Epson TP1 manuel d'utilisation

Rev.5 EM079P1591F RC170 Option Teach Pendant TP1[...]

ii RC170 Option Teach Pendant TP1 Rev.5[...]

TP1 Rev.5 i RC170 Option Teach Pendant U TP1 Rev.5 Copyright © 2006-2007 SEIKO EPSON CORPOR ATION. All rights reserved.[...]

ii TP1 Rev.5 FOREWORD Thank you for purchasing our robot products. This manual contains the inform ation necessary for the correct use of the T each Pendant. Please carefully read this manual and other related m anuals before installing the robot system. Keep this manual handy for easy access at all tim es. W ARRANTY The robot system and its option[...]

TP1 Rev.5 iii TRADEMARKS Microsoft, W indows, and W indows logo are either registered trademarks or tradem arks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are tradem arks or registered trademarks of the respective holders. TRADEMARK NOTATION IN THIS MANUAL Microsoft® W indows® XP Operating [...]

iv TP1 Rev.5 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORA TION Japan & Others Suwa Minami Plant Factory Automation System s Dept. 1010 Fujimi, Fujim i-machi, Suwa-gun, Nagano, 399-0295 JAPAN TEL : +81-(0)266-61-1802 FAX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC. Factory Automation/Robotics 18300 Central Aven[...]

TP1 Rev.5 v TABLE OF CONTENTS Functions & Installation 1 Safety 3 1.1 Convent ions................................................................................................. 3 1.2 Safety Pr ecauti ons ...................................................................................... 3 1.3 EMERGENCY STOP................................[...]

Table of Contents vi TP1 Rev.5 Operation 1 Teaching Procedure 27 1.1 Jog Oper ation ........................................................................................... 27 1.2 Teac hing ................................................................................................... 28 1.3 Direct Teachi ng .................................[...]

Table of Contents TP1 Rev.5 vii 2.7 Calibrating Origin : E2 Series / G Seri es ................................................... 41 2.7.1 Calibration Procedur es (E2 Se ries) ............................................... 42 2.7.2 Calibration Procedur es (G Se ries) ................................................ 50 2.7.3 Setting Righty / Lefty[...]

Table of Contents viii TP1 Rev.5[...]

Functions & Installation This section contains info rmation about functions and installation of the Teach Pendant to be known before operation and maintenance.[...]

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Functions & Installation 1. Safety TP1 Rev.5 3 1. Safety 1.1 Conventions Important safety considerations are indicated throughout the m anual by the following symbols. Be sure to read the descriptions shown with each sym bol. W A RNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructions [...]

Functions & Installation 1. Safety 4 TP1 Rev.5  Only authorized personnel who have taken the safety training should be allowed to maintain the robot system. The safety training is the program for i ndustrial robot operator that follows the laws and regulations of eac h nation. The personnel w ho have taken the safety training acquire knowled[...]

Functions & Installation 1. Safety TP1 Rev.5 5  Do not shock the Teach Pendant physi cally or place any object on Teach Pendant. A liquid crystal display is us ed 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, i mmediately wash your skin [...]

Functions & Installation 1. Safety 6 TP1 Rev.5 EN 894-3 Safety of machinery - Ergonom ics requirements for the design of displays and control actuators - Part 3: Control actuators EN 954-1 (ISO 13849-1) Safety of machinery - Safety-re lated parts of control system s -- Part 1: General principles for design EN 60204-1 Safety of machinery. Electr[...]

Functions & Installation 1. Safety TP1 Rev.5 7 1.3 EMERGENCY STOP W A RNING  Imm ediately press the EMERGENCY STOP sw itch 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. Operatin[...]

Functions & Installation 1. Safety 8 TP1 Rev.5 1.4 Mode Selector Key Switch The mode selector key switch is used to select TEA CH or AUTO operation m ode. For safety, if the mode is changed during pr ogram execution, all tasks will be stopped. Mode switching during task execution AUTO → TEACH (1) Press the <Stop> button to stop all task[...]

