READY EPSON VT6L 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 3: Table Of Contents
Connecting the READY pendant ........
Page 4: Overview
Important: Before you start programming, please read the Known Issues section. The robot may behave unexpectedly when near a singularity. THESE ISSUES ARE NATIVE TO EPSON AND NOT AT THE FAULT OF FORGE/OS. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 5: Hardware Requirements
Connects the READY pendant to READY R-101257 (Forge/Ctrl the Forge/Ctrl and robot controller. Robotics only) 12-Pin M12 to Connects to the READY pendant READY Flying Leads Junction Box or Forge/Hub to Robotics Cable terminals. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 6 Connects the robot controller to Terminal Block the READY pendant and safety EPSON RE000975-1 Kit (with Cable) devices. Powers the READY pendant and other devices. 24V/2.5A e.g., Siemens Power Supply 6EP1332-5BA00 Min./Max. current: 2.5/5.0 Amps. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 7 ▪ Connects the READY pendant (x2) to an IPC. READY USB Flash Drive Robotics (with at least Transfers Forge/OS configuration R-400030 2GB of available files to the robot controller.. (or other) memory) © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 8: Software Requirements
Refer to the table below for the minimum required RC+, controller firmware, and Forge/OS versions. Controller Minimum Software Version RC+ 7.0, Compiler v7.4.0.x VT6L Firmware v7.5.53.0 Tip: Refer to Checking the Firmware Version for instructions on how to check your controller firmware version. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 9: Checking The Firmware Version
▪ If you see the pop-up below, click Change To Program Mode before the 5 second countdown expires. ▪ If the default boot mode is set to Program Mode, wait for the 5 second countdown to expire. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 10 If you see a pop-up about monitoring controller operation before Program Mode boots, click Yes. If you see it after Program Mode boots, click No. If you see a pop-up about starting another session, click Yes. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 11 In the top menu, select a Connection type of USB. Tip: The USB option is only available when: ▪ You are using the full version of RC+. ▪ Your USB cable is connected to the robot controller and Windows PC. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 14 VERSION 5.3.0 Select the backup file that you just created. Click OK. Find the Firmware Version. Verify that your firmware version matches the requirement. If you need to upgrade, contact EPSON Support. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 15: Connecting The Robot Controller
Plug an Ethernet cable into the LAN port on the robot controller. Plug the other end into a LAN port on your IPC. Plug one end of the EPSON Emergency Cable into the EMERGENCY port on the robot controller. Plug the other end into the Terminal Block Kit. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 16: Connecting The Ready Pendant
2. Three-Position Enabling Switch 3. Emergency Stop Button Note: For EPSON robots, you connect the READY pendant Emergency Stop, but not the Key Switch and Enabling Switch. Always perform a risk assessment and use appropriate safeguards, like a safety fence.
Page 17 VERSION 5.3.0 If you are using a Forge/Ctrl, prepare the READY pendant Junction Box: Connect a Cat5e STP Ethernet cable from the junction box Ethernet port (1) into a LAN port (5) on the Forge/Ctrl. Connect the 8-Pin power cable (4) from the junction box into one of the Module ports (6) on the Forge/ Ctrl.
Page 18 Grey Pin 14 Emergency Stop Key Switch Violet Key Switch Grey/Pink Key Switch Red/Blue Key Switch Pin 2, 3 Jumper Pin 15, 16 Jumper Pin 4, 11 Jumper Pin 12, 17 Jumper © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 19 Pin 21 Safeguard Input 2 Circuit Latch Release Input Pin 18 (Jumpered) Latch Release Input Pin 19 (Jumpered) Tip: Refer to EPSON documentation for more information on safeguard wiring and pin assignments. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 20: Powering On
Plug your IPC's power cable into a power outlet. Power on your IPC. Note: If you are using a Forge/Ctrl, turn the Power Disconnect Switch to ON. Then press the green power button on the opposite side. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 21: Signing In To Forge/Os
Tip: Forge/OS 5 is installed on all Forge/Ctrls and Forge/Hubs shipped after June 1, 2021. The READY pendant automatically finds and pairs with the IPC. The three LEDs on the screen help you track the status: ▪ Pendant Network Connection: This condition is satisfied when the READY pendant has a valid network connection (i.e., the Ethernet cable is plugged in).
Page 22 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there's only one READY pendant and one IPC on that network.
Page 23: Device Configuration - Pt.1
VERSION 5.3.0 DEVICE CONFIGURATION - PT.1 In the Admin role, open the Device Configuration app. Tap New + to open the Device Library. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 25 Insert a USB flash drive into the IPC as instructed on the screen. Use an empty flash drive with at least 2GB of storage. Tip: Do not connect the USB flash drive to the READY pendant. Tap Start Transfer and wait for it to finish.
