READY FORGE OS% Startup Manual

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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
10. Finish adding your EPSON robot in Device Configuration. 11. Program your EPSON robot with Forge/OS! Note: You can find Error Recovery and Troubleshooting information at the end of this guide. 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). This 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
Connect a computer with EPSON RC+ installed. 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. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 7 Plug one end of an 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
24V power supply. Use cable glands to provide strain relief and a sufficient IP rating for the EPSON Emergency cable, KEBA pendantcable, Ethernet cables, power cables, and any other cables required for your setup. Your setup may look like the example image shown below. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 11 VERSION 1.0.1 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 are using a READY kit product (Forge/Hub or Forge/Ctrl) as the Forge hub, wire the terminal blocks as listed in this table. If you are not using a READY kit product, contact READY Robotics for the correct startup guide.:...
Page 13 Fence Contact Safety Door Input 1 Pin 18 Latch Release Input (Jumpered) Pin 19 Latch Release Input (Jumpered) Pin 20 Safety Door Input 2 (Jumpered) Pin 21 Safety Door Input 2 (Jumpered) © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 14 VERSION 1.0.1 Refer to EPSON's robot manual for more information on pin assignments and installing a safeguard latch system (or other features appropriate for your system). © 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. Here is an example: Power up the robot, Forge hub, and KEBA pendant. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 16: Setting Up Forge/Os
Note: If you try to open another app, you will be redirected to the Settings app until you activate a valid user license. Find another USB drive to use for Forge/OS license activation. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 17 VERSION 1.0.1 Note: Contact READY Robotics for your license code. You can use any USB format for these steps. Don't use the USB installer that you installed Forge/OS with unless you clean and reformat it. On the Settings app main screen, tap License Info.
Page 18 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 from your PC. Import the unlock certificate in Forge/OS © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 19 If you need to update Forge/OS from a USB drive, you can do that 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 drive to download and install the update.
Page 20 When the update files show under Available Versions, tap the version to install. Wait for the update to finish and restart Forge/OS using the power button at the bottom of the screen. You can change system preferences from the Settings app before moving on. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 21 On the Settings app main screen, tap General Settings. Change the Time and Date settings or the Admin login password. Note: If you later forget what you change your password to, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu.
Page 22: Device Configuration - Pt.1
In this section, you will start to add the robot in Forge/OS and get the robot files to put onto 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 24 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 drive when prompted. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 25: Import The Project In Epson Rc
Open EPSON RC+ in Program Mode. After clicking the EPSON RC+ icon, you may get 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 26 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 USB folder "ready-epson-driver" from into your EPSON RC 7.0 projects folder: © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 27 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 28 VERSION 1.0.1 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 29 VERSION 1.0.1 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 31: Configure Your Robot For Control Through A Remote I/O Device
Note: This USB option is only 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 32 In the Controller menu, select Configuration. Set the IP address and Subnet mask (IP mask): If you are using the READY-made Forge/Ctrl, set the IP Address to 172.16.255.251 and set the Subnet Mask to 255.255.255.0. If you are using the READY-made Forge/Hub, set the IP Address to 192.168.1.20 and set the Subnet Mask to...
Page 33 For Control Device select Remote I/O. Note: Configuring the driver with a Remote I/O control device will allow your robot to run independent of a PC. Click Apply. In the Controller menu, select Preferences. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 34 Make sure that your Controller Preferences match the blue settings in the image below. Then click Apply. Enable virtual I/O. Disable auto safeguard position recovery. Enable independent mode. Enable background tasks. Enable advanced task commands. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 35 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. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 37: 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. Verify that you have a successful build by looking for a "Build complete, no errors" message in the Status window. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 38 VERSION 1.0.1 Note: If you get build errors, refer to the troubleshooting section. If you see the below prompt, select Yes to overwrite the project on the controller. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 39: Start The Driver In Remote I/O Mode
In the top menu bar, open the Run dropdown. 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 40 Verify that you see something like this in the Run - Remote Console. Note: If the robot reboots for any reason, the driver will auto launch and be ready to run. If you want to close RC+, hit Stop and exit RC+. The EPSON will switch to AUTO mode.
Page 41: Device Configuration - Pt.2
In Forge/OS, finish entering your EPSON device information: Give your device a name. If you are using the READY-made Forge/Ctrl, enter the IP Address 172.16.255.251. If you are using the READY-made Forge/Hub, enter the IP Address 192.168.1.20. In Forge/OS, confirm your device settings and tap SAVE to add the robot. Forge/OS attempts to communicate with the robot controller.
Page 42 (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 43 Forge/OS returns to the Device Configuration home screen. Make sure the robot appears in the configured devices list and that it is enabled. If you successfully completed this robot configuration, congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps.
Page 44: Error Recovery
Manager. 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 46 If prompted with the below warning, 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 47 VERSION 1.0.1 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 48 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 49 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 50 VERSION 1.0.1 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. Un-check and re-check Virtual I/O. Click Apply. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 51 VERSION 1.0.1 Click Close. Note: After the controller restart is complete, the robot will be back in Auto mode and the driver should have restarted. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 52: Troubleshooting
You may encounter build errors when building the robot driver from the Project dropdown. Try deleting and adding the robot in System Configuration. In the top menu bar, select Setup. Go into System Configuration. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 53 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. Click Delete and Yes to re-configure the Robot 1 file. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 54 VERSION 1.0.1 Click Add. Enter the robot's information, and then click OK. Close out of the System Configuration menu. Try to re-build the project. © 2021 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 55: 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, you can watch FREE courses whenever it is convenient for you: ready.academy...

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