RC170 Option
Teach Pendant
TP1
Rev.5 |
EM079P1591F |
RC170 Option Teach Pendant |
TP1 Rev.5 |
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RC170 Option
Teach Pendant
TP1U
Rev.5
Copyright © 2006-2007 SEIKO EPSON CORPORATION. All rights reserved.
TP1 Rev.5 |
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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.
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, 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 disasters such as earthquake, flood, etc.
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.
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TP1 Rev.5 |
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.
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.
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.
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
TP1 Rev.5 |
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Japan & Others |
SEIKO EPSON CORPORATION |
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Suwa Minami Plant |
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Factory Automation Systems Dept. |
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1010 Fujimi, Fujimi-machi, |
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Suwa-gun, Nagano, 399-0295 |
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JAPAN |
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TEL |
: +81-(0)266-61-1802 |
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FAX |
: +81-(0)266-61-1846 |
North & South America EPSON AMERICA, INC.
Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746
USA
TEL : +1-562-290-5900
FAX : +1-562-290-5999 E-MAIL : info@robots.epson.com
Europe |
EPSON DEUTSCHLAND GmbH |
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Factory Automation Division |
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Otto-Hahn-Str.4 |
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D-40670 Meerbusch |
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Germany |
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TEL |
: +49-(0)-2159-538-1391 |
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FAX |
: +49-(0)-2159-538-3170 |
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: robot.infos@epson.de |
Following descriptions are indicated throughout the manual by these symbols.
NOTE |
The “NOTE” sections describe important information to be |
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followed for operating the Robot system. |
TIP |
The “TIP” sections describe hints for easier or alternative |
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operations. |
NOTE
)Controllers may result in malfunction of the device since the pin assignments are different.Connecting to following RobotDo not connect the TP1 to following Robot Controllers.
RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
NOTE A coordinate point including the arm pose is defined as “position (point),” and the data is ) called “point data.”
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TP1 Rev.5 |
1 Safety |
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1.1 |
Conventions................................................................................................. |
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1.2 |
Safety Precautions ...................................................................................... |
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1.3 |
EMERGENCY STOP................................................................................... |
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1.4 |
Mode Selector Key Switch........................................................................... |
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1.5 |
Using Teach Pendant in Safeguarded Area ................................................ |
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2 Specifications |
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2.1 |
Part Names and Functions |
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2.2 |
Standard Specifications............................................................................. |
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2.3 |
Outer Dimensions...................................................................................... |
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3 Installation |
12 |
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3.1 |
Contents .................................................................................................... |
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3.2 |
Environmental Conditions.......................................................................... |
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3.3 |
Operating Precautions............................................................................... |
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3.4 |
Connection ................................................................................................ |
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3.4.1 |
Typical cable connection............................................................... |
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3.4.2 Connection to the Controller ......................................................... |
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3.4.3 |
Operator Panel Connection........................................................... |
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3.5 |
Power Supply ............................................................................................ |
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3.6 |
Wall Bracket (Option) ................................................................................ |
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4 |
Operation Mode (TEACH/AUTO) |
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4.1 |
Outline ....................................................................................................... |
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4.2 |
Switch Operation Mode ............................................................................. |
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5 |
Operation Panel (Key Description) |
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6 |
Enable Switch |
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TP1 Rev.5 |
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Table of Contents
1 Teaching Procedure |
27 |
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1.1 |
Jog Operation ........................................................................................... |
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1.2 |
Teaching ................................................................................................... |
28 |
1.3 |
Direct Teaching......................................................................................... |
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2 TEACH Mode |
31 |
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2.1 |
[Jog & Teach]............................................................................................ |
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2.1.1 |
Specifying Point No. ..................................................................... |
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2.1.2 |
Specifying Jog Mode .................................................................... |
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2.1.3 |
Specifying Jog Speed................................................................... |
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2.1.4 |
Executing Step Jog ...................................................................... |
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2.1.5 |
Executing Continuous Jog............................................................ |
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2.1.6 |
ON/OFF........................................................................................ |
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2.1.7 |
Motor ON/OFF.............................................................................. |
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2.1.8 |
