Epson RC170 manuale d’uso

Rev.1a EM068P1378F RC170 Option Operator Panel OP1[...]

ii RC170 Option Operator Panel O P1 Rev.1a[...]

OP1 Rev.1a i RC170 Option Operator Panel OP1 Rev.1a Copyright © 2006 SEIKO EPSON CO RPORATION. All rights reser ved.[...]

ii OP1 Rev. 1a FOREWORD Thank you for purchasi ng our robot products. This manual contains the inform ation necessary for the correct use of the Operator Panel. Please carefully read t his manual and ot her related manual s before installing the robot system . Keep this m anual handy for easy access at all tim es. W ARRANTY The robot sy stem and it[...]

OP1 Rev.1a iii TRADEMARKS Microsoft, W indows, and W indows logo are either regi stered tradem arks or trademarks of Microsoft Corporat ion in the United S tates and/or other countries. Other brand and product names are tr ademarks or registered t rademarks of the respecti ve holders. TRADEMARK NOTATION IN THIS MANUAL Microsoft® Wi ndows® XP Oper[...]

iv OP1 Rev. 1a MANUF ACTURER & SUPPLIER Japan & Others SEIKO EPSON CORPO RA T ION Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujim i, Fujim i-m achi, Suwa-gun, Nagano, 399-0295 JAPAN TEL : +81-(0)266- 61-1802 FAX : +81-(0)266- 61-1846 SUPPLIERS North & South Am erica EPSON A MERICA, INC. Factory Automation/Robotic s 18300 C[...]

OP1 Rev.1a v TABLE OF CONTENTS 1. Safety 1 1.1 Co nventio ns ................................................................................................... 1 1.2 Sa fety Preca ution s ........................................................................................1 1.3 Emergency Stop ....................................................[...]

vi OP1 Rev.1a 5. Programming for Operator Panel 27 5.1 Displ ay on Operator Panel .......................................................................... 27 5.1.1 S imp le Di spl ay Program ................................................................. 2 7 5.1.2 D ispl ay Device ................................................................[...]

1. Saf ety OP1 Rev.1a 1 1. Safety 1.1 Conventions Im portant safety considerations are indicated throughout the m anual by the followi ng sym bols. Be sure to read the descriptions shown with each sym bol. WARNING This sy mbol indi cates that a danger of possible serious injury or death exists if the associated instructions are not followed properl[...]

1. Saf ety 2 OP1 Rev. 1a  Only aut horized personnel who hav e taken the safety training should be allowed to maintain the robot sy stem. The safety training is t he program for industrial robot operator t hat follows the laws and regulations of each nation. The personnel who hav e taken the safety training acquire knowledge of industrial robots[...]

1. Saf ety OP1 Rev.1a 3 1.3 Emergency Stop W ARNING  Immediately press the EMERGENCY STOP switch whenev er you suspect any danger. The Operator Panel is equipped wit h an EMERGENCY STOP sw itch. Before operating the Operat or Panel, make sure that the EMERGENCY STOP switch on the Operator Panel functions properly . Operating the O perator Panel [...]

2. Specifications 4 OP1 Rev. 1a 2. S pecifications 2.1 Specification Tables 2.1.1 Electrical Specif ications Item Specifications Rated voltage DC 24 V Voltage range DC 21.6 to 26.4 V Power consumption 7 W or less Dielectric strength AC 500 V 20 mA per minute (across charger and FG terminals) Insulation resistance 500 VDC 20 M Ω or more (across ch[...]

2. Specifications OP1 Rev.1a 5 2.2 Part Names and Functions (1) (3) (4) (6) (7) (8) (9) (2) (5) (8) (10) (1) Touch Panel This screen displ ays v arious information, and is used for autom atic operation, data entry , and other operations. WARNING  W hen the backlight of the touch panel goes out, the screen turns completely black and you can no lo[...]

2. Specifications 6 OP1 Rev. 1a (4) Power Lam p This lights (green) when t he controller' s power switch is turned ON. (5) Teach Pendant connector (Bypass Plug) This connector is for connecting the optional Teach P endant for Robot Controller RC170. When the Teach Pendant does not need to be connected, connect the By pass P lug. The robot stat[...]

2. Specifications OP1 Rev.1a 7 2.3 Appearance and Dimensions 2.3.1 Appearance (w ithout mounting metal hasps) 215 6 7 58 87 155 55 46 5 41 26 [U ni t : mm] 2.3.2 External appearance (with mounti ng metal hasps) 15 25 25 15 5 [U ni t : mm][...]

2. Specifications 8 OP1 Rev. 1a 2.3.3 Panel Cutout Dimensi ons 201.5 141. 5 4-R3 o r less [Un it : mm] 2.3.4 Mounting M e tal Hasps Di mensions 25 12.5 3.3 Ø4 .1 M4 Bu rri ng 3.6 0 − 0. 5 11 5 17 θ M4 Sc r ew 32.5 [Un it : mm][...]

