100121-2 TP-Ctrl
Contents
1. While the Dead Man button is released the numerical Record and Select Axis keys can be used for recording positions and changing the Direct Teach movement mode 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 EMERGENCY release m N When the button is pressed the system goes into the E tate mergency state N A To cancel the Emergency state from the TP release the emergency botton if it has been pressed and press the CONTROL ON OFF key 3 Teach Pendant for Controller AC Keypad Functions The various functions of the teach pendant are described in this section Many of the command keys on the teach pendant are ACL commands these commands are described fully in the ACL Reference Guide for Controller AC The teach pendant s keypad has 25 color coded keys Most of the keys are multi functional for example some keys include both an axis drive command and a numeric function The controller recognizes the keys from the order in which they are pressed Thus the numeric function will be active only ifa function such as SPEED RUN or MOVE has been keyed in first otherwise the axis drive command will be active TP commands can be executed2. only when the TP is in the Teach IN P Ra i mode and either the Dead Man button is depressed or the TP is mounted ON BN EN i GROUP The program execution command SELECT EB RUN is available only when the TP is mounted EEES ER Eb teach P endant s keys and CONTROL SINGLE RECORD instructions for activating them ON OFF STEP POSITION Bulleted items indicate the OPEN move seo x ENTER i ABORT o DELEN ENTER EXECUTE Following are descriptions of the different functions of Accepts and or executes the command which has been entered Starts execution of a program JOINTS XYZ TOOL Selects the coordinate system for command execution Successively press for Joints Cartesian XYZ Tool and again for Joints and so on Depending on the active coordinate system Manual movements of the axes are executed according to Joint XYZ or Tool coordinates The TP s Record Position command records positions by executing HERE and HERER in Joint mode HEREC and HERERC in XYZ mode or HEREC and HERERT in Tool mode Teach Pendant 4 User s Manual for Controller AC 9810 CLR GROUP SELECT Clears a partially entered command Note that this is not the same as the ACL command CLR Enables TP control of peripheral axes group B or an indenpendent axis group C or an electric servo gripper group G By default the selected group is the robot group A Successively press for group A group G
3. Numerical key 2 Axis 2 in Joint mode Axis Y in XYZ and Tool modes 3 AXIS 3 Z Numerical key 3 Axis 3 in Joint mode Axis Z in XYZ and Tool modes 4 AXIS 4 Numerical key 4 Axis 4 in Joint mode Pitch Axis in XYZ and Tool modes 5 AXIS 5 Numerical key 5 Axis 5 in Joint mode Roll Axis in XYZ and Tool modes 6 AXIS 6 Numerical key 6 Axis 6 in Joint mode only if axis installed and configured 7 AXIS 7 Numerical key 7 Axis 7 in Joint mode only if axis installed and configured 8 AXIS 8 Numerical key 8 Axis 8 in Joint mode only if axis installed and configured 6 User s Manual for Controller AC 9810 User s Manual 9810 9 AXIS 9 Numerical key 9 Axis 9 cannot be installed or configured in Controller AC CONTROL ON OFF Enables and disables control of the selected group or all groups If pressed once toggles between CON and COFF for the selected group If pressed twice changes CON and COFF for all axis control groups If at least one group is in CON mode COFF is applied to all groups If all groups are in COFF mode CON is applied to all groups The action to be performed e g COFF GROUP B CON ALL GROUPS will be displayed Press Enter to accept Note that selecting an axis from the TP axis number keys automatically enables control of the group to which the axis belongs If the gripper axis is selected GRIPPER is displayed and the CON COFF toggle applies
4. The homing procedure failed for the specified axis HOME NOT DONE 301 Group axis has not been homed You attempted to move the arm to a recorded positions or to record a position before homing was performed on the group or axis HOMING 31 WAIT homing Homing complete 32 Homing complete IMPACT AX n 53 IMPACT PROTE The controller has detected a position error which is too large The system aborted all movements of that axis group and disabled all axes of that group INCOMPATIBLE POS TION axis n Q 315 Incompatible positions The position or positions you attempted to manipulate are dedicated to different axis control groups Index or data error 36 Invalid index or value The command has an incorrect index value INDEX RANGE 309 Index value out of range The value of the index is out of range User s Manual 13 Teach Pendant 9810 for Controller AC Teach Pendant for Controller AC INVALID PROGRAM 306 Invalid program Faulty syntax or logic in the program LIMIT AX n 33 UPPER LIMIT AXIS n 34 LOWER LIMIT AXIS n Axis encoder has reached either its maximum or minimum allowed value MOTORS OFF 319 Motor power switch is off The controller s Motor is turned off NO GRIPPER 316 No gripper configuration The command cannot be executed because a gripper has not been configured NO
