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STE 58761 INSTRUCTION MANUAL INDUSTRIAL ROBOT SR SERIES OPERA TING MANUA L Notice 1. Make sure that this Ins truction Manual is delivered to the final user of the T oshiba I ndustrial Robot.
STE 58761 － － i Copyright 1997 by T oshiba Machin e Co., Ltd. All rights reserv ed. 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 change without notice.
STE 58761 － － ii PREF ACE This Manual describes how to utilize various robot system fu nctions in order to manually guide the robot with the teach pendan t, edit programs, compile data and carry out automatic oper ation. This manual is directed at the robo t operator .
STE 58761 － － iii 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 ne cessary to apply to the se limitatio ns and notes.
STE 58761 － － iv (6) Limitation on the robot specifications ◆ Cable lengt h from robot to controller: Max. 8 m ◆ Cable length of teach pend ant: Max. 8 m ◆ Optio nal axis 5: Can not be used . ◆ Op tional input/outpu t signals (type; SR-5500IO): Only one optional board can be used.
STE 58761 － － v This Manual describes how to utilize various robot system functions in order to manually guide the robot with the teach pendan t, edit programs, compile data and carry out automatic oper ation. This manual is directed at the robo t operator .
STE 58761 － － vi Cautions on Safety This manual contains the important information on the robot and controlle r to prevent injury to the operators and pers ons nearby , to pre vent damage to assets and to ensure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual.
STE 58761 － － vii [Operation] ! Danger Prohibited • During operation, NEVER enter the dangerous area of the rob ot. Otherwise, you w ill be injured seriously . • DO NOT leave in the working range any machinery or materials which will hinder the operation.
STE 58761 － － viii ! Caution Prohibited • DO NOT change the data of the system structur e file. Otherwise, the robot will oper ate abnormally , resulting in d amage or an accident. ! Mandatory • In principle, te aching operation should be perfor med outside the dangerous area of the robot.
STE 58761 － － ix ! Caution ! Mandatory • Before operating the equipment, pe rform the following inspection. (1) Make sure that visu al appearance of the robot, contro ller , 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.
STE 58761 － － x T ABLE OF CONTEN TS CHAPTER 1 BEFORE OPERA T ING 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.
STE 58761 － － xi CHAPTER 3 MANUAL OP ERA TION 3.1 SELECTING THE MAN UAL MODE ・・・・ ・・・・・・・・・・ 3-1 3.2 GUIDANCE COORDINA TES ・・・・・・・・・・・・・・・・・・ 3-3 3.3 GUIDE MOVEMENT ・・・・・・・・・・・・・・・・・・・・・ 3-4 3.
STE 58761 － － xii 5.5.10 Delet e Block ・・・・・・・・・・・・・・・・・・・・・・ 5-43 5.5.1 1 Copy Block ・・・・・ ・・・・・・・・・・・・・・・ ・・・ 5-45 5.5.12 Rena me F ile ・・・・・・・・ ・・・・・・・・・・・・・・ 5-48 5.
STE 58761 － － xiii 6.7 EDITING COORDI NA TE DA T A ・・・・・・・・・・・・・・・・ 6-42 6.7.1 Coordinate-data Edit-mode Selection ・・・・・・・・・・ ・・・ 6-42 6.7.2 T eaching Coordinate Data ・・・・・・・・・・・・・・・・・ 6-44 6.
STE 58761 － － xiv CHAPTER 8 INTERNAL AUTOMA TIC OPERA TION 8.1 SELECTING THE INTERN AL AUTOMA TIC MODE ・・・・・・・ 8-2 8.2 PROGRA M SELEC TION ・・ ・・・・・・・・・・ ・・・・・・・ 8-4 8.3 OPERA TION MODE SELECTION ・・・・・・・・・・・・ ・・・ 8-6 8.
STE 58761 － － xv CHAPTER 10 SYSTEM CONTROL 10.1 S ETTING THE DA TE ・・・・・・・・・ ・・・・・・・・・・ ・ 10-1 10.2 S ETTING THE TIME ・・・・・・・・・・・・・・・・・・・・ 10-4 10.3 CH ANNEL SELECTION ・・・・・・・・・・・・・・・・・・ 10-7 10.
STE 58761 － － xvi CHAPTER 14 JOINT LIMIT SETTING 14.1 SELECTI NG JOINT LI MIT SETTING MODE ・・・・・・・・・・ 14-1 14.2 JOINT LIMIT TEACHING ・・・・・・・・・・ ・・・・・・・・ 14-3 14.
