Power On Procedure
For connector names and their locations, refer to the following.
Part Names and Their Functions
Check the connection with the Manipulator.
Check the connection between the M/C POWER connector and the M/C SIGNAL connector.Check the connection between the safety I/O connector and the emergency stop input connector.
Connect the TP bypass plug to the TP port.
Connect the AC power cable to the power socket.
Turn on the POWER switch of the Controller.
When the Controller starts up normally, about 30 seconds after turning on the power, the 7-segment LED will blink
(----).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.
CAUTION
Turning the power off before the 7-segment LED flashes ---- may lead to a malfunction of the Controller.
KEY POINTS
After a Controller which has an internal cooling fan is turned on, the fan will rotate for about 10 seconds. After that, the Controller's internal cooling fan stops rotating. The fan starts rotating again when robot operation (motor ON) starts.
Once the Controller successfully starts, perform the following checks.
Check Procedure Results Emergency stop operation Press the emergency stop switch 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
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.
If various safety functions are set, check the assigned safety functions.
| Check | Procedure | Results |
|---|---|---|
| SLS_T | Use TP to swicth to TEACH mode. | On I/O monitor, SLS 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_T output | Use TP to swicth to TEACH mode. | Input of connected safety device changes |
*1 To escape from the restricted area, switch to TEACH mode by using TP.