Epson TP1 User Manual
RC170 Option
Teach Pendant
Rev.5 EM079P1591F
TP1
RC170 Option Teach Pendant TP1 Rev.5
ii
RC170 Option
Teach Pendant
UTP1
Rev.5
Copyright © 2006-2007 SEIKO EPSON CORPORATION. All rights reserved.
TP1 Rev.5 i
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the Teach Pendant.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
WARRANTY
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office 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,
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
or careless use.
Warnings, Cautions, Usage:
1. If the robot system associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
ii TP1 Rev.5
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Throughout this manual, Windows XP, and Windows Vista refer to above respective
operating systems. In some cases, Windows refers generically 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 information is not indicated below, please contact the supplier office for
your region.
Please prepare the following items before you contact us.
- Your controller model and its serial number
- Your manipulator model and its serial number
- Software and its version in your robot system
- A description of the problem
SERVICE CENTER
TP1 Rev.5 iii
MANUFACTURER & SUPPLIER
TEL : +81-(0)266-61-1802
FAX : +81-(0)266-61-1846
Japan & Others
SEIKO EPSON CORPORATION
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,
Suwa-gun, Nagano, 399-0295
JAPAN
SUPPLIERS
Factory Automation/Robotics
TEL : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : info@robots.epson.com
Factory Automation Division
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
North & South America
Europe
EPSON AMERICA, INC.
18300 Central Avenue
Carson, CA 90746
USA
EPSON DEUTSCHLAND GmbH
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
Before Reading This Manual
Following descriptions are indicated throughout the manual by these symbols.
NOTE
)
TIP
)
NOTE
Do not connect the TP1 to following Robot Controllers. Connecting to following Robot
)
NOTE
)
iv TP1 Rev.5
Controllers may result in malfunction of the device since the pin assignments are different.
RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
A coordinate point including the arm pose is defined as “position (point),” and the data is
called “point data.”
The “NOTE” sections describe important information to be
followed for operating the Robot system.
The “TIP” sections describe hints for easier or alternative
operations.
TABLE OF CONTENTS
Functions & Installation
1 Safety 3
1.1 Conventions.................................................................................................3
1.2 Safety Precautions ......................................................................................3
1.3 EMERGENCY STOP................................................................................... 7
1.4 Mode Selector Key Switch........................................................................... 8
1.5 Using Teach Pendant in Safeguarded Area ................................................8
2 Specifications 9
2.1 Part Names and Functions ..........................................................................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 Operation Panel (Key Description) 20
6 Enable Switch 23
TP1 Rev.5 v
Table of Contents
Operation
1 Teaching Procedure 27
2 TEACH Mode 31
1.1 Jog Operation ........................................................................................... 27
1.2 Teaching ................................................................................................... 28
1.3 Direct Teaching......................................................................................... 29
2.1 [Jog & Teach]............................................................................................ 32
2.1.1 Specifying Point No. ..................................................................... 32
2.1.2 Specifying Jog Mode .................................................................... 32
2.1.3 Specifying Jog Speed................................................................... 33
2.1.4 Executing Step Jog ...................................................................... 33
2.1.5 Executing Continuous Jog............................................................ 33
2.1.6 ON/OFF........................................................................................ 33
2.1.7 Motor ON/OFF.............................................................................. 34
2.1.8 Executing Return to Home ........................................................... 34
2.1.9 Teaching....................................................................................... 34
2.1.10 Saving Point Data 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 Changing Local No....................................................................... 38
2.4.4 Changing ECP No. ....................................................................... 38
2.5 Executing I/O Commands ......................................................................... 39
2.5.1 Switching Input/Output Status Display ......................................... 39
2.5.2 Output Bit ON/OFF....................................................................... 39
2.6 Executing Motion Commands ................................................................... 40
2.6.1 E2 Series / G Series..................................................................... 40
2.6.2 PS Series ..................................................................................... 40
vi TP1 Rev.5
Table of Contents
2.7 Calibrating Origin : E2 Series / G Series ...................................................41
2.7.1 Calibration Procedures (E2 Series)...............................................42
2.7.2 Calibration Procedures (G Series) ................................................50
2.7.3 Setting Righty / Lefty (E2 Series / G Series) ................................. 57
2.8 Calibrating Origin : PS Series.................................................................... 60
2.9 Releasing Brake (PS series only) .............................................................. 66
3 AUTO Mode 68
3.1 Program Command Display.......................................................................70
3.2 I/O Monitor................................................................................................. 71
3.3 Memory I/O Monitor...................................................................................71
3.4 Task Monitor.............................................................................................. 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 Controller Statuses........................................................................... 97
3.9 Display Date and Time .............................................................................. 97
3.10 Adjust Brightness and Contrast ................................................................. 98
3.11 Error Messages ......................................................................................... 98
4 Password Setup 99
5 Troubleshooting 100
6 Maintenance Parts List and Option 101
TP1 Rev.5 vii
Table of Contents
viii TP1 Rev.5
Functions & Installation
This section contains information about functions and
installation of the Teach Pendant to be known before
operation and maintenance.