5. displayed in brackets Then press Enter The controller automatically assigns an ID number to each user program The ACL command DIR lists the programs and their assigned IDENTITY number The command RUN 0 homes the robot axes ACL command HOME The command RUN 999 executes a system test ACL command TEST SINGLE STEP This command is not currently available ABORT Aborts execution of all running programs Stops the robot and all peripheral axes User s Manual 9 Teach Pendant 9810 for Controller AC Display Panel Messages Commands The teach pendant has a four line liquid crystal display panel Each line displays a specific type of message or text 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 TEACH MODE WILL ABORT ALL PROGRAMS A list and brief descriptions of all TP messages appears at the end of this chapter 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 The command SPEED SPEEDL will display the current value allowing you to accept or change The commands SPLINE MOVEC INSERT DELETE RECORD POSITION and MOVE MOVEL will displ
6. gripper group B group C and again for group A and so on If a group is not configured it will not be displayed If the robot is equipped with a gripper which has an AC servo motor and resolver the gripper will be treated as a distinct axis control group G If group is displayed enter the axis number on the numerical keys Then press Enter When alternating among control groups group A will remain in the coordinate system Joint XYZ or Tool in which it was last active In Joint mode moves the selected axis in positive direction In XYZ and Tool modes moves the TCP tool center point in positive direction If group G is selected opens the gripper In all of the above movement will continue as long as the key is depressed or until the axis limit is reached This key is also used to confirm the DELETE command In Joint mode moves the selected axis in negative direction In XYZ and Tool modes moves the TCP tool center point in negative direction If group G is selected closes the gripper 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 Changes the Direct Teach movement mode Press to change to Free Axes Fixed Pitch or Fixed Pitch and Z mode User s Manual 5 Teach Pendant 9810 for Controller AC 1 AXIS1 X Numerical key 1 Axis 1 in Joint mode Axis X in XYZ and Tool modes 2 AXIS2 Y
7. ARITHMETIC OVERFLOW 302 Arithmetic overflow or division by zero The result of a mathematical operation is out or range or invalid AXIS DISABLED 304 Axis disabled Servo control of the arm has been disabled COFF BAD AXIS 310 Invalid axis The axis is not in the group specified by the command or the axis is not configured BAD GROUP 321 MOVES SPLINE not allowed for a single axis group The command MOVES cannot be executed on a single axis group BAD POS n 312 Invalid position coordinate values You attempted to use an invalid position BAD XYZ POSITION 317 Invalid Cartesian position pos The position could not be recorded or reached because its XYZ coordinates are out of the XYZ envelope CONTROL DISABLED 72 CONTROL DISABLED Motors have been disconnected from servo control mu 12 User s Manual 9810 CONTROL ENABLED 73 CONTROL ENABLED Motors are now under servo control EMERGENCY 148 To perform action releas mergency button The emergency switch has been pressed HANDLE PUSHED 167 Pressure was applied on handle before switch activation 168 or payload is too heavy for Direct Teach When using the Direct Teach handles you must first grasp the handle with the Dead Man switch Only then can you begin to apply pressure in order to move the robot HOME FAIL n 51 HOME FAILURE AXIS n
