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PEITIAN ROBOTICS AIR-TP Manual

Teach pendant
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Teach Pendant Manual

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Summary of Contents for PEITIAN ROBOTICS AIR-TP

  • Page 1 Peitian Robot Teach Pendant Manual...
  • Page 3 "Operation Manual of AIR-TP Teach Pendant” Foreword 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.
  • Page 4 "Operation Manual of AIR-TP Teach Pendant” Foreword The information about this document is shown in Table 2. Table 2 Information about this document "Operation Manual of AIR-TP Teach Document name 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.

  • Page 5: Table Of Contents

    "Operation Manual of AIR-TP Teach Pendant” Contents Contents Foreword ..............................I Contents ..............................1 Precautions for Safety ........................1 Operation environment ........................1 Safety procedures ..........................1 Overview of Teach Pendant ......................2 Overview............................. 2 Labels ..............................2 Composition ............................3 2.3.1...
  • Page 6 "Operation Manual of AIR-TP Teach Pendant” Contents 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 Message bar............................. 20 4.9.1 Message category ..........................21 4.9.2 Time sequence/set time ........................23 4.9.3...
  • Page 7 "Operation Manual of AIR-TP Teach Pendant” Contents 6.2.1 1st generation cabinet IO ......................... 85 6.2.2 2nd generation cabinet IO ........................ 92 6.2.3 Standard cabinet IO.......................... 97 Safety Zone ............................ 103 6.3.1 Tool envelope ..........................104 6.3.2 Axis envelope ..........................106 6.3.3...
  • Page 8 "Operation Manual of AIR-TP Teach Pendant” Contents Developer ............................150 8.8.1 Log assistant ..........................150 Extension ............................. 153 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...

  • Page 9: Contents

    "Operation Manual of AIR-TP Teach Pendant” Precautions for Safety Precautions 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.

  • Page 10: Overview Of Teach Pendant

    Overview of Teach Pendant 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.

  • Page 11: Composition

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant 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: The serial number of the teach pendant in Fig. 2-4 is identical with that on the nameplate of the teach pendant;...
  • Page 12 "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant 11. Stylus (b) Top view 9. Multi-grip handle 8. Enable button (c) Right view Fig. 2-5 Schematic diagram of components of teach pendant Table 2-1 Description of components of teach pendant...

  • Page 13: Mode Switch Key

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant 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. Mode switch key Fig. 2-6 Mode switch key Fig.

  • Page 14: Control Button

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant Enable button Fig. 2-8 Teach pendant enable button Fig. 2-9 Enable status bar Continue to hold the button. At this time, the third button position will be activated, and the robot will be disabled (hearing a "click"...

  • Page 15: Function Button

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant Sign Single-axis mode Cartesian mode Pause program operation Control the TCP of the manipulator to move in the forward direction Control one axis of the manipulator of X, Y or Z axis, and also control the TCP of the manipulator to...

  • Page 16: Indicator

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant Operation method: 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.

  • Page 17: Connection

    "Operation Manual of AIR-TP Teach Pendant” Overview of Teach Pendant 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.

  • Page 18: Login Interface

    "Operation Manual of AIR-TP Teach Pendant” Login Interface Login Interface 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".

  • Page 19: System Upgrade

    "Operation Manual of AIR-TP Teach Pendant” Login Interface 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.

  • Page 20: Main Interface

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Main Interface 1. Running st 4. Channel atus bar loading program 5. System soft 2. Channel mechani keyboard cal unit name 6. System time 3. Coordinate system 10. Menu area 7. System enable/dis able status 12.

  • Page 21: Running Status Bar

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Running status bar The schematic diagram of the running status bar is shown in Fig. 4-2. It mainly includes 4 types, which represent the continuous mode status, cyclic mode status, program running status and control mode from front to rear.

  • Page 22: Control Mode

    "Operation Manual of AIR-TP Teach Pendant” Main Interface 4.1.4 Control mode "Control mode" includes 3 types, as shown in Table 4-5. For switching between different modes, please refer to Section 2.3.1. Table 4-5 Description of 3 types of "Control Mode”...

  • Page 23: System Time

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Fig. 4-7 System soft keyboard System time Click “ ” icon in the top right corner on main interface to pop up “Time Setting" dialog box in Fig. 4-8, displaying the specific date and time. You can set the date and time using “+" and "-" buttons on the left and right of the number.

  • Page 24: Jog Running Settings

    "Operation Manual of AIR-TP Teach Pendant” Main Interface running settings Click “ ” icon in the upper left corner on main interface to pop up “JOG" running parameter setting dialog box, as shown in Fig. 4-9. It mainly includes the settings of axis control mode, speed, step, tool, coordinate system and other related parameters.

  • Page 25: Speed

    "Operation Manual of AIR-TP Teach Pendant” Main Interface 4.8.2 Speed The user can adjust the running speed of the manipulator as shown in Fig. 4-11. For details about speed adjustment, please refer to Table 4-8. Fig. 4-11 Speed settings Table 4-8 Description of speed adjustment...

  • Page 26: Tool

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Table 4-9 Step magnification description Magnification Meaning Description × 1[0.05DEG/MM] Each step length is 0.05 deg/mm After pressing “ ” or “ ” control button, × 5[0.25DEG/MM] Each step length is 0.25 deg/mm the operator will keep moving until the button is released ×...
  • Page 27 "Operation Manual of AIR-TP Teach Pendant” Main Interface Fig. 4-14 Manual reference coordinate system selection interface Table 4-10 Description of coordinate system Name Legend Description It is also known as absolute coordinate system, is an invariant Cartesian coordinate system that is based on the earth, and is the origin coordinate...

  • Page 28: Other

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Name Legend Description Its origin is the tool center point (TCP). The J6 axis of the robot is connected to the working point of the end actuator. The user-written movement trajectory is actually the trajectory of TOOL the point.

  • Page 29: Message Category

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Table 4-11 Description of system message Icon Description Warning type messages and quantity Error type messages and quantity Current message, displaying the latest message, including time and content. Clicking the button can display or hide the message list (see Fig.
  • Page 30 "Operation Manual of AIR-TP Teach Pendant” Main Interface Fig. 4-19 Historical alarm...

  • Page 31: Time Sequence/Set Time

    "Operation Manual of AIR-TP Teach Pendant” Main Interface 4.9.2 Time sequence/set time When displayed as "Current alarm", click “Time order" button to change the time sequence of the warning display. When displayed as "Historical alarm", swith “Time order" button to “Set Time" button. Click the button to pop up “Set the start time"...

