adept technology T20 User manual

Adept T20 Pendant
User's Guide

Adept T20 Pendant
User's Guide
10433-000 Rev. A
February 2012
5960 Inglewood Drive • Pleasanton, CA 94588 • USA • Phone [phone] • Fax [phone]
Otto-Hahn-Strasse 23 • 44227 Dortmund • Germany • Phone [phone] • Fax [phone]
Block 5000 Ang Mo Kio Avenue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]

Copyright Notice
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. The documentation is periodically reviewed and revised.
Adept Technology, Inc., assumes no responsibility for any errors or omissions in the documentation. Crit-
ical evaluation of the documentation by the user is welcomed. Your comments assist us in preparation
of future documentation. Please submit your comments to:
[e-mail].
Copyright © 2012 by Adept Technology, Inc.
Adept, the Adept logo, the Adept Technology logo, AdeptVision, AIM, Blox, Bloxview, FireBlox, Fireview,
Meta Controls, MetaControls, Metawire, Motivity, Motivity by MobileRobots, 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, SmartController EX, T20, eV+ and V+
are trademarks of Adept Technology, Inc.
Any trademarks from other companies used in this publication
are the property of those respective companies.
Created in the United States of America

Table of Contents
Chapter 1: Introduction 7
1.1 Product Description 7
System Compatibility 7
1.2 Dangers, Warnings, Cautions, and Notes 7
1.3 Safety Precautions 8
1.4 What to Do in an Emergency Situation 9
1.5 Additional Safety Information 9
Manufacturer's Declaration of Conformance (MDOC) 9
Adept Robot Safety Guide 9
1.6 Manufacturer's Declaration 9
1.7 Proper Handling of the Pendant 9
1.8 How Can I Get Help? 10
Related Manuals 11
Adept Document Library 11
Chapter 2: Installation and Setup 13
2.1 Transport and Storage 13
2.2 Before Unpacking the Pendant 13
2.3 Upon Unpacking the Pendant 13
2.4 Unpacking 13
2.5 Repacking for Relocation 13
2.6 Operating Environment 14
2.7 Installation 14
About Jumper Plugs 14
Installing the Pendant and an Adept Front Panel 14
Chapter 3: Operation 17
3.1 Using the Pendant Controls and Indicators 17
3.2 Enable Switch 19
3.3 Turning Power ON and OFF 19
Turning Robot Power ON 20
Turning OFF Power from the T20 Pendant 21
3.4 User Interface Operation 21
User Interface Controls 21
User Interface Flow Diagram 22
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Table of Contents
Displaying the Home Screen 24
3.5 Using the Jog Controls 25
COMP Mode 25
Joint Mode 26
World Mode 26
Tool Mode 27
Free Mode 28
3.6 Speed Control 29
3.7 Position Display 30
3.8 Smart Locations 31
3.9 Available Frames 32
A Note about Frame-mode Jogging 32
3.10 Available Tools 33
3.11 Location Teaching 33
Adding Approach Distance 36
Using Jog To 36
Align 36
3.12 I/O Signals 36
3.13 Displaying and Clearing Errors 38
Displaying Recent Errors 38
Chapter 4: Maintenance 39
4.1 The System Maintenance Screen 39
4.2 Using the Screen Saver 40
4.3 Setting the Initial Speed 40
4.4 Enabling the Smart Locations 41
4.5 Setting the Approach Distance 41
4.6 Updating the Pendant Firmware 41
4.7 Displaying System Information 42
4.8 Displaying Recent Errors 43
4.9 Troubleshooting 44
Critical Error 45
4.10 Cleaning 45
4.11 Periodic Maintenance 45
Chapter 5: Technical Specifications 47
5.1 Dimension Drawings 47
5.2 Pendant Specifications 48
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Adept T20 Pendant User's Guide, Rev. A
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Chapter 1: Introduction
This manual covers the setup, operation, and user maintenance for the Adept T20™ pendant.
