PEITIAN ROBOTICS AIR-TP User manual

Teach Pendant Manual
Peitian Robot

"Operation Manual of AIR-TP Teach Pendant”
Foreword
I
Foreword
About This Manual
This manual describes how to operate the AIR-based industrial robot system with the help
of AIR-TP teach pendant.
Prerequisites
Before operation, please read Precautions for Safety in this manual carefully. The user
must understand the safety knowledge before operation.
Target Groups
Operators
Product technicians
Technical service personnel
Robot teachers
Meaning of Common Signs
The signs and their meanings in this manual are detailed in Table 1.
Table 1 Signs used in this manual
Sign
Meaning
Failure to follow the instructions will cause accidents,
resulting in serious or fatal personal injury, or serious
damage to items
Failure to follow the instructions may cause accidents,
resulting in serious or fatal personal injury, or serious
damage to items
You are prompted to keep in mind environmental
conditions and important matters, or quick operation
methods
You are prompted to refer to other literature and
instructions for additional information or more detailed
operation instructions
Description of This Mmanual
The contents of this manual are subject to supplementation and modification. Please visit
“Download Center" on the website regularly to obtain the latest version of this manual in a
timely manner.
Website URL: http://robot.peitian.com/
提示
Tip
危险
Notice
危险
Warning
危险
Danger

"Operation Manual of AIR-TP Teach Pendant”
Foreword
The information about this document is shown in Table 2.
Table 2 Information about this document
Document name
"Operation Manual of AIR-TP Teach
Pendant"
Document number
UM-P05070000001-001
Document version
V4.1.1
Software version
2.6.1
Revision History
The revision history accumulates instructions for each document update. The latest version
of the document contains updates to all previous versions of the document.
Table 3 Revision history
Version
Date of publication
Description of modification
V4.1.1
Document-related Information
The content in this document may be pertinent to the following documents. Please refer to
them when necessary:
“ARL Programming Manual”
"Manipulator Manual of XX Industrial Robot"
“Manual of XX Control Cabinet”

"Operation Manual of AIR-TP Teach Pendant”
Contents
1
Contents
Foreword ...................................................................................................................................................I
Contents ................................................................................................................................................... 1
1 Precautions for Safety...................................................................................................................... 1
1.1 Operation environment.......................................................................................................................1
1.2 Safety procedures ..............................................................................................................................1
2 Overview of Teach Pendant.............................................................................................................. 2
2.1 Overview.............................................................................................................................................2
2.2 Labels .................................................................................................................................................2
2.3 Composition .......................................................................................................................................3
2.3.1 Mode switch key................................................................................................................................5
2.3.2 Enable button.....................................................................................................................................5
2.3.3 Control button ....................................................................................................................................6
2.3.4 Function button..................................................................................................................................7
2.3.5 Emergency stop button ......................................................................................................................7
2.3.6 Indicator .............................................................................................................................................8
2.3.7 Stylus..................................................................................................................................................8
2.4 Connection .........................................................................................................................................9
3 Login Interface............................................................................................................................... 10
3.1 Login permission ..............................................................................................................................10
3.2 Login interface related settings........................................................................................................10
3.2.1 System Upgrade...............................................................................................................................11
3.2.2 Import Authorization ........................................................................................................................11
3.2.3 Configure IP......................................................................................................................................11
3.3 Login interface information..............................................................................................................11
4 Main Interface ............................................................................................................................... 12
4.1 Running status bar...........................................................................................................................13
4.1.1 Continuous mode status...................................................................................................................13
4.1.2 Cyclic mode status ...........................................................................................................................13
4.1.3 Program running status....................................................................................................................13
4.1.4 Control mode....................................................................................................................................14
4.2 Channel mechanical unit name........................................................................................................14
4.3 Coordinate system............................................................................................................................14
4.4 Channel loading program.................................................................................................................14
4.5 System soft keyboard.......................................................................................................................14
4.6 System time......................................................................................................................................15
4.7 System enable/disable .....................................................................................................................15
4.8 JOG running settings .......................................................................................................................16
4.8.1 Axis control mode.............................................................................................................................16

