Toshiba STE 58760 Bedienungsanleitung

STE 58760 INSTRUCTION MANUAL INDUSTRIAL ROBOT SR SERIES ST ART -UP MANUAL Notice 1. Make sure that this Ins truction Manual is delivered to the final user of the T oshiba Industrial Robot. 2. Please read this manual before using the T os hiba Industrial Robot. 3. Pleas e read the “Safety Man ual” also. 4. Keep the manual nearby for further refe[...]

STE 58760 － － i Copyright 1997 by T o shiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from the T oshiba Machine Co., Ltd. The information contained in this manual is subject to ch ange without notice.[...]

STE 58760 － － ii PREF ACE This manual describes how to start up the T oshib a SR series industrial robot. S tart-up as used in this manual refe rs to opera tions from turn ing on the robot controller to operating the robot by manual guidan ce. Before opera ting the controller , make sure th at all the cables have been correctly connecte d among[...]

STE 58760 － － iii NOTE! FOR EUPOREAN UNION (E U) In European Union (EU), there are follow ing 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) Set up conditions ◆ The following type of pow er line transformer mus t be used. Frequency: [...]

STE 58760 － － iv (6) Limitation of the robot specification ◆ Cable length from robot to controller: Max. 8 m ◆ Cable length of teach pendant: Max. 8 m ◆ Op tional 5th axis: Cannot be used. ◆ Op tional input output signa ls(type;SR7000IO): Only one optional board can be used . ◆ Op tional relay output signa ls (type;SR7000RO): Cannot b[...]

STE 58760 － － v T ABLE OF CO NTENTS CHAPTER 1 BEFORE OPERA TING SR SERIES ROBOT 1.1 OVERVIEW ・・・・・・・・・・・・・・・・ ・・・・・・・・・ 1-1 1.1.1 St r u c t u r e ・・・・・・・・・・・・・・・・ ・・・・・・・・・ 1-2 1.1.2 Functions ・・・・・・・・・・・・ ・・・・・[...]

STE 58760 － － vi 2.7 TURNING OFF THE POWER ・・・・・・・・・・・・・・・・・ 2-21 2.7.1 T urning OFF Se rvo Power ・ ・・・・・・・・・・・・・・・・ 2-21 2.7.2 T urning OFF the Main Power ・・・・・・・ ・・・・・・・・・ 2-21 CHAPTER 3 SETTING ENVIRO NMENT AL CONDITIONS FOR THE SR7000 CONTROL[...]

STE 58760 － － vii CHAPT ER 4 E XAMPL E OF SIMP LE OPERA TI ON 4.1 EXAMPLE OF ROBOT OPERA T ION ・・・・・・・・・・・・ ・・ 4-2 4.2 TEACHING THE P ROGRAM AND POSITION DA T A ・・・・ ・・・ 4-3 4.2.1 Inputting A Rob ot Language Program ・・・・・・・・・ ・・・ 4-3 4.2.2 T eaching Positional Dat a ・・・・?[...]

STE 58760 － － 1-1 CHAPTER 1 BEFORE OP ERA TING S R SERI ES ROBOT This chapter presents an outline of the robo t operational procedure, spe cifications, coordi nate system, system con figuration, and their func tions. 1.1 OVERVIEW This paragraph deals with an outline of the SR–HSP series T oshiba system robot. The SR–HSP series signifies the[...]

STE 58760 － － 1-2 (2) Robot co ntroller (S R7000) • Simple programming. – A program can be created easily accordin g to highly advanced robot language SCOL. • Excellent operability – T eachin g of positions, programm ing, adjust ment, etc can be performed acc ording to the menu selection on the teach pe ndant. • Extensive interfaces ?[...]

STE 58760 － － 1-3 SR–1054 HSP Robot Robot co ntroll er SR7000 T eac h pendan t Fig. 1.1 SR Series System Robot[...]

STE 58760 － － 1-4 Robot Horiz ontally ar tic ulated robot SR–504 H SP SR–1054 HSP SR–854 HSP SR–654 HSP SR–554 HSP Robot controller SR–7000 Teac h pendan t Fig. 1.2 System Configuration of SR Series System Robot 1.1.2 Functions (1) Control method A 32-bit microprocessor serves as the central processor. A 16-bit microprocessor is use[...]

STE 58760 － － 1-5  Short-cut Each axis passes the vicinity of a taught point without re aching and stopping at the same point, then m oves to the next point . The travel time can be reduc ed. ・ Specified mid-point PTP Linear interpolation Circular interpolation Short-cut (3) Number of controlled axes A maximum of five axe s can be controll[...]