1.1 Product Description
The Adept T20 pendant provides a user interface and teach pendant in an ergonomic and
rugged package. The T20 pendant is designed for right-handed and left-handed use. All grip-
ping and holding positions enable comfortable and fatigue-free operation.
The safety features include:
lEmergency stop switch (dual-channel circuit)
lThree position "enable" switch that prevents pendant input or robot motion when the
switch is not engaged.
The software features include the ability to:
lControl the robot by enabling and disabling power and jogging the robot
lTeach locations
lSmart Locations, which allow you to work with locations through the Frame and Tool
screens.
lDisplay robot position, system status, system identification, and error messages
lDisplay and change digital I/O
System Compatibility
The Adept T20 pendant is compatible with any robot that is controlled by the Adept Smart-
Controller EX™ motion controller.
1.2 Dangers, Warnings, Cautions, and Notes
There are six levels of special alert notation used in Adept manuals. In descending order of
importance, they are:
DANGER: This indicates an imminently hazardous electrical situation
which, if not avoided, will result in death or serious injury.
DANGER: This indicates an imminently hazardous situation which, if
not avoided, will result in death or serious injury.

Chapter 1: Introduction
WARNING: This indicates a potentially hazardous electrical situation
which, if not avoided, could result in serious injury or major damage to
the equipment.
WARNING: This indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided, could result
in minor injury or damage to the equipment.
NOTE: This provides supplementary information, emphasizes a point or pro-
cedure, or gives a tip for easier operation.
1.3 Safety Precautions
DANGER: An Adept robot can cause serious injury or death, or damage
to itself and other equipment, if the following safety precautions are not
observed:
lAll personnel who install, operate, teach, program, or maintain the system must read
this guide, read the Adept Robot Safety Guide, and complete a training course for their
responsibilities in regard to the robot.
lAll personnel who design the robot system must read this guide, the Adept Robot Safety
Guide, and the Adept robot user's guide that was supplied with the equipment. The sys-
tem design must comply with all local and national safety regulations for the location
in which the robot is installed.
lThe robot system must not be used for purposes other than described in the Adept robot
user's guide that was supplied with the equipment. Contact Adept if you are not sure of
the suitability for your application.
lThe user is responsible for providing safety barriers around the robot to prevent anyone
from accidentally coming into contact with the robot when it is in motion.
lPower to the robot and its power supply must be locked out and tagged out before any
maintenance is performed.
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Chapter 1: Introduction
1.4 What to Do in an Emergency Situation
Press any E-Stop button (a red push-button on a yellow background/field) and then follow the
internal procedures of your company or organization for an emergency situation. If a fire
occurs, use CO2to extinguish the fire.
1.5 Additional Safety Information
Manufacturer's Declaration of Conformance (MDOC)
This lists all standards with which each robot complies. See Manufacturer's Declaration on
page 9.
Adept Robot Safety Guide
The Adept Robot Safety Guide provides detailed information on safety for Adept robots. It also
gives resources for more information on relevant standards.
It ships with each robot manual, and is also available from the Adept Document Library. See
Adept Document Library on page 11.
1.6 Manufacturer's Declaration
The Manufacturer’s Declaration of Incorporation and Conformity (MDOC) for Adept robot sys-
tems can be found on the Adept Web site, in the Download Center of the Support section.
http://www.adept.com/support/downloads/file-search
NOTE: The Download Center requires that you are logged in for access. If you are
not logged in, you will be redirected to the Adept website Login page, and then auto-
matically returned to the Download Center when you have completed the login
process.
1. From the Download Types drop-down list, select Manufacturer Declarations
2. From the Product drop-down list, select your Adept robot product.
3. Click Begin Search. The list of available documents is shown in the Search Results area,
which opens at the bottom of the page. You may need to scroll down to see it.
4. Use the Description column to locate the document for your Adept robot, and then click
the corresponding Download ID number to access the Download Details page.
