Page 3 - Copyright © 2006-2007 SEIKO EPSON CORPORATION. All rights reserved.
TP1 Rev.5 i RC170 Option Teach Pendant U TP1 Rev.5 Copyright © 2006-2007 SEIKO EPSON CORPORATION. All rights reserved.
Page 4 - ii; FOREWORD; cannot warn the user of all possible hazards.
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 Pendant. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all ti...
Page 6 - MANUFACTURER & SUPPLIER; SEIKO EPSON CORPORATION; SUPPLIERS; North & South America; EPSON DEUTSCHLAND GmbH; Before Reading This Manual
iv TP1 Rev.5 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORATION Japan & Others Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAPAN TEL : +81-(0)266-61-1802 FAX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC....
Page 7 - TABLE OF CONTENTS; Functions & Installation; Names; Installation; to; Enable Switch
TP1 Rev.5 v TABLE OF CONTENTS Functions & Installation 1 Safety 3 1.1 Conventions................................................................................................. 3 1.2 Safety Precautions ...................................................................................... 3 1.3...
Page 8 - Operation; Coordinate
Table of Contents vi TP1 Rev.5 Operation 1 Teaching Procedure 27 1.1 Jog Operation ........................................................................................... 27 1.2 Teaching ................................................................................................... 28 1.3 Di...
Page 9 - AUTO Mode; up; Password Setup
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) .......................................
Page 13 - Safety Precautions; For details of Safety, refer to
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...
Page 15 - Safety-related Requirements
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...
Page 18 - Mode Selector Key Switch; Mode switching during task execution; AUTO; Using Teach Pendant in Safeguarded Area
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...
Page 19 - Functions & Installation 2. Specifications; Part Names and Functions; Front view
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)
Page 21 - Standard Specifications; W or less; Outer Dimensions
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...
Page 22 - Mode selector key; Environmental Conditions; to 50 deg C (with minimal variation); Operating Precautions
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...
Page 24 - Functions & Installation 3. Installation
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...
Page 26 - Outer Dimension
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]
Page 27 - Functions & Installation 3. Installation; Mount and Use
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...
Page 29 - Switch Operation Mode; TEACH mode
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...
Page 30 - Key Description; Alphabet and Number Input Keys; Alph Mode
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...
Page 31 - Arrow Keys; Key; Function Keys
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 ←...
Page 32 - Jog Keys; Teaching Keys; Key Function; Other keys; Key Function; Lamp; Lamp Function
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...
Page 33 - How to press the Enable switch
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...
Page 37 - Operation 1. Teaching Procedure; Teaching Procedure; Step Jog 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...
Page 39 - Direct Teaching; : Servo OFF the joint
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 < ↑ ...
Page 41 - Operation 2. TEACH Mode
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...
Page 46 - Changing Coordinate Data and Pose Flag; Move the cursor to each joint, and set the coordinate data/pose flag.
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...
Page 47 - Changing Jog Distance Data; This section indicates settings in the [Jog Distance] screen.
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...
Page 50 - Executing Motion Commands
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...
Page 54 - pulse position of Joint #3 : upper limit position in motion range
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...
Page 56 - Controller reboots and the following screen appears.
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 ...
Page 78 - Operation 3. AUTO Mode
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 ...
Page 80 - Program Command Display; When only a message appears
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...
Page 86 - Entering programs; How to enter characters
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...
Page 88 - Save programs; Save programs after editing the programs.; Exiting program edit; Finish editing the program.
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...
Page 89 - Search character strings; Search for character strings in the program.; Jump
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> ...
Page 102 - Configure program editor
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...
Page 103 - Enable execution in main menu
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]...
Page 107 - Save Controller Statuses; Insert the USB memory into the Controller.; Display Date and Time; This screen displays the Controller's date and time.
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...
Page 108 - Adjust Brightness and Contrast; These arrow keys can adjust the brightness.; Error Messages; The following screen appears when an error occurs.
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 ...
Page 110 - Operation 5. Troubleshooting; Display panel is blank; Check that the Controller is ON.; An Error code appears and the Robot does not operate normally; - Please refer to the error code indicated in the Controller manual.; Robot does not move by pressing the Jog key; - Execute the Motor On command to energize the Robot motor.; Operation mode does not switch from TEACH mode to AUTO mode; - Send the latch release input signal to release the latch status.
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...
Page 111 - Operation 6. Maintenance Parts List and Option; Maintenance Parts List and Option; Part Name
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 ...
Page 112 - Operation 6. Maintenance Parts List and Option
Operation 6. Maintenance Parts List and Option 102 TP1 Rev.5
