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Delta DTV Series User Manual

Delta DTV Series User Manual

Handheld teach pendant
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DTV Series
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  • Page 1 Handheld Teach Pendant DTV Series User Manual www.deltaww.com...

  • Page 2: Introduction

    Introduction Thank you for choosing this product. This manual provides users with instructions on how to safely operate a robot and information on Delta 6-axis industrial robot series. This product is intended for • Standard 6-axis robots equipped with electric control box DCV-2J00-AA...

  • Page 3: General Precautions

    • Do not disassemble the teach pendant or change its internal wiring when powered on. • Before powering on, please check that the emergency stop device of the teach pendant is ready to activate at all times. If you have any other questions, please consult the distributor or Delta Customer Service Center.

  • Page 4: Safety Precautions

    Safety Precautions Delta robots can be controlled by a computer via the DRAStudio software or the handheld HMI DTS- 2xM series by operating the drive to control the robot. The robot uses the latest control architecture, including a controller with high-speed computing capability, to control the robot more precisely for precise robot actions.
  • Page 5 Operation Notes Please read this manual carefully before using to ensure correct usage and maintenance worker safety. Do not wear loose clothes, ties, rings, or bracelets and ensure to wear the hairnet to prevent them from getting caught in the machine by accident and cause injury or danger during operation.
  • Page 6 Circuit Wiring Remove the terminal block from the servo drive when performing wiring. Insert only one wire into the wire socket of the terminal block. When inserting wires, do not short-circuit the core wires and adjacent wires. Check whether the wiring is correct before powering on.

  • Page 7: Basic Inspection

    Make sure that the supply voltage level of the HMI is correct. • Check if the power indicator lights up. Check if the robot Pre-run Inspection operates normally. • (control power supplied) If abnormalities occur to the HMI, please contact your dealer or Delta Customer Service Center.

  • Page 8: Structure Of This Manual

    Structure of this manual Chapter 1 HMI Basic Operation Interface This chapter explains the connection precautions and methods of the teach pendant and the buttons and switches required for operation. Chapter 2 Tab Operations and Function Instructions This chapter describes how to use the operating functions of the teach pendant.

  • Page 9: Table Of Contents

    Table of Contents Handheld Teach Pendant DTV Series ·································· 0 Introduction ··································································································· 0 General Precautions ························································································ 2 Safety Precautions ·························································································· 3 Basic Inspection ····························································································· 6 Structure of this manual ··················································································· 7 HMI Basic Operation Interface ··································· 12 1.1 Hardware Interface ·················································································13 1.2 Brief Introduction to the Operating Environment············································14...
  • Page 10 (This page is intentionally left blank.)
  • Page 11 List of Figures Figure 1-1 Electric control box T1 simple wiring diagram ·········································· 14 Figure 1-2 Startup screen ·················································································· 17 Figure 1-3 Back of the handheld teach pendant······················································ 17 Figure 1-4 SD card slot of the handheld teach pendant ············································ 18 Figure 1-5 Touch screen structure ·······································································...
  • Page 12 Figure 2-52 DRV model rotation axis ··································································· 58 Figure 2-53 System settings - select axis rotation operation mode ······························ 59 Figure 2-54 System settings - displays axis rotation operation mode ··························· 59 Figure 2-55 Joint Rotation Count function mode 0 uses User Frame to teach points ······· 59 Figure 2-56 Joint Rotation Count function mode 0 does not use User Frame to teach points ·············································································································...

  • Page 13: Hmi Basic Operation Interface

    Handheld Teach Pendant DTV Series User Manual HMI Basic Operation Interface Hardware Interface ·············································································· 13 Brief Introduction to the Operating Environment ········································ 14 Teach Pendant Hardware Button Functions ·············································· 14 Touch Screen ····················································································· 18...

  • Page 14: 1.1 Hardware Interface

    1. HMI 1.1 Hardware Interface Item Specification Panel Type 7" TFT LCD (65535 colors) Display Resolution 800 x 480 pixels Display Area 154.08 x 85.92 mm Auxiliary Key 21 Function Keys Operating Temperature 0 - 40°C (32 - 104°F) Storage Temperature -10 to +60°C (14 - 140°F) Dimensions 257.4 x 170.3 x 71.8 (including the protruding emergency stop and hook...

  • Page 15: 1.2 Brief Introduction To The Operating Environment

    Handheld Teach Pendant DTV Series User Manual 1.2 Brief Introduction to the Operating Environment This section provides a brief description for the teach pendant only. For a complete description of the operating environment, please refer to the control box manual.