5. On the Download Details page, click Download to open or save the file.
1.7 Proper Handling of the Pendant
You have chosen a high-quality device that is equipped with highly-sensitive, state-of-the-art
electronics. To avoid malfunctions or damage through improper handling, and possible void-
ing of the warranty, follow these instructions during operation.
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Chapter 1: Introduction
lNever place the Adept T20 pendant with the display screen facing down, to avoid dam-
aging the buttons or display.
lNever place the Adept T20 pendant on an unstable surface. It could fall to the ground
and be damaged.
lNever place the Adept T20 pendant close to heat sources or in direct sunlight.
lAvoid exposing the Adept T20 pendant to mechanical vibrations, excessive dust,
humidity, or to strong magnetic fields.
lNever clean the Adept T20 pendant display screen or other surfaces with solvents, abra-
sive cleaners, or scrubbing sponges.
lMake sure that no foreign objects or liquids can penetrate into the Adept T20 pendant.
WARNING: When the cable entrance cover is removed, the Adept T20
pendant is sensitive to electrostatic discharge.
1.8 How Can I Get Help?
Refer to the How to Get Help Resource Guide (Adept P/N 00961-00700) for details on getting
assistance with your Adept software and hardware. Additionally, you can access information
sources on Adept’s corporate website:
http://www.adept.com
For details on getting assistance with your Adept software or hardware, you can access the fol-
lowing information sources on the Adept corporate website:
lFor contact information: http://www.adept.com/contact/americas
lFor product support information: http://www.adept.com/support/service-and-sup-
port/main
lFor user discussions, support, and programming examples:
http://www.adept.com/forum/
lFor further information about Adept Technology, Inc.: http://www.adept.com
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Chapter 1: Introduction
Related Manuals
This guide covers the installation, operation, and maintenance of the Adept T20 pendant.
There are additional manuals that cover programming the system, reconfiguring installed com-
ponents, and adding other optional components; see the table that follows. These manuals are
available on the Adept Document Library CD-ROM shipped with each system.
Table 1-1. Related Manuals
Manual Title Description
Adept Robot Safety
Guide
Contains safety information for Adept robots.
Adept SmartController
EX User's Guide
Contains complete information on the installation and
operation of the Adept SmartController and the
optional sDIO product.
Adept ACE User's Guide Describes the Adept ACE software environment and
use with an Adept control system. This doc-
umentation is included in the Adept ACE software
installation. It can also be accessed in the Adept Doc-
ument Library.
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You can
access the ADL from:
lthe Adept Software CD shipped with your system
or
lthe Adept website. Select Document Library from the Adept home page. To go directly to
the Adept Document Library, either click on or type the following URL into your
browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
To locate information on a specific topic, use the Document Library search engine on the ADL
main page. To view a list of available product documentation, select the Document Titles
option.
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Adept T20 Pendant User's Guide, Rev. A
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Chapter 2: Installation and Setup
This chapter covers the installation and setup of the Adept T20 pendant.
2.1 Transport and Storage
The Adept T20 pendant must be shipped and stored in a temperature-controlled environment,
within the range –20° to +70° C (-4° to 158° F). The recommended humidity range is 5 to 95 per-
cent, non-condensing. It should be shipped and stored in the Adept-supplied packaging,
which is designed to prevent damage from normal shock and vibration. You should protect
the packaging from excessive shock and vibration.The pendant must always be stored and
shipped in a clean, dry area that is free from condensation.
The Adept T20 pendant weighs 480 g (1.1 lb) without the adapter cable installed.
2.2 Before Unpacking the Pendant
Carefully inspect the shipping packages for evidence of damage during transit. If any damage
is indicated, request that the carrier’s agent be present at the time the container is unpacked.
2.3 Upon Unpacking the Pendant
Before signing the carrier’s delivery sheet, compare the actual items received (not just the pack-
ing slip) with your equipment purchase order. Verify that all items are present and that the
shipment is correct and free of visible damage.
lIf the items received do not match the packing slip, or are damaged, do not sign the
receipt. Contact Adept as soon as possible.
lIf the items received do not match your order, please contact Adept immediately.
lRetain all containers and packaging materials. These items may be necessary to settle
claims or, at a later date, to relocate the equipment.
