Toshiba STE 58760 User Manual

STE 58760

INSTRUCTION MANUAL

INDUSTRIAL ROBOT SR SERIES

START-UP MANUAL

Notice

1.

Make sure that this Instruction Manual is delivered to the final user

of the Toshiba Industrial Robot.

2. Please read this manual before using the Toshiba Industrial

Robot.

3. Please read the “Safety Manual” also.

4. Keep the manual nearby for further reference during use of the

robot.

TOSHIBA MACHINE CO.,LTD.

1998- 3

Copyright 1997 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 the Toshiba Machine Co., Ltd.

The information contained in this manual is subject to change without notice.

STE 58760

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STE 58760

PREFACE

This manual describes how to start up the Toshiba SR series industrial robot.

Start-up as used in this manual refers to operations from turning on the robot controller to
operating the robot by manual guidance. Before operating the controller, make sure that all
the cables have been correctly connected among the robot, controller, and peripheral
equipment according to the “Transportation and Installation Manual”.

This manual is written for users who have not operated SR series robots before. Users who
have experience or want to know the details of the operations, see the Operating Manual.

This manual consists of the following chapters.

Chapter 1 "Before operating SR Series Robot"

This chapter outlines robot operational procedure, names of controls which should be used for
the start-up operation, and their functions.

A control panel and teach pendant are used to operate the robot. Be sure to learn where the
various switches are.

Chapter 2 "Power-ON to Manual Guidance"

This chapter describes how to turn on the power and how to manually guide the robot. The
last paragraph of this chapter also discusses how to turn off the power. Be sure to follow the
precautions which should be taken before turning off the power.

Chapter 3 "Setting Environmental Conditions for the SR7000 Controller"

This chapter describes items to be set before operating the controller such as date, time and
communication channel assignment.

Chapter 4 "Example of Simple Operation"

This chapter shows how to program and edit data and how to set automatic operations.
Because in the chapter you will actually operate the robot, be sure to follow the precautions.

Chapter 5 "File"

This chapter presents an outline of files used in the robot system and also formatting and
backup operations for floppy disks (option). Files which store programs and parameters
should be backed up on different disks.

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NOTE!

FOR EUPOREAN UNION (EU)
In European Union (EU), there are following limitations and notes to approve the
CE Marking EMC Direction. In other countries and areas, it
apply to these limitations and notes.

(1) Set up conditions

◆

The following type of power line transformer must be used.
Frequency: 50 or 60 Hz
Secondary voltage: 3 phase 200 ~ 230 VAC
power capacity: Min. 2.7 kVA

(2) Input power condition

◆

Core wires: 3.5 mm2 ~ 5.5 mm2

◆

Voltage short interruption: 0.5 cycle

(3) Ground

◆

Core wires: 0.08 mm2 ~ 0.5 mm

◆

Ground condition: Exclusive ground line for robot ground impedance

must be less than 100

(4) External input and output line / Optional input and output line

◆

Core wires: 0.08 mm2 ~ 0.5 mm

◆

Shield: Ground shield

◆

Cable length: Max. 10 m

◆

Manufacturing method: Refer to figure A.

◆ S

ignal ground: Voltage potential between signal ground PGBA and

controller frame ground F.G. must be the same.

(5) Serial communication line

◆

Only 1 of 4 serial communication ports (connector name; J1 ~ J4) can be used at

the same time.

◆

Core wires: 0.08 mm2 ~ 0.5 mm

◆

Shield: Ground shield

◆

Cable length: Max. 10 m

◆

Twisted pair: Not required for RS-232C, required for RS-422.

◆

Manufacturing method: Refer to figure A.

is

not necessary to

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(6) Limitation of the robot specification

◆

Cable length from robot to controller: Max. 8 m

◆

Cable length of teach pendant: Max. 8 m

◆

Optional 5th axis: Cannot be used.

◆

Optional input output signals(type;SR7000IO): Only one optional board

◆

Optional relay output signals (type;SR7000RO): Cannot be used.

