Nexcobot Tp-100-c User manual

NEXCOBOT Co., Ltd.

www.nexcobot.com

Teach Pendant TP-100-C

User’s Manual

V0.3

12/5/2023

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

0.1 Draft released.

0.2 Modify the photo of TP-100-C

0.3 Modify the VGA Of Terminal Block Connector Pin define of Junction Cable

(page4-page 5)

Contents

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

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

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

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

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

Technical Data ............................................................................................. 3

2.1. Dimensions ............................................................................................... 3

2.2. Specification ............................................................................................. 6

Connection and Wiring ................................................................................. 7

3.1. Connection ............................................................................................... 7

Terminal Block Connector Pin define of Junction Cable ...................................... 4

3.2. Connecting extension cable to the Junction Cable ................................... 8

Operation Behaviors .................................................................................. 10

4.1. Membrane Keys ..................................................................................... 10

4.2. Emergency Stop Button ......................................................................... 11

4.3. Enabling Switch ...................................................................................... 11

4.4. Switch Button ......................................................................................... 12

Product Description

The TP-100-C teach pendant provides the freedom and convenience by

allowing users to move away from the host computer and control the robot

locally. It incorporated the Multi-Touch projected capacitive (PCAP)

touchscreen technology to reduce the number of buttons and consequently

streamlined the operation of the industrial robots.

1.1. Overview of TP-100-C

The TP-100-C is a handheld device that controls robot movements, teaches

locations, 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

optional shoulder strap.

1.2. Handling of TP-100-C

The TP-100-C 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.

Technical Data

2.1. Dimensions

TP-100-C

Terminal Block Connector Pin define of Junction Cable

PIN Definition of Junction Cable

Terminal Block connector

Function Junction Cable Side Wire Color / Pin Description

Switch Button

b Red / SW1+ A general-purpose button which

provide two-channel signal and can be

used as power switch of system.

h White / SW1-

g Black / SW2+

n Blue /SW2-

Emergency Stop

Button

L Orange / ES1+ 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.

U Gray / ES1-

K Purple / ES2+

T Green / ES2-

Enabling Switch

G Red / EN1+ 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.

H White / EN1-

Z Black / EN2+

N Blue / EN2-

X Yellow / EN3+

W Brown / EN3-

DC 24V

C Orange / 24V+ DC power input (24V, 0V, Shielding)

J Gray / 24V-

GND R Yellow + Green /

CHASSIS_GND1

USB

A P_USB- USB 2.0

E P_USB+

B USB_5V

F GND

VGA

e VGA_RED_GND

d VGA_GREEN_GND

C VGA_BLUE_GND

r VGA_VSYNC

m VGA_RND

K VGA_GRN

j VGA_BLUE

S VGA_HSYNC

f VGA_GND

p VGA_5V

M DDC_SDA

V DDC_SCL

R Chassis_GND1

2.2. Specification

Technical

Data

TP-100-C Technical

Data

TP-100-C

Panel - 10.1”, 16:10, WXGA, 1280 x 800

- Luminance: 500 cd/m2

- Contrast ratio: 800:1

- LCD color: 16.7M

- Viewing angle: 85 (U), 85 (D), 85 (L),

85 (R)

- Backlight: LED

Interface - Data back-up: 2 x USB 2.0

- Control connector: HDB-44 female

Removable HDB-44 control cable,

including power signal, E-stop button

signal, Enabling switch signal, Switch

button signal, STOP signal, USB 2.0 and

VGA signals

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-C 0.625A at 24Vdc (max.)

Safety

Elements

- Emergency stop button (2 NC

channels,

B10d=100,000)

> Contact function: latching

> Reset: by rotating

- 3-position Deadman switch

(3 channels 2 NO &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):

> TP-100-C 1.5Kg

- TP-100-C IP protection class: Full IP40

- Teach Pendant cable length: 3m

Operating

Elements

Switch button switch (1 NO, 1 NC)

6 membrane key

Environment - Operating temperature: 0°C to 50°C

- Storage temperature: -20°C to 75°C

- Operating humidity: 5%~90% relative

humidity, non-condensing

- Vibration resistance/shock-proof/free-fall

System - TP-100-C: VGA input

- USB 2.0 upstream

Certifications - CE (Emission EN61000-6-4; Immunity

EN61000-6-2 for installation in industrial

environments)

- FCC Class A

Connection and Wiring

4.1. Connection

Safety Module

Controll

Cable

Junction Cable

Emergency

Enabling

VGA / USB

100

Controller

4.2. Connecting extension cable to the Junction Cable

Circular connectors that meet military specifications are used to connect with

the junction cable. The connector consists of a plug (male, pin) and a receptacle

(female, socket). Follow the steps below to connect the junction cable with the

teach pendent.

(2) Turn the “first green ring” on the

plug clockwise until you cannot turn

it anymore.

(1) First install the Junction cable on the

controller and Align the notch of the plug

with the latch of the receptacle.

(3) Push the “second green ring” toward

the junction cable and repeat steps 1

and 2 until the junction cable and

plug are tightly connected.

Note 1: DO NOT twist the “black ring” to tighten

the connection.

Note 2: Generally, after the connection is secured,

there are about three threads visible.

For disconnecting the Junction Cable

Note: DO NOT twist the “black ring” to disengage

the connection.

Connect extension wire to TP-100-C

CAUTION:

DO NOT power on the system before finishing wiring. DO NOT remove

the wiring during power on, which may result in damage to the system.

(1) Turn the “first green ring” on the plug

counterclockwise to disconnect the junction

cable.

(2) Pull the “second green ring” opposite from the

junction cable once and repeat steps 1 and 2

Operation Behaviors

5.1. Membrane Keys

The TP-100-C’s membrane keys are located at the lower-right of the teach

pendant.

Review the key definitions below:

Key Definition Defined Keyboard Mapping

M/A [Ctrl] + [Shift] + [ m ]

Stop [Ctrl] + [Shift] + [ s ]

Play/Pause [Ctrl] + [Shift] + [ p ]

+ [Ctrl] + [Shift] + [ ] ]

– [Ctrl] + [Shift] + [ [ ]

Error Log [Ctrl] + [Shift] + [ e ]

5.2. Emergency Stop Button

The Emergency Stop button locates at the upper-right corner of the TP-100-C

and connects to ES1 and ES2 at the the junction cable. 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.

Note: ES1- is Gray wire; ES1+ is Orange wire; ES2- is Green wire; ES2+ is Purple wire

5.3. 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.

Note: EN1+ is Red wire; EN1- is White wire; EN2+ is Black wire; EN2- is Blue wire; EN3+

is Yellow wire; EN3- is Brown wire

5.4. Switch Button

The switch button connects to SW1 and SW2 at the junction cable. When the

switch button is pressed, the SW1 status will change from Normal Close (NC)

to Normal Open (NO), and SW2 status will change from Normal Open (NO) to

Normal Close (NC).

Note: SW1- is Red wire; SW1+ is White wire; SW2- is Blue wire; SW2+ is Black wire;

Pin Contact

When pressing the switch

SW1 +

Open

SW1 -

SW2 +

SW2 -

When releasing the switch

SW1 +

SW1 -

SW2 +

Open

SW2 -

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