2.4 Unpacking
Remove the pendant from its box and place it on a flat surface.
2.5 Repacking for Relocation
If the pendant or other equipment needs to be relocated, reverse the steps in the installation
procedures in this chapter. Reuse all original packing containers and materials and follow all
safety notes used for installation. Improper packaging for shipment will void your warranty.

Chapter 2: Installation and Setup
2.6 Operating Environment
The Adept T20 pendant is designed to operate in the following environment:
lTemperature: 0° to +45° C (32° to 113° F)
lHumidity: 0 - 95%, non-condensing
The Adept T20 pendant is not intended for use in hazardous environments (explosive gas,
water, dust, oil, or mist). It has an IP rating of IP-65.
2.7 Installation
This section describes how to install the Adept T20 pendant on a SmartController EX. The fol-
lowing installation options are described:
lInstalling the pendant and an Adept Front panel
About Jumper Plugs
There are two jumper, or bypass, plugs available for a T20 pendant system. One is a D-Sub
plug (P/N 10052-000) for the XMCP connector on the Adept SmartController EX. The second is
a screw-to-lock plug (P/N 10048-000) for the pendant adapter cable.
The pendant emergency stop switch and the enabling switch are wired into the system emer-
gency stop circuitry. Therefore, if either the pendant cable or the adapter cable is unplugged,
the corresponding jumper plug must be installed. If neither one is connected, you cannot ena-
ble high power. If the E-Stop circuit is opened by removing one of the cables, or a jumper plug,
then high power is turned OFF.
See the sections that follow for installation instructions.
Installing the Pendant and an Adept Front Panel
Refer to the drawing that follows for information on connecting a Front Panel to a Smart-
Controller EX, in addition to the Adept T20 pendant. See the Adept SmartController User's Guide
for additional information.
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Chapter 2: Installation and Setup
Figure 2-1. Pendant and Front Panel Installation
Auto/Manual Mode with Both Front Panel and T20 Pendant Installed
The Adept T20 pendant must be used with an Adept Front Panel. Note the following points:
lThe E-Stop buttons on the Front Panel and T20 pendant both function and are individ-
ually detected by the Adept SmartController EX.
lThe high-power-enable buttons on both devices function independently; the button on
either device can enable/disable power on the system.
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Adept T20 Pendant User's Guide, Rev. A
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Chapter 3: Operation
This chapter describes how to operate the Adept T20 pendant. Before proceeding, you need to
perform the steps covered in the Installation and Setup chapter.
3.1 Using the Pendant Controls and Indicators
Figure 3-1. T20 Pendant Controls and LEDs

Chapter 3: Operation
Table 3-1. Adept T20 Pendant Controls and LEDs
Control Description
Buttons/Switches
E-Stop Button Press to stop program execution and turn off high power immediately.
If the robot is equipped with brakes, activates the brakes.
Robot Power
Button and
Light
Press to toggle between high power ONand OFF. Unlike the emer-
gency stop switch, when turning OFF high power, a controlled stop is
initiated, where the robot is decelerated under software control. After
the robot has stopped, power is turned OFF. When robot power is ON,
this button is lit.
F1 - F4 Func-
tion Buttons
When using the display screen, press the function key (F1 to F4) that
appears under the soft key you want to select. For example, from the
Home screen, press F1 to select the Disp (Display) function.
Speed +/
Speed -
Buttons
Press to increase or decrease, respectively, the robot speed as a per-
centage of the maximum monitor speed. The current robot speed is
displayed in the Speed indicator on the right side of the display screen.
Jog Mode
Button
Press to cycle through COMP, Joint, World, Tool or Free modes, and
then return to COMP mode. The currently selected mode is displayed
in the Jog Mode indicator on the left side of the display screen.
Slow Button Press to toggle between slow speed and normal speed. While slow
speed is active, press Speed + and Speed - to select a robot speed
within the slow speed range, which is from 0 to 25% of the normal
robot speed. Press the Slow button again to return to normal speed.