Functions & Installation 2. Specifications TP1 Rev.5 9 2. S pecifications 2.1 Part Names and Functions Front view (3) (2) (1) (5) (4) Back view (6) (7)[...]

Functions & Installation 2. Specifications 10 TP1 Rev.5 (1) Mode Selector Key switch The mode selector key switch is used to change the operation m ode between TEACH and AUTO. The mode can be fixed by pulling out the key. When the mode is switched while a program is executi ng, the program will be stopped. Close the latch when switching the mod[...]

Functions & Installation 2. Specifications TP1 Rev.5 11 2.2 Standard Specifications Item Specification Rated voltage DC24 V Electric power consumption 6 W or less General specifications Weight 1075 g (include EMERGANCY STOP switch and the mode selector key switch, excluding cables) Display element F-STN type Black and white LCD Contrast 8-level[...]

Functions & Installation 3. Installation 12 TP1 Rev.5 3. Inst allation 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 environm ent that conforms to the following requirements to ensure safe and reliable operation. Item Condition Ambient temperature 0 to 50 de[...]

Functions & Installation 3. Installation TP1 Rev.5 13 3.4 Connection This section indicates the connection of the Controller and the Teach Pendant.  Be sure to connect the cables of Controller and Teach Pendant properly. Do not allow unnecessary strain on the c ables. (Do not put heavy objects on the cables. Do not bend or pull t he cables f[...]

Functions & Installation 3. Installation 14 TP1 Rev.5 The shape of the cable connector used in connection A and D differs to connection B. TP Cable A : Circular connector to connect to the Operator Panel. (Direct connection is available with conversion kit CK1.) TP Cable B : D-sub connector to connect directly to the Controller. When Teach Pend[...]

Functions & Installation 3. Installation TP1 Rev.5 15 3.5 Power Supply 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 com munication, the following screen will appear on the display of the Teach Pendant. TEACH mode AUTO mode[...]

Functions & Installation 3. Installation 16 TP1 Rev.5 3.6 Wall Bracket (Option) Outer Dimension Hoo k A Hook B 201.4 31.4 100 11 8 56.2 100 226 6 6 6 6 39.6 392.9 Detail : J K J Detail : K Front V iew Back V i ew Side V iew [Un it :mm ][...]

Functions & Installation 3. Installation TP1 Rev.5 17 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. (3) Hang the cable of the T[...]

Functions & Installation 4. Operation Mode (TEACH/AUTO) 18 TP1 Rev.5 4. Operation Mode (TEACH/AUT O) A coordinate point including the arm pose is de fined as “ position (point),” and the data is called “point data.” 4.1 Outline Robot system has two operation m odes TEACH mode and AUTO m ode. TEACH mode This mode enables point data teach[...]

Functions & Installation 4. Operation Mode (TEACH/AUTO) TP1 Rev.5 19 4.2 Switch Operation Mode Change the TEACH m ode and AUTO mode with the mode selector key switch on the Teach Pendant. TEACH mode Turn the mode selector key switch to “Teach” for TEACH m ode. Pauses the executing program when operation m ode is switched to TEACH mode. The [...]

Functions & Installation 5. O peration Panel (Key Description) 20 TP1 Rev.5 5. Operation Panel (Key Description) Key Description E-STOP lamp Jog keys Re s et key Motor ke y Ho m e key Alphabet and Nu mber Inpu t ke ys Canc el k ey OK key Arrow ke ys Function ke ys T eaching ke ys Sa fety la mp Alphabet and Number Input Keys Input mode alphabet/[...]

Functions & Installation 5. O peration Panel (Key Description) TP1 Rev.5 21 Arrow Keys Mode switches by turning ON/OFF the “F 5-8” lamp. Press the <F1-4 / F5-8> key to turn ON/OFF the “F5-8” lam p. F5-8 Mode Key Function ↑ +1 the value Move the cursor up ↓ − 1 the value Move the cursor down ← Move the cursor to the left OF[...]

