Page 3 - ii; PREFACE; This manual consists of the following chapters.
STE 58760 － － ii PREFACE This manual describes how to start up the Toshiba SR series industrial robot. Start-up as used in this manual refers to operations from turning on the robot controller to operating the robot by manual guidance. Before operating the controller, make sure that all the cables h...
Page 6 - TABLE OF CONTENTS
STE 58760 － － v TABLE OF CONTENTS CHAPTER 1 BEFORE OPERATING SR SERIES ROBOT 1.1 OVERVIEW ・・・・・・・・・・・・・・・・・・・・・・・・・ 1-1 1.1.1 Structure ・・・・・・・・・・・・・・・・・・・・・・・・・ 1-2 1.1.2 Functions ・・・・・・・・・・・・・・・・・・・・・・・・・ 1-4 1.2 OUTLINE OF OPERATIONAL PROCEDURE ・・・・・・・・・・ 1-9 1.3 SPECIFICATIONS ・・・・・・・・・・・・・・・・・...
Page 17 - OUTLINE OF OPERATIONAL PROCEDURE; Robot main body
STE 58760 － － 1-9 1.2 OUTLINE OF OPERATIONAL PROCEDURE At the least, the following operations are required to start up the robot. (1) Installing the robot and controller at the site and connect the cables in place. Unpack the controller and robot and install them at the site. After the installation ...
Page 22 - SYSTEM
STE 58760 － － 1-14 1.4 COORDINATE SYSTEM A coordinate system comes in a world coordinate system, base coordinate system and tool coordinate system. Once the coordinate system is established, positions where the robot has to move can be set by coordinate values. A function which offsets the coordinat...
Page 24 - CONFIGURATION
STE 58760 － － 1-16 1.5 SYSTEM CONFIGURATION Basically, the robot system is composed of the basic robot, basic controller and teach pendant. The controller has comprehensive interface functions to allow construction of various systems. Fig. 1.4 shows the maximum system configuration. The basic contro...
Page 25 - Maximum System Configuration
STE 58760 － － 1-17 Fig. 1.4 Maximum System Configuration
Page 27 - disk
STE 58760 － － 1-19 (3) Internally controlled automatic operation Operation of the robot according to files (programs and position data) loaded to the controller is called the "automatic operation." The automatic operation can be controlled internally and externally. Start and stop of the rob...
Page 29 - NAMES AND FUNCTIONS OF SR7000 CONTROLLER; Power switch for the controller.
STE 58760 － － 1-21 1.6 NAMES AND FUNCTIONS OF SR7000 CONTROLLER The start up operation is conducted using the control panel and teach pendant. The external views of the control panel and teach pendant are shown in Figures 1.5 and 1.6. 1.6.1 Control Panel The control panel is used to turn on and off ...
Page 31 - A key which cancels characters and instruction being entered.
STE 58760 － － 1-23 1.6.2 Teach Pendant The teach pendant is used to guide the robot, teach the robot, and check error messages. This paragraph outlines names and functions of the controls. The numbers referenced accord with those in Figure 1.6. 1. Emergency switch: A switch which unconditionally sto...
Page 36 - External View of Teach Pendant
STE 58760 － － 1-28 Fig. 1.6 External View of Teach Pendant
Page 37 - the
STE 58760 － － 2-1 CHAPTER 2 POWER ON TO MANUAL GUIDANCE This chapter outlines how to turn on the power and how to manually guide the robot. For details of how to create a robot language program, how to teach positions to the robot, and how to perform an automatic operation, see Chapter 4, "Examp...
Page 38 - TURNING ON MAIN POWER; Caution; Conduct the cold start operation in the following manner.
STE 58760 － － 2-2 2.1 TURNING ON MAIN POWER After checking that there are no problems with the controller and robot cable connections, turn on the main power to start up the robot. There are two methods to turn on the main power; cold starting and hot starting. Normally, only the hot starting is req...
Page 40 - (4) The contents of the system disk are read in by the controller.
STE 58760 － － 2-4 (4) The contents of the system disk are read in by the controller. The LED on the FDD blinks several times and the contents of the floppy disk are read to the controller. When the controller is correctly started up, the following message appears on the LCD screen on the teach penda...
Page 41 - The cold start operation is now complete.; Conduct the hot start operation in the following manner.
STE 58760 － － 2-5 Note) While the LED on the FDD lights or blinks, be certain not to remove the floppy disk from the entrance. Otherwise, the FDD, floppy disk, and/or controller may be damaged. The cold start operation is now complete. 2.1.2 Hot Starting While programs and data necessary to operate ...
Page 42 - EDIT LOAD SAVE TESTRUN> RESET NEXT
STE 58760 － － 2-6 Note 1) Should the "POWER LED" on the control panel not light even if the MAIN POWER switch is turned on, or should any fault occur in the system, immediately turn off the Main Power switch and check the cables connected to the controller. Note 2) If the system disk was in ...
Page 43 - The hot start operation is now complete.
