Adding Approach Distance; Using Jog To; Align; I/O Signals - Omron T20 User Manual

Pendant

Table of Contents

2. Press the up/down arrow buttons to select the desired location.

Press Cancel to return to the previous screen.

Adding Approach Distance

You can specify an approach distance through the System Maintenance screen. For details, see

Setting the Approach Distance on page 41.

After the approach distance is set, you can use the Appro soft key to bring the robot to the

approach position for the selected location. The approach position is the location less 'A' mm

along the Z-axis of the tool transformation (or offset), where 'A' is the approach distance set on

the System Maintenance screen.

Use Jog To to move the robot to a selected location (stored in memory).

To jog the robot to a location:

1. Press Loc from the Home 1 screen to display the Available Locations screen.

2. Press the arrow buttons to select the desired location.

3. Press and hold Jog To until the robot is at the desired location. Release the button.

NOTE: The predefined JOINT ZERO location, sets the robot to #PPOINT (0,0,0,0,0,0).

Align works with Viper robots. While the Available Locations screen is displayed, you can

select a location and then press the Align soft key to align the nearest axis of the tool trans-

formation (or offset) to the Z axis.

NOTE: Align is only available for six-axis robots, like the Viper robots.

NOTE: Other than the green Joint/Axis control buttons, the Jog To and Align func-

tions are the only functions available for moving the robot.

Press the I/O soft key on Home 1 screen to display the screens used to control I/O signals. The

I/O Signals feature allows users to toggle outputs ON (active, high) and OFF (inactive, low).

Round icons represent input signals; square icons represent output signals. The available sig-

nal types are: digital output, digital input, soft, and robot.

T20 Pendant User's Guide, 10433-000 Rev. E

Page 35 of 50

4.12 I/O Signals

Table of Contents