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List of Figures

 

 

Figure 1-1 Electric control box T1 simple wiring diagram ·········································· 14

 

Figure 1-2 Startup screen ·················································································· 17

 

Figure 1-3 Back of the handheld teach pendant······················································ 17

 

Figure 1-4 SD card slot of the handheld teach pendant ············································ 18

 

Figure 1-5 Touch screen structure ······································································· 18

 

Figure 2-1 Main screen - not logged in ································································· 25

 

Figure 2-2 Main screen - enter privilege password ·················································· 26

 

Figure 2-3 Main screen - logged in (robot operation mode: T1, TP operation mode: Enable)

 ············································································································· 26

 

Figure 2-4 Edit/RL - before opening a project ························································· 27

 

Figure 2-5 Edit/RL - after opening a project ··························································· 27

 

Figure 2-6 Edit/RL - add a new project ································································· 29

 

Figure 2-7 Edit/RL - enter the project name ··························································· 30

 

Figure 2-8 Edit/RL - new project created ······························································· 30

 

Figure 2-9 Edit/RL - open a project ······································································ 31

 

Figure 2-10 Edit/RL - project opened ··································································· 31

 

Figure 2-11 Edit/RL - select the input field ····························································· 32

 

Figure 2-12 Edit/RL - manual editing ···································································· 33

 

Figure 2-13 Edit/RL - write programs by selecting commands ···································· 34

 

Figure 2-14 Edit/RL - use Cancel, Replace, or Insert ··············································· 34

 

Figure 2-15 Edit/RL - delete a command line ························································· 35

 

Figure 2-16 Execution (Exe) ·············································································· 35

 

Figure 2-17 Points ··························································································· 36

 

Figure 2-18 Points - specify global points ······························································ 37

 

Figure 2-19 Points - local points of the project test ·················································· 38

 

Figure 2-20 Points - setting the local point parameters ············································· 39

 

Figure 2-21 Points - user frame origin setting ························································· 40

 

Figure 2-22 Points - user frame +X direction point setting ········································· 41

 

Figure 2-23 Points - user frame XY plane point setting (detY direction) ············ 41

 

Figure 2-24 Points - page for entering teaching points ············································· 42

 

Figure 2-25 Points - entering point data respectively ··············································· 42

 

Figure 2-26 Tool size: height, width, and angle······················································· 44

 

Figure 2-27 Points - tool frame setting ·································································· 44

 

Figure 2-28 Points - tool size calibration ······························································· 44

 

Figure 2-29 Select the tool frame ID with the points taught in the JOG screen ··············· 45

 

Figure 2-30 Points - point teaching demonstration ·················································· 45

 

Figure 2-31 Points - tool frame orientation calibration ·············································· 46

 

Figure 2-32 Points - tool orientation calibration setting ············································· 46

 

Figure 2-33 Points - WorkSpace setting (cylinder range teaching) ······························ 48

 

Figure 2-34 Points - WorkSpace setting (rectangular range teaching) ·························· 48

 

Figure 2-35 Jog settings ··················································································· 49

 

Figure 2-36 IO monitoring - System IO ································································· 50

 

Figure 2-37 IO monitoring - User IO ····································································· 50

 

Figure 2-38 Alarm Info ······················································································ 51

 

Figure 2-39 Alarm Info - alarm information ···························································· 51

 

Figure 2-40 Controller Info ················································································· 52

 

Figure 2-41 Modbus Info - default screen ······························································ 52

 

Figure 2-42 Modbus Info - writing Modbus address information ·································· 53

 

Figure 2-43 Modbus Info - reading Modbus address information ································ 53

 

Figure 2-44 Modbus Info - Modbus address information (read only) ···························· 54

 

Figure 2-45 System - GoHome ··········································································· 55

 

Figure 2-46 System settings - Controller IP ··························································· 56

 

Figure 2-47 System settings - obtain controller IP ··················································· 56

 

Figure 2-48 System settings - set controller IP ······················································· 57

 

Figure 2-49 System settings - Other ···································································· 57

 

Figure 2-50 Rotation axis rotation count ······························································· 58

 

Figure 2-51 End axis rotation count ····································································· 58

 

Содержание DTV Series

Страница 1: ...Handheld Teach Pendant DTV Series User Manual www deltaww com...

