ABB Robotics DSQC3124 Flex Pendant User Manual

ROBOTICS
User manual
FlexPendant

DSQC3124 Flex Pendant

Trace back information:
Workspace Main version a556 (not checked in)
Published 2024-01-07 at 13:05:59
Skribenta version 5.5.019
User manual
FlexPendant
OmniCore, FlexPendant
Document ID: –???
Revision: A
© Copyright 2023 ABB. All rights reserved.
Specifications subject to change without notice.

The information in this manual is subject to change without notice and should not be construed as a commitment by ABB. ABB assumes no responsibility for any errors that may appear in this manual.
Except as may be expressly stated anywhere in this manual, nothing herein shall be construed as any kind of guarantee or warranty by ABB for losses, damage to persons or property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of this manual and products described herein.
This manual and parts thereof must not be reproduced or copied without ABB’s written permission.
Keep for future reference.
Additional copies of this manual may be obtained from ABB.
Original instructions.
© Copyright 2023 ABB. All rights reserved.
Specifications subject to change without notice.
This page is intentionally left blank

Description

1.1 Handling of FlexPendant

Detached FlexPendant
A FlexPendant that is not connected to the robot must be stored out of sight so that it cannot be mistaken for being in use.

Handling and cleaning

• The FlexPendant may only be used for the purposes mentioned in this manual.

• Always use the hand-strap while holding the FlexPendant.

• Handle with care. Do not drop, throw, or give the FlexPendant strong shock. It can cause breakage or failure.

• If the FlexPendant is subjected to shock, always verify that the safety functions (three-position enabling device and emergency stop) work and are not damaged.

• Always use and store the FlexPendant in such a way that the cable does not become a tripping hazard.

• When not using the device, place it in its holder.

• Never use sharp objects (such as screwdriver or pen) for operating the touch screen. This could damage the touch screen. Instead use your finger or a stylus.

• Never clean the FlexPendant with solvents, scouring agent, or scrubbing sponges.
  See the product manual for the robot controller, section Cleaning the FlexPendant.

• Always close the protective cap on the USB port when no USB device is connected. The port can break or malfunction if exposed to dirt or dust.

• Do not squeeze and thus damage the cable.

• Do not lay the cable over sharp edges.

CAUTION
The FlexPendant touch screen is made of glass. If the device is dropped on a hard surface or receives a significant impact the glass could break. To reduce the risk of cuts if the glass chips or cracks, do not touch or attempt to remove the broken glass.
FCC statement
Changes or modification to the FlexPendant not expressly approved by ABB will void the user’s authority to operate the equipment.
1.1 Handling of FlexPendant Continued
This device complies with Part 15 of the FCC Rules. Operation is subject to the following two conditions:

1. This device may not cause harmful interference, and
2. This device must accept any interference received, including interference that may cause undesired operation.

1.2 Mounting the FlexPendant holder

Note

To avoid dropping the FlexPendant from height, the holder should be placed in a comfortable working height.
Always use and store the FlexPendant in such a way that the cable does not become a tripping hazard.
When not using the device, place it so it does not accidentally fall.
Required equipment

1.2 Mounting the FlexPendant holder Continued
Mounting the bracket for the emergency stop on the FlexPendant holder
The FlexPendant holder is shipped without the bracket for the emergency stop assembled to the holder. They are separated as two parts.

Use this procedure to mount the bracket for the emergency stop to the FlexPendant holder.

| Action| Note/illustration
---|---|---
1| Remove the four screws.|
2| Separate the rear part from the FlexPend-ant holder.|
3| Insert the bracket into the FlexPendant holder.|
4| Secure with the screws.| Screws: BN33 Phillips pan head tapping
screw ST2.9×13 (3 pcs)
Tightening torque: 6 Nm-7.8 Nm
5| Refit the rear part and secure with the screws.| Screws: BN33 Phillips pan head tapping
screw ST3.5×16 (4 pcs)
Tightening torque: 9.4 Nm-12.2 Nm

1.2 Mounting the FlexPendant holder Continued
Mounting the FlexPendant holder onto a flat surface (Horizontally)
Use this procedure to mount the FlexPendant holder onto a flat surface, like the top of the controller or a desktop.

| Action| Note/illustration
---|---|---
1| Clean the surface and make sure it is dry.|
2| Remove the protective liner from the tape.|
3| Press the holder onto the desired place.|

Hanging the FlexPendant holder with the bracket
Use this procedure to hang the FlexPendant holder on any place that can hold the bracket, like the door of the equipment.
Tip
The bracket is included on delivery.

| Action| Note/illustration
---|---|---
1| Hang the FlexPendant holder to the bracket according to the screws on the
bracket.|
2| Hang the holder with the bracket to the desired place.|

Hanging the front part of the FlexPendant holder with screws (Vertically)
Use this procedure to hang the front part of the FlexPendant holder to the desired place.

| Action| Note/illustration
---|---|---
1| Remove the four screws.|
2| Separate the rear part from the FlexPend-
ant holder.
3| Clean the surface and make sure it is dry.|
4| Remove the protective liner from the tape.|
5| Press the holder onto the desired place.|
6| Use two M5 screws to secure the holder.|

1.3 Cleaning the FlexPendant
Location
The surfaces to clean are shown in the illustration below.

Required equipment

Clean the touch screen
This section describes how to clean the touch screen.

| Action| Info/Illustration
---|---|---
1| Lock the screen.|
2| It is safe to clean the FlexPendant when the Lock screen appears.|
3| Clean the touch screen and hardware buttons using a soft cloth and
water or a mild cleaning agent.|
4| Unlock the screen, by tapping the buttons.|

Cleaning considerations
The section below specifies some special considerations when cleaning the FlexPendant:

• Use ESD Protection
• Use cleaning equipment as specified above. Any other cleaning equipment may shorten the life time of the touch screen.
• Check that all protective covers are fitted to the device before cleaning.
• Make sure that no foreign objects or liquids can penetrate into the device.
• Do not remove any covers before cleaning the FlexPendant.
• Do not spray with a high pressure cleaner.
• Do not clean the device, operating panel and operating elements with compressed air, solvents, scouring agent or scrubbing sponges.

1.4 Replacing parts on the FlexPendant
1.4.1 Replacing the power cable and power cable cover
Location
The illustration shows the location of the power cable, power cable gasket, and power cable cover in the FlexPendant.

Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the FlexPendant via myABB Business Portal, www.abb.com/myABB.

Required tools and equipment

controller on page 38.
ESD protective wrist band| –|

Required documents

Circuit diagram – OmniCore C30,
Circuit diagram – OmniCore C30
for IRB 14050, Circuit diagram
– OmniCore C30 for CRB 15000| 3HAC059896-009,
3HAC063898-009,
3HAC072448-009|

Removing the power cable and power cable cover

| Action| Note/Illustration
---|---|---
1| |
2| Disconnect the FlexPendant from the
controller.|
3| Remove the attachment screws for the
power cable cover.|
4| Remove the power cable cover.|
5| Disconnect two connectors to the FlexPendant.|
6| Remove the power cable.|

Refitting the power cable and power cable cover

| Action| Note/Illustration
---|---|---
1| |
2| Refit the power cable.|
3| Reconnect the power cable to the FlexPendant.|
4| Refit the power cable cover and tighten the screws.| Screws: Torx pan head screw M4x8 (3 pcs)
5| Perform the function tests to verify that the safety features work properly, see
Function tests on page 25.|

1.4.2 Replacing the joystick protection
Location
The illustration shows the location of the joystick protection on the FlexPendant.
Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the FlexPendant via myABB Business Portal, www.abb.com/myABB.

Required tools and equipment

controller on page 38.

Required documents

Circuit diagram – OmniCore C30,
Circuit diagram – OmniCore C30
for IRB 14050, Circuit diagram
– OmniCore C30 for CRB 15000| 3HAC059896-009,
3HAC063898-009,
3HAC072448-009|

Removing the joystick protection

| Action| Note/Illustration
---|---|---
1| |
2| Disconnect the FlexPendant from the controller.|
3| Remove the attachment screws.|
4| Remove the joystick protection.|

Refitting the joystick protection

| Action| Note/Illustration
---|---|---
1| |
2| Refit the joystick protection.|
3| Secure the screws.|

1.4.3 Replacing the fasten strip
1.4.3 Replacing the fasten strip
Location
The illustration shows the location of the fasten strip on the FlexPendant.

Required spare parts
Note
The spare part numbers that are listed in the table can be out of date. See the latest spare parts of the FlexPendant via myABB Business Portal, www.abb.com/myABB.

Replacing the fasten strip

| Action| Note/Illustration
---|---|---
1| Open the velcro on the fasten strip.|
2| Take the fasten strip out from the holes.|
3| Insert the new fasten strip into the holes one by one.|
4| Secure the velcro in a suitable length.|

Function tests

2.1 Function test of manual, auto, and manual full speed mode with FlexPendant
Overview
Perform this function test to change the mode on the FlexPendant using the following operation:

• Status bar> Common Settings> Operating Mode (Auto/Manual/Man FS).

For more detailed information, see Operating manual – OmniCore, 3HAC065036-001.
Performing the function test

| Start the robot system.| Note
---|---|---
1| |
2| Change to Automatic operating mode and Motors ON state, and then run the robot in auto mode.| This test is passed if it is possible to run the robot program in auto mode.
If it is not possible to run the robot program, this test is failed and the root cause of the failure must be found.
3| Change to Manual operating mode and Motors ON state, and then run the robot in manual mode.| This test is passed if it is possible to run the robot program in manual mode.
If it is not possible to run the robot program, this test is failed and the root cause of the failure must be found.
4| Change to Manual Full Speed mode and Motors ON state, and then run the robot in manual full speed mode.
Note
Manual full speed mode is not available in USA or Canada.| This test is passed if it is possible to run the robot program in manual full speed mode.
If it is not possible to run the robot program, this test is failed and the root cause of the failure must be found.

2.2 Function test of three-position enabling device
2.2 Function test of three-position enabling device
Performing the function test

| Action| Note
---|---|---
1| Start the robot system and turn the mode switch to manual mode.|
2| Press the three-position enabling device to the middle position and then hold the enabling device in this position.| This test is passed if the event message 10011 Motors ON state appears in the event log.
If either of the following happens, then the test is failed and the root cause must be found:
• if the event message 10011 Motors ON state does not appear
• if the event message 90780 Twochannel fault in Safety Controller
appears
3| While still holding  the three-position enablingdevice pressed, press the enabling device harder to the enable the device’s
third position.| This test is passed if the event message 10012 Safety guard stop state appears in the event log.
If either of the following happens, then the test is failed and the root cause must be found:
• if the event message 10012 Safety guard stop state does not appear
• if the event message 90780 Twochannel fault in Safety Controller
appears

Troubleshooting

3.1 Problem starting or connecting the FlexPendant
Description
The FlexPendant is not responding, either completely or intermittently.
No entries are possible, and no functions are available.
Note
If protective gloves are used, these must be compatible with touchscreens when using the FlexPendant.
The FlexPendant starts but does not display the main interface. Required test equipment
Equipment needed for troubleshooting:

Circuit diagram – OmniCore C30, Circuit diagram – OmniCore C30 for IRB 14050, Circuit diagram – OmniCore C30 for CRB 15000| 3HAC059896-009, 3HAC063898-009, 3HAC072448-009

Preparations

| Action
---|---
1| Make sure that the controller is switched on.
Wait 30 s – 1 min to enable start-up sequence.
2| Check the FlexPendant for errors and warnings.
| DANGER
Troubleshooting on the controller while powered on must be performed by personnel trained by ABB or by ABB field engineers.

Recommended working procedure
If the FlexPendant starts but does not display the main interface during the start-up, use this procedure to troubleshoot what might cause the problem.
Look at the following block diagram to understand how power is connected from incoming and forward.
Detailed working procedure

| Action| Note
---|---|---
1| Try resetting the FlexPendant using the reset button located next to the USB port.| See Operating manual – OmniCore.
2| Check that the FlexPendant cable is correctly connected to the controller through the HMI signal connector, X4.| If it is not connected, repair the connection and go to step six.
Check the pins in the connector.
If it is ok, go to the next step.
3| Check the LED PC and LED HMI, they should be green.| For more details about the LEDs, see controller manual for troubleshooting of the robot signal exchange proxy.
• If the LEDs are not green, see controller manual for troubleshooting of the robot signal exchange proxy
• If they are ok, go to the next step.
4| Check the FlexPendant cable for any damage.| • If damage is found, replace the FlexPendant cable and go to step six.
• If it is ok, go to the next step.
5| Check that the connection from the robot signal exchange proxy to the HMI signal connector is ok, K2.X9, 13 – X4.| • If it is not ok, repair the connection and go to step six.
• If it is ok, go to the next step.
6| Check that the connection from the robot signal exchange proxy to the main computer is ok:
• K2.X8 – A2.X6
• K2.X2 – A2.X1
• K2.X12 – A2.K3.X6,7
• K2.X3 – A2.K3.X1| • If any connection fails, repair the connection and go to step six.
• If the connections are ok, go to the next step.
7| If possible, test by connecting another FlexPend- ant. This is to eliminate the FlexPendant and cable as error sources; Test the FlexPendant with a different controller to eliminate the controller as
error source.|
8| Check that the FlexPendant works normally.
Tip
This is detailed in section Troubleshooting the FlexPendant on page 31.| If it is not ok, contact your local ABB.

3.2 Problem using the joystick
Description
The FlexPendant is started and responds when you push the buttons or tap on the touchscreen. However, the joystick does not work and no warnings or messages show up. It is therefore not possible to jog the robot.
Recommended working procedure

| Action| Information
---|---|---
1| Make sure that the joystick lock is not activated.| See Operating manual – OmniCore.
2| Make sure the controller is in manual mode.|
3| Make sure the FlexPendant is connected correctly to the controller.|
4| Press the reset button located next to the USB port on the back of the FlexPendant.
Note
The reset button only resets the FlexPendant, not the system on the controller.| If the joystick is still not working, then replace the FlexPendant.

Description
The FlexPendant communicates with the main computer. The FlexPendant is physically connected to the panel board. The cable contains the+24 V supply, two enabling device chains and emergency stop.
Procedure
The procedure below describes what to do if the FlexPendant does not work correctly.

| Action| Note
---|---|---
1| Try resetting the FlexPendant using the reset button located next to the USB port.| See Operating manual – Omni-Core.
2| If the FlexPendant is not responding or does not operate correctly, see Problem starting or connecting the FlexPendant on page 27.| Note
If protective gloves are used, these must be compatible with touchscreens when using the FlexPendant.
3| Check the cable for connections and integrity.|
4| Check the 24 V power supply.|
5| Read the error event log message and follow any instructions of references.|

For more information on the FlexPendant, see Operating manual – OmniCore.
This page is intentionally left blank

Spare parts

Spare part level
ABB spare parts are categorized into two levels, L1 and L2. Always check the part level before conducting a service work on a spare part.

• L1 spare parts
  The L1 parts can be replaced in the field. The maintenance and replacement instructions given in the related product manuals must be strictly followed.
  If there are any problems, contact your local ABB for support.

• L2 spare parts
  To replace the L2 parts require specialized training and might need special tools. Only ABB field service personnel or qualified personnel trained by ABB can replace L2 parts.

4.1 FlexPendant parts
FlexPendant parts
The illustration below shows the placement of the parts in the recommended spare part list.

| Spare part num- ber| Description| Type| Spare part level
---|---|---|---|---
A| 3HAC064211-001| FlexPendant| DSQC3060| L1
B| 3HAC064927-001| FlexPendant Holder w/t E-stop cover| | L1
C| 3HAC065401-001| Power cable cover| | L1
D| 3HAC065408-001| Joystick guard| | L1
E| 3HAC064448-002| FlexPendant power cable 3 m| | L1
3HAC064448-001| FlexPendant power cable 10 m| | L1
3HAC064448-003| FlexPendant power cable 30 m| | L1
F| 3HAC065419-001| Fasten strip| | L1
–| 3HAC068915-001| FlexPendant extension cable 15 m| | L1
–| 3HAC068915-002| FlexPendant extension cable 22 m| | L1
–| 3HAC068915-005| FlexPendant extension cable 30 m| | L1

Reference information

5.1 Introduction
General
This chapter includes general information, complementing the more specific information in the different procedures in the manual.

5.2 Applicable standards
General
The product is compliant with ISO 10218-1:2011, Robots for industrial environments
– Safety requirements – Part 1 Robots, and applicable parts in the normative references, as referred to from ISO 10218-1:2011. In case of deviation from ISO 10218-1:2011, these are listed in the declaration of incorporation. The declaration of incorporation is part of the delivery.

Robot standards

test methods
ISO 9787| Robots and robotic devices – Coordinate systems and motion nomenclatures
ISO 9946| Manipulating industrial robots – Presentation of characteristics

Other standards used in design

General requirements, normative reference from ISO 10218- 1
IEC 61000-6-2| Electromagnetic compatibility (EMC) – Part 6-2: Generic standards – Immunity standard for industrial environments
IEC 61000-6-4| Electromagnetic compatibility (EMC) – Part 6-4: Generic standards – Emission standard for industrial environments
ISO 13849-1:2006| Safety of machinery – Safety related parts of control systems

– Part 1: General principles for design, normative reference from ISO 10218-1

Region specific standards and regulations

require- ments
EN ISO 10218-1| Robots and robotic devices — Safety requirements for indus- trial robots — Part 1: Robots

Converter table
Use the following table to convert units used in this manual.

5.4 Standard toolkit for controller
General
All service (repair, maintenance and installation) instructions contain lists of tools required to perform the specified activity. All special tools, that is, all tools that are not considered as standard tools as defined below, are listed in their instructions respectively.
This way, the tools required are the sum of the standard toolkit and any tools listed in the instructions.
Standard toolkit for controller

Toolkit recommended for troubleshooting

5.5 Screw joints
General
This section details how to tighten the various types of screw joints on the controller.
The instructions and torque values are valid for screw joints comprised of metallic materials and do not apply to soft or brittle materials.

Tightening torque
Before tightening any screw, note the following:

• Determine whether a standard tightening torque or special torque is to be applied. The standard torques are specified in the tables below. Any special torques are specified in the Repair, Maintenance or Installation procedure description. Any special torque specified overrides the standard value.
• Use the correct tightening torque for each type of screw joint.
• Only use correctly calibrated torque keys.
• Always tighten the joint by hand, and never use pneumatical tools.
• Use the correct tightening technique, i.e. do not jerk. Tighten the screw in a slow, flowing motion.
• Maximum allowed total deviation from the specified value is 10%!

The table below specifies the recommended standard tightening torque for oil- lubricated screws with slotted or cross-recess heads.

5.6 Weight specifications
Definition
In all repair and maintenance instructions, weights of the components handled are sometimes specified. All components exceeding 22 kg (50 lbs) are high- lighted in this way.
To avoid injury, ABB recommends the use of lifting equipment when handling components with a weight exceeding 22 kg.
Example
Below is an example of how a weight specification is presented:
CAUTION
The transformer weighs 55 kg! All lifting equipment used must be sized accordingly!
5.7 Environmental information
Introduction
ABB robots contain components in different materials. During decommissioning, all materials should be dismantled, recycled, or reused responsibly, according to the relevant laws and industrial standards. Robots or parts that can be reused or
upcycled helps to reduce the usage of natural resources.
Symbol
The following symbol indicates that the product must not be disposed of as common garbage. Handle each product according to local regulations for the respective content (see table below).

Materials used in the product
The table specifies some of the materials in the product and their respective use throughout the product.
Dispose components properly according to local regulations to prevent health or environmental hazards.

ABB AB
Robotics& Discrete Automation
S-721 68 VÄSTERÅS, Sweden
Telephone +46 10-732 50 00
ABB AS
Robotics& Discrete Automation
Nordlysvegen 7, N-4340 BRYNE, Norway
Box 265, N-4349 BRYNE, Norway
Telephone: +47 22 87 2000
ABB Engineering (Shanghai) Ltd.
Robotics& Discrete Automation
No. 4528 Kangxin Highway
PuDong New District
SHANGHAI 201319, China
Telephone: +86 21 6105 6666
ABB Inc.
Robotics& Discrete Automation
1250 Brown Road
Auburn Hills, MI 48326
USA
Telephone: +1 248 391 9000
abb.com/robotics

© Copyright 2023 ABB. All rights reserved.
Specifications subject to change without notice.
–???,RevA,en

References

• Industrial Robot Supplier and Manufacturer | ABB Robotics

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