"Operation Manual of AIR-TP Teach Pendant”
Contents
2
4.8.2 Speed ...............................................................................................................................................17
4.8.3 Step magnification...........................................................................................................................17
4.8.4 Tool...................................................................................................................................................18
4.8.5 Coordinate system............................................................................................................................18
4.8.6 Other ................................................................................................................................................20
4.9 Message bar.....................................................................................................................................20
4.9.1 Message category............................................................................................................................21
4.9.2 Time sequence/set time...................................................................................................................23
4.9.3 Message type...................................................................................................................................23
4.9.4 Message content..............................................................................................................................23
4.10 Menuarea.........................................................................................................................................24
4.11 System sidebar (axis indication).......................................................................................................25
5 Running .........................................................................................................................................26
5.1 Programdebugger ............................................................................................................................26
5.2 Program editor .................................................................................................................................28
5.3 Insert instruction..............................................................................................................................29
5.3.1 Movement instruction......................................................................................................................30
5.3.2 Logic control.....................................................................................................................................44
5.3.3 Process control.................................................................................................................................44
5.3.4 Interrupt trigger................................................................................................................................49
5.3.5 Auxiliary instruction .........................................................................................................................53
5.3.6 User subprogram..............................................................................................................................58
5.3.7 Feature pack.....................................................................................................................................61
5.3.8 System preset subprogram ..............................................................................................................61
5.4 Insert function..................................................................................................................................62
5.5 Coordinate system measurement.....................................................................................................63
5.5.1 Tool/workpiece coordinate system...................................................................................................63
5.5.2 Base coordinate system ...................................................................................................................74
5.6 Calibration........................................................................................................................................78
5.6.1 Zero calibration ................................................................................................................................78
5.6.2 Fast calibration.................................................................................................................................78
5.6.3 Conveyor calibration ........................................................................................................................79
5.6.4 Positioner calibration .......................................................................................................................79
5.7 Point corrector..................................................................................................................................79
5.8 Setting of hand guiding....................................................................................................................82
5.8.1 Teach safe zone plane......................................................................................................................82
5.8.2 Teach tool direction vector...............................................................................................................82
6 Monitoring..................................................................................................................................... 83
6.1 Real-time position ............................................................................................................................83
6.2 IO......................................................................................................................................................85

"Operation Manual of AIR-TP Teach Pendant”
Contents
3
6.2.1 1st generation cabinet IO.................................................................................................................85
6.2.2 2nd generation cabinet IO................................................................................................................92
6.2.3 Standard cabinet IO..........................................................................................................................97
6.3 Safety Zone ....................................................................................................................................103
6.3.1 Tool envelope .................................................................................................................................104
6.3.2 Axis envelope .................................................................................................................................106
6.3.3 Setting of Safety Zone....................................................................................................................107
6.3.4 Use of Safety Zone .........................................................................................................................113
7 File .............................................................................................................................................. 123
7.1 File management............................................................................................................................123
7.2 File backup .....................................................................................................................................124
7.3 Restore backup...............................................................................................................................125
7.3.1 Program file....................................................................................................................................125
7.3.2 Configuration file............................................................................................................................126
7.3.3 Coordinate system file....................................................................................................................127
8 System......................................................................................................................................... 128
8.1 Parameter configuration.................................................................................................................129
8.1.1 Description of variables..................................................................................................................129
8.1.2 Setting of variables ........................................................................................................................130
8.2 System variables ............................................................................................................................134
8.3 System configuration .....................................................................................................................135
8.3.1 Setting of PLC slaves......................................................................................................................135
8.3.2 Setting of starting area ..................................................................................................................136
8.3.3 System settings..............................................................................................................................137
8.3.4 Configuration of drive parameters .................................................................................................138
8.4 Appearance and personalization....................................................................................................138
8.5 User and password.........................................................................................................................138
8.5.1 Password change...........................................................................................................................138
8.5.2 Switch to operator..........................................................................................................................139
8.6 System and update.........................................................................................................................140
8.6.1 System message.............................................................................................................................140
8.6.2 Version update ...............................................................................................................................141
8.6.3 Firmware update ............................................................................................................................144
8.6.4 Export configuration.......................................................................................................................148
8.6.5 Authorized import...........................................................................................................................148
8.7 Restart and logout..........................................................................................................................149
8.7.1 Logout ............................................................................................................................................149
8.7.2 Lock screen.....................................................................................................................................149
8.7.3 System restart ................................................................................................................................149
8.7.4 Remote shutdown ..........................................................................................................................149