  • Page 32: Menuarea

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Fig. 4-22 "Message Content" interface Fig. 4-23 Alarm details for "Main Code" 8002 Menuarea 4.10 The menu area is shown in Fig. 4-24. The description of each option in the menu area is shown in Table 4-13.

  • Page 33: System Sidebar (Axis Indication)

    "Operation Manual of AIR-TP Teach Pendant” Main Interface Table 4-13 Description of menu area Menu Description Open the window or dialog box related to the robot operation. For details, please refer to Section 5. Open the real-time position and IO status window or dialog box. For details, please refer to Section Monitor Perform file management and program editing related operations.

  • Page 34: Running

    "Operation Manual of AIR-TP Teach Pendant” Running Running Fig. 5-1 Fig. 5-2 The expanded view of “Run Menu" is shown in . The entry of “Run Menu" is shown in . The contents of parts in “Run Menu" are described below.
  • Page 35 "Operation Manual of AIR-TP Teach Pendant” Running For details about function on “Tool Bar" of the program debugger, please refer to Table 5-1. Table 5-1 Description of "Tool Bar" of program debugger Icon Name Function Load any ARL program in “File Manager”. After loaded successfully, open the program in the program debugger and display “Program Pointer"...

  • Page 36: Program Editor

    "Operation Manual of AIR-TP Teach Pendant” Running Icon Name Function Click “Edit" button, and then the program will skip to “Program Editor" interface. Then Edit you can edit the program. Select to track “Motion pointer”. Tracking pointers include two types of pointers:...

  • Page 37: Insert Instruction

    "Operation Manual of AIR-TP Teach Pendant” Running Icon Name Function Paste Paste the selected text to the current cursor position Comment Click “Comment" button to comment out the current line with "//" Remove Cancel the original comment Comment Open Open the program file...

  • Page 38: Movement Instruction

    "Operation Manual of AIR-TP Teach Pendant” Running Click “Insert Cmd” button in the toolbar of the program editor to pop up a menu of instruction to be inserted, including logic control, process control, movement instructions, etc. For details, please refer to the instruction menu shown in Fig.
  • Page 39 "Operation Manual of AIR-TP Teach Pendant” Running Click “..." button after the axis position variable j to pop up “j variable" display box in Fig. , which displays the current position information of the robot body axis and the external axis.
  • Page 40 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-14 "s variable" setting box Click “Insert” button shown in Fig. 5-11to pop up “Are you need to create the variable j1" dialog box in Fig. 5-15, and click “ " button. The instruction is inserted successfully.
  • Page 41 "Operation Manual of AIR-TP Teach Pendant” Running Click “..." button after the position variable p to pop up “p variable" display box in Fig. 5-17, which displays the position information of the current TCP of the robot body relative to the workpiece coordinate system and the current position information of the external axis.
  • Page 42 "Operation Manual of AIR-TP Teach Pendant” Running The lin linear movement instruction is used to move the TCP of the robot along a straight path to the target point pose; the position movement is synchronized with the posture rotation. Insertion steps: Click ”...
  • Page 43 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-21 "cir" instruction box For the view and modification of the auxiliary point m and the target point p, please refer to the modification method of the target point p in “cir" instruction.
  • Page 44 "Operation Manual of AIR-TP Teach Pendant” Running Click the edit boxes behind the variables r, n, h and c one after one, and enter the corresponding values according to the actual operating conditions. For the modification of the parameters v and s, please refer to the modification of the corresponding parameters in “PTP"...
  • Page 45 "Operation Manual of AIR-TP Teach Pendant” Running Click “..." button behind the variable vibrat to pop up “vibrat variable" display box, as shown in Fig. 5-25. Modify the specific parameter values according to the actual needs. After the modification is completed, click “Yes"...
  • Page 46 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.1.7 endweave instruction The endweave instruction is used to end the overlay trajectory. Insertion steps: Click “Insert Cmd> Motion Control>endweave" option in the toolbar of the program editor to pop up “endweave" instruction box, as shown in Fig. 5-27.
  • Page 47 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-29 "waitwobj" instruction box Click the edit box behind the parameter w and enter the name of the associated workpiece coordinate system. Click the edit box behind the parameter “reldist” and enter the delay start distance to be tracked on the conveyor.
  • Page 48 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.1.8.3 actunit instruction The actunit instruction is used to activate the mechanical unit of the conveyor. It usually appears at the start of the conveyor program and is used to enable conveyor-related I/O.
  • Page 49 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.1.9 Soft float 5.3.1.9.1 startsoftfloat instruction startsoftfloat is to start the soft float function based on torque loop control. Insertion steps: Click “ > Soft Float> startsoftfloat" option in the toolbar of the Insert Cmd>...
  • Page 50 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.1.10 Tool compensation 5.3.1.10.1 startcompen instruction The startcompen instruction is used to start the tool compensation function. Insertion steps: > Click “Insert Cmd> Motion Control Tool Compensation> startcompen" option in the toolbar of the program editor to pop up “startcompen"...
  • Page 51 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.1.10.2 endcompen instruction The endcompen instruction is used to end the tool compensation function. Insertion steps: > Click “Insert Cmd> Motion Control Tool Compensation> endcompen" option in the toolbar of the program editor to pop up “endcompen" instruction box, as shown in Fig. 5-37.

  • Page 52: Logic Control

    "Operation Manual of AIR-TP Teach Pendant” Running 5.3.2 Logic control Logic control instructions include “if” conditional branch, “while” loop, etc. When inserting one of the logic control instructions, the auxiliary programming will provide the program frame of the instruction. The "if" instruction is taken as an example to describe the steps of inserting the logic control instructions, and “if”...
  • Page 53 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-40 "waittime" instruction box Click the edit box behind the parameter “time" and enter the waiting time. Click “Insert” button, and then the instruction is inserted successfully. For details about “waittime” instruction, please refer to “ARL Programming Manual”.
  • Page 54 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.3.3 exit instruction The exit instruction is used to exit the program execution. Even if the cyclic running mode is set, the program execution will be exited when an exit instruction is encountered, without restarting the program. If you want to restart the program after exiting, please use the restart instruction (please refer to Section 5.3.3.5).
  • Page 55 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.3.5 restart instruction The restart instruction is used to restart the program. After executing the instruction, the program will reset and return to the main function entry for execution. Insertion steps: Click “Insert Cmd> Process Control> restart" option in the toolbar of the program editor to pop up “restart"...
  • Page 56 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-45 “stopmove" instruction box Click the edit box behind the parameter “type”, and enter the stop type “general” or “fast” according to the actual needs. Click “Insert” button, and then the instruction is inserted successfully.