◆

Optional conveyer tracking system (type;SR7000CV): Cannot be used.

◆

Separated operation panel: Cannot be used.

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can be used.

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TABLE OF CONTENTS

CHAPTER 1 BEFORE OPERATING SR SERIES ROBOT

1.1

1.1.1

1.1.2

1.2

1.3

1.4

1.5

1.6

1.6.1

1.6.2

CHAPTER 2 POWER ON TO MANUAL GUIDANCE

2.1

2.1.1

2.1.2

2.2

2.3

2.4

2.5

2.6

2.6.1

2.6.2

OVERVIEW・・・・・・・・・・・・・・・・・・・・・・・・・

Structure
Functions

OUTLINE OF OPERATIONAL PROCEDURE

SPECIFICATIONS

COORDINATE SYSTEM・・・・・・・・・・・・・・・・・・・・

SYSTEM CONFIGURATION

NAMES AND FUNCTIONS OF SR7000 CONTROLLER

Control Panel
Teach Pendant

TURNING ON MAIN POWER・・・・・・・・・・・・・・・・・

Cold Starting
Hot Starting

SETTING CONTROLLER ENVIRONMENTAL CONDITIONS

TURNING THE SERVO POWER ON

MANUAL GUIDANCE OF EACH AXIS・・・・・・・・・・・・・

MANUAL GUIDANCE OPERATION

MOTION RANGE LIMIT

Setting Joint Limit Values by Teaching
Setting Joint Limit by Numeric Value Entry

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2.7

2.7.1

2.7.2

CHAPTER 3 SETTING ENVIRONMENTAL CONDITIONS FOR THE SR7000

3.1

3.1.1

3.1.2

3.2

3.3

3.3.1

3.3.2

3.3.3

3.4

3.4.1

3.4.2

3.5

3.5.1

3.5.2

3.5.3

3.6

3.6.1

3.6.2

3.6.3

3.7

3.7.1

3.7.2

3.7.3

3.7.4

3.7.5

3.7.6

TURNING OFF THE POWER・・・・・・・・・・・・・・・・・

Turning OFF Servo Power
Turning OFF the Main Power

CONTROLLER

SETTING DATE AND TIME・・・・・・・・・・・・・・・・・・

Setting Date
Setting Time

CHANGING FILE DATA
SETTING THE SYSTEM CONFIGURATION・・・・・・・・・・・

Outline of Data
File Format
Details of Data

SETTING EXTERNAL SELECTION FILES・・・・・・・・・・・

Signals Used for Selecting File
Contents of File

BATCH PROCESSING

Batch File
Automatic Execution File
Using Batch Processing Effectively

PROGRAM EXECUTION ENVIRONMENT

Program Execution Environment
Resetting Execution Environment
Reset Timing of Program Execution Environment

SETTING COORDINATE SYSTEM

Robot Coordinate Systems
Teaching Coordinate Data
Selecting Coordinate System in Data Editor Mode
Selecting Coordinate System in Utility Mode
Selecting Coordinate System Using Robot Language
Timing of Changing the Coordinate System

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CHAPTER 4 EXAMPLE OF SIMPLE OPERATION

4.1

4.2

4.2.1

4.2.2

4.2.3

4.3

4.3.1

4.3.2

4.3.3

4.3.4

4.4

CHAPTER 5 FILES

5.1

5.2

5.3

5.3.1

5.3.2

5.3.3

5.4

5.5

5.5.1

5.5.2

5.6

5.7

5.8

EXAMPLE OF ROBOT OPERATION

TEACHING THE PROGRAM AND POSITION DATA・・・・・・・

Inputting A Robot Language Program
Teaching Positional Data
Changing Positional Data

TEST RUN・・・・・・・・・・・・・・・・・・・・・・・・・・

Preparation before Conducting Test Run
Test Run in Step Operation Mode
Test Run in Cycle Operation Mode
Test Run in Continuous Operation Mode

