Download Adept T2 Pendant User's Guide PDF

TitleAdept T2 Pendant User's Guide
File Size2.2 MB
Total Pages52
Table of Contents
                            DOCUMENT LIBRARY
Adept T2 Pendant User’s Guide
	Table of Contents
	1.1 Product Description
	1.2 System Compatibility
	1.3 Hardware Specifications
	1.4 Dimensions
	1.5 Safety
		Dangers, Warnings, Cautions, and Notes in Manual
		Emergency Stop Switch
	1.6 Proper Handling of the T2 Pendant
	1.7 How Can I Get Help?
		Related Manuals
		Adept Document Library
	1.8 Programming the T2 Pendant
	2.1 Installation in a SmartController System
		Bypass Plugs
	2.2 Installation in an i-Series Robot System
	2.3 Mounting Optional Wall Bracket
Identification of Controls and Indicators
	3.1 Controls and Indicators
	3.2 Enable Switches
	4.1 Main Menu Overview
	4.2 Turning Power On and Off
		Turning Power On From the T2 Pendant
			In Auto Mode
			In Manual Mode
		Turning Power Off from the T2 Pendant
		Turning Power On After an E-Stop
		Turning Power On After Enable Switch Released
	4.3 Calibrating From the T2 Pendant
		Typical Calibration Process
		Special Calibration Process
	4.4 Function Descriptions
		Predefined Function Buttons
		Programmable Function Buttons
		Soft Buttons
	4.5 Computer (COMP) Mode
		Off Mode
		Background State
	4.6 Pendant Control Modes
		World Mode
		Tool Mode
		Joint Mode
		Free Mode
	4.7 Edit Function
	4.8 Display Function
	4.9 Clear Error Function
	4.10 Command (CMD) Function
	4.11 Run/Hold Function
	4.12 Program Set Function
	4.13 Step Function
		MCP.NO.POT System Switch
	4.14 Gripper Function
	4.15 Controlling More Than One Robot
	4.16 System Menu
		Adjusting the LCD Screen Brightness
		Setting the Initial Slow Mode State
		Setting the Screen Saver
	5.1 Firmware Update
	5.2 Calibrating the Touchscreen
	5.3 Cleaning the Touchscreen
	5.4 Troubleshooting
Document Text Contents
Page 1


Adept T2 Pendant
User’s Guide

P/N: 09017-000, Rev C
July 2009

5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone 925.245.3400 • Fax 925.960.0452

Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone + • Fax +

Block 5000 Ang Mo Kio Avnue 5 • #05-12 Techplace II • Singapore 569870 • Phone +65.6755.2258 • Fax +65.6755.0598

Page 2

T1 install in cabinet_r2.eps

The information contained herein is the property of Adept Technology, Inc., and shall not be reproduced
in whole or in part without prior written approval of Adept Technology, Inc. The information herein is
subject to change without notice and should not be construed as a commitment by Adept Technology, Inc.
This manual is periodically reviewed and revised.

Adept Technology, Inc., assumes no responsibility for any errors or omissions in this document. Critical
evaluation of this manual by the user is welcomed. Your comments assist us in preparation of future doc-
umentation. Please email your comments to: [email protected]

Copyright © 2005-2009 by Adept Technology, Inc. All rights reserved.

Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
HexSight, Meta Controls, MetaControls, Metawire, Soft Machines, and Visual Machines are registered trademarks

of Adept Technology, Inc. Brain on Board is a registered trademark of Adept Technology, Inc. in Germany.

Adept ACE, ACE PackXpert, Adept 1060 / 1060+, Adept 1850 / 1850 XP, Adept 540 Adept 560, Adept AnyFeeder,
Adept Award, Adept C40, Adept C60, Adept CC, Adept Cobra 350, Adept Cobra 350 CR/ESD, Adept Cobra 550,

Adept 550 CleanRoom, Adept Cobra 600, Adept Cobra 800, Adept Cobra i600, Adept Cobra i800, Adept Cobra PLC
Server, Adept Cobra PLC800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted, Adept Cobra

Smart600, Adept Cobra Smart800, Adept DeskTop, Adept FFE, Adept FlexFeeder 250, Adept IC, Adept iSight,
Adept Impulse Feeder, Adept LineVision, Adept MB-10 ServoKit, Adept MC, Adept MotionBlox-10, Adept

