Sel TB-03 User manual

Data Setter TB-03
P
Pr ro og gr ra am m C Co on nt tr ro ol ll le er r W Wi ir re ed d L Li in nk k
Instruction Manual First Edition
This instruction manual describes the contents for Program (SEL system)
Controllers Wired Link.
For how to use the ELECYLINDER wireless link, refer to the following instruction manual.
"Data Setter TB-03 ELECYLINDER Wireless Link Instruction Manual" (ME0375)
For how to use the position (CON/SEP/MEC system) controllers and ELECYLINDER wired link, refer
to the following instruction manual.
"Data Setter TB-03 Position Controller, ELECYLINDER Wired Link Instruction Manual" (ME0376)
For details of applicable controllers, refer in the section for the supported models.
ME0375
ME0376

Please Read Before Use
Thank you for purchasing our product.
This Instruction Manual explains the handling methods, structure and maintenance of this product,
among others, providing the information you need to know to use the product safely.
Before using the product, be sure to read this manual and fully understand the contents explained
herein to ensure safe use of the product.
The DVD that comes with the product contains Instruction Manuals for IAI products.
When using the product, refer to the necessary portions of the applicable Instruction Manual by
printing them out or displaying them on a PC.
After reading the Instruction Manual, keep it in a convenient place so that whoever is handling this
product can reference it quickly when necessary.
[Important]
This Instruction Manual is original.
The product cannot be operated in any way unless expressly specified in this Instruction Manual.
IAI shall assume no responsibility for the outcome of any operation not specified herein.
Information contained in this Instruction Manual is subject to change without notice for the
purpose of product improvement.
If you have any question or comment regarding the content of this manual, please contact the
IAI sales office near you.
Using or copying all or part of this Instruction Manual without permission is prohibited.
The company names, names of products and trademarks of each company shown in the
sentences are re
g
istered trademarks.

Supported Models
This Instruction Manual is for the Program Controller Wired Link.
For details on handling the ELECYLINDER wireless link, refer to the separate “Data Setter
TB-03 ELECYLINDER Wireless Link Instruction Manual (ME0375)”.
For details on handling the position controller (ERC3, ERC2, ACON, PCON, SCON, DCON,
RACON, RPCON, MSCON, MCON, ASEP, PSEP, DSEP, MSEP, AMEC, PMEC, RCP6S, RCM-P6PC,
RCM-P6AC, RCM-P6DC), and ELECYLINDER wired link, refer to the separate “Data Setter
TB-03 Applicable for Position Controller Wired Link Instruction Manual (ME0376)”.
Supported Model List
Model Name Support Started Version
XSEL-K/KX/KT/KET V1.80
XSEL-J/JX Not Supported
XSEL-P/Q/PX/QX/PCT/QCT V1.80
XSEL-R/S/RX/SX/RXD/SXD V1.80
XSEL-RA/SA/RAX/SAX/RAXD/SAXD V1.80
MSEL-PC/PG/PCF/PGF/PCX/PGX V1.80
TT/TTA V1.80
SSEL V1.80
ASEL V1.80
PSEL V1.80

Chapter Contents
Safety Guide 1
Caution in Handling 8
International Standards Compliances 8
Product Check 9
1. Forward 13
2. Specifications Check 15
3. Connection with the Controller 31
4. How to Save Data 45
5. Mode Transition Diagram 53
6. Menu Selection 91
7. Execute or Stop the Positioner Mode of
the SSEL, ASEL and PSEL Controller 93
8. Position Edit 95
9. Program Edit 155
10. Program Execution 189
11. Coordinate System Data Editing of the SCARA Axis 209
12. Symbol Edit 229
13. Parameter Edit 239
14. Monitor 245
15. Controller 269
16. Abusolute Reset 301
17. Gateway Function Associated 413
18. Extended Motion Control Function 441
19. Data Backup 463
20. Environment Setting 479