Executing Return to Home ........................................................... |
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2.1.9 |
Teaching....................................................................................... |
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2.1.10 |
Saving Point Data to File.............................................................. |
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2.1.11 |
Loading Point Data from File ........................................................ |
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2.2 |
Editing Points ............................................................................................ |
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2.2.1 |
Specifying Point No. ..................................................................... |
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2.2.2 |
Changing Point Label ................................................................... |
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2.2.3 |
Changing Coordinate Data and Pose Flag ................................... |
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2.2.4 |
Deleting Point Data ...................................................................... |
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2.3 Changing Jog Distance Data .................................................................... |
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2.3.1 |
Changing Distance Data............................................................... |
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2.3.2 |
Return Data to Defaults................................................................ |
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2.4 |
Arm/Tool/Local/ECP ................................................................................. |
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2.4.1 |
Changing Arm No......................................................................... |
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2.4.2 |
Changing Tool No. ....................................................................... |
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2.4.3 |
Changing Local No....................................................................... |
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2.4.4 |
Changing ECP No. ....................................................................... |
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2.5 |
Executing I/O Commands ......................................................................... |
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2.5.1 |
Switching Input/Output Status Display ......................................... |
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2.5.2 |
Output Bit ON/OFF....................................................................... |
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2.6 |
Executing Motion Commands ................................................................... |
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2.6.1 |
E2 Series / G Series..................................................................... |
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2.6.2 |
PS Series ..................................................................................... |
40 |
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TP1 Rev.5 |
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Table of Contents |
2.7 |
Calibrating Origin : E2 Series / G Series ................................................... |
41 |
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2.7.1 Calibration Procedures (E2 Series)............................................... |
42 |
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2.7.2 Calibration Procedures (G Series) ................................................ |
50 |
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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).............................................................. |
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3 AUTO Mode |
68 |
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3.1 |
Program Command Display....................................................................... |
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3.2 |
I/O Monitor................................................................................................. |
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3.3 |
Memory I/O Monitor................................................................................... |
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3.4 |
Task Monitor.............................................................................................. |
72 |
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3.5 |
System History .......................................................................................... |
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3.6 |
Program Mode........................................................................................... |
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3.6.1 |
Open Programs............................................................................. |
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3.6.2 |
Building Projects ........................................................................... |
81 |
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3.6.3 |
Backing up Projects ...................................................................... |
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3.6.4 |
Restore Projects ........................................................................... |
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3.6.5 |
Import Files ................................................................................... |
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3.6.6 |
Export Files................................................................................... |
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3.6.7 |
Backup System............................................................................. |
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3.6.8 |
Restore System ............................................................................ |
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3.6.9 |
Changing Speed Factor ................................................................ |
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3.6.10 |
Configuration................................................................................. |
91 |
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3.6.11 |
Change Display Language............................................................ |
93 |
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3.6.12 |
Update System Software .............................................................. |
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3.7 |
Backup / Restore....................................................................................... |
96 |
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3.8 |
Save Controller Statuses........................................................................... |
97 |
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3.9 |
Display Date and Time .............................................................................. |
97 |
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3.10 Adjust Brightness and Contrast ................................................................. |
98 |
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3.11 Error Messages ......................................................................................... |
98 |
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4 |
Password Setup |
99 |
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5 |
Troubleshooting |
100 |
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6 |
Maintenance Parts List and Option |
101 |
TP1 Rev.5 |
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Table of Contents
viii |
TP1 Rev.5 |
This section contains information about functions and installation of the Teach Pendant to be known before operation and maintenance.
Functions & Installation 1. Safety
Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.
