Chapter 2 Names and functions of the

operation switches and keys

In this chapter, the functions of the operation switches and keys provided on the
robot controller will be described.

2.1 Controller ....................................................................................................2-1

2.1.1 When the operation box is connected ..................................................2-1
2.1.2 When there is an operation panel ........................................................2-2
2.2 operation box ..............................................................................................2-3
2.3 Operation panel ..........................................................................................2-4
2.4 Teach pendant ............................................................................................2-5
2.4.1 External appearance of teach pendant ................................................2-5
2.4.2 LED Functions......................................................................................2-6
2.4.3 Functions of buttons and switches .......................................................2-7
2.4.4 Functions of operation keys .................................................................2-8
2.4.5 Configuration of display screen ..........................................................2-16
2.4.6 Concerning the operation of the f keys...............................................2-19
2.4.7 Touch Panel .......................................................................................2-21
2.4.8 [JOG DIAL].........................................................................................2-23
2.5 To input characters ...................................................................................2-26
This is dummy page. DO NOT ERASE.
 2.1 Controller

2.1 Controller

2.1.1 When the operation box is connected

The circuit breaker is provided on the front side of the FD11 controller, and the teach pendent and
operation box are connected here as well.

OPERATION BOX

CIRCUIT BREAKER

TEACH PENDANT

Fig. 2.1.1 FD11 Controller (OPERATION Box Specifications)

Circuit breaker
This turns the power of the controller ON and OFF.

Teach pendant
The teach pendant has the keys and buttons to perform teaching, file operation, various
condition settings, etc.

Operation Box
Buttons for performing the minimum required operations such as motor power ON,
automatic operation start and stop, emergency stop, and switching between the teach and
playback modes are provided.

2-1
2.1 Controller

2.1.2 When there is an operation panel

The circuit breaker and operation panel are provided on the front side of the FD11 controller, and
the teach pendent is connected here as well.

OPERATION
PANEL

CIRCUIT BREAKER

TEACH PENDANT

Fig. 2.1.2 FD11 Controller (Operation Panel Specifications)

Circuit breaker
This turns the power of the controller ON and OFF.

Teach pendant
The teach pendant has the keys and buttons to perform teaching, file operation, various
condition settings, etc.

Operation Panel
Buttons for performing the minimum required operations such as motor power ON,
automatic operation start and stop, emergency stop, and switching between the teach and
playback modes are provided.

2-2
 2.2 operation box

2.2 operation box

The operation box is provided with the minimum buttons required to exercise basic control over the robot, such
as motor power on, starting and stopping automatic operation, emergency stop, and switching between modes.

(E)

(A) (D)

(B) (C)

Fig. 2.2.1 Operation box

Table 2.2.1 Functions of buttons and switches on the operation box

Indication used in this manual Description of function

This is used to set the motor power to ON. When it is set to ON, the robot is
(A) [MOTOR ON BUTTON]
readied for operation.

(B) [START BUTTON] In the playback mode, this starts the program which has been specified.

(C) [STOP BUTTON] In the playback mode, this stops the program which is in the start status.
This is used to select the mode. The teach or playback mode can be selected.
(D) [MODE SELECT SWITCH] This switch is used in combination with the teach pendent “TP selector
switch.”
When this is pressed, the robot is set to emergency stop. Emergency stop is
[EMERGENCY STOP performed by pressing the switch on the control box or on the teach pendant.
(E)
BUTTON] To release emergency stop, turn the button clockwise. (The button will then
return to its original position.)

When a control box is connected, an operation panel cannot be installed.

2-3
2.3 Operation panel

2.3 Operation panel

The operation panel is provided with the minimum buttons required to exercise basic control over the robot such
as motor power ON, switching between the modes, starting and stopping automatic operation, and emergency
stop.

(D) (A) (B) (C) (E)

Fig. 2.3.1 Operation panel

Table 2.3.1 Functions of buttons and switches on the operation panel

Indication used in this manual Description of function

This is used to set the motor power to ON. When it is set to ON, the robot is
(A) [MOTOR ON BUTTON]
readied for operation.

(B) [START BUTTON] In the playback mode, this starts the program which has been specified.

