document.write(req);
5.3 Check Condition
Many iPendant Controls have “Check Condition” tab in their property pages. When check condition properties are specified in the controls, you cannot press the button unless the specified key is pressed or specified I/O signal is ON.
Press with TP disabled Press with TP enabled
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User can select any combination of the following key:
• Deadman switch
• TP enable switch
• Shift key
• Input/Output signal specified by user
Key and I/O check by this function cannot be used for safety purpose.
This function is just to prevent wrong operation.
5.3.1 Supported Controls
Following controls will support the functionality:
• EditBox
• CommandButton
• ToggleButton
• MenuChange
• ButtonChange
• ComboBox
5.3.2 User InterfaceControls listed in section 5.3.1 have “Check Condition” tab in their property pages.
• “Check I/O Type” and “Check I/O Index” are not displayed if “I/O” check box is not checked.
• All check boxes are not checked by default.
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Item Description
TP Deadman If checked, the button can be pressed when following conditions are all satisfied.
Please note that TP Estop and TP enable switch are checked.
1 Deadman switch is properly gripped.
2 TP Estop is OFF.
3 TP is enabled.
TP Enable If checked, the button can be pressed only when TP is enabled.
Shift Key If checked, the button can be pressed only when shift key is pressed.
I/O If checked, the button can be pressed only when a signal specified by “Check I/O Type” and “Check I/O Index” is ON.
Check I/O Type
This item specifies type of I/O to be checked. This item is shown only when “I/O” is checked.
Check I/O Index
This item specifies index of I/O to be checked. This item is shown only when “I/O” is checked.
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5.3.3 Error Message 1
Please refer to section 5.3.5 “Display other than iPendant”, too.
End N
Y Start
Is a check condition enabled and displayed by other than iPendant (“cgtp” connection)?
Key and I/O check
(Please refer to next section)
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5.3.4 Error Message 2
Is “TP Deadman” checked? TP Estop is pressed?
N
Y
N Start
Button is pressed
End
Y
N
Is deadman NOT gripped properly?
Y N
Is TP enabled? Y
Is “TP Enable” checked? Is TP
enabled?
Y
N N
Y
N
Is “Shift Key” checked?
Y
Is Shift key released?
N
Y
N N
Is “I/O” checked? Is specified
signal ON?
Y
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5.3.5 Display other than iPendant
iPendant Controls can be displayed in various ways. If key or I/O check is enabled, you cannot press the button if it is not displayed by iPendant. Following dialog box is displayed.
We show examples below.
A) iPendant displays web page from connected controller
This is the most common way to display a FANUC iPendant Control on a real controller.
You can push the button with key or I/O check.
Key of real iPendant and I/O of the controller are checked.
B) ROBOGUIDE connects using Internet Explorer and it is iPendant
This is the most common way to display a FANUC iPendant Control by ROBOGUIDE You can push the button with key or I/O check.
Key of virtual iPendant and I/O of virtual robot controller are checked.
C) Internet Explorer connects using Navigate iPendant (CGTP) TP cable
Ethernet Web page
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Internet Explorer logs into the robot as a CGTP connection. Then Internet Explorer displays web page.
You cannot push buttons with key or I/O check.
D) iPendant or Internet Explorer displays web page from remote robot.
For example, iPendant A can display web page in controller B.
By iPendant A, you can press button with key or I/O check.
TP Deadman, TP Enable, and Shift key: key of iPendant A is checked.
I/O : If “Check I/O Type” is TPIN, TPIN of controller A is checked.
Otherwise, I/O of controller B is checked.
Suppose Internet Explorer log onto controller A. Then display webpage in controller B via controller A.
For example, using link to webpage in favorite screen of controller A.
This is an example of remote display using Internet Explorer.
In this case, you cannot push button with key or I/O check by Internet Explorer.
E) Internet Explorer displays web page from robot directly, without login
Web page Ethernet
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Internet Explorer specifies URL of Web page directly, without displaying cgtp.htm (without login).
You cannot push button with key or I/O check.
F) Display by dialog box
You cannot use this function when you place iPendant Controls on a dialog box, not on web page.
5.3.6 Caution and Limitations
A) Message Box display of momentary Toggle button
Message Box is displayed when button is released just like alternate button.
Message Box is not displayed when button is pressed.
B) Condition check of momentary toggle button Condition is checked both at press and release.
Suppose there is momentary toggle button with one of condition is checked. The button is now OFF state. Suppose the condition is satisfied when button is pressed and the condition is not satisfied when button is released. The button turns ON when button is pressed. But it does not back to OFF state when button is released. Message Box is displayed.
C) Condition to monitor must be stable during operation.
Especially you should not specify signal that frequently changes.
D) If you press button just after status change of condition is checked, key or I/O status may not be recognized correctly.
E) If deadman switch is not working properly, check of the switch doesn’t work. For example, single chain iPendant and Dual chain panel controller should not be used together.
F) You can display iPendant Controls by Internet Explorer, but you cannot press buttons with key or I/O check. Do not use the function on web page to be displayed on Internet Explorer.
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5.3.7 ComboBox Control Limitation
When the ComboBox Control is displayed remotely as in D or without login as in E, it only works in read-only mode. It will display the currently selected value on the button correctly, but it will not respond to any key presses.
5.3.8 Execution Control Limitation
When the Execution Control is used remotely as in D or without login as in E, it will run and abort the KAREL program properly but will not set any parameters nor send any events.
5.3.9 Help Control Limitation
When the Help Control is used remotely as in D or without login as in E, it is ignored as if it did not exist.