Teach Pendant
HI! You've reached a page that is in progress. Currently, there is far too much information on the page. The menu structure is important but is visually displeasing given the current mediawiki options. I have requested an extension to be added to the mediawiki instance for creating an in-page drop down menu to reduce the length of the list. The page will remain as it is until the extension is approved. You can check on the status of the request here: https://phabricator.miraheze.org/T4419
Variations
Over the years FANUC has upgraded the teach pendant with newer technology to make it more user-friendly. Adding larger, sharper color displays, overlaying with touchy screens, and generating a sleek UI are some of the changes made in the past 20 years.
However, they have kept the UI relatively uniform in its structure, as well as the input keys on the teach pendant front. This is desirable as an operator trained on one generation of robots will have little trouble adapting to the newer generation designs.
Usage
Turning the teach pendant on gives the holder sole control of the robot. This is important as external control could be risky when teaching a robot.
The teach pendant is our primary tool for creating, modifying, and testing teach pendant programs. It includes an LCD display, membrane keypad, enable switch, a DeadMan Switch, and an Emergency Stop button.
The FANUC teach pendant is designed for either left or right handed operation. The strap is typically placed on your non-dominate hand, leaving your dominate hand to hit most buttons and navigation keys. The strapped hand is used for the DeadMan switch and often the SHIFT key.
The teach pendant is corded to the robot's main controller.
Below is the structure for the primary menus and screens on the Teach Pendant.
Physical Buttons
On the left of this page is an image of the teach pendant buttons. Each button is clickable and will take you to the section or dedicated page detailing the button's purpose and use. The buttons are also listed below, linking to any respective pages.
The membrane keypad on the teach pendant consists of hard keys. This is opposed to the on screen buttons known as SOFT buttons.
Older teach pendants may not be touchscreen and therefore require pressing F keys to access SOFT buttons.
There are many variations of the keypad face, in many different languages and can be customized to label macros.
Older teach pendants may not have many buttons, such as the DISP option, the additional J7 and J8 jog buttons, the stylized "I" button, or the STEP button.
The sticker on the front can be replaced.
The following buttons have their own wiki pages detailing their use and result:
MENU
The Menu button opens an on screen nesting menu allowing you to reach nearly all screens available on the teach pendant.
SELECT
The select button opens a list of existing programs. From this screen you can create a new program as well.
EDIT
Edit takes you to the last open program. Use this key whenever you need to get back to your program.
DATA
Data opens up the screen for viewing and editing data registers.
The following buttons are detailed on this page:
POSN
POSN displays the current position of the robot. This is useful for manually editing positions and position registers, measuring distances and positions, and confirming the accuracy of frames.
The screen includes a single softkey:
- [TYPE]
- JNT - JNT gives the angular positions of each axis. These are in reference to the "witness marks" scratched into the robot to designate a zero position. They can be positive or negative. On some joints and robots, they may even be greater than 360, if the joint is designed to rotate several times or continuously.
- USER - The USER type displays the robot's position in reference to the currently selected USER frame.
- WORLD - The world frame is the default for your robot. The zero point for X, Y, and Z is the center of the robot's J1 axis, at the height of J2. Positive X is toward the front of the robot cart, positive Y is toward the right, and positive Z is toward the ceiling.
DIAG/HELP
Number Pad
Arrow Keys
Shift
I/O
The I/O button opens up the page listing the last I/O type opened.
- [TYPE]
- Cell Intface
- Custom
- Digital
- Analog
- Group
- Robot
- UOP
- SOP
- Interconnect
- Link Device
- Flag
- CONFIG
- Output type/no:
- IN/OUT
- SIM
- ON
- OFF
- UNSIM
DISP
- Single
- Double
- Triple
- TreeView
- Single Wide
- Double Horizontal
- Triple Horizontal
- Help/Diagnostics
- Help
- Context Help
- Diagnostics
- Diagnostics Home
- Menu Help
- Status/Single
- Menu History
- User Views
- Zoom
- Maximize, Restore
- Menu Favorites
- Related Views
- Maximize/Restore
- Zoom
STATUS
- [TYPE]
- Axis
- Version ID
- Stop Signal
- Exec-hist
- Memory
- Prg Timer
- Sys Timer
- Condition
- Program
- Notifications
- STATUS1
- STATUS2
- PULSE
- [UTIL]
- Group
- Clear
- MONITOR
- TRACKING
- DISTURB
- DIAG.
SET UP
- Program select mode:
- RSR
- PNS
- STYLE
- OTHER
- Production start method: Production Checks:
- UOP
- OTHER
- At home check:
- DISABLED
- ENABLED
- Resume position toler.:
- DISABLED
- ENABLED
- Simulated I/O:
- DISABLED
- ENABLED
- General override <100%:
- DISABLED
- ENABLED
- Prog override <100%:
- DISABLED
- ENABLED
- Machine lock:
- DISABLED
- ENABLED
- Single step:
- DISABLED
- ENABLED
- Process ready: General controls:
- Heartbeat timing:
- 1000 MS
- Low TEMP DRAM memory:
- 100 KB
- Low PERM CMOS memory:
- 50 KB
FCTN
Function is a menu of options relating to the teach pendant and controller states.
- ABORT (ALL) - This command tells the controller to end all programs, allowing you to begin another or analyze data from that time.
- Disable FWD/BWD
- RELEASE WAIT
- QUICK/FULL MENUS
- SAVE
- PRINT SCREEN
- UNSIM ALL I/O
- START MODE
- CANCEL
- COLD
- CTRL
- ENABLE HMI MENU
- REFRESH PANE
- LIVE/SNAP
- VISION SETUP
- Diagnostic log
- Del Diag Log
COORD
Coord is used for quickly changing between available jogging coordinate systems.
Holding SHIFT and pressing COORD will let you select specific frame numbers.
GROUP
SPEED
FWD/BWD
Holding SHIFT and pressing FWD will initiate a run-through of your program. If STEP is active, hitting forward will advance the program by one line.
Holding SHIFT and pressing BWD will step backward through your program.
Note that backing through your program in this method will not perform the reverse functions on IO or registers, just motion.
HOLD
STEP
This button toggles STEP mode. When disabled, the STEP indicator on the top of the screen will go green. This causes a run-through of your program to be continuous.
When enabled, the STEP indicator on the top of the screen will go yellow. This means each time you hit FWD, your program will advance by only one line.
https://motioncontrolsrobotics.com/discover-benefits-fanuc-teach-pendant/