Omron T20 User manual

I601-E-01

T20 Pendant

Userʼs Guide

The information contained herein is the property of Omron Adept Technologies, Inc., and shall not be

reproduced in whole or in part without prior written approval of Omron Adept Technologies, Inc. The

information herein is subject to change without notice and should not be construed as a commitment by

Omron Adept Technologies, Inc. The documentation is periodically reviewed and revised.

Omron Adept Technologies, Inc., assumes no responsibility for any errors or omissions in the doc-

umentation. Critical evaluation of the documentation by the user is welcomed. Your comments assist us

in preparation of future documentation. Please submit your comments to:

techpubs@adept.com.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Created in the United States of America

Table of Contents

Chapter 1: Introduction 5

1.1 Product Description 5

Features 5

System Compatibility 5

1.2 Proper Handling of the Pendant 5

1.3 How Can I Get Help? 6

Related Manuals 6

Chapter 2: Safety 7

2.1 Dangers, Warnings, Cautions, and Notes 7

2.2 Safety Precautions 8

2.3 What to Do in an Emergency or Abnormal Situation 8

2.4 Additional Safety Information 8

Manufacturer's Declarations 8

Robot Safety Guide 8

Chapter 3: Installation and Setup 9

3.1 Transport and Storage 9

3.2 Unpacking the Pendant 9

3.3 Repacking for Shipment 9

3.4 Operating Environment 10

3.5 Installation 10

Chapter 4: Operation 15

4.1 Using the Pendant Controls and Indicators 15

4.2 Enable Switch 17

4.3 Turning Power ON and OFF 19

Turning Robot Power ON 19

Turning OFF Power from the T20 Pendant 20

4.4 User Interface Operation 20

User Interface Controls 20

User Interface Flow Diagram 21

Displaying the Home Screens 23

4.5 Using Jog Mode 24

COMP Mode 24

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Table of Contents

Joint Mode 25

World Mode 25

Tool Mode 26

Free Mode 27

4.6 Speed Control 28

4.7 Position Display 29

4.8 Smart Locations 30

4.9 Available Frames 30

Enable Frame-Based Jogging 31

A Note about Frame-mode Jogging 31

4.10 Available Tools 31

4.11 Location Teaching 32

Adding Approach Distance 35

Using Jog To 35

Align 35

4.12 I/O Signals 35

4.13 Displaying and Clearing Errors 37

Chapter 5: Maintenance 39

5.1 The System Maintenance Screen 39

5.2 Setting the Screen Saver 40

5.3 Setting the Initial Speed 41

5.4 Enabling Smart Locations 41

5.5 Setting the Approach Distance 41

5.6 Enabling Pendant Messages 42

5.7 Displaying System Information 42

5.8 Displaying Recent Errors 43

5.9 Updating the Pendant Firmware 44

5.10 Loss of Connection 46

5.11 Cleaning 46

5.12 Periodic Maintenance 46

Chapter 6: Technical Specifications 47

6.1 Dimension Drawings 47

6.2 Pendant Specifications 47

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Chapter 1: Introduction

This manual covers the setup, operation, and user maintenance of the T20 pendant.

1.1 Product Description

The T20 pendant provides a user interface and teach pendant in an ergonomic and rugged

package. The T20 pendant is designed for right- or left-handed use. All gripping and holding

positions enable comfortable and fatigue-free operation.

Features

The safety features include:

lEmergency stop switch (dual-channel circuit)

lThree-position enable switch that prevents pendant input or robot motion when the

switch is not engaged

The software features include the ability to:

lControl the robot by enabling and disabling power and jogging the robot

lTeach locations

lUse Smart Locations, which allow you to work with locations through the Frame and

Tool screens

lDisplay robot position, system status, system identification, and error messages

lDisplay and change digital I/O

System Compatibility

The T20 pendant is compatible with any robot that is controlled by the SmartController EX

motion controller or an eAIB amplifier. The key common factor is that both of those run eV+.

1.2 Proper Handling of the Pendant

You have chosen a high-quality device that is equipped with highly-sensitive, state-of-the-art

electronics. To avoid malfunctions or damage through improper handling, and possible void-

ing of the warranty, follow these instructions during operation.

lWhen you are not using the T20 pendant, hang it on the optional wall bracket for stor-

age.

lNever place the T20 pendant with the display screen facing down, to avoid damaging

the buttons or display.

lNever place the T20 pendant on an unstable surface. It could fall to the ground and be

damaged.

lNever place the T20 pendant close to heat sources or in direct sunlight.

Chapter 1: Introduction

lAvoid exposing the T20 pendant to mechanical vibrations, excessive dust, humidity, or

strong magnetic fields.

lNever clean the T20 pendant display screen or other surfaces with solvents, abrasive

cleaners, or scrubbing sponges.

lMake sure that no foreign objects or liquids can penetrate into the T20 pendant.

WARNING: When the cable entrance cover is removed, the T20

pendant is sensitive to electrostatic discharge.

1.3 How Can I Get Help?

Refer to the corporate website:

http://www.ia.omron.com

Related Manuals

This guide covers the installation, operation, and maintenance of the T20 pendant. There are

additional manuals that cover programming the system, reconfiguring installed components,

and adding other optional components. See the table that follows. These manuals are also

available on the software disk shipped with each robot system.

Table 1-1. Related Manuals

Manual Title Description

Robot Safety Guide Contains safety information for our robots.

SmartController EX

User's Guide

Contains complete information on the installation

and operation of the SmartController EX motion con-

troller and the optional sDIO product.

ACE User's Guide Describes the ACE software environment and use

with a control system. This documentation is

included in the ACE software installation.

eV+ Language User's

Guide

Describes the eV+ language and programming of a

control system.

