Toshiba Welding System ste 58761 User Manual

STE 58761  
INSTRUCTION MANUAL  
INDUSTRIAL ROBOT SR SERIES  
OPERATING MANUAL  
Notice  
1. Make sure that this Instruction Manual is delivered to the final user  
of the Toshiba Industrial Robot.  
2. Please read this manual before installing or operating the Toshiba  
Industrial Robot, and keep the manual nearby for further reference  
during use of the robot.  
TOSHIBA MACHINE CO.,LTD.  
1998- 3  
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STE 58761  
PREFACE  
This Manual describes how to utilize various robot system functions in order to manually guide  
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.  
This manual is directed at the robot operator. Before reading this manual, he or she should first  
read the Introductory Manual and the Start-up Manual.  
This Manual is divided into fourteen chapters:  
Chapter 1  
Chapter 2  
Chapter 3  
Chapter 4  
Chapter 5  
Chapter 6  
Chapter 7  
Chapter 8  
Chapter 9  
Chapter 10  
Chapter 11  
Chapter 12  
Chapter 13  
Chapter 14  
"Before Operating Your Robot"  
"Basic Operation"  
"Manual Operation"  
"Auxiliary Signals"  
"Program Editing"  
"Data Editing"  
"Test Operation"  
"Internal Automatic Operation"  
"External Automatic Operation"  
"System Control"  
"File Management"  
"Utilities"  
"Self Diagnosis"  
"Joint Limit Setting"  
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STE 58761  
NOTE!  
FOR EUROPEAN UNION (EU)  
In the European Union (EU), there are following limitations and notes to approve the CE  
Marking EMC Direction. In other countries and areas, it is not necessary to apply to these  
limitations and notes.  
(1) Setup conditions  
The following type of power line transformer must be used.  
Frequency:  
50 or 60 Hz  
Secondary voltage:  
Power capacity:  
3-phase, 200~230 VAC  
Min. 2.7 kVA  
(2) Input power condition  
Core wires:  
3.5 mm2 ~ 5.5 mm2  
Voltage short interruption: 0.5 cycle  
(3) Ground  
Core wires:  
3.5 mm2 ~ 5.5 mm2  
Exclusive ground line for robot ground impedance must be  
Ground condition:  
less than 100  
Ω
(4) External input/output line/Optional input/output line  
Core wires:  
Shield:  
0.08 mm2 ~ 0.5 mm2  
Ground shield  
Cable length:  
Max. 10 m  
Manufacturing method:  
Signal ground:  
Refer to Figure A.  
Voltage potential between signal ground PGBA and controller  
frame ground F.G. must be same.  
(5) Serial communication line  
Only 1 of 4 serial communication ports (connector name; J1~J4) can be used at the same  
time.  
Core wires:  
0.08 mm2 ~ 0.5 mm2  
Ground shield  
Shield:  
Cable length:  
Twisted pair:  
Manufacturing method:  
Max. 10 m  
Not required for RS-232C, required for RS-422  
Refer to Figure A.  
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STE 58761  
(6) Limitation on the robot specifications  
Cable length from robot to controller:  
Cable length of teach pendant:  
Optional axis 5:  
Max. 8 m  
Max. 8 m  
Can not be used.  
Only one optional board can be  
Optional input/output signals (type; SR-5500IO):  
used.  
Optional relay output signals (type; SR-5500RO):  
Can not be used.  
Optional conveyer tracking system (type; SR-5500CV): Can not be used.  
Separated operation panel:  
Can not be used.  
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STE 58761  
This Manual describes how to utilize various robot system functions in order to manually guide  
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.  
This manual is directed at the robot operator. Before reading this manual, he or she should first  
read the Introductory Manual and the Start-up Manual.  
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STE 58761  
Cautions on Safety  
This manual contains the important information on the robot and controller to prevent injury to the  
operators and persons nearby, to prevent damage to assets and to ensure correct use.  
Make sure that the following details (indications and symbols) are well understood before reading  
this manual. Always observe the information that is noted.  
[Explanation of indications]  
Indication  
Meaning of indication  
This means that "incorrect handling will lead to fatalities or serious injuries."  
Danger  
!
!
This means that "incorrect handling may lead to personal injuries *1) or  
physical damage *2)."  
Caution  
*1)  
*2)  
Injuries refer to injuries, burns and electric shocks, etc., which do not require hospitalization  
or long-term medical treatment.  
Physical damage refers to damages due to destruction of assets or resources.  
[Explanation of symbols]  
Symbol  
Meaning of symbol  
This means that the action is prohibited (must not be done).  
The details of the actions actually prohibited are indicated with pictures or  
words in or near the symbol.  
This means that the action is mandatory (must be done).  
The details of the actions that must be done are indicated with pictures or  
words in or near the symbol.  
!
!
!
This means danger.  
The details of the actual danger are indicated with pictures or words in or near  
the symbol.  
This means caution.  
The details of the actual caution are indicated with pictures or words in or near  
the symbol.  
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STE 58761  
[Operation]  
Danger  
!
During operation, NEVER enter the dangerous area of the robot.  
Otherwise, you will be injured seriously.  
DO NOT leave in the working range any machinery or materials which will  
hinder the operation. If the equipment went wrong, a person nearby will  
be injured or involved in an accident.  
Anyone other than the operator MUST NOT approach the equipment.  
Should he negligently touch a dangerous part of the equipment, he will get  
injured or involved in a serious accident.  
Prohibited  
NEVER perform an inappropriate operation which is not described in the  
instruction manual. Otherwise, the equipment will start by mistake,  
resulting in personal injury or serious accident.  
If you feel even a little that you are exposed to danger or the equipment  
works abnormally, press the EMERGENCY STOP pushbutton switch to  
stop the equipment. If the equipment is used as it is, you will be injured or  
involved in a serious accident. When this happens, ask our after-sale  
service agent for repair.  
During operation, be sure to close the equipment cover. Should the cover  
be opened during operation, you will be struck by an electric shock or get  
injured.  
!
Danger  
Only a well-trained and qualified person is allowed to perform the  
operation. Should the equipment be operated improperly, it will start by  
mistake, causing a personal injury or serious accident.  
If the equipment has malfunctioned, turn the power off, identify and remove  
the cause of the abnormality, maintain the peripheral equipment and  
completely restore the malfunctioned equipment. Then start the  
equipment at a low speed. If the equipment starts, leaving the  
abnormality, you will be involved in a serious accident.  
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STE 58761  
Caution  
!
DO NOT change the data of the system structure file. Otherwise, the  
robot will operate abnormally, resulting in damage or an accident.  
Prohibited  
In principle, teaching operation should be performed outside the dangerous  
area of the robot. If it should be performed inevitably within the dangerous  
area, strictly observe the following matters.  
(1) The teaching operation should be always performed by two (2)  
persons. One person performs the job and the other person watches  
outside the dangerous area. Also, both persons should try to prevent  
mis-operation with each other.  
(2) The operator should do the job in an attitude ready to press the  
EMERGENCY STOP pushbutton switch at any time. Also, he should  
perform the job at a position from which he can evacuate immediately  
at the time of an emergency after confirming the robot working range  
and shields nearby.  
(3) The supervisor should keep watch on the job at a position where he  
can see the entire robot system and operate the EMERGENCY STOP  
pushbutton switch at the time of an emergency. Also, he should keep  
anyone from entering the dangerous area. Unless an operator or  
other person follows the instructions of the supervisor, accidents will be  
caused.  
!
Mandatory  
If an abnormality has generated or the POWER LED lamp on the control  
panel remains off after the main power switch of the equipment was turned  
on, turn off the main power immediately and confirm the wiring.  
Otherwise, you will be struck by an electric shock or a fire will break out.  
Unless the robot operates toward a designated direction at manual guide,  
turn off the servo power. Otherwise, the robot will be damaged or you will  
be involved in an accident. When this happens, call us at the after-sale  
service agent.  
