1. i-Pendant for the R-J30iB Controller
New
i-Pendant for the R-J30iB Controller

2. RJ3-iB Controller R-30iA Controller
i Pendant
Earlier
Versions
RJ3-iB Controller R-30iA Controller

3. No change in key arrangement
New R-30iB i - Pendant
No change in key arrangement
Built-in hanger
Large Color display
Light weight ergonomically comfortable body
20% lighter than its predecessor

4. Angled for better ergonomic feel
New R-30iB i - Pendant
Angled for better ergonomic feel
More comfortable 3-way “Live-Man” grips

5. NEW: serves as a touch screen.
Displays the ArcTool information and graphics.
NEW: serves as a touch screen.

6. ON/OFF Switch: Enables teach pendant control and programming when turned “ON”.
Must be in the “OFF” position when in AUTO Mode.

7. EMERGENCY STOP BUTTON:
Use this button to stop a running program, turn off drive power to the robot servo system & apply the brakes to the servo system.

8. RESET key:
Use this key to clear alarms.

9. SHIFT keys:
Together with the other keys performs specific functions.

10. Jog keys: Use these keys to jog (move) the robot manually.

11. The Speed Override Display will change:
Jog Speed keys:
Use these keys to adjust the jog speed of the robot.
The Speed Override Display will change:
10% 5%
100%
50%

12. Use these keys to select menu options.
TEACH keys:
Use these keys to select menu options.
SELECT key
displays a list of programs
EDIT key
displays the current program
DATA key
displays a list of the weld procedures, weave schedules, other schedules

13. Function keys: Use these keys to take specific action depending on the screen displayed.
F1 key
F2 key
F3 key
F4 key
F5 key

14. NEXT key: Use this key to display more function keys when available.
This key is used when a ">" appears on the lower right corner of the display.

15. Cursor keys:
Use these keys to move the cursor to enable navigation around the screen.

16. Numeric keys:
These keys are used to enter numeric values:
0, 1, 2, 3, 4, 5, 6, 7, 8, 9, minus sign (-), decimal point (.), and comma (,).

17. ENTER key: Use this key to enter a numeric value or to select an item from the menu.

18. STEP key: When in T1 or T2 Mode, use this key to switch between:
STEP (running one
program line at a time)
and
CYCLE (running a program continuously).
Status Indicator showing STEP ON:

19. FWD (forward) key:
In STEP, use this key to execute the next program statement.
In continuous operation, use this key to commence programmed robot movement.

20. BWD (backward) key:
Use this key to execute the previous program statement.

21. TEACH PENDANT
FUNCTIONS PART 2

22. WELD ENBL key:
This key enables or disables the welding process while running a program.
Press SHIFT and this key to toggle between ARC Enable and ARC Off.
Status Indicator showing Weld Enabled:

23. WIRE Jog keys: Wire Jog “+” Wire Jog “–”
feeds the welding wire out of the torch.
Wire Jog “–”
retracts the welding wire back into the torch.

24. ITEM key:
Use this key to select a line in a program using its Program Line Number.
Examples:
To select a line in a TP program, press ITEM key, type the line number and press ENTER
To select a line in a list a System Variables, press ITEM key, type the line number and press ENTER

25. BACK SPACE key: Use this key to delete the character or number immediately before the cursor.

26. PREV key:
Use this key to display the previous screen.

27. MENU key:
Use this key to display the menu screen.

28. HOLD key:
Use this key to stop the robot.

29. FCTN key: Use this key to display the supplementary commands:
ABORT (ALL)
Disable FWD/BWD
CHANGE GROUP
RELEASE WAIT
TOGGLE COORD JOG
TOGGLE COOR ORNT
QUICK/FULL MENUS
SAVE
PRINT SCREEN
PRINT
UNSIM ALL I/O
CYCLE POWER
ENABLE HMI MENU
REFRESH PANE
Diagnostic log

30. GROUP key: Toggles the i-Pendant between the different Motion Groups:
G1, G2, G3, etc.

31. Aux Axis Jog keys: These four new keys enable the jogging of
additional aux axes, and
are customizable.

32. Status Indicators: display system status.
Hold
Weld
Estab
D-Run
Status Indicators: display system status.

33. Capable of wireless keyboard & mouse navigation
Local USB port
USB port for
application backup
USB memory
USB dongle
Capable of wireless keyboard
& mouse navigation

34. TEACH PENDANT
FUNCTIONS PART 3

35. Diag/Help key:
Use the HELP key to get information on how to use the current screen.
Use the DIAGnostics key to display information: error message descriptions, cause, and remedy.

36. Display key:
Use this key along with the SHIFT key, to change the screen view from single frame, double frame, triple frame, or single frame with extended status.
Also enables operation toggling to the different frames.

