Epson TP3 User Manual

Rev.8 EM183F3602F

Robot Controller
RC700-A Option

Teach Pendant

TP3

ii

Robot Controller RC700-A Option Teach Pendant TP3 Rev.8

RC700-A option TP3 Rev.8 i

Robot Controller RC700-A Option

Teach Pendant

TP3

Rev.8

Copyright © 2015-2018 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700-A option TP3 Rev.8

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

ca

nnot warn the user of all possible hazards.

RC700-A option TP3 Rev.8 iii

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.

iWnn IME of OMRON SOFTWARE Co., Ltd. is used for TP3.

iWnn IME © OMRON SOFTWARE CO., Ltd. 2014 All Right Reserved.

TRADEMARK NOTATION IN THIS MANUAL

Microsoft® Windows® XP Operating system

Microsoft® Windows® Vista Operating system

Microsoft® Windows® 7 Operating system

Microsoft® Windows® 8 Operating system

Microsoft® Windows® 10 Operating system

Throughout this manual, Windows XP, Windows Vista, Windows 7, Windows 8, and

Windows 10 refer to above respective operating systems. In some cases, Windows refers

generically to Windows XP, Windows Vista, Windows 7, Windows 8, and Windows 10.

NOTICE

No 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.

MANUFACTURER

iv RC700-A option TP3 Rev.8

Before Reading This Manual

Following descriptions are indicated throughout the manual by these symbols

.

The “NOTE” sections describe important information to be

followed for operating the Robot system.

The “TIP” sections describe hints for easier or alternative

operations.

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

called “point data.”

Control System Configuration

This option is used with the following combinations of Controllers and software.

Controller / Manipulator

Software

RC700-A EPSON RC+ 7.0 Ver.7.2.0 or later

T series EPSON RC+ 7.0 Ver.7.3.1 or later

For T series Manipulator user only

T series Manipulators are controller integrated manipulators.

Read “Controller” and “Robot Controller” described in this manual as “T series

Manipulator”.

NOTE

TIP

NOTE

Table of Contents

RC700-A option TP3 Rev.8 v

Functions & Installation

1. Safety 3

1.1 Conventions ................................................................................................ 3

1.2 Safety Precautions ...................................................................................... 3

1.2.1 Safety Precautions ......................................................................... 3

1.2.2 Safety-related Requirements ......................................................... 5

1.3 EMERGENCY STOP .................................................................................. 6

1.4 Using Teach Pendant in Safeguarded Area ............................................... 7

2. Specifications 8

2.1 Part Names and Functions ......................................................................... 8

2.2 Standard Specifications ............................................................................ 10

2.3 Outer Dimensions ..................................................................................... 10

3. Installation 11

3.1 Contents .................................................................................................... 11

3.2 Environmental Conditions ......................................................................... 11

3.3 Operating Precautions .............................................................................. 11

3.4 Wall Bracket (Option) ................................................................................ 12

3.4.1 Outer Dimension........................................................................... 12

3.4.2 How to Mount and Use the Teach Pendant ................................. 12

3.5 Connection ................................................................................................ 13

3.5.1 Connection to the Controller......................................................... 13

3.5.2 Connection Examples .................................................................. 14

3.6 Power Supply ............................................................................................ 15

4. Operation Mode (TEACH, AUTO, TEST) 16

4.1 Overview of Operation Modes .................................................................. 16

4.2 Switching the Operation Modes ................................................................ 18

5. Jog Keys and EXE. Key 19

6. Enable Switch 20

7. Touch Panel 21

7.1 Operating the Touch Panel ....................................................................... 21

7.2 Operating the Menu .................................................................................. 22

7.3 Operating the Panels ................................................................................ 23

7.4 Operating the Software Keypad ............................................................... 24

7.4.1 Floating mode ............................................................................... 25

Table of Contents

vi RC700-A option TP3 Rev.8

8. USB Port 26

8.1 Cautions when using USB flash drive ...................................................... 26

8.1.1 Available USB Flash Drive .............................................................. 26

9. Warning Sound (Beep) 26

Operation

1. Teaching Procedure 29

1.1 Jog Operation ........................................................................................... 30

1.1.1 Step Jog Operation ...................................................................... 30

1.1.2 Continuous Jog Operation ........................................................... 30

1.2 Teaching ................................................................................................... 30

1.3 Direct Teaching ......................................................................................... 31

1.3.1 Direct Teaching of SCARA Robot ................................................ 31

1.3.2 Direct Teaching of Force Sensor .................................................. 31

2. Common Functions 33

2.1 Current Robot ........................................................................................... 34

2.2 Status Bar ................................................................................................. 34

2.3 Tool ........................................................................................................... 35

2.3.1 I/O Monitor .................................................................................... 35

2.3.2 Robot 3D View ............................................................................. 36

2.3.3 Brake Setting ................................................................................ 38

2.3.4 Command Window ....................................................................... 39

2.3.5 Task Manager ............................................................................... 40

2.3.6 Force Monitor ............................................................................... 41

2.4 Sub Menus ................................................................................................ 42

2.4.1 Change Jog Key ........................................................................... 42

2.4.2 System History ............................................................................. 42

2.4.3 Motor ............................................................................................ 43

2.4.4 Reset ............................................................................................ 43

2.5 Error Messages ........................................................................................ 44

3. TEACH/T1 Mode 45

3.1 Control Panel ............................................................................................ 46

3.1.1 Motors .......................................................................................... 46

3.1.2 Free Joints .................................................................................... 46

3.1.3 Command Buttons ....................................................................... 47

3.2 Jog & Teach .............................................................................................. 48

3.2.1 Mode............................................................................................. 49

3.2.2 Speed ........................................................................................... 49

3.2.3 Coordinate System ....................................................................... 49

Table of Contents

RC700-A option TP3 Rev.8 vii

3.2.4 Current Position ............................................................................ 50

3.2.5 Current Arm Orientation ............................................................... 50

3.2.6 Jog Distance ................................................................................. 50

3.2.7 Registering the Robot Position ..................................................... 51

3.2.8 Command ..................................................................................... 51

3.2.9 Jog Key Guide .............................................................................. 52

3.3 Programming ............................................................................................ 53

3.3.1 Current Project Management ....................................................... 53

3.3.2 Program Editing ............................................................................ 54

3.3.3 Point File Management ................................................................ 54

3.3.4 Point Data Editing ......................................................................... 54

3.4 Test ............................................................................................................ 56

3.4.1 Single-task Program Verification .................................................. 57

3.4.2 Multi-task Program Verification .................................................... 59

3.4.3 TEST Mode Operation Method .................................................... 62

3.5 Robot Parameters ..................................................................................... 63

3.5.1 Local Coordinate System Setting ................................................. 63

3.5.2 Tool Coordinate System Setting ................................................... 64

3.5.3 Additional Arm setting ................................................................... 65

3.6 Direct Teach .............................................................................................. 66

3.6.1 Coordinate System ....................................................................... 67

3.6.2 Current Position ............................................................................ 67

3.6.3 Current Arm Orientation ............................................................... 67

3.6.4 Force Setting ................................................................................ 68

3.6.5 Teaching ....................................................................................... 70

4. TEACH/T2 Mode 72

4.1 Test (T2) .................................................................................................... 73

5. AUTO Mode 74

5.1 Operator Panel.......................................................................................... 75

5.1.1 Program Execution ....................................................................... 76

5.2 Maintenance ............................................................................................. 77

5.2.1 Backup .......................................................................................... 77

5.2.2 Restore ......................................................................................... 78

5.2.3 Controller Maintenance ................................................................ 79

5.2.4 Robot Maintenance ...................................................................... 80

5.3 Configuration ............................................................................................. 81

5.3.1 Preferences .................................................................................. 81

5.3.2 System Information ...................................................................... 82

5.3.3 Update Software ........................................................................... 82

5.3.4 Shutdown ...................................................................................... 83

Table of Contents

viii RC700-A option TP3 Rev.8

6. Password Setup 84

7. Troubleshooting 85

Display panel is blank ....................................................................................... 85

An Error code appears and the Robot does not operate normally ................... 85

Robot does not move by pressing the Jog key ................................................. 85

Operation mode does not switch from TEACH mode to AUTO mode .............. 85

Program list is not displayed in program verification window of

TEST mode ........................................................................................................ 85

8. Maintenance Parts List 86

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

RC700-A option TP3 Rev.8 3

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

This symbol indicates that a danger of possible serious injury

or death exists if the associated instructions are not followed

properly.

WARNING

This symbol indicates that a danger of possible harm to people

caused by electric shock exists if the associated instructions are

not followed properly.

CAUTION

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

1.2.1 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.

WARNING

■

Only trained personnel should design and install the robot system.

Trained

personnel are defined as those who have taken robot system training and
maintenance training classes held by the manufacturer, dealer, or local
representative company, or those who

understand the manuals thoroughly and

have the 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
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.).
Th

e 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.

Functions & Installation 1. Safety

4 RC700-A option TP3 Rev.8

WARNING

■

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 (operat

ions, 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.
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.

WARNING

■ 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 conta

ct 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.

Functions & Installation 1. Safety

RC700-A option TP3 Rev.8 5

CAUTION

■ 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.

1.2.2 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 ISO 10218-1

Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots

EN ISO 10218-2

Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot

systems and integration

ANSI/RIA

R15.06

American National Standard for Industrial Robots and Robot Systems -- Safety

Requirements

EN ISO 12100

Safety of machinery -- General principles for design -- Risk assessment and risk reduction

EN ISO 13849-1

Safety of machinery -- Safety-related parts of control systems -- Part 1: General principles

for design

EN ISO 13850

Safety of machinery -- Emergency stop -- Principles for design

EN ISO 13855

Safety of machinery -- Positioning of safeguards with respect to the approach speeds of

parts of the human body.

EN ISO 13857

Safety of machinery -- Safety distances to prevent hazard zones being reached by upper

and lower limbs.

ISO 14120

EN953

Safety of machinery -- Guards -- General requirements for the design and construction of

fixed and movable guards

IEC 60204-1

EN 60204-1

Safety of machinery -- Electrical equipment of machines -- Part 1: General requirements

CISPR11

EN 55011

Industrial, scientific and medical (ISM) radio-frequency equipment -- Electromagnetic

disturbance characteristics -- Limits and methods of measurement

IEC 61000-6-2

EN 61000-6-2

Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards -- Immunity for

industrial environments

Functions & Installation 1. Safety

6 RC700-A option TP3 Rev.8

1.3 EMERGENCY STOP

WARNING

■

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.

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.

Pressing the Emergency Stop switch stops program execution and stops excitation of the

motors on the robot axes. Programs and point data will not be corrupted.

