DAINCUBE DTP10-L Instructions for use

Embedded based teaching pendant optimized for industrial robots.
DTP10-L
Hardware user’s manual
(R1) Version
DAINCUBE Corp.
ARM Cortex-A9 Linux system
FORM 170703F –2018.07.03
DTP10-L Hardware user’s manual
Form 140108F-180703—July, 2018
DAINCUBE Corp.
Web: www.daincube.com
E-mail: [e-mail]
Tel: [phone]~4
Fax: [phone]
#401-701, Bucheon TechnoPark 4-Danji,
655 Pyeongcheon-ro, Wonmi-gu, Bucheon-Si,
Gyeonggi-Do, Republic of Korea
Copyright © 2005–2018 Daincube
All rights reserved.
Printed in the Republic of Korea

Preface
Copyright notice
Copyright © 2005–2018 Daincube. All rights reserved.
Copying of this document, and giving it to others and the use or communication of the Contents thereof, is
forbidden without express authority. Offenders are liable to the payment of damages.
All rights are reserved in the event of the grant of a patent or the registration of a utility model or design.
Important information
This documentation is intended for qualified audience only. The product described herein is not an end user
product. It was developed and manufactured for further processing by trained personnel.
Disclaimer
Although this document has been generated with the utmost care no warranty or liability for correctness or
suitability for any particular purpose is implied. The information in this document is provided “as is” and is
subject to change without notice.
Trademarks
All used product names, logos or trademarks are property of their respective owners.
Product support
DAINCUBE Corp.
Web: www.daincube.com
E - MAIL: su[email protected]
Safety precautions
Be sure to observe all of the following safety precautions.
Strict observance of these warning and caution indications are a MUST for preventing accidents, which
could result in bodily injury and substantial property damage. Make sure you fully understand all definitions
of these terms and related symbols given below, before you proceed to the manual.
Symbols
The following symbols may be used in this specification:
⚠Warning
Warnings indicate conditions that, if not observed, can cause personal injury.
⚠Caution
Cautions warn the user about how to prevent damage to hardware or loss of data.
✏Note
Notes call attention to important information that should be observed.

Revision history
Revision
Data
Comment
Version 0.1
2017.06.03
Initial Version
Version 0.2
2018.07.03
New Version
Version 1.0
2018.11.23
Change option
Version 1.1
2019.04.01
Add Emergency Stop Switch table, Change Mode Select Switch
table
Version 1.2
2019.06.20
Excluding external SPI memory specifications

Contents
1. Introduction ...................................................................................................................6
1.1. General precautions................................................................................................................6
2. Safety information.........................................................................................................6
3. Warranty and warranty coverage.................................................................................7
3.1. Warranty period ......................................................................................................................7
3.2. Scope of the warranty.............................................................................................................7
3.3. Service coverage ....................................................................................................................7
4. Description.....................................................................................................................8
4.1. Processor Module Specifications ............................................................................................8
4.2. Front view.............................................................................................................................10
4.3. Top view and dimension .......................................................................................................10
4.4. Rear view and dimension......................................................................................................11
4.5. System cable ........................................................................................................................11
5. Features .......................................................................................................................12
5.1. The key features of DTP10-L include....................................................................................12
5.2. Operating and Display panel.................................................................................................12
5.3. LCD & Touch screen.............................................................................................................12
5.4. Safety switch.........................................................................................................................12
5.5. User’s interface.....................................................................................................................12
5.6. Communication.....................................................................................................................13
6. Function.......................................................................................................................13
6.1. Operation keys and functions................................................................................................13
6.2. System cable and connector.................................................................................................18
7. Optional accessories ..................................................................................................21
7.1. Junction box..........................................................................................................................21
7.1.1. Junction box pin configuration .........................................................................................................22
7.1.2. Junction box Mechanical Information ..............................................................................................23
7.1.3. Junction Box Installation Instructions...............................................................................................24
7.2. Wall Bracket..........................................................................................................................24
7.3. Touch Pen ............................................................................................................................25
7.4. Holder...................................................................................................................................25
7.5. Other accessories parts ........................................................................................................26
8. Installation guide.........................................................................................................27
8.1. 26pin system cable configuration..........................................................................................28
8.2. Connections example............................................................................................................29
8.3. Wiring....................................................................................................................................30
8.3.1. Emergency Switch wiring.................................................................................................................30
8.3.2. Enabling Switch wiring.....................................................................................................................30
8.3.3. Select Switch wiring.........................................................................................................................30
8.3.4. Power...............................................................................................................................................31
8.3.5. Noise................................................................................................................................................31
8.3.6. Method wiring...................................................................................................................................33
8.3.7. Earthing............................................................................................................................................35
8.3.8. Ethernet wiring.................................................................................................................................35
8.3.9. Ethernet cable..................................................................................................................................35
9. Package........................................................................................................................37
9.1. Packing list............................................................................................................................37
9.2. Packing & label.....................................................................................................................39

