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Operation 2. TEACH Mode

TP1 Rev.5

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.

Содержание TP1

Страница 1: ...Rev 5 EM079P1591F RC170 Option Teach Pendant TP1 ...

Страница 2: ...ii RC170 Option Teach Pendant TP1 Rev 5 ...

Страница 4: ...rranty 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 dis...

Страница 5: ... 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...

Страница 6: ...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 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...

Страница 7: ...9 2 2 Standard Specifications 11 2 3 Outer Dimensions 11 3 Installation 12 3 1 Contents 12 3 2 Environmental Conditions 12 3 3 Operating Precautions 12 3 4 Connection 13 3 4 1 Typical cable connection 13 3 4 2 Connection to the Controller 14 3 4 3 Operator Panel Connection 14 3 5 Power Supply 15 3 6 Wall Bracket Option 16 4 Operation Mode TEACH AUTO 18 4 1 Outline 18 4 2 Switch Operation Mode 19 5...

Страница 8: ...ta to File 35 2 1 11 Loading Point Data from File 35 2 2 Editing Points 36 2 2 1 Specifying Point No 36 2 2 2 Changing Point Label 36 2 2 3 Changing Coordinate Data and Pose Flag 36 2 2 4 Deleting Point Data 36 2 3 Changing Jog Distance Data 37 2 3 1 Changing Distance Data 37 2 3 2 Return Data to Defaults 37 2 4 Arm Tool Local ECP 38 2 4 1 Changing Arm No 38 2 4 2 Changing Tool No 38 2 4 3 Changin...

Страница 9: ...r 72 3 5 System History 73 3 6 Program Mode 74 3 6 1 Open Programs 75 3 6 2 Building Projects 81 3 6 3 Backing up Projects 82 3 6 4 Restore Projects 83 3 6 5 Import Files 84 3 6 6 Export Files 85 3 6 7 Backup System 87 3 6 8 Restore System 89 3 6 9 Changing Speed Factor 91 3 6 10 Configuration 91 3 6 11 Change Display Language 93 3 6 12 Update System Software 94 3 7 Backup Restore 96 3 8 Save Cont...

Страница 10: ...Table of Contents viii TP1 Rev 5 ...

Страница 11: ...Functions Installation This section contains information about functions and installation of the Teach Pendant to be known before operation and maintenance ...

Страница 12: ......

Страница 13: ...de Please read and understand the chapter before using the robot system 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 understand the manuals thoroughly and have the same knowledge and skill leve...

Страница 14: ...ant 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 disco...

Страница 15: ...ces 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 envi...

Страница 16: ...ntrol Panels 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 CSA Z434 94 American National Standard Industrial Robots and Robot Systems Safety Requirements ISO 1116...

Страница 17: ...e 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...

Страница 18: ...itched 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 m...

Страница 19: ...Functions Installation 2 Specifications TP1 Rev 5 9 2 Specifications 2 1 Part Names and Functions Front view 3 2 1 5 4 Back view 6 7 ...

Страница 20: ...n the EMERGENCY STOP switch to the right to release the mechanical latch Switch the mode selector key switch to Teach Press the Reset 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 Operation 1 3 EMERGENCY STOP 3 Display Displays various kinds of information 4 Operation Panel Teaching operation aut...

Страница 21: ...tch and the mode selector key switch excluding cables Display element F STN type Black and white LCD Contrast 8 level Gray scale Display specifications Back light LED Color White Serial interface specifications Electrical characteristics Compliant with RS 422A standard 2 3 Outer Dimensions 37 240 Unit mm 55 22 251 9 8 Use the installation metal in the attachment when attaching the Teach Pendant to...

Страница 22: ...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 Use the hand strap to prevent dropping the Teach Pendant during operation 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 excessive pressure is put on ...

Страница 23: ... result in improper function of the system CAUTION 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 When nothing is conn...

Страница 24: ...le when the Controller power is ON When Teach Pendant connector is removed from the Controller with the mode 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 th...

Страница 25: ...ower 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 communication the following screen will appear on the display of the Teach Pendant TEACH mode AUTO mode ...

Страница 26: ...ns Installation 3 Installation 16 TP1 Rev 5 3 6 Wall Bracket Option Outer Dimension Hook A Hook B 201 4 31 4 100 118 56 2 100 226 6 6 6 6 39 6 392 9 Detail J K J Detail K Front View Back View Side View Unit mm ...

