Toshiba STE 58760 instruction manual

Page 116

STE 58760

⑥When the program is either cold-started or hot-started, all coordinate systems are initialized.

－3-57－

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Contents Industrial Robot SR Series START-UP Manual － i － Preface For Euporean Union EU － iv － Table of Contents Changing File DATA・・・・・・・・・・・・・・・・・・・・ Backing UP FILES・・・・・・・・・・・・・・・・・・・・・ Chapter Before Operating SR Series Robot Overview－ 1-2 －－ 1-3 －－ 1-4 － PTP － 1-6 －－ 1-7 －－ 1-8 － Outline of Operational Procedure －1-10－ Specifications －1-12－－1-13－ Coordinate System －1-15－ System Configuration －1-17－－1-18－－1-19－ STE －1-20－ Names and Functions of SR7000 Controller Control PanelPower LED Fault LEDTeach Pendant －1-24－－1-25－－1-26－ STE －1-27－－1-28－ Chapter Power on to Manual Guidance Turning on Main Power Cold Starting－ 2-3 － Edit Load Save Testrun Reset Next Hot Starting － 2-6 －－ 2-7 － Setting Controller Environmental Conditions Turning the Servo Power on Manual Guidance of Each Axis －2-11－－2-12－ Manual Guidance Operation －2-14－－2-15－ Format Verify Zerop Jlimit Channel Next Setting Joint Limit Values by TeachingMotion Range Limit Next Jlimit Travel Joint Negative PositiveSetting Joint Limit by Numeric Value Entry Channel Next－2-19－ Travel Joint Negative Positive Turning OFF the Main Power Turning OFF the PowerTurning OFF Servo Power －2-22－－2-23－ Setting Date and Time Setting DateDate Date Time Next Setting Time Date Time NextTime Date Time Next － 3-5 － Changing File Data Edit CONSTRUC.SYS Edit Load Save Testrun Reset Next － 3-8 －－ 3-9 －－3-10－－3-11－ Setting the System Configuration Outline of Data－3-13－ Specify for Gravity Compensation Servo Free Mode File FormatConstruction of MANIPULATER. =0WITHOUT,=1WITH Type of JOINT=0LINEAR.=1ROTATE, 1ST Joint to 5THSpecify for External File Selection Signal Mode of Serial ChannelMode of Channel COM1 Mode of Channel COM2Mode of AIR Driven Axis Specify for USE or not USE －3-17－ Details of Data －3-19－－3-20－－3-21－ PRT Host=HOST －3-24－－3-25－ Setting External Selection Files Signals Used for Selecting FileContents of File －3-28－ Batch Processing Batch File－3-30－ Automatic Execution File LOADPRO1 LOADPRO2 LOADPRO3 LOADPRO4 Loadpros LOADPRO6Loadconstruc .SYS LOADSYSTEM. PAR LOADUSER. PAR LOAD*. PRO Using Batch Processing EffectivelySelect PRO1 －3-33－ Program Execution Environment Program Execution Environment－3-35－ Resetting Execution Environment Reset Timing of Program Execution Environment Setting Coordinate System Robot Coordinate Systems－3-39－ Teaching Coordinate Data System and the original coordinate system unit deg－3-41－ Program Sample Move P1 Move P2 END －3-43－－3-44－－3-45－ Selecting Coordinate System in Data Editor Mode －3-47－ Lefty Z,C,TRighty －3-49－－3-50－－3-51－－3-52－ Selecting Coordinate System in Utility Mode Robot Utility Work Tool Where Signal Memory －3-55－ Selecting Coordinate System Using Robot Language Timing of Changing Coordinate System