STE 58760 － － 1-6  St andard extern al output In all, 24 outputs of transistor and open collector are open to the user . Output signal ON/OFF and pulse ou tput can be programmed easily , using the robot language.  Extension external input/output When an optio n board is added, addition of 24 inputs and 16 outputs is possible. Furthermore,[...]

STE 58760 － － 1-7  Acceleration/deceleration speed setting S peed at acceler ation ca n be progr ammed in the range of 1 to 100 % in 1 % increm ents, using the AC CEL instruction. Likewise, decelera tion speed can be programmed in the range of 1 to 100 % in 1 % increments by means of the DECEL instruction.  S peed limit A limit can be set[...]

STE 58760 － － 1-8  St e p A program is executed step by step.  Motion step A motion in struction given in a program is e xecuted once.  Cycle A program is executed until th e END instruction of main task has been execu ted. That is, a series of operation is executed only once.  Continue A program is ex ecuted, ne glecting moti on in[...]

STE 58760 － － 1-9 1.2 OUTLINE OF OPERA TIONAL PROCEDURE At the least, the following operations are r equired to start up the robot. (1) Inst alling the robot an d controller at the site and connect the cables in place. Unpack the controller and robot and install them at the site. After the installation work is complete, connect cables between t[...]

STE 58760 － － 1-10 Check that cables have been securely connected between the robot bo dy and controller and between the controller and teach pe ndant. Note 1) In the automatic oper ation mode, it is not necessary to connect the teach pendant to the robot body . Even if the teach pendant is not to be used, it is necessary to connect a dummy con[...]

STE 58760 － － 1-1 1 1.3 SPECIFICA TIONS The basic specifications of SR–HSP series horizontally articulated robots are shown in T able 1.1. T able 1.1 Basic S pecifications of SR–HSP Series Robots Item S pecification Model SR– 504HSP SR– 554HSP SR– 654HSP SR– 854HSP SR– 1054HSP Controlled axes 4 axes 4 axes 4 axes 4 axes 4 axes Arm[...]

STE 58760 － － 1-12 T able 1.2 Basic S pecific ations of SR7000 Robot Contr oller No. Item S pecification Remarks 1 No. of controlled a xes Simultaneous control of max. 5 axes. 2 Operation mode PTP , CP (linear inte rpolation, circula r interpolation), short-cut 3 Servo system Digital servo 4 Storage cap acity Approx. 64 00 points + 12800 step s[...]

STE 58760 － － 1-13 No. Item S pecification Remarks 19 Operation limit Soft limit 20 Self-diagnostic function Error detection 21 In terruptive function S tart of interruptive pr ogram by input signal, timer, etc. 22 Operation mode Internal-automatic, extern al-automatic, external communication 23 Op eration Internal Continue, cycle, step, motion[...]

STE 58760 － － 1-14 1.4 COORDINA TE SYSTEM A coordinate system comes in a world coordinate system, base coordin ate system and tool coordinat e system. Once the coordina te system is est ablished, positions where th e robot has to move can be set by coord inate values. A function which offsets the coordinate system is also pr ovided, and even if[...]

STE 58760 － － 1-15 (1) World coord inate system A coordinate system the user define s in a space at arranging equipment or workpieces is called the "world coordinate system." (2) B ase coordinate system A Cartesian c oordinate sy stem based on the robot c enter is called the "base c oordinate system." Normally , each axis is[...]

STE 58760 － － 1-16 1.5 S YSTEM CONFI GURA TION Basically , the robot system is composed of the ba sic robot, basic controlle r and teach pendant. The controller has comprehensive inter face functions to allow construction of various systems. Fig. 1. 4 shows th e maximum s ystem conf iguration. The basic controller consists of the control panel,[...]

STE 58760 － － 1-17 Fig. 1.4 Maximum System Configuration[...]

STE 58760 － － 1-18 Equipment configuration b y operation Equipment configuration by op erat ion is illustrated below . (1) Maximum configuratio n Maximum system configuration, including options. (2) Manual guidance, teaching of positions by manu al guidance and program editing These operations can be executed, using the same equipment configura[...]

STE 58760 － － 1-19 (3) Internally controlled automa tic operation Operation of the robot according to files (programs and position da ta) loaded to the controller is called the "automatic operation." The automatic operat ion can be controlled internally and externally . S tart and stop of the rob ot through the control panel of the co[...]

STE 58760 － － 1-20[...]

STE 58760 － － 1-21 1.6 NAMES AN D FUNCTIONS OF SR7000 CONTRO LLER The start up operation is conducted using th e 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 the power and perform automatic operation. [...]

