Power On Procedure

For details on the names and functions of the various parts of the Controller, refer to the following section.
Part Names and Their Functions

1. Check the connection with the Manipulator.
   Check the connection between the M/C POWER connector and the M/C SIGNAL connector.

2. Check the connection between the safety I/O connector and the emergency stop input connector.

3. Connect the TP bypass plug to the TP port.

4. Connect the AC power cable to the power socket.

5. Turn on the POWER switch of the Controller.
   

6. If the Controller starts up normally, the 7-segment LED blinks as shown below after approximately 30 seconds since the power is turned on.
   
   
   If an error is displayed, check the connections in steps (1) to (5), and turn the power off and on again. If an error is displayed even after checking the connections and turning the power off and on again, please contact the supplier.

7. Once the Controller successfully starts, perform the following checks.

   Check	Procedure	Results
   Emergency stop operation	Press the emergency stop button with the motor energized.	EP is displayed on the Controller's 7-segment LED. Emergency stop is displayed on the Epson RC+.
   Safeguard operation	Operate the safeguard with the motor energized.	SO is displayed on the Controller's 7-segment LED. Safeguard is displayed on the Epson RC+.

   KEY POINTS

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   If the results are different, perform the following checks. If there is still no improvement, please contact the supplier.

   • Check wiring.
   • Check functions assigned to safety I/O.

8. If various safety functions are set, check the assigned safety functions.

   Check	Procedure	Results
   SLS	Switch SLS operating status by switching safety input	On I/O monitor, SLS enable and disable will switch in conjunction with input
   SLP	Switch SLP operating status by switching safety input	On I/O monitor, SLP enable and disable will switch in conjunction with input
   Soft axis limiting	Intentionally enter the area by using jog or other means*1	Changes to STO state
   STO output	Operate emergency stop button or safeguard to change to STO state	Input of connected safety device changes
   Emergency stop output	Press the emergency stop button	Input of connected safety device changes
   Enable output	Grip the enable switch	Input of connected safety device changes
   SLS output	Switch SLS operating status by switching safety input	Input of connected safety device changes
   SLP output	Switch SLP operating status by switching safety input.	Input of connected safety device changes.

   *1 To escape from the restricted area, switch to TEACH mode by using TP.