adept technology T2 User manual

Artisan Technology Group is your source for quality
new and certied-used/pre-owned equipment
• FAST SHIPPING AND
DELIVERY
• TENS OF THOUSANDS OF
IN-STOCK ITEMS
• EQUIPMENT DEMOS
• HUNDREDS OF
MANUFACTURERS
SUPPORTED
• LEASING/MONTHLY
RENTALS
• ITAR CERTIFIED
SECURE ASSET SOLUTIONS
SERVICE CENTER REPAIRS
Experienced engineers and technicians on staff
at our full-service, in-house repair center
WE BUY USED EQUIPMENT
Sell your excess, underutilized, and idle used equipment
We also offer credit for buy-backs and trade-ins
www.artisantg.com/WeBuyEquipment
REMOTE INSPECTION
Remotely inspect equipment before purchasing with
our interactive website at www.instraview.com
LOOKING FOR MORE INFORMATION?
Visit us on the web at www.artisantg.com for more
information on price quotations, drivers, technical
specications, manuals, and documentation
Contact us: (888) 88-SOURCE | [e-mail] | www.artisantg.com
SM
View
Instra

Adept T2 Pendant
User’s Guide
P/N: 09017-000, Rev D
June, 2013
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 Avnue 5 • #05-12 Techplace II • Singapore 569870 • Phone [phone] • Fax [phone]
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

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, 2013 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, Adept Cobra i600, Adept Cobra i800, Adept Cobra s600, Adept Cobra s800, Adept Cobra s800 Inverted,
Adept Desk Top, Adept Python, Adept SmartController CS, Adept SmartController CX, Adept SmartServo, Adept
sMI6, Adept T2, Adept Viper s650, Adept Viper s850, Adept Viper s1300, Adept Viper s1700, AdeptOne,
AdeptWindows, and V+ 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
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept T2 Pendant User’s Guide, Rev D 3
Table of Contents
1Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.1 Product Description. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.2 System Compatibility . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.3 Hardware Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
1.4 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
1.5 Safety . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Dangers, Warnings, Cautions, and Notes in Manual . . . . . . . . . . . . . . . . . . . 8
Emergency Stop Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.6 Proper Handling of the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
1.7 How Can I Get Help? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Related Manuals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Adept Document Library . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.8 Programming the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
2Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.1 Bypass Plugs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 Installation in a SmartController System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
2.3 Installation in an Adept Cobra i-Series Robot System . . . . . . . . . . . . . . . . . . . 15
2.4 Mounting Optional Wall Bracket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3Identification of
Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.1 Controls and Indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
3.2 Enable Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
4Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.1 Main Menu Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
4.2 Turning Power On and Off . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Turning Power On from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
In Auto Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
In Manual Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Turning Power Off from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Turning Power On After an E-Stop . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Turning Power On After Enable Switch is Released . . . . . . . . . . . . . . . . . . . 24
4.3 Calibrating a Robot from the T2 Pendant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Typical Calibration Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Table of Contents
4 Adept T2 Pendant User’s Guide, Rev D
Special Calibration Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.4 Function Descriptions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Predefined Function Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Programmable Function Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Soft Buttons . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
4.5 Computer (COMP) Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Off Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Background State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
4.6 Pendant Control Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
World Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Tool Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Joint Mode. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Free Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.7 Edit Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
4.8 Display Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
4.9 Clear Error (CLR ERR) Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.10 Command (CMD) Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
4.11 Run/Hold Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.12 Program Set Function. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
4.13 Step Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
MCP.NO.POT System Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.14 Gripper Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.15 Controlling More Than One Robot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
4.16 System Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Adjusting the LCD Screen Brightness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Setting the Initial Slow Mode State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Setting the Screen Saver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
5Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.1 Firmware Update . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
5.2 Calibrating the Touchscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
5.3 Cleaning the Touchscreen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
5.4 Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept T2 Pendant User’s Guide, Rev D 5
Introduction 1
1.1 Product Description
The Adept T2 pendant provides a user interface and teach pendant in an ergonomic and
rugged package. The T2 pendant is designed for right- and left-handed use. All gripping
and holding positions enable comfortable and fatigue-free operation.
