Toshiba ste 58761 manuel d'utilisation

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Un bon manuel d’utilisation

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Qu'est ce que le manuel d’utilisation?

Le mot vient du latin "Instructio", à savoir organiser. Ainsi, le manuel d’utilisation Toshiba ste 58761 décrit les étapes de la procédure. Le but du manuel d’utilisation est d’instruire, de faciliter le démarrage, l'utilisation de l'équipement ou l'exécution des actions spécifiques. Le manuel d’utilisation est une collection d'informations sur l'objet/service, une indice.

Malheureusement, peu d'utilisateurs prennent le temps de lire le manuel d’utilisation, et un bon manuel permet non seulement d’apprendre à connaître un certain nombre de fonctionnalités supplémentaires du dispositif acheté, mais aussi éviter la majorité des défaillances.

Donc, ce qui devrait contenir le manuel parfait?

Tout d'abord, le manuel d’utilisation Toshiba ste 58761 devrait contenir:
- informations sur les caractéristiques techniques du dispositif Toshiba ste 58761
- nom du fabricant et année de fabrication Toshiba ste 58761
- instructions d'utilisation, de réglage et d’entretien de l'équipement Toshiba ste 58761
- signes de sécurité et attestations confirmant la conformité avec les normes pertinentes

Pourquoi nous ne lisons pas les manuels d’utilisation?

Habituellement, cela est dû au manque de temps et de certitude quant à la fonctionnalité spécifique de l'équipement acheté. Malheureusement, la connexion et le démarrage Toshiba ste 58761 ne suffisent pas. Le manuel d’utilisation contient un certain nombre de lignes directrices concernant les fonctionnalités spécifiques, la sécurité, les méthodes d'entretien (même les moyens qui doivent être utilisés), les défauts possibles Toshiba ste 58761 et les moyens de résoudre des problèmes communs lors de l'utilisation. Enfin, le manuel contient les coordonnées du service Toshiba en l'absence de l'efficacité des solutions proposées. Actuellement, les manuels d’utilisation sous la forme d'animations intéressantes et de vidéos pédagogiques qui sont meilleurs que la brochure, sont très populaires. Ce type de manuel permet à l'utilisateur de voir toute la vidéo d'instruction sans sauter les spécifications et les descriptions techniques compliquées Toshiba ste 58761, comme c’est le cas pour la version papier.

Pourquoi lire le manuel d’utilisation?

Tout d'abord, il contient la réponse sur la structure, les possibilités du dispositif Toshiba ste 58761, l'utilisation de divers accessoires et une gamme d'informations pour profiter pleinement de toutes les fonctionnalités et commodités.

Après un achat réussi de l’équipement/dispositif, prenez un moment pour vous familiariser avec toutes les parties du manuel d'utilisation Toshiba ste 58761. À l'heure actuelle, ils sont soigneusement préparés et traduits pour qu'ils soient non seulement compréhensibles pour les utilisateurs, mais pour qu’ils remplissent leur fonction de base de l'information et d’aide.

Table des matières du manuel d’utilisation

  • Page 1

    STE 58761 INSTRUCTION MANUAL INDUSTRIAL ROBOT SR SERIES OPERA TING MANUA L Notice 1. Make sure that this Ins truction Manual is delivered to the final user of the T oshiba I ndustrial Robot. 2. Please read this manual before installing or operating the T oshiba Industrial Robot, and keep the manual nearby for further reference during use o f the ro[...]

  • Page 2

    STE 58761 - - i Copyright 1997 by T oshiba Machin e Co., Ltd. All rights reserv ed. No part of this document may be reproduced in any form without obtaining prior written permission from the T oshiba Machine Co., Ltd. The information contained in this manual is subject to change without notice.[...]

  • Page 3

    STE 58761 - - ii PREF ACE This Manual describes how to utilize various robot system fu nctions in order to manually guide the robot with the teach pendan t, edit programs, compile data and carry out automatic oper ation. This manual is directed at the robo t operator . Before readin g this manual, he or she should first read the Introductory Ma[...]

  • Page 4

    STE 58761 - - iii 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 ne cessary to apply to the se limitatio ns and notes. (1) Setup conditions ◆ The following type of power line transformer m ust be used. Frequenc[...]