Pushbutton operations of the control panel and teach pendant should be  
confirmed visually. Otherwise, you will be involved in an accident due to  
mis-operation.  
Before the hot start in automatic operation, be sure to reset a program. If  
the program is executed continuously, the robot will interfere with the  
peripheral equipment, resulting in damages or accidents.  
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STE 58761  
Caution  
!
Before operating the equipment, perform the following inspection.  
(1) Make sure that visual appearance of the robot, controller, peripheral  
equipment and cables is in good condition.  
(2) Make sure that no obstacle stands in or near the operating range of the  
robot and peripheral equipment.  
!
(3) Make sure that the emergency stop and other safety devices operate  
properly.  
Mandatory  
(4) Make sure that no abnormal noise or vibration is involved in the robot  
operation.  
If the above prior inspection is skipped, the equipment will be damaged or  
you will be involved in an accident.  
The speed of test operation is initially set at 25 % of the maximum robot  
speed.  
The speed of automatic operation is initially set at 100 % of the maximum  
robot speed.  
!
Caution  
Once a cold start has been executed, all data saved in the controller  
memory, such as user program, position data, user parameter and system  
parameter files are initialized.  
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STE 58761  
TABLE OF CONTENTS  
CHAPTER 1 BEFORE OPERATING YOUR ROBOT  
1.1  
1.2  
1-1  
1-3  
OVERVIEW OF CONTROL FUNCTIONS・・・・・・・・・・・・  
MODE STRUCTURE・・・・・・・・・・・・・・・・・・・・・  
1.2.1  
1.2.2  
1.2.3  
1.2.4  
1.2.5  
1-4  
1-4  
1-5  
1-6  
External Automatic Mode  
Internal Automatic Mode  
Manual Mode  
・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・  
Edit  
・・・・・・・・・・・・・・・・・・・・・・・・・・・  
1-7  
Test Operation  
・・・・・・・・・・・・・・・・・・・・・・  
1.3  
1-8  
PRECAUTIONS FOR USE・・・・・・・・・・・・・・・・・・・  
1.3.1  
1-8  
Handling Disks  
・・・・・・・・・・・・・・・・・・・・・・  
1.4  
1-10  
1-10  
1-11  
1-12  
1-12  
1-12  
1-13  
1-14  
1-15  
1-15  
1-16  
1-17  
1-18  
1-19  
GENERAL OPERATION・・・・・・・・・・・・・・・・・・・・  
1.4.1  
1.4.2  
Use of the Shift key  
・・・・・・・・・・・・・・・・・・・・  
Use of the Function keys  
・・・・・・・・・・・・・・・・・・  
1.4.3  
1.4.4  
1.4.5  
1.4.6  
1.4.7  
Repeating an Entry  
・・・・・・・・・・・・・・・・・・・・  
Correcting Incorrect Entries  
・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
Cancelling an Entry  
Use of Wild Cards  
Format for Operating Instructions  
・・・・・・・・・・・・・・  
1.5  
1.5.1  
1.5.2  
ASSIGNING NAMES・・・・・・・・・・・・・・・・・・・・・  
Assigning the Volume Name  
・・・・・・・・・・・・・・・・  
Assigning a File Name  
・・・・・・・・・・・・・・・・・・・  
1.5.3  
1.5.4  
1.5.5  
Assigning a Point Name  
・・・・・・・・・・・・・・・・・・  
Assigning a Name to Coordinate Data  
・・・・・・・・・・・・  
・・・・・・・・・・・・・・・  
Assigning a Name to Load Data  
CHAPTER 2 BASIC OPERATION  
2.1  
2.2  
2-1  
2-2  
2-2  
2-4  
2-6  
2-7  
2-8  
BASIC OPERATING PROCEDURE・・・・・・・・・・・・・・・  
TURNING ON THE MAIN POWER・・・・・・・・・・・・・・・  
2.2.1  
2.2.2  
2.3  
2.4  
2.5  
Cold Starting  
Hot Starting  
・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・  
TURNING ON THE SERVO POWER・・・・・・・・・・・・・・  
TURNING OFF THE SERVO POWER・・・・・・・・・・・・・・  
TURNING OFF THE MAIN POWER・・・・・・・・・・・・・・  
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CHAPTER 3 MANUAL OPERATION  
3.1  
3.2  
3.3  
3.4  
3.5  
3.6  
3-1  
3-3  
3-4  
3-5  
3-6  
3-7  
SELECTING THE MANUAL MODE・・・・・・・・・・・・・・  
GUIDANCE COORDINATES・・・・・・・・・・・・・・・・・・  
GUIDE MOVEMENT・・・・・・・・・・・・・・・・・・・・・  
GUIDE SPEED・・・・・・・・・・・・・・・・・・・・・・・・  
GUIDANCE・・・・・・・・・・・・・・・・・・・・・・・・・  
SERVO FREE・・・・・・・・・・・・・・・・・・・・・・・・  
CHAPTER 4 AUXILIARY SIGNALS  
CHAPTER 5 PROGRAM EDITING  
5.1  
5.2  
5-1  
5-6  
INVOKING THE SCREEN EDITOR・・・・・・・・・・・・・・・  
CHARACTER INPUT・・・・・・・・・・・・・・・・・・・・・  
5.2.1  
5.2.2  
5-6  
5-7  
Character Input Mode Selection  
Insert Mode  
・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・  
5.2.3  
5.2.4  
5.2.5  
5.2.6  
5-10  
5-12  
5-13  
5-14  
5-15  
5-15  
5-17  
5-19  
5-19  
5-20  
5-21  
5-22  
5-23  
5-23  
5-25  
5-27  
5-30  
5-32  
5-34  
5-36  
5-38  
5-41  
Typeover Mode  
・・・・・・・・・・・・・・・・・・・・・・  
Input Deletion  
・・・・・・・・・・・・・・・・・・・・・・・  
Character Deletion  
Moving the Cursor  
・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
5.3  
5.3.1  
5.3.2  
5.4  
5.4.1  
INPUTTING SCOL COMMANDS・・・・・・・・・・・・・・・・  
SCOL Menu  
・・・・・・・・・・・・・・・・・・・・・・・  
SCOL Menu Selection  
・・・・・・・・・・・・・・・・・・・  
EDITOR COMMAND INPUT・・・・・・・・・・・・・・・・・・  
Editor Commands  
・・・・・・・・・・・・・・・・・・・・・  
5.4.2  
5.4.3  
5.4.4  
Command Menu Selection  
・・・・・・・・・・・・・・・・・  
Input Deletion  
・・・・・・・・・・・・・・・・・・・・・・・  
Cancelling a Command  
・・・・・・・・・・・・・・・・・・・  
5.5  
5.5.1  
5.5.2  
EDIT COMMAND DESCRIPTIONS・・・・・・・・・・・・・・・  
Jump to First Line  
Jump to Last Line  
Jump to Specified Line  
Jump to Previous Page  
Jump to Next Page  
・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
5.5.3  
5.5.4  
5.5.5  
5.5.6  
5.5.7  
5.5.8  
5.5.9  
・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
Jump to Beginning of Line  
Jump to End of Line  
・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
Set Block  
Delete Present Line  
・・・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
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5.5.10  
5.5.11  
5.5.12  
5.5.13  
5.5.14  
5.5.15  
5.5.16  
5.5.17  
5.5.18  
5.5.19  
5.5.20  
5-43  
5-45  
5-48  
5-49  
5-52  
5-57  
5-59  
5-61  
5-65  
5-68  
5-71  
Delete Block  
・・・・・・・・・・・・・・・・・・・・・・  
Copy Block  
Rename File  
・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・  
Search  
Replace  
・・・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・  
Restore Deleted Line  
・・・・・・・・・・・・・・・・・・  
Repeat  
Read in File  
・・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・  
Change Editor File  
Display Status  
・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
Quit  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
CHAPTER 6 DATA EDITING  
6.1  
6.2  
6.3  
6-1  
6-2  
6-3  
INVOKING THE DATA EDITOR・・・・・・・・・・・・・・・・  
EDITOR DATA SELECTION・・・・・・・・・・・・・・・・・・  
DATA INPUT・・・・・・・・・・・・・・・・・・・・・・・・・  
6.3.1  
6.3.2  
6.4  
6.4.1  
6.4.2  
6.5  
6.5.1  
6.5.2  
6-3  
6-4  
6-5  
6-5  
6-6  
