Epson TP1 manual Pulse

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Operation 2. TEACH Mode

(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 straight line (Regardless of the Joint #1 direction)

0 pulse

0 pulse position of Joint #3 : upper limit position in motion range

Upper limit: 0 pulse

0 pulse position of Joint #4 : position where the flat surface on the shaft faces toward the tip of Arm #2

0 pulse

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TP1 Rev.5

Image 54

Contents TP1 RC170 Option Teach PendantRC170 Option Teach Pendant TP1 Rev.5 TP1U RC170 Option Teach PendantForeword Service Center North & South America Epson AMERICA, INC Before Reading This ManualJapan & Others EuropeTable of Contents Jog & Teach Table of ContentsExecuting Motion Commands Executing Continuous JogPassword Setup Troubleshooting Viii Functions & Installation Page Functions & Installation 1. Safety SafetySafety Precautions ConventionsPage Safety-related Requirements EN ISOSafety of machinery Ergonomics requirements for Reset Emergency Stop Emergency StopMode Selector Key Switch Using Teach Pendant in Safeguarded AreaMode switching during task execution Part Names and Functions SpecificationsFunctions & Installation 2. Specifications Front view Back viewEnable switch Mode Selector Key switchEmergency Stop switch DisplayStandard Specifications Outer DimensionsOperating Precautions InstallationContents Functions & Installation 3. InstallationConnection Typical cable connectionExample Functions & Installation Connection to the ControllerOperator Panel Connection Power Supply Teach mode Auto mode TP1 Rev.5Outer Dimension Wall Bracket OptionMount and Use Teach Pendant Cable TP1 Rev.5Operation Mode TEACH/AUTO Functions & Installation 4. Operation Mode TEACH/AUTOOutline Switch Operation Mode Operation Panel Key Description Functions & Installation 5. Operation Panel Key DescriptionAlph Mode Key Function Key DescriptionFunction Keys F5-8 Mode Key FunctionArrow Keys Example Jog&Teach ScreenOther keys Jog KeysTeaching Keys LampEnable Switch How to press the Enable switchTP1 Rev.5 Operation Page Jog Operation Teaching ProcedureOperation 1. Teaching Procedure Step Jog OperationTeaching Direct Teaching Operation 1. Teaching Procedure Teach Mode Operation 2. Teach ModeSpecifying Jog Mode Jog & TeachSpecifying Point No Executing Continuous Jog Specifying Jog SpeedExecuting Step Jog 6 ON/OFFMotor ON/OFF Executing Return to HomeTeaching Saving Point Data to File Loading Point Data from FileChanging Coordinate Data and Pose Flag Editing PointsChanging Point Label Deleting Point DataReturn Data to Defaults Changing Jog Distance DataChanging Distance Data Changing Tool No Arm/Tool/Local/ECPChanging Arm No Changing Local NoOutput Bit ON/OFF Executing I/O CommandsSwitching Input/Output Status Display F1 key On F2 key Off TP1 Rev.5Executing 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 Operation 2. Teach Mode To turn the brake on To turn the brake OFFAuto Mode Operation 3. Auto ModeTIP Program Command Display When only a message appearsStatus Inputs, bit units I/O MonitorMemory I/O Monitor Memory I/O status bit unitsTask Monitor System History System History main screenProgram Mode Program Mode screenProgram Mode screen next screen Open Programs When there is only one fileWhen there are two or more files Program edit screen example TP1 Rev.5How to enter characters Entering programsOperation panel excerpt How to enter symbols Entering text using key wordsEntering text using syntax help Save programs Exiting program editSearch character strings JumpJumping 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 Configuration Changing Speed FactorConfigure program editor Enable execution in main menu Change Display LanguageUpdate System Software Operation 3. Auto Mode Backup / Restore Save Controller Statuses Display Date and TimeAdjust Brightness and Contrast Error MessagesPassword Setup Operation 4. Password SetupOperation 5. Troubleshooting TroubleshootingOperation mode does not switch from Teach mode to Auto mode Display panel is blankMaintenance Parts List and Option Operation 6. Maintenance Parts List and OptionPart Name Code 102