Toshiba TS1000, Startup Manual

Page 1: ...anual is delivered to the final user of Toshiba Machine s industrial robot Before operating the industrial robot read through and completely understand this manual After reading through this manual keep it nearby for future reference TOSHIBA MACHINE CO LTD TOKYO JAPAN ...

Page 2: ...ne Co Ltd All rights reserved No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co Ltd The information contained in this manual is subject to change without prior notice to effect improvements ...

Page 3: ... strictly observe the descriptions made there Installation Transport Manual This manual describes the transport unpacking and installation of the robot and controller Be sure to read through this manual before unpacking the shipment containing the robot Operator s Manual This manual deals with the TS1000 controller operating procedures Read through this manual before operating the robot and refer ...

Page 4: ...mmunication Manual This manual describes the serial communication between the robot controller and other equipment Refer to this manual when connecting the robot controller with a host computer optical sensor etc via a serial cable ...

Page 5: ... 1 or physical damage 2 1 Injuries refer to injuries burns and electric shocks etc which do not require hospitalization or long term medical treatment 2 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 Details of the actions actually prohibited are indicated with pic...

Page 6: ...ou are exposed to danger or that 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 a...

Page 7: ...n 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 the operator or other person follows the instructions of the supervisor an accident will be caused If an abnormality has generated or the POWER LED lamp on the control panel remains off after the main power switch of the equip...

Page 8: ... range of the robot and peripheral equipment 3 Make sure that the emergency stop and other safety devices operate properly 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 Caution The speed of test operations is initially set at 25 of the maximum robot spe...

Page 9: ...ation 19 3 1 Enable Switch 19 3 2 Joint Guide 20 3 3 Guide in Cartesian Coordinate System 23 4 Programming 25 4 1 Starting Editor 25 4 2 Entering Program 29 4 3 Entering Data Teach Points 30 4 4 Quitting Editor 34 5 Starting Program 35 5 1 Selecting Program 35 5 2 Test Operation 38 5 3 Internal Automatic Operation 43 6 Input Output Control 44 6 1 User s Function Switches 44 6 2 7 Segment User Disp...

Page 10: ... the Installation Transport Manual Is the robot secured Four 4 M8 hexagon socket head cap screws Is the power supply connected Single phase 170 250 V AC power supply Robot Controller TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN STOP UF1 UF2 ALARM RESET SELECT MODE CYCLE ...

Page 11: ...uired for the robot operation such as external emergency stop servo OFF and stop The robot can be moved only when these signals are connected Robot Controller TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN STOP UF1 UF2 ALARM RESET SELECT MODE CYCLE INPUT Robot Controller TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SER...

Page 12: ... the display content changes LINE No of execution steps of program USER Value set in system variable PLCDATAW The value is input by the program ALARM Alarm number generated in the controller If two 2 or more alarms have generated such alarm numbers are displayed at two 2 second intervals UF1 UF2 User function switches This switch input can be referred to by the DIN command and the lamp output by t...

Page 13: ... 12 STE 71282 STARTUP MANUAL 1 2 Teach Pendant Display EMERGENCY STOP switch SERVO ON pushbutton switch Guidance condition LED lamp Enable switch Guide keys ...

Page 14: ...controller enters a program reset status Turn on the controller power When the power is turned on the POWER lamp is illuminated After power ON the controller performs self check After the processing of start has finished both the STOP and SERVO OFF lamps are illuminated in red Robot Controller TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN STOP UF1 UF2...

Page 15: ...ff 1 EMERGENCY stop switch Control panel Teach pendant An EMERGENCY stop switch can be equipped on the peripheral equipment also For details see the Interface Manual 2 Reset of EMERGENCY stop switch To reset the EMERGENCY stop switch turn the top of the switch in the arrow marked direction and pull it up TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN S...

Page 16: ...d the master mode changes over as follows TEACHING INTERNAL EXT SIGNAL EXT HOST Make sure that the TEACHING lamp is illuminated 2 Make sure that all EMERGENCY stop switches provided on the control panel teach pendant and external equipment are reset 3 Turn the servo power on Or Make sure that the SERVO ON lamp on the control panel or teach pendant is illuminated TEACHING INTERNAL EXT SIGNAL EXT HO...