AUTOMATIC OPERATION

TYPES OF FILES

CHECKING FILES・・・・・・・・・・・・・・・・・・・・・・

FILES REQUIRED TO START UP ROBOT

Files Required to Perform the Cold Start Operation
Files Required for the Hot Start Operation
Setting of Distribution I/O Function

FORMATTING FLOPPY DISKS

BACKING UP FILES

Saving Files
Loading Files

COPYING FILES・・・・・・・・・・・・・・・・・・・・・・・

RENAMING FILES

DELETING FILES・・・・・・・・・・・・・・・・・・・・・・

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CHAPTER 1

BEFORE OPERATING SR SERIES ROBOT

This chapter presents an outline of the robot operational procedure, specifications, coordinate
system, system configuration, and their functions.

1.1 OVERVIEW

This paragraph deals with an outline of the SR–HSP series Toshiba system robot. The SR–HSP
series signifies the horizontally articulated robot.

The robot and robot controller feature as follows:

(1) Robot

• High-speed and smooth motion
– Cycle time 0.8 sec. under load of 2 kgf, 0.9 sec. under load of 5 kgf (SR–654HS)

300mm

25mm 25mm

• Wide working range
– A bidirectional rotating type without dead space included in the horizontal zone.

(ST–HS series)

• High reliability
– Maintenance-free, employing AC servo motors and absolute encoders.

• Enough Ni loading capacity
– Max. 20 kgf (SR–1054HS)

• Easy wiring and piping
– As nine cables and two air pipes standardly run in the arm, wiring and piping to the

end effector are necessary.

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(2) Robot controller (SR7000)

• Simple programming.
– A program can be created easily according to highly advanced robot language SCOL.

• Excellent operability
– Teaching of positions, programming, adjustment, etc can be performed according to

the menu selection on the teach pendant.

• Extensive interfaces
– As RS232C three ports, computer and printer interface software are standard-

equipped, a diversity of system structure is possible.

• Easy diagnosis of faults
– A number of self-diagnostic functions allow an operator to smoothly address faults.

Fig. 1.1 shows the SR–HSP series system robot.

1.1.1 Structure

The robot consists of the basic robot, controller and teach pendant connected with the controller,
which is intended for teaching positions and entering programs.
To make the robot do a job, programs and position data are necessary so that the robot can
execute the job.
Normally, such programs and position data should be created and stored in the controller memory
beforehand. When operating the robot, the controller interprets the contents of programs and
gives the robot the instructions on motions according to the program sequence to cause the robot to
do the job.
Programs and position data for one process which are put together are called the task program,
which can also be called the file when they are loaded to and saved in the controller.
As the control unit of the controller uses the SCOL language (symbolic code language for robot), a
task program can be easily created and entered as if you were creating a BASIC program.
Entry of position data is possible in the three manners;  guiding by the robot and teach pendant, 
entry of coordinates through the teach pendant and  manual guiding of the robot by the operator
after turning off the servo control.
The teach pendant can be shared by many robots, and automatic operation is possible even when it
is disconnected from the controller.
Also, saving and management of files are very easy, using an optional FDD unit.
In addition to the above, a great number of options and functions including optical sensors for
position data compensation and interface software with a personal computer are also available.
Fig. 1.2 shows a system configuration of SR series Toshiba system robots.

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SR–1054 HSP Robot

Robot controller SR7000 Teach pendant

Fig. 1.1 SR Series System Robot

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Robot

Robot controller SR–7000

Teach pendant

Fig. 1.2 System Configuration of SR Series System Robot

1.1.2 Functions

Horizontally articulated robot

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SR–504 HSP

SR–554 HSP

SR–654 HSP

SR–854 HSP

SR–1054 HSP

(1) Control method

A 32-bit microprocessor serves as the central processor.
A 16-bit microprocessor is used for communication control and a 32-bit microprocessor for
each axis servo control, thus servo control, robot language processing and editing are
possible. Also, an 8-bit microprocessor is employed for the teach pendant to realize a more
intelligent robot.

(2) Motion

The motion comes in three types; PTP (point-to-point) control, CP (continuous path) control
(linear interpolation, circular interpolation (option)) and short-cut.



