Epson T-B Series User Manual

TABLE OF CONTENTS
T-B series Rev.1 xi
12.3.1 I/O Cable Connecting Method ........................................... 117
12.3.2 How to Fix the I/O Cable ................................................... 117
13. Hand I/O Connector 118
13.1 Power Supply Specifications ......................................................... 118
13.2 Input Circuit ................................................................................... 119
13.2.1 Typical Input Circuit Application 1: Sourse Type .............. 119
13.2.2 Typical Input Circuit Application 2: Sink Type ................... 119
13.3 Output Circuit ................................................................................. 120
13.3.1 Typical Output Circuit Application 1: Sink Type (NPN) ..... 120
13.3.2 Typical Output Circuit Application 2: Source Type (PNP) . 120
13.4 Pin Assignments ............................................................................ 121
13.5 How to Control Hand I/O ............................................................... 121
14. I/O Remote Settings 123
14.1 I/O Signal Description .................................................................... 124
14.1.1 Remote Input Signals ........................................................ 124
14.1.2 Remote Output Signals ..................................................... 128
14.2 Timing Specifications .................................................................... 132
14.2.1 Precautions for Remote Input Signals ............................... 132
14.2.2 Timing Diagram for Operation Execution Sequence ........ 132
14.2.3 Timing Diagram for Program Execution Sequence........... 132
14.2.4 Timing Diagram for Safety Door Input Sequence ............. 133
14.2.5 Timing Diagram for Emergency Stop Sequence ............... 133
15. SD Card Slots 134
16. Fieldbus I/O 135
17. Restrictions 136
17.1 Commands Cannot Use ................................................................ 136
17.2 Commands Cause Motion Error If Specifying RS-232C ............... 136
17.3 Commands Cause Error ................................................................ 136
17.3.1 6-axis Robot Command ..................................................... 136
17.3.2 Conveyor Tracking Commands ......................................... 137
17.3.3 PG Commands .................................................................. 138
17.3.4 R-I/O Commands ............................................................... 138
17.3.5 Force Sensing Commands ................................................ 138
17.3.6 Robot Control Commands ................................................. 138
17.3.7 Other (FineDist) ................................................................. 138
17.3.8 Other (HealthCalcPeriod) .................................................. 139
17.3.9 Other (ChDisk) ................................................................... 139

Epson T-B Series Specifications

General

Brand	Epson
Model	T-B Series
Category	Robotics
Language	English