"Operation Manual of AIR-TP Teach Pendant”
Contents
4
8.8 Developer .......................................................................................................................................150
8.8.1 Log assistant ..................................................................................................................................150
9 Extension ..................................................................................................................................... 153
9.1 Feature pack management.............................................................................................................153
9.1.1 Installation .....................................................................................................................................153
9.1.2 Authorization..................................................................................................................................156
9.1.3 Uninstall.........................................................................................................................................157
9.1.4 Backup data ...................................................................................................................................158
9.1.5 Import data.....................................................................................................................................158
9.2 Vision..............................................................................................................................................159
9.3 Palletizing.......................................................................................................................................159
9.4 Fast palletizing ...............................................................................................................................159
9.5 Bending..........................................................................................................................................159
9.6 Arc welding....................................................................................................................................159
10 Other Functions........................................................................................................................ 160
10.1 Collision detection function ...........................................................................................................160
10.1.1 Description of collision detection function ................................................................................160
10.1.2 Parameters configuration for collision detection.......................................................................160
10.1.3 Collision detection settings in JOG mode..................................................................................163
10.1.4 Reset of collision detection status.............................................................................................164
Appendix A Summary of Parameter Configuration Permissions .............................................................. 165
Appendix B Summary of System Variable Permissions ........................................................................... 171

"Operation Manual of AIR-TP Teach Pendant”
Precautions for Safety
1
1Precautions for Safety
The robot owner and operator must be responsible for their own safety. Peitian will not be responsible for the
safety problems that occur during operation of robots. Peitian reminds users that they must use the safety
equipment and must abide by the safety provisions when operating the robot.
1.1 Operation environment
The robots may not be operated in the following cases;
1. Burning environment
2. Possibly explosive environment
3. Radio jamming environment
4. Water or other liquids
5. No transportation of people or items
6. No climbing
7. Other
1.2 Safety procedures
Teaching and manual robots
1. Do not operate the teach pendant and operation panel with gloves
2. Jog the robot at a low speed to improve the control chance.
3. Take into account the robot's movement trend before pressing the jog key on the teach pendant.
4. Determine the route to avoid the trajectory of the robot and confirm that the route will not be interfered.
5. The zone around the robot must be clean and free of oil, water or debris.
Production running
1. Before starting, you must understand all the tasks that the robot will perform according to the program
settings.
2. You must understand the position and status of all switches, sensors, and control signals that will affect
the robot movement.
3. You must understand the positions of emergency stop buttons on the robot control cabinet and peripheral
control equipment, and use them in emergencies.
Never assume that a robot has completed its program without moving.Because the
robot is most likely waiting for an input signal for continuous moving.
危险
Notice

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
2
2Overview of Teach Pendant
2.1 Overview
The teach pendant (AIR-TP) is a handheld device that operates and controls the robot. The AIR-TP teach pendant
weighs 1.2kg and can be operated by hand or placed on a table. For storage, the teach pendant is generally
placed directly on the control cabinet (see Fig. 2-1) or suspended on the side of the control cabinet.
Fig. 2-1 Placement position and method of teach pendant
Improper placement of the teach pendant may cause the teach pendant to fall or be
damaged.
2.2 Labels
The positions of the nameplate and matching label on the teach pendant are shown in Fig. 2-2.
Fig. 2-2 Positions of nameplate and matching label on teach pendant
The schematic diagram of the nameplate of the teach pendant is shown in Fig. 2-3, which gives the product
model, version number, manufacture date, etc. The serial number of the teach pendant will be printed on the
nameplate when the product is delivered.
危险
Notice
Nameplate of
teach pendant
Matching label of
teach pendant
Teach pendant
Control cabinet
Teach pendant -
control cabinet
connection cable

