Epson TP1 Bedienungsanleitung

Rev.5 EM079P1591F RC170 Option Teach Pendant TP1

Table of Contents viii TP1 Rev.5

Operation 3. AUTO Mode 90 TP1 Rev.5 (7) The following screen appears. Press the <F1> key to start the restore. When the Controller seri

Operation 3. AUTO Mode TP1 Rev.5 91 3.6.9 Changing Speed Factor Changes the operating speed of robot motion commands (Go, Jump, Pulse commands,

Operation 3. AUTO Mode 92 TP1 Rev.5 Configure program editor Set the preferences of the program editor. (1) In the [Configuration] screen, move t

Operation 3. AUTO Mode TP1 Rev.5 93 Enable execution in main menu Normally, the followings are set in the program mode after the password is ente

Operation 3. AUTO Mode 94 TP1 Rev.5 (2) The following screen appears. Move the cursor to the desired display language, and press the <OK>

Operation 3. AUTO Mode TP1 Rev.5 95 (4) The following screen appears. Move the cursor to the folder to update, and press the <OK> key.

Operation 3. AUTO Mode 96 TP1 Rev.5 3.7 Backup / Restore Normally, the following settings are made in the program mode after the password is ent

Operation 3. AUTO Mode TP1 Rev.5 97 3.8 Save Controller Statuses Indicate the procedure to save the status of the Controller to the USB memory.

Operation 3. AUTO Mode 98 TP1 Rev.5 3.10 Adjust Brightness and Contrast (1) In the [Main Menu] screen, move the cursor to [9 Brightness / Cont

Operation 4. Password Setup TP1 Rev.5 99 4. Password Setup Setup a password to limit operators for the following menu. TEACH mode ... [Jog

Functions & Installation This section contains information about functions and installation of the Teach Pendant to be known before operation

Operation 5. Troubleshooting 100 TP1 Rev.5 5. Troubleshooting Display panel is blank - The Controller supplies DC24V. Check that the Contr

Operation 6. Maintenance Parts List and Option TP1 Rev.5 101 6. Maintenance Parts List and Option Be sure to specify the proper codes and Opti

Operation 6. Maintenance Parts List and Option 102 TP1 Rev.5

Functions & Installation 1. Safety TP1 Rev.5 3 1. Safety 1.1 Conventions Important safety considerations are indicated throughout the man

Functions & Installation 1. Safety 4 TP1 Rev.5  Only authorized personnel who have taken the safety training should be allowed to maintai

Functions & Installation 1. Safety TP1 Rev.5 5  Do not shock the Teach Pendant physically or place any object on Teach Pendant. A liquid

Functions & Installation 1. Safety 6 TP1 Rev.5 EN 894-3 Safety of machinery - Ergonomics requirements for the design of displays and control

Functions & Installation 1. Safety TP1 Rev.5 7 1.3 EMERGENCY STOP WARNING  Immediately press the EMERGENCY STOP switch whenever you sus

Functions & Installation 1. Safety 8 TP1 Rev.5 1.4 Mode Selector Key Switch The mode selector key switch is used to select TEACH or AUTO

Functions & Installation 2. Specifications TP1 Rev.5 9 2. Specifications 2.1 Part Names and Functions Front view (3)(2)(1) (5)(4) Bac

ii RC170 Option Teach Pendant TP1 Rev.5

Functions & Installation 2. Specifications 10 TP1 Rev.5 (1) Mode Selector Key switch The mode selector key switch is used to change the ope

Functions & Installation 2. Specifications TP1 Rev.5 11 2.2 Standard Specifications Item Specification Rated voltage DC24 V Electric power

Functions & Installation 3. Installation 12 TP1 Rev.5 3. Installation 3.1 Contents TP1 (with cables) : 1 unit Mode selector key : 2 un

Functions & Installation 3. Installation TP1 Rev.5 13 3.4 Connection This section indicates the connection of the Controller and the Teach P

Functions & Installation 3. Installation 14 TP1 Rev.5 The shape of the cable connector used in connection A and D differs to connection B. T

Functions & Installation 3. Installation TP1 Rev.5 15 3.5 Power Supply The power of the Teach Pendant is supplied via the TP/OP connector on

