READY FORGE OS5 Startup Manual

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Startup manual (58 pages)

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EPSON VT6L Startup Guide

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Page 1 EPSON VT6L Startup Guide...
Page 2 The documentation, best practices, and recommendations provided by READY Robotics do NOT constitute safety advice. Products sold through READY Robotics are not by themselves a fully integrated workcell. As required in ISO 10218-2, READY Robotics strongly recommends performing a complete risk assessment of the integrated workcell per ISO 12100.
Page 4: Overview
THESE ISSUES ARE NATIVE TO EPSON AND NOT AT THE FAULT OF FORGE/OS. If you run into errors while setting up or running your robot, please refer to the Troubleshooting Error Recovery sections. Let's get started! © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 5: Install Epson Rc+ On A Computer
Mode. Then look for a USB selection in the Connection dropdown menu (located in the top- right corner). The USB option allows your computer to communicate with a real robot via a USB cable. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 6: Connect A Computer, Emergency Connector, And Forge Hub To The Robot
Plug the Type-B end of the USB cable into the PC port on the EPSON controller. Plug the Type-A end of the USB cable into a USB port on your computer. Connect your Forge hub. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 7 Plug one end of a Cat5e STP Ethernet cable into the LAN port on the robot controller. Plug the other end of the Ethernet cable into your Forge hub. (Shown here: LAN1 port on the Forge/Ctrl.) Connect an EPSON Emergency connector. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 9: Connect The Keba Pendant And Safeguards
You may use a junction box or cabinet to enclose the wiring and 24V power supply. Use cable glands to provide strain relief for cables. Your setup may look like the example below. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 11 VERSION 5.0.4 Disconnect your EPSON robot from its power source. Plug the 25-pin D-Sub Emergency connector into the green WAGO board from the EPSON kit. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 12 Since you're not using a READY-made product as the Forge hub, wire the terminal blocks as listed in this table. If you are using a READY-made product (e.g., Forge/Hub or Forge/ Ctrl), go to support.ready-robotics.com for the correct startup guide.
Page 13 Safeguard Input 2 Circuit Contact 21 Pin 20 Safeguard Safeguard Input 2 Circuit Contact 22 Pin 21 Safeguard Input 2 Circuit Pin 18 Latch Release Input (Jumpered) Pin 19 Latch Release Input (Jumpered) © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 15 At the end of the KEBA pendant cable is a black Ethernet cable. Connect it to a longer Ethernet cable to plug into your Forge hub. See the example below. Power up the robot, Forge hub, and KEBA pendant. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 16: Setting Up Forge/Os
From the boot options, select Forge to boot from the installation USB flash drive. The installer may take several minutes to load. Wait until the installation wizard opens. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 18 Select Erase disk and install forgeos. Then click Install Now. Note: If Forge/OS is already installed, the installation wizard may prompt you with additional options. The goal is to erase the entire disk for a brand new installation. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 19 Confirm that you want to erase the entire disk by clicking Continue. If you are installing Forge/OS on a Forge/Ctrl, select the checkbox labeled "This hardware is a Forge CTRL". Then click Continue. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 20 Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the Forge hub desktop. They are NOT for logging into Forge/OS on the KEBA pendant. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 23 VERSION 5.0.4 When you see the blue screen below, Forge/OS is ready to run on the KEBA pendant! You don't need to sign in to the desktop. Disconnect the monitor, keyboard, and mouse that you used to install Forge/OS. On the KEBA pendant, the Pendant Pairing screen appears. This is where you connect the pendant to Forge/OS each time you reboot.
Page 24 If your Forge/OS license isn't active, insert an empty USB flash drive to use for Forge/OS license activation and complete steps 6-8. Note: Do not use the Forge/OS installation USB flash drive. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 25 VERSION 5.0.4 Note: Find your license code on your packing slip. On the Settings app main screen, tap License Info. Tap GENERATE ACTIVATION CERTIFICATE. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 26 Tap START WRITING CERTIFICATE TO USB DRIVE when prompted. Wait for the process to finish. Remove the USB flash drive from your Forge hub. Use the activation certificate and create the unlock certificate. Insert the USB flash drive into your PC. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 27 The portal generates new text characters. Copy all of the text and paste it in the empty "Forge_OS-License-Unlock-Certificate.txt" file. Save the unlock certificate file. Remove the USB flash drive from your PC. Import the unlock certificate in Forge/OS © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 28 VERSION 5.0.4 On the KEBA pendant, tap IMPORT UNLOCK CERTIFICATE. Insert the USB flash drive into your Forge hub. Tap LOAD UNLOCK CERTIFICATE FROM USB DRIVE. Enter your license code. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 29 If you need to update Forge/OS from a USB flash drive, do it through the System Update screen. Note: Contact READY Robotics for an update file. Update files are too large for the FAT32 file format. Use an exFAT or NTFS formatted USB flash drive with at least 8GB of storage to download and install the update.
