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 [phone] • Fax[phone] Revierstraße 5 • 44379 Dortmund • Germany• Phone [phone] • Fax[phone]

Block5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II• Singapore 569870 • Phone [phone] • Fax[phone]

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:

[e-mail].

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	7
Features		7
System Compatibility		7
1.2	Dangers, Warnings, Cautions, and Notes	8
1.3	Safety Precautions	9
1.4	What to Do in an Emergency Situation	9
1.5	Additional Safety Information	9
Manufacturer's Declaration of Conformity (MDOC)		9
Adept Robot Safety Guide		9
1.6	Manufacturer's Declaration	9
1.7	Proper Handling of the Pendant	10
1.8	How Can I Get Help?	11
Related Manuals		11
Adept Document Library		12

Chapter 2: Installation and Setup		13
2.1	Transport and Storage	13
2.2	Unpacking the Pendant	13
2.3	Repacking for Shipment	13
2.4	Operating Environment	14
2.5	Installation	14
Mounting the Optional Wall Bracket		17

Chapter 3: Operation		19
3.1	Using the Pendant Controls and Indicators	19
3.2	Enable Switch	21
3.3	Turning Power ON and OFF	23
Turning Robot Power ON		23
Turning OFF Power from the T20 Pendant		24
3.4	User Interface Operation	24
User Interface Controls		24
User Interface Flow Diagram		25
Displaying the Home Screens		27
3.5	Using Jog Mode	28

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Table of Contents

COMP Mode		28
Joint Mode		29
World Mode		29
Tool Mode		30
Free Mode		31
3.6	Speed Control	32
3.7	Position Display	33
3.8	Smart Locations	34
3.9	Available Frames	34
Enable Frame-Based Jogging		35
A Note about Frame-mode Jogging		35
3.10	Available Tools	35
3.11	Location Teaching	36
Adding Approach Distance		39
Using Jog To		39
Align		39
3.12	I/O Signals	39
3.13	Displaying and Clearing Errors	41

Chapter 4: Maintenance		43
4.1	The System Maintenance Screen	43
4.2	Setting the Screen Saver	44
4.3	Setting the Initial Speed	45
4.4	Enabling Smart Locations	45
4.5	Setting the Approach Distance	45
4.6	Enabling Pendant Messages	46
4.7	Displaying System Information	46
4.8	Displaying Recent Errors	47
4.9	Updating the Pendant Firmware	48
4.10	Loss of Connection	49
4.11	Cleaning	49
4.12	Periodic Maintenance	49

Chapter 5: Technical Specifications		51
5.1	Dimension Drawings	51
5.2	Pendant Specifications	53

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Chapter 1: Introduction

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 rightor left-handed use. All gripping and holding positions enable comfortable and fatigue-free operation.

Features

The safety features include:

•Emergency stop switch (dual-channel circuit)

•Three-position enable switch that prevents pendant input or robot motion when the switch is not engaged

The software features include the ability to:

•Control the robot by enabling and disabling power and jogging the robot

•Teach locations

•Use Smart Locations, which allow you to work with locations through the Frame and Tool screens

•Display robot position, system status, system identification, and error messages

•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.

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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.

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1.3 Safety Precautions

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:

•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.

•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.

•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.

•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.

•Power to the robot and its power supply must be locked out and tagged out before any maintenance is performed.

1.4What 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 CO2 to 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

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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.

1.7Proper 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.

•When you are not using the Adept T20 pendant, hang it on the optional wall bracket for storage.

•Never place the Adept T20 pendant with the display screen facing down, to avoid damaging the buttons or display.

•Never place the Adept T20 pendant on an unstable surface. It could fall to the ground and be damaged.

•Never place the Adept T20 pendant close to heat sources or in direct sunlight.

•Avoid exposing the Adept T20 pendant to mechanical vibrations, excessive dust, humidity, or strong magnetic fields.

•Never clean the Adept T20 pendant display screen or other surfaces with solvents, abrasive cleaners, or scrubbing sponges.

•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.

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1.8 How Can I Get Help?

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:

•For contact information: http://www.adept.com/contact/americas

•For product support information: http://www.adept.com/support/service-and-support/main

•For user discussions, support, and programming examples: http://www.adept.com/forum/

•For further information about Adept Technology, Inc.: http://www.adept.com

Related Manuals

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	Contains complete information on the installation
EX User's Guide	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.

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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:

•the Adept Software disk shipped with Adept robot systems or

•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.

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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.

•If the items received do not match the packing slip, or are damaged, do not sign the receipt. Contact Adept as soon as possible.

•If the items received do not match your order, please contact Adept immediately.

•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.

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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:

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

•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:

•The E-Stop buttons on the Front Panel and T20 pendant both function and are individually detected.

•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 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 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 information.

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STOP
DB15M	DB15F

Front Panel

T20

Pendant

2.5 Installation

DB15 Male-Female (P/N 10356-10500)

SmartController EX

DB15M

DB15F

XFP

	T20 Adapter Cable
	(3 meters)	DB15M	DB15F	XMCP
Adapter	000-10052	PLUG XMCP
Cable	XMCP
Jumper	Jumper

Figure 2-1. Pendant and Front Panel Installation with SmartController EX Motion Controller

Installation with an Adept Cobra ePLC Robot

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 information.

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Chapter 2: Installation and Setup

XUSR fo r

- User E-Stop/Safety Gate

- Muted Safety Gate B

J umper plug required

when not used

C

XUSR Jumper

D E

Front Panel

K

T20 Pendant (optional)

Either Front Panel or F
FP plug must be used			FP Jumper Plug
			T20
			Cable
			J	XMCP
		H	G
T20 Bypass Plug			XMCP Jumper Plug

Either T20 Pendant,T20 Bypass Plug, or

XMCP Jumper Plug must be used

Adept Cobra ePLC robot

User-Supplied

Ground Wire

	A
eAIB	Robot Interface
	Panel

User-Supplied PC running PLC Programming Software

85 - 264 VAC
Universal			N		M		DC Power
Input
							Ca ble
		24 VD C , 6 A

Power Supply

200-240 V		AC				AC Power
						Ca ble
10 A
			L
single-phase						PLC
Ethernet Cab le from
					P
PC to PLC

XSYSTEM		ENET	ENET
DC
24 V			XBELTIO
GND		XIO
1	Ø			Servo
AC

		ETHERNET FROM
		PLC TO EAIB
Q

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

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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.

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