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

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
TP1 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
For details of Safety, refer to Safety Manual. Please read and understand the chapter before
using the robot system.
WARNING

The robot system should be designed and installed by personnel who has taken
robot system training held by us and
suppliers.

Only qualified 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.

Only personnel who has taken maintenance training held by us and suppliers
should be allowed to perform the maintenance of robot system.

Functions & Installation 1. Safety
4 TP1 Rev.8
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.

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
TP1 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.
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.)
ISO 10218-1
Robots and robotic devices -- Safety requirements for industrial robots -- Part 1: Robots
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
ISO 12100
Safety of machinery -- General principles for design -- Risk assessment and risk reduction
ISO 13849-1
Safety of machinery -- Safety-related parts of control systems -- Part 1: General principles
for design
ISO 13850
Safety of machinery -- Emergency stop function -- Principles for design
ISO 13855
Safety of machinery -- Positioning of safeguards with respect to the approach speeds of
parts of the human body.
ISO 13857
Safety of machinery -- Safety distances to prevent hazard zones being reached by upper and
lower limbs.
ISO 14120
Safety of machinery -- Guards -- General requirements for the design and construction of
fixed and movable guards
IEC 60204-1
Safety of machinery -- Electrical equipment of machines -- Part 1: General requirements
CISPR11
Industrial, scientific and medical (ISM) radio-frequency equipment -- Electromagnetic
disturbance characteristics -- Limits and methods of measurement
IEC 61000-6-2
Electromagnetic compatibility (EMC) -- Part 6-2: Generic standards -- Immunity for
industrial environments

Functions & Installation 1. Safety
6 TP1 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.
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
TP1 Rev.8 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.
To change to TEST mode, switch the mode selector key switch to TEACH, and then select
Function key F1: Test Mode.
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.
Use a latch release input signal to release the latched status.
The TEACH mode status is latched by software.
To switch the mode from TEACH to AUTO, release the latched condition using the latch
release input signal.

NOTE

Functions & Installation 1. Safety
8 TP1 Rev.8
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 while the Enable
Switch is held down and the safeguard is open.
When the mode is switched to “Test”, the operator can verify a program while the Enable
Switch is held down and the safeguard 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 Test
mode.
The TEACH mode status is latched by software.
(3) Leave the safeguarded area and close the safeguard.
(4) Return the mode selector key switch to “Auto”.
(5) Close the latch release input.
For details on the pin assignments of the EMERGENCY connector, refer to
RC700 Series MANUAL
RC90 Series MANUAL
T Series MANUAL
VT Series Manual
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

Functions & Installation 2. Specifications
TP1 Rev.8 9
2. Specifications
2.1 Part Names and Functions
Front view
(3)
(2)
(1)
(5)
(4)
Back view
(6)
(7)

Functions & Installation 2. Specifications
10 TP1 Rev.8
(1) Mode Selector Key switch
The mode selector key switch is used to change the operation mode between TEACH and
AUTO. The mode can be fixed by pulling out the key. When the mode is switched
while a program is executing, the program will be stopped.
Close the latch when switching the mode from TEACH to AUTO.
To change to TEST mode, switch the mode selector key switch to TEACH, and then select
Function key F1: Test Mode.
For the procedure to switch the mode, refer to Setup & Operation 1.4 Mode Selector Key
Switch.
(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 Setup & Operation
1.3 EMERGENCY STOP.
(3) Display
Displays various kinds of information.
(4) Operation Panel
Teaching operation, automatic operation and data input are available.
(5) Connection Cable
This is a cable to connect the Teach Pendant and the Controller.
The connector is attached at the end of the cable.
(6) Enable switch
This is a three-position switch. Motion and I/O output commands are available while
the switch is gripped when the Teach Pendant is operated in TEACH mode. The switch
turns ON when it is at the midpoint, and it turns OFF when it is fully gripped or released.
(7) Handle
Use this part as the hand strap while operating the Teach Pendant.