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This symbol indicates that a danger of possible serious injury |
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or death exists if the associated instructions are not followed |
WARNING |
properly. |
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This symbol indicates that a danger of possible harm to people |
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caused by electric shock exists if the associated instructions are |
WARNING |
not followed properly. |
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This symbol indicates that a danger of possible harm to people |
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or physical damage to equipment and facilities exists if the |
CAUTION |
associated instructions are not followed properly. |
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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 |
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Functions & Installation 1. Safety
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Only authorized personnel who have taken the safety training should be allowed |
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to maintain the robot system. |
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The safety training is the program for industrial robot operator that follows the |
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laws and regulations of each nation. The personnel who have taken the safety |
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training acquire knowledge of industrial robots (operations, teaching, etc.), |
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knowledge of inspections, and knowledge of related rules/regulations. The |
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personnel who have completed the robot |
system-training |
and |
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maintenance-training classes held by the manufacturer, dealer, or locally |
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incorporated company are allowed to maintain the robot system. |
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Immediately press the EMERGENCY STOP switch whenever you suspect any |
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danger. |
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The Teach Pendant is equipped with an EMERGENCY STOP switch. Before |
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operating the Teach Pendant, make sure that the EMERGENCY STOP switch |
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on the Teach Pendant functions properly. Operating the Teach Pendant when |
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the switch does not function properly is extremely hazardous and may result in |
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serious bodily injury and/or serious damage to the equipment, as the switch |
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cannot fulfill its intended function in an emergency. |
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WARNING |
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When nothing appears on its |
display window, the |
Teach Pendant |
is not |
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connected with the Controller. In this case, the EMERGENCY STOP switch on |
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the Teach Pendant will not function. |
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If the Teach Pendant is not connected to the controller, DO NOT place it within |
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easy reach during operation. You might press the EMERGENCY STOP switch |
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on the unconnected Teach Pendant by mistake to stop the robot system in an |
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emergency. Pressing the EMERGENCY STOP switch on the disconnected |
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Teach Pendant in an emergency is extremely hazardous and may cause |
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serious safety problems. |
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When entering the safeguarded area for teaching, change the mode of the |
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Teach Pendant to TEACH and take out the key for the mode selector key switch |
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and then enter the safeguarded area with the key. Leaving the key in the |
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mode selector key switch is extremely hazardous and may cause serious safety |
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problems as someone else may inadvertently change the mode to the automatic |
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operation. |
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Be sure to connect the cables between the Controller and the Teach Pendant |
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properly. Do not allow unnecessary strain on the cables. (Do not put heavy |
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objects on the cables. Do not bend or pull the cables forcibly.) |
The |
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unnecessary strain on the cables may result in damage to the cables, |
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WARNING |
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disconnection, and/or contact failure. Damaged cables, disconnection, or |
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contact failure is extremely hazardous and may result in electric shock and/or |
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improper function of the system. |
Do not use the cables near heat or fire. |
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4 |
TP1 Rev.5 |
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
CAUTION 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.
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. |
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Immunity standard for industrial environments |
EN 61000-6-4 |
Electromagnetic compatibility (EMC). Generic standards. |
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Emission standard for industrial environments |
IEC 61131-2 |
Programmable controllers - Part 2: Equipment requirements |
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and tests |
EN ISO 12100-1 |
Safety of machinery - Basic concepts, general principles for |
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design -- Part 1: Basic terminology, methodology |
EN ISO 12100-2 |
Safety of machinery - Basic concepts, general principles for |
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design -- Part 2: Technical principles |
EN 418 |
Safety of machinery - Emergency stop equipment, functional |
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aspects - principles for design |
EN 614-1 |
Safety of machinery - Ergonomic design principles; part 1: |
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terminology and general principles |
EN 894-1 |
Safety of machinery - Ergonomics requirements for the |
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design of displays and control actuators; Part 1: General |
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principles for human interactions with displays and control |
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actuators |
EN 894-2 |
Safety of machinery - Ergonomics requirements for the |
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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 |
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design of displays and control actuators - Part 3: Control |
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actuators |
EN 954-1 |
Safety of machinery - Safety-related parts of control systems |
(ISO 13849-1) |
-- Part 1: General principles for design |
EN 60204-1 |
Safety of machinery. Electrical equipment of machines. |
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General requirements |
UL 508 |
Industrial Control Panels |
(=CSA C22.2 No.14) |
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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
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and tests |
UL 1740 |
Industrial robots and robotic equipment |
ANSI/RIA R15.06, |
American National Standard; Industrial Robots and Robot |
(=CSA-Z434-94) |
Systems - Safety Requirements |
