Teach pendant for Robot system
The teach pendant has the following primary functions:
Serve as the primary point of control for initiating and monitoring operations.
Guide the robot or motion device, while teaching locations. Support application programs.
The Teach Pendant is used with a robot or motion device primarily to teach. Robot locations for use: in application programs.
The Teach Pendant is also used with c routine's that pause execution at specified points and allow an Operator to teach * re-
teach the robot locations used by the program.
There are two styles of Teach Pendants: the programmer‘s pendant, for use while an application is being pendant, which is designed for use during normal system operation.
The operator‘s -activatedpendantswitch,whichhasisconnectedapalmtotheremote emergency stop circuitry of the controller.
Whenever this switch is released, arm power is removed from the motion device.
To operate the Teach Pendant left hand is put through the opening on the left-hand side of the pendant and the left thumb is used to operate the pendant speed bars.
The right hand is used for all the other function buttons.
The major areas of the Teach Pendant are:
1. Data Entry Buttons:
The data entry buttons are used to input data, normally in response to prompts that appear on the pendant display
The data entry buttons include YES/NO, DEL, the numeric buttons, the decimal point and the REC/DONE button, which behaves like the Return or Enter key on a normal keyboard. In many cases, application programs have users press the REC/DONE button to signal that they have completed a task.
2. Emergency Stop Switch:
The emergency stop switch on the Teach Pendant immediately halts program execution and turns off arm power.
3. User LED:
The pendant is in background mode when the user LED is in not lit and none of the predefined functions are being used. The user LED is lit whenever an application program is making use of the Teach Pendant.
4. Mode Control Buttons:
The mode control buttons change the state being used to move the robot, switch control between the Teach Pendant and the application programs and enable arm power when necessary.
5. Manual Control Buttons:
When the Teach Pendant is in manual mode, these buttons select which robot joint will move, or the coordinate axis along which the robot will move.
6. Manual State LEDs:
The manual state LEDs indicates the type of manual motion that has been selected.
7. Speed Bars:
The speed bars are used totion. Pressing control the speed barthe rob near the outer ends will move the robot faster, while pressing the speed bar near the center
will move the robot slower.
8. Slow Button:
The slow button selects between the two different speed ranges of the speed bars.
9. Predefined Function Buttons:
The predefined function buttons have specific, system- wide functions assigned to them, like display of coordinates, clear error, etc.
10. Programmable Function Buttons:
The programmable function buttons are used in custom application programs, and their functions will vary depending upon the program being run.
11. Soft Buttons:
The ―soft‖ buttons have different function or the selection made from the predefined function buttons.