6-8  
6-8  
6-10  
6-12  
6-14  
6-16  
6-18  
6-20  
6-20  
6-22  
6-25  
6-28  
6-33  
6-36  
6-38  
6-41  
Selecting the Data Input Mode  
Moving the Cursor  
・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
EDITOR COMMAND INPUT・・・・・・・・・・・・・・・・・・  
Editor Commands  
・・・・・・・・・・・・・・・・・・・・・  
Command Menu Selection  
・・・・・・・・・・・・・・・・・  
EDIT COMMANDS COMMON TO EACH DATA EDITING・・・・  
Jump to First Line  
Jump to Last Line  
・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・  
6.5.3  
6.5.4  
6.5.5  
6.5.6  
Jump to Previous Page  
・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
Jump to Next Page  
Display Status  
・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・・・・  
Quit  
6.6  
6.6.1  
6.6.2  
EDITING POSITIONAL DATA・・・・・・・・・・・・・・・・・  
Positional-data Edit-mode Selection  
・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・  
Work Coordinate Selection  
6.6.3  
6.6.4  
6.6.5  
6.6.6  
6.6.7  
6.6.8  
Point Name Selection  
Teaching Positional Data  
・・・・・・・・・・・・・・・・・・  
Numerical Input of Positional Data  
・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・  
Deleting Positional Data  
Point Search  
Moving to a Taught Point  
・・・・・・・・・・・・・・・・・・  
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6.7  
6.7.1  
6.7.2  
6-42  
6-42  
6-44  
6-49  
6-51  
6-55  
6-58  
6-61  
6-63  
6-63  
6-65  
6-67  
EDITING COORDINATE DATA・・・・・・・・・・・・・・・・  
Coordinate-data Edit-mode Selection  
・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・  
Teaching Coordinate Data  
6.7.3  
6.7.4  
6.7.5  
6.7.6  
6.7.7  
Numerical Input of Coordinate Data  
・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・  
Deleting Coordinate Data  
Base Coordinate Selection  
・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・  
Tool Coordinate Selection  
Work Coordinate Selection  
6.8  
6.8.1  
6.8.2  
6.8.3  
EDITING LOAD DATA・・・・・・・・・・・・・・・・・・・・  
Load-data Edit-mode Selection  
・・・・・・・・・・・・・・・  
Numerical Input of Load Data  
・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・  
Deleting Load Data  
CHAPTER 7 TEST OPERATION  
7.1  
7.2  
7.3  
7.4  
7.5  
7.6  
7.7  
7.8  
7.9  
7-2  
7-4  
7-6  
SELECTING THE TEST OPERATION MODE・・・・・・・・・・  
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・  
OPERATION MODE SELECTION・・・・・・・・・・・・・・・  
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・  
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・  
MACHINE LOCK・・・・・・・・・・・・・・・・・・・・・・・  
STEP EXECUTION・・・・・・・・・・・・・・・・・・・・・・  
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・  
STOP COMMANDS・・・・・・・・・・・・・・・・・・・・・・  
7-8  
7-10  
7-12  
7-14  
7-17  
7-20  
7-20  
7-22  
7-23  
7-24  
7-26  
7-27  
7-27  
7-29  
7-31  
7-33  
7-35  
7-37  
7.9.1  
7.9.2  
7.9.3  
7.9.4  
7.9.5  
Cycle Stop  
・・・・・・・・・・・・・・・・・・・・・・・・  
STOP  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
BREAK  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
Feed Hold  
・・・・・・・・・・・・・・・・・・・・・・・・  
Emergency Stop  
・・・・・・・・・・・・・・・・・・・・・・  
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・  
7.10  
7.10.1  
7.10.2  
7.10.3  
7.10.4  
7.11  
7.12  
Program Reset  
・・・・・・・・・・・・・・・・・・・・・  
Step Reset  
Cycle Reset  
・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・  
Output Signal Reset  
・・・・・・・・・・・・・・・・・・・  
DIRECT EXECUTION・・・・・・・・・・・・・・・・・・・・  
EXITING THE TEST OPERATION MODE・・・・・・・・・・・  
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CHAPTER 8 INTERNAL AUTOMATIC OPERATION  
8.1  
8.2  
8.3  
8.4  
8.5  
8.6  
8.7  
8-2  
8-4  
8-6  
SELECTING THE INTERNAL AUTOMATIC MODE・・・・・・・  
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・  
OPERATION MODE SELECTION・・・・・・・・・・・・・・・  
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・  
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・  
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・  
STOP COMMANDS・・・・・・・・・・・・・・・・・・・・・・  
8-8  
8-10  
8-12  
8-13  
8-13  
8-15  
8-17  
8-18  
8-20  
8-21  
8-21  
8-23  
8-25  
8-27  
8-29  
8.7.1  
8.7.2  
8.7.3  
8.7.4  
8.7.5  
Cycle Stop  
・・・・・・・・・・・・・・・・・・・・・・・・  
STOP  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
BREAK  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
Feed Hold  
・・・・・・・・・・・・・・・・・・・・・・・・  
Emergency Stop  
・・・・・・・・・・・・・・・・・・・・・・  
8.8  
8.8.1  
8.8.2  
8.8.3  
8.8.4  
8.9  
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・  
Program Reset  
・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・  
Step Reset  
Cycle Reset  
Output Signal Reset  
・・・・・・・・・・・・・・・・・・・・  
DIRECT EXECUTION・・・・・・・・・・・・・・・・・・・・・  
CHAPTER 9 EXTERNAL AUTOMATIC OPERATION  
9.1  
9.2  
9.3  
9.4  
9.5  
9.6  
9.7  
9-2  
9-4  
9-6  
9-7  
9-8  
SELECTING THE EXTERNAL AUTOMATIC MODE・・・・・・・  
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・  
OPERATION MODE SELECTION・・・・・・・・・・・・・・・  
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・  
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・  
START-UP・・・・・・・・・・・・・・・・・・・・・・・・・・  
STOP・・・・・・・・・・・・・・・・・・・・・・・・・・・・  
9-9  
9-10  
9-10  
9-11  
9-13  
9-14  
9-16  
9-17  
9.7.1  
9.7.2  
9.7.3  
9.7.4  
9.7.5  
Cycle Stop  
・・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
STOP  
BREAK  
・・・・・・・・・・・・・・・・・・・・・・・・・・  
Feed Hold  
・・・・・・・・・・・・・・・・・・・・・・・・  
Emergency Stop  
・・・・・・・・・・・・・・・・・・・・・・  
9.8  
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・  
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CHAPTER 10 SYSTEM CONTROL  
10.1  
10.2  
10.3  
10.4  
10-1  
10-4  
10-7  
10-10  
10-10  
10-12  
10-14  
10-16  
SETTING THE DATE・・・・・・・・・・・・・・・・・・・・  
SETTING THE TIME・・・・・・・・・・・・・・・・・・・・  
CHANNEL SELECTION・・・・・・・・・・・・・・・・・・  
RESET・・・・・・・・・・・・・・・・・・・・・・・・・・  
10.4.1  
Program Reset  
・・・・・・・・・・・・・・・・・・・・・  
10.4.2  
10.4.3  
10.4.4  
Step Reset  
Cycle Reset  
・・・・・・・・・・・・・・・・・・・・・・・  
・・・・・・・・・・・・・・・・・・・・・・  
Output Signal Reset  
・・・・・・・・・・・・・・・・・・・  
CHAPTER 11 FILE MANAGEMENT  
11.1  
11.2  
11.3  
11.4  
11.5  
11.6  
11.7  
11.8  
11.9  
11.10  
11-1  
11-4  
11-7  
11-11  
11-14  
11-17  
11-20  
11-23  
11-26  
11-30  
INITIALIZATION・・・・・・・・・・・・・・・・・・・・・・  
DIRECTORY DISPLAY・・・・・・・・・・・・・・・・・・・  
FILE COPY・・・・・・・・・・・・・・・・・・・・・・・・  
FILE RENAME・・・・・・・・・・・・・・・・・・・・・・・  
FILE DELETE・・・・・・・・・・・・・・・・・・・・・・・  
FILE LOAD・・・・・・・・・・・・・・・・・・・・・・・・  
FILE SAVE・・・・・・・・・・・・・・・・・・・・・・・・  
