this manual or if you have any comments regarding its contents INQUIRIES Contact the following service center for robot repairs inspections or adjustments If service center information is not indicated below please contact the supplier office for your region
47. error is less than one revolution of the motor be careful not to allow the Manipulator to interfere with peripheral equipment One revolution of the Joint 1 motor 4 5 degrees One revolution of the Joint 2 motor 7 2 degrees One revolution of the Joint 3 motor 13 4 mm One revolution of the Joint 4 motor 22 5 degrees TP1 Rev 5 Operation 2 TEACH Mode 15 The following screen appears Press the lt Motor gt key to turn ON the motor Press the lt F2 gt key Calibration Joint 1 Please press the Motor Key on the pendant to turn the motor power on 16 The following screen appears Press the lt OK gt key to stop the servo control for all joints to enable the joints to be moved manually Press the lt F2 gt key to display the following screen Calibration Joint 1 Press the OK key to execute SFree All 17 The following screen appears Manually move and position the joint that needs origin alignment while pushing the Joint 3 brake release button and lowering Joint 3 Press the lt F2 gt key Calibration Joint 1 Manually move the joint to Point Joint 3 can be lowered by pressing and holding down the brake release Hutton TP1 Rev 5 47 Operation 2 TEACH Mode 18 The following screen appears Press the lt F1 gt key to execute temporary calibration Calibration Joint 1 Point Pi The temporary calibration is executed The following screen appears after executing the tempor
48. ert and removal from the Controller are available when the gt Controller power is ON Make sure that the Controller is turned OFF when inserting or removing the Operator Panel NOTE When Teach Pendant connector is removed from the Controller with the mode CS selector key switch of Teach Pendant that is in Teach position the operation mode will remain in TEACH mode The operation mode cannot be switched to AUTO mode Make sure to remove the Teach Pendant after switching the operation mode to Auto mode TP1 Rev 5 TP1 Functions amp Installation 3 Installation 3 5 Power Supply Rev 5 The power of the Teach Pendant is supplied via the TP OP connector on the Controller After the completing the Controller and the Teach Pendant communication the following screen will appear on the display of the Teach Pendant TEACH mode Jog Te ach Points pts Current Position Bones O 000 Bans 675 000 90 000 Jog Mode World 00 apeed Jog Dist M dium 15 Functions amp Installation 3 Installation Unit mm 201 4 100 Front View Back View Side View 16 TP1 Rev 5 TP1 Rev 5 Functions amp Installation 3 Installation Mount and Use Mount the Teach Pendant with the wall bracket in the following procedures 1 Secure the wall bracket to the wall with three screws positions are indicated by dotted line in the Outer Dimension 2 Hang the handle of the Teach Pendant to Hook A
49. etaeies 98 4 Password Setup 99 5 Troubleshooting 100 6 Maintenance Parts List and Option 101 Vil Table of Contents vill TP1 Rev 5 Functions amp Installation This section contains information about functions and installation of the Teach Pendant to be known before operation and maintenance Functions amp Installation 1 Safety 1 Safety 1 1 Conventions Important safety considerations are indicated throughout the manual by the following symbols Be sure to read the descriptions shown with each symbol This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed WARNING properly This symbol indicates that a danger of possible harm to people caused by electric shock exists if the associated instructions are WARNING not followed properly This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the CAUTION associated instructions are not followed properly 1 2 Safety Precautions For details of Safety refer to Safety Chapter in the User s Guide Please read and understand the chapter before using the robot system E Only trained personnel should design and install the robot system Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer dealer or local representative company or those who under
