nexCOBOT TP-100-2 Teach Pendant Device
Product Information
Teach Pendant TP-100-2 User’s Manual
NEXCOBOT Co., Ltd.cobot.com
V1.1 April 12, 2023
Copyright Statement and Disclaimer
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.
Revision History
- Description: First Version release
- Modify the External cable of Accessory Page 3 Content: 3M /5M /10M / 20M Cable*1 Optional
- Modify the interface of Specification page7 – Control connector: HDB-44 female > Removable HDB-44 control cable that cable length: 3M / 5M /10M / 20M (Optional)
Contents
- Product Description
Product Usage Instructions
Product Description
The TP-100-2 teach pendant provides the freedom and convenience by allowing users to move away from the host computer and control the robot locally. It incorporated the Multi-Touch projected capacitive (PCAP) touchscreen technology to reduce the number of buttons and consequently streamlined the operation of the industrial robots.
Overview of TP-100-2
The TP-100-2 teach pendant is a handheld device that controls robot movements, teaches locations, 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 optional shoulder strap.
Handling of TP-100-2
The TP-100-2 teach pendant should be operated in a horizontal/landscape format. Ensure that all necessary cables are connected from the teach pendant to the host computer before operating the device.
TP-100-2 Accessory
The TP-100-2 accessory includes:
- TP-100-2
- External Cable (3M / 5M / 10M / 20M Cable*1 Optional)
- TP-100-HD-JB (Junction box*1, M3*12mm screw*4, Connector 12P*1 +4P*1+ 3P*1)
- Circular connector cable (30cm)
- Option accessory (1)
To connect the circular connector wire to the Junction box and external cable, follow the provided instructions.
| NO. | Items | Q’t
y |
Figure | Note |
| 1 | TP-100-2 | 1 |  |
|
| 2 | External Cable |
1 |
|
Content: 3M /5M /10M / 20M Cable*1 Optional |
| 3 | TP-100-HD-JB |
1 |
|
Content:
|
| 4 | Circular connector cable (30cm) |
1 |
 |
Connecting the circular connector wire to Junction box and external cable |
|
5 |
Option accessory |
1 |
|
|
Technical Data
Dimensions of TP-100-2
Dimensions of TP-100-HD-JB
Dimension of Circular connector cable (30cm)
Specification
| Technical Data | TP-100-2 | Technical Data | TP-100-2 |
| Panel |
|
Interface |
> Removable HDB-44 control cable that cable length: 3M / 5M /10M / 20M (Optional) > including power, E-stop button,3- Position Enabling switch, Buttons Switch, USB 2.0 and HDMI |
| Touch |
|
Ratings |
> 0.265A(max.) at 24Vdc |
| Safety Elements | – 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 |
Mechanical |
> 297.3 x 257.2 x 57.2 mm (78.5mm including E-stop button) – Weight (without external control ca- ble): 1.5Kg
> Front bezel: aluminum magnesium alloy; color: Black > Back cover: ABS+PC; color: Pantone 432C |
| Operating Eements |
|
|
|
| System |
|
|
installation in industrial environments
|
Connection and Wiring
Connection
Wiring Example
Pin define of Junction Cable
| Function | Pin | Description |
| DC24V | + | DC power input (24V, 0V, Shielding) |
| – | ||
| VGA | VGA | VGA signal for display |
| USB | USB | USB 2.0 of TP-100-2 |
| Enabling Switch | EN1+ | An enabling switch is a 3-position (OFF-ON-OFF) switch to allow a machine operation only when the switch is lightly pressed and held in the middle position. |
| EN1- | ||
| EN2+ | ||
| EN2- | ||
| EN3+ | ||
| EN3- | ||
| Emergency Stop But- ton | ES1+ | Emergency stop button are switches that quickly and reliably provide two-channel signal for switching ma- chines and systems to a safe state in an emergency. |
| ES1- | ||
| ES2+ | ||
| ES2- | ||
| Switch Button | SW1+ | A general-purpose button which provide two-channel signal and can be used as power switch of system. |
| SW1- | ||
| SW2+ | ||
| SW2- | ||
|
Membrane Stop Key |
ST+ | The stop key on membrane provides a hard-wired signal can be used as program stop function. |
| ST- |
Pin define of Circular connector cable
| 25AWG*10P ( CN2) | ||
| HRS
Connector JR25WR- 24S(31) |
Pin Define |
2*10P
Con. (Female) |
|
1 |
CHASIS_GND CHASIS_GND
CHASIS_GND |
18
19 20 |
| 4 | ES_NC_1-A | 8 |
| 5 | ES_NC_1-B | 10 |
| 6 | ES_NC_2-A | 12 |
| 7 | ES_NC_2-B | 14 |
| 8 | ES_NO_1-A | 5 |
| 9 | ES_NO_1-B | 7 |
| 10 | ES_NO_2-A | 9 |
| 11 | ES_NO_2-B | 11 |
| 12 | SW_NC_1-A | 1 |
| 13 | SW_NC_1-B | 3 |
| 14 | SW_NO_1-A | 2 |
| 15 | SW_NO_1-B | 4 |
| 16 | C_STOP_O_2 | 6 |
| 28AWG*4P ( CN1) | ||
| HRS | ||
| Connector
JR25WR- |
Pin Define | 1*8P Con.
