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Epson TP3 Скачать руководство пользователя страница 67

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8

57

3.4.1 Single-task Program Verification

The single-task program verification is used to verify a program in order to check the
motion of the robot and peripherals by executing a single task with single- or
multi-manipulators (Cycle / Step execution) while the safeguard is open.
Function can be specified and executed within a speed limit.

To execute the program:

After taping the <Start> key, tap the operation key (Continue, Step In, Step Over, and
Walk), and then press the <EXE.> key while the Enable Switch is ON with the
confirmation window open.

To stop the program temporarily:

Release the Enable Switch or the <EXE.> key.
The moving robot stops. (Quick Pause)

To resume the program:

Tap the operation key (Continue, Step In, Step Over, and Walk), and then press the
<EXE.> key while the Enable Switch is ON with the confirmation window open.
The program will resume from the paused point.

To abort the program:

Press the Emergency Stop switch. The program also aborts if an error occurs.
The moving robot stops. (Quick Pause)

Pause by Open/Close status of the safeguard:

The program pauses according to open/close status of the safeguard.
The moving robot immediately stops. (Quick Pause)

To resume the program paused by Open/Close status of the safeguard:

Release the latched status of the safeguard interlock. Then, tap the operation key
(Continue, Step In, Step Over, and Walk) and press the <EXE.> key while the Enable
Switch is ON with the confirmation window open.

WARNING

■

Before performing program verification, check that the robot system operates

normally by using the EPSON RC+ debug function.
For details on the EPSON RC+ debug function, refer to the

EPSON RC+ User’s

Guide

.

If debugging is insufficient, the robot may cause unintended motion. This is
extremely hazardous and may cause serious bodily injury or severe damage to the
robot.

■

Before performing program verification, make sure that no one is in the robot’s

operation area.
The robot automatically starts moving as the program verification starts. If the
operator is in the robot’s operation area, it is extremely hazardous and may cause
serious bodily injury or severe damage to the robot.

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Содержание TP3

Страница 1: ...Rev 8 EM183F3602F Robot Controller RC700 A Option Teach Pendant TP3 ...

Страница 2: ...ii Robot Controller RC700 A Option Teach Pendant TP3 Rev 8 ...

Страница 3: ...RC700 A option TP3 Rev 8 i Robot Controller RC700 A Option Teach Pendant TP3 Rev 8 Copyright 2015 2018 SEIKO EPSON CORPORATION All rights reserved ...

Страница 4: ...e for warranty 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 nat...

Страница 5: ...ystem Microsoft Windows Vista Operating system Microsoft Windows 7 Operating system Microsoft Windows 8 Operating system Microsoft Windows 10 Operating system Throughout this manual Windows XP Windows Vista Windows 7 Windows 8 and Windows 10 refer to above respective operating systems In some cases Windows refers generically to Windows XP Windows Vista Windows 7 Windows 8 and Windows 10 NOTICE No ...

Страница 6: ...point including the arm pose is defined as position point and the data is called point data Control System Configuration This option is used with the following combinations of Controllers and software Controller Manipulator Software RC700 A EPSON RC 7 0 Ver 7 2 0 or later T series EPSON RC 7 0 Ver 7 3 1 or later For T series Manipulator user only T series Manipulators are controller integrated man...

Страница 7: ...s 11 3 2 Environmental Conditions 11 3 3 Operating Precautions 11 3 4 Wall Bracket Option 12 3 4 1 Outer Dimension 12 3 4 2 How to Mount and Use the Teach Pendant 12 3 5 Connection 13 3 5 1 Connection to the Controller 13 3 5 2 Connection Examples 14 3 6 Power Supply 15 4 Operation Mode TEACH AUTO TEST 16 4 1 Overview of Operation Modes 16 4 2 Switching the Operation Modes 18 5 Jog Keys and EXE Ke...