21. Appendix 487
22. Warranty 491

Table of Contents
Safety Guide............................................................................................................................. 1
Caution in Handling ..................................................................................................................8
International Standards Compliances ...................................................................................... 8
Product Check..........................................................................................................................9
1. Forward ...........................................................................................................................13
2. Specifications Check ....................................................................................................... 15
2.1 Basic Specifications..............................................................................................................15
2.2 Environmental Specifications ...............................................................................................16
2.3 Explanation of Each Part ......................................................................................................17
2.3.1 Front and Side Surface.................................................................................................17
2.3.2 Back ..............................................................................................................................18
2.3.3 AC Adapter Joint ...........................................................................................................18
2.3.4 Cable Joint ....................................................................................................................19
2.4 How to Set in/out SD Memory Card .....................................................................................20
2.4.1 How to Insert SD Memory Card....................................................................................20
2.4.2 How to Take out SD Memory Card ...............................................................................21
2.5 How to Set in/out Battery Unit ..............................................................................................22
2.5.1 How to Take Out Battery Unit .......................................................................................22
2.5.2 How to Attach Battery Unit ............................................................................................23
2.6 External Dimensions.............................................................................................................24
2.7 Life of Touch Panel LCD ......................................................................................................24
2.8 Life of Battery and Replacement of Battery..........................................................................24
2.9 AC Adapter ...........................................................................................................................25
2.9.1 Common Specifications for AC Adapter........................................................................25
2.9.2 AC adapter appearance................................................................................................25
2.10 Optional Items ......................................................................................................................27
2.10.1 Grip Belt (GRP-2)..........................................................................................................27
2.10.2 Strap (STR-1)................................................................................................................27
2.10.3 Spiral Cord (SIC-1)........................................................................................................28
2.11 Maintenance Parts................................................................................................................28
2.11.1 Battery Unit (AB-7) (Enclosed to Main Unit) .................................................................28
2.11.2 Touch Pen (TCH-TB03) (Enclosed to Main Unit, For purpose of lost and damaged) ..28
2.12 Specifications Related to Battery Change............................................................................29
2.12.1 Types of Charger Mode ................................................................................................29
2.12.2 Caution Related to Battery Charging ............................................................................29
3. Connection with the Controller ........................................................................................31
3.1 XSEL-K Type Controller .......................................................................................................31
3.2 XSEL-KT/KET Type Controller.............................................................................................32
3.3 XSEL-P/Q, R/S, RA/SA Type Controller ..............................................................................33
3.4 XSEL-KX Type Controller.....................................................................................................34
3.5 XSEL-PX/QX, RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD Type Controller.......................35
3.6 TT/TTA Type Controller........................................................................................................36
3.7 SSEL Type Controller...........................................................................................................37
3.8 ASEL Type Controller...........................................................................................................38
3.9 PSEL Type Controller...........................................................................................................39
3.10 MSEL Type Controller ..........................................................................................................40
3.11 Connection Cable .................................................................................................................41
3.11.1 Cable for Program Controller (XSEL-J and XSEL-JX excluded) ..................................41
3.12 Data Setter Connection Procedure...............................................................................42