1. Safety
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
WARNING
WARNING
CAUTION
Functions & Installation 1. Safety
This symbol indicates that a danger of possible serious injury
or death exists if the associated instructions are not followed
properly.
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are
not followed properly.
This symbol indicates that a danger of possible harm to people
or physical damage to equipment and facilities exists if the
associated instructions are not followed properly.
1.2 Safety Precautions
For details of Safety, refer to Safety Chapter in the User’s Guide. 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 level as those who have completed the
training courses.
Only authorized personnel who have taken the safety training should be allowed
WARNING
to execute teaching or calibration of the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation. The personnel who have taken the safety
training acquire knowledge of industrial robots (operations, teaching, etc.).
The personnel who have completed the robot system-training class held by the
manufacturer, dealer, or locally-incorporated company are allowed to maintain
the robot system.
TP1 Rev.5 3
Functions & Installation 1. Safety
Only authorized personnel who have taken the safety training should be allowed
to maintain the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation. The personnel who have taken the safety
training acquire knowledge of industrial robots (operations, teaching, etc.),
knowledge of inspections, and knowledge of related rules/regulations. The
personnel who have completed the robot system-training and
maintenance-training classes held by the manufacturer, dealer, or locally
incorporated company are allowed to maintain the robot system.
Immediately press the EMERGENCY STOP switch whenever you suspect any
danger.
The Teach Pendant is equipped with an EMERGENCY STOP switch. Before
operating the Teach Pendant, make sure that the EMERGENCY STOP switch
on the Teach Pendant functions properly. Operating the Teach Pendant when
the switch does not function properly is extremely hazardous and may result in
serious bodily injury and/or serious damage to the equipment, as the switch
WARNING
cannot fulfill its intended function in an emergency.
When nothing appears on its display window, the Teach Pendant is not
connected with the Controller. In this case, the EMERGENCY STOP switch on
the Teach Pendant will not function.
WARNING
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 disconnected
Teach Pendant in an emergency is extremely hazardous and may cause
serious safety problems.
When entering the safeguarded area for teaching, change the mode of the
Teach Pendant to TEACH and take out the key for the mode selector key switch
and then enter the safeguarded area with the key. Leaving the key in the
mode selector key switch is extremely hazardous and may cause serious safety
problems as someone else may inadvertently change the mode to the automatic
operation.
Be sure to connect the cables between the Controller and the Teach Pendant
properly. Do not allow unnecessary strain on the cables. (Do not put heavy
objects on the cables. Do not bend or pull the cables forcibly.) The
unnecessary strain on the cables may result in damage to the cables,
disconnection, and/or contact failure. Damaged cables, disconnection, or
contact failure is extremely hazardous and may result in electric shock and/or
improper function of the system. Do not use the cables near heat or fire.
4 TP1 Rev.5
CAUTION
Functions & Installation 1. Safety
Do not shock the Teach Pendant physically or place any object on Teach
Pendant. A liquid crystal display is used for the Teach Pendant display. If
the display is damaged, liquid crystal may leak out. Liquid crystal is harmful.
If it sticks on your skin or clothes, immediately wash your skin and clothes
thoroughly with clean water and soap immediately.
The Teach Pendant must be used within the environmental conditions
described in this manual. This product has been designed and manufactured
strictly for use in a normal indoor environment. Using this product in the
environment that exceeds the conditions may not only shorten the life cycle of
the product but also cause serious safety problems.
Do not disassemble, repair, or modify the Teach Pendant by yourself.
Improper disassembly, repair, or modification of the Teach Pendant may cause
not only improper function of the robot system but also serious safety problems.
Safety-related Requirements
Specific tolerances and operating conditions for safety are contained in the manuals for
the robot, controller and other devices. 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 environments
EN 61000-6-4
Electromagnetic compatibility (EMC). Generic standards.
