Toshiba STE 58760 instruction manual － 1-4 －

Robot Horizontally articulated robot

Robot controller	SR–7000
Teach pendant

STE 58760

SR–504 HSP

SR–554 HSP

SR–654 HSP

SR–854 HSP

SR–1054 HSP

Fig. 1.2 System Configuration of SR Series System Robot

1.1.2Functions

(1)Control method

A 32-bit microprocessor serves as the central processor.

A 16-bit microprocessor is used for communication control and a 32-bit microprocessor for each axis servo control, thus servo control, robot language processing and editing are possible. Also, an 8-bit microprocessor is employed for the teach pendant to realize a more intelligent robot.

(2)Motion

The motion comes in three types; PTP (point-to-point) control, CP (continuous path) control (linear interpolation, circular interpolation (option)) and short-cut.

PTP control: Dedicated SCOL language MOVE

This control is used to move each axis fast to a specified position, irrespective of a path. Simultaneous operation is executed in which all axes start moving simultaneously and finish simultaneously.

CP control (linear interpolation): Dedicated SCOL language MOVES

This is the path control in which all paths are predetermined. Each axis moves between two taught points in the Cartesian coordinate system along the shortest distance. It is used to move the end effector of the robot along a straight line.

CP control (circular interpolation): Dedicated SCOL language MOVEC

Each axis moves on an arc from the current point to the target point via specified mid- point.

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