8. FREE SPACE 159 No free space to insert point All positions in the vector have been allocated no memory available No hard Homing 40 Cannot hard home axis n The specified axis has not been configured for hard homing NOT ABS POINT 322 Position must have Absolute Joint coordinates The command MOVES can only be executed on positions with absolute JOINT values NOT XYZ SPACE 320 Robot is not in XYZ space The robot is at a position at which the XYZ coordinate system is not supported POINT LOOP 311 Relative chain loops or exceeds 32 positions An error in the linking or recording of the positions in a chain of relative positions POS NOT DEF ARRAY 145 Position is not defined or is not a vector The position has not been defined or this is not the name of a position vector 14 User s Manual 9810 User s Manual 9810 POS NOT FOUND 110 Position undefined not recorded or for other group The position you attempted to use has not been defined or has not been recorded or has been defined for another axis control group POS NOT RECORDED 74 303 No coordinate values for position The position coordinates have not been recorded or set POS TYPE n 313 Incompatible position type pos You have attempted to use a position whose type is incompatible with the command RANGE AX n 54 OUT OF RANGE axis n An attempt was made to record a position HERE HEREC e
9. TEACH PENDANT for Controller AC User s Manual Catalog 100121 Rev 02 KYZ CLR GROUP SELECT ARIS 4 2 AXIS 5 EMERGENCY 6 AXIS 6 g AXIS 9 INSERT DELETE SELECT AXIS FECURO POSITION SPEED ENTER SPEED EXECUTE Copyright 1996 1998 by Eshed Robotec 1982 Limited October 1998 PDF version Catalog 100121 Rev 02 All rights reserved No part of this publication may be reproduced transmitted transcribed stored in a retrieval system or translated into any language in any form without the written permission of Eshed Robotec 1982 Ltd Program listings may be entered stored and executed in a computer system but they may not be reproduced for publication 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 Eshed Robotec 1982 Ltd is not liable or responsible to any person or entity for loss or damage in connection with or stemming from the use of the equipment and or the information contained in this publication Eshed Robotec 1982 Ltd bears no responsibility for errors which may appear in this publication and retains the right to make changes to the hardware software and manual without prior notice Table of Contents Introduction ao oaoa a 1 Operation a d 1 Mounted EP 3 a Miara a ee tt he a 1 Hand Held TP cimas rca AA eg 1 Auto Teach S
10. ay the name of the currrently attached position vector if it exists and the active control group Status Report Teach Pendant for Controller AC 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 group or a specific group C axis is enabled CON the text in the display is normal black on white When the group or a specific group C axis is disabled COFF the text in the display is inversed white on black g is the currently selected axis control group if exists A control group A G gripper B control group B C control group C 10 User s Manual 9810 xx is the currently active joint or axis in the active group 1 12 joint X X axis Y Y axis Z Z axis P Pitch axis R Roll axis cccccc is the currently active coordinate system Joint XYZ Examples GROUP C AX 7 JOINTS Group C 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 User s Manual 11 Teach Pendant 9810 for Controller AC TP Messages Teach Pendant for Controller AC ALL PROGRAMS ABORTED E gt O D O pele Nn O et gt O a e Nn s SF fas lt o mh o gt 2 S F Nn Nn o da O 205 All programs aborted The TP Abort key has been pressed or the mounted TP has been removed from the fixture when in the Teach mode
11. ch as COFF DIR STAT and EDIT remain available when the TP is in the Teach mode When the switch is in the Auto position the TP is disabled and the keyboard has full control of the axes When the switch is moved from Auto to Teach running programs continue execution Control is transferred to the TP When the switch is moved from Teach to Auto running programs continue execution Control is transfered to the keyboard but only after the command AUTO is entered from the keyboard Hand Held TP When the TP is hand held the Auto Teach switch affects control functions and system operation in the following ways When the switch is in the Teach position the TP has full control of the axes provided the Dead Man button is depressed However programs cannot be run from the hand held TP Commands which can cause axis movement such as CON MOVE RUN cannot be entered from the keyboard All other commands such as COFF DIR STAT and EDIT remain available when the TP is in the Teach mode When the switch is in the Auto position the TP is disabled and the keyboard has full control of the axes When the switch is moved from Auto to Teach all running programs are aborted When the switch is moved from Teach to Auto control is transfered to the keyboard but only after the command AUTO is entered from the keyboard TP Transition If the TP is put into or removed from the mount while the switch is in the Auto position sys
