Toshiba STE 58760 instruction manual Chapter Before Operating SR Series Robot, Overview

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STE 58760

CHAPTER 1

BEFORE OPERATING SR SERIES ROBOT

This chapter presents an outline of the robot operational procedure, specifications, coordinate system, system configuration, and their functions.

1.1OVERVIEW

This paragraph deals with an outline of the SR–HSP series Toshiba system robot. The SR–HSP series signifies the horizontally articulated robot.

The robot and robot controller feature as follows:

(1)Robot

• High-speed and smooth motion

– Cycle time 0.8 sec. under load of 2 kgf, 0.9 sec. under load of 5 kgf (SR–654HS)

300mm

25mm

25mm

•Wide working range

–A bidirectional rotating type without dead space included in the horizontal zone. (ST–HS series)

•High reliability

–Maintenance-free, employing AC servo motors and absolute encoders.

•Enough Ni loading capacity

–Max. 20 kgf (SR–1054HS)

•Easy wiring and piping

–As nine cables and two air pipes standardly run in the arm, wiring and piping to the end effector are necessary.

－ 1-1 －

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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－ File Format Specify for Gravity Compensation Servo Free ModeConstruction of MANIPULATER. =0WITHOUT,=1WITH Type of JOINT=0LINEAR.=1ROTATE, 1ST Joint to 5THMode of Serial Channel Specify for External File Selection SignalMode 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－ 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