(Female) |
| 24S(31) | ||
| 17 | BI_DA- | 2 |
| 18 | BI_DA+ | 1 |
| 19 | BI_DB- | 4 |
| 20 | BI_DB+ | 3 |
| 21 | BI_DC- | 6 |
| 22 | BI_DC+ | 5 |
| 23 | BI_DD- | 8 |
| 24 | BI_DD+ | 7 |
| 22AWG*2C ( CN3) | ||
| HRS | ||
| Connector JR25WR- | Pin Define | 2530-02
Con. |
| 24S(31) | ||
| 2 | DC Power+ | 1 |
| 3 | DC Power- | 2 |
Installation the Junction Box
Step 1: Drill a hole on the metal sheet for fixing the circular connector
NOTE: M3*L6 screws *4
Step 2: Fix the metal sheet made sure the circular connector cable can through the holes of metal3
Step 3: Fix the circular connector cable with metal sheet with 4 pcs screws
Note: M3*L6 screws *4
Step 5: Fix junction box on the metal sheet
Note: These 4 screws are in TP-100-HD-JB
Connecting extension cable to the Junction Box
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
- Align the notch of the plug with the latch of the receptacle.
- Turn the “first ring” on the plug clockwise until you cannot turn it anymore until the junction box and plug are tightly connected.
Note 1: DO NOT twist the “black ring” to tighten the connection.
For disconnecting the Junction Box
- Turn the “first ring” on the plug counterclockwise to disconnect the junction box.
Note 2: DO NOT pull the “black ring” to disconnect the connection.
Connect extension wire to TP-100-2
CAUTION
DO NOT power on the system before finishing wiring. DO NOT remove the wiring during power on, which may result in damage to the system.
Operation Behaviors
Membrane Keys
The TP-100-2’s membrane keys are located at the lower-right of the teach pendant. Review the key definitions below
| Key Definition | Defined Keyboard Mapping |
| M/A | [Ctrl] + [Shift] + [ m ] |
| Stop | [Ctrl] + [Shift] + [ s ] |
| Play/Pause | [Ctrl] + [Shift] + [ p ] |
| + | [Ctrl] + [Shift] + [ ] ] |
| – | [Ctrl] + [Shift] + [ [ ] |
| Error Log | [Ctrl] + [Shift] + [ e ] |
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).
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.
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.
| Position Pin | Position 1 | Position 2 | Position 3 | |
| Position travel (mm) | 0.0 | 3.0 | 6.0 | |
| When pressing the switch | EN1 + |
Open |
Close |
Open |
| EN1 – | ||||
| EN2 + |
Open |
Close |
Open |
|
| EN2 – | ||||
| EN3 + |
NA |
NA |
NA |
|
| EN3 – | ||||
| When releasing the switch | EN1 + |
Open |
Open |
Open |
| EN1 – | ||||
| EN2 + |
Open |
Open |
Open |
|
| EN2 – | ||||
| EN3 + |
NA |
NA |
NA |
|
| EN3 – |
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).
| Pin | Contact | |
| When pressing the switch | SW1 + |
Open |
| SW1 – | ||
| SW2 + |
NA |
|
| SW2 – | ||
| When releasing the switch | SW1 + |
Close |
| SW1 – | ||
| SW2 + |
NA |
|
| SW2 – |
Documents / Resources
 |
nexCOBOT TP-100-2 Teach Pendant Device [pdf] User Manual TP-100-2, TP-100-2 Teach Pendant Device, Teach Pendant Device, Pendant Device, Device |
