Toshiba STE 58760 instruction manual Preface

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STE 58760

PREFACE

This manual describes how to start up the Toshiba SR series industrial robot.

Start-up as used in this manual refers to operations from turning on the robot controller to operating the robot by manual guidance. Before operating the controller, make sure that all the cables have been correctly connected among the robot, controller, and peripheral equipment according to the “Transportation and Installation Manual”.

This manual is written for users who have not operated SR series robots before. Users who have experience or want to know the details of the operations, see the Operating Manual.

This manual consists of the following chapters.

Chapter 1 "Before operating SR Series Robot"

This chapter outlines robot operational procedure, names of controls which should be used for the start-up operation, and their functions.

A control panel and teach pendant are used to operate the robot. Be sure to learn where the various switches are.

Chapter 2 "Power-ON to Manual Guidance"

This chapter describes how to turn on the power and how to manually guide the robot. The last paragraph of this chapter also discusses how to turn off the power. Be sure to follow the precautions which should be taken before turning off the power.

Chapter 3 "Setting Environmental Conditions for the SR7000 Controller"

This chapter describes items to be set before operating the controller such as date, time and communication channel assignment.

Chapter 4 "Example of Simple Operation"

This chapter shows how to program and edit data and how to set automatic operations. Because in the chapter you will actually operate the robot, be sure to follow the precautions.

Chapter 5 "File"

This chapter presents an outline of files used in the robot system and also formatting and backup operations for floppy disks (option). Files which store programs and parameters should be backed up on different disks.

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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・・・・・・・・・・・・・・・・・・・・・ Overview Chapter Before Operating SR Series Robot－ 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－ Control Panel Names and Functions of SR7000 ControllerFault LED Power LEDTeach Pendant －1-24－－1-25－－1-26－ STE －1-27－－1-28－ Chapter Power on to Manual Guidance Cold Starting Turning on Main Power－ 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－ Setting Joint Limit Values by Teaching Motion Range LimitFormat Verify Zerop Jlimit Channel Next Jlimit Travel Joint Negative Positive NextChannel Next Setting Joint Limit by Numeric Value Entry－2-19－ Travel Joint Negative Positive Turning OFF the Power Turning OFF Servo PowerTurning OFF the Main Power －2-22－－2-23－ Setting Date Setting Date and TimeDate Date Time Next Date Time Next Setting TimeTime 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－ Outline of Data Setting the System Configuration－3-13－ Type of JOINT=0LINEAR.=1ROTATE, 1ST Joint to 5TH Specify for Gravity Compensation Servo Free ModeFile Format Construction of MANIPULATER. =0WITHOUT,=1WITHMode of Channel COM2 Specify for External File Selection SignalMode of Serial Channel Mode of Channel COM1Mode of AIR Driven Axis Specify for USE or not USE －3-17－ Details of Data －3-19－－3-20－－3-21－ Host PRT=HOST －3-24－－3-25－ Signals Used for Selecting File Setting External Selection FilesContents of File －3-28－ Batch File Batch Processing－3-30－ LOADPRO1 LOADPRO2 LOADPRO3 LOADPRO4 Loadpros LOADPRO6 Automatic Execution FileUsing Batch Processing Effectively Select PRO1Loadconstruc .SYS LOADSYSTEM. PAR LOADUSER. PAR LOAD*. PRO －3-33－ Program Execution Environment Program Execution Environment－3-35－ Resetting Execution Environment Reset Timing of Program Execution Environment Robot Coordinate Systems Setting Coordinate System－3-39－ System and the original coordinate system unit deg Teaching Coordinate Data－3-41－ Program Sample Move P1 Move P2 END －3-43－－3-44－－3-45－ Selecting Coordinate System in Data Editor Mode －3-47－ Z,C,T RightyLefty －3-49－－3-50－－3-51－－3-52－ Selecting Coordinate System in Utility Mode Robot Utility Work Tool Where Signal Memory －3-55－ Timing of Changing Coordinate System Selecting Coordinate System Using Robot Language