12. ifts all previously recorded positions one place up in the vector DELETE removes a position from a vector and shifts all higher positions one place down INSERT and DELETE are available only on position vectors which have been defined with the prefix amp If pressed once INSERT is displayed Use the numerical keys to enter the number of the position the vector index to be inserted Press Enter to execute the command If pressed twice DELETE is displayed Use the numerical keys to enter the number of the position the vector index to be deleted Press Enter The display shows ARE YOU SURE Press for yes and then press Enter again SPEED SPEEDL Sets the speed of manual axis movement as a percentage of maximum speed If in Joint mode sets the percentage of maximum joint speed SPEED is displayed If in XYZ or Tool mode sets the percentage of maximum linear speed SPEEDL is displayed Press SPEED SPEEDL The current speed is displayed Press Enter to accept the displayed default speed Or use the numerical keys to enter a different speed and press Enter OPEN CLOSE Opens and closes the gripper This command functions on both electric and pneumatic grippers MOVE MOVEL Moves the axes to a target position MOVEL applies only to robot group A axes If in Joint mode movement is by joints MOVE If in XYZ or Tool mode robot movement is linear MOVEL Press MOVE MOVEL Then use the nume
13. rical 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 Teach Pendant 8 User s Manual for Controller AC 9810 The command MOVE 0 moves the axes of the currently active group A or B only to their home position The TP display panel will show MOVE 0 for group A and MOVE 00 for group B When group G is active pressing this key activates the JAW command for the gripper Use the numerical keys to enter a value for the percentage of the gripper opening and press Enter SPLINE MOVEC Moves the axes to a target position MOVEC applies only to robot group A axes SPLINE applies only to multi axis devices in group A or group B axes If pressed once a SPLINE movement will be executed If pressed twice a MOVEC movement will be executed Use the numerical keys to enter the first position number and press Enter Use the numerical keys to enter the second position number Then press and hold Execute Continue pressing 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 RUN Executes a program Available only when the TP is mounted Press Run Then press the program s identity number on the numerical keys The program name will be
14. tc while the robot arm was out of its working envelope SERVO ERROR 212 Error must be reset The controller s SERVO ON OFF switch is in the OFF position therefore motors cannot be enabled SERVO SWITCH IS OFF 201 319 SERVO switch is off The controller s Servo is turned off TOO DEEP NESTING 305 Nesting too deep Too many GOSUB subroutines are nested within one another TOO FAST AX n 99 SPEED TOO FAST axis n The controller has detected a movement which is too fast use HERE or HEREC 160 INSERT position is empty use HERE or HEREC You attempted to insert a position which does not have any coordinate values 15 Teach Pendant for Controller AC
15. tem operation is not affected Teach Pendant 2 User s Manual for Controller AC 9810 If the TP is removed from the mount while the switch is in the Teach position running programs are aborted If the Dead Man button is released or not properly depressed during the removal of the TP from the mount all axes will be stopped and the TP will be inoperative If the TP is put into the mount while the switch is in the Teach position system operation is not affected Once the TP is in the mount programs can be run from the TP Manual Keyboard Control The lt Alt gt M or command for switching to Manual Keyboard control is available only when the TP is in the Auto mode If the Auto Teach switch is moved to the Teach position when Manual Keyboard mode is active operation from the keyboard is aborted If the switch is then moved back to the Auto position and the command AUTO is entered in order to return control to the PC the keyboard is reset to DIRECT mode but not Manual mode Dead Man Button Emergency Button User s Manual 9810 The Dead Man button is an elongated switch on the left side of the TP as shown in the diagram here When the hand held TP is in the Teach mode this button must remain depressed at all times to enable control the axes from the TP If the Dead Man button is released when the hand held TP is in the Teach mode all axes will be stopped and most of the keys on the TP will be inoperative
