Toshiba TS3000 Series User manual

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INSTRUCTION MANUAL
COMMUNICATION MANUAL
Notice
yMake sure that this instruction manual is delivered to the
final user of Toshiba Machine's industrial robot.
yBefore operating the industrial robot, read through and
completely understand this manual.
yAfter reading through this manual, keep it nearby for future
reference.
TOSHIBA MACHINE CO., LTD.
TS3000 SCARA / LINEAR system
TS3100 SCARA / LINEAR system

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Copyright 2009 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 serial communication and ethernet communication between the
robot controller and peripheral devices. It covers such subjects as connecting
communication channels and setting communication modes. It also describes
communication protocols, communication commands and data format, and presents
information on how to operate the robot with data communication and how to handle
communication dialogue with controller programs.
Before reading this manual, we ask that you first read and understand the contents of
the following user manuals.
yStartup Manual
yOperator’s Manual
yRobot Language Manual
yInterface Manual
This manual is divided into six (6) sections:
Section 1 Introduction
This section presents and introduction to the communication functions provided by
the TS3000 Series robot system.
Section 2 COM1 Port and HOST Port Specifications and Settings
This section describes the RS-232C port hardware interfaces, communication
modes, and other information.
Section 3 Ethernet Specifications and Settings
This section describes the Ethernet hardware interfaces, communication modes, and
other information.
Section 4 Non-Protocol Communication
This section describes the protocol for communication between an external device
and the robot program only.
Section 5 Simple Protocol Communication
This section describes the communication protocol, commands, and robot program
files for communication with the host computer.
Section 6 Robot Operation Sequence Using External Communication
This section shows examples of methods for operating the robot.

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Table of Contents
Page
Section 1 Introduction.................................................................................................. 1
Section 2 COM1 Port and HOST Port Specifications and Settings.............................. 2
2.1 Connections ..........................................................................................................2
2.2 Communication Specifications ..............................................................................3
2.2.1 COM1 Port.................................................................................................... 3
2.2.2 HOST Port .................................................................................................... 4
2.3 Communication Parameters..................................................................................5
Section 3 Ethernet Specifications and Settings ........................................................... 7
3.1 Connections ..........................................................................................................7
3.2 Communication Specifications ..............................................................................7
3.3 Communication Parameters..................................................................................8
Section 4 Non-Protocol Communication.................................................................... 14
4.1 Communication with a Robot Language Program...............................................14
4.1.1 PRINT Command........................................................................................ 14
4.1.2 INPUT Command........................................................................................ 17
4.1.3 Clearing Communication Buffer .................................................................. 19
4.2 Programming Examples for Communication with a Robot Language Program...20
4.2.1 Program Branching..................................................................................... 20
4.2.2 Correcting the Position of the Robot ........................................................... 24
Section 5 Simple Protocol Communication................................................................ 28
5.1 Transmission Protocol.........................................................................................28
5.2 Transmission Format...........................................................................................29
5.2.1 Text............................................................................................................. 29
5.2.2 Data Section Format................................................................................... 30
5.2.3 Ethernet Status Display [ETHER]................................................................ 31
5.2.4 Confirmation with a Windows Computer..................................................... 33
5.3 Commands..........................................................................................................35
5.3.1 List of Commands....................................................................................... 35
5.3.2 Commands and Operation Modes .............................................................. 37
5.3.3 Details of Commands.................................................................................. 39
5.4 Ram Files............................................................................................................91
5.4.1 User Files (Work files)................................................................................. 91
5.5 TSPC Settings.....................................................................................................97
Section 6 Robot Operation Sequence Using External Communication...................... 98
6.1 Basic Operation...................................................................................................98
6.2 Program Download..............................................................................................98
6.3 Reinitializing and Starting a Stopped Program....................................................98
Section 7 Appendix.................................................................................................. 102
7.1 ASCII Code .......................................................................................................102

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Section 1
Introduction
This manual describes serial communication and ethernet communication between the
robot controller and an external computer. There are two procedures for data
transmission: non-protocol communication and simple protocol communication, each of
which can achieve the following functions.
Non-protocol communication
(1) Input variables into the program from the external device.
(2) Output variables or messages in the program.
Simple protocol communication
(1) Start and stop operation of the robot
(2) Program reset, step reset, cycle reset and output signal reset
(3) Servo ON/OFF
(4) Upload and download program files
(5) Erase program files
(6) Select programs
(7) Monitor the status of the robot
(8) Monitor for robot errors
The communication interface configuration is as shown below.
Fig. 1.1 Communication interface configuration
COM1
HOST
Ethernet IP0
IP2
IP1
External device
HOST computer
External device
Controller side User side
Hub HOST computer
External device
IP3 Dedicated device
Non-protocol communication
Non-protocol
communication
Non-protocol
communication
Dedicated
communication
Simple protocol
communication
Simple protocol communication

