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MAROUHT9102171E REV B
2. iPENDANT OPERATIONS
Fi gur e 2–13. HandlingTool iPendant Keys
2–29
2. iPENDANT OPERATIONS
MAROUHT9102171E REV B
Table 2–9. Navigation and Data Entr y Keys
iPendant Key
Symbolic iPendant Key (if available)
Function
The F1 through F5 function keys
are used to make choices based
on the teach pendant display.
Each function key has a unique
label depending on the menu
displayed on the teach pendant
screen.
The
key is a special key.
When you press the
key
together with other keys, the
special screen is displayed.
When you press
+ HELP, the
Help for i key screen is displayed.
The PREV key restores the most
recent state. In some cases, the
screen might not return to the
immediately preceding status.
The next page key is used to
display the next set of function
keys.
The MENU key is used to display
the screen menu.
2–30
MAROUHT9102171E REV B
2. iPENDANT OPERATIONS
Table 2–9. Navigation and Data Entr y Keys (Cont d)
iPendant Key
Symbolic iPendant Key (if available)
Function
The SELECT key is used to
display the program selection
screen.
The EDIT key is used to display
the program edit screen.
The DATA key is used to display
the program dat a screen.
2–31
2. iPENDANT OPERATIONS
MAROUHT9102171E REV B
Table 2–9. Navigation and Data Entr y Keys (Cont d)
iPendant Key
Symbolic iPendant Key (if available)
Function
The DI SP key is available only
on the iPendant and is used to
activat e the DI SPLAY menu or
change the focus. When you
press SHIFT and the DI SP key
together, the DISPLAY menu
appears. The DI SPLAY menu
allows you to change the number
of windows displayed to be
Single, Double, or Triple. The
Status/Single choice displays
status in addition to the single
window. You can also use it
to display help or diagnostics,
set up user views and menu
favorites, or to display a menu
history.
The FCTN key is used to display
the function menu.
2–32
MAROUHT9102171E REV B
2. iPENDANT OPERATIONS
Table 2–10. Robot Motion Keys
iPendant Key
Symbolic i Pendant Key (if
available)
Function
The GRO UP key is used to switch groups.
Hold down the GRO UP key and press the
numeric key to switch to a speci ed group.
Press the GROUP key and the 0 key together
to toggle the sub group.
Note The group key is enabled only when Multi
motion group software option (J601) or Extended
Axis Control software option (J518) has been
ordered, and the extended axis or the independent
axis has been set up.
The SHIFT key is used to jog the robot, teach
the position dat a, and start a program.
The right and left SHIFT keys have the same
function.
The jog keys are effective while a SHIFT key
is pressed. They are used to jog the robot.
These keys are used to jog extended axes or
servo gun axes.
2–33
2. iPENDANT OPERATIONS
MAROUHT9102171E REV B
Table 2–10. Robot Motion Keys (Cont d)
iPendant Key
Symbolic i Pendant Key (if
available)
Function
The COO RD key selects a jog coordinate
system. Each time the COORD key is
pressed, it selects the next jog type in the
order: JOINT, JGFRM, World frame, TOOL,
USER. When this key is pressed while a
SHIFT key is pressed and held down, a jog
menu for changing the coordinate syst em is
displayed.
The override key adjusts the feedrate override.
Each time the override key is pressed, it
selects the next override in the order: VFINE,
FINE, 1 , 2 3 4 5 , 10 15 20
and so forth in 5 increments to 100 . (Set
SHFTOV_ENB to alter the override settings.)
Table 2–11. Execution Keys
iPendant Key
Symbolic iPendant Key (if
available)
Function
The FWD key or BWD key (+ SHIFT key) starts
a program. When the SHIFT key is released
during regeneration, the program halts.
The HOLD key causes a program to halt.
2–34
MAROUHT9102171E REV B
2. iPENDANT OPERATIONS
Table 2–11. Execution Keys (Cont d)
iPendant Key
Symbolic iPendant Key (if
available)
Function
The STEP key selects step or continuous test
operation.
The RESET key is used to clear an alarm.
Table 2–12. Editing Keys
iPendant Key
Symbolic iPendant Key (if
available)
Function
The ENTER key is used to process and
activat e the current information set.
The BACK SPACE key deletes the character
or numeral immediately bef ore the cursor.
The arrow keys are used to highlight or select
an item on the screen.
2–35
2. iPENDANT OPERATIONS
MAROUHT9102171E REV B
Table 2–12. Editing Keys (Cont d)
iPendant Key
Symbolic iPendant Key (if
available)
Function
The ITEM key moves the cursor to a line
whose number is speci ed.
Table 2–13. Material Handling-Speci c Keys
iPendant Key
Function
The TOOL 1 or 2 key displays the tool 1 or 2 screen.
The MOVE MENU key is not supported for HandlingTool.
The SET UP key displays the SETUP screen.
The STATUS key displays the STATUS screen.
