Epson TP1- Manuals

9 The Epson RC180 is the most compact and light-weight controller of its performance class on the mar-ket. It is particularly fl exible since the compact slave controller can be used for SCARA as well as for 6-axis robots. Apart from that the Option Units, which are designed like a modular system, pr...

RS-232C • Serial interface for communication with external accessories• Four channels per card (up to 2 expansion cards for a total of 8 channels) I/O expansion • 32 further inputs and outputs for every expansion card (up to 4 expansion cards for a total of 152 inputs and 144 outputs)• Optical decou...

Intelligent solutions Epson Smart Cameras have an integrated Machine Vision processor and are therefore separated from the robot controller. They can be used as stand-alone cameras or in a network of several cameras. You can expand the system any time. Integrated calibration wizards allow fast and e...

Features & advantages • Development environment for applications with the Epson SPEL+ robot language• Parallel operation of several RC+ 5.0 applications possible (one PC accesses several robot controllers parallelly) • Integrated project management system for fast project develop- ment• Intuitiv...

Our software tool box Robot Manager — control also via TP1Contains all robot-related information and controls in well-arranged windows: Jog & Teach, process points, loop parameters, work piece and robot coordinate systems, payload and inertia. At the Robot Control Panel, for example, motors can ...

Specifi cations 27.7 mm 56.5 mm 75.0 mm 56.5 mm 323.0 mm 398.0 mm 378.0 mm 453.0 mm 434.0 mm 509.0 mm ø 6.5 mm 170.5 mm 130.5 mm 275.0 mm 18 EPSON RC180 TECHNICAL DATA SPECIFICATIONS EPSON RC180 19 RC180 CPU 32-bit ultra-low voltage processor INTERFACES 1 x USB memory, 1 x USB device 1 x 10/100 base ...

Open design Integration of standard PC hardware and software Multi-manipulator Control of several robots with a single controller Individual operator interface Easy creation of your own operator interfaces with GUI Builder or VB Guide. Open design Integration of standard PC hardware and software Mul...

23 SO MUCH POWER — AND YET SO COMPACT EPSON RC620 22 463.0 mm 221.9 mm 420.0 mm 30.0 mm Real greatness in a confi ned space — that is the Epson RC620. That is the defi nite end of controllers the size of control cabinets which only consume space! The PC-based RC620 is extremely versatile since it not ...

25 EPSON RC620 EPSON RC620 CONTROLLERSEEKS CONNECTION EFFICIENCY NON-STOP 24 RS-232C • Serial interface for communication with external equipment • Four channels per card I/O expansion • 32 further inputs and outputs for every expansion card (up to 4 expansion cards for a total of 152 inputs and 144...

28 29 EPSON RC620 Specifi cations SIMPLY SMART — OUR CAMERAS Stationary camera SC300 Smart Camera:resolution 640 x 480SC1200 Smart Camera:resolution 1,280 x 1,024 Mobile camera SC300M Smart Camera:resolution 640 x 480SC1200M Smart Camera:resolution 1,280 x 1,024 Integrated calibration wizards allow f...

31 30 EPSON RC620 EPSON RC620 MORE THAN YOU THINK: EPSON RC+ 6.0 Syntax Colouring, Debugger, input assistance and a freely defi nable interface assist you during development. With the Epson RC+ 6.0 development environment you have all tools for fast and effi cient programming at hand. The project mana...

33 EPSON RC620 32 EPSON RC620 FOR YOU TOWORK WITH SOFTWAREOPTIONS MADE TO MEASURE Our software tool box Robot Manager — control also via TP1Contains all robot-related information and controls in well-arranged windows: Jog & Teach, process points, loop parameters, work piece and robot coordinate ...

