Toshiba STE 58760 instruction manual -1-12-

Page 20

STE 58760

 

Table 1.2

Basic Specifications of SR7000 Robot Controller

 

 

 

 

 

 

 

No.

Item

 

Specification

Remarks

1

No. of controlled axes

Simultaneous control of max. 5 axes.

 

2

Operation mode

 

 

PTP, CP (linear interpolation, circular

 

 

 

 

 

 

interpolation), short-cut

 

3

Servo system

 

 

Digital servo

 

4

Storage capacity

 

Approx. 6400 points + 12800 steps

512 K bytes

5

No. of registrable programs

Max. 256

 

6

Auxiliary memory

 

3.5 inch FDD unit (MS-DOS format) (option)

1.44 M bytes

7

Storage

 

 

Battery backed up RAM

 

8

Position detection

 

Absolute encoders

 

 

 

 

 

 

(Battery backed up at power failure)

 

9

Teaching

 

Point display

Remote: To be guided through teach

 

 

method

 

 

 

pendant.

 

 

 

 

 

 

Coordinate value: Entry of X, Y, Z, C, T data

 

 

 

 

 

 

through teach pendant.

 

 

 

 

 

 

Servo-free: Manual movement of arm.

 

 

 

 

Entry of

Editing through teach pendant.

 

 

 

 

program

 

 

10

External I/O signal

 

32 inputs and 24 outputs

 

11

Hand control signal

 

9 lines (5 inputs and 4 outputs)

 

12

External operation

Input

Program selection, start, stop, reset, etc.

 

 

signal

 

 

 

 

 

 

 

 

Output

Servo ON, ready, fault, cycle mode, etc.

 

13

Serial communication port

RS232C or RS422 three ports (RS422 option)

Among them,

 

 

 

 

 

Software for personal computer and printer is

one port is

 

 

 

 

 

used

 

 

 

 

 

standard-equipped.

 

 

 

 

 

exclusively for

 

 

 

 

 

 

 

 

 

 

 

 

the pendant.

14

Speed setting

 

 

Override, speed limit, program instruction

 

 

 

 

 

 

1 ~ 100 % for each

 

15

Acceleration/deceleration

Program instruction 1 ~ 100 %

 

 

speed setting

 

 

 

 

16

Torque limit

 

 

Program instruction 0 ~ 300 %

 

17

Teaching box

 

 

Teach pendant

 

18

Coordinate system

 

Base, work, tool (Setting of multiple work or

 

 

 

 

 

 

tool coordinate systems are possible.)

 

1-12

Image 20
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