  • Page 16: 1.3 Teach Pendant Hardware Button Functions

    1. HMI 1.3 Teach Pendant Hardware Button Functions The hardware interface structure of the handheld teach pendant is mainly divided into the touch screen and physical buttons, as shown in Figure 1-2, Figure 1-3, and Figure 1-4. • Touch screen functions include robot arm operating status, connection status, robot language editing, point information display / teaching, system related parameter settings, system information display, etc., as shown in Figure 1-2.
  • Page 17 Emergency stop switch: Located at the top front of the handheld teach pendant (Figure 1-2). The safety switch when operating the robot arm. • When an emergency occurs, press the emergency stop button on the handheld teach pendant in any operation mode to stop the robot. Three-position operating button (Enable Switch): Located on the back of the handheld teach pendant (Figure 1-3).

  • Page 18: Figure 1-2 Startup Screen

    Handheld Teach Pendant DTV Series User Manual • SD card slot: Located at the bottom of the handheld teach pendant (Figure 1-4) and used for teach pendant firmware update. Please use a 16G, Class 10 SD card which supports SDHC.

  • Page 19: Touch Screen

    1. HMI Figure 1-4 SD card slot of the handheld teach pendant Touch screen The touch screen structure is divided into the menu bar on the left, the robot state monitoring on the top, the jog information monitoring on the right, and the content of the corresponding tab. The functions are as follows: Figure 1-5 Touch screen structure...
  • Page 20 Handheld Teach Pendant DTV Series User Manual • Menu Bar: Displays tab switch buttons, including Edit/RL, Exe (Execution), Points, JOG, I/O (DI/O), Servo, Info, and System. Component Function Description Appearance Tap this component to switch to the main screen and switch the menu bar to the first page.
  • Page 21 1. HMI • Robot state monitoring bar: Servo On/Off: for monitoring the Servo On / Off status. You can tap the button to switch between Servo On and Servo Off. Component Function Description Appearance Shows that currently the arm motor is Servo On. Tap this button to switch the motor to Servo Off.
  • Page 22 Handheld Teach Pendant DTV Series User Manual Arm operating status: Displays the current arm program execution status. Component Function Description Appearance Shows that currently the arm is not executing any program. Shows that currently the arm is executing a program.
  • Page 23 1. HMI Jog information bar: Displays the current User Frame ID (U0), Tool Frame ID (T0), Joint Mode, Cart. Mode, User Mode, or Tool Mode. Tap the information bar to switch between different Jog modes. Component Function Description Appearance Displays User Frame ID and Tool Frame ID. means that the current User Frame ID is means that the current Tool Frame ID is 0.
  • Page 24 Handheld Teach Pendant DTV Series User Manual Physical button: description for each button. Component Physical buttons: descriptions for each button Executable Function Description Appearance Page Press and hold this button and the second position of the three-position operating button simultaneously for 2 seconds to automatically execute Edit/RL the currently running project.

  • Page 25: Tab Operation And Function Instructions

    2. Tab Operation and Function Instructions Tab Operation and Function Instructions Main ································································································· 25 Edit/RL ······························································································ 27 2.2.1 Create a New Project ········································································ 29 2.2.2 Opening an Old Project ····································································· 31 2.2.3 Editing Programs ············································································· 32 Execution (Exe) ·················································································· 35 Points ·······························································································...

  • Page 26: 2.1 Main

    Handheld Teach Pendant DTV Series User Manual 2.1 Main The main screen will be displayed once the handheld teach pendant is turned on, as shown in Figure 2-1. In this page, the version information of the teach pendant is displayed, and you can use the Logout button to switch the handheld teach pendant to monitoring mode.

  • Page 27: Figure 2-2 Main Screen - Enter Privilege Password

    2. Tab Operation and Function Instructions Tap the login button ( ) and enter the privilege password (Figure 2-2) to display the corresponding operation screen for that privilege and switch the robot mode to T1 ( ). Please refer to the Mode Select signal in the electric control manual, and then switch the teach pendant operation mode to Enable ( ) to operate various functions, as shown in Figure 2-3.