Страница 8: ...Robot 31 1 3 2 Direct Teaching of Force Sensor 31 2 Common Functions 33 2 1 Current Robot 34 2 2 Status Bar 34 2 3 Tool 35 2 3 1 I O Monitor 35 2 3 2 Robot 3D View 36 2 3 3 Brake Setting 38 2 3 4 Command Window 39 2 3 5 Task Manager 40 2 3 6 Force Monitor 41 2 4 Sub Menus 42 2 4 1 Change Jog Key 42 2 4 2 System History 42 2 4 3 Motor 43 2 4 4 Reset 43 2 5 Error Messages 44 3 TEACH T1 Mode 45 3 1 C...

Страница 9: ... 3 4 3 TEST Mode Operation Method 62 3 5 Robot Parameters 63 3 5 1 Local Coordinate System Setting 63 3 5 2 Tool Coordinate System Setting 64 3 5 3 Additional Arm setting 65 3 6 Direct Teach 66 3 6 1 Coordinate System 67 3 6 2 Current Position 67 3 6 3 Current Arm Orientation 67 3 6 4 Force Setting 68 3 6 5 Teaching 70 4 TEACH T2 Mode 72 4 1 Test T2 73 5 AUTO Mode 74 5 1 Operator Panel 75 5 1 1 Pr...

Страница 10: ... panel is blank 85 An Error code appears and the Robot does not operate normally 85 Robot does not move by pressing the Jog key 85 Operation mode does not switch from TEACH mode to AUTO mode 85 Program list is not displayed in program verification window of TEST mode 85 8 Maintenance Parts List 86 ...

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: ...er in the User s Guide Please read and understand the chapter before using the robot system WARNING 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 s...

Страница 14: ... the Teach Pendant is not connected with the Controller In this case the EMERGENCY STOP switch on the Teach Pendant will not function If the Teach Pendant is not connected to the Controller DO NOT place it within easy reach during operation You might press the EMERGENCY STOP switch on the unconnected Teach Pendant by mistake to stop the robot system in an emergency Pressing the EMERGENCY STOP swit...

Страница 15: ...res 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 ISO 10218 1 Robots and robotic devices Safety requirements for industrial robots Part 1 Robots EN ISO 10218 2 Robots and robotic devices Safety requirements for industrial robots Part 2 Robot systems and integration ANSI RIA R15 06 American National Sta...

Страница 16: ...e Controller In this case the Emergency Stop switch on the Teach Pendant will not function Pressing the Emergency Stop switch stops program execution and stops excitation of the motors on the robot axes Programs and point data will not be corrupted When pushed the Emergency Stop switch holds the Emergency Stop state mechanically and electrically How to reset EMERGENCY STOP Follow the steps below t...

Страница 17: ...t turn the mode selector key switch to TEACH 2 Enter the safeguarded area Perform teaching operations and verify a program in teaching or test mode 3 After teaching is completed leave the safeguarded area and close the safeguard 4 Return the mode selector key switch to AUTO 5 Input the latch release signal from the EMERGENCY connector to release the latch status For details refer to the following ...

Страница 18: ...e fixed by pulling out the key 1 For the test mode T1 and T2 When the mode is switched while a program is running the program will be stopped To switch the mode from TEACH to AUTO close the latch To change to the test mode switch the mode selector key switch to TEACH and tap the Test tab on the touch panel For details of the operation modes refer to Functions Installation 4 Operation Mode TEACH AU...

Страница 19: ...operation and command execution 5 Connection Cable This cable is used to connect the Teach Pendant and the Controller The connector is attached at the end of the cable 6 Handle The handle is used to support the Teach Pendant by an arm To hold the handle grip either one of the parts with raised bumps which are located on right and left of the handle 7 Touch pen The touch pen is used to operate the ...

Страница 20: ...al specifications Rated voltage 24 VDC Electric power consumption 16 W or less Weight Approx 1 5 kg excluding cables Display specifications Size 10 1 inches TFT color LCD Pixels 1280 800 2 3 Outer Dimensions Unit mm Use the installation metal in the attachment when attaching the Teach Pendant to a panel or the like NOTE ...

Страница 21: ...able or corrosive solvents and gases 3 3 Operating Precautions CAUTION Do not drop the Teach Pendant or hit hard against other objects to avoid damage as the case of the Teach Pendant may be damaged since the main body is made of resin 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 pressu...