ISO 11161 |
Industrial automation systems - Safety of integrated |
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manufacturing systems - Basic requirements |
EN 12417 |
Machine tools. Safety. Machining centers |
EN 14070 |
Safety of machine tools - Transfer and special-purpose |
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machines. |
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TP1 Rev.5 |
Functions & Installation 1. Safety
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Immediately press the EMERGENCY STOP switch whenever you suspect any danger. |
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The Teach Pendant is equipped with an EMERGENCY STOP switch. Before |
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operating the Teach Pendant, make sure that the EMERGENCY STOP switch on the |
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Teach Pendant functions properly. Operating the Teach Pendant when the switch |
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does not function properly is extremely hazardous and may result in serious bodily |
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WARNING |
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injury and/or serious damage to the equipment, as the switch cannot fulfill its intended |
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function in an emergency. |
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When nothing appears on its display window, the Teach Pendant is not connected with |
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the Controller. In this case, the EMERGENCY STOP switch on the Teach Pendant |
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will not function. |
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When the EMERGENCY STOP switch is pushed, stops the programs execution and halts |
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the robot excitation. Programs and point data will not be damaged. |
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When pushed, the EMERGENCY STOP switch mechanically holds that state and |
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electrically holds the emergency stop state. |
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Reset EMERGENCY STOP |
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Follow these steps to reset Emergency Stop condition. |
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(1) |
Remove the cause of the Emergency Stop and verify that it is safe to operate the robot |
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again. |
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(2) |
Release the EMERGENCY STOP switch. |
To release the mechanical latch, turn the |
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EMERGENCY STOP switch to the right. |
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(3) |
Turn the Teach Pendant mode selector key switch to “Teach”. |
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(4) |
Press the <Reset> key on the operation |
E-STOP Lamp |
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panel to reset the Emergency Stop. |
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(5) |
Make sure that the E-STOP lamp on the |
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operation panel is OFF. |
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<Reset> Key
TP1 Rev.5 |
7 |
Functions & Installation 1. Safety
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.
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.
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 |
Functions & Installation 2. Specifications
Front view
(1)
(2)
(3)
(4)
(5)
Back view
(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.
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TP1 Rev.5 |
Functions & Installation 2. Specifications
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Item |
Specification |
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DC24 V |
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Rated voltage |
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General |
Electric power consumption |
6 W or less |
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specifications |
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1075 g |
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Weight |
(include EMERGANCY STOP switch and the |
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mode selector key switch, excluding cables) |
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Display |
Display element |
F-STN type Black and white LCD |
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Contrast |
8-level (Gray scale) |
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specifications |
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Back light |
LED (Color : White) |
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Serial interface |
Electrical characteristics |
Compliant with RS-422A standard |
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specifications |
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8°
240
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37 |
55 22 |
251.9 |
(Unit : mm) |
NOTE |
Use the installation metal in the attachment when attaching the Teach Pendant to a panel, |
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or the like. |
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TP1 Rev.5 |
11 |
Functions & Installation 3. Installation
3. |
Installation |
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3.1 |
Contents |
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TP1 (with cables) |
: 1 unit |
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Mode selector key |
: 2 units |
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3.2 |
Environmental Conditions |
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The Teach Pendant must be used in an environment that conforms to the following |
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requirements to ensure safe and reliable operation. |
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Item |
Condition |
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Ambient temperature |
0 to 50 deg C (with minimal variation) |
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Ambient relative |
5 to 95% |
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temperature |
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Protection structure |
IP65 (excluding the connector) |
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Environment |
- Keep away from dust, oily smoke, salinity, metal powder |
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and other contaminants. |
-Keep away from flammable or corrosive solvents and gases.
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Do not drop the Teach Pendant or hit hard against other objects to avoid |
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damage, as the case of the Teach Pendant may be damaged since the main |
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body is made of resin. |
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Use the hand strap to prevent dropping the Teach Pendant during operation. |
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Do not hit the touch panel of the Teach Pendant against a hard object or put |
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excessive pressure on it. The touch panel is made of glass. Therefore, if |
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excessive pressure is put on it, it may be damaged. |
CAUTION |
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Do not press or rub the surface of the front panel push buttons with a hard |
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object such as a tool. The surface of the buttons may be damaged as they are |
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easily scratched. |
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Wipe the dirt and oils adhering to the surface of the Teach Pendant display with |
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a soft cloth dampened with a neutral detergent or an alcohol solvent. |
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If using the mounting bracket, check that the bracket and screws are not bent or |
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loosened. |
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12 |
TP1 Rev.5 |
Functions & Installation 3. Installation
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.