Functions & Installation 5. O peration Panel (Key Description) 22 TP1 Rev.5 Jog Keys Jog key is available only in TEACH m ode. Key Function − 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. Key Function Save Points[...]

Functions & Installation 6. Enable Switch TP1 Rev.5 23 6. Enable Switch In TEACH m ode, 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, y ou must grip the switch to the center (enable[...]

Functions & Installation 6. Enable Switch 24 TP1 Rev.5[...]

27 Operation This section contains info rmation about operation of the T each Pendant and main tenance procedure.[...]

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Operation 1. Teaching Procedure TP1 Rev.5 27 1. T eaching Procedure The basic jog operation and teaching procedure is indicated. Switch the mode selector switch to “Teach” to display the following screen. A coordinate point including the arm pose is de fined as “position (point),” and the data is called “point data.” 1.1 Jog Operation M[...]

Operation 1. Teaching Procedure 28 TP1 Rev.5 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 < ↑ > and < ↓ > keys. [Label] display changes by changing the point num ber. (2) Press the <Teach> key. (3) The following screen appears. [...]

Operation 1. Teaching Procedure TP1 Rev.5 29 1.3 Direct Teaching “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 < ↑ > and < ↓ > keys. [Label] display[...]

Operation 1. Teaching Procedure 30 TP1 Rev.5 (7) Press the <Save Points> key to display the following screen. Enter the file name and press the <Enter> key. (8) Press the <OK> key to save the file.[...]

Operation 2. TEACH Mode TP1 Rev.5 31 2. TEACH Mode Switch the mode selector key switch to “Teach” to enter the TEACH m ode. In this mode, jog, teaching, operation com mands, I/O com mands, and other operations and com mands can be executed using the Teach Pendant. Note, however, that the program cluster cannot be executed. 2.6 Exe c uting Mo ve[...]

Operation 2. TEACH Mode 32 TP1 Rev.5 2.1 [Jog & Teach] This section indicates settings in the [Jog&Teach] screen. (1) Switch the mode selector key switch to “Teach” to display the following screen. (2) Set the data items currently displayed in the [Jog&Teach] screen. (See 2.1.1 to 2.1.6.) (3) Note down the robot position. (See 2.1.9[...]

Operation 2. TEACH Mode TP1 Rev.5 33 2.1.3 Specifying Jog Speed Press the <Speed> key and 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 is pressed. Set the distance that the robot moves beforehand. (1) Press the <Jog Dist&g[...]

Operation 2. TEACH Mode 34 TP1 Rev.5 2.1.7 Motor ON/OFF Press the <Motor> key to switch the motor ON and OFF. This can be executed at any time in TEACH m ode. 2.1.8 Executing Return to Home Press the <Home> key to return the robot to its hom e position. This can be executed at any time in TEACH m ode. 2.1.9 Teaching The robot position i[...]

Operation 2. TEACH Mode TP1 Rev.5 35 2.1.10 Saving Point Data to File (1) Press the <Save Points> key. (2) The following screen appears. Enter the file name, and press the <Enter> key. (3) Press the <OK> key to save the positions to the file. This can also be executed in the [Point Editor] screen. 2.1.11 Loading Point Data from Fi[...]

Operation 2. TEACH Mode 36 TP1 Rev.5 2.2 Editing Points This section indicates settings in the [Point Editor] screen. (1) Press the <F1> key in the [Jog&Teach] scr een. The following screen appears. (2) Set the data item s 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.[...]

Operation 2. TEACH Mode TP1 Rev.5 37 2.3 Changing Jog Distance Data This section indicates settings in the [Jog Distance] screen. Press the <F2> key in the [Jog&Teach] screen. The following screen appears. When a value has been changed, press the <Enter> key to apply the value, and be sure to press the <OK> key to save the set[...]

Operation 2. TEACH Mode 38 TP1 Rev.5 2.4 Arm/Tool/Local/ECP This section indicates settings in the [Arm/Tool/Local/ECP] screen. Press the <F5> or <F6> key in the [Jog&Teach] screen. The following screen appears. When a value has been changed, press the <Enter> key to apply the value, and be sure to press the <OK> key to [...]

