T20 Pendant User's Guide (EN)

Copyright Notice 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 .

Copyright © 2012 - 2014, 2016 by Omron Adept Technologies, Inc. Any trademarks from other companies used in this publication are the property of those respective companies. Created in the United States of America

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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 T20 Pendant User's Guide, 10433-000 Rev. E Page 3 of 50

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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 T20 Pendant User's Guide, 10433-000 Rev. E Page 4 of 50

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1.2 Proper Handling of the Pendant

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: l Emergency stop switch (dual-channel circuit) l Three-position enable switch that prevents pendant input or robot motion when the switch is not engaged The software features include the ability to:

l Control the robot by enabling and disabling power and jogging the robot l Teach locations l Use Smart Locations, which allow you to work with locations through the Frame and Tool screens l Display robot position, system status, system identification, and error messages l Display 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. l When you are not using the T20 pendant, hang it on the optional wall bracket for stor- l Never place the T20 pendant with the display screen facing down, to avoid damaging age. the buttons or display. l Never place the T20 pendant on an unstable surface. It could fall to the ground and be damaged. l Never place the T20 pendant close to heat sources or in direct sunlight. T20 Pendant User's Guide, 10433-000 Rev. E Page 5 of 50

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