Toshiba TS1000 Startup Manual
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Toshiba TS1000 Startup Manual

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STARTUP MANUAL
• Make sure that this instruction manual is delivered to the
final user of Toshiba Machine's industrial robot.
• Before operating the industrial robot, read through and
completely understand this manual.
• After reading through this manual, keep it nearby for future
reference.
TOSHIBA MACHINE CO., LTD.
Notice
TOKYO, JAPAN
STE 71282-2

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Summary of Contents for Toshiba TS1000

  • Page 1 STARTUP MANUAL Notice • Make sure that this instruction manual is delivered to the final user of Toshiba Machine's industrial robot. • Before operating the industrial robot, read through and completely understand this manual. • After reading through this manual, keep it nearby for future reference.
  • Page 2 STARTUP MANUAL Copyright 2001 by Toshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd. The information contained in this manual is subject to change without prior notice to effect improvements.
  • Page 3 Be sure to read through this manual before unpacking the shipment containing the robot. [Operator’s Manual] This manual deals with the TS1000 controller operating procedures. Read through this manual before operating the robot, and refer to it as necessary. [Robot Language Manual] This manual refers to the robot language called "SCOL".
  • Page 4 STARTUP MANUAL [Communication Manual] This manual describes the serial communication between the robot controller and other equipment. Refer to this manual when connecting the robot controller with a host computer, optical sensor, etc., via a serial cable. STE 71282 – 3 –...
  • Page 5 STARTUP MANUAL 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 assure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual.
  • Page 6 STARTUP MANUAL [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 Prohibited which will hinder the operation. If the equipment went wrong, a person nearby will be injured or involved in an accident.
  • Page 7 STARTUP MANUAL CAUTION • DO NOT change the data of the system structure file. Otherwise, the robot will move 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.
  • Page 8 STARTUP MANUAL 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 the good condition. Mandatory (2) Make sure that no obstacle stands in or near the working range of the robot and peripheral equipment.

  • Page 9: Table Of Contents

    STARTUP MANUAL Table of Contents Page Before Power ON.................... Control Panel ..................Teach Pendant..................Power ON ....................... Power ON..................... Emergency Stop................... Servo ON ..................... Main Display..................Power OFF................... Manual Operation ................... Enable Switch ..................Joint Guide ................... Guide in Cartesian Coordinate System ..........Programming ....................

  • Page 10: Before Power On

    STARTUP MANUAL Before Power ON Before turning the power on, confirm the following matters, referring to the Installation & Transport Manual. Is the robot secured? Four (4) M8 hexagon socket head cap screws Is the power supply connected? POWER EMERGENCY SERVO SERVO STOP...
  • Page 11 STARTUP MANUAL Are the cables between the controller and robot connected? EMERGENCY POWER SERVO SERVO STOP CYCLE ALARM SELECT RESET TEACHING LINE INTERNAL MODE USER EXT. SIGNAL ALARM EXT. HOST Robot Controller Is the I/P jumper connector connected? Is the teach pendant (TP) connected? EMERGENCY POWER SERVO...

  • Page 12: Control Panel

    STARTUP MANUAL Control Panel The control panel is shown below. EMERGENCY POWER SERVO SERVO STOP CYCLE ALARM SELECT RESET TEACHING LINE INTERNAL MODE USER EXT. SIGNAL ALARM EXT. HOST SERVO ON, SERVO OFF : Used to turn on and off the servo power. : Used to start the internal automatic mode operation.

  • Page 13: Teach Pendant

    STARTUP MANUAL Teach Pendant Display EMERGENCY STOP switch SERVO ON pushbutton switch Guidance condition LED lamp Enable switch Guide keys STE 71282 – 12 –...

  • Page 14: Power On

    STARTUP MANUAL Power ON Power ON If an error has occurred or if the POWER LED equipped on the control panel will not illuminate when the main CAUTION power switch of the controller was turned on, turn the power off immediately and check for the wiring. Otherwise, you will be involved in an electric shock or a fire.

  • Page 15: Emergency Stop

    STARTUP MANUAL Emergency Stop If a problem related to safety has occurred in the robot or peripheral equipment, press the EMERGENCY stop pushbutton switch immediately. The robot stops instantly with the servo power turned off. EMERGENCY stop switch Control panel Teach pendant EMERGENCY POWER...