STE 58760 － － 1-22 9. SERVO POWER ON sw itch: A switch which turns on the ser vo power . When the servo po wer is turned on, the lamp on the "ON" switch lights and a servo ON state signal is output. Unless the servo po wer is turned on, the robot cannot b e operated. 10. STOP sw itch: A switch which stops automatic operation. Whe n th[...]

STE 58760 － － 1-23 1.6.2 T each Pendant The teach pendan t is used to guide the robot, teach the robot, a nd check error messages. This paragraph outlines names and function s of the controls. The number s referenced accord with those in Figure 1.6. 1. Emergency switch: A switch which unconditionally stops robot operation. Whe n this switch is [...]

STE 58760 － － 1-24 6. Del key: The delete key de letes a charac ter which has been ente red. Whenever this key is pre ssed, one character at the cursor is deleted. I n the replace mode, the portion being deleted becomes blank. In the in sert mode, characters following those bein g deleted are pushed right by one space every time a character is [...]

STE 58760 － － 1-25 16. Mo ve ke y: A key which moves the robot to a previously taught positio n. When teaching positions, specify the position to which you w ant to move the robot and press this key . The robot will then move to the specified position. W hile pressing the move key , it is necessary to press the Deadma n Switch 23. On the other [...]

STE 58760 － － 1-26 23. Deadman switches: Switches which are used to man ually guide the robo t. Unless one of these keys is pressed, the robot canno t be manually guided. If this key is rele ased while the robot is guided, the robot stops. Although ther e are six Deadman switches on the rear side of the teach pendant, to guide the ro bot, you o[...]

STE 58760 － － 1-27[...]

STE 58760 － － 1-28 Fig. 1.6 External View of T each Pendant[...]

STE 58760 － － 2-1 CHAPTER 2 POWER ON T O 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, ho w to teach positions to the robot, and how to perform an automatic operation, see Chap ter 4, "Example of Simple Operation". Be fore actu[...]

STE 58760 － － 2-2 2.1 TUR NING ON MAIN POWER After checking that there are no problems with the contr oller and robot cable conn ections, turn on the main power to start up the robot. T here are two metho ds to turn on the main po wer; cold starting and hot starting. Normally , only the hot starting is r equired. For details, see Para. 2.1.2. 2[...]

STE 58760 － － 2-3 Note) The disk provides a write-protection tab which prevents the user from mistakenly erasing the contents. When using the syste m disk, prior to inser ting it into the FDD, make su re to slide the write-protection tab outward. When the tab is in the outward position (figure (a)), data cannot be written on the floppy di sk. O[...]

STE 58760 － － 2-4 (4) The contents of the system disk are read in by the controller . The LED on the FDD b links seve ral times an d the conten ts 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 pendant. > ■ EDIT LOAD SA VE TESTRUN>[...]

STE 58760 － － 2-5 Note) While the LED on the FDD lights or blinks, be certain not to remove the floppy d isk from the entrance. Other wise, the FDD, floppy disk, and/or contr oller may be damaged. The cold start operation is now complete. 2.1.2 Hot S tarting While program s and dat a necessa ry to operat e the controlle r are stored in me mory [...]

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 conne cted to the controller. Note 2) If the system disk was in the FDD unit when the main pow er was turne[...]

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 syste m disk has not been inserted, the system stored in the controller conducts hot starting. During the hot start operation, the lamp on the "ST ART"[...]

STE 58760 － － 2-8 2.2 SETTING CONTROLLER ENVIRONMENT AL 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 o perator to set date and time. This data setting is referred to as setti[...]

STE 58760 － － 2-9 2.3 TUR NING THE SERVO POWER ON The pow er supplied to the servo moto rs of the ro bot is called se rvo pow er . Unless the servo power is turned on, the robot will not wo rk. Furthermore, before the operator enters the dangerous area of the robot, make sure to turn of f the servo power . T urn on the servo power in the follow[...]

STE 58760 － － 2-10 2.4 MANUAL GUIDANCE OF EACH AXIS The operation where the r obot is operated using the teach pendan t is called manual guidance. When the servo power is turned on, conduct ma nual guidance for each axis and check to se e that the robot works co rrectly . When a ctually operating the robot, make ab solutely sure tha t the robot[...]

STE 58760 － － 2-1 1 (3) Press the deadman s witch. Press one of the six deadman switches on the re ar side of the teach pendant. While guiding the robot, press this switch inside. The rob ot will not work while the switch is released. (4) P ress one of the XYZC T keys. At the time, the join t (axis) corresponding to the switch bein g pressed mo[...]