The Teach Pendant and the Operator Panel is connected to TP/OP port of controller.
NOTE 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)
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TP Cable |
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Controller |
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Teach |
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A |
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Pendant |
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Conversion Kit CK1 |
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B: Only using Teach Pendant (TP Cable B)
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Controller |
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TP Cable |
Teach |
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B |
Pendant |
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C: Only using Operator Panel
Controller |
OP Cable |
Operator |
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Panel |
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D: Using Teach Pendant and Operator Panel
Controller |
OP Cable |
Operator |
TP Cable |
Teach |
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Panel |
A |
Pendant |
TP1 Rev.5 |
13 |
Functions & Installation |
3. Installation |
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NOTE |
The shape of the cable connector used in connection A and D differs to connection B. |
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TP Cable A : Circular connector to connect to the Operator Panel. |
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(Direct connection is available with conversion kit CK1.) |
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TP Cable B : D-sub connector to connect directly to the Controller. |
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NOTE |
When Teach Pendant with Operator Panel cable is inserted to the TP port of the |
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Operator Panel, both Operator Panel and Teach Pendant are available. |
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(Connection D) |
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NOTE |
Do |
not connect TP1 to the following Robot Controllers. Connecting to the |
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following Robot Controllers may result in malfunction of the device since the pin |
assignments are different.
RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
(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 |
Teach Pendant insert and removal from the Controller are available when the |
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Controller power is ON. |
NOTE |
When Teach Pendant connector is removed from the Controller with the mode |
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selector key switch of Teach Pendant that is in “Teach” position, the operation mode |
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will remain in TEACH mode. The operation mode cannot be switched to AUTO |
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mode. Make sure to remove the Teach Pendant after switching the operation mode |
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to “Auto” mode. |
(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.
NOTE 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 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.
14 |
TP1 Rev.5 |
Functions & Installation 3. Installation
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
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TP1 Rev.5 |
15 |
Functions & Installation 3. Installation
201.4 |
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100 |
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56.2 |
J |
31.4 |
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100 |
226 |
K
Front View
Hook A
392.9
Hook B
[Unit :mm]
6
6
Detail : J
6
6
Detail : K
118
39.6
Back View |
Side View |
16 |
TP1 Rev.5 |
Functions & Installation 3. Installation
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)
NOTE 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.
TEACH mode |
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Teaching |
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Jog & Teach |
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2.1 Jog & Teach |
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RC170
2.3 Changing
the Jog Distance data
2.4 Arm / Tool / Local / ECP
2.5 Executing I/O Commands
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Point Editor |
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2.2 Editing Points |
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Motion Command 2.6 Executing Motion Commands
Maintenance |
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Calibration |
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2.7 Calibration |
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(E2 series / G series)
2.8 Calibration
Brake Release
(PS series)
(Six-axis) 2.9 Releasing the Brake
(PS3 only)
AUTO mode
18 |
TP1 Rev.5 |
Functions & Installation 4. Operation Mode (TEACH/AUTO)
Change the TEACH mode and AUTO mode with the mode selector 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.
TP1 Rev.5 |
19 |
Functions & Installation 5. Operation Panel (Key Description)
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E-STOP lamp |
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Safety lamp |
Alphabet and Number |
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Input keys |
Jog keys |
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Reset key |
Arrow keys |
Motor key |
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Cancel key |
Home key |
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Teaching keys |
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OK key |
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Function 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 |
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From 0 to 9 |
Number input |
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OFF |
Number input mode |
- (minus) |
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.(period) |
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ABC to WXYZ |
Alphabet input |
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ON |
Alphabet input mode |
SP (space) |
Space input |
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a/A |
Case selector |
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Sym |
Symbol input |
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Common |
CLR |
Clear number and alphabet |
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Enter |
Set number and alphabet |
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20 |
TP1 Rev.5 |