PendantNew

i-Pendant for the R-J30iB Controller 1

2RJ3-iB Controller R-30iA Controller

i Pendant Earlier

Versions

Large Color display

No change in key arrangement

Light weight ergonomically comfortable body

New R-30iB i - Pendant

Built-in hanger

20% lighter than its predecessor 3

More comfortable 3-way “Live-Man” grips

Angled for better ergonomic feel

New R-30iB i - Pendant

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.

9

Jog keys: Use these keys to jog (move) the robot manually.

J1

J2

J3

J5

J4

J6

J1

J2

J3

J5

J6

J410

Jog Speed keys:

Use these keys to adjust the jog speed of the robot.

The Speed Override Display will change:

100%50%5%10%

11

TEACH keys:

Use these keys to select menu options.

SELECT keydisplays a list of programs

EDIT keydisplays the current program

DATA keydisplays 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 PENDANTFUNCTIONS 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.

To select a line in a TP program, press ITEM key, type the line number and press ENTER

Examples:

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.

26

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/BWDCHANGE GROUPRELEASE WAITTOGGLE COORD JOGTOGGLE COOR ORNTQUICK/FULL MENUSSAVEPRINT SCREENPRINTUNSIM ALL I/OCYCLE POWERENABLE HMI MENUREFRESH PANEDiagnostic log

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GROUP key:

Toggles the i-Pendant between the different Motion Groups:

G1, G2, G3, etc.

30

Aux Axis Jog keys:

These four new keysenable the jogging of additional aux axes, andare customizable.

31

Status Indicators: display system status.

D-Run

Hold

Weld Estab

32

Local USB port

USB memory

USB port forapplication backup

Capable of wireless keyboard & mouse navigation

USB dongle

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TEACH PENDANTFUNCTIONS 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.

11. VISION – displays the Vision Runtime screen

38

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 BARINFORMATION

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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

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.

G1 S JOINT

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The key,

Touch Screen,

4D Graphics

tips

48

49

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.

50

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.

51

i + MENU

MENU

Different menus depending on operators levels are configurable

PROGRAMSETUP

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.

To return to HMI touch screen, pressi + MENU key. To expand to full HMI menudisplay, press FCTN key, Enable HMI Menu.

52

4D Graphics Display

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

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.

53

View 4D Graphics Display With Teaching Screens

Press key + MENU key = Top Level MenuPress key + SELECT key = Select screen at left, 4D Graphics at right

Press key + EDIT key = Program screen at left, 4D Graphics at rightPress 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 selectother types of graphics to display.

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Other 4D Graphics Functions

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

4D GRAPHICS Position Registers

Functions: • Supports Mirror, Shift, Program

Adjust• User can directly select node map

with any menu on the rightBenefit: • Immediately see the result of the

requested operation• See selected points before

adjustment

4D GRAPHICS Program Utilities

Function: • Triad is displayed for current frame• Tool frames shown with respect to

robot wristBenefit: • Speeds up calibration of complex

systems• User can easily see the working frame

4D GRAPHICS Frame Display

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Export to

iPendant with 4D visualization option

ROBOGUIDE

4D Editor

Virtual TP

Create workcell in ROBOGUIDE 4D Editor

4D Editor is tool on PC to make 4D Workcells for iPendant easily