FILE PRINT・・・・・・・・・・・・・・・・・・・・・・・・  
BATCH PROCESSING・・・・・・・・・・・・・・・・・・・  
AUTOMATIC EXECUTION FILES・・・・・・・・・・・・・・  
CHAPTER 12 UTILITIES  
12.1  
12.2  
12.3  
12.4  
12.5  
12-1  
12-2  
12-4  
12-6  
12-8  
SELECTING THE UTILITY MODE・・・・・・・・・・・・・・  
WORK COORDINATE SELECTION・・・・・・・・・・・・・  
TOOL COORDINATE SELECTION・・・・・・・・・・・・・・  
PRESENT POSITION MONITOR・・・・・・・・・・・・・・・  
EXTERNAL I/O SIGNAL MONITOR・・・・・・・・・・・・・  
CHAPTER 13 SELF DIAGNOSIS  
13.1  
13.2  
13.3  
13.4  
13.5  
13.6  
13.7  
13-1  
13-1  
13-2  
13-4  
13-5  
13-6  
13-8  
CLASSIFICATION OF ERRORS・・・・・・・・・・・・・・・  
ERROR DISPLAYS・・・・・・・・・・・・・・・・・・・・  
ERROR MESSAGE DISPLAYS・・・・・・・・・・・・・・・  
ERROR RESETTING・・・・・・・・・・・・・・・・・・・・  
ALL ERRORS RESET・・・・・・・・・・・・・・・・・・・  
ERROR HISTORY DISPLAYS・・・・・・・・・・・・・・・・  
LIST OF ERRORS・・・・・・・・・・・・・・・・・・・・・  
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CHAPTER 14 JOINT LIMIT SETTING  
14.1  
14.2  
14.3  
14-1  
14-3  
14-5  
SELECTING JOINT LIMIT SETTING MODE・・・・・・・・・・  
JOINT LIMIT TEACHING・・・・・・・・・・・・・・・・・・  
INPUTTING NUMERIC VALUES FOR JOINT LIMITS・・・・・・  
APPENDIX A  
APPENDIX B  
APPENDIX C  
15-1  
15-10  
15-13  
TEACH PENDANT MESSAGE TABLE・・・・・・・・・・  
LIST OF COMMANDS・・・・・・・・・・・・・・・・・  
HANDLING ARRAY DATA BY DATA EDITING・・・・・・  
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CHAPTER 1  
BEFORE OPERATING YOUR ROBOT  
1.1 OVERVIEW OF CONTROL FUNCTIONS  
External  
control  
signals  
Control Teaching  
Panel pendant  
Function  
Description  
Main power ON/OFF  
Servo power ON/OFF  
Used to turn the main power on or off.  
Use to turn the power for the servo on or off.  
(On only)  
Used to select either the Manual Mode, the External  
Automatic Mode or the Internal Automatic Mode.  
Used to start up or stop automatic operation.  
Used to stop automatic operation (after the  
completion of one cycle).  
Master mode selection  
Start-up and stop  
Cycle completion  
Feed hold  
Emergency stop  
Used to temporarily stop automatic operation.  
Used to immediately stop automatic operation.  
Used to manually guide the robot by jogging, inching  
and other such movement.  
Manual operation  
Auxiliary signal  
operation  
Program editing  
Used to control pneumatic drive shafts (for grippers,  
etc.)  
Used to create and edit programs.  
Used to create and edit positional data, coordinate  
data and load data.  
Used to manage files by such operations as loading,  
saving, copying and deleting.  
Used to reset output signals and execution  
conditions.  
Data editing  
File management  
Reset  
Date setting  
The setting  
Channel selection  
Used to set the data for use by the system.  
Used to set the time for use by the system.  
Used to select a communication channel.  
Used to display errors which have not yet been  
reset.  
Used to reset errors that have been corrected.  
Used to display a historical list of errors which have  
been corrected.  
Error display  
Error reset  
Error history display  
Work coordinate  
selection  
Tool coordinate  
selection  
Used to select a work coordinate system.  
Used to select a tool coordinate system.  
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External  
control  
signals  
Control Teaching  
Panel pendant  
Function  
Description  
Present position  
monitor  
External I/O signal  
monitor  
Used to display the present position of the robot in  
terms of the various coordinate system.  
Used to display the status of digital I/O signals.  
File selection  
Move  
Used to select a file for execution.  
Moves the robot to a point which has been taught.  
: Complete operation  
: Partial operation  
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1.2 MODE STRUCTURE  
External Automatic  
Mode (EXT)  
The External Automatic Mode is used to  
automatically operate the robot by program. This  
operation is performed with external control signals  
or signals from a host computer.  
Master Mode  
Internal Automatic  
Mode (INT)  
The Internal Automatic Mode is used to  
automatically operate the robot by program. This  
operation is carried out from either the control panel  
or the teach pendant.  
Manual Mode (MANU)  
The Manual Mode is used to perform such  
operations as teaching, guiding, file management  
and program test runs. All such operations are  
carried out with the teach pendant.  
Utility Mode  
The Utility Mode is used to perform such operations  
as coordinate selection, position monitoring and  
signal monitoring. The Utility Mode is carried out  
from the teach pendant and is unrelated to the  
master mode.  
Error Display Mode  
The error display mode is used to display and reset  
errors with the teach pendant. The error display  
mode has nothing to do with the Master Mode.  
The emergency stop and servo off operations can be used regardless of the present mode.  
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1.2.1 External Automatic Mode  
External Operation  
Signal Mode (SIG)  
This mode is used to perform the program automatic  
operation. This operation is carried out with  
external operation signals. For details, see the  
Interface Manual.  
External  
Automatic  
Mode (EXT)  
Host Mode (HOST)  
This mode is used to perform the program  
automatic-operation, file uploading and file  
downloading. All operations are carried out by the  
host computer through serial communication  
channel(s). For details, see the Communications  
Manual.  
The mode with which external automatic operation is carried out is defined in  
the system configuration file. See the Start-up Manual for details.  
All file selections, execution mode selections, speed override settings and  
speed limit settings made in either the Internal Automatic Mode or the Test  
Operation Mode are also valid in the External Automatic Mode.  
1.2.2 Internal Automatic Mode  
Program Selection  
(SELECT)  
Operation Mode  
Selection (MODE)  
Speed Override  
Selects a program for execution.  
Selects an operation mode.  
Selects the speed override.  
(MSPEED)  
Internal  
Automatic  
Mode (INT)  
Speed Limit  
(LSPEED)  
Selects the speed limit.  
Start-up  
Starts program execution from the control panel.  
Suspends or cancels program execution.  
Directly executes a SCOL command.  