37. COORD (coordinate) key:
Use this key to select the jog coordinate system:
X-Y-Z (World, Jog Frame, User Frame)
Joint Coordinate System
Tool Coordinate System

38. STATUS key: Press this key to display welding & robot status.
1. WELD - commanded and real time actual weld voltages and wire feed speeds
2. ARC Chart - provides charts tracking weld voltage, wire feed speeds, welding current, etc.
3. AXIS - shows the status of each axis in bits
4. Version ID – system software versions
5. SAFETY SIGNAL - shows 10 safety signals
6. EXEC-HIST - status 200 programs executed
7. MEMORY - shows memory allocation
8. PRG TIMER - shows program timer values
9. SYS TIMER - shows the hour meter values
10.REMOTE DIAG - status of the remote diagnostics and the device supporting it.
11. VISION – displays the Vision Runtime screen

39. OTF key:
Use this key for on-the-fly welding parameter adjustment.

40. I/O key:
This key displays the various Inputs and Outputs of the robot controller.

41. POSN (position) key: Using this key displays the current numeric position of each of the axes of the robot arm.

42. STATUS BAR
INFORMATION

43. D-Run

44. Speed Override Indicator
D-Run
Speed Override Indicator
The speed override is a percentage of the maximum speed at which the robot will move.
A speed override of 100% indicates that the robot will move with the maximum possible speed.

45. The Alarm Status line displays the current alarm.
D-Run
Alarm Status Line
The Alarm Status line displays the current alarm.

46. Status: Paused, Running, etc. Mode AUTO, T1, or T2.
Program Status Line
Status: Paused, Running, etc.
Mode AUTO, T1, or T2.
Current line number
Name of the currently executing program

47. Motion information can included:
G1 S JOINT
D-Run
Motion Information
Motion information can included:
jogging coordinate system: joint, world, tool, etc.
motion group: G1, G2, G3, etc.
subgroup: G1 S would indicate a subgroup of G1 if a robot was on a track, for example.

48. The key,
Touch Screen,
4D Graphics
tips

49. Touch the at the blue status bar, at sub menu, touch Weld Procedure, 3 screen display will now appear, as shown below.
Touching on another weld procedure number in the program screen will reveal that procedures details at the right.
Upper, right screen displays detail view of Weld Procedure.
Lower, right screen displays detail view of Weld Schedule.

50. Blue Status Bar Touch Shortcuts
Touch here and Menu key menu will appear.
Touch here and Display menu will appear.
Touch here and Function menu will appear.

51. Different menus depending on operators levels are configurable
Robot powers up to an HMI touch screen. Different levels of this screen are found at the F-keys, such as Setup and Program levels. Traditional Menu key selections are now touch screen items.
To return to a standard menu display, press the MENU key, cursor to desired item, Enter.
Different menus depending on operators levels
are configurable
PROGRAM
SETUP
i + MENU
MENU
To return to HMI touch screen, press
i + MENU key. To expand to full HMI menu
display, press FCTN key, Enable HMI Menu.

52. 4D Graphics Display
At power up, at top level display, press F-key for 4D, then touch line 4D Display.
Or press MENU key, 0-next, 4D Graphics, touch 4D Display.
Graphics arm display will move as the robot is being jogged or a program is playing back.
Function:
Set the view of the user screen
Touch to center a point
Drag to pan, zoom or rotate
Function keys set mode
User can use touch panel or arrow keys to manipulate viewpoint
Benefit:
Quickly see what you need to see from the angle that you need to see it from
Diagnose program issues such as points in plane quickly and easily

53. View 4D Graphics Display With Teaching Screens
Press key + MENU key = Top Level Menu
Press key + SELECT key = Select screen at left, 4D Graphics at right
Press key + EDIT key = Program screen at left, 4D Graphics at right
Press key + DATA key = Data screen at left, 4D Graphics at right
Press DISP key to make graphics screen the active screen, press F1-Type to select
other types of graphics to display.

54. Other 4D Graphics Functions
Position Registers
4D GRAPHICS
Program Utilities
4D GRAPHICS
Frame Display
Function:
See simple picture of where in space all the position registers are taught.
Benefit:
Speeds position register touch up by showing where register is taught
Quick editing: single touch takes you to the selected position register
Functions:
Supports Mirror, Shift, Program Adjust
User can directly select node map with any menu on the right
Benefit:
Immediately see the result of the requested operation
See selected points before adjustment
Function:
Triad is displayed for current frame
Tool frames shown with respect to robot wrist
Benefit:
Speeds up calibration of complex systems
User can easily see the working frame

55. 4D Editor is tool on PC to make 4D Workcells for iPendant easily
Export to iPendant with 4D visualization option
ROBOGUIDE
4D Editor
Virtual TP
Create workcell in ROBOGUIDE 4D Editor