Adept T2 Pendant User Manual

Adept T2 Pendant

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]

Block 5000 Ang Mo Kio Avnue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

User’s Guide

P/N: 09017-000, Rev D

June, 2013

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.
This manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc­umentation. Please email your comments to: [e-mail].

Copyright

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,

HexSight, Meta Controls, MetaControls, Metawire, 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, Adept Cobra i600, Adept Cobra i800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted,

Adept Desk Top, Adept Python, Adept SmartController CS, Adept SmartController CX, Adept SmartServo, Adept

sMI6, Adept T2, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper s1700, AdeptOne,

2005-2009, 2013 by Adept Technology, Inc. All rights reserved.

AdeptWindows, and V+ are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication

are the property of those respective companies.

Printed in the United States of America

Table of Contents

1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

1.2 System Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.3 Hardware Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

1.5 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Dangers, Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . 8

Emergency Stop Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.6 Proper Handling of the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

1.7 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10

Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

1.8 Programming the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11

2 Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.1 Bypass Plugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

2.2 Installation in a SmartController System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

2.3 Installation in an Adept Cobra i-Series Robot System . . . . . . . . . . . . . . . . . . . 15

2.4 Mounting Optional Wall Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16

3 Identification of

Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.1 Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

3.2 Enable Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

4 Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.1 Main Menu Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

4.2 Turning Power On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Turning Power On from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

In Auto Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

In Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Turning Power Off from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Turning Power On After an E-Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Turning Power On After Enable Switch is Released . . . . . . . . . . . . . . . . . . . 24

4.3 Calibrating a Robot from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Typical Calibration Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

Adept T2 Pendant User’s Guide, Rev D 3

Table of Contents

4.4 Function Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

4.5 Computer (COMP) Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

4.6 Pendant Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

4.7 Edit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.8 Display Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

4.9 Clear Error (CLR ERR) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

Special Calibration Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Predefined Function Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Programmable Function Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Soft Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25

Off Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

Background State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

World Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

Tool Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Joint Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

Free Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4.10 Command (CMD) Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

4.11 Run/Hold Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.12 Program Set Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35

4.13 Step Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

MCP.NO.POT System Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.14 Gripper Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.15 Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4.16 System Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Adjusting the LCD Screen Brightness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Setting the Initial Slow Mode State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

Setting the Screen Saver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.1 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

5.2 Calibrating the Touchscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

5.3 Cleaning the Touchscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44

5.4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47

4 Adept T2 Pendant User’s Guide, Rev D

1.1 Product Description

The Adept T2 pendant provides a user interface and teach pendant in an ergonomic and
rugged package. The T2 pendant is designed for right- and left-handed use. All gripping
and holding positions enable comfortable and fatigue-free operation.

Introduction 1

Figure 1-1. Adept T2 Pendant

The safety features include:

• Emergency Stop switch (dual channel circuit)

• Two 3-position enable switches (dual channel circuits)

The software features include:

• Controlling the robot by enabling and disabling power

• Jogging (moving) the robot

• Teaching locations

• Displaying robot position, digital I/O, system status, system ID, and messages

• Starting and stopping application programs

• Displaying and editing global program variables

Adept T2 Pendant User’s Guide, Rev D 5

Introduction

1.2 System Compatibility

The T2 pendant is designed to be compatible with Adept SmartController-based systems,
such as the following:

• Adept Quattro robot

•Adept Cobra s-Series robots

• Adept SmartModules and Python modules systems

• Adept Viper robots

• Adept SmartMotion systems with the sMI6

• AdeptOne robot on SmartController

The T2 pendant is also designed to be compatible with robots that do not use the
SmartController, including:

• Adept Cobra i600/i800 robots

1.3 Hardware Specifications

Table 1-1. T2 Pendant Hardware Specifications

Diameter 252 mm

Height (including handle) 114 mm

Weight 1.25 kg

Pendant Cable Length Standard: 10 m, Optional: 3 m

Adapter Cable Length 2 m

Display Type Liquid Crystal Display (LCD)

Display Size 132 mm x 98 mm

Display Resolution 640 x 480 pixel

Display Colors 65,536

Display Backlight Yes

Safety Controls 1 Emergency Stop switch

Operating Temperature 0 - 50° C

2 Enable switches (3-position)

Relative Humidity 5 - 95%

Shock Resistance 25g/11ms (IEC 60068-2-27)

Ingress Protection IP-65

6 Adept T2 Pendant User’s Guide, Rev D

1.4 Dimensions

55.3

21.5

ø 252

37.2

ø 240

Units in mm

Dimensions

1.5 Safety

The T2 pendant was developed, manufactured, tested, and documented in accordance
with applicable safety standards. If you follow the instructions regarding safety and use
as described in this manual, the product will, in the normal case, neither cause personal
injury nor damage to machinery and equipment.