35 34 EPSON RC620 EPSON RC620 TECHNICAL DATA >100 mm >150 mm 420.0 mm Space for,cables and air exhaust Space for air supply 30.0 mm 27.7 27.7 153.2 221.9 mm m 463.0 mm 27.7 mm 27.7 mm 153.2 mm 221.9 mm Specifi cations 323.0 mm 398.0 mm 27.7 mm 56.5 mm 75.0 mm 56.5 mm ø 6.5 mm 170.5 mm 130.5 mm ...

TP1 Rev.5 v TABLE OF CONTENTS Functions & Installation 1 Safety 3 1.1 Conventions................................................................................................. 3 1.2 Safety Precautions ...................................................................................... 3 1.3...

Table of Contents vi TP1 Rev.5 Operation 1 Teaching Procedure 27 1.1 Jog Operation ........................................................................................... 27 1.2 Teaching ................................................................................................... 28 1.3 Di...

Table of Contents TP1 Rev.5 vii 2.7 Calibrating Origin : E2 Series / G Series ................................................... 41 2.7.1 Calibration Procedures (E2 Series)............................................... 42 2.7.2 Calibration Procedures (G Series) .......................................

Functions & Installation 1. Safety TP1 Rev.5 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 o...

Functions & Installation 1. Safety TP1 Rev.5 5 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 s...

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 operation mode. For safety, if the mode is changed during program execution, all tasks will be stopped. Mode switching during task execution AUTO → TEACH (1) P...

Functions & Installation 2. Specifications TP1 Rev.5 9 2. Specifications 2.1 Part Names and Functions Front view (3) (2) (1) (5) (4) Back view (6) (7)

Functions & Installation 2. Specifications TP1 Rev.5 11 2.2 Standard Specifications Item Specification Rated voltage DC24 V Electric power consumption 6 W or less General specifications Weight 1075 g (include EMERGANCY STOP switch and the mode selector key switch, excluding cables) Display eleme...

Functions & Installation 3. Installation 12 TP1 Rev.5 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 operatio...

Functions & Installation 3. Installation 14 TP1 Rev.5 The shape of the cable connector used in connection A and D differs to connection B. TP Cable A : Circular connector to connect to the Operator Panel. (Direct connection is available with conversion kit CK1.) TP Cable B : D-sub connector to c...

Functions & Installation 3. Installation 16 TP1 Rev.5 3.6 Wall Bracket (Option) Outer Dimension Hook A Hook B 201.4 31. 4 100 118 56.2 100 226 6 6 6 6 39.6 392. 9 Detail : J K J Detail : K Front View Back View Side View [Unit :mm]

Functions & Installation 3. Installation TP1 Rev.5 17 Mount and Use Mount the Teach Pendant with the wall bracket in the following procedures. (1) Secure the wall bracket to the wall with three screws (positions are indicated by dotted line in the Outer Dimension ). (2) Hang the handle of the Te...

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 mode selector key switch on the Teach Pendant. TEACH mode Turn the mode selector key switch to “Teach” for TEACH mode. Pauses the executing program when ope...

Functions & Installation 5. Operation Panel (Key Description) 20 TP1 Rev.5 5. Operation Panel (Key Description) Key Description E-STOP lamp Jog keys Reset key Motor key Home key Alphabet and Number Input keys Cancel key OK key Arrow keys Function keys Teaching keys Safety lamp Alphabet and Numbe...

Functions & Installation 5. Operation Panel (Key Description) TP1 Rev.5 21 Arrow Keys Mode switches by turning ON/OFF the “F5-8” lamp. Press the <F1-4 / F5-8> key to turn ON/OFF the “F5-8” lamp. F5-8 Mode Key Function ↑ +1 the value Move the cursor up ↓ − 1 the value Move the cursor down ←...

Functions & Installation 5. Operation Panel (Key Description) 22 TP1 Rev.5 Jog Keys Jog key is available only in TEACH mode. Key Function − Move the target joint (X to W, J1 to J6) to − direction + Move the target joint (X to W, J1 to J6) to + direction Teaching Keys Teaching key is available on...