50. eturns the setting to its default The screen in step 1 shows the defaults Press the lt OK gt key and the Controller reboots 92 TP1 Rev 5 Operation 3 AUTO Mode Enable execution in main menu Normally the followings are set in the program mode after the password 1s entered Project Backup Restore System Backup Restore File Import Export Items that are enabled for execution are added to the menu in the Backup screen See Operation 3 7 Backup Restore Follow the procedure below to enable execution in the main menu 1 In the Configuration screen move the cursor to 1 Backup Screen and press the lt OK gt key The following screen appears Configuration Set preferences for Backup Screen ayeatem Backup To change an item Backup Project Move the cursor to the left column Export File System Restore Restore Project Import File w o To change item settings Move the cursor to the right column or is Cance l a 2 Change the setting of each item and press the lt OK gt key to save the setting Yes Enabled No Not enabled Pressing the lt F1 gt key returns the setting to its default The screen in step 1 shows the defaults Press the lt OK gt key and the Controller reboots 3 6 11 Change Display Language 1 Inthe Program Mode screen move the cursor to the last line and press the lt gt key The following screen appears Move the cursor to 0 Lang
51. f memory I O In the Main Menu screen move the cursor to 2 Memory I O Monitor and press the lt OK gt key Memory I O status bit units Memory I O Monitor status Label O oft Ready Ort Busy O oft oft Off O fa Previous qi lt F2 gt Switches the I O bit status display Bit units or port units Rev 5 71 Operation 3 AUTO Mode d2 3 4 Task Monitor lt F1 gt lt F2 gt This screen displays the status of tasks In the Main Menu screen move the cursor to 3 Task Monitor and press the lt OK gt key Task Monitor tatus Name Run main Run Taske Run Tasks H 1 a 3 4 5 6 5 Next W Previous E When the task name is too long to display the whole name a tilde is attached at the end of the task name as LongTaskNa When the task is NoPause task P is attached at the end of the task name When the task is NoEmgAbort task E is attached at the end of the task name Displays the line number and task name in the program specified by the cursor Task Monitor ra oJ mon eb Ww bo eH Next Previous Displays the status and line number of all tasks in the program specified by the cursor Task Monitor Status Line Status Line Run OO008 3 Run adzi Run OO015 Run OO016 H oan on w N e TP1 Rev 5 Operation 3 AUTO Mode 3 5 System History TP1 lt F2 gt Rev 5 This screen displays a
52. gh speed cursor motion to the left speed cursor motion to the left High speed cursor motion to the right Function Keys Press the lt F5 8 gt key to turn ON OFF the F5 8 lamp The display changes Example Jog amp Teach Screen Jog Teach Points pts Current Position Arm 0 Tool 0 A i 0 000 Y 490 000 ma 675 000 U o 000 Yo 90 000 Wo 90 000 Point 0 Label Jog Mode World Oo speed High Jog Dist Medium x 1 00 Ti 1 00 gy 1 00 U 1 00 Vo 1 00 Wo 1 00 Edit Dist E58 OFF Ei lt F1 gt lt F2 gt lt F3 gt lt F4 gt Ar 1 Ln 66 29 Dane ee lt F7 gt ____ lt F8 gt F5 8 ON Example Press the lt F3 gt key to display the Motion screen NOTE ES When a function key is not assigned to a screen the key is invalid Example lt F7 gt TP1 Rev 5 21 Functions amp Installation 5 Operation Panel Key Description Jog Keys Jog key is available only in TEACH mode Los of Move the target joint X to W J1 to J6 to direction Move the target joint X to W J1 to J6 to direction Teaching Keys Teaching key is available only in TEACH mode Save the point data to a file Read the point data from a file Jog Mode Specify the Jog mode Specify the Jog distance Speed Specify the Jog speed Teach Save the current position data Other keys Keys with this mark are available only in TEACH mode Lamp Turns ON when the EMERGENCY STOP switch is pressed
53. ging ECP No 1 Press the lt F4 gt key and move the cursor to ECP 2 Set the ECP No TP1 Rev 5 Operation 2 TEACH Mode 2 5 Executing I O Commands This section indicates settings in the I O Command screen Press the lt F4 gt key in the Jog amp Teach screen The following screen appears I O Cormoand Inputs Status Label Dr Sensard On Sensori On On On On 2 5 1 Switching Input Output Status Display Press the lt F3 gt key to switch between the Inputs status and the Outputs status display 2 5 2 Output Bit ON OFF 1 Press the lt F3 gt key to display the Outputs status I O Cormand Outputs Bit Status Label Yacu JET Select 2 Move the cursor to the output bit that you want to change 3 Switch the ON OFF status of the output bit lt F1 gt key On lt F2 gt key Off TP1 Rev 5 Operation 2 TEACH Mode 2 6 Executing Motion Commands 2 6 1 E2 Series G Series This item indicates the procedure for executing motion commands when using E2 series G series robots 1 Press the lt F3 gt key in the Jog amp Teach screen The following screen appears Move the cursor to the desired motion command and press the lt OK gt key Motion Command Select fl Execute fig 2 The motion command screen appears Set the information required for the command and press the lt Enter gt key to apply the settings 3 Press the lt OK gt key t
