Epson T-B Series User Manual

T3-B T6-B Manipulator 17. Restrictions
138 T-B series Rev.1
17.3.3 PG Commands
If executing PG commands, motion error occurs.
PG_FastStop Stops the PG axes immediately.
PG_LSpeed Sets the pulse speed of the time when the PG axis starts
accelerating and finishes decelerating.
PG_Scan Starts the continuous spinning motion of the PG robot axes.
PG_SlowStop Stops slowly the PG axis spinning continuously.
17.3.4 R-I/O Commands
If executing R-I/O commands/functions, motion error occurs.
LatchEnable Enable/Disable the latch function for the robot position by the
R-I/O input.
LatchState Function Returns the latch state of robot position using the R-I/O.
LatchPos Function Returns the robot position latched using the R-I/O input signal.
SetLatch Sets the latch function of the robot position using the R-I/O
input.
17.3.5 Force Sensing Commands
If executing force sensing commands/functions, motion error occurs.
Force_Calibrate Sets zero offsets for all axes for the current force sensor.
Force_ClearTrigger Clears all trigger conditions for the current force sensor.
Force_GetForces Returns the forces and torques for all force sensor axes in an
array.
Force_GetForce Function
Returns the force for a specified axis.
Force_Sensor Sets the current force sensor for the current task.
Force_Sensor Function Returns the current force sensor for the current task.
Force_SetTrigger Sets the force trigger for the Till command.
17.3.6 Robot Control Commands
ROTOK Function Returns whether an ROT modifier parameter can be added
when issuing a move command to a destination.
DiffToolOrientation Function
Returns the angle between the coordinate axes of Tool
coordinate systems. * When COORD_ALL is specified, an
error will occur. When a command except for COORD_ALL is
specified, the operation will be executed.
DiffPoint Function Returns the difference between two specified points.
17.3.7 Other (FineDist)
You cannot use the command: FineDist
Robot determines the position by set value of Fine even if using FineDist.
Fine Specifies and displays the positioning error limits.
(Unit: pulse)
FineDist Specifies and displays the positioning error limits (Unit: mm)

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English

Summary

SCARA ROBOT T-B series MANUAL

Foreword

Before Reading This Manual

Key information and notes before starting to read the manual.

Installation

1. Safety

General safety precautions and conventions for installation.

2. Installation

System example, unpacking, transportation, and environmental setup.

4. First Step

Installing software and connecting the PC to the manipulator.

T3-B T6-B Manipulator

1. Safety

Design, installation, operation, emergency stop, and safeguard safety.

2. Specifications

Model number, part names, outer dimensions, and system examples.

3. Environments and Installation

Environmental conditions, base table, mounting dimensions, and procedures.

4. Setting of End Effectors

Attaching end effectors, cameras, valves, and setting weight/inertia.

5. Motion Range

Setting motion limits via pulse range and mechanical stops.

11. EMERGENCY

Safeguard, emergency stop switch connection, and circuit diagrams.

17. Restrictions

Commands and functions with limitations or potential errors.

Regular Inspection

1. Regular Inspection for T3-B T6-B Manipulator

Maintenance inspection procedures, schedule, and points.

1.3 Greasing

Ball screw spline and gear unit greasing procedures.

Appendix

Appendix A: Specifications

Detailed specifications for T3-B and T6-B manipulator models.

Appendix B: Time and Distance of Free Running in Emergency

Graphs showing free running time/distance in emergency stops.