4. How to Save Data ...........................................................................................................45
4.1 Set-up at Shipment with System Memory Backup Battery...................................................45
4.2 Set-up at Shipment without System Memory Backup Battery
(Table Top Actuator (TT), SSEL, ASEL, PSEL)...................................................................48
4.3 XSEL-R/S/RX/SX/RXD/SXD ................................................................................................50
4.4 XSEL-RA/SA/RAX/SAX/RAXD/SAXD..................................................................................51
4.5 TTA, MSEL-PCX/PGX/PC/PG/PCF/PGF.............................................................................52
4.6 Caution .................................................................................................................................53
5. Mode Transition Diagram ................................................................................................ 53
5.1 XSEL-K, P/Q, R/S, RA/SA, TT/TTA Controller.....................................................................53
5.2 XSEL-KX Controller..............................................................................................................59
5.3 XSEL-PX/QX, RX/SX, RAX/SAX Controller .........................................................................64
5.4 XSEL-RXD/SXD, RAXD/SAXD Controller............................................................................70
5.5 MSEL-PCX/PGX/PC/PG/PCF/PGF Controller .....................................................................76
5.6 SSEL, ASEL or PSEL Controller ..........................................................................................81
5.6.1 Program Mode ..............................................................................................................81
5.6.2 Positioner Mode ............................................................................................................86
6. Menu Selection................................................................................................................91
7. Execute or Stop the Positioner Mode of the SSEL, ASEL and PSEL Controller............. 93
8. Position Edit ....................................................................................................................95
8.1 Manual Input (Numerical Input) ............................................................................................95
8.1.1 Basic Operation ............................................................................................................98
8.1.2 Flash ROM Writing......................................................................................................107
8.2 Teaching of the Linear Axis: XSEL-K, P/Q, or 5th to 6th Axes of PX/QX Controller,
R/S, 5th to 8th Axes of RX/SX Controller, RA/SA, or 5th to 8th Axes of RAX/SAX
Controller, Additional Axes on 3-axis SCARA Type MSEL-PCX/PGX Controller,
MSEL-PC/PG/PCF/PGF, TT, TTA, SSEL, ASEL or PSEL Controller................................108
8.2.1 Teaching......................................................................................................................108
8.2.2 Example of Teaching Input..........................................................................................119
8.3 Teaching for SCARA axis: 1st to 4th Axes of XSEL-KX, PX/QX, RX/SX or RAX/SAX
Controller, 1st to 4th Axes or 5th to 8th Axes of XSEL-RXD/SXD or RAXD/SAXD
Controller or 1st to 4th Axes on MSEL-PCX/PGX Controller *1
(*1 1st to 3rd Axes for 3-axis SCARA Type) ......................................................................124
8.3.1 Teaching......................................................................................................................124
8.3.2 Jog Movement Direction and Coordinate System ......................................................127
8.3.3 Actuator Operation......................................................................................................132
8.3.4 Example of Teaching Input..........................................................................................145
8.4 Copy and Movement of Position Data................................................................................150
8.5 Deletion of Position Data ....................................................................................................152
9. Program Edit .................................................................................................................155
9.1 How to Input Program.........................................................................................................155
9.2 Symbol Input During Program Edit.....................................................................................167
9.2.1 When Symbol Not Defined .........................................................................................167
9.2.2 When There is Symbol Definition ...............................................................................169
9.3 Single Line Comment Input ................................................................................................171
9.4 To Change Program Steps.................................................................................................173
9.5 Other Editing Features .......................................................................................................179
9.6 Program: Copy or Move .....................................................................................................184
9.7 Program: Clear ...................................................................................................................186
9.8 Flash ROM Writing .............................................................................................................188
10. Program Execution........................................................................................................ 189
10.1 Operation Confirmation ......................................................................................................189