The instructions contained in this manual must be precisely followed in all circumstances.
Failure to do so could result in the creation of potential sources of danger or the disabling
of safety features integrated in the handheld terminal.

Figure 1-2. T2 Pendant Dimensions

Adept T2 Pendant User’s Guide, Rev D 7

Introduction

Dangers, Warnings, Cautions, and Notes in Manual

There are six levels of special alert notation that are 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.

WARN IN G: This indicates a potentially hazardous

electrical situation which, if not avoided, could result in
injury or major damage to the equipment.

WARN IN G: This indicates a potentially hazardous

situation which, if not avoided, could result in injury or
major damage to the equipment.

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

could result in damage to the equipment.

NOTE: Notes provide supplementary information, emphasize a point or
procedure, or give tips for easier operation.

8 Adept T2 Pendant User’s Guide, Rev D

Emergency Stop Switch

DANGER: When the pendant is not connected to the

machine, store the pendant in a place where the operator
cannot see it. Take into account that the operator would
automatically activate the nearest emergency stop in case
of danger. This could have fatal consequences, as the T2
pendant emergency stop will not function when the
pendant is not connected to the machine.

1.6 Proper Handling of the T2 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 operating the touchscreen, use your finger or the supplied stylus. Never use
sharp objects (such as a screwdriver) for operating the touchscreen.

Proper Handling of the T2 Pendant

Figure 1-3. T2 Pendant Stylus

• Do not squeeze or pinch the cable.

• Do not lay the cable over sharp edges to avoid damaging the cable sheath.

• When you are not using the T2 pendant, hang it on the optional wall bracket, if
purchased, for storage.

• Never place the T2 pendant with the operating side facing down, to avoid
damaging the buttons or display.

• Never place the T2 pendant on an unstable surface. It could fall to ground and be
damaged.

• Never place the T2 pendant close to heat sources or into direct sunlight.

• Avoid exposing the T2 pendant to mechanical vibrations, excessive dust,
humidity, or to strong magnetic fields.

Adept T2 Pendant User’s Guide, Rev D 9

Introduction

• Never clean the T2 pendant touchscreen or other surfaces with solvents, abrasive
cleaners or scrubbing sponges. For cleaning the T2 pendant, use a soft cloth and a
small amount of water or a mild cleaning agent.

• Make sure that no foreign objects or liquids can penetrate into the T2 pendant.
Periodically check the protective covers of the T2 pendant to ensure that all
housing screws are firmly tightened, and that there is no damage to the cable entry
area, sealing plug, or cable strain relief.

WARN IN G: When the cable entrance cover is removed, the

T2 pendant is sensitive to electrostatic discharge.

1.7 How Can I Get Help?

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 further information about Adept Technology, Inc.:

http://www.adept.com

Related Manuals

This manual covers the installation and operation for Adept T2 pendant. There are
additional manuals that cover programming the system, reconfiguring installed
components, and adding other optional components; see Table 1-2. These manuals are
available on the Adept Document Library on the Adept website.

Table 1-2. Related Manuals

Manual Title Description

Adept SmartController
User’s Guide

Adept ACE Online Help Describes the Adept ACE environment and use with an Adept

Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.

control system.

AdeptWindows Online Help Describes the AdeptWindows environment and use with an

Adept control system.

Adept DeskTop Online Help Describes the Adept DeskTop environment and use with an

Adept control system.

10 Adept T2 Pendant User’s Guide, Rev D

Programming the T2 Pendant

Table 1-2. Related Manuals (Continued)

Manual Title Description

Instructions for Adept
Utility Programs

V+ Operating System User’s
Guide

V+ Language User’s Guide Describes the V

Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.

Describes the V
operations, monitor commands, and monitor command
programs.

control system.

+

operating system, including disk file

+

language and programming of an Adept

Adept Document Library

The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL as follows:

•Select Support > Document Library from the menu bar on the Adept website
Home page.

• Type the following URL into your web browser:

http://www.adept.com/Main/KE/DATA/adept_search.htm

The ADL is also included on any software disk that ships with an Adept robot.

To locate information on a specific topic, use the Document Library search engine on the
ADL main page. To view a list of available product documentation, use the menu links
located above the search field.

1.8 Programming the T2 Pendant

Many of the features of the pendant are accessible to V+ programs. For example, a
program can receive button-press input, read the setting of the Speed Bar, turn LEDs on
and off, and display text to the Pendant Display Window (see Figure 4-1 on page 21). For
a comprehensive overview of these functions, refer to the V+ Language User’s Guide.

CAUTION: The behavior described below explains the

differences between programming the T2 pendant and the
Adept MCP4 pendant.

