Checking the Basic Orientation

After installing the Manipulator and setup the operating environment, check if it moves to the basic position properly.

Follow the steps below to set the basic orientation of the Manipulator shown below as the origin position.

1. Start Epson RC+.
   Double click the [Epson RC+] icon on the desktop.
2. Open the command window.
   Epson RC+ menu-[Tools]-[Command Window]
3. Execute the following command in [Command Window].
   

   >Motor On
   >Go Pulse (0,0,0,0,0,0)
   

KEY POINTS

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If "Error 4505: cannot be turned on the motor because the Safety Board is issuing a stop signal." occurs, use one of the following methods to move the Manipulator to its basic orientation.

• Release the brake and push the arm by hand to move it within the motion range. Then follow the steps above. For details on releasing brake, refer to the following section.
  How to Move Arms with the Electromagnetic Brake
• Press the TP3 or TP4 command button [Pulse0] to move the Manipulator to its basic orientation. For details, refer to the following manual.
  For TP3:
  "Robot Controller Option Teach Pendant TP3 Operation 3.1.3 Command Buttons"
  For TP4:
  "Robot Controller Option Teach Pendant TP4 3.2.5.13.2 Command Buttons"
  "Robot Controller Option Teach Pendant TP4 3.2.9.7.2 Command Buttons"

If the Manipulator cannot be in the basic orientation shown below, please contact the supplier.