10.2 Setting of Break Point.........................................................................................................193
10.3 Monitoring in Program Operation .......................................................................................194
10.4 Program Execution Time Measurement Function..............................................................204
10.4.1 Indication of Execution Time Measurement Section...................................................205
10.4.2 Display of Execution Time Measurement Result ........................................................207
10.4.3 Cautions......................................................................................................................208
11. Coordinate System Data Editing of the SCARA Axis ....................................................209
11.1 Editing of Work Coordinate System Data...........................................................................211
11.2 Editing of Tool Coordinate System Data ............................................................................217
11.3 Editing of Simple Interference Check Zone........................................................................223
12. Symbol Edit
(Excluding the positioner mode of the SSEL, ASEL and PSEL Controller.)..................229
12.1 Symbol Edit Items...............................................................................................................230
12.2 Input Example: Symbolize Local Integer Variable No. .......................................................231
12.3 Symbol Edit Screen of Each Items.....................................................................................234
13. Parameter Edit ..............................................................................................................239
13.1 Parameter Edit Items..........................................................................................................240
13.2 Input Example: Edit Specific-Axis Parameter.....................................................................241
14. Monitor ..........................................................................................................................245
14.1 Monitor Items......................................................................................................................245
14.2 Input Port ............................................................................................................................246
14.3 Output Port .........................................................................................................................247
14.4 Input/Output Port ................................................................................................................247
14.5 Global Flag .........................................................................................................................248
14.6 Global Variable ...................................................................................................................249
14.7 Axis Status..........................................................................................................................252
14.8 System Status ....................................................................................................................255
14.9 Error List .............................................................................................................................257
14.10 Version Information ............................................................................................................260
14.11 Control Constant Table Management Information .............................................................262
14.12 Maintenance Information....................................................................................................263
14.12.1 Actuator Replacement ................................................................................................265
14.12.2 Pairing ID Clear...........................................................................................................266
14.13 Servo Additional Data Monitor............................................................................................268
15. Controller.......................................................................................................................269
15.1 Controller Items ..................................................................................................................269
15.2 Flash ROM Writing .............................................................................................................271
15.3 Software Reset ...................................................................................................................272
15.4 Error Reset .........................................................................................................................273
15.5 Memory Clear .....................................................................................................................274
15.5.1 Memory Initialization Items .........................................................................................274
15.5.2 Global Variable............................................................................................................275
15.5.3 User Data Hold Memory .............................................................................................276
15.5.4 Position Data (XSEL-R/S, RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD,
TTA and MSEL-PCX/PGX/PC/PG/PCF/PGF Only)....................................................276
15.5.5 Coordinate System Data (XSEL-RX/SX, RXD/SXD, RAX/SAX, RAXD/SAXD and
MSEL-PCX/PGX Only) ...............................................................................................279
15.5.6 The value of this parameter at the factory (SSEL, ASEL, PSEL, XSEL-R/S,
RX/SX, RXD/SXD, RA/SA, RAX/SAX, RAXD/SAXD, TTA AC Servo Type / High-
Resolution Type and MSEL High-Resolution Type)....................................................281
15.5.7 Program Data (Restore Prev Data) ............................................................................284
15.5.8 Symbol Data (Restore Prev Data) ..............................................................................286
15.5.9 Position Data (Restore Prev Data) .............................................................................287
15.5.10 Parameter Data (Restore Prev Data) .........................................................................288