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
3
Fig. 2-3 Positions of nameplate and matching label on teach pendant
The schematic diagram of the label of the teach pendant is shown in Fig. 2-4. Please check:
1. The serial number of the teach pendant in Fig. 2-4 is identical with that on the nameplate of the teach
pendant;
2. The serial number of the control cabinet in Fig. 2-4 is identical with that on the nameplate of the control
cabinet connected.
Fig. 2-4 Positions of nameplate and matching label on teach pendant
2.3 Composition
The positions of the components of the teach pendant are shown in Fig. 2-5. The corresponding description of
the components of the teach pendant is shown in Table 2-1.
(a) Front view
1. Mode switch key
2. USB interface
protection cover
6. Function button
4. Emergency stop
button
3. Indicator
7. Display (touch
screen)
5. Control button
10. Teach pendant
connection cable

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
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(b) Top view
(c) Right view
Fig. 2-5 Schematic diagram of components of teach pendant
Table 2-1 Description of components of teach pendant
No.
Name
Description
1
Mode switch key
In three modes: T2, T1, AUT
2
USB interface
protection cover
Protect USB interface
3
Indicator
Indication of power, running and error status
4
Emergency stop
button
When pressing the emergency stop button, the robot will stop moving; after the
robot stops, rotate the button clockwise and manually clear the error warning to
release the emergency stop status and return to normal status
5
Control button
Run the program to manually control the movement of mechanical unit
6
Function button
A shortcut button that provides some functions
7
Display (touch screen)
HMI operation zone
8
Enable button
For specific operation method, see Section 2.3.2
9
Multi-grip handle
Handheld part
10
Teach pendant
connection cable
The cable has been already connected at the factory, and no connection by user will
be required. The default is on the left.
11
Stylus
It is used to click the touch screen
The operation method of several common components is detailed below.
8. Enable button
11. Stylus
9. Multi-grip handle

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
5
2.3.1 Mode switch key
The three modes of the mode switch key on the front left of the teach pendant are shown in Fig. 2-6.
Fig. 2-6 Mode switch key
Fig. 2-7 Running status bar
The mode switch determines the mode status by turning the key. It is located at the upper left of the teach
pendant. The main function is to switch the mode. The following three modes are provided:
1. When the key points to the left, it will switch to T2 mode, and the status of the control mode icon in
“Running status Bar" (see Fig. 2-7) of the teach pendant will be “ ”.
2. When the key points to the middle, it will switch to T1 mode, and the control mode icon status in
“Running status Bar" of the teach pendant will be “ ”.
3. When the key points to the right, it will switch to AUT mode, and the status of the control mode icon in
“Running status Bar" of the teach pendant will be “ ”.
There are usually two keys available for operation mode switching. Please keep them
properly to avoid losing them.
2.3.2 Enable button
Enable buttons can be installed on the left and right sides of the rear shell of the teach pendant. By default, it is
installed on the right side, as shown in Fig. 2-5.
Operation method:
1. When the enable button is fully released, the natural status will be the first button position, and the robot
will not be enabled and cannot be operated.
2. Gently hold the enable button shown in Fig. 2-8 (located on the right side of the teach pendant). At this
time, the second button position will be activated, and the robot will be enabled (hear a "click" sound).
Then the flash icon in the status bar (see Fig. 2-9) will be displayed as “ ” (high brightness), and
“Running" indicator on the control cabinet will come on, and manual operation can be performed (you
must hold the enable button always).
危险
Notice
Mode switch key

