Moving the Robot to Initial Posture

In addition to creating and executing programs, the robot can also be operated by the following methods.

This section explains the following operation methods.
A: Manual operation
B: Command execution from Epson RC+
C: Jog operation from Epson RC+

A: Manual operation
Move the robot by hand while it is in a non-energized state.

Joints without electromagnetic brakes can be moved directly by hand.

CAUTION

Normally, release the brakes of joints one at a time. If the brakes of two or more joints must be released simultaneously due to unavoidable reasons, use extreme care. Releasing the brakes of two or more joints simultaneously may cause the arm to fall in an unexpected direction, resulting in hands or fingers getting caught or Manipulator damage or breakdown.
Be careful of the arm falling when releasing the brake.

While the brake release switch is being pressed, the robot arm will fall by its own weight.

The arm falling may result in hands or fingers getting caught or robot damage or breakdown.
When releasing the brake in the software, always do so with the emergency stop switch within reach. Otherwise, if the emergency stop switch is not easily accessible, you will be unable to immediately stop the arm falling due to an erroneous operation, which could lead to robot damage or breakdown.
The brake signal is not IEC 61800-5-2 Safe brake Control (SBC) certified. As such, be aware of the potential for the robot arm to fall due to a malfunctioning brake signal when approaching the robot.

Start Epson RC+.
Double click the <Epson RC+> icon on the Desktop. You can also select from the Windows menu.
Open the command window.
From the Epson RC+ menu, select [Tools] - [Command Window].

Execute the following command in [Command Window].
For a SCARA robot:

>Reset 
>SFree,[Arm # (1 to 4) whose brake is released]

Execute the following command to activate the brake again.

>SLock,[Arm # (1 to 4) whose brake is activated]

For a 6-Axis robot:

>Reset 
>Brake Off,[Arm # (1 to 6) whose brake is released]

Execute the following command to activate the brake again.

>Brake On,[Arm # (1 to 6) whose brake is activated]

B: Command execution from Epson RC+
Once the robot motors are energized, execute the command to move the robot.

This presents an example of moving all joints to the 0 pulse positions by specifying the pulse for each joint.

Start Epson RC+.
Double click the <Epson RC+> icon on the Desktop. You can also select from the Windows menu.
Open the command window.
From the Epson RC+ menu, select [Tools] - [Command Window].
Execute the following command in [Command Window].
For a SCARA robot:
```
>Motor On  
>Go Pulse (0,0,0,0)
```
For a 6-Axis robot:
```
>Motor On  
>Go Pulse (0,0,0,0,0,0)
```

For the position and posture of the Manipulator at the 0 pulse position, refer to the following manual.
"Manipulator Manual - Motion Range"

C: Jog operation from Epson RC+
Energize the robot motors, operate the robot from the Jog & Teach window of Epson RC+.

Start Epson RC+.
Double click the <Epson RC+> icon on the Desktop. You can also select from the Windows menu.
Create a new project.
1. From the Epson RC+ menu, select [Project] - [New].
  The [New Project] dialog box is displayed.
1. Type a project name in the [New Project Name] box. (e.g. FirstApp)
2. Click the [OK] button to create the new project.
Open the robot manager.
From the Epson RC+ menu, select [Tools] - [Robot Manager].
Turn on the motors.
Check that the [Control Panel] tab is open.
Click the [Motor: Off] button.
Perform jog operation.
1. Select the [Jog & Teach] tab.
2. From [Jogging], select "Joint."
3. Click jog keys J1-J6 to operate the selected joint.
  Movement is possible by setting to other modes or setting the movement distance.