Emission standard for industrial environments
IEC 61131-2
Programmable controllers - Part 2: Equipment requirements
and tests
EN ISO 12100-1
Safety of machinery - Basic concepts, general principles for
design -- Part 1: Basic terminology, methodology
EN ISO 12100-2
Safety of machinery - Basic concepts, general principles for
design -- Part 2: Technical principles
EN 418
Safety of machinery - Emergency stop equipment, functional
aspects - principles for design
EN 614-1
Safety of machinery - Ergonomic design principles; part 1:
terminology and general principles
EN 894-1
Safety of machinery - Ergonomics requirements for the
design of displays and control actuators; Part 1: General
principles for human interactions with displays and control
actuators
EN 894-2
Safety of machinery - Ergonomics requirements for the
design of displays and control actuators; Part 2: Displays
TP1 Rev.5 5
Functions & Installation 1. Safety
EN 894-3
Safety of machinery - Ergonomics requirements for the
design of displays and control actuators - Part 3: Control
actuators
EN 954-1
(ISO 13849-1)
EN 60204-1
UL 508
(=CSA C22.2 No.14)
EN 50178
EN 61131-1 (IEC1131-1)
EN 61131-2 (IEC1131-2)
UL 1740
ANSI/RIA R15.06,
(=CSA-Z434-94)
ISO 11161
EN 12417
EN 14070
Safety of machinery - Safety-related parts of control systems
-- Part 1: General principles for design
Safety of machinery. Electrical equipment of machines.
General requirements
Industrial Control Panels
Electronic equipment for use in power installations
Programmable controllers - Part 1: General information
Programmable controllers; part 2: equipment requirements
and tests
Industrial robots and robotic equipment
American National Standard; Industrial Robots and Robot
Systems - Safety Requirements
Industrial automation systems - Safety of integrated
manufacturing systems - Basic requirements
Machine tools. Safety. Machining centers
Safety of machine tools - Transfer and special-purpose
machines.
6 TP1 Rev.5
1.3 EMERGENCY STOP
Immediately press the EMERGENCY STOP switch whenever you suspect any danger.
The Teach Pendant is equipped with an EMERGENCY STOP switch. Before
operating the Teach Pendant, make sure that the EMERGENCY STOP switch on the
Teach Pendant functions properly. Operating the Teach Pendant when the switch
does not function properly is extremely hazardous and may result in serious bodily
WARNING
injury and/or serious damage to the equipment, as the switch cannot fulfill its intended
function in an emergency.
When nothing appears on its display window, the Teach Pendant is not connected with
the 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.
Functions & Installation 1. Safety
Reset EMERGENCY STOP
Follow these steps to reset Emergency Stop condition.
(1) Remove the cause of the Emergency Stop and verify that it is safe to operate the robot
again.
(2) Release the EMERGENCY STOP switch. To release the mechanical latch, turn the
EMERGENCY STOP switch to the right.
(3) Turn the Teach Pendant mode selector key switch to “Teach”.
(4) Press the <Reset> key on the operation
E-STOP Lamp
panel to reset the Emergency Stop.
(5) Make sure that the E-STOP lamp on the
operation panel is OFF.
<Reset> Key
TP1 Rev.5 7
Functions & Installation 1. Safety
1.4 Mode Selector Key Switch
The mode selector key switch is used to select TEACH or AUTO operation mode. For
safety, if the mode is changed during program execution, all tasks will be stopped.
Mode switching during task execution
AUTO → TEACH
(1) Press the <Stop> button to stop all tasks normally.
(2) Turn the mode selector key switch to “Teach”.
TEACH → AUTO
Turn the mode selector key switch to “Auto” and close the latch release input.
1.5 Using Teach Pendant in Safeguarded Area
When the mode selector switch of the Teach Pendant is switched 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 mode selector
key switch to “Teach”.
(2) Enter the safeguarded area and perform the teaching operations.
(3) Leave the safeguarded area and close the safeguard.
(4) Return the mode selector key switch to “Auto”.
(5) Close the latch release input. (For details on the pin assignments of the
EMERGENCY connector, refer to Setup & Operation 9.3 Pin Assignments in the
RC170 controller manual.)
