Toshiba STE 58760 instruction manual Setting the System Configuration, Outline of Data

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STE 58760

3.3SETTING THE SYSTEM CONFIGURATION

The configuration of the robot system has been set in the robot configuration file. Thus, it is not necessary for the user to change the system configuration. However, depending on the application of the robot system, the contents of the system configuration file may have to be changed. This paragraph describes the contents of the system configuration file. For details of how to set and change data, see 3.2, "Changing File Data".

Caution

DO NOT change the data of system configuration files (0) ~ (5) without our prior permission.

3.3.1Outline of Data

The following data has been set in the system configuration file.

(0) Robot type

Specifies whether the robot type is the horizontal rotating multi-joint type or the Cartesian coordinate system type.

(1) Robot axis configuration

Specifies which of the 6 joint axis of the robot are to be used.

(2) Type of joint

Specifies whether the joint type of the robot is a directly moving joint or rotating joint.

(3) Construction of servo

Specifies the number of axis which the servo motors to be used.

(4) Gravity compensated axis

Specifies the axes for which gravity compensation is to be performed. For an axis where gravity compensation is specified, in the servo free state, the arm is controlled so that it does not drop under its own weight. The servo free state is a state where the position control mechanism of the servo motor is turned off so that the robot can be manually moved. For a horizontal multi-joint robot, only axis 3 can be set as a gravity compensated axis.

－3-12－

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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－ Format Verify Zerop Jlimit Channel Next Setting Joint Limit Values by TeachingMotion Range Limit Jlimit Travel Joint Negative Positive NextChannel Next Setting Joint Limit by Numeric Value Entry－2-19－ Travel Joint Negative Positive Turning OFF the Main Power Turning OFF the PowerTurning OFF Servo 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 FileLoadconstruc .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 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－ 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－ Timing of Changing Coordinate System Selecting Coordinate System Using Robot Language