2–36
MAROUHT9102171E REV B
2. iPENDANT OPERATIONS
Table 2–13. Material Handling-Speci c Keys (Cont d)
iPendant Key
Function
The POSN key displays position data.
The I/O key displays the I/O screen.
Table 2–14. Help and Di agnostic Key
iPendant Key
Symbolic iPendant Key (if
available)
Function
The HELP key displays help les that describe
the functions available for the active window.
The SHIFT and DI AG keys together display
diagnostic information for the currently active
error or the selected error in the Alarm menu.
This key is only available on the iPendant.
Table 2–15. FCTN Menu
Item
Function
ABORT ALL
This item aborts all running or paused programs.
Disable FWD/BWD
This item allows you to disable the ability to execute program
instructions when the SHIFT and FWD keys or SHIFT and BWD
keys are pressed. The ability to use SHIFT FWD and SHIFT
BWD will be disabled unt il you press FCTN and select DI SABLE
FWD/BWD again.
RELEASE WAIT
During program execution, wait release allows you to override
pauses in the program when the robot is wait ing for I/O conditions to
be satis ed. Release wait works only when a program is running.
QUI CK/FULL MENU
This item toggles the menu display bet ween a full or a shorter menu
list.
SAVE
This item saves the current program.
PRINT SCREEN
This item saves the current teach pendant screen image to the
def ault device as tpscrn.ls.
2–37
2. iPENDANT OPERATIONS
MAROUHT9102171E REV B
Table 2–15. FCTN Menu (Cont d)
Item
Function
PRINT
This item saves the current program to the default device as
program_name .ls.
UNSI M ALL I/O
This item unsimulates all simulated signals.
CYCLE POWER
This option is available on the FCTN menu after a Cold start. This
item toggles the power relay via external I/O. The teach pendant
must be enabled for this to work. If the teach pendant is enabled,
a prompt box will be displayed asking if you are sure. This is not
available on an external robot connect ion — only from the teach
pendant.
ENABLE/DISABLE HMI MENUS
This item enables (or disables) the optional HMI Menus in bot h
FULL and QUICK Menu mode.
REFRESH PANE
This item refreshes the page in the active window.
Key
The
key is a special key. When you press the key together with other keys, the special screen is
displayed. When you press + HELP, the Help for the key is displayed. See Table 2–16 .
Table 2–16.
Key
Key Functions
Description
+ MENU
Displays the Top Menu.
+ SELECT
Displays the Select menu in the left pane and the 4D node
map in the right pane for the program whic h is highlighted
by the cursor.
+ EDIT
Displays the TPP editor in the left pane and 4D node map
in the right pane.
+ DATA
Displays the position register data in the left pane and a 4D
display of position registers in the right pane.
+ FCTN
Displays the Related View Menu if one is available.
+ POSN
Presents a 4D display of the robot using the last selected
view.
+ Jog Key
Shows you the direction that the robot will move when the jog
key is pressed when the 4D screen is displayed.
+ DI SP
Swit ches the display to the next window if one is available.
+ COO RD
Toggles jog indicat ors on and off.
2–38
MAROUHT9102171E REV B
Table 2–16.
2. iPENDANT OPERATIONS
Key Functions (Cont d)
Key
Description
Adds a space. Can also be used to check and uncheck an
HTML checkbox.
+ ENTER
When a blinking
is shown in the Status Bar, then pressing
and releasing
will display the STATUS Noti cations
screen.
2.5 HAPTIC iPENDANT
2.5.1 Overview
The iPendant provides you valuable information such as warni ngs and other mess ages. During
teachi ng and playback, however, you often focus on the robot, equipment, and workpiece rather than
the iPendant, and can miss valuable information displayed to alert or notify you. Critical events
such as I/O triggering, motion / process parameter changes, and so forth could go unnoticed, since
they could be invisible or are not easy to see.
The Haptic (vibration) iPendant (equipped with a haptic motor) alert s you by vibrating the iPendant
case and displaying a Bubble Not i cation momentarily to indicate the cause and/or action required.
The Haptic iPendant:
• Saves Teaching Time: by letting you know a Critical / Invis ible Event just occurred or could
soon occur
• Al erts you to Process Conditions: alerts you on process conditions that you might overlook
(e.g. Arc enabled)
• Lets You Feel an Event: It is not easy to watch the Robot (e.g. TCP) and the iPendant (e.g. I/O
stat us) at the same time, e.g. while tuning a robot mounted proximity sensor. The vibration
let s you feel it.
• Provides User-De ned Alerts: Enhances the user teaching experience by de ning your own
conditions for Haptic feedback.
The Haptic iPendant is active when the
• Teach Pendant is enabled or,
• DEADMAN swi tch is held
Note These conditi ons are independent of the Mode Switch Setting. For example, even in Auto
Mode, the Haptic iPendant wi ll be active if you hold the DEADMAN swi tch.
2–39
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