Страница 27: ...nt 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 Teach Pendant to Hook B Teach Pendant Cable ...

Страница 28: ...e 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 RC170 2 1 Jog Teach 2 2 Editing Points 2 6 Executing Motion Commands 2 7 Calibration E2 series G series 2 9 Releasing the Brake PS3 only 2 4 Arm To...

Страница 29: ...ector 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 ...

Страница 30: ...n keys Teaching keys Safety lamp Alphabet and Number Input Keys Input mode alphabet number switches by turning ON OFF the Alph lamp Press the Alph Num key to turn ON OFF the Alph lamp Alph Mode Key Function OFF Number input mode From 0 to 9 minus period Number input ABC to WXYZ Alphabet input SP space Space input a A Case selector ON Alphabet input mode Sym Symbol input CLR Clear number and alphab...

Страница 31: ... left OFF Normal mode Move the cursor to the right 10 the value Move to previous page 10 the value Move to next page High speed cursor motion to the left ON Scroll mode High speed cursor motion to the right Function Keys Press the F5 8 key to turn ON OFF the F5 8 lamp The display changes Example Jog Teach Screen F1 F2 F3 F4 F5 8 OFF F5 8 ON F5 F6 F7 F8 Example Press the F3 key to display the Motio...

Страница 32: ... point data from a file Jog Mode Specify the Jog mode Jog Dist Specify the Jog distance Speed Specify the Jog speed Teach Save the current position data Other keys Key Function Cancel Cancel the setting and go back to the previous screen OK Save the setting and move on to the next screen Reset Set the initial setup status Motor Switch the motor power ON OFF Home Move the robot to home position Key...

Страница 33: ...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 Back view Left side view Right side view Enable Switch for Right Hand How to press the Enable switch Grip the enable switch...

Страница 34: ...Functions Installation 6 Enable Switch 24 TP1 Rev 5 ...

Страница 35: ...27 Operation This section contains information about operation of the Teach Pendant and maintenance procedure ...

Страница 36: ......

Страница 37: ... 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 Jog Dist 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...

Страница 38: ...sing the and keys Label display changes by changing the point number 2 Press the Teach key 3 The following screen appears When the point number is already used the following screen appears 4 Press the OK key to assign the robot position 5 Press the Save Points key to display the following screen Enter the file name and press the Enter key 6 Press the OK key to save the file ...

Страница 39: ... by changing the point number 2 Press the Jog Dist key to select Free Joint for the Jog Dist Set each joint to servo ON or OFF key Lock Servo OFF the joint key Free Servo ON the joint F2 key All Lock Servo OFF all the joint F3 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 Teach key 5 The following screen appear...

Страница 40: ...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 ...

Страница 41: ...nds 2 7 Calibrating E2 series G series 2 9 Releasing the Brake PS3 only 2 3 Changing the Jog Distance Data 2 4 Arm Tool Local ECP 2 5 Executing I O Commands 2 8 Calibrating PS series 2 2 Editing Points F1 2 1 Jog Teach Point Editor Edit Distance Arm Tool Local ECP I O Command Motion Command Calibration Teaching Maintenance F2 F5 F4 F3 F8 F6 Jog Teach F1 Screen name Function key Reference page Main...

Страница 42: ...ion at Label 2 1 2 Specifying Jog Mode Press the Jog Mode 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 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 Tool Jogs the robot in the coordinate system defin...

Страница 43: ...p 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 Jog Dist 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 han...

Страница 44: ...urn the robot to 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 Teach key 2 The following screen appears When the point number is already used the following screen appears 3 Press the OK key to assign the point data 4 Press the Save Points key This can also be executed in the Point Editor screen T...

Страница 45: ...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 File 1 Press the LoadPoints key 2 The following screen appears Move the cursor to select a file 3 Press the OK key to load the point data in the file memory This can also be executed in the Point Editor screen TIP TIP ...

Страница 46: ...alue in the Point using the and keys Chang the point No to change the indication at Label 2 Press the Enter key 3 Press the OK key to apply the memory 2 2 2 Changing Point Label 1 Press the F1 key and move the cursor to Label 2 Enter the label name at Label to set the name 3 Press the Enter key 4 Press the OK key to apply the memory 2 2 3 Changing Coordinate Data and Pose Flag 1 Press the F2 key a...

