Toshiba ste 58761 User Manual

STE 58761

INSTRUCTION MANUAL

INDUSTRIAL ROBOT SR SERIES

OPERATING 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 installing or operating the Toshiba

Industrial Robot, and 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 58761

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PREFACE

This Manual describes how to utilize various robot system functions in order to manually guide
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.

This manual is directed at the robot operator. Before reading this manual, he or she should first
read the Introductory Manual and the Start-up Manual.

This Manual is divided into fourteen chapters:
Chapter 1 "Before Operating Your Robot"

Chapter 2 "Basic Operation"

Chapter 3 "Manual Operation"

Chapter 4 "Auxiliary Signals"

Chapter 5 "Program Editing"

Chapter 6 "Data Editing"

Chapter 7 "Test Operation"

Chapter 8 "Internal Automatic Operation"

Chapter 9 "External Automatic Operation"

Chapter 10 "System Control"

Chapter 11 "File Management"

Chapter 12 "Utilities"

Chapter 13 "Self Diagnosis"

Chapter 14 "Joint Limit Setting"

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STE 58761

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 necessary to apply to these
limitations and notes.

(1) Setup 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 mm

◆

Voltage short interruption: 0.5 cycle

◆

(3) Ground

Core wires: 3.5 mm

◆

Ground condition: Exclusive ground line for robot ground impedance must be

◆

less than 100Ω

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

Core wires: 0.08 mm

◆

Shield: Ground shield

◆

Cable length: Max. 10 m

◆

Manufacturing method: Refer to Figure A.

◆

Signal ground: Voltage potential between signal ground PGBA and controller

◆

frame ground F.G. must be 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 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.

◆

2

~ 5.5 mm2

2

~ 5.5 mm2

2

~ 0.5 mm2

2

~ 0.5 mm2

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(6) Limitation on the robot specifications

Cable length from robot to controller: Max. 8 m

◆

Cable length of teach pendant: Max. 8 m

◆

Optional axis 5: Can not be used.

◆

Optional input/output signals (type; SR-5500IO): Only one optional board can be

◆

Optional relay output signals (type; SR-5500RO): Can not be used.

◆

Optional conveyer tracking system (type; SR-5500CV): Can not be used.

◆

Separated operation panel: Can not be used.

◆

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used.

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STE 58761

This Manual describes how to utilize various robot system functions in order to manually guide
the robot with the teach pendant, edit programs, compile data and carry out automatic operation.

This manual is directed at the robot operator. Before reading this manual, he or she should first
read the Introductory Manual and the Start-up Manual.

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STE 58761

Cautions on Safety

This manual contains the important information on the robot and controller to prevent injury to the
operators and persons nearby, to prevent damage to assets and to ensure correct use.
Make sure that the following details (indications and symbols) are well understood before reading
this manual. Always observe the information that is noted.

[Explanation of indications]

Indication Meaning of indication

This means that "incorrect handling will lead to fatalities or serious injuries."

Danger

!

This means that "incorrect handling may lead to personal injuries *1) or

!

Caution

physical damage *2)."

*1) Injuries refer to injuries, burns and electric shocks, etc., which do not require hospitalization

or long-term medical treatment.

*2) Physical damage refers to damages due to destruction of assets or resources.

[Explanation of symbols]

Symbol Meaning of symbol

This means that the action is prohibited (must not be done).

!

!

!

The details of the actions actually prohibited are indicated with pictures or
words in or near the symbol.

This means that the action is mandatory (must be done).
The details of the actions that must be done are indicated with pictures or
words in or near the symbol.

This means danger.
The details of the actual danger are indicated with pictures or words in or near
the symbol.

This means caution.
The details of the actual caution are indicated with pictures or words in or near
the symbol.

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[Operation]

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Prohibited

!

Danger

!

• During operation, NEVER enter the dangerous area of the robot.
Otherwise, you will be injured seriously.

• DO NOT leave in the working range any machinery or materials which will
hinder the operation. If the equipment went wrong, a person nearby will
be injured or involved in an accident.