(C) [STOP BUTTON] In the playback mode, this stops the program which is in the start status.
This is used to select the mode. The teach or playback mode can be selected.
(D) [MODE SELECT SWITCH] This switch is used in combination with the teach pendent “TP selector
switch”.
When this is pressed, the robot is set to emergency stop. Emergency stop is
performed by pressing the switch on the operation panel or on the teach
[EMERGENCY STOP pendant.
(E)
BUTTON]
To release emergency stop, turn the button clockwise. (The button will then
return to its original position.)

If an operation panel is installed, a control box cannot be connected.

2-4
 2.4 Teach pendant

2.4 Teach pendant

2.4.1 External appearance of teach pendant

The teach pendent is provided with operation keys, buttons, switches and jog dials etc. for
creating programs and performing various settings.
You can allocate move commands to number keys [7~9] by pressing the [ENABLE] key at the
same time as a number key [7~9], and allocate often used function commands (function groups)
by pressing the [ENABLE] key and a number key [4~6]. Functions can also be allocated to the
[JOG DIAL] .

Be sure to follow the cautions below for the USB port (see fig. 2.4.2).

Only connect USB memory while operating files.

When file operations have finished, always remove the USB memory and
close the USB cap.
Continuing use with the USB memory connected, or failing to close the
USB cap may hinder the dust protection, waterproofing, and anti-spatter
properties, which may lead to failure.
The USB cap is a consumable part. If the USB cap becomes loose, or is
damaged or lost, quickly replace it with a new one. In the time until a new
one is procured, use tape etc. to block up the USB port.

TP Selector Emergency
switch stop button

Touch panel
LCD screen

Jog dial

Operation
keys

Fig. 2.4.1 Teach pendant (Front)

The design of the operation keys shown in Fig. 2.4.1 may be slightly different to
those on the actual teach pendant.

2-5
2.4 Teach pendant

USB Cap

Enable switch
USB Port

Fig. 2.4.2 Teach pendant (rear)

2.4.2 LED Functions

LEDs are arranged above each teach pendent operation key, and operate as shown below.

(B)

(C)
(A)

Fig. 2.4.3 Teach pendent LED

Table 2.4.1 LED Functions

LED Functions
Color
Flashes during preparation of motor power ON, and lights when motor power is ON
(A) Green (servo ON). It is the same as the green “Motor power ON button” lamp on the
operation panel and control box.
Flashes after the power to the controller is switched on, and lights when the teach
(B) Orange
pendent system starts. At all other times it remains lit.
Lights when a hardware malfunction occurs in the teach pendent.
(C) Red
Normally this remains off.

Directly after power to the controller is switched on, all of the LEDs light for
approximately 0.5 seconds to check they are operating normally, and then switch
off. After this, they operate as shown in Table 2.4.1.

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 2.4 Teach pendant

2.4.3 Functions of buttons and switches

The buttons and switches on the teach pendant have the following functions.

Table 2.4.2 Functions of buttons and switches

External Indication used in this
Function
appearance manual
This is used to switch between the teach mode and
the playback mode in combination with the [MODE
SELECT SWITCH] on the operation panel or control
[TP SELECTOR SWITCH]
box.
For further details, refer to “3.2 Mode selection” in
Chapter 3.
When this is pressed, the robot is set to emergency
stop.
[EMERGENCY STOP To release emergency stop, turn the button in the
BUTTON] direction of the arrow.
(The button will then return to its original position.)
Used to manually operate the robot in teach mode.
Normally, it is provided on the left side only. There
may be two buttons, one at the left and the other at
the right as an option.

When the enable switch is grasped, power is

supplied to the robot (Motor power ON (servo ON)).
[Enable switch] The robot can be operated manually only while the
switch is grasped.
If an impending danger is sensed, either release the
enable switch or grasp it tightly until a clicking sound
is heard. The robot is set to emergency stop.
For details on how to operate the enable switch, refer
to “3.3 Turning the motor power to ON” in Chapter 3.
The [JOG DIAL] has two operations, a longitudinal
dial rotation operation and a latitudinal push button
operation.
The dial rotation operations move the cursor and
[JOG DIAL] scrolls through screens, and the push button
operation selects items and enters inputs.
Also, a wide range of operations such as frequently
used key operations can be allocated to the dial
rotation operation and push button operation. For
details, see “2.4.8 [JOG DIAL].”

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2.4 Teach pendant

2.4.4 Functions of operation keys

The operation keys provided on the teach pendant have the following functions.

