Epson TP1 manual Direct Teaching

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Operation 1. Teaching Procedure

1.3Direct 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 <↑> and <↓> keys.

[Label] display changes by changing the point number.

(2)Press the <Jog Dist> key to select “Free Joint” for the [Jog Dist].

Set each joint to servo ON or OFF.
<+> key	: Lock	: Servo OFF the joint
<−> key	: Free	: Servo ON the joint
<F2> key	: All Lock	: Servo OFF all the joint
<F3> key	: All Free	: Servo ON all the joint

(3)Servo OFF joint can be moved with hands. Move the Robot arm to the position to teach.

(4)Press the <Teach> key.

(5)The following screen appears.

When the point number is already used, the following screen appears.

(6) Press the <OK> key to assign the robot position.

TP1 Rev.5

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Contents RC170 Option Teach Pendant TP1RC170 Option Teach Pendant TP1 Rev.5 RC170 Option Teach Pendant TP1UForeword Service Center Europe Before Reading This ManualJapan & Others North & South America Epson AMERICA, INCTable of Contents Executing Continuous Jog Table of ContentsExecuting Motion Commands Jog & TeachPassword Setup Troubleshooting Viii Functions & Installation Page Conventions SafetySafety Precautions Functions & Installation 1. SafetyPage EN ISO Safety-related RequirementsSafety of machinery Ergonomics requirements for Emergency Stop Reset Emergency StopMode Selector Key Switch Using Teach Pendant in Safeguarded AreaMode switching during task execution Front view Back view SpecificationsFunctions & Installation 2. Specifications Part Names and FunctionsDisplay Mode Selector Key switchEmergency Stop switch Enable switchOuter Dimensions Standard SpecificationsFunctions & Installation 3. Installation InstallationContents Operating PrecautionsConnection Typical cable connectionExample Functions & Installation Connection to the ControllerOperator Panel Connection Teach mode Auto mode TP1 Rev.5 Power SupplyWall Bracket Option Outer DimensionTeach Pendant Cable TP1 Rev.5 Mount and UseOperation Mode TEACH/AUTO Functions & Installation 4. Operation Mode TEACH/AUTOOutline Switch Operation Mode Key Description Functions & Installation 5. Operation Panel Key DescriptionAlph Mode Key Function Operation Panel Key DescriptionExample Jog&Teach Screen F5-8 Mode Key FunctionArrow Keys Function KeysLamp Jog KeysTeaching Keys Other keysHow to press the Enable switch Enable SwitchTP1 Rev.5 Operation Page Step Jog Operation Teaching ProcedureOperation 1. Teaching Procedure Jog OperationTeaching Direct Teaching Operation 1. Teaching Procedure Operation 2. Teach Mode Teach ModeSpecifying Jog Mode Jog & TeachSpecifying Point No 6 ON/OFF Specifying Jog SpeedExecuting Step Jog Executing Continuous JogMotor ON/OFF Executing Return to HomeTeaching Loading Point Data from File Saving Point Data to FileDeleting Point Data Editing PointsChanging Point Label Changing Coordinate Data and Pose FlagReturn Data to Defaults Changing Jog Distance DataChanging Distance Data Changing Local No Arm/Tool/Local/ECPChanging Arm No Changing Tool NoF1 key On F2 key Off TP1 Rev.5 Executing I/O CommandsSwitching Input/Output Status Display Output Bit ON/OFFExecuting Motion Commands 1 E2 Series / G SeriesPS Series Calibrating Origin E2 Series / G Series Calibration Procedures E2 Series Operation 2. Teach Mode Pulse Acrylic Panel Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode 2Calibration Procedures G SeriesNOTE Operation 2. Teach Mode Pulse Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Setting Righty / Lefty E2 Series / G Sereis Operation 2. Teach Mode Operation 2. Teach Mode Calibrating Origin PS Series Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Operation 2. Teach Mode Releasing Brake PS series only To turn the brake OFF Operation 2. Teach Mode To turn the brake onOperation 3. Auto Mode Auto ModeTIP When only a message appears Program Command DisplayMemory I/O status bit units I/O MonitorMemory I/O Monitor Status Inputs, bit unitsTask Monitor System History main screen System HistoryProgram Mode Program Mode screenProgram Mode screen next screen Program edit screen example TP1 Rev.5 When there is only one fileWhen there are two or more files Open ProgramsHow to enter characters Entering programsOperation panel excerpt How to enter symbols Entering text using key wordsEntering text using syntax help Exiting program edit Save programsJump Search character stringsJumping to a function in the program file When building is successful When building failsBuilding Projects Backing up Projects Restore Projects Import Files Export Files Operation 3. Auto Mode Backup System Operation 3. Auto Mode Restore System Operation 3. Auto Mode Changing Speed Factor ConfigurationConfigure program editor Change Display Language Enable execution in main menuUpdate System Software Operation 3. Auto Mode Backup / Restore Display Date and Time Save Controller StatusesError Messages Adjust Brightness and ContrastOperation 4. Password Setup Password SetupDisplay panel is blank TroubleshootingOperation mode does not switch from Teach mode to Auto mode Operation 5. TroubleshootingMaintenance Parts List and Option Operation 6. Maintenance Parts List and OptionPart Name Code 102