PTP control: Dedicated SCOL language MOVE

This control is used to move each axis fast to a specified position, irrespective of a path.
Simultaneous operation is executed in which all axes start moving simultaneously and
finish simultaneously.



CP control (linear interpolation): Dedicated SCOL language MOVES

This is the path control in which all paths are predetermined. Each axis moves between
two taught points in the Cartesian coordinate system along the shortest distance. It is
used to move the end effector of the robot along a straight line.



CP control (circular interpolation): Dedicated SCOL language MOVEC

Each axis moves on an arc from the current point to the target point via specified mid­point.

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

Short-cut

Each axis passes the vicinity of a taught point without reaching and stopping at the same
point, then moves to the next point. The travel time can be reduced.

PNT2

PNT2

PNT2

・Specified mid-point

PNT1

PNT1

PNT1

PTP Linear interpolation Circular interpolation Short-cut

(3) Number of controlled axes

A maximum of five axes can be controlled simultaneously. Additionally, the air cylinder can
be driven.

PNT2

PNT3

PNT4

PNT1

PNT5

(4) Storage capacity

The storage capacity of the RAM drive is 512 K bytes.
To save files, a 1.44 M bytes FDD unit (option) is available.
The rate of file active area is displayed in units of byte on the teach pendant.
Storage capacity of program alone (approximation): 500 points for 1,000 lines
A floppy disk is initialized in the MS-DOS format. It should be noted that reading of the data
contained in floppy disks for the SR-5500 controller is not possible.

(5) Storing method

A file (programs and position data) is stored in the memory backed up by a battery. Check is
performed on battery voltage drop and destruction of memory contents, and if an abnormality
has generated, an alarm is output to inform the operator to that effect.

(6) Number of program files

Up to 256 program files can be registered.

(7) Position detection

Detected by an absolute encoder on the no-load side of the AC servo motor.

(8) External input/output signals



Standard external input

In all, 32 inputs insulated optically are open to the user. Branch of a program and
interlock by input signals can be programmed easily, using the robot language.

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

Standard external output

In all, 24 outputs of transistor and open collector are open to the user. Output signal
ON/OFF and pulse output can be programmed easily, using the robot language.



Extension external input/output

When an option board is added, addition of 24 inputs and 16 outputs is possible.
Furthermore, sixty-four each of input and output that can operate as the slave station of
our TC200 programmer are available.

(9) External operation signal

To facilitate construction of an FA system, servo ON, servo OFF, start, feed hold, cycle stop,
robot operating speed, program reset, etc. are possible by external signals in the external­automatic mode.
In any other mode, these external signals are neglected, except for the servo OFF signal.
The low speed instruction becomes effective also in the internal-automatic mode, however.
Also, the signals of ready, automatic operation ON, external-automatic mode ON, fault, servo
ON, emergency stop ON, etc. necessary for external operations are output.

(10) Teaching method

A program can be entered easily through the teach pendant, using the robot language
(SCOL). Position data can be given in the following three manners.



Teaching by remote-guidance through teach pendant.



Entry of coordinates through teach pendant.



Manual guidance in servo-free status.

(11) File editing function

A file can be registered and deleted on the teach pendant. Program editing is also
possible on the display. When the FDD unit (option) is provided, reading and writing of
data contained in a floppy disk of 1.44 MB MS-DOS format are possible. Thus, a program
can be edited on the personal computer.

(12) Speed setting



Program

Robot travel speed can be programmed in the range of 1 to 100 % in 1 % increments.



Override

A programmed speed can be overridden in the range of 1 to 100 % in 1 % increments.

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

Acceleration/deceleration speed setting

Speed at acceleration can be programmed in the range of 1 to 100 % in 1 % increments,
using the ACCEL instruction.
Likewise, deceleration speed can be programmed in the range of 1 to 100 % in 1 %
increments by means of the DECEL instruction.



Speed limit

A limit can be set on the maximum speed so that the robot speed can always be slower
than this limit. It is convenient to use in the TEST RUN mode.

