Toshiba TS3000 Series User manual

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INSTRUCTION MANUAL
TP3000 OPERATOR S 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.
TS3000 SCARA / LINEAR system
TSL3000 SCARA system

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Copyright 2013 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
About the organization of the TS series robot controller instruction manuals
The TS series robot controller instruction manuals have been 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.
[Startup Manual]
This manual describes the procedures covering from power ON of the robot after
installation to robot operation by manual guide. Those who use the TS series robot
controller for the first time should read through this manual.
[Operator s Manual]
This manual describes the TS series robot controller operating procedures. Read
through this manual before operating the robot, and refer to it as necessary.
[Robot Language Manual]
This manual describes 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.
[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.
[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.

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[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.
[User Parameter Manual]
This manual describes the setting procedures of the robot controller. Refer to this
manual when you perform the setting of communication, I/O and operating
conditions.
[Alarm Manual]
This manual describes the contents, causes, and remedies of alarms. Refer to this
manual when an alarm occurs.
This Operator s Manual describes the operation method for each function for manually
guiding the robot, editing programs, editing data, performing automatic operation and so
on by using the control panel (front switch on the TS3000 Controller) and the teach
pendant.
This manual is intended for the robot operator. Before reading this manual, the
operator should read the Safety Manual and Startup Manual.

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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 the main text. Always observe the information noted here.
[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 only*2).
*1) Injuries refer to injuries, burns and electric shocks which do not require
hospitalization or long-term medical treatment.
*2) Physical damage refers to damages that concern destruction of assets or
resources.
[Explanation of symbols]
Symbol
Meaning of symbol
This means that the action is prohibited (must not be done).
Specific contents 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).
Specific contents of the actions that must be done are indicated
with pictures or words in or near the symbol.
!
This means danger.
Specific contents of the actual danger are indicated with pictures
or words in or near the symbol.
!
This means caution.
Specific contents 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.
Doing so can cause a serious injury.
DO NOT leave in the working range any machinery or materials
which will hinder the operation. They can be a cause of an injury
to the person nearby or an accident if the equipment goes wrong.
Anyone other than the operator MUST NOT approach the
equipment. Should he/she negligently touch the dangerous part
of the equipment, he/she may get injured or involved in a serious
accident.
NEVER perform an inappropriate operation which is not
described in the instruction manual. Doing so can cause the
equipment to malfunction, resulting in personal injury or serious
accident.
!
Danger
If you feel even a little that you are exposed to danger or that the
equipment is operating abnormally, emergency stop the
equipment. Using such equipment continually can cause an
injury or serious accident. Before such things happen, ask our
after-sale service agent for repair.
During operation, be sure to close the equipment cover.
Opening the cover during operation can cause an electric shock
or personal injury.
Only a well-trained and qualified person is allowed to perform the
operation. Operating the equipment improperly can cause it to
malfunction, resulting in 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. Starting the
equipment without removing the abnormality can cause a serious
accident.

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!
CAUTION
Prohibited
DO NOT change the data of the system configuration 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 must 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/she should perform the job at a position from which he/she
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/she can see the entire robot system and operate the
EMERGENCY stop pushbutton switch at the time of an
emergency. Also, he/she should keep anyone from entering
the dangerous area. Unless the operator or other person
follows the instructions of the supervisor, an accident can be
caused.
If an abnormality occurs when the main power switch of the
equipment is turned on or if the POWER LED lamp on the control
panel remains off after the switch is turned on, turn off the main
power immediately and check the wiring. Failure to do so can
cause an electric shock or fire.
Unless the robot operates toward a designated direction at
manual guide, turn off the servo power. Failure to do so can
cause an accident or robot failure. Before such things happen,,
call our after-sale service agent.
Pushbutton operations of the control panel and teach pendant
should be confirmed visually. Failure to do so can cause an
accident due to mis-operation.
When performing an automatic operation after the power is
turned on, be sure to reset the current program before starting the
automatic operation. If the program is executed continuously,
the robot can interfere with the peripheral equipment, resulting in
damages or accidents.