Страница 2: ...ers with instructions on how to safely operate a robot and information on Delta 6 axis industrial robot series This product is intended for Standard 6 axis robots equipped with electric control box DC...

Страница 3: ...aintenance or inspection workers Equipment operators Before using this product please read this manual carefully to ensure correct use Also please keep it in a safe place for future reference Be sure...

Страница 4: ...es cables and motors must be installed in accordance with UL Environment Class 1 minimum installation environment requirements During acceptance inspection installation wiring operation maintenance an...

Страница 5: ...wise it may cause personal injury Do not change any parts on the handheld teach pendant including the emergency stop and the enable switch Doing so may lower the safety performance and level or even l...

Страница 6: ...e into the wire socket of the terminal block When inserting wires do not short circuit the core wires and adjacent wires Check whether the wiring is correct before powering on Do not turn the power on...

Страница 7: ...k the inside of the HMI for conductive objects such as screws or metal sheets or flammable objects When an electronic instrument used near the HMI is subject to electromagnetic interference use instru...

Страница 8: ...e This chapter explains the connection precautions and methods of the teach pendant and the buttons and switches required for operation Chapter 2 Tab Operations and Function Instructions This chapter...

Страница 9: ...1 Create a New Project 29 2 2 2 Opening an Old Project 31 2 2 3 Editing Programs 32 2 3 Execution Exe 35 2 4 Points 36 2 4 1 Global Point 37 2 4 2 Local Point 38 2 4 3 User Frame Settings 39 2 4 4 To...

Страница 10: ...9 This page is intentionally left blank...

Страница 11: ...ction point setting 41 Figure 2 23 Points user frame XY plane point setting determine Y direction 41 Figure 2 24 Points page for entering teaching points 42 Figure 2 25 Points entering point data resp...

Страница 12: ...2 60 Figure 2 59 Joint Rotation Count function mode 3 60 Figure 2 60 Servo Setting All Axes Servo Off 61 Figure 2 61 Servo Setting All Axes Servo On 61 Figure 2 62 Servo Setting First Axis Servo On 62...

Страница 13: ...ach Pendant DTV Series User Manual 1 HMI Basic Operation Interface 1 1 Hardware Interface 13 1 2 Brief Introduction to the Operating Environment 14 1 3 Teach Pendant Hardware Button Functions 14 1 4 T...

Страница 14: ...not including cables Note 1 Definition of the half life period of the backlight module Half life period is the time during which the brightness of the backlight reduces to half of the maximum brightn...

Страница 15: ...onnected to Pin 3 and Pin 4 If the user has connected the safety gate signals to Pin 5 Pin 6 Pin 7 and Pin 8 functions such as Jog Goto GoHome and project program execution can be performed without pr...

Страница 16: ...ing button simultaneously for 2 seconds to automatically execute the currently running project Edit RL Press and hold this button and the second position of the three position operating button simulta...

Страница 17: ...d Note 2 as listed below 1 In Auto mode The handheld teach pendant only displays information but cannot be operated and the three position operating button has no function 2 In T1 and T2 modes a Witho...

Страница 18: ...l SD card slot Located at the bottom of the handheld teach pendant Figure 1 4 and used for teach pendant firmware update Please use a 16G Class 10 SD card which supports SDHC Figure 1 2 Startup screen...

Страница 19: ...Touch screen The touch screen structure is divided into the menu bar on the left the robot state monitoring on the top the jog information monitoring on the right and the content of the corresponding...

Страница 20: ...witching is complete Tap this component to switch to the Points screen The component will be highlighted in black when switching is complete Tap this component to switch to the Jog setting screen The...

Страница 21: ...the Alarm Info page Shows that an alarm has occurred in the system In this case the button will be displayed in red Tap this button to switch to the Alarm Info page Privilege login Tap the key button...

Страница 22: ...can be operated but programs cannot be run with IO T2 mode integrated speed for jogging cannot exceed 2000 mm s In this mode the teach pendant and DRAStudio can be operated but programs cannot be run...

Страница 23: ...ws that the current Jog mode for the arm is User Mode Shows that the current Jog mode for the arm is Tool Mode The current X axis position of the arm in mm The current Y axis position of the arm in mm...

Страница 24: ...tly running project and the running status is displayed as press it again to resume the project and the status is displayed as Edit RL Press and hold this button and the second position of the three p...