3. Instal lati on OP1 Rev.1a 9 3. Installation 3.1 Unpacking OP1 1 unit Mounting m etal hasp 4 units Connection cable (3 m ) 1 unit Bypass Plug (instal l on body ) 1 unit 3.2 Installation 3.2.1 Gasket Applicable m odel: ST400- WP01 Even in environment that do not require drip-proof, be sure to use the gasket (accessory provided w ith OP1). Install [...]

3. Instal lati on 10 OP1 Rev .1a 3.2.2 Mounting H oles Refer to 2.3.3 Panel Cutout Dimensions for m achining the m ounting parts. - Prepare the gasket and mounting m etal hasps to install the Operator Panel. - To ensure drip-proof performance, install the Operator Panel on a flat surface free of warping, scratches and unev enness. Attaching a stiff[...]

3. Instal lati on OP1 Rev.1a 11 - The O perator Panel is designed for verti cal installati on. It can also be i nstalled at an angle. However, in this case, limit the angle of tilt fro m the vertical within 30 deg. W ith i n 30de g. - If the Operator Panel is installed at an angle of tilt exceeding 30 deg, take measures, such as forced air cooling,[...]

3. Instal lati on 12 OP1 Rev .1a (4) Secure the screws of the m ounting metal hasps. Tighten the four screws sl owly , in an even, crisscross pattern. Overtightening t he screws may damage the Operator Panel. To ensure drip-proof perform ance, the appropriate tighteni ng torque is 0.5 Nm. 3.3 Connecting Cables W ARNING  Be sure to connect the ca[...]

3. Instal lati on OP1 Rev.1a 13 3.4 Teach Pendant Connection (1) Disconnect the Bypass Plug connected to the Operator Panel. (2) Connect the connector of the Teach P endant to the Operator P anel and secure it tightly . Make sure to screw in the connector ti ghtly to ensure dust-proof and drip-proof performance. (3) Make sure that the Teach P endan[...]

4. Operation 14 OP1 Rev .1a 4. Operation 4.1 Basic Operations The Operator Panel i s provi ded wit h five screens corresponding to specifi c functions. The Operator Panel can be switched to each of these screens at any time. (1) Program Execution screen (2) Task Monitor screen (3) I/O Monito r screen (4) System History screen (5) Application screen[...]

4. Operation OP1 Rev.1a 15 Buttons for m oving to each of these screens are displayed on the left side of the screen. You can mov e to the desired screen at any time by pressing these buttons. Operator Panel screen image When the operator is prompted to confir m or perform an operation, the button for the respective screen on the left of t he Opera[...]

4. Operation 16 OP1 Rev .1a 4.3 Program Execution Screen Program Execution screen (when operations from the Operator Panel are not available) (1 ) Mod e (2) Eme rgency S t op s tate (3) Safetygu ar d sta t e ( 4 ) Mot or en er g i za t i on st a t e (5) M an i pu la to r ho m e s ta te (10) Start (11) Pause (12 ) Re ady (6) Se ri ou s E rro r s tat[...]

4. Operation OP1 Rev.1a 17 (6) Seri ous Error state This turns O N ( display) when a maj or error has occurred that cannot be recovered by t he reset button. When a serious error has occurred, the robot cannot perform tasks normally . Error details can be confirm ed in the system history screen. To cancel the error, remov e the cause of the error, [...]

4. Operation 18 OP1 Rev .1a If the Operator Panel is set as a control device, buttons for execut ing and stopping programs are display ed on the P rogram Execut ion screen to enable these operations. Program Execution screen (when operations from the Operat or Panel are available) (16) Cance l prog r am (14) Ex ecute program (15) Pause progra m (13[...]

4. Operation OP1 Rev.1a 19 4.4 Task Monitor Screen The Task Monitor screen allows y ou to monitor the states of each task. By confirming the current state of each task, you can gain hints as to which signal the robot is waiting for (i.e. why the robot has stopped when it has st opped due to an interlock or signal standby ). You can select between a[...]

4. Operation 20 OP1 Rev .1a The display is refreshed every 0.5 seconds. L ines having a short processing time m ay not be displayed, or the same line number is vi sible all the time even if operations are actually being performed norm ally. This , however, is not a malfunct ion. The following task states are display ed: Run The task is being execut[...]

4. Operation OP1 Rev.1a 21 I/O Monitor screen (8-bit displa y) “*” (asterisk) is display ed b efore the signal for remote setting to separate remote setting and I/O label. In the 32- bit di splay , y ou can touch the currently displayed I/ O column and t emporarily confirm the I/O label in the popup window. The popup w indow disappears by touch[...]

