i-Pendant for the R-J30iB Controller New i-Pendant for the R-J30iB Controller

RJ3-iB Controller R-30iA Controller i Pendant Earlier Versions RJ3-iB Controller R-30iA Controller

No change in key arrangement New R-30iB i - Pendant No change in key arrangement Built-in hanger Large Color display Light weight ergonomically comfortable body 20% lighter than its predecessor

Angled for better ergonomic feel New R-30iB i - Pendant Angled for better ergonomic feel More comfortable 3-way “Live-Man” grips

NEW: serves as a touch screen. Displays the ArcTool information and graphics. NEW: serves as a touch screen.

ON/OFF Switch: Enables teach pendant control and programming when turned “ON”. Must be in the “OFF” position when in AUTO Mode.

EMERGENCY STOP BUTTON: Use this button to stop a running program, turn off drive power to the robot servo system & apply the brakes to the servo system.

RESET key: Use this key to clear alarms.

SHIFT keys: Together with the other keys performs specific functions.

Jog keys: Use these keys to jog (move) the robot manually.

The Speed Override Display will change: Jog Speed keys: Use these keys to adjust the jog speed of the robot. The Speed Override Display will change: 10% 5% 100% 50%

Use these keys to select menu options. TEACH keys: Use these keys to select menu options. SELECT key displays a list of programs EDIT key displays the current program DATA key displays a list of the weld procedures, weave schedules, other schedules

Function keys: Use these keys to take specific action depending on the screen displayed. F1 key F2 key F3 key F4 key F5 key

NEXT key: Use this key to display more function keys when available. This key is used when a ">" appears on the lower right corner of the display.

Cursor keys: Use these keys to move the cursor to enable navigation around the screen.

Numeric keys: These keys are used to enter numeric values: 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, minus sign (-), decimal point (.), and comma (,).

ENTER key: Use this key to enter a numeric value or to select an item from the menu.

STEP key: When in T1 or T2 Mode, use this key to switch between: STEP (running one program line at a time) and CYCLE (running a program continuously). Status Indicator showing STEP ON:

FWD (forward) key: In STEP, use this key to execute the next program statement. In continuous operation, use this key to commence programmed robot movement.

BWD (backward) key: Use this key to execute the previous program statement.

TEACH PENDANT FUNCTIONS PART 2

WELD ENBL key: This key enables or disables the welding process while running a program. Press SHIFT and this key to toggle between ARC Enable and ARC Off. Status Indicator showing Weld Enabled:

WIRE Jog keys: Wire Jog “+” Wire Jog “–” feeds the welding wire out of the torch. Wire Jog “–” retracts the welding wire back into the torch.

ITEM key: Use this key to select a line in a program using its Program Line Number. Examples: To select a line in a TP program, press ITEM key, type the line number and press ENTER To select a line in a list a System Variables, press ITEM key, type the line number and press ENTER

BACK SPACE key: Use this key to delete the character or number immediately before the cursor.

PREV key: Use this key to display the previous screen.

MENU key: Use this key to display the menu screen.

HOLD key: Use this key to stop the robot.

FCTN key: Use this key to display the supplementary commands: ABORT (ALL) Disable FWD/BWD CHANGE GROUP RELEASE WAIT TOGGLE COORD JOG TOGGLE COOR ORNT QUICK/FULL MENUS SAVE PRINT SCREEN PRINT UNSIM ALL I/O CYCLE POWER ENABLE HMI MENU REFRESH PANE Diagnostic log

GROUP key: Toggles the i-Pendant between the different Motion Groups: G1, G2, G3, etc.

Aux Axis Jog keys: These four new keys enable the jogging of additional aux axes, and are customizable.

Status Indicators: display system status. Hold Weld Estab D-Run Status Indicators: display system status.

Capable of wireless keyboard & mouse navigation Local USB port USB port for application backup USB memory USB dongle Capable of wireless keyboard & mouse navigation

TEACH PENDANT FUNCTIONS PART 3

Diag/Help key: Use the HELP key to get information on how to use the current screen. Use the DIAGnostics key to display information: error message descriptions, cause, and remedy.

Display key: Use this key along with the SHIFT key, to change the screen view from single frame, double frame, triple frame, or single frame with extended status. Also enables operation toggling to the different frames.