Figure 1-1. Adept T2 Pendant
The safety features include:
• Emergency Stop switch (dual channel circuit)
• Two 3-position enable switches (dual channel circuits)
The software features include:
• Controlling the robot by enabling and disabling power
• Jogging (moving) the robot
• Teaching locations
• Displaying robot position, digital I/O, system status, system ID, and messages
• Starting and stopping application programs
• Displaying and editing global program variables
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Introduction
6 Adept T2 Pendant User’s Guide, Rev D
1.2 System Compatibility
The T2 pendant is designed to be compatible with Adept SmartController-based systems,
such as the following:
• Adept Quattro robot
•AdeptCobras-Seriesrobots
• Adept SmartModules and Python modules systems
• Adept Viper robots
• Adept SmartMotion systems with the sMI6
• AdeptOne robot on SmartController
The T2 pendant is also designed to be compatible with robots that do not use the
SmartController, including:
• Adept Cobra i600/i800 robots
1.3 Hardware Specifications
Table 1-1. T2 Pendant Hardware Specifications
Diameter 252 mm
Height (including handle) 114 mm
Weight 1.25 kg
Pendant Cable Length Standard: 10 m, Optional: 3 m
Adapter Cable Length 2 m
Display Type Liquid Crystal Display (LCD)
Display Size 132 mm x 98 mm
Display Resolution 640 x 480 pixel
Display Colors 65,536
Display Backlight Yes
Safety Controls 1 Emergency Stop switch
2 Enable switches (3-position)
Operating Temperature 0 - 50° C
Relative Humidity 5 - 95%
Shock Resistance 25g/11ms (IEC 60068-2-27)
Ingress Protection IP-65
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Dimensions
Adept T2 Pendant User’s Guide, Rev D 7
1.4 Dimensions
Figure 1-2. T2 Pendant Dimensions
1.5 Safety
The T2 pendant was developed, manufactured, tested, and documented in accordance
with applicable safety standards. If you follow the instructions regarding safety and use
as described in this manual, the product will, in the normal case, neither cause personal
injury nor damage to machinery and equipment.
The instructions contained in this manual must be precisely followed in all circumstances.
Failure to do so could result in the creation of potential sources of danger or the disabling
of safety features integrated in the handheld terminal.
55.3 21.5
ø 252 37.2
ø 240
Units in mm
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Introduction
8 Adept T2 Pendant User’s Guide, Rev D
Dangers, Warnings, Cautions, and Notes in Manual
There are six levels of special alert notation that are used in Adept manuals. In descending
order of importance, they are:
NOTE: Notes provide supplementary information, emphasize a point or
procedure, or give tips for easier operation.
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.
WARNING: This indicates a potentially hazardous
electrical situation which, if not avoided, could result in
injury or major damage to the equipment.
WARNING: This indicates a potentially hazardous
situation which, if not avoided, could result in injury or
major damage to the equipment.
CAUTION: This indicates a situation which, if not avoided,
could result in damage to the equipment.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Proper Handling of the T2 Pendant
Adept T2 Pendant User’s Guide, Rev D 9
Emergency Stop Switch
1.6 Proper Handling of the T2 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 voiding of the warranty, follow these instructions during operation.
• When operating the touchscreen, use your finger or the supplied stylus. Never use
sharp objects (such as a screwdriver) for operating the touchscreen.
Figure 1-3. T2 Pendant Stylus
• Do not squeeze or pinch the cable.
• Do not lay the cable over sharp edges to avoid damaging the cable sheath.
• When you are not using the T2 pendant, hang it on the optional wall bracket, if
purchased, for storage.
• Never place the T2 pendant with the operating side facing down, to avoid
damaging the buttons or display.
• Never place the T2 pendant on an unstable surface. It could fall to ground and be
damaged.
• Never place the T2 pendant close to heat sources or into direct sunlight.
• Avoid exposing the T2 pendant to mechanical vibrations, excessive dust,
humidity, or to strong magnetic fields.
