Nexcobot Tp-100-2 User manual

NEXCOBOT Co., Ltd.

www.nexcobot.com

Teach Pendant

TP-100-2 for TM Plug & Play

User’s Manual

V1.02

6/17/2023

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

Contents

Copyright Statement and Disclaimer ........................................................................... ii

Revision History ......................................................................................................... iii

Contents ..................................................................................................................... iv

Product Description ............................................................................................. 1

1.1. Overview of TP-100-2 ............................................................................... 1

1.2. Handling of TP-100-2 ............................................................................... 2

TP-100-2 for OMRON TM Plug & Play ................................................................ 3

2.1. Warning and Caution symbols .................................................................. 3

2.2. Compatibility ............................................................................................. 3

2.3. TP-100-2 plug & play package content .................................................... 4

2.4. Installation ................................................................................................ 5

Technical Data................................................................................................... 22

3.1. Dimensions of TP-100-2 ......................................................................... 22

3.2. Specification ........................................................................................... 24

Operation Behaviors ......................................................................................... 25

4.1. Membrane Keys ..................................................................................... 26

4.2. Emergency Stop Button ......................................................................... 27

4.3. Enabling Switch ...................................................................................... 28

4.4. 2 -Channel Switch Button ....................................................................... 29

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.

1.1. 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.

Front Back

1.2. 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

2.1. 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.

2.2. 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

2.3. TP-100-2 plug & play package content

NO.

Items Q’ty Figure Note

1 TP-100-2 1

2

EXTERNAL 3M

CABLE FOR TP-

100-2

1

Content:

3M Cable*1

5M / 10M / 20M (option)

3 TP-100-HD-JB 1

Content:

(1) Junction box*1

(2) M3*12mm screw*4

(3) Connector

12P*1 +4P*1+ 3P*1

(4) CAP*1 (Option)

4 TP-100-2 TM Plug

& Play Accessory

1

Content:

(1) Metal Sheet *1

- M4x8mm screws *10

- M3*L6 screws *4

(2) Cable package *1

-HDMI Cable

-USB Cable

-Signal wire

- Power wire

- Ground wire

- Circular connector-24PIN-

0.17M Cable

- External GND stand

-M4*12mm for GND stand

5 Option accessory

1

(1) TP-100 Holders*1

6 Option accessory

1 (2) Cap of circular

connector *1

2.4. Installation

(1) Front cover

(2) Right side cover

(3) Left side cover

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

After remove the rubberBefore remove the rubber

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

CN1

CN2

CN3

CN1 +GND

CN2

CN3 + GND

GND

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

(1) Content of Junction Wires

NO.

Junction Wires Qty.

Figure

1 HDMI 1

2 USB 1

3 power wire 1

4 Signal wire 1

5 Ground wire 1

(2) 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

- 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

(3) 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.

Junction Box

Side

OMRON / TM

control box

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

(4) 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.

(2) 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.

(1) Align the notch of the plug with the latch of the receptacle.

NEXCOBOT TP-100-2 User manual

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