10. General care and maintenance ..................................................................................40
10.1. Cleaning ............................................................................................................................40
11. EC directives and standards......................................................................................40
11.1. EC directives......................................................................................................................40
11.2. Standards..........................................................................................................................40
12. Reference list...............................................................................................................41

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1. Introduction
Thank you very much for purchasing our product.
Improper usage or mishandling may result in a product not only being unable to deliver full functions but also
produce unexpected troubles or shorten the product’s life.
Please read this manual carefully, and operate the product properly by paying attention to its handling. When
operating the product, always keep this manual at hand and read the relevant items as required.
1.1.General precautions
Be sure to read this Instruction Manual for proper use of this product.
Part or all of this Instruction Manual may not be used or reproduced without permission.
Please take note that we shall not be liable for any effects resulting from using this Instruction manual.
This manual may be modified when necessary because of improvement of the product, modification or
changes in specifications.
Some drawings in this manual are shown as a typical example and may differ from the shipped product.
2. Safety information
Before unpacking and installing the product or adding devices on it, carefully read all the manuals that
came with the package.
Avoid using product in extreme dust, humidity and temperature conditions. Do not place the product in
wet area.
Before carrying out assembly and adjustment work or maintenance and inspection work of the machine,
be sure to disconnect the power cord. Otherwise, electric shock may result.
After turning OFF power, wait at least five minutes before servicing the product. Otherwise, residual
electric charges may result in electric shock.
⚠Warning
Be sure to check grounding before you use the unit. Danger of personal injury due to electric shock!
Be sure to use the unit within the voltage range indicated.
The operator must have a sufficient educational level and must know details of intended use described in
the user’s manual.
Be sure to check the wiring to the main unit.
When the user (customer) extends wiring, malfunction may occur due to faulty wiring. In this case,
inspect wiring thoroughly and check it for properness before turning on the power.
Before operating the unit, be sure to check that there is no danger in or around the operating range.
Do not allow water or oil to get on the unit and the power cord.
Install the unit in a place which can endure its weight and conditions while running.
Take care not to squeeze and thus damage the cable with any object.
Do not lay the cable over sharp edges to avoid damaging the cable sheath.
Check the mounting screws regularly so that they are always firmly tightened.
Never touch terminals directly or internal parts of controller.
Do not disassemble or modify the product.
Before carrying out assembly and adjustment work or maintenance and inspection work of the machine,
be sure to disconnect the power cord.
Connect the power supply after completing the adjustment of all the cables and switches.
⚠Caution
After the shutdown window, turn off the power supply. Otherwise the components could be destroyed or
undefined signals could occur.
To prevent the equipment from falling to the ground.
Never lay the device onto unstable surfaces. It could fall to ground and thus be damaged.
It is recommended to use the unit in an environment where no electrical noise is present.
In noisy environments, use a filter fitted.
Never lay the device close to heat sources or into direct sunlight.

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Avoid exposing the device to mechanical vibrations, excessive dust, and humidity or to strong magnetic
fields.
Make sure that no foreign objects or liquids can penetrate into the device.
Wipe the power plug with a clean, dry cloth periodically to eliminate dust.
Always pay special attention to the robot’s movement in the Teaching Mode.
3. Warranty and warranty coverage
The Teaching pendant you purchased has been delivered upon completion of our strict shipping test.
3.1.Warranty period
The warranty period is as follows:
12 months after our shipment.
3.2.Scope of the warranty
Where a defective condition occurs during proper use conditions and obviously under the responsibility of
the manufacturer, within the term above, we shall repair the product without charge.
However, any items that apply to the following are excluded from the warranty coverage.
The warranty is not valid if the defect is due to accidental damage, mishandling, misuse, voltage
fluctuation, high/low voltage or natural disaster.
If the product is repaired or tried to repair from unauthorized personal/Repair Shop.
If the product serial number is tempered.
The product is defective due to wear of parts, which can be considered as consumable parts by the
nature. (such as a cable)
Defects resulting from changes over time such as natural color fading of paint.
Defects resulting from mishandling or improper use.
Defects resulting from an inadequacy or error in maintenance and inspection.
Defects resulting from the use of any part other than our genuine parts.
Defects resulting from a modification not approved by us or our dealers.
Only a delivered product shall be singly warranted, and no damage induced by the defect of the delivery
product can be warranted. For repair, transport the product to our factory.
3.3. Service coverage
The cost of a delivered product does not include expenses for program creation and engineer dispatching.
Therefore, the following are charged separately even within the warranty term:
Maintenance and inspection.
Technical guidance and technical training in the operating instructions.
Technical guidance and technical training on program-related matters such as program creation.