Page 30 Wait for the update to finish. Restart Forge/OS using the power button at the bottom of the screen. If you need to change system preferences, do it through the General Settings screen. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 31 Note: If you later forget your password, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu. If your Forge hub is not a READY-made Forge/Ctrl or Forge/Hub, configure the Network settings in Forge/OS.
Page 32 The table below lists the available network interfaces on your Forge hub. By default, the first interface is for the KEBA pendant. You can't edit the pendant's interface in Forge/OS. Select another interface and tap Edit to see the network settings. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 33 VERSION 5.0.4 Change the network interface to match the settings in the image below. Connect robots and other devices to this interface through an Ethernet switch. Tap SAVE. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 34: Device Configuration - Pt.1
In this section, you will add the robot in Forge/OS and copy configuration files to the robot controller. In the Admin role, tap the Device Configuration icon to open the Device Configuration app. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 36 Insert a USB flash drive into the Forge hub as instructed on the screen. Use an empty flash drive with at least 2GB of storage. Tap Start Transfer and wait for it to finish. Remove the USB flash drive when prompted. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 37: Import The Project In Epson Rc
Insert the USB drive into the computer with EPSON RC+ installed. Open EPSON RC+ in Program Mode. You may see a pop-up asking if you want to run in Auto Mode or Program Mode. Click Change to Program Mode. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 38 If asked to close the current PC project or to stop other projects, choose Stop all tasks in the controller and use the current PC project. Transfer the folder "ready-epson-driver" from the USB drive into your EPSON RC 7.0 projects folder:...
Page 39 Using your computer file explorer, open the USB drive and open the folder called "forge-os." Copy the "ready-epson-driver" folder from your USB drive. Open the (C:) drive. Open the EpsonR70 folder that was made when you installed the EPSON RC+ software. Find the projects folder.
Page 40 VERSION 5.0.4 In the menu bar across the top of EPSON RC+, open the Project tab. Click Import. Set the import location as PC and click Next. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 41 VERSION 5.0.4 Select a project type of EPSON RC+ 7.x. Then select the copied "ready-epson-driver" project and click Next. Type "EPSON_DRIVER" in the Destination Project Name field. Then click Next. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 43: Configure Your Robot For Control Through Aremote I/O Device
Note: This USB option is available in the full version of the Epson RC+ software. If you see this prompt, select Stop all tasks in the controller and use the current PC project. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 44 In the Startup menu, select Auto mode and click Apply. Then open the Controller menu. In the Controller menu, select Configuration. Set the IP address and Subnet mask (IP mask): Set the IP Address to 192.168.1.20 and set the Subnet Mask to 255.255.255.0. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 45 VERSION 5.0.4 For Control Device, select Remote I/O. Note: Configuring the driver with a Remote I/O control device allows your robot to run independent of a PC. Click Apply. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 46 Then click Apply. Uncheck Virtual I/O to disable it. Uncheck Auto safeguard position recovery to disable it. Check Independent mode to enable it. Check Enable background tasks. Check Enable advanced task commands. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 48 For the Fieldbus Type, select Modbus TCP. Note: If RC+ won't let you select a Fieldbus Type, close the System Configuration window and open it again from the Setup menu. Click Apply. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 49 Expand theTCP/IP menu. Set the TCP/IP Ports to the values listed below. Leave the IP Address as the default value. Set Port 201 to 49152, then Apply. Set Port 202 to 49153, then Apply. Set Port 203 to 49154, then Apply. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 51: Build The Driver
It's time to build the driver. This step sends the program files to the robot. In the top menu bar, open the Project dropdown. Click Build. If you see the prompt below, select Yes to overwrite the project on the controller. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 52 VERSION 5.0.4 Check that you have a successful build by looking for a "Build complete, no errors" message in the Status window. Note: If you see build errors, refer to the Troubleshooting section. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 53: Start The Driver In Remote I/O Mode
START THE DRIVER IN REMOTE I/O MODE Once you have built the robot driver, follow these steps to start it in Remote I/O mode to test In the top menu bar, open the Run dropdown. Click Run Window. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 54 To start the driver in Remote I/O mode, click the Enable Remote I/O button. Click Yes in the pop-up window. If asked to close the current PC project or to stop other projects, choose Stop all tasks in the controller and use the current PC project. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 55 Verify that you see something like this in the Run - Remote Console. Note: If the robot reboots for any reason, the driver auto launches and be ready to run. If you want to close RC+, hit Stop and exit RC+. The EPSON switches to AUTO mode.
