Multi-Task Program Verification - Epson TP1 Manual

Operation 4.TEST Mode

4.2 Multi-task Program Verification

Multi-task program verification is used to verify a program by checking motion of the robot
and peripherals, by executing a multi tasks with single- or multi-manipulators (Cycle / Step
execution) with the safeguard open.
Function can be specified and executed within a speed limit and task execution limit.
An operator can execute a program while the operation key (Continue) is pressed and the
Enable Switch is ON.
Running program can be paused by turning off the Enable Switch or releasing the operation
key (Continue).
The operating robot stops by Quick Pause.
To resume the program, turn on the Enable Switch and press the operation key (Continue).
The program will be resumed from the paused position.
The program execution aborts when the Emergency Switch is pressed or an error occurs.
The screen returns to [Program List Display].
The operating robot stops by Quick Pause.
The running program pauses according to Open/Close status of the safeguard.
To resume the program, release the latch status of the safeguard interlock. Then, turn on
the Enable Switch and push the operation key (Continue). The program will resume from
the paused position.
 Before performing program verification, check that the robot system operates normally
by using the EPSON RC+ debug function.
For details on the EPSON RC+ debug function, refer to the EPSON RC+ User's Guide
5.10 [Run] Menu.
If debugging is insufficient, the robot may cause unintended motion. This is extremely
hazardous and may cause serious bodily injury or severe damage to the robot.
WARNING
 Before performing program verification, make sure that no one is in the robot's operation
area.
The robot automatically starts moving as program verification is started. If the operator
is in the robot's operation area, it is extremely hazardous and may cause serious bodily
injury or severe damage to the robot.
 When abnormal operation such as collision with peripherals is predicted, release the
operation key (Continue, Step In, Step Over, and Walk) immediately and stop the robot.
The robot also can be stopped by turning off the Enable Switch, or push the switch harder.
 After performing program verification, be sure to follow the points below:
CAUTION
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- Check the changed parts in software before supplying power.
- Perform function test to check whether the robot system operates normally.
TP1 Rev.8