Toshiba Pet Fence SR H Series User Manual

STE 58769–  
INSTRUCTION MANUAL  
TOSHIBA MACHINE'S FA SCHOOL TEXTBOOK  
FOR  
ROBOT TRAINING COURSE  
INDUSTRIAL ROBOT SR–H SERIES  
(ROBOT CONTROLLER: SR7000)  
May, 1998  
TOSHIBA MACHINE CO., LTD.  
TOKYO, JAPAN  
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Industrial Robot Training Schedule  
C Course (SR–H Robot): 2.5 Days  
Time  
Descriptions  
Place  
Classroom  
1st day 13:30 ~ 13:40 Greetings at starting the course.  
13:40 ~ 15:00 Explaining the outline.  
15:00 ~ 15:15 Break  
Classroom  
15:15 ~ 16:25 Explaining the programming.  
Classroom  
16:25  
8:30 ~ 9:30  
End  
2nd day  
Explaining the programming.  
Classroom  
Classroom  
9:30 ~ 10:15 Instructing the safety.  
10:15 ~ 10:25  
10:25 ~ 11:50  
11:50 ~ 12:00  
12:00 ~ 13:00  
13:00 ~ 13:10  
13:10 ~ 14:45  
14:45 ~ 15:00  
15:00 ~ 16:15  
16:15 ~ 16:25  
16:25  
Move to the training room.  
Explaining the operation.  
Move to the classroom.  
Lunch  
Training room  
Move to the training room.  
Training the operation.  
Break  
Training room  
Training the operation.  
Move to the classroom.  
End  
Classroom  
Classroom  
Training room  
3rd day  
8:30 ~ 8:40  
Move to the training room.  
Training the programming.  
8:40 ~ 9:45  
9:45 ~ 10:00 Break  
10:00 ~ 11:50  
11:50 ~ 12:00  
12:00 ~ 13:00  
13:00 ~ 13:10  
13:10 ~ 14:45  
14:45 ~ 15:00  
15:00 ~ 15:50  
15:50 ~ 16:00  
Training the programming  
Training room  
Move to the classroom.  
Lunch  
Move to the practical training room.  
Training the programming  
Break  
Training room  
Training room  
Classroom  
Explaining the maintenance.  
Move to the classroom.  
16:00 ~ 16:15 Questions and answers  
16:15 ~ 16:25  
Awarding a certificate of completing  
the course and greetings at finishing  
the course.  
16:25  
End  
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Robot SR–654HSP  
Robot controller SR7000  
Teach pendant  
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Table of Contents  
Page  
1. General Descriptions ......................................................................................  
7
7
1.1  
1.2  
1.3  
1.4  
1.5  
Basic Robot and Controller ..................................................................  
Coordinate System of the Robot .......................................................... 13  
External Input/Output Signals............................................................... 15  
Mode System ....................................................................................... 21  
File ....................................................................................................... 22  
2. Robot Language ............................................................................................. 24  
2.1  
2.2  
2.3  
2.4  
2.5  
Robot Program..................................................................................... 24  
Robot Language................................................................................... 24  
Subprogram ......................................................................................... 40  
Multi-task.............................................................................................. 42  
List of Robot Language SCOL Instruction Words................................. 45  
3. Safety Measures............................................................................................. 49  
3.1  
3.2  
3.3  
Cautions on Safety............................................................................... 49  
Safety Functions .................................................................................. 50  
Safety Measures .................................................................................. 52  
4. Training Materials ........................................................................................... 55  
4.1  
4.2  
4.3  
4.4  
4.5  
4.6  
4.7  
4.8  
4.9  
Operating Procedures.......................................................................... 55  
Starting up the Robot ........................................................................... 56  
Program Entry and Position Teaching.................................................. 58  
Test Operation ..................................................................................... 65  
Internal Automatic Operation................................................................ 68  
Ending an Operation ............................................................................ 70  
File Operation....................................................................................... 71  
Error Display and Reset ....................................................................... 76  
Utility .................................................................................................... 78  
4.10 Operation of Auxiliary Signals .............................................................. 81  
4.11 File Selection........................................................................................ 82  
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Page  
5. Maintenance and Inspection........................................................................... 85  
5.1  
5.2  
Maintenance Schedule......................................................................... 85  
Maintenance/Inspection Items.............................................................. 87  
6. Exercises of Robot Language SCOL .............................................................. 95  
Appendixes  
Appendix 1  
Appendix 2  
Appendix 3  
Appendix 4  
Appendix 5  
Example Answers to Exercises of Robot Language SCOL ....... 99  
Creating an Error Insertion Monitor Program............................. 108  
Mounting the Hand, Wiring & Piping.......................................... 111  
Mass of Load and Load Offset .................................................. 113  
Restoring Zero Position Data .................................................... 115  
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1.  
