nexcobot TP-100-2 Teach Pendent User Manual

User Manual for nexcobot models including: TP-100-2 Teach Pendent, TP-100-2, Teach Pendent, Pendent

NexCOBOT TP-100-2 For TM Plug Play UserManual ENG 20230617

emilyliu

Teach Pendant TP-100-2 for TM Plug & Play User's Manual

[PDF] Teach Pendant TP-100-2 for TM Plug & Play User's Manual - nexcobotwww.nexcobot.com âº Download file

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NexCOBOT TP-100-2 For TM Plug Play UserManual ENG V1.02 20230617

Teach Pendant TP-100-2 for TM Plug & Play
User's Manual

NEXCOBOT Co., Ltd. www.nexcobot.com

V1.02 6/17/2023

Copyright Statement and Disclaimer
The contents contained in this document are the proprietary property of NexCOBOT International Co., Ltd. (NexCOBOT hereafter) and is subject to the protection of intellectual property law (including, but not limited to the Copyright Act). The use of any material in relation to this document without the prior authorization of NexCOBOT is considered infringement. Without the written approval of NexCOBOT in advance, this document or any part of it shall not be photocopied, sold, distributed, modified, published, stored or otherwise used.
To keep this document and its contents correct and complete, NexCOBOT reserves the right to change or revise the document at any time without further notification.
Operating machine or equipment has a certain level of danger. It is the user's responsibility to pay special attention and have safety protection in place before operating any machine or equipment. NexCOBOT shall not be held for any and all direct or indirect damage or loss to the equipment mentioned in this document due to the use for a purpose other than the intended.

Rev. 1.02 1.01 1.00

Description Modify Ch2.3 Modify Ch2.4 First released

Revision History

iii

Contents
Copyright Statement and Disclaimer ...........................................................................ii Revision History .........................................................................................................iii Contents .....................................................................................................................iv
Product Description............................................................................................. 1 1.1. Overview of TP-100-2............................................................................... 1 1.2. Handling of TP-100-2 ............................................................................... 2 TP-100-2 for OMRON TM Plug & Play................................................................ 3 2.1. Warning and Caution symbols.................................................................. 3 2.2. Compatibility............................................................................................. 3 2.3. TP-100-2 plug & play package content .................................................... 4 2.4. Installation ................................................................................................ 5 Technical Data................................................................................................... 22 3.1. Dimensions of TP-100-2......................................................................... 22 3.2. Specification ........................................................................................... 24 Operation Behaviors ......................................................................................... 25 4.1. Membrane Keys ..................................................................................... 26 4.2. Emergency Stop Button ......................................................................... 27 4.3. Enabling Switch...................................................................................... 28 4.4. 2 -Channel Switch Button ....................................................................... 29

Product Description
TP-100-2 for OMRON TM Plug & Play is a 10.1" handheld teach pendant and well integrated with OMRON TM Robot. Users can use TP-100-2 to directly operate TM Robot from where they have the best view of the process. The handheld control unit is comfortable to use and supports left-hander.

1.1. Overview of TP-100-2
The TP-100-2 is a handheld device that controls robot movements, teaches positions, and runs robot programs. It features an ergonomic housing with safety elements, a 10.1" WXGA resolution panel, and the Multi-Touch PCAP touchscreen technology. The control unit is comfortable to use and has an hand strap.

Front

Back

1.2. Handling of TP-100-2
The TP-100-2 teach pendant is designed to operate in a horizonal/landscape format. When operating the device, make sure to connect all necessary cables from the teach pendant to the host computer.

TP-100-2 for OMRON TM Plug & Play
2.1. Warning and Caution symbols
The Table below shows the definitions of warning and caution levels described in each paragraph of this Manual. Pay close attention to them when reading each paragraph, and observe them to avoid personal injuries or equipment damage.
DANGER: Identifies an imminently hazardous situation which, if not avoided, is likely to result in serious injury, and might result in death or severe property damage. WARNING: Identifies a potentially hazardous situation which, if not avoided, will result in minor or moderate injury, and might result serious injury, death or significant property damage. CAUTION: Identifies a potentially hazardous situation which, if not avoided, might result in minor injury, moderate injury, or property damage.

2.2. Compatibility

Please use robots shipped with Hardware/Software as table below. Note: If your robot comes with a software version older than TMflow 1.76.6300, there are additional installation steps required. In this case, please contact OMRON service team.

