Epson RC170 manuals

Epson RC170 User's Guide (312 pages)

Brand: Epson | Category: Print & Scan | Size: 7.19 MB |

English

Table of contents

User's Guide

1

FOREWORD

4

WARRANTY

4

MANUFACTURER

6

SUPPLIERS

6

TABLE OF CONTENTS

9

3. Getting Started 23

10

4. Operation 24

10

6 The SPEL+ Language 150

13

xiii

15

8 Simulator 205

16

9 Robot Configuration 241

16

10 Inputs and Outputs 246

16

Table of Contents

18

1. Introduction

19

1.2.1 RC180 Controller

20

1.2.2 RC90 Controller

20

1.2.3 Software

20

1.2.4 Simulator

20

1.2.5 System Block Diagram

21

1.3 Software Version

22

1.3.1 Version Confirmation

24

1.4 Options

27

1.7 SPEL for Windows Users

27

1.8 Documentation

28

2. Safety

29

2.2.2 Safeguard

30

2.2.3 Operation Modes

30

2.2.4 Start Mode

30

2.2.6 Emergency Stop

31

2.2.7 Teach Control Device

31

2.5.1 General Precautions

38

2.5.2 Automatic Operation

38

2.5.3 Teaching Robot Points

38

2.5.5 Program Verification

39

2.5.6 Troubleshooting

39

2.5.7 Maintenance

39

2.7 End User Training

40

3. Getting Started

41

4. Operation

42

4.3.1 Startup sequence

43

4.3.2 Startup Configuration

43

4.3.3 Start Mode

43

4.3.4 Start Mode Dialog

44

4.3.5 Start Mode: Program

44

4.3.6 Start Mode: Auto

45

4.3.7 Auto Start

45

4.3.8 Windows Login

46

4.3.9 Command Line Options

46

4.4.2 USB Communications

48

Function main

52

08:24:18 Task main started

53

08:24:18 All tasks stopped

53

5. The EPSON RC+ 5.0 GUI

56

5.2 Project Explorer Pane

57

5.3 Status Window Pane

57

5.4 Status Bar

58

5.5 Online Help

58

5.6 File Menu

59

5.7 Edit Menu

65

5.8 View Menu

69

5.9 Project Menu

71

Project: Properties: Vision

91

5.10 Run Menu

92

5.11 Tools Menu

96

101

119

103

121

105

123

107

125

109

127

111

129

Backup Controller

131

Restore Controller

132

Export Controller Status

133

View Controller Status

134

Reset Controller

135

5.12 Setup Menu

136

119

137

121

139

123

141

Setup: Controller: Options

142

Setup: Controller: Simulator

142

Setup: Controller: Robot

143

127

145

129

147

CAUTION

149

133

151

Setup: Preferences: Startup

152

135

153

137

155

139

157

141

159

Setup: Preferences: Language

161

5.13 Window Menu

162

145

163

5.14 Help Menu

165

149

167

6. The SPEL+ Language

168

6.1 Overview

169

6.2 Program structure

169

6.3 Commands and statements

170

6.5 Data types

171

6.6 Operators

171

6.7 Working with variables

172

6.7.4 Global variables

173

6.7.6 Arrays

174

6.7.7 Initial values

174

6.7.8 Clearing arrays

174

6.8 Working with strings

175

6.9 Multi-statements

176

6.10 Labels

176

6.11 Comments

176

6.12 Error handling

177

6.13 Multi-tasking

179

6.14.1 Overview

180

External Control Poin

184

Outside Fixed Tool

184

6.15 Robot arm orientations

185

Proper motion

188

6.16 Robot motion commands

192

6.16.5 Joint motion

193

6.17.1 Defining points

195

6.17.6 Point attributes

196

6.17.8 Alteration of points

198

6.18.1 Hardware I/O

199

6.18.2 Memory I/O

199

6.18.3 I/O Commands

199

6.19 Using Traps

200

6.20 Special Tasks

201

7.1 Designing Applications

204

Safety interface

205

Inputs and outputs

205

Peripherals

205

7.2 Managing Projects

206

7.2.3 Configuring a project

207

Editing a project

207

7.2.4 Building a project

208

Status Pane

208

7.2.6 Backing up a project

209

7.3 Editing Programs

210

7.3.3 Syntax Help

211

7.3.4 Syntax Errors

212