Страница 22: ...dant To use the Teach Pendant with the wall bracket follow the steps below For locations of A B C X and Y in the following steps refer to 3 4 1 Outer Dimension 1 Screw the wall bracket and fix it to the wall Installation position X 2 parts Y 1 part Screw size M5 2 Hang the Teach Pendant handle to A 3 Place the Teach Pendant to B 4 Hang the teach Pendant cable to C Teach Pendant Cable ...

Страница 23: ... Controller and the robot are connected properly 2 Connect the connector of the Teach Pendant cable to the TP port of the Controller Turn the mark on the connector of the Teach Pendant upwards and push the connector into the connector on the Controller while aligning to the mark 3 Turn ON the controller The Teach Pendant can be connected to and removed from the Controller when the Controller power...

Страница 24: ...it from the TP port of the Controller CAUTION Before removing the Teach Pendant connector from the TP port on the Controller be sure to shut down the Teach Pendant by tapping the Execute button on the Configuration panel If the connector is removed without shutting down the data may not be saved properly 3 5 2 Connection Examples When connecting the Teach Pendant to the Controller directly When us...

Страница 25: ...3 6 Power Supply The power to the Teach Pendant is supplied via the TP connector on the Controller After communication between the Controller and the Teach Pendant is established the following screen will appear on the display of the Teach Pendant TEACH mode AUTO mode ...

Страница 26: ...program execution are not allowed when the safety door is open TEST mode T1 This mode enables program verification while the Enable Switch is held down and the safeguard including the safety door is open This is a low speed program verification function T1 manual deceleration mode which is defined in Safety Standards In this mode the specified Function can be executed with multi task single task m...

Страница 27: ...eter Direct Teach 3 6 Direct Teach TEACH T2 Control Panel 3 1 Control Panel Jog Teach 3 2 Jog Teach Programming 3 3 Programming Test T2 4 1 Test T2 Robot Parameter 3 5 Robot Parameter Direct Teach 3 6 Direct Teach AUTO Operator Panel 5 1 Operator Panel Maintenance 5 2 Maintenance Configuration 5 3 Configuration Panel name Relevant section T2 mode cannot be used on RC700 A Controllers complying wit...

Страница 28: ...ctor key switch to AUTO and then turn the latch release input signal to ON by the EMERGENCY connector of the Controller TEST mode T1 Turn the mode selector key switch to TEACH T1 for TEACH mode Tap the Test tab to change the mode to T1 T2 Turn the mode selector key switch to TEACH T2 for TEACH mode Tap the Test T2 tab to change the mode to T2 Enter the password if it is set T2 mode cannot be used ...

Страница 29: ...her than Joint mode Jogs in Y direction of the rectangular coordinate system Joint mode Jogs J3 Other than Joint mode Jogs in Z direction of the rectangular coordinate system Joint mode Jogs J4 or J7 Other than Joint mode Rotates the tool coordinate system around the Z axis of the rectangular coordinate system Joint mode Jogs J5 or J8 additional axis Other than Joint mode Rotates the tool coordina...

Страница 30: ...nd Back view Left side Right side Enable Switch for Right Hand How to press the Enable switch Grip the enable switch by fingers of the hand holding the handler Example When gripping by the left hand Handle Make sure to grip to the center position ON state when enabling the enable switch If the enable switch is not pressed enough to the center position ON state an error will occur and the robot wil...

Страница 31: ... The following actions are required to use the Teach Pendant Name How to operate Tap Tap the touch panel as if pressing the button Long tap Keep touching one point on the panel Flick Touch and slide a finger or touch pen in one direction and immediately release Swipe Touch the panel and move a finger or touch pen to one direction while keeping the finger pen touches the panel ...

Страница 32: ...on 7 Touch Panel 22 RC700 A option TP3 Rev 8 7 2 Operating the Menu Tap Or Swipe from left side of the screen How to display the menu Swipe the screen from left side to center Tap the button on the left side of the screen ...

Страница 33: ...izes are full size upper half lower half left half and right half Example of size change To change to the right half size Tap the square on the right side of the full sized window To change the right half size window to full size Tap the square on the right end of the window To change the position Change the right half size window to left half size Tap the square on the left end Change the left ha...