16. to the gripper only RECORD POSITION This command both defines and records a position Only numerical position names of up to five digits can be entered from the TP The position is defined for the currently active group and receives the current values of the axes in that group The position coordinates are recorded in the currently active coordinate system Depending on the active coordinate system Record Position records absolute and relative positions as follows HERE and HERER in Joint mode HEREC and HEREC in XYZ mode HEREC and HERERT in Tool mode Press Record Position Press once to record an absolute position press twice to record a relative position Then press up to five digits for the position name followed by Enter If you move the axes and again press Enter the TP will repeat the Record Position command and automatically increment the position name by one number Any key other than Enter will cancel the Record Position command and allow you to enter another command If you use a position name which has already been defined the new coordinates will overwrite the existing ones This command is also used to record positions in a vector The vector must first be attached ATTACH to the TP 7 Teach Pendant for Controller AC INSERT DELETE This command is used to add and remove positions in a vector The vector must first be attached ATTACH to the TP INSERT records a position in a vector and sh
17. ts the operation of the teach pendant as indicated throughout this chapter The Dead Man button and the Emergency button ensure operator safety When the teach pendant is mounted in its special fixture two magnetic switches are activated by means of magnetic strips on the fixture thereby allowing programs to be run from the mounted TP Mounting the TP ensures that the operator is safely out of the robot s working envelope when program execution begins The Auto Teach switch must be in the Teach position to enable the mounted TP full control of the axes Hand Held TP User s Manual 9810 When the teach pendant is hand held the Dead Man button must remain depressed at all times for TP operation Programs cannot be executed from a hand held TP These restrictions are for safety reasons The Auto Teach switch must be in the Teach position to enable the hand held TP full control of the axes In addition the Dead Man button must remain depressed if this button is released the TP is inoperative I Teach Pendant for Controller AC Auto Teach Switch Mounted TP When the TP is mounted the Auto Teach switch affects control functions and system operation in the following ways When the switch is in the Teach position the TP has full control of the axes and programs can be run from the mounted TP Commands which can cause axis movement such as CON MOVE RUN cannot be entered from the keyboard All other ACL commands su
18. witch 2 2 2 2 Emm 2 Mounted TP 2 0 2 nat a AD are ee 2 Hand Held TP sr i oll la we are BLD ehe 2 TP Trans tion sors 38 4 rn a er 3 Manual Keyboard Control 3 Dead Man Button 3 Emergency Button 2 3 Keypad Functions e e 4 Display Panel sio es Re a A a ee 10 Messages 7 4 a En a a een an al 10 Commands o 2 2 m 10 Status Report 2 2 ann 10 Examples e un BAe a E SNEG 11 TP Messages 22m on 12 Introduction Operation Mounted TP The teach pendant for Controller AC is a sophisticated portable terminal for operating and controlling the axes connected to the controller This teach pendant is equipped with an EMERGENCY STOP push button an AUTO TEACH selector switch and a DEADMAN switch The teach pendant can be either hand held thus disabling its ability to run programs or mounted in a special fixture outside the robot s working envelope thus enabling access to running programs To install the teach pendant follow the installation instructions for the teach pendant in the Controller AC User s Manual Make sure the teach pendant is properly connected to the controller before you power on the system The teach pendant can be either hand held or mounted in a special fixture The operation of the teach pendant will vary according to the manner in which it is held The Auto Teach switch on the teach pendant also affec
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