Page 26: Importing The Project In Rc
IMPORTING THE PROJECT IN RC+ Insert the USB flash drive (that has the configuration files from the IPC) into the Windows PC. In File Explorer, go to your USB flash drive's storage. Open the forge-os folder. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 27 VERSION 5.3.0 In that forge-os folder, right-click the ready-epson-driver folder to copy it. In your Windows (C:) drive, open the EpsonRC70 folder that was made when you installed the EPSON RC+ software. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 28 VERSION 5.3.0 In that EpsonRC70 folder, open the projects folder. In that projects folder, right-click to paste the ready-epson-driver folder that you copied. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 29 If you set a password, enter it. Then click OK. If you see a pop-up about monitoring controller operation before Program Mode boots, click Yes. If you see it after Program Mode boots, click No. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 30 If you see a pop-up about starting another session, click Yes. If you see a pop-up about current tasks running, select Stop all tasks. In the menu bar across the top of EPSON RC+, open the Project tab. Click Import. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 31 VERSION 5.3.0 Set the import location as PC. Then click Next. Select a project type of EPSON RC+ 7.x. Select the copied "ready-epson-driver" project. Then click Next. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 32 VERSION 5.3.0 Type "EPSON_DRIVER" in the Destination Project Name field. Then click Next. Select the Open Destination Project After Import checkbox. Then click Import. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 33: Configuring The Robot
▪ You are using the full version of RC+. ▪ Your USB cable is connected to the robot controller and Windows PC. In the top menu bar, select Setup. Go into System Configuration. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 34 ▪ Forge/Ctrl: set the IP Address to 172.16.255.251 and set the Subnet Mask to 255.255.255.0. ▪ Forge/Hub: set the IP Address to 192.168.1.20 and set the Subnet Mask to 255.255.255.0. Select a Control Device of Remote I/O. This allows your robot to run through a READY pendant instead of through a Windows PC.
Page 35 In the Controller menu, select Preferences: Uncheck Virtual I/O to disable it. Uncheck Auto safeguard position recovery to disable it. Select Independent mode. Select Enable background tasks. Select Enable advanced task commands. Click Apply. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 36 Set Port 201 to 49152, enter the correct IP address, then Apply. Set Port 202 to 49153, enter the correct IP address, then Apply. Set Port 203 to 49154, enter the correct IP address, then Apply. Click Close. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 37 VERSION 5.3.0 Open the Project tab. Click Properties. In the Compiler menu, expand the Compiler Version dropdown. Select 7.4.0.x (or later). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 39: Building 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. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 40 VERSION 5.3.0 Check that you have a successful build by looking for a "Build complete, no errors" message in the Status window. Tip: If you see build errors, refer to Appendix C: Troubleshooting. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 41: Starting The Driver
VERSION 5.3.0 STARTING THE DRIVER In the top menu bar, open the Run dropdown. Click Run Window. To start the driver in Remote I/O mode, click Enable Remote I/O. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 43: Device Configuration - Pt.2
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. If the IP address you assigned to the robot is different, enter that.
Page 44 Note: When you first connect to a robot, it's normal to see some robot errors and/or warnings on the READY pendant. Ignore these for now. You will clear them after you finish adding the robot to Forge/OS. If the robot controller fails to connect, you see this pop-up.
Page 45 Note: To use these I/O signals, integrate your I/O devices with the robot controller. Tap SAVE. Forge/OS returns to the Configured Devices list, which shows the new robot as enabled. Note: A device is enabled when its switch is green and toggled to the right. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 46 Tap RESET to try to recover from the errors. If you can't RESET an error, tap MORE to get more details and instructions. Congratulations! You are ready to control your robot in the Device Control Panel and Task Canvas apps. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 47: Closing Rc
VERSION 5.3.0 CLOSING RC+ You can now control the robot arm with just the READY pendant. Follow these steps to disconnect your PC from RC+. Unplug the USB cable from your Windows PC and robot controller. A "Communication disconnection detected"...
Page 48: Appendix A: Setting Up Forge/Os
Note: If you're installing Forge/OS on a Forge/Ctrl, press F11. You may need to enter the BIOS Admin password. Contact READY Support if you run into this issue. From the boot options, select Install Forge/OS to boot from the installation USB flash drive.
Page 49 VERSION 5.3.0 The installer may take several minutes to load. Wait until the installation wizard opens. Select your language. Then click Install Forge. Choose a keyboard layout. Then click Continue. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 50 Select Erase disk and install forgeos. Then click Continue. Note: If Forge/OS is already installed, the installation wizard will show additional options. The goal is to erase the entire disk for a brand new installation. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 51 Confirm that you want to erase the entire disk by clicking Continue. Make a note of the pendant instructions. If you're using a Forge/Ctrl, select the checkbox next to This hardware is a Forge CTRL. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 52 Choose your IPC's host name. The host name identifies the IPC on the network. Pick a username and password. Then click Continue. Note: The username and password that you create here are for accessing the IPC desktop. They are NOT for signing into Forge/OS on the READY pendant. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 53 VERSION 5.3.0 Wait for the installer to copy and install Forge/OS. Once the installation completes, click Restart Now. When prompted, remove the installation flash drive. Then reboot. Wait for Forge/OS to finish booting. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 54 VERSION 5.3.0 When you see the login screen with the Forge/OS 5 logo, Forge/OS is ready to run on the READY pendant! You don't need to sign in to the desktop. Disconnect the monitor, keyboard, and mouse that you used to install Forge/OS.