  • Page 5

    STE 58761 - - iv (6) Limitation on the robot specifications ◆ Cable lengt h from robot to controller: Max. 8 m ◆ Cable length of teach pend ant: Max. 8 m ◆ Optio nal axis 5: Can not be used . ◆ Op tional input/outpu t signals (type; SR-5500IO): Only one optional board can be used. ◆ Optio nal relay output signals (type; SR-5500RO): Ca[...]

  • Page 6

    STE 58761 - - v This Manual describes how to utilize various robot system functions in order to manually guide the robot with the teach pendan t, edit programs, compile data and carry out automatic oper ation. This manual is directed at the robo t operator . Before readin g this manual, he or she should first read the Introductory Manual and th[...]

  • Page 7

    STE 58761 - - vi Cautions on Safety This manual contains the important information on the robot and controlle r to prevent injury to the operators and pers ons nearby , to pre vent damage to assets and to ensure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual. Al ways ob[...]

  • Page 8

    STE 58761 - - vii [Operation] ! Danger Prohibited • During operation, NEVER enter the dangerous area of the rob ot. Otherwise, you w ill be injured seriously . • DO NOT leave in the working range any machinery or materials which will hinder the operation. If the equ ipment went wrong, a person nearby will be injured or involved in an accide[...]

  • Page 9

    STE 58761 - - viii ! Caution Prohibited • DO NOT change the data of the system structur e file. Otherwise, the robot will oper ate abnormally , resulting in d amage or an accident. ! Mandatory • In principle, te aching operation should be perfor med outside the dangerous area of the robot. If it should be performed in evitably within the da[...]

  • Page 10

    STE 58761 - - ix ! Caution ! Mandatory • Before operating the equipment, pe rform the following inspection. (1) Make sure that visu al appearance of the robot, contro ller , 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[...]

  • Page 11

    STE 58761 - - x T ABLE OF CONTEN TS CHAPTER 1 BEFORE OPERA T ING YOUR ROBOT 1.1 OVERVIEW OF CONTROL FUNCTIONS ・・・・・・・・・・・・ 1-1 1.2 MODE STRUCTURE ・・・・・・・・・・・・・ ・・・・・・・・ 1-3 1.2.1 External Automatic Mode ・・・・・・・・・ ・・・・・・・・・ 1-4 1.2.2 Internal Au[...]

  • Page 12

    STE 58761 - - xi CHAPTER 3 MANUAL OP ERA TION 3.1 SELECTING THE MAN UAL MODE ・・・・ ・・・・・・・・・・ 3-1 3.2 GUIDANCE COORDINA TES ・・・・・・・・・・・・・・・・・・ 3-3 3.3 GUIDE MOVEMENT ・・・・・・・・・・・・・・・・・・・・・ 3-4 3.4 GUIDE SPEED ・・・・・・・・・・・[...]

  • Page 13

    STE 58761 - - xii 5.5.10 Delet e Block ・・・・・・・・・・・・・・・・・・・・・・ 5-43 5.5.1 1 Copy Block ・・・・・ ・・・・・・・・・・・・・・・ ・・・ 5-45 5.5.12 Rena me F ile ・・・・・・・・ ・・・・・・・・・・・・・・ 5-48 5.5.13 Search ・・・・・・・・・・?[...]

  • Page 14

    STE 58761 - - xiii 6.7 EDITING COORDI NA TE DA T A ・・・・・・・・・・・・・・・・ 6-42 6.7.1 Coordinate-data Edit-mode Selection ・・・・・・・・・・ ・・・ 6-42 6.7.2 T eaching Coordinate Data ・・・・・・・・・・・・・・・・・ 6-44 6.7.3 Numerical Input of Coordin ate Data ・・・・・・・?[...]

  • Page 15

    STE 58761 - - xiv CHAPTER 8 INTERNAL AUTOMA TIC OPERA TION 8.1 SELECTING THE INTERN AL AUTOMA TIC MODE ・・・・・・・ 8-2 8.2 PROGRA M SELEC TION ・・ ・・・・・・・・・・ ・・・・・・・ 8-4 8.3 OPERA TION MODE SELECTION ・・・・・・・・・・・・ ・・・ 8-6 8.4 SPEED OV ERRIDE ・・・・・・・・・?[...]