(13) Servo gain ON/OFF function (servo-free)

Servo control ON and OFF are possible for each axis, using the program instruction (GAIN).
The same operation is also possible through the teach pendant.

(14) Torque limiting function

A limit value for each joint motor torque can be set in the range of 0 to 300 %, using the
program instruction.
When transferring or inserting a workpiece, there are occasions in which the robot motion is
mechanically obstructed due to faulty workpiece, etc., or no excessive force should be
exerted on the workpiece. When this happens, it is possible to prevent damage of the
work hand or robot by limiting the motor torque.

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(15) Interruptive function

When any external signal is input during robot motion, the motion can be stopped instantly
and required processing can be executed by means of external input signals.

(16) Coordinate system setting function

Coordinate systems of the robot and peripheral equipment can be established through the
teach pendant.

(17) Program function

When the robot language SCOL is used, jump, subroutine, loop, interruptive processing,
delay time, speed setting, interpolation, hand operation, vertical movement and rotation of
each axis by an air cylinder are possible.
For details, see the Robot Language Manual.

(18) Operation

In the internal-automatic operation mode, the five modes are available; step, motion step,
cycle, continue and machine lock. (The step and machine lock modes can be selected
only in the test operation.)
In the external-automatic operation mode, the continue or cycle mode can be selected.

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

Step

A program is executed step by step.



Motion step

A motion instruction given in a program is executed once.



Cycle

A program is executed until the END instruction of main task has been executed. That is,
a series of operation is executed only once.



Continue

A program is executed, neglecting motion instructions in the same man-machine lock
program (i.e., the robot will not move).



Machine lock

A program is executed, neglecting motion instructions programmed, as if the robot were
actually moving.

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(19) Working range limitation

To detect the stroke end limit, soft limits are provided, which can be set by the user at his
discretion.

(20) Self-diagnosis function

The system performs check on the servo fault, overtravel, transmission error, battery
voltage drop, control power fault, parameter destruction, etc. If an error is detected, an
appropriate error number is displayed on the teach pendant, and the servo power is turned
off according to the error.

(21) FDD unit (option)

Files stored in the controller memory (programs and position data) can be stored in floppy
disks. It is also possible to load the data of the floppy disks into the controller. A floppy
disk is initialized in the MS-DOS format. It should be noted that reading of the data
contained in floppy disks for the SR-5500 controller is not possible.

(22) Personal computer and printer interface

The interface function of an personal computer and printer is standard-equipped. Thus,
management of the robot language and line management can be performed very easily,
using the personal computer. Additionally, management of a group of robots is possible by
the host computer, thus construction of a highly advanced FA system can be realized.

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1.2 OUTLINE OF OPERATIONAL PROCEDURE

At the least, the following operations are required to start up the robot.

(1) Installing the robot and controller at the site and connect the cables in place.

Unpack the controller and robot and install them at the site. After the installation work is
complete, connect cables between the controller, robot and peripheral equipment. For details,
see the Transportation and Installation Manual.

(2) Starting up and manually guiding the robot.

After robot installation work is complete, turn on the robot power so that it can be manually
operated. The operation range of the robot should have been set before teaching the
operation. For the setting procedure, see Chapter 2, "Power ON to Manual Guidance".

(3) Teaching the contents of the operation to the robot.

To make the robot work, a robot language program and position data should be prepared.
After the robot has been started up, input the program and position data. An example of the
operation is described in Chapter 4, "Example of Simple Operation". For details, see the
Operating Manual and the Robot Language Manual.

(4) Checking the operation being taught with a test run.

Check that the robot correctly works as taught. An example of the operation is described in
Chapter 4, "Example of Simple Operation". For details, see the Operating Manual.

(5) Making the robot work in an automatic operation mode.

After checking that the robot correctly works as has been taught, make the robot work. An
example of the operation is described in Chapter 4, "Example of Simple Operation". For
details, see the Operating Manual.

After the robot has been installed, the following components are required to make the robot
work.