DANGER: When the pendant is not connected to the
machine, store the pendant in a place where the operator
cannot see it. Take into account that the operator would
automatically activate the nearest emergency stop in case
of danger. This could have fatal consequences, as the T2
pendant emergency stop will not function when the
pendant is not connected to the machine.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Introduction
10 Adept T2 Pendant User’s Guide, Rev D
• Never clean the T2 pendant touchscreen or other surfaces with solvents, abrasive
cleaners or scrubbing sponges. For cleaning the T2 pendant, use a soft cloth and a
small amount of water or a mild cleaning agent.
• Make sure that no foreign objects or liquids can penetrate into the T2 pendant.
Periodically check the protective covers of the T2 pendant to ensure that all
housing screws are firmly tightened, and that there is no damage to the cable entry
area, sealing plug, or cable strain relief.
1.7 How Can I Get Help?
For details on getting assistance with your Adept software or hardware, you can access
the following information sources on the Adept corporate website:
• For Contact information:
http://www.adept.com/contact/americas
• For Product Support information:
http://www.adept.com/support/service-and-support/main
• For further information about Adept Technology, Inc.:
http://www.adept.com
Related Manuals
This manual covers the installation and operation for Adept T2 pendant. There are
additional manuals that cover programming the system, reconfiguring installed
components, and adding other optional components; see Table 1-2. These manuals are
available on the Adept Document Library on the Adept website.
WARNING: When the cable entrance cover is removed, the
T2 pendant is sensitive to electrostatic discharge.
Table 1-2. Related Manuals
Manual Title Description
Adept SmartController
User’s Guide
Contains complete information on the installation and
operation of the Adept SmartController and the optional sDIO
product.
Adept ACE Online Help Describes the Adept ACE environment and use with an Adept
control system.
AdeptWindows Online Help Describes the AdeptWindows environment and use with an
Adept control system.
Adept DeskTop Online Help Describes the Adept DeskTop environment and use with an
Adept control system.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Programming the T2 Pendant
Adept T2 Pendant User’s Guide, Rev D 11
Adept Document Library
The Adept Document Library (ADL) contains documentation for Adept products. You
can access the ADL as follows:
•SelectSupport > Document Library from the menu bar on the Adept website
Home page.
• Type the following URL into your web browser:
http://www.adept.com/Main/KE/DATA/adept_search.htm
The ADL is also included on any software disk that ships with an Adept robot.
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, use the menu links
located above the search field.
1.8 Programming the T2 Pendant
Many of the features of the pendant are accessible to V+ programs. For example, a
program can receive button-press input, read the setting of the Speed Bar, turn LEDs on
and off, and display text to the Pendant Display Window (see Figure 4-1 on page 21). For
a comprehensive overview of these functions, refer to the V+ Language User’s Guide.
The T2 pendant sends the setting of the Speed Bar when one of the following buttons is
pressed: YES/+, NO/-, or one of the +/- Joint/Axis buttons at the right-hand side of the
pendant. (The MCP4 pendant sends the speed whenever the Speed Pot is pressed.) In
addition, the T2 pendant sends the setting of the Speed Bar if it is pressed along with the
STEP button. In that case, the T2 pendant continues sending the Speed Bar value even
after STEP button is released, until the Speed Bar is released.
Instructions for Adept
Utility Programs
Describes the utility programs used for advanced system
configurations, system upgrades, file copying, and other
system configuration procedures.
V+ Operating System User’s
Guide
Describes the V+operating system, including disk file
operations, monitor commands, and monitor command
programs.
V+ Language User’s Guide Describes the V+language and programming of an Adept
control system.
CAUTION: The behavior described below explains the
differences between programming the T2 pendant and the
Adept MCP4 pendant.
Table 1-2. Related Manuals (Continued)
Manual Title Description
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Introduction
12 Adept T2 Pendant User’s Guide, Rev D
Be aware of this behavior when writing a V+ program that requires those buttons to be
pressed, because the speed input might trigger an unexpected movement of the robot.