  • Page 57: Interrupt Trigger

    "Operation Manual of AIR-TP Teach Pendant” Running 5.3.3.8 replanmove instruction The replanmove instruction is used to replan the movement instruction ended by stopmove based on the current TCP. Insertion steps: Click “Insert Cmd> Process Control> replanmove" option in the toolbar of the program editor to pop up “replanmove"...
  • Page 58 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-48 "interrupt" instruction box Click the edit box behind the parameter “name” and enter the interrupt name. Click the edit box behind the parameter “priority” and enter the interrupt priority. The parameter can be defaulted.
  • Page 59 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.4.3 disableint instruction The disableint instruction is used to shield the interrupts that are declared previously. For the insertion steps, please refer to “enableint" instruction. 5.3.4.4 delint instruction The delint instruction is used to delete the interrupts that are declared previously. For the insertion steps, please refer to “enableint"...
  • Page 60 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-51 "timer" instruction box Click the edit box behind the parameter “name”, and enter the interrupt name. Click the edit box behind the parameter “priority”, and enter the interrupt priority. Click the edit box behind the parameter “interval”, and enter the interrupt interval.

  • Page 61: Auxiliary Instruction

    "Operation Manual of AIR-TP Teach Pendant” Running 5.3.5 Auxiliary instruction 5.3.5.1 print instruction The print instruction is used to print the output to a certain position. You can use the function to print the value of one or more expressions to the HMI message bar, USB, a specified file, or a string. The instruction is mostly used for program debugging.
  • Page 62 "Operation Manual of AIR-TP Teach Pendant” Running Click the edit box behind the parameter “from”, and enter the defined string variable name. Click the parameter “delimiter”, and enter the delimiter. Click the parameter “argtosave”, and enter the name of the variable to which it is saved.
  • Page 63 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.5.4 logdataon instruction The logdataon instruction indicates that the interpolation data is started to be recorded. Insertion steps: Click “Insert Cmd> auxiliary command> logdataon" option in the toolbar of the program editor to pop up “logdataon"...
  • Page 64 "Operation Manual of AIR-TP Teach Pendant” Running Insertion steps: Click “Insert Cmd> auxiliary command> velset" option in the toolbar of the program editor to pop up “velset" instruction box, as shown in Fig. 5-58. Fig. 5-58 "velset" instruction box Click the edit box behind the parameter “overside”, and enter the speed percentage value.
  • Page 65 "Operation Manual of AIR-TP Teach Pendant” Running 5.3.5.8 toolload instruction The toolload instruction is used to set the load parameters when the program is running. Click “Insert Cmd> auxiliary command> toolload" option in the toolbar of the program editor to pop up “toolload"...

  • Page 66: User Subprogram

    "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-62 "toolswitch" instruction box Enter the tool serial number in the pop-up toolswitch instruction box, and the inertia represented by the serial number can be modified and viewed in "System> Parameter Configuration> Global> TOOLINERTIA".
  • Page 67 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-63 "Insert User Subprogram" interface Fig. 5-64 “Path Selection” dialog box The programs that can be inserted under the folder (the program contains the subprograms that can be inserted) will be displayed in “Insert User Subprogram" interface, as shown in Fig. 5-65.
  • Page 68 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-65 Subprogram is inserted along with its path In “Subprogram" display box, click the program to which the subprogram belongs (EXT_CTRL_TESTluan + 0723.arl). At this time, “Function" display box will list all the subprograms contained in the selected program.

  • Page 69: Feature Pack

    "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-67 Subprogram is inserted along with its path (if it is not in the same path as the main program) If the subprogram to be inserted is in the same path as the main program, highlight the subprogram to be inserted and click “Yes"...

  • Page 70: Insert Function

    "Operation Manual of AIR-TP Teach Pendant” Running Insert function Here, “atan" function in mathematics is used as an example to describe the method of inserting the function. Atan is an arctangent function and is used to calculate the arctangent value.

  • Page 71: Coordinate System Measurement

    "Operation Manual of AIR-TP Teach Pendant” Running Coordinate system measurement Select "Main Interface> Menu Area> Run> Coordinate System Measurement" option to enter “Coordinate System Measurement” interface, as shown in Fig. 5-70. The coordinate system measurement includes "Tool Coordinate System Measurement", "Workpiece Coordinate System Measurement" and "Base Coordinate System Measurement".
  • Page 72 "Operation Manual of AIR-TP Teach Pendant” Running Setting method: Select "Tool Coordinate System" in “Coordinate System Type", as shown in Fig. 5-71. Click the cell in the line of “Tool Coordinate System" to be set, keep it editable, and modify X, Y, Z, A, B, C to the required values through the keypad.
  • Page 73 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-74 "Save Succeeded " dialog box The "Input Method" can be used only when the specific values of the workpiece coordinate system X, Y, Z, A, B, C are known. 5.5.1.2 Calibration method 5.5.1.2.1...
  • Page 74 "Operation Manual of AIR-TP Teach Pendant” Running (a) 1 point calibrated successfully (b) 2 points calibrated successfully (c) 3 points calibrated successfully...
  • Page 75 "Operation Manual of AIR-TP Teach Pendant” Running (d) 4 points calibrated successfully Fig. 5-76 Status change in “Four-point Method” calibration process After all calibrations are completed, click “Calculation" button at the bottom of Fig. 5-76 to calculate the error. If the error exceeds the range, “Calibration Failed, Please measure it again!" dialog box will pop up, as shown in Fig.
  • Page 76 "Operation Manual of AIR-TP Teach Pendant” Running After highlighting the line where wobj0 is located, click “3-point Method" at the bottom left to pop up “3-point Method" calibration interface, as shown in Fig. 5-81. Select the tool coordinate system used to calibrate the workpiece coordinate system (previously calibrated tool0) in the toolbar on the interface.
  • Page 77 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-82 Status change in "Three-point Method" calibration process Repeat Step 3 to complete the calibration. 5.5.1.2.2 Moveable workpiece + fixed tool In the robot application case, there is a robot end flange to hold the workpiece, and the tool is fixed to a specified position, which is defined as moveable workpiece + fixed tool, that is, external TCP.
  • Page 78 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-84 "Four-point Method" calibration interface Next, follow the instructions given in the figure to perform the calibration. After each point is calibrated  successfully, the front status will change from X into (see Fig.
  • Page 79 "Operation Manual of AIR-TP Teach Pendant” Running (c) 3 points calibrated successfully (d) 4 points calibrated successfully Fig. 5-85 Status change in “Four-point Method” calibration process After all calibrations are completed, click “Calculate" button at the bottom of Fig. 5-83 to calculate the error.
  • Page 80 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-88 "Saved Successfully" dialog box Select "Tool Coordinate System" in "Coordinate System Type", and copy the values (X, Y, Z, A, B, C) of the calibrated workpiece coordinate system wobj1 to the tool coordinate system tool1.
  • Page 81 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-91 "Three-point Method" calibration interface Next, follow the instructions given in the figure to perform the calibration. After each point is calibrated  successfully, the front status will change from X into (see Fig.