  • Page 16

    STE 58761 - - xv CHAPTER 10 SYSTEM CONTROL 10.1 S ETTING THE DA TE ・・・・・・・・・ ・・・・・・・・・・ ・ 10-1 10.2 S ETTING THE TIME ・・・・・・・・・・・・・・・・・・・・ 10-4 10.3 CH ANNEL SELECTION ・・・・・・・・・・・・・・・・・・ 10-7 10.4 RE SET ・・・・・・・・?[...]

  • Page 17

    STE 58761 - - xvi CHAPTER 14 JOINT LIMIT SETTING 14.1 SELECTI NG JOINT LI MIT SETTING MODE ・・・・・・・・・・ 14-1 14.2 JOINT LIMIT TEACHING ・・・・・・・・・・ ・・・・・・・・ 14-3 14.3 INPUTTING NUMERIC V ALUES FOR JOINT LIMITS ・・・・・・ 14-5 APPE NDIX A TEACH PENDANT MESSAGE T ABLE ・・・・ ・・[...]

  • Page 18

    STE 58761 - - 1-1 CHAPTER 1 BEFORE OPERA TING YO UR ROBOT 1.1 OVERVIEW OF CONTROL FUNCTIONS Function Description Control Panel Teaching pendant External control signals Main power ON/OFF Used to turn the main power on or off. 〇 Servo power ON/OFF Use to turn the power for th e servo on or off. 〇 △ (On only) 〇 Master mode selection Used [...]

  • Page 19

    STE 58761 - - 1-2 Function Description Control Panel Teaching pendant External control signals Present pos ition monitor Used to display the present po sition of the robot in terms of the various coordin ate system. 〇 External I/O sig nal monitor Used to display the status of digital I/O s ignals. 〇 File selection Used to sele ct a file for[...]

  • Page 20

    STE 58761 - - 1-3 1.2 MODE STRUCTURE Exter nal Autom atic Mode (EXT) The External Automatic Mode is use d to automatically operate the robot by program . This operation is performed with external contr ol signals or signals from a host computer . Intern al Automati c Mode (INT) The Internal Automa tic Mode is used to automatically operate the r[...]

  • Page 21

    STE 58761 - - 1-4 1.2.1 External Automatic Mode External Op eration Signal Mode (SIG) This mode is used to perform the program autom atic operation. This operation is carried out with external operatio n signals. For de tails, see the Interface Manual. External Automatic Mode (EXT) Host Mode (HOST) This mode is used to perform the program autom[...]

  • Page 22

    STE 58761 - - 1-5 1.2.3 Manual Mode Edit (EDIT) Edits programs and data (positional dat a, coordinate data and load data). T est Operation (TESTRUN) Checks to see that programs run p roperly . File Load (LOAD) Loads a file from the di sk into the RAM drive. File Save (SA VE) Saves a file i n the RAM drive onto th e disk. Disk Initializati on (F[...]

  • Page 23

    STE 58761 - - 1-6 1.2.4 Edit Screen editor Program editing Programs and glo bal data are created and ed ited by entering an d deleting char acters, by se lecting command menus and by selecting SCOL menus. Editing Data ed itor Positional data edit ing Positional data are created and edited by teaching and by entering nu mbers. Work coordinate sy[...]

  • Page 24

    STE 58761 - - 1-7 1.2.5 T est Operation Program Selection (SELECT) Selects a program for execution. Operation Mode Selection (MODE) Selects an operation mode. S peed Override (MSPEED) Selects the speed overr ide. S peed Limit (LSPEED) Sets the speed limit. Machine Lock (MACHINE) Enables and disables the machin e lock. S tep Execution (STEP) Exe[...]

  • Page 25

    STE 58761 - - 1-8 1.3 PRECAUTIONS FOR USE For the conn ection of FDD u nit (option), see the Interf ace Manual. 1.3.1 Handling Disks (1) General precautions (a) Don’t open the shutter section. The disk will be unusa ble should any dirt get on the magnetic sur face. ' I~ (b) Keep away from speaker s or other devices which create strong ma[...]

  • Page 26

    STE 58761 - - 1-9 (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. T he floppy disk should pop out a little ways f rom the slot. (b) G rip the disk with your fingers at the label sectio n a[...]

  • Page 27

    STE 58761 - - 1-10 1.4 GENERAL OPERA TION 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 char acter on that key will be input. (1) Entering the low er character T o enter the lo wer character on a key , simply push that key . Exa[...]