Functions & Installation 3. Installation 16 TP1 Rev.5 3.6 Wall Bracket (Option) Outer Dimension Hook AHook B201.4 31.4 100 118 56.2 100

Functions & Installation 3. Installation TP1 Rev.5 17 Mount and Use Mount the Teach Pendant with the wall bracket in the following procedures

Functions & Installation 4. Operation Mode (TEACH/AUTO) 18 TP1 Rev.5 4. Operation Mode (TEACH/AUTO) A coordinate point including the arm p

Functions & Installation 4. Operation Mode (TEACH/AUTO) TP1 Rev.5 19 4.2 Switch Operation Mode Change the TEACH mode and AUTO mode with the

TP1 Rev.5 i RC170 Option Teach Pendant UTP1 Rev.5 Copyright © 2006-2007 SEIKO EPSON CORPORATION. All rights reser

Functions & Installation 5. Operation Panel (Key Description) 20 TP1 Rev.5 5. Operation Panel (Key Description) Key Description E-STOP

Functions & Installation 5. Operation Panel (Key Description) TP1 Rev.5 21 Arrow Keys Mode switches by turning ON/OFF the “F5-8” lamp. Pr

Functions & Installation 5. Operation Panel (Key Description) 22 TP1 Rev.5 Jog Keys Jog key is available only in TEACH mode. Key Function −

Functions & Installation 6. Enable Switch TP1 Rev.5 23 6. Enable Switch In TEACH mode, several operations require use of the 3-position enab

Functions & Installation 6. Enable Switch 24 TP1 Rev.5

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

Operation 1. Teaching Procedure TP1 Rev.5 27 1. Teaching Procedure The basic jog operation and teaching procedure is indicated. Switch the mode

Operation 1. Teaching Procedure 28 TP1 Rev.5 1.2 Teaching Apply the Robot position to the specified point number. (1) Specify the point number b

Operation 1. Teaching Procedure TP1 Rev.5 29 1.3 Direct Teaching “Direct teach” is a way to teach the Robot directly by setting the teaching joi

ii TP1 Rev.5 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the Teach P

Operation 1. Teaching Procedure 30 TP1 Rev.5 (7) Press the <Save Points> key to display the following screen. Enter the file name and press

Operation 2. TEACH Mode TP1 Rev.5 31 2. TEACH Mode Switch the mode selector key switch to “Teach” to enter the TEACH mode. In this mode, jog, te

Operation 2. TEACH Mode 32 TP1 Rev.5 2.1 [Jog & Teach] This section indicates settings in the [Jog&Teach] screen. (1) Switch the mode

Operation 2. TEACH Mode TP1 Rev.5 33 2.1.3 Specifying Jog Speed Press the <Speed> key and select the speed at [Speed]. (Low, High) Low :

Operation 2. TEACH Mode 34 TP1 Rev.5 2.1.7 Motor ON/OFF Press the <Motor> key to switch the motor ON and OFF. This can be executed at an

Operation 2. TEACH Mode TP1 Rev.5 35 2.1.10 Saving Point Data to File (1) Press the <Save Points> key. (2) The following screen appear

Operation 2. TEACH Mode 36 TP1 Rev.5 2.2 Editing Points This section indicates settings in the [Point Editor] screen. (1) Press the <F1>

Operation 2. TEACH Mode TP1 Rev.5 37 2.3 Changing Jog Distance Data This section indicates settings in the [Jog Distance] screen. Press the

Operation 2. TEACH Mode 38 TP1 Rev.5 2.4 Arm/Tool/Local/ECP This section indicates settings in the [Arm/Tool/Local/ECP] screen. Press the <

Operation 2. TEACH Mode TP1 Rev.5 39 2.5 Executing I/O Commands This section indicates settings in the [I/O Command] screen. Press the <F4&

TP1 Rev.5 iii TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United

Operation 2. TEACH Mode 40 TP1 Rev.5 2.6 Executing Motion Commands 2.6.1 E2 Series / G Series This item indicates the procedure for executin