Page 17: ...INTERNAL Internal automatic mode EXT SIGNAL External automatic signal mode INT HOST External automatic host mode For the operation mode the following four 4 modes are available CONT Continuous operation CYCLE Cycle operation The program is executed from the top to the end command of the main program SEG Segment operation The program is executed just before the next operation command STEP Step oper...

Page 18: ...e top STOP RETRY During stop of restart mode When the RUN mode takes effect interrupted motion command restarts STOP CONT During stop of continuous mode When the RUN mode takes effect the program is executed from the command next to the finished command Function The function menu is displayed by reversed image on the bottom of the display The keys correspond to F1 to F5 in turn when viewed from th...

Page 19: ...the servo power off Make sure that the SERVO OFF lamp is illuminated in red 3 Turn off the controller power Turn off the controller power TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN STOP UF1 UF2 ALARM RESET SELECT MODE CYCLE TEACHING INTERNAL EXT SIGNAL EXT HOST POWER EMERGENCY LINE USER ALARM SERVO ON SERVO OFF RUN STOP UF1 UF2 ALARM RESET SELECT M...

Page 20: ...uide the robot set ON the enable switch Enable switch When gripped light the switch turns on When gripped strong the switch turns off The robot stops The robot cannot be guided manually if the enable switch is set OFF To manually guide the robot this switch should be always set ON ...

Page 21: ...ct JOINT now 3 Select the guide speed Press the SPEED key to select the guide speed Each time the key is pressed the status of the guide speed select lamps on the keyboard changes as shown below LOW MEDIUM HIGH Select LOW now 4 Select the guidance mode Press the REMOTE key to select the guidance mode Each time the key is pressed the status of the guidance mode select lamps on the keyboard changes ...

Page 22: ...n the plus and minus directions by means of the X 1 and X 1 keys 9 Press the REMOTE key to change the guidance mode to INCHING and move the robot by inching using the X 1 and X 1 keys 10 Move the axis 2 by means of the Y 2 and Y 2 keys 11 Move the axis 3 by means of the Z 3 and Z 3 keys 1 1 2 2 3 3 ...

Page 23: ... 22 STE 71282 STARTUP MANUAL 12 Move the axis 4 by means of the C 4 and C 4 keys 1 4 4 ...

Page 24: ...key to select WORLD Press the SPEED key to select a guide speed Press the REMOTE key to select JOG or INCHING 2 Set ON the enable switch 3 Move the robot in the X axis direction by means of the X 1 and X 1 keys 4 Move the robot in another axis directions by means of the following keys Y 2 Y 2 Z 3 Z 3 C 4 C 4 X X Y Y Z Z C C ...

Page 25: ... J O I N T J 1 0 0 0 0 J 2 0 0 0 0 J 3 0 0 0 0 J 4 0 0 0 0 J 5 0 0 0 0 J O I N T W O R L D W O R K P C M D P F B K Positions i e angles of respective joints are displayed 3 Press the F2 key Selection of WORLD W O R L D X 2 5 0 0 0 0 W O R K w o r l d Y 0 0 0 0 T O O L Z 0 0 0 0 B A S E w o r l d C 0 0 0 0 T 0 0 0 0 J O I N T W O R L D W O R K P C M D P F B K The current position in the world coord...

Page 26: ...ipped on the control panel to select TEACHING for the master mode 2 Make sure that EDIT is assigned to the F1 key of the function menu Unless EDIT is displayed press the NEXT key a few times until EDIT is displayed 3 Press the F1 key and start the editor M O D E T E A C H I N G C O N T L O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L F I L E P1 P2 ...

Page 27: ... NEW S Y S T E M P A R 5 3 7 3 N o v 0 1 2 0 0 1 _ N A M E T I M E N E W The cursor is displayed Enter the file name of a new program you wish to create The file name can be specified by up to 8 3 characters alphanumeric characters 6 Press the NUM ALPH key to select the ALPH mode The switch lamp goes out 7 To enter file name TEST for instance observe the following steps Press the keys 8 TUV 8 TUV ...

