Epson T-B Series User Manual

Installation 4. First Step
14 T-B series Rev.1
4.2.6 Moving the Manipulator to Initial Position
Manipulator can be operated by the following methods other than creating and executing
the program.
Manual operation
Jog motion by the Teach Pendant
Command execution from the EPSON RC+
Jog motion from the EPSON RC+
This section explains about following methods.
A: Manual operation
B: Command execution from the EPSON RC+
C: Jog motion from the EPSON RC+
A: Manual operation
Manually move the Manipulator that is free from the servo control.
You can move Joint #3 by hand while the break release switch on the Manipulator is
being pressed with the Controller ON.
Joints #1, #2, and #4 can be moved by hand.
Also, you can move the Manipulator manually by releasing the solenoid brake from the
command window of the EPSON RC+.
CAUTION
■
Normally, release the brake of joints one by one. Take extra care
if you need to release the brakes of two or more joints
simult
aneously. Releasing the brakes of two or more joints
simultaneously may result in hands or fingers being caught
and/or equipment damage to or malfunction of the Manipulator
as the arms of the Manipulator may move in unexpected
directions.
■
Be
careful of the arm falling when releasing the brake. While the
brake is being released, the Manipulator’s arm falls by its own
weight. The arm falling may result in hands or fingers being
caught and/or equipment damage to or malfunction of the
Manipulator.
■
Before releasing the brake, be sure to keep the Emergency Stop
switch handy so that you can immediately press the Emergency
Stop switch. Otherwise, you cannot immediately stop the arm
falling due to an erroneous operation. The arm falling may
cause
equipment damage to and/or malfunction of the Manipulator.
(1) Start EPSON RC+ 7.0.
Double click the <EPSON RC+ 7.0> icon on the desktop.
(2) Open the command window.
EPSON RC+ 7.0 menu-[Tool]-[Command Window]
(3) Execute the following command in [Command Window].
>Reset
>Brake Off,[Arm # (1 to 4) whose brake will be released]
Execute the following command to turn on the brake again.
>Brake On,[Arm # (1 to 4) whose brake will be turned on]

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English