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

Table of Contents
RC700 / RC90 option TP2 Rev.11 ix
2.2.5 Executing Return to Home..............................................................49
2.2.6 Changing Local and Tool ................................................................50
2.2.7 Switch the function ..........................................................................51
2.2.8 Set Direct Teach (Force Setting) ....................................................52
2.2.9 Set Touch Jog .................................................................................56
2.2.10 Reset Force Sensor ......................................................................60
2.2.11 Changing Point Number................................................................61
2.2.12 Teach the Current Position ...........................................................61
2.2.13 Saving Point Data to File...............................................................62
2.2.14 Loading Point Data from File ........................................................62
2.2.15 Execute Direct Teach or Touch Jog .............................................63
2.2.16 Executing Alignment .....................................................................67
2.2.17 Changing the Robot ......................................................................67
2.3 Point Editor ..................................................................................................68
2.3.1 Switching Point Editor Display ........................................................69
2.3.2 Editing Point Data ...........................................................................72
2.3.3 Deleting Point Data .........................................................................73
2.4 I/O Command ..............................................................................................74
2.4.1 Input Status Display ........................................................................75
2.4.2 Changing Outputs Bit ......................................................................75
2.5 Motion Command ........................................................................................76
2.5.1 Executing Motion Command...........................................................77
2.5.2 Go....................................................................................................78
2.5.3 Move................................................................................................79
2.5.4 Arc3 .................................................................................................79
2.5.5 GoHereTLZ .....................................................................................80
2.5.6 MoveHereTLZ .................................................................................80
2.5.7 GoAlignHere....................................................................................81
2.5.8 Jump Z(0) ........................................................................................81
2.5.9 Jump................................................................................................82
2.5.10 Arc .................................................................................................82
2.6 Free Joint.....................................................................................................83
2.6.1 Switching [Free Joint] Display.........................................................84
2.6.2 Servo Free for Each Joint ...............................................................84
2.6.3 Servo Free for J7, J8, and J9..........................................................84
2.6.4 Servo Free for All Joints..................................................................85
2.7 Brake............................................................................................................86
2.7.1 Turn the brake ON ..........................................................................86
2.7.2 Turn the brake OFF.........................................................................86

Table of Contents
x RC700 / RC90 option TP2 Rev.11
2.8 Robot ...........................................................................................................87
2.8.1 Changing the Robot........................................................................87
2.9 Impedance Tester........................................................................................88
2.9.1 Resetting Error................................................................................91
2.9.2 Motor ON / OFF ..............................................................................91
2.9.3 Changing Local / Tool / Arm ...........................................................92
2.9.4 Resetting Force Sensor ..................................................................93
2.9.5 Changing Force Control Object Number ........................................94
2.9.6 Displaying Details of Force Control Object Number and Force
Coordinate System object Number ............................................................96
2.9.7 Changing Mass Property Object Number.......................................98
2.9.8 Displaying Details of Mass Property Object Number .....................99
2.9.9 Changing Point Number..................................................................99
2.9.10 Teaching the current position .....................................................100
2.9.11 Executing Impedance Test .........................................................101
3. AUTO Mode 103
3.1 Auto ...........................................................................................................103
3.2 System History ..........................................................................................104
3.3 Errors / Warnings.......................................................................................105
4. Troubleshooting 106
Display panel is blank ........................................................................................106
An Error code appears and the Robot does not operate normally....................106
Robot does not move by pressing the Jog key..................................................106
Operation mode does not switch from TEACH mode to AUTO mode ..............106
Robot motion will is slow after switching the mode from TEACH to AUTO.......106
5. Maintenance Parts List 107

Functions & Installation
This section contains information about functions and
installation of the Teach Pendant to be known before
operation and maintenance.

Functions & Installation 1. Safety
RC700 / RC90 option TP2 Rev.11 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 or
death exists if the associated instructions are not followed properly.
WARNING
This symbol indicates that a danger of possible harm to people
caused by electric shock exists if the associated instructions are not
followed properly.
CAUTION
This symbol indicates that a danger of possible harm to people or
physical damage to equipment and facilities exists if the associated
instructions are not followed properly.
1.2 Safety Precautions
For details of Safety, refer to Safety Chapter in the User’s Guide. Please read and
understand the chapter before using the robot system.
WARNING

Only trained personnel should design and install the robot system. Trained
personnel are defined as
those who have taken robot system training and
maintenance training classes held by the manufacturer, dealer, or local
representative company, or those who understand the manuals thoroughly and
have the same knowledge and skill level as those who have comp
leted the
training courses.