As a general guideline, V+ programmers should be cautious when writing a program that
looks at the same time for:
• A YES/+ or NO/- button press and a Speed Pot input
• One of the 6 Joint/Axis control buttons (J1/X - J6/RZ) and a Speed Pot input
• A STEP button press and a Speed Pot input
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept T2 Pendant User’s Guide, Rev D 13
Installation 2
2.1 Bypass Plugs
NOTE: These plugs are only needed if you will NOT be using the T2
pendant with your system.
In that case, the XMCP circuit must be terminated with one of these
plugs. Either plug will terminate the circuit.
Under normal circumstances, the T2 serves as the termination for this
circuit.
There are two bypass, or jumper, plugs available for a T2 pendant system. One is a
push-pull plug for the pendant adapter cable. This push-pull bypass plug is typically
attached to the adapter cable with a wire loop.
The second is an XMCP jumper plug, which connects to either the XMCP connector on a
SmartController or the XMCP connector on the XPANEL cable for a Cobra i-Series robot.
The pendant emergency stop switch and the enable switches are wired into the system
emergency stop circuitry. Therefore, if either the pendant cable, or the adapter cable is
unplugged, one of the corresponding bypass plugs must be installed. If neither one is
connected, you cannot enable high power. If the E-stop circuit is opened by removing one
of the cables, or the bypass plug, then high power is turned off. When the T2 pendand is
plugged in, no bypass plug is needed.
CAUTION: Do not modify or extend the pendant cable.
Doing this will void the warranty on the pendant.
WARNING: The Auto/Manual keyswitch on the Adept
Front Panel must be set to Manual if the T2 pendant is to be
used inside the robot workcell. This enables important
safety features to protect the operator by limiting the
speed of the robot.
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Installation
14 Adept T2 Pendant User’s Guide, Rev D
2.2 Installation in a SmartController System
1. Plug the pendant cable connector into the matching adapter cable connector.
NOTE: The T2 pendant uses push-pull connectors. Line up the red dots to
insert the connectors, pull back on the outer sleeve to remove.
2. If you are using an equipment cabinet, the adapter cable connector can be
bulkhead-mounted to the inside wall. See Figure 2-2 Panel Cut-out Dimensions.
3. Plug the adapter cable into the XMCP connector on the SmartController.
Figure 2-1. Installing Pendant in Equipment Cabinet
Figure 2-2. Panel Cut-out Dimensions
From T2 Pendant
Push-Pull connector: to remove,
pull back on outer sleeve.
To controller
Wall or door of
equipment cabinet
HPE
1.1 1.2
XMCP
XUSR
SCrellortnoCtramS
XFP
OK
HD
XSYS
1 2 3
SW1
LAN
ES
24V 5A
XDIO
R
XDC1XDC2
SF
-+ -+
SmartServo
DeviceNet Eth 10/100
RS-232
RS-422/485
Equipment Cabinet
(user-supplied)
T2 Pendant
Bypass Plug
(supplied
with pendant)
D-Sub
Bypass Plug
(supplied with controller)
SmartController
T2 Adapter Cable
(supplied with T2 Pendant)
SW 22.6
Red Dot
∅24.1
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Installation in an Adept Cobra i-Series Robot System
Adept T2 Pendant User’s Guide, Rev D 15
2.3 Installation in an Adept Cobra i-Series Robot System
1. Plug the pendant cable connector into the matching connector on the adapter
cable. See the following figure.
NOTE: The T2 pendant uses push-pull style connectors. Line up the red
dots as you insert the connectors. To remove the connector, pull back on
the outer sleeve.
2. Plug in the adapter cable D-Sub connector to the XMCP connector on the XPanel
cable.
