OMRON T20 User Manual

T20 Pendant

User's Manual

I601-E-04

The information contained herein is the property of OMRON, and shall not be reproduced in whole or in part without prior written approval of OMRON The information herein is subject to change without notice and should not be construed as a commitment by OMRON The documentation is periodically reviewed and revised.

OMRON, assumes no responsibility for any errors or omissions in the documentation.

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 9

1.1 Product Description

Features 9 System Compatibility 9

1.2 Proper Handling of the Pendant

1.3 How Can I Get Help?

Related Manuals 10

Chapter 2: Safety 13

2.1 Dangers, Warnings, Cautions

Alert Icons 13 Special Information 13

2.2 What to Do in an Emergency or Abnormal Situation

Stopping the Robot 14 Fire Response 14

2.3 Safety Precautions

2.4 Additional Safety Information

Manufacturer’s Declarations 15 Robot Safety Guide 15 Emergency Stop Circuit and Buttons 15 Safety Standard Compliance 15

2.5 Disposal

Chapter 3: Installation and Setup 17

3.1 Transport and Storage

3.2 Unpacking the Pendant

3.3 Repacking for Shipment

3.4 Operating Environment

3.5 Installation

Chapter 4: Operation 23

4.1 Using the Pendant Controls and Indicators

Keypad Functions 25

4.2 Enable Switch

4.3 Turning Power ON and OFF

Turning Robot Power ON 28

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Table of Contents

Turning OFF Power from the T20 Pendant 29

4.4 User Interface Operation

User Interface Controls 29 User Interface Flow Diagram 30 Displaying the Home Screens 33

4.5 Using Jog Mode

COMP Mode 35 Joint Mode 35 World Mode 36 Tool Mode 37 Free Mode 38

4.6 Speed Control

4.7 Position Display

4.8 Smart Locations

4.9 Available Frames

Enable Frame-Based Jogging 42 A Note about Frame-mode Jogging 42

4.10 Available Tools

4.11 Location Teaching

Adding Approach Distance 46 Using Jog To 46 Align 47

4.12 I/O Signals

4.13 Displaying and Clearing Errors

Chapter 5: Maintenance 51

5.1 The System Maintenance Screen

5.2 Setting the Screen Saver

5.3 Setting the Initial Speed

5.4 Enabling Smart Locations

5.5 Setting the Approach Distance

5.6 Enabling Pendant Messages

5.7 Displaying System Information

5.8 Displaying Recent Errors

5.9 Updating the Pendant Firmware

5.10 Loss of Communication

5.11 Cleaning

5.12 Periodic Maintenance

4 T20 Pendant User's Manual 10433-000 Rev. H

Table of Contents

Chapter 6: Technical Specifications 59

6.1 Dimension Drawings

6.2 Pendant Specifications

10433-000 Rev. H T20 Pendant User's Manual 5

Revision History

Revision

code

A May, 2012 Original production release.

B July, 2013 Updates for the new user interface

C March, 2014

D May, 2016

E June, 2016

F March, 2019

G July, 2020 Update for NJ-series Robot Integrated CPU Unit.

H August, 2020 Minor corrections and revisions.

Date Revised Content

Added references to eV+ Language User's Guide.

General updates .

Minor specification updates

Minor updates for translation.

10433-000 Rev. H T20 Pendant User's Manual 7

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:

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

The T20 pendant can only move one robot at a time, even if multiple robots are connected to a SmartController EX, and the pendant is connected to the SmartController EX.

Chapter 1: Introduction

If there is no SmartController EX in the system, the pendant can only be connected to a single robot at any given time. A single pendant connection can only control a single robot for systems using an iCS-ECAT or eCS-ECAT controller.

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 exchange digital I/O with the robot

The pendant cannot exchange digital I/O over the EtherCAT network.

Debug (and teach)V+programs using Step mode

System Compatibility

The T20 pendant works with a robot that is controlled by a control system that runs eV+.

The iCS and eCS robots require a T20 with firmware v3.x+.

A T20 with v3.x firmware will also support eAIB, SmartController EX, eMB-40, and eMB-60 controllers running eV+ 2.4 or later. A T20 pendant running v2.x firmware must be upgraded to at least 2.3.3.14 firmware to work with eV+ 2.4 or later.

NOTE: A T20 pendant with 2.x firmware cannot be upgraded to 3.x firmware.