Страница 25: ...al Point 38 2 4 3 User Frame Settings 39 2 4 4 Tool Frame Settings 43 2 4 5 Work Space Settings 47 2 5 JOG Settings 49 2 6 IO Monitor I O 50 2 7 Info 51 2 7 1 Alarm Info 51 2 7 2 Controller Info 52 2...

Страница 26: ...e version information of the teach pendant is displayed and you can use the Logout button to switch the handheld teach pendant to monitoring mode Figure 2 1 Main screen not logged in Component Appeara...

Страница 27: ...ch the robot mode to T1 Please refer to the Mode Select signal in the electric control manual and then switch the teach pendant operation mode to Enable to operate various functions as shown in Figure...

Страница 28: ...ecute programs Before you open a project the screen is as shown in Figure 2 4 Create a new project refer to Section 2 2 1 or open an old project refer to Section 2 2 2 to edit or execute a program The...

Страница 29: ...he second position of the three position operating button simultaneously to run a single line of the program Each time you press the buttons one line of the program is executed can be executed after p...

Страница 30: ...h must not contain spaces or special symbols as shown in Figure 2 7 3 Tap OK to create a new project as shown in Figure 2 8 The project name and number will be displayed in the information bar on the...

Страница 31: ...30 Figure 2 7 Edit RL enter the project name Figure 2 8 Edit RL new project created...

Страница 32: ...this example test 3 Once opened the project name and ID will be displayed in the information bar on the screen and the program saved in the project is called as well as shown in Figure 2 10 4 After th...

Страница 33: ...o the next page b Tap to insert the while instruction c The while instruction is added to the command screen d Tap and other commands appear at the bottom Tap or to switch to the next page e When the...

Страница 34: ...33 2 Tab Operation and Function Instructions Figure 2 12 Edit RL manual editing...

Страница 35: ...34 Handheld Teach Pendant DTV Series User Manual Figure 2 13 Edit RL write programs by selecting commands Figure 2 14 Edit RL use Cancel Replace or Insert...

Страница 36: ...ns Figure 2 15 Edit RL delete a command line 2 3 Execution Exe This page records the number of the last project and the current program execution status The user can execute or directly without reopen...

Страница 37: ...the function to switch to the corresponding operation screen as shown in Figure 2 17 Figure 2 17 Points Component Appearance Function Description The operating component for the Global Point screen Th...

Страница 38: ...ing button to stop 1 Tap the target point data as shown in Figure 2 18 2 Press and hold this button and the second position of the three position operating button simultaneously and the arm will move...

Страница 39: ...perating button to stop 1 Tap the target point data For example the index 1005 is selected in Figure 2 19 2 Press and hold this button and the second position of the three position operating button si...

Страница 40: ...he user frame such as on a workpiece or on a workbench A user frame is taught using the three point method which is done by entering the Origin point the X point on the positive X axis Xaxis and the Y...

Страница 41: ...ap Origin on the screen Figure 2 21 iii Tap to record the origin point 4 Set the X point of the user frame along the positive X axis direction i Move the arm to the X point of the user frame along the...

Страница 42: ...41 2 Tab Operation and Function Instructions Figure 2 22 Points user frame X direction point setting Figure 2 23 Points user frame XY plane point setting determine Y direction...

Страница 43: ...lined Set whether the XY plane of the frame is inclined currently only non inclined is available 3 Tap as shown in Figure 2 24 4 Set the Origin X direction and XY plane of the user frame and manually...

Страница 44: ...dth and Angle Tap to obtain the tool size information for that ID vi Tap to switch to the JOG screen change the mode to and set the Tool Frame ID to the ID taught by the user as shown in Figure 2 29 R...

Страница 45: ...44 Handheld Teach Pendant DTV Series User Manual Figure 2 26 Tool size height width and angle Figure 2 27 Points tool frame setting Figure 2 28 Points tool size calibration...

Страница 46: ...45 2 Tab Operation and Function Instructions Figure 2 29 Select the tool frame ID with the points taught in the JOG screen Figure 2 30 Points point teaching demonstration...

Страница 47: ...46 Handheld Teach Pendant DTV Series User Manual Figure 2 31 Points tool frame orientation calibration Figure 2 32 Points tool orientation calibration setting...

Страница 48: ...position iii Move the arm to the PY position tap the PY field on the screen and tap to teach the position The height of the rectangular object must also be set when setting the PY point The PY point...