  • Page 28

    STE 58761 - - 1-1 1 1.4.2 Use of the Function Keys In order to make it easier to input data, the teach pen dant is provided wi th 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 cor[...]

  • Page 29

    STE 58761 - - 1-12 1.4.3 Repeating an Entry The repeat operation is available for the fo llowing keys. [Bs], [Esc], [Exec] Guide key [Move] Curso r ke ys [Coordinates], [T each S peed ], [Control] 1.4.4 Correcting Incorrect Ent ries Use the "Bs" key to erase any characters which were incor rectly entered. Examp le: (Correct) TIME 13:5[...]

  • Page 30

    STE 58761 - - 1-13 1.4.6 Use of Wild Cards Y ou may use the wild cards * and ? when specifying files with the directory [DIR], dele te [DEL], print [PRINT] , file s ave [SA VE] or file load [LOAD] command. Wild cards are used to simult aneously specify multiple files. Using wild cards correctly can save time and increase efficiency when specify[...]

  • Page 31

    STE 58761 - - 1-14 1.4.7 For mat for Operating Instructions The following format is used in this manua l to explain how to use commands. T itle [command name] (1) Function Explains the purp ose of the command and what it does. (2) Input format Explains the input format fo r operation. An input consists of a command and paramete rs. Listed below[...]

  • Page 32

    STE 58761 - - 1-15 1.5 ASSIGNING NAMES 1.5.1 Assigning the V olume Name When a disk is in itialized, you ca n assign a n ame to th at disk. Thi s is the volume name. In order to simplify disk handlin g, you should keep your files sorted by task and put related files on the same disk. Also, be sure to give the d isk a descriptive, easy to und er[...]

  • Page 33

    STE 58761 - - 1-16 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[...]

  • Page 34

    STE 58761 - - 1-17 1.5.3 Ass igning a Point Name When entering positional data for a poin t, you have to assign a name to that point. Th is name will be used later in the progra m 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 examp le). The [...]

  • Page 35

    STE 58761 - - 1-18 1.5.4 Assigning a Name to Coordinate Data When entering co ordinate da ta for a work coo rdinate syste m, a to ol coordinate system or the base coordinate system, you have to assign a coor dinate name to that data. This name will be used later in the progra m when telling the robot which coordinate system to use. Coordinate n[...]

  • Page 36

    STE 58761 - - 1-19 1.5.5 Ass igning a Name to Load Dat a 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 sho wn in the example below: SAMPLE1 SAMPLE1 is the load name (in this example). [...]

  • Page 37

    STE 58761 - - 2-1 CHAPTER 2 BASIC OPERA TION 2.1 BASIC OPERA TING PR OCEDURE The following flowchart sho ws the basic operating procedure for automa tic operation. It covers all operations from turning on th e power to turning of f the pow er . START Turn on main power Turn on servo power program edit end? Turn off main power Turn off[...]

  • Page 38

    STE 58761 - - 2-2 2.2 TURNING ON THE MA IN POWER There are tw o ways t o start up the controller - c old starting a nd hot st arting. Normally , only the hot starting is required . For details, see Para. 2.2.2. 2.2.1 Cold S tarting ! Danger If an abnormality has gene rated or the POWER LED lamp on the control panel remains off after the main po[...]

  • Page 39

    STE 58761 - - 2-3 Files marked by an asterisk are not ab solutely necessary to run the system. Ho wever , you will get an error if you try to execute a function d ependent on a missing file. For more information on these files, see th e S tart-up Manual. (4) Procedure (a) S tep 1: Insert the system disk Insert the s ystem disk in to the FDD uni[...]

  • Page 40

    STE 58761 - - 2-4 2.2.2 Hot S tarting ! Cautio n If an abnormality has gene rated or the POWER LED lamp on the control panel remains off after the main powe r switch of the equi pment was turne d on, turn of f the main pow er immediately and confirm the wiring. Otherwise, you will be st ruck by an electric shock or a fire will break out. When h[...]

  • Page 41

    STE 58761 - - 2-5 (4) Procedure (a) S tep 1: T urn on the main pow er First, make sure that the s ystem 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 controller will start initializing the syst em. The disk drive light will blin[...]

