Teach Pendant Installation Guide

Product Overview

The softTP teach pendant (TP) is an add-on tool for softMC-based systems. It allows users to move the robot by means of jog keys, and to create and run complete robot programs written in MC-Basic.
The softTP touch screen interface enables quick and easy application development.

Teach Pendant Hardware

• Touch screen
• Jog buttons
• Emergency switch
• Deadman switch
• Mode Selector switch
• Jig board for power, Ethernet communication and digital outputs

Teach Pendant Software

The following software components are provided with the softTP:

• Java Runtime Engine
• Java Web Server (HTML to KMAPI converter) and WWW folder (HTML files and Java scripts)
• softTP license (MCTP file)
• softTP programs and libraries (MC-Basic source code)

Product Label

Safety

Warnings

	It is the user’s responsibility to follow all safety guidelines and precautions for working with robotic system.
	It is the user’s responsibility to connect the Emergency switch to the robotic system in accordance with safety standards and guidelines.
	It is the user’s responsibility to connect the Deadman switch to the robotic system in accordance with safety standards and guidelines.
	When handling the softTP teach pendant, be sure to grasp it with both hands. The softTP is equipped with a deadman switch to ensure user safety. You cannot operate the teach pendant unless the deadman switch is held down in the intermediate (Enable) position. Refer to the section Error! Reference source not found.
	Never use adhesive tape or other means to keep the deadman switch held down. Doing so is extremely dangerous as it may prevent the robot from stopping while operating in Manual mode.

Handling and Maintenance

• Make sure cabling is secure and cannot be tripped over.
• Make sure cabling is not bent or crushed by other objects.
• Make sure cabling does not come into contact with sharp edges that can cause it to fray.
• Make sure the softTP is never set down in a manner in which operating elements may be mechanically damaged.
• Never place the softTP where it will be subject to high heat sources or direct sunlight.
• Avoid subjecting the softTP to mechanical shocks, excessive dust, humidity or strong magnetic fields.
• Do not use solvents or abrasive materials on the softTP. For cleaning use a soft cloth moistened with water or a mild cleaning agent.
• The softTP has a touch screen. Use only your finger to operate. Make sure no sharp objects come into contact with the screen.

Specifications

Technical Specifications

Item	Specification
Processor	Intel®Atom™E3800/1.6 GHz single core
Memory	DDR3 4 GB
NAND	SSD 32 GB
Rating	12-24 VDC, 1-0.5 A
LCD Screen	TFT LCD. 7-inch (163 x 104 mm). Resolution 800x480 pixel. Background lighting 24 LEDs.
Touch Screen	4-wire analog-resistive. USB touch controller.
OS	Lubunto
LEDs	3-color LED x 6
SD/MMC	External SD card
USB	USB host
Keypad	-) keys. 4 screen navigation keys. 4 function keys (not used).
Switches	Emergency/Mode Select/Deadman
Communication	RS232/RS485/Ethernet. Selectable
Operating Temperature	45°C max. ambient
Enclosure	IP54
Compliance	CE

Dimensions

Wiring

Teach Pendant Cable

The teach pendant cable is part of the softTP; it cannot be detached.

TP Cable Pin Assignments

TP Cable Connector - Male

Part Number		A	ΦB	ΦC	ΦD
SRC6A21-26P	mm	98.0	31.0	20.4	12.2

Jig Board

TP Cable Interface on Jig Board - Female

Part Number		A	ΦB	C(C')	D	E	F	G
SRC6A21-26P	mm	25.6	20.4	27.7 (25.5)	14	2.3	32	26

 :

IO Cable Interface on Jig Board - Pin Assignments

Example: connection to CDHD

The Emergency and Deadman switches are connected to the safety circuit of the system (STO, safety relay) according to user requirements.

Example: connection to DDHD

Different input order and no emergency switch connected. Green lines are bridges; red and black lines are from an outside source.

Emergency Switch

It is the user’s responsibility to connect the Emergency switch to the robotic system, and to follow all necessary safety guidelines and precautions.

Selector Switch

Position	Symbol
Left
Center
Right

Deadman Switch

It is the user’s responsibility to connect the Deadman switch to the robotic system, and to follow all necessary safety guidelines and precautions.
Pressing or releasing the Deadman switch automatically and immediately stops the motion of all axes.

Action		Position	Symbol
If deadman switch is not pressed or is pressed too lightly. Switch is off.		Null
If deadman switch is pressed with normal pressure. Switch is on.		Enable
If deadman switch is pressed too hard. Switch is off.		Panic

Setup

Hardware Setup

The diagram below shows a typical system configuration.