Omron T20 Pendant User Manual
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Omron T20 Pendant User Manual

Omron T20 Pendant User Manual

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T20 Pendant
User's Guide
I601-E-05

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  • Page 1 T20 Pendant User's Guide I601-E-05...
  • Page 2 Every precaution has been taken in the preparation of this manual. Nevertheless, OMRON assumes no responsibility for errors or omissions. Neither is any liability assumed for damages resulting from the use of the information contained in this publica- tion.

  • Page 3: Intended Audience

    Introduction Introduction This manual is OMRON's original instructions describing the setup, operation, and user maintenance of the product. This document describes T20 Pendant functionality supported with firmware version 3.0.0.15. Please read this manual and make sure you understand the functionality and performance of the T20 Pendant before attempting to use it.

  • Page 4: Manual Information

    Special Information Level 2 heading Manual name Level 3 heading Page tab with the number of the main section Step in a procedure Page number Special Information Special information in this manual is classified as follows: T20 Pendant User's Guide (I601)
  • Page 5 Precautions on what to do and what not to do to ensure proper operation and performance. Additional Information Additional information to read as required. This information is provided to increase understanding or make operation easier. Version Information Information on differences in specifications and functionality between different versions. T20 Pendant User's Guide (I601)
  • Page 6 Manual Information T20 Pendant User's Guide (I601)

  • Page 7: Sections In This Manual

    Sections in this Manual Sections in this Manual Overview Specifications Operation Maintenance T20 Pendant User's Guide (I601)

  • Page 8: Table Of Contents

    Features and Components....................1-4 1-3-1 Pendant Indicators ........................1-4 1-3-2 Keypad Functions ........................1-5 1-3-3 Enable Switch ..........................1-6 1-3-4 E-Stop Button ..........................1-7 1-3-5 System Emergency Stop Circuitry .....................1-7 Firmware ..........................1-8 Section 2 Specifications General Specifications ......................2-2 Dimensions..........................2-3 Transport and Storage......................2-4 T20 Pendant User's Guide (I601)
  • Page 9 Connecting the T20 to the Robot with the SmartController EX...........3-4 Enabling Robot Power......................3-6 3-2-1 Turning High Power ON ......................3-6 3-2-2 Disabling High Power from T20 Pendant ..................3-7 User Interface Operation .......................3-8 3-3-1 User Interface Controls .......................3-8 3-3-2 Displaying the Home Screens .....................3-9 Using Jog Mode ........................

  • Page 10: Terms And Conditions Agreement

    Omron’s exclusive warranty is that the Products will be free from defects in materials and workman- ship for a period of twelve months from the date of sale by Omron (or such other period expressed in writing by Omron). Omron disclaims all other warranties, expressed or implied.

  • Page 11: Disclaimers

    • Omron Companies shall not be responsible for the user’s programming of a programmable Product, or any consequence thereof. • Omron Companies shall not be responsible for the operation of the user accessible operating sys- tem (e.g. Windows, Linux), or any consequence thereof.

  • Page 12: Safety Precautions

    The specific operation is shown in the triangle and explained in text. This example indicates a precaution for high temperatures. Warnings General ELECTROCUTION RISK During maintenance, disconnect AC power from the robot, and install a lock-out tag-out to prevent anyone from reconnecting power. T20 Pendant User's Guide (I601)
  • Page 13 In many cases, the weight on the joint will be sufficient to move the joint and cause equipment damage or injury to personnel in the workspace. When the cable entrance cover is removed, the T20 Pendant is sensitive to electrostatic discharge.

  • Page 14: Cautions

    • Educate employees to help them identify phishing scams received via email on sys- tems that will connect to the control network. Cautions CAUTION T20 Pendant User's Guide (I601)
  • Page 15 Safety Precautions Do not use the T20 Pendant in hazardous environments (explosive gas, water, dust, oil, or mist), in mining operations, or outdoors. It has an IP rating of IP65. Never clean the T20 Pendant display screen or other surfaces with solvents, abrasive cleaners, or scrubbing sponges.