General Descriptions  
1.1  
Basic Robot and Controller  
a) Names of the parts of the robot  
The SR-H series is a group of robots having four degrees of freedom. Having  
two degrees of freedom for positioning in a horizontal plane, one degree of  
freedom for positioning in a vertical direction and one for the rotation of the tool  
mounting flange, it is good at assembling and handling parts.  
Tool wiring  
intake port  
Air fitting for user  
Axis 2  
Cable duct  
Arm 2 cover  
Connector for user  
(built in the cover)  
Eye bolt  
Axis 1  
Fixed base  
Tool shaft  
Controller  
connection cable  
Arm 2  
Axis 3  
Arm 1  
Tool set flange  
Axis 4  
SR–654HSP  
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b) Names of the parts of the controller  
(1) Controller  
SERVO POWER  
EMERGENCY  
J1  
J2  
OFF  
ON  
POWER  
PC  
STOP  
START  
FAULT  
BATTERY  
ALARM  
FDD  
INT  
DC24V  
C.P.  
EXT  
MANU  
CYCLE STOP  
POWER  
TP  
10AT  
1) Main power switch  
2) Circuit protector  
3) J1 connector: connector for communication channel 1  
4) J2 connector: connector for communication channel 2  
5) TP connector: connector for connecting the teaching pendant  
6) FDD connector: connector for connecting the floppy disk drive unit  
7) Emergency switch  
8) Servo power off switch  
9) Servo power on switch  
10) Stop switch: switch to stop automatic operation  
11) Start switch: switch to start automatic operation  
12) Cycle stop switch: switch to select the mode of performing 1 cycle of  
automatic operation  
13) PC connector: connector to connect a PC  
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14) Master mode key switch: switch to select a robot mode  
EXT:  
INT:  
External automatic mode  
Internal automatic mode  
MANU: Manual mode  
15) Power lamp  
16) Fault lamp: controller’s fault lamp  
17) Buzzer: it sounds continuously when a fault is detected (since built in, it  
is not visible from outside).  
18) Battery alarm lamp: turns on or blinks when replacement of batteries is  
necessary.  
(2) Teaching pendant  
4
2
24  
5
6
7
13 14 17  
15 16  
21 1  
AUX  
Signal  
TOSHIBA  
SR-5500  
Move  
TEACH PEDANT  
Servo ON  
World  
Work  
Tool  
Joint  
F1  
F2  
F3  
F4  
F5  
F6  
Coordinate  
High  
Med  
X
Y
Z
C
{
}
]
Error  
Utility  
Bs  
Ins Del  
Esc  
[
!
1
;
2
:
3
,
4
%
5
^
6
&
7
,,  
8
(
9
)
0
Low  
Teach  
Speed  
Q
W
A
Z
E
S
X
R
D
C
T
F
V
Y
G
B
U
H
N
I
J
O
K
P
L
Free  
Inching  
Jog  
Ctrl  
Shift  
Alt  
Control  
M
T
+ -  
+
-
/
*
<
,
>
.
?
=
Exec  
+
-
Feed  
Hold  
8
9 10  
3
11 12 18 19  
20  
22  
23  
1) Emergency stop switch  
2) Function keys:  
Keys to select functions displayed at the  
lowermost section of the liquid crystal display  
3) Alphanumeric keys  
4) Esc (escape) key:  
5) Insert key:  
Key to cancel an inputted letter and operation  
Key to switch between the insert mode and the  
replace mode  
Insert mode:  
Inserts a letter anew between already inserted  
letters.  
Replace mode:  
A newly-inserted letter replaces one inputted  
before.  
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6) Delete key:  
Key to delete a letter on which the cursor is  
placed.  
7) Bs (backspace) key: Key to delete a letter just before the cursor.  
8) Ctrl (control) key:  
9) Shift key  
10) Alt key  
11) Run key  
12) Cursor keys  
13) Error display key:  
Key to display the description of an error on the  
liquid crystal display  
14) Utility key:  
Key to use auxiliary functions of the controller  
Key to operate the hand and pneumatic- control  
shaft of the robot  
15) Auxiliary signal key:  
16) Move key:  
Key to move the robot to a position which is  
taught to the robot  
17) Guide coordinate key: Key to select a coordinate system along which  
the robot is guided  
18) Guide rate key:  
Key to select a traveling speed of the robot  
when it is guided manually.  
