Chapter 4: Operation Table 4-1. T20 Pendant Controls and LEDs T20 Pendant User's Guide, 10433-000 Rev. E Page 16 of 50 Control Description Buttons/Switches E-Stop Button Press to stop program execution and turn off high power imme- diately. If the robot is equipped with brakes, activates the brakes. Robot Power Button and Light Press to toggle between high power ON and OFF. Unlike the emer- gency stop switch, when turning OFF high power, a controlled stop is initiated, where the robot is decelerated under software control. After the robot has stopped, power is turned OFF. When robot power is ON, this button is lit.
F1 - F4 Function Buttons When using the display screen, press the function button (F1 to F4) that appears under the soft key you want to select. For example, from the Home 1 screen, press F1 to select the Disp (Display) soft key. Speed +/ Speed - Buttons Press to increase or decrease the robot speed as a percentage of the maximum monitor speed (COMP mode) or jog speed (non-COMP modes). The currently set speed is displayed in the Speed indicator on the right side of the display screen. Jog Mode Button Press to cycle through COMP, Joint, World, Tool, or Free modes, and then return to COMP mode.
The currently selected mode is dis- played in the Jog Mode indicator on the left side of the display screen. A prolonged press on this button will change the mode back to COMP. Slow Button Press to toggle between slow speed and normal speed. While slow speed is active, press Speed + and Speed - to select a robot speed within the slow speed range, which is from 0 to 20% of the normal robot speed. Press the Slow button again to return to normal speed. Joint/Axis Control Buttons Press a '+' button to move a joint or a Cartesian coordinate in the positive direction. Press a '-' button to move in the negative dir- ection.
These buttons work all the time while power is on and a jog mode is selected. Multiple joints or Cartesian coordinates can be moved simultaneously by pressing multiple buttons. Select Robot Button When more than one robot is connected to the controller, press to cycle through the connected robots. The currently selected robot is displayed in the Selected Robot indicator on the display screen. The T20 pendant can move multiple robots independently and sequentially, but cannot move multiple robots simultaneously. Menu Button Press to display the Home 1 screen. OK Button Press to select a setting to be changed, to implement a change, or to clear an error message.
Cancel Button Press to return to the previous screen or to clear an error message. Arrow Buttons Press to make selections or to scroll through lists.