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Cross connect cable
TS3000 External device
D-SUB 9-pin female D-SUB 9-pin female
1 1
RXD 2 2 RXD
TXD 3 3 TXD
DTR 4 4 DTR
FG 5 5 FG
6 6 DSR
RTS 7 7 RTS
CTS 8 8 CTS
9 9
Frame Frame
Section 2
COM1 Port and HOST Port Specifications and Settings
The TS3000 controller has two (2) serial communication ports. The COM1 port is used
for non-protocol communication, being connected to external devices, and the HOST
port is used for protocol communication and communicates with the HOST computer.
2.1 Connections
The COM1 port and HOST port should be connected, using an RS-232C cross connect
cable (D-SUB: 9-pin). (For details, see the Interface Manual.)
Fig. 2.1 Pin arrangement for cross connect cable

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2.2 Communication Specifications
2.2.1 COM1 Port
Table 2.1 COM1 port communication specifications
Item Specifications
Interface RS-232C
Synchronous system Start-stop synchronization system
Communication system Full duplex system
Communication rate 300, 600, 1200, 2400, 4800, 9600, 19200, 38400 bps
Data format ASCII code
No. of transfer bytes Max. 256 bytes
Transfer data structure Data length: 7 or 8 bits
Parity: None, odd, even
Stop bit: 1 or 2 bits
Protocol Non-protocol communication
Timeout No timeout
Fault recovery No special protocols are used.
Note: The communication rate and transfer data structure are specified in the user
parameter file. (For details, see Para. 2.3.)

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2.2.2 HOST Port
Table 2.2 HOST port communication specifications
Item Specifications
Interface RS-232C
Synchronous system Start-stop synchronization system
Communication system Half-duplex system
Communication rate 300, 600, 1200, 2400, 4800, 9600, 19200, 38400,
115200 bps
Data format ASCII code
No. of transfer bytes Max. 255 bytes
Transfer data structure Data length: 7 or 8 bits
Parity: None, odd, even
Stop bit: 1 or 2 bits
Protocol Simple protocol communication
Timeout 10 sec. (character receiving intervals)
Fault recovery Command is re-sent from the host computer.
No special protocols are used.
Note: The communication rate and transfer data structure are specified in the user
parameter file. (For details, see Para. 2.3.)

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2.3 Communication Parameters
The communication rate and transfer data structure of the COM1 port and HOST port
are defined in the user parameter file (USER. PAR).
Communication is performed according to the contents defined under [U06] of the user
parameter file (USER.PAR) in the RAM drive.
[U06] Serial port setting
Specify the communication ports [COM1 port, HOST port].
TS3000
[U06] Serial port setting
{Speed }(38400, 19200, 9600, 4800, 2400, 1200)
{Character}(7, 8)
{Parity }(0:Without, 1:Odd, 2:Even)
{Stop bit }(1, 2)
{COM1}
= 9600 8 0 1
{HOST}
= 9600 8 0 1
{COM1}
= (Speed) (Character length) (Parity) (Stop bit length)
←
COM1 port setting
{HOST}
= (Speed) (Character length) (Parity) (Stop bit length)
←
HOST port setting

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(Speed) : Select the speed for data communication from the following six (6)
rates.
115200 : 115200 bps
38400 : 38400 bps
19200 : 19200 bps
9600 : 9600 bps
4800 : 4800 bps
2400 : 2400 bps
1200 : 1200 bps
(Character length) : Specify the length of characters to be transferred.
8 : 8 bits
7 : 7 bits
(Parity) : Specify the parity of characters to be transferred.
0 : Without parity
1 : Odd-number parity
2 : Even-number parity
(Stop bit length) : Specify the stop bit length of characters to be transferred.
1 : Stop bit 1
2 : Stop bit 2
Set value
Example: TS3000
= 9600 8 0 1
= 38400 8 1 1
"Speed 9,600 bps, character length 8 bits, without parity and stop bit 1" are specified
for the COM1 port.
"Speed 38,400 bps, character length 8 bits, even-number parity and stop bit 1" are
specified for the HOST port.

