Epson TP3 User manual

Rev.8 EM183F3602F
Robot Controller
RC700-A Option
Teach Pendant
TP3

ii
Robot Controller RC700-A Option Teach Pendant TP3Rev.8

RC700-A option TP3 Rev.8 i
Robot Controller RC700-A Option
Teach Pendant
TP3
Rev.8
Copyright © 2015-2018 SEIKO EPSON CORPORATION. All rights reserved.

ii RC700-A option TP3 Rev.8
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 ask your Regional Sales Office 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
ca
nnot warn the user of all possible hazards.

RC700-A option TP3 Rev.8 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.
iWnn IME of OMRON SOFTWARE Co., Ltd. is used for TP3.
iWnn IME © OMRON SOFTWARE CO., Ltd. 2014 All Right Reserved.
TRADEMARK NOTATION IN THIS MANUAL
Microsoft® Windows® XP Operating system
Microsoft® Windows® Vista Operating system
Microsoft® Windows® 7 Operating system
Microsoft® Windows® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows XP, Windows Vista, Windows 7, Windows 8, and
Windows 10 refer to above respective operating systems. In some cases, Windows refers
generically to Windows XP, Windows Vista, 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

iv RC700-A option TP3 Rev.8
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.
A coordinate point including the arm pose is defined as “position (point),” and the data is
called “point data.”
Control System Configuration
This option is used with the following combinations of Controllers and software.
Controller / Manipulator
Software
RC700-A EPSON RC+ 7.0 Ver.7.2.0 or later
T series EPSON RC+ 7.0 Ver.7.3.1 or later
For T series Manipulator user only
T series Manipulators are controller integrated manipulators.
Read “Controller” and “Robot Controller” described in this manual as “T series
Manipulator”.

NOTE

TIP

NOTE

Table of Contents
RC700-A option TP3 Rev.8 v
Functions & Installation
1. Safety 3
1.1 Conventions................................................................................................ 3
1.2 Safety Precautions...................................................................................... 3
1.2.1 Safety Precautions ......................................................................... 3
1.2.2 Safety-related Requirements ......................................................... 5
1.3 EMERGENCY STOP .................................................................................. 6
1.4 Using Teach Pendant in Safeguarded Area ............................................... 7
2. Specifications 8
2.1 Part Names and Functions ......................................................................... 8
2.2 Standard Specifications............................................................................ 10
2.3 Outer Dimensions ..................................................................................... 10
3. Installation 11
3.1 Contents.................................................................................................... 11
3.2 Environmental Conditions......................................................................... 11
3.3 Operating Precautions .............................................................................. 11
3.4 Wall Bracket (Option)................................................................................ 12
3.4.1 Outer Dimension........................................................................... 12
3.4.2 How to Mount and Use the Teach Pendant ................................. 12
3.5 Connection................................................................................................ 13
3.5.1 Connection to the Controller......................................................... 13
3.5.2 Connection Examples .................................................................. 14
3.6 Power Supply............................................................................................ 15
4. Operation Mode (TEACH, AUTO, TEST) 16
4.1 Overview of Operation Modes .................................................................. 16
4.2 Switching the Operation Modes................................................................ 18
5. Jog Keys and EXE. Key 19
6. Enable Switch 20
7. Touch Panel 21
7.1 Operating the Touch Panel ....................................................................... 21
7.2 Operating the Menu .................................................................................. 22
7.3 Operating the Panels................................................................................ 23
7.4 Operating the Software Keypad ............................................................... 24
7.4.1 Floating mode............................................................................... 25