  • Page 28: Edit

    Handheld Teach Pendant DTV Series User Manual Edit/RL On this screen, you can add, open, save projects, or edit and execute programs. Before you open a project, the screen is as shown in Figure 2-4. Create a new project (refer to Section 2.2.1) or open an old project (refer to Section 2.2.2) to edit or execute a program.
  • Page 29 2. Tab Operation and Function Instructions Component Executable Function Description Appearance Page Create a new project. The filename must not contain spaces or symbols. Edit/RL Open a created project. Edit/RL Save the current project, including the program and local point data. Edit/RL Press and this button and the second position of the three-position operating button simultaneously to run a single line of the program.

  • Page 30: Create A New Project

    Handheld Teach Pendant DTV Series User Manual 2.2.1 Create a New Project Follow these steps to create a new project: 1. Tap the button as shown in Figure 2-6. 2. Enter the filename of the new project (in this example, test), which must not contain spaces or special symbols, as shown in Figure 2-7.

  • Page 31: Figure 2-7 Edit/Rl - Enter The Project Name

    Figure 2-7 Edit/RL - enter the project name Figure 2-8 Edit/RL - new project created...

  • Page 32: Opening An Old Project

    2. Tab Operation and Function Instructions 2.2.2 Opening an Old Project Follow these steps to open an old project: 1. Tap the button as shown in Figure 2-9. 2. Tap the project file you want to open (in this example, test). 3.

  • Page 33: Editing Programs

    Handheld Teach Pendant DTV Series User Manual 2.2.3 Editing Programs After creating a new project or opening a project, you can edit programs. The handheld teach pendant provides buttons for quick editing, as shown in Figure 2-10. Follow these steps: 1.

  • Page 34: Figure 2-12 Edit/Rl - Manual Editing

    2. Tab Operation and Function Instructions Figure 2-12 Edit/RL - manual editing...

  • Page 35: Figure 2-13 Edit/Rl - Write Programs By Selecting Commands

    Handheld Teach Pendant DTV Series User Manual Figure 2-13 Edit/RL - write programs by selecting commands Figure 2-14 Edit/RL - use Cancel, Replace, or Insert...

  • Page 36: Execution (Exe)

    2. Tab Operation and Function Instructions Figure 2-15 Edit/RL - delete a command line Execution (Exe) This page records the number of the last project and the current program execution status. The user can execute , or directly without reopening the project. Figure 2-16 Execution (Exe)

  • Page 37: Points

    Handheld Teach Pendant DTV Series User Manual Points The Points page provides five functions, Global point operation, Local point operation, User Frame, Tool Frame, and WorkSpace settings. Select the function to switch to the corresponding operation screen, as shown in Figure 2-17.

  • Page 38: Global Point

    2. Tab Operation and Function Instructions 2.4.1 Global Point In the drop-down list box, select Global to switch to the global point operation screen and the point table will display the global points of the controller, as shown in Figure 2-18. You can teach points (Teach), move to the specified point in MovP mode (Go MovP), move to the specified point in MovL mode (Go MovL), and move to the specified point in Lift mode (Go Lift), as described below: Figure 2-18 Points - specify global points...

  • Page 39: Local Point

    Handheld Teach Pendant DTV Series User Manual 2.4.2 Local Point Open an old project or create a new project to operate the local points for that project. For example, in Figure 2-19, the local points of the file “test” are being operated. The user can teach points, move to the...

  • Page 40: User Frame Settings

    2. Tab Operation and Function Instructions Figure 2-20 Points - setting the local point parameters 2.4.3 User Frame Settings A user frame is a non-fixed frame defined by the user. You can define any position with the user frame, such as on a workpiece or on a workbench. A user frame is taught using the three point method, which is done by entering the Origin point, the X point on the positive X axis (+Xaxis), and the Y point selected from the XY plane (+Yaxis) of the user frame, and using the frame values of these three points on the Cartesian frame to calculate the...

  • Page 41: Figure 2-21 Points - User Frame Origin Setting

    Handheld Teach Pendant DTV Series User Manual 2.4.3.1 How to Set a User Frame 1. Enter the User Frame ID You can set up to 9 user frames (1 - 9) and ID 0 is the system’s Cartesian frame which cannot be changed.

  • Page 42: Figure 2-22 Points - User Frame +X Direction Point Setting

    2. Tab Operation and Function Instructions Figure 2-22 Points - user frame +X direction point setting Figure 2-23 Points - user frame XY plane point setting (determine +Y direction)

  • Page 43: Figure 2-24 Points - Page For Entering Teaching Points

    Handheld Teach Pendant DTV Series User Manual 2.4.3.2 How to Manually Enter Teaching Points When Setting a User Frame 1. Enter the User Frame ID. You can set up to 9 user frames (1 - 9). 2. Set the User Frame to Orthogonal / NonOrthogonal and Inclined / NonInclined •...