OMRON TM robot hardware version OMRON TM robot software version

3.2 Series

TMflow 1.76.6300 and above

2.3. TP-100-2 plug & play package content

NO.

Items

Q'ty

Figure

TP-100-2

EXTERNAL 3M

2 CABLE FOR TP-

100-2

TP-100-HD-JB

TP-100-2 TM Plug

& Play Accessory

Note
Content: 3M Cable*1 5M / 10M / 20M (option)
Content: (1) Junction box*1 (2) M3*12mm screw*4 (3) Connector 12P*1 +4P*1+ 3P*1 (4) CAP*1 (Option)
Content: (1) Metal Sheet *1 - M4x8mm screws *10 - M3*L6 screws *4 (2) Cable package *1 -HDMI Cable -USB Cable -Signal wire - Power wire - Ground wire - Circular connector-24PIN0.17M Cable - External GND stand -M4*12mm for GND stand

5 Option accessory

6 Option accessory

2.4. Installation

(1) TP-100 Holders*1
(2) Cap of circular connector *1

(3) Left side cover

(1) Front cover

Content of metal sheet

NO. Metal sheet item

Front cover

Right side cover

Left side cover

M4*8mm screw

M3*L6 screws

(2) Right side cover
Qty. 1 1 1 10 4

Step 1: Remove the rubber from the controller cabinet

Before remove the rubber

After remove the rubber

Step 2: Fix junction box with front cover with 4 pcs screws

Step 3: Circular connector through Metal hole with 4 pcs screws
Note: These 4 screws are in TP-100-HD-JB
Step 4: Connecting the circular connector to Junction box

GND
CN1 +GND CN2

CN1 CN2
GND

CN3 + GND CN3

Step 5: Fix the external stand of Grounding to TM controller.
Step 6: Connect the ground cable of circular connector to external GND stand.

Step 7: Junction wires wiring

(1) Content of Junction Wires

NO.

Junction Wires

Qty. Figure

HDMI

USB

power wire

Signal wire

Ground wire

(2) Pin definition of Junction Wires

Wire HDMI USB Signal & power wire
Signal wire
Ground wire

Junction box side

HDMI port

USB port

White

Black

EN1+

Red

EN1-

White

EN2+

Black

EN2-

Blue

ES1+

Yellow

ES1-

Brown

ES2+

Orange

ES2-

Gray

ST+

Purple

ST -

Green

SW1+ SW1-

Light Green Pink Yellow/Green

OMRON / TM control box

HDMI port

USB port

24V

White

GND

Black

SAFE+

Red

SI3-2

White

SAFE+

Black

SI3-1

Blue

SAFE+

Yellow

SI0-2

Brown

SAFE+

Orange

SI0-1

Gray

DI13

Purple

Refer to following Green

content

RMT ON/OFF Light Green

RMT ON/OFF Pink

Yellow/Green

(3) Connector direction of Junction Wires
Junction Box Side

OMRON / TM control box

DANGER: MAKE SURE the safety pins in the signal wire, such as ES2+, ES2-, are correctly connected to the safety input ports (SAFE+, SI0-1) on the OMRON/ TM control box. Otherwise, the emergency stop button and/or enable switch WILL NOT work correctly.

The above picture is OMRON TM Control Box I/O layout before connecting TP100-2 Junction wires and control box's digital input, as default, is set to sink type (NPN). Please refer to OMRON TM hardware installation manual. Follow the pin definition of Junction wires, you can connect junction wires to OMRON/ TM control box as below picture.
Connecting junction wires (NPN type) to OMRON/ TM control box.

TP100-2 also support source input (PNP) type connection. The below picture is OMRON/ TM control box I/O layout (PNP) before connecting TP-100-2 junction wires.
And, the below picture is OMRON/ TM control I/O (PNP) after connecting junction wires.
Connecting junction wires (PNP type) to OMRON/ TM control box

(4) Physical Meaning of Pin

Wire

Function

HDMI

USB

USB 2.0

Signal & power wire

DC 24V

Ground wire

Ground

Description HDMI signal for display USB 2.0
DC power input (24V, 0V, Shielding)
Ground

Enabling Switch

An enabling switch is a 3-position (OFF-ONOFF) switch to allow a machine operation only when the switch is lightly pressed and held in the middle position.