When pushed, the Emergency Stop switch holds the Emergency Stop state mechanically

and electrically.

How to reset EMERGENCY STOP

Follow the steps below to reset the Emergency Stop state.

(1) Remove the cause of the Emergency Stop and verify that it is safe to operate the

robot

again.

(2) Turn the Emergency Stop switch right and release the mechanical hold.

(3) Turn the Teach Pendant mode selector key switch to “TEACH”.

(4) Tap the [Control Panel] tab on the touch panel to display the [Control Panel] panel.

(5)

Press the <Reset> button to reset the Emergency Stop.

(6)

Check that [Emergency Stop] on the status bar of the touch panel is “OFF”.

Functions & Installation 1. Safety

RC700-A option TP3 Rev.8 7

1.4 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 while the Enable

Switch is held down and the safeguard is open.

When the mode is switched to the test mode (T1 or T2), the operator can verify a program

while the Enable Switch is held down and the safeguard (including the safety doors) is

open.

Person who will be using the Teach Pendant should be thoroughly trained on how to use it.

Follow the guidelines below 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. Perform teaching operations and verify a program in

“teaching” or “test” mode.

(3) After teaching is completed, leave the safeguarded area and close the safeguard.

(4) Return the mode selector key switch to “AUTO”.

(5) Input the latch release signal from the EMERGENCY connector to release the latch

status.

For details, refer to the following manual.

Robot Controller manual (RC700 / RC700-A).

Setup & Operation 9.3 Pin Assignments

For T series manipulator

T series manipulator manual Setup & Operation 11.3 Pin Assignment

The TEACH mode status is latched by software.

To switch the mode from TEACH to AUTO, release the latched condition by inputting the

latch release input signal.

CAUTION

■ Although the Teach Pendant can be operated inside the safeguarded area as
described above, operate the robot system while all operators are outside of the
safeguarded area wherever possible.

NOTE

Functions & Installation 2. Specifications

8 RC700-A option TP3 Rev.8

2. Specifications

2.1 Part Names and Functions

Front view

(3)

(2)

(1)

(5)

(4)

Back view

(8)

(6)

(7)

(9)

(10)

(8)

(1) Mode Selector Key switch

The mode selector key switch is used to change the operation mode between

TEACH

*1

and AUTO. The mode can be fixed by pulling out the key.

(*1: For the test mode: T1 and T2)

When the mode is switched while a program is running, the program will be stopped.

To switch the mode from TEACH to AUTO, close the latch.

To change to the test mode, switch the mode selector key switch to TEACH, and tap

the [Test] tab on the touch panel.

For details of the operation modes, refer to Functions & Installation 4 Operation

Mode (TEACH, AUTO, TEST).

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

NOTE

Functions & Installation 2. Specifications

RC700-A option TP3 Rev.8 9

(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 Functions &

Installation 1.3 EMERGENCY STOP.

(3) Touch Panel

The touch panel is used to display various kinds of information, select the functions,

and enter the setting values.

(4) Jog Key / EXE. Key

The keys are used for teaching operation and command execution.

(5) Connection Cable

This cable is used to connect the Teach Pendant and the Controller.

The connector is attached at the end of the cable.

(6) Handle

The handle is used to support the Teach Pendant by an arm. To hold the handle, grip

either one of the parts with raised bumps which are located on right and left of the

handle.

(7) Touch pen

The touch pen is used to operate the touch panel.

(8) Enable switch

This is a three-position switch (right-handed/ left-handed). To operate the robot in

the TEACH mode, grip either right- or left-hand switch and use the jog keys.

When operating the robot in the test mode, set the switch to ON position.

The switch turns ON when it is at the midpoint, and it turns OFF when it is fully

gripped or released.

(9) USB port protection cover

This is a cover for the USB port.

The cover can be removed by holding and lightly pulling the thin part at the tip.

CAUTION

■ Make sure to set the cover to protect the USB port when the USB port is not used.

(10) USB port

The port for connecting the USB memories.

Functions & Installation 2. Specifications

10 RC700-A option TP3 Rev.8

2.2 Standard Specifications

Item

Specification

General

specifications

Rated voltage

24 VDC

Electric power consumption

16 W or less

Weight

Approx. 1.5 kg (excluding cables)

Display

specifications

Size

10.1 inches TFT color LCD

Pixels

1280 × 800

2.3 Outer Dimensions

[Unit: mm]

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

or the like.

NOTE

Functions & Installation 3. Installation

RC700-A option TP3 Rev.8 11

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 40 deg C (with minimal variation)

Ambient relative
temperature

5 to 95%

Protection structure IP65

Environment -

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

and other contaminants.

-

Keep away from flammable or corrosive solvents and

gases.

3.3 Operating Precautions

CAUTION

■ Do not drop the Teach Pendant or hit hard against other objects to avoid damage,

as the case of the Teach Pendant may be damaged since the main body is made
of resin.

■ Do not hit the touch panel of the Teach Pendant against a hard object or put

excessive pressure on it

. The touch panel is made of glass. Therefore, if

excessive 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 neutral detergent or alcohol solvent.

Functions & Installation 3. Installation

12 RC700-A option TP3 Rev.8

3.4 Wall Bracket (Option)

3.4.1 Outer Dimension

Detail: X

Detail

: Y

[Unit: mm]

C

A

B

3.4.2 How to Mount and Use the Teach Pendant

To use the Teach Pendant with the wall bracket, follow the

steps below.

For locations of A, B, C, X, and Y in the following steps,

refer to 3.4.1 Outer Dimension.

(1) Screw the wall bracket and fix it to the wall.

Installation position: X × 2 parts, Y × 1 part

Screw size: M5

(2) Hang the Teach Pendant handle to A.

(3) Place the Teach Pendant to B.

(4) Hang the teach Pendant cable to C.

Teach Pendant

Cable

Functions & Installation 3. Installation

RC700-A option TP3 Rev.8 13

3.5 Connection

This section describes the connection of the Controller and the Teach Pendant.

CAUTION

■

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. Connecting
the connector with the pin bent may cause malfunction and result in improper
function of the system.

3.5.1 Connection to the Controller

(1) Check that the Controller and the robot are connected properly.

(2) Connect the connector of the Teach Pendant cable to the TP port of the Controller.

Turn the  mark on the connector of the Teach Pendant upwards and push the

connector into the connector on the Controller while aligning to the  mark.

(3) Turn ON the controller.

The Teach Pendant can be connected to and removed from the Controller when the

Controller power is ON.

- When the Teach Pendant connector is removed from the Controller with the mode

selector key switch of the Teach Pendant 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”.

- The Controller enters the Emergency Stop state if nothing is connected to the TP

port. Connect the TP bypass plug when the Teach Pendant is not connected.

Removal from the Robot Controller

(1) Switch the mode selector key switch to “AUTO”.

(2) Tap the [Configuration] tab to display the [Configuration] panel.

NOTE

Functions & Installation 3. Installation

14 RC700-A option TP3 Rev.8

(3)

Select “Shutdown” from the [Function] list.

(4) Tap the <Execute> button to shut down the Teach Pendant.

For details, refer to the following section:

Operation 5.3.4 Shutdown

(5) Turn the connector of the Teach Pendant counterclockwise lightly and pull it from the

TP port of the Controller.

CAUTION

■ Before removing the Teach Pendant connector from the TP port on the Controller,
be sure to shut down the Teach Pendant by tapping the <Execute> button on the
[Configuration] panel.
If the connector is removed without shutting down, the data may not be saved
properly.

3.5.2 Connection Examples

When connecting the Teach Pendant to the Controller directly:

When using an extension cable:

Extension cable

To extend the cable, use the extension cable (optional: 10 m or 15 m).

NOTE

Functions & Installation 3. Installation

RC700-A option TP3 Rev.8 15

3.6 Power Supply

The power to the Teach Pendant is supplied via the TP connector on the Controller.

After communication between the Controller and the Teach Pendant is established, the

following screen will appear on the display of the Teach Pendant.

TEACH mode

AUTO mode

Functions & Installation 4. Operation Mode (TEACH, AUTO, TEST)

16 RC700-A option TP3 Rev.8

4. Operation Mode (TEACH, AUTO, TEST)

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

called “point data.”

4.1 Overview of Operation Modes

The robot system has three operation modes: TEACH, AUTO, and TEST modes.

TEACH mode

This mode enables point data teaching and checking 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 factory.

In this mode, robot operation and program execution are not allowed

when the safety door is open.

TEST mode

T1

This mode enables program verification while the Enable Switch is

held down and the safeguard (including the safety door) is open.

This is a low speed

program verification function (T1: manual

deceleration mode) which is defined in Safety Standards.

In this mode, the specified Function can be executed with multi-task /

single-task, multi-manipulator / single-manipulator at low speed.

T2

This mode enables program verification while the Enable Switch is

held down and the safeguard (including the safety door) is open.

Unlike the TEST/T1, the program verification in a high speed is

available in this mode.

In this mode, the specified Function can be executed with multi-task /

single-task, multi-manipulator / single-manipulator at high speed.

NOTE

Functions & Installation 4. Operation Mode (TEACH, AUTO, TEST)

RC700-A option TP3 Rev.8 17

TEACH/T1

Control Panel

3.1 Control Panel

Jog &

Tea c h

3.2 Jog & Teach

Programming

3.3 Programming

Tes t

3.4 Test

Robot Parameter

3.5 Robot Parameter

Direct Teach

3.6 Direct Teach

TEACH/T2

Control Panel

3.1 Control Panel

Jog & Teac h

3.2 Jog & Teach

Programming

3.3 Programming

Test (T2)

4.1 Test (T2)

Robot Parameter

3.5 Robot Parameter

Direct Teach

3.6 Direct Teach

AUTO

Operator Panel

5.1 Operator Panel

Maintenance

5.2 Maintenance

Configuration

5.3 Configuration

: Panel name

: Relevant section

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

NOTE

Functions & Installation 4. Operation Mode (TEACH, AUTO, TEST)

18 RC700-A option TP3 Rev.8

4.2 Switching the Operation Modes

The mode selector key switch on the Teach Pendant switches between TEACH mode and

AUTO mode.

To change to TEST (T1 or T2) mode, switch the mode selector key switch to TEACH, and

then tap the [Test] tab on the touch panel.

TAECH mode

Turn the mode selector key switch to “TEACH” for TEACH mode.

(TEACH mode is available when the key switch is either at

TEACH/T1 or TEACH/T2)

The running program pauses when the operation mode is switched to

TEACH mode.

The running robot stops by Quick Pause immediately.

