Starting Safety Function Manager
In Epson RC+, select [Setup] - [System Configuration], and then under [Controller] - [Safety Functions], click [Safety Function Manager].
KEY POINTS
Safety Function Manager must be started for the first time by the safety manager.
The following dialog box appears when starting up for the first time. Follow the on-screen instructions and change the safety board password. The initial password is "EpsonSafety."
The display language of Safety Function Manager is automatically switched according to the language set in the Epson RC+.
If you cannot perform startup, check the following conditions:
- A Robot Controller equipped with safety functions must be connected.
- The Epson RC+ start mode must be in program mode.
- The control device for the Robot Controller must be a PC.
Checking Settings When Starting up Safety Function Manager
When starting up Safety Function Manager, in the [Basic Settings] tab, check the settings of the safety board and make sure that they are the same as those of the Robot Controller.
It is recommended to keep a record of the [Parameter Checksum] of [Robot] and the [Parameter Checksum] of [Safety Functions] as displayed in the Safety Function Manager.
| Setting Item | Function | Remarks | |
|---|---|---|---|
| Robot | Model | Robot model name | - |
| Parameter Checksum | Parameter checksum for robot settings (hidden) | Robot model specific values. | |
| Hofs | J1 | Hofs value for Joint #1 | Value for correcting the origin of the joint axis. These values may vary by individual machine even within the same model. (Unit: Pulse) The Hofs value for Joint #5 and Joint #6 are only displayed for a 6-Axis robot. |
| J2 | Hofs value for Joint #2 | ||
| J3 | Hofs value for Joint #3 | ||
| J4 | Hofs value for Joint #4 | ||
| J5 | Hofs value for Joint #5 | ||
| J6 | Hofs value for Joint #6 | ||
| Last Modified | Date and time Hofs was modified | - | |
| Safety Functions | Parameter Checksum | Parameter checksum for safety function parameters | Specific value calculated from the safety function parameters for safety inputs, safety outputs, Safety Limited Speed (SLS), Safety Limited Position (SLP), Joint Angle Limit, Soft Axis Limiting, and Dry Run, as well as the safety function parameters last modified value. |
| Last Modified | Date and time safety parameters were modified | - | |
If an error is displayed when starting up Safety Function Manager
An error screen may be displayed when Safety Function Manager is started. Follow the instructions on each screen and take the following measures.
If the robot model or robot parameter checksum is different
Click the [OK] button.
Click [Update the robot information of the Safety Board.].
Follow the on-screen instructions, enter the safety board Password, and change the settings.
If the Hofs value is different
Click the [OK] button.
Click [Send Hofs to the Safety Board].
Follow the on-screen instructions, enter the safety board Password, and change the settings.
If the Dry Run settings are different
Click the [OK] button to restart the Robot Controller.