  • Page 82: Base Coordinate System

    "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-92 Status change in "3-point Method" calibration process Repeat Step 3 to complete the calibration. 5.5.2 Base coordinate system "Base Coordinate System Measurement" has two methods: "Input Method" and "Calibration Method". 5.5.2.1 Input method You can set the base coordinate system by inputting, as shown in Fig.
  • Page 83 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-94 "Saved Succeeded" dialog box The "Input Method" can be used only when the specific values of the base coordinate system X, Y, Z, A, B, C are known. 提示 5.5.2.2 Calibration method The base coordinate system is set by the calibration method.
  • Page 84 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-96 Select reference mechanical unit When “World Coordinate System” is selected as the reference coordinate system, the calibration can be performed according to the operation instructions given in the figure. After each point is calibrated ...
  • Page 85 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-97 Status change in calibration process After all calibrations are completed, click “Calculation" button at the bottom of Fig. 5-97 to calculate the error. If the error exceeds the range, “Calibration Failed! Please measure it again!" dialog box will pop up, as shown in Fig.

  • Page 86: Calibration

    "Operation Manual of AIR-TP Teach Pendant” Running Calibration As shown in Fig. 5-101, “Calibration” includes 4 options: “Zero Calibration”, “Fast Calibration”, “Conveyor belt Calibration” and “Positioner Calibration”. Fig. 5-101 "Calibration" list 5.6.1 Zero calibration For details about "Zero Calibration", please refer to Table 5-3.

  • Page 87: Conveyor Calibration

    "Operation Manual of AIR-TP Teach Pendant” Running Power off, replace the motor/reducer (keep the axis position unchanged, without displacement), and restart the system. Re-enter “Fast Calibration” interface in Fig. 5-102, and click “Calibration” button behind any axis or “All Calibrations” button below, and “Do you need to re-calibrate?” dialog box will pop up, as shown in Fig.
  • Page 88 "Operation Manual of AIR-TP Teach Pendant” Running Click “Open" button above to pop up “Select File" dialog box in Fig. 5-105, highlight the file to be opened, and click “Select" button. When the program opens in the editor, its related information will be displayed in “Point Corrector", as shown in Fig.
  • Page 89 "Operation Manual of AIR-TP Teach Pendant” Running Fig. 5-107 Description of "Point" list related buttons After opening the program in “Point Corrector", “Point Coordinate" bar will display “Coordinate System" information and "Pose" information of the current point selected in “Point" list. You can manually change “Reference Coordinate System"...

  • Page 90: Setting Of Hand Guiding

    "Operation Manual of AIR-TP Teach Pendant” Running The "Point Corrector" function also supports "One-click movement to the point". Operation method: Select the point to move to in “Point” list, as shown in Fig. 5-108. Then click “Move to the point" button to pop up "The system will move to the point by manual PTP, there may be interference during movement, please note!”...

  • Page 91: Monitoring

    "Operation Manual of AIR-TP Teach Pendant” Monitoring Monitoring The expanded view of "Monitoring Menu" is shown in Fig. 6-1. The entry of "Monitoring Menu" is shown in Fig. 6-2. The contents of parts in “Monitoring Menu" are described below. Real-time...
  • Page 92 "Operation Manual of AIR-TP Teach Pendant” Monitoring As shown in Fig. 6-4: The user can select the Cartesian position coordinate system, which can refer to the world coordinate  system, the base coordinate system, or the user-defined user coordinate system.

  • Page 93: 1St Generation Cabinet Io

    "Operation Manual of AIR-TP Teach Pendant” Monitoring When the entered number exceeds the limit of the robot's single-axis movement, the background color of the number box will be in red and cannot be saved. The "There is an axis exceeding the range of movement, and the home point cannot be saved"...
  • Page 94 "Operation Manual of AIR-TP Teach Pendant” Monitoring The user DI interface supports comments of each signal. Click “Edit Comment" button in the bottom left corner of the interface, and the content displayed by the button will immediately change to "Save Comment". Enter the content to be added in the input box behind each signal, and then click “Save Comment"...
  • Page 95 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.2.1.1.2 System DI The status of function of the system DI is displayed on the system DI interface, as shown in Fig. 6-9. If an external control function is triggered, the corresponding signal indicator will come on. The robot control cabinet calculates the program number according to the relevant system DI, that is, the PGNO value, and then executes the corresponding subprogram according to the program number.
  • Page 96 "Operation Manual of AIR-TP Teach Pendant” Monitoring Table 6-2 Correspondence between the logic address of 1-16 DI and the pin number of X24 Logic address of 1-16 DI Pin number of X24 Table 6-3 Correspondence between logic address of 17-26 DI and pin number of X23...
  • Page 97 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.2.1.2 DO signal The 1-28 DOs on the user DO interface are all available DOs provided by the control system. The 28 DOs are shared by the system DO, the user DO and the body DO, as shown in Fig. 6-12. For the allocation method, please refer to Table 6-4.
  • Page 98 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.2.1.2.2 System DO The output status of function of the system DO is displayed on the system DO interface, as shown in Fig. 6-13. If the DO function of a system is output, the corresponding signal indicator will come on. The robot control cabinet uses the received legal program number as the PGNOACK value and outputs it to the external controller through the relevant system DO, so as to check whether the program number is correct.
  • Page 99 "Operation Manual of AIR-TP Teach Pendant” Monitoring The physical interface on the control cabinet of 1-16 DO is X24, and the physical interface on the control cabinet of 17-18 and 27-29 DO is X23. Therefore, if the system DO functions are configured to the logic addresses of 1-16 DO, you should trigger the system DO on the pins of the X24 external device (for the correspondence between the logic addresses of DO of 1-16 and the pin number of X24, please refer to Table 6-5);...

