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RAPL format 7 x 8-1/2, 1-1/4' indent, 10 Body Text ...jpa.kapsi.fi/stuff/other/crs_robot/Teach The Teach Pendant is a hand-held robot control terminal that provides a convenient means

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Text of RAPL format 7 x 8-1/2, 1-1/4' indent, 10 Body Text ...jpa.kapsi.fi/stuff/other/crs_robot/Teach The...

  • Teach Pendant UMI-R3-141

  • ii

    Teach Pendant Revision History Date

    Earlier released as UMI-R3-104 and UMI-R3-140 001 First release as UMI-R3-141 99-05

  • iii

    Contents

    Chapter 1 ................................................................................................................................... 1 Introduction ............................................................................................... 1

    Chapter 2 ................................................................................................................................... 3 Teach Pendant Features ............................................................................. 3

    Keypad ................................................................................................. 4 Function Keys ................................................................................. 4 Axis Keys ........................................................................................ 4 Motion Keys .................................................................................... 4 Array Keys ...................................................................................... 5 Data Entry Keys .............................................................................. 5

    Live-Man Switch ................................................................................... 6 E-stop Button ....................................................................................... 6 Screens ................................................................................................ 6

    Navigating Through the Screens ...................................................... 6 Pendant Sounds.................................................................................... 9

    Chapter 3 ................................................................................................................................. 11 Quick Start Tutorial ................................................................................. 11

    Passing Control to the Teach Pendant .................................................. 12 Moving the Robot ................................................................................ 12 Terminating Pendant Control .............................................................. 13

    Terminate Pendant Screen ............................................................. 13

    Chapter 4 ................................................................................................................................. 15 Moving the Robot...................................................................................... 15

    Motion Modes (Coordinate Systems) .................................................... 16 Joint Mode .................................................................................... 16 Cylindrical Mode ........................................................................... 17 Cylindrical Coordinates Motion ...................................................... 17 World Mode ................................................................................... 18 Tool Mode ..................................................................................... 19

    Motion Types ...................................................................................... 19 Velocity Motion .............................................................................. 19 Jog Motion .................................................................................... 19 Limp Motion .................................................................................. 20 Align Motion .................................................................................. 20 Allowable Motion Combinations ..................................................... 21

    Manual Menu Screen .......................................................................... 21

    Chapter 5 ................................................................................................................................. 23 Teach Pendant Applications ...................................................................... 23

    Selecting an Existing Application ......................................................... 24 Creating a New Application ............................................................ 25

    Editing an Application ......................................................................... 26

    chapter 6 .................................................................................................................................. 27 Teaching Variables ................................................................................... 27

    Selecting Variables .............................................................................. 28 Quick-Find Utility.......................................................................... 29 Creating a Variable ........................................................................ 30

  • iv

    Chapter 7 ................................................................................................................................. 31 Application Examples ............................................................................... 31

    Creating and Teaching a new Location ................................................. 32 Setting the Value of a Variable ............................................................ 32 Moving Through an Array of Locations ................................................. 33 Running an Application....................................................................... 34

    Chapter 8 ................................................................................................................................. 35 Teach Pendant Errors ............................................................................... 35

    Troubleshooting .................................................................................. 36

    Appendix a .............................................................................................................................. 37 Homing (A465 and A255) .......................................................................... 37

    Homing the Robot ............................................................................... 37 The Homing Procedure .................................................................. 37

  • 1

    C H A P T E R 1

    Introduction

    The Teach Pendant is a hand-held robot control terminal that provides a convenient means to move the robot, teach locations, and run robot programs. It features a four-line 20-character LCD display, a 45-key keypad, a live-man switch, and an emergency stop (e-stop) button.

    The teach pendant is a useful tool, allowing you to move away from the host computer terminal and control the robot locally. Typically a robot application is programmed with teachable variables using the RAPL programming language. Once the application is setup, it is convenient to use the teach pendant to teach the locations for the application.

    A Quick Start tutorial is included in this manual, which is intended to get you started using the teach pendant. By working through the tutorial, you become acquainted with basic pendant operation before moving on to the details of teach pendant operation.

  • 2 Teach Pendant: Introduction

  • 3

    C H A P T E R 2

    Teach Pendant Features

    This section introduces the physical features of the teach pendant:

    • Keypad

    • Live-Man Switch

    • E-Stop

    • Screen

    • Pendant Sounds

  • 4 Teach Pendant: Teach Pendant Features

    Keypad

    The figure below shows the teach pendant layout.

    Many of the pendant keys are multi-purpose, invoking their labeled functions only from certain screens. When the key’s labeled function is not activated, the alphanumeric value of the key is assumed. For example, the axis keys are active from the Manual Menu screen where they are used to move the robot. From any other screen, the alphanumeric value of the key is assumed.

    Function Keys At each screen, the function keys are assigned a corresponding function. The bottom line of each screen lists the options available from that screen. The list of functions corresponds to the function keys. For example, from the Main Menu screen shown on page 6, the F1 key selects the app (application) option.

    Axis Keys Use the axis keys to move the robot. The axis key’s specific functions are available only from the Manual Menu screen, asmanual robot motion can be initiated from only the teach pendant Manual Motion screen.

    The response to the axis keys depends on the robot motion settings. Refer to the Moving the Robot chapter of this user guide for details.

    Motion Keys The motion keys perform their specific function only from the Manual Menu screen. They have the following functions:

  • Teach Pendant: Teach Pendant Features 5

    Key Function

    GRIP Used to open and close the gripper.

    HOME Moves each axis of the robot to a known reference point.

    READY Moves the robot to the ready position.

    LIMP ALL NOLIMP ALL

    LIMP ALL limps the robot axes so you can move the robot freely by hand. WARNING: This may cause the robot to fall and possibly cause equipment damage or personal injury! NOLIMP ALL unlimps all the robot axes so that the robot maintains its position without support.

    MOVE Moves the robot to the selected location variable if that location has been tau

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