• Anyone other than the operator MUST NOT approach the equipment.
Should he negligently touch a dangerous part of the equipment, he will get
injured or involved in a serious accident.

• NEVER perform an inappropriate operation which is not described in the
instruction manual. Otherwise, the equipment will start by mistake,
resulting in personal injury or serious accident.

• If you feel even a little that you are exposed to danger or the equipment
works abnormally, press the EMERGENCY STOP pushbutton switch to
stop the equipment. If the equipment is used as it is, you will be injured or
involved in a serious accident. When this happens, ask our after-sale
service agent for repair.

• During operation, be sure to close the equipment cover. Should the cover
be opened during operation, you will be struck by an electric shock or get
injured.

• Only a well-trained and qualified person is allowed to perform the
operation. Should the equipment be operated improperly, it will start by
mistake, causing a personal injury or serious accident.

Danger

• If the equipment has malfunctioned, turn the power off, identify and remove
the cause of the abnormality, maintain the peripheral equipment and
completely restore the malfunctioned equipment. Then start the
equipment at a low speed. If the equipment starts, leaving the
abnormality, you will be involved in a serious accident.

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Prohibited

!

Mandatory

!

• DO NOT change the data of the system structure file. Otherwise, the
robot will operate abnormally, resulting in damage or an accident.

• In principle, teaching operation should be performed outside the dangerous
area of the robot. If it should be performed inevitably within the dangerous
area, strictly observe the following matters.

(1) The teaching operation should be always performed by two (2)

persons. One person performs the job and the other person watches
outside the dangerous area. Also, both persons should try to prevent
mis-operation with each other.

(2) The operator should do the job in an attitude ready to press the

EMERGENCY STOP pushbutton switch at any time. Also, he should
perform the job at a position from which he can evacuate immediately
at the time of an emergency after confirming the robot working range
and shields nearby.

(3) The supervisor should keep watch on the job at a position where he

can see the entire robot system and operate the EMERGENCY STOP
pushbutton switch at the time of an emergency. Also, he should keep

• If an abnormality has generated or the POWER LED lamp on the control

anyone from entering the dangerous area. Unless an operator or
other person follows the instructions of the supervisor, accidents will be
caused.

panel remains off after the main power switch of the equipment was turned
on, turn off the main power immediately and confirm the wiring.
Otherwise, you will be struck by an electric shock or a fire will break out.

Caution

• Unless the robot operates toward a designated direction at manual guide,
turn off the servo power. Otherwise, the robot will be damaged or you will
be involved in an accident. When this happens, call us at the after-sale
service agent.

• Pushbutton operations of the control panel and teach pendant should be
confirmed visually. Otherwise, you will be involved in an accident due to
mis-operation.

• Before the hot start in automatic operation, be sure to reset a program. If
the program is executed continuously, the robot will interfere with the
peripheral equipment, resulting in damages or accidents.

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Mandatory

!

!

Caution

!

• Before operating the equipment, perform the following inspection.

(1) Make sure that visual appearance of the robot, controller, peripheral

equipment and cables is in good condition.

(2) Make sure that no obstacle stands in or near the operating range of the

If the above prior inspection is skipped, the equipment will be damaged or

• The speed of test operation is initially set at 25 % of the maximum robot

• The speed of automatic operation is initially set at 100 % of the maximum

• Once a cold start has been executed, all data saved in the controller

robot and peripheral equipment.

(3) Make sure that the emergency stop and other safety devices operate

properly.

(4) Make sure that no abnormal noise or vibration is involved in the robot

operation.

you will be involved in an accident.

speed.

robot speed.

memory, such as user program, position data, user parameter and system
parameter files are initialized.