STE 58760 － － 2-12 Note 3) In the horizontally articulated type robots, there is an axial interference between the join t 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 a n axis is operated and another axis a lso moves, it i s conceivable that set parameters are inc[...]

STE 58760 － － 2-13 2.5 MANU AL GUIDANC E OPERA TION The manual guidance operation can move the robot along various coordinate systems as well as moving each joint (axis). Th e operation which guides each joint of the r obot is named JOINT guidance, while the operation which guides the robot along a coor dinate system is named coordinate guidanc[...]

STE 58760 － － 2-14 When the "World" LED light s up, the robot will move along the world coordinate system. When the "W ork" LED lights up, the robot w ill move along the work coordinates syst em. When the "T ool" LED lights up, the robot w ill move along the tool coordinate sys tem. When the "Joint" LED l[...]

STE 58760 － － 2-15 Note 1) While the teac h speed is set low speed, the robo t will move at a very low speed. Thus, it seems that the robot stops even while guided. This does not mean th e robot is malfunctioning. Note 2) When two or more keys of the XYZCT keys are pressed, the robot will not work. Note 3) If the robo t does not move in the dir[...]

STE 58760 － － 2-16 2.6 MOTION RANGE LIMIT In executing the automatic operation or in teachin g a position, the operation range and the teaching range of the robot can be limite d. When they are limited, th e robot is not moved to a p osition out of the operation ra nge in the automatic o peration, so th at the po sition out of the operation r a[...]

STE 58760 － － 2-17 (2) Whenever you press the "F6" key on the teach pendant, the monitor command menu accordingly changes. Repe at this key operation until the "JLIMIT>" comma nd appears on the LCD display . NEXT F6 (3) Press the function key which accords with the "JLIMIT>" command. After that, th e LCD disp[...]

STE 58760 － － 2-18 If the corresponding axis and directio n do not appear on the display , press the "F6" key . Pressing t he "F6" key c auses the mes sages at the bottom of th e display to ch ange to those of remaining axes. (6) Last, press the "Esc" key to complete the joint limit setting. 2.6.2 Setting Joint Lim[...]

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 sho uld then show the following screen. JLIMIT F4 TRA VEL JOINT <NEGA TIVE> <POSITIVE> [...]

STE 58760 － － 2-20 If the corresponding axis and directio n do not appear on the display , press the "F6" key . Pressing t he "F6" key c auses the mess ages at the bottom of the dis play to chang e to those of remaining axes. Example) When setting the jo int limit in the minus direction of axis 1 to -90 d egrees, enter the f[...]

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 po wer also turns off at that time. Ge nerally , one turns off the servo pow er first and then turns of f the ma in po wer . It i s also possible to turn of [...]

STE 58760 － － 2-22 (2) T urn off the servo pow er . (3) Check that the FDD unit (option) is not in opera tion. While the FDD is in operation, the LED on the FDD will be lit up. When the power is turne d of f while the LED is still lit, the content s of the flop py disk in the FD D may be damaged. While the FDD is in operation, do not turn off t[...]

STE 58760 － － 2-23 (5) T urn off the Main Power switch on the control panel. When the main power is turned off, the "POWER LED" on the control panel turns off.[...]

STE 58760 － － 3-1 CHAPTER 3 SETTING ENVIRONMENT AL CONDI TIONS FOR THE SR7000 CONTROLLER The operator should set items such as the robot configu ration and the communication channel modes before he or she operate s the robot system. The operator should set the date an d time for the controller for file manag ement and fault displa y information[...]

STE 58760 － － 3-2 > ■ EDIT LOAD SA VE TESTRUN> RESET NEXT F1 F2 F3 F4 F5 F6 (2) The command mode menu will change whenever you press the "F6" key . Repeat until the "DA TE" comman d appe ars. NEXT F6 (3) Press the function key corresponding to the "DA TE" command. The following functio n key menu will then [...]

STE 58760 － － 3-3 (4) Enter the current year , month, and day . Exampl e) Let's assume that th e current date is January 1 , 1998. enter the current date values, enter the following dat a. [9] [8] [-] [0] [1] [-] [0] [1] [Exec] If you press the "Exec" key without enterin g a new year , month, an d day , the curren t year , month,[...]

STE 58760 － － 3-4 > ■ EDIT LOAD SA VE T E S T R U N > RESET NEXT F1 F2 F3 F4 F5 F6 (2) The comma nd menu w ill change whenev er you pres s the "F6 " key on the teach pend ant. Repeat until the "TIME" command appears. NEXT F6 (3) Press the function key corresponding to the command. The following scr een will appear . [...]