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!
CAUTION
!
Mandatory
Before operating the equipment, perform the following
inspections.
(1) Make sure that there are no abnormalities in the appearance
of the robot, controller, peripheral equipment and cables.
(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 normally.
(4) Make sure that no abnormal noise or vibration is generated
during robot operation.
Failure to conduct these prior inspections can cause an
equipment failure or an accident.
!
Caution
The speed of test operation 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
Section 1 Before Operating Your Robot.................................................................... 1-1
1.1 Overview of Operation Functions....................................................................1-1
1.2 Various Modes of Operation............................................................................ 1-3
1.2.1 External Automatic Mode..........................................................................1-4
1.2.2 Internal Automatic Mode...........................................................................1-5
1.2.3 Teaching Mode (Including Test Operation)............................................... 1-6
1.2.4 Edit............................................................................................................ 1-7
1.3 TP3000 Operating Procedure ......................................................................... 1-8
1.3.1 About the Handling of the TP3000............................................................1-9
1.3.2 About Calling the Functions of the TP3000............................................. 1-10
1.3.3 Function Tree of the TP3000 .................................................................. 1-11
1.3.4 Entry Methods of Alphabetic, Numeric and Special Characters.............. 1-16
1.3.5 Combination Key Operation....................................................................1-17
1.3.6 About Command Line Editing ................................................................. 1-19
1.3.7 Repeating Key Entry............................................................................... 1-21
1.3.8 About the TP3000 KEY Function............................................................ 1-22
1.3.9 Format for Operating Instructions ...........................................................1-23
1.4 Assigning Names .......................................................................................... 1-24
1.4.1 Assigning a File Name ............................................................................1-24
1.4.2 Assigning a Point Name.......................................................................... 1-25
1.4.3 Assigning a Name to Coordinate Data.................................................... 1-26
1.4.4 Assigning a Name to Load Data ............................................................. 1-27
1.5 File................................................................................................................. 1-28
1.5.1 Kind of File..............................................................................................1-28
1.5.2 Batch File................................................................................................ 1-30
1.5.3 Backup.................................................................................................... 1-30
1.6 About Unlocking the Password Lock............................................................. 1-31
Section 2 Basic Operation.........................................................................................2-1
2.1 Basic Operating Procedures ........................................................................... 2-1
2.2 Main Power and Servo Power of the TS3000 Controller................................. 2-2
2.2.1 Control Panel (TS3000) ............................................................................2-2
2.2.2 Turning ON the Main Power......................................................................2-3
2.2.3 Turning ON the Servo Power (TS3000).................................................... 2-5
2.2.4 Turning OFF the Servo Power (TS3000) .................................................. 2-6
2.2.5 Turning OFF the Main Power (TS3000)....................................................2-7
2.3 Main Power and Servo Power of the TSL3000 Controller...............................2-9
2.3.1 Front Panel of the Controller (TSL3000)...................................................2-9
2.3.2 Main Power ON (TSL3000)..................................................................... 2-10
2.3.3 Main Power ON (TSL3000)..................................................................... 2-11
2.3.4 Turning OFF the Servo Power (TSL3000) ..............................................2-13
2.3.5 Turning OFF the Main Power (TSL3000)................................................ 2-14

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Section 3 Teaching Operation................................................................................... 3-1
3.1 Selecting the Teaching Mode..........................................................................3-1
3.2 Setting Up the Guide Coordinates...................................................................3-3
3.3 Setting Up the Guide Mode............................................................................. 3-4
3.4 Guide Mode..................................................................................................... 3-5
3.5 Guidance......................................................................................................... 3-6
Section 4 Program Editing ........................................................................................ 4-1
4.1 Starting Up the Program Editor [EDIT]............................................................4-1
4.2 Structure of the Program Editor.......................................................................4-4
4.3 Move Cursor.................................................................................................... 4-5
4.4 Move Cursor in Word Units............................................................................. 4-6
4.5 Move Cursor to End of Line.............................................................................4-6
4.6 Backspace....................................................................................................... 4-8
4.7 Delete..............................................................................................................4-9
4.8 Space.............................................................................................................. 4-9
4.9 Line Feed ...................................................................................................... 4-10
4.10 Switch between Insert Mode and Replace Mode .......................................... 4-10
4.11 Scroll Screen Vertically.................................................................................. 4-12
4.12 Candidate Input Function.............................................................................. 4-13
4.13 Program Hierarchy Display............................................................................ 4-15
4.14 Move to Beginning of Program...................................................................... 4-17
4.15 Program Edit Functions................................................................................. 4-18
4.15.1 Copy .....................................................................................................4-19
4.15.2 Cut........................................................................................................ 4-21
4.15.3 Paste ....................................................................................................4-23
4.15.4 Search ..................................................................................................4-24
4.15.5 Replace................................................................................................. 4-26
4.15.6 Calling a Subprogram or Label............................................................. 4-29
4.15.7 Jump to Specified Line ......................................................................... 4-31
4.15.8 Edit Data............................................................................................... 4-32
4.15.9 Save and Quit....................................................................................... 4-32
4.15.10 Discard Changes and Quit.................................................................... 4-33
4.15.11 Automatic Start File .............................................................................. 4-34
Section 5 Data Editing............................................................................................... 5-1
5.1 Starting Up the Data Editor ............................................................................. 5-1
5.2 Configuration of the Data Editor...................................................................... 5-4
5.3 Basic Operations of the Data Editor................................................................5-5
5.3.1 Add New Data......................................................................................... 5-5
5.3.2 Edit Various Elements ............................................................................5-6
5.3.3 Delete Various Elements........................................................................ 5-7
5.3.4 Move Cursor........................................................................................... 5-9
5.3.5 3-Element Scroll ..................................................................................... 5-9
5.3.6 Move to End-of-Line Cell ......................................................................5-10
5.3.7 Scroll Screen Vertically......................................................................... 5-11
5.4 Position Data Editing.....................................................................................5-12
5.4.1 Position Data List Display..................................................................... 5-12