Page 56: Device Configuration - Pt.2
When the robot connects, you can add Tool Center Points (TCPs) or Payloads for the robot. You can come back to this later by editing the device's configuration. Tap SAVE to continue. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 57 (Optional): Set up the robot controller's Input/Output (IO) signals for use in the Device Control Panel and Task Canvas. Enter a Display Name (i.e. "Open Machine Door", "Open Pneumatic Vise", or "Start Machining Cycle") to show what each signal does in other apps. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 58 Note: A device is enabled when its switch is green and toggled to the right. Congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps.
Page 59: Known Issues
There are two behaviors you may see near a singularity: excess jogging and rejected stop requests. EXCESS JOGGING AT A SINGULARITY When you jog the robot near a singularity, the robot may move for an extra 1-2 seconds after letting go of the jog button. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 60: Stop Requests Rejected By The Robot
To minimize risk, use a low speed as you first build out your task. Using a low speed can help you avoid unpredictable collisions. Important: In emergency situations, ALWAYS hit an emergency stop button that is wired to the emergency stop circuit of the EPSON controller. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 61: Troubleshooting
Then you can reconfigure the robot. Set IO23 back to LOW to re-enable the driver. The table below lists the Epson robot's I/O pins. See the example I/O wiring below. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 62: Initial Device Configuration Error
VERSION 5.0.4 INITIAL DEVICE CONFIGURATION ERROR When you set up your robot for the first time, you may see build errors. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 63 In the top menu bar, select Setup. Go into System Configuration. Expand the Controller menu. Open Robot 1. Note what the settings of the configured robot are. If they don't match your robot model, make a note of that. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 64 Click Delete and Yes to re-configure the Robot 1 file. Click Add. Enter the robot's information, and then click OK. Close out of the System Configuration menu. Re-build the project (as outlined in the next section). © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 65: Rebuilding The Source Code
▪ if the Epson encounters a stack error in the Epson logs while you are running a task. When this happens, you will receive a Forge/OS message asking you to re-build. In the top menu bar, open the Project dropdown. Click Rebuild. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 66 If you see the prompt below, select Yes to overwrite the project on the controller. Verify that you have a successful rebuild by looking for "Build complete, no errors" in the Status window. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 67 Start the updated driver. Navigate to the top menu bar, open the Run dropdown, and click Run Window. To start the driver in Remote I/O mode, click the Enable Remote I/O button. Click Yes in the pop-up window. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 68 If asked to close the current PC project or to stop other projects, choose Stop all tasks in the controller and use the current PC project. Verify that you see something like this in the Run - Remote Console. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 69: Error Recovery
If this is the case, use the following instructions to recover your robot to an operable state. Restart EPSON RC+ in Program Mode by completing the steps below. Close EPSON RC+. On startup, select the Change To Program Mode button. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 71 If prompted with the warning below, click Yes. In the Connect pop-up, select Stop all tasks. Then click OK. Reload your project (if necessary). In the top menu bar, open the Project dropdown. Expand the Recent Projects menu. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 72 VERSION 5.0.4 Select the EPSON_DRIVER file. If prompted to disconnect, click No. Open the Command Window. In the top menu bar, open the Tools dropdown. Click Command Window. Turn motors off. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 73 Move the joint and turn its brake back on. Use your hands to move the joint back within the movable zone. In the Command Window, type "Brake On, [JOINT#]", then hit Enter. Turn motors on. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 74 In the Command Window, type “Go JA(0,0,0,0,0,0)”, then hit Enter. Restart the driver in Auto mode by first navigating to the top menu bar and opening the Setup dropdown. Go into System Configuration. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 75 VERSION 5.0.4 Note: The process assumes that you have configured your robot for control through a Remote I/O device. Open the Controller tab. Navigate to Preferences. Uncheck Virtual I/O. Click Apply. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 77: Resources
RESOURCES Want to learn more about how Forge/OS can empower you? READY.Academy offers hands-on courses to help you deploy a robotic system, from laying out the entire workcell to programming robots. With this online academy, watch FREE courses whenever it's convenient for you: ready.academy...

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