Страница 49: ...48 Handheld Teach Pendant DTV Series User Manual Figure 2 33 Points WorkSpace setting cylinder range teaching Figure 2 34 Points WorkSpace setting rectangular range teaching...

Страница 50: ...ercentage 2 Distance setting sets the moving distance to Short Medium Long or Continuous in mode the unit is puu in and modes the unit is mm 3 Mode setting switches the mode between Joint mode Cartesi...

Страница 51: ...Figure 2 36 The current status of each IO is displayed Figure 2 36 IO monitoring System IO This page is used to monitor the User IO with green indicator meaning ON and yellow indicator meaning OFF as...

Страница 52: ...of the screen is displayed with a red icon to notify the user Press the red icon directly to enter the alarm information page Figure 2 38 or tap Info in the main menu on the left and enter the alarm...

Страница 53: ...er the Modbus address manually from 0x1000 to 0x1FFF set to display the values in decimal or hexadecimal set the data length to Word or Double Word enter the values select the data entries and finally...

Страница 54: ...address information as shown in Figure 2 43 The user can enter the Modbus address from 0x1000 to 0x1FFF set the data length to Word or Double Word set to display the values in decimal or hexadecimal s...

Страница 55: ...mation as shown in Figure 2 44 The user can enter the Modbus address from 0x0000 to 0x1FFF set the data length to Word or Double Word set to display the values in decimal or hexadecimal select the dat...

Страница 56: ...wn in Figure 2 45 1 All Axes Executes GoHome for all axes To execute press the second position of the three position operating button at the same time The button returns to the original status when th...

Страница 57: ...bnet mask and default gateway of the current controller The IP obtained is displayed in the IP field as shown in Figure 2 47 Follow these steps to set the controller IP 1 Tap 2 The last number in the...

Страница 58: ...l Figure 2 48 System settings set controller IP 2 8 3 Other 2 8 3 1 Select Language You can set the system language to Traditional Chinese Simplified Chinese English or Korean in this page as shown in...

Страница 59: ...o 180 excluded 180 included to 180 excluded Counting Value 2 1 0 Angle 180 included to 360 excluded 360 included to 540 excluded 540 included to 720 excluded Counting Value 1 2 3 Figure 2 51 End axis...

Страница 60: ...rotation angle for reaching each target point does not exceed 180 or 180 The DRV 6 axis model functions the same when set to mode 0 and mode 1 Figure 2 55 Joint Rotation Count function mode 0 uses Us...

Страница 61: ...on axis is close to the limit angle indicated as Alarm in Figure 2 58 the rotation axis will exceed the limit when it moves from the P1 position to the target through the shortest path and the system...

Страница 62: ...nt status of the robot arm as shown in Figure 2 60 1 All Axes Servo On Off A In Figure 2 60 you can press to have all axes switch to Servo On and it changes to when complete as shown in Figure 2 61 B...

Страница 63: ...press to have the first axis switch to Servo On and it changes to when complete as shown in Figure 2 62 B In Figure 2 61 press to have the first axis switch to Servo Off and it changes to when complet...

Страница 64: ...the robot the menu on the left displays the External Axis option Ext as shown in Figure 2 64 and the external axis information is displayed as shown in Figure 2 65 Figure 2 64 External Axis option 2 1...

Страница 65: ...E2 remote expansion step 4 axis module PDO mode 9 ASD DMC RM04PI MODE1 remote expansion step 4 axis module SDO mode A ASD DMC RM04AD remote expansion module with 4 sets of analog inputs B ASD DMC RM04...

Страница 66: ...ernal axis for a 3 or 4 axis robot represents station 1 and the second external axis represents station 2 and so on For a 5 axis robot the first external axis represents station 2 the second external...

Страница 67: ...second external axis and so on The values in the table are represented as 1 1000 of the actual values the Coord column shows Ext and the Unit column shows 1000 puu See Figure 2 69 Figure 2 70 and Figu...

Страница 68: ...table according to the index you selected in the unit of PUU and is saved to the corresponding memory location in the controller 1 Select the target point data as shown in Figure 2 69 2 Press this bu...

Страница 69: ...Delta Electronics Inc No 18 Xinglong Rd Taoyuan City Taoyuan County 33068 TEL 886 3 3626301 FAX 886 3 3716301 The contents of this manual are subject to change without notice...

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