Signal wire

Emergency Stop Button

Emergency stop button are switches that quickly and reliably provide two-channel signal for switching machines and systems to a safe state in an emergency.

Membrane Stop Key

The stop key on membrane provides a hardwired signal can be used as program stop function

Switch Button

A general-purpose button which provide twochannel signal and can be used as power switch of system.

Please note that the Robot Cable should be connected first before Junction Wires to prevent potential interference.
CAUTION: If the wiring does not follow this approach, the radius of curvature will be too small which may damage the robot cable.

Step 8: Fix the front metal cover with 4 pcs screws
Step 9: Fix the Right side & Left side metal cover to OMRON/ TM control box with 6 pcs screws

Note: These 10 screws are in TP-100-2 TM Plug & Play Accessory (M4x8mm)
CAUTION: DO NOT power on the system before finishing the installation and wiring. DO NOT remove the wiring during power on, which may result in damage to the system.

Step 10: Connecting extension cable to the Junction Box and TP-100-2 Circular connectors that meet military specifications are used to connect with the junction box. The connector consists of a plug (male, pin) and a receptacle (female, socket). Follow the steps below to connect the junction box with the teach pendent.
(1) Align the notch of the plug with the latch of the receptacle.

(2) Turn the "first ring" on the plug clockwise until you cannot turn it anymore until the junction box and plug are tightly connected.

Note: DO NOT twist the "black ring" to tighten the connection.

For disconnecting the Junction Box (1) Turn the "first ring" on the plug counterclockwise to disconnect the
junction box
. Note1: DO NOT pull the "black ring" to disconnect the connection
Note2: DO NOT CONNECT/DISCONNECT the plug when the Robot Controller is power on
(2) Connect extension wire to TP-100-2

Step 11: Installation check

CAUTION: Before booting up the robot system, make sure that all of the parts with electrics like teach pendant or safeguard devices have been correctly connected and securely fastened.

Step 12: Set-up with TMflow Note:
1. TP-100-2 is only available with HW3.2 control box. Check the hardware version before use.
2. For HW3.2 control box with different version of TMflow, the set-ups are shown individually.
(1) User should first "log-in" and "Get Control" of the Robot.

TMflow 1 Series

TMflow 2 Series

(2) Click "Input/Display Device" in the "System" page and select "Pendant".

TMflow 1 Series

TMflow 2 Series

(3) Click "I/O Setup" in the "Setting" page, "User Defined I/O" input 13 "Stick Stop Button" and "Save".

TMflow 1 Series

TMflow 2 Series

(4) Click "Safety" in the "Setting" page, select "Enable Enabling Device" in the "Safety IO Setting" and "Save".

TMflow 1 Series

TMflow 2 Series

(5) TP-100-2 with TMflow is fully set up! Now you can test the pendant with the six buttons on it. Test with error log button is shown below.

TMflow 1 Series

TMflow 2 Series

DANGER: Make sure the pendant settings are properly set, then start to use, otherwise the system may be malfunction or lose of function and cause dangerous risks.

Step 13: Start to use

Please follow the instruction of OMRON TM Robot related Manual to use

Buttons

Basic Function

Emergency Stop Button

Emergency Stop button · For details, refer to Physical Meaning of Pin

The power switch of the robot

2 -Channel Switch Button

· Power on: single press

· Shutdown: long press

Enabling Device

The 3-position Enabling Device · For details, Refer to Physical Meaning of Pin

M/A Mode Switch Button

Toggle Manual/Auto Mode Switch For details, refer to our TMflow User Manual

Stop Button

Single press this button to stop any project.

Play/Pause Button

Single press to play/pause project

+/- Button

Adjust project speed (single press) under Manual Trial Run Mode.
In Vision Job under TMflow, use these buttons (long press) to adjust robot positions.