Страница 34: ...e following are the menus and functions displayed by long tapping the letter key Item Description 10 Key Full key Switches the numeric keypad and the full keypad This function may not be supported depending on the language setting Input mode Input mode can be selected This function may not be supported depending on the language setting Adjust keypad height Adjusts the height of the keypad The heig...

Страница 35: ...sition size and transparency can be changed Item Key Description Move Swipe the middle of the bar at the bottom Change size Swipe the size button at the lower right and release at the desired size Transparency Tap the transparency button at the lower left and adjust transparency using the displayed scroll bar ...

Страница 36: ...connect anything other than a USB flash drive Insert a USB flash drive directly into the TP3 memory port Operation is not guaranteed when there are cables or hubs between TP3 and a USB flash drive Insert and remove a USB flash drive slowly and surely Do not edit the saved files by the editor Operation of the robot system after data restoration is not guaranteed Do not use two USB flash drives at o...

Страница 37: ...Operation This section contains information about operation of the Teach Pendant and maintenance procedure ...

Страница 38: ......

Страница 39: ... teaching methods using the Teach Pendant Switching the mode selector key switch to TEACH T1 or TEACH T2 and selecting the Jog Teach tab displays the following panel To change the robot refer to the following section Operation 2 1 Current Robot T2 mode cannot be used on RC700 A Controllers complying with the UL standards NOTE ...

Страница 40: ...he Jog key Specify the jog distance to Continuous in the Jog Distance Reference Operation 3 2 6 Jog Distance The continuous jog can be executed by pressing the Jog key while gripping the Enable Switch In Continuous Jog the jog can be executed by pressing two jog keys at a time For example pressing the X and Y keys together executes a continuous jog diagonally The robot does not move if more than t...

Страница 41: ... OK button of the message dialog box to temporarily store the robot position 8 Tap the Save button to save your changes 1 3 2 Direct Teaching of Force Sensor CAUTION Executing the direct teach with improper settings of the Force Sensor coordinate transformation and gravity compensation may result in unintended motion Be careful when configuring the settings and check operation before executing the...

Страница 42: ...ate the robot may move unintentionally Caution is required in this regard 11 Tap the Direct Teach Start button Confirmation panel appears 12 Tap the OK button on the confirmation panel with turning ON the enable switch 13 Move the Robot arm to the position to teach CAUTION Executing the direct teach with improper mode or motion direction may result in unintended motion Be careful when configuring ...

Страница 43: ...des A Selected robot can be checked Refer to Operation 2 1 Current Robot B Status of emergency stop safety door motor and power can be checked Refer to Operation 2 2 Status Bar C Tap the icon to display the each tool menu Refer to Operation 2 3 Tool D Tap the menu button to display the sub menu Refer to Operation 2 4 Sub menus ...

Страница 44: ...ACH mode TEACH T1 TEACH T2 but not in AUTO mode T2 mode cannot be used on RC700 A Controllers complying with the UL standards 2 2 Status Bar This area displays the current robot status Name Description Value Emergency Stop Displays the emergency stop status To release the emergency stop state tap the Reset button Refer to Operation 3 1 3 Command Buttons ON OFF Safeguard Displays the safety door st...

Страница 45: ...bels Checking the Hexadecimal Values checkbox displays the byte and word values in hexadecimal notation Unchecking the checkbox displays the values in decimal notation Tapping Status of the bit you want to change with the Enable switch ON changes ON OFF of the output bits However ON OFF cannot be changed if the I O Monitor panel is opened from the following panels Test panel Operator Panel panel S...

Страница 46: ...d robot can be displayed The display changes as you change the robot Coordinate system display To display the coordinate system tap either Local Tool or ECP to select the coordinate system you want to display and select the coordinate number You can select several coordinate numbers Coordinate axes are displayed as follows X axis Green Y axis Blue Z axis Red Point display To display the point tap ...

Страница 47: ...amera button OFF Scroll the window Swipe with the Camera button ON Return to default Tap the Reset button Updating the display Automatic and manual update can be selected Tap the Auto Manual button to switch between automatic update and manual update Auto Automatically and periodically updates the display Manual The display is updated by tapping the Refresh button ...