Страница 47: ...changed press the Enter key to apply the value and be sure to press the OK key to save the settings 2 3 1 Changing Distance Data Set the distance for each joint 1 Move the cursor to Distance press the Jog Dist 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 F1 key to return jog distance dat...

Страница 48: ...Enter key to apply the value and be sure to press the OK key to save the settings 2 4 1 Changing Arm No 1 Press the F1 key and move the cursor to Arm 2 Set the arm number 2 4 2 Changing Tool No 1 Press the F2 key and move the cursor to Tool 2 Set the tool number 2 4 3 Changing Local No 1 Press the F3 key and move the cursor to Local 2 Set the local number 2 4 4 Changing ECP No 1 Press the F4 key a...

Страница 49: ...een The following screen appears 2 5 1 Switching Input Output Status Display Press the F3 key to switch between the Inputs status and the Outputs status display 2 5 2 Output Bit ON OFF 1 Press the F3 key to display the Outputs status 2 Move the cursor to the output bit that you want to change 3 Switch the ON OFF status of the output bit F1 key On F2 key Off ...

Страница 50: ...n appears Set the information required for the command and press the Enter key to apply the settings 3 Press the OK key to 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 F3 key in the Jog Teach screen The following screen appears Move the cursor to the desired motion command and press the OK key 2 The moti...

Страница 51: ... below to display the Calibration screen 1 Press the F8 key in the Jog Teach screen 2 The following screen appears Move the cursor to 0 calibration and press the OK key The following screen appears when the password is set up Enter the password 1 to 16 characters and press the OK key For password setting refer to Operation 4 Password Setup 3 The following calibration menu screen appears NOTE ...

Страница 52: ...nts and may damage the peripheral equipment 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 OK key 2 The following scree...

Страница 53: ...nt selection key Joint selection reset The following screen appears when selection Joint 4 and Joint 3 is selected automatically 4 When a message appears regarding the capacitor charge leave the power ON for 3 or more minutes to sufficiently charge the capacitor Press the F2 key to display the following screen 5 The following screen appears ...

Страница 54: ... 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 direction 0 pulse 0 pulse position of Joint 3 upper limit position in motion range Upper limit 0 pulse 0 pulse position of Joint 4 position where the flat surface on the shaft faces toward the tip of Arm 2 0 pulse ...

Страница 55: ...e 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 Reset switch SW1 DIP switch SD1 10 Press and hold the reset switch SW1 for 1 or more seconds 11 Press the F2 key to display the following screen ...

Страница 56: ...he accuracy of the calibrating joint using the and keys and press the Enter key Press the F2 key The Manipulator does not move to the exact point because the specified origin is 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 ...

Страница 57: ...screen appears Press the OK key to stop the servo control for all joints to enable the joints to be moved manually Press the F2 key to display the following screen 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 F2 key ...

Страница 58: ...emporary calibration Press the OK key to servo control all joints Press the F2 key 19 The following screen appears 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 OK key while gripping the enable switch to execute Go P1 ...

Страница 59: ... 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 The following screen appears Press the F1 key ...

Страница 60: ...lide with peripheral equipment during the calibration of the other joints and may damage the peripheral equipment 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 mov...

Страница 61: ...rs 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 The following screen appears ...

Страница 62: ... 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 direction 0 pulse 0 pulse position of Joint 3 upper limit position in motion range Upper limit 0 pulse 0 pulse position of Joint 4 position where the flat surface on the shaft faces toward the tip of Arm 2 0 pulse ...

Страница 63: ...anipulator does not move to the exact point because the specified origin is 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 r...

Страница 64: ...joints to be moved manually 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 pushing the Joint 3 brake release button and lowering Joint 3 Press the F2 key 11 The following screen appears Press the F1 key to execute temporary calibration ...

Страница 65: ...ress the F2 key 12 The following screen appears 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 OK key while gripping the enable switch to execute Go P1 The following screen appears during Go P1 execution ...

Страница 66: ...e 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 15 The origin calibration completed screen appears For righty or lefty setting refer to 2 7 3 Setting Righty Lefty NOTE ...

Страница 67: ... 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 orientations using the and keys and press the Enter key Press the F2 key 3 The following screen appears Press the Motor key to turn ON the motor Press the F2 key ...