Page 28: ...ARTUP MANUAL The display changes as shown below F I L E 0 0 0 5 0 1 2 1 2 3 4 5 6 F e b 1 6 2 0 0 1 T E S T _ N A M E T I M E I N P U T 8 Press the EXE key and new program TEST is selected and the program editor starts ...

Page 29: ...ayed press the EXE key right cursor key or any key of another group and it is established In the ALPH mode a number is also displayed firstly and it is possible to input it in the ALPH mode Example 1 To enter alphabet B press the 2 ABC key three 3 times When B is displayed press the EXE key Unless B is determined it is displayed by reversed image Once established it is indicated normally Example 2...

Page 30: ...N G 2 Input of program Let s enter the following program consisting of four 4 lines or blocks PROGRAM MAIN Start of main program MOVE P1 Move to point P1 MOVE P2 Move to point P2 END End of main program 3 When the program is entered the following screen appears T E S T C 4 L 4 P R O G R A M M A I N M O V E P 1 M O V E P 2 E N D S A V E D E D I T J U M P F I N D C H A N G Cursor ...

Page 31: ...is displayed press the NEXT key a few times until DEDIT is displayed 2 Press the F2 key and start the editor P O I N T X Y Z w w o r l d S A V E D E D I T F U L L T R A N S P Y L D As the data to be displayed is absent only the title is displayed 3 To add a new teach point data press the INS key The following screen is called with the cursor displayed P O I N T X Y Z 0 0 0 w w o r l d S A V E D E ...

Page 32: ...D I T F U L L T R A N S P Y L D 5 Teach point name P1 has been registered P O I N T X Y Z P 1 0 0 0 w w o r l d S A V E D E D I T F U L L T R A N S P Y L D 6 Manually guide the robot to the position you wish to teach 7 Press the NEXT key to display TEACH w w o r l d N O S A V F I N D T E A C H M T O C U T P1 ...

Page 33: ...9 Now the current robot position has been taught P O I N T X Y Z P 1 2 5 0 2 5 0 1 1 0 w w o r l d S A V E D E D I T F U L L T R A N S P Y L D 10 Press the INS key and add the P2 data The procedures are the same as in the P1 data Observe Steps 3 through 9 above Manually guide the robot to a position which is different from P1 P O I N T X Y Z P 1 2 5 0 2 5 0 1 1 0 P 2 3 2 1 2 3 4 5 6 w w o r l d S ...

Page 34: ...t ts s To display the teach points in detail press the FULL key of the function menu P 1 5 1 0 X 3 0 0 0 0 0 C O N F I G F R E E Y 3 0 0 0 0 0 Z 3 0 0 0 0 0 C 3 0 0 0 0 0 T 3 0 0 0 0 0 P O I N T 0 0 0 0 5 w w o r l d S A V E P R G D I R T R A N S P Y L D To return the system to the directory display press the DIR key of the function menu ...

Page 35: ... screen is displayed press the EXE key To cancel press another key O On ne e p po oi in nt t A Ab bo or rt ti io on n o of f f fi il le e d du ur ri in ng g e ed di it ti in ng g Press the NEXT key a few times to display NOSAV w w o r l d N O S A V A V F I N D T E A C H A V M T O C U T Press the F1 key to select NOSAV O K T H E N E X E w w o r l d N O S A V A V F I N D T E A C H A V M T O C U T Wh...

Page 36: ...3 Press the F3 key to open the file select screen 4 Inversely display TEST using the and keys F I L E S E L E C T 0 0 1 0 0 6 P A L L E T L I B 3 3 5 5 N o v 0 1 2 0 0 1 S C O L L I B 1 5 3 6 N o v 0 1 2 0 0 1 S Y S T E M P A R 5 3 7 3 N o v 0 1 2 0 0 1 T E S T 1 4 8 N o v 0 5 2 0 0 1 U S E R P A R 2 5 8 4 N o v 0 1 2 0 0 1 N A M E T I M E I N P U T 5 Press the EXE key to select program TEST U S E...