AUTO mode

To switch to AUTO mode, turn the mode selector key switch to

“AUTO” and then turn the latch release input signal to ON by the

EMERGENCY connector of the Controller.

TEST mode

T1

Turn the mode selector key switch to “TEACH/T1” for “TEACH”

mode. Tap the [Test] tab to change the mode to T1.

T2

Turn the mode selector key switch to “TEACH/T2” for “TEACH”

mode. Tap the [Test (T2)] tab to change the mode to T2. Enter the

password if it is set.

T2 mode cannot be used on RC700-A Controllers

complying with the UL standards.

TEACH mode status is latched by software.

To switch the mode from TEACH to AUTO, release the latched condition using the latch

release input.

For details, refer to the following manual.

R

obot controller manual (RC700 / RC700-A):

Setup & Operation 9.1 Safety Door Switch and Latch Release Switch

For T series manipulator

T series manipulator manual

Setup & Operation 11.1 Safety Door Switch and Latch Release Switch

NOTE

Functions & Installation 5. Jog Keys and EXE. Key

RC700-A option TP3 Rev.8 19

5. Jog Keys and EXE. Key

EXE. Key

Jog Keys

EXE. Key

Description

To perform the following operations, press the Enable Switch and the
<EXE.> key at the same time.

To execute the commands in TEACH mode

To execute the program in TEST mode

The jog keys are only available in TEACH mode.

Jog Key

Description

Joint mode

Jogs J1

Other than

Joint mode

Jogs in X direction of the rectangular coordinate
system

Joint mode

Jogs J2

Other than

Joint mode

Jogs in Y direction of the rectangular coordinate
system

Joint mode

Jogs J3

Other than

Joint mode

Jogs in Z direction of the rectangular coordinate

system

Joint mode

Jogs J4 or J7

Other than
Joint mode

Rotates the tool coordinate system around the Z
axis of the rectangular coordinate system.

Joint mode

Jogs J5 or J8 (additional axis)

Other than
Joint mode

Rotates the tool coordinate system around the Y

axis of the rectangular coordinate system. Or
jogs the S axis (additional axis).

Joint mode

Jogs J6 or J9 (additional axis)

Other than
Joint mode

Rotates the tool coordinate system around the X

axis of the rectangular coordinate system. Or
jogs the T axis (additional axis).

Functions & Installation 6. Enable Switch

20 RC700-A option TP3 Rev.8

6. Enable Switch

In TEACH mode, some operations require use of the 3-position enable switch located on

the back of the Teach Pendant. The enable switch can be operated by either hand.

When operation of the enable switch is required, grip either switch to the center position

(ON state). If you grip the switch harder, it will be OFF state and the robot will stop.

Enable Switch (for Left Hand)

Back view

Left side

Right side

Enable Switch (for Right Hand)

How to press the Enable switch

Grip the enable switch by fingers of the hand holding the handler.

Example : When gripping by the left hand

Handle

Make sure to grip to the center position (ON state) when enabling the enable switch. If

the enable switch is not pressed enough to the center position (ON state), an error will

occur and the robot will stop due to the enable switch being in the OFF state.

Also, the following error message will appear when an error is occurred.

Restart (supply the power source of the Controller again) of the teaching pendant is

required to recover from the error.

NOTE

Functions & Installation 7. Touch Panel

RC700-A option TP3 Rev.8 21

7. Touch Panel

7.1 Operating the Touch Panel

The touch panel can be operated by fingers or the attached touch pen. The following

actions are required to use the Teach Pendant.

Name

How to operate

Tap

Tap the touch panel as if pressing the button.

Long tap

Keep touching one point on the panel.

Flick

Touch and slide a finger or touch pen in one direction and immediately
release.

Swipe

Touch the panel and move a finger or touch pen to one direction while
keeping the finger/pen touches the panel.

Functions & Installation 7. Touch Panel

22 RC700-A option TP3 Rev.8

7.2 Operating the Menu

Tap→

Or

Swipe from left

side of the

screen→

How to display the menu

- Swipe the screen from left side to center.

- Tap the button on the left side of the screen.

Functions & Installation 7. Touch Panel

RC700-A option TP3 Rev.8 23

7.3 Operating the Panels

The sub menu panels are displayed over the main panel.

The panels with a small square at the middle of all sides can be changed its size and

position by taping the squares.

Available sizes are full size, upper half, lower half, left half, and right half.

Example of size change

To change to the right half-size:

Tap the square on the right side of the full-sized window.

To change the right half-size window to full size:

Tap the square on the right end of the window.

To change the position

Change the right half-size window to left half-size:

Tap the square on the left end.

Change the left half-size to upper half-size:

Tap the square on the upper side of the window.

Functions & Installation 7. Touch Panel

24 RC700-A option TP3 Rev.8

7.4 Operating the Software Keypad

Use the software keypad when input of texts is required. The keypad can be displayed by

taping the text input area.

Key

Description

Closes the keyboard.

Letter key (AB12 key)
To display the menu, long-tap the key.

The following are the menus and functions displayed by long-tapping the letter key.

Item

Description

10 Key <->Full key

Switches the numeric keypad and the full keypad.

T

his function may not be supported depending on the

language setting.

Input mode

Input mode can be selected.

This function may not be supported depending on the

language setting.

Adjust keypad height

Adjusts the height of the keypad.

The height can be changed by swiping the bar on the top

of the keypad.

Floating mode ON/OFF

Switches the floating mode

Functions & Installation 7. Touch Panel

RC700-A option TP3 Rev.8 25

7.4.1 Floating mode

In the floating mode, position, size, and transparency can be changed.

Item

Key

Description

Move

Swipe the middle of the bar at the bottom.

Change size

Swipe the size button at the lower right and release at the
desired size.

Transparency

Tap the transparency button at the lower left

and adjust

transparency using the displayed scroll bar.

Functions & Installation 8. USB Port

26 RC700-A option TP3 Rev.8

8. USB Port

Connect a commercial USB flash drive to the TP3 memory port to use the following

features.

- Backup Controller information to a USB flash drive.

(Refer: Operation 5.2.1 Backup)

- Restore Controller information from a USB flash drive.

(Refer: Operation 5.2.2 Restore)

- Updating the software (Refer to: Operation 5.3.3 Update Software)

8.1 Cautions when using USB flash drive

- Although the port is a universal USB port, never connect anything other than a USB

flash drive.

- Insert a USB flash drive directly into the TP3 memory port.

Operation is not guaranteed when there are cables or hubs between TP3 and a USB

flash drive.

- Insert and remove a USB flash drive slowly and surely.

- Do not edit the saved files by the editor.

Operation of the robot system after data restoration is not guaranteed.

- Do not use two USB flash drives at once.

8.1.1 Available USB Flash Drive

Use a USB flash drive that meets the following conditions.

- USB2.0 supported

- Without security function

USB flash drive with password input function cannot be used.

9. Warning Sound (Beep)

The Teach Pendant beeps when the robot passes the singularity.

Operation

This section contains information about operation of the
Teach Pendant and maintenance procedure.

Operation 1. Teaching Procedure

RC700-A option TP3 Rev.8 29

1. Teaching Procedure

This chapter describes basic jog operation and teaching methods using the Teach Pendant.

Switching the mode selector key switch to <TEACH/T1> or <TEACH/T2> and selecting

the [Jog & Teach] tab displays the following panel.

To change the robot, refer to the following section:

Operation 2.1 Current Robot

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

NOTE

Operation 1. Teaching Procedure

30 RC700-A option TP3 Rev.8

1.1 Jog Operation

The robot can be moved to the teaching position by either of the following operation.

Step Jog operation

Continuous Jog operation

1.1.1 Step Jog Operation

In Step Jog, the robot moves each time the Jog key is pressed.

The jog distance has to be configured in [Jog Distance] beforehand (Long, Medium, and

Short).

Reference: Operation 3.2.6 Jog Distance

Pressing the Jog key while holding the Enable Switch executes step jogs.

In Step Jog, the robot moves in one direction even if two keys are pressed at the same time.

The robot does not move if more than three keys are pressed at the same time.

1.1.2 Continuous Jog Operation

In Continuous Jog, the robot moves while pressing the Jog key.

Specify the jog distance to “Continuous” in the [Jog Distance].

Reference: Operation 3.2.6 Jog Distance

The continuous jog can be executed by pressing the Jog key while gripping the Enable

Switch.

In Continuous Jog, the jog can be executed by pressing two jog keys at a time.

For example, pressing the “+X” and “+Y” keys together executes a continuous jog

diagonally. The robot does not move if more than three keys are pressed at the same

time.

1.2 Teaching

Teach the robot position to the specified point number.

(1) Specify the following items in the [Jog & Teach] panel.

[Point File] : Point file name
[Point] : Point number

(2) Tap the <Teach> button.

When the point number is already used, the message asking whether to overwrite the

data will appear.

(3) Enter the point label and comment in the displayed message dialog box.

(4) Tap the <OK> button of the message dialog box to temporarily store the robot

position.

(5) Press the <Save> button to save your changes.

NOTE

NOTE

Operation 1. Teaching Procedure

RC700-A option TP3 Rev.8 31

1.3 Direct Teaching

1.3.1 Direct Teaching of SCARA Robot

“Direct teaching” is a method to teach the point directly by manually moving the SCARA

robot while the motor of the joint to teach the point is off.

Teach a position of the manually moved robot to the specified point number.

(1) Select the [Control Panel] tab and move to the [Control Panel] panel.

(2) Turn off the motor of the joint to move in the [Free Joints]. De-energized joint can

be moved manually.

(3) Select the [Jog & Teach] tab and move to the [Jog & Teach] panel.

(4) Move the robot arm to the position where you want to teach.

(5) Tap the <Teach> button.

If the point number is already used, the message asking whether to overwrite the data

will appear.

(6) Enter the point label and comment in the message dialog box.

(7) Tap the <OK> button of the message dialog box to temporarily store the robot

position.

(8) Tap the <Save> button to save your changes.

1.3.2 Direct Teaching of Force Sensor

CAUTION



Executing the

direct teach with improper settings of the Force Sensor, coordinate

transformation, and gravity compensation

may result in unintended motion. Be

careful

when configuring the settings and check operation before executing the

direct teach

.

For details of the setting and operation check, refer to the following manual.

EPSON RC+ 7.0 Option Force Control 7.0

This function is available when Force Control 7.0 is setup.

For usage of the Force Control 7.0, refer to the following manual.

EPSON RC+ 7.0 Option Force Control 7.0

Apply the Robot position to the specified point number.

(1) Select the [Control Panel] tab and move to [Control Panel] panel.