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual
The functions are executed by pressing this key
together with other keys.
[ENABLE] Also, various functions can be executed by rotating
or pushing the [JOG DIAL] while holding down this
key.
The functions are executed by pressing this key
together with other keys.
[SHIFT] Also, various functions can be executed by rotating
or pushing the [JOG DIAL] while holding down this
key.

The motor power is set to ON by pressing this key

[MOTOR POWER ON]
together with the [ENABLE] key.

MECHANISM SELECTION
When a multiple number of mechanisms are
connected to the system, the mechanism to be
[UNIT/MECHANISM] operated manually is selected.

UNIT SELECTION
When a multiple number of units are defined in the
system, the unit to be operated is selected.
This key is used by a system in which a multiple
number of mechanisms are connected, and it has
the following functions.

SYNCHRO MOTION ON/OFF

It selects or releases synchronized (cooperative)
[SYNCHRONIZE] manual operation.

SYNCHRO MOTION ON/OFF

When synchronized (cooperative) operation is
specified for a move command, “H” appears before
the step number.

During manual operation, the coordinate system that

serves as the reference for operation is selected.
Each time it is pressed, the axis independent,
orthogonal coordinates (or user coordinates) or tool
[INTERP/COORD] coordinates are selected and displayed on the LCD
screen.

This switches the interpolation type (joint

interpolation, linear interpolation or circular
interpolation) of the recording status.

2-8
 2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

MANUAL SPEED CHANGE

The operating speed of the robot during manual
operation is selected. Each time it is pressed, one of
the 1 to 5 operating speeds is selected (the higher
the number, the faster the speed).
Furthermore, the following function is provided as
well.
<<Operating mode S>>
The playback speed recorded in the steps is also
[CHECK SPD/TEACH determined by the manual speed which has been
SPEED] selected by this key.
This function is set by selecting [Constant
Setting] [5 Operation Constants]
[4 Record speed] [Value of recording
method — Decision method].

CHECK SPEED CHANGE

The speed during a check go or check back
operation is selected. Each time it is pressed, one of
the 1 to 5 operating speeds is selected (the higher
the number, the faster the speed).

Continuous or non-continuous during a check go or

check back operation is selected.
When continuous operation is selected, the
[STOP/CONTINUOUS] operation of the robot does not stop at each step.

PLAYBACK STOP
The program being played back is stopped. (This
has the same function as the stop button.)

If a multiple number of monitor screens are

[CLOSE/SELECT displayed, the screen targeted for operation is
SCREEN] selected.

The selected monitor screen is closed.

No function

[Axis operating keys] AXIS OPERATION

The robot is moved manually. If an auxiliary axis to
be moved, the operation target is selected ahead of
time using [UNIT/MECHANISM].

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2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

No function

CHECK GO / BACK
When these are pressed together with the [ENABLE
[CHECK GO] SWITCH], the check go or check back operation is
[CHECK BACK] performed.
Normally, the robot is stopped at each recorded
position (step). It is also possible to move the robot
continuously.
Use [STOP/CONTINUOUS] to select step or
continuous.

During teaching, the movement command is

recorded. This can be used only when the last step
in the task program has been selected.

The already recorded movement command is

overwritten by the current recording statuses
(position, speed, interpolation type, and accuracy).
However, the command can be overwritten only
when changes are made to what is recorded for the
movement commands. A movement command
cannot be overwritten by a function command;
neither can a function command be overwritten by
another function command.
[[Link] / REC] <<Operating mode A>>
The recording position of a recorded movement
command can be revised using [MOD Position].
<<Operating mode S>>
The recording position, speed and accuracy of a
recorded movement command can each be revised
using [MOD Position], [SPEED] and [ACC],
respectively.

The [SPEED] and [ACC] key functions are

set by selecting [Constant Setting] [5
Operation Constants] [1 Operation
condition] [5 Usage of SPD key] or [6
Usage of ACC key].

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 2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

No function

<<Operating mode A>>

The movement command is inserted “After” the
current step.
<<Operating mode S>>
[INS] The movement command is inserted “Before” the
current step.

“Before” can be changed to “After” or vice

versa by selecting [Constant Setting]
[5 Operation Constants] [1 Operation
condition] [7 Step insertion position].
This key functions in a different way depending on
the application concerned.

When the arc welding application is used

Frequently used function commands such as the

movement command, welding start and stop
commands and weaving commands are displayed in
the f key, and can be input.