Operation 2. TEACH Mode TP1 Rev.5 41 2.7 Calibrating Origin : E2 Series / G Series This item indicates the procedure to calibrate the origin

Operation 2. TEACH Mode 42 TP1 Rev.5 2.7.1 Calibration Procedures (E2 Series) CAUTION Calibrate Joint #3 first when aligning origins of m

Operation 2. TEACH Mode TP1 Rev.5 43 Move the cursor to the joint to calibrate. Press the <→> key to select the joint and press the <F

Operation 2. TEACH Mode 44 TP1 Rev.5 (6) Manually move the joint that needs origin alignment to its approximate 0 pulse position. 0 pulse positi

Operation 2. TEACH Mode TP1 Rev.5 45 (7) Press the <F2> key. The following screen appears. (8) Remove the acrylic panel on the sen

Operation 2. TEACH Mode 46 TP1 Rev.5 (12) Turn OFF the DIP switch and mount the acrylic panel on the sensor monitor. Acrylic Panel (13) Press

Operation 2. TEACH Mode TP1 Rev.5 47 (15) The following screen appears. Press the <Motor> key to turn ON the motor. Press the <F2>

Operation 2. TEACH Mode 48 TP1 Rev.5 (18) The following screen appears. Press the <F1> key to execute temporary calibration. The follo

Operation 2. TEACH Mode TP1 Rev.5 49 The following screen appears during Go P1 execution. (20) The following screen appears after Go P1 execution

iv TP1 Rev.5 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORATION Japan & Others Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujim

Operation 2. TEACH Mode 50 TP1 Rev.5 (22) The origin calibration completed screen appears. For righty or lefty setting, refer to 2.7.3 Setting Ri

Operation 2. TEACH Mode TP1 Rev.5 51 (3) The following screen appears. Move the cursor to the joint to calibrate. Press the <→> key to

Operation 2. TEACH Mode 52 TP1 Rev.5 (5) Manually move the joint that needs origin alignment to its approximate 0 pulse position. 0 pulse positi

Operation 2. TEACH Mode TP1 Rev.5 53 (6) Press the <F2> key. The following screen appears. Press the <F2> key again. (7) Contro

Operation 2. TEACH Mode 54 TP1 Rev.5 (9) The following screen appears. Press the <OK> key to stop the servo control for all joints to ena

Operation 2. TEACH Mode TP1 Rev.5 55 The following screen appears after executing the temporary calibration. Press the <OK> key to servo con

Operation 2. TEACH Mode 56 TP1 Rev.5 (13) The following screen appears after Go P1 execution. Set the calibrated joints to the selected point dat

Operation 2. TEACH Mode TP1 Rev.5 57 2.7.3 Setting Righty / Lefty (E2 Series / G Sereis) (1) In the [Calibration] screen, move the cursor to “

Operation 2. TEACH Mode 58 TP1 Rev.5 (4) Continue to press the <OK> key with the enable switch held down to execute Jump P1. The following

Operation 2. TEACH Mode TP1 Rev.5 59 The following screen appears during Jump P1. (7) The following screen appears after executing Jump P1. Set t

TP1 Rev.5 v TABLE OF CONTENTS Functions & Installation 1 Safety 3 1.1 Conventions...

Operation 2. TEACH Mode 60 TP1 Rev.5 2.8 Calibrating Origin : PS Series This section indicates the procedure to calibrate the origin when usin

Operation 2. TEACH Mode TP1 Rev.5 61 (4) The following screen appears. Move the cursor to the joint to calibrate. Press the <→> key to s

Operation 2. TEACH Mode 62 TP1 Rev.5 (6) The Controller reboots and the following screen appears. Press the <Motor> key to turn ON the motor

Operation 2. TEACH Mode TP1 Rev.5 63 (9) Select a point data that is easy to verify the accuracy of the joint that needs origin alignment from the

Operation 2. TEACH Mode 64 TP1 Rev.5 (12) The following screen appears. Press the <F1> key to execute temporary calibration. (13) The fo

Operation 2. TEACH Mode TP1 Rev.5 65 (14) The following screen appears after Go P0 execution. Move the calibrated joints to the selected point da

Operation 2. TEACH Mode 66 TP1 Rev.5 2.9 Releasing Brake (PS series only) This section indicates the brake ON / OFF switching for each joint.