(2) Tap the <MOTOR ON> button and turn ON the motor.

(3) Select the [Direct Teach] tab and move to [Direct Teach] panel.

(4) Select the [Force Setting] tab and move to [Force Setting] panel.

(5) Select the mass property object.

NOTE

Operation 1. Teaching Procedure

32 RC700-A option TP3 Rev.8

CAUTION



Executing the direct

teach with improper settings or the mass property object may

result in unintended motion.

Be careful when configuring the settings before

executing the direct teach

(6) Select the mode.

(7) Select the motion direction.

(8) Select the hardness.

(9) Select the [Teach] tab and display the [Teach] panel.

(10) Reset the Force Sensor.

CAUTION



Be sure to reset the Force Sensor with no external force applied to it.
If it is reset with an external force applied to it, the state in which an external force
applied is “0”. Therefore, if the force applied is removed, the Force Sensor
detects a force even if no force is applied. If executing the direct teach in this
state, the robot may move unintentionally. Caution is required in this regard.

(11) Tap the <Direct Teach Start> button.

Confirmation panel appears.

(12) Tap the <OK> button on the confirmation panel with turning ON the enable switch.

(13) Move the Robot arm to the position to teach.

CAUTION



Executing the direct teach with improper mode or

motion direction may result in

unintended motion.
Be careful when configuring the setting before executing the direct teach.



Apply the force to the hand or workpiece which is attached near the tip than the
Force Sensor

.

The Force Sensor cannot detect

the force when it is applied to the robot arm or

the

Force Sensor itself, and it may result in unintended robot motion. Caution is

required in this regard.

(14) Tap the <Teach> button.

(15) Enter the point label and comment on message dialog.

(16) Tap the <OK> button on the message dialog to save the robot position temporary.

(17) Tap the <Save> button to save the change.

Operation 2. Common Functions

RC700-A option TP3 Rev.8 33

2. Common Functions

This chapter describes common functions for all modes.

A: Selected robot can be checked.

Refer to: Operation 2.1 Current Robot

B: Status of emergency stop, safety door, motor, and power can be checked.

Refer to: Operation 2.2 Status Bar

C: Tap the icon to display the each tool menu.

Refer to: Operation 2.3 Tool

D: Tap the menu button to display the sub menu.

Refer to: Operation 2.4 Sub menus

Operation 2. Common Functions

34 RC700-A option TP3 Rev.8

2.1 Current Robot

Current robot number, name, and model are displayed.

To change the robot:

Tap the panel to display the list, and select the robot to change.

The robot cannot be registered to the Robot system by the Teach Pendant.

The robot can be changed in TEACH mode (TEACH/T1, TEACH/T2), but not in AUTO

mode.

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

2.2 Status Bar

This area displays the current robot status.

Name

Description

Value

Emergency Stop

Displays the emergency stop status

To release the emergency stop state,
tap the <Reset> button.

Refer to: Operation 3.1.3 Command Buttons

ON / OFF

Safeguard

Displays the safety door status

ON / OFF

Motor

Displays the robot motor status

ON / OFF

Power

Displays the robot motor power status

HIGH / LOW

NOTE

Operation 2. Common Functions

RC700-A option TP3 Rev.8 35

2.3 Tool

Tap the icon button to display the each tool menu.

The displayed icons differ depending on the currently used panel.

2.3.1 I/O Monitor

Tap to display the [I/O Monitor] panel.

Inputs/outputs and memory I/O of the Controller can be monitored.

Inputs and outputs can be displayed at the same time. Bit, Byte, and Word can be

selected.

Bit shows the I/O status and labels.

Byte and Word show values and labels.

Checking the [Hexadecimal Values] checkbox displays the byte and word values in

hexadecimal notation. Unchecking the checkbox displays the values in decimal notation.

Tapping [Status] of the bit you want to change with the Enable switch ON changes

ON/OFF of the output bits. However, ON/OFF cannot be changed if the [I/O Monitor]

panel is opened from the following panels:

[Test] panel [Operator Panel] panel

Statuses of the selected inputs are continuously updated, while outputs are updated when

the output bits are changed.

The I/O can be searched by the I/O label.

Enter the text to search and tap the search button. You can search through the currently

displayed list.

Operation 2. Common Functions

36 RC700-A option TP3 Rev.8

2.3.2 Robot 3D View

Tap to display the [Robot 3D View] panel.

The robot can be displayed in the 3D.

The coordinate axes and points are displayed on the same panel as the robot. This allows

you to check the robot posture and motion from various points of view.

Robot Display:

One currently selected robot can be displayed. The display changes as you change the

robot.

Coordinate system display:

To display the coordinate system, tap either <Local>, <Tool>, or <ECP> to select the

coordinate system you want to display and select the coordinate number. You can

select several coordinate numbers.

Coordinate axes are displayed as follows:

X axis: Green

Y axis: Blue

Z axis: Red

Point display:

To display the point, tap the <Point> button and select the point number from the current

point file. You can select several points.

The point can be displayed on the 3D display.

Operation 2. Common Functions

RC700-A option TP3 Rev.8 37

Field of View Control:

Enlarge, reduce the panel : Tap the <+/−> button on the panel.

Rotate the view : Swipe with the <Camera> button OFF.

Scroll the window : Swipe with the <Camera> button ON.

Return to default : Tap the <Reset> button.

Updating the display

Automatic and manual update can be selected. Tap the Auto/Manual button to switch

between automatic update and manual update.

Auto : Automatically and periodically updates the display.

Manual : The display is updated by tapping the <Refresh> button.

Operation 2. Common Functions

38 RC700-A option TP3 Rev.8

2.3.3 Brake Setting

Tap to display the [Brake] panel.

For the vertical 6-axis robots, the brake of each axis can be turned ON or OFF.

This is not available for non 6-axis robots.

The password entry panel will be displayed if the password is set. Enter the password

and tap <OK> to display the [Brake] panel.

Brake ON:

Check the checkboxes of the joints you want to lock the brakes.

The brakes will be locked.

Brake OFF:

Uncheck the checkboxes.

The confirmation massage will appear when you uncheck the checkboxes. Read the

message and tap <OK> to release the brakes. The joints can be moved by hands.

Operation 2. Common Functions

RC700-A option TP3 Rev.8 39

2.3.4 Command Window

Tap to display [Command Window] panel.

You can execute SPEL

+

commands by the Robot system and check the results.

The panel is divided to Input and Output.

Enter the SPEL

+

commands and parameters in [Input] area.

To execute the robot motion commands and I/O output commands, tap the <Enter> button

with the Enable Switch ON.

Turning OFF the Enable Switch stops robot motion and returns to the [Command] panel.

To execute the commands other than robot motion commands and I/O output commands,

tap the <Enter> button regardless of the Enable Switch status.

For details of the executable commands, refer to the following manual:

EPSON RC+ Language Reference

Appendix A: SPEL+ Command Use Condition List

The error message and error code are displayed in [Output] area in case of error.

The commands can be entered with both uppercase and lowercase characters.

The following are descriptions for the buttons.

<Enter> : Sends the commands to the Robot system.

<Clear> : Clears the strings of either window.

<All Clear> : Clears the strings of both windows.

Operation 2. Common Functions

40 RC700-A option TP3 Rev.8

2.3.5 Task Manager

Tap to display the [Task Manager] panel.

In this panel, task status can be monitored while the program is running. The tasks

cannot be operated.

When the [Task Manager] panel is opened, the status information for 32 standard tasks

and 11 trap tasks are displayed. If the background tasks are active, the status information

for 16 background tasks can be displayed.

Item

Description

Task

Tasks numbered from 1~32 and 11 trap tasks

Name

Task name

Status

Task status: Run, Wait, Halt, Pause, Aborted, Finished

Type

Normal : Normal tasks

NoPause : Tasks which do not pause at Pause statement

and Pause input signal occurrence and Safety
Door open state.

NoEmgAbort :

Tasks which continue the processing at
emergency stop and error occurrence

Line

Task line number

Function

Function name of the task

Program

Program name of the task

Start

Start time of the task

CPU

CPU load rate of each task
This function assists problem detection of user-created tasks

Operation 2. Common Functions

RC700-A option TP3 Rev.8 41

2.3.6 Force Monitor

Tap to display the [Force Monitor] panel.

Display the current Force value.

Item

Description

Graph

Display each value on the graph.

Force(N)

FX, FY, FZ

Display Force value of Fx, Fy, Fz.

Display the final value of the each axis. Data which checked

the checkbox is displayed.

Torque (N∙mm)

TX, TY, TZ

Display the torque value of Tx, Ty, and Tz axes on the graph.

Display the final value of the each

axis. Data which checked

the checkbox is displayed.

Force Scale

Set the vertical axis scale of the force graph.

Torque Scale

Set the vertical axis scale of the torque graph.

Time Scale

Set the horizontal axis scale of the force and torque graph.

Force Monitor
Object

Select from defined object (number or label) list. If selecting

the force monitor object, force and torque of force coordinate

system appear.

Monitor Start

Display the current value on the graph.

Force Sensor Reset

Set force and torque value as “0”.

Operation 2. Common Functions

42 RC700-A option TP3 Rev.8

2.4 Sub Menus

Tap the menu button on the right to display the sub menu.

The displayed sub menu differs depending on the currently operating panel.

2.4.1 Change Jog Key

Selecting “Change Jog Key” from the sub menu list enables you to change the axes

corresponding to the hardware keys.

When using the 7-axis robot, you can make the lower three sets of keys correspond with

different axes. If the keys do not need to be changed, this menu cannot be selected.

After changing the keys, the axes guide display will be updated.

2.4.2 System History

Selecting “System History” from the sub menu list displays the [System History] panel.

Displays events, errors, and warnings recorded in the current Robot system history.

Item

Description

Data to Display

Select the panel to display. (All, Events, Errors, Warnings)

From/To

Select the period to display the data.

The default setting is from the history start date to the history

end date.

Message
Contains

Enter the error message to search and tap the <Refresh> button.

Time Zone

Select the time zone.

Time of event, warning, and error occurrence are displayed

according to the selected time zone.

Refresh

Load the data from the Robot system.

Date/Time

Date and time of the selected item are displayed according to
[Time Zone].

Type

Event : Information of operation and mode changes by the

operator.

Operation 2. Common Functions

RC700-A option TP3 Rev.8 43

Item

Description

Warning : Information of status which requires taking

measures while the program execution can be

continued.

Error : Errors occurred in the program or robot.

Number

Displays the error codes.

For details of the codes, refer to the following manual.

EPSON RC+ SPEL

+

Language Reference

: SPEL+ Error Messages

Message

Function and Line

: Displays the function name and line number of

the error

if the error occurs during program

execution.