7.4 Editing Points

213

7.5.1 The Run Window

215

7.5.2 Debugging

217

7.6 The Operator Window

221

7.7 Using Remote Control

222

8. Simulator

223

8.2 Using the Simulator

225

◆ Layout Object

240

9. Robot Configuration

259

9.2 Calibrating the Robot

260

9. Robot Configuration

261

10. Inputs and Outputs

264

10.3 I/O Configuration

265

10.4 Monitoring I/O

265

10.5 Virtual I/O

265

11. Remote Control

266

11. Remote Control

267

11.7 Remote Inputs

269

11.8 Remote Outputs

271

11.10 Remote Ethernet

275

Remote command

277

Response

281

Error response

283

11.11 Remote RS232

284

Communication sequence

294

12. RS-232 Communications

295

12.2 RS-232 Commands

296

13. TCP / IP Communications

297

13.3 TCP/IP Commands

299

13.4 TCP/IP Example

300

14. ECP Motion

301

14. ECP Motion

303

User Program Conversion

309

Point File Conversion

309

I/O Label File Conversion

309

Global Variable Conversion

312

Local Variable Conversion

312

Epson RC170 User Manual (241 pages)

Brand: Epson | Category: Print & Scan | Size: 7.22 MB |

German

Table of contents

ROBOTERSTEUERUNG RC170

1

ROBOTERSTEUERUNG

2

VORWORT

5

GARANTIE

5

WARENZEICHEN

6

HINWEIS

6

KONTAKT

6

SERVICE-CENTER

6

Bevor Sie das Handbuch lesen

7

INHALTSVERZEICHNIS

8

5. PC-Anschlussport 38

9

6. Merker-Port 41

9

8. TP / OP-Port 54

10

9. Emergency 57

10

10. E/A-Anschluss 65

11

12. Optionen 77

11

RC170 Rev.1a ix

12

8. Fehlerbehebung 161

14

9. Ersatzteilliste 225

14

Sicherheit

15

RC170 Rev.1a

16

1. Sicherheit

17

2. Konventionen

17

3. Sicherheitsvorkehrungen

18

Einrichten und

21

Betrieb

21

Einrichten und Betrieb

22

1. Spezifikationen

23

1.2 Standard Spezifikationen

24

1.3 Außenabmessungen

26

2.1 Bauteilenamen

27

2.2 Funktionen

27

MANIPULATOR

28

00002ES551S

28

3. Installation

35

3.2.2 Installation

36

DPB-Seite

37

E/A-Stecker (Option)

38

Produkt-Nr.: R12B040710

38

Steuerung

39

Luftfilter

39

3.3 Stromversorgung

40

3.3.2 Netzanschlusskabel

41

3.4 Kabelanschluss

42

3.5 Störungsreduzierung

46

4. Betriebsart (TEACH/AUTO)

48

4.3 Programmiermodus (AUTO)

49

4.4 Automatikmodus (AUTO)

50

5. PC-Anschlussport

52

RC170 Rev.1a 39

53

6. Memory-Port

55

USB 2.0-unterstützt

56

Ohne Sicherheitsfunktion

56

44 RC170 Rev.1a

58

6.3.4 Übertragung per E-Mail

60

6.4 Details der Daten

61

7.2 IP-Adresse

62

RC170 Rev.1a 51

65

52 RC170 Rev.1a

66

RC170 Rev.1a 53

67

Typischer Kabelanschluss

68

RC170 Rev.1a 55

69

9. EMERGENCY

71

58 RC170 Rev.1a

72

RC170 Rev.1a 59

73

60 RC170 Rev.1a

74

9.2.1 Not-Aus-Taster

75

9.3 Anschlussbelegungen

76

9.4 Schaltbilder

77

64 RC170 Rev.1a

78

10.1 Eingangsstromkreis

79

66 RC170 Rev.1a

80

10.2 Ausgangsstromkreis

81

68 RC170 Rev.1a

82

10.3 Anschlussbelegungen

83

11. Remote-E/A-Einstellungen

84

11.1 E/A-Signal Beschreibung

85

Verfügung

87

0=AUS, 1=EIN

87

74 RC170 Rev.1a

88

RC170 Rev.1a 75

89

76 RC170 Rev.1a

90

12. Optionen

91

12.2.4 Eingangsstromkreis

93

12.2.5 Ausgangsstromkreis

95

82 RC170 Rev.1a

96

RC170 Rev.1a 83

97

84 RC170 Rev.1a

98

12.3 Feldbus-E/A-Board

99

Parameter Spezifikation

101

DeviceNet Aufbau

101

12.3.5 PROFIBUS-DP

104

Übersicht PROFIBUS-DP

104

PROFIBUS-DP Spezifikationen

104

RC170 Rev.1a 91

105

RC170 Rev.1a 93

107

12.3.6 CC-Link

108

Überblick CC-Link

108

CC-Link Spezifikationen

108

+ 10 Worte

108

RC170 Rev.1a 97

111

→ Masterstation (SPS)