Страница 68: ... 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 left and move to the same point Press the OK key while gripping the enable switch to execute Jump P1 ...

Страница 69: ...pears 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 ...

Страница 70: ...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 F8 key in the Jog Teach screen 2 The following screen appears Move the cursor to 0 calibration and press the OK key The following screen appears when the password is set up Enter the password 1 to 16 characters and press the OK key For password setting refe...

Страница 71: ...he 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 automatically 5 The following screen appears Press the F2 key ...

Страница 72: ... 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 marked in Setup Operation Setting the Basic Pose for Calibration in the Manipulator manual Press the F2 key 8 The following screen appears Press the F2 key ...

Страница 73: ...alignment from the currently registered point data using the and keys and press the Enter key Press the F2 key 10 The following screen appears Press the Motor key to turn ON the motor Press the F2 key 11 The following screen appears Press the Jog key to move the joint to the basic pose as accurate as possible Press the F2 key ...

Страница 74: ...s after executing the temporary calibration 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 OK key while gripping the enable switch to execute Go P0 The following screen appears during Go P0 execution ...

Страница 75: ...ts 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 F2 key 15 The following screen appears Press the F1 key 16 The origin calibration completed screen appears ...

Страница 76: ...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 set up Enter the password 1 to 16 characters and press the OK key For password setting refer to Operation 4 Password Setup 3 The following screen appears ...

Страница 77: ...etting 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 brake On Off setting is to be switched 5 The brake Off confirmation message appears Confirm the message and press the F1 key 6 The brake is released and the specified joint moves manually ...

Страница 78: ...mporting 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 3 9 Displaying Date and Time See item Building projects Backing up projects Restoring projects Importing files Exporting files System backup Restoring the system...

Страница 79: ...ey switch to Auto 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 OK key TIP ...

Страница 80: ...om the Main Menu screen move the cursor to Print Panel and press the OK key When only a message appears Program Example PRINT 24 Test Print F4 The Main Menu screen appears When a message appears and a response is requested Program Example PRINT 24 Test Print INPUT 24 a Input the response to the message at the cursor position Characters or numerical values F1 Deletes all entered characters or numer...

Страница 81: ...he label name for remote setting display to separate remote setting and I O label F1 Switches between Inputs and Outputs F2 Switches the I O bit status display Bit units or port units 3 3 Memory I O Monitor This screen displays the bit status of memory I O In the Main Menu screen move the cursor to 2 Memory I O Monitor and press the OK key Memory I O status bit units F2 Switches the I O bit status...

Страница 82: ...o 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 F1 Displays the line number and task name in the program specified by the cursor F2 Displays the status and line number of all tasks in the program specified by the c...

Страница 83: ...erations 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 type Number joint task date and time in this order from the left System History main screen F2 Displays the details of the error specified by the cursor ...

Страница 84: ...pears Program Mode screen Move the cursor to the last line and press the key to display the following screen Program Mode screen next screen Menus with at the end have following procedures after selecting the menu and cannot be executed only by pressing the OK key When a password is set up the following screen appears before displaying the Program Mode screen Enter the password 1 to 16 characters ...

Страница 85: ...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 the file When there are two or more files Select the file and press the OK key to open the file 2 The following screen appears Program edit screen example ...

Страница 86: ...keys Arrow keys CLR key Enter key Alph Num key 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 ABC 2 key is pressed when Alph is ON The character changes in order a b c To continue input using the same button press the key to move the cursor forward Example Input Teach ...

Страница 87: ...een 3 Select the symbol and press the Enter 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 Enter key Entering text using syntax help If you enter a space following a specific command statement such as MOTOR or POWER candidate characters to enter...

Страница 88: ...reen returns to the program edit screen Exiting program edit Finish editing the program 1 Press the F2 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 F1 Saves the file and returns to the program edit screen F2 Returns to the Program Mode screen without saving the chan...

Страница 89: ... of search text strings F1 Changes the search order descending ascending The following screen appears during the search 2 If the 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 F4 key...

Страница 90: ...rical value at Enter line number to specify the line number 3 Move the cursor to the specified line Jumping to a function in the program file 1 Move the cursor to Function and press the Enter key 2 The following screen appears Move the cursor to the desired function and press the OK key The following screen appears during execution 3 The specified function screen appears ...