Table of Contents
vi RC700-A option TP3 Rev.8
8. USB Port 26
8.1 Cautions when using USB flash drive...................................................... 26
8.1.1 Available USB Flash Drive.............................................................. 26
9. Warning Sound (Beep) 26
Operation
1. Teaching Procedure 29
1.1 Jog Operation ........................................................................................... 30
1.1.1 Step Jog Operation ...................................................................... 30
1.1.2 Continuous Jog Operation ........................................................... 30
1.2 Teaching ................................................................................................... 30
1.3 Direct Teaching......................................................................................... 31
1.3.1 Direct Teaching of SCARA Robot ................................................ 31
1.3.2 Direct Teaching of Force Sensor.................................................. 31
2. Common Functions 33
2.1 Current Robot ........................................................................................... 34
2.2 Status Bar ................................................................................................. 34
2.3 Tool ........................................................................................................... 35
2.3.1 I/O Monitor.................................................................................... 35
2.3.2 Robot 3D View ............................................................................. 36
2.3.3 Brake Setting................................................................................ 38
2.3.4 Command Window....................................................................... 39
2.3.5 Task Manager............................................................................... 40
2.3.6 Force Monitor ............................................................................... 41
2.4 Sub Menus................................................................................................ 42
2.4.1 Change Jog Key........................................................................... 42
2.4.2 System History ............................................................................. 42
2.4.3 Motor ............................................................................................ 43
2.4.4 Reset ............................................................................................ 43
2.5 Error Messages ........................................................................................ 44
3. TEACH/T1 Mode 45
3.1 Control Panel............................................................................................ 46
3.1.1 Motors .......................................................................................... 46
3.1.2 Free Joints.................................................................................... 46
3.1.3 Command Buttons ....................................................................... 47
3.2 Jog & Teach .............................................................................................. 48
3.2.1 Mode............................................................................................. 49
3.2.2 Speed ........................................................................................... 49
3.2.3 Coordinate System....................................................................... 49

Table of Contents
RC700-A option TP3 Rev.8 vii
3.2.4 Current Position............................................................................ 50
3.2.5 Current Arm Orientation ............................................................... 50
3.2.6 Jog Distance................................................................................. 50
3.2.7 Registering the Robot Position..................................................... 51
3.2.8 Command ..................................................................................... 51
3.2.9 Jog Key Guide.............................................................................. 52
3.3 Programming ............................................................................................ 53
3.3.1 Current Project Management ....................................................... 53
3.3.2 Program Editing............................................................................ 54
3.3.3 Point File Management ................................................................ 54
3.3.4 Point Data Editing......................................................................... 54
3.4 Test............................................................................................................ 56
3.4.1 Single-task Program Verification .................................................. 57
3.4.2 Multi-task Program Verification .................................................... 59
3.4.3 TEST Mode Operation Method .................................................... 62
3.5 Robot Parameters..................................................................................... 63
3.5.1 Local Coordinate System Setting................................................. 63
3.5.2 Tool Coordinate System Setting................................................... 64
3.5.3 Additional Arm setting................................................................... 65
3.6 Direct Teach .............................................................................................. 66
3.6.1 Coordinate System....................................................................... 67
3.6.2 Current Position............................................................................ 67
3.6.3 Current Arm Orientation ............................................................... 67
3.6.4 Force Setting ................................................................................ 68
3.6.5 Teaching ....................................................................................... 70
4. TEACH/T2 Mode 72
4.1 Test (T2).................................................................................................... 73
5. AUTO Mode 74
5.1 Operator Panel.......................................................................................... 75
5.1.1 Program Execution....................................................................... 76
5.2 Maintenance ............................................................................................. 77
5.2.1 Backup.......................................................................................... 77
5.2.2 Restore ......................................................................................... 78
5.2.3 Controller Maintenance ................................................................ 79
5.2.4 Robot Maintenance ...................................................................... 80
5.3 Configuration............................................................................................. 81
5.3.1 Preferences .................................................................................. 81
5.3.2 System Information ...................................................................... 82
5.3.3 Update Software........................................................................... 82
5.3.4 Shutdown...................................................................................... 83

Table of Contents
viii RC700-A option TP3 Rev.8
6. Password Setup 84
7. Troubleshooting 85
Display panel is blank ....................................................................................... 85
An Error code appears and the Robot does not operate normally................... 85
Robot does not move by pressing the Jog key................................................. 85
Operation mode does not switch from TEACH mode to AUTO mode.............. 85
Program list is not displayed in program verification window of
TEST mode ........................................................................................................ 85
8. Maintenance Parts List 86

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-A option TP3 Rev.8 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
1.2.1 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 completed 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.).
Th
e personnel who 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-A option TP3 Rev.8
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 (operat
ions, 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 conta
ct 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-A option TP3 Rev.8 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.
1.2.2Safety-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 -- 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.
ISO 14120
EN953
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-A option TP3 Rev.8
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.
Pressing the Emergency Stop switch stops program execution and stops excitation of the
motors on the robot axes. Programs and point data will not be corrupted.
When pushed, the Emergency Stop switch holds the Emergency Stop state mechanically
and electrically.
How to reset EMERGENCY STOP
Follow the steps below to reset the Emergency Stop state.
(1) Remove the cause of the Emergency Stop and verify that it is safe to operate the robot
again.
(2) Turn the Emergency Stop switch right and release the mechanical hold.
(3) Turn the Teach Pendant mode selector key switch to “TEACH”.
(4) Tap the [Control Panel] tab on the touch panel to display the [Control Panel] panel.
(5) Press the <Reset> button to reset the Emergency Stop.
(6) Check that [Emergency Stop] on the status bar of the touch panel is “OFF”.