  • Page 44: Tool Frame Settings

    2. Tab Operation and Function Instructions 2.4.4 Tool Frame Settings This page provides access to Tool Frame related settings (Figure 2-27), including Tool Size and Tool Orientation settings. Operation is described below: 1. Enter the Tool Frame ID. You can set up to 9 tool frames (1 - 9) and ID 0 is the system’s Cartesian frame which cannot be changed.

  • Page 45: Figure 2-26 Tool Size: Height, Width, And Angle

    Handheld Teach Pendant DTV Series User Manual Figure 2-26 Tool size: height, width, and angle Figure 2-27 Points - tool frame setting Figure 2-28 Points - tool size calibration...

  • Page 46: Figure 2-29 Select The Tool Frame Id With The Points Taught In The Jog Screen

    2. Tab Operation and Function Instructions Figure 2-29 Select the tool frame ID with the points taught in the JOG screen Figure 2-30 Points - point teaching demonstration...

  • Page 47: Figure 2-31 Points - Tool Frame Orientation Calibration

    Handheld Teach Pendant DTV Series User Manual Figure 2-31 Points - tool frame orientation calibration Figure 2-32 Points - tool orientation calibration setting...

  • Page 48: Work Space Settings

    2. Tab Operation and Function Instructions 2.4.5 Work Space Settings This page provides access to Work Space related settings, including setting working or non-working range, as shown in Figure 2-33. Follow these steps to set the Work Space: 1. Enter the Work Space ID. You can set up to 9 IDs (1 - 9). 2.

  • Page 49: Figure 2-33 Points - Workspace Setting (Cylinder Range Teaching)

    Handheld Teach Pendant DTV Series User Manual Figure 2-33 Points - WorkSpace setting (cylinder range teaching) Figure 2-34 Points - WorkSpace setting (rectangular range teaching)

  • Page 50: Jog Settings

    2. Tab Operation and Function Instructions JOG Settings The JOG page provides access to jog related settings, including speed, distance, and mode switch, as shown in Figure 2-35. See the instructions below: 1. Speed setting: Sets the speed to Low, Medium, High, or directly enter the speed value in the unit of percentage. 2.

  • Page 51: Io Monitor (I

    Handheld Teach Pendant DTV Series User Manual IO Monitor (I/O) This page is used to monitor the System IO, with green indicator meaning ON and yellow indicator meaning OFF, as shown in Figure 2-36. The current status of each IO is displayed.

  • Page 52: Info

    2. Tab Operation and Function Instructions Info The Info tab contains alarm information, controller information, robot information, and Modbus information. 2.7.1 Alarm Info When an error occurs in the MS, the alarm status at the top of the screen is displayed with a red icon ) to notify the user.

  • Page 53: Controller Info

    Handheld Teach Pendant DTV Series User Manual 2.7.2 Controller Info This page displays the controller version information, as shown in Figure 2-40. Figure 2-40 Controller Info 2.7.3 Modbus Info 2.7.3.1 Modbus Info (Read and Write) This page displays the Modbus information. The default screen is the screen used to write Modbus address information, as shown in Figure 2-41.

  • Page 54: Figure 2-42 Modbus Info - Writing Modbus Address Information

    2. Tab Operation and Function Instructions Figure 2-42 Modbus Info - writing Modbus address information This page allows the user to read Modbus address information, as shown in Figure 2-43. The user can enter the Modbus address from 0x1000 to 0x1FFF, set the data length to Word or Double Word, set to display the values in decimal or hexadecimal, select the data entries to read, and finally tap to read the values from the controller.

  • Page 55: Figure 2-44 Modbus Info - Modbus Address Information (Read Only)

    Handheld Teach Pendant DTV Series User Manual 2.7.3.2 Modbus Info (Read Only) This page allows the user to read Modbus address information, as shown in Figure 2-44. The user can enter the Modbus address from 0x0000 to 0x1FFF, set the data length to Word or Double Word, set to...

  • Page 56: System

    System This page provides access to home, controller IP information, and other settings, as shown in Figure 2-45. Figure 2-45 System - GoHome 2.8.1 Home to switch to the Home screen, where you can return the axes to the origin by executing Go Home, as shown in Figure 2-45.

  • Page 57: Controller

    2. Tab Operation and Function Instructions 2.8.2 Controller IP to switch to the Controller IP screen, where you can obtain the current controller IP or set the controller IP, as shown in Figure 2-46. Follow this step to obtain the current controller IP: 1.