Operation 2. TEACH Mode TP1 Rev.5 39 2.5 Executing I/O Commands This section indicates settings in the [I/O Comm and] screen. Press the <F4> key in the [Jog&Teach] screen. The following screen appears. 2.5.1 Switching Input/Output Status Display Press the <F3> key to switch between the “I nputs” status and the “ Outputs” sta[...]

Operation 2. TEACH Mode 40 TP1 Rev.5 2.6 Executing Motion Commands 2.6.1 E2 Series / G Series This item indicates the procedure for executing m otion comm ands when using E2 series / G series robots. (1) Press the <F3> key in the [Jog&Teach] screen. The following screen appears. Move the cursor to the desired motion com mand, and press th[...]

Operation 2. TEACH Mode TP1 Rev.5 41 2.7 Calibrating Origin : E2 Series / G Series This item indicates the procedure to calibrate the origin when using E2 series / G series robots. Follow the procedure below to display the [Calibration] screen. (1) Press the <F8> key in the [Jog&Teach] screen (2) The following screen appears. Move the cur[...]

Operation 2. TEACH Mode 42 TP1 Rev.5 2.7.1 Calibration Procedures (E2 Series) CAUTION ■ Calibrate Joint #3 first when aligning origins of more than one joint. When Joint #3 is too low , it may collide with peri pheral equipment during the calibration of the other joints and may damage the peripheral equipment. The same calibration procedure is us[...]

Operation 2. TEACH Mode TP1 Rev.5 43 Move the cursor to the joint to calibrate. Press the < → > key to select the joint and press the <F2> key. < → > key : Joint selection < ← > key : Joint selection reset The following screen appears when selection Joint #4 and Joint #3 is selected automatically. (4) When a message ap[...]

Operation 2. TEACH Mode 44 TP1 Rev.5 (6) Manually move the joint that needs origin alignm ent to its approximate 0 pulse position. 0 pulse position of Joint #1 : position aligne d with X-axis in Manipulator coordinate system 0 pulse 0 pulse position of Joint #2 : position where Arms #1 and #2 are in a straight line (Regardless of the Joint #1 direc[...]

Operation 2. TEACH Mode TP1 Rev.5 45 (7) Press the <F2> key. The following screen appears. (8) Remove the acrylic panel on the sensor monitor on the base connector plate. A crylic Panel (9) Set one of the DIP switches (SD1)“1” to “4” corresponding to the calibrating Joint to its ON position. Se nsor m onit or Re set switch (SW1) DIP s[...]

Operation 2. TEACH Mode 46 TP1 Rev.5 (12) T u rn OFF the DIP switch and mount the acrylic panel on the sensor m onitor . A crylic Panel (13) Press the <F2> key. The following screen appears. Press the <F2> key again. (14) Controller reboots and the following screen appears. Select one of the currently registered point data that is easy [...]

Operation 2. TEACH Mode TP1 Rev.5 47 (15) The following screen appears. Press the <Motor> key to turn ON the motor. Press the <F2> key. (16) The following screen appears. Press the <OK> key to stop the servo control for all joints to enable the joints to be moved m anually. Press the <F2> key to display the following screen.[...]

Operation 2. TEACH Mode 48 TP1 Rev.5 (18) The following screen appears. Press the <F 1> key to execute temporary calibration. The following screen appears after executing the temporary calibration. Press the <OK> key to servo control all joints. Press the <F2> key. (19) The following screen appears. Move the joints except the cali[...]

Operation 2. TEACH Mode TP1 Rev.5 49 The following screen appears during Go P1 execution. (20) The following screen appears after Go P1 execution. 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 <F2> key. (21) T[...]

