Toshiba ste 58761 - Manuals

STE 58761 － － vi 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 underst...

STE 58761 － － vii [Operation] ! Danger Prohibited • 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 wi...

STE 58761 － － viii ! Caution Prohibited • DO NOT change the data of the system structure file. Otherwise, the robot will operate abnormally, resulting in damage or an accident. ! Mandatory • In principle, teaching operation should be performed outside the dangerous area of the robot. If it should be...

STE 58761 － － ix ! Caution ! Mandatory • 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 ...

STE 58761 － － x TABLE OF CONTENTS CHAPTER 1 BEFORE OPERATING YOUR ROBOT 1.1 OVERVIEW OF CONTROL FUNCTIONS ・・・・・・・・・・・・ 1-1 1.2 MODE STRUCTURE ・・・・・・・・・・・・・・・・・・・・・ 1-3 1.2.1 External Automatic Mode ・・・・・・・・・・・・・・・・・・ 1-4 1.2.2 Internal Automatic Mode ・・・・・・・・・・・・・・・・・・ 1-4 1.2.3 Manual Mode ・・・・・・・・...

STE 58761 － － xi CHAPTER 3 MANUAL OPERATION 3.1 SELECTING THE MANUAL MODE ・・・・・・・・・・・・・・ 3-1 3.2 GUIDANCE COORDINATES ・・・・・・・・・・・・・・・・・・ 3-3 3.3 GUIDE MOVEMENT ・・・・・・・・・・・・・・・・・・・・・ 3-4 3.4 GUIDE SPEED ・・・・・・・・・・・・・・・・・・・・・・・・ 3-5 3.5 GUIDANCE ・・・・・・・・・・・・・・・・・・・・・・・・・ 3-6 3.6 SERVO FREE ・・・・・・・・・・・...

STE 58761 － － xii 5.5.10 Delete Block ・・・・・・・・・・・・・・・・・・・・・・ 5-43 5.5.11 Copy Block ・・・・・・・・・・・・・・・・・・・・・・・ 5-45 5.5.12 Rename File ・・・・・・・・・・・・・・・・・・・・・・ 5-48 5.5.13 Search ・・・・・・・・・・・・・・・・・・・・・・・・・ 5-49 5.5.14 Replace ・・・・・・・・・・・・・・・・・・・・・・・・ 5-52 5.5.15 Restore Deleted Line ・・・・・・・・・・・・・・・・・・ 5-5...

STE 58761 － － xiii 6.7 EDITING COORDINATE DATA ・・・・・・・・・・・・・・・・ 6-42 6.7.1 Coordinate-data Edit-mode Selection ・・・・・・・・・・・・・ 6-42 6.7.2 Teaching Coordinate Data ・・・・・・・・・・・・・・・・・ 6-44 6.7.3 Numerical Input of Coordinate Data ・・・・・・・・・・・・・ 6-49 6.7.4 Deleting Coordinate Data ・・・・・・・・・・・・・・・・・・ 6-51 6...

STE 58761 － － xiv CHAPTER 8 INTERNAL AUTOMATIC OPERATION 8.1 SELECTING THE INTERNAL AUTOMATIC MODE ・・・・・・・ 8-2 8.2 PROGRAM SELECTION ・・・・・・・・・・・・・・・・・・・ 8-4 8.3 OPERATION MODE SELECTION ・・・・・・・・・・・・・・・ 8-6 8.4 SPEED OVERRIDE ・・・・・・・・・・・・・・・・・・・・・・ 8-8 8.5 SPEED LIMIT ・・・・・・・・・・・・・・・・・・・・・・・・ 8-10 8....

STE 58761 － － xvi CHAPTER 14 JOINT LIMIT SETTING 14.1 SELECTING JOINT LIMIT SETTING MODE ・・・・・・・・・・ 14-1 14.2 JOINT LIMIT TEACHING ・・・・・・・・・・・・・・・・・・ 14-3 14.3 INPUTTING NUMERIC VALUES FOR JOINT LIMITS ・・・・・・ 14-5 APPENDIX A TEACH PENDANT MESSAGE TABLE ・・・・・・・・・・ 15-1 APPENDIX B LIST OF COMMANDS ・・・...

STE 58761 － － 1-8 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. ' I~ (b) Keep away from speakers or oth...

STE 58761 － － 1-10 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 characte...

STE 58761 － － 1-11 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 f...

STE 58761 － － 1-14 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 o...

STE 58761 － － 1-15 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 ...

STE 58761 － － 1-18 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...

STE 58761 － － 2-1 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 edit end? T...

STE 58761 － － 2-3 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 In...

STE 58761 － － 2-4 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 s...

STE 58761 － － 2-6 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 ...

STE 58761 － － 2-7 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...

STE 58761 － － 2-8 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 turni...

STE 58761 － － 3-1 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 fo...

STE 58761 － － 3-3 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 coo...

STE 58761 － － 3-4 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 use...

STE 58761 － － 3-5 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 wit...

STE 58761 － － 3-7 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) I...