STE 58760 － － 3-5 (4) Enter the current time. Example) Assume that the current time is 2:50:45 p.m. T o set correct time, enter the following dat a. [1] [4] [: ] [5] [0] [ : ] [4] [5] [Exec] If you press the " Exec" key without enter ing new hour , minute, and second valu es, the current time values will appear on the display . >TI[...]

STE 58760 － － 3-6 3.2 CHANGING FILE DA T A T o edit files including the sy stem configuratio n file, use the screen e ditor function. The basic operation of the scree n editor is as follows: (1) Turn on the main pow er of the controller and p lace the MASTER MODE KEY switch on the control panel in the "MANU" position. The following c [...]

STE 58760 － － 3-7 (3) Press the function key corresponding to th e "EDIT" command. The following command menu will appear . EDIT F1 > ■ EDIT LOAD SA VE T E S T R U N > RESET NEXT F1 F2 F3 F4 F5 F6 (4) Enter a file name to be edited. T o edit the system configura tion file, enter the following. [C] [O] [N] [S] [T] [R] [U] [C] [[...]

STE 58760 － － 3-8 If incorrect data has been ente red, press the "Bs" key to delete the imme diately preceding character . (5) Press the "Exec" key on the te ach pendant. The number of files being stored in the RAM drive of the controller , the number of empty bytes of the memo ry , and the name of the file to be edited a pp[...]

STE 58760 － － 3-9 The "Ins" key changes between the inser t mode and replace mode. (b) Moving the cursor position: Press the " ← "," → "," ↑ ", and " ↓ " keys to move the cursor where you want. (c) Deleting a characte r using the "BS" key: When you press the "Bs" key [...]

STE 58760 － － 3-10 (d) Deleting a char acter using the "Del" key: When you press the "Del" key , one character at the cursor is deleted. Each char acter following the character being deleted moves left by one position. (e) Entering characters: Enter characters using the alphanu meric keys on the teach pendant. T o enter a ch[...]

STE 58760 － － 3-1 1 Note) Before exiting the edit functio n, check that the edited data is correct. (8) S tarting up the controller with the edited file. In order to valida te (make effective) the changes, first turn off the main power and then hot start the contro ller . Note 1) Before changing the contents of a file, it is recommended to back[...]

STE 58760 － － 3-12 3.3 SETTING THE SYSTEM CONFIGURA TION The configu ration of the rob ot system ha s 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 s ystem, the cont ents of the system c onfiguration file may have to be cha[...]

STE 58760 － － 3-13 (5) Motor revolving direction S pecifies the basic direction in which the motor revolves (i.e., CW or CCW). SR–7000 can use only axis 1 to axis 4, and specify zero for axis 5 and axis 6. (6) Not used (spare) (7) Not used (spare) (8) Not used (spare) (9) Control method for ex ternal automa tic mode S pecifies w hether the sy[...]

STE 58760 － － 3-14 3.3.2 File Format The system configuration fi le is created in the followi ng format. SYSTEM CONSTRUCTION P ARAMETER FILE "CONSTRUC.SYS" [0.] ROBOT SPECIFICA TION (C) ="SR-HS" [1.] CONSTRUCTION OF MANIPULA TER. {=0:WITHOUT ,=1:WITH} (I) =1 1 1 1 0 0 [2.] TYPE OF JOI NT{=0:LINEAR.=1:ROT A TE, 1ST JOINT TO 5[...]

STE 58760 － － 3-15 [9.] SPECIFY FOR OPERA TE MODE IN EXTERNAL AUTO. {=0:EX T . SI GNAL, =1:C OMPUTER} (I) =0 [10.] NOT U SE =0 [1 1.] SPECIFY FOR EXTERNAL FILE SELECTION SIGNAL. {1<=CH NO.<=24,1<= LE NGTH <=8} (I) =17 8 [12.] SLOW SPEED RA TE {0< RA TE <100} (C) [%] [13.] MODE OF SERIAL CHANNEL. { 2ND CH. T O 5TH CH.} {LOGICAL[...]

STE 58760 － － 3-16 [14.] MODE OF AIR DRIV EN AXIS. {SPECIFY FOR USE OR NOT USE. =0:NOT USE,=1:USE} (I) {NO USE. SP ARE.} ( I) {TYPE OF V AL VE =0:SINGLE SOL ENOID, =1:DOUBLE SOLENOID} (I) {SPECIFY OF OPERA T E CH. NO.} (I) {NO USE. SP ARE.} ( I) =1 0 0 208 0 =1 0 1 209 0 =1 0 1 21 1 0 =1 0 1 213 0 =0 0 0 0 0 =0 0 0 0 0 [15.] Option FD (0) &[...]