Robot and Axis

:

Displays robot and axis number of the error
occurrence if the error occurs on the robot.

Task Number

: Displays the task number of the error occurrence

if the error occurs in the program.

Displays “0” for other cases.

Code 1, Code 2

: Displays detailed error causes for some errors.

For details, refer to the following manual.

EPSON RC+ SPEL

+

Language Reference

: SPEL+ Error Messages

2.4.3 Motor

Select the “Motor” from the sub menu to set Motor ON or Motor OFF of all motors of the

robot.

Motor ON : Tap the <Motor ON> button with Motor OFF.

The confirmation window will appear. Tap the <OK> button.

The motors will be ON.

Motor OFF : Tap the <Motor OFF> button with Motor ON.

The motors will be OFF immediately.

2.4.4 Reset

Select the “Reset” from the sub menu to reset the robot servo system and emergency stop

status.

Operation 2. Common Functions

44 RC700-A option TP3 Rev.8

2.5 Error Messages

An error message appears when an error occurs.

Example: A message displayed in the panel.

Example: A message displayed in a pop-up window.

Tapping <OK> closes the pop-up window and returns to the original panel.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 45

3. TEACH/T1 Mode

Switching the mode selector key switch to “TEACH/T1” enables TEACH mode. In this

mode, basic robot operations, jog, point teaching, programming and verification, and robot

parameter setting can be performed.

TEACH/T1

Control Panel

3.1 Control Panel

Jog & Teac h

3.2 Jog & Teach

Programming

3.3 Programming

Tes t

3.4 Test

Robot Parameters

3.5 Robot Parameter

Direct Teach

3.6 Direct Teach

: Panel name

: Relevant section

Operation 3. TEACH/T1 Mode

46 RC700-A option TP3 Rev.8

3.1 Control Panel

In the [Control Panel] panel, basic robot operations such as motor ON/OFF and calibration

can be performed.

Switching the mode selector key switch to “TEACH/T1” and tapping the [Control Panel]

tab displays the [Control Panel] panel.

3.1.1 Motors

This button is used for turning ON or OFF all motors of the robot.

Motor ON : Tap the <Motor ON> button with Motor OFF.

The confirmation window will appear. Tap the <OK> button.

The motors will be ON.

Motor OFF : Tap the <Motor OFF> button with Motor ON.

The motors will be OFF immediately.

3.1.2 Free Joints

This group is used for turning ON or OFF the motors of joints individually.

When teaching the SCARA robot by the direct teaching, turn off the motor of the joint.

This is not available for the vertical 6-axis robots.

The following are descriptions for the buttons.

<J*> : Checking the checkbox of each joint releases the servo control.

Unchecking the checkbox locks the servo control.

<Free All> : Releases the servo control of all joints.

<Lock All> : Locks the servo control of all joints.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 47

3.1.3 Command Buttons

The buttons vary depending on the type of the selected robot.

The following are descriptions for the buttons.

<Reset> : Resets the robot servo system and the emergency stop state.

<Home> : Moves the robot to the point specified by HomeSet command.

This can be executed by pressing the <EXE.> key with the Enable
Switch ON while the confirmation dialog is displayed.

<Pulse0> : Moves each joint to the 0 pulse position.

This can be executed by pressing the <EXE.> key with the Enable
Switch ON while the confirmation dialog is displayed.

<MCal> : Performs calibration (detect the mechanical home position).

This can be executed by pressing the <EXE.> key with the Enable
Switch ON while the confirmation dialog is displayed.

Operation 3. TEACH/T1 Mode

48 RC700-A option TP3 Rev.8

3.2 Jog & Teach

The [Jog & Teach] panel is used in teaching.

Switching the mode selector key switch to “TEACH/T1” and tapping the [Jog & Teach]

tab displays the [Jog & Teach] panel.

Tapping the upper right menu button displays the sub menus.

For details of the panels displayed by selecting the menus, refer to the following.

[I/O Monitor] : Operation. 2.3.1 I/O Monitor

[Robot 3D View] : Operation. 2.3.2 Robot 3D View

[Brake] : Operation. 2.3.3 Brake Setting

[Command Window] : Operation. 2.3.4 Command Window

[Change Jog Key] : Operation. 2.3.5 Change Jog Key

[Motor] : Operation. 2.4.3 Motor

[Reset] : Operation. 2.4.4 Reset

In the [Jog & Teach] panel, the guide corresponding to the jog keys is displayed on the

right end.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 49

3.2.1 Mode

Select the jog mode.

Some modes may not be available depending on the type of the robot.

Item

Description

World

Jogs in current Local, Tool, arm and ECP coordinate systems.

Tool

Jogs in current Tool coordinate system.

Local

Jogs in current Local coordinate system.

Joint

Jogs each joint of the robot.

ECP

Jogs in the coordinate system of the current external control point. This
option is available when the ECP is enabled.

Key operation

World, Tool, Local, ECP:

Jogs the robot along the X, Y, and Z axes.

For robots with 4 DOF (Cartesian coordinate and SCARA), you can also jog U (roll).

For robots with 6 DOF (vertical 6-axis), you can jog rotateZ (roll), rotateY (pitch),

and rotateX (yaw)

The guide display of the jog keys changes.

Joint:

Jogs the robot using the keys from J1 (Joint #1) to J** (** is the number of joints).

The guide display of the jog keys change to the joint numbers.

3.2.2 Speed

The speed for jogging and motion commands can be changed by selecting Low or High.

3.2.3 Coordinate System

The coordinate system to perform jogging and teaching can be selected from the

user-defined coordinate systems.

Refer to: Operation 3.5 Robot Parameter

Item

Description

Local

Defined Local coordinate system
0 is same as the Base coordinate system.

Tool

Defined Tool coordinate system

Arm

Arm coordinate system defined as the additional arm.

This is available for the following robots.

Rectangular coordinate robots

SCARA robots

ECP

Defined coordinate system of the external control point.
This is available when the external control point is enabled.

Operation 3. TEACH/T1 Mode

50 RC700-A option TP3 Rev.8

3.2.4 Current Position

This group displays the current position of the robot. There are three ways to display the

position.

Some display modes may not be available depending on the type of the robot.

Item

Description

World

Current position and tool orientation in the selected Local coordinate
system.

Joint

Current coordinates of the joints

Pulse

Current pulse of the joints

3.2.5 Current Arm Orientation

This group displays the current arm orientation.

Flags representing the arm orientation vary depending on the type of the robot.

3.2.6 Jog Distance

This group is used for specifying the distance (Continuous, Long, Medium, or Short) that

each axis moves when its corresponding jog button is pressed.

When “Continuous” is selected:

The robot jogs in continuous mode. The [Jog Distance] text boxes cannot be changed.

When other than “Continuous” is selected:

The robot jogs in the step mode for the distance specified in the [Jog Distance] text box.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 51

[Jog Distance] text box changes according to the jog mode and the robot.

To change the values, select the jog distance to change and enter the new value.

Distance

Set Value*

Default Value

Short

More than 0 to 10

0.1

Medium

More than 0 to 30

1

Long

More than 0 to 180

10

3.2.7 Registering the Robot Position

This group is used for registering the current robot position.

[Point File] : Select a point file.

[Point] : Select a point number.

<Teach> button : Registers the current robot position to the point number of the

specified point file. The data will be saved to the memory.

<Save> button : Saves the data to the Robot system.

<Edit> button : Switches to the point data editor where you can edit the points.

Reference: Operation 3.3.4 Editing the Point Data

To search points:

Tap the search button to display the search window.

In the search window, partial match search of point label strings and point number search

are available.

String search : Enter a text to search, and then tap the downward (↓) or upward (↑)

button to search with the point label.

Number search : Select the number search and enter a number to search, and then tap the

downward (↓) or upward (↑) button to search with the point number.

In the dead-number search, tapping the downward (↓) or upward (↑) button of the

dead-number searches the nearest dead-number.

3.2.8 Command

This group executes the motion commands.

(1) Select the command name and parameters, and then tap the <Execute> button.

The confirmation dialog box will appear.

(2) Press the <EXE.> key with the Enable Switch ON.

The command is executed while the <EXE.> key is being pressed.

The motion stops when either one or both of the Enable Switch and <EXE.> key is

released.

Operation 3. TEACH/T1 Mode

52 RC700-A option TP3 Rev.8

3.2.9 Jog Key Guide

The current key assignment of the jog keys can be displayed.

The key assignment changes by a combination of following items, and the display changes

accordingly.

Robot type

Jog Mode

Jog key change

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 53

3.3 Programming

The following operations are available in the [Programming] panel.

Project management
Program editing
Point file management
Point data editing

To display the [Programming] panel, switch the mode selector key switch to “TEACH/T1”

and tap the [Programming] tab.

3.3.1 Current Project Management

The program files and the include files are displayed in the tree display.

Tapping the file name in the file tree display opens the file.

The edited project can be built.

Tap the <Build> button. The message appears when the project is built properly.

If an error occurs, the error message will be displayed.

Operation 3. TEACH/T1 Mode

54 RC700-A option TP3 Rev.8

3.3.2 Program Editing

The program can be edited. Open, Close, Save, and Edit of the file are available.

To open the file, tap the file name in the file tree. Applicable files are program files

(.prg) and include files (.inc).

You can open multiple files but can edit only one at a time.

Item

Description

Close

Closes the active file.
The confirmation message appears if the file is being edited.

Save

Save the active file.

3.3.3 Point File Management

The point fine names are displayed in the tree.

Tapping the point file name in the file tree opens the file.

3.3.4 Point Data Editing

You can edit the point data of the point files.

Select the point file from the file tree to display the list of data.

Change the point data values:

(1) Tap the value to change to display the edit dialog panel.

(2) Enter the value.

(3) Tap <OK> to close the dialog window.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 55

You can copy the value from the edit dialog window and paste it to another window.

The menu of functions, such as copy, can be displayed by long-tapping the text input

area of the edit dialog window.

To select the line, check the checkbox. You can select several lines.

To scroll, flick the table up and down.

Item

Description

Cut

Cuts the data of the selected line.

Copy

Copies the data of the selected line.

Paste

Pastes the copied or cut data to the checked lines. The data will be

overwritten.
If the data copied or cut from the multiple lines are held, these will be

pasted to the lines following the checked line.

Delete Line(s)

Deletes the data of the selected lines.

If several lines are selected, several point data will be deleted. The

point numbers whose data is deleted will be dead-numbers.

Delete All

Deletes all data.
The file will be empty.

Save

Saves changes to the Robot system.

Restore

Restores changes.
The file will be restored to previous state.