STE 58760 － － 2-7 During hot start-up, the controller works as follows: When the main power is turned on, the controller reads in the contents of the floppy disk in the FDD. Unless the system disk has not been inserted, the system stored in the controller conducts hot starting. During the hot start ...
Page 44 - SETTING CONTROLLER ENVIRONMENTAL CONDITIONS; selection file, the contents should be saved on a floppy disk.
STE 58760 － － 2-8 2.2 SETTING CONTROLLER ENVIRONMENTAL CONDITIONS Before operating the robot system, it is necessary to set data for the controller. This data is stored in the system configuration file (file name: CONSTRUC. SYS). In addition, the controller requires the operator to set date and time...
Page 45 - TURNING THE SERVO POWER ON
STE 58760 － － 2-9 2.3 TURNING THE SERVO POWER ON The power supplied to the servo motors of the robot is called servo power. Unless the servo power is turned on, the robot will not work. Furthermore, before the operator enters the dangerous area of the robot, make sure to turn off the servo power. Tu...
Page 46 - MANUAL GUIDANCE OF EACH AXIS
STE 58760 － － 2-10 2.4 MANUAL GUIDANCE OF EACH AXIS The operation where the robot is operated using the teach pendant is called manual guidance. When the servo power is turned on, conduct manual guidance for each axis and check to see that the robot works correctly. When actually operating the robot...
Page 48 - (5) Check that the robot soft limit switches work correctly.
STE 58760 － － 2-12 Note 3) In the horizontally articulated type robots, there is an axial interference between the joint axes. For example, when the axis 2 is moved, the servo motors of axes 3 and 4 also move to keep axis Z in the same place. When an axis is operated and another axis also moves, it ...
Page 49 - MANUAL GUIDANCE OPERATION
STE 58760 － － 2-13 2.5 MANUAL GUIDANCE OPERATION The manual guidance operation can move the robot along various coordinate systems as well as moving each joint (axis). The operation which guides each joint of the robot is named JOINT guidance, while the operation which guides the robot along a coord...
Page 52 - MOTION RANGE LIMIT; The joint limit values are taught in the following manner.
STE 58760 － － 2-16 2.6 MOTION RANGE LIMIT In executing the automatic operation or in teaching a position, the operation range and the teaching range of the robot can be limited. When they are limited, the robot is not moved to a position out of the operation range in the automatic operation, so that...
Page 53 - display on the teach pendant shows the following screen.
STE 58760 － － 2-17 (2) Whenever you press the "F6" key on the teach pendant, the monitor command menu accordingly changes. Repeat this key operation until the "JLIMIT>" command appears on the LCD display. NEXT F6 (3) Press the function key which accords with the "JLIMIT>...
Page 54 - Setting Joint Limit by Numeric Value Entry; display on the teach pendant.
STE 58760 － － 2-18 If the corresponding axis and direction do not appear on the display, press the "F6" key. Pressing the "F6" key causes the messages at the bottom of the display to change to those of remaining axes. (6) Last, press the "Esc" key to complete the joint limit ...
Page 55 - on the teach pendant should then show the following screen.
STE 58760 － － 2-19 Repeat this key operation until the "JLIMIT>" command appears on the LCD display. NEXT F6 (3) Press the function key which corresponds with the "JLIMIT>" command. The LCD display on the teach pendant should then show the following screen. JLIMIT F4 TRAVEL JOI...
Page 57 - TURNING OFF THE POWER; Turn off the servo power in the following manner.
STE 58760 － － 2-21 2.7 TURNING OFF THE POWER After the robot operation is complete, turn off the controller power (main power and servo power). When the main power is turned off, the servo power also turns off at that time. Generally, one turns off the servo power first and then turns off the main p...
Page 58 - (4) Check that no editing is being conducted with the controller.
STE 58760 － － 2-22 (2) Turn off the servo power. (3) Check that the FDD unit (option) is not in operation. While the FDD is in operation, the LED on the FDD will be lit up. When the power is turned off while the LED is still lit, the contents of the floppy disk in the FDD may be damaged. While the F...
Page 60 - Set the current date in the following manner.
STE 58760 － － 3-1 CHAPTER 3 SETTING ENVIRONMENTAL CONDITIONS FOR THE SR7000 CONTROLLER The operator should set items such as the robot configuration and the communication channel modes before he or she operates the robot system. The operator should set the date and time for the controller for file m...
Page 65 - CHANGING FILE DATA; EDIT LOAD SAVE TESTRUN> RESET NEXT
STE 58760 － － 3-6 3.2 CHANGING FILE DATA To edit files including the system configuration file, use the screen editor function. The basic operation of the screen editor is as follows: (1) Turn on the main power of the controller and place the MASTER MODE KEY switch on the control panel in the "M...
Page 69 - the character being deleted moves left by one position.
STE 58760 － － 3-10 (d) Deleting a character using the "Del" key: When you press the "Del" key, one character at the cursor is deleted. Each character following the character being deleted moves left by one position. (e) Entering characters: Enter characters using the alphanumeric key...