Functions & Installation 6. Enable Switch TP1 Rev.5 23 6. Enable Switch In TEACH mode, several operations require use of the 3-position enable switch located on the left rear of the pendant. The enable switch can be operated either hand. When the enable switch is required to execute an operation...

Operation 1. Teaching Procedure TP1 Rev.5 27 1. Teaching Procedure The basic jog operation and teaching procedure is indicated. Switch the mode selector switch to “Teach” to display the following screen. A coordinate point including the arm pose is defined as “position (point),” and the data is call...

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 joint to servo-OFF. Apply the Robot position to the specified point number. (1) Specify the point number by changing the value in the [Point] using the < ↑ ...

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, teaching, operation commands, I/O commands, and other operations and commands can be executed using the Teach Pendant. Note, however, that the program cluster...

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> key in the [Jog&Teach] screen. The following screen appears. (2) Set the data items currently displayed in the [Point Editor] screen. (See 2.2.1 to 2.2.4...

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 <F2> key in the [Jog&Teach] screen. The following screen appears. When a value has been changed, press the <Enter> key to apply the value, and b...

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 executing motion commands when using E2 series / G series robots. (1) Press the <F3> key in the [Jog&Teach] screen. The following screen appears. Move the cur...

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 position of Joint #1 : position aligned with X-axis in Manipulator coordinate system 0 pulse 0 pulse position of Joint #2 : position where Arms #1 and #2 are in a...

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 the <F2> key. The following screen appears. Press the <F2> key again. (14) Controller reboots and the following screen appears. Select one of the ...

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, teaching, operation commands, I/O commands, and other operations and commands can be executed using the teaching pendant. Note, however, that the program cluster ...

Operation 3. AUTO Mode 70 TP1 Rev.5 3.1 Program Command Display This screen displays messages from the program and requests responses. The [Print] screen appears when the mode selector key switch is switched to “Auto”. To display the [Print] screen from the [Main Menu] screen, move the cursor to [Pr...

Operation 3. AUTO Mode 76 TP1 Rev.5 Entering programs The character and numerical value input modes are switched according to whether the “Alph” lamp is ON or OFF. Press the <Alph/Num> key to switch “Alph” between ON or OFF. Alph Mode Key Function OFF Numerical value input mode 0 to 9 − (minus...

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 file. The following screen appears during saving the program file. (2) After the save ends, the screen returns to the program edit screen. Exiting program edit...

Operation 3. AUTO Mode TP1 Rev.5 79 Search character strings Search for character strings in the program. (1) Press the <F3> key. The following screen appears. Enter the character string to search, and press the <Enter> key. < ↓ > Displays a list of search text strings. <F1> ...

Operation 3. AUTO Mode 92 TP1 Rev.5 Configure program editor Set the preferences of the program editor. (1) In the [Configuration] screen, move the cursor to [0 Editor], and press the <OK> key. The setup screen appears. To change an item: Move the cursor to the left column. To change item sett...

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 entered. - Project Backup / Restore - System Backup / Restore - File Import / Export Items that are enabled for execution are added to the menu in the [Backup]...

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. (1) Insert the USB memory into the Controller. (2) In the [Main Menu] screen, move the cursor to [Controller States...], and press the <OK> key. The f...

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 / Contrast], and press the <OK> key. (2) The following screen appears. Press the <OK> key to apply the setting. < ↓ >< ↑ > These arrow keys ...

Operation 5. Troubleshooting 100 TP1 Rev.5 5. Troubleshooting Display panel is blank - The Controller supplies DC24V. Check that the Controller is ON. - Check that the Controller is connected to the TP/OP connector of the Controller properly. An Error code appears and the Robot does not operate norm...

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 Option when ordering maintenance parts. Part Name Code Note Type A R12B120101 Cable: Circular connector (5 m) Type B R12B120102 Cable: D-sub connector (5 m) Type ...

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