Operation 3. TEACH/T1 Mode

56 RC700-A option TP3 Rev.8

3.4 Test

In the [Test] panel, you can verify the program in TEST mode.

This mode enables program verification while the Enable Switch is held down and the

safeguard is open. This is a low speed program verification function (T1: manual

deceleration mode) which is defined in Safety Standards.

In this mode, you can execute the specified function with multi-task / single-task,

multi-manipulator / single-manipulator at low speed.

To display the [Test] panel, switch the mode selector key switch to “TEACH/T1”, and

then tap the [Test] tab.

The following panels can be displayed from the sub menu list.

[Task Manager] : Reference Operation 2.3.5 Task Manager
[I/O Monitor] : Reference Operation 2.3.1 I/O Monitor

The menu button cannot be used during program execution. Open the sub menu panels

before starting the program or while it is paused.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 57

3.4.1 Single-task Program Verification

The single-task program verification is used to verify a program in order to check the

motion of the robot and peripherals by executing a single task with single- or

multi-manipulators (Cycle / Step execution) while the safeguard is open.

Function can be specified and executed within a speed limit.

To execute the program:

After taping the <Start> key, tap the operation key (Continue, Step In, Step Over, and

Walk), and then press the <EXE.> key while the Enable Switch is ON with the

confirmation window open.

To stop the program temporarily:

Release the Enable Switch or the <EXE.> key.

The moving robot stops. (Quick Pause)

To resume the program:

Tap the operation key (Continue, Step In, Step Over, and Walk), and then press the

<EXE.> key while the Enable Switch is ON with the confirmation window open.

The program will resume from the paused point.

To abort the program:

Press the Emergency Stop switch. The program also aborts if an error occurs.

The moving robot stops. (Quick Pause)

Pause by Open/Close status of the safeguard:

The program pauses according to open/close status of the safeguard.

The moving robot immediately stops. (Quick Pause)

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

Release the latched status of the safeguard interlock. Then, tap the operation key

(Continue, Step In, Step Over, and Walk) and press the <EXE.> key while the Enable

Switch is ON with the confirmation window open.

WARNING

■

Before performing program verification, check that the robot system operates
normally by using the EPSON RC+ debug function.
For details on the EPSON RC+

debug function, refer to the EPSON RC+ User’s

Guide

.

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

■

Before performing program

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

operation area.
The robot automatically starts moving as

the program verification starts. If the

operator is in the robot’s operation area, it is extremely hazardous and may cause
serious bodily injury or severe damage to the robot.

Operation 3. TEACH/T1 Mode

58 RC700-A option TP3 Rev.8

CAUTION

■

When abnormal operation such as collision with peripherals is predicted, release
the <EXE.> key immediately and stop the robot.

The robot also can be stopped by releasing the Enable

switch, or push the switch

harder.

■

After performing program verification, be sure to follow the points below:

- Check the changed parts in software before supplying power.

-

Perform function test to check whether the robot system operates

normally.

In TEST mode, a program cannot be changed. To change the program, edit it in the

[Programming] panel (Reference: Operation 3.3 Programming)

To change the point data, perform the following:

Teach the point in the [Jog & Teach] panel.

Reference: Operation 3.2 Jog & Teach

Edit the point data in the [Programming] panel.

Reference: Operation 3.3 Programming

Task Behavior during Single Task Program Verification:

Background tasks stop when switching the mode to TEST mode.

The tasks resume when switching to TEACH mode.

Behavior of Events and Tasks

Event

Task Type

Background

Task

Normal

NoPause

NoEmgAbort

Enable switch is OFF

Pause

*1

*1

*2

<EXE.> key is OFF

Pause

*1

*1

*2

Change Open/Close status of
the Safety Door

Pause *1 *1 *2

Error during a test

Abort

*1

*1

*2

Emergency stop

Abort

*1

*1

*2

Switch a key switch

Abort

*1

*1

*2

*1 Xqt task types (NoPause, NoEmgAbort) cannot be executed.

When these tasks are specified, they are performed the program verification as normal tasks.

*2 When background tasks are specified, they are performed the program verification as normal tasks.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 59

Available Function:

Functions with source not hidden

Robot Motion Speed Setting (when T1 mode):

During the program verification, robots are always operated in Low power mode.

Low power mode:

Speed lower than 250 mm/s

Restrains the motor power output

[Speed] can be changed within a range specified for Low power mode by pressing the

<Speed> key.

Low: 25% of speed of Low power mode

Middle: 50% of speed of Low power mode

High: 100% of speed of Low power mode

CAUTION

■

The faster the speed, the longer the free running distance

at the emergency stop

or pause is. When operating the robot where interference with peripheral
equipment is predictable, perform

the program verification at low speed while

taking the free running distance into consideration.

Execution-restraint Functions and Commands

Power High : T1 mode

Power mode is always set to Low.

Specification function cannot be executed.

T2 mode

Specification function can be executed.

TRAP : Corresponding task cannot be executed even when a condition is met.

XQT : An error occurs and the program execution will be aborted.

INPUT : Input from the console causes an error and aborts the program execution.

PRINT #20 : Output to the Teach Pendant causes an error and aborts the program

execution.

3.4.2 Multi-task Program Verification

The multi-task program verification is used to verify a program in order to check the

motion of the robot and peripherals by executing a multiple task with single- or

multi-manipulators (Cycle / Step execution) while the safeguard is open.

Function can be specified and executed within a speed limit.

To execute the program:

After tapping the <Start> key, tap the operation key (Continue), and then press the

<EXE.> key while the Enable Switch is ON with the confirmation window open.

To stop the program temporarily:

Release the Enable Switch or the <EXE.> key.

The moving robot stops. (Quick Pause)

Operation 3. TEACH/T1 Mode

60 RC700-A option TP3 Rev.8

To resume the program:

Tap the operation key (Continue), and then press the <EXE.> key while the Enable

Switch is ON with the confirmation window open.

The program will resume from the paused position.

To abort the program:

Press the Emergency Stop switch. The program is also aborted when an error occurs.

The moving robot stops. (Quick Pause)

Pause by Open/Close status of the safeguard:

The program pauses according to open/close status of the safeguard.

The moving robot immediately stops. (Quick Pause)

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

Release the latched status of the safeguard interlock. Then, tap the operation key

(Continue) and press the <EXE.> key while the Enable Switch is ON with the

confirmation window open.

WARNING

■

Before performing

the

program verification, check that the robot system operates

normally by usin

g the EPSON RC+ debug function.

For details on the EPSON RC+ debug function, refer to the EPSON RC+ User’s

Guide.

If debugging is insufficient, the robot may cause unintended motion. This is

extremely hazardous and may cause serious bodily injury or severe damage to the

robot.

■

Before performing

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

operation area.

The robot automatically starts moving as

the program verification starts. If the

operator is in the robot’s operation area, it is extremely hazardous and may cause

serious bodily injury or severe damage to the robot.

CAUTION

■

When abnormal operation such as collision with peripherals is predicted, release
the <EXE.> key immediately and stop the robot.

The robot also can be stopped by releasing the Enable Switch, or push

ing the

switch harder.

■

After performing

the program verification, be sure to follow the points below:

- Check the changed parts in software before supplying power.

- Perform the

function test to check whether the robot system operates

normally.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 61

In TEST mode, the program cannot be changed. To change the program, edit it in the

[Programming] panel (Reference: Operation 3.3 Programming)

To change the point data, perform the following:

Teach the point in the [Jog & Teach] panel.

Reference: Operation 3.2 Jog & Teach

Edit the point data in the [Programming] panel.

Reference: Operation 3.3 Programming

Task Behavior during Multi-Task Program Verification

Background tasks stop when switching the mode to the TEST mode. The tasks run

automatically at the start of the program verification and are performed the verification

along with specified normal tasks.

These tasks stop when the multi-task program verification stops, and resume when

switching to TEACH mode.

Behavior of Events and Tasks

Event

Task Type

Background Task

Normal

Normal

NoPause

NoEmgAbort

Enable switch is OFF

Pause

Pause

Continue

Continue

<EXE.> key is OFF

Pause

Pause

Continue

Continue

Change Open/Close status of
the Safety Door

Pause Pause

Continue Continue

Error during a test

Abort

Abort

Abort

Abort

Emergency stop

Abort

Abort

Continue

Abort

Switch a key switch

Abort

Abort

Abort

Continue/Resume

Available Function:

Functions with source not hidden

Root Motion Speed Setting (When T1 mode):

During the program verification, robots are always operated in Low power mode.

Speed lower than 250 mm/s

Restrains the motor power output

[Speed] can be changed within a range specified for Low power mode by pressing the

<Speed> key.

Low: 25% of speed of Low power mode

Middle: 50% of speed of Low power mode

High: 100% of speed of Low power mode

CAUTION

■

The faster the speed, the longer the free running distance in the emergency stop
or pause is. When operating the robot where interference with peripheral
equipment is predictable, perform the program ver

ification at low speed while

taking the free running distance into consideration.

Operation 3. TEACH/T1 Mode

62 RC700-A option TP3 Rev.8

Execution-restraint Functions and Commands:

Power High :

: T1 mode

Power mode is always set to Low.

Specification function cannot be executed.

T2 mode

Specification function can be executed.

INPUT : Input from the console causes an error and aborts the program execution.

PRINT #20 : Output to the Teach Pendant causes an error and aborts the program

execution.

3.4.3 TEST Mode Operation Method

Select “Single-task/Multi-task” in TEST mode.

To open the file:

Select the program file from [Program Files] tree and tap the file name.

The program cannot be edited.

Verify the program:

Select the “Function” to execute from the [Function] list and tap the <Start> key to start

a task. Then, tap the operation key (Continue, Step In, Step Over, and Walk). The

confirmation dialog window will appear. Hold the Enable Switch ON and press the

<EXE.> key while the dialog window is open.

If you want to execute and confirm a part of the motion, set a breakpoint and stop the

program, and then execute the part by <Step In>, <Step Over>, or <Walk> button.

Tapping the line number on the left sets or cancels the breakpoint.

Item

Description

Start

Executes a task.

Stop

Stops the ongoing tasks.

Continue

Continues execution of the paused task from the current line.

Step In

Executes the current line of the paused task and stops at the next line.

If the next line is a function call, the program stops at the beginning of
the called function.

This is available for the single-task program verification.

Step Over

Executes the current line of the paused task and stops at the next line.

If the next line is a function call, the program stops after executing the
called function.

This is available for the single-task program verification.

Walk

Executes until the next motion command or output command, and then

stops.

You can configure whether to stop the program by the output command

in the EPSON RC+.