  • Page 16: Precautions For Safe Use

    • The robot system must not be used for purposes other than described in the robot user’s guide.Con- tact your local OMRON representative if you are not sure of the suitability for your application. • The user is responsible for providing safety barriers around the robot to prevent anyone from acci- dentally coming into contact with the robot when it is in motion.

  • Page 17: Precautions For Correct Use

    To avoid malfunctions or damage through improper handling, and possible voiding of the warranty, abide by the following instructions during operation. • When you are not using the T20 Pendant, place it in a safe location and clear of the robot working envelope.

  • Page 18: Related Manuals

    Use the following related manuals for reference. Manual Title Description Robot Safety Guide (Cat. No. I590) Describes how to use the OMRON robot safely. SmartControllerEX User's Guide (Cat. No. I602) Describes the V+ language and programming of a control system.

  • Page 19: Revision History

    Date Revised content June 2016 Minor specification updates. March 2019 Minor updates for translation. July 2020 Update for NJ-series Robot Integrated CPU Unit. August 2020 Minor corrections and revisions. March 2025 Minor corrections, and revisions. T20 Pendant User's Guide (I601)
  • Page 20 Revision History T20 Pendant User's Guide (I601)

  • Page 21: Overview

    Overview This section provides general information about the T20 Pendant. Product Description ..................1-2 Intended Use....................1-3 Features and Components ................1-4 1-3-1 Pendant Indicators ..................1-4 1-3-2 Keypad Functions.................... 1-5 1-3-3 Enable Switch ....................1-6 1-3-4 E-Stop Button ....................1-7 1-3-5 System Emergency Stop Circuitry ..............

  • Page 22: Product Description

    1 Overview Product Description The T20 Pendant is an optional handheld device that allows the user to interface with a robot without the use of a personal computer. The pendant can be used to manually operate a robot, teach loca- tions, and view V+ programs.

  • Page 23: Intended Use

    The T20 Pendant is limited to the use of general industrial equipment and must not be used in applica- tions that violate the intended use. You must deploy it only in applications where you anticipate and mitigate potential risks to personnel and equipment.

  • Page 24: Features And Components

    • The pendant cannot exchange digital I/O over the EtherCAT network. • The T20 Pendant can only move one robot at a time. The pendant can only be connected to a single robot at any given time. A single pendant connection can only control a single robot for systems using an iCS-ECAT or eCS-ECAT controller.

  • Page 25: Keypad Functions

    SPEED + or SPEED - Button to select a robot speed within the slow speed range, which is from 0 to 20% of the normal robot speed. Press the SLOW Button again to return to normal speed. T20 Pendant User's Guide (I601)

  • Page 26: Enable Switch

    When more than one robot is connected to a SmartController EX, press to cycle through the connected robots. The currently selected robot is displayed in the Selected Robot indicator on the display screen. The T20 Pendant can move multiple robots independently and sequentially, but cannot move multiple robots simultaneously. OK Button Press to select a setting to be changed, to implement a change, or to clear an error mes- sage.

  • Page 27: E-Stop Button

    1-3-5 System Emergency Stop Circuitry There are two jumpers, or bypass plugs, that can be used with a T20 Pendant system. One is a screw-to-lock T20 Pendant Jumper Plug (Part Number 10048-000) for the pendant adapter cable, in- cluded with the T20 Pendant kit. The other is an XMCP jumper plug (Part Number 10052-000) includ- ed with the XSYSTEM cable assembly.

  • Page 28: Firmware

    1 Overview Firmware The T20 Pendant will work with a robot that runs V+ firmware. The T20 Pendant must be running ver- sion 3.0.0.15 firmware when being operated with the iCS or eCS. A T20 Pendant with version 3.0.0.15 firmware will also support eAIB, SmartController EX, eMB-40, and eMB-60 controllers running 2.4C12 or later.