Stop (STOP,BREAK)  
Direct Execution  
(DO)  
Reset (RESET)  
Resets the program execution step, variables and  
digital output signals.  
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1.2.3 Manual Mode  
Edit (EDIT)  
Edits programs and data (positional data, coordinate  
data and load data).  
Test Operation  
(TESTRUN)  
Checks to see that programs run properly.  
File Load (LOAD)  
File Save (SAVE)  
Disk Initialization  
(FORMAT)  
Loads a file from the disk into the RAM drive.  
Saves a file in the RAM drive onto the disk.  
Formats either the disk or the RAM drive.  
Directory Display  
(DIR)  
Displays a list of all the files contained in either the  
RAM drive or the disk.  
Manual  
Mode  
File Copy (COPY)  
Copies a file in the RAM drive and stores the copy in  
a separate file.  
(MANU)  
File Comparison  
(VERIFY)  
Compares the contents of two files in units of bytes  
to see that they are the same.  
Renames a file.  
Deletes an unneeded file.  
Prints out the contents of a file on a printer.  
Sets the current date.  
File Renaming (REN)  
File Deletion (DEL)  
File Printing (PRINT)  
Date Setting (DATE)  
Time Setting (TIME)  
Channel Selection  
(CHANNEL)  
Sets the current time.  
Switches over between serial channels.  
Reset (RESET)  
Resets the program execution step, variables and  
digital output signals.  
Guidance  
In conjunction with the control key, the guide teach  
speed key and the guide coordinate key, the guide  
keys are used to move the end effecter. Guidance  
is effective only in the Manual Mode; it is not  
effective in the Test Operation Mode.  
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1.2.4 Edit  
Screen editor  
Program editing  
Programs and global data are created and edited by  
entering and deleting characters, by selecting  
command menus and by selecting SCOL menus.  
Positional data editing  
Positional data are created and edited by teaching  
and by entering numbers. Work coordinate  
systems are selected; work coordinates are edited.  
Editing  
Data editor  
Coordinate data editing  
Coordinate data are created and edited by teaching  
and by entering numbers. Base coordinates and  
tool coordinates are selected. Work coordinates  
are specified.  
Load data editing  
Load data are created and edited by entering  
numbers.  
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1.2.5 Test Operation  
Program Selection  
(SELECT)  
Selects a program for execution.  
Selects an operation mode.  
Selects the speed override.  
Sets the speed limit.  
Operation Mode  
Selection (MODE)  
Speed Override  
(MSPEED)  
Speed Limit (LSPEED)  
Machine Lock  
(MACHINE)  
Test  
Enables and disables the machine lock.  
Operation  
(TESTRUN)  
Step Execution  
(STEP)  
Executes the program one step at a time.  
Start-up (RUN)  
Starts program execution from a desired step in the  
program.  
Stop (STOP,BREAK)  
Direct Execution  
(DO)  
Suspends or cancels program execution.  
Directly executes a SCOL command.  
Reset (RESET)  
Resets the program execution step, variables and  
digital output signals.  
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1.3 PRECAUTIONS FOR USE  
For the connection of FDD unit (option), see the Interface Manual.  
1.3.1 Handling Disks  
(1) General precautions  
(a) Don’t open the shutter section. The disk will be unusable should  
any dirt get on the magnetic surface.  
(b) Keep away from speakers or other devices which create strong  
magnetic fields. If you don't, the contents of your disks may get  
erased.  
(c) Keep out of direct sunlight and away from hot objects.  
(d) Don't stack books or folders on top of a disk.  
(e) Stick the label on in the correct position. If you put on a new label,  
be sure to take the old label off first.  
(f) Store your disk in a location having the following temperature and  
humidity range:  
Storage temperature  
Storage humidity  
: 4 to 53°C  
: 8 to 90 %  
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(2) Inserting a disk  
(a) With the label up and the metal shutter forward, insert  
the disk straight and slowly into the slot until you  
hear it click into place.  
(3) Removing a disk  
(a) Push the push button. The floppy disk should pop  
out a little ways from the slot.  
(b) Grip the disk with your fingers at the label section  
and draw it straight out.  
Caution  
!
Do not try to remove the disk while the disk  
drive light is still lit. Data is either being  
written to or read from the disk while the light is  
lit, and if you remove the disk at this time you  
may lose or damage your files.  
(4) Disk write protection  
All 3.5" disks have a write protect tab to prevent files  
from being accidentally erased.  
(a) Write protect  
Slide the write protect tab toward the edge of the  
disk (protect position).  
(b) Write enable  
Slide the write protect tab away from the edge of the  
disk (write position).  
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1.4 GENERAL OPERATION  
Only one key can be input at a time with the teach pendant.  
1.4.1 Use of the Shift Key  
When a key is pushed while the "shift" key is held down, the upper character on that key  
will be input.  
(1) Entering the lower character  
To enter the lower character on a key, simply push that key.  
Example) Entering the character "9".  
Key operation  
Display  
(
9
9
(2) Entering the upper character  
To enter the upper character, push down that key while holding down the "shift" key.  
Example) Entering the character "(".  
Key operation  
Display  
9
(
9
+
Shift  
1-10  
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1.4.2 Use of the Function Keys  
In order to make it easier to input data, the teach pendant is provided with six function  
keys, i.e., "F1" to "F6".  
The functions to which "F1" to "F5" correspond will change depending on the mode. The  
names of these functions will appear above the corresponding function key. By pushing  
the appropriate key, commands can be executed without having to type in each letter  
making up that command.  
The "F6" key is the NEXT key. When there are more than five commands in a particular  
mode, the NEXT key allows one to display the additional commands.  
Example: Selecting the "SAVE" command  
>
EDIT LOAD SAVE TESTRUN> RESET NEXT  
F1  
F2  
F3  
F4  
F5  
F6  
Command names followed by a “>” symbol indicate commands which are executed  
immediately when the, corresponding function key is pushed.  
Caution  
!
The function keys work differently when editing with the screen editor or data editor. For  
more information, refer to Chapter 5 "Program Editing" and Chapter 6 "Data Editing."  
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1.4.3 Repeating an Entry  
The repeat operation is available for the following keys.  
[Bs], [Esc], [Exec]  
Guide key  
[Move]  
Cursor keys  
[Coordinates], [Teach Speed], [Control]  
1.4.4 Correcting Incorrect Entries  
Use the "Bs" key to erase any characters which were incorrectly entered.  
Example:  
(Correct) TIME 13:50:00  
(Incorrect) TIME 13:60:__  
Push the “Bs” key.  
TIME 13:6__  
Push the “Bs” key.  
TIME 13:__  
Keep on pushing the “Bs” key until the incorrect characters are erased. Then type in the  
correct characters.  
Caution  
!
The "Ins", "Del" and cursor keys may not be used when entering a command.  
1.4.5 Cancelling an Entry  
If you wish to cancel the command you are entering, simultaneously push the "ESC" key.  
This will cancel the command you entered and allow you to write the next command on  
the following line.  
Should an error message or other such message appear while entering a command, that  
command line will be negated.  
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1.4.6 Use of Wild Cards  
You may use the wild cards * and ? when specifying files with the directory [DIR], delete  
[DEL], print [PRINT], file save [SAVE] or file load [LOAD] command.  
Wild cards are used to simultaneously specify multiple files. Using wild cards correctly  
can save time and increase efficiency when specifying files.  
(1) The asterisk wild card”*”  
The asterisk wild card (*) can take the place of a file name or an extension. For  
example, the specification “A*.*” refers to all files having a name starting with A and  
having any type of extension (or no extension at all). All of the following files would  
apply:  
ADATA. BAT  
ABC.PAR  
AFILE  
(2) The question mark wild card "?"  