54. he following screen appears Manually move and position the joint that needs origin alignment while pushing the Joint 3 brake release button and lowering Joint 3 Press the lt F2 gt key Calibration Joint 1 Manually move the joint to Point Joint 3 can be lowered by pressing and holding down the brake release Hutton cance l Seba 11 The following screen appears Press the lt F1 gt key to execute temporary calibration 54 Calibration Joint 1 Point Pi The temporary calibration is executed TP1 Rev 5 Operation 2 TEACH Mode The following screen appears after executing the temporary calibration Press the lt OK gt key to servo control all joints Press the lt F2 gt key Calibration Joint 1 Press the OF key to execute SLock All 12 The following screen appears Calibration Joint 1 To aet other joints to the position and the pose af the point accurately GO Pl is executed Hold the Enabel switch and press the OF key and hold down until the Jog screen is displayed Cance 1 Sepia Move the joints except the calibrated joints to the point data position by the motion command For an example the motion command will be executed to Joint 1 and 2 when Joint 4 is calibrated Press the lt OK gt key while gripping the enable switch to execute Go P1 The following screen appears during Go P1 execution Calibration Joint 1 Executing When Enable Switch or GE key is release
55. history of errors operations and warnings that occurred in the past In the Main Menu screen move the cursor to 4 System History and press the lt OK gt key Displays the item type Number joint task date and time in this order from the left System History main screen System History 1 10 03 06 10 03 06 10 03 06 10 03 06 10 03 06 10 03 06 10 03 06 10 03 06 10 03 06 Type Task Time Codes Cannot EXECUTE a motion comand when the motor is in the off state 73 Operation 3 AUTO Mode 3 6 Program Mode 74 This section indicates settings in the Program Mode screen Follow the procedure below to display the Program Mode screen 1 2 In the Main Menu screen move the cursor to 5 Program Mode and press the lt OK gt key The following screen appears Program Mode screen Program Mode O Open Program Build Project Backup Project Restore Project Import File Export File aystem Backup System Restore Speed Factor Configuration Select fi Go to fis Cance 1 bee Move the cursor to the last line and press the lt gt key to display the following screen Program Mode screen next screen Program Mode O Language 1 Update system software Select tml oO to fis Cance l Wie Menus with at the end have following procedures after selecting the menu and cannot be executed only by pressing the lt OK gt key When a
56. ic tolerances and operating conditions for safety are contained in the manuals for the robot controller and other devices Be sure to read those manuals as well Robot systems safety standard and other examples are given in this chapter Therefore to ensure that safety measures are complete please refer to the other standards listed as well Note The following is only a partial list of the necessary safety standards EN 61000 6 2 Electromagnetic compatibility EMC Generic standards Immunity standard for industrial environments EN 61000 6 4 Electromagnetic compatibility EMC Generic standards Emission standard for industrial environments IEC 61131 2 Programmable controllers Part 2 Equipment requirements and tests EN ISO 12100 1 Safety of machinery Basic concepts general principles for design Part 1 Basic terminology methodology EN ISO 12100 2 Safety of machinery Basic concepts general principles for design Part 2 Technical principles EN 418 Safety of machinery Emergency stop equipment functional aspects principles for design EN 614 1 Safety of machinery Ergonomic design principles part 1 terminology and general principles EN 894 1 Safety of machinery Ergonomics requirements for the design of displays and control actuators Part 1 General principles for human interactions with displays and control actuators EN 894 2 Safety of machinery Ergonomics requirements for the design of displays and