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4. Description
The DTP10-L is an embedded-based teaching pendant with a high-performance Cortex-A9 (ARM Cortex-A9
1GHz) processor.
It accommodates various demands of the industrial field, supports various communication methods, and
uses royalty free Linux OS.
With most known Linux development tools and Open Sources, you can develop applications more easily.
Equipped with a user-friendly Linux users can develop applications more quickly and easily.
The DTP10-L device driver and sample program are all provided by customer support.
4.1.Processor Module Specifications
The processor module is "CG4300" developed by Daincube Co., Ltd.
32-bit RISC ARM Cortex-A9 Core was developed using a high-performance, low-power processor.
It is an ARM core that integrates ARM architecture V7-A and various peripherals.
Debug
LED
PCB Edge
Connector
(230 Pin)
ARM
Processor
10/100/1000
ENET
PCIe Bus
Sata Ⅱ
3.0Gbps
USB OTG
HS PHY
USB HOST
HS PHY
HDMI 1.4
LVDS0
LVDS1
12C2
AUDMUX4
eSDHC3
I2C1,12C3
12C2
eCSPI 1
WDOG1
GPIOs
EIM
(addr 26bit)
(data 16bit)
UART1
UART2
CAN1
PWM3
RGMII
Gigabit
Ethernet
PHY
G-LAN x 1
PCIe x 1
SATA x 1
DEBUG USB DEVICE x 1
USB 2.0
Hub
(4 Port)
USB host 1
HDMI x 1
LVDS x 2
WDOG x 1
AUDIO x 1
SD/MMC(8BIT) x 1
LVDS_DID x 1
I2C x 1,SMB_BUS x 1
SPI x 1
PWM4
SPEAKER(Buzzer) x 1
FAN_PWM x 1
PWM1
LCD Backright x 1
Debug Serial x 1
User Define Serial x 1
USB host 2
USB host 3
USB host 4
CAN x 1
eFuse
Protection
EN
+5V
5V_SB
PWR_GOOD
5V_SB
VDD5V
PMIC
Dc/dc x 4
LDO x 9
DDR3
256MB x 16
Memory
Management
unit
DDR3
256MB x 16
DDR3
256MB x 16
DDR3
256MB x 16
DDR3(64bit)
eSDHC4 eMMC 4~8G
(option)
MFC0,1
Mezzanine
Connector
(80 Pin)
Data 16bit
Addr /25
CS /2
Control /5
GPIO 10
Boot
Mode
CFG x 32bit
0100 11 10 :
SD3 Boot
BOOT MODES[1:0]
00 Boot from eMMC
01 Serial downloader
10 Boot from SDCARD
GPIO /2
State LED
Power
LED
VDD5V
VDD33V
RTC
Power Mag
Button x 4
PWR,SLP_BTN,LID_BTN, Reset Button
EN,Hold
12C2
RTC Batt Coin Battery
CPU MODULE BLOCK DIAGRAM(CG4300)
GPIOs
Power Status & Control Signals
[Figure 4-1] CG4300 Block Diagram

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DTP10 hardware specifications
Item
Contents
Remarks
Processor
ARM Cortex-A9 Quad core 1GHz (11500 DMIPS)
i.MX6 Quad
Memory
DDR3 800 MHz 1GByte
FLASH
MLC type eMMC 8GByte
SPI flash
4MByte(booting)
M-RAM
2MByte(nonvolatile memory)
LCD
TFT 10.1inch 1280x800, 16.7M Color, LED Backlight
Touch
4-wire Analog-resistive
O/S
Real-Time Linux
Buzzer
12Ø 85dB
RTC
Lithium 3 years (Min. Lifetime depend on Temperature)
LED
Dual Color LED X 3
Debug Port
Micro USB Serial Port (RS-232)
Storage
Micro SD-Card, USB Host, USB Device
Keypad
Jog(+, -) 16ea, Function 2ea
Safety Switch
Emergency stop/Select/3-step Enabling
Communication
EtherCAT or Ethernet 1port
Ethernet 1port
RS-485 1port
Hand Strap
20mm(Width) X 170mm(Length)
Power supply voltage
DC 24V ±5%
Power consumption
Max. DC24V / 500mA
Temperature
Operating - 0°C to +45°C
Storage - -20 °C to +70 °C
Humidity
Max 85% (Non-condensing)
Unit/Paint color
Housing for ABS, Black color
Size
237.5 x 324.7 x 42mm
(without cable)
Weight
Max. 1500g
Cooling Method
Ambient
[Table 4-1] H/W specifications

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4.2.Front view
1
6
7
24
3
5
1 - TFT-LCD with touch screen
2 - Mode Switch
3 - Motor ON, Error clear Switch
4 - Emergency Switch
5 - Enabling SwitchHand Strap
6 - 3Coler LED * 3
7 - Right Keypad
[Figure 4-2] Front function
4.3.Top view and dimension
12
119
10
8
8 - Micro SD-Card
9 - USB device
10 - Debug serial
11 - Reset switch
12 - USB host
[Figure 4-3] Top function
✏Note: These ports are used for software development and testing.