Robot main body

･

Robot controller

･

Teach pendant

･

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Check that cables have been securely connected between the robot body and controller and
between the controller and teach pendant.

Note 1)

In the automatic operation mode, it is not necessary to connect the teach pendant to the robot
body. Even if the teach pendant is not to be used, it is necessary to connect a dummy
connector to the teach pendant connector on the controller. Otherwise, the servo power
cannot be turned on.

Note 2)

The low speed instruction signal, servo OFF signal, and emergency stop signal of the external
control signal cables should be short-circuited even if they are not used. For the connector
locations and terminal numbers to be short-circuited, see the Transportation and Installation
Manual. (For the connectors attached to the controller, such signal cables have already been
short-circuited.)

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1.3 SPECIFICATIONS

The basic specifications of SR–HSP series horizontally articulated robots are shown in Table 1.1.

Table 1.1 Basic Specifications of SR–HSP Series Robots

Item Specification

Model SR–

504HSP

Controlled axes 4 axes 4 axes 4 axes 4 axes 4 axes

Arm length Full length 500 mm 550 mm 650 mm 850 mm 1050 mm

Arm 1 250 mm 250 mm 350 mm 550 mm 580 mm

Arm 2 250 mm 300 mm 300 mm 300 mm 470 mm

Working range Axis 1 ±110° ±115° ±115° ±115° ±115°

Axis 2 ±137° ±120° ±140° ±145° ±140°

Axis 3 150 mm 200 mm 200 mm 200 mm 200 mm

Axis 4 ±280° ±280° ±280° ±280° ±360°

Maxi. speed Axis 1 270°/S 255°/S 255°/S 204°/S 170°/S

Axis 2 432°/S 432°/S 432°/S 432°/S 270°/S

Axis 3 1000 mm/S 1000 mm/S 1000 mm/S 1000 mm/S 1000 mm/S

Axis 4 864°/S 864°/S 864°/S 864°/S 576°/S

Resultant 4.24 m/S 4.71 m/S 5.15 m/S 5.28 m/S 5.33 m/S

Load Workpiece

mass

Allowable inertia

moment at end

Repeatability X, Y (plane) ±0.02 mm ±0.02 mm ±0.02 mm ±0.03 mm ±0.03 mm

Axis 3 (vertical) ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm ±0.02 mm

Axis 4 (wrist

rotation)

Drive system AC servo

User wiring Input 5 nos. 5 nos. 5 nos. 5 nos. 5 nos.

Output 4 nos. 4 nos. 4 nos. 4 nos. 4 nos.

User air piping 2 pcs. 2 pcs. 2 pcs. 2 pcs. 2 pcs.

Robot body Mass 38 kgf 55 kgf 60 kgf 70 kgf 90 kgf

Painting color Misty white Misty white Misty white Misty white Misty white

2 kgf

(max. 4 kgf)

0.0225

2

kgf·m

±0.03° ±0.03° ±0.03° ±0.03° ±0.03°

motor

SR–

554HSP

5 kgf

10

(max.

kgf)

0.0663
kgf·m2

AC servo

motor

SR–

654HSP

5 kgf

(max. 10 kgf)

0.0663
kgf·m2

AC servo

motor

SR–

854HSP

5 kgf

(max. 10 kgf)

0.0663
kgf·m2

AC servo

motor

SR–

1054HSP

10 kgf

(max. 20 kgf)

0.1 kgf·m

AC servo

motor

2

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Table 1.2 Basic Specifications of SR7000 Robot Controller

No. Item Specification Remarks

1 No. of controlled axes Simultaneous control of max. 5 axes.

2 Operation mode PTP, CP (linear interpolation, circular

interpolation), short-cut

3 Servo system Digital servo

4 Storage capacity Approx. 6400 points + 12800 steps 512 K bytes

5 No. of registrable programs Max. 256

6 Auxiliary memory 3.5 inch FDD unit (MS-DOS format) (option) 1.44 M bytes

7 Storage Battery backed up RAM

8 Position detection Absolute encoders

(Battery backed up at power failure)

9 Teaching

method

Entry of

10 External I/O signal 32 inputs and 24 outputs

11 Hand control signal 9 lines (5 inputs and 4 outputs)

12 External operation

signal

Output Servo ON, ready, fault, cycle mode, etc.