Only authorized personnel who have taken the safety training should be allowed
to execute teaching or calibration of the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation. The personnel who have taken the safety
training acquire knowledge of industrial robots (operations, teaching, etc.).
The personnel wh
o have completed the robot system-training class held by the
manufacturer, dealer, or locally
-incorporated company are allowed to maintain the
robot system.

Functions & Installation 1. Safety
4 RC700 / RC90 option TP2 Rev.11
WARNING

Only authorized personnel who have taken the safety training should be allowed
to maintain the robot system.
The safety training is the program for industrial robot operator that follows the
laws and regulations of each nation. The personnel who have taken the safety
training acquire knowledge of industrial robots (operations, teaching
, etc.),
knowledge of inspections, and knowledge of related rules/regulations. The
personnel who have completed the robot system-
training and
maintenance-
training classes held by the manufacturer, dealer, or locally
incorporated company are allowed to maintain the robot system.

Immediately press the EMERGENCY STOP switch whenever you suspect any
danger.
The Teach Pendant is equipped with an EMERGENCY STOP switch. Before
operating the Teach Pendant, make sure that the EMERGENCY STOP switch on
the Teach Pendant functions properly. Operating the Teach Pendant when the
switch does not function properly is extremely hazardous and may result in
serious bodily injury and/or serious damage to the equipment, as the switch
cannot fulfill its intended function in an emergency.
When nothing appears on its display window, the Teach Pendant is not
connected with the Controller. In this case, the EMERGENCY STOP switch on
the Teach Pendant will not function.

If the Teach Pendant is not connected to the Controller, DO NOT place it within
easy reach during operation. You might press the EMERGENCY STOP switch
on the unconnected Teach Pendant by mistake to stop the robot system in an
emergency. Pressing the EMERGENCY STOP switch on the disconnected
Teach Pendant in an emergency is extremely hazardous and may cause serious
safety problems.

When entering the safeguarded area for teaching, change the mode of the Teach
Pendant to TEACH and take out the key for the mode selector key switch and
then enter the safeguarded area with the key. Leaving the key in the mode
selector key switch is extremely hazardous and may cause serious safety
problems as someone else may inadvertently change the mode to the automatic
operation.
WARNING

Be sure to connect the cables between the Controller and the Teach Pendant
properly. Do not allow unnecessary strain on the cables. (Do not put heavy
objects on the cables. Do not bend or pull the cables forcibly.) The unnecessary
strain on the cables may result in damage to the cables, disconnection, and/or
contact failure. Damaged cables, disconnection, or contact failure is extremely
hazardous and may result in electric shock and/or improper function of the
system. Do not use the cables near heat or fire.

Functions & Installation 1. Safety
RC700 / RC90 option TP2 Rev.11 5
CAUTION

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 skin or clothes, immediately wash your skin and clothes thoroughly
with clean water and soap immediately.

The Teach Pendant must be used within the environmental conditions described
in this manual. This product has been designed and manufactured strictly for
use in a normal indoor environment. Using this product in the environment that
exceeds the conditions may not only shorten the life cycle of the product but also
cause serious safety problems.

