1-21.2 Programming Pendant
E. STOP Button Turns OFF the servo power
• When the servo power is turned OFF, the SERVO ON LED on the programing pendant will extinguish.
• An emergency stop message is displayed on the screen.
[MODE] Selects the Play mode, Teach mode, or Remote mode.
PLAY: Play Mode
The playback of taught job is enabled.
The START signal from an external device is disabled.
TEACH: Teach Mode
The axis operation and edition from the programming pendant are enabled.
The START signal from an external device is disabled.
REMOTE: Remote Mode
The operation by external signals is enabled.
[START] is invalid during the remote mode.
TEACH REMOTE PLAY
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1 Introduction
DX100 1.2 Programming Pendant
1-5
Enable Switch Turns ON the servo power.
The Enable switch is active only when the SERVO ON LED is blinking, the safety plug is ON, and the Mode Switch is set to “TEACH.”
When this switch is lightly squeezed, the power turns ON. When firmly squeezed, the power turns OFF.
[SELECT] Works as described below.
• Selects menu items in the main menu area and the pull-down menu area.
• Makes the selected item ready to be set in the general-purpose display area.
• Displays multiple messages in the message area.
Cursor Moves the cursor in the direction of the arrow.
• The size of the cursor and the range/place where the cursor can move will vary depending on the window.
• If the UP cursor button is pressed when the cur-sor is on the first line, the curcur-sor will move to the last line of the job. Conversely, if the cursor is on the last line of the job and the DOWN cursor button is pressed, the cursor will jump to the first line of the job.
[SHIFT] + UP
Scrolls the screen upward.
[SHIFT] + DOWN
Scrolls the screen downward.
[SHIFT] + RIGHT
Scrolls the screen to the right.
[SHIFT] + LEFT
Scrolls the screen to the left.
[MAIN MENU] Displays the main menu.
If this button is pressed while the main menu is displayed, the main menu disappears.
[MAIN MENU] + UP
Increases the brightness of the screen.
[MAIN MENU] + DOWN
Decreases the brightness of the screen.
[SIMPLE MENU] Displays the simple menu.
If this button is pressed while the simple menu is displayed, the simple menu disappears.
SELECT
1 Introduction
DX100 1.2 Programming Pendant
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[SERVO ON READY] Enables the servo power supply to be turned ON.
Press this button to enable the servo power supply to be turned ON if the servo power supply is shut OFF by the emergency stop or overrun signal.
When this button is pressed:
• In the play mode, the servo power supply is turned ON if the safeguarding is securely closed.
• In the teach mode, the SERVO ON lamp flashes and the servo power supply is turned ON when the Enable switch is ON.
• The SERVO ON lamp is lit while the servo power is ON.
[ASSIST] Displays the menu to assist the operation for the currently displayed window.
Pressing this button with [SHIFT] or [INTERLOCK]
displays the help guidance for the operation.
• [SHIFT] + [ASSIST]
The function list of key combinations with [SHIFT] appears.
• [INTERLOCK] + [ASSIST]
The function list of key combinations with [INTERLOCK] appears.
[CANCEL] Cancels the current status.
• Deletes the sub menu in the main menu area and the pull-down menu area.
• Cancels the input data or the input status in the general-purpose display area.
• Cancels the multiple views in the message area.
• Cancels the occurred error.
[MULTI] Works for the multi mode.
If this button is pressed when the multi mode is ON, the active window switches.
[SHIFT] + [MULTI]
Switches between the multi-window display and the single-window display when the multi mode is ON.
[COORD] Select the operation coordinate system when the manipulator is operated manually.
• Five coordinate systems (joint, cartesian, cylin-drical, tool and user) can be used. Each time this key is pressed, the coordinate system is switched in the following order: "JOINT" "WLD/
CYL" "TOOL" "USER"
• The selected coordinate system is displayed on the status display area.
[SHIFT] + [COORD]
The coordinate number can be changed when the
"TOOL" or "USER" coordinate system is selected.
SERVO
1 Introduction
DX100 1.2 Programming Pendant
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[DIRECT OPEN] Displays the content related to the current line.
• To display the content of a CALL job or condition file, move the cursor to the next line and press [DIRECT OPEN]. The file will be displayed for the selected line. Display content will vary depending on the type of instruction used in the job.