  • Page 100: 2Nd Generation Cabinet Io

    "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.2.2 2nd generation cabinet IO Select "Main Interface> Menu Area> Monitor> IO" option to enter "Display IO" interface. 6.2.2.1 DI signal The 1-21 DIs on the user DI interface are all available DIs provided on the 2nd generation cabinet. The 21 DIs are shared by the system DI, the user DI and the body DI, as shown in .
  • Page 101 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.2.2.1.2 System DI The status of function of the system DI is displayed on the system DI interface, as shown in Fig. 6-17. If an external control function is triggered, the corresponding signal indicator will come on. The robot control cabinet calculates the program number according to the relevant system DI, that is, the PGNO value, and then executes the corresponding subprogram according to the program number.
  • Page 102 "Operation Manual of AIR-TP Teach Pendant” Monitoring Logic address of 1-16 DI Pin number of X7 6.2.2.1.3 Safety DI The status of the safety DI signal is displayed in the safety DI tab, as shown in . The safety DI signal is Fig.
  • Page 103 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-20 User DO interface 6.2.2.2.2 System DO The output status of function of the system DO is displayed on the system DO interface, as shown in Fig. 6-21. If the DO function of a system is output, the corresponding signal indicator will come on. The robot control cabinet uses the received legal program number as the PGNOACK value and outputs it to the external controller through the relevant system DO, so as to check whether the program number is correct.
  • Page 104 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-21 System DO interface For the system DO, the user should configure the corresponding DO logic address for the function in the external control in the parameter configuration before use, as shown in Fig. 6-22. For details about parameter configuration, please refer to Section Fig.

  • Page 105: Standard Cabinet Io

    "Operation Manual of AIR-TP Teach Pendant” Monitoring Table 6-10 Correspondence between the logic address of 1-16 DO and the pin number of X7 Logic address of 1-16 DO Pin number of X24 6.2.2.2.3 Safety DO The status of the safety DO signal is displayed in the safety DO tab, as shown in Fig. 6-23. The safety DO signal is configured by default and does not need to be configured by the user.
  • Page 106 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-24 User DI interface 6.2.3.1.2 System DI The status of function of the system DI is displayed on the system DI interface, as shown in Fig. 6-25. If an external control function is triggered, the corresponding signal indicator will come on. The robot control cabinet...
  • Page 107 "Operation Manual of AIR-TP Teach Pendant” Monitoring calculates the program number according to the relevant system DI, that is, the PGNO value, and then executes the corresponding subprogram according to the program number. Fig. 6-25 System DI interface For the system DI, the user should configure the corresponding DI logic address for the function in the external control in the parameter configuration before use, as shown in Fig.
  • Page 108 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-27 Safety DI interface 6.2.3.2 DO signal The 1-40 DOs on the user DO interface are all available DOs provided by the control system, as shown in Fig. 6-28. The 40 DOs are shared by the system DO and user DO. The user can arbitrarily allocate the 40 DOs to the user DO and system DO.
  • Page 109 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-28 User DO interface 6.2.3.2.2 System DO The output status of function of the system DO is displayed on the system DO interface, as shown in Fig. 6-29. If the DO function of a system is output, the corresponding signal indicator will come on. The robot control cabinet uses the received legal program number as the PGNOACK value and outputs it to the external controller through the relevant system DO, so as to check whether the program number is correct.
  • Page 110 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-29 System DO interface For the system DO, the user should configure the corresponding DO logic address for the function in the external control in the parameter configuration before use, as shown in Fig. 6-30. The logic address of 1-40 DIs corresponds to the pin number on MF.

  • Page 111: Safety Zone

    "Operation Manual of AIR-TP Teach Pendant” Monitoring Safety Zone In many production processes, a workstation requires two (see Fig. 6-32) or even multiple robots to work together, such as transportation of large objects, welding of workpieces, etc. Handling robot Tool model Grinding robot Fig.

  • Page 112: Tool Envelope

    "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.3.1 Tool envelope 6.3.1.1 Tool envelope group As shown in Fig. 6-33, you will see “Envelope" option. After opening “Envelope" drop-down list, you will see Envelope 1, Envelope 2, Envelope 3 and Envelope 4, which four are optional for Tool Envelope. Max 6 envelope balls can be set in each group, that is, a tool can be wrapped by a max of 6 envelope balls.
  • Page 113 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.3.1.2 Tool envelope settings Click on any line where any tool envelope balls is located in Fig. 6-34, and you can edit the information of the envelope balls in the pop-up interface, as shown in Fig. 6-36.

  • Page 114: Axis Envelope

    "Operation Manual of AIR-TP Teach Pendant” Monitoring Envelope ball radius The envelope ball radius is represented by the letter r. The user can set the envelope ball radius according to the size and position of the tool. Envelope enable When "√" is displayed in front of “Enable" button, it indicates that the envelope is enabled. When displayed in blank, it indicates that the envelope is not enabled.

  • Page 115: Setting Of Safety Zone

    "Operation Manual of AIR-TP Teach Pendant” Monitoring For the radius of the J3 and J5 joint envelope balls in the model parameters of mechanical unit, please refer to Table 6-11. Table 6-11 Information about J3 and J5 envelope balls for different body models...
  • Page 116 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-41Setting interface of cuboid working zone If you want to uniquely determine the working zone of the cuboid, you need to calculate the two points A and B on the diagonal of the cuboid, as shown in Fig. 6-42. The A and B points can be determined through teaching method or manual input method.
  • Page 117 "Operation Manual of AIR-TP Teach Pendant” Monitoring Manual input method Specific process: On the precondition of knowing the specific positions of the points A and B on the diagonal of the cuboid, the user can manually enter the coordinates of points A and B directly into the table in Fig. 6-44.
  • Page 118 "Operation Manual of AIR-TP Teach Pendant” Monitoring If you want to uniquely determine the working zone of the cylinder, you need to calculate the teach points 1, 2 on the bottom circle of the cylinder and the height (h) of the cylinder. As shown in Fig. 6-47, the distance between the teach points 1, 2 is the diameter of the bottom circle (2r), and the center point of the teach points 1, 2 is the center of the bottom circle (c).
  • Page 119 "Operation Manual of AIR-TP Teach Pendant” Monitoring Manual input method Specific process: On the precondition of knowing the specific position of the center of bottom circle (c) of the cylinder, the radius of the bottom circle (r) and the height (h) of the cylinder, the user can manually enter the known data directly into the table in Fig.
  • Page 120 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-51 Setting interface of ball working zone If you want to uniquely determine the working zone of the ball, you need to calculate the teach points 1, 2 on the ball. As shown in Fig. 6-52, the distance between the two points is the diameter of ball (2r), and the center point between the two points is the center of ball (c).

