Pendant
i-Pendant for the R-J30iB Controller
1
i Pendant
Earlier
Versions
RJ3-iB Controller
R-30iA Controller
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New R-30iB i - Pendant
No change in key
arrangement
Built-in hanger
Large Color display
Light weight
ergonomically
comfortable body
20% lighter than its
predecessor
3
New R-30iB i - Pendant
Angled for better
ergonomic feel
More comfortable 3-way “Live-Man” grips
4
Screen:
Displays the ArcTool
information and
graphics.
NEW: serves as a
touch screen.
5
ON/OFF Switch:
Enables teach pendant
control and programming
when turned “ON”.
Must be in the “OFF”
position when in AUTO
Mode.
6
EMERGENCY STOP
BUTTON:
Use this button to stop a
running program, turn off
drive power to the robot
servo system & apply the
brakes to the servo system.
7
RESET key:
Use this key to clear
alarms.
8
SHIFT keys:
Together with the other
keys performs specific
functions.
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Jog keys:
Use these keys to jog
(move) the robot
manually.
J3
J3
J2
J2
J1
J1
J6
J6
J5
J5
J4
10
J4
Jog Speed keys:
Use these keys to adjust
the jog speed of the
robot.
The Speed Override
Display will change:
100%
50%
10%
5%
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TEACH keys:
Use these keys to
select menu options.
SELECT key
displays a list of programs
EDIT key
displays the current program
DATA key
displays a list of the weld
procedures, weave schedules,
other schedules
12
Function keys:
Use these keys to take
specific action depending
on the screen displayed.
F1 key
F2 key
F3 key
F4 key
F5 key
13
NEXT key:
Use this key to display
more function keys when
available.
This key is used when a
">" appears on the lower
right corner of the
display.
14
Cursor keys:
Use these keys to move
the cursor to enable
navigation around the
screen.
15
Numeric keys:
These keys are used to
enter numeric values:
0, 1, 2, 3, 4, 5,
6, 7, 8, 9,
minus sign (-),
decimal point (.),
and comma (,).
16
ENTER key:
Use this key to enter a
numeric value or to select
an item from the menu.
17
STEP key:
When in T1 or T2 Mode,
use this key to switch
between:
STEP (running one
program line at a time)
and
CYCLE (running a program
continuously).
Status Indicator showing STEP ON:
18
FWD (forward) key:
In STEP, use this key to
execute the next program
statement.
In continuous operation,
use this key to
commence programmed
robot movement.
19
BWD (backward) key:
Use this key to execute the
previous program
statement.
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TEACH PENDANT
FUNCTIONS PART 2
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WELD ENBL key:
This key enables or disables
the welding process while
running a program.
Press SHIFT and this key to
toggle between ARC Enable
and ARC Off.
Status Indicator showing Weld Enabled:
22
WIRE Jog keys:
Wire Jog “+”
feeds the welding wire out of
the torch.
Wire Jog “–”
retracts the welding wire back
into the torch.
23
ITEM key:
Use this key to select a
line in a program using its
Program Line Number.
Examples:
To select a line in a TP
program, press ITEM key, type
the line number and press
ENTER
To select a line in a list a
System Variables, press ITEM
key, type the line number and
press ENTER
24
BACK SPACE key:
Use this key to delete the
character or number
immediately before the
cursor.
25
PREV key:
Use this key to display
the previous screen.
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MENU key:
Use this key to display the
menu screen.
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HOLD key:
Use this key to stop the
robot.
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FCTN key:
Use this key to display the
supplementary commands:
ABORT (ALL)
Disable FWD/BWD
CHANGE GROUP
RELEASE WAIT
TOGGLE COORD JOG
TOGGLE COOR ORNT
QUICK/FULL MENUS
SAVE
PRINT SCREEN
PRINT
UNSIM ALL I/O
CYCLE POWER
ENABLE HMI MENU
REFRESH PANE
Diagnostic log
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GROUP key:
Toggles the i-Pendant
between the different
Motion Groups:
G1, G2, G3, etc.
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Aux Axis Jog keys:
These four new keys
enable the jogging of
additional aux axes, and
are customizable.
31
Hold
Weld
Estab
D-Run
Status
Indicators:
display system
status.
32
Local USB port
USB port for
application backup
USB memory
USB dongle
Capable of wireless keyboard
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& mouse navigation
TEACH PENDANT
FUNCTIONS PART 3
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Diag/Help key:
Use the HELP key to get
information on how to
use the current screen.
Use the DIAGnostics key to
display information: error
message descriptions,
cause, and remedy.
35
Display key:
Use this key along with the
SHIFT key, to change the screen
view from single frame, double
frame, triple frame, or single
frame with extended status.
Also enables operation toggling
to the different frames.