Error Log

Displays error logs

Emergency Stop Button Enabling Device

Mode Switch Stop

Error Log

Play / Pause +/- Button

2-Channel Switch Button

Technical Data
3.1. Dimensions of TP-100-2

Dimensions of TP-100-HD-JB
Unit = mm

3.2. Specification

Technical Data
Panel
Touch Safety Elements
Operating Elements System

TP-100-2
- 10.1", 16:10, WXGA, 1280 x 800 - Luminance: 400 cd/m2 - Contrast ratio: 800:1 - LCD color: 16.7M - Viewing angle: 89 (U), 89 (D), 89 (L), 89 (R) - Backlight: LED
- Touch: 5 points P-Cap - Touch light transmission: 87% - Touch interface: USB - Anti-scratch surface: 7H hardness - Emergency Stop Button
> 2 NC channels, B10d=130,000 > Contact function: latching > Reset: by rotating -3-Position Enabling Switch > 3 channels 2NO & 1 NC, B10d=100,000
-2-Position button switch (1 NO& 1 NC) -6 membrane keys
- TP-100-2: HDMI input - USB 2.0 upstream

Technical Data
Interface
Ratings Mechanical
Environment Certifications

TP-100-2
- Data back-up: 2 x USB 2.0 - Control connector: HDB-44 female
Removable HDB-44 control cable that cable length: 3M / 5M /10M / 20M (Optional) > including power, E-stop button,3Position Enabling switch, Buttons Switch, USB 2.0 and HDMI - Teach Pendant cable length: 3M / 5M /10M / 20M (optional) - Power supply voltage: 24 Vdc (19.2 to 28.8 Vdc) - Current consumption: > TP-100-2 0.625A at 24Vdc (max.) - Dimension: > 297.3 x 257.2 x 57.2 mm (78.5mm including E-stop button) - Weight (without external control cable): > 1.5Kg - IP protection class: Full IP65 - Color: > Front bezel: aluminum magnesium alloy; color: Black > Back cover: ABS+PC; color: Pantone 432C - Operating temperature: 0°C to 50°C - Storage temperature: -20°C to 75°C - Operating humidity: 10%~90% relative humidity, non-condensing - Vibration resistance/shock-proof/free-fall according to EN 61131-2 - CE (EN 61000-6-2; EN61000-6-4) for installation in industrial environments - FCC Class A

Operation Behaviors

Holes for optional shoulder strap Protective cover
Emergency Stop button 10"1 P-Cap Touch Screen
Membrane key

Enabling Switch Finger holding point 2- Channel switch button External control cable connector

4.1. Membrane Keys
The TP-100-2's membrane keys are located at the lower-right of the teach pendant. Please note that the Membrane key is only functioning after user's log in TMflow. The stop key on membrane provides a hard-wired signal and connects to ST+ and ST- at the back of junction box. When the stop button is pressed, the ST+ and ST- status will then change from Normal Open (NO) to Normal Close (NC).

4.2. Emergency Stop Button
The Emergency Stop button locates at the upper-right corner of the TP-100-2 and connects to ES1 and ES2 at the back of the junction box. When an emergency occurs, the Emergency Stop button is pressed to stop all activities, the ES1 and ES2's status will then change from Normal Close (NC) to Normal Open (NO). To reset the button, turn it clockwise or counterclockwise to raise the button.

4.3. Enabling Switch
The Enabling Switch checks the two-channel mechanical switching elements and filter out any asynchronous output signals. It ensures the approval control (circuit 1 and circuit 2) and both outputs of the teach pendant are synchronized at all time.

When pressing the switch
When releasing the switch

Position Pin Position travel (mm)
EN1 + EN1 EN2 + EN2 EN3 + EN3 EN1 + EN1 EN2 + EN2 EN3 + EN3 -

Position 1 0.0
Open Open
NA Open Open
NA

Position 2 3.0
Close Close
NA Open Open
NA

Position 3 6.0
Open Open
NA Open Open
NA

4.4. 2 -Channel Switch Button
The Switch Button connects to SW1 at the back of the junction box. When the switch button is pressed, the SW1 status will change from Normal Close (NC) to Normal Open (NO).

When pressing the switch When releasing the switch

Pin
SW1 + SW1 SW2 + SW2 SW1 + SW1 SW2 + SW2 -

Contact
Open NA
Close NA

References

Microsoft: Print To PDF

NexCOBOT TP-100-2 For TM Plug Play UserManual ENG 20230617

emilyliu

Teach Pendant TP-100-2 for TM Plug & Play User's Manual

[PDF] Teach Pendant TP-100-2 for TM Plug & Play User's Manual - nexcobotwww.nexcobot.com âº Download file

References

[PDF] Teach Pendant TP-100-2 for TM Plug & Play User's Manual - nexcobotwww.nexcobot.com âº Download file