  • Page 121: Use Of Safety Zone

    "Operation Manual of AIR-TP Teach Pendant” Monitoring After obtaining the center of ball and the radius of ball, you need to click “Applicate” button to write the calculated ball Safety Zone into the database, and then the setting of the ball Safety Zone will be completed.
  • Page 122 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-57 Editing interface of Safety Zone Table 6-12 Description about contents in Safety Zone Contents Meaning Name The default names are Zone_1, Zone_2, Zone_3 ..., and the user can also customize them.
  • Page 123 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.3.4.2 Example of use of working zone Fig. 6-58 Schematic diagram of model used in example of use of working zone Before the situation shown inFig. 6-58is used for demonstration of use in the working zone (ball), you must complete “Tool Envelope”...
  • Page 124 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-60 Editing interface of working zone "Sphere” When both “Tool Envelope” and “Axis Envelope” are enabled, it can be seen from Fig. 6-61that the robot’s J5 “Axis Envelope” and “Tool Envelope” are all in the working zone "Sphere" status.
  • Page 125 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-63 Robot’s “Tool Envelope” outside working zone Fig. 6-64 Warning message of “Axis Envelope” outside working zone After clearing the warning message, power on and continue to control the robot to move outside the working zone (see Fig.
  • Page 126 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.3.4.3 Use of prohibited zone After “Prohibited Zone” is enabled, the system will immediately monitor whether the robot envelope boundary attempts to enter the prohibited zone. At the periphery of the prohibited zone, the system will automatically calculate the max stopping interval that expands outside the prohibited zone according to the current robot running speed, that is, the stop buffer.
  • Page 127 "Operation Manual of AIR-TP Teach Pendant” Monitoring 6.3.4.4 Example of use of prohibited zone Before the situation shown in Fig. 6-66is used for demonstration of use in the prohibited zone, you must complete “Tool Envelope” and "Safety Zone" settings. Fig. 6-66 Schematic diagram of model used in example of use of prohibited zone Setting process: Setting of tool envelope.
  • Page 128 "Operation Manual of AIR-TP Teach Pendant” Monitoring Fig. 6-68 Editing interface of prohibited zone "Sphere” When both “Tool Envelope” and “Axis Envelope” are enabled, it can be seen from Fig. 6-69that the robot’s “Axis Envelope” and “Tool Envelope” boundaries are within an interval without warning outside the prohibited zone “Sphere”.
  • Page 129 "Operation Manual of AIR-TP Teach Pendant” Monitoring When the robot is controlled to approach the prohibited zone “Sphere”, the system will detect that the robot’s J5 “Axis Envelope” boundary starts to enter the stop buffer and send a warning. For details about the warning message, please refer to Fig.
  • Page 130 "Operation Manual of AIR-TP Teach Pendant” Monitoring When the robot is already in the stop buffer or prohibited zone (see Fig. 6-71), if you want to move the robot out of the zone, you should keep in mind: when the enable of the prohibited zone is not canceled, it is not allowed to move the robot through running the program in T1 mode, otherwise the system will send a warning;...

  • Page 131: File

    "Operation Manual of AIR-TP Teach Pendant” File File The expanded view of "File Menu" is shown in Fig. 7-1. The entry of "File Menu" is shown in Fig. 7-2. The contents of parts of “File Menu” are described below. File management...

  • Page 132: File Backup

    "Operation Manual of AIR-TP Teach Pendant” File Table 7-1 Description of functions of file management "Toolbar” Icon Name Function Create a folder in the current directory. At this time, the user can rename New Folder the created folder via the system soft keyboard.

  • Page 133: Restore Backup

    "Operation Manual of AIR-TP Teach Pendant” File After the backup is completed, you can click “Main Interface> Menu Area> File> File Management> File Backup” option to enter the interface shown in and view the files backed up. Fig. 7-4 “File Backup” interface Fig.

  • Page 134: Configuration File

    "Operation Manual of AIR-TP Teach Pendant” File Fig. 7-7 “Import Program” interface 7.3.2 Configuration file Select "Main Interface> Menu Area> File> Restore Backup> Configuration File" option to pop up “Import Configuration" dialog box, as shown in Fig. 7-8. The user can find and highlight the configuration file compression package (XXX.tar) to be imported in USB, click “Select"...

  • Page 135: Coordinate System File

    "Operation Manual of AIR-TP Teach Pendant” File 7.3.3 Coordinate system file Select "Main Interface> Menu Area> File> Restore Backup> Coordinate System File" option to pop up “Import Coordinate System" dialog box, as shown in Fig. 7-9. The user can find and highlight the compression package of the coordinate system file (XXX.tar) to be imported in USB, click “Select"...

  • Page 136: System

    "Operation Manual of AIR-TP Teach Pendant” System System The expanded view of “System Menu" is shown in Fig. 8-1. The entry of "System Menu" is shown in Fig. 8-2. The contents of parts of “System Menu” are described below. Parameter configuration...

  • Page 137: Parameter Configuration

    "Operation Manual of AIR-TP Teach Pendant” System Parameter configuration Select "Main Interface> Menu Area> System> Parameter Configuration" option to enter “Parameter Configuration" interface shown in Fig. 8-3. Fig. 8-3 "Parameter Configuration" interface 8.1.1 Description of variables From the configuration file tab, you can select the corresponding tab to configure the parameters. The tab mainly includes the following parts: ...

  • Page 138: Setting Of Variables

    "Operation Manual of AIR-TP Teach Pendant” System Name Description Description To describe the functional attributes corresponding to the variable 8.1.2 Setting of variables The "SERVO_NUM (number of slaves)" in “Global" tab is taken as an example to describe the method of setting, modifying and saving the variables.
  • Page 139 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-6 Modification of variable value Fig. 8-7 “Modification of variable value completed” interface...
  • Page 140 "Operation Manual of AIR-TP Teach Pendant” System Click “Save" button at the bottom of Fig. 8-7, and the system will pop up “Save Selection” dialog box, as shown in Fig. 8-8. The user can select "Save configuration data of the current tab" or "Save configuration data of all tabs".
  • Page 141 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-10 "Parameter Saved Successfully!” dialog box If you want to return to the interface before setting the variable value, click “Refresh" button at the bottom of Fig. 8-7, click “Refresh" button below to return to the interface shown in Fig. 8-11.