57. l tasks will be stopped Mode switching during task execution AUTO TEACH 1 Press the lt Stop gt button to stop all tasks normally 2 Turn the mode selector key switch to Teach TEACH AUTO Turn the mode selector key switch to Auto and close the latch release input 1 5 Using Teach Pendant in Safeguarded Area When the mode selector switch of the Teach Pendant is switched to Teach mode the operator can jog and move the robot to predefined points in slow speed when the enable switch is gripped and the safeguard is open Personnel that will be using the Teach Pendant should be thoroughly trained on how to use it Follow these guidelines when using the Teach Pendant in the safeguarded area 1 Before entering the safeguarded area to use the Teach Pendant turn the mode selector key switch to Teach 2 Enter the safeguarded area and perform the teaching operations 3 Leave the safeguarded area and close the safeguard 4 Return the mode selector key switch to Auto 5 Close the latch release input For details on the pin assignments of the EMERGENCY connector refer to Setup amp Operation 9 3 Pin Assignments in the RC170 controller manual TP1 Rev 5 Functions amp Installation 2 Specifications 2 Specifications 2 1 Part Names and Functions Front view Back view TP1 Rev 5 9 Functions amp Installation 2 Specifications 1 3 7 10 Mo
58. n 102 TP1 Rev 5
59. n 4 Password Setup 3 The following screen appears Press the lt F2 gt key Calibration The point data for the calibration that taught before the motor and the encoder are exchanged is necessary to execute the calibration cance l Sepia TP1 Rev 5 Operation 2 TEACH Mode 4 The following screen appears Calibration Please select the joint that executes the calibration Press the arrow key to select the joint then press the Right arrow key to decide it lt Back cancel ete Move the cursor to the joint to calibrate Press the lt gt key to select the joint and press the lt F2 gt key lt gt gt key Joint selection lt lt gt key Joint selection reset The following screen appears when selecting Joint 5 and Joint 6 is selected automatically Calibration When the calibration of the J5 is executed it ia necessary to execute the calibration of the J 5 The following screen appears Press the lt F2 gt key Calibration Joint 1 Encoder reset ias executed when the Fe key ia pressed and the controller is rebooted Please wait until the motor screen is displayed after it reboots TP1 Rev 5 61 Operation 2 TEACH Mode 62 6 The Controller reboots and the following screen appears 7 8 Press the lt Motor gt key to turn ON the motor Press the lt F2 gt key Calibration Joint 1 Please press the Motor Key on the pendant to turn the
60. n appears Jog Distance Distance Medium 00 00 00 00 00 00 ren ren rm deg deg deg Select Set eer CRS Cancel bee 2 TEACH Mode When a value has been changed press the lt Enter gt key to apply the value and be sure to press the lt OK gt key to save the settings Zou Changing Distance Data Set the distance for each joint 1 Move the cursor to Distance press the lt Jog Dist gt key to select the distance Long Medium Short that is to be changed 2 Move the cursor to each joint and set the value 2 3 2 Return Data to Defaults Press the lt F1 gt key to return jog distance data to their defaults 37 Operation 2 TEACH Mode 38 2 4 Arm Tool Local ECP This section indicates settings in the Arm Tool Local ECP screen Press the lt F5 gt or lt F6 gt key in the Jog amp Teach screen The following screen appears frm Tool Local ECP YEN EN T oe When a value has been changed press the lt Enter gt key to apply the value and be sure to press the lt OK gt key to save the settings 2 4 1 Changing Arm No 1 Press the lt F1 gt key and move the cursor to Arm 2 Set the arm number 2 4 2 Changing Tool No 1 Press the lt F2 gt key and move the cursor to Tool 2 Set the tool number 2 4 3 Changing Local No 1 Press the lt F3 gt key and move the cursor to Local 2 Set the local number 2 4 4 Chan
61. nd press the lt Enter gt key Have Points Save fig Cance liie 6 Press the lt OK gt key to save the file 28 TP1 Rev 5 TP1 Operation 1 Teaching Procedure 1 3 Direct Teaching Rev 5 Direct teach is a way to teach the Robot directly by setting the teaching joint to servo OFF Apply the Robot position to the specified point number 1 Specify the point number by changing the value in the Point using the lt f gt and lt gt keys Label display changes by changing the point number 2 Press the lt Jog Dist gt key to select Free Joint for the Jog Dist Set each joint to servo ON or OFF lt gt key Lock Servo OFF the joint lt gt key Free Servo ON the joint lt F2 gt key All Lock Servo OFF all the joint lt F3 gt key All Free Servo ON all the joint 3 Servo OFF joint can be moved with hands Move the Robot arm to the position to teach 4 Press the lt Teach gt key 5 The following screen appears Ready to assign current position to point Point 70 Continue Yes Ba Mo Wii When the point number is already used the following screen appears Teach Ready to assign current position Yes 6 Press the lt OK gt key to assign the robot position 29 30 Operation 1 Teaching Procedure 7 Press the lt Save Points gt key to display the following screen Enter the file name and press the lt Enter gt key Save Points