This is available for the single-task program verification.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 63

3.5 Robot Parameters

In the [Robot Parameters] panel, you can define the Local coordinate system and the Tool

coordinate system, and configure the additional arms.

3.5.1 Local Coordinate System Setting

This panel is used for setting the Local coordinate system of the robot.

Select “Local” in [Function]. The values of the user-definable 15 Local coordinate

systems will be displayed. Local “0” is the base coordinate system and cannot be

changed in this panel.

The base coordinate system can be changed by executing Base command from the

command window.

For details, refer to the following manual.

EPSON RC+ SPEL+ Language Reference

The cells with no Local coordinate system definition are empty. Entering the value to the

undefined Local coordinate system sets remaining cells to “0”.

The Local coordinate systems numbering from 1 to 15 can be defined. Tapping the

<Apply> button configures the Local coordinate system.

For details of the Local setting, refer to the following manual.

EPSON RC+ SPEL+ Language Reference

: Local Statement

NOTE

Operation 3. TEACH/T1 Mode

64 RC700-A option TP3 Rev.8

Item

Description

X

The X coordinate of the local origin in the base coordinate system.

Y

The Y coordinate of the local origin in the base coordinate system.

Z

The Z coordinate of the local origin in the base coordinate system.

U

Rotation angle of the local about the base Z axis (roll).

V

Rotation angle of the local about the base Y axis (pitch).

W

Rotation angle of the local about the base X axis (yaw).

Apply

Applies the current values.

Restore

Restores the previous values.

Clear

Clears all values for the selected local.

3.5.2 Tool Coordinate System Setting

Select “Tool” in [Function].

The values of the user-definable 15 Tool coordinate systems will be displayed.

The cells with no Tool coordinate system definition are empty. Entering the value to the

undefined Tool coordinate system sets remaining cells to “0”.

The Tool coordinate systems numbering from 1 to 15 can be defined. Tapping the

<Apply> button configures the Tool coordinate system.

For details of the Tool setting, refer to the following manual.

EPSON RC+ SPEL+ Language Reference

: TLSet Statement

Item

Description

X

The X coordinate of the tool.

Y

The Y coordinate of the tool.

Z

Z offset of tool.

U

Rotation angle of the tool about the Z axis (roll).

V

Rotation angle of the tool about the Y axis (pitch).

W

Rotation angle of the tool about the X axis (yaw).

Apply

Sets the current values.

Restore

Restores the previous values

Clear

Clears all values for the selected tool.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 65

3.5.3 Additional Arm setting

Select “Arm” in [Function]. The values of the user-definable 15 Arm will be displayed.

This setting is not available for the vertical 6-axis robots and robots which do not support

ArmSet command.

The cells with no Arm definition are empty. Entering the value to undefined Arm sets

remaining cells to “0”.

Tapping the <Apply> button configures the additional Arm.

For details of the Arm setting, refer to the following manual.

EPSON RC+ SPEL+ Language Reference

: ArmSet Statement

Item

Description

L2 Dist

Distance between the center of Joint #2 and the center of the
orientation joint in millimeters.

J2 Offset

Angle of the line from the center of Joint #2 to the center of the
orientation joint in degrees.

Z Offset

The Z offset between the new orientation axis and the standard
orientation axis.

L1 Dist

Distance between the center of the shoulder joint and the center of the
elbow joint in millimeters.

U Offset

The angle offset between the standard orientation zero position and the
new orientation axis zero position in degrees.

Apply

Set current values.

Restore

Restore the previous values.

Clear

Clear all values for the selected arm

Operation 3. TEACH/T1 Mode

66 RC700-A option TP3 Rev.8

3.6 Direct Teach

CAUTION



Executing the

direct teaching

with improper settings of the Force Sensor,
coordinate transformation, and gravity compensation may result in unintended
motion.

Be careful when

configuring the settings and check operation before

executing the direct teaching.

For details of the setting and operation check, refer to the following manual.

EPSON RC+ 7.0 Option Force Control 7.0

This function is available when Force Control 7.0 is setup.

For usage of the Force Control 7.0, refer to the following manual.

EPSON RC+ 7.0 Option Force Control 7.0

Perform direct teaching on [Direct Teach] panel.

To display the [Direct Teach] panel, switch the mode switching key switch to “TEACH/T1”

and tap the [Direct Teach] tab.

The following dialogs can be displayed from icon or sub menu.

[I/O Monitor] : Operation. 2.3.1 I/O Monitor
[3D View] : Operation. 2.3.2 Robot 3D View
[Force Monitor] : Operation 2.3.6 Force Monitor
[Motor] : Operation 2.4.3 Motor
[Reset] : Operation 2.4.4 Reset

NOTE

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 67

3.6.1 Coordinate System

The coordinate system to perform teaching can be selected from the user-defined

coordinate systems.

For details, refer to Operation 3.5 Robot Parameter

Item

Description

Local

Defined Local coordinate system.
0 is the same as the Base coordinate system.

Tool

Defined tool coordinate system

Arm

Arm coordinate system defined as the additional arm.

This is available for the following robots.

Rectangular coordinate robots

SCARA robots

3.6.2 Current Position

This group displays the current position of the robot. There are three ways to display the

position.

Some display modes may not be available depending on the type of the robot.

Item

Description

World

Current position and tool orientation in the selected Local coordinate
system

Joint

Current coordinate of the joints

Pulse

Current pulse of the joints

3.6.3 Current Arm Orientation

This group displays the current arm orientation.

Flags representing the arm orientation vary depending on the type of the robot.

Operation 3. TEACH/T1 Mode

68 RC700-A option TP3 Rev.8

3.6.4 Force Setting

Perform the setup for the direct teach on [Force Settings] panel.

Tap the [Force Settings] tab to display the [Force Settings] panel.

[Mass Properties] : Select the mass property object.

The mass property object can be set in [Mass/Gravity] panel of

EPSON RC+. For more details about [Mass/Gravity] panel, refer

to the following manual.

EPSON RC+ 7.0 Option Force Control 7.0

CAUTION



Executing the direct

teaching with improper settings of the mass property object

may result in unintended motion.

Be careful when configuring the settings before

executing the direct teaching

[Mode] : Select the mode.

[Motion Direction] : Select the motion direction.

[Hardness] : Select the hardness.

<Sensor Reset> Button:

Reset the Force Sensor.

Our Force Sensor has drift feature. Because of that, it may move

without applying force when executing direct teach due to drift error.

When the drift error of the sensor accumulates, push the <Sensor

Reset> button to reset the sensor.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 69

CAUTION



Be sure to reset the Force Sensor with no external force applied to it.
If it is reset with an external force applied to it, the state in

which an external force

applied is “0”.

Therefore, if the force applied is removed, the Force Sensor

detects a force even if no force is applied.

If executing the direct teach in this

state, the robot may move unintentionally.

Caution is required in this regard.

< Direct Teach Start> button:

Start the direct teach.

(1) Tap the <Direct Teach Start> button.

Confirmation panel appears.

(2) Tap the <OK> button with turning ON the enable switch.

Execute while pushing the enable switch.

Stop the operation when turn OFF the enable switch.

CAUTION



Executing the direct teaching with improper mode or motion direction may result in
unintended motion.
Be careful when configuring the setting before executing the direct teach.



Apply the force to the hand or

workpiece which is attached near the tip than the

Force Sensor

.

The Force Sensor cannot detect the force when it is applied to the robot arm or
the

Force Sensor itself, and it may result in unintended robot motion. Caution is

required in this regard.

Operation 3. TEACH/T1 Mode

70 RC700-A option TP3 Rev.8

3.6.5 Teaching

Perform teaching on the [Teach] panel.

Tap the [Teach] tab to display the [Teach] panel.

[Motion Direction] : Select the motion direction.

<Sensor Reset> Button:

Reset the Force Sensor.

Our Force Sensor has drift feature. Because of that, it may move

without applying force when executing direct teach due to drift error.

When the drift error of the sensor accumulates, push the <Sensor

Reset> button to reset the sensor.

CAUTION



Be sure to reset the Force Sensor with no ext

ernal force applied to it.

If it is reset with an external force applied to it, the state in which an external force
applied is “0”.

Therefore, if the force applied is removed, the Force Sensor

detects a force even if no force is applied.

If executing the direct teach in this

state, the robot may move unintentionally.

Caution is required in this regard.

< Direct Teach Start> Button:

Start the direct teach.

(1) Tap the < Direct Teach Start > button.

Confirmation panel appears.

(2) Tap the <OK> button with turning ON the enable switch.

Execute while pushing the enable switch.

Stop the operation when turn OFF the enable switch.

Operation 3. TEACH/T1 Mode

RC700-A option TP3 Rev.8 71

CAUTION



Executing the direct teach with improper force control object or

force coordinate

system

object may result in unintended motion.

Be careful when configuring the setting before executing the direct teach.



Apply the force to the hand or workpiece which is attached near the tip than the
Force Sensor

when applying the force to the Force Sensor.

The Force Sensor cannot

detect the force when it is applied to the robot arm or

the

Force Sensor itself, and it may result in unintended robot motion. Caution is

required in this regard.

When registering the robot position

Tap the [Teach] tab to display the [Teach] panel.

For details about registration of robot position, refer to the following section.

Operation 3.2.7 Registering the Robot Position

When operating the command

Tap the [Command Execute] tab to display the [Command Execute] panel.

For details about command, refer to the following section.

Operation 3.2.8 Command

Operation 4. TEACH/T2 Mode

72 RC700-A option TP3 Rev.8

4. TEACH/T2 Mode

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

In TEACH/T2 mode, program verification in high speed is available in addition to the

functions of TEACH/T1 mode.

TEACH/T2

Control Panel

3.1 Control Panel

Jog & Teac h

3.2 Jog & Teach

Programming

3.3 Programming

Tes t (T2)

4.1 Test (T2)

Robot Parameters

3.5 Robot Parameters

Direct Teach

3.6 Direct Teach

: Panel name

: Relevant section

Functions and operations are common in TEACH/T1 and TEACH/T2 except for “Test

(T2)”.

This chapter only describes 4.1 Test (T2). For other functions and operations, refer to the

following sections.

Operation 3.1 Control Panel

Operation 3.2 Jog & Teach

Operation 3.3 Programming

Operation 3.5 Robot Parameters

Operation 3.6 Direct Teach

NOTE

Operation 4. TEACH/T2 Mode

RC700-A option TP3 Rev.8 73

4.1 Test (T2)

T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

This mode enables the program verification while the Enable Switch is held down and the

safeguard is open.

This is a high speed program verification function (T2: manual acceleration mode) which

is defined in Safety Standards.