13 Serial communication port RS232C or RS422 three ports (RS422 option)

14 Speed setting Override, speed limit, program instruction

15 Acceleration/deceleration

speed setting

16 Torque limit Program instruction 0 ~ 300 %

17 Teaching box Teach pendant

18 Coordinate system Base, work, tool (Setting of multiple work or

Point display Remote: To be guided through teach

pendant.

Coordinate value: Entry of X, Y, Z, C, T data
through teach pendant.

Servo-free: Manual movement of arm.

Editing through teach pendant.

program

Input Program selection, start, stop, reset, etc.

Software for personal computer and printer is
standard-equipped.

1 ~ 100 % for each

Program instruction 1 ~ 100 %

tool coordinate systems are possible.)

Among them,
one port is
used
exclusively for
the pendant.

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No. Item Specification Remarks

19 Operation limit Soft limit

20 Self-diagnostic function Error detection

21 Interruptive function Start of interruptive program by input signal,

timer, etc.

22 Operation mode Internal-automatic, external-automatic,

external communication

23 Operation Internal Continue, cycle, step, motion step (segment),

machine lock

External Cycle, continue

24 Basic

controller

Mass 18 kgf

Painting color Ivory, gray

25 Power supply 200 ~ 230 VAC (3 phases), 50/60 Hz

Outer
dimensions

430 (W)  230 (H)  330 (D) mm

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1.4 COORDINATE SYSTEM

A coordinate system comes in a world coordinate system, base coordinate system and tool
coordinate system. Once the coordinate system is established, positions where the robot has to
move can be set by coordinate values.
A function which offsets the coordinate system is also provided, and even if the robot position or tool
has been changed, the entire program need not be modified accordingly.
In addition to the above, a work coordinate system is also available, which is useful to create
position data for palletizing operation.
Positional relationship of respective coordinate systems is shown in Fig. 1.3.

Fig. 1.3

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(1) World coordinate system

A coordinate system the user defines in a space at arranging equipment or workpieces is
called the "world coordinate system."

(2) Base coordinate system

A Cartesian coordinate system based on the robot center is called the "base coordinate
system." Normally, each axis is set based on the origin (0°) orientation.
The base coordinate system can be offset by entering a deviation of each axis of the world
coordinate system. Thus, each time the coordinate system is changed, operation points
need not be taught to the robot.

(3) Tool coordinate system

A Cartesian coordinate system based on the tool set surface (i.e., flange surface) of the
robot end effector is called the "tool coordinate system."
Like the base coordinate system, the tool coordinate system can also be offset so that the
robot can move on the basis of the tool edge. Thus, the operator can teach the robot
based on the tool edge.

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(4) Work coordinate system

A coordinate system defined in an actual working space, such as workpiece layout and
pallet, is called the "work coordinate system. Thus, data can be created easily at
palletizing or offline teaching.

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1.5 SYSTEM CONFIGURATION

Basically, the robot system is composed of the basic robot, basic controller and teach pendant.
The controller has comprehensive interface functions to allow construction of various systems.
Fig. 1.4 shows the maximum system configuration.
The basic controller consists of the control panel, CPU printed board serving as the control center,
relay printed boards relaying external output signals and other units (such as servo driver).

* An external control unit required for external-automatic operation is not provided, which

should be prepared by the user at job site.

* A system disk (used for cold-starting the system) is attached to the controller. Keep it in your

custody.

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Fig. 1.4 Maximum System Configuration

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Equipment configuration by operation
Equipment configuration by operation is illustrated below.

(1) Maximum configuration

Maximum system configuration, including options.