Страница 91: ...K key Building of the project is started The following screen appears during execution 2 When building is successful The following screen appears after the project building is successfully completed When building fails The error message list appears Move the cursor to the desired error and press the OK key The file with the error appears and the error line is indicated by the cursor ...

Страница 92: ...e screen move 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 project to the folder EpsonRC50 Projects in the USB memory When a project of the same name exists in the USB memory the following screen appears OK Overwrites the project Cancel Cancels the project backup ...

Страница 93: ...Program Mode screen move the cursor to 3 Restore Project and press the OK key 3 The following screen appears Press the OK key 4 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 OK key 5 The following screen appears Press the F1 key 6 Executes the project restore ...

Страница 94: ...In the Program Mode screen move the cursor to 4 Import File and press the OK key 3 The following screen appears Move the cursor to the file to import 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 4 Executes the file import When a file of the same name already exists the following screen appears F1...

Страница 95: ...creen appears Move the cursor to the file to export and press the OK key 4 The following screen appears Press the F2 key When OK 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 5 The following screen appears Move the cursor to export and press the OK key Enter Displays the hierarchy one level below the sel...

Страница 96: ...e 86 TP1 Rev 5 6 The following screen appears Press the OK key 7 Executes the file export When a file of the same name already exists the following screen appears F1 Overwrites the file F2 Moves to the Program Mode screen ...

Страница 97: ...m Backup and press the OK key 3 The following screen appears Enter the file name and press the Enter key 4 The following screen appears Press the OK key When OK key is pressed without specifying a folder the backup file is stored 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 t...

Страница 98: ...screen appears Press the OK key to execute the system backup When a file of the same name 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 ...

Страница 99: ...llowing screen appears 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 key When you restore the project with the basic Controller settings move the cursor to Project and press the key 4 Press the OK key 5 The following screen appears Press the OK key 6 The following screen appea...

Страница 100: ... of the selected Controller setting data the following screen appears To continue press the F1 key 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 F1 key 8 After execution is completed the following screen appears Press the OK key and the Controller reboots ...

Страница 101: ... to 8 Speed Factor and press the OK key 2 The following screen appears Enter the factor unit 1 to 100 integer with respect to the maximum speed Press the Enter key and apply the numerical value F1 Returns the factor to its default 100 3 Press the OK key to set the value 3 6 10 Configuration In the Program Mode screen move the cursor to 9 Configuration and press the OK key The following screen appe...

Страница 102: ...lect 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 sy...

Страница 103: ...the cursor to 1 Backup Screen and press the OK key The following 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 Change the setting of each item and press the OK key to save the setting Yes Enabled No Not enabled Pressing the F1 key returns the setting to its default The screen in step 1 shows the defaults Press the ...

Страница 104: ...s 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 key The following screen appears Move the cursor to 1 Update System Software and press the OK key 3 The following screen appears Press the OK key ...

Страница 105: ...lder 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 execute the update 6 After the software is updated the following screen appears ...

Страница 106: ...nu can be set 1 In the Main Menu screen move the cursor to 6 Backup Restore and press the OK key 2 The following screen appears Backup Restore screen example 3 Move the cursor to the desired item and press the OK key 4 Set each item Project backup Operation 3 6 3 Backup Projects Restoring projects Operation 3 6 4 Restore Projects Importing files Operation 3 6 5 Import Files File export Operation 3...

Страница 107: ...ntroller States and press the OK key The following screen appears 3 Select a folder to save the data The root directory is selected by default 4 Press the OK 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 OK key 2 The following screen appears Able to check the date and time ...

Страница 108: ...s 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 These arrow keys can adjust the contrast 3 11 Error Messages The following screen appears when an error occurs F4 Moves to the Main Menu OK Moves to the screen before the error occurred ...

Страница 109: ...0 icon on the desktop 3 Select EPSON RC 5 0 menu Setup Controller Configuration to display the following page 4 Click the Change 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 OK button More than one letter is assigned to each key on the TP If characters other than numerals are used for the password the passw...

Страница 110: ...n 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...

Страница 111: ... 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 with cables Type D R12B120104 Cable D sub connector 15 m Key R13B060901 Mode selector key Wall Bracket R12B120105 Option Conversion Kit R12B120111 Option CK1 ...

Страница 112: ...Operation 6 Maintenance Parts List and Option 102 TP1 Rev 5 ...

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