Adept T20 Pendant User Manual
Adept T20 Pendant
User's Guide
Adept T20 Pendant
User's Guide
10433-000 Rev. C
March, 2014
5960 Inglewood Drive • Pleasanton,CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452
Revierstraße 5 • 44379 Dortmund • Germany • Phone +49 (0)231 75 89 4-0 • Fax +49 231 75 89 4-50
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755 2258 • Fax +65.6755 0598
Copyright Notice
The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is
subject to change without notice and should not be construed as a commitment by Adept Technology,
Inc. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. 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 by Adept Technology, Inc.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Motivity, Motivity by MobileRobots, Soft Machines, and Visual
Machines are registered trademarks of Adept Technology, Inc.
Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.
Adept ACE, SmartController EX, T20, eV+, and V+
are trademarks of Adept Technology, Inc.
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 7
1.1 Product Description
Features 7
System Compatibility 7
1.2 Dangers, Warnings, Cautions, and Notes
1.3 Safety Precautions
1.4 What to Do in an Emergency Situation
1.5 Additional Safety Information
Manufacturer's Declaration of Conformity (MDOC) 9
Adept Robot Safety Guide 9
1.6 Manufacturer's Declaration
1.7 Proper Handling of the Pendant
1.8 How Can I Get Help?
Related Manuals 11
Adept Document Library 12
10
11
Chapter 2: Installation and Setup 13
2.1 Transport and Storage
2.2 Unpacking the Pendant
2.3 Repacking for Shipment
2.4 Operating Environment
2.5 Installation
Mounting the Optional Wall Bracket 17
13
13
13
14
14
7
8
9
9
9
9
Chapter 3: Operation 19
3.1 Using the Pendant Controls and Indicators
3.2 Enable Switch
3.3 Turning Power ON and OFF
Turning Robot Power ON 23
Turning OFF Power from the T20 Pendant 24
3.4 User Interface Operation
User Interface Controls 24
User Interface Flow Diagram 25
Displaying the Home Screens 27
3.5 Using Jog Mode
Adept T20 Pendant User's Guide, Rev. C
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19
21
23
24
28
Table of Contents
COMP Mode 28
Joint Mode 29
World Mode 29
Tool Mode 30
Free Mode 31
3.6 Speed Control
3.7 Position Display
3.8 Smart Locations
3.9 Available Frames
Enable Frame-Based Jogging 35
A Note about Frame-mode Jogging 35
3.10 Available Tools
3.11 Location Teaching
Adding Approach Distance 39
Using Jog To 39
Align 39
3.12 I/O Signals
3.13 Displaying and Clearing Errors
32
33
34
34
35
36
39
41
Chapter 4: Maintenance 43
4.1 The System Maintenance Screen
4.2 Setting the Screen Saver
4.3 Setting the Initial Speed
4.4 Enabling Smart Locations
4.5 Setting the Approach Distance
4.6 Enabling Pendant Messages
4.7 Displaying System Information
4.8 Displaying Recent Errors
4.9 Updating the Pendant Firmware
4.10 Loss of Connection
4.11 Cleaning
4.12 Periodic Maintenance
43
44
45
45
45
46
46
47
48
49
49
49
Chapter 5: Technical Specifications 51
5.1 Dimension Drawings
5.2 Pendant Specifications
51
53
Adept T20 Pendant User's Guide, Rev. C
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This manual covers the setup, operation, and user maintenance of the Adept T20™ pendant.
1.1 Product Description
The Adept 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
Chapter 1: Introduction
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 Adept T20 pendant is compatible with any robot that is controlled by the Adept SmartController EX™ motion controller.
Adept T20 Pendant User's Guide, Rev. C
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Chapter 1: Introduction
1.2 Dangers, Warnings, Cautions, and Notes
There are five levels of special alert notation used in Adept 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.
NOTE: Notes provide supplementary information, emphasize a point or procedure,
or give a tip for easier operation.
Adept T20 Pendant User's Guide, Rev. C
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1.3 Safety Precautions
DANGER: An Adept robot can cause serious injury or death, or damage
to itself and other equipment, if the following safety precautions are not
observed:
l
All personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the robot.
l
All personnel who design the robot system must read this guide, the Adept Robot Safety
Guide, and the Adept robot user's guide that was supplied with the equipment. The sys-
tem design must comply with all local and national safety regulations for the location
in which the robot is installed.
l
The robot system must not be used for purposes other than described in the Adept robot
user's guide that was supplied with the equipment. Contact Adept if you are not sure of
the suitability for your application.
l
The 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.