Страница 48: ... axis robots The password entry panel will be displayed if the password is set Enter the password and tap OK to display the Brake panel Brake ON Check the checkboxes of the joints you want to lock the brakes The brakes will be locked Brake OFF Uncheck the checkboxes The confirmation massage will appear when you uncheck the checkboxes Read the message and tap OK to release the brakes The joints can...

Страница 49: ... returns to the Command panel To execute the commands other than robot motion commands and I O output commands tap the Enter button regardless of the Enable Switch status For details of the executable commands refer to the following manual EPSON RC Language Reference Appendix A SPEL Command Use Condition List The error message and error code are displayed in Output area in case of error The comman...

Страница 50: ...ground tasks can be displayed Item Description Task Tasks numbered from 1 32 and 11 trap tasks Name Task name Status Task status Run Wait Halt Pause Aborted Finished Type Normal Normal tasks NoPause Tasks which do not pause at Pause statement and Pause input signal occurrence and Safety Door open state NoEmgAbort Tasks which continue the processing at emergency stop and error occurrence Line Task ...

Страница 51: ... value of Tx Ty and Tz axes on the graph Display the final value of the each axis Data which checked the checkbox is displayed Force Scale Set the vertical axis scale of the force graph Torque Scale Set the vertical axis scale of the torque graph Time Scale Set the horizontal axis scale of the force and torque graph Force Monitor Object Select from defined object number or label list If selecting ...

Страница 52: ...em History Selecting System History from the sub menu list displays the System History panel Displays events errors and warnings recorded in the current Robot system history Item Description Data to Display Select the panel to display All Events Errors Warnings From To Select the period to display the data The default setting is from the history start date to the history end date Message Contains ...

Страница 53: ...e error occurrence if the error occurs on the robot Task Number Displays the task number of the error occurrence if the error occurs in the program Displays 0 for other cases Code 1 Code 2 Displays detailed error causes for some errors For details refer to the following manual EPSON RC SPEL Language Reference SPEL Error Messages 2 4 3 Motor Select the Motor from the sub menu to set Motor ON or Mot...

Страница 54: ... option TP3 Rev 8 2 5 Error Messages An error message appears when an error occurs Example A message displayed in the panel Example A message displayed in a pop up window Tapping OK closes the pop up window and returns to the original panel ...

Страница 55: ... mode In this mode basic robot operations jog point teaching programming and verification and robot parameter setting can be performed TEACH T1 Control Panel 3 1 Control Panel Jog Teach 3 2 Jog Teach Programming 3 3 Programming Test 3 4 Test Robot Parameters 3 5 Robot Parameter Direct Teach 3 6 Direct Teach Panel name Relevant section ...

Страница 56: ...tion window will appear Tap the OK button The motors will be ON Motor OFF Tap the Motor OFF button with Motor ON The motors will be OFF immediately 3 1 2 Free Joints This group is used for turning ON or OFF the motors of joints individually When teaching the SCARA robot by the direct teaching turn off the motor of the joint This is not available for the vertical 6 axis robots The following are des...

Страница 57: ...t specified by HomeSet command This can be executed by pressing the EXE key with the Enable Switch ON while the confirmation dialog is displayed Pulse0 Moves each joint to the 0 pulse position This can be executed by pressing the EXE key with the Enable Switch ON while the confirmation dialog is displayed MCal Performs calibration detect the mechanical home position This can be executed by pressin...

Страница 58: ...ays the sub menus For details of the panels displayed by selecting the menus refer to the following I O Monitor Operation 2 3 1 I O Monitor Robot 3D View Operation 2 3 2 Robot 3D View Brake Operation 2 3 3 Brake Setting Command Window Operation 2 3 4 Command Window Change Jog Key Operation 2 3 5 Change Jog Key Motor Operation 2 4 3 Motor Reset Operation 2 4 4 Reset In the Jog Teach panel the guide...

Страница 59: ...ateZ roll rotateY pitch and rotateX yaw The guide display of the jog keys changes Joint Jogs the robot using the keys from J1 Joint 1 to J is the number of joints The guide display of the jog keys change to the joint numbers 3 2 2 Speed The speed for jogging and motion commands can be changed by selecting Low or High 3 2 3 Coordinate System The coordinate system to perform jogging and teaching can...

