100119-C-TP - Usb
100119-C-TP - Usb
October 2008
Catalog #100119 Rev. C
Every effort has been made to make this book as complete and accurate as possible.
However, no warranty of suitability, purpose, or fitness is made or implied. Intelitek is
not liable or responsible to any person or entity for loss or damage in connection with or
stemming from the use of the software, hardware and/or the information contained in
this publication.
Intelitek bears no responsibility for errors which may appear in this publication and
retains the right to make changes to the software and manual without prior notice.
intelitek
444 East Industrial Park Dr.
Manchester, NH 03109-5317
USA
Tel: 603-625-8600
Tel: 800-777-6268
Fax: 603-625-2137
website: www.intelitek.com
email: [email protected]
Table of Contents
Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Mounted TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Hand-Held TP . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
AUTO/TEACH Switch . . . . . . . . . . . . . . . . . . . . . . . . 8
TP Transition . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Dead Man Button . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Emergency Button . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Keypad Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Display Panel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Status Report . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
TP Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Mounted TP
When the teach pendant is mounted in its special fixture, two magnetic switches are
activated by means of magnetic strips on the fixture.
Some controllers allow programs to be executed from the teach pendant, but only when
the teach pendant is mounted in this fixture. Although SCORBASE programs cannot be
executed from the teach pendant, mounting the TP is recommended, since it ensures that
the operator is safely out of the robot’s working envelope.
Hand-Held TP
When the teach pendant is hand-held, the Dead Man button must remain depressed at all
times for teach pendant operation; if this button is released, the TP is inoperative. This
restriction is for safety reasons.
AUTO/TEACH Switch
When this switch is in the TEACH position, the TP has full control of
the axes. SCORBASE commands and functions which affect axis
movement (such as the Control On icon, program execution, the Go to
Position command, or the Manual Movement dialog box) cannot be
activated from SCORBASE. All other SCORBASE functions remain
available.
When the switch is in the AUTO position, the TP is disabled, and
SCORBASE has full control of the axes.
If the switch is moved from AUTO to TEACH while programs are running, execution is
aborted.
Emergency Button
The emergency button is the red mushroom button on the face of the
TP, and functions the same as the emergency button on the controller.
The emergency button can be activated regardless of the TP’s location
(mounted or hand-held) or status (TEACH or AUTO mode). Press the
button to activate; pull it out to release.
When the button is pressed, the system goes into the Emergency state.
To cancel the Emergency state from the TP, release the emergency
botton (if it has been pressed), and press the teach pendant’s CONTROL
ON/OFF key.
ENTER / EXECUTE
• Accepts and/or executes the
Successively press for Joints, Cartesian (XYZ) and again for Joints, and so on.
(TOOL is not available.)
Depending on the active coordinate system:
• Manual movements of the axes are executed according to Joint or XYZ coordinates.
• The TP’s Record Position command records positions in either Joint or XYZ
coordinates.
The axis groups A (robot axes), B (peripheral axes) and G (gripper) are automatically
activated when axis number is selected.
+
• In Joint mode, moves the selected axis in positive direction.
• In XYZ mode, moves the TCP (tool center point) in positive direction.
• If axis 6/group G is selected, opens the gripper in small increments.
In all of the above, movement will continue as long as the + key is depressed, or until
the axis limit is reached.
–
• In Joint mode, moves the selected axis in negative direction.
• In XYZ mode, moves the TCP (tool center point) in negative direction.
• If axis 6/group G is selected, closes the gripper in small increments.
In all of the above, movement will continue as long as the – key is depressed, or until
the axis limit is reached.
0 / SELECT AXIS
• Numerical key 0.
• Selects an axis, and activates the control group to which the axis belongs.
This key is meant to allow the selection of axis 10, 11 and 12 in controllers which
provide control of that many axes.
Although the SELECT AXIS key is available, it is not normally needed. The TP
continuously shows an axis selection prompt. You need only to press a number key to
select an axis.
• When axis 1, 2, 3, 4 or 5 is selected, Group:A is displayed.
1 / AXIS 1 / X
• Numerical key 1.
3 / AXIS 3 / Z
• Numerical key 3.
4 / AXIS 4
• Numerical key 4.
5 / AXIS 5
• Numerical key 5.
6 / AXIS 6
• Numerical key 6.
• Axis 6 / Gripper in Joint and XYZ modes.
7 / AXIS 7
• Numerical key 7.
8 / AXIS 8
• Numerical key 8.
9 / AXIS 9
• Numerical key 9.
RECORD POSITION
This command defines and records absolute positions. Positions are attached to an array
which is associated with either the robot axes (SCORA) or the peripheral axes (SCORB).
By default, up to 1000 SCORBASE positions can be recorded from the TP.
• Press Record Position.
A position array name is displayed; depending on the active control group, it is either
SCORA_ or SCORB_ . If Group G is active, the position will be recorded in the
SCORA array.
• Enter a number, from 1 to 1000, and press Enter.
When recorded, a position receives the current coordinates of the axes in the selected
group. The coordinates are recorded in the currently active coordinate system.
If you enter the number of a position which has already been recorded, new
coordinates will overwrite the existing ones.
The same number can be used for positions in both the SCORA and the SCORB
arrays.
INSERT / DELETE
This command is not available.
OPEN / CLOSE
Completely opens and completely closes the gripper.
MOVE / MOVEL
Moves the axes to a target position.
MOVEL is applicable to the robot axes only.
Do not attempt to use MOVEL when Group B is selected.
• If in Joint mode, movement is by joints (MOVE)
Press MOVE/MOVEL. Then use the numerical keys to enter the position number.
Press and hold the Execute key. Continue holding down the Execute key until the
axes reach the target position. If the Execute key is released, the movement is stopped
immediately, and the command is aborted.
SINGLE STEP
This command is not available.
ABORT
This command is not available.
To abort a movement, you need only to stop pressing the Enter/Execute or +/– key, or to
release the Dead Man switch in order to abort a movement.
Messages
When the TP is in either the TEACH mode or AUTO mode, line 1 displays system and
error messages. The current display is erased when a new message appears.
When the TP is in the AUTO mode, lines 2, 3 and 4 will display:
TP IN AUTO MODE
Commands
When the TP is in the TEACH mode, lines 2 and 3 display commands.
Line 2 displays the last command entered. Subsequent commands are scrolled into Line 2.
Line 3 displays the command currently being entered, and serves as a user interface.
Status Report
When the TP is in the TEACH mode, line 4 displays the current status of the axes, in the
following format:
group:g AX: xx cccccc
When the text in line 4 is displayed normally (black on white), it indicates Control ON
(CON) for the group displayed.
When the test in line 4 is displayed inversely (white on black), it indicates Control OFF
(CON) for the group displayed.
g is the currently selected axis control group (if exists):
A: control group A
G: gripper
B: control group B
xx is the currently active joint or axis in the active group:
1-8: joint
X : X axis
Y : Y axis
Z : Z axis
P : Pitch axis
R : Roll axis
Examples
GROUP:B AX:7 JOINTS
Group B, Axis 7 is active, Joint mode, in COFF state.
GROUP:A AX:P XYZ
Group A, Pitch axis is active, XYZ mode, in CON state.