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Section 3
Ethernet Specifications and Settings
The TS3000 controller has one Ethernet connector. IP0 can communicate with the
host computer using simple protocol, IP1 and IP2 can communicate with an external
device using non-protocol communication, and IP3 can communicate with a dedicated
device using a dedicated protocol.
This function uses TCP/IP protocol to enable communication on the same local area
network with computers and visual equipment on the Ethernet. This allows program
creation and editing, debugging start support, and maintenance using the computer
programmer TSPC.
Data can be sent and received by the robot program for exchanging numerical and
positional data.
INPUT and PRINT statements from SCOL language can be used to perform data input
and output.
Example: INPUT IP1, INDATA, PRINT IP1, OUTDATA, CR, etc.
3.1 Connections
If a hub is used to connect to an external device, connect using a straight cable. Use a
cross connect cable when connecting a computer directly to the controller. Some
devices have the automatic recognition function so that either a straight cable or cross
connect cable can be used, and so check the specifications of the device that is used.
3.2 Communication Specifications
Table 3.1 Communication specifications
Item Specification
Interface 10BASE-T
Communication system TCP
Communication rate 10 Mbps
Maximum packet size 512 bits/packet
Number of simultaneous connectable ports 4
Applications IP0: Simple protocol communication
IP1: Non-protocol communication
IP2: Non-protocol communication
IP3: Dedicated communication

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3.3 Communication Parameters
This section describes the setting of the Ethernet parameters. These settings are
defined in the Ethernet Parameter File (ETHERNET.PAR).
[E00] Open mode IP0 IP1 IP2 IP3
[E00] Open mode IP0 IP1 IP2 IP3
{ 0: non 1: Robot is TCP server 2: Robot is TCP client }
= 1 0 0 0
IP0 is for simple protocol only, and so the server mode must be specified.
If the external device is a server, the controller uses client settings, and if the external
device is a client, the controller uses server settings.
=(IP0) (IP1) (IP2) (IP3)
This enables or disables the Ethernet function.
0: Not used
1: Operates as a server
2: Operates as a client
[E01] Robot controller IP address
[E01] Robot controller IP address
= 192.168.0.124
This sets the IP address of the robot controller itself.
The IP address is an address for identifying the controller. It is expressed as four (4)
numbers from 0 to 255 with a period (.) in between. If the controller is connected
directly to a computer on the network, the IP address may remain at the initial value
(any setting), but if it is connected to a LAN, the IP address must be set by following the
instructions of the user's LAN system administrator. This function will not work properly
if any IP addresses are duplicated. The robot controller and computer to communicate
with it must be connected on the same network.
When sending data to devices on the network, the controller can be operated as a client
or a server.

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If the external device is a server, use the client setting for the controller, and if the
external device is a client, use the server setting for the controller.
= (Robot controller IP address)
[E02] Robot controller name
(Planned for use in function expansion)
[E02] Robot controller name
= “NO1-TS3K”
This parameter specifies the name of the robot controller.
This is planned for use when the Ethernet function is expanded.
[E03] Subnet mask
[E03] Subnet mask
= 255.255.255.0
This parameter specifies the subnet mask of the connected network.
When connecting to a LAN, set the subnet mask by following the instructions of the
user's LAN system administrator.
= (Subnet mask)

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[E04] Default gateway
[E04] Default gateway
= 192.168.0.1
This parameter specifies the default gateway address.
When connecting to a LAN, set the subnet mask by following the instructions of the
user's LAN system administrator.
= (Default gateway address)
[05] Own port no
[E05] Own port no
{ IP0 }
= 1000
{ IP1 }
= 1001
{ IP2 }
= 1002
{ IP3 }
= 1003
This parameter specifies each port number that is used by the controller. A port
number is similar to a radio frequency. The numbers IP0 to IP3 indicate the port
numbers. Be careful that no port numbers are duplicated.
{IP0}
=(Port number used)
{IP1}
=(Port number used)
{IP2}
=(Port number used)
{IP3}
=(Port number used)

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[06] Port number of destination
[E06] Port number of destination
{ IP0 }
= 1000
{ IP1 }
= 1001
{ IP2 }
= 1002
{ IP3 }
= 1003
This parameter specifies each port number that is used by the destination. This is
used in client mode only. This must match the port number used by the server at the
destination.
{IP0}
=(Port number of destination)
{IP1}
=(Port number of destination)
{IP2}
=(Port number of destination)
{IP3}
=(Port number of destination)
[E07] IP address of destination
[E07] IP address of destination
{IP0}
= 192.168.0.150
{IP1}
= 192.168.0.151
{IP2}
= 192.168.0.152
{IP3}
= 192.168.0.153

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This parameter specifies the IP address of the destination where each port is connected.
This is used in client mode only.
{IP0}
=(IP address of destination)
{IP1}
=(IP address of destination)
{IP2}
=(IP address of destination)
{IP3}
=(IP address of destination)
[E08] Robot community name
(Planned for use in function expansion)
[E08] Robot community name
= “NO1-TS3K”
This parameter specifies the community name of the network.
This is planned for usage when the Ethernet function is expanded.
[E09] DHCP
(Planned for use in function expansion)
[E09] DHCP
= 0
This parameter specifies if an address is obtained from the DHCP server.
This is planned for usage when the Ethernet function is expanded.