62. o execute the command 2 6 2 PS Series This item indicates the procedure for executing motion commands when using PS series robots 1 Press the lt F3 gt key in the Jog amp Teach screen The following screen appears Move the cursor to the desired motion command and press the lt OK gt key Motion Cormoand Howe Jumps Jump3cF are Ares Select fil Execute Wa 2 The motion command screen appears Set the information required for the command and press the lt Enter gt key to apply the settings 3 Press the lt OK gt key to execute the command 40 TP1 Rev 5 TP1 Operation 2 TEACH Mode 2 Calibrating Origin E2 Series G Series This item indicates the procedure to calibrate the origin when using E2 series G series robots NOTE Rev 5 Follow the procedure below to display the Calibration screen 1 Press the lt F8 gt key in the Jog amp Teach screen 2 The following screen appears 3 Move the cursor to 0 calibration and press the lt OK gt key Maintenance O Calibration Select fl or is Cancel titel The following screen appears when the password is set up Enter the password 1 to 16 characters and press the lt OK gt key Maintenance Execute Tor Cance 1 hie For password setting refer to Operation 4 Password Setup The following calibration menu screen appears Calibration O Joint 1 4 1 Rigty Lefty Arm Select a ExecOa Cance l
63. on 3 AUTO Mode 3 6 5 Import Files Imports Prg Inc and Pts files in the USB memory to projects in the Controller Only files of the same name as those that exist in projects can be imported 1 Insert the USB memory into the Controller 2 In the Program Mode screen move the cursor to 4 Import File and press the lt OK gt key 3 The following screen appears Move the cursor to the file to import and press the lt OK gt key MyProject sprq HyProject oh IOLabels dat Select 7 Import is Down ae eos lt Enter gt Displays the hierarchy one level below the selected folder lt F1 gt Displays the hierarchy one level above the selected folder 4 Executes the file import When a file of the same name already exists the following screen appears File already exist Overwrite lt F1 gt Overwrites the file lt F2 gt Moves to the Program Mode screen 84 TP1 Rev 5 Operation 3 AUTO Mode TP1 TIP Rev 5 3 6 6 Export Files Exports Prg Inc and Pts files in projects in the Controller to the USB memory 1 2 3 4 5 lt Enter gt lt F1 gt Insert the USB memory into the Controller In the Program Mode screen move the cursor to 5 Export File and press the lt OK gt key The following screen appears Move the cursor to the file to export and press the lt OK gt key TP Build obj Select fil Export W4
64. ose brake On Off setting is to be switched 5 The brake Off confirmation message appears Confirm the message and press the lt F1 gt key BRAKE OFF can be cause the specified Joint to fall Ensure that the joint is properly Supported Do you want to continue 6 The brake is released and the specified joint moves manually TP1 Rev 5 67 Operation 3 AUTO Mode 3 AUTO Mode Switch the mode selector key switch to Auto to enter the AUTO mode In this mode jog teaching operation commands I O commands and other operations and commands can be executed using the teaching pendant Note however that the program cluster cannot be executed Auto Mode Print Panel I O monitor Memory I O monitor Tasks System history Program mode Backup restore Saving controller Displaying the date Adjusting the brightness and Error messages Auto Mode See item Sd Open Program Building projects Backing up projects Restoring projects Importing files Exporting files System backup Restoring the system Changing the Configuration Ee execution Display language Updating system _ _ __ Input Save Exit Search Jump ________