STE 58760 － － 3-17 Line No. c ontent s Remarks 1 Robot type 2 Robot axis configu ration For 6 axes 3 T ype of joint For 6 axes 4 Construction o f servo For 6 axes 5 Gravity c ompensation a xis For 6 axe s 6 Motor revolving direction For 6 axes 7 Not used 8 Not used 9 Not used 10 Control method in extern al automatic mode 11 N o t u s e d 12 Fil[...]

STE 58760 － － 3-18 3.3.3 Det ails of Data This paragraph describes details of individual data of the system con figuration file. (0) Robot type S pecifies the robot type to be used. For horizontally articulated ty pes ... [= "SR-HS"] For Cartesian coordinate system types ... [= "SR-L"] (1) Robot axis configuration S pecifies[...]

STE 58760 － － 3-19 Note 1) The number of joint axes depend s on the robot type. For details, see the T ransportation and Installation M anual. Note 2) This data sho uld be set for all five axes. (3) Co nstruction of ser vo S pecifies axe s for which servo motors are use d. Each setting for five axes should be separated with a space. T o use the[...]

STE 58760 － － 3-20 Note 1) This data should be set for all the five axes. Note 2) For a horizontally articulated robot, do not spe cify any axes other than the axis Z (axis 3) for gravity compensation. (5) Motor revolving direction S pecifies to coincide the robot operating dir ection with the motor revolving direction. Example) When mov ing al[...]

STE 58760 － － 3-21 (10) Control of h ost computer communication protocol S pecifies whethe r checksum should be i ncluded or not in the hos t compute r communication mo de. Example) Host c omputer commu nication, w ithout proced ure ··· [= 0] (1 1) File selection signal line S pecifies a n input signal to select a file to be executed from th[...]

STE 58760 － － 3-22 (Name) S pecifies the nam e of device to be connected. The nam e of the device is specified with one of the following abbreviations. If it is not s pecified, the ab breviation of the communication channel is specified. Printer ... "PRT " Host computer ... "HOST" Communication channel 1 (default) ... '[...]

STE 58760 － － 3-23 (Parity) S pecifies w hether to check the parity of each ch aracter to be c ommunicated. Absence of parity check ... 0 Odd parity ... 1 Even parity ... 2 (S top bit length) S pecifies the stop bit leng th of each character to be commun icated. 1 bit ... 1 2 bits ... 2 Data should be separated by commas and specified in sequen[...]

STE 58760 － － 3-24 (14) Auxiliary signal line The auxiliary signal line is used to specify auxiliary signals used for the hand and air control axes of the robot. Set the auxiliary signals for all six points. The parameters for each axis are to be set in the follow ing format. [= (Use/Not us e) (S pare) (Solenoid) (Signal number) (S pare)] (Use/[...]

STE 58760 － － 3-25 Note 1) All the auxiliary signal lines sh ould be set for all six points. Note 2) The paramet ers of this dat a are effective only for aux iliary signals which are operate d by the teach pendant. Even if a do uble solenoid is specified, signals are not e xclusively output in the automatic operation mode. In this case, create [...]

STE 58760 － － 3-26 3.4 SETTING EXTERNAL SELECTION FILES T o select a file to be executed using e xternal input signals, the name of the file should have first been registered in the external selection file (EXTRNSEL. SYS). This paragraph describe s the contents of the external selection file. Fo r details of how to create and change this file, [...]

STE 58760 － － 3-27 (Example) File select ion numbers w h en using 6 signal point s (extending from s ignal point s 10 to 15) are as follows: Input signal File selection number 15 14 13 12 1 1 10 Binary Decimal OFF OFF OFF OFF OFF OFF 000000 0 OFF OFF OFF OFF OFF ON 000001 1 OFF OFF OFF OFF ON OFF 000010 2 ･･ ･･ ･･ ･･ ･･ ･?[...]

STE 58760 － － 3-28 In the above example , when the file selection number is 0, the file MAIN0. SRC is selected; when it is 1, the file MAIN1. SRC is selected; and so on. Note 1) Files registered in the external se lection file must be in the memo ry of the controller . A ny file which is not in the co ntroller mem ory cann ot be selec ted. Note[...]

STE 58760 － － 3-29 3.5 BA TCH PROCESSING The SR7000 controller provides a functi on which sequentially executes a set of command s entered from the teach pendant. Th is function is named a batch processing. T o conduct a batch processing, it is necessary to describe commands in the order of execution in a file. This type of file is named a batc[...]