Caution

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TABLE OF CONTENTS

CHAPTER 1 BEFORE OPERATING YOUR ROBOT

1.1

1.2

1.2.1

1.2.2

1.2.3

1.2.4

1.2.5

1.3

1.3.1

1.4

1.4.1

1.4.2

1.4.3

1.4.4

1.4.5

1.4.6

1.4.7

1.5

1.5.1

1.5.2

1.5.3

1.5.4

1.5.5

CHAPTER 2 BASIC OPERATION

2.1

2.2

2.2.1

2.2.2

2.3

2.4

2.5

OVERVIEW OF CONTROL FUNCTIONS・・・・・・・・・・・・
MODE STRUCTURE

External Automatic Mode
Internal Automatic Mode
Manual Mode
Edit

・・・・・・・・・・・・・・・・・・・・・・・・・・・

Test Operation

PRECAUTIONS FOR USE・・・・・・・・・・・・・・・・・・・

Handling Disks

GENERAL OPERATION・・・・・・・・・・・・・・・・・・・・

Use of the Shift key
Use of the Function keys
Repeating an Entry
Correcting Incorrect Entries
Cancelling an Entry
Use of Wild Cards
Format for Operating Instructions

ASSIGNING NAMES

Assigning the Volume Name
Assigning a File Name
Assigning a Point Name
Assigning a Name to Coordinate Data
Assigning a Name to Load Data

BASIC OPERATING PROCEDURE
TURNING ON THE MAIN POWER・・・・・・・・・・・・・・・

Cold Starting
Hot Starting

TURNING ON THE SERVO POWER
TURNING OFF THE SERVO POWER
TURNING OFF THE MAIN POWER

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1-1
1-3

1-4
1-4
1-5
1-6
1-7

1-8

1-8

1-10

1-10

1-11
1-12
1-12
1-12
1-13
1-14

1-15

1-15
1-16
1-17
1-18
1-19

2-1
2-2

2-2
2-4

2-6
2-7
2-8

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CHAPTER 3 MANUAL OPERATION

3.1

3.2

3.3

3.4

3.5

3.6

CHAPTER 4 AUXILIARY SIGNALS

CHAPTER 5 PROGRAM EDITING

5.1

5.2

5.2.1

5.2.2

5.2.3

5.2.4

5.2.5

5.2.6

5.3

5.3.1

5.3.2

5.4

5.4.1

5.4.2

5.4.3

5.4.4

5.5

5.5.1

5.5.2

5.5.3

5.5.4

5.5.5

5.5.6

5.5.7

5.5.8

5.5.9

SELECTING THE MANUAL MODE・・・・・・・・・・・・・・
GUIDANCE COORDINATES
GUIDE MOVEMENT・・・・・・・・・・・・・・・・・・・・・
GUIDE SPEED
GUIDANCE・・・・・・・・・・・・・・・・・・・・・・・・・
SERVO FREE

INVOKING THE SCREEN EDITOR
CHARACTER INPUT・・・・・・・・・・・・・・・・・・・・・

Character Input Mode Selection
Insert Mode
Typeover Mode
Input Deletion
Character Deletion
Moving the Cursor

INPUTTING SCOL COMMANDS・・・・・・・・・・・・・・・・

SCOL Menu
SCOL Menu Selection

EDITOR COMMAND INPUT

Editor Commands
Command Menu Selection
Input Deletion
Cancelling a Command

EDIT COMMAND DESCRIPTIONS

Jump to First Line
Jump to Last Line
Jump to Specified Line
Jump to Previous Page
Jump to Next Page
Jump to Beginning of Line
Jump to End of Line
Set Block
Delete Present Line

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3-1
3-3
3-4
3-5
3-6
3-7

5-1
5-6

5-6

5-7
5-10
5-12
5-13
5-14

5-15

5-15
5-17

5-19

5-19
5-20
5-21
5-22

5-23

5-23
5-25
5-27
5-30
5-32
5-34
5-36
5-38
5-41

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5.5.10

5.5.11

5.5.12

5.5.13

5.5.14

5.5.15

5.5.16

5.5.17

5.5.18

5.5.19

5.5.20

CHAPTER 6 DATA EDITING

6.1

6.2

6.3

6.3.1

6.3.2

6.4

6.4.1

6.4.2

6.5

6.5.1

6.5.2

6.5.3

6.5.4

6.5.5

6.5.6

6.6

6.6.1

6.6.2

6.6.3

6.6.4

6.6.5

6.6.6

6.6.7

6.6.8

INVOKING THE DATA EDITOR・・・・・・・・・・・・・・・・
EDITOR DATA SELECTION
DATA INPUT・・・・・・・・・・・・・・・・・・・・・・・・・

EDITOR COMMAND INPUT

EDIT COMMANDS COMMON TO EACH DATA EDITING

EDITING POSITIONAL DATA・・・・・・・・・・・・・・・・・

Delete Block
Copy Block
Rename File
Search
Replace
Restore Deleted Line
Repeat
Read in File
Change Editor File
Display Status
Quit