  • Page 16: Servo On

    STARTUP MANUAL Servo ON If the robot has operated abnormally when the servo power was turned on, press the EMERGENCY stop CAUTION switch immediately to turn the servo power off. Before entering the working envelope of the robot, be sure to turn the servo power off. Select "TEACHING"...

  • Page 17: Main Display

    STARTUP MANUAL Main Display Turn the power on, select the TEACHING mode by means of the MODE switch and turn the servo power on. M O D E : T E A C H I N G / C O N T 2 0 % M : F R E E S : S T O P...
  • Page 18 STARTUP MANUAL (Machine) On the TS1000 screen, "FREE" is always indicated. (Status) Indicates the program run status of the controller. The run status comes in the following four (4) types. During program execution STOP RESET During stop of initialization mode (When the RUN mode takes effect, the program is executed from the top.)

  • Page 19: Power Off

    STARTUP MANUAL Power OFF Make sure that the robot is not working. EMERGENCY POWER Make sure that the red-colored STOP lamp equipped on the control panel is SERVO SERVO illuminated. Unless the STOP lamp is illuminated, STOP CYCLE press the STOP switch and wait until ALARM SELECT RESET...

  • Page 20: Manual Operation

    STARTUP MANUAL Manual Operation Enable Switch To manually guide the robot, set ON the enable switch. Enable switch When gripped light, the switch turns When gripped strong, the switch turns off. (The robot stops) The robot cannot be guided manually if the enable switch is set OFF.

  • Page 21: Joint Guide

    STARTUP MANUAL Joint Guide Turn on the controller power, select "TEACHING for the master mode and turn on the servo power. Select the guidance coordinate system. Press the COORDINATE key to select the guidance coordinate system. Each time the key is pressed, the status of the guidance coordinate system select lamps on the keyboard changes as shown below.
  • Page 22 STARTUP MANUAL Press the SPEED key to change the guide speed, then move the robot in the plus (+) and minus (–) directions by means of the –X –1 keys. Press the REMOTE key to change –1 the guidance mode to "INCHING", and move the robot by inching, –X using the...
  • Page 23 STARTUP MANUAL [12] Move the axis 4 by means of the –C +4 and –4 keys. –1 –4 STE 71282 – 22 –...

  • Page 24: Guide In Cartesian Coordinate System

    STARTUP MANUAL Guide in Cartesian Coordinate System Select the guidance conditions. Press the COORDINATE key to select "WORLD". Press the SPEED key to select a guide speed. Press the REMOTE key to select "JOG" or "INCHING". Set ON the enable switch. Move the robot in the X-axis direction by means of the –X...
  • Page 25 STARTUP MANUAL Press the UTILITY key, and the teach pendant display as shown below is called. R O B O T U T I L I T Y A U X I / O P O S T R A N S W K –...

  • Page 26: Programming

    STARTUP MANUAL Programming Now, let's create a simple program in which the robot moves from P1 to P2. Starting Editor Press the MODE key equipped on the control panel to select "TEACHING" for the master mode. Make sure that [EDIT] is assigned to the [F1] key of the function menu. M O D E : T E A C H I N G / C O N T 2 0 % M : F R E E...
  • Page 27 STARTUP MANUAL When [EDIT] is selected, the file select screen appears. ( 0 0 1 / 0 0 6 ) F I L E S E L E C T A U T O S T R . B A T N o v –...
  • Page 28 STARTUP MANUAL The display changes as shown below. F I L E 0 0 0 5 . 0 1 2 1 2 3 4 5 6 F e b – 1 6 – 2 0 0 1 > T E S T _ N A M E T I M E I N P U T...
  • Page 29 STARTUP MANUAL The alphabetic input and numeric input modes can be changed over alternately by pressing the ALPH key. When the numeric input mode is selected, the key lamp is turned on. Numeric key input Select the numeric input (NUM) mode and press an appropriate numeric key. Example: To input number "8", press TUV key.

  • Page 30: Entering Program

    STARTUP MANUAL Entering Program Program editor File name currently edited Cursor position Cursor line T E S T C : 1 L : 1 Cursor S A V E D E D I T J U M P F I N D C H A N G >...