Operation 2. TEACH Mode 50 TP1 Rev.5 (22) The origin calibration completed screen appears. For righty or lefty setting, refer to 2.7.3 Setting Righty / Lefty . 2.7.2 Calibration Procedures (G Series) CAUTION ■ Calibrate Joint #3 first when aligning origins of more than one joint. When Joint #3 is too low , it may collide with peri pheral equipmen[...]

Operation 2. TEACH Mode TP1 Rev.5 51 (3) The following screen appears. Move the cursor to the joint to calibrate. Press the < → > key to select the joint and press the <F2> key. < → > key : Joint selection < ← > key : Joint selection reset The following screen appears when selection Joint #4 and Joint #3 is selected au[...]

Operation 2. TEACH Mode 52 TP1 Rev.5 (5) Manually move the joint that needs origin alignm ent to its approximate 0 pulse position. 0 pulse position of Joint #1 : position aligne d with X-axis in Manipulator coordinate system 0 pulse 0 pulse position of Joint #2 : position where Arms #1 and #2 are in a straight line (Regardless of the Joint #1 direc[...]

Operation 2. TEACH Mode TP1 Rev.5 53 (6) Press the <F2> key. The following screen appears. Press the <F2> key again. (7) Controller reboots and the following screen appears. Select one of the currently registered point data that is easy to verify the accuracy of the calibrating joint using the < ↑ > and < ↓ > keys, and p[...]

Operation 2. TEACH Mode 54 TP1 Rev.5 (9) The following screen appears. Press the <OK> key to stop the servo control for all joints to enable the joints to be moved m anually. Press the <F2> key to display the following screen. (10) The following screen appears. Manually move and position the joint that needs origin alignment while pushi[...]

Operation 2. TEACH Mode TP1 Rev.5 55 The following screen appears after executing the temporary calibration. Press the <OK> key to servo control all joints. Press the <F2> key. (12) The following screen appears. Move the joints except the calibrated joints to the point data position by the motion comm and. For an example the motion com [...]

Operation 2. TEACH Mode 56 TP1 Rev.5 (13) The following screen appears after Go P1 execution. 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 <F2> key. (14) The following screen appears. Press the <F1> key[...]

Operation 2. TEACH Mode TP1 Rev.5 57 2.7.3 Setting Righty / Lefty (E2 Series / G Sereis) (1) In the [Calibration] screen, move the cursor to “Righty /Lefty”, and press the <OK> key. (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 orientat[...]

Operation 2. TEACH Mode 58 TP1 Rev.5 (4) Continue to press the <OK> key with the enable switch held down to execute Jump P1. The following screen appears during Jump P1 execution. (5) The following screen appears after Jump P1 execution. Press the <F2> key. (6) The following screen appears. Switch the arm orientation between right and l[...]

Operation 2. TEACH Mode TP1 Rev.5 59 The following screen appears during Jump P1. (7) The following screen appears after executing Jump P1. Set the calibrated joints to the basic pose accurately by the jog key. Press the <F2> key. (8) The following screen appears. Press the <F1> key. (9) The origin calibration completed screen appears.[...]

Operation 2. TEACH Mode 60 TP1 Rev.5 2.8 Calibrating Origin : PS Series This section indicates the procedure to calibra te 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, y ou must calibrate Joint #5 and #6 at the sam e time. Yo[...]

Operation 2. TEACH Mode TP1 Rev.5 61 (4) The following screen appears. Move the cursor to the joint to calibrate. Press the < → > key to select the joint and press the <F2> key. < → > key : Joint selection < ← > key : Joint selection reset The following screen appears when selecting Joint #5 and Joint #6 is selected au[...]

Operation 2. TEACH Mode 62 TP1 Rev.5 (6) The Controller reboots and the following screen appears. Press the <Motor> key to turn ON the motor. Press the <F2> key. (7) 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 m arked i[...]

Operation 2. TEACH Mode TP1 Rev.5 63 (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 < ↑ > and < ↓ > key s, and press the <Enter> key. Press the <F2> key. (10) The following screen appears. Press the <Motor> key [...]

