Epson/Seiko SRC-320 ABS, Руководство пользователя

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Functions 3. TEACH Port
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3.2 Teaching pendant TP-320 connection
Teaching operation is possible to be done with a handy teaching pendant TP-320 instead
with a personal computer. TP-320 is employing both of an emergency stop switch (nor-
mally closed) and an enable switch (normally open). The dedicated cable for the control-
ler is attached to TP-320. Connect this cable to the TEACH port.
In TEACH mode, the enable switch has to be pressed for robot operation. If it is not
pressed, pause condition will occur as soon as a program or motion command is executed.
If the enable switch is set free during motion, the robot will quickly pause and a message
will be issued.
To resume robot operation from the condition, press the enable switch and [RESUME] key.
Refer to TP-320 manual for details.
In AUTO mode, a program or motion command can be executed even if the enable switch
is not pressed.
The condition that a robot can be operated is called the enable condition. REMOTE1 and
REMOTE3 have Enable condition output terminal.
Make sure that the enable switch functions properly by the following procedure before a
teaching operation.
1) Switch to TEACH mode.
2) Execute a program or motion command while pressing the enable switch.
3) Set the enable switch free during motion.
4) Make sure that the robot will quickly pause.
3.3 TEACH port connector (E. STOP CANCEL connector)
The TEACH port has “normally closed” emergency stop input terminals so that if the ter-
minals are not closed, the unit will enter the emergency stop condition. If TP-320 or per-
sonal computer is not connected, install the TEACH port connector that came standard
with the controller.
The internal wiring of the TEACH port connector is as shown below.
TEACH port TEACH port connector
Emergency stop input
Emergency stop input
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* Compatible connector : 25-pin D-sub connector