Epson TP1 User manual

Rev.8 EM216P4625F
Robot Controller Option
Teach Pendant
TP1

ii
Robot Controller Option Teach Pendant TP1 Rev.8

TP1 Rev.8 i
Robot Controller Option
Teach Pendant
TP1
Rev.8
Copyright © 2012-2021 SEIKO EPSON CORPORATION. All rights reserved.

ii TP1 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.
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. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
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® 8 Operating system
Microsoft® Windows® 10 Operating system
Throughout this manual, Windows 8, and Windows 10 refer to above respective operating
systems. In some cases, Windows refers generically to 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 Manual Read this manual first

TP1 Rev.8 iii
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.
When using RC700 / RC90 option TP1 with the Robot Controller RC180, RC170, or RC620,
refer to the following manuals.
When connecting TP1 to RC180 / RC170 robot controllers:
RC170 / RC180 option Teach Pendant TP1 manual
When connecting TP1 to RC620 robot controllers:
Robot Controller RC620 - 14. Option : Teach pendant TP1
A coordinate point including the arm pose is defined as “position (point),” and the data is
called “point data.”

NOTE

TIP

NOTE

NOTE

iv TP1 Rev.8
Control System Configuration
This option is used with the following combinations of Controllers and software.
TYPE A:
Controller Software
RC700 EPSON RC+ 7.0
RC90-B 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.
This option is not available for Robot Controller RC90 (EPSON RC+ 5.0) without the
label.
Manual PDF for TYPE B is available from EPSON RC+ 7.0 Ver. 7.0.2

NOTE

NOTE

Table of Contents
TP1 Rev.8 v
Functions & Installation
1. Safety 3
1.1 Conventions...................................................................................................3
1.2 Safety Precautions.........................................................................................3
1.3 EMERGENCY STOP.....................................................................................6
1.4 Mode Selector Key Switch.............................................................................7
1.5 Using Teach Pendant in Safeguarded Area..................................................8
2. Specifications 9
2.1 Part Names and Functions............................................................................9
2.2 Standard Specifications...............................................................................11
2.3 Outer Dimensions ........................................................................................11
3. Installation 12
3.1 Contents.......................................................................................................12
3.2 Environmental Conditions............................................................................12
3.3 Operating Precautions.................................................................................12
3.4 Wall Bracket (Option)...................................................................................13
3.4.1 Outer Dimension .............................................................................13
3.4.2 Mount and Use................................................................................14
3.5 Connection...................................................................................................15
3.5.1 Typical cable connection.................................................................16
3.5.2 Connection to the Controller ...........................................................17
3.6 Power Supply...............................................................................................18
4. Operation Mode (TEACH, AUTO, TEST) 19
4.1 Outline..........................................................................................................19
4.2 Switching Operation Mode ..........................................................................21
5. Operation Panel (Key Description) 22
5.1 Key Description............................................................................................22
6. Enable Switch 25
7. Warning Sound (Beep) 25

Table of Contents
vi TP1 Rev.8
Operation
1. Teaching Procedure 29
1.1 Jog Operation ..............................................................................................29
1.2 Teaching......................................................................................................30
1.3 Direct Teaching ...........................................................................................31
2. TEACH Mode 33
2.1 Jog & Teach ................................................................................................34
2.1.1 Specifying Point Number ................................................................34
2.1.2 Specifying Jog Mode.......................................................................34
2.1.3 Specifying Jog Speed .....................................................................35
2.1.4 Jog key............................................................................................35
2.1.5 Executing Step Jog.........................................................................36
2.1.6 Executing Continuous Jog ..............................................................36
2.1.7 ON/OFF...........................................................................................36
2.1.8 Motor ON/OFF ................................................................................37
2.1.9 Executing Return to Home..............................................................37
2.1.10 Teaching .......................................................................................38
2.1.11 Saving Point File ...........................................................................39
2.1.12 Loading Point File .........................................................................40
2.2 Switch to TEST mode..................................................................................40
2.3 Robot ...........................................................................................................41
2.3.1 Changing Robot Number ................................................................41
2.3.2 Changing the numbers of Arm, Tool, Local, ECP ..........................41
2.4 Motion Command ........................................................................................42
2.4.1 6-Axis robots ...................................................................................42
2.4.2 Robots except 6-Axis robots...........................................................43
2.5 I/O Command ..............................................................................................44
2.5.1 Switching Input/Output Status Display ...........................................44
2.5.2 Output Bit ON/OFF .........................................................................44
2.6 Jog Distance................................................................................................45
2.6.1 Changing Jog Distance...................................................................45
2.6.2 Default.............................................................................................45
2.7 Point Editor ..................................................................................................46
2.7.1 Specifying Point Number ................................................................46
2.7.2 Changing Point Label......................................................................46
2.7.3 Changing Coordinate Data and Pose Flag.....................................47
2.7.4 Deleting Point Data .........................................................................47

Table of Contents
TP1 Rev.8 vii
2.8 Brake (6-Axis robots only) ...........................................................................48
3. AUTO Mode 50
3.1 Program Command Display ........................................................................51
3.2 I/O Monitor ...................................................................................................52
3.3 Memory I/O Monitor.....................................................................................52
3.4 Task Monitor ................................................................................................53
3.5 System History.............................................................................................54
3.6 Speed Factor ...............................................................................................55
3.7 Date / Time ..................................................................................................56
3.8 Brightness / Contrast ...................................................................................56
3.9 Language.....................................................................................................57
3.10 Error ...........................................................................................................57
4. TEST mode 58
4.1 Single-task program verification ..................................................................59
4.2 Multi-task Program Verification....................................................................62
4.3 Test mode....................................................................................................64
4.4 Function .......................................................................................................65
4.5 Program List Display....................................................................................66
4.6 Program Verification ....................................................................................67
4.6.1 Single-task program verification screen..........................................67
4.6.2 Multi-task program verification screen ............................................69
4.6.3 Continue ..........................................................................................69
4.6.4 Step In .............................................................................................69
4.6.5 Step Out ..........................................................................................70
4.6.6 Walk.................................................................................................70
4.6.7 Run Window (TEST mode) .............................................................70
4.6.8 I/O monitor (TEST mode)................................................................71
4.6.9 Variables (TEST mode)...................................................................72
4.6.10 Task Manager (TEST mode) ........................................................72
4.7 Error .............................................................................................................73
5. Password Setup 74
6. Troubleshooting 75
7. Maintenance Parts List 76

Table of Contents
viii TP1 Rev.8
8. Option Parts List 76