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
6
Fig. 2-8 Teach pendant enable button
Fig. 2-9 Enable status bar
3. Continue to hold the button. At this time, the third button position will be activated, and the robot will be
disabled (hearing a "click" sound). Then the flash icon in the status bar (see Fig. 2-9) will be displayed as
“ ” (gray), and “Running" indicator on the control cabinet will go out.
4. In the second button position, release the button to return to the first button position, the robot will be
disabled, and the flash icon in the status bar (see Fig. 2-9) will be displayed as “ ” (gray).
2.3.3 Control button
There are two modes for manual operation of the robot manually, please refer to Section 4.8.1:
Single axis operation:
Each axis can independently operate forward or backward.
Cartesian mode operation:
TCP (TOOL CENTER POINT) operates forward or backward along the axis
of the coordinate system.
The schematic diagram of control buttons for manual operation of the robot is shown in Fig. 2-10. The
corresponding functions and meanings of each button (in single-axis mode and Cartesian mode) are shown in
Table 2-2. For relevant descriptions of “System Sidebar (Axis Indication)”, please refer to Section 4.11.
Fig. 2-10 Teach pendant control buttons
Table 2-2 Operation instructions for teach pendant control buttons
Sign
Single-axis mode
Cartesian mode
Start program operation
System sidebar (axis indication) in single-axis mode
System sidebar (axis indication) in Cartesian mode
Enable button

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
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Sign
Single-axis mode
Cartesian mode
Pause program operation
Control one axis of the manipulator
for forward movement
Control the TCP of the manipulator to move in the forward direction
of X, Y or Z axis, and also control the TCP of the manipulator to
rotate around Z, Y or X axis
Control one axis of the manipulator
for backward movement
Control the TCP of the manipulator to move in the forward direction
of X, Y or Z axis, and also control the TCP of the manipulator to
rotate around Z, Y or X axis
2.3.4 Function button
The names of all the buttons on the left side of the teach pendant are shown in Fig. 2-11. The functions and
meanings of each button are shown in Table 2-3.
Table 2-3 Operation instructions for teach pendant control buttons - left buttons
Sign
Operation instructions
Manual speed plus one gear
Manual speed minus one gear
Inverse program running
Analog IO, used in combination with , to control the hand guiding function
switch
Analog IO
Analog IO, used in combination with , to screen capture
Principal/external axis switching control
Fig. 2-11Teach pendant function button
2.3.5 Emergency stop button
The emergency stop button is located in the top right corner on the front of the teach pendant, as shown in Fig.
2-12. The emergency stop button is that the user can protect the teach pendant by pressing this button quickly
when an emergency occurs.
Fig. 2-12 Teach pendant emergency stop button
Emergency stop button

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
8
Operation method:
1. In case of emergency, press the emergency stop button, the robot will stop moving, and “Message Bar"
on the teach pendant will display the warning message "TP emergency button was pushed", as shown in
Fig. 2-13. The "Warning" indicator on the teach pendant will be in red.
Fig. 2-13 Teach pendant "Message Bar" warning
2. After the robot stops, turn the button clockwise to release the emergency stop status, the emergency stop
button will pop up; click “ ” icon in “Message Bar" on the teach pendant to manually clear the
related warnings, and “Warning" indicator on the teach pendant will go out. Return to normal status.
2.3.6 Indicator
The indicator is located at the top right on the front of the teach pendant. The specific position is shown in Fig.
2-5. It has three modes: power, running and warning. The meanings and functions are shown in Table 2-4.
Table 2-4 Description of teach pendant indicator
Sign
Description
Power
It will light up in white when the teach pendant is
started
Running
It will light up in green during manual or auto
running
Warning
It will light up in red when there is an warning
2.3.7 Stylus
It is recommended to connect the stylus to the teach pendant through a cord to prevent loss. The position of the
cord hole is shown in Fig. 2-14.
Fig. 2-14 AIR-TP teach pendant stylus
Cord hole of stylus