8 TP1 Rev.5
2. Specifications
2.1 Part Names and Functions
Front view
(1)
Functions & Installation 2. Specifications
(2)
(3)
(4)
Back view
(5)
(6)
(7)
TP1 Rev.5 9
Functions & Installation 2. Specifications
(1) Mode Selector Key switch
The mode selector key switch is used to change the operation mode between TEACH
and AUTO. The mode can be fixed by pulling out the key. When the mode is
switched while a program is executing, the program will be stopped.
Close the latch when switching the mode from TEACH to AUTO.
For the procedure to switch the mode, refer to Setup & Operation 1.4 Mode Selector
Key Switch.
(2) EMERGENCY STOP switch
When this switch is pushed, the Emergency Stop state is held both mechanically and
electrically. Pushing the switch stops the program, removes power to robot motors and
stops the manipulator motion immediately.
To cancel the Emergency Stop state, first turn 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, automatic operation and data input are available.
(5) Connection Cable
This is a cable to connect the Teach Pendant and the Controller.
The connector is attached at the end of the cable.
(6) Enable switch
This is a three-position switch. Motion and I/O output commands are available while
the switch is gripped when the Teach Pendant is operated in TEACH mode. The
switch turns ON when it is at the midpoint, and it turns OFF when it is fully gripped or
released.
(7) Handle
Use this part as the hand strap while operating the Teach Pendant.
10 TP1 Rev.5
2.2 Standard Specifications
Item Specification
Functions & Installation 2. Specifications
Rated voltage
General
specifications
Display
specifications
Serial interface
specifications
Electric power consumption
Weight
Display element
Contrast
Back light
Electrical characteristics
2.3 Outer Dimensions
DC24 V
6 W or less
1075 g
(include EMERGANCY STOP switch and the
mode selector key switch, excluding cables)
F-STN type Black and white LCD
8-level (Gray scale)
LED (Color : White)
Compliant with RS-422A standard
°
8
240
37
NOTE
Use the installation metal in the attachment when attaching the Teach Pendant to a panel,
or the like.
55 22 251.9
(Unit : mm)
TP1 Rev.5 11
Functions & Installation 3. Installation
3. Installation
3.1 Contents
TP1 (with cables) : 1 unit
Mode selector key : 2 units
3.2 Environmental Conditions
The Teach Pendant must be used in an environment that conforms to the following
requirements to ensure safe and reliable operation.
Item Condition
Ambient temperature
Ambient relative
temperature
Protection structure
Environment
- Keep away from dust, oily smoke, salinity, metal powder
0 to 50 deg C (with minimal variation)
5 to 95%
IP65 (excluding the connector)
- Keep away from flammable or corrosive solvents and
and other contaminants.
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.
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 it, it may be damaged.
Do not press or rub the surface of the front panel push buttons with a hard
object such as a tool. The surface of the buttons may be damaged as they are
easily scratched.
Wipe the dirt and oils adhering to the surface of the Teach Pendant display with
a soft cloth dampened with a neutral detergent or an alcohol solvent.
If using the mounting bracket, check that the bracket and screws are not bent or
loosened.
12 TP1 Rev.5
A
3.4 Connection
This section indicates the connection of the Controller and the Teach Pendant.
Be sure to connect the cables of Controller and Teach Pendant properly. Do
not allow unnecessary strain on the cables. (Do not put heavy objects on the
cables. Do not bend or pull the cables forcibly.) The unnecessary strain on the
cables may result in damage to the cables, disconnection, and/or contact failure.
Damaged cables, disconnection, or contact failure is extremely hazardous and
may result in improper function of the system.
Make sure that the pins are not bent when connecting the connector.
CAUTION
Connecting the connector with the pin bent may cause malfunction and result in
improper function of the system.
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.
Functions & Installation 3. Installation
NOTE
3.4.1 Typical cable connection
The Teach Pendant and the Operator Panel is connected to TP/OP port of controller.
When nothing is connected to the TP/OP port, Emergency Stop status occurs to the
Controller. When the Teach Pendant or the Operator Panel is not connected, connect the
TP/OP bypass plug.
Example
A: Only using Teach Pendant (TP Cable A)
Controller
B: Only using Teach Pendant (TP Cable B)
Controller
C: Only using Operator Panel
TP Cable
A
Conversion Kit CK1
TP Cable
B
Teach
Pendant
Teach
Pendant
Controller
OP Cable
Operator
Panel
D: Using Teach Pendant and Operator Panel
Controller
OP Cable TP Cable
Operator
Panel
Teach
Pendant
TP1 Rev.5 13
Functions & Installation 3. Installation
NOTE
The shape of the cable connector used in connection A and D differs to connection B.