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Teach pendant

CCD camera

SR-5500

サーボ ON

Optical sensor

Basic controller

Personal computer

SR7000

FDD unit(option)

Robot

External control unit

(2) Manual guidance, teaching of positions by manual guidance and program editing

These operations can be executed, using the same equipment configuration.
It is possible to remote-control the robot through the teach pendant, which is called the
"manual guidance." This operation is used when the robot is only to be moved manually or
taught the operating positions by manual guidance.
Program editing is also possible by using this configuration.

Teach pendant

SR5500

Basic controller

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Robot

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(3) Internally controlled automatic operation

Operation of the robot according to files (programs and position data) loaded to the controller
is called the "automatic operation." The automatic operation can be controlled internally and
externally.
Start and stop of the robot through the control panel of the controller is called the "internally
controlled automatic operation."

Note: Automatic operation is possible by connecting or disconnecting the teach pendant to

or from the controller.
When the teach pendant is disconnected, connect a dummy plug to the teach
pendant connector. Unless the dummy plug is connected, the servo power cannot
be turned on.

(4) Externally controlled automatic operation

Automatic start and stop of the robot with external signals is called the "externally controlled
automatic operation."

(5) Floppy disk

Files (programs and position data) stored in the controller can be saved in floppy disks (3.5
inch), using an optional FDD unit. It is also possible to load the data in the floppy disks into
the controller.

(6) Automatic operation, using optical sensors (option)

Automatic operation is possible by using an optical sensor system while recognizing the items
subject to the operation and compensating position data.

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1.6 NAMES AND FUNCTIONS OF SR7000 CONTROLLER

The start up operation is conducted using the control panel and teach pendant. The external
views of the control panel and teach pendant are shown in Figures 1.5 and 1.6.

1.6.1 Control Panel

The control panel is used to turn on and off the power and perform automatic operation. This
paragraph outlines names and functions of the controls. The numbers referenced accord with
those in Figure 1.5.

1. Main power switch:
Power switch for the controller.

2. Circuit protector:
Circuit protector for the controller control circuit.

3. J1 connector:
Connector for communication channel 1.

4. J2 connector:
Connector for communication channel 2.

5. TP connector:
Connector for connecting the teach pendant.

6. FDD connector:
Connector for floppy disk drive unit(optional).

7. EMERGENCY switch:
Switch which unconditionally stops the robot operation. When this switch is pressed, the
servo power is turned off and an emergency stop state signal is output. Once this switch
is pressed, it is locked in the pressed position. To unlock this switch, turn the switch in the
direction of the arrow.

8. SERVO POWER OFF switch:
A switch which turns off the servo power to stop robot operation. When the servo power is
turned off, the lamp on the "OFF" switch lights.

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9. SERVO POWER ON switch:
A switch which turns on the servo power. When the servo power is turned on, the lamp on
the "ON" switch lights and a servo ON state signal is output. Unless the servo power is
turned on, the robot cannot be operated.

10. STOP switch:
A switch which stops automatic operation. When this switch is pressed in the automatic
operation mode, the lamp on the "STOP" switch lights and the robot stops automatic
operation after it completes the current operation. When the robot stops, the "START"
switch lamp turns off.

11. START switch:
A switch which starts automatic operation. When the robot starts automatic operation, the
lamp on the "START" switch lights.

12. CYCLE STOP switch:
A switch which selects the mode that performs one cycle of automatic operation. This
operation mode is called the cycle operation mode. In the cycle operation mode,
automatic operation stops after the robot has executed the program. When the cycle
operation mode is selected, the lamp on the "CYCLE STOP" switch lights.

13. PC connector:

Connector for connecting a personal computer substituting for a floppy disk unit.

14. MASTER MODE KEY switch:
A key switch which selects one of robot modes; external automatic mode (EXT), internal
automatic mode (INT), and manual mode (MANU). The modes selected with this switch
are called master modes.

15. POWER LED:
Power lamp for the controller. When the main power is turned on, the "POWER" lamp
lights.

16. FAULT LED:
Error lamp for the controller. When a fault is detected, the "FAULT" lamp blinks.

17. Buzzer:
When a fault is detected, the buzzer beeps. When the STOP switch is pressed, the buzzer
stops beeping.

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