  • Page 42

    STE 58761 - - 2-6 2.3 TUR NING ON THE SERVO POWER ! Cautio n ・ If the robot moves abnormally at the servo power ON, press the EMERGENCY STOP switch immediately to turn the servo power off. ・ If an yone enters the ro bot dangerous area, tu rn the servo power off beforehand. (1) Function T urns on the main power ci rcuit for the serv o driver[...]

  • Page 43

    STE 58761 - - 2-7 2.4 TURNING OFF TH E SERVO POWER (1) Function T urns off the main power circuit for the servo drivers. Servo c ontrol axes wi ll change over to the servo-free state, and any brakes will be activated. (2) Input format: None (3) Commen ts Do not turn the servo po wer off while the robot is running. When you wi sh to stop the rob[...]

  • Page 44

    STE 58761 - - 2-8 2.5 TURNING OFF THE MAIN POWER (1) Function T urns off the main power and stops controller processing. (2) Input format: None (3) Commen ts Do not turn off the main power w hile the servo power is on or w hile the controller is either processing data or manipulating files. Before turning of f the main power , make sure that th[...]

  • Page 45

    STE 58761 - - 3-1 CHAPTER 3 MANUAL OPE RA TION 3.1 SELECTING THE MANUAL MODE (1) Function Changes over to the Manual Mode in w hich the robot is man ually guided, points are taught, files are managed and the system is controlled. All of these operations are performed with the teach pendant. (2) Input forma t None (3) Commen ts The T est Operati[...]

  • Page 46

    STE 58761 - - 3-2 a) Display field for command input and messages b) Display field for function key men u EDIT Edit LOAD File load SA VE File save TESTRUN T est operation RESET Reset DIR Directory display COPY File copy DEL File deletion REN File renaming PRINT File printing FORMA T Disk initialization VERIFY File comparison ZEROP Zero point te[...]

  • Page 47

    STE 58761 - - 3-3 3.2 GUIDANCE COORDINA TES (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 for mat None (3) Commen ts Refer to the Introductor y Manual for information on robot coordinate systems. If a tool, base or work c[...]

  • Page 48

    STE 58761 - - 3-4 3.3 GUIDE MOVEMENT There are three types of gu ide movement: jog, inching and free. In the jog mode, the robot will move in the specified dire ction at the specified speed in the specified coordinate system for as long as you hold down the corresp onding guide key . The jog mode is useful for rough positioning of the robot to [...]

  • Page 49

    STE 58761 - - 3-5 3.4 GUIDE SPEED (1) Function Selects the guide speed or the guide displacement. Guide speed will be se t if the guide movemen t mode is set to jog. Guide displacement will be se t if the guide movemen t mode is set to inching. Set the guide speed or guide displacement in accordan ce with how far the robot is fr om the target p[...]

  • Page 50

    STE 58761 - - 3-6 3.5 GUIDANCE ! Cautio n ・ If the guidance is performed manually , do not e nter the robot dangerous ar ea. ・ If the robot move s abnormally , immediately eff ect an emer gency stop . ・ If the robot will not move in the specif ied direction, c onsult T oshiba Machine. (1) Function The robot can be moved in the desired dir[...]

  • Page 51

    STE 58761 - - 3-7 3.6 SERVO FREE (1) Function Servo locks can be released for axes as desired when the guide mov ement mode is set to free. Axes in the serv o free (i.e., unlocked) s tate can be moved freely by hand. This is con venient when mo ving the robot near workpieces and other such objects. (2) Input forma t None (3) Commen ts If Y o u [...]

  • Page 52

    STE 58761 - - 3-8 While pushing down on a deadman switch, push the guide ke ys on the plus (+) side for those axes in the servo free state. Such axes will then change ov er to the servo lock state.[...]

  • Page 53

    STE 58761 - - 4-1 CHAPTER 4 AUXI LIAR Y SIGNALS (1) Function Manages auxiliary signals u sed to control the hand, th e air control axes, etc. (2) Input forma t None (3) Commen ts The output s ignal port an d solenoid type c orresponding to e ach function key must be defined (specifie d) in the system configuration file. For more information, se[...]

  • Page 54

    STE 58761 - - 4-2 (4) Procedure (a) S tep 1: Select the Manual Mode T urn the master mode s witch on the control panel to "MANU". (b) S tep 2: Selec t the Auxiliary Signal Operation Mode Push the "Aux. Signal" key on the teach pendant. The Auxiliary Signal Operation Mode menu s hould then appear . Auxiliary signal operation [...]