19) Guide mode key:  
Free:  
To select a method for guiding the robot  
Mode to move the robot manually  
Mode to move the robot by a certain amount  
every time the guide key is pressed.  
Mode to move the robot while the guide key is  
depressed  
Inching:  
Jogging:  
20) Feed hold key:  
Key to stop the operation of the robot  
temporarily  
21) Servo power on switch  
22) Guide key:  
Key to guide the robot manually  
23) Deadman switch:  
24) Liquid crystal display  
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c) Composition of robot system  
Basic composition: Composed of the robot body, controller, teaching pendant,  
and the FDD unit  
SERVO POWER  
EMERGENCY  
OFF  
ON  
POWER  
STOP  
START  
FAULT  
BATTERY  
ALARM  
Robot  
INT  
EXT  
MANU  
CYCLE STOP  
Basic robot  
cable  
Portable  
(option)  
FDD unit (option)  
Robot controller  
FDD cable  
FDD UNIT  
SR7000  
SERVO POWER  
EMERGENCY  
J1  
J2  
OFF  
ON  
POWER  
Teach pendant (option)  
PC  
TOSHIBA  
SR-5500  
STOP  
START  
FAULT  
BATTERY  
ALARM  
FDD  
INT  
CC24V  
C.P.  
EXT  
MANU  
CYCLE STOP  
POWER  
TP cable  
TP  
10AT  
Operation  
panel  
Operating panel:  
Panel for starting and stopping automatic operation.  
Detachable from the controller (optional), it is convenient  
when the controller is stored under a rack. The CP cable  
(cable between the operating panel and the controller) is  
less than 30 m long.  
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Teach pendant:  
Detachable from the connector and usable for multiple  
robots commonly. Inserting a dummy plug (accessory)  
allows automatic operation without the teaching pendant.  
Body cable:  
TP cable:  
3 cables. Standard cable is 5 m long. Optional cables  
can be 30 m at the maximum.  
Standard cable is 7 m long and a 30 m cable is available  
as optional.  
FDD cable:  
Standard cable is 2 m long and a 50 m cable is available  
as optional.  
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1.2  
Coordinate System of the Robot  
Coordinate systems include the world, base, tool and workpiece coordinate systems.  
In the initial state, the world and workpiece coordinate systems match the base  
coordinate system, and the tool coordinate system is a coordinate system whose  
origin is a hand mounting flange. The world coordinate system, workpiece  
coordinate system and the tool coordinate systems are set in accordance with work  
and used. When coordinate systems are set, the robot is guided along the set  
coordinate system and can be operated with the same position data to different tools.  
There is no need for setting coordinate systems when the robot is guided to positions  
where it actually operates and taught the positions. Setting coordinate systems  
unnecessarily complicates position teaching operations. If there is no trouble, the  
robot should be used at the initial condition without setting coordinate systems.  
a) World coordinate system (absolute coordinate system)  
Only one coordinate system for the whole of an work area where a robot is installed.  
Generally, it is matched to the base coordinate system whose origin is the  
cardinal point of installation of the robot.  
b) Base coordinate system (machine coordinate system)  
The coordinate system based on the center of the robot. Based on the origin posture  
where each joint axis is zero. The base coordinate system is the natural  
coordinate system determined from the structure of the robot.  
c) Workpiece coordinate system (work coordinate system)  
The coordinate system to be set for workpieces the robot work on and pallets. Different  
workpiece coordinate systems are set for different workpieces.  
d) Tool coordinate system  
The coordinate system based on the hand mounting frange of the robot.  
Depending on hands mounted on the robot, a tool coordinate system can be set  
in a manner of matching it to the work point of the robot. The coordinate system  
also moves with the operation of the robot.  
Positions of the robot are expressed by X, Y, Z, C and T.  
X, Y, Z: X, Y, Z coordinate values in an orthogonal coordinate system (in mm)  
C:  
T:  
Rotation of the head of the tool (in degrees)  
Rotation or direct advance of the 5th axis (in degrees or mm)  
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A
Zt  
0t  
Yt  
Xt  
Tool coordinate system  
ZB  
A
XB  
Zw  
0B  
Xw  
YB  
0w  
Base coordinate system  
World coordinate  
system  
Yw  
Zw  
Note) A plural number of work coordinate  
system and tool coordinate system  
can be set.  