65. pose as accurate as possible Press the lt F2 gt key Calibration Joint 1 Press the Jog keys to move the manipulator to the point Speed Low Mode Joint Jog Dist Medium Ji 1 000 1 000 1 000 TP1 Rev 5 63 Operation 2 TEACH Mode 64 12 13 The following screen appears Press the lt F1 gt key to execute temporary calibration Calibration Joint 1 Point F The temporary calibration is executed Calibrate The following screen appears after executing the temporary calibration Calibration Joint 1 To set other joints to the position and the pose of the point accurately GO PO is executed Hold the Enahbel switch and press the OF key and hold down until the Jog screen is displayed Execute i Cance l Wiis Move the joints except the calibrated joints to the point data position by the motion command For an example the motion command will be executed to Joint 1 to 4 when Joint 5 is calibrated Press the lt OK gt key while gripping the enable switch to execute Go PO The following screen appears during Go PO execution Calibration Joint Executing When Enable Switch or GE key 1s released the manipulator stops TP1 Rev 5 Operation 2 TEACH Mode 14 The following screen appears after Go PO execution Calibration Joint 1 Press the Jog keys to mowe the Joint 1 to the point accurately Speed Low Mode Joint Jog Dist Medium Ji 1 000 1 000
66. put lowercase and uppercase Comman and ua l Enter Determines numerical values and characters Operation panel excerpt Character input mode Text Numerical Value Input keys Arrow keys How to enter characters Multiple characters are assigned to each button of the text numerical value input keys The character changes by each press of the button Example When the lt ABC 2 gt key is pressed when Alph is ON The character changes in order a b c To continue input using the same button press the lt gt key to move the cursor forward Example Input Teach 170 1 Input Teach Press the lt Alph Num gt key to light Alph Press the lt a A gt key to switch to input of uppercase characters Press the lt TUV 8 gt key once Press the lt a A gt key to switch to input of lowercase characters Press the lt DEF 3 gt key twice Press the lt ABC 2 gt key once Press the lt gt key to move the cursor forward Press the lt ABC 2 gt key three times Press the lt GHI 4 gt key twice 2 Enter a space Press the lt Space 1 gt key once TP1 Rev 5 Operation 3 AUTO Mode 3 Enter 170 Press the lt Alph Num gt key to turn Alph OFF Press the lt Space 1 gt key once Press the lt PQRS 7 gt key once Press the lt Sym 0 gt key once How to enter symbols 1 Press the lt Alph Num gt
67. r Displays the hierarchy one level above the selected folder The following screen appears Press the lt F1 gt key to execute the update Update System Software fEpsonkcso Update Setup cdp Ready to update the System Software Cotinue System Sottware Completed 95 Operation 3 AUTO Mode 96 3 Backup Restore Normally the following settings are made in the program mode after the password is entered Project Backup Restore System Backup Restore File Import Export Items that are set as Yes execution in the main menu enabled at Enabling execution in the main menu can be set 1 In the Main Menu screen move the cursor to 6 Backup Restore and press the lt OK gt key 2 The following screen appears Backup Restore screen example Backup Restore 0 System Backup 1 Backup Project 2 Export File Select fi co to fis lance l i 3 Move the cursor to the desired item and press the lt OK gt key 4 Set each item Project backup 0ccccceeeeeees Operation 3 6 3 Backup Projects Restoring projects ccccceceeee Operation 3 6 4 Restore Projects Importing lessen Operation 3 6 5 Import Files File EXPO h siaraicisdcprodursdeateenislegooonoeeatees Operation 3 6 6 Export Files System backup ccccceeeeeeeeeeeees Operation 3 6 7 Backup System SY SUSI FESTORC siccis n ee Rei Operation 3 6 8 Restore System TP1
68. rror occurs Execute file update Updating the execution file lt F4 gt Moves to the Main Menu lt OK gt Moves to the screen before the error occurred 98 TP1 Rev 5 Operation 4 Password Setup 4 Password Setup Setup a password to limit operators for the following menu TEACH mode Jog amp Teach Maintenance AUTO mode Main Menu Program Mode Follow the procedure below to set the password 1 Turn ON the Controller 2 Double click the lt EPSON RC 5 0 gt icon on the desktop 3 Select EPSON RC 5 0 menu Setup Controller Configuration to display the following page Setup Controller General Controller Configuration a Configuration Preferences Name Controller Robot IP Address 192 168 0 1 Inputs Outputs Remote Control IP Mask 255 255 255 0 TCP IP E IP Gateway 0 0 0 0 USB Speed Auto Control Device PC TP Program Mode Password Change 4 Click the lt Change gt button at TP Program Mode Password 5 The following dialog appears Enter a password with 1 to 16 numerals from the keyboard and click the lt OK gt button Change Password Enter New Password NOTE More than one letter is assigned to each key on the TP If characters other than CS numerals are used for the password the password input will be complicated 6 Click the lt Apply gt
