Epson TP1 - page 64

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 enable the joints to be moved manually.

Press the <F2> key to display the following screen.

(10) The following screen appears. Manually move and position the joint that needs

origin alignment while pushing the Joint #3 brake release button and lowering Joint

#3. Press the <F2> key.

(11) The following screen appears. Press the <F1> key to execute temporary calibration.

Contents

Main Rev.5 EM079P1591F RC170 Option Teach Pendant TP1 Page RC170 Option Teach Pendant FOREWORD WARRANTY TRADEMARKS TRADEMARK NOTATION IN THIS MANUAL NOTICE INQUIRIES SERVICE CENTER MANUFACTURER & SUPPLIER SUPPLIERS Before Reading This Manual TABLE OF CONTENTS Operation 1 Teaching Procedure 27 2 TEACH Mode 31 3 AUTO Mode 68 4 Password Setup 99 6 Maintenance Parts List and Option 101 5 Troubleshooting 100 Page Page Page 1. Safety 1.1 Conventions 1.2 Safety Precautions Page Safety-related Requirements Page 1.3 EMERGENCY STOP 1.4 Mode Selector Key Switch Mode switching during task execution 1.5 Using Teach Pendant in Safeguarded Area Functions & Installation 2. Specifications TP1 Rev.5 9 2. Specifications 2.1 Part Names and Functions Front view Back view Page 2.2 Standard Specifications 2.3 Outer Dimensions 3. Installation 3.1 Contents 3.2 Environmental Conditions 3.3 Operating Precautions 3.4 Connection 3.4.1 Typical cable connection 3.4.2 Connection to the Controller 3.4.3 Operator Panel Connection 3.5 Power Supply 3.6 Wall Bracket (Option) Outer Dimension Mount and Use Teach Pendant Cable 4. Operation Mode (TEACH/AUTO) 4.1 Outline 4.2 Switch Operation Mode 5. Operation Panel (Key Description) Key Description Alphabet and Number Input Keys Arrow Keys Function Keys F5-8 ON Jog Keys Teaching Keys Other keys Lamp 6. Enable Switch Page Operation Page 1. Teaching Procedure 1.1 Jog Operation Step Jog Operation Continuous Jog Operation 1.2 Teaching 1.3 Direct Teaching Page 2. TEACH Mode 2.1 [Jog & Teach] 2.1.1 Specifying Point No. 2.1.2 Specifying Jog Mode 2.1.3 Specifying Jog Speed 2.1.4 Executing Step Jog 2.1.5 Executing Continuous Jog 2.1.6 ON/OFF 2.1.7 Motor ON/OFF 2.1.8 Executing Return to Home 2.1.9 Teaching 2.1.10 Saving Point Data to File 2.1.11 Loading Point Data from File 2.2 Editing Points 2.2.1 Specifying Point No. 2.2.2 Changing Point Label 2.2.3 Changing Coordinate Data and Pose Flag 2.2.4 Deleting Point Data 2.3 Changing Jog Distance Data 2.3.1 Changing Distance Data 2.3.2 Return Data to Defaults 2.4 Arm/Tool/Local/ECP 2.4.1 Changing Arm No. 2.4.2 Changing Tool No. 2.4.3 Changing Local No. 2.4.4 Changing ECP No. 2.5 Executing I/O Commands 2.5.1 Switching Input/Output Status Display 2.5.2 Output Bit ON/OFF 2.6 Executing Motion Commands 2.6.1 E2 Series / G Series 2.6.2 PS Series 2.7 Calibrating Origin : E2 Series / G Series 2.7.1 Calibration Procedures (E2 Series) Page Page Page Page Page Page Page 2.7.2 Calibration Procedures (G Series) Page Page Page Page Page Page 2.7.3 Setting Righty / Lefty (E2 Series / G Sereis) Page Page 2.8 Calibrating Origin : PS Series Page Page Page Page Page 2.9 Releasing Brake (PS series only) Page Operation 3. AUTO Mode 68 TP1 Rev.5 3. AUTO Mode Page 3.1 Program Command Display 3.2 I/O Monitor 3.3 Memory I/O Monitor 3.4 Task Monitor 3.5 System History 3.6 Program Mode 3.6.1 Open Programs Entering programs Page Save programs Exiting program edit Search character strings Jump Page 3.6.2 Building Projects 3.6.3 Backing up Projects 3.6.4 Restore Projects 3.6.5 Import Files 3.6.6 Export Files Page 3.6.7 Backup System Page 3.6.8 Restore System Page 3.6.9 Changing Speed Factor 3.6.10 Configuration Configure program editor Enable execution in main menu 3.6.11 Change Display Language 3.6.12 Update System Software Page 3.7 Backup / Restore 3.8 Save Controller Statuses 3.9 Display Date and Time 3.10 Adjust Brightness and Contrast 3.11 Error Messages 4. Password Setup 5. Troubleshooting Display panel is blank An Error code appears and the Robot does not operate normally Robot does not move by pressing the Jog key Operation mode does not switch from TEACH mode to AUTO mode 6. Maintenance Parts List and Option