STE 58761 － － 1-1 CHAPTER 1 BEFORE OPERA TING YO UR ROBOT 1.1 OVERVIEW OF CONTROL FUNCTIONS Function Description Control Panel Teaching pendant External control signals Main power ON/OFF Used to turn the main power on or off. 〇 Servo power ON/OFF Use to turn the power for th e servo on or off.
STE 58761 － － 1-2 Function Description Control Panel Teaching pendant External control signals Present pos ition monitor Used to display the present po sition of the robot in terms of the various coordin ate system. 〇 External I/O sig nal monitor Used to display the status of digital I/O s ignals.
STE 58761 － － 1-3 1.2 MODE STRUCTURE Exter nal Autom atic Mode (EXT) The External Automatic Mode is use d to automatically operate the robot by program .
STE 58761 － － 1-4 1.2.1 External Automatic Mode External Op eration Signal Mode (SIG) This mode is used to perform the program autom atic operation. This operation is carried out with external operatio n signals. For de tails, see the Interface Manual.
STE 58761 － － 1-5 1.2.3 Manual Mode Edit (EDIT) Edits programs and data (positional dat a, coordinate data and load data). T est Operation (TESTRUN) Checks to see that programs run p roperly . File Load (LOAD) Loads a file from the di sk into the RAM drive.
STE 58761 － － 1-6 1.2.4 Edit Screen editor Program editing Programs and glo bal data are created and ed ited by entering an d deleting char acters, by se lecting command menus and by selecting SCOL menus. Editing Data ed itor Positional data edit ing Positional data are created and edited by teaching and by entering nu mbers.
STE 58761 － － 1-7 1.2.5 T est Operation Program Selection (SELECT) Selects a program for execution. Operation Mode Selection (MODE) Selects an operation mode. S peed Override (MSPEED) Selects the speed overr ide. S peed Limit (LSPEED) Sets the speed limit.
STE 58761 － － 1-8 1.3 PRECAUTIONS FOR USE For the conn ection of FDD u nit (option), see the Interf ace Manual. 1.3.1 Handling Disks (1) General precautions (a) Don’t open the shutter section. The disk will be unusa ble should any dirt get on the magnetic sur face.
STE 58761 － － 1-9 (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. T he floppy disk should pop out a little ways f rom the slot.
STE 58761 － － 1-10 1.4 GENERAL OPERA TION 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 char acter on that key will be input. (1) Entering the low er character T o enter the lo wer character on a key , simply push that key .
STE 58761 － － 1-1 1 1.4.2 Use of the Function Keys In order to make it easier to input data, the teach pen dant is provided wi th six function keys, i.e. , "F1" to "F6". The functions to which "F1" to "F5" correspond will change depending on the mode.
STE 58761 － － 1-12 1.4.3 Repeating an Entry The repeat operation is available for the fo llowing keys. [Bs], [Esc], [Exec] Guide key [Move] Curso r ke ys [Coordinates], [T each S peed ], [Control] 1.4.4 Correcting Incorrect Ent ries Use the "Bs" key to erase any characters which were incor rectly entered.
STE 58761 － － 1-13 1.4.6 Use of Wild Cards Y ou may use the wild cards * and ? when specifying files with the directory [DIR], dele te [DEL], print [PRINT] , file s ave [SA VE] or file load [LOAD] command. Wild cards are used to simult aneously specify multiple files.
STE 58761 － － 1-14 1.4.7 For mat for Operating Instructions The following format is used in this manua l to explain how to use commands. T itle [command name] (1) Function Explains the purp ose of the command and what it does. (2) Input format Explains the input format fo r operation.
STE 58761 － － 1-15 1.5 ASSIGNING NAMES 1.5.1 Assigning the V olume Name When a disk is in itialized, you ca n assign a n ame to th at disk. Thi s is the volume name. In order to simplify disk handlin g, you should keep your files sorted by task and put related files on the same disk.
STE 58761 － － 1-16 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 .
STE 58761 － － 1-17 1.5.3 Ass igning a Point Name When entering positional data for a poin t, you have to assign a name to that point. Th is name will be used later in the progra m 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 examp le).
STE 58761 － － 1-18 1.5.4 Assigning a Name to Coordinate Data When entering co ordinate da ta for a work coo rdinate syste m, a to ol coordinate system or the base coordinate system, you have to assign a coor dinate name to that data. This name will be used later in the progra m when telling the robot which coordinate system to use.