Operation 2. TEACH Mode 64 TP1 Rev.5 (12) The following screen appears. Press the <F 1> key to execute temporary calibration. (13) The following screen appears after executing the temporary calibration. Move the joints except the calibrated joints to the point data position by the motion comm and. For an exam ple the m otion comm and will be [...]

Operation 2. TEACH Mode TP1 Rev.5 65 (14) The following screen appears after Go P0 execution. Move the calibrated joints to the selected point data position accurately by the jog motion. For an exam ple, 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 <F2> key.[...]

Operation 2. TEACH Mode 66 TP1 Rev.5 2.9 Releasing Brake (PS series only) This section indicates the brake ON / OFF switching for each joint. (1) Press the <F8> key in the [Jog&Teach] screen. (2) The following screen appears. Move the cursor to “1 Brake” and press the <OK> key. The following screen appears when the password is s[...]

Operation 2. TEACH Mode TP1 Rev.5 67 To turn the brake ON (4) Press the <Jog+> key of the joint whose brake On/Off setting is to be switched. (5) Press the <OK> key. The brake is locked. To turn the brake OFF (4) Press the <Jog-> key of the joint whose br ake On/Off setting is to be switched. (5) The brake Off confirmation m essag[...]

Operation 3. AUTO Mode 68 TP1 Rev.5 3. AUT O Mode Switch the m ode selector key switch to “Auto” to enter the AUTO mode. In this mode, jog, teaching, operation com mands, I/O com mands, and other operations and com mands can be executed using the teaching pendant. Note, however, that the program cluster cannot be executed. Screen name Auto M od[...]

Operation 3. AUTO Mode TP1 Rev.5 69 Switch the mode selector key switch to “A uto” to display the [Print] screen. Follow the description on the screen and press the <F4> key to display the [Main Menu] screen. Menus with “...” at the end have following procedures after selecting the menu and cannot be executed only by pressing the <[...]

Operation 3. AUTO Mode 70 TP1 Rev.5 3.1 Program Command Display This screen displays messages from the program and requests responses. The [Print] screen appears when the mode selector key sw itch is switched to “Auto”. To display the [Print] screen from the [Main Menu] screen, m ove the cursor to [Print Panel], and press the <OK> key. Wh[...]

Operation 3. AUTO Mode TP1 Rev.5 71 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 <OK > key. I/O status (Inputs, bit units) “*” (asterisk) is displayed before the label nam e for remote setting display to separate remote setting and I/O label. <F[...]

Operation 3. AUTO Mode 72 TP1 Rev.5 3.4 Task Monitor This screen displays the status of tasks. In the [Main Menu] screen, move the cursor to [3 Task Monitor], and press the <OK> key. When the task name is too long to display the whole nam e, a tilde is attached at the end of the task name as “LongTaskN a~”. When the task is “NoPause tas[...]

Operation 3. AUTO Mode TP1 Rev.5 73 3.5 System History This screen displays a history of errors, operati ons and warnings that occurred in the past. In the [Main Menu] screen, move the cursor to [4 System History], and press the <OK> key. Displays the item ty pe, Number, joint #, task #, date, and tim e in this order from the left. [System Hi[...]

Operation 3. AUTO Mode 74 TP1 Rev.5 3.6 Program Mode This section indicates settings in the [Program Mode] screen. Follow the procedure below to display the [Program Mode] screen. (1) In the [Main Menu] screen, move the curs or to [5 Program Mode...], and press the <OK> key. (2) The following screen appears. [Program Mode] screen Move the cur[...]

Operation 3. AUTO Mode TP1 Rev.5 75 3.6.1 Open Programs (1) In the [Program Mode] screen, m ove the cu rsor to [0 Open Program...], and press the <OK> 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 <OK> key to open t[...]

Operation 3. AUTO Mode 76 TP1 Rev.5 Entering programs The character and num erical value input m odes are switched according to whether the “Alph” lamp is ON or OFF. Press the <Alph/Num> key to sw itch “Alph” between ON or O FF. Alph Mode Key Function OFF Numerical value input m ode 0 to 9 − (minus) . (period) Numerical value input [...]

