Toshiba TS3000 Series User manual

STE85409-1
INSTRUCTION MANUAL
TsRemoteLib.DLL 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
TS3100 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
The TS3000/TSL3000 controller has the HOST function to enable the remote control of the robot
by sending and receiving commands.
“ TsRemoteLibS.DLL” compiles the programs that send to and receive commands from
WindowsPC in a library to facilitate software development.
This manual explains how to use “ TsRemoteLibS.DLL”.
Microsoft Windows, Visual Studio, and other Microsoft product names that are described in this
manual are trademarks of Microsoft Corporation in the U.S.A. and other countries.
•Operator’s Manual
•Robot Language Manual
•Interface Manual
This manual is structured as follows:
Section 1: Overview… Outlines the communication functions.
Section 2: Specification and Setting of the COM1 Port and the Host Port… Describes the
hardware interface and communication mode of the RS-232C port.
Section 3: Specification and Setting of Ethernet… Describes the hardware interface and
communication mode of Ethernet.
Section 4: Non-procedure Communication… Describes the procedure for the communication
that only handles exchange between external devices and robot programs.
Section 5: Simple Procedure Communication … Describes the procedure computer,
commands and robot program files for the communication that targets a host.
Section 6: Robot Operation Sequence by External Communication … Shows examples of
operating the robot.

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Table of Contents
Page
Section 1 Overview ....................................................................................8
Section 2 Example of Application Development Using C#.........................9
2.1 Creating an Application Solution ................................................................................... 9
2.2 Setting Application Execution File Output Destination .................................................11
2.3 Reference Setting of TsRemoteLib..............................................................................13
2.4 Calling TsRemoteS Interface.......................................................................................14
2.5 Event Processing Performed Based on the Information
from WatchDog of TsRemoteLib ................................................................................16

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Section 3 Reference.................................................................................17
3.1 Outline of TsRemoteLib...............................................................................................17
3.2 Classes ThatAre Defined in TsRemