STE 58761
INSTRUCTION MANUAL
INDUSTRIAL ROBOT SR SERIES
OPERATING MANUAL
Notice
1. Make sure that this Instruction Manual is delivered to the final user
of the Toshiba Industrial Robot.
2. Please read this manual before installing or operating the Toshiba
Industrial Robot, and keep the manual nearby for further reference
during use of the robot.
TOSHIBA MACHINE CO.,LTD.
1998- 3
STE 58761
PREFACE
This Manual describes how to utilize various robot system functions in order to manually guide
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.
This manual is directed at the robot operator. Before reading this manual, he or she should first
read the Introductory Manual and the Start-up Manual.
This Manual is divided into fourteen chapters:
Chapter 1
Chapter 2
Chapter 3
Chapter 4
Chapter 5
Chapter 6
Chapter 7
Chapter 8
Chapter 9
Chapter 10
Chapter 11
Chapter 12
Chapter 13
Chapter 14
"Before Operating Your Robot"
"Basic Operation"
"Manual Operation"
"Auxiliary Signals"
"Program Editing"
"Data Editing"
"Test Operation"
"Internal Automatic Operation"
"External Automatic Operation"
"System Control"
"File Management"
"Utilities"
"Self Diagnosis"
"Joint Limit Setting"
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NOTE!
FOR EUROPEAN UNION (EU)
In the European Union (EU), there are following limitations and notes to approve the CE
Marking EMC Direction. In other countries and areas, it is not necessary to apply to these
limitations and notes.
(1) Setup conditions
The following type of power line transformer must be used.
◆
Frequency:
50 or 60 Hz
Secondary voltage:
Power capacity:
3-phase, 200~230 VAC
Min. 2.7 kVA
(2) Input power condition
Core wires:
3.5 mm2 ~ 5.5 mm2
◆
◆
Voltage short interruption: 0.5 cycle
(3) Ground
Core wires:
3.5 mm2 ~ 5.5 mm2
Exclusive ground line for robot ground impedance must be
◆
◆
Ground condition:
less than 100
Ω
(4) External input/output line/Optional input/output line
◆ Core wires:
◆ Shield:
0.08 mm2 ~ 0.5 mm2
Ground shield
◆ Cable length:
Max. 10 m
Manufacturing method:
Signal ground:
Refer to Figure A.
Voltage potential between signal ground PGBA and controller
frame ground F.G. must be same.
◆
◆
(5) Serial communication line
Only 1 of 4 serial communication ports (connector name; J1~J4) can be used at the same
time.
◆ Core wires:
◆
0.08 mm2 ~ 0.5 mm2
Ground shield
Shield:
◆
◆
◆
◆
Cable length:
Twisted pair:
Manufacturing method:
Max. 10 m
Not required for RS-232C, required for RS-422
Refer to Figure A.
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(6) Limitation on the robot specifications
Cable length from robot to controller:
Cable length of teach pendant:
Optional axis 5:
Max. 8 m
Max. 8 m
Can not be used.
Only one optional board can be
◆
◆
◆
◆
Optional input/output signals (type; SR-5500IO):
used.
Optional relay output signals (type; SR-5500RO):
Can not be used.
◆
◆ Optional conveyer tracking system (type; SR-5500CV): Can not be used.
◆ Separated operation panel:
Can not be used.
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STE 58761
This Manual describes how to utilize various robot system functions in order to manually guide
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.
This manual is directed at the robot operator. Before reading this manual, he or she should first
read the Introductory Manual and the Start-up Manual.
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STE 58761
Cautions on Safety
This manual contains the important information on the robot and controller to prevent injury to the
operators and persons nearby, to prevent damage to assets and to ensure correct use.
Make sure that the following details (indications and symbols) are well understood before reading
this manual. Always observe the information that is noted.
[Explanation of indications]
Indication
Meaning of indication
This means that "incorrect handling will lead to fatalities or serious injuries."
Danger
!
!
This means that "incorrect handling may lead to personal injuries *1) or
physical damage *2)."
Caution
*1)
*2)
Injuries refer to injuries, burns and electric shocks, etc., which do not require hospitalization
or long-term medical treatment.
Physical damage refers to damages due to destruction of assets or resources.
[Explanation of symbols]
Symbol
Meaning of symbol
This means that the action is prohibited (must not be done).
The details of the actions actually prohibited are indicated with pictures or
words in or near the symbol.
This means that the action is mandatory (must be done).
The details of the actions that must be done are indicated with pictures or
words in or near the symbol.
!
!
!
This means danger.
The details of the actual danger are indicated with pictures or words in or near
the symbol.
This means caution.
The details of the actual caution are indicated with pictures or words in or near
the symbol.
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[Operation]
Danger
!
•
•
During operation, NEVER enter the dangerous area of the robot.
Otherwise, you will be injured seriously.
DO NOT leave in the working range any machinery or materials which will
hinder the operation. If the equipment went wrong, a person nearby will
be injured or involved in an accident.
•
•
•
Anyone other than the operator MUST NOT approach the equipment.
Should he negligently touch a dangerous part of the equipment, he will get
injured or involved in a serious accident.
Prohibited
NEVER perform an inappropriate operation which is not described in the
instruction manual. Otherwise, the equipment will start by mistake,
resulting in personal injury or serious accident.
If you feel even a little that you are exposed to danger or the equipment
works abnormally, press the EMERGENCY STOP pushbutton switch to
stop the equipment. If the equipment is used as it is, you will be injured or
involved in a serious accident. When this happens, ask our after-sale
service agent for repair.
•
•
•
During operation, be sure to close the equipment cover. Should the cover
be opened during operation, you will be struck by an electric shock or get
injured.
!
Danger
Only a well-trained and qualified person is allowed to perform the
operation. Should the equipment be operated improperly, it will start by
mistake, causing a personal injury or serious accident.
If the equipment has malfunctioned, turn the power off, identify and remove
the cause of the abnormality, maintain the peripheral equipment and
completely restore the malfunctioned equipment. Then start the
equipment at a low speed. If the equipment starts, leaving the
abnormality, you will be involved in a serious accident.
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Caution
!
•
•
DO NOT change the data of the system structure file. Otherwise, the
robot will operate abnormally, resulting in damage or an accident.
Prohibited
In principle, teaching operation should be performed outside the dangerous
area of the robot. If it should be performed inevitably within the dangerous
area, strictly observe the following matters.
(1) The teaching operation should be always performed by two (2)
persons. One person performs the job and the other person watches
outside the dangerous area. Also, both persons should try to prevent
mis-operation with each other.
(2) The operator should do the job in an attitude ready to press the
EMERGENCY STOP pushbutton switch at any time. Also, he should
perform the job at a position from which he can evacuate immediately
at the time of an emergency after confirming the robot working range
and shields nearby.
(3) The supervisor should keep watch on the job at a position where he
can see the entire robot system and operate the EMERGENCY STOP
pushbutton switch at the time of an emergency. Also, he should keep
anyone from entering the dangerous area. Unless an operator or
other person follows the instructions of the supervisor, accidents will be
caused.
!
Mandatory
•
•
If an abnormality has generated or the POWER LED lamp on the control
panel remains off after the main power switch of the equipment was turned
on, turn off the main power immediately and confirm the wiring.
Otherwise, you will be struck by an electric shock or a fire will break out.
Unless the robot operates toward a designated direction at manual guide,
turn off the servo power. Otherwise, the robot will be damaged or you will
be involved in an accident. When this happens, call us at the after-sale
service agent.
•
•
Pushbutton operations of the control panel and teach pendant should be
confirmed visually. Otherwise, you will be involved in an accident due to
mis-operation.
Before the hot start in automatic operation, be sure to reset a program. If
the program is executed continuously, the robot will interfere with the
peripheral equipment, resulting in damages or accidents.
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Caution
!
•
Before operating the equipment, perform the following inspection.
(1) Make sure that visual appearance of the robot, controller, peripheral
equipment and cables is in good condition.
(2) Make sure that no obstacle stands in or near the operating range of the
robot and peripheral equipment.
!
(3) Make sure that the emergency stop and other safety devices operate
properly.
Mandatory
(4) Make sure that no abnormal noise or vibration is involved in the robot
operation.
If the above prior inspection is skipped, the equipment will be damaged or
you will be involved in an accident.
•
•
•
The speed of test operation is initially set at 25 % of the maximum robot
speed.
The speed of automatic operation is initially set at 100 % of the maximum
robot speed.
!
Caution
Once a cold start has been executed, all data saved in the controller
memory, such as user program, position data, user parameter and system
parameter files are initialized.
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TABLE OF CONTENTS
CHAPTER 1 BEFORE OPERATING YOUR ROBOT
1.1
1.2
1-1
1-3
OVERVIEW OF CONTROL FUNCTIONS・・・・・・・・・・・・
MODE STRUCTURE・・・・・・・・・・・・・・・・・・・・・
1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1-4
1-4
1-5
1-6
External Automatic Mode
Internal Automatic Mode
Manual Mode
・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・
Edit
・・・・・・・・・・・・・・・・・・・・・・・・・・・
1-7
Test Operation
・・・・・・・・・・・・・・・・・・・・・・
1.3
1-8
PRECAUTIONS FOR USE・・・・・・・・・・・・・・・・・・・
1.3.1
1-8
Handling Disks
・・・・・・・・・・・・・・・・・・・・・・
1.4
1-10
1-10
1-11
1-12
1-12
1-12
1-13
1-14
1-15
1-15
1-16
1-17
1-18
1-19
GENERAL OPERATION・・・・・・・・・・・・・・・・・・・・
1.4.1
1.4.2
Use of the Shift key
・・・・・・・・・・・・・・・・・・・・
Use of the Function keys
・・・・・・・・・・・・・・・・・・
1.4.3
1.4.4
1.4.5
1.4.6
1.4.7
Repeating an Entry
・・・・・・・・・・・・・・・・・・・・
Correcting Incorrect Entries
・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
Cancelling an Entry
Use of Wild Cards
Format for Operating Instructions
・・・・・・・・・・・・・・
1.5
1.5.1
1.5.2
ASSIGNING NAMES・・・・・・・・・・・・・・・・・・・・・
Assigning the Volume Name
・・・・・・・・・・・・・・・・
Assigning a File Name
・・・・・・・・・・・・・・・・・・・
1.5.3
1.5.4
1.5.5
Assigning a Point Name
・・・・・・・・・・・・・・・・・・
Assigning a Name to Coordinate Data
・・・・・・・・・・・・
・・・・・・・・・・・・・・・
Assigning a Name to Load Data
CHAPTER 2 BASIC OPERATION
2.1
2.2
2-1
2-2
2-2
2-4
2-6
2-7
2-8
BASIC OPERATING PROCEDURE・・・・・・・・・・・・・・・
TURNING ON THE MAIN POWER・・・・・・・・・・・・・・・
2.2.1
2.2.2
2.3
2.4
2.5
Cold Starting
Hot Starting
・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
TURNING ON THE SERVO POWER・・・・・・・・・・・・・・
TURNING OFF THE SERVO POWER・・・・・・・・・・・・・・
TURNING OFF THE MAIN POWER・・・・・・・・・・・・・・
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CHAPTER 3 MANUAL OPERATION
3.1
3.2
3.3
3.4
3.5
3.6
3-1
3-3
3-4
3-5
3-6
3-7
SELECTING THE MANUAL MODE・・・・・・・・・・・・・・
GUIDANCE COORDINATES・・・・・・・・・・・・・・・・・・
GUIDE MOVEMENT・・・・・・・・・・・・・・・・・・・・・
GUIDE SPEED・・・・・・・・・・・・・・・・・・・・・・・・
GUIDANCE・・・・・・・・・・・・・・・・・・・・・・・・・
SERVO FREE・・・・・・・・・・・・・・・・・・・・・・・・
CHAPTER 4 AUXILIARY SIGNALS
CHAPTER 5 PROGRAM EDITING
5.1
5.2
5-1
5-6
INVOKING THE SCREEN EDITOR・・・・・・・・・・・・・・・
CHARACTER INPUT・・・・・・・・・・・・・・・・・・・・・
5.2.1
5.2.2
5-6
5-7
Character Input Mode Selection
Insert Mode
・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
5.2.3
5.2.4
5.2.5
5.2.6
5-10
5-12
5-13
5-14
5-15
5-15
5-17
5-19
5-19
5-20
5-21
5-22
5-23
5-23
5-25
5-27
5-30
5-32
5-34
5-36
5-38
5-41
Typeover Mode
・・・・・・・・・・・・・・・・・・・・・・
Input Deletion
・・・・・・・・・・・・・・・・・・・・・・・
Character Deletion
Moving the Cursor
・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
5.3
5.3.1
5.3.2
5.4
5.4.1
INPUTTING SCOL COMMANDS・・・・・・・・・・・・・・・・
SCOL Menu
・・・・・・・・・・・・・・・・・・・・・・・
SCOL Menu Selection
・・・・・・・・・・・・・・・・・・・
EDITOR COMMAND INPUT・・・・・・・・・・・・・・・・・・
Editor Commands
・・・・・・・・・・・・・・・・・・・・・
5.4.2
5.4.3
5.4.4
Command Menu Selection
・・・・・・・・・・・・・・・・・
Input Deletion
・・・・・・・・・・・・・・・・・・・・・・・
Cancelling a Command
・・・・・・・・・・・・・・・・・・・
5.5
5.5.1
5.5.2
EDIT COMMAND DESCRIPTIONS・・・・・・・・・・・・・・・
Jump to First Line
Jump to Last Line
Jump to Specified Line
Jump to Previous Page
Jump to Next Page
・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
5.5.3
5.5.4
5.5.5
5.5.6
5.5.7
5.5.8
5.5.9
・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
Jump to Beginning of Line
Jump to End of Line
・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
Set Block
Delete Present Line
・・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
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5.5.10
5.5.11
5.5.12
5.5.13
5.5.14
5.5.15
5.5.16
5.5.17
5.5.18
5.5.19
5.5.20
5-43
5-45
5-48
5-49
5-52
5-57
5-59
5-61
5-65
5-68
5-71
Delete Block
・・・・・・・・・・・・・・・・・・・・・・
Copy Block
Rename File
・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・
Search
Replace
・・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
Restore Deleted Line
・・・・・・・・・・・・・・・・・・
Repeat
Read in File
・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・
Change Editor File
Display Status
・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
Quit
・・・・・・・・・・・・・・・・・・・・・・・・・・
CHAPTER 6 DATA EDITING
6.1
6.2
6.3
6-1
6-2
6-3
INVOKING THE DATA EDITOR・・・・・・・・・・・・・・・・
EDITOR DATA SELECTION・・・・・・・・・・・・・・・・・・
DATA INPUT・・・・・・・・・・・・・・・・・・・・・・・・・
6.3.1
6.3.2
6.4
6.4.1
6.4.2
6.5
6.5.1
6.5.2
6-3
6-4
6-5
6-5
6-6
6-8
6-8
6-10
6-12
6-14
6-16
6-18
6-20
6-20
6-22
6-25
6-28
6-33
6-36
6-38
6-41
Selecting the Data Input Mode
Moving the Cursor
・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
EDITOR COMMAND INPUT・・・・・・・・・・・・・・・・・・
Editor Commands
・・・・・・・・・・・・・・・・・・・・・
Command Menu Selection
・・・・・・・・・・・・・・・・・
EDIT COMMANDS COMMON TO EACH DATA EDITING・・・・
Jump to First Line
Jump to Last Line
・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・
6.5.3
6.5.4
6.5.5
6.5.6
Jump to Previous Page
・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
Jump to Next Page
Display Status
・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・・・・
Quit
6.6
6.6.1
6.6.2
EDITING POSITIONAL DATA・・・・・・・・・・・・・・・・・
Positional-data Edit-mode Selection
・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・
Work Coordinate Selection
6.6.3
6.6.4
6.6.5
6.6.6
6.6.7
6.6.8
Point Name Selection
Teaching Positional Data
・・・・・・・・・・・・・・・・・・
Numerical Input of Positional Data
・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・
Deleting Positional Data
Point Search
Moving to a Taught Point
・・・・・・・・・・・・・・・・・・
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6.7
6.7.1
6.7.2
6-42
6-42
6-44
6-49
6-51
6-55
6-58
6-61
6-63
6-63
6-65
6-67
EDITING COORDINATE DATA・・・・・・・・・・・・・・・・
Coordinate-data Edit-mode Selection
・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・
Teaching Coordinate Data
6.7.3
6.7.4
6.7.5
6.7.6
6.7.7
Numerical Input of Coordinate Data
・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・
Deleting Coordinate Data
Base Coordinate Selection
・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・
Tool Coordinate Selection
Work Coordinate Selection
6.8
6.8.1
6.8.2
6.8.3
EDITING LOAD DATA・・・・・・・・・・・・・・・・・・・・
Load-data Edit-mode Selection
・・・・・・・・・・・・・・・
Numerical Input of Load Data
・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・
Deleting Load Data
CHAPTER 7 TEST OPERATION
7.1
7.2
7.3
7.4
7.5
7.6
7.7
7.8
7.9
7-2
7-4
7-6
SELECTING THE TEST OPERATION MODE・・・・・・・・・・
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・
OPERATION MODE SELECTION・・・・・・・・・・・・・・・
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・
MACHINE LOCK・・・・・・・・・・・・・・・・・・・・・・・
STEP EXECUTION・・・・・・・・・・・・・・・・・・・・・・
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・
STOP COMMANDS・・・・・・・・・・・・・・・・・・・・・・
7-8
7-10
7-12
7-14
7-17
7-20
7-20
7-22
7-23
7-24
7-26
7-27
7-27
7-29
7-31
7-33
7-35
7-37
7.9.1
7.9.2
7.9.3
7.9.4
7.9.5
Cycle Stop
・・・・・・・・・・・・・・・・・・・・・・・・
STOP
・・・・・・・・・・・・・・・・・・・・・・・・・・
BREAK
・・・・・・・・・・・・・・・・・・・・・・・・・・
Feed Hold
・・・・・・・・・・・・・・・・・・・・・・・・
Emergency Stop
・・・・・・・・・・・・・・・・・・・・・・
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・
7.10
7.10.1
7.10.2
7.10.3
7.10.4
7.11
7.12
Program Reset
・・・・・・・・・・・・・・・・・・・・・
Step Reset
Cycle Reset
・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・
Output Signal Reset
・・・・・・・・・・・・・・・・・・・
DIRECT EXECUTION・・・・・・・・・・・・・・・・・・・・
EXITING THE TEST OPERATION MODE・・・・・・・・・・・
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CHAPTER 8 INTERNAL AUTOMATIC OPERATION
8.1
8.2
8.3
8.4
8.5
8.6
8.7
8-2
8-4
8-6
SELECTING THE INTERNAL AUTOMATIC MODE・・・・・・・
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・
OPERATION MODE SELECTION・・・・・・・・・・・・・・・
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・
STOP COMMANDS・・・・・・・・・・・・・・・・・・・・・・
8-8
8-10
8-12
8-13
8-13
8-15
8-17
8-18
8-20
8-21
8-21
8-23
8-25
8-27
8-29
8.7.1
8.7.2
8.7.3
8.7.4
8.7.5
Cycle Stop
・・・・・・・・・・・・・・・・・・・・・・・・
STOP
・・・・・・・・・・・・・・・・・・・・・・・・・・
BREAK
・・・・・・・・・・・・・・・・・・・・・・・・・・
Feed Hold
・・・・・・・・・・・・・・・・・・・・・・・・
Emergency Stop
・・・・・・・・・・・・・・・・・・・・・・
8.8
8.8.1
8.8.2
8.8.3
8.8.4
8.9
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・
Program Reset
・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・
Step Reset
Cycle Reset
Output Signal Reset
・・・・・・・・・・・・・・・・・・・・
DIRECT EXECUTION・・・・・・・・・・・・・・・・・・・・・
CHAPTER 9 EXTERNAL AUTOMATIC OPERATION
9.1
9.2
9.3
9.4
9.5
9.6
9.7
9-2
9-4
9-6
9-7
9-8
SELECTING THE EXTERNAL AUTOMATIC MODE・・・・・・・
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・
OPERATION MODE SELECTION・・・・・・・・・・・・・・・
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・
STOP・・・・・・・・・・・・・・・・・・・・・・・・・・・・
9-9
9-10
9-10
9-11
9-13
9-14
9-16
9-17
9.7.1
9.7.2
9.7.3
9.7.4
9.7.5
Cycle Stop
・・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・・・・・
STOP
BREAK
・・・・・・・・・・・・・・・・・・・・・・・・・・
Feed Hold
・・・・・・・・・・・・・・・・・・・・・・・・
Emergency Stop
・・・・・・・・・・・・・・・・・・・・・・
9.8
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・
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CHAPTER 10 SYSTEM CONTROL
10.1
10.2
10.3
10.4
10-1
10-4
10-7
10-10
10-10
10-12
10-14
10-16
SETTING THE DATE・・・・・・・・・・・・・・・・・・・・
SETTING THE TIME・・・・・・・・・・・・・・・・・・・・
CHANNEL SELECTION・・・・・・・・・・・・・・・・・・
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・
10.4.1
Program Reset
・・・・・・・・・・・・・・・・・・・・・
10.4.2
10.4.3
10.4.4
Step Reset
Cycle Reset
・・・・・・・・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・・・・・・・
Output Signal Reset
・・・・・・・・・・・・・・・・・・・
CHAPTER 11 FILE MANAGEMENT
11.1
11.2
11.3
11.4
11.5
11.6
11.7
11.8
11.9
11.10
11-1
11-4
11-7
11-11
11-14
11-17
11-20
11-23
11-26
11-30
INITIALIZATION・・・・・・・・・・・・・・・・・・・・・・
DIRECTORY DISPLAY・・・・・・・・・・・・・・・・・・・
FILE COPY・・・・・・・・・・・・・・・・・・・・・・・・
FILE RENAME・・・・・・・・・・・・・・・・・・・・・・・
FILE DELETE・・・・・・・・・・・・・・・・・・・・・・・
FILE LOAD・・・・・・・・・・・・・・・・・・・・・・・・
FILE SAVE・・・・・・・・・・・・・・・・・・・・・・・・
FILE PRINT・・・・・・・・・・・・・・・・・・・・・・・・
BATCH PROCESSING・・・・・・・・・・・・・・・・・・・
AUTOMATIC EXECUTION FILES・・・・・・・・・・・・・・
CHAPTER 12 UTILITIES
12.1
12.2
12.3
12.4
12.5
12-1
12-2
12-4
12-6
12-8
SELECTING THE UTILITY MODE・・・・・・・・・・・・・・
WORK COORDINATE SELECTION・・・・・・・・・・・・・
TOOL COORDINATE SELECTION・・・・・・・・・・・・・・
PRESENT POSITION MONITOR・・・・・・・・・・・・・・・
EXTERNAL I/O SIGNAL MONITOR・・・・・・・・・・・・・
CHAPTER 13 SELF DIAGNOSIS
13.1
13.2
13.3
13.4
13.5
13.6
13.7
13-1
13-1
13-2
13-4
13-5
13-6
13-8
CLASSIFICATION OF ERRORS・・・・・・・・・・・・・・・
ERROR DISPLAYS・・・・・・・・・・・・・・・・・・・・
ERROR MESSAGE DISPLAYS・・・・・・・・・・・・・・・
ERROR RESETTING・・・・・・・・・・・・・・・・・・・・
ALL ERRORS RESET・・・・・・・・・・・・・・・・・・・
ERROR HISTORY DISPLAYS・・・・・・・・・・・・・・・・
LIST OF ERRORS・・・・・・・・・・・・・・・・・・・・・
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CHAPTER 14 JOINT LIMIT SETTING
14.1
14.2
14.3
14-1
14-3
14-5
SELECTING JOINT LIMIT SETTING MODE・・・・・・・・・・
JOINT LIMIT TEACHING・・・・・・・・・・・・・・・・・・
INPUTTING NUMERIC VALUES FOR JOINT LIMITS・・・・・・
APPENDIX A
APPENDIX B
APPENDIX C
15-1
15-10
15-13
TEACH PENDANT MESSAGE TABLE・・・・・・・・・・
LIST OF COMMANDS・・・・・・・・・・・・・・・・・
HANDLING ARRAY DATA BY DATA EDITING・・・・・・
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CHAPTER 1
BEFORE OPERATING YOUR ROBOT
1.1 OVERVIEW OF CONTROL FUNCTIONS
External
control
signals
Control Teaching
Panel pendant
Function
Description
〇
Main power ON/OFF
Servo power ON/OFF
Used to turn the main power on or off.
△
〇
〇
Use to turn the power for the servo on or off.
(On only)
Used to select either the Manual Mode, the External
Automatic Mode or the Internal Automatic Mode.
Used to start up or stop automatic operation.
Used to stop automatic operation (after the
completion of one cycle).
〇
Master mode selection
Start-up and stop
〇
〇
〇
〇
〇
〇
Cycle completion
〇
〇
Feed hold
Emergency stop
Used to temporarily stop automatic operation.
Used to immediately stop automatic operation.
Used to manually guide the robot by jogging, inching
and other such movement.
〇
〇
〇
Manual operation
Auxiliary signal
operation
Program editing
Used to control pneumatic drive shafts (for grippers,
etc.)
Used to create and edit programs.
Used to create and edit positional data, coordinate
data and load data.
Used to manage files by such operations as loading,
saving, copying and deleting.
Used to reset output signals and execution
conditions.
〇
〇
〇
Data editing
File management
Reset
〇
〇
〇
〇
〇
〇
Date setting
The setting
Channel selection
Used to set the data for use by the system.
Used to set the time for use by the system.
Used to select a communication channel.
Used to display errors which have not yet been
reset.
Used to reset errors that have been corrected.
Used to display a historical list of errors which have
been corrected.
〇
〇
〇
Error display
Error reset
Error history display
Work coordinate
selection
Tool coordinate
selection
〇
〇
Used to select a work coordinate system.
Used to select a tool coordinate system.
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External
control
signals
Control Teaching
Panel pendant
Function
Description
Present position
monitor
External I/O signal
monitor
Used to display the present position of the robot in
terms of the various coordinate system.
〇
〇
Used to display the status of digital I/O signals.
〇
〇
〇
File selection
Move
Used to select a file for execution.
Moves the robot to a point which has been taught.
〇: Complete operation
△: Partial operation
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1.2 MODE STRUCTURE
External Automatic
Mode (EXT)
The External Automatic Mode is used to
automatically operate the robot by program. This
operation is performed with external control signals
or signals from a host computer.
Master Mode
Internal Automatic
Mode (INT)
The Internal Automatic Mode is used to
automatically operate the robot by program. This
operation is carried out from either the control panel
or the teach pendant.
Manual Mode (MANU)
The Manual Mode is used to perform such
operations as teaching, guiding, file management
and program test runs. All such operations are
carried out with the teach pendant.
Utility Mode
The Utility Mode is used to perform such operations
as coordinate selection, position monitoring and
signal monitoring. The Utility Mode is carried out
from the teach pendant and is unrelated to the
master mode.
Error Display Mode
The error display mode is used to display and reset
errors with the teach pendant. The error display
mode has nothing to do with the Master Mode.
The emergency stop and servo off operations can be used regardless of the present mode.
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1.2.1 External Automatic Mode
External Operation
Signal Mode (SIG)
This mode is used to perform the program automatic
operation. This operation is carried out with
external operation signals. For details, see the
Interface Manual.
External
Automatic
Mode (EXT)
Host Mode (HOST)
This mode is used to perform the program
automatic-operation, file uploading and file
downloading. All operations are carried out by the
host computer through serial communication
channel(s). For details, see the Communications
Manual.
The mode with which external automatic operation is carried out is defined in
the system configuration file. See the Start-up Manual for details.
All file selections, execution mode selections, speed override settings and
speed limit settings made in either the Internal Automatic Mode or the Test
Operation Mode are also valid in the External Automatic Mode.
1.2.2 Internal Automatic Mode
Program Selection
(SELECT)
Operation Mode
Selection (MODE)
Speed Override
Selects a program for execution.
Selects an operation mode.
Selects the speed override.
(MSPEED)
Internal
Automatic
Mode (INT)
Speed Limit
(LSPEED)
Selects the speed limit.
Start-up
Starts program execution from the control panel.
Suspends or cancels program execution.
Directly executes a SCOL command.
Stop (STOP,BREAK)
Direct Execution
(DO)
Reset (RESET)
Resets the program execution step, variables and
digital output signals.
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1.2.3 Manual Mode
Edit (EDIT)
Edits programs and data (positional data, coordinate
data and load data).
Test Operation
(TESTRUN)
Checks to see that programs run properly.
File Load (LOAD)
File Save (SAVE)
Disk Initialization
(FORMAT)
Loads a file from the disk into the RAM drive.
Saves a file in the RAM drive onto the disk.
Formats either the disk or the RAM drive.
Directory Display
(DIR)
Displays a list of all the files contained in either the
RAM drive or the disk.
Manual
Mode
File Copy (COPY)
Copies a file in the RAM drive and stores the copy in
a separate file.
(MANU)
File Comparison
(VERIFY)
Compares the contents of two files in units of bytes
to see that they are the same.
Renames a file.
Deletes an unneeded file.
Prints out the contents of a file on a printer.
Sets the current date.
File Renaming (REN)
File Deletion (DEL)
File Printing (PRINT)
Date Setting (DATE)
Time Setting (TIME)
Channel Selection
(CHANNEL)
Sets the current time.
Switches over between serial channels.
Reset (RESET)
Resets the program execution step, variables and
digital output signals.
Guidance
In conjunction with the control key, the guide teach
speed key and the guide coordinate key, the guide
keys are used to move the end effecter. Guidance
is effective only in the Manual Mode; it is not
effective in the Test Operation Mode.
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1.2.4 Edit
Screen editor
Program editing
Programs and global data are created and edited by
entering and deleting characters, by selecting
command menus and by selecting SCOL menus.
Positional data editing
Positional data are created and edited by teaching
and by entering numbers. Work coordinate
systems are selected; work coordinates are edited.
Editing
Data editor
Coordinate data editing
Coordinate data are created and edited by teaching
and by entering numbers. Base coordinates and
tool coordinates are selected. Work coordinates
are specified.
Load data editing
Load data are created and edited by entering
numbers.
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1.2.5 Test Operation
Program Selection
(SELECT)
Selects a program for execution.
Selects an operation mode.
Selects the speed override.
Sets the speed limit.
Operation Mode
Selection (MODE)
Speed Override
(MSPEED)
Speed Limit (LSPEED)
Machine Lock
(MACHINE)
Test
Enables and disables the machine lock.
Operation
(TESTRUN)
Step Execution
(STEP)
Executes the program one step at a time.
Start-up (RUN)
Starts program execution from a desired step in the
program.
Stop (STOP,BREAK)
Direct Execution
(DO)
Suspends or cancels program execution.
Directly executes a SCOL command.
Reset (RESET)
Resets the program execution step, variables and
digital output signals.
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1.3 PRECAUTIONS FOR USE
For the connection of FDD unit (option), see the Interface Manual.
1.3.1 Handling Disks
(1) General precautions
(a) Don’t open the shutter section. The disk will be unusable should
any dirt get on the magnetic surface.
(b) Keep away from speakers or other devices which create strong
magnetic fields. If you don't, the contents of your disks may get
erased.
(c) Keep out of direct sunlight and away from hot objects.
(d) Don't stack books or folders on top of a disk.
(e) Stick the label on in the correct position. If you put on a new label,
be sure to take the old label off first.
(f) Store your disk in a location having the following temperature and
humidity range:
Storage temperature
Storage humidity
: 4 to 53°C
: 8 to 90 %
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(2) Inserting a disk
(a) With the label up and the metal shutter forward, insert
the disk straight and slowly into the slot until you
hear it click into place.
(3) Removing a disk
(a) Push the push button. The floppy disk should pop
out a little ways from the slot.
(b) Grip the disk with your fingers at the label section
and draw it straight out.
Caution
!
Do not try to remove the disk while the disk
drive light is still lit. Data is either being
written to or read from the disk while the light is
lit, and if you remove the disk at this time you
may lose or damage your files.
(4) Disk write protection
All 3.5" disks have a write protect tab to prevent files
from being accidentally erased.
(a) Write protect
Slide the write protect tab toward the edge of the
disk (protect position).
(b) Write enable
Slide the write protect tab away from the edge of the
disk (write position).
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1.4 GENERAL OPERATION
Only one key can be input at a time with the teach pendant.
1.4.1 Use of the Shift Key
When a key is pushed while the "shift" key is held down, the upper character on that key
will be input.
(1) Entering the lower character
To enter the lower character on a key, simply push that key.
Example) Entering the character "9".
Key operation
Display
(
9
9
(2) Entering the upper character
To enter the upper character, push down that key while holding down the "shift" key.
Example) Entering the character "(".
Key operation
Display
9
(
9
+
Shift
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1.4.2 Use of the Function Keys
In order to make it easier to input data, the teach pendant is provided with six function
keys, i.e., "F1" to "F6".
The functions to which "F1" to "F5" correspond will change depending on the mode. The
names of these functions will appear above the corresponding function key. By pushing
the appropriate key, commands can be executed without having to type in each letter
making up that command.
The "F6" key is the NEXT key. When there are more than five commands in a particular
mode, the NEXT key allows one to display the additional commands.
Example: Selecting the "SAVE" command
>
■
EDIT LOAD SAVE TESTRUN> RESET NEXT
F1
F2
F3
F4
F5
F6
Command names followed by a “>” symbol indicate commands which are executed
immediately when the, corresponding function key is pushed.
Caution
!
The function keys work differently when editing with the screen editor or data editor. For
more information, refer to Chapter 5 "Program Editing" and Chapter 6 "Data Editing."
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1.4.3 Repeating an Entry
The repeat operation is available for the following keys.
[Bs], [Esc], [Exec]
Guide key
[Move]
Cursor keys
[Coordinates], [Teach Speed], [Control]
1.4.4 Correcting Incorrect Entries
Use the "Bs" key to erase any characters which were incorrectly entered.
Example:
(Correct) TIME 13:50:00
(Incorrect) TIME 13:60:__
Push the “Bs” key.
TIME 13:6__
Push the “Bs” key.
TIME 13:__
Keep on pushing the “Bs” key until the incorrect characters are erased. Then type in the
correct characters.
Caution
!
The "Ins", "Del" and cursor keys may not be used when entering a command.
1.4.5 Cancelling an Entry
If you wish to cancel the command you are entering, simultaneously push the "ESC" key.
This will cancel the command you entered and allow you to write the next command on
the following line.
Should an error message or other such message appear while entering a command, that
command line will be negated.
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1.4.6 Use of Wild Cards
You may use the wild cards * and ? when specifying files with the directory [DIR], delete
[DEL], print [PRINT], file save [SAVE] or file load [LOAD] command.
Wild cards are used to simultaneously specify multiple files. Using wild cards correctly
can save time and increase efficiency when specifying files.
(1) The asterisk wild card”*”
The asterisk wild card (*) can take the place of a file name or an extension. For
example, the specification “A*.*” refers to all files having a name starting with A and
having any type of extension (or no extension at all). All of the following files would
apply:
ADATA. BAT
ABC.PAR
AFILE
(2) The question mark wild card "?"
The question mark wild card "?" can take the place of any single character in a name or
extension. For example, the specification “A??.*” refers to all files that have a name
starting with A, are three characters long or less. A space or null character is also
treated as one character. All of the following files would apply:
ABC.PAR
ACD.DAT
AAA
In order to be able to use wild cards effectively, you should pay attention to how you assign
file names and extensions.
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1.4.7 Format for Operating Instructions
The following format is used in this manual to explain how to use commands.
Title [command name]
(1) Function
Explains the purpose of the command and what it does.
(2) Input format
Explains the input format for operation. An input consists of a command and
parameters. Listed below are notation used to describe the input format.
[
] Indicates an item (or items) that may be specified if necessary and omitted if not.
> Indicates an item (or items) to be input.
<
<d:> Specifies the drive name. One must enter either A or R.
A : FDD unit (option)
R : RAM drive
<file name> Specifies the file name. <file name> may consist of a name having up to
eight alphanumeric characters and an extension having up to three characters. For
example, CONSTRUC.SYS is a valid <file name>.
{
} Indicates that one parameter is to be chosen from among the multiple parameters
enclosed.
...
Indicates that multiple parameters may be specified.
], >, } and ... are themselves not to be entered.
Note that the characters
[
<
{
They are merely symbols use to describe the input format.
(3) Comments
Explains restrictions and things to keep in mind.
(4) Procedure
Explains procedures and system responses for various operations.
(5) Related functions
Explains related functions.
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1.5 ASSIGNING NAMES
1.5.1 Assigning the Volume Name
When a disk is initialized, you can assign a name to that disk. This is the volume name.
In order to simplify disk handling, you should keep your files sorted by task and put related
files on the same disk. Also, be sure to give the disk a descriptive, easy to understand
name.
The volume name can be checked by looking at the directory display.
Volume names consist of a volume name proper, a period, and a volume name extension.
An example is shown below:
WORK1
.
FIL
FIL is the volume name extension.
It may have up to three characters.
A period is used to separate the volume name
and the volume name extension.
WORK1 is the volume name. It may have up to
six characters.
The following characters may be used in the volume name and its extension:
Alphabetic characters:
Numerals:
A to Z
0 to 9
The volume name extension may be omitted. In such a case, the period becomes
unnecessary.
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1.5.2 Assigning a File Name
Every file in a disk or in the RAM drive has its own name. This is called the file name.
File names consists of a file name proper, a period, and a file name extension. An
example is shown below:
CONSTRUC
.
SYS
SYS is the file name extension. It may have up
to three characters.
A period is used to separate the file name and
the file name extension.
CONSTRUC is the file name. It may have up to
eight characters.
The following characters may be used in the file name and its extension:
Alphabetic characters:
Numerals:
A to Z
0 to 9
The file name extension is used to identify the nature (type) of the file. By using different
extensions on the same file name, you can keep related files together while still being able
to differentiate between them by purpose.
The following extensions are used for the following type of special purpose files.
Extension
SYS
Purpose
Identifies system files.
Identifies batch files.
Identifies parameter files.
Identifies library files.
Identifies maintenance files.
BAT
PAR
LIB
LOG
The file name extension may be omitted. In such a case, the period becomes
unnecessary.
When specifying a file having a file name extension, you may not omit that extension. If
you do, the controller will treat that file as a completely different file.
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1.5.3 Assigning a Point Name
When entering positional data for a point, you have to assign a name to that point. This
name will be used later in the program when telling the robot where to go.
Point names generally have a format like that shown in the example below:
PNT100
PNT100 is the point name (in this example).
The point name may have up to ten characters.
The following characters may be used in the point name. (The first letter of a point name
must be an alphabetic character.)
Alphabetic characters:
Numerals:
A to Z
0 to 9
Note:
You may not use an identifier reserved for the SCOL language to name a point.
See Appendix B of Robot Language Manual for a list of such identifiers
(reserved words).
If you try to enter more than ten characters when inputting a point name, an error
message ("name over") will be displayed and that entry will be invalidated.
If you try to enter anything other than an alphabetic character for the first character of the
point name, an error message ("illegal key!") will be displayed and that entry will be
invalidated.
If you try to enter anything other than an alphanumeric character when inputting the point
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.
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1.5.4 Assigning a Name to Coordinate Data
When entering coordinate data for a work coordinate system, a tool coordinate system or
the base coordinate system, you have to assign a coordinate name to that data. This
name will be used later in the program when telling the robot which coordinate system to
use.
Coordinate names generally have a format like that shown in the example below:
TABLE1
TABLE1 is the coordinate name (in this example).
The name may have up to ten characters.
The following characters may be used in the coordinate name. (The first letter must be
an alphabetic character.)
Alphabetic characters:
Numerals:
A to Z
0 to 9
Note:
You may not use an identifier reserved for the SCOL language to name
coordinate data. See Appendix B of Robot Language Manual for a list of such
identifiers (reserved words).
If you try to enter more than ten characters when inputting a coordinate name, an error
message ("name over") will be displayed and that entry will be invalidated.
If you try to enter anything other than an alphabetic character for the first character of the
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.
If you try to enter anything other than an alphanumeric character when inputting the name,
an error message ("illegal key!") will be displayed and that entry will be invalidated.
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1.5.5 Assigning a Name to Load Data
When entering load data, you have to assign a load name to that data. This name will be
used later in the program when telling the robot which load value to use.
Load names generally have a format like that shown in the example below:
SAMPLE1
SAMPLE1 is the load name (in this example).
The name may have up to ten characters.
The following characters may be used in the load name. (The first letter must be an
alphabetic character.)
Alphabetic characters:
Numerals:
A to Z
0 to 9
Note:
You may not use an identifier reserved for the SCOL language to name load
data. See Appendix B of Robot Language Manual for a list of such identifiers
(reserved words).
If you try to enter more than ten characters when inputting a load name, an error message
("name over") will be displayed and that entry will be invalidated.
If you try to enter anything other than an alphabetic character for the first character of the
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.
If you try to enter anything other than an alphanumeric character when inputting the name,
an error message ("illegal key!") will be displayed and that entry will be invalidated.
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CHAPTER 2
BASIC OPERATION
2.1 BASIC OPERATING PROCEDURE
The following flowchart shows the basic operating procedure for automatic operation. It covers
all operations from turning on the power to turning off the power.
ＳＴＡＲＴ
Turn on main power
Turn on servo power
program
NO
edit end?
YES
Automatic operation
edit
Test run
NO
operation
Job End?
YES
NO
Correct?
Turn off servo power
Turn off main power
ＥＮＤ
YES
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2.2 TURNING ON THE MAIN POWER
There are two ways to start up the controller - cold starting and hot starting. Normally, only the
hot starting is required. For details, see Para. 2.2.2.
2.2.1 Cold Starting
Danger
!
If an abnormality has generated or the POWER LED lamp on the control panel remains off after
the main power switch of the equipment was turned on, turn off the main power immediately
and confirm the wiring. Otherwise, you will be struck by an electric shock or a fire will break
out.
Caution
!
Once a cold start has been executed, all data saved in the controller memory, such as user
program, position data, user parameter and system construction files are initialized.
(1) Function
System programs contained on a disk inserted in the FDD unit (option) are loaded into
the RAM drive. The RAM drive is thereby initialized and the controller is booted
(started up).
(2) Input format: None
(3) Comments
Normally, you should hot start the system. Only cold start the system when you cannot
hot start it.
After you have completed a cold start, remove the system disk from the controller disk
drive. Should you leave the system disk in the disk drive, all the files in the RAM drive
will be erased should the power go out and turn back on again.
･
･
Copies of all files necessary for the RAM drive should be kept on disks for safekeeping.
For information on how to save files on disks, see the Section "Saving files."
The system disk must contain the following system programs and subscription files.
･
･
System programs:
SVPMTX. SYS
MCPMTX. SYS
Subscription files:
CONSTRUC. SYS
ALARM. MES *
SYSTEM. PAR
USER. PAR
EXTRNSEL. SYS *
SCOL. LIB *
AUTOSTR. BAT *
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Files marked by an asterisk are not absolutely necessary to run the system. However,
you will get an error if you try to execute a function dependent on a missing file.
For more information on these files, see the Start-up Manual.
(4) Procedure
(a) Step 1: Insert the system disk
Insert the system disk into the FDD unit (option).
(b) Step 2: Turn on the main power.
Turn on the main power switch located on the controller.
The POWER lamp and SERVO POWER OFF lamp should light up.
The lamp
turns on
SERVO POWER
EMERGENCY
POWER
FAULT
OFF
ON
STOP START
POWER
BATTERY
ALARM
10AT
INT
CYCLE
MANU
STOP
EXT
The light on the disk drive should also light up around this time. This shows
that the system programs are being loaded into the RAM drive. While these
programs are being loaded, the START lamp on the control panel blink.
When loading is complete, the SERVO POWER OFF lamp, the START lamp,
the STOP and the CYCLE STOP lamp will all momentarily light up at once.
The LCD (liquid crystal display) of the teach pendant will display the initial mode
selection menu. The STOP lamp and the SERVO POWER OFF lamp on the control
panel will be lit.
Following this, parameters will be automatically read in from the disk in the disk drive.
When this is completed, the disk drive light will go out. This marks the end of the
cold start operation.
(c) Step 3: Remove the system disk
Once the cold start is completed, the system is booted and ready to operate.
After checking to make sure that the disk drive light is out, remove the system
disk from the disk drive.
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2.2.2 Hot Starting
Caution
!
If an abnormality has generated or the POWER LED lamp on the control panel remains off after
the main power switch of the equipment was turned on, turn off the main power immediately
and confirm the wiring. Otherwise, you will be struck by an electric shock or a fire will break
out. When hot starting has been done, the controller enters a program reset status.
(1) Function
Starts up the controller with files contained in the RAM drive.
(2) Input format
None
(3) Comments
The following subscription files must be in the RAM drive:
CONSTRUC. SYS
ALARM. MES *
SYSTEM. PAR
USER. PAR
EXTRNSEL. SYS *
SCOL . LIB *
AUTOSTR. BAT *
Files marked by an asterisk are not absolutely necessary to run the system.
However, you will get an error should you try to execute a function dependent
on a missing file.
For more information on these files, see the Start-up Manual.
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(4) Procedure
(a) Step 1: Turn on the main power
First, make sure that the system disk is not in the FDD unit (option). Then,
turn on the controller main power. The POWER lamp and the SERVO
POWER OFF lamp on the control panel will light up.
The lamp
turns on
SERVO POWER
EMERGENCY
POWER
FAULT
OFF
ON
STOP START
POWER
BATTERY
ALARM
10AT
INT
CYCLE
MANU
STOP
EXT
The controller will start initializing the system. The disk drive light will blink for
about 15 seconds.
When the hot start operation is completed, the STOP lamp on the control panel will
light up and the LCD (liquid crystal display) of the teach pendant will display the
initial mode selection menu.
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2.3 TURNING ON THE SERVO POWER
Caution
!
If the robot moves abnormally at the servo power ON, press the EMERGENCY STOP
・
・
switch immediately to turn the servo power off.
If anyone enters the robot dangerous area, turn the servo power off beforehand.
(1) Function
Turns on the main power circuit for the servo drivers. Servo control axes will
change over to the servo-lock state, and any brakes will be released.
(2) Input format: None
(3) Comments
You will not be able to turn on the servo power if the emergency switch is pushed
down. Release the switch first.
In order to turn on the servo power with an external operation signal, the teach pendant
connector (or the dummy connector) must be attached to the control panel. Also, the
contacts for the Emergency Stop and Servo OFF external signals must be open. For
more information, refer to the Interface Manual.
(4) Procedure
(a) Step 1: Turn on the servo power
Push either the SERVO POWER ON switch on the controller or the teach pendant.
The controller SERVO POWER ON lamp should turn on and the OFF lamp should
turn off. The teach pendant SERVO ON lamp should light up.
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2.4 TURNING OFF THE SERVO POWER
(1) Function
Turns off the main power circuit for the servo drivers. Servo control axes will
change over to the servo-free state, and any brakes will be activated.
(2) Input format: None
(3) Comments
Do not turn the servo power off while the robot is running. When you wish to stop
the robot in a hurry, push an emergency stop switch instead.
When about to enter the robot work-space envelope, or when no operator is to be present,
turn off the servo power for safety reasons. (Note that this does not apply to automatic
operation.)
For information on how to turn off the servo power with an external operation signal, see
the Interface Manual.
(4) Procedure
(a) Step 1: Turn off the servo power
Push the SERVO POWER OFF switch on the controller. The SERVO POWER
OFF lamp should turn on and the ON lamp should turn off. The teach pendant
SERVO ON lamp should turn off.
The lamp
turns on
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2.5 TURNING OFF THE MAIN POWER
(1) Function
Turns off the main power and stops controller processing.
(2) Input format: None
(3) Comments
Do not turn off the main power while the servo power is on or while the controller is
either processing data or manipulating files. Before turning off the main power,
make sure that the servo power is off and that the controller is not running.
(4) Procedure
(a) Step 1: Remove the disk, if any, from the disk drive
If there is a disk in the FDD unit (option), check to see that the disk drive light is off
and then remove the disk.
(b) Step 2: Turn off the main power
Turn off the main power switch located on the controller.
The lamp
turns off
SERVO POWER
EMERGENCY
POWER
FAULT
OFF
ON
STOP START
POWER
BATTERY
ALARM
INT
CYCLE
MANU
STOP
EXT
10AT
The POWER lamp on the controller should turn off.
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CHAPTER 3
MANUAL OPERATION
3.1 SELECTING THE MANUAL MODE
(1) Function
Changes over to the Manual Mode in which the robot is manually guided, points
are taught, files are managed and the system is controlled. All of these
operations are performed with the teach pendant.
(2) Input format
None
(3) Comments
The Test Operation Mode is classified as a manual mode. However, the Test
Operation Mode is treated as completely separate in this manual.
For information on the Test Operation Mode, see Chapter 7,"Test Operation."
(4) Procedure
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to MANU. The following menu
should appear on the teach pendant display.
> ■
----- (a)
EDIT LOAD SAVE TESTRUN> RESET NEXT
----- (b)
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a) Display field for command input and messages
b) Display field for function key menu
EDIT
Edit
LOAD
SAVE
File load
File save
TESTRUN
RESET
DIR
COPY
DEL
Test operation
Reset
Directory display
File copy
File deletion
File renaming
File printing
Disk initialization
File comparison
Zero point teaching
Soft limit teaching
Channel selection
Date setting
Time setting
REN
PRINT
FORMAT
VERIFY
ZEROP
JLMIT
CHANNEL
DATE
TIME
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3.2 GUIDANCE COORDINATES
(1) Function
Selects a coordinate system in which to guide the robot from among the joint
coordinates, tool coordinates, work coordinates and world coordinates.
(2) Input format
None
(3) Comments
Refer to the Introductory Manual for information on robot coordinate systems.
If a tool, base or work coordinate system has not been taught to the robot, the
robot will assume:
(a) The tool coordinate system coincides with the surface of the hand mounting flange.
(b) The work and world coordinate systems coincide with the base coordinate system.
When using the tool or work coordinate system, make sure you have selected the
right one.
(4) Procedure
(a) Step 1: Select the tool and work coordinates
It is possible to have several work and/or tool coordinate systems. Therefore, you
must select which ones you are going to use with the WORK and TOOL utilities.
For details, see Chapter 12, "Utilities."
If you are using joint or world coordinates, this operation is unnecessary.
(b) Step 2: Select the coordinates
Push the "Coordinate" key on the teach pendant. Each time you push this key,
the lamp will cycle one step between World, Work, Tool and Joint.
The initial setting is Joint.
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3.3 GUIDE MOVEMENT
There are three types of guide movement: jog, inching and free.
In the jog mode, the robot will move in the specified direction at the specified speed in the
specified coordinate system for as long as you hold down the corresponding guide key. The jog
mode is useful for rough positioning of the robot to get it near the target position.
In the inching mode, the robot will move in the specified direction at the specified displacement in
the specified coordinate system. The inching mode is useful for fine positioning of the robot near
the target position.
In the free mode, you may release the servo lock on the desired axes and move around the robot
by hand. The free mode is useful for fine positioning of the robot near workpieces and other
such objects.
(1) Function
Selects the guide movement mode.
(2) Input format: None
(3) Comments
When changing from the free mode to another mode, the servo mechanism on all
axes will lock-up (change to the locked state).
(4) Procedure
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Select the guide movement mode
Push the "Control" key on the teach pendant. Each time you push this key, the
lamp will cycle one stop between Jog, Inching and Free.
The initial setting is Jog.
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3.4 GUIDE SPEED
(1) Function
Selects the guide speed or the guide displacement.
Guide speed will be set if the guide movement mode is set to jog. Guide
displacement will be set if the guide movement mode is set to inching.
Set the guide speed or guide displacement in accordance with how far the robot is from the
target position.
(2) Input format: None
(3) Comments: None
(4) Procedure
(a) Step 1: Select the guide speed mode
Push the "Teach Speed" key on the teach pendant. Each time you push this key,
the lamp will cycle one step between High, Med. and Low.
The initial setting is Low.
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3.5 GUIDANCE
Caution
!
If the guidance is performed manually, do not enter the robot dangerous area.
If the robot moves abnormally, immediately effect an emergency stop.
If the robot will not move in the specified direction, consult Toshiba Machine.
・
・
・
(1) Function
The robot can be moved in the desired direction by pushing the appropriate guide
keys when the guide movement mode is set to inching or jog.
(2) Input format
The guidance coordinates, guide movement mode and guide speed do not have to
be set in any particular order. However, they all must be set before pushing any
guide keys.
(3) Comments
When the guide movement mode is set to free, the guide keys do not specify the
direction the robot is to move; rather, they specify axes for which the servo lock is
to be released.
The guide keys will only work while at least one of the deadman switches (on the back of
the teach pendant) is pushed down. This is to prevent accidents.
(4) Procedures
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Set the guidance conditions
Set the guidance conditions (guidance coordinates, guide movement and guide
speed) as necessary.
(c) Step 3: Guidance
Push the guide keys as appropriate while holding down at least one deadman
switch (on the back of the pendant). The robot will move as directed in the
specified coordinate system.
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3.6 SERVO FREE
(1) Function
Servo locks can be released for axes as desired when the guide movement mode
is set to free. Axes in the servo free (i.e., unlocked) state can be moved freely by
hand. This is convenient when moving the robot near workpieces and other such
objects.
(2) Input format
None
(3) Comments
If You change from the servo free state to either the Test Operation Mode, the
Internal Automatic Mode or the External Automatic Mode, the servo lock will be set
for all axes.
The guide keys will only work while at least one of the deadman switches (on the back of
the teach pendant) is pushed down.
If you move the robot by hand in the servo free state, other joints may move as well due to
axial interference.
You cannot cancel the servo free state while in Feed Hold.
You can cancel the servo free state while displaying the Error History.
(4) Procedure
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Select the guide movement mode
Push the Guide Movement key on the teach pendant as many times as necessary
to select "Free".
(c) Step 3: Release the servo locks
While pushing down on a deadman switch, push the guide keys on the minus (-)
side to release the servo locks for the desired axes. Such axes will change over
to the servo free state.
(d) Step 4: Guide the robot
Guide the robot by hand to where you want it to go.
(e) Step 5: Set the servo locks
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While pushing down on a deadman switch, push the guide keys on the plus (+)
side for those axes in the servo free state. Such axes will then change over to the
servo lock state.
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CHAPTER 4
AUXILIARY SIGNALS
(1) Function
Manages auxiliary signals used to control the hand, the air control axes, etc.
(2) Input format
None
(3) Comments
The output signal port and solenoid type corresponding to each function key must
be defined (specified) in the system configuration file. For more information, see
the Start-up Manual.
Press the "Esc" key to exit the Auxiliary Signal Operation Mode and return back to the
original menu.
While under emergency stop or in feed hold, auxiliary signals may be turned on and off.
The initial state including signals which is set for double solenoids in the power ON state is
turned off.
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(4) Procedure
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Select the Auxiliary Signal Operation Mode
Push the "Aux. Signal" key on the teach pendant. The Auxiliary Signal Operation
Mode menu should then appear.
Auxiliary signal operation mode
[210]
[209]
Aux 2
[212]
[211]
Aux 3
[214]
[213]
Aux 4
[208]
Aux 1
Aux 5
Aux 6
The numbers on the screen correspond to the output signal ports. Auxiliary
signals having two output signal ports are set for double solenoids, and those
having one output signal port are set for single solenoids. Those having no
output signal ports are not set for anything.
Ports that are highlighted in the display are on and ports that are not are off.
(c) Step 3: Turn ports on and off as appropriate
Each time you push a function key corresponding to a port, the status of the
solenoid will change from on to off or from off to on. For double solenoids, the
status of the two ports will be transposed.
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