15.6 Re-Connection....................................................................................................................290
15.7 Baud Rate Change .............................................................................................................291
15.8 Safety Velocity....................................................................................................................292
15.9 Driver Power Recovery Request ........................................................................................292
15.10 Action Pause Release Request..........................................................................................293
15.11 Simultaneous Operation of Multiple Programs...................................................................293
15.12 Driver Power Recovery Request and Action Pause Release Request..............................295
15.12.1 In the Case of Controller Other Than SSEL, ASEL and PSEL Controllers.................295
15.12.2 In the Case of SSEL, ASEL or PSEL Controller .........................................................296
15.13 Time Setting .......................................................................................................................297
15.14 Pairing ID Clear ..................................................................................................................299
16. Absolute Reset .............................................................................................................. 301
16.1 Absolute Reset of the Linear Axis : XSEL-K, P/Q, or 5th and 6th Axes of
PX/QX Controller, XSEL-R/S or 5th to 8th Axes of RX/SX Controller, or SSEL,
ASEL Controller..................................................................................................................301
16.2 Absolute Reset of the SCARA Axis....................................................................................304
16.2.1 How to Conduct Absolute Reset on 1st to 4th Axes of XSEL-KX and PX/QX,
1st to 4th Axes for XSEL-RX/SX and XSEL-RXD/SXD Controllers............................304
16.2.2 How to Conduct Absolute Reset on XSEL-RAX/SAX/RAXD/SAXD SCARA Axes.....325
16.3 Perform Absolute Reset on ZR Unit (Absolute Type) ........................................................331
16.4 Perform Ball Screw Spline Shaft Adjusting on ZR Unit (Incremental Type).......................340
16.5 Linear Axis Synchro Specification Absolute Reset ............................................................348
16.5.1 Synchro Axes ..............................................................................................................348
16.5.2 Location Adjustment of Synchro Axes Sliders ............................................................349
16.5.3 Special Procedure Absolute Reset .............................................................................350
16.5.4 Standard Procedure Absolute Reset...........................................................................360
16.6 How to Perform Pressing Absolute Reset on IX-1000/1200 ..............................................361
16.6.1 How to Acquire Stopper Pressing Position .................................................................363
16.6.2 How to Conduct Stopper Pressing Absolute Reset ....................................................375
16.7 How to Home Adjustment / Absolute Reset on MSEL-PCX/PGX/PC/PG/PCF/PGF and
PSEL...................................................................................................................................388
16.7.1 SCARA J1, J2 and R Axes..........................................................................................390
16.7.2 SCARA Z-Axis, Battery-less Absolute Type Additional Axes and Linear Axes ...........395
16.8 How to Conduct Absolute Reset for Battery-less Absolute Type .......................................398
16.8.1 How to Conduct Absolute Reset for Battery-less Absolute Type................................398
16.8.2 Special ProcedurCe: How to Conduct Absolute Reset Battery-less Absolute
Synchronizing Type.....................................................................................................400
16.9 How to Conduct Absolute Reset on Pulse Motor Type TTA ..............................................404
16.9.1 How to Conduct Absolute Reset on Pulse Motor Type TTA .......................................404
16.10 Procedures for Resetting Absolute-Battery Voltage-Down Warning Error for
Linear Axis: XSEL-K, P/Q, 5th and 6th Axes of PX/QX, XSEL-R/S, 5th to 8th Axes of
RX/SX, XSEL-RA/SA, 5th to 8th Axes of RAX/SAX, SSEL, ASEL and PSEL Controller ..406
16.11 Home Adjust / Absolute Reset for Wrist Unit: MSEL-PC/PG/PCF/PGF.............................408
17. Gateway Function Associated....................................................................................... 413
17.1 Editing of the RC Position Data in XSEL............................................................................413
17.1.1 RC Position Data Creation..........................................................................................413
17.1.2 RC Position Data Input Using the Teaching Operation...............................................421
17.1.3 RC Position Data Deletion ..........................................................................................430
17.2 RC Actuator Monitoring ......................................................................................................434
17.3 User Data Hold Memory Initialization .................................................................................437
17.3.1 Description ..................................................................................................................437
17.3.2 Operation Procedure...................................................................................................437
18. Extended Motion Control Function ................................................................................ 441
18.1 Extended Motion Control Position Data Editing .................................................................441
18.1.1 Extended Motion Control Position Data Creation .......................................................441
18.1.2 Extended Motion Control Position Data Input using the Teaching Operation.............448

18.1.3 Extended Motion Control Axis Position Data Deletion................................................457
18.2 Extended Motion Control Axis Monitoring ..........................................................................459
18.3 User Data Hold Memory Initialization .................................................................................461
18.3.1 Description ..................................................................................................................461
18.3.2 Operation Procedure...................................................................................................461
19. Data Backup..................................................................................................................463
19.1 Data Backup of the Controller ............................................................................................464
19.2 Restore to Controller ..........................................................................................................471
20. Environment Setting ...................................................................................................... 479
21. Appendix .......................................................................................................................487
21.1 Screenshot..........................................................................................................................487
21.2 Teaching Update ................................................................................................................488
21.2.1 Preparation .................................................................................................................488
21.2.2 Update Procedures .....................................................................................................488
21.2.3 Updating Process when Controller Unconnected Error Shows up.............................489
22. Warranty........................................................................................................................491
22.1 Warranty Period..................................................................................................................491
22.2 Scope of Warranty..............................................................................................................491
22.3 Honoring the Warranty .......................................................................................................491
22.4 Limited Liability ...................................................................................................................491
22.5 Conditions of Conformance with Applicable Standards/Regulations, Etc.,
and Applications .................................................................................................................492
22.6 Other Items Excluded from Warranty .................................................................................492
About Error Level Management ....................................................................................... 493
Change History..................................................................................................................... 499