The question mark wild card "?" can take the place of any single character in a name or  
extension. For example, the specification “A??.*” refers to all files that have a name  
starting with A, are three characters long or less. A space or null character is also  
treated as one character. All of the following files would apply:  
ABC.PAR  
ACD.DAT  
AAA  
In order to be able to use wild cards effectively, you should pay attention to how you assign  
file names and extensions.  
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1.4.7 Format for Operating Instructions  
The following format is used in this manual to explain how to use commands.  
Title [command name]  
(1) Function  
Explains the purpose of the command and what it does.  
(2) Input format  
Explains the input format for operation. An input consists of a command and  
parameters. Listed below are notation used to describe the input format.  
[
] Indicates an item (or items) that may be specified if necessary and omitted if not.  
> Indicates an item (or items) to be input.  
<
<d:> Specifies the drive name. One must enter either A or R.  
A : FDD unit (option)  
R : RAM drive  
<file name> Specifies the file name. <file name> may consist of a name having up to  
eight alphanumeric characters and an extension having up to three characters. For  
example, CONSTRUC.SYS is a valid <file name>.  
{
} Indicates that one parameter is to be chosen from among the multiple parameters  
enclosed.  
...  
Indicates that multiple parameters may be specified.  
], >, } and ... are themselves not to be entered.  
Note that the characters  
[
<
{
They are merely symbols use to describe the input format.  
(3) Comments  
Explains restrictions and things to keep in mind.  
(4) Procedure  
Explains procedures and system responses for various operations.  
(5) Related functions  
Explains related functions.  
1-14  
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1.5 ASSIGNING NAMES  
1.5.1 Assigning the Volume Name  
When a disk is initialized, you can assign a name to that disk. This is the volume name.  
In order to simplify disk handling, you should keep your files sorted by task and put related  
files on the same disk. Also, be sure to give the disk a descriptive, easy to understand  
name.  
The volume name can be checked by looking at the directory display.  
Volume names consist of a volume name proper, a period, and a volume name extension.  
An example is shown below:  
WORK1  
.
FIL  
FIL is the volume name extension.  
It may have up to three characters.  
A period is used to separate the volume name  
and the volume name extension.  
WORK1 is the volume name. It may have up to  
six characters.  
The following characters may be used in the volume name and its extension:  
Alphabetic characters:  
Numerals:  
A to Z  
0 to 9  
The volume name extension may be omitted. In such a case, the period becomes  
unnecessary.  
1-15  
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1.5.2 Assigning a File Name  
Every file in a disk or in the RAM drive has its own name. This is called the file name.  
File names consists of a file name proper, a period, and a file name extension. An  
example is shown below:  
CONSTRUC  
.
SYS  
SYS is the file name extension. It may have up  
to three characters.  
A period is used to separate the file name and  
the file name extension.  
CONSTRUC is the file name. It may have up to  
eight characters.  
The following characters may be used in the file name and its extension:  
Alphabetic characters:  
Numerals:  
A to Z  
0 to 9  
The file name extension is used to identify the nature (type) of the file. By using different  
extensions on the same file name, you can keep related files together while still being able  
to differentiate between them by purpose.  
The following extensions are used for the following type of special purpose files.  
Extension  
SYS  
Purpose  
Identifies system files.  
Identifies batch files.  
Identifies parameter files.  
Identifies library files.  
Identifies maintenance files.  
BAT  
PAR  
LIB  
LOG  
The file name extension may be omitted. In such a case, the period becomes  
unnecessary.  
When specifying a file having a file name extension, you may not omit that extension. If  
you do, the controller will treat that file as a completely different file.  
1-16  
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1.5.3 Assigning a Point Name  
When entering positional data for a point, you have to assign a name to that point. This  
name will be used later in the program when telling the robot where to go.  
Point names generally have a format like that shown in the example below:  
PNT100  
PNT100 is the point name (in this example).  
The point name may have up to ten characters.  
The following characters may be used in the point name. (The first letter of a point name  
must be an alphabetic character.)  
Alphabetic characters:  
Numerals:  
A to Z  
0 to 9  
Note:  
You may not use an identifier reserved for the SCOL language to name a point.  
See Appendix B of Robot Language Manual for a list of such identifiers  
(reserved words).  
If you try to enter more than ten characters when inputting a point name, an error  
message ("name over") will be displayed and that entry will be invalidated.  
If you try to enter anything other than an alphabetic character for the first character of the  
point name, an error message ("illegal key!") will be displayed and that entry will be  
invalidated.  
If you try to enter anything other than an alphanumeric character when inputting the point  
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.  
1-17  
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1.5.4 Assigning a Name to Coordinate Data  
When entering coordinate data for a work coordinate system, a tool coordinate system or  
the base coordinate system, you have to assign a coordinate name to that data. This  
name will be used later in the program when telling the robot which coordinate system to  
use.  
Coordinate names generally have a format like that shown in the example below:  
TABLE1  
TABLE1 is the coordinate name (in this example).  
The name may have up to ten characters.  
The following characters may be used in the coordinate name. (The first letter must be  
an alphabetic character.)  
Alphabetic characters:  
Numerals:  
A to Z  
0 to 9  
Note:  
You may not use an identifier reserved for the SCOL language to name  
coordinate data. See Appendix B of Robot Language Manual for a list of such  
identifiers (reserved words).  
If you try to enter more than ten characters when inputting a coordinate name, an error  
message ("name over") will be displayed and that entry will be invalidated.  
If you try to enter anything other than an alphabetic character for the first character of the  
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.  
If you try to enter anything other than an alphanumeric character when inputting the name,  
an error message ("illegal key!") will be displayed and that entry will be invalidated.  
1-18  
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1.5.5 Assigning a Name to Load Data  
When entering load data, you have to assign a load name to that data. This name will be  
used later in the program when telling the robot which load value to use.  
Load names generally have a format like that shown in the example below:  
SAMPLE1  
SAMPLE1 is the load name (in this example).  
The name may have up to ten characters.  
The following characters may be used in the load name. (The first letter must be an  
alphabetic character.)  
Alphabetic characters:  
Numerals:  
A to Z  
0 to 9  
Note:  
You may not use an identifier reserved for the SCOL language to name load  
data. See Appendix B of Robot Language Manual for a list of such identifiers  
(reserved words).  
If you try to enter more than ten characters when inputting a load name, an error message  
("name over") will be displayed and that entry will be invalidated.  
If you try to enter anything other than an alphabetic character for the first character of the  
name, an error message ("illegal key!") will be displayed and that entry will be invalidated.  
If you try to enter anything other than an alphanumeric character when inputting the name,  
an error message ("illegal key!") will be displayed and that entry will be invalidated.  
1-19  
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CHAPTER 2  
BASIC OPERATION  
2.1 BASIC OPERATING PROCEDURE  
The following flowchart shows the basic operating procedure for automatic operation. It covers  
all operations from turning on the power to turning off the power.  
START  
Turn on main power  
Turn on servo power  
program  
NO  
edit end?  
YES  
Automatic operation  
edit  
Test run  
NO  
operation  
Job End?  
YES  
NO  
Correct?  
Turn off servo power  
Turn off main power  
END  
YES  
2-1  
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2.2 TURNING ON THE MAIN POWER  
There are two ways to start up the controller - cold starting and hot starting. Normally, only the  
hot starting is required. For details, see Para. 2.2.2.  
2.2.1 Cold Starting  
Danger  
!
If an abnormality has generated or the POWER LED lamp on the control panel remains off after  
the main power switch of the equipment was turned on, turn off the main power immediately  
and confirm the wiring. Otherwise, you will be struck by an electric shock or a fire will break  
out.  
Caution  
!
Once a cold start has been executed, all data saved in the controller memory, such as user  
program, position data, user parameter and system construction files are initialized.  
(1) Function  
System programs contained on a disk inserted in the FDD unit (option) are loaded into  
the RAM drive. The RAM drive is thereby initialized and the controller is booted  
(started up).  