In this mode, you can execute the specified function with multi-task / single-task,

multi-manipulator / single-manipulator at high speed. The difference from T1 mode is a

limiting speed.

To display the [Test (T2)] panel, switch the mode selector key switch to “TEACH/T2”,

and then tap the [Test (T2)] tab. The password authentication window will appear.

Enter the password and tap the <OK> button.

Settable limiting speed is from 0 % (low speed) to 100 % (high speed).

The speed is set to low when the [Test (T2)] panel is opened.

Also, the speed will be set to low in the following cases:

- If the Teach Pendant is not operated for a certain time

- If the Enable Switch is changed from ON to OFF while the program is

executable by pressing the <Start> button

Other operating procedures are the same as “Test” except for the color of the panel.

Reference: Operation 3.4 Test

The password for Test (T2) cannot be configured on the Teach pendant,.

Set the password in the EPSON RC+.

NOTE

Operation 5. AUTO Mode

74 RC700-A option TP3 Rev.8

5. AUTO Mode

Switching the mode selector key switch to “AUTO” enables AUTO mode.

AUTO mode is used for the automatic operation (program execution) in on-site operation

and state reference of the robot system.

However, the robot cannot be operated and the program cannot be executed while the

safety door is open.

The robot cannot be changed.

Reference: Operation 2.1 Current Robot

AUTO

Operator Panel

5.1 Operator Panel

Maintenance

5.2 Maintenance

Configuration

5.3 Configuration

: Panel name

: Relevant section

Operation 5. AUTO Mode

RC700-A option TP3 Rev.8 75

5.1 Operator Panel

In the Operator Panel, you can execute and check the programs.

To display the [Operator Panel] panel, switch the mode selector key switch to “AUTO”

and tap the [Operator Panel] tab.

You can select the sub menus from the sub menu list which can be displayed by tapping

the menu button.

Selecting the sub menu displays the dialog accordingly. For details, refer to the

following sections.

I/O Monitor : Operation 2.3.1 I/O Monitor

Task Manager : Operation 2.3.5 Task Manager

System History : Operation 2.4.2 System History

Operation 5. AUTO Mode

76 RC700-A option TP3 Rev.8

5.1.1 Program Execution

First, select “TP3” in the EPSON RC+ [Controller]-[Configuration]-[Control Device].

Then, turn ON the <Operate> button on the [Operation Panel] of TP3.

Turning ON the button displays and enables the following buttons:

<Start> <Stop> <Pause> <Continue>

Select the program of the current project from the [Program to run] list.

You can operate the program by clicking the <Start>, <Stop>, <Pause>, and <Continue>

buttons.

The output window shows the output data. If an error occurs, the error information will

be displayed.

Item

Description

Start

Starts execution of the selected program.

Stop

Stops all tasks.

Pause

Stops all tasks which can be temporarily halted.

Continue

Resumes the suspended tasks.

Operation 5. AUTO Mode

RC700-A option TP3 Rev.8 77

5.2 Maintenance

This panel is used for saving and displaying the data.

To display the [Maintenance] panel, select the mode selector key switch to “AUTO”, and

then tap the [Maintenance] tab.

Select either of the following from the [Function] list.

Backup

Restore

Controller Maintenance

Robot Maintenance

The password is required if it is set in the EPSON RC+. Enter the password.

5.2.1 Backup

This panel is used for saving the Controller information to the USB memory.

To save the current status:

Tapping the <Backup> button saves the current state to the USB memory. The status

such as controller setting, task status, I/O status, and robot status are saved. This is

useful when reporting the Robot system status to the distributers or our technical support.

The data is saved in the folder named “B_serial number_date_time”, which is

automatically created under the EPSON folder in the USB memory.

To remove the USB memory:

Tapping the <Unmount> button displays the removal instruction. Remove the USB

memory by following the instruction.

For details of cautions for using the USB memory, refer to Operation 8. USB Port.

Operation 5. AUTO Mode

78 RC700-A option TP3 Rev.8

5.2.2 Restore

This panel is used for restoring the Robot system configuration from the backup data

saved in the USB memory. The Robot system cannot be restored while the task is being

executed.

To restore the Robot system configuration:

(1) Insert the USB memory which contains the data to the Teach Pendant.

(2) Tap the <Restore> button.

The [Browse for folder] panel will appear.

(3) Select the data you want to restore from the [Browse for folder] panel.

(4) Tap the <OK> button.

The [Browse for folder] panel closes and the [Restore Controller] panel will appear.

(5) Check the information to restore in the [Restore Controller] panel.

(6) Tap the <OK> button.

The data restoration will start.

If the current Controller configuration and that of the backup data differ, a warning

message will appear. Restoration must be performed on the same system.

The Robot system restarts after restoring the data.

To remove the USB memory:

Tapping the <Unmount> button displays the removal instruction. Remove the USB

memory by following the instruction.

For details of cautions for using the USB memory, refer to Operation 8. USB Port.

Operation 5. AUTO Mode

RC700-A option TP3 Rev.8 79

5.2.3 Controller Maintenance

This panel is used for referring and editing the Controller parts information.

To edit information:

Tap the <Change> button, and then set the Installation Date.

To cancel the warning:

Tap the <Clear> button.

For details of the parts consumption management, refer to the following manual.

Robot Controller Manual RC700 / RC700-A

For T series manipulator, refer to the following manual.

T series manipulator

Operation 5. AUTO Mode

80 RC700-A option TP3 Rev.8

5.2.4 Robot Maintenance

This panel is used for referring and editing the robot parts information.

This panel may not be displayed depending on the Robot system setting.

To display the parts information

Select the robot in [Robot], and then tap the item to check.

To edit information:

Tap the <Change> button, and then set the Installation Date.

To cancel the warning:

Tap the <Clear> button.

For details of the parts consumption management, refer to the following manual.

Robot Controller Manual RC700 / RC700-A

For T series manipulator, refer to the following manual.

T series manipulator

Operation 5. AUTO Mode

RC700-A option TP3 Rev.8 81

5.3 Configuration

This panel is used for various settings.

To display the [Configuration] panel, switch the mode selector key switch to “AUTO” and

tap the [Configuration] tab.

Select either of the following from the [Function] list.

Preferences

System Information

Update Software

Shutdown

5.3.1 Preferences

Following settings are available.

Language : Selects the language for the display and keypad.

Available languages are Japanese, English, French, German,
Simplified Chinese, and Traditional Chinese.
The application automatically restarts when the language is changed.

LCD settings : Sets brightness of the LCD.

Move the slider to set appropriate brightness.

Speaker : Sets the speaker volume.

Move the slider to set appropriate volume.

Font Size : Sets the font size displayed in the file contents display area of the

[Programming] panel and [Test] panel.
Select from “Small”, “Middle”, or “large”.

Operation 5. AUTO Mode

82 RC700-A option TP3 Rev.8

5.3.2 System Information

This panel displays information of the Controller, Teach pendant, and license.

Controller information

Controller Name : Name of the Controller

Serial Number : Controller serial number

Firmware Version : Controller firmware version

Terminal device information:

Firmware Version : Teach pendant firmware version

Software Version : Teach Pendant software version

Open source license:

Tapping the <Display> button opens another panel to show the license information.

5.3.3 Update Software

In this panel, you can update the Teach Pendant software.

The following two items are required for updating.

- USB memory with sufficient capacity

- PC to write the update file to the USB memory

Preparation

(1) Insert the USB memory to PC.

(2) Copy the update file from PC to USB memory.

Operation 5. AUTO Mode

RC700-A option TP3 Rev.8 83

Update

(1) Insert the USB memory to the USB port (lower) on the Teach Pendant.

(2) After the USB memory is recognized, tap the <Upgrade> button of [Configuration]

panel.

(3) After the confirmation window is displayed, tap the <OK> button and start update.

Update will complete in a few minutes.

To remove the USB memory, tap the <Unmount> button and follow the instruction.

The current version can be checked in [System Information] - [Terminal device

information] - [Software Version].

Reference: Operation 5.3.2 System Information

CAUTION

■

Do not remove the Teac

h Pendant power cable and USB memory while updating

software.
Teach Pendant and USB memory may be damaged.

■

Do not operate the robot while updating software.
The

software may be damaged and the system may not start.

For details of cautions for using the USB memory, refer to Operation 8. USB Port.

5.3.4 Shutdown

In this panel, you can shut down the Teach Pendant system.

Tapping the <Execute> button starts shutdown processing.

The following operations stop power supply to the Teach Pendant. Before conducting

the following operations, make sure to shut down the Teach Pendant system.

When turning off the Controller

When removing the Teach Pendant from the Controller

Operation 6. Password Setup

84 RC700-A option TP3 Rev.8

6. Password Setup

You can set a password to restrict operators to use the following functions.

Brake function (6-axis robot only)

Maintenance

Test (T2) function

Set the password in the EPSON RC+.

T2 mode cannot be used on RC700-A Controllers complying

with the UL standards.

NOTE

Operation 7. Troubleshooting

RC700-A option TP3 Rev.8 85

7. Troubleshooting

If the condition does not change after performing the countermeasure, the unit may have

suffered a breakdown.

Please contact the service center or the manufacturer.

Display panel is blank

- The Controller supplies 24VDC.

Check that the Controller is ON.

- Check that the Controller is connected to the TP port of the Controller properly.

An Error code appears and the Robot does not operate normally

- Please refer to the error code in the following manual.

EPSON RC+ SPEL+ Language Reference

Robot does not move by pressing the Jog key

- Execute the Motor On command to energize the Robot motor.

For details, refer to the following manual:

EPSON RC+ SPEL+ Language Reference: Motor

- Energize the Robot motor.

For details, refer to the following manual:

EPSON RC+ SPEL+ Language Reference: SLock

- Short jog distance may be selected.

Check the value in the [Jog Distance] and change the setting to long distance if needed.

For details, refer to the following section:

Operation 3.2.6 Jog Distance

Operation mode does not switch from TEACH mode to AUTO mode

- Turn ON the latch release input of the EMERGENCY connector to release the latch
status.

Program list is not displayed in program verification window of TEST

mode

- Check for the setting whether it is set to store execution source files to the Controller.

Settings can be confirmed by following steps:

Select EPSON RC+ menu- [Project]-[Properties]-[Source Files In Controller] and check if
desired files are checked in [Select source files to store in controller:].

Operation 8. Maintenance Parts List

86 RC700-A option TP3 Rev.8

8. Maintenance Parts List

Part Name Code Note

Wall Bracket R12NZ900NH

Option

Extension Cable

10 m R12NZ900NJ

15 m R12NZ900NK