"Operation Manual of AIR-TP Teach Pendant”
Overview of Teach Pendant
9
2.4 Connection
For the connection between the teach pendant and controls of different models, please refer to “Manual of XX
Control Cabinet”.
Improper connection may cause the teach pendant to be faulty or damaged.
危险
Notice

"Operation Manual of AIR-TP Teach Pendant”
Login Interface
10
3Login Interface
3.1 Login permission
When started for the first time, you must log in with the teacher permission, as shown in Fig. 3-1.
Fig. 3-1 HMI login interface
Teacher permission:
You can write the robot operating programs, and modify some parameters. The initial login password is "PEACE".
Operator permissions:
You can view the robot's position parameters and operating conditions, without program/parameter modification
permissions. The initial login password is "LOVE".
For other related login passwords, please contact our after-sales personnel.
3.2 Login interface related settings
Click “System Settings" button at the top left shown in Fig. 3-1, and a drop-down list will pop up, as shown in
Fig. 3-2. You can perform operations such as "System Upgrade", "Import Authorization" and "Configure IP".
Fig. 3-2 “Settings”list on login interface
提示
Tip

"Operation Manual of AIR-TP Teach Pendant”
Login Interface
11
3.2.1 System Upgrade
The method of “System Upgrade”here is identical with the method of “Version Update”in Section
8.6.2. You can refer to it directly.
3.2.2 Import Authorization
Here, the method of "Import Authorization" is identical with the method of "Import Authorization" in Section
8.6.5. You can refer to it directly.
3.2.3 Configure IP
Click “System Settings > Configure IP" option show in Fig. 3-2 to pop up a dialog box, as shown in Fig. 3-3.
You can view, configure or change the IP address of HMI and ARCS in the dialog box.
Fig. 3-3 "Configure IP" window
3.3 Login interface information
The information (see Fig. 3-4) displayed in the bottom left corner in Fig. 3-1 includes HMI version number,
machine code, etc. More detailed information can be found in "System Information", please refer to Section
8.6.1.
Fig. 3-4" Configure IP" window

"Operation Manual of AIR-TP Teach Pendant”
Main Interface
12
4Main Interface
Fig. 4-1 Division of function zones on main interface
The positions of function zones on main interface of the teach pendant are shown in Fig. 4-1. The roles of
function zones are shown in Table 4-1.
Table 4-1 Description of function zones on main interface
No.
Name
Description
1
Running status bar
To display the current system running status. For details, please refer to
Section 4.1
2
Channel mechanical unit
name
To display the name channel switching of mechanical unit in the current
channel. For details, please refer to Section 4.2
3
Coordinate system
To display the current coordinate system. For details, please refer to Section
4.3
4
Channel loading program
To display the programs loaded in the current channel. For details, please
refer to Section 4.4
5
System soft keyboard
To call out/hide the system soft keyboard. For details, please refer to Section
4.5
6
System time
To display and set the system time. For details, please refer to Section 4.6
7
System enable/disable status
System enable/disable status display icon when manual, system
enable/disable button when automatic. For details, please refer to Section 4.7
8
JOG running parameter
display bar
To set and display the running parameters of the current JOG. For details,
please refer to Section 4.8
9
Message bar
To scroll to display the latest system message, being the entry of the system
message interface. For details, please refer to Section 4.8.6
10
Menu area
To provide various function options. For details, please refer to Section 4.10
11
Main window
Display zone of function interface
12
System sidebar (axis
indication)
The contents of the axis indication correspond to the function buttons on the
right side of the teach pendant. For details, please refer to Section 4.11
7. System enable/dis
able status
4. Channel
loading program
5. System soft
keyboard
6. System time
10. Menu area
9. Message bar
8. JOG running pa
rameters
Display bar
12. System sidebar
(axis indication)
11. Main window
3. Coordinate
system
1. Running st
atus bar
2. Channel mechani
cal unit name