(2) Input format: None  
(3) Comments  
Normally, you should hot start the system. Only cold start the system when you cannot  
hot start it.  
After you have completed a cold start, remove the system disk from the controller disk  
drive. Should you leave the system disk in the disk drive, all the files in the RAM drive  
will be erased should the power go out and turn back on again.  
Copies of all files necessary for the RAM drive should be kept on disks for safekeeping.  
For information on how to save files on disks, see the Section "Saving files."  
The system disk must contain the following system programs and subscription files.  
System programs:  
SVPMTX. SYS  
MCPMTX. SYS  
Subscription files:  
CONSTRUC. SYS  
ALARM. MES *  
SYSTEM. PAR  
USER. PAR  
EXTRNSEL. SYS *  
SCOL. LIB *  
AUTOSTR. BAT *  
2-2  
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Files marked by an asterisk are not absolutely necessary to run the system. However,  
you will get an error if you try to execute a function dependent on a missing file.  
For more information on these files, see the Start-up Manual.  
(4) Procedure  
(a) Step 1: Insert the system disk  
Insert the system disk into the FDD unit (option).  
(b) Step 2: Turn on the main power.  
Turn on the main power switch located on the controller.  
The POWER lamp and SERVO POWER OFF lamp should light up.  
The lamp  
turns on  
SERVO POWER  
EMERGENCY  
POWER  
FAULT  
OFF  
ON  
STOP START  
POWER  
BATTERY  
ALARM  
10AT  
INT  
CYCLE  
MANU  
STOP  
EXT  
The light on the disk drive should also light up around this time. This shows  
that the system programs are being loaded into the RAM drive. While these  
programs are being loaded, the START lamp on the control panel blink.  
When loading is complete, the SERVO POWER OFF lamp, the START lamp,  
the STOP and the CYCLE STOP lamp will all momentarily light up at once.  
The LCD (liquid crystal display) of the teach pendant will display the initial mode  
selection menu. The STOP lamp and the SERVO POWER OFF lamp on the control  
panel will be lit.  
Following this, parameters will be automatically read in from the disk in the disk drive.  
When this is completed, the disk drive light will go out. This marks the end of the  
cold start operation.  
(c) Step 3: Remove the system disk  
Once the cold start is completed, the system is booted and ready to operate.  
After checking to make sure that the disk drive light is out, remove the system  
disk from the disk drive.  
2-3  
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2.2.2 Hot Starting  
Caution  
!
If an abnormality has generated or the POWER LED lamp on the control panel remains off after  
the main power switch of the equipment was turned on, turn off the main power immediately  
and confirm the wiring. Otherwise, you will be struck by an electric shock or a fire will break  
out. When hot starting has been done, the controller enters a program reset status.  
(1) Function  
Starts up the controller with files contained in the RAM drive.  
(2) Input format  
None  
(3) Comments  
The following subscription files must be in the RAM drive:  
CONSTRUC. SYS  
ALARM. MES *  
SYSTEM. PAR  
USER. PAR  
EXTRNSEL. SYS *  
SCOL . LIB *  
AUTOSTR. BAT *  
Files marked by an asterisk are not absolutely necessary to run the system.  
However, you will get an error should you try to execute a function dependent  
on a missing file.  
For more information on these files, see the Start-up Manual.  
2-4  
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(4) Procedure  
(a) Step 1: Turn on the main power  
First, make sure that the system disk is not in the FDD unit (option). Then,  
turn on the controller main power. The POWER lamp and the SERVO  
POWER OFF lamp on the control panel will light up.  
The lamp  
turns on  
SERVO POWER  
EMERGENCY  
POWER  
FAULT  
OFF  
ON  
STOP START  
POWER  
BATTERY  
ALARM  
10AT  
INT  
CYCLE  
MANU  
STOP  
EXT  
The controller will start initializing the system. The disk drive light will blink for  
about 15 seconds.  
When the hot start operation is completed, the STOP lamp on the control panel will  
light up and the LCD (liquid crystal display) of the teach pendant will display the  
initial mode selection menu.  
2-5  
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2.3 TURNING ON THE SERVO POWER  
Caution  
!
If the robot moves abnormally at the servo power ON, press the EMERGENCY STOP  
switch immediately to turn the servo power off.  
If anyone enters the robot dangerous area, turn the servo power off beforehand.  
(1) Function  
Turns on the main power circuit for the servo drivers. Servo control axes will  
change over to the servo-lock state, and any brakes will be released.  
(2) Input format: None  
(3) Comments  
You will not be able to turn on the servo power if the emergency switch is pushed  
down. Release the switch first.  
In order to turn on the servo power with an external operation signal, the teach pendant  
connector (or the dummy connector) must be attached to the control panel. Also, the  
contacts for the Emergency Stop and Servo OFF external signals must be open. For  
more information, refer to the Interface Manual.  
(4) Procedure  
(a) Step 1: Turn on the servo power  
Push either the SERVO POWER ON switch on the controller or the teach pendant.  
The controller SERVO POWER ON lamp should turn on and the OFF lamp should  
turn off. The teach pendant SERVO ON lamp should light up.  
2-6  
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2.4 TURNING OFF THE SERVO POWER  
(1) Function  
Turns off the main power circuit for the servo drivers. Servo control axes will  
change over to the servo-free state, and any brakes will be activated.  
(2) Input format: None  
(3) Comments  
Do not turn the servo power off while the robot is running. When you wish to stop  
the robot in a hurry, push an emergency stop switch instead.  
When about to enter the robot work-space envelope, or when no operator is to be present,  
turn off the servo power for safety reasons. (Note that this does not apply to automatic  
operation.)  
For information on how to turn off the servo power with an external operation signal, see  
the Interface Manual.  
(4) Procedure  
(a) Step 1: Turn off the servo power  
Push the SERVO POWER OFF switch on the controller. The SERVO POWER  
OFF lamp should turn on and the ON lamp should turn off. The teach pendant  
SERVO ON lamp should turn off.  
The lamp  
turns on  
2-7  
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2.5 TURNING OFF THE MAIN POWER  
(1) Function  
Turns off the main power and stops controller processing.  
(2) Input format: None  
(3) Comments  
Do not turn off the main power while the servo power is on or while the controller is  
either processing data or manipulating files. Before turning off the main power,  
make sure that the servo power is off and that the controller is not running.  
(4) Procedure  
(a) Step 1: Remove the disk, if any, from the disk drive  
If there is a disk in the FDD unit (option), check to see that the disk drive light is off  
and then remove the disk.  
(b) Step 2: Turn off the main power  
Turn off the main power switch located on the controller.  
The lamp  
turns off  
SERVO POWER  
EMERGENCY  
POWER  
FAULT  
OFF  
ON  
STOP START  
POWER  
BATTERY  
ALARM  
INT  
CYCLE  
MANU  
STOP  
EXT  
10AT  
The POWER lamp on the controller should turn off.  
2-8  
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CHAPTER 3  
MANUAL OPERATION  
3.1 SELECTING THE MANUAL MODE  
(1) Function  
Changes over to the Manual Mode in which the robot is manually guided, points  
are taught, files are managed and the system is controlled. All of these  
operations are performed with the teach pendant.  
(2) Input format  
None  
(3) Comments  
The Test Operation Mode is classified as a manual mode. However, the Test  
Operation Mode is treated as completely separate in this manual.  
For information on the Test Operation Mode, see Chapter 7,"Test Operation."  
(4) Procedure  
(a) Step 1: Select the Manual Mode  
Turn the master mode switch on the control panel to MANU. The following menu  
should appear on the teach pendant display.  
