Multi-Task Program Verification - Epson TP3 Manual

Available Function:
Functions with source not hidden
Robot Motion Speed Setting (when T1 mode):
During the program verification, robots are always operated in Low power mode.
[Speed] can be changed within a range specified for Low power mode by pressing the
<Speed> key.
■ The faster the speed, the longer the free running distance at the emergency stop
or pause is.
equipment is predictable, perform the program verification at low speed while
CAUTION
taking the free running distance into consideration.
Execution-restraint Functions and Commands
Power High : T1 mode
TRAP
XQT
INPUT
PRINT #20 : Output to the Teach Pendant causes an error and aborts the program

3.4.2 Multi-task Program Verification

The multi-task program verification is used to verify a program in order to check the
motion of the robot and peripherals by executing a multiple task with single- or
multi-manipulators (Cycle / Step execution) while the safeguard is open.
Function can be specified and executed within a speed limit.
To execute the program:
To stop the program temporarily:
RC700-A option TP3 Rev.8
Low power mode:
Speed lower than 250 mm/s
Restrains the motor power output
Low: 25% of speed of Low power mode
Middle: 50% of speed of Low power mode
High: 100% of speed of Low power mode
When operating the robot where interference with peripheral
Power mode is always set to Low.
Specification function cannot be executed.
T2 mode
Specification function can be executed.
: Corresponding task cannot be executed even when a condition is met.
: An error occurs and the program execution will be aborted.
: Input from the console causes an error and aborts the program execution.
execution.
After tapping the <Start> key, tap the operation key (Continue), and then press the
<EXE.> key while the Enable Switch is ON with the confirmation window open.
Release the Enable Switch or the <EXE.> key.
The moving robot stops. (Quick Pause)
Operation 3. TEACH/T1 Mode
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