36
COORD (coordinate)
key:
Use this key to select the
jog coordinate system:
X-Y-Z (World, Jog Frame,
User Frame)
Joint Coordinate System
Tool Coordinate System
37
STATUS key:
Press this key to display
welding & robot status.
1. WELD - commanded and real time actual
weld voltages and wire feed speeds
2. ARC Chart - provides charts tracking weld
voltage, wire feed speeds, welding
current, etc.
3. AXIS - shows the status of each axis in bits
4. Version ID – system software versions
5. SAFETY SIGNAL - shows 10 safety signals
6. EXEC-HIST - status 200 programs executed
7. MEMORY - shows memory allocation
8. PRG TIMER - shows program timer values
9. SYS TIMER - shows the hour meter values
10.REMOTE DIAG - status of the remote
diagnostics and the device supporting it.
38 screen
11. VISION – displays the Vision Runtime
OTF key:
Use this key for on-the-fly
welding parameter adjustment.
39
I/O key:
This key displays the
various Inputs and
Outputs of the robot
controller.
40
POSN (position) key:
Using this key displays the
current numeric position of
each of the axes of the
robot arm.
41
STATUS BAR
INFORMATION
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D-Run
43
D-Run
Speed Override Indicator
The speed override is a percentage of the
maximum speed at which the robot will move.
A speed override of 100% indicates that the robot
will move with the maximum possible speed.
44
D-Run
Alarm Status Line
The Alarm Status line displays the current alarm.
45
D-Run
Program Status Line
Status: Paused, Running, etc.
Mode AUTO, T1, or T2.
Current line number
Name of the currently executing program
46
G1 S JOINT
D-Run
Motion Information
Motion information can included:
jogging coordinate system: joint, world, tool, etc.
motion group: G1, G2, G3, etc.
subgroup: G1 S would indicate a subgroup of G1 if
a robot was on a track, for example.
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The
key,
Touch Screen,
4D Graphics
tips
48
Touch the
at the blue status bar, at sub menu, touch Weld
Procedure, 3 screen display will now appear, as shown below.
Touching on another weld procedure number in the program
screen will reveal that procedures details at the right.
Upper, right
screen displays
detail view of Weld
Procedure.
Lower, right
screen displays
detail view of Weld
Schedule.
49
Blue Status Bar Touch Shortcuts
Touch here and Menu
key menu will appear.
Touch here and Display
menu will appear.
Touch here and Function
menu will appear.
50
Robot powers up to an HMI touch screen. Different levels of this screen are
found at the F-keys, such as Setup and Program levels. Traditional Menu key
selections are now touch screen items.
To return to a standard menu display, press the MENU key, cursor to desired
item, Enter.
i + MENU
MENU
SETUP
To return to HMI touch screen, press
i + MENU key. To expand to full HMI menu
display, press FCTN key, Enable HMI Menu.
PROGRAM
Different menus depending
on operators levels
are configurable
51
4D Graphics Display
At power up, at top level display, press F-key for 4D, then touch line 4D Display.
Or press MENU key, 0-next, 4D Graphics, touch 4D Display.
Graphics arm display will move as the robot is being jogged or a program is playing back.
Function:
•
•
•
•
•
Set the view of the user screen
Touch to center a point
Drag to pan, zoom or rotate
Function keys set mode
User can use touch panel or arrow
keys to manipulate viewpoint
Benefit:
• Quickly see what you need to see from
the angle that you need to see it from
• Diagnose program issues such as
points in plane quickly and easily
52
View 4D Graphics Display With Teaching Screens
Press
Press
key + MENU key = Top Level Menu
key + SELECT key = Select screen at left, 4D Graphics at right
Press
Press
key + EDIT key = Program screen at left, 4D Graphics at right
key + DATA key = Data screen at left, 4D Graphics at right
Press DISP key to make graphics screen the active screen, press F1-Type to select
other types of graphics to display.
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Other 4D Graphics Functions
4D GRAPHICS
Position Registers
4D GRAPHICS
Program Utilities
Function:
• See simple picture of where in space
all the position registers are taught.
Benefit:
• Speeds position register touch up by
showing where register is taught
• Quick editing: single touch takes you
to the selected position register
Functions:
• Supports Mirror, Shift, Program
Adjust
• User can directly select node map
with any menu on the right
Benefit:
• Immediately see the result of the
requested operation
• See selected points before
adjustment
4D GRAPHICS
Frame Display
Function:
• Triad is displayed for current frame
• Tool frames shown with respect to
robot wrist
Benefit:
• Speeds up calibration of complex
systems
• User can easily see the working frame
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4D Editor is tool on PC to make 4D Workcells for iPendant easily
ROBOGUIDE
Virtual TP
4D Editor
Create workcell in
ROBOGUIDE 4D Editor
Export to
iPendant
with 4D
visualization
option
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