> ■  
----- (a)  
EDIT LOAD SAVE TESTRUN> RESET NEXT  
----- (b)  
3-1  
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a) Display field for command input and messages  
b) Display field for function key menu  
EDIT  
Edit  
LOAD  
SAVE  
File load  
File save  
TESTRUN  
RESET  
DIR  
COPY  
DEL  
Test operation  
Reset  
Directory display  
File copy  
File deletion  
File renaming  
File printing  
Disk initialization  
File comparison  
Zero point teaching  
Soft limit teaching  
Channel selection  
Date setting  
Time setting  
REN  
PRINT  
FORMAT  
VERIFY  
ZEROP  
JLMIT  
CHANNEL  
DATE  
TIME  
3-2  
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3.2 GUIDANCE COORDINATES  
(1) Function  
Selects a coordinate system in which to guide the robot from among the joint  
coordinates, tool coordinates, work coordinates and world coordinates.  
(2) Input format  
None  
(3) Comments  
Refer to the Introductory Manual for information on robot coordinate systems.  
If a tool, base or work coordinate system has not been taught to the robot, the  
robot will assume:  
(a) The tool coordinate system coincides with the surface of the hand mounting flange.  
(b) The work and world coordinate systems coincide with the base coordinate system.  
When using the tool or work coordinate system, make sure you have selected the  
right one.  
(4) Procedure  
(a) Step 1: Select the tool and work coordinates  
It is possible to have several work and/or tool coordinate systems. Therefore, you  
must select which ones you are going to use with the WORK and TOOL utilities.  
For details, see Chapter 12, "Utilities."  
If you are using joint or world coordinates, this operation is unnecessary.  
(b) Step 2: Select the coordinates  
Push the "Coordinate" key on the teach pendant. Each time you push this key,  
the lamp will cycle one step between World, Work, Tool and Joint.  
The initial setting is Joint.  
3-3  
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3.3 GUIDE MOVEMENT  
There are three types of guide movement: jog, inching and free.  
In the jog mode, the robot will move in the specified direction at the specified speed in the  
specified coordinate system for as long as you hold down the corresponding guide key. The jog  
mode is useful for rough positioning of the robot to get it near the target position.  
In the inching mode, the robot will move in the specified direction at the specified displacement in  
the specified coordinate system. The inching mode is useful for fine positioning of the robot near  
the target position.  
In the free mode, you may release the servo lock on the desired axes and move around the robot  
by hand. The free mode is useful for fine positioning of the robot near workpieces and other  
such objects.  
(1) Function  
Selects the guide movement mode.  
(2) Input format: None  
(3) Comments  
When changing from the free mode to another mode, the servo mechanism on all  
axes will lock-up (change to the locked state).  
(4) Procedure  
(a) Step 1: Select the Manual Mode  
Turn the master mode switch on the control panel to "MANU".  
(b) Step 2: Select the guide movement mode  
Push the "Control" key on the teach pendant. Each time you push this key, the  
lamp will cycle one stop between Jog, Inching and Free.  
The initial setting is Jog.  
3-4  
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3.4 GUIDE SPEED  
(1) Function  
Selects the guide speed or the guide displacement.  
Guide speed will be set if the guide movement mode is set to jog. Guide  
displacement will be set if the guide movement mode is set to inching.  
Set the guide speed or guide displacement in accordance with how far the robot is from the  
target position.  
(2) Input format: None  
(3) Comments: None  
(4) Procedure  
(a) Step 1: Select the guide speed mode  
Push the "Teach Speed" key on the teach pendant. Each time you push this key,  
the lamp will cycle one step between High, Med. and Low.  
The initial setting is Low.  
3-5  
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3.5 GUIDANCE  
Caution  
!
If the guidance is performed manually, do not enter the robot dangerous area.  
If the robot moves abnormally, immediately effect an emergency stop.  
If the robot will not move in the specified direction, consult Toshiba Machine.  
(1) Function  
The robot can be moved in the desired direction by pushing the appropriate guide  
keys when the guide movement mode is set to inching or jog.  
(2) Input format  
The guidance coordinates, guide movement mode and guide speed do not have to  
be set in any particular order. However, they all must be set before pushing any  
guide keys.  
(3) Comments  
When the guide movement mode is set to free, the guide keys do not specify the  
direction the robot is to move; rather, they specify axes for which the servo lock is  
to be released.  
The guide keys will only work while at least one of the deadman switches (on the back of  
the teach pendant) is pushed down. This is to prevent accidents.  
(4) Procedures  
(a) Step 1: Select the Manual Mode  
Turn the master mode switch on the control panel to "MANU".  
(b) Step 2: Set the guidance conditions  
Set the guidance conditions (guidance coordinates, guide movement and guide  
speed) as necessary.  
(c) Step 3: Guidance  
Push the guide keys as appropriate while holding down at least one deadman  
switch (on the back of the pendant). The robot will move as directed in the  
specified coordinate system.  
3-6  
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3.6 SERVO FREE  
(1) Function  
Servo locks can be released for axes as desired when the guide movement mode  
is set to free. Axes in the servo free (i.e., unlocked) state can be moved freely by  
hand. This is convenient when moving the robot near workpieces and other such  
objects.  
(2) Input format  
None  
(3) Comments  
If You change from the servo free state to either the Test Operation Mode, the  
Internal Automatic Mode or the External Automatic Mode, the servo lock will be set  
for all axes.  
The guide keys will only work while at least one of the deadman switches (on the back of  
the teach pendant) is pushed down.  
If you move the robot by hand in the servo free state, other joints may move as well due to  
axial interference.  
You cannot cancel the servo free state while in Feed Hold.  
You can cancel the servo free state while displaying the Error History.  
(4) Procedure  
(a) Step 1: Select the Manual Mode  
Turn the master mode switch on the control panel to "MANU".  
(b) Step 2: Select the guide movement mode  
Push the Guide Movement key on the teach pendant as many times as necessary  
to select "Free".  
(c) Step 3: Release the servo locks  
While pushing down on a deadman switch, push the guide keys on the minus (-)  
side to release the servo locks for the desired axes. Such axes will change over  
to the servo free state.  
(d) Step 4: Guide the robot  
Guide the robot by hand to where you want it to go.  
(e) Step 5: Set the servo locks  
3-7  
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While pushing down on a deadman switch, push the guide keys on the plus (+)  
side for those axes in the servo free state. Such axes will then change over to the  
servo lock state.  
3-8  
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CHAPTER 4  
AUXILIARY SIGNALS  
(1) Function  
Manages auxiliary signals used to control the hand, the air control axes, etc.  
(2) Input format  
None  
(3) Comments  
The output signal port and solenoid type corresponding to each function key must  
be defined (specified) in the system configuration file. For more information, see  
the Start-up Manual.  
Press the "Esc" key to exit the Auxiliary Signal Operation Mode and return back to the  
original menu.  
While under emergency stop or in feed hold, auxiliary signals may be turned on and off.  
The initial state including signals which is set for double solenoids in the power ON state is  
turned off.  
4-1  
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(4) Procedure  
(a) Step 1: Select the Manual Mode  
Turn the master mode switch on the control panel to "MANU".  
(b) Step 2: Select the Auxiliary Signal Operation Mode  
Push the "Aux. Signal" key on the teach pendant. The Auxiliary Signal Operation  
Mode menu should then appear.  
Auxiliary signal operation mode  
[210]  
[209]  
Aux 2  
[212]  
[211]  
Aux 3  
[214]  
[213]  
Aux 4  
[208]  
Aux 1  
Aux 5  
Aux 6  
The numbers on the screen correspond to the output signal ports. Auxiliary  
signals having two output signal ports are set for double solenoids, and those  
having one output signal port are set for single solenoids. Those having no  
output signal ports are not set for anything.  
Ports that are highlighted in the display are on and ports that are not are off.  
(c) Step 3: Turn ports on and off as appropriate  
Each time you push a function key corresponding to a port, the status of the  
solenoid will change from on to off or from off to on. For double solenoids, the  
status of the two ports will be transposed.  
4-2  
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