Page 37: ... the EXE key again 7 When the program has been selected correctly the file name of the selected program is displayed at the top of the screen M O D E T E A C H I N G C O N T T E S T O K L O 2 0 M F R E E S S T O P R E S E T E D I T D E D I T S E L R U N F I L E ...

Page 38: ... the robot controller can operate arithmetically at high speed If an error is found in the program at this time an alarm is generated without selecting the program Press the ERROR key on the teach pendant and the alarm currently generated is displayed C U R R E N T A L A R M 1 4 1 1 6 0 C o m p i l e E r r o r H I S T R E S E T 1 1 6 0 To see the details of the error press the F5 key A L A R M D E...

Page 39: ...or the test operation the speed override should be less than 25 which can be changed by appropriate parameter In this step the override value was set using the function key It is also possible however to directly input the value 2 Select STEP for the operation mode M O D E T E A C H I N G C O N T T E S T L O 2 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H R E S E T O V E ...

Page 40: ... key of the function menu Press the F4 key then Press the EXE key and the program to be executed is displayed Press the EXE key and the displayed program step is executed with the subsequent step displayed R E S E T M O D E S T E P C O N T C Y C L E S E G S T E P M O D E T E A C H I N G S T E P T E S T L O 1 0 M F R E E S S T O P R E S E T M O D E O V R D R E S E T D O W A T C H R E S E T E D I T ...

Page 41: ...peration Before starting the operation confirm the selected program name operation mode and override set value Press the NEXT key to assign RUN to the F4 key of the function menu Press the F4 key then Press the EXE key and the cycle operation starts R E S E T M O V E P 2 E D I T D E D I T S E L R U N F I L E R E S E T M O D E C Y C L E C O N T C Y C L E S E G S T E P R E S E T R U N E D I T D E D ...

Page 42: ... Press the EXE key and the continuous operation starts The robot repeats the program from the top to the end command 6 Stop of program execution Press the NEXT key to assign STOP to the F4 key of the function menu Press the F4 key then The robot stops executing the program after the current command has been executed You can stop the program also by pressing the STOP key provided on the control pan...

Page 43: ...the motion command To resume the operation select RUN from the function menu To select the feed hold function press the FEED HOLD key equipped on the teach pendant The key lamp is illuminated then The robot will slow down and stop even during the motion command To restart the operation press the FEED HOLD key again Caution at restart of operation At the time of restart the robot restarts the opera...

Page 44: ...ns effective Unless entered in the TEACHING mode the override is 100 Set the override using OVRD of the function menu Select the execution mode by means of the MODE key of the function menu In the internal automatic mode program start and stop are performed through the control panel Change the override value using OVRD of the function menu In the INTERNAL mode the override of up to 100 can be ente...

Page 45: ...1 User s Function Switches To be output by the DOUT 17 command To be referred to by the DIN 17 command To be output by the DOUT 18 command To be referred to by the DIN 18 command 6 2 7 Segment User Display When USER is selected by means of the SELECT switch value of system variable PLCDATAW1 is displayed If PLCDATAW1 10 is programmed 10 is displayed The range of displayed value is 0 65535 If a val...

Page 46: ...t P1 MOVE P2 Move to point P2 WAIT DIN 17 Wait until input 17 UF1 switch turns on END End of main program Execute the test operation Select CONT continuous operation for the operation mode After the start of the program the robot stops at point P2 Press the UF1 switch and the robot moves to point P1 After moving to point P2 again the robot stops and waits for the input of the switch P1 P2 ...

Page 47: ...e same time that the robot has reached point P1 After moving to point P2 the robot stops and waits for the input of the switch Press the UF1 switch then The UF1 lamp goes out and the robot continues the operation 3 Output to 7 segment user display Now let s change the program as created in Section 4 PROGRAM MAIN Start of main program PLCDATAW1 1000 A value is written to the 7 segment user display ...

Page 48: ... 47 START UP MANUAL STE 71282 APPROVED BY CHECKED BY PREPARED BY ...