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*Parameter (ETHERNET.PAR) setting example
COPYRIGHT(C) 2008 BY TOSHIBA MACHINE CO.,LTD.
ALL RIGHTS RESERVED.
OPTION TCP/IP INTERFACE PARAMETER FILE "ETHERNET.PAR" FOR TS-3000
[E00] OPEN MODE IP0 IP1 IP2 IP3
{0:NON 1:ROBOT IS TCP SERVER 2:ROBOT IS CLIENT}
= 1 0 0 0
[E01] ROBOT CONTROLLER IP ADDRESS
= 192.168.0.124
[E02] ROBOT CONTROLLER NAME
= "NO1-TS3K"
[E03] SUBNET MASK
= 255.255.255.0
[E04] DEFAULT GATEWAY
= 192.168.0.1
[E05] OWN PORT NO
{IP0}
= 1000
{IP1}
= 1001
{IP2}
= 1002
{IP3}
= 1003
[E06] PORT NUMBER OF DESTINATION
{IP0}
= 1000
{IP1}
= 1001
{IP2}
= 1002
{IP3}
= 1003
[E07] IP ADDRESS OF DESTINATION
{IP0}
= 192.168.0.150
{IP1}
= 192.168.0.151
{IP2}
= 192.168.0.152
{IP3}
= 192.168.0.153
[E08] ROBOT COMMUNITY NAME
= "NO1-TS3K"
[E09] DHCP
= 0
[END]

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Section 4
Non-Protocol Communication
Non-protocol communication is used for exchanging data with a robot language
program and for printing out files.
The COM1 (RS-232C) port, and Ethernet IP1 and IP2 ports are used for non-protocol
communication.
The data format for character strings to be transferred between the robot controller and
the TCP/IP device is as shown below.
Character string + CR (0x0D)
Character string, character string + CR (0x0D)
These character strings are based on
ASCII format.
ASCII 0x0D (carriage return) is added
in the character string data. When a
plurality of data is transferred, the
character string is separated by
commas.
The functions as described in the simple protocol cannot be used for the non-protocol
data communication. Also, response to data received by the controller and timeout
check are not processed at all.
4.1 Communication with a Robot Language Program
Data communication with a robot language program can be performed using the PRINT
and INPUT commands. For more information on the robot language, see "Robot
Language Manual".
4.1.1 PRINT Command
The PRINT command allows you to send out a specified character string from the
controller. The controller transfers character strings or values of variable specified
by the PRINT command. The format of the PRINT command is shown below:

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PRINT [<channel>,] {<character string>|<expression>|}[,{<character string>|
<expression>}] .....[,CR]
<channel>:
Specifies the communication port over which the data is to be transmitted. One of
the following should be specified as the channel.
COM1 : COM1 port
IP1 : Ethernet IP1 port
IP2 : Ethernet IP2 port
TP : Screen output to teach pendant
Unless <channel> is specified, data is transmitted to the teach pendant.
<character string>:
The character string to be transmitted is specified by enclosing that string in double
quotation marks (").
<expression>:
Expressions made up of constants, variables, arithmetic operands and functions
may be specified.
CR:
CR is used when the record end code (0x0D) is added to the last of sending data.
Ex.: PRINT COM1, “INPUT DATA =”, -1000.0/3, CR
PRINT IP1, “INPUT DATA =”, -1000.0/3, CR
Commas are used to separate any multiple character strings or expressions
specified in the PRINT command. Character strings are enclosed inside double
quotation marks, and everything inside of those double quotation marks is
transmitted in ASCII code. Expressions are first solved, and the result is sent as a
12-character block of fixed length with the result pushed over to the right of that
block. Should the result of the expression be an integer, that result is sent as a
Base 10 number having a maximum of ten places (digits).

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Should the result of the expression be a real number, the result is sent as a number
having an integral part with a maximum of four (4) digits and a decimal part with a
maximum of three (3) digits (for a maximum of eight (8) places counting the decimal
point). One space is in front of the number is allocated for the sign (+ or -) of that
number, although the sign is omitted if it is plus (+). The number is sent in a
12-character block, with the number pushed over to the right. The remaining
spaces are filled with space codes (0x20). The number itself is sent in ASCII code.
The commas used to separate character strings or expressions in a PRINT
command are themselves not transmitted. When multiple character strings and/or
expressions are specified with the PRINT command, the controller will send out
these character strings and/or expressions as a single text.
Ex.: When the above example program is executed, the following data are
transmitted.
INPUT DATA = -333.333 (CR)
Note: CR signifies the record end code (0x0D).