0w  
Xw  
Work coordinate system  
Yw  
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1.3  
External Input/Output Signals  
a) External interface  
Panel is separated (option).  
Operation panel  
C/P  
CN4  
CN3  
Robot  
body  
For end  
effector  
CN2  
5 m  
TP  
7 m  
Teach pendant  
(option)  
Controller  
Air  
CN5  
FDD  
2 m  
CN6  
External I/O and  
operation I/O signals  
FDD unit  
(option)  
CN12  
PC  
J3  
For serial communication  
TC200/terminal block I/O  
Power supply  
Personal  
computer  
CN13  
J1  
J2  
For serial  
communication  
CN1  
Note: Cables for connecting the operating panel, teaching pendant, FDD unit, and  
robot to the controller can be extended up to 30 m long at the maximum.  
CN1:  
CN2:  
CN3:  
CN4:  
CN5:  
CN6:  
C/P:  
Power supply  
Power cable for the main body of the robot  
Robot body encoder wire  
Robot body sensor signal, hand control signal  
External operation input signal  
External operation output signal  
Signal wire for the operating panel (used to draw out the operating panel)  
Serial port for the teaching pendant  
TP:  
J1 to J3: Serial ports for users  
CN12:  
CN13:  
External input output signals  
RS485 port for connecting TC200/terminal board I/O  
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a)  
Input output signals  
1) External operation input signal (CN5)  
External operation input signals are those to control the start and stop of the  
robot controller SR7000 from external equipment such as a sequencer.  
• "Stop," "Cycle operation mode," and "Low speed command" are b contact  
point input. If this signal is not used, connect CN5-16, CN5-35, CN5-36 to  
either of CN5-18, CN5-19 or CN5-37.  
CN5  
SR7000 robot  
controller  
(X8C1 printed  
board)  
Customer's side Shown in parentheses is  
the I/O port number.  
DI1  
1
20  
2
(001)  
DI2  
(002)  
(003)  
(004)  
(005)  
(006)  
(007)  
(008)  
(009)  
(010)  
(011)  
(012)  
(013)  
(014)  
(015)  
(016)  
(017)  
(018)  
(019)  
(020)  
(021)  
(022)  
(023)  
(024)  
DI3  
DI4  
21  
3
DI5  
DI6  
22  
4
DI7  
DI8  
23  
5
DI9  
DI10  
DI11  
DI12  
DI13  
DI14  
DI15  
DI16  
DI17  
DI18  
DI19  
DI20  
DI21  
DI22  
DI23  
DI24  
24  
6
25  
7
Digital  
Input signal  
26  
8
27  
9
28  
10  
29  
11  
30  
12  
31  
13  
32  
14  
33  
15  
34  
16  
35  
17  
36  
18  
37  
19  
Case  
Strobe (245)  
Program reset (236)  
Step reset (237)  
Cycle reset (238)  
Output signal reset (239) external operation  
Start (208) input signal  
Stop (203)  
Cycle operation mode (211)  
Low speed command (212)  
PG  
PG  
PG  
Dsub-37S  
FG  
Connection of external input signal wire  
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2) External operation output signal (CN6)  
External operation output signals are those which output operating conditions  
of the robot controller SR7000.  
• When input signals such as "servo off" and "emergency stop" are open, "servo  
on" is not feasible.  
• User output is open collector output of capacity of DC 24 V, 100 mA.  
• Output signals "servo on" and "emergency stop" are 2 output non voltage  
output.  
• Use the 24 V power supply at a total capacity of 2 A or less including CN12.  
CN6  
SR7000  
User side  
Signal name in  
parenthses.  
Robot controller  
DO1  
(X8C2 printed board)  
1
20  
2
21  
3
22  
4
23  
5
24  
6
25  
7
26  
8
(1)  
(2)  
(3)  
(4)  
(5)  
(6)  
(7)  
(8)  
(9)  
DO2  
DO3  
DO4  
DO5  
DO6  
DO7  
DO8  
Digital  
output signals  
DO9  
DO10  
DO11  
DO12  
DO13  
DO14  
DO15  
DO16  
(10)  
(11)  
(12)  
(13)  
(14)  
(15)  
(16)  
27  
9
Acknowledge (217)  
28  
10  
29  
11  
30  
12  
31  
13  
32  
14  
33  
15  
34  
16  
35  
17  
36  
18  
37  
Manual mode ON (222)  
External automatic mode ON (223  
Operation ready (221)  
Automatic mode ON (220)  
Fault (216)  
Cycle finish (219)  
Low speed mode ON (218)  
During servo ON.  