STE 58761 － － 1-19 1.5.5 Ass igning a Name to Load Dat a 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 sho wn in the example below: SAMPLE1 SAMPLE1 is the load name (in this example).
STE 58761 － － 2-1 CHAPTER 2 BASIC OPERA TION 2.1 BASIC OPERA TING PR OCEDURE The following flowchart sho ws the basic operating procedure for automa tic operation.
STE 58761 － － 2-2 2.2 TURNING ON THE MA IN POWER There are tw o ways t o start up the controller - c old starting a nd hot st arting. Normally , only the hot starting is required .
STE 58761 － － 2-3 Files marked by an asterisk are not ab solutely necessary to run the system. Ho wever , you will get an error if you try to execute a function d ependent on a missing file. For more information on these files, see th e S tart-up Manual.
STE 58761 － － 2-4 2.2.2 Hot S tarting ! Cautio n If an abnormality has gene rated or the POWER LED lamp on the control panel remains off after the main powe r switch of the equi pment was turne d on, turn of f the main pow er immediately and confirm the wiring.
STE 58761 － － 2-5 (4) Procedure (a) S tep 1: T urn on the main pow er First, make sure that the s ystem 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.
STE 58761 － － 2-6 2.3 TUR NING ON THE SERVO POWER ! Cautio n ・ If the robot moves abnormally at the servo power ON, press the EMERGENCY STOP switch immediately to turn the servo power off. ・ If an yone enters the ro bot dangerous area, tu rn the servo power off beforehand.
STE 58761 － － 2-7 2.4 TURNING OFF TH E SERVO POWER (1) Function T urns off the main power circuit for the servo drivers. Servo c ontrol axes wi ll change over to the servo-free state, and any brakes will be activated. (2) Input format: None (3) Commen ts Do not turn the servo po wer off while the robot is running.
STE 58761 － － 2-8 2.5 TURNING OFF THE MAIN POWER (1) Function T urns off the main power and stops controller processing. (2) Input format: None (3) Commen ts Do not turn off the main power w hile the servo power is on or w hile the controller is either processing data or manipulating files.
STE 58761 － － 3-1 CHAPTER 3 MANUAL OPE RA TION 3.1 SELECTING THE MANUAL MODE (1) Function Changes over to the Manual Mode in w hich the robot is man ually guided, points are taught, files are managed and the system is controlled. All of these operations are performed with the teach pendant.
STE 58761 － － 3-2 a) Display field for command input and messages b) Display field for function key men u EDIT Edit LOAD File load SA VE File save TESTRUN T est operation RESET Reset DIR Directory.
STE 58761 － － 3-3 3.2 GUIDANCE COORDINA TES (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 for mat None (3) Commen ts Refer to the Introductor y Manual for information on robot coordinate systems.
STE 58761 － － 3-4 3.3 GUIDE MOVEMENT There are three types of gu ide movement: jog, inching and free. In the jog mode, the robot will move in the specified dire ction at the specified speed in the specified coordinate system for as long as you hold down the corresp onding guide key .
STE 58761 － － 3-5 3.4 GUIDE SPEED (1) Function Selects the guide speed or the guide displacement. Guide speed will be se t if the guide movemen t mode is set to jog.
STE 58761 － － 3-6 3.5 GUIDANCE ! Cautio n ・ If the guidance is performed manually , do not e nter the robot dangerous ar ea. ・ If the robot move s abnormally , immediately eff ect an emer gency stop . ・ If the robot will not move in the specif ied direction, c onsult T oshiba Machine.
STE 58761 － － 3-7 3.6 SERVO FREE (1) Function Servo locks can be released for axes as desired when the guide mov ement mode is set to free. Axes in the serv o free (i.e., unlocked) s tate can be moved freely by hand. This is con venient when mo ving the robot near workpieces and other such objects.
STE 58761 － － 3-8 While pushing down on a deadman switch, push the guide ke ys on the plus (+) side for those axes in the servo free state. Such axes will then change ov er to the servo lock state.
STE 58761 － － 4-1 CHAPTER 4 AUXI LIAR Y SIGNALS (1) Function Manages auxiliary signals u sed to control the hand, th e air control axes, etc. (2) Input forma t None (3) Commen ts The output s ignal port an d solenoid type c orresponding to e ach function key must be defined (specifie d) in the system configuration file.
STE 58761 － － 4-2 (4) Procedure (a) S tep 1: Select the Manual Mode T urn the master mode s witch on the control panel to "MANU". (b) S tep 2: Selec t the Auxiliary Signal Operation Mode Push the "Aux. Signal" key on the teach pendant.
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