Operation 2. TEACH Mode TP1 Rev.5 67 To turn the brake ON (4) Press the <Jog+> key of the joint whose brake On/Off setting is to be switched

Operation 3. AUTO Mode 68 TP1 Rev.5 3. AUTO Mode Switch the mode selector key switch to “Auto” to enter the AUTO mode. In this mode, jog, tea

Operation 3. AUTO Mode TP1 Rev.5 69 Switch the mode selector key switch to “Auto” to display the [Print] screen. Follow the description on the

Table of Contents vi TP1 Rev.5 Operation 1 Teaching Procedure 27 1.1 Jog Operation ...

Operation 3. AUTO Mode 70 TP1 Rev.5 3.1 Program Command Display This screen displays messages from the program and requests responses. The [Pr

Operation 3. AUTO Mode TP1 Rev.5 71 3.2 I/O Monitor This screen displays the bit status of I/O. In the [Main Menu] screen, move the cursor t

Operation 3. AUTO Mode 72 TP1 Rev.5 3.4 Task Monitor This screen displays the status of tasks. In the [Main Menu] screen, move the cursor to

Operation 3. AUTO Mode TP1 Rev.5 73 3.5 System History This screen displays a history of errors, operations and warnings that occurred in the pa

Operation 3. AUTO Mode 74 TP1 Rev.5 3.6 Program Mode This section indicates settings in the [Program Mode] screen. Follow the procedure belo

Operation 3. AUTO Mode TP1 Rev.5 75 3.6.1 Open Programs (1) In the [Program Mode] screen, move the cursor to [0 Open Program...], and press the

Operation 3. AUTO Mode 76 TP1 Rev.5 Entering programs The character and numerical value input modes are switched according to whether the “Alph”

Operation 3. AUTO Mode TP1 Rev.5 77 (3) Enter “170”. Press the <Alph / Num> key to turn “Alph” OFF. Press the <Space / 1> key once

Operation 3. AUTO Mode 78 TP1 Rev.5 Save programs Save programs after editing the programs. (1) Press the <F1> key to save the program fil

Operation 3. AUTO Mode TP1 Rev.5 79 Search character strings Search for character strings in the program. (1) Press the <F3> key. The fo

Table of Contents TP1 Rev.5 vii 2.7 Calibrating Origin : E2 Series / G Series ... 41 2.7.1 Calibra

Operation 3. AUTO Mode 80 TP1 Rev.5 Jumping to a specified line in the program (1) Move the cursor to “Line”, and press the <Enter> key.

Operation 3. AUTO Mode TP1 Rev.5 81 3.6.2 Building Projects Follow the procedure below to build projects. (1) In the [Program Mode] screen, mo

Operation 3. AUTO Mode 82 TP1 Rev.5 3.6.3 Backing up Projects Backs up projects to USB memory. (1) Insert the USB memory into the Controller.

Operation 3. AUTO Mode TP1 Rev.5 83 3.6.4 Restore Projects Restores projects backed up in USB memory to the Controller. (1) Insert the USB mem

Operation 3. AUTO Mode 84 TP1 Rev.5 3.6.5 Import Files Imports “Prg”, “Inc” and “Pts” files in the USB memory to projects in the Controller. O

Operation 3. AUTO Mode TP1 Rev.5 85 3.6.6 Export Files Exports “Prg”, “Inc” and “Pts” files in projects in the Controller to the USB memory. (

Operation 3. AUTO Mode 86 TP1 Rev.5 (6) The following screen appears. Press the <OK> key. (7) Executes the file export. When a file of t

Operation 3. AUTO Mode TP1 Rev.5 87 3.6.7 Backup System Backs up system files in the Controller to the USB memory. (1) Insert the USB memory int

Operation 3. AUTO Mode 88 TP1 Rev.5 (6) The following screen appears. Press the <OK> key to execute the system backup. When a file of th

Operation 3. AUTO Mode TP1 Rev.5 89 3.6.8 Restore System Restores system files backed up in USB memory to the Controller. (1) Insert the USB m