  • Page 142: System Variables

    "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-12 “Restore Selection” dialog box Fig. 8-13 “Restore Selection” dialog box Fig. 8-14 “Restore Selection” dialog box System variables Select “Main Interface> Menu Area> System> System Variables" option to enter “System Variables"...

  • Page 143: System Configuration

    "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-15 "Parameter Configuration" interface System configuration 8.3.1 Setting of PLC slaves The PLC slave configuration function can help the user realize the configuration of some external expansion equipment. Here the configuration of PEB (Profinet External Board, namely the expansion board that supports Profinet protocol equipment) is taken as an example to describe the operation method.

  • Page 144: Setting Of Starting Area

    "Operation Manual of AIR-TP Teach Pendant” System Select "PEB" from the drop-down list on the right of "PLC Slave station Type", as shown in Fig. 8-18. Click “Confirm" button in the bottom right corner of the interface. After “Configuring PLC Slave station-2 successed, please reboot the system!"...

  • Page 145: System Settings

    "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-21 “Safety Zone Settings” interface The steps are as follows: Fill in or modify the max. and min. angles of the safe starting area of each axis (including the external axis). Click “Applicate" button to complete saving.

  • Page 146: Configuration Of Drive Parameters

    "Operation Manual of AIR-TP Teach Pendant” System 8.3.4 Configuration of drive parameters The user cannot change the drive parameters. If you want to change them, you must contact the after-sales personnel of the company. Appearance and Invididualization Click "System> Appearance and Invididualization" option to enter “Appearance and Invididualization" setting interface shown in Fig.

  • Page 147: Switch To Operator

    "Operation Manual of AIR-TP Teach Pendant” System and then click “Confirm" button. When “Password has been changed successfully!” dialog box in Fig. 8-27 pops up, the password has been changed successfully. Fig. 8-25 Password change interface Fig. 8-26 Password completion interface Fig.

  • Page 148: System And Update

    "Operation Manual of AIR-TP Teach Pendant” System System and update 8.6.1 System message Select "Main Interface> Menu Area> System> System and Update> System Information" option to enter “System Information" interface shown in Fig. 8-29. The interface contains the details such as version, time, authorization, storage and IP.

  • Page 149: Version Update

    As shown in Fig. 8-31, switch the path to the path where the HMI upgrade file is located, select the HMI upgrade file, click “Select" button to pop up “Upgrade AIR-TP to ****?" dialog box in Fig. 8-32, and click “Yes" button. When “Please power off and reboot to complete the HMI upgrade!” dialog box in Fig.
  • Page 150 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-32 "Upgrade HMI to the corresponding version" dialog box Fig. 8-33 "Power off and restart to complete HMI upgrade" dialog box 8.6.2.2 ARCS upgrade Upgrade process: Select “System> System and Update> Software Upgrade " option in the menu area on the main interface to pop up “Select Version"...
  • Page 151 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-35 Path where ARCS upgrade file is located Fig. 8-36 "Are you sure to upgrade ARCS to the corresponding version" dialog box Pop up “Upgrade the Database Option" interface shown inFig. 8-37, configure the options according to the needs (for details, please refer to Table 8-5.

  • Page 152: Firmware Update

    "Operation Manual of AIR-TP Teach Pendant” System Name Description Compared with the database before upgrade, the database after upgrade Only update the original updates the original parameter content only, and does not add or delete the database entries parameters. After upgrade, the database in the upgrade file will completely replace the Fully merge the database original database.
  • Page 153 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-39 "Please power off and restart to complete the ARCS upgrade!” dialog box Pop up “Upgrade" window shown in Fig. 8-40, find “PLC_MF" option in "Equipment Selection", and then click “Start Update" button. Pop up “Upgrade2---MF ***? " dialog box in Fig. 8-41, and click “Yes"...
  • Page 154 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-42 " Please power off and reboot to complete the PLC upgrade!" dialog box The method of updating other firmware of the standard cabinet is the same as that of MF. No further description is given here.
  • Page 155 "Operation Manual of AIR-TP Teach Pendant” System Fig. 8-44 "Please select the upgrade file" dialog box After "Are you sure to upgrade?” dialog box in Fig. 8-45 pops up click “Yes" button to pop up the upgrade progress bar. The CCB file upgrade will take about 1 min.

  • Page 156: Export Configuration

    "Operation Manual of AIR-TP Teach Pendant” System 8.6.4 Export configuration The export configuration function can complete the export of DCB and CCB configuration files. Specific process: Select "Main Interface> System> System and Update> Export Configuration" option to pop up "Save Configuration"...

  • Page 157: Restart And Logout

    "Operation Manual of AIR-TP Teach Pendant” System Restart and logout 8.7.1 Logout Select "Main Interface> Menu Area> System> Restart and Logout> Logout" option to log out the current user identity and return to the login interface. The user needs to log into the teach pendant again.

  • Page 158: Developer

    "Operation Manual of AIR-TP Teach Pendant” System Developer 8.8.1 Log assistant Select "Main Interface> Menu Area> System> Developer> Log Assistant" option to pop up “Log Assistant" interface shown in Fig. 8-52. Fig. 8-52 “Log Assistant” interface Click the drop-down list in the top left corner in Fig. 8-52to pop up the 4 display content types in Fig. 8-53. For details, please refer to Table 8-6.
  • Page 159 "Operation Manual of AIR-TP Teach Pendant” System Name Description The obtained message is output to the file (the log file in the/log/log directory) Message The obtained message is output to HMI (log assistant interface) Purpose The obtained message is output to the terminal (usually used by R&D personnel for debugging, and not used by the user) It will be used together with “HMI Tracking"...
  • Page 160 "Operation Manual of AIR-TP Teach Pendant” System 8.8.1.2 Historical message In addition to the existing “Configuration" option, the "Historical Message" interface (see Fig. 8-57) also includes “Message Type", "Clear" and "Page Turn" options. Different from "Real-Time Message", the display of "Historical Message" does not need to select the corresponding message source and message destination in “...