MotionBlox-40L, Adept MotionBlox-40R, Adept MV Adept MV-10, Adept MV-19, Adept MV4, Adept MV-5,
Adept MV-8, Adept OC, Adept Python, Adept Quattro s650, Adept Quattro s650H, Adept sDIO, Adept SmartAmp,
Adept SmartAxis, Adept SmartController CS, Adept SmartController CX, Adept SmartModule, Adept SmartMotion,
Adept SmartServo, Adept sMI6, Adept sSight, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper

s1700, AdeptCartesian, AdeptCast, AdeptForce, AdeptFTP, AdeptGEM, AdeptModules, AdeptMotion,
AdeptMotion Servo, AdeptMotion VME, AdeptNet, AdeptNFS, AdeptOne, AdeptOne-MV, AdeptOne-XL,
AdeptRAPID, AdeptSight, AdeptSix, AdeptSix 300, AdeptSix 300 CL, AdeptSix 300 CR, AdeptSix 600,

AdeptTCP/IP, AdeptThree, AdeptThree-MV, AdeptThree-XL, AdeptTwo, AdeptVision, AVI AdeptVision, AGS
AdeptVision GV, AdeptVision I, AdeptVision II, AdeptVision VME, AdeptVision VXL, AdeptVision XGS,

AdeptVision XGS II, AdeptWindows, AdeptWindows Controller, AdeptWindows DDE, AdeptWindows Offline
Editor, AdeptWindows PC, AIM Command Server, AIM Dispense, AIM PCB, AIM VisionWare, A-Series,

FlexFeedWare, HyperDrive, IO Blox, MicroV+, MotionBlox, MotionWare, ObjectFinder, ObjectFinder 2000,
PackOne, PalletWare, sAVI, S-Series, UltraOne, V, V+ and VisionTeach

are trademarks of Adept Technology, Inc.

Any trademarks from other companies used in this publication
are the property of those respective companies.

Printed in the United States of America

Page 26

T1 install in cabinet_r2.eps

Chapter 4 - Operation
4.5 Computer (COMP) Mode

Computer (Comp) mode is selected by pressing the COMP/PWR button, or by pressing
the MODE button until the COMP mode is selected. (COMP mode is active when the
indicator bar on the COMP/PWR button is lit, and when the circle to the left of COMP is
lit in the MODE display area.

In Computer mode, an executing program or the system terminal has control of the robot.

If High Power is enabled and the system is in Manual mode, pressing the COMP/PWR
button selects Computer mode. If the system is in Auto mode and High Power is disabled,
the COMP/PWR button enables High Power and selects computer mode.

Off Mode

The Off mode occurs when the pendant is not in the COMP mode, or in any of the
pendant-control modes. As a system safeguard, when the external Front Panel keyswitch
is moved from Auto to Manual, High Power is disabled and the pendant switches to the
Off mode.

The Off mode is enabled when none of the indicators in the Mode display area are lit - see
Figure 4-2. A mode is active when its corresponding indicator is lit, and inactive when it is
not lit.

Figure 4-2. Mode Display Area Showing the Off Mode

Background State

The Background state occurs when the pendant is in COMP mode and no predefined
functions are selected. You must press the REC/DONE button one or more times to clear
any predefined functions. When the Background state is enabled, a V+ program can
attach the pendant. When this occurs, the V+ program is in control and the USER
indicator is lit.
26 Adept T2 Pendant User’s Guide, Rev C

Page 27

sCobra T1 Joint mode.eps

Pendant Control Modes
4.6 Pendant Control Modes

The pendant control modes include World, Tool, Joint, and Free. When High Power is
enabled and the robot is calibrated, the Mode button is used to step through these four
modes in sequential order. The selected mode is shown by a lit indicator next to the mode
name in the Mode Display area. When one of these modes is active, the Pendant Control
LED is lit.

NOTE: If the system is placed into COMP mode, by pressing the
COMP/PWR button on the touchscreen or the Power On button,
subsequent pressing of the Mode button will enable the last pendant
Manual mode used by the operator.

World Mode

When world mode is selected, movement in the X, Y, or Z direction is parallel to an axis of
the world coordinate system.

Select an axis of motion using the Joint/Axis control buttons - see Figure 4-3. Pressing the
“+” button moves the robot tool flange in the positive direction. Pressing the “–” button
moves the flange in the negative direction.

Figure 4-3. World Mode (Four-Axis SCARA)







X direction

Y direction

Z direction

RZ Rotation




+Z T2 Pendant Joint/Axis
Control Buttons
Adept T2 Pendant User’s Guide, Rev C 27

Page 52


5960 Inglewood Dr.
Pleasanton, CA 94588
925•245•3400P/N: 09017-000, Rev C

Similer Documents