1.3 Safety Precautions
l
Power to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
1.4 What to Do in an Emergency 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 situation. If a fire
occurs, use CO2to extinguish the fire.
1.5 Additional Safety Information
Manufacturer's Declaration of Conformity (MDOC)
This lists all standards with which each robot complies. See Manufacturer's Declaration on
page 9.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards. The Guide ships with each robot
manual, and is also available from the Adept Document Library. See Adept Document Library
on page 12.
1.6 Manufacturer's Declaration
The Manufacturer’s Declaration of Incorporation and Conformity (MDOC) for Adept robot systems can be found on the Adept Web site, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
Adept T20 Pendant User's Guide, Rev. C
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Chapter 1: Introduction
NOTE: The Download Center requires that you are logged in for access. If you are
not logged in, you will be redirected to the Adept website Login page.
1.
From the Download Types drop-down list, select Manufacturer Declarations.
2.
From the Product drop-down list, select your Adept robot product.
3.
Click Begin Search. The list of available documents is shown in the Search Results area,
which opens at the bottom of the page. You may need to scroll down to see it.
4.
Use the Description column to locate the document for the Adept T20, and then click the
corresponding Download ID number to access the Download Details page.
5.
On the Download Details page, click Download to open or save the file.
1.7 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 voiding of the warranty, follow these instructions during operation.
l
When you are not using the Adept T20 pendant, hang it on the optional wall bracket for
storage.
l
Never place the Adept T20 pendant with the display screen facing down, to avoid damaging the buttons or display.
l
Never place the Adept T20 pendant on an unstable surface. It could fall to the ground
and be damaged.
l
Never place the Adept T20 pendant close to heat sources or in direct sunlight.
l
Avoid exposing the Adept T20 pendant to mechanical vibrations, excessive dust,
humidity, or strong magnetic fields.
l
Never clean the Adept T20 pendant display screen or other surfaces with solvents,
abrasive cleaners, or scrubbing sponges.
l
Make sure that no foreign objects or liquids can penetrate into the Adept T20 pendant.
WARNING: When the cable entrance cover is removed, the
Adept T20 pendant is sensitive to electrostatic discharge.
Adept T20 Pendant User's Guide, Rev. C
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1.8 How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting
assistance with your Adept software and hardware. Additionally, you can access information
sources on Adept’s corporate website:
http://www.adept.com
For details on getting assistance with your Adept software or hardware, you can access the following information sources on the Adept corporate website:
l
For contact information: http://www.adept.com/contact/americas
l
For product support information:
http://www.adept.com/support/service-and-support/main
l
For user discussions, support, and programming examples:
http://www.adept.com/forum/
l
For further information about Adept Technology, Inc.: http://www.adept.com
Related Manuals
1.8 How Can I Get Help?
This guide covers the installation, operation, and maintenance of the Adept 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 Adept software disk shipped with each robot system.
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety
Contains safety information for Adept robots.
Guide
Adept SmartController
EX User's Guide
Contains complete information on the installation
and operation of the Adept SmartController EX
motion controller and the optional sDIO product.
Adept ACE User's Guide Describes the Adept ACE software environment and
use with an Adept control system. This documentation is included in the Adept ACE software
installation. It can also be accessed in the
Adept Document Library.
eV+ Language User's Guide
Describes the eV+ language and programming of an
Adept control system.
Adept T20 Pendant User's Guide, Rev. C
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Chapter 1: Introduction
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access the ADL from:
l
the Adept Software disk shipped with Adept robot systems
or
l
the Adept website. Select Document Library from the Adept home page. To go directly to
the Adept Document Library, either click on or type the following URL into your
browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the ADL
main page, or select one of the available menu options. To view a list of available product documentation, use the menu links located above the search field.
Adept T20 Pendant User's Guide, Rev. C
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Chapter 2: Installation and Setup
This chapter covers the installation and setup of the Adept T20 pendant.
2.1 Transport and Storage
The Adept T20 pendant must be shipped and stored in a temperature-controlled environment,
within the range –20° to +70° C (-4° to 158° F). The recommended humidity range is 5 to 95 percent, non-condensing. It should be shipped and stored in the Adept-supplied 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 Adept T20 pendant weighs 480 g (1.1 lb) without the adapter cable installed.
2.2 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 packing slip) with your equipment purchase order. Verify that all items are present and that the
shipment is correct and free of visible damage.
l
If the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.
l
If the items received do not match your order, please contact Adept immediately.
l
Retain 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.
2.3 Repacking for Shipment
If the pendant or other equipment needs to be shipped, reverse the steps in the installation procedures 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.