Example:
For a CALL instruction, the content of the called job will be displayed.
For a work instruction, the content of the condition file will be displayed.
For Input/output instructions, the input/output condition will be displayed.
• The lamp on this button is lit while the direct open is ON. Press this button while the lamp is lit to return to the previous window.
[PAGE] Displays the next page.
The page can be switched only when the lamp on this button is lit.
[SHIFT] + [PAGE]
Switches to the previous page.
[AREA] Moves the cursor in the following order : “Menu Area” ”General-Purpose Display
Area” ”Message Area” ”Main Menu Area”. If no item is displayed, the cursor does not move.
[SHIFT] + [AREA]
The language can be switched when the bilingual function is valid. (Bilingual function is optional.) [AREA] + DOWN
Moves the cursor from the general-purpose display area to the operation button when the operation button is displayed.
[AREA] + UP
Moves the cursor to the general-purpose display area when the cursor is on the operation button.
[SHIFT] Changes the functions of other keys by pressing together.
Can be used with [MAIN MENU], [ASSIST], [COORD], [AREA], [MOTION TYPE], cursor key or Numeric key to access alternate functions.
Refer to the description of each key for the alternate [SHIFT] functions.
[INTERLOCK] Changes the functions of other keys by pressing together.
Can be used with [ASSIST], [MULTI], [TEST START], [FWD], or Numeric key (Numeric key customize function).
Refer to the description of each key for the alternate [INTERLOCK] functions.
DIRECT
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DX100 1.2 Programming Pendant
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[INFORM LIST] Displays instruction lists of commands available for job editing.
[ROBOT] Enables the robot axis operation.
[ROBOT] is active for the system where multiple manipulators are controlled by one DX100 or the system with external axes.
[EX. AXIS] Enables the external axis (base axis or station axis) operation.
[EX.AXIS] is active for the system with external axes.
[MOTION TYPE] Selects the interpolation type for playback operation.
The selected interpolation type is shown in the status display area on the screen.
• Each time this key is pressed, the interpolation type changes in the following order:
"MOVJ" " MOVL" "MOVC" "MOVS"
[SHIFT] + [MOTION TYPE]
The interpolation mode changes in the following order:
"STANDARD" " EXTERNAL REFERENCE POINT"* " CONVEYOR"*
Interpolation type can be changed in any mode.
*: These modes are purchased options.
[TEST START] Moves the manipulator through taught steps in a continuous motion when [TEST START] and [INTERLOCK] are simultaneously pressed.
The manipulator can be moved to check the path of taught steps. Operation stops immediately when this key is released.
• The manipulator operates according to the cur-rently selected operation cycle: "AUTO,"
"1CYCLE," or "STEP."
• The manipulator operates at the taught speed.
However, if the taught speed exceeds the maxi-mum teaching speed, the operation proceeds at the maximum teaching speed.
INFORM
1 Introduction
DX100 1.2 Programming Pendant
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[FWD] Moves the manipulator through the taught steps while this key is pressed.
• Only move instructions are executed (one instruction at a time, no welding instructions).
[INTERLOCK] + [FWD]
All instructions are executed.
[REFP] + [FWD]
Moves to the reference point of the cursor line. See chapter 3.3.1.3 "Moving to Reference Point" at page 3-26 .
The manipulator operates at the selected manual speed. Make sure that the selected manual speed is the desired one before starting operation.
[BWD] Moves the manipulator through the taught steps in the reverse direction while this key is pressed.
• Only move instructions are executed (no weld commands).
The manipulator operates at the selected manual speed. Make sure that the selected manual speed is the desired one before starting operation.
[DELETE] Deletes the registered instruction.
• Deletion completes when [ENTER] is pressed while this key lamp is lit.
[INSERT] Inserts a new instruction.
• Insertion completes when [ENTER] is pressed while this key lamp is lit.
[MODIFY] Modifies the taught position data or instruction.
• Modification completes when [ENTER] is pressed while this key lamp is lit.
[ENTER] Registers instructions, data, current position of the manipulator, etc.
• When [ENTER] is pressed, the instruction or data displayed in the input buffer line moves to the cursor position to complete a registration, insertion, or modification.
FWD
1 Introduction
DX100 1.2 Programming Pendant
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MANUAL SPEED