69. selection reset The following screen appears when selection Joint 4 and Joint 3 is selected automatically Calibration When the calibration of the J4 is executed it ia necessary to execute the calibration of the J When a message appears regarding the capacitor charge leave the power ON for 3 or more minutes to sufficiently charge the capacitor Press the lt F2 gt key to display the following screen Calibration Joint 1 When an encoder alarm has occurred leave the power Of for 3 minutes ta sufficiently charge the capacitor The following screen appears Calibration Joint 1 Manually move Joint to its approximate O pulse position 43 Operation 2 TEACH Mode 6 Manually move the joint that needs origin alignment to its approximate 0 pulse position 0 pulse position of Joint 1 position aligned with X axis in Manipulator coordinate system gt 0 pulse 0 pulse position of Joint 2 position where Arms 1 and 2 are in a straight line Regardless of the Joint 1 direction Upper limit O pulse 0 pulse position of Joint 4 position where the flat surface on the shaft faces toward the tip of Arm 2 4A TP1 Rev 5 Operation 2 TEACH Mode 7 Press the lt F2 gt key The following screen appears 8 Calibration Joint 1 Remove the panel on the back of the manipulator then set the switch apl 1 to the OW position Then press and hold the reset
70. stand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses A N E Only authorized personnel who have taken the safety training should be allowed WARNING to execute teaching or calibration of the robot system The safety training is the program for industrial robot operator that follows the laws and regulations of each nation The personnel who have taken the safety training acquire knowledge of industrial robots operations teaching etc The personnel who have completed the robot system training class held by the manufacturer dealer or locally incorporated company are allowed to maintain the robot system TP1 Rev 5 3 Functions amp Installation 1 Safety m Only authorized personnel who have taken the safety training should be allowed to maintain the robot system The safety training is the program for industrial robot operator that follows the laws and regulations of each nation The personnel who have taken the safety training acquire knowledge of industrial robots operations teaching etc knowledge of inspections and knowledge of related rules regulations The personnel who have completed the robot system training and maintenance training classes held by the manufacturer dealer or locally incorporated company are allowed to maintain the robot system E Immediately press the EMERGENCY STOP switch whenever you suspect any danger The Teach Pendant is equipped wi
71. th an EMERGENCY STOP switch Before operating the Teach Pendant make sure that the EMERGENCY STOP switch on the Teach Pendant functions properly Operating the Teach Pendant when the switch does not function properly is extremely hazardous and may result in AN serious bodily injury and or serious damage to the equipment as the switch cannot fulfill its intended function in an emergency WARNING When nothing appears on its display window the Teach Pendant is not connected with the Controller In this case the EMERGENCY STOP switch on the Teach Pendant will not function If the Teach Pendant is not connected to the controller DO NOT place it within easy reach during operation You might press the EMERGENCY STOP switch on the unconnected Teach Pendant by mistake to stop the robot system in an emergency Pressing the EMERGENCY STOP switch on the disconnected Teach Pendant in an emergency is extremely hazardous and may cause serious safety problems m When entering the safeguarded area for teaching change the mode of the Teach Pendant to TEACH and take out the key for the mode selector key switch and then enter the safeguarded area with the key Leaving the key in the mode selector key switch is extremely hazardous and may cause serious safety problems as someone else may inadvertently change the mode to the automatic operation Be sure to connect the cables between the Controller and the Teach Pendant properly Do not allow unnecessary strain on