  • Page 31: Entering Data (Teach Points)

    STARTUP MANUAL Entering Data (Teach Points) Start of data editor Make sure that "DEDIT" is assigned to the [F2] key of the function menu on the program editor screen. S A V E D E D I T J U M P F I N D C H A N G >...
  • Page 32 STARTUP MANUAL Enter teach point name "P1" and press the EXE key. w / . w o r l S A V E D E D I T F U L L T R A N S P Y L D >...
  • Page 33 STARTUP MANUAL Press the [F3] key and teach the current robot position. T E A C H : P R E S S < E X E > w / . w o r l d N O S A V F I N D T E A C H M –...
  • Page 34 STARTUP MANUAL To display the teach points in detail, press the [FULL] key of the function menu. 1 0 ] 3 0 0 . 0 0 0 C O N F I G : F R E E 3 0 0 . 0 0 0 3 0 0 .

  • Page 35: Quitting Editor

    STARTUP MANUAL Quitting Editor Press the NEXT key a few times to display [SAVE]. w / . w o r l d S A V E D E D I T F U L L T R A N S P Y L D >...

  • Page 36: Starting Program

    STARTUP MANUAL Starting Program Selecting Program Select program "TEST" which was created in Section 4 above. Select "TEACHING" for the master mode by pressing the MODE switch provided on the control panel. Make sure that [SEL] is assigned to the [F3] key of the function menu. M O D E : T E A C H I N G / C O N T 2 0 % M : F R E E...
  • Page 37 STARTUP MANUAL When "TEST" is displayed, press the EXE key again. When the program has been selected correctly, the file name of the selected program is displayed at the top of the screen. M O D E : T E A C H I N G / C O N T T E S T 2 0 % M : F R E E...
  • Page 38 STARTUP MANUAL Once the program has been selected, it is compiled. ("Compile" signifies the program check and conversion of the program into a format which the robot controller can operate arithmetically at high speed.) If an error is found in the program at this time, an alarm is generated without selecting the program.

  • Page 39: Test Operation

    STARTUP MANUAL Test Operation A programmed operation in the TEACHING mode is called the "test operation." Change the speed override. The current override value is shown by "O: %" on the right side of the screen. M O D E : T E A C H I N G / C O N T T E S T 2 0 % M : F R E E...
  • Page 40 STARTUP MANUAL Press the NEXT key to assign [STEP] to the [F4] key of the function menu. Press the [F4] key then. R E S E T M O D E : S T E P C O N T C Y C L E S E G S T E P...
  • Page 41 STARTUP MANUAL R E S E T M O V E E D I T D E D I T S E L R U N F I L E > To terminate the step operation, press the EXE key. Cycle operation Press the NEXT key to assign [CYCLE] to the [F2] key of the function menu.
  • Page 42 STARTUP MANUAL The robot executes to the end command of the program and stops. Press the NEXT key to assign [CONT] to the [F1] key of the function menu. Press the [F1] key then. R E S E T M O D E : C O N T C O N T C Y C L E S E G...
  • Page 43 STARTUP MANUAL To stop the ongoing robot operation, the break and feed hold functions are also available, in addition to the stop function. To use the break function, select [BREAK] from the function functions. Then the robot will decelerate and stop even during the motion command. To resume the operation, select [RUN] from the function menu.

  • Page 44: Internal Automatic Operation

    STARTUP MANUAL Internal Automatic Operation Select "INTERNAL" for the master mode by pressing the MODE switch provided on the control panel. Before starting the operation, confirm the selected program name, operation mode and override set value. M O D E : I N T E R N A L / C O N T T E S T Selected program 1 0 %...

  • Page 45: Input/Output Control

    STARTUP MANUAL Input/Output Control You can use the UF1 and UF2 switches and LEDs equipped on the control panel as the user's I/Os. This section describes the programs, using the I/Os of the control panel. For the other I/Os (i.e., standard input/output and hand input/output), see the Interface Manual.

  • Page 46: I/O Control Program

    STARTUP MANUAL I/O Control Program Program using an input signal Now, let's change the program created in Section 4. PROGRAM MAIN ······ Start of main program MOVE P1 ······ Move to point P1 MOVE P2 ······ Move to point P2 WAIT DIN (17) ······...
  • Page 47 STARTUP MANUAL Program using an output signal Now, let's change the program in Para. [1] above. PROGRAM MAIN ······ Start of main program MOVE P1 ······ Move to point P1 DOUT (17) ······ Output 17 (UF1 lamp) turns on. MOVE P2 ······...
  • Page 48 START-UP MANUAL APPROVED BY: CHECKED BY: PREPARED BY: STE 71282 – 47 –...

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