Operation 3. AUTO Mode TP1 Rev.5 77 (3) Enter “170”. Press the <Alph / Num> key to turn “A lph” OFF. Press the <Space / 1> key once. Press the <PQRS / 7> key once. Press the <Sym / 0> key once. How to enter symbols (1) Press the <Alph / Num> key to light “Alph”. (2) Press the <Sym /0> key to display t[...]

Operation 3. AUTO Mode 78 TP1 Rev.5 Save programs Save programs after editing the program s. (1) Press the <F1> key to save the program file. The following screen appears during saving the program file. (2) After the save ends, the screen returns to the program edit screen. Exiting program edit Finish editing the program. (1) Press the <F2[...]

Operation 3. AUTO Mode TP1 Rev.5 79 Search character strings Search for character strings in the program. (1) Press the <F3> key. The following screen appears. Enter the character string to search, and press the <Enter> key. < ↓ > Displays a list of search text strings. <F1> Changes the search order (descending, ascending)[...]

Operation 3. AUTO Mode 80 TP1 Rev.5 Jumping to a specified line in the program (1) Move the cursor to “Line”, and press the <Enter> key. (2) The following screen appears. Enter a numerical value at [Enter line num ber] to specify the line number. (3) Move the cursor to the specified line. Jumping to a “function” in the program file (1[...]

Operation 3. AUTO Mode TP1 Rev.5 81 3.6.2 Building Projects Follow the procedure below to build projects. (1) In the [Program Mode] screen, m ove the cu rsor to [1 Build Project...], and press the <OK> key. Building of the project is started. The following screen appears during execution. (2) When building is successful The following screen a[...]

Operation 3. AUTO Mode 82 TP1 Rev.5 3.6.3 Backing up Projects Backs up projects to USB mem ory. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, m ove the cursor to [2 Backup Project...], and press the <OK> key. (3) The following screen appears. Press the <OK> key to execute the project backup. Saves the[...]

Operation 3. AUTO Mode TP1 Rev.5 83 3.6.4 Restore Projects Restores projects backed up in USB mem o ry to the Controller. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, m ove the cu rsor to [3 Restore Project...], and press the <OK> key. (3) The following screen appears. Press the <OK> key. (4) The fol[...]

Operation 3. AUTO Mode 84 TP1 Rev.5 3.6.5 Import Files Imports “Prg”, “ Inc” and “Pts” files in the USB m emory to projects in the Controller. Only files of the same nam e as those that exist in projects can be imported. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, m ove the cu rsor to [4 Import File[...]

Operation 3. AUTO Mode TP1 Rev.5 85 3.6.6 Export Files Exports “Prg”, “Inc” and “P ts” files in projects in the Controller to the USB mem ory. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, move the cu rsor to [5 Export File...], and press the <OK> key. (3) The following screen appears. Move the [...]

Operation 3. AUTO Mode 86 TP1 Rev.5 (6) The following screen appears. Press the <OK> key. (7) Executes the file export. When a file of the same nam e already exists, the following screen appears. <F1> Overwrites the file. <F2> Moves to the [Program Mode] screen.[...]

Operation 3. AUTO Mode TP1 Rev.5 87 3.6.7 Backup System Backs up system files in the Controller to the USB m emory. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, m ove the cu rsor to [6 System Backup...], and press the <OK> key. (3) The following screen appears. Enter the file name and press the <Enter&g[...]

Operation 3. AUTO Mode 88 TP1 Rev.5 (6) The following screen appears. Press the <OK> key to execute the system backup. When a file of the same nam e already exists, the following screen appears. <F1> Overwrites the file. <F2> Moves to the [Program Mode] screen. (7) After execution is completed, the following screen appears[...]

Operation 3. AUTO Mode TP1 Rev.5 89 3.6.8 Restore System Restores system files backed up in USB m emory to the Controller. (1) Insert the USB mem ory into the Controller. (2) In the [Program Mode] screen, m ove the cu rsor to [7 System Restore...], and press the <OK> key. (3) The following screen appears. When you restore the robot name, seri[...]