Emergency stop ON  
Servo ON  
P24V  
Servo OFF  
Emergency stop  
P24V  
P24V  
P24V  
In total, 2 A or less,  
including CN12.  
19  
Case  
17JE-23370-02(D8A)  
(Dsub-37P)  
FG  
Connection of external output signal wire  
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3) External output signals (CN12)  
External input output signals are those which input and output the operating  
condition of the robot controller SR7000.  
• User output is open collector output with a capacity of DC 24 V, 100 mA.  
• Use the 24 V power supply at 2A or less including CN6.  
CN12  
SR7000  
Robot controller  
(X8C1) printed board  
User side  
Signal name in  
parentheses.  
(25)  
DI25  
DI26  
DI27  
DI28  
DI29  
DI30  
DI31  
DI32  
P24V  
P24V  
DO17  
DO18  
DO19  
DO20  
DO21  
DO22  
DO23  
DO24  
PG  
1
14  
2
(26)  
(27)  
(28)  
(29)  
(30)  
(31)  
(32)  
15  
3
Digital  
input signals  
16  
4
17  
5
2 A or less in total (including CN6)  
18  
6
(17)  
(18)  
(19)  
19  
7
20  
8
(20)  
(21)  
(22)  
(23)  
(24)  
Digital  
output signals  
21  
9
22  
10  
23  
11  
24  
12  
25  
PG  
13  
Case  
17JE-23250-02(D8A)  
(Dsub-25P)  
FG  
Connection of external I/O signal wire  
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4) Auxiliary input and output signals  
DC 24 V wires, including five for input signals from sensors and 4 for control  
output signals to electromagnetic valves, are routed to the second arm of the  
robot, and allow the opening and closing of the hand and the monitoring of  
on/off of sensors.  
Output is open collector output and has a capacity of DC24V, 1 A.  
Signal numbers of auxiliary input signals are as given below.  
Input: Signal number  
220 ··· GRP1 OPN  
219 ··· GRP1 CLS  
218 ··· GRP2 OPN  
217 ··· GRP2 CLS  
216 ··· WORK  
Output: Signal number  
214 ··· GRP1  
213 ··· GRP1  
212 ··· GRP2  
211 ··· GRP2  
Remove the upper cover of the second  
arm and connect your connectors to the  
two connectors JOES, JOFS inside it.  
To control the hand with your sequencer,  
remove the connectors and connect a  
separate cable from the outside.  
JOES  
JOFS  
JOEP  
JOES  
JOFP  
JOFS  
CN4  
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JOES  
SM connector 7 poles  
Signal  
JOEP SM connector 7 poles JOES  
Signal  
Pin  
1
Color  
name  
Color  
Pin  
1
Color  
name  
Yellow  
GRP1 OPN  
Yellow  
White (yellow)  
Green  
Red  
GRP1 OPN  
GRP1 CLS  
GRP2 OPN  
GRP2 CLS  
WORK  
2
3
GRP1 CLS White (yellow)  
GRP2 OPN Green  
Green  
Yellow  
Brown  
Blue  
2
3
White (green)  
4
5
GRP2 CLS  
WORK  
PGND  
White (green)  
Red  
4
5
Red  
White (red)  
Green  
6
7
White (red)  
Green  
Gray  
6
7
PGND  
Shield  
Green  
Shield  
JOFP SM connector 7 poles JOFS  
Signal  
JOFS  
SM connector 7 poles  
Signal  
Pin  
1
Color  
Color  
Pin  
Color  
name  
name  
GRP1  
GRP1  
P24  
Purple  
White  
Blue  
Orange  
Purple  
Purple  
White (purple)  
Blue  
GRP1  
1
2
3
2
3
GRP1  
P24  
Pink  
Brown  
Yellow  
Brown  
Light green  
Light blue  
GRP2  
GRP2  
Brown  
Yellow  
GRP2  
GRP2  
P24  
4
5
4
5
6
P24  
Brown  
6
Black/white  
Connector type  
JOES ---- SMP–07V–BC (J.S.T Corporation)  
JOEP ---- SMR–07V–B (J.S.T Corporation)  
JOFS ---- SMR–06V–BC (J.S.T Corporation)  
JOFP ---- SMR–06V–B (J.S.T Corporation)  
Provided by the customer.  