  • Page 29: Specifications

    Specifications This section provides specifications for the T20 Pendant and other associated items. General Specifications .................. 2-2 Dimensions ..................... 2-3 Transport and Storage ................... 2-4 T20 Pendant User's Guide (I601)

  • Page 30: General Specifications

    Relative Humidity (non-condensing) 5% to 95% CAUTION Do not use the T20 Pendant in hazardous environments (explosive gas, water, dust, oil, or mist), in mining operations, or outdoors. It has an IP rating of IP65. T20 Pendant User's Guide (I601)

  • Page 31: Dimensions

    2 Specifications Dimensions 1000 T20 Pendant User's Guide (I601)

  • Page 32: Transport And Storage

    The pendant must always be stored and shipped in a clean, dry area that is free from condensation. When storing the T20 Pendant inside a cabinet there must be a cutout hole int the cabinet for the T20 Bypass Plug that is 25+0.1 mm in diameter. The maximum wall thickness through which this hole is cut should be 6.5 mm.
  • Page 33 Connecting the T20 to the Robot with the SmartController EX ....... 3-4 Enabling Robot Power ................... 3-6 3-2-1 Turning High Power ON .................. 3-6 3-2-2 Disabling High Power from T20 Pendant ............3-7 User Interface Operation ................3-8 3-3-1 User Interface Controls ................... 3-8 3-3-2 Displaying the Home Screens .................
  • Page 34 3-16 Setting Approach Distance ................. 3-33 3-17 Enabling Pendant Message................. 3-34 3-18 System Information Screen................. 3-35 3-18-1 Displaying System Information..............3-35 3-19 Displaying Recent Errors ................3-36 3-20 Updating the Pendant Firmware ..............3-38 3-21 Loss of Communication ................3-39 T20 Pendant User's Guide (I601)

  • Page 35: Operation

    T20 Pendant to the XSYSTEM Cable with the T20 Pendant Adapter Cable. When the pendant is not in use the T20 Pendant Jumper Plug must be placed either at the end of the T20 Pendant Adapter Cable or directly to the XMCP connector. The robot will not operate without a T20 Pendant Jumper Plug in place.

  • Page 36: Connecting The T20 To The Robot With The Smartcontroller Ex

    3 Operation To control multiple robots with one pendant you must connect the T20 Pendant to the robots with a Smart Controller EX. Additional Information Refer to the robot's user manual for additional information about connecting the T20 Pendant and optional hardware to the robot.
  • Page 37 10048-000 XMCP Jumper Plug 10052-000 Additional Information Items 1 and 2 are included with most OMRON robots. Items 3 and 8 are included with the SmartController EX. Item 4 includes items 5, 6, and 7. T20 Pendant User's Guide (I601)

  • Page 38: Enabling Robot Power

    ON, and the Robot Power Button on the pendant lights. Additional Information When enabling power in Manual Mode, the pendant will display a notification screen that re- quests that user press and hold the pendant Enable Switch. T20 Pendant User's Guide (I601)

  • Page 39: Disabling High Power From T20 Pendant

    Press and release the Robot Power Button to turn ON High Power. 3-2-2 Disabling High Power from T20 Pendant Use one of the following three options for disabling High Power from the T20 Pendant. • Press Robot Power Button • Press the E-Stop Button •...

  • Page 40: User Interface Operation

    Selected Robot Indicator ware. (This indicator is only applicable when more than one ro- bot is connected to a SmartController EX motion controller.) This indicator flashes when the robot number changes. T20 Pendant User's Guide (I601)

  • Page 41: Displaying The Home Screens

    3-3-2 Displaying the Home Screens Pressing the Menu Button on the T20 Pendant displays the Home 1 screen as shown below. There are three Home screens. Press the F4 Button to select Next > to step through each screen. The following table describes the soft keys shown on the Home 1 screen. The soft keys are used for quick access to the different screens and functions on the T20 Pendant.
  • Page 42 Access the Home 3 screen, which displays additional soft keys. The following table describes the soft keys shown on the Home 3 screen. The soft keys are used for quick access to the different screens and functions on the T20 Pendant. Soft Key...