1
Safety Guide
“Safety Guide” has been written to use the machine safely and so prevent personal injury or property
damage beforehand. Make sure to read it before the operation of this product.
Safety Precautions for Our Products
The common safety precautions for the use of any of our robots in each operation.
No. Operation
Description Description
1 Model
Selection
●This product has not been planned and designed for the application
where high level of safety is required, so the guarantee of the protection
of human life is impossible. Accordingly, do not use it in any of the
following applications.
1) Medical equipment used to maintain, control or otherwise affect
human life or physical health.
2) Mechanisms and machinery designed for the purpose of moving or
transporting people (For vehicle, railway facility or air navigation
facility)
3) Important safety parts of machinery (Safety device, etc.)
●Do not use the product outside the specifications. Failure to do so may
considerably shorten the life of the product.
●Do not use it in any of the following environments.
1) Location where there is any inflammable gas, inflammable object or
explosive
2) Place with potential exposure to radiation
3) Location with the ambient temperature or relative humidity exceeding
the specification range
4) Location where radiant heat is added from direct sunlight or other
large heat source
5) Location where condensation occurs due to abrupt temperature
changes
6) Location where there is any corrosive gas (sulfuric acid or
hydrochloric acid)
7) Location exposed to significant amount of dust, salt or iron powder
8) Location subject to direct vibration or impact
●For an actuator used in vertical orientation, select a model which is
equipped with a brake. If selecting a model with no brake, the moving
part may drop when the power is turned OFF and may cause an
accident such as an in
j
ur
y
or dama
g
e on the work piece.

2
No. Operation
Description Description
2 Transportation ●When carrying a heavy object, do the work with two or more persons or
utilize equipment such as crane.
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When in transportation, consider well about the positions to hold, weight
and weight balance and pay special attention to the carried object so it
would not get hit or dropped.
●Transport it using an appropriate transportation measure.
The actuators available for transportation with a crane have eyebolts
attached or there are tapped holes to attach bolts. Follow the
instructions in the instruction manual for each model.
●Do not step or sit on the package.
●Do not put any heavy thing that can deform the package, on it.
●When using a crane capable of 1t or more of weight, have an operator
who has qualifications for crane operation and sling work.
●When using a crane or equivalent equipments, make sure not to hang a
load that weighs more than the equipment’s capability limit.
●Use a hook that is suitable for the load. Consider the safety factor of the
hook in such factors as shear strength.
●Do not get on the load that is hung on a crane.
●Do not leave a load hung up with a crane.
●Do not stand under the load that is hun
g
up with a crane.
3 Storage and
Preservation
●The storage and preservation environment conforms to the installation
environment. However, especially give consideration to the prevention
of condensation.
●Store the products with a consideration not to fall them over or drop due
to an act of God such as earthquake.
4 Installation
and Start
(1) Installation of Robot Main Body and Controller, etc.
●Make sure to securely hold and fix the product (including the work part).
A fall, drop or abnormal motion of the product may cause a damage or
injury.
Also, be equipped for a fall-over or drop due to an act of God such as
earthquake.
●Do not get on or put anything on the product. Failure to do so may cause
an accidental fall, injury or damage to the product due to a drop of
anything, malfunction of the product, performance degradation, or
shortening of its life.
●When using the product in any of the places specified below, provide a
sufficient shield.
1) Location where electric noise is generated
2) Location where high electrical or magnetic field is present
3) Location with the mains or power lines passing nearby
4) Location where the product may come in contact with water, oil or
chemical droplets

3
No. Operation
Description Description
4 Installation
and Start
(2) Cable Wiring
●Use our company’s genuine cables for connecting between the actuator
and controller, and for the teaching tool.
●Do not scratch on the cable. Do not bend it forcibly. Do not pull it. Do not
coil it around. Do not insert it. Do not put any heavy thing on it. Failure to
do so may cause a fire, electric shock or malfunction due to leakage or
continuity error.
●Perform the wiring for the product, after turning OFF the power to the
unit, so that there is no wiring error.
●When the direct current power (+24V) is connected, take the great care
of the directions of positive and negative poles. If the connection
direction is not correct, it might cause a fire, product breakdown or
malfunction.
●Connect the cable connector securely so that there is no disconnection
or looseness. Failure to do so may cause a fire, electric shock or
malfunction of the product.
●Never cut and/or reconnect the cables supplied with the product for the
purpose of extending or shortening the cable length. Failure to do so
ma
y
cause the product to malfunction or cause fire.
(3) Grounding
●The grounding operation should be performed to prevent an electric
shock or electrostatic charge, enhance the noise-resistance ability and
control the unnecessary electromagnetic radiation.
●For the ground terminal on the AC power cable of the controller and the
grounding plate in the control panel, make sure to use a twisted pair
cable with wire thickness 0.5mm2(AWG20 or equivalent) or more for
grounding work. For security grounding, it is necessary to select an
appropriate wire thickness suitable for the load. Perform wiring that
satisfies the specifications (electrical equipment technical standards).
●Perform Class D Grounding (former Class 3 Grounding with ground
resistance 100or below).