Do not disassemble, repair, or modify the Teach Pendant by yourself. Improper
disassembly, repair, or modification of the Teach Pendant may cause not only
improper function of the robot system but also serious safety problems.
Safety-related Requirements
Specific tolerances and operating conditions for safety are contained in the manuals for the
robot, Controller and other devices. Be sure to read those manuals as well.
Robot systems safety standard and other examples are given in this chapter. Therefore,
to ensure that safety measures are complete, please refer to the other standards listed as
well. (Note: The following is only a partial list of the necessary safety standards.)
EN ISO 10218-1
Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots
EN ISO 10218-2
Robots and robotic devices -- Safety requirements for industrial robots -- Part 2: Robot
systems and integration
ANSI/RIA
R15.06
American National Standard for Industrial Robots and Robot Systems -- Safety
Requirements
EN ISO 12100
Safety of machinery -- General principles for design -- Risk assessment and risk reduction
EN ISO 13849-1
Safety of machinery -- Safety-related parts of control systems -- Part 1: General principles
for design
EN ISO 13850
Safety of machinery -- Emergency stop function -- Principles for design
EN ISO 13855
Safety of machinery -- Positioning of safeguards with respect to the approach speeds of
parts of the human body.
EN ISO 13857
Safety of machinery -- Safety distances to prevent hazard zones being reached by upper
and lower limbs.
EN ISO 14120
Safety of machinery -- Guards -- General requirements for the design and construction of
fixed and movable guards
IEC 60204-1
EN 60204-1
Safety of machinery -- Electrical equipment of machines -- Part 1: General requirements
CISPR11
EN 55011
Industrial, scientific and medical (ISM) radio-frequency equipment -- Electromagnetic
disturbance characteristics -- Limits and methods of measurement
IEC 61000-6-2
EN 61000-6-2
Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards -- Immunity for
industrial environments

Functions & Installation 1. Safety
6 RC700 / RC90 option TP2 Rev.11
1.3 EMERGENCY STOP
WARNING

Immediately press the Emergency Stop switch whenever you suspect any
danger.
The Teach Pendant is
equipped with an Emergency Stop switch. Before
operating the Teach Pendant, make sure that the Emergency Stop switch on the
Teach Pendant functions properly. Operating the Teach Pendant when the
switch does not function properly is extremely hazardous and may result in
serious bodily injury and/or serious damage to the equipment, as the switch
cannot fulfill its intended function in an emergency.
When nothing appears on its display window, the Teach Pendant is not
connected with the Controller. In this case, the Emergency Stop switch on the
Teach Pendant will not function.
When the Emergency Stop switch is pushed, stops the programs execution and halts the
robot excitation. Programs and point data will not be damaged.
When pushed, the Emergency Stop switch mechanically holds that state and electrically
holds the emergency stop state.
Reset EMERGENCY STOP
Follow these steps to reset Emergency Stop condition.
(1) Remove the cause of the Emergency Stop and verify that it is safe to operate the robot
again.
(2) Release the Emergency Stop switch. To release the mechanical latch, turn the
Emergency Stop switch to the right.
(3) Turn the Teach Pendant mode selector key switch to “Teach”.
(4) Press the <Reset> key on the operation panel to reset the Emergency Stop.
(5) Make sure that the E-Stop lamp on the operation panel is OFF.
E-Stop lamp
<Reset> key

Functions & Installation 1. Safety
RC700 / RC90 option TP2 Rev.11 7
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) Press the <Stop> button of EPSON RC+ to stop all tasks normally.
(2) Turn the mode selector key switch to “Teach”.
TEACH →AUTO
Turn the mode selector key switch to “Auto” and close the latch release input.
The Controller software latches that the operation mode is set to “TEACH”.
To switch the mode from TEACH to AUTO, release the latched condition using the latch
release input.
1.5 Using Teach Pendant in Safeguarded Area
When the mode selector switch of the Teach Pendant is switched to “Teach” mode, the
operator can jog and move the robot to predefined points in slow speed when the Enable
Switch is held down and the safeguard is open.
Personnel that will be using the Teach Pendant should be thoroughly trained on how to use
it.
Follow these guidelines when using the Teach Pendant in the safeguarded area:
(1) Before entering the safeguarded area to use the Teach Pendant, turn the mode selector
key switch to “Teach”.
The Controller software latches that the operation mode is set to “TEACH”.
(2) Enter the safeguarded area and perform the teaching operations.
(3) Leave the safeguarded area and close the safeguard.
(4) Return the mode selector key switch to “Auto”.
To switch the mode from TEACH to AUTO, release the latched condition using the latch
release input.
CAUTION

Although the Teach Pendant can be operated inside the safeguarded area as
described above, operate the robot system while all operators are outside of the
safeguarded area wherever possible.

NOTE

NOTE

NOTE

Functions & Installation 2. Specifications
8 RC700 / RC90 option TP2 Rev.11
2. Specifications
2.1 Part Names and Functions