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1.2 Proper Handling of the Pendant

1.2 Proper Handling of the Pendant

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 T20 pendant, place it in a safe location and clear of the robot working envelope.

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

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

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

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

Never clean the 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 T20 pendant.

WARNING: When the cable entrance cover is removed, the T20 pendant is sensitive to electrostatic discharge.

1.3 How Can I Get Help?

Refer to the corporate website:

http://www.ia.omron.com

Related Manuals

This guide covers the installation, operation, and maintenance of the 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 software media shipped with each robot system.

Manual Description

Robot Safety Guide (Cat. No. I590) Contains safety information for our

Table 1-1. Related Manuals

robots.

SmartController EX User's Guide (Cat. No. I602)

Contains complete information on the installation and operation of the SmartController EX motion controller.

10 T20 Pendant User's Manual 10433-000 Rev. H

Chapter 1: Introduction

Manual Description

ACE User's Guide (Cat. No. I603) Describes the ACE software envir-

onment and use with a control system. This documentation is included in the ACE software installation.

eV+ Language User's Guide (Cat. No. I604)

eV+ Language References Guide (Cat. No. I605)

eV+ Operating System User's Guide (Cat. No. I606)

Describes the eV+ language and programming of a control system.

Detailed descriptions of the keywords in the eV+ language.

Describes the eV+ operating system. Loading, storing, and executing programs are covered in this guide.

eV+ Operating System Reference Guide (Cat. No. I607)

Describes the eV+ operating system commands (known as monitor commands).

eV+3 User's Manual (Cat. No. I651) Describes the eV+ language and pro-

gramming of a control system for eV+ version 3.x and later.

eV+3 Keyword Reference Manual (Cat. No. I652)

Detailed descriptions of the keywords in the eV+ language for eV+ version 3.x and later.

NJ-series Robot Integrated CPU Unit User's Manual (Cat. No. O037)

Describes the settings and operation of the CPU Unit and programming concepts for OMRON robot control.

Sysmac Studio Version 1 Operation Manual (Cat. No. W504)

Describes the operating procedures of the Sysmac Studio.

Robot user's guide User Guide for the robot in use.

Sysmac Studio Integrated Robot System Control Function Operation Manual (Cat. No. W595)

Learning about the operating procedures and functions of the Sysmac Studio to configure Robot Integrated System using Robot Integrated CPU Unit.

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2.1 Dangers, Warnings, Cautions

The following levels of alert notation are used in this manual, in descending order of importance.

WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result in serious injury, fatality, or significant property damage.

CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.

Alert Icons

The icon that starts each alert can be used to indicate the type of hazard. These will be used with the appropriate signal word - Danger, Warning, or Caution - to indicate the severity of the hazard. The text following the signal word will specify what the risk is, and how to avoid it.

Chapter 2: Safety

Icon Meaning Icon Meaning

This is a generic alert icon. Any specifics on the risk will be in the text following the signal word.

Special Information

There are several types of notation used to call out special information.

IMPORTANT: Information to ensure safe use of the product.

NOTE: Information for more effective use of the product.

Additional Information: Offers helpful tips, recommendations, and best prac-

tices.

Version Information: Information on differences in specifications for different versions of hardware or software.

2.2 What to Do in an Emergency or Abnormal Situation

This identifies a hazardous electrical situation.

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2.3 Safety Precautions

Stopping the Robot

Press any E-Stop button (a red push-button on a yellow background) and then follow the internal procedures of your company or organization for an emergency situation.

Fire Response

If a fire occurs, use CO2to extinguish the fire.

2.3 Safety Precautions

WARNING: ELECTROCUTIONRISK During maintenance, disconnect AC power from the robot, and install a lockout tag-out to prevent anyone from reconnecting power.

WARNING: PERSONALINJURYORPROPERTYDAMAGERISK A robot can cause serious injury or death, or damage to itself and other equipment, if the safety precautions in this manual are not observed:

All personnel who install, operate, teach, program, or maintain the system must read this guide, read the Robot Safety Guide (Cat. No. I590), and complete a training course for their responsibilities in regard to the robot.

Figure 2-1. Read Manual and Impact Warning Labels

All personnel who design the robot system must read this guide, read the Robot Safety Guide (Cat. No. I590), and 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 robot user’s guide. Contact your local OMRON representative 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.

Lock out and tag out power to the robot and its power supply before performing any maintenance on the robot.