Adept T20 Pendant User's Guide, Rev. C
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Chapter 2: Installation and Setup
2.4 Operating Environment
The Adept T20 pendant is designed to operate in the following environment:
l
Temperature: 0° to +45° C (32° to 113° F)
l
Humidity: 0 to 95%, non-condensing
The Adept T20 pendant is not intended for use in hazardous environments (explosive gas,
water, dust, oil, or mist). It has an IP rating of IP-65.
2.5 Installation
The Adept T20 pendant can be used with either a SmartController EX motion controller system
or an Adept Cobra ePLC robot. An Adept Front panel is required for both installations.
Note the following points:
l
The E-Stop buttons on the Front Panel and T20 pendant both function and are individually detected.
l
The 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 ePLCRobot 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 system 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 corresponding jumper plug must be installed.
See the connection diagrams that follow.
Installation with an Adept SmartController EX Motion Controller
The following figure shows a Front Panel and an Adept T20 pendant connected to a SmartController EX motion controller. See the Adept SmartController EX User's Guide for additional inform-
ation.
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2.5 Installation
XFP
XMCP
DB15M
DB15F DB15F
T20 Adapter Cable
(3 meters)
Adapter
Cable
Jumper
STOP
R
Front Panel
DB15M
DB15F
DB15M
DB15 Male-Female
(P/N 10356-10500)
SmartController EX
T20
Pendant
XMCP PLUG
10052-000
XMCP
J
umper
Figure 2-1. Pendant and Front Panel Installation with SmartController EX Motion Controller
Installation with an Adept Cobra ePLCRobot
The following figure and table show a Front Panel and an Adept T20 pendant connected to an
Adept Cobra ePLC robot. See the Adept Cobra ePLC Robot User's Guide for additional inform-
ation.
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Chapter 2: Installation and Setup
DC
IN
24 V
GND
AC
200 -
240 V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
IN
Adept Cobra
ePLC robot
24
VD
C
, 6 A
Pow
er Supply
200-240
AC
10 A
single-phase
AC Pow
er Cab
le
DC
Pow
er Cab
le
Front Panel
Cable
Front Panel
Use
r
-Supplied PC
running PLC
Programming Software
T20 Adapter
Cable
XMCP Jumper Plug
XMCP
XFP
XUSR
XUSR Jumper Plug
eAIB
XSYSTEM
Cable
Robot Interface
Panel
XUSR
for
:
- User E-Stop/Sa
f
ety Gate
- Muted Sa
f
ety Gate
-
J
umper plug required
when not used
Ethernet Ca
b
le from
PC to PLC
T20 Bypass Plug
User-Supplied
Ground
Wire
T20 Pendant (optional)
Either T20 Pendant,T20 Bypass Plug, or
XMCP Jumper Plug must be used
A
B
G
H
J
E
K
D
DC
IN
24V
GND
AC
200 240V
Ø
1
XBELTIO
XIO
Servo
ENETENET
XSYSTEM
FP Jumper Plug
F
Either Front Panel or
FP plug must be used
Figure 2-2. Pendant and Front Panel Installation with Adept Cobra ePLC Robot
Cable and Parts List
Part Cable and Parts List Part # Part of: Notes
A eAIB XSYSTEM Cable 13323-000 standard
B User E-Stop, Safety Gate n/a n/a user-supplied
C XUSR Jumper Plug 04736-000 13323-000 standard
D Front Panel 90356-10358 standard
E Front Panel Cable 10356-10500 90356-10358 standard
F Front Panel Jumper Plug 25165-30154 13323-000 standard
G XMCP Bypass Jumper Plug 04737-000 13323-000 standard
H T20 Bypass Plug 10048-000 10055-000 standard with T20
J T20 Adapter Cable 10051-003 10055-000 standard with T20
K T20 (optional) 10055-000 option
L AC Power Cable (option) 04118-000 04972-000 user-supplied
Adept T20 Pendant User's Guide, Rev. C
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2.5 Installation
Part Cable and Parts List Part # Part of: Notes
M 24 VDC Power Cable (option) 04120-000 04972-000 user-supplied
N 24 VDC, 6 A Power Supply (option) 04536-000 90565-010 user-supplied
P Ethernet Cable - PC -> PLC
n/a n/a user-supplied
(Only while programming PLC)
Q Ethernet Cable - PLC -> eAIB n/a n/a user-supplied
Table 2-1. Cable and Parts List
Mounting the Optional Wall Bracket
An optional wall bracket, P/N 10079-000, can be used for stationary operation or for storage of
the Adept T20 pendant. See Technical Specifications on page 51 for dimension drawings of the
mounting bracket.
Adept T20 Pendant User's Guide, Rev. C
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