  • Page 161: Extension

    "Operation Manual of AIR-TP Teach Pendant” Extension Extension Feature pack management The feature pack management can implement installation, upgrade, uninstallation and authorization of the feature packs such as palletizing, bending and arc welding. In this section, “Quick Palletizing Feature Pack”...
  • Page 162 "Operation Manual of AIR-TP Teach Pendant” Extension Fig. 9-3 "Select Feature Pack Version" dialog box Fig. 9-4 Highlight installation file Fig. 9-5 "Are you sure to upgrade" dialog box After installation, "Please power off and resboot to complete the function pack installation!" will pop up, as...
  • Page 163 "Operation Manual of AIR-TP Teach Pendant” Extension Fig. 9-6 "Please power off and restart to complete the feature pack installation" dialog box After restarting, select “Main Interface> Menu Area> Extension" option, and you can see “Palletize_Quick " option highlighted in the list, as shown in Fig. 9-7. It indicates that “Quick Palletizing Feature Pack"...

  • Page 164: Authorization

    "Operation Manual of AIR-TP Teach Pendant” Extension 9.1.2 Authorization Authorization process: Contact our after-sales personnel to obtain the corresponding "authorization" documents. Put it in USB, and insert USB into USB interface on the teach pendant. Select "Main Interface> System> System and Update> Authorization Import" option, select “System"...

  • Page 165: Uninstall

    "Operation Manual of AIR-TP Teach Pendant” Extension Click “Package Management" option in “Extension" list again to enter “Package Management" interface shown in Fig. 9-12. If “Authorization Status" is "Permanent Authorization" or "Temporary Authorization", it indicates that the authorization is successful and can be used normally. Click “See Details"...

  • Page 166: Backup Data

    "Operation Manual of AIR-TP Teach Pendant” Extension Fig. 9-15 "Unload package palletize_quick successfully” dialog box 9.1.4 Backup data Backup process: Highlight the feature pack to be backed up in “Package Management" interface, click “Backup Data" button at the bottom left to pop up "Do you want to backup palletize_quick?" dialog box in Fig. 9-16 and click "Yes"...

  • Page 167: Vision

    "Operation Manual of AIR-TP Teach Pendant” Extension Import process: Highlight the feature pack to import data in “Package Management" interface, click “Import Data" button at the bottom left to pop up “Select Data" dialog box in Fig. 9-19, highlight the data file to be imported, and click “Select"...

  • Page 168: Other Functions

    "Operation Manual of AIR-TP Teach Pendant” Other Functions Other Functions 10.1 Collision detection function 10.1.1 Description of collision detection function Collision detection function means that when the robot collides with peripheral equipment during operation (see Fig. 10-1), it can detect the collision instantly without an additional force sensor, and can immediately give a safety response such as shutdown, so as to minimize the damage to personnel and equipment caused by the collision.
  • Page 169 "Operation Manual of AIR-TP Teach Pendant” Other Functions Fig. 10-2 "Parameter Configuration" interface Switch to “Channel 1" tab, find and highlight “JOG_COLLISION_DETECT" parameter (see Fig. 10-3), click “Edit" button, enter “Edit Interface" shown in Fig. 10-4, set the value to true (see Fig. 10-5), and click “Yes"...
  • Page 170 "Operation Manual of AIR-TP Teach Pendant” Other Functions Fig. 10-4 Editing interface of parameter JOG_COLLISION_DETECT Fig. 10-5 Parameter JOG_COLLISION_DETECT is set to true Fig. 10-6 Parameter JOG_COLLISION_DETECT is set successfully...

  • Page 171: 10.1.3 Collision Detection Settings In Jog Mode

    "Operation Manual of AIR-TP Teach Pendant” Other Functions In “Channel 1" tab, find and highlight “JOG_COLLISION_SENSITIVITY" parameter, and set the parameter value to 100 in the same way as in "Step 3" (100 is the default value and the sensitivity range is [0,300]).

  • Page 172: 10.1.4 Reset Of Collision Detection Status

    "Operation Manual of AIR-TP Teach Pendant” Other Functions  In JOG mode, the collision detection sensitivity is adjusted as a percentage, 100% by default  In JOG mode, the modification range of the collision detection sensitivity is 0~300 by default. The lower the sensitivity, the lower the force required for a collision warning, which is easy to trigger a collision and increase the probability of false warning.

  • Page 173: Appendix A Summary Of Parameter Configuration Permissions

    Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Appendix A Summary of Parameter Configuration Permissions Permissions 1-5 correspond to the administrator, maintainer, OEM, teacher and operator respectively. Schedule 1 Summary of "Global" Tab Variables Read...
  • Page 174 Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Read Write Name Meaning permission permission parameter to distinguish it from the mechanical units of different channels. Virtual axis configuration. You can set some axes of mechanical unit body or VIRTUAL_AXIS_MAP some external axes as virtual axes through the parameter.
  • Page 175 Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Read Write Name Meaning permission permission the program will be loaded automatically at the next startup. Last ARL program running time. After an ARL program runs (from program...
  • Page 176 Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Read Write Name Meaning permission permission USE_DH Whether to use DH model parameters DH_INDEX Select the number of DH model parameters DH_PARAMETER_1 DH model parameter 1 DH_PARAMETER_2...
  • Page 177 Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Read Write Name Meaning permission permission PGNO_LENGTH Program number digit PGNO_FBIT_DI DI logic address number of program number start digit PGNO_PARITY_DI DI logic address number of program number parity digit...
  • Page 178 Appendix A Summary of Parameter Configuration "Operation Manual of AIR-TP Teach Pendant” Permissions Read Write Name Meaning permission permission RESET_SAFE_MODULE_PULSE_WIDTH Pulse width of reset signal to safety module when the signal is released CHAN_RUN_STATE_BIT_ADDRESS Output current channel running status signal bit address number...

  • Page 179: Appendix B Summary Of System Variable Permissions

    "Operation Manual of AIR-TP Teach Pendant” Appendix B Summary of System Variable Permissions Appendix B Summary of System Variable Permissions Schedule 8 Summary of “Integer Variables" Tab Variables Read Write Name Meaning permission permission System predefined int array type system variables...
  • Page 180 Peitian Robotics Technology Co., Ltd. Service hotline: 400 990 0909 WeChat official Official website Official website: http://robot.peitian.com account The description about the product characteristics and availability does not constitute a performance guarantee, and is for reference only. The scope of services for the products delivered is subject to the specific contract.

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