72. the cables Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the system Do not use the cables near heat or fire WARNING 4 TP1 Rev 5 A N m CAUTION TP1 Rev 5 Functions amp Installation 1 Safety M Do not shock the Teach Pendant physically or place any object on Teach Pendant A liquid crystal display is used for the Teach Pendant display If the display is damaged liquid crystal may leak out Liquid crystal is harmful If it sticks on your skin or clothes immediately wash your skin and clothes thoroughly with clean water and soap immediately The Teach Pendant must be used within the environmental conditions described in this manual This product has been designed and manufactured Strictly for use in a normal indoor environment Using this product in the environment that exceeds the conditions may not only shorten the life cycle of the product but also cause serious safety problems Do not disassemble repair or modify the Teach Pendant by yourself Improper disassembly repair or modification of the Teach Pendant may cause not only improper function of the robot system but also serious safety problems Safety related Requirements Specif
73. tinue press the lt F1 gt key ay stem Restore Warning The serial number of the backup data does not match the current controller Serial number Continue Cancel When the Controller system software version does not match the version of the selected Controller setting data the following screen appears To continue press the lt F1 gt key system Restore Warning The Version number of the backup data does not match the current controller wersion Continue Cancel After execution is completed the following screen appears Press the lt OK gt key and the Controller reboots Restore completed successfully TP1 Rev 5 Operation 3 AUTO Mode 3 6 9 Changing Speed Factor Changes the operating speed of robot motion commands Go Jump Pulse commands etc in the program 1 In the Program Mode screen move the cursor to 8 Speed Factor and press the lt OK gt key 2 The following screen appears Enter the factor unit 1 to 100 integer with respect to the maximum speed Press the lt Enter gt key and apply the numerical value speed Factor Het speed factor Factor 100 on fig Cance l i lt F1 gt Returns the factor to its default 100 3 Press the lt OK gt key to set the value 3 6 10 Configuration In the Program Mode screen move the cursor to 9 Configuration and press the lt OK gt key The following screen appears Configuration 1 Ba
74. uage and press the lt OK gt key Program Mode O Language 1 Update system software Select shal oOo to fis Cancel betel TP1 Rev 5 93 Operation 3 AUTO Mode 2 The following screen appears Move the cursor to the desired display language and press the lt OK gt key Language Select Language 2 Japanese 3 French Selece i Or ig Cance l ate 3 Press the lt OK gt key and the Controller reboots 3 6 12 Update System Software Updates the system software of the Controller to the system software in USB memory 1 Insert the USB memory into the Controller 2 In the Program Mode screen move the cursor to the last line and press the lt gt 3 94 key The following screen appears Move the cursor to 1 Update System Software and press the lt OK gt key Program Mode U sottware Select tml Go to fis Cance Ll betel The following screen appears Press the lt OK gt key Update System Software Update system sottware Please press the OE key to select the system software file CF TS Cancel bate TP1 Rev 5 TP1 Rev 5 4 lt Enter gt lt F1 gt 5 6 Operation 3 AUTO Mode The following screen appears Move the cursor to the folder to update and press the lt OK gt key Update System Sorcttware Select system software file Select fill Update qr Cance l in Displays the hierarchy one level below the selected folde
75. way from flammable or corrosive solvents and gases 3 3 Operating Precautions E Do not drop the Teach Pendant or hit hard against other objects to avoid damage as the case of the Teach Pendant may be damaged since the main body is made of resin m Use the hand strap to prevent dropping the Teach Pendant during operation E Do not hit the touch panel of the Teach Pendant against a hard object or put excessive pressure on it The touch panel is made of glass Therefore if A N excessive pressure is put on it it may be damaged CAUTION Do not press or rub the surface of the front panel push buttons with a hard object such as a tool The surface of the buttons may be damaged as they are easily scratched E Wipe the dirt and oils adhering to the surface of the Teach Pendant display with a soft cloth dampened with a neutral detergent or an alcohol solvent m f using the mounting bracket check that the bracket and screws are not bent or loosened 12 TP1 Rev 5 Functions amp Installation 3 Installation 3 4 Connection This section indicates the connection of the Controller and the Teach Pendant E Be sure to connect the cables of Controller and Teach Pendant properly Do not allow unnecessary strain on the cables Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables

Epson TP1 Robotics User Manual

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