Functions & Installation 1. Safety
RC700-A option TP3 Rev.8 7
1.4 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 while the Enable
Switch is held down and the safeguard is open.
When the mode is switched to the test mode (T1 or T2), the operator can verify a program
while the Enable Switch is held down and the safeguard (including the safety doors) is
open.
Person who will be using the Teach Pendant should be thoroughly trained on how to use it.
Follow the guidelines below 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”.
(2) Enter the safeguarded area. Perform teaching operations and verify a program in
“teaching” or “test” mode.
(3) After teaching is completed, leave the safeguarded area and close the safeguard.
(4) Return the mode selector key switch to “AUTO”.
(5) Input the latch release signal from the EMERGENCY connector to release the latch
status.
For details, refer to the following manual.
Robot Controller manual (RC700 / RC700-A).
Setup & Operation 9.3 Pin Assignments
For T series manipulator
T series manipulator manual Setup & Operation 11.3 Pin Assignment
The TEACH mode status is latched by software.
To switch the mode from TEACH to AUTO, release the latched condition by inputting the
latch release input signal.
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

Functions & Installation 2. Specifications
8 RC700-A option TP3 Rev.8
2. Specifications
2.1 Part Names and Functions
Front view
(3)
(2)
(1)
(5)
(4)
Back view
(8)
(6)
(7)
(9)
(10)
(8)
(1) Mode Selector Key switch
The mode selector key switch is used to change the operation mode between
TEACH*1 and AUTO. The mode can be fixed by pulling out the key.
(*1: For the test mode: T1 and T2)
When the mode is switched while a program is running, the program will be stopped.
To switch the mode from TEACH to AUTO, close the latch.
To change to the test mode, switch the mode selector key switch to TEACH, and tap
the [Test] tab on the touch panel.
For details of the operation modes, refer to Functions & Installation 4 Operation
Mode (TEACH, AUTO, TEST).
T2 mode cannot be used on RC700-A Controllers complying with the UL standards.

NOTE

Functions & Installation 2. Specifications
RC700-A option TP3 Rev.8 9
(2) EMERGENCY STOP switch
When this switch is pushed, the Emergency Stop state is held both mechanically and
electrically. Pushing the switch stops the program, removes power to robot motors
and stops the manipulator motion immediately.
To cancel the Emergency Stop state, first turn the EMERGENCY STOP switch to the
right to release the mechanical latch. Switch the mode selector key switch to
“Teach”. Press the <Reset> key to reset the electrically held Emergency Stop state.
The E-STOP lamp goes OFF.
For the procedure to reset the EMERGENCY STOP switch, refer to Functions &
Installation 1.3 EMERGENCY STOP.
(3) Touch Panel
The touch panel is used to display various kinds of information, select the functions,
and enter the setting values.
(4) Jog Key / EXE. Key
The keys are used for teaching operation and command execution.
(5) Connection Cable
This cable is used to connect the Teach Pendant and the Controller.
The connector is attached at the end of the cable.
(6) Handle
The handle is used to support the Teach Pendant by an arm. To hold the handle, grip
either one of the parts with raised bumps which are located on right and left of the
handle.
(7) Touch pen
The touch pen is used to operate the touch panel.
(8) Enable switch
This is a three-position switch (right-handed/ left-handed). To operate the robot in
the TEACH mode, grip either right- or left-hand switch and use the jog keys.
When operating the robot in the test mode, set the switch to ON position.
The switch turns ON when it is at the midpoint, and it turns OFF when it is fully
gripped or released.
(9) USB port protection cover
This is a cover for the USB port.
The cover can be removed by holding and lightly pulling the thin part at the tip.
CAUTION
■Make sure to set the cover to protect the USB port when the USB port is not used.
(10)USB port
The port for connecting the USB memories.

Functions & Installation 2. Specifications
10 RC700-A option TP3 Rev.8
2.2 Standard Specifications
Item
Specification
General
specifications
Rated voltage
24 VDC
Electric power consumption
16 W or less
Weight
Approx. 1.5 kg (excluding cables)
Display
specifications
Size
10.1 inches TFT color LCD
Pixels
1280
×
800
2.3 Outer Dimensions
[Unit: mm]
Use the installation metal in the attachment when attaching the Teach Pendant to a panel,
or the like.

NOTE