Provided by the customer.  
5) Serial communication  
The SR7000 controller is furnished with hardware and software for  
communication with external equipment as standard components.  
Port: there are four ports including one exclusively used for the teaching  
pendant.  
J1 and J2 are switchable. Switching is made by operation mode or robot  
language instructions.  
Equipment to be connected to J1 to J3 is registered in the system  
configuration file.  
Teach pendant  
J1  
J3 J1, J3: RS–232C  
J2: RS–232C or RS422  
J2  
Front  
Controller  
Back  
STE 58769  
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1.4  
Mode System  
Operation modes include the following.  
Master mode: Switching is made by the key switch on the operating panel.  
Sub mode:  
Switching is made by specifying the teaching pendant or system  
configuration file.  
Master mode  
Sub mode  
Description  
External automatic  
Communication mode Operation of the robot by serial  
communication.  
I/O mode  
Operation of the robot by external  
operation signals.  
Internal automatic  
Manual  
Operation of the robot from the controller  
operating panel.  
Test run  
Edit  
Running the program at lower speed.  
Editing of programs, teaching of  
positions, editing of data.  
File manipulation  
Saving, reading and copying of files.  
Teaching of joint limits, setting of  
coordinates.  
Computer  
Operation panel  
SERVO POWER  
OFF  
EMERGENCY  
ON  
POWER  
STOP  
START  
FAULT  
BATTERY  
ALARM  
INT  
EXT  
MANU  
CYCLE STOP  
(Internal automatic  
operation)  
(External automatic  
operation)  
External operation box  
Teach pendant  
(Manual  
operation)  
TOSHIBA  
SR-5500  
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1.5  
File  
a) File names  
File: Unit of storage for a program, etc.  
A maximum of 248 program files used by a user can be stored.  
However, memory is limited. 3,000 program steps and 150 points of  
position data are a rule of thumb for measuring the size of a file.  
File name: “$$$$$$$$.$$$”  
Extensions (omission is allowed.)  
Up to three alphanumerics  
File name  
Up to eight alphanumerics (headed by an English letter)  
Drive name: Suffixed to a file name and specifies the location of the file.  
"A": FDD (floppy disk)  
"R": RAM drive (controller memory)  
If the drive name is omitted, it is regarded as a file in the RAM  
drive.  
Floppy disks must be 3.5-inch 2HD. For the SR–5500, 2DD type is used.  
b) Types of files  
1) Program file  
“$$$$$$$$.$$$”  
File storing robot language programs and position data  
2) Batch file  
“$$$$$$$$.BAT”  
File to run multiple commands together  
Operations which are performed frequently are registered in the batch file and  
run.  
To run a batch file, enter the file name of the batch file as a command.  
(entering the extension "BAT" is not needed)  
Example: "FLOAD.BAT"  
LOAD PROG1  
LOAD PROG2  
LOAD PROG3  
LOAD PROG4  
When FLOAD is run, PROG1 to PROG4 are read out  
to the RAM drive.  
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3) System configuration file "CONSTRC.SYS."  
File storing an optional configuration of the robot, equipment connected to the  
serial port, settings of signals used for selecting files by external signals.  
(When necessary, users may change the content. After change, save the  
change in a floppy disk).  
4) Automatic execution file "AUTOSTR.BAT"  
Batch file which is run automatically when the power is turned on (when  
necessary, users may change the content. Store it on a floppy disk after  
change)  
5) System parameter file "SYSTEM.PAR"  
File storing control parameters of the robot  
6) User parameter file "USER.PAR"  
File storing the home position and soft limits of the robot.  
When these settings are changed, the content of the file is changed  
automatically. (After changed, save the change on a floppy disk)  
7) System file "SVPMTX.SYS", "MCPMTX.SYS"  
File storing a system to operate the robot.  
It is stored only on a system disk. (LOAD, SAVE, COPY commands can not  
be used.)  
8) Message file "ALARM.MES"  
Error messages to be display on the teaching pendant are stored in the file.  
They are read out only by the COPY command.  
9) External selection file "EXTRNSEL.SYS"  
File to be selected by external signals are stored in the file.  
10) Library file "SCOL.LIB"  
Some instruction words of the robot language are stored in the file.  
Sub programs created in the library file can be run in all files.  
STE 58769  
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