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.
Preface The training session you are going to attend this time is the FA school robot course. This textbook describes the robot language and basic operating procedures for the user who will operate the SR–H series industrial robot (robot controller SR7000) in his plant or factory. For the detailed specifications and usage of the robot, see the appropriate specifications manual and instruction manual.
Industrial Robot Training Schedule C Course (SR–H Robot): 2.
Robot SR–654HSP Robot controller SR7000 Teach pendant STE 58769 –4–
Table of Contents Page 1. General Descriptions ...................................................................................... 1.1 Basic Robot and Controller .................................................................. 1.2 Coordinate System of the Robot .......................................................... 1.3 External Input/Output Signals............................................................... 1.4 Mode System ........................................................................
Page 5. Maintenance and Inspection ........................................................................... 5.1 Maintenance Schedule......................................................................... 5.2 Maintenance/Inspection Items.............................................................. 85 85 87 6. Exercises of Robot Language SCOL ..............................................................
1. General Descriptions 1.1 a) Basic Robot and Controller 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.
b) Names of the parts of the controller (1) Controller ⑯ ⑮ ⑧ ⑨ ⑩ SERVO POWER OFF ⑪ ⑦ EMERGENCY J1 ON POWER STOP J2 ③ PC ④ FDD ⑬ START FAULT BATTERY ALARM POWER DC24V C.P.
14) Master mode key switch: switch to select a robot mode EXT: External automatic mode INT: Internal automatic mode MANU: Manual mode Power lamp Fault lamp: controller’s fault lamp Buzzer: it sounds continuously when a fault is detected (since built in, it is not visible from outside). Battery alarm lamp: turns on or blinks when replacement of batteries is necessary.
6) Delete key: 7) 8) 9) 10) 11) 12) 13) Bs (backspace) key: Ctrl (control) key: Shift key Alt key Run key Cursor keys Error display key: 14) 15) Utility key: Auxiliary signal key: 16) Move key: 17) 18) 19) 20) 21) 22) 23) 24) Key to delete a letter on which the cursor is placed. Key to delete a letter just before the cursor.
c) Composition of robot system Basic composition: Composed of the robot body, controller, teaching pendant, and the FDD unit SERVO POWER OFF ON STOP START EMERGENCY POWER Robot FAULT BATTERY ALARM Basic robot cable EXT INT MANU CYCLE STOP Portable (option) Robot controller FDD unit (option) FDD cable SERVO POWER OFF EMERGENCY J1 ＳＲ７０００ FDD UNIT Teach pendant (option) ON POWER J2 TOSHIBA PC STOP START SR-5500 FAULT BATTERY ALARM POWER CC24V C.P.
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: 3 cables. Standard cable is 5 m long. Optional cables can be 30 m at the maximum. TP cable: 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.
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.
A Zt Xt 0t Yt Tool coordinate system ZB A XB Zw 0B YB Xw 0w Yw Base coordinate system World coordinate system Zw 0w Xw Yw Note) A plural number of work coordinate system and tool coordinate system can be set.
1.3 External Input/Output Signals a) External interface Panel is separated (option).
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.
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.
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.
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.
Pin Sensor 1 2 3 4 5 6 7 JOFS Solenoid valve, etc.
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.
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.
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.
