Adept T2 Pendant User Manual

Adept T2 Pendant

User’s Guide

P/N: 09017-000, Rev D

June, 2013

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]

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

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, 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

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Table of Contents

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

Introduction 1

1.1Product Description

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

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

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Introduction

1.2System 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

1.3Hardware 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
	2	Enable switches (3-position)
Operating Temperature	0	- 50° C
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

Dimensions

1.4Dimensions

Units in mm

ø 240

										37.2					55.3			21.5
				ø 252

Figure 1-2. T2 Pendant Dimensions

1.5Safety

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.

Adept T2 Pendant User’s Guide, Rev D

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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.

WARNING: This indicates a potentially hazardous electrical situation which, if not avoided, could result in injury or major damage to the equipment.

WARNING: 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

Proper Handling of the T2 Pendant

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.

1.6Proper 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.

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

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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.

WARNING: When the cable entrance cover is removed, the

T2 pendant is sensitive to electrostatic discharge.

1.7How 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	Contains complete information on the installation and
User’s Guide	operation of the Adept SmartController and the optional sDIO
	product.
Adept ACE Online Help	Describes the Adept ACE environment and use with an Adept
	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	Describes the utility programs used for advanced system
Utility Programs	configurations, system upgrades, file copying, and other
	system configuration procedures.

V+ Operating System User’s Describes the V+ operating system, including disk file Guide operations, monitor commands, and monitor command

programs.

V+ Language User’s Guide Describes the V+ language and programming of an Adept control system.

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.

1.8Programming 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

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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

Installation 2

2.1Bypass 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.

CAUTION: Do not modify or extend the pendant cable.

Doing this will void the warranty on the pendant.

WARNING: 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

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Installation

2.2Installation 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.

Equipment Cabinet	CS
(user-supplied)	SmartController
T2 Pendant
Bypass Plug
(supplied
with pendant)
	Wall or door of
	equipment cabinet

SmartController

D-Sub Bypass Plug

(supplied with controller)

T2 Adapter Cable (supplied with T2 Pendant)

To controller

From T2 Pendant

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

Figure 2-1. Installing Pendant in Equipment Cabinet

Red Dot

24.1

SW 22.6

	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

2.3Installation 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.

XUSR	XPANEL Cable
	(supplied with
	i-Series Robot)

i-Series

Robot Interface Panel

XFP

T2 Adapter Cable (supplied with T2 Pendant)

T2 Pendant

			1
GND		XSLV	2
			SmartServo
+24V
DC INPUT
(24 VDC)
AC INPUT	XIO	XPANEL RS-232
(200-240 VAC 1Φ)

XMCP

Jumper Plug

(supplied with

Bypass Plug

i-Series Robot)

(supplied

with pendant)

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

Adept T2 Pendant User’s Guide, Rev D

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