4
No. Operation
Description Description
4 Installation
and Start
(4) Safety Measures
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●When the product is under operation or in the ready mode, take the
safety measures (such as the installation of safety and protection fence)
so that nobody can enter the area within the robot’s movable range.
When the robot under operation is touched, it may result in death or
serious injury.
●Make sure to install the emergency stop circuit so that the unit can be
stopped immediately in an emergency during the unit operation.
●Take the safety measure not to start up the unit only with the power
turning ON. Failure to do so may start up the machine suddenly and
cause an injury or damage to the product.
●Take the safety measure not to start up the machine only with the
emergency stop cancellation or recovery after the power failure. Failure
to do so may result in an electric shock or injury due to unexpected
power input.
●When the installation or adjustment operation is to be performed, give
clear warnings such as “Under Operation; Do not turn ON the power!”
etc. Sudden power input may cause an electric shock or injury.
●Take the measure so that the work part is not dropped in power failure or
emergency stop.
●Wear protection gloves, goggle or safety shoes, as necessary, to secure
safety.
●Do not insert a finger or object in the openings in the product. Failure to
do so may cause an injury, electric shock, damage to the product or fire.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped b
y
g
ravit
y
.
5 Teaching ●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the teaching operation from outside the safety protection fence,
if possible. In the case that the operation is to be performed unavoidably
inside the safety protection fence, prepare the “Stipulations for the
Operation” and make sure that all the workers acknowledge and
understand them well.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable ran
g
e should be indicated.

5
No. Operation
Description Description
6 Trial
Operation
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●After the teaching or programming operation, perform the check
operation one step by one step and then shift to the automatic
operation.
●When the check operation is to be performed inside the safety
protection fence, perform the check operation using the previously
specified work procedure like the teaching operation.
●Make sure to perform the programmed operation check at the safety
speed. Failure to do so may result in an accident due to unexpected
motion caused by a program error, etc.
●Do not touch the terminal block or any of the various setting switches in
the power ON mode. Failure to do so may result in an electric shock or
malfunction.
7 Automatic
Operation
●Check before starting the automatic operation or rebooting after
operation stop that there is nobody in the safety protection fence.
●Before starting automatic operation, make sure that all peripheral
equipment is in an automatic-operation-ready state and there is no
alarm indication.
●Make sure to operate automatic operation start from outside of the
safety protection fence.
●In the case that there is any abnormal heating, smoke, offensive smell,
or abnormal noise in the product, immediately stop the machine and
turn OFF the power switch. Failure to do so may result in a fire or
damage to the product.
●When a power failure occurs, turn OFF the power switch. Failure to do
so may cause an injury or damage to the product, due to a sudden
motion of the product in the recover
y
operation from the power failure.