The T2 pendant sends the setting of the Speed Bar when one of the following buttons is
pressed: YES/+, NO/-, or one of the +/- Joint/Axis buttons at the right-hand side of the
pendant. (The MCP4 pendant sends the speed whenever the Speed Pot is pressed.) In
addition, the T2 pendant sends the setting of the Speed Bar if it is pressed along with the
STEP button. In that case, the T2 pendant continues sending the Speed Bar value even
after STEP button is released, until the Speed Bar is released.

Adept T2 Pendant User’s Guide, Rev D 11

Introduction

Be aware of this behavior when writing a V+ program that requires those buttons to be
pressed, because the speed input might trigger an unexpected movement of the robot.

As a general guideline, V+ programmers should be cautious when writing a program that
looks at the same time for:

• A YES/+ or NO/- button press and a Speed Pot input

• One of the 6 Joint/Axis control buttons (J1/X - J6/RZ) and a Speed Pot input

• A STEP button press and a Speed Pot input

12 Adept T2 Pendant User’s Guide, Rev D

2.1 Bypass Plugs

NOTE: These plugs are only needed if you will NOT be using the T2

pendant with your system.
In that case, the XMCP circuit must be terminated with one of these
plugs. Either plug will terminate the circuit.
Under normal circumstances, the T2 serves as the termination for this
circuit.

There are two bypass, or jumper, plugs available for a T2 pendant system. One is a
push-pull plug for the pendant adapter cable. This push-pull bypass plug is typically
attached to the adapter cable with a wire loop.

The second is an XMCP jumper plug, which connects to either the XMCP connector on a
SmartController or the XMCP connector on the XPANEL cable for a Cobra i-Series robot.

The pendant emergency stop switch and the enable switches are wired into the system
emergency stop circuitry. Therefore, if either the pendant cable, or the adapter cable is
unplugged, one of the corresponding bypass plugs must be installed. If neither one is
connected, you cannot enable high power. If the E-stop circuit is opened by removing one
of the cables, or the bypass plug, then high power is turned off. When the T2 pendand is
plugged in, no bypass plug is needed.

Installation 2

CAUTION: Do not modify or extend the pendant cable.

Doing this will void the warranty on the pendant.

WARN IN G: The Auto/Manual keyswitch on the Adept

Front Panel must be set to Manual if the T2 pendant is to be
used inside the robot workcell. This enables important
safety features to protect the operator by limiting the
speed of the robot.

Adept T2 Pendant User’s Guide, Rev D 13

Installation

From T2 Pendant

Push-Pull connector: to remove,
pull back on outer sleeve.

To controller

Wall or door of

equipment cabinet

HPE

1.1 1.2

XMCP

XUSR

SC rellortnoCtramS

XFP

OK

HD

XSYS

1 2 3

SW1

LAN

ES

24V 5A

XDIO

R

XDC1 XDC2

SF

-+ -+

SmartServo

Device Net

Eth 10/100

RS-232

RS-422/485

Equipment Cabinet
(user-supplied)

T2 Pendant

Bypass Plug
(supplied
with pendant)

D-Sub
Bypass Plug
(supplied with controller)

SmartController

T2 Adapter Cable
(supplied with T2 Pendant)

SW 22.6

Red Dot

∅ 24.1

2.2 Installation in a SmartController System

1. Plug the pendant cable connector into the matching adapter cable connector.

NOTE: The T2 pendant uses push-pull connectors. Line up the red dots to
insert the connectors, pull back on the outer sleeve to remove.

2. If you are using an equipment cabinet, the adapter cable connector can be
bulkhead-mounted to the inside wall. See Figure 2-2 Panel Cut-out Dimensions.

3. Plug the adapter cable into the XMCP connector on the SmartController.

Figure 2-1. Installing Pendant in Equipment Cabinet

Figure 2-2. Panel Cut-out Dimensions

14 Adept T2 Pendant User’s Guide, Rev D

Installation in an Adept Cobra i-Series Robot System

T2 Adapter Cable

(supplied with T2 Pendant)

Jumper Plug
(supplied with
i-Series Robot)

XMCP

XFP

XUSR

XPANEL Cable

(supplied with

i-Series Robot)

i-Series

Robot Interface Panel

GND

XSLV

1

2

SmartServo

RS-232

XPANEL

AC INPUT

(200-240 VAC 1Φ)

+24V

DC INPUT

(24 VDC)

XIO

T2 Pendant

Bypass Plug
(supplied
with pendant)

2.3 Installation in an Adept Cobra i-Series Robot System

1. Plug the pendant cable connector into the matching connector on the adapter
cable. See the following figure.

NOTE: The T2 pendant uses push-pull style connectors. Line up the red
dots as you insert the connectors. To remove the connector, pull back on
the outer sleeve.

2. Plug in the adapter cable D-Sub connector to the XMCP connector on the XPanel
cable.

Figure 2-3. Installing Pendant in a Cobra i-Series System

Adept T2 Pendant User’s Guide, Rev D 15