Page 71 - SETTING THE SYSTEM CONFIGURATION
STE 58760 － － 3-12 3.3 SETTING THE SYSTEM CONFIGURATION The configuration of the robot system has been set in the robot configuration file. Thus, it is not necessary for the user to change the system configuration. However, depending on the application of the robot system, the contents of the system...
Page 74 - BIT
STE 58760 － － 3-15 [9.] SPECIFY FOR OPERATE MODE IN EXTERNAL AUTO. {=0:EXT. SIGNAL, =1:COMPUTER} (I) =0 [10.] NOT USE =0 [11.] SPECIFY FOR EXTERNAL FILE SELECTION SIGNAL. {1<=CH NO.<=24,1<= LENGTH <=8} (I) =17 8 [12.] SLOW SPEED RATE {0< RATE <100} (C) [%] [13.] MODE OF SERIAL CHAN...
Page 85 - SETTING EXTERNAL SELECTION FILES; Signals Used for Selecting File
STE 58760 － － 3-26 3.4 SETTING EXTERNAL SELECTION FILES To select a file to be executed using external input signals, the name of the file should have first been registered in the external selection file (EXTRNSEL. SYS). This paragraph describes the contents of the external selection file. For detai...
Page 88 - BATCH PROCESSING
STE 58760 － － 3-29 3.5 BATCH PROCESSING The SR7000 controller provides a function which sequentially executes a set of commands entered from the teach pendant. This function is named a batch processing. To conduct a batch processing, it is necessary to describe commands in the order of execution in ...
Page 91 - Using Batch Processing Effectively
STE 58760 － － 3-32 Example) To select a file which is to be executed just after the power is turned on in the external automatic mode: File name: AUTOSTR.BAT SELECT PRO1 In order to execute the above automatic execution file, it must first have been stored in the RAM drive of the controller and the ...
Page 92 - (2) Insert the floppy disk containing the files into the FDD unit.
STE 58760 － － 3-33 Procedure: (1) Start the controller using the cold start operation. (2) Insert the floppy disk containing the files into the FDD unit. (3) Read the batch file to the controller. [C] [O] [P] [Y] [ ] [A] [:] [A] [L] [O] [A] [D] [.] [B] [A] [T] [ ] [R] [:] [Exec] (4) Execute the batc...
Page 93 - PROGRAM EXECUTION ENVIRONMENT
STE 58760 － － 3-34 3.6 PROGRAM EXECUTION ENVIRONMENT 3.6.1 Program Execution Environment The following items are conditions for automatically operating a program. ① Execution file A file for automatically operating the robot. Normally, this file is selected by using the "SELECT" command in t...
Page 95 - Resetting Execution Environment; by using the function key, specify a desired
STE 58760 － － 3-36 3.6.2 Resetting Execution Environment To reset the execution environmental data of the program, the "RESET" command can be used. The "RESET" command can be used in the manual mode or in the internal automatic mode. In the external automatic mode, an external contro...
Page 96 - Reset Timing of Program Execution Environment; When the program reset operation is executed.
STE 58760 － － 3-37 3.6.3 Reset Timing of Program Execution Environment The program execution environmental data are reset under the following conditions. ① When the program is cold-started. ② When a file other than the present file is selected as the execution file. (When the same file as the presen...
Page 97 - SETTING COORDINATE SYSTEM; same operation is conducted for two or more workpieces.
STE 58760 － － 3-38 3.7 SETTING COORDINATE SYSTEM A coordinate system can be set according to the application of the robot. When the robot is guided to an actual operation position and the position is taught to the robot, it is not necessary to set a coordinate system. When a coordinate system is set...
Page 105 - Selecting Coordinate System in Data Editor Mode
STE 58760 － － 3-46 TABLE1 =10.000,10.000,0.000,0.000 TABLE2 =20.000,20.000,0.000,0.000 * TABLE3 =30.000,30.000,0.000,0.000 TABLE4 =40.000,40.000,0.000,0.000 TABLE5 =50.000,50.000,0.000,0.000 ----- TRANS ---------------------------------------------- Defined the new work : TABLE3 k) Quitting teaching...
Page 106 - edit data to the position data.
STE 58760 － － 3-47 b) When the edit data are not position data (POINT/World), press the [F4] key to change the edit data to the position data. ----- POINT/World -------------------------------------- _ c) Press the [F5] key At that time, the LCD displays the coordinate data specified as the work coo...
Page 112 - Selecting Coordinate System in Utility Mode; file
STE 58760 － － 3-53 3.7.4 Selecting Coordinate System in Utility Mode The work coordinate system and the tool coordinate system can be selected in the utility mode. However, coordinate data which can be selected as the coordinate system are those taught to a file. The function for selecting the base ...
Page 115 - ], reversely indicate the coordinate name of the; Selecting Coordinate System Using Robot Language; selected coordinate system becomes valid.
STE 58760 － － 3-56 c) By using the cursor keys [ ↑ ] and [ ↓ ], reversely indicate the coordinate name of the coordinate data to be selected and then press the [Exec] key. The coordinate data being selected are selected as the tool coordinate system and then the system returns back to the utility mo...