6
No. Operation
Description Description
8 Maintenance
and
Inspection
●When the work is carried out with 2 or more persons, make it clear who
is to be the leader and who to be the follower(s) and communicate well
with each other to ensure the safety of the workers.
●Perform the work out of the safety protection fence, if possible. In the
case that the operation is to be performed unavoidably inside the safety
protection fence, prepare the “Stipulations for the Operation” and make
sure that all the workers acknowledge and understand them well.
●When the work is to be performed inside the safety protection fence,
basically turn OFF the power switch.
●When the operation is to be performed inside the safety protection
fence, the worker should have an emergency stop switch at hand with
him so that the unit can be stopped any time in an emergency.
●When the operation is to be performed inside the safety protection
fence, in addition to the workers, arrange a watchman so that the
machine can be stopped any time in an emergency. Also, keep watch on
the operation so that any third person can not operate the switches
carelessly.
●Place a sign “Under Operation” at the position easy to see.
●For the grease for the guide or ball screw, use appropriate grease
according to the instruction manual for each model.
●Do not perform the dielectric strength test. Failure to do so may result in
a damage to the product.
●When releasing the brake on a vertically oriented actuator, exercise
precaution not to pinch your hand or damage the work parts with the
actuator dropped by gravity.
●The slider or rod may get misaligned OFF the stop position if the servo
is turned OFF. Be careful not to get injured or damaged due to an
unnecessary operation.
●Pay attention not to lose the cover or untightened screws, and make
sure to put the product back to the original condition after maintenance
and inspection works.
Use in incomplete condition may cause damage to the product or an
injury.
* Safety protection Fence : In the case that there is no safety protection
fence, the movable ran
g
e should be indicated.
9 Modification
and Dismantle
●Do not modify, disassemble, assemble or use of maintenance parts not
specified based at
y
our own discretion.
10 Disposal ●When the product becomes no longer usable or necessary, dispose of it
properly as an industrial waste.
●When removing the actuator for disposal, pay attention to drop of
components when detaching screws.
●Do not put the product in a fire when disposing of it.
The product ma
y
burst or
g
enerate toxic
g
ases.
11 Other ●Do not come close to the product or the harnesses if you are a person
who requires a support of medical devices such as a pacemaker. Doing
so may affect the performance of your medical device.
●See Overseas Specifications Compliance Manual to check whether
complies if necessary.
●For the handling of actuators and controllers, follow the dedicated
instruction manual of each unit to ensure the safet
y
.

7
Alert Indication
The safety precautions are divided into “Danger”, “Warning”, “Caution” and “Notice” according to the
warning level, as follows, and described in the instruction manual for each model.
Level Degree of Danger and Damage Symbol
Danger
This indicates an imminently hazardous situation which, if the
product is not handled correctly, will result in death or serious
injury. Danger
Warning
This indicates a potentially hazardous situation which, if the
product is not handled correctly, could result in death or serious
injury. Warning
Caution
This indicates a potentially hazardous situation which, if the
product is not handled correctly, may result in minor injury or
property damage. Caution
Notice This indicates lower possibility for the injury, but should be kept to
use this product properly. Notice

8
Caution in Handling
●For this data setter, the language to display can be switched among Japanese,
English and Chinese.
• Refer to Section 20 Environment Setting [Language] for how to change it.
●Do not attempt to give mechanical shock on this data setter TB-03 as it may cause
malfunction.
●When operating this data setter TB-03, be sure to hold the teaching pendant to
prevent the cables from receiving unnecessary tensile loads.
●The LCD screen drops brightness if it is used for long time. In order to extend the
life of LCD, set the time setting to turn off in the environment setting to turn it off
automatically, and disconnect from the controller when it is not in use.
●Do not touch two points on the screen at the same time as the touch panel adopts
the analog resistive film system. Touching two points at the same time can make
the system detect the middle point on a line between the two points that you
touched and react.
●Make operation on the touch panel with force of 0.5N or less.
Applying higher force can damage the panel.
●The life of the touch panel is 1,000,000 times of pressing on the same spot (in
environment of 25C).
●Turn off the power to the controller before putting it in or out. Putting it in and out
while the power is on may cause malfunction.
●When putting it in, check the connector matching position and insert it carefully
with no excess force applied to any unexpected direction. Do not attempt to insert
it forcefully when it does not go in smoothly.
●For a SD memory card, choose a SD/SDHC memory card with 1G to 32G.
(Toshiba-made recommended) Also, use FAT32 format for the file system.
International Standards Compliances
This TB-03 comply with the following international standards.
Caution: This data setter TB-03 is exclusively designed for use with IAI controllers. Never
connect it to other equipment. Failure ma
y
occur.
RoHS Directive CE Marking UL
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