Epson TP1 User Manual

0 (0)

RC170 Option

Teach Pendant

TP1

Rev.5

EM079P1591F

RC170 Option Teach Pendant

TP1 Rev.5

ii

RC170 Option

Teach Pendant

TP1U

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, 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.

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

Japan & Others

SEIKO EPSON CORPORATION

 

Suwa Minami Plant

 

Factory Automation Systems Dept.

 

1010 Fujimi, Fujimi-machi,

 

Suwa-gun, Nagano, 399-0295

 

JAPAN

 

 

TEL

: +81-(0)266-61-1802

 

FAX

: +81-(0)266-61-1846

SUPPLIERS

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

 

Factory Automation Division

 

Otto-Hahn-Str.4

 

D-40670 Meerbusch

 

Germany

 

 

TEL

: +49-(0)-2159-538-1391

 

FAX

: +49-(0)-2159-538-3170

 

E-MAIL

: robot.infos@epson.de

Before Reading This Manual

Following descriptions are indicated throughout the manual by these symbols.

NOTE

The “NOTEsections describe important information to be

)

followed for operating the Robot system.

TIP

The “TIP” sections describe hints for easier or alternative

)

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.”

iv

TP1 Rev.5

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

1.1

Jog Operation ...........................................................................................

27

1.2

Teaching ...................................................................................................

28

1.3

Direct Teaching.........................................................................................

29

2 TEACH Mode

31

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

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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.

Functions & Installation 1. Safety

1.Safety

1.1Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

 

This symbol indicates that a danger of possible serious injury

 

or death exists if the associated instructions are not followed

WARNING

properly.

 

 

 

This symbol indicates that a danger of possible harm to people

 

caused by electric shock exists if the associated instructions are

WARNING

not followed properly.

 

 

 

This symbol indicates that a danger of possible harm to people

 

or physical damage to equipment and facilities exists if the

CAUTION

associated instructions are not followed properly.

 

 

1.2Safety 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

 

 

 

 

cannot fulfill its intended function in an emergency.

 

 

 

 

WARNING

 

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.

 

 

 

 

 

 

 

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,

 

 

WARNING

 

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

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.

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

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.

 

General requirements

UL 508

Industrial Control Panels

(=CSA C22.2 No.14)

 

EN 50178

Electronic equipment for use in power installations

EN 61131-1 (IEC1131-1) Programmable controllers - Part 1: General information

EN 61131-2 (IEC1131-2) Programmable controllers; part 2: equipment requirements

 

and tests

UL 1740

Industrial robots and robotic equipment

ANSI/RIA R15.06,

American National Standard; Industrial Robots and Robot

(=CSA-Z434-94)

Systems - Safety Requirements

ISO 11161

Industrial automation systems - Safety of integrated

 

manufacturing systems - Basic requirements

EN 12417

Machine tools. Safety. Machining centers

EN 14070

Safety of machine tools - Transfer and special-purpose

 

machines.

6

TP1 Rev.5

Functions & Installation 1. Safety

1.3EMERGENCY 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.

 

 

 

 

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

1.4Mode 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.

1.5Using 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

Functions & Installation 2. Specifications

2.Specifications

2.1Part Names and Functions

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.

10

TP1 Rev.5

Functions & Installation 2. Specifications

2.2Standard Specifications

 

Item

Specification

 

 

DC24 V

 

Rated voltage

General

Electric power consumption

6 W or less

specifications

 

1075 g

 

Weight

(include EMERGANCY STOP switch and the

 

 

mode selector key switch, excluding cables)

Display

Display element

F-STN type Black and white LCD

Contrast

8-level (Gray scale)

specifications

Back light

LED (Color : White)

 

Serial interface

Electrical characteristics

Compliant with RS-422A standard

specifications

 

 

2.3Outer Dimensions

240

 

37

55 22

251.9

(Unit : mm)

NOTE

Use the installation metal in the attachment when attaching the Teach Pendant to a panel,

 

or the like.

 

 

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

0 to 50 deg C (with minimal variation)

 

 

 

 

 

 

Ambient relative

5 to 95%

 

 

temperature

 

 

 

 

 

 

 

Protection structure

IP65 (excluding the connector)

 

 

 

 

 

 

Environment

- Keep away from dust, oily smoke, salinity, metal powder

 

 

 

and other contaminants.

-Keep away from flammable or corrosive solvents and gases.

3.3Operating Precautions

 

 

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.

CAUTION

 

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

Functions & Installation 3. Installation

3.4Connection

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.

3.4.1 Typical cable connection

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)

 

TP Cable

 

 

Controller

 

Teach

 

 

A

 

Pendant

 

 

 

 

 

 

 

Conversion Kit CK1

 

 

 

B: Only using Teach Pendant (TP Cable B)

 

 

 

 

Controller

 

TP Cable

Teach

 

B

Pendant

 

 

 

 

 

 

 

 

 

 

C: Only using Operator Panel

Controller

OP Cable

Operator

 

Panel

 

 

D: Using Teach Pendant and Operator Panel

Controller

OP Cable

Operator

TP Cable

Teach

 

 

Panel

A

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.

 

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.

NOTE

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)

NOTE

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**

3.4.2Connection 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

Teach Pendant insert and removal from the Controller are available when the

 

Controller power is ON.

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.

3.4.3Operator 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.

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

3.5Power 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

 

 

 

 

 

 

TP1 Rev.5

15

Epson TP1 User Manual

Functions & Installation 3. Installation

3.6 Wall Bracket (Option)

Outer Dimension

201.4

 

100

 

56.2

J

31.4

 

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 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 A coordinate point including the arm pose is defined as “position (point),” and the data is called “point data.”

4.1Outline

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

 

Teaching

 

Jog & Teach

 

2.1 Jog & Teach

 

 

 

RC170

2.3 Changing

the Jog Distance data

2.4 Arm / Tool / Local / ECP

2.5 Executing I/O Commands

 

Point Editor

 

2.2 Editing Points

 

 

 

 

 

 

Motion Command 2.6 Executing Motion Commands

Maintenance

 

Calibration

 

2.7 Calibration

 

 

 

(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)

4.2Switch Operation Mode

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)

5. Operation Panel (Key Description)

Key Description

 

E-STOP lamp

 

Safety lamp

Alphabet and Number

 

Input keys

Jog keys

 

Reset key

Arrow keys

Motor key

 

Cancel key

Home key

 

Teaching keys

 

 

OK key

 

Function 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.

Alph

Mode

Key

Function

 

 

 

 

 

 

From 0 to 9

Number input

OFF

Number input mode

- (minus)

 

 

 

.(period)

 

 

 

ABC to WXYZ

Alphabet input

ON

Alphabet input mode

SP (space)

Space input

a/A

Case selector

 

 

 

 

Sym

Symbol input

 

Common

CLR

Clear number and alphabet

 

 

 

 

Enter

Set number and alphabet

 

 

 

 

 

 

20

TP1 Rev.5

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