COORD (coordinate) key: Use this key to select the jog coordinate system: X-Y-Z (World, Jog Frame, User Frame) Joint Coordinate System Tool Coordinate System

STATUS key: Press this key to display welding & robot status. 1. WELD - commanded and real time actual weld voltages and wire feed speeds 2. ARC Chart - provides charts tracking weld voltage, wire feed speeds, welding current, etc. 3. AXIS - shows the status of each axis in bits 4. Version ID – system software versions 5. SAFETY SIGNAL - shows 10 safety signals 6. EXEC-HIST - status 200 programs executed 7. MEMORY - shows memory allocation 8. PRG TIMER - shows program timer values 9. SYS TIMER - shows the hour meter values 10.REMOTE DIAG - status of the remote diagnostics and the device supporting it. 11. VISION – displays the Vision Runtime screen

OTF key: Use this key for on-the-fly welding parameter adjustment.

I/O key: This key displays the various Inputs and Outputs of the robot controller.

POSN (position) key: Using this key displays the current numeric position of each of the axes of the robot arm.

STATUS BAR INFORMATION

D-Run

Speed Override Indicator D-Run Speed Override Indicator The speed override is a percentage of the maximum speed at which the robot will move. A speed override of 100% indicates that the robot will move with the maximum possible speed.

The Alarm Status line displays the current alarm. D-Run Alarm Status Line The Alarm Status line displays the current alarm.

Status: Paused, Running, etc. Mode AUTO, T1, or T2. Program Status Line Status: Paused, Running, etc. Mode AUTO, T1, or T2. Current line number Name of the currently executing program

Motion information can included: G1 S JOINT D-Run Motion Information Motion information can included: jogging coordinate system: joint, world, tool, etc. motion group: G1, G2, G3, etc. subgroup: G1 S would indicate a subgroup of G1 if a robot was on a track, for example.

The key, Touch Screen, 4D Graphics tips

Touch the at the blue status bar, at sub menu, touch Weld Procedure, 3 screen display will now appear, as shown below. Touching on another weld procedure number in the program screen will reveal that procedures details at the right. Upper, right screen displays detail view of Weld Procedure. Lower, right screen displays detail view of Weld Schedule.

Blue Status Bar Touch Shortcuts Touch here and Menu key menu will appear. Touch here and Display menu will appear. Touch here and Function menu will appear.

Different menus depending on operators levels are configurable Robot powers up to an HMI touch screen. Different levels of this screen are found at the F-keys, such as Setup and Program levels. Traditional Menu key selections are now touch screen items. To return to a standard menu display, press the MENU key, cursor to desired item, Enter. Different menus depending on operators levels are configurable PROGRAM SETUP i + MENU MENU To return to HMI touch screen, press i + MENU key. To expand to full HMI menu display, press FCTN key, Enable HMI Menu.

4D Graphics Display At power up, at top level display, press F-key for 4D, then touch line 4D Display. Or press MENU key, 0-next, 4D Graphics, touch 4D Display. Graphics arm display will move as the robot is being jogged or a program is playing back. Function: Set the view of the user screen Touch to center a point Drag to pan, zoom or rotate Function keys set mode User can use touch panel or arrow keys to manipulate viewpoint Benefit: Quickly see what you need to see from the angle that you need to see it from Diagnose program issues such as points in plane quickly and easily

View 4D Graphics Display With Teaching Screens Press key + MENU key = Top Level Menu Press key + SELECT key = Select screen at left, 4D Graphics at right Press key + EDIT key = Program screen at left, 4D Graphics at right Press key + DATA key = Data screen at left, 4D Graphics at right Press DISP key to make graphics screen the active screen, press F1-Type to select other types of graphics to display.

Other 4D Graphics Functions Position Registers 4D GRAPHICS Program Utilities 4D GRAPHICS Frame Display Function: See simple picture of where in space all the position registers are taught. Benefit: Speeds position register touch up by showing where register is taught Quick editing: single touch takes you to the selected position register Functions: Supports Mirror, Shift, Program Adjust User can directly select node map with any menu on the right Benefit: Immediately see the result of the requested operation See selected points before adjustment Function: Triad is displayed for current frame Tool frames shown with respect to robot wrist Benefit: Speeds up calibration of complex systems User can easily see the working frame

4D Editor is tool on PC to make 4D Workcells for iPendant easily Export to iPendant with 4D visualization option ROBOGUIDE 4D Editor Virtual TP Create workcell in ROBOGUIDE 4D Editor