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Chapter 2: Safety

2.1 Dangers, Warnings, Cautions, and Notes

There are six levels of special alert notation used in our manuals. In descending order of

importance, they are:

DANGER: This indicates an imminently hazardous electrical situation

which, if not avoided, will result in death or serious injury.

DANGER: This indicates an imminently hazardous situation which, if

not avoided, will result in death or serious injury.

WARNING: This indicates a potentially hazardous electrical situation

which, if not avoided, could result in serious injury or major damage to

the equipment.

WARNING: This indicates a potentially hazardous situation which, if not

avoided, could result in serious injury or major damage to the equipment.

CAUTION: This indicates a situation which, if not avoided, could result

in minor injury or damage to the equipment.

Precautions for Safe Use: This indicates precautions on what to do and

what not to do to ensure using the product safely.

Chapter 2: Safety

2.2 Safety Precautions

DANGER: An industrial robot can cause serious injury or death, or dam-

age to itself and other equipment, if the following safety precautions are

not observed:

lAll personnel who install, operate, teach, program, or maintain the system must read

this guide, read the Robot Safety Guide, and complete a training course for their respons-

ibilities in regard to the robot.

lAll personnel who design the robot system must read this guide, the Robot Safety Guide,

and the robot user's guide that was supplied with the equipment. The system design

must comply with all local and national safety regulations for the location in which the

robot is installed.

lThe robot system must not be used for purposes other than described in the robot user's

guide that was supplied with the equipment. Contact Omron Adept Technologies, Inc. if

you are not sure of the suitability for your application.

lThe user is responsible for providing safety barriers around the robot to prevent anyone

from accidentally coming into contact with the robot when it is in motion.

lPower to the robot and its power supply must be locked out and tagged out before any

maintenance is performed.

2.3 What to Do in an Emergency or Abnormal Situation

Press any E-Stop button (a red push-button on a yellow background/field) and then follow the

internal procedures of your company or organization for an emergency or abnormal situation.

If a fire occurs, use CO2to extinguish the fire.

2.4 Additional Safety Information

Manufacturer's Declarations

This lists all standards with which each robot complies. Refer to the Manufacturer's Declarations

Guide.

Robot Safety Guide

The Robot Safety Guide provides detailed information on safety for our robots. The Guide ships

with each robot.

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T20 Pendant User's Guide, 10433-000 Rev. E

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Chapter 3: Installation and Setup

This chapter covers the installation and setup of the T20 pendant.

3.1 Transport and Storage

The T20 pendant must be shipped and stored in a temperature-controlled environment, within

the range –25° to +60° C (-13° to 140° F). The recommended humidity range is 5 to 95 percent,

non-condensing. It should be shipped and stored in the original packaging, which is designed

to prevent damage from normal shock and vibration. You should protect the packaging from

excessive shock and vibration. The pendant must always be stored and shipped in a clean,

dry area that is free from condensation.

The T20 pendant weighs 480 g (1.1 lb) without the adapter cable installed.

3.2 Unpacking the Pendant

Carefully inspect the shipping packages for evidence of damage during transit. If any damage

is indicated, request that the carrier’s agent be present at the time the container is unpacked.

Before signing the carrier’s delivery sheet, compare the actual items received (not just the pack-

ing slip) with your equipment purchase order. Verify that all items are present and that the

shipment is correct and free of visible damage.

lIf the items received do not match the packing slip, or are damaged, do not sign the

receipt. Contact Omron Adept Technologies, Inc. as soon as possible.

lIf the items received do not match your order, please contact Omron Adept Tech-

nologies, Inc. immediately.

lRetain all containers and packaging materials. These items may be necessary to settle

claims.

Remove the pendant from its box and place it on its back on a flat surface.

3.3 Repacking for Shipment

If the pendant or other equipment needs to be shipped, reverse the steps in the installation pro-

cedures in this chapter. Reuse all original packing containers and materials and follow all

safety notes used for installation. Improper packaging for shipment will void your warranty.

Chapter 3: Installation and Setup

3.4 Operating Environment

The T20 pendant is designed to operate in the following environment:

lTemperature: 0° to +45° C (32° to 113° F)

lHumidity: 0 to 95%, non-condensing

The T20 pendant is not intended for use in hazardous environments (explosive gas, water,

dust, oil, or mist). It has an IP rating of IP65.

3.5 Installation

The T20 pendant can be used with a SmartController EX motion controller or any robot system

using eV+. A Front panel is required in either case.

Note the following points:

lThe E-Stop buttons on the Front Panel and T20 pendant both function and are indi-

vidually detected.

lThe high-power-enable buttons on both devices function independently. The button on

either device can enable/disable power on the system.

About Jumper Plugs

There are two jumper, or bypass, plugs that can be used with a T20 pendant system. One is a

screw-to-lock plug (P/N 10048-000) for the pendant adapter cable, included with the T20

pendant. The other is an XMCP plug. There are two versions of the XMCP plug:

XMCP, SmartController EX version

This is P/N 10052-000, included with the controller, for the XMCP connector on

the controller.

XMCP, Cobra ePLCRobot version

This is P/N 04737-000, included with the robot, for the eAIB XSYSTEM cable.

The reason for the jumper plugs is that the pendant emergency stop switch and the enable

switch are wired into the system emergency stop circuitry. If neither cable is connected, the sys-

tem emergency stop circuitry will see this as an E-Stop having been activated, and you cannot

enable high power.

To prevent this, when either the pendant cable or the adapter cable will be unplugged, the cor-

responding jumper plug must be installed.

See the connection diagrams that follow.

Installation with an SmartController EX Motion Controller

The following figure shows a Front Panel and an T20 pendant connected to a SmartController

EX motion controller. See the SmartController EX User's Guide for additional information.

T20 Pendant User's Guide, 10433-000 Rev. E

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Table of contents

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