NOTE
NOTE
TP Cable A : Circular connector to connect to the Operator Panel.
(Direct connection is available with conversion kit CK1.)
TP Cable B : D-sub connector to connect directly to the Controller.
When Teach Pendant with Operator Panel cable is inserted to the TP port of the
Operator Panel, both Operator Panel and Teach Pendant are available.
(Connection D)
Do not connect TP1 to the following Robot Controllers. Connecting to the
following Robot Controllers may result in malfunction of the device since the pin
assignments are different.
RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
3.4.2 Connection to the Controller
(1) Make sure that the Controller and the Robot is connected properly.
(2) Connect the connector of the Teach Pendant cable to the TP/OP port of Controller.
(3) Turn ON the controller.
NOTE
NOTE
NOTE
Teach Pendant insert and removal from the Controller are available 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 that the Controller and the Robot is connected properly.
(2) Connect the connector of the Operator Panel to the TP/OP port of Controller.
(3) Turn ON the Controller.
(4) Connect the connector of Teach Pendant to the Operator Panel.
Teach Pendant insert and removal from the Controller are available when the
Controller power is ON.
Make sure that the Controller is turned OFF when inserting or removing the Operator
Panel.
NOTE
14 TP1 Rev.5
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.
3.5 Power Supply
The power of the Teach Pendant is supplied via the TP/OP connector on the Controller.
After the completing the Controller and the Teach Pendant communication, the following
screen will appear on the display of the Teach Pendant.
TEACH mode
AUTO mode
Functions & Installation 3. Installation
TP1 Rev.5 15
Functions & Installation 3. Installation
3.6 Wall Bracket (Option)
Outer Dimension
31.4
100
[Unit :mm]
201.4
100
56.2
J
6
6
Detail : J
226
6
6
K
Front View
Hook A
Detail : K
118
392.9
39.6
Hook B
Back View Side View
16 TP1 Rev.5
Functions & Installation 3. Installation
Mount and Use
Mount the Teach Pendant with the wall bracket in the following procedures.
(1) Secure the wall bracket to the wall with three screws (positions are indicated by
dotted line in the Outer Dimension).
(2) Hang the handle of the Teach Pendant to Hook A.
(3) Hang the cable of the Teach Pendant to Hook B.
Teach Pendant
Cable
TP1 Rev.5 17
Functions & Installation 4. Operation Mode (TEACH/AUTO)
4. Operation Mode (TEACH/AUTO)
NOTE
4.1 Outline
RC170
TEACH mode Teaching Jog & Teach
A coordinate point including the arm pose is defined as “position (point),” and the data is
called “point data.”
Robot system has two operation modes TEACH mode and AUTO mode.
TEACH mode
This mode enables point data teaching and check close from the
Robot using the Teach Pendant.
Robot operates in Low power status.
AUTO mode
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.
2.1 Jog & Teach
2.3 Changing
the Jog Distance data
2.4 Arm / Tool / Local / ECP
AUTO mode
Maintenance
Point Editor
Motion Command
Calibration
Brake Release
(Six-axis)
2.5 Executing I/O Commands
2.2 Editing Points
2.6 Executing Motion Commands
2.7 Calibration
(E2 series / G series)
2.8 Calibration
(PS series)
2.9 Releasing the Brake
(PS3 only)
18 TP1 Rev.5
Functions & Installation 4. Operation Mode (TEACH/AUTO)
4.2 Switch Operation Mode
Change the TEACH mode and AUTO mode with the mode selector key switch on the
Teach Pendant.
TEACH mode
AUTO 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.
Turn the mode selector key switch to “Auto” and change the latch
release input signal to ON position for AUTO mode.
TP1 Rev.5 19
Functions & Installation 5. Operation Panel (Key Description)
5. Operation Panel (Key Description)
Key Description
Alphabet and Number
Input keys
Arrow keys
Cancel key
Teaching keys
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.
OK key
Function keys
E-STOP lamp
Safety lamp
Jog keys
Reset key
Motor key
Home key
Alph Mode Key Function
OFF Number input mode
From 0 to 9
- (minus)
Number input
.(period)
ABC to WXYZ Alphabet input
ON Alphabet input mode
SP (space) Space input
a/A Case selector
Sym Symbol input
CLR Clear number and alphabet
Common
Enter Set number and alphabet
20 TP1 Rev.5
Loading...