Toshiba 6100 User Manual

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

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. When the shipment has reached your office, confirm the following instruction manuals which are attached to the robot. You are also requested to read through them before the use.

List of instruction manuals

• Industrial robot SR series

Startup manual ·········· Simple operating procedures

• Industrial robot SR series

Operating manual ·········· Detailed operating

Robot language manual

Interface manual ·········· External I/O, electrical

Transportation and installation manual

Maintenance manual ·········· Regular inspection and

Communication manual

Safety manual ·········· Safety measures

procedures

·········· Descriptions of SCOL language

specifications

·········· Mounting hand and wiring & piping

maintenance

·········· Communication protocol

No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine.

The information contained in this manual is subject to change without prior notice to effect improvements of the robot functions and training details.

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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 Explaining 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 Explaining the programming. Classroom 9:30 ~ 10:15 Instructing the safety. Classroom 10:15 ~ 10:25 Move to the training room. 10:25 ~ 11:50 Explaining the operation. Training room 11:50 ~ 12:00 Move to the classroom. 12:00 ~ 13:00 Lunch 13:00 ~ 13:10 Move to the training room. 13:10 ~ 14:45 Training the operation. Training room 14:45 ~ 15:00 Break 15:00 ~ 16:15 Training the operation. 16:15 ~ 16:25 Move to the classroom. 16:25 End Classroom 3rd day 8:30 ~ 8:40 Move to the training room. Classroom 8:40 ~ 9:45 Training the programming. Training room 9:45 ~ 10:00 Break 10:00 ~ 11:50 Training the programming Training room 11:50 ~ 12:00 Move to the classroom. 12:00 ~ 13:00 Lunch 13:00 ~ 13:10 Move to the practical training room. 13:10 ~ 14:45 Training the programming Training room 14:45 ~ 15:00 Break 15:00 ~ 15:50 Explaining the maintenance. Training room 15:50 ~ 16:00 Move to the classroom. 16:00 ~ 16:15 Questions and answers Classroom 16:15 ~ 16:25 Awarding a certificate of completing

the course and greetings at finishing the course.

16:25 End

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STE 58769

Robot SR–654HSP

Robot controller SR7000 Teach pendant

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STE 58769

Table of Contents

Page

1. General Descriptions ...................................................................................... 7

1.1 Basic Robot and Controller .................................................................. 7

1.2 Coordinate System of the Robot .......................................................... 13

1.3 External Input/Output Signals............................................................... 15

1.4 Mode System ....................................................................................... 21

1.5 File ....................................................................................................... 22

2. Robot Language ............................................................................................. 24

2.1 Robot Program..................................................................................... 24

2.2 Robot Language................................................................................... 24

2.3 Subprogram ......................................................................................... 40

2.4 Multi-task.............................................................................................. 42

2.5 List of Robot Language SCOL Instruction Words................................. 45

3. Safety Measures............................................................................................. 49

3.1 Cautions on Safety............................................................................... 49

3.2 Safety Functions .................................................................................. 50

3.3 Safety Measures .................................................................................. 52

4. Training Materials ........................................................................................... 55

4.1 Operating Procedures .......................................................................... 55

4.2 Starting up the Robot ........................................................................... 56

4.3 Program Entry and Position Teaching.................................................. 58

4.4 Test Operation ..................................................................................... 65

4.5 Internal Automatic Operation................................................................ 68

4.6 Ending an Operation ............................................................................ 70

4.7 File Operation....................................................................................... 71

4.8 Error Display and Reset ....................................................................... 76

4.9 Utility .................................................................................................... 78

4.10 Operation of Auxiliary Signals .............................................................. 81

4.11 File Selection........................................................................................ 82

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Page

5. Maintenance and Inspection ........................................................................... 85

5.1 Maintenance Schedule......................................................................... 85

5.2 Maintenance/Inspection Items.............................................................. 87

6. Exercises of Robot Language SCOL .............................................................. 95

Appendixes

Appendix 1 Example Answers to Exercises of Robot Language SCOL ....... 99

Appendix 2 Creating an Error Insertion Monitor Program............................. 108

Appendix 3 Mounting the Hand, Wiring & Piping.......................................... 111

Appendix 4 Mass of Load and Load Offset .................................................. 113

Appendix 5 Restoring Zero Position Data .................................................... 115

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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 direction and one for the rotation of the tool mounting flange, it is good at assembling and handling parts.

• Tool wiring intake port

• Air fitting for user

Tool shaft

Axis 3

Arm 2 cover

Tool set flange

Axis 4

Arm 2

Axis 2

Connector for user

(built in the cover)

Eye bolt

Axis 1

Arm 1

Cable duct

Fixed base

Controller

connection cable

SR–654HSP

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