Toshiba TS2000 User manual

STE 71366-4
INSTRUCTION MANUAL
TS2000 ROBOT CONTROLLER
STARTUP MANUAL
Notice
• Make sure that this instruction manual is delivered to the
final user of Toshiba Machine's industrial robot.
• Before operating the industrial robot, read through and
completely understand this manual.
• After reading through this manual, keep it nearby for future
reference.
TOSHIBA MACHINE CO., LTD.
TOKYO, JAPAN

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Copyright 2002 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 Toshiba Machine Co., Ltd.
The information contained in this manual is subject to change without prior notice to
effect improvements.

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Preface
This manual describes the procedures covering from power ON of the robot after
installation to robot operation by manual guide and by programs.
Before reading this manual, install the robot according to the Safety Manual and
Installation & Transport Manual.
When you use the TS2000 robot controller for the first time, be sure to read through this
manual.
Structure of TS2000 robot controller instruction manuals:
These instruction manuals were published in parts according to the application and
purpose, and the name and outline of each manual are as follows:
[Safety Manual]
This manual contains the important information to use the robot safety and correctly.
Be sure to read through and understand this manual before operating the robot.
Also, strictly observe the descriptions made there.
[Installation & Transport Manual]
This manual describes the transport, unpacking and installation of the robot and
controller. Be sure to read through this manual before unpacking the shipment
containing the robot.
[Operator’s Manual]
This manual deals with the TS1000 controller operating procedures. Read through
this manual before operating the robot, and refer to it as necessary.
[Robot Language Manual]
This manual refers to the robot language called "SCOL". When you have to create
a program based on this language, read through the manual.
[Interface Manual]
This manual describes the external signals for the robot. Concerning the interface
conditions between the robot and peripheral equipment, specifications, timing, etc.,
refer to the manual when necessary.

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[Maintenance Manual]
This manual deals with the daily and regular inspections to be made on the robot
and controller. Read through this manual to use the robot safely over long years to
come.
[Communication Manual]
This manual describes the serial communication between the robot controller and
other equipment. Refer to this manual when connecting the robot controller with a
host computer, optical sensor, etc., via a serial cable.

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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 assure
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
!DANGER
This means that "incorrect handling will lead to fatalities
or serious injuries."
!CAUTION
This means that "incorrect handling may lead to
personal injuries *1) or 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).
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).
Details of the actions that must be done are indicated with
pictures or words in or near the symbol.
!
This means danger.
Details of the actual danger are indicated with pictures or words in
or near the symbol.
!
This means caution.
Details of the actual caution are indicated with pictures or words in
or near the symbol.

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[Operation]
!DANGER
Prohibited
• 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 the 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.
!
Danger
• If you feel even a little that you are exposed to danger or that 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.
• 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 slow speed. If the equipment
starts, leaving the abnormality, you will be involved in a serious
accident.

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!CAUTION
Prohibited
• DO NOT change the data of the system structure file.
Otherwise, the robot will move abnormally, resulting in damage or
an accident.
!
Mandatory
• 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 always be 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 anyone from entering the
dangerous area. Unless the operator or other person follows
the instructions of the supervisor, an accident will be caused.
• If an abnormality has generated or the POWER LED lamp on the
control 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.
• 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 on the operation panel and teach pendant
should be confirmed visually. Otherwise, you will be involved in
an accident due to mis-operation.
• After the power is turned on, be sure to reset a program to start
an automatic operation. If the program is executed continuously,
the robot will interfere with the peripheral equipment, resulting in
damages or accidents.

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!CAUTION
!
Mandatory
• Before operating the equipment, perform the following inspection.
(1) Make sure that visual appearance of the robot, controller,
peripheral equipment and cables is in the good condition.
(2) Make sure that no obstacle stands in or near the working
range of the 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.
If the above prior inspection is skipped, the equipment will be
damaged or you will be involved in an accident.
!
Caution
• The speed of test operations is initially set at 25 % of the
maximum robot speed.
• The speed of automatic operation is initially set at 100 % of the
maximum robot speed.

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Table of Contents
Page
1. Before Power ON............................................................................................ 9
1.1 Control Panel ....................................................................................... 11
1.2 Teach Pendant..................................................................................... 13
2. Power ON....................................................................................................... 14
2.1 Power ON............................................................................................. 14
2.2 Emergency Stop................................................................................... 15
2.3 Servo ON ............................................................................................. 16
2.4 Main Display......................................................................................... 18
2.5 Power OFF........................................................................................... 20
3. Manual Operation ........................................................................................... 22
3.1 Enable Switch ...................................................................................... 22
3.2 Joint Guide........................................................................................... 23
3.3 Guide in Cartesian Coordinate System................................................ 26
4. Programming .................................................................................................. 28
4.1 Starting Editor ...................................................................................... 28
4.2 Entering Program................................................................................. 32
4.3 Entering Data (Teach Points)............................................................... 33
4.4 Quitting Editor ...................................................................................... 37
5. Starting Program............................................................................................. 38
5.1 Selecting Program................................................................................ 38
5.2 Test Operation ..................................................................................... 41
5.3 Internal Automatic Operation................................................................ 46
6. Input/Output Control........................................................................................ 48
6.1 User's Function Switches..................................................................... 48
6.2 7-Segment User Display ...................................................................... 48
6.3 I/O Control Program............................................................................. 49

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1. Before Power ON
Before turning the power on, confirm the following matters, referring to the
Installation & Transport Manual.
Is the robot secured?
Is the power supply connected?
Single phase,
180 ~ 250 V AC power supply