Страница 60: ...s Pulse Current pulse of the joints 3 2 5 Current Arm Orientation This group displays the current arm orientation Flags representing the arm orientation vary depending on the type of the robot 3 2 6 Jog Distance This group is used for specifying the distance Continuous Long Medium or Short that each axis moves when its corresponding jog button is pressed When Continuous is selected The robot jogs ...

Страница 61: ...nce Operation 3 3 4 Editing the Point Data To search points Tap the search button to display the search window In the search window partial match search of point label strings and point number search are available String search Enter a text to search and then tap the downward or upward button to search with the point label Number search Select the number search and enter a number to search and the...

Страница 62: ...0 A option TP3 Rev 8 3 2 9 Jog Key Guide The current key assignment of the jog keys can be displayed The key assignment changes by a combination of following items and the display changes accordingly Robot type Jog Mode Jog key change ...

Страница 63: ... Programming panel switch the mode selector key switch to TEACH T1 and tap the Programming tab 3 3 1 Current Project Management The program files and the include files are displayed in the tree display Tapping the file name in the file tree display opens the file The edited project can be built Tap the Build button The message appears when the project is built properly If an error occurs the error...

Страница 64: ...ption Close Closes the active file The confirmation message appears if the file is being edited Save Save the active file 3 3 3 Point File Management The point fine names are displayed in the tree Tapping the point file name in the file tree opens the file 3 3 4 Point Data Editing You can edit the point data of the point files Select the point file from the file tree to display the list of data Ch...

Страница 65: ...selected line Copy Copies the data of the selected line Paste Pastes the copied or cut data to the checked lines The data will be overwritten If the data copied or cut from the multiple lines are held these will be pasted to the lines following the checked line Delete Line s Deletes the data of the selected lines If several lines are selected several point data will be deleted The point numbers wh...

Страница 66: ...andards In this mode you can execute the specified function with multi task single task multi manipulator single manipulator at low speed To display the Test panel switch the mode selector key switch to TEACH T1 and then tap the Test tab The following panels can be displayed from the sub menu list Task Manager Reference Operation 2 3 5 Task Manager I O Monitor Reference Operation 2 3 1 I O Monitor...

Страница 67: ...am also aborts if an error occurs The moving robot stops Quick Pause Pause by Open Close status of the safeguard The program pauses according to open close status of the safeguard The moving robot immediately stops Quick Pause To resume the program paused by Open Close status of the safeguard Release the latched status of the safeguard interlock Then tap the operation key Continue Step In Step Ove...

Страница 68: ...ing Teach the point in the Jog Teach panel Reference Operation 3 2 Jog Teach Edit the point data in the Programming panel Reference Operation 3 3 Programming Task Behavior during Single Task Program Verification Background tasks stop when switching the mode to TEST mode The tasks resume when switching to TEACH mode Behavior of Events and Tasks Event Task Type Background Task Normal NoPause NoEmgAb...

Страница 69: ...T1 mode Power mode is always set to Low Specification function cannot be executed T2 mode Specification function can be executed TRAP Corresponding task cannot be executed even when a condition is met XQT An error occurs and the program execution will be aborted INPUT Input from the console causes an error and aborts the program execution PRINT 20 Output to the Teach Pendant causes an error and ab...

Страница 70: ...robot system operates normally by using the EPSON RC debug function For details on the EPSON RC debug function refer to the EPSON RC User s Guide If debugging is insufficient the robot may cause unintended motion This is extremely hazardous and may cause serious bodily injury or severe damage to the robot Before performing the program verification make sure that no one is in the robot s operation ...

Страница 71: ...oEmgAbort Enable switch is OFF Pause Pause Continue Continue EXE key is OFF Pause Pause Continue Continue Change Open Close status of the Safety Door Pause Pause Continue Continue Error during a test Abort Abort Abort Abort Emergency stop Abort Abort Continue Abort Switch a key switch Abort Abort Abort Continue Resume Available Function Functions with source not hidden Root Motion Speed Setting Wh...