  • Page 58: 2.8.3 Other

    Handheld Teach Pendant DTV Series User Manual Figure 2-48 System settings - set controller IP 2.8.3 Other 2.8.3.1 Select Language You can set the system language to Traditional Chinese, Simplified Chinese, English, or Korean in this page, as shown in Figure 2-49.

  • Page 59: Figure 2-50 Rotation Axis Rotation Count

    2. Tab Operation and Function Instructions 2.8.3.2 Joint Rotation Count (JRC) Operation The rotation range for the rotation axes of the DRV model (J4 and J6) is one rotation in the forward direction and the other in the backward direction (namely two circles); the same position may be reached by clockwise or counterclockwise rotation.

  • Page 60: Figure 2-53 System Settings - Select Axis Rotation Operation Mode

    Handheld Teach Pendant DTV Series User Manual Figure 2-53 System settings - select axis rotation operation mode Figure 2-54 System settings - displays axis rotation operation mode For the DRV 6-axis model, when you set the JRC Operation to 0 (the JRC_Active field displays 0) and use User Frame to teach points, the rotation axis rotates to the target position which is 180°...

  • Page 61: Figure 2-57 Joint Rotation Count Function Mode 1

    2. Tab Operation and Function Instructions When you set the JRC Operation to 1 (the JRC_Active field displays 1), the rotation axis moves to the target point according to the rotation direction preset by the user and records the rotation count, as shown in Figure 2-57.

  • Page 62: Servo Setting

    Handheld Teach Pendant DTV Series User Manual Servo Setting This page allows you to switch the servo motor to On / Off, including All Axes Servo On / Off and Individual Axis Servo On / Off, and displays the current status of the robot arm, as shown in Figure 2-60.

  • Page 63: Figure 2-62 Servo Setting - First Axis Servo On

    2. Tab Operation and Function Instructions 2. Individual Axis Servo On/Off. Take J1 axis for example. A. In Figure 2-60, press to have the first axis switch to Servo On and it changes to when complete, as shown in Figure 2-62. B.

  • Page 64: External Axis

    Handheld Teach Pendant DTV Series User Manual 2.10 External Axis When the teach pendant is powered on, it automatically detects whether there is an external axis connected. If there is an external axis connected to the robot, the menu on the left displays the External Axis option (Ext), as shown in Figure 2-64, and the external axis information is displayed as shown in Figure 2-65.

  • Page 65: External Axis Jog

    2. Tab Operation and Function Instructions Values (hexadecimal) returned by external devices are as follows: 0: Not Connected 1: Servo Drive A2-F Series 2: Servo Drive M-F Series 3: ASD-DMC-RM32NT (remote expansion module with 32 DOs, transistor output) 4: ASD-DMC-RM64NT (remote expansion module with 64 DOs, transistor output) 5: ASD-DMC-RM32PT (remote expansion module with 16 DIs / 16 DOs, transistor output) 6: ASD-DMC-RM32MN (remote expansion module with 32 DIs, NPN/PNP) 7: ASD-DMC-RM64MN (remote expansion module with 64 DIs, NPN/PNP)

  • Page 66: External Axis Servo Switch

    Handheld Teach Pendant DTV Series User Manual 2.10.3 External Axis Servo Switch The external axis servo switch is different from that of the robot. Therefore, on the Servo tab, tap Ext. Servo on/off, and the first external axis for a 3- or 4-axis robot represents station 1, and the second external axis represents station 2, and so on.

  • Page 67: External Axis Point Teaching

    2. Tab Operation and Function Instructions 2.10.4 External Axis Point Teaching To perform point teaching, jog, or Goto on an external axis, switch the mode to External; press Ext. Teach to write the external axis information into the table. Column X represents the value of the first external axis, Y represents the value of the second external axis, and so on.

  • Page 68: Figure 2-71 External Axis Points - Point Table (3)

    Figure 2-71 External axis points - point table (3) Component appearance Function description 1. Select the target point data as shown in Figure 2-69. 2. Press this button to record the current position of the external axis. The data is recorded to the point table according to the index you selected in the unit of PUU and is saved to the corresponding memory location in the controller.
  • Page 69 Delta Electronics, Inc. No.18, Xinglong Rd.,Taoyuan City, Taoyuan County 33068 TEL:886-3-3626301 FAX:886-3-3716301 * The contents of this manual are subject to change without notice...

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