The teach pendant has the following keys:
Table 1. Navigation and Data Entry Keys
iPendant Key | Symbolic iPendant Key (if available) | Function |
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The F1 through F5 function keys are used to make choices based on the teach pendant display. Each function key has a unique label depending on the menu displayed on the teach pendant screen. |
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The PREV key restores the most recent state. In some cases, the screen might not return to the immediately preceding status. |
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The next page key is used to display the next set of function keys. |
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The MENU key is used to display the screen menu. |
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The SELECT key is used to display the program selection screen. The EDIT key is used to display the program edit screen. The DATA key is used to display the program data screen. |
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The DISP key is available only on the iPendant and is used to activate the DISPLAY menu or change the focus. When you press SHIFT and the DISP key together, the DISPLAY menu appears. The DISPLAY menu allows you to change the number of windows displayed to be Single, Double, or Triple. The Status/Single choice displays status in addition to the single window. You can also use it to display help or diagnostics, set up user views and menu favorites, or to display a menu history. |
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The FCTN key is used to display the function menu. |
Table 2. Robot Motion Keys
iPendant Key | Symbolic i Pendant Key (if available) | Function |
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The GROUP key is used to switch groups. Hold down the GROUP key and press the numeric key to switch to a specified group. Press the GROUP key and the 0 key together to toggle the sub group. NoteThe group key is enabled only when Multi motion group software option (J601) or Extended Axis Control software option (J518) has been ordered, and the extended axis or the independent axis has been set up. |
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The SHIFT key is used to jog the robot, teach the position data, and start a program. The right and left SHIFT keys have the same function. |
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The jog keys are effective while a SHIFT key is pressed. They are used to jog the robot. |
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These keys are used to jog extended axes or servo gun axes. |
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The COORD key selects a jog coordinate system. Each time the COORD key is pressed, it selects the next jog type in the order: JOINT, JGFRM, World frame, TOOL, USER. When this key is pressed while a SHIFT key is pressed and held down, a jog menu for changing the coordinate system is displayed. |
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The override key adjusts the feedrate override. Each time the override key is pressed, it selects the next override in the order: VFINE, FINE, 1%, 2% 3% 4% 5%, 10% 15% 20% and so forth in 5% increments to 100%. (Set $SHFTOV_ENB to alter the override settings.) |
Table 3. Execution Keys
iPendant Key | Symbolic iPendant Key (if available) | Function |
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The FWD key or BWD key (+ SHIFT key) starts a program. When the SHIFT key is released during regeneration, the program halts. |
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The HOLD key causes a program to halt. |
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The STEP key selects step or continuous test operation. |
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The RESET key is used to clear an alarm. |
Table 4. Editing Keys
iPendant Key | Symbolic iPendant Key (if available) | Function |
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The ENTER key is used to process and activate the current information set. |
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The BACK SPACE key deletes the character or numeral immediately before the cursor. |
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The arrow keys are used to highlight or select an item on the screen. |
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The ITEM key moves the cursor to a line whose number is specified. |
Table 5. Help and Diagnostic Key
iPendant Key | Symbolic iPendant Key (if available) | Function |
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The HELP key displays help files that describe the functions available for the active window. The SHIFT and DIAG keys together display diagnostic information for the currently active error or the selected error in the Alarm menu. This key is only available on the iPendant. |
Table 6. FCTN Menu
Item | Function |
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ABORT ALL | This item aborts all running or paused programs. |
Disable FWD/BWD | This item allows you to disable the ability to execute program instructions when the SHIFT and FWD keys or SHIFT and BWD keys are pressed. The ability to use SHIFT FWD and SHIFT BWD will be disabled until you press FCTN and select DISABLE FWD/BWD again. |
RELEASE WAIT | During program execution, wait release allows you to override pauses in the program when the robot is waiting for I/O conditions to be satisfied. Release wait works only when a program is running. |
QUICK/FULL MENU | This item toggles the menu display between a full or a shorter menu list. |
SAVE | This item saves the current program. |
PRINT SCREEN | This item saves the current teach pendant screen image to the default device as tpscrn.ls. |
This item saves the current program to the default device as program_name.ls. | |
UNSIM ALL I/O | This item unsimulates all simulated signals. |
CYCLE POWER | This option is available on the FCTN menu after a Cold start. This item toggles the power relay via external I/O. The teach pendant must be enabled for this to work. If the teach pendant is enabled, a prompt box will be displayed asking if you are sure. This is not available on an external robot connection — only from the teach pendant. |
ENABLE/DISABLE HMI MENUS | This item enables (or disables) the optional HMI Menus in both FULL and QUICK Menu mode. |
REFRESH PANE | This item refreshes the page in the active window. |