14 T20 Pendant User's Manual 10433-000 Rev. H

2.4 Additional Safety Information

We provide other sources for more safety information:

Manufacturer’s Declarations

This lists the standards with which our robots and controllers comply. The Manufacturer’s Declarations are in the Manufacturer's Declarations Guide (p/n 18305-000).

Robot Safety Guide

The Robot Safety Guide (Cat. No. I590) provides detailed information on safety for our robots. It also gives resources for more information on relevant standards. It ships with each robot.

Emergency Stop Circuit and Buttons

The E-Stop provided complies with ISO 10218-1 (Clause 5.5.2), with stop category 1 (per IEC

60204). The E-stop button complies with ISO 13850. The E-Stop meets the requirements of PL-d per ISO 13849.

Chapter 2: Safety

Safety Standard Compliance

The protective stop category for the pendant enable switch is category 1, which complies with the requirements of ISO 10218-1.

The pendant is designed in accordance with the requirements of IEC 60204-1 and ISO 13849. The E-Stop button is ISO 13850.

The robot control system is designed so that when the robot is placed under pendant control, initiation of robot motion or control selection from any other source is prevented.

This is in compliance with ISO 10218-1.

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2.5 Disposal

2.5 Disposal

Customers can contribute to resource conservation and protecting the environment by the proper disposal of WEEE (Waste Electronics and Electrical Equipment). All electrical and electronic products should be disposed of separately from the municipal waste system via designated collection facilities. For information about disposal of your old equipment, contact your local OMRON representative.

Dispose of in accordance with applicable regulations.

16 T20 Pendant User's Manual 10433-000 Rev. H

Chapter 3: Installation and Setup

This chapter covers the installation and setup of the T20 pendant.

3.1 Transport and Storage

The T20 pendant must be shipped and stored in a temperature-controlled environment, within the range –25 to +60°C (-13 to 140°F). The recommended humidity range is 5% to 95%, non-condensing. It should be shipped and stored in the original 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 T20 pendant weighs 480 g (1.1 lb) without the adapter cable installed.

3.2 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 your local OMRON representative as soon as possible.

If the items received do not match your order, please contact your local OMRON representative 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.

3.3 Repacking for Shipment

If the pendant 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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3.4 Operating Environment

3.4 Operating Environment

The 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

CAUTION: Do not use the T20 pendant in hazardous environments (explosive gas, water, dust, oil, or mist), in mining operations, or outdoors. It has an IP rating of IP65.

3.5 Installation

The T20 pendant can be used with any robot system using eV+. This may be attached to a single robot or through a SmartController EX motion controller. A Front Panel is required in either case.

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.

In the legacy system there is generally a single controller (SmartController EX) and the pendant is connected to this. If multiple robots are connected to the controller, then a single pendant can be used to control each of them, one at a time. In the new (EtherCAT) system (NJ-series Robot Integrated CPU unit), the pendant needs to be plugged directly into the robot in order to control it, even if other robots are on the EtherCAT network.

There can be as many pendants in the system as there are robots. Therefore, each pendant is only controlling the robot it is connected to. It won’t be possible to connect to, select, or control any other robot (other than the directly-connected robot) with the pendant.

About Jumper Plugs

There are two jumpers, or bypass plugs, that can be used with a T20 pendant system. One is a screw-to-lock T20 Pendant Bypass Plug (P/N 10048-000) for the pendant adapter cable, included with the T20 pendant kit. The other is an XMCP jumper plug (P/N 10052-000) included with the XSYSTEMcable assembly.

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 the T20 is not connected and there is no jumper plug in the T20 cable, 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.

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Chapter 3: Installation and Setup

INOUT ID

XSYSTEM

24V

AC 1

200-

240V

GND

XIO

XBELTIO

OP SV

RUN ERR FS

x256

x16

Installation without a SmartController EX

The following figure and table show a Front Panel and an T20 pendant connected to an EtherCAT robot. See your robot User's Guide for additional information.

Figure 3-1. Pendant and Front Panel Installation (eCobra EtherCAT Version Shown)

Letter Meaning Letter Meaning

A T20 Pendant D Front Panel

B XSYSTEM Cable E XUSR, with Jumper

C Robot Interface Panel

NOTE: A Front Panel or Front Panel Jumper Plug must be connected to theeAIBXSYSTEMCable Assembly. A T20 Pendant, T20 Pendant Bypass Plug, or XMCPJumper Plug must be connected to the eAIBXSYSTEMCable Assembly.

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