No function
[CLAMP ARC] When the spot welding application is used

It is used to set the spot welding command.

Each time the key is pressed, the ON or OFF is
selected for the recording status.

The spot welding gun is manually pressurized.

Other functions can also be allocated. For details,
see “4.13 Clamp/Arc Key Settings” in the “SETUP” of
the instruction manual.

No function

[MOD Position]
The position stored in the movement command now
selected is changed to the current robot position.
Press this for help concerning an operation or
[HELP] function.
The built-in tutorial function (help function) is called.

No function

[DEL]
The step now selected (movement command or
function command) is deleted.
This clears the input or returns the setting screen to
its original status. It also enables R codes (short-cut
[RESET/R]
codes) to be input. The function that is to be used
can be called immediately by inputting an R code.

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2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

This is used to call a step specified in the program.

[PROG/STEP]

The specified program is called.

This enters the menu or numerical input contents.

[Enter] Determination operation of numerical input

can also be performed with arrow keys by
<Constant Setting> - [7F-key] – [7 Numerical
input] and switching to “Cursol” under
[Decision method of numerical input].

When these keys are pressed on their own, the

cursor moves.

On a screen where the settings are configured on

Cursor keys a multiple number of pages, the page is moved.
Lines are moved in units of multiple lines in the
work program editing screen etc.
On a service or constant setting screen, for
instance, the selection items arranged horizontally
(radio buttons) are selected.
On a teach or playback mode screen, the number
of the current step is changed.

During teaching, this short-cut calls the output signal

[OUT] command (SETM <FN105> function command).

The external signals are set to ON or OFF manually.

During teaching, this short-cut calls the input signal
[IN] wait “positive logic” command (WAITI <FN525>
function command).
<<Operating mode A>>
This is used to set the speed of movement
commands.
(The setting is reflected in the recording status.)
<<Operating mode S>>
This is used to revise the speed of recorded
[SPD] movement commands.

This function is set by selecting [Constant

Setting] [5 Operation Constants]
[1 Operation condition] [5 Usage of SPD
key].

2-12
 2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual
<<Operating mode A>>
This is used to set the accuracy of a movement
command which is to be recorded. (What has been
set is reflected in the recording status.)
<<Operating mode S>>
This is used to revise the accuracy of a recorded
[ACC] movement command.

This function is set by selecting [Constant

Setting] [5 Operation Constants]
[1 Operation condition] [6 Usage of ACC
key].

During teaching, this short-cut records the timer

command (DELAY <FN50> function command)
END TIMER

During teaching, this short-cut records the end

command (END <FN92> function command).

2-13
2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

Numerical input
Numbers (0 to 9, decimal point) are input.

A shortcut for a "JOINT" move command

A shortcut for a "LIN" move command

A shortcut for a "CIR" move command

For arc welding uses

During teaching, commands for arc welding are

displayed on the f keys (f1~f12).

During teaching, commands for weaving are

displayed on the f keys (f1~f12).

During teaching, commands for sensors are

displayed on the f keys (f1~f12).
For uses other than arc welding
Numeric keys/
[0] to [9] / [.]

Application functions 1~3 can be allocated to the

desired functions. For details, see “7.7 Customizing
Hard Keys”.

On a setting screen, for instance, a check mark is

placed inside the check box.

On a setting screen, for instance, the check mark

inside the check box is removed.

This re-does the operation which was restored by

clearing (undo) the operation immediately before. It
is effective only while creating a new or editing an
existing program.

“+” is input.

“-” is input.

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 2.4 Teach pendant

Table 2.4.3 Functions of operation keys

External Indication used in this
Function
appearance manual

The number or character before the cursor position

is deleted. The key is also used to release a
selection during file operations.
[BS]
The operation performed immediately before is
cleared, and the status prior to the change is
restored.
It is effective only while creating a new or editing an
existing program.

This is used when selecting the function

[FN] (Function)
commands.

Opens the program editing screen.

[EDIT] In the program editing screen, mainly function
commands are changed, added or deleted, and the
parameters of move commands are changed.

[I/F] (Interface) Opens the interface panel window.

2-15
2.4 Teach pendant

2.4.5 Configuration of display screen

Indicated on the display screens are the program and settings used for the current operation and
the icons (f keys) for selecting the various functions.