4. Operation 22 OP1 Rev .1a 4.6 System History Screen A system history (errors, warnings, and ev ents) containing up to 5000 records is saved on the RC170 Controller. I n the System Hist ory screen, y ou can display t he past system history that is saved to the Contro ller. System History screen Summary of th e error, warning or ev ent. Each page o[...]

4. Operation OP1 Rev.1a 23 4.7 Application Screen The Application screen provides the robot application programs and operator interface. The application program can be displayed on this screen by execut ing the Print comm and in the application program . Data can be input from this screen by executing the Input comm and in the application program. [...]

4. Operation 24 OP1 Rev .1a The last line of the di splay is the input area. When the Input com mand is executed in the application program , the input area is display ed at the last line of the screen. Application screen (numerical value input) In the case of num erical value input, touch t he input area. This display s the numeri cal value input [...]

4. Operation OP1 Rev.1a 25 4.8 Setup Screen If the bott om right of the screen (operat or firmware v ersion display area) is touched while the Startup screen is displ ayed, t he screen for setting up the Operator Panel appears. When you fi nished the setup, touch the <OK > button at the bottom ri ght of the screen. To cancel the setup and dis[...]

4. Operation 26 OP1 Rev .1a Change display after program execution Set whether or no t to automatically switch the screen to the App lication screen after an application has been start ed or program has been executed in t he Program Execution screen. Each touch of this display area toggles the setting between Yes and No. Yes : T he screen is automa[...]

5. Programming for Operator Panel OP1 Rev.1a 27 5. Programming for Operator Panel 5.1 Display on Operator Panel The application screen of the Operator Panel is provided with a text display of 34 characters × 10 l ines in size. This text display can display num erical values and strings from the application program . Use the P rint com mand to disp[...]

5. Programming for Operator Panel 28 OP1 Rev .1a 5.1.2 Display Device Text display s such as the Operator Panel are called a “display device.” The RC170 supports the following t hree display devices, which can be display ed on the required device from the application: #21 RC+ execution screen #23 Operator Panel #24 Teach Pendant There are two w[...]

5. Programming for Operator Panel OP1 Rev.1a 29 B: Executing the display device selection command Same as the Print comm and, display dev ice can be switched by the DispDev comm and. Integer OfsQty DispDev 23 ‘ Set the Operator Panel as the display device. Print “Input the offset travel.” Input OfsQty 5.2.1 Value Input Integer num bers can be[...]

5. Programming for Operator Panel 30 OP1 Rev .1a 5.2.2 String Input On the Operator Panel, function switch F 1 to F6 i nputs can be handled as string input. Function switches F1 to F 6 each corresponding to six strings “a” to “f”. When the string input com mand (I nput #23, a$) is execut ed in the application, st rings corresponding to F 1 [...]

5. Programming for Operator Panel OP1 Rev.1a 31 5.3 About Display Language Any of English, Japanese, German or F rench can be set as the display language*. By setting the display language, text that is provided for each screen is display ed correctly. However, to correctly display error m essages or messages display ed by the Print com mand, approp[...]

6. Maintenance and Inspection 32 OP1 Rev .1a 6. Maintenance and Inspection 6.1 Contrast Adjustment (1) Touch the right top and the left top of the screen to display the contrast adjustment screen. (2) Touch the contrast part of the screen to select the cont rast from eight levels. (3) Touch the other part of the screen to finish the contrast adjust[...]

6. Maintenance and Inspection OP1 Rev.1a 33 6.2 Brightness Adjustment (1) Touch the right bottom and the left bot tom of the screen to display the brightness adjustment screen. (2) Touch the brightness part of the screen to select the brightness from tw o levels. (3) Touch the other part of the screen to finish the brightness adjustm ent.[...]

6. Maintenance and Inspection 34 OP1 Rev .1a 6.3 Firmware Update The Robot Controller and the Operator Panel div ides the work to identi fy t he role of their function. To function the Operator Panel properly , the firmware combinati on of the Robot Controller and the Operator Panel must be correct . The firm ware of the Robot Controller and t he O[...]

6. Maintenance and Inspection OP1 Rev.1a 35 6.5 About Gasket The gasket is used for dust- proof and dip-proof performance. - Gasket that is used for long periods of tim e or once has been installed on the panel is scratched or dirty , and may not qualify IP65 dust-proofing and drop-proofing performance. Replace the gasket periodically * for stable [...]

6. Maintenance and Inspection 36 OP1 Rev .1a 6.6 Regular Maintenance Inspection Performing the m aintenance inspection in accordance with the schedule is essential to use the Operator Panel in the best condition. Inspection point of the ambient env ironment - Is the am bient temperature suitabl e? 5 to 40 degC - Is the ambient relative humidity sui[...]