Joint/Axis Con-
trol Buttons
Press a "+" button to move a joint or a Cartesian coordinate in the
positive direction. Press a "-" button to move in the negative direc-
tion.These buttons work all the time while power is on and a jog mode
is selected. Multiple joints or Cartesian coordinates can be moved
simultaneously by pressing multiple buttons.
Select Robot
Button
When more than one robot is connected to the Adept SmartController
EX, press to cycle through the available robots. The currently selected
robot is displayed in the selected robot indicator on the display screen.
Menu Button Press to display the Home screen on the display screen.
OK Button Press to select a setting to be changed or to implement a change.
Cancel Button Press to return to the previous screen.
Arrow Keys Press to make selections or to scroll through lists.
LEDs
ACE When lit, indicates that the pendant is communicating with Adept
ACE.
ERR (Error) When lit, indicates that an error has occurred.
JOG When lit, indicates that the Joint/Axis control buttons are available to
move the robot. Also indicates that the system is not in COMP mode.
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Chapter 3: Operation
3.2 Enable Switch
The pendant is equipped with a 3-position enable switch. The enable switch is located on the
back of the pendant, as shown in the following figure.
Figure 3-2. 3-Position Enable Switch
The switch is a 3-position type, where the full-out and full-in positions disable all outputs, as
shown in the following table. In order to enable high power in Manual mode, the switch must
be activated. For details, see Turning Robot Power ON on page 20.
Table 3-2. Enable Switch Positions on Pendant
Position Function Enable Switch Contacts
1 home
position
not pressed (open) enabling outputs
are open
2 enabling partially pressed
(half way or in
middle position)
outputs are
closed
3 panic fully pressed
(closed)
enabling outputs
are open
3.3 Turning Power ON and OFF
This section discusses how to turn the power on and off in both auto and manual modes, as
well as after an E-stop is pressed.
NOTE:When power is disabled, the pendant automatically changes back to COMP
mode. Note that:
lWhen power is off, the pendant cannot change out of COMP mode.
lThe Power button is functional even when the screen saver is on (pressing
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Chapter 3: Operation
any key, except the Power button, only clears the screen saver).
Turning Robot Power ON
The Robot Power light reflects the same blinking as the Front Panel: Fast blink when “enable”
released in manual mode; slow blink when the “Power button must be pushed after an ENA-
BLE POWER command” feature is enabled in the controller configuration.
NOTE:The controller feature is not currently supported when the pendant is being
used as the Front Panel.
In Auto Mode
1. Make sure the Auto/Manual mode key switch on the Front Panel (if present) is set to
Auto mode.
2. Press Robot Power on the pendant. After a few seconds, high power to the robot turns
on, and the Robot Power button on the pendant lights.
In Manual Mode
NOTE:When enabling power in manual mode, the pendant will display a noti-
fication screen that requests that user push and hold the “enable” switch. For
details on the enable switch location, see Enable Switch on page 19.
1. Make sure that the Auto/Manual key switch on the Front Panel (if present) is set to Man-
ual mode. If any errors occur, the ERR LED lights. Press Clear on the display screen to
clear errors.
2. Press Robot Power on the pendant.
3. Press the pendant enable switch to the middle position. After a few seconds, high power
to the robot turns on, and the Robot Power button on the pendant lights.
After an E-Stop
To turn ON high power after pressing the pendant emergency stop switch, perform the fol-
lowing procedure:
1. Turn the emergency stop switch to the right (clockwise). The switch is spring loaded
and will return to its normal position. If any errors occur, the ERR LED lights. Press
Clear on the display screen to clear errors.
2. Press the pendant enable switch to turn ON high power.
After Enable Switch Is Released
When the system is set to Manual mode and you release the enable switch (or select the
"panic" position), the system turns off in a controlled manner. This puts the system in a dif-
ferent state than when the E-Stop button is pressed.
To turn ON high power in this situation, perform the following procedure:
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