Selecting the Data Input Mode
Moving the Cursor

Editor Commands
Command Menu Selection

Jump to First Line
Jump to Last Line
Jump to Previous Page
Jump to Next Page
Display Status
Quit

・・・・・・・・・・・・・・・・・・・・・・・・・・・

Positional-data Edit-mode Selection
Work Coordinate Selection
Point Name Selection
Teaching Positional Data
Numerical Input of Positional Data
Deleting Positional Data
Point Search
Moving to a Taught Point

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5-43
5-45
5-48
5-49
5-52
5-57
5-59
5-61
5-65
5-68
5-71

6-1
6-2
6-3

6-3
6-4

6-5

6-5
6-6

6-8

6-8
6-10
6-12
6-14
6-16
6-18

6-20

6-20
6-22
6-25
6-28
6-33
6-36
6-38
6-41

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6.7

6.7.1

6.7.2

6.7.3

6.7.4

6.7.5

6.7.6

6.7.7

6.8

6.8.1

6.8.2

6.8.3

CHAPTER 7 TEST OPERATION

7.1

7.2

7.3

7.4

7.5

7.6

7.7

7.8

7.9

7.9.1

7.9.2

7.9.3

7.9.4

7.9.5

7.10

7.10.1

7.10.2

7.10.3

7.10.4

7.11

7.12

EDITING COORDINATE DATA・・・・・・・・・・・・・・・・

Coordinate-data Edit-mode Selection
Teaching Coordinate Data
Numerical Input of Coordinate Data
Deleting Coordinate Data
Base Coordinate Selection
Tool Coordinate Selection
Work Coordinate Selection

EDITING LOAD DATA

Load-data Edit-mode Selection
Numerical Input of Load Data
Deleting Load Data

SELECTING THE TEST OPERATION MODE
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・
OPERATION MODE SELECTION
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・
SPEED LIMIT
MACHINE LOCK・・・・・・・・・・・・・・・・・・・・・・・
STEP EXECUTION
START-UP
STOP COMMANDS

Cycle Stop
STOP
BREAK
Feed Hold
Emergency Stop

RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・

DIRECT EXECUTION・・・・・・・・・・・・・・・・・・・・
EXITING THE TEST OPERATION MODE

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Program Reset
Step Reset
Cycle Reset
Output Signal Reset

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6-42
6-44
6-49
6-51
6-55
6-58
6-61

6-63

6-63
6-65
6-67

7-2

7-4

7-6

7-8
7-10
7-12
7-14
7-17
7-20

7-20
7-22
7-23
7-24
7-26

7-27

7-27
7-29
7-31
7-33

7-35
7-37

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CHAPTER 8 INTERNAL AUTOMATIC OPERATION

8.1

8.2

8.3

8.4

8.5

8.6

8.7

8.7.1

8.7.2

8.7.3

8.7.4

8.7.5

8.8

8.8.1

8.8.2

8.8.3

8.8.4

8.9

CHAPTER 9 EXTERNAL AUTOMATIC OPERATION

9.1

9.2

9.3

9.4

9.5

9.6

9.7

9.7.1

9.7.2

9.7.3

9.7.4

9.7.5

9.8

SELECTING THE INTERNAL AUTOMATIC MODE・・・・・・・
PROGRAM SELECTION
OPERATION MODE SELECTION・・・・・・・・・・・・・・・
SPEED OVERRIDE
SPEED LIMIT・・・・・・・・・・・・・・・・・・・・・・・・
START-UP
STOP COMMANDS

