nexcobot TP-100-2 Teach Pendent User Manual

Contents hide

1 nexcobot TP-100-2 Teach Pendent

2 Product Usage Instructions

3 Product Description

4 TP-100-2 for OMRON TM Plug & Play

5 Technical Data

5.1 Specification

6 Operation Behaviors

7 Documents / Resources

7.1 References

8 Related Posts

nexcobot TP-100-2 Teach Pendent

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-handers.

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 a hand strap.

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

Product Usage Instructions

Warning and Caution symbols

Symbol	Definition
Warning	Indicates potential personal injuries or equipment damage if not observed.
Caution	Indicates necessary precautions to avoid personal injuries or equipment damage.

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

TP-100-2 plug & play package content

NO.	Items	Q’ty	Figure
1	TP-100-2	1	EXTERNAL 3M
2	CABLE FOR TP-100-2	1
3	TP-100-HD-JB	1
4	TP-100-2 TM Plug & Play Accessory	1

Note: Content: 3M Cable*1 5M / 10M / 20M (option)

Note: Content: (1) Junction box*1 (2) M3*12mm screw*4 (3)
Connector 12P*1 +4P*1+ 3P*1 (4) CAP*1 (Option)

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

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.

Revision History

Rev.	Description
1.02	Modify Ch2.3
1.01	Modify Ch2.4
1.00	First released

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.

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.
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

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.

OMRON TM robot hardware version	OMRON TM robot software version
3.2 Series	TMflow 1.76.6300 and above

TP-100-2 plug & play package content

Installation

Content of metal sheet

NO.	Metal sheet item	Qty.
1	Front cover	1
2	Right side cover	1
3	Left side cover	1
4	M4*8mm screw	10
5	M3*L6 screws	4

Step 1: Remove the rubber from the controller cabinet

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

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

Content of Junction Wires

Pin definition of Junction Wires

Wire	Junction box side		OMRON / TM control box
HDMI	HDMI port		HDMI port
USB	USB port		USB port
Signal & power wire	+	White	24V	White
Signal & power wire	–	Black	GND	Black
Signal wire	EN1+	Red	SAFE+	Red
	EN1-	White	SI3-2	White
	EN2+	Black	SAFE+	Black
	EN2-	Blue	SI3-1	Blue
	ES1+	Yellow	SAFE+	Yellow
	ES1-	Brown	SI0-2	Brown
	ES2+	Orange	SAFE+	Orange
	ES2-	Gray	SI0-1	Gray
	ST+	Purple	DI13	Purple
	ST –	Green	Refer to following content	Green
	SW1+	Light Green	RMT ON/OFF	Light Green
	SW1-	Pink	RMT ON/OFF	Pink
Ground wire		Yellow/Green		Yellow/Green

Connector direction of Junction Wires

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

Physical Meaning of Pin

Wire	Function	Description
HDMI	HDMI	HDMI signal for display
USB	USB 2.0	USB 2.0
Signal & power wire	DC 24V	DC power input (24V, 0V, Shielding)
Ground wire	Ground	Ground
Signal wire	Enabling Switch	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.
	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 hard- wired signal can be used as program stop function
	Switch Button	A general-purpose button which provide two- channel 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.

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: 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
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:

TP-100-2 is only available with HW3.2 control box. Check the hardware version before use.

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.
2. Click “Input/Display Device” in the “System” page and select “Pendant”.
3. Click “I/O Setup” in the “Setting” page, “User Defined I/O” input 13 “Stick Stop Button” and “Save”.
4. Click “Safety” in the “Setting” page, select “Enable Enabling Device” in the “Safety IO Setting” and “Save”.
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.

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
2 -Channel Switch Button	The power switch of the robot • 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

Technical Data

Dimensions of TP-100-2

Dimensions of TP-100-HD-JB

Specification

Technical Data	TP-100-2	Technical Data	TP-100-2
Panel	– 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	Interface	– 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,3- Position Enabling switch, Buttons Switch, USB 2.0 and HDMI – Teach Pendant cable length: 3M / 5M /10M / 20M (optional)
Touch	– Touch: 5 points P-Cap – Touch light transmission: 87% – Touch interface: USB – Anti-scratch surface: 7H hardness	Ratings	– Power supply voltage: 24 Vdc (19.2 to 28.8 Vdc) – Current consumption: > TP-100-2 0.625A at 24Vdc (max.)
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	– 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 Elements	-2-Position button switch (1 NO& 1 NC) -6 membrane keys	Environment	– 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
System	– TP-100-2: HDMI input – USB 2.0 upstream	Certifications	– CE (EN 61000-6-2; EN61000-6-4) for installation in industrial environments – FCC Class A

Operation Behaviors

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).

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 –

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).