Epson RC700 User manual

Rev.11 EM198P4025F
Robot Controller
RC700 / RC90 Option
Teach Pendant
TP2

Robot Controller RC700 / RC90 Option Teach Pendant TP2 Rev.11

RC700 / RC90 option TP2 Rev.11 i
Robot Controller RC700 / RC90 Option
Teach Pendant
TP2
Rev.11
Copyright © 2012-2019 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700 / RC90 option TP2 Rev.11
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 times.
WARRANTY
The robot system and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please contact the supplier of your region for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1.
Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2.
Malfunctions caused by customers’ unauthorized disassembly.
3.
Damage due to improper adjustments or unauthorized repair
attempts.
4.
Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.
If the robot system associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this
warranty is void.
2.
If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3.
We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.

RC700 / RC90 option TP2 Rev.11 iii
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 7, Windows 8, and Windows 10 refer to above
respective operating systems. In some cases, Windows refers generically to Windows 7,
Windows 8, and Windows 10.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety and Installation Read this manual first

iv RC700 / RC90 option TP2 Rev.11
Before Reading This Manual
Following descriptions are indicated throughout the manual by these symbols.
The “NOTE”sections describe important information to be
followed for operating the Robot system.
The “TIP” sections describe hints for easier or alternative
operations.
Do not connect the TP2 to following Robot Controllers. Connecting to following Robot
Controllers may result in malfunction of the device since the pin assignments are different.
RC420 / RC520 / SRC5** / SRC-3** / SRC-2**
Operation of RC700 / RC90 (EPSON RC+7.0) option TP2 deviates from the descriptions
in this manual when it is connected to the Robot Controller RC90 (EPSON RC+5.0) or
RC180.
In this case, refer to the following manual.
RC90 / RC180 option Teach Pendant TP2 Manual
A coordinate point including the arm pose is defined as “position (point),” and the data is
called “point data.”

NOTE

NOTE

TIP

NOTE

NOTE

RC700 / RC90 option TP2 Rev.11 v
Control System Configuration
This option is used with the following combinations of Controllers and software.
TYPE A:
Controller Software
RC700 EPSON RC+ 7.0
TYPE B: Robot Controller RC90 with the following label attached.
Label
Controller
Software
RC90 EPSON RC+ 7.0
RC90 Controller firmware
Ver.7.0.2.0
EPSON RC+ 7.0
Before Ver.7.0.1
!!!
Ver.7.0.2 or later
OK
OK: Compatible All functions of the EPSON RC+ 7.0 and the Controller are
available.
!!!: Compatible Connection is OK. We recommend using EPSON RC+7.0 Ver.
7.0.2 or later.
TYPE C:
Manipulator
Software
T series EPSON RC+ 7.0 Ver.7.3.1 or later
When using the Robot Controller RC90 without the label (EPSON RC+ 5.0) or RC180,
refer to the RC90 / RC180 option Teach Pendant TP2 manual. Functions are different
from the descriptions in this manual.
Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2

NOTE

NOTE

vi RC700 / RC90 option TP2 Rev.11
For T series, VT series Manipulator user only
T series and VT series Manipulators are Controller integrated Manipulators.
Read “Controller” and “Robot Controller” described in this manual as “T series
Manipulator” “VT series Manipulator”.

Table of Contents
RC700 / RC90 option TP2 Rev.11 vii
Functions & Installation
1. Safety 3
1.1 Conventions...................................................................................................3
1.2 Safety Precautions.........................................................................................3
Safety-related Requirements ........................................................................5
1.3 EMERGENCY STOP.....................................................................................6
1.4 Mode Selector Key Switch.............................................................................7
Mode switching during task execution..........................................................7
1.5 Using Teach Pendant in Safeguarded Area....................................................
2. Specifications 8
2.1 Part Names and Functions ............................................................................8
2.2 Standard Specifications.................................................................................9
2.3 Outer Dimensions ........................................................................................10
3. Installation 11
3.1 Contents.......................................................................................................11
3.2 Environmental Conditions............................................................................11
3.3 Operating Precautions.................................................................................11
3.4 Connection...................................................................................................12
3.4.1 Typical cable connection.................................................................12
3.4.2 Connection to the Controller ...........................................................13
3.5 Power Supply...............................................................................................13
4. Operation Mode (TEACH, AUTO) 14
4.1 Outline..........................................................................................................14
4.2 Switch Operation Mode ...............................................................................16
5. Operation Panel (Key Description) 17
5.1 Key Description............................................................................................17
Number Input Keys .....................................................................................17
Teaching Keys ............................................................................................17
Arrow Keys..................................................................................................18
Function Keys .............................................................................................18
Jog Keys .....................................................................................................18
Other keys...................................................................................................18
Lamp 19

Table of Contents
viii RC700 / RC90 option TP2 Rev.11
6. Enable Switch 19
7. Warning Sound (Beep) 19
Operation
1. Teaching Procedure 23
1.1 Jog Operation ..............................................................................................24
Step Jog Operation.....................................................................................24
Continuous Jog Operation..........................................................................24
1.2 Direct Teaching Operation (SCARA, RS series robots) .............................25
1.3 Direct Teach + Touch Jog Operation (C4, C8, N series robots).................25
1.4 Teaching Operation.....................................................................................27
2. TEACH Mode 28
2.1 Jog & Teach ................................................................................................29
2.1.1 Current Position Display .................................................................31
2.1.2 Resetting Error................................................................................34
2.1.3 Motor ON / OFF ..............................................................................34
2.1.4 Executing Return to Home..............................................................34
2.1.5 Executing Alignment .......................................................................35
2.1.6 Executing MCal...............................................................................36
2.1.7 Specifying Jog Speed .....................................................................36
2.1.8 Executing Jog Motion......................................................................36
2.1.9 Moving the Robot by RST...............................................................37
2.1.10 Changing Local / Tool / Arm / ECP...............................................38
2.1.11 Jog Mode ......................................................................................39
2.1.12 Jog Distance .................................................................................40
2.1.13 Servo Lock and Servo Free..........................................................41
2.1.14 Teaching Operation ......................................................................41
2.1.15 Changing Point Number ...............................................................42
2.1.16 Saving Point Data to File ..............................................................42
2.1.17 Loading Point Data from File ........................................................42
2.1.18 Changing the Robot......................................................................43
2.2 [Direct Teach + Touch Jog] .........................................................................44
2.2.1 Switch to [Direct Teach + Touch Jog] screen.................................45
2.2.2 Switch the Display...........................................................................48
2.2.3 Resetting Error................................................................................49
2.2.4 Motor ON / OFF ..............................................................................49