Operation 3. AUTO Mode 90 TP1 Rev.5 (7) The following screen appears. Press the <F1> key to start the restore. When the Controller serial num ber does not match the serial num ber of the selected Controller setting data, the following screen appears. To continue, press the <F1> key. When the Controller system software version does not m[...]

Operation 3. AUTO Mode TP1 Rev.5 91 3.6.9 Changing Speed Factor Changes the operating speed of robot motion com mands (Go, Jum p, Pulse commands, etc.) in the program. (1) In the [Program Mode] screen, move the cu rsor to [8 Speed Factor...], and press the <OK> key. (2) The following screen appears. Enter the factor (unit: %, 1 to 100 integer[...]

Operation 3. AUTO Mode 92 TP1 Rev.5 Configure program editor Set the preferences of the program editor. (1) In the [Configuration] screen, move the cursor to [0 Editor], and press the <OK> key. The setup screen appears. To change an item: Move the cursor to the left column. To change item settings: Move the cursor to the right column. (2) Pre[...]

Operation 3. AUTO Mode TP1 Rev.5 93 Enable execution in main menu Normally, the followings are set in the progr am mode after the password is entered. - Project Backup / Restore - System Backup / Restore - File Import / Export Items that are enabled for execution are added to the m enu in the [Backup] screen. (See “Operation 3.7 Backup / Restore.[...]

Operation 3. AUTO Mode 94 TP1 Rev.5 (2) The following screen appears. Move the cursor to the desired display language, and press the <OK> key. (3) Press the <OK> key and the Controller reboots. 3.6.12 Update System Software Updates the system software of the Controlle r to the system software in USB mem ory. (1) Insert the USB mem ory i[...]

Operation 3. AUTO Mode TP1 Rev.5 95 (4) The following screen appears. Move the cursor to the folder to update, and press the <OK> key. <Enter> Displays the hierarchy one level below the selected folder. <F1> Displays the hierarchy one level above the selected folder. (5) The following screen appears. Press the <F1> key to ex[...]

Operation 3. AUTO Mode 96 TP1 Rev.5 3.7 Backup / Restore Normally, the follow ing settings are made in the program m ode after the password is entered: - Project Backup / Restore - System Backup / Restore - File Import / Export Items that are set as “Yes” (execution in the main m enu “enabled”) at “Enabling execution in the main m enu” [...]

Operation 3. AUTO Mode TP1 Rev.5 97 3.8 Save Controller Statuses Indicate the procedure to save the status of the Controller to the USB mem ory. (1) Insert the USB mem ory into the Controller. (2) In the [Main Menu] screen, move the cursor to [Controller States...], and press the <OK> key. The following screen appears. (3) Select a folder to [...]

Operation 3. AUTO Mode 98 TP1 Rev.5 3.10 Adjust Brightness and Contrast (1) In the [Main Menu] screen, move the cursor to [9 Brightness / Contrast], and press the <OK> key. (2) The following screen appears. Press the <OK> key to apply the setting. < ↓ >< ↑ > These arrow keys can adjust the brightness. < ← >< ?[...]

Operation 4. Password Setup TP1 Rev.5 99 4. Password Setup Setup a password to limit operators for the following m enu. TEACH mode ........ [Jog&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 <EPSON RC+ 5.0> icon on th[...]

Operation 5. Troubleshooting 100 TP1 Rev.5 5. T roubleshooting 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 i[...]

Operation 6. Maintenance Parts List and Option TP1 Rev.5 101 6. Maintenance Part s List and Option Be sure to specify the proper codes and Option when ordering maintenance parts. Part Name Code Note Type A R12B120101 Cable: Circular connector (5 m) Type B R12B120102 Cable: D-sub connector (5 m) Type C R12B120103 Cable: Circular connector (15 m) TP1[...]

Operation 6. Maintenance Parts List and Option 102 TP1 Rev.5[...]