Figure 2-3. Installing Pendant in a Cobra i-Series System
T2 Adapter Cable
(supplied with T2 Pendant)
Jumper Plug
(supplied with
i-Series Robot)
XMCP
XFP
XUSR XPANEL Cable
(supplied with
i-Series Robot)
i-Series
Robot Interface Panel
GND XSLV
1
2
SmartServo
RS-232
XPANEL
AC INPUT
(200-240 VAC 1Φ)
+24V
DC INPUT
(24 VDC)
XIO
T2 Pendant
Bypass Plug
(supplied
with pendant)
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Installation
16 Adept T2 Pendant User’s Guide, Rev D
2.4 Mounting Optional Wall Bracket
The optional wall bracket can be used for stationary operation or for safe storage of the T2
pendant between uses. See the following figure for mounting dimensions.
The wall bracket is p/n 05003-000.
Figure 2-4. Wall Mount Bracket Dimensions
201.4
100
56.2
31.4
100
K
226
J
6
6
Detail J:
Detail K:
6
6
Wall Bracket, front view
118
39.6
392.9
Wall Bracket, rear and side view
Cable
All dimensions
in mm
Suspension
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Adept T2 Pendant User’s Guide, Rev D 17
Identification of
Controls and Indicators 3
3.1 Controls and Indicators
Figure 3-1. Adept T2 Pendant
Table 3-1. T2 Pendant Control Functions
E-Stop switch Pressing it stops program execution and turns off high power
immediately. If the robot is equipped with brakes, they will be
activated.
Function Select buttons Pressing the arrow selects the function to the right.
Joint/Axis Control
buttons
Pressing the + button selects a joint (1 - 6), and moves the
joint in the positive direction. Pressing the - button selects a
joint (1 - 6), and moves the joint in the negative direction.
Power On Button
Robot Power
LED
Mode Button
Rec/Done
Button
Function Select
Buttons (6)
E-Stop Switch
Pendant Control
LED
Joint/Axis
Control Buttons
(6)
Power Off Button
USB Connector
(under protective
cover)
High Power ON
Indicator Light
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Identification of Controls and Indicators
18 Adept T2 Pendant User’s Guide, Rev D
Mode button Selects World, Tool, Joint, Free, or COMP mode. Displayed in
Mode box on right side.
Note: if the system is placed into COMP mode by pressing
either COMP/PWR on the touchscreen or the Power On
button, subsequent pressing of the Mode button will cause the
pendant to jump into the last Manual mode used by the
operator.
Pendant Control LED Indicates that the robot is under pendant control.
Power Off button Turns off High Power to the robot. Unlike the emergency stop
switch, the Power Off button initiates a controlled stop, where
the robot is decelerated under software control. After the robot
has stopped, power is turned off.
Power On button Turns on high power to the robot, by starting the enable power
sequence, which includes pressing the High Power button on
Front Panel. If high power is enabled and the system is in
Manual mode, pressing this button returns the system to
Computer mode. See Section 4.2 on page 23.
Robot Power LED Indicates that high power to the robot is turned on. LED blinks
for 3-4 seconds initially, then turns on steady when high power
is enabled.
High Power ON Light Indicates that high power to the robot is turned on. This
duplicates the function of the Robot Power LED.
Rec/Done button Behaves like the Return or Enter key on a standard keyboard.
When data entry is complete, pressing Rec/Done sends the
entry to the controller. In many cases, application programs
have users press the Rec/Done button to signal that they have
completed a task
USB Connector Provides a connection for a USB memory stick, which is used
to transfer software updates to the T2 pendant.
Table 3-1. T2 Pendant Control Functions (Continued)
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Enable Switches
Adept T2 Pendant User’s Guide, Rev D 19
3.2 Enable Switches
The T2 pendant is equipped with two 3-position enable switches, one at the left and one at
the right side of the device. This allows both left- and right-hand operation of the enable
switch. Both enable switches are equivalent and parallel switched. So for enabling power,
only one of the two switches must be activated.
The actuating element consists of two symmetrically arranged slides. The position of
these slides is detected by electrical switches and transmitted to the evaluation electronics.
Table 3-2. Positions for Enable Switch
Position Function Enable Switch Contacts
1 home position is not pressed enable outputs are open
2 enable is pressed outputs are closed
3 panic is pressed hard enable outputs are open
3-Position Enable Switch
(1 of 2, left and right sides)
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com