STE 58760 － － 3-30 Note 1) "AUTO" in the "Available mode" column represents the internal automatic mode, the external automatic mode, and the test oper ation mode. "MANU" represents the manual mode ( all modes beside the automatic modes listed abo ve). Note 2) When any command which is not effective in the current [...]

STE 58760 － － 3-31 Exampl e) An example of a batch processing which reads file s from a floppy disk. File n ame: FL OAD. BA T LOAD PRO1 LOAD PRO2 LOAD PRO3 LOAD PRO4 LOAD PROS LOAD PRO6 T o execute the above batch file, enter the fo llowing from the teach pe ndant. [F] [L] [O] [A] [D] [Exec] When the batch pro cessing is executed, the controlle[...]

STE 58760 － － 3-32 Exampl e) T o select a file which is to be executed just after the power is turned on in the external automatic mode: File name: AUTOSTR.BA T SELECT PRO1 In order to execute the ab ove automatic execution file, it must first h ave been stored in the RAM drive of the controller and the MASTER MODE KEY switch on the control pan[...]

STE 58760 － － 3-33 Procedure: (1) S tart the controller using the cold st art operation. (2) Insert the flop py 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] [:] [Ex ec] (4) Execut e the batch file. [A] [L] [O] [A] [D] [Exec] After[...]

STE 58760 － － 3-34 3.6 PROGRAM EXECUTION ENVIRONMENT 3.6.1 Program Execution Environment The following items are conditions for automatically op erating a program. ① Execution file A file for automatically ope rating the robot. Normally , this file is selected by using the "SELECT" command in the internal automatic mode. In the exte[...]

STE 58760 － － 3-35 ⑥ Operation mode s There are thre e operation modes; step, cycle, and co ntinue. The step op eration mode can be selected only in the test operation mode. In the in ternal operation mode, the oper ation mode is selected by the "M ODE" command or by the "CYCLE STOP" sw itch on the contr ol panel. In the e[...]

STE 58760 － － 3-36 3.6.2 Resetting Execution Environment T o reset the execution environ mental dat a of the program, the "RESET" command can be used. The "RESET" command can be used in the manual mode or in the inter nal automatic mode. In the external automatic mode, an externa l control signal has the same functio n as th[...]

STE 58760 － － 3-37 3.6.3 Reset T iming of Program Execution Environment The progra m executio n environmen tal dat a are reset unde r the following co nditions. 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 present file is selected again, the pr og[...]

STE 58760 － － 3-38 3.7 SETTING COORDINA TE SYSTEM A coordinate system can be set a ccording to the application of the robot. When the ro bot is guided to a n actual operat ion positio n and the posi tion is taug ht to the robot, it is not necessary to set a coordinate system. When a coordinate system is set unint entionally , the teaching opera[...]

STE 58760 － － 3-39 ③ Work coordinate system (operation coordinate system) A coordinate system intrinsic to work for which the robot is oper ated. Th e zero point o f the work coordinate system is set at the refe rence point of the work. It i s also determined by the operation of the robot. ④ Mechanic al interface c oordinate sy stem A coord[...]

STE 58760 － － 3-40 3.7.2 T eaching Coordinate Data When setting and using a coordinate system , it is necessary to teach coordi nate data for giving the coordinate system. (1) Coordinate data Coordinate data are data for giving a new coordinate system by mean s of an original coordinate system. Coordinate data are structured as follows. (Coordi[...]

STE 58760 － － 3-41 a) Place the master key switch o n the contro l panel in the "M ANU" position. The monito r command of the controller is displayed at the bottom of th e LCD of the teach pendant. > ■ EDIT LOAD SA VE TESTRUN> RESET NEXT b) By pressing the te ach pendant [F6] key , the display of the monitor com mand is change[...]

STE 58760 － － 3-42 e) When the file name at the botto m of the screen is correct, pr ess the [Exec] key once again. If the file name is incorrect, press the [Bs] ke y to move the cursor to the field of the file name, correc t the file name, and then pr ess the [Exec] ke y . At that tim e, the LCD di splays the prog ram of the file. When a new f[...]

STE 58760 － － 3-43 g) By pressing the [F4 ] key , the edit data are changed from the position data (POINT/World) to the coordinate data (TRANS) and the load data (P A YLOAD). At that time, select the coordinate data (TRANS). When the coordina te data have been taught to the file, the data are displayed. When the coordinate data have not been ta[...]

STE 58760 － － 3-44 Fields not entered a re treate d as 0. T o partially change dat a which has been taught, input " * " for fields not to be changed. Last, by pres sing the [Exe c] key , the coordinate dat a are stored. ② In the case of one-point/two-point teaching mode: 1) By pressing the [Exec] key , the screen is changed a s foll[...]

