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”
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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”
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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”
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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