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Toshiba SR-H Series manual

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Table of contents for the manual

  • Page 1

    STE 58769– INSTRUCTION MANUAL TOSHIBA MACHINE'S FA SCHOOL TEXTBOOK FOR ROBOT TRAINING COURSE INDUSTRIAL ROBOT SR–H SERIES (ROBOT CONTROLLER: SR7000) May, 1998 TOSHIBA MACHINE CO., LTD. TOKYO, JAPAN[...]

  • Page 2

    STE 58769 – 2 – Preface The training session you are going to attend th is 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 r obot (robot controller SR7000) in his plant or factory. For the detailed specifications and usage of[...]

  • Page 3

    STE 58769 – 3 – Industrial Robot Training Schedule C Course (SR–H Robot): 2.5 Days Time Descriptions Place 1st day 13:30 ~ 13:40 Greetings at starting the course. Classroom 13:40 ~ 15:00 Explaini ng the outline. Classroom 15:00 ~ 15:15 Break 15:15 ~ 16:25 Explaining the programming. Classroom 16:25 End 2nd day 8:30 ~ 9:30 Explaini ng the prog[...]

  • Page 4

    STE 58769 – 4 – Robot SR–654HSP Robot controller SR7000 Teach pendant[...]

  • Page 5

    STE 58769 – 5 – Table of Contents Page 1. General De scriptions ...................................................................................... 7 1.1 Basic Robot and Controlle r .................................................................. 7 1.2 Coordinate System of the Robot .........................................................[...]

  • Page 6

    STE 58769 – 6 – Page 5. Maintenance and Inspecti on ........................................................................... 85 5.1 Maintenanc e Schedule ......................................................................... 85 5.2 Maintenance/In spection Ite ms.............................................................. 87 6. Exercises[...]

  • Page 7

    STE 58769 – 7 – 1. General Descriptions 1.1 Basic Robot and Controller a) Names of the parts of the robot The SR-H series is a group of robots having four degrees of freedom. Having two degrees of freedom for positioning in a horizontal plane, one degree of freedom for positioning in a vertical dire ction and one for the rotation of the tool mo[...]

  • Page 8

    STE 58769 – 8 – b) Names of the parts of the controller (1) Controller ON OFF START STOP CYCLE STOP MANU INT EXT FAULT POWER SERVO POWER EMERGENCY BATTERY ALARM J1 J2 PC FDD TP C.P. DC24V 10AT POWER ① ② ③ ④ ⑤ ⑥ ⑦ ⑧⑨ ⑩ ⑪ ⑫ ⑭ ⑮ ⑯ ⑬ ⑰⑱ 1) Main power switch 2) Circuit protector 3) J1 connector: connector for comm[...]

  • Page 9

    STE 58769 – 9 – 14) Master mode key switch: switch to select a robot mode EXT: External automatic mode INT: Internal automatic mode MANU: Manual mode 15) Power lamp 16) Fault lamp: controller’s fault lamp 17) Buzzer: it sounds continuously when a fault is detected (since built in, it is not visible from outside). 18) Battery alarm lamp: turns[...]

  • Page 10

    STE 58769 – 10 – 6) Delete key: Key to delete a letter on which the cursor is placed. 7) Bs (backspace) key: Key to delete a letter just before the cursor. 8) Ctrl (control) key: 9) Shift key 10) Alt key 11) Run key 12) Cursor keys 13) Error display key: Key to displa y the description of an error on the liquid crystal display 14) Utility key: [...]

  • Page 11

    STE 58769 – 11 – c) Composition of robot system Basic composition: Composed of the r obot body, controller, teaching pendant, and the FDD unit ON OFF START STOP CYCLE STOP MANU INT EXT FAULT POWER SERVO POWER EMERGENCY BATTERY ALARM J1 J2 PC FDD TP C.P. CC24V 10AT POWER ON OFF START STOP CYCLE STOP MANU INT EXT FAULT POWER SERVO POWER EMERGENCY[...]

  • Page 12

    STE 58769 – 12 – 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 [...]

  • Page 13

    STE 58769 – 13 – 1.2 Coordinate Sy stem of the Robot Coordinate systems include the world, base, tool and workpiece coordinate systems. In the initial state, the world and wo rkpiece coordinate systems match the base coordinate system, and the tool coordinate system is a coordinate system whose origin is a hand mounting flange. T he world coord[...]

  • Page 14

    STE 58769 – 14 – Zt A A 0B ZB XB YB Base coo rd in ate system T ool c oor d in ate system 0t Yt Xt Zw Yw 0w Xw W o r ld c oo rdi na t e system W o r k c oo r dina t e s y s t em Yw 0w Xw Zw Note) A plural num ber of work coordinate system and tool coordinate system can be s et.[...]

  • Page 15

    STE 58769 – 15 – 1.3 External Input/Output Signals a) External interface Panel is separated (option). Powe r supply TC200/term inal bl ock I/O For serial communi cation External I/O and operation I /O signals CN1 CN13 J3 CN12 CN6 CN5 For e nd ef f ector Co n tro lle r A ir Robot body 5 m CN2 CN3 CN4 For s erial comm unicati on Personal computer[...]

  • Page 16

    STE 58769 – 16 – a) Input output signals 1) External operation input signal (CN5) External operation input signals are thos e to control the start and stop of the robot controller SR7000 from exter nal equipment such as a sequencer. • "Stop," "Cycle operation mode," and "Low speed command" are b contact point inp[...]

  • Page 17

    STE 58769 – 17 – 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 out put of [...]

  • Page 18

    STE 58769 – 18 – 3) External output signals (CN12) External input output signals are t hose 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. 1 14 2 15 3 16 4 17 5 18 6 19 7 20 8 21[...]

  • Page 19

    STE 58769 – 19 – 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 [...]

  • Page 20

    STE 58769 – 20 – Pin Signal Co lo r name Co lo r Pin Signal name Signa l name Signal name Co lo r Co lo r Pin Pin Co l o r Co lo r Se nso r 1 2 3 4 5 6 7 GRP1 OP N GRP1 CL S GRP2 OP N GRP2 CL S WO R K PGND Shield Ye llo w W hite (ye llo w) G r een W hite (gre e n ) Re d W hite (re d) G r een 1 2 3 4 5 6 7 GRP1 OP N GRP1 CL S GRP2 OP N GRP2 CL S[...]

  • Page 21

    STE 58769 – 21 – 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 s pecifying the teaching pendant or system configuration file. Master mode Sub mode Description External automatic Communication mode Operation of the robot by serial com[...]

  • Page 22

    STE 58769 – 22 – 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 fo r measuring the size of a file. File name: “$$$$$$$$ .$$$ ” Extensions (omission is allowed.) U[...]

  • Page 23

    STE 58769 – 23 – 3) System configurat ion file "CONSTRC.SYS." File storing an optional configuration of the robot, equipment connected to the serial port, settings of signals used for se lecting files by external signals. (When necessary, users may change the content. After change, save the change in a floppy disk). 4) Automatic execu[...]