Страница 72: ...e dialog window is open If you want to execute and confirm a part of the motion set a breakpoint and stop the program and then execute the part by Step In Step Over or Walk button Tapping the line number on the left sets or cancels the breakpoint Item Description Start Executes a task Stop Stops the ongoing tasks Continue Continues execution of the paused task from the current line Step In Execute...

Страница 73: ...l 0 is the base coordinate system and cannot be changed in this panel The base coordinate system can be changed by executing Base command from the command window For details refer to the following manual EPSON RC SPEL Language Reference The cells with no Local coordinate system definition are empty Entering the value to the undefined Local coordinate system sets remaining cells to 0 The Local coor...

Страница 74: ...The values of the user definable 15 Tool coordinate systems will be displayed The cells with no Tool coordinate system definition are empty Entering the value to the undefined Tool coordinate system sets remaining cells to 0 The Tool coordinate systems numbering from 1 to 15 can be defined Tapping the Apply button configures the Tool coordinate system For details of the Tool setting refer to the f...

Страница 75: ...ON RC SPEL Language Reference ArmSet Statement Item Description L2 Dist Distance between the center of Joint 2 and the center of the orientation joint in millimeters J2 Offset Angle of the line from the center of Joint 2 to the center of the orientation joint in degrees Z Offset The Z offset between the new orientation axis and the standard orientation axis L1 Dist Distance between the center of t...

Страница 76: ...nual EPSON RC 7 0 Option Force Control 7 0 This function is available when Force Control 7 0 is setup For usage of the Force Control 7 0 refer to the following manual EPSON RC 7 0 Option Force Control 7 0 Perform direct teaching on Direct Teach panel To display the Direct Teach panel switch the mode switching key switch to TEACH T1 and tap the Direct Teach tab The following dialogs can be displaye...

Страница 77: ...arm This is available for the following robots Rectangular coordinate robots SCARA robots 3 6 2 Current Position This group displays the current position of the robot There are three ways to display the position Some display modes may not be available depending on the type of the robot Item Description World Current position and tool orientation in the selected Local coordinate system Joint Curren...

Страница 78: ...RC 7 0 Option Force Control 7 0 CAUTION Executing the direct teaching with improper settings of the mass property object may result in unintended motion Be careful when configuring the settings before executing the direct teaching Mode Select the mode Motion Direction Select the motion direction Hardness Select the hardness Sensor Reset Button Reset the Force Sensor Our Force Sensor has drift feat...

Страница 79: ...the direct teach 1 Tap the Direct Teach Start button Confirmation panel appears 2 Tap the OK button with turning ON the enable switch Execute while pushing the enable switch Stop the operation when turn OFF the enable switch CAUTION Executing the direct teaching with improper mode or motion direction may result in unintended motion Be careful when configuring the setting before executing the direc...

Страница 80: ...sensor CAUTION Be sure to reset the Force Sensor with no external force applied to it If it is reset with an external force applied to it the state in which an external force applied is 0 Therefore if the force applied is removed the Force Sensor detects a force even if no force is applied If executing the direct teach in this state the robot may move unintentionally Caution is required in this re...

Страница 81: ...to the Force Sensor The Force Sensor cannot detect the force when it is applied to the robot arm or the Force Sensor itself and it may result in unintended robot motion Caution is required in this regard When registering the robot position Tap the Teach tab to display the Teach panel For details about registration of robot position refer to the following section Operation 3 2 7 Registering the Rob...

Страница 82: ...el Jog Teach 3 2 Jog Teach Programming 3 3 Programming Test T2 4 1 Test T2 Robot Parameters 3 5 Robot Parameters Direct Teach 3 6 Direct Teach Panel name Relevant section Functions and operations are common in TEACH T1 and TEACH T2 except for Test T2 This chapter only describes 4 1 Test T2 For other functions and operations refer to the following sections Operation 3 1 Control Panel Operation 3 2 ...

Страница 83: ...o display the Test T2 panel switch the mode selector key switch to TEACH T2 and then tap the Test T2 tab The password authentication window will appear Enter the password and tap the OK button Settable limiting speed is from 0 low speed to 100 high speed The speed is set to low when the Test T2 panel is opened Also the speed will be set to low in the following cases If the Teach Pendant is not ope...