Cycle Stop
STOP
BREAK
Feed Hold
Emergency Stop

RESET

Program Reset
Step Reset
Cycle Reset
Output Signal Reset

DIRECT EXECUTION

SELECTING THE EXTERNAL AUTOMATIC MODE
PROGRAM SELECTION・・・・・・・・・・・・・・・・・・・
OPERATION MODE SELECTION
SPEED OVERRIDE・・・・・・・・・・・・・・・・・・・・・・
SPEED LIMIT
START-UP
STOP・・・・・・・・・・・・・・・・・・・・・・・・・・・・

Cycle Stop
STOP
BREAK
Feed Hold
Emergency Stop

RESET・・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

STE 58761

・・・・・・・

・・・・・・・・・・・・・・・

8-2

8-4

8-6

8-8
8-10
8-12
8-13

8-13
8-15
8-17
8-18
8-20

8-21

8-21
8-23
8-25
8-27

8-29

9-2

9-4

9-6

9-7

9-8

9-9
9-10

9-10

9-11
9-13
9-14
9-16

9-17

xiv

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CHAPTER 10 SYSTEM CONTROL

10.1

10.2

10.3

10.4

10.4.1

10.4.2

10.4.3

10.4.4

CHAPTER 11 FILE MANAGEMENT

11.1

11.2

11.3

11.4

11.5

11.6

11.7

11.8

11.9

11.10

CHAPTER 12 UTILITIES

12.1

12.2

12.3

12.4

12.5

CHAPTER 13 SELF DIAGNOSIS

13.1

13.2

13.3

13.4

13.5

13.6

13.7

SETTING THE DATE・・・・・・・・・・・・・・・・・・・・
SETTING THE TIME
CHANNEL SELECTION・・・・・・・・・・・・・・・・・・
RESET

INITIALIZATION・・・・・・・・・・・・・・・・・・・・・・
DIRECTORY DISPLAY
FILE COPY・・・・・・・・・・・・・・・・・・・・・・・・
FILE RENAME
FILE DELETE
FILE LOAD
FILE SAVE
FILE PRINT・・・・・・・・・・・・・・・・・・・・・・・・
BATCH PROCESSING
AUTOMATIC EXECUTION FILES・・・・・・・・・・・・・・

SELECTING THE UTILITY MODE・・・・・・・・・・・・・・
WORK COORDINATE SELECTION
TOOL COORDINATE SELECTION
PRESENT POSITION MONITOR
EXTERNAL I/O SIGNAL MONITOR

CLASSIFICATION OF ERRORS
ERROR DISPLAYS・・・・・・・・・・・・・・・・・・・・
ERROR MESSAGE DISPLAYS
ERROR RESETTING・・・・・・・・・・・・・・・・・・・・
ALL ERRORS RESET
ERROR HISTORY DISPLAYS
LIST OF ERRORS

・・・・・・・・・・・・・・・・・・・・・・・・・・

Program Reset
Step Reset
Cycle Reset
Output Signal Reset

・・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・・

STE 58761

・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・

・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・

・・・・・・・・・・・・・

・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・

・・・・・・・・・・・・・・・・・・・・・

10-1
10-4
10-7

10-10

10-10
10-12
10-14
10-16

11-1
11-4
11-7

11-11
11-14
11-17
11-20
11-23
11-26
11-30

12-1
12-2
12-4
12-6
12-8

13-1
13-1
13-2
13-4
13-5
13-6
13-8

xv

－ －

CHAPTER 14 JOINT LIMIT SETTING

14.1

14.2

14.3

APPENDIX A

APPENDIX B

APPENDIX C

SELECTING JOINT LIMIT SETTING MODE・・・・・・・・・・
JOINT LIMIT TEACHING
INPUTTING NUMERIC VALUES FOR JOINT LIMITS・・・・・・

TEACH PENDANT MESSAGE TABLE

LIST OF COMMANDS

HANDLING ARRAY DATA BY DATA EDITING・・・・・・

STE 58761

・・・・・・・・・・・・・・・・・・

・・・・・・・・・・

・・・・・・・・・・・・・・・・・

14-1
14-3
14-5

15-1

15-10

15-13

xvi

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