  • Page 43: Using Jog Mode

    See the documentation for the motion devices you are using for details on their joint assignments. Item Description Joint 1 Joint 2 3-11 T20 Pendant User's Guide (I601)

  • Page 44: World Mode

    +RZ, CCW (RZ Rotation) Positioning in World Mode Use the following procedure to position the robot while in World Mode. Press the Jog Mode Button until World is displayed in the Jog Mode Indicator. 3-12 T20 Pendant User's Guide (I601)

  • Page 45: Tool Mode

    Positioning in Tool Mode Use the following procedure to position the robot while in Tool Mode. Press the Jog Mode Button until Tool is displayed in the Jog Mode Indicator. 3-13 T20 Pendant User's Guide (I601)

  • Page 46: Free Mode

    Manually move the joint to the desired position. Press the '-' Button of the selected Joint/Axis position to lock the joint. Additional Information The Enable Switch must be held in the middle position to release or lock a joint. 3-14 T20 Pendant User's Guide (I601)

  • Page 47: Speed Control

    3-5-1 Speed Indicator The Speed Indicator is located on the right-hand side of the T20 Pendant's screen. It displays the cur- rent Robot Speed setting as a percentage of maximum monitor speed or jog speed. The green gauge of the Speed Indicator increases in height when the speed is increased, and decreases in height when the speed is decreased.
  • Page 48 Press the up/down arrow buttons to select the Initial Speed field. Press the OK Button. Press the up/down arrow buttons to select either Normal or Slow for the initial speed. Press the OK Button to accept the change. 3-16 T20 Pendant User's Guide (I601)

  • Page 49: Position Display

    Current Joint Position screens. • Press the F2 Button to select Grip to open and close a gripper installed on the tool flange. • Press the F3 Button to select Loc to display the Available Locations screen. 3-17 T20 Pendant User's Guide (I601)

  • Page 50: Smart Locations

    To enable the Smart Locations feature refer to 3-15 Enabling Smart Locations on page 3-32 The following images show the Available Frames, Available Locations, and Available Tools screens when Smart Locations is enabled. 3-18 T20 Pendant User's Guide (I601)
  • Page 51 3 Operation The following images show the Available Frames, Available Locations, and Available Tools screens when Smart Locations is disabled. 3-19 T20 Pendant User's Guide (I601)
  • Page 52 3 Operation 3-20 T20 Pendant User's Guide (I601)

  • Page 53: Available Frames

    However, it does provide the opportunity for confusion: The most likely user error here would be to teach a position in “JOG REL: <FrameName>” , then change 3-21 T20 Pendant User's Guide (I601)
  • Page 54 World Mode. This error would produce ei- ther no movement (if the position is unreachable) or, possibly, movement to an arbitrary location, be- cause the relative frame is no longer involved. 3-22 T20 Pendant User's Guide (I601)

  • Page 55: Available Tools

    • To set a tool select the desired tool from the list and press the OK Button to set it. • Press the F2 Button to select NULL to set the current tool transformation, or offset, to null tool (no tool offset frame in use). 3-23 T20 Pendant User's Guide (I601)

  • Page 56: Location Teaching

    Press to bring the robot to the approach position for the selected location. The ap- proach position is the location less 'A' mm along the Z-axis of the tool transformation Appro (or offset), where 'A' is the approach distance set on the System Maintenance screen. 3-24 T20 Pendant User's Guide (I601)

  • Page 57: How To Teach A Location

    From the Available Locations screen, press the up/down arrow buttons to select the desired ar- ray, and then press the F2 Button to select Expand. The valid members of the selected array are displayed. 3-25 T20 Pendant User's Guide (I601)

  • Page 58: Adding Approach Distance

    • The Align feature is only available for six-axis robots, like the Viper robots. • Other than the green Joint/Axis Control Buttons, Jog To and Align are the only functions avail- able for moving the robot. 3-26 T20 Pendant User's Guide (I601)

  • Page 59: I/O Signals

    The image below is an example of how digital inputs are displayed om the T20 Pendant. Additional Information The T20 Pendant does not support I/O access over EtherCAT. 3-11-1 Controlling the I/O Signals After selecting I/O, perform the following steps to control I/O signals.
  • Page 60 3 Operation Additional Information As there is only one screen available for digital outputs, the PgUp and PgDn soft keys are not available on the Digital Output screen. 3-28 T20 Pendant User's Guide (I601)

  • Page 61: Displaying And Clearing Errors

    While the error screen is displayed, the Menu button, arrow buttons, and soft keys are disabled. Even though the soft keys remain blue, they are not active in this state. 1/1/2025 In order for these errors to be displayed, the Pendant Msgs must be enabled, from the System Maintenance screen. 3-29 T20 Pendant User's Guide (I601)