112

ErrorCode8192 *1 540

112

System reservation 604

112

RC170 Rev.1a 99

113

100 RC170 Rev.1a

114

Remote-E/A-Konfiguration

117

12.4 RS-232C-Board

118

RC170 Rev.1a 105

119

Wartung

121

1.1 Sicherheitsvorkehrungen

123

Netzschalter

125

Einschaltverriegelung

125

2. Regelmäßige Inspektion

126

2.2 Inspektionspunkt

127

3. Aufbau der Steuerung

128

Ventilator

129

CPU-Board

129

5V-Schaltnetzteilmodul

129

RC170 Rev.1a 115

130

Kabelliste

131

3.3 Anschlussbelegungen

133

3.3.2 M/C-Signalanschluss

134

4.3 Sicherung

136

4.4 Wiederherstellen

139

5. Firmware-Update

142

5.4 Firmware initialisieren

146

Öffnungs

148

Halterung

148

Ventilatoreinheit

150

Entfernen

152

6.2 Batterie

153

Relaisstecker

154

Halterungsband

154

6.3 Motortreiber

155

Loch für Haltebü

157

Montieren

158

M/C-Stromkabel

158

M/C-Signalkabel

158

EMERGENCY-Kabel

158

5mm oder weniger

160

Oberfläche

160

Motortreibers

160

6.4 CPU-Boardeinheit

161

Driver Unit Seite

163

6.5 CF (CompactFlash)

164

6.6 Sicherung

165

6.7 Option Unit

167

Anschluss

168

Option 1

168

Rückseite des

168

Hauptteils

168

Filter

170

Installiert

170

Oberseite (DPB-Board)

171

Unterseite (CPU-Board)

171

Option Unit 1

173

Wartung 12. Option

174

8. Fehlerbehebung

176

8.1.1 Ereignisse

177

8.1.2 Warnungen

179

8.1.3 Steuerung

180

Wartung 8. Fehlerbehebung

182

RC170 Rev.1a

182

168 RC170 Rev.1a

183

8.1.4 Bedienpult

185

8.1.5 Teach-Pendant

186

8.1.6 Interpreter

187

174 RC170 Rev.1a

189

176 RC170 Rev.1a

191

178 RC170 Rev.1a

193

182 RC170 Rev.1a

197

184 RC170 Rev.1a

199

186 RC170 Rev.1a

201

188 RC170 Rev.1a

203

190 RC170 Rev.1a

205

8.1.7 Parser

206

192 RC170 Rev.1a

207

194 RC170 Rev.1a

209

196 RC170 Rev.1a

211

198 RC170 Rev.1a

213

8.1.8 Motorsteuerung

214

204 RC170 Rev.1a

219

206 RC170 Rev.1a

221

8.1.9 Servo

225

8.1.10 Punkte

233

8.1.11 Feldbus

235

8.1.12 Hardware

236

9. Ersatzteilliste

241

Epson RC170 Specifications (44 pages)

Brand: Epson | Category: Print & Scan | Size: 0.71 MB |

English

Italian

Table of contents

RC170 Option

1

Operator Panel

1

FOREWORD

4

WARRANTY

4

Before Reading This Manual

6

TABLE OF CONTENTS

7

1. Safety

9

1.3 Emergency Stop

11

2. Specifications

12

(3) EMERGENCY STOP switch

13

Hexagon Head Screw

14

RC170 Side Connector

14

15 25 25 15

15

[Unit : mm]

15

4-R3 or less

16

3. Installation

17

3.2.2 Mounting Holes

18

Within 30deg

19

3.3 Connecting Cables

20

4. Operation

22

4.2 Startup Screen

23

4.3 Program Execution Screen

24

Controller Command

26

(Setup Menu)

26

4.4 Task Monitor Screen

27

4.5 I/O Monitor Screen

28

4.6 System History Screen

30

4.7 Application Screen

31

4.8 Setup Screen

33

5.1.2 Display Device

36

5.2.1 Value Input

37

5.2.2 String Input

38

5.3 About Display Language

39

6.1 Contrast Adjustment

40

6.2 Brightness Adjustment

41

6.3 Firmware Update

42

6.5 About Gasket

43

6.7 Backlight Replacement

44

6.8 Maintenance Parts List

44

Epson RC170 User Manual (16 pages)

Brand: Epson | Category: Print & Scan | Size: 3.31 MB |

Slovak

Table of contents

Roman Kamnik

1

1 Robot Epson PS3

3

5 Navodila za izvedbo vaje

13

ROBOTSKIKRMILNIK

14

EPSONRc170

14

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