Страница 84: ... program execution in on site operation and state reference of the robot system However the robot cannot be operated and the program cannot be executed while the safety door is open The robot cannot be changed Reference Operation 2 1 Current Robot AUTO Operator Panel 5 1 Operator Panel Maintenance 5 2 Maintenance Configuration 5 3 Configuration Panel name Relevant section ...

Страница 85: ...lector key switch to AUTO and tap the Operator Panel tab You can select the sub menus from the sub menu list which can be displayed by tapping the menu button Selecting the sub menu displays the dialog accordingly For details refer to the following sections I O Monitor Operation 2 3 1 I O Monitor Task Manager Operation 2 3 5 Task Manager System History Operation 2 4 2 System History ...

Страница 86: ...ng buttons Start Stop Pause Continue Select the program of the current project from the Program to run list You can operate the program by clicking the Start Stop Pause and Continue buttons The output window shows the output data If an error occurs the error information will be displayed Item Description Start Starts execution of the selected program Stop Stops all tasks Pause Stops all tasks whic...

Страница 87: ...ller information to the USB memory To save the current status Tapping the Backup button saves the current state to the USB memory The status such as controller setting task status I O status and robot status are saved This is useful when reporting the Robot system status to the distributers or our technical support The data is saved in the folder named B_serial number_date_time which is automatica...

Страница 88: ...e Browse for folder panel 4 Tap the OK button The Browse for folder panel closes and the Restore Controller panel will appear 5 Check the information to restore in the Restore Controller panel 6 Tap the OK button The data restoration will start If the current Controller configuration and that of the backup data differ a warning message will appear Restoration must be performed on the same system T...

Страница 89: ...oller parts information To edit information Tap the Change button and then set the Installation Date To cancel the warning Tap the Clear button For details of the parts consumption management refer to the following manual Robot Controller Manual RC700 RC700 A For T series manipulator refer to the following manual T series manipulator ...

Страница 90: ... setting To display the parts information Select the robot in Robot and then tap the item to check To edit information Tap the Change button and then set the Installation Date To cancel the warning Tap the Clear button For details of the parts consumption management refer to the following manual Robot Controller Manual RC700 RC700 A For T series manipulator refer to the following manual T series m...

Страница 91: ...g settings are available Language Selects the language for the display and keypad Available languages are Japanese English French German Simplified Chinese and Traditional Chinese The application automatically restarts when the language is changed LCD settings Sets brightness of the LCD Move the slider to set appropriate brightness Speaker Sets the speaker volume Move the slider to set appropriate...

Страница 92: ...evice information Firmware Version Teach pendant firmware version Software Version Teach Pendant software version Open source license Tapping the Display button opens another panel to show the license information 5 3 3 Update Software In this panel you can update the Teach Pendant software The following two items are required for updating USB memory with sufficient capacity PC to write the update ...

Страница 93: ...ration 5 3 2 System Information CAUTION Do not remove the Teach Pendant power cable and USB memory while updating software Teach Pendant and USB memory may be damaged Do not operate the robot while updating software The software may be damaged and the system may not start For details of cautions for using the USB memory refer to Operation 8 USB Port 5 3 4 Shutdown In this panel you can shut down t...

Страница 94: ...ord Setup You can set a password to restrict operators to use the following functions Brake function 6 axis robot only Maintenance Test T2 function Set the password in the EPSON RC T2 mode cannot be used on RC700 A Controllers complying with the UL standards NOTE ...

Страница 95: ...r to the following manual EPSON RC SPEL Language Reference Motor Energize the Robot motor For details refer to the following manual EPSON RC SPEL Language Reference SLock Short jog distance may be selected Check the value in the Jog Distance and change the setting to long distance if needed For details refer to the following section Operation 3 2 6 Jog Distance Operation mode does not switch from ...

Страница 96: ...Operation 8 Maintenance Parts List 86 RC700 A option TP3 Rev 8 8 Maintenance Parts List Part Name Code Note Wall Bracket R12NZ900NH Option Extension Cable 10 m R12NZ900NJ 15 m R12NZ900NK ...

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