  • Page 62: System Maintenance Screen

    The following table describes the soft keys shown on the System Maintenance Screen. Soft Key Description Accesses a screen that displays the system informa- Info tion from the controller. Errors Accesses the error log. Update Updates the pendant firmware. 3-30 T20 Pendant User's Guide (I601)

  • Page 63: Screen Saver Settings

    Press the up/down arrow buttons to select the length of time before the screen saver is activat- The options available are: • Thirty Seconds • One Minutes • Two Minutes • Five Minutes • Ten Minutes • Twenty Minutes • One Hour Press the OK Button to accept the change. 3-31 T20 Pendant User's Guide (I601)

  • Page 64: Enabling Smart Locations

    Press the F1 Button to select Maint. to open the System Maintenance Screen. Press the up/down arrow buttons to select the Smart Locations option. Press the OK Button. Press the up/down arrow buttons to select Enabled or Disabled. Press the OK Button to accept the change. 3-32 T20 Pendant User's Guide (I601)

  • Page 65: Setting Approach Distance

    Press the up/down arrow buttons to select the Approach field. Press OK. Press the up/down arrow buttons to select a value from 1 mm to 200 mm. Press the OK Button to accept the change. 3-33 T20 Pendant User's Guide (I601)

  • Page 66: Enabling Pendant Message

    Press the press the F1 Button to select Maint. to open the System Maintenance Screen. Press the up/down arrow buttons to select the Pendant Msgs option. Press the OK Button. Press the up/down arrow buttons to select Enabled or Disabled. Press the OK Button to accept the change. 3-34 T20 Pendant User's Guide (I601)

  • Page 67: System Information Screen

    From the System Maintenance Screen, press the F1 Button to select Info. The following screen opens. Controller IP: 192.168.250.X 8.0 0-0 Edit C12 24-Oct-2024 Build: on Oct 24 2024 10 Build: on Oct 24 2024 10 3-35 T20 Pendant User's Guide (I601)

  • Page 68: Displaying Recent Errors

    Press the F2 Button to select Errors. The Recent Errors Screen opens. If necessary, press the up/down arrow buttons to select the error of interest. Press the F1 Button to select Detail to display details about the selected error. 1/1/2025 3-36 T20 Pendant User's Guide (I601)
  • Page 69 3 Operation Press the F1 Button to select List to return to the Recent Errors Screen. 3-37 T20 Pendant User's Guide (I601)

  • Page 70: Updating The Pendant Firmware

    Make sure the files are located under the following path and folder name: "\T20Update". Reapply power to the controller, or reconnect the T20 Pendant to the controller, depending on how you removed power. After a reboot, on the Home 1 screen, press the F4 Button twice to select Next > twice to dis- play the Home 2 screen.

  • Page 71: Loss Of Communication

    3 Operation 3-21 Loss of Communication If the T20 Pendant ever loses communication with the connected controller for any reason (e.g. con- troller reboot), a Communication Lost screen will be displayed. From this screen, pressing the OK But- ton will tell the pendant to try to reestablish communication with the controller.
  • Page 72 3 Operation 3-40 T20 Pendant User's Guide (I601)

  • Page 73: Maintenance

    Maintenance This section provides information on the maintenance of the T-20 Pendant. Maintenance Actions ..................4-2 T20 Pendant User's Guide (I601)

  • Page 74: Maintenance Actions

    Periodically check the protective covers of the T20 Pendant to ensure that all housing screws are firm- ly tightened, and that there is no damage to the cable entry area, sealing plug, or cable strain-relief. To clean the T20 Pendant, use a soft cloth dampened with a small amount of water or a mild cleaning agent.
  • Page 76 Fax: (31) 2356-81-388 Tel: (1) 847-843-7900 Fax: (1) 847-843-7787 OMRON ASIA PACIFIC PTE. LTD. OMRON ROBOTICS AND SAFETY TECHNOLOGIES, INC. 438B Alexandra Road, #08-01/02 Alexandra 4225 Hacienda Drive, Pleasanton, CA 94588 U.S.A. ©OMRON Corporation 2023 All Rights Reserved. Technopark, Singapore 119968...

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