STE 58760 － － 3-45 ii) I n case of the two-point teaching mode: ----- TRANS ---------------------------------------------- T ABLE1 ** 2-Poin t teach ** origin Guide the end of the robo t tool to the zero point of the coordinate system to be taught. By pressing the [Exec] key , the zero po int of the coordinate system is stored. The system promp[...]

STE 58760 － － 3-46 T ABLE1 =10.000,10.000,0.000,0.000 T ABLE2 =20.000,20.000,0.000,0.000 * T ABLE3 =30.000,30.000,0.000,0.000 T ABLE4 =40.000,40.000,0.000,0.000 T ABLE5 =50.000,50.000,0.000,0.000 ----- TRANS ---------------------------------------------- Defined the new work : T ABL E3 k) Quitting teaching operation of coo rdinate data By press[...]

STE 58760 － － 3-47 b) When the edit da ta are not position data (POINT/World), press the [F4] key to chang e the edit data to the position data. ----- POINT/W orld -------------------------------------- _ c) Press the [F5] key At that time, the LCD displays the coordina te data specified as the work coordinate system. ".syst em" repre[...]

STE 58760 － － 3-48 ----- POINT/Work:T ABLE3 ------- - no exist data _ e) T each the position for the selected work coordinate system. When the position data are taught, they a re stored in the specified position in the work coordinate system. The position data are taught in the following manner . ① By using t he alphanumeric keys, inp ut posi[...]

STE 58760 － － 3-49 2) In case the robo t is guided for teachi ng coordinate data: Guide the robot to a po sition to be taught and press th e [Exec] key so that the pr esent robot position is stored. f) S top the dat a editor T o return the system back to the progr am edit mode, press the [F1] key . T o quit the file edit mode, press the [X] key[...]

STE 58760 － － 3-50 c) Press the [T] key while the [Alt] key is held. The tool coor dinate system currently selected is displayed at the bottom of the LCD d isplay . .system =0.000,0.000,0.000,0.000 T ABLE1 =10.000,10.000,0.000,0.000 T ABLE2 =20.000,20.000,0.000,0.000 T ABLE3 =30.000,30.000,0.000,0.000 T ABLE4 =40.000,40.000,0.000,0.000 T ABLE5 [...]

STE 58760 － － 3-51 (3) Selecting base coordinate system The base coordinate system is determined just de pending on the position where the robot is installed. T o set a coordinate system ot her than the base coordinate system a s the world coordinate system, it is necessary to select the base coordinate system viewed from the world coordinate s[...]

STE 58760 － － 3-52 c) Press the [B] key while the [Alt] key is held. At that time, the b ase coordinate system currently selected is displayed at the bottom of the LCD screen. .system =0.000,0.000,0.000,0.000 T ABLE1 =10.000,10.000,0.000,0.000 T ABLE2 =20.000,20.000,0.000,0.000 T ABLE3 =30.000,30.000,0.000,0.000 T ABLE4 =40.000,40.000,0.000,0.0[...]

STE 58760 － － 3-53 3.7.4 Selecting Coordinate System in Utili ty Mode The work coordinate system and the t ool coordinat e system can be s elected in the utility mode. However , coordinate da ta w hich can be selected a s the coordinate system are those taught to a file. The function for selecting the base coordinate system is not provided in t[...]

STE 58760 － － 3-54 a) By pressing the [UTILITY] key on the teach pe ndant, the system enters the utility mode. ROBOT UTILITY WORK TOOL WHERE SIGNAL MEM ORY b) Press the function key accordin g to "WORK." At th at time, data specified as the work coordinate system are displayed. .system (O) 0.000,0.000,0.000,0.0 00 .world (O) 0.000,0.0[...]

STE 58760 － － 3-55 d) Quit the utility mode. By pressing the [Esc] key , the system exist s from the utility mode and then the previous screen appears. (3) Selecting tool coordinate system The tool coordinate system is selected in the following manner a) By pressing the [UTILITY] key on the teach pe ndant, the system enters the utility mode and[...]

STE 58760 － － 3-56 c) By using the cursor keys [ ↑ ] and [ ↓ ], reversely indicate the c oordinate name of the coordinate data to be selected and then press the [Exec] key . The coordinate data being selected are selected as the too l coordinate system and then the system returns back to the utility mode. At that time, th e utility mode scr[...]

STE 58760 － － 3-57 ⑥ When the program is either cold-started or ho t-started, all coordinate systems are initialized.[...]