Page 55 If the READY pendant spends more than 60 seconds on any step, troubleshooting text displays. Common things to check are if the READY pendant network cable is plugged in, if the IPC is powered on, if the READY pendant and IPC are connected to the same network, and if there’s only one READY pendant and one IPC on that network.
Page 56 Tap Admin and sign in. The default Admin password is "forgeadmin". Note: After installation, you have limited access to Forge/OS until you activate it with a license code. See Activating Forge/OS with a License Code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 57: Activating Forge/Os With A License Code
▪ A valid Forge/OS license code ▪ A valid Forge/OS license code Tip: Connect a USB keyboard to the port on the bottom of the READY pendant to type in any text field in Forge/ On the Settings app main screen, tap License.
Page 58 If you chose online license activation, you're done! If you chose offline license activation, follow these substeps: Insert the USB flash drive into your IPC. Tap START WRITING CERTIFICATE TO USB DRIVE. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 59 Wait for the file to finish transferring. When the file transfer is complete, remove the USB flash drive and tap SAVE. Forge/OS returns to the licensing home screen and shows an active license. If the license status isn't active, restart these license activation steps. Double-check your license code. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 60: Choosing Preferences
On the Settings app main screen, tap General Settings. Change the Units of Measure, Time and Date settings, or the Admin login password. Note: If you later forget your password, contact READY Robotics to reset it. Tap SAVE to save changes and exit the General Settings menu.
Page 61: Appendix B: Known Issues
This issue is the common with linear jogs on EPSON robots. Linear jogs move the robot's tool center point (TCP) in the Cartesian space (X, Y, Z, Rx, Ry, Rz). Use joint moves around singularities. When jogging the robot near objects, use a low speed to avoid unpredictable collisions. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 62: Stop Requests Rejected By The Robot
STOP REQUESTS REJECTED BY THE ROBOT When the robot is moving through a singularity, it might not immediately stop with the READY pendant Stop button or with an external safety device (such as a light curtain or a safety fence). However, the robot will always immediately stop with the E-Stop.
Page 63: Appendix C: Troubleshooting
The Runtime Controls window reads "Kill switch enabled, disable to start driver" until you set IO23 back to LOW (turning the red dot off). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 64: Initial Device Configuration Error
VERSION 5.3.0 INITIAL DEVICE CONFIGURATION ERROR When you set up your robot for the first time, you may see build errors. Try deleting and re-adding the robot in System Configuration. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 65 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. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 66 VERSION 5.3.0 Click Add. Enter the robot's information. Then click OK. Close out of the System Configuration menu. Rebuild the project (as outlined in the next section). © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 67: 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 rebuild. In the top menu bar, open the Project dropdown. Click Rebuild. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 68 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. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 69 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. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 70: Digital Output Configured As System Output Error
For example, suppose you have Output 0 linked to the "Ready" signal. In the I/O Monitor, output bit #0 has the label "Ready". On the READY Pendant, if you select the DCP checkbox next to Output 0 in the robot's device configuration and then try to change the state of Output 0 in the robot's Signals tab in the Device Controls app, you will get an error.
Page 71 In the Controller menu, select Remote Control and then Outputs. Configure the output signals to an output bit (or select "Not used"). Note: You cannot select Output #8 or #9. These outputs are reserved by Forge/OS. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 72: Appendix D: Error Recovery
In the top menu bar, open the Project dropdown. Expand the Recent Projects menu. Select the EPSON_DRIVER file. If you see a pop-up asking if you want to disconnect from the controller, click No. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 73 In the Command Window, type “Motor Off”, then hit Enter. Turn a joint brake off. Check which joint is out of the movable zone or in a state that it cannot move. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 74 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. In the Command Window, type "Motor On", then hit Enter. Restart the driver in Auto Mode. © 2022 COPYRIGHT READY Robotics ALL RIGHTS RESERVED...
Page 75: Resources
RESOURCES Want to learn more about how Forge/OS can empower you? Visit READY.academy (ready.academy) for FREE hands-on courses to help you deploy a robotic system. Visit READY.market (market.ready-robotics.com) for products and services offered by READY and our partners. Visit our Support site (support.ready-robotics.com) for robot startup guides, FAQs, and more.

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