1 2 3 4 5
6
10
7

9
Fig. 2.4.4 Configuration of display screen

1 Mode display area

The selected mode (teach, playback or high-speed teach) is displayed here. (The
highspeed teach mode is optional.)
The motor power, operation underway and emergency stopped statuses are also
displayed.

Table 2.4.4 Status display

Playback
Status Teach mode
mode
Motor power OFF

Motor power ON, servo power OFF, now

saving energy (playback mode)

Motor power ON, servo power ON

Motors energized, check GO/BACK

operation underway (teach mode), now
operating (playback mode)
Emergency stopped

2 Program number display area

The number of the selected program is displayed.

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 2.4 Teach pendant

3 Step number display area

The number of the step selected in the program is displayed here.

4 Date & time display area

The current date and time are displayed here.

5 Mechanism display area

The mechanism targeted for manual operation is displayed here.
With a multi-unit specifications robot, the numbers of the units involved in the teaching
are also displayed.

6 Coordinate system display area

The selected coordinate is displayed here.

Table 2.4.5 Coordinate system display

Types of coordinate systems Display
Axis coordinate system

Machine coordinate system

Tool coordinate system

(The number on the left of the icon is the tool number.)
Work coordinate system

Absolute coordinate system (world coordinate system)

Cylindrical coordinate system

User coordinate system

(The number on the left of the icon is the coordinate number.)
Welding line coordinate System

7 Speed display area

The manual operation speed is displayed here. When [ENABLE] is pressed, the check
speed is displayed.

Table 2.4.6 Speed display

Speed Display
Manual speed

Check speed

8 Monitor display area

The contents of the program are displayed here (in the case of the initial settings).

9 f key display area

By touching a display area, called f key, selectable functions are displayed. The six keys
on the left correspond to f1 to f6; the six keys on the right correspond to f7 to f12.
See 2-19 “2.4.6 Concerning the operation of the f keys”.

10 Variable status display area

Various status displays such as “Input wait (I wait)” and “External start selected” appear
as the icons shown in Table 2.4.7 in this area. When this status ends, the icon is cleared.

2-17
2.4 Teach pendant

Table 2.4.7 Status icon display

Status Icon Status Icon
External signal input waiting (I waiting) Servo gun: Now writing gun search
reference position

“Start selection: External” or “Program Servo gun: Now selecting recording

selection: Internal” now selected position check mode

“Start selection: Internal” or “Program Mechanism connected

selection: External” now selected Number: mechanism number - number of
sub mechanism connected
(The mechanism disconnection function is
an option.)
“Start selection: External” or “Program Mechanism released
selection: External” now selected Number: mechanism number - number of
sub mechanism connected
(The mechanism disconnection function is
an option.)
Software PLC now operating Robot in the start enable area

Software PLC now stopped Now Log in

The 3 digit number signifies the user ID

Machine lock now set Record function is allocated to the [JOG

DIAL] function.
Dry run now set Overwrite function is allocated to the [JOG
DIAL] function.
Now connected with external PC via Position correction function is allocated to
Ethernet the [JOG DIAL] function.
Automatic backup proceeding
Interpolation classification switching
(The extent to which the operation has
function is allocated to the [JOG DIAL]
been completed is indicated as a
function.
percentage.)
Temporarily stopped (with station startup Coordinate switching function is allocated
only) to the [JOG DIAL] function.
Holding or now paused
* This is displayed only when the hold Insertion function is allocated to the [JOG
signal or pause signal is input during DIAL] function.
playback.
Mechanism now disconnected Tool fine adjustment function is allocated to
the [JOG DIAL] function.
I/O simulation mode now selected Weld wire inching/retracting function is
allocated to the [JOG DIAL] function.
J5 axis in singular point status
The touch panel is locked.

Not all of the optional functions are listed in the above table.
For details on any of the icons not described in the table, refer to the operating instructions for the optional functions
concerned.

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 2.4 Teach pendant

2.4.6 Concerning the operation of the f keys

A number of icons are assigned to the f key display area.
The allocation of icons differs according to the application (use), such as arc welding or spot
welding etc. It is also switched in accordance with the selected mode or operating conditions.

The initial allocation of the f keys differs according to the application. For details
on the initial allocation, see the sections in chapter 8 and beyond in this
instruction manual that correspond to the application that will be used.

Enter the f key from the touch panel

To select the function allocated to an icon, touch the f key display area icon directly.

f1

Each function can be selected by f2

touching the icon directly.

f3

f4

f5

f6

Normally, a function is selected by pressing one of the f1~f12 icons on its own. However, in some
cases the key must be pressed together with [ENABLE].

An icon displayed with the mesh display

can be selected by pressing [ENABLE].

When [ENABLE]
is pressed, the
display changes.

Some icons are only displayed when

[ENABLE] is pressed.

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2.4 Teach pendant

Enter the f key from the operation key

Inputting using only the f keys, without using the touch panel (this is known as “f key substitute
operation”). There are 2 types of operating method. See Table 2.4.8. In the default settings, “f Key
substitute operation“ is disabled (no key input method).

Table 2.4.8 Key allocation in f key substitute operation

Operation Key Operation Key

For operations in this table, hold down the
Pattern Pattern
[SHIFT] key and press the appropriate operation Pattern Pattern
1 2 key. 2 1

f1 f7

f2 f8

f3 f9

f4 f10

f5 f11

f6 f12

The description below shows how to enable “f key substitute operation.”

1 Change the operator qualification to or higher.

2 Select <Constant Setting> - [7 f-Keys] – [9 Alternative F-key operation].

3 Hold down [ENABLE] and press [Left/Right] to select the item.

>> Correspondences between the f keys and operation keys for each setting are shown
in Table 2.4.8.

4 After selecting the item, press f12 <Complete>.

>>This completes the settings.

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 2.4 Teach pendant

Settings can also be changed from the shortcut R971.

For details on shortcut operations, see “Chapter 7 Useful Functions”.
Correspondence between shortcuts and constant settings when constant settings
are configured are shown in Table 2.4.9.

Table 2.4.9 Correspondence with Constant Settings

Shortcut Constant settings
0 (None) No key input method
1 (Pattern 1) Same as the numerical figure
2 (Pattern 2) Same as the screen arrangement

2.4.7 Touch Panel

The touch panel is equipped as standard to the teach pendent, and the touch panel is set to be
operable by default. Operations using the touch panel can be enabled or disabled by changing the
setting.
The touch panel can be set to temporarily lock (be inoperable) even when enabled if the teach
pendant is not operated for a set period of time. This is called the “touch panel lock” function, and
prevents unwanted entries being caused by unintentional touching of the touch panel. The touch
panel lock function is enabled by default.

The icon shown below is displayed in the status icon display if the touch panel is
locked by the touch panel lock function.

The following message is displayed if the touch panel is touched in this case.

The touch panel is automatically unlocked if the operation keys or jog dial are
used.

This section explains how to change the touch panel settings.

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2.4 Teach pendant

Changing the Touch Panel Settings

1 Change the operator qualification to or higher.

2 Select <Constant Setting> - [7 f-Keys] - [10 Touch screen].

>>The following setting screen is displayed.

3 Select the item using [ENABLE] + [Left/Right] to enable or disable touch panel
operation.
>> To change other settings items, use [Up/Down] to move the cursor to the item you
want to change. Settings are as follows.

Item Details
Select “Enable” to enable use of the touch panel or “Disable” to
Use of touch screen
disable use.
Select “Enabled” to use the touch panel lock function or
Touch screen lock
“Disabled” not to use it.
Non-operate time Set the period of non-use after which the touch panel is locked.
Select “Enable” to display a message if the touch panel is
Warning at touch ope. touched while locked. Select “Disabled” not to display this
message.

Touch panel operation cannot be disabled if the “Method of alternative key input of
F-key.” in <Constant Setting> - [7 f-keys] – [9 Alternative F-key operation] is set to
“Method of inputting key none.”

4 After selecting the item, press f12 <Complete>.

>>This completes the settings.

The touch panel can also be enabled/disabled from the shortcut R970.
For details on shortcut operations, see “Chapter 7 Useful Functions.”

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 2.4 Teach pendant

2.4.8 [JOG DIAL]

Jog dials, equipped as standard to teach pendants, can be rotated and pressed, and have a
variety of functions.
The main operations are explained in Table 2.4.10 and table Table 2.4.11.

Table 2.4.10 [JOG DIAL] Functions

Operation When to use Details
When the cursor can be moved
using the [Up, Down, Left, Right] Moves the cursor up and down.
keys
When selecting the robot program
Moves the current step.
monitor
When the page can be turned using
Turns the page.
f key
In arc monitor editing mode during Slowly increases and decreases each
arc welding (when changing online) weld condition value.
When the cursor can be moved
using the [Up, Down, Left, Right] Moves the cursor left and right.
keys

Increases or decreases the check speed.

When selecting the robot program

monitor in teach mode

Increases or decreases the manual speed.

When selecting the robot program

Mechanism can be switched.
monitor
When the [Enter] key can be used to
Selects items.
select items.
When selecting the robot program
Unit can be switched.
monitor
When f12 key can be used to enter,
Enters, executes, and writes values.
execute and write values
The jog dial function allocation dialog is
When the cursor can be moved displayed, and the functions shown in
using the [Up, Down, Left, Right] Table 2.4.11 can be allocated to the [JOG
keys while the robot program DIAL].
monitor is being selected (Functions that can be allocated differ for
teach mode and playback mode.)
1) In order to perform this operation, [Constant Setting] - [5 Operation/Teaching Conditions]
– [1 Operating conditions] – [8 Step selection with E+up/down keys] needs to be set to
[ENABLE].

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2.4 Teach pendant

Table 2.4.11 Jog Dial Functions when Allocating Functions

Function
Allocation Operation When to use Details
Status

Executes the record.

Overwrites.

Adjusts the position.

When selecting the robot program
monitor in teach mode
Interpolation can be switched.

Coordinates can be switched.

Inserts the record.

When selecting the robot program

Robot can be moved.
monitor in teach mode

Check the operating direction of

inching/retracting.

When selecting the robot program Performs inching/retracting of

monitor the arc weld wire.

Performs inching/retract of the

arc weld wire.

1) For details, see “3.4.3 Moving the robot with the [JOG DIAL].”
2) For details, see “Chapter 8 Basic Operations for Arc Welding.”

The only function that can be allocated in playback mode is wire inching/retracting.

Allocating functions to [JOG DIAL] operations

Frequently used operations such as recording or overwriting can be allocated to the [JOG DIAL] push button
operation, and functions such as manual operation can be allocated to the [JOG DIAL] rotation operation.
This section explains how to allocate operations. Operations are allocated when the robot program monitor is in
the selected state.

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 2.4 Teach pendant

1 When robot program monitor is selected in teach mode, hold down [Shift] and
press the [JOG DIAL].
>> A [JOG DIAL] function allocation dialog such as the one shown below is displayed.

2 Rotate the [JOG DIAL] to select the desired icon (from record/overw rite/position
correction/interpolation/coordinates/insert/manual operation), and either press the
push button, or touch the icon.
>> The selected function is allocated, and the icon is displayed in the “Variable status
display area.”

To execute allocated functions

Press the [JOG DIAL] while the robot program monitor is selected.
The same function as when the edit key is pressed during allocation is executed.

To change the allocated function, perform the same operation.

The allocated function can also be changed by pressing the displayed icon.
For details on the "tool fine adjustments,” see “3.4.3 Moving the robot with the
[JOG DIAL]”

Clearing the allocated function from the [JOG DIAL]

1 With the icon of the function allocated to the [JOG DIAL] displayed in the “ Variable
status display area,” select the robot program monitor, and hold down [Shift] and
press the [JOG DIAL].
>> The allocated function is cleared, and the icon display disappears.

When switching modes, such as from the teach mode to playback mode, the
function allocated to the [JOG DIAL] is automatically disenabled.

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2.5 To input characters

2.5 To input characters

The method used to input characters is described here.

Functions of soft keyboard

1 When the status in which characters can be input is established, the soft
keyboard starts up.

To select characters
Select characters using one of the following methods.
Select the characters using the up, down, left and right keys, and press [Enter] or
f11 <Enter>.
Touch the characters that you want to enter on the screen.

To move the cursor in the character input field

Press the left or right key while holding down [ENABLE].

To input a space
Press f4 or f10 <Blank>.

To delete a character
Move the cursor to the right of the character to be deleted, and press f5 <BS>.
The character to the left of the cursor is now deleted.

2 To record the characters which have been input, press f12 <Complete>.
>> The characters are recorded, and operation returns to the original screen.

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 2.5 To input characters

To input letters of the alphabet or symbols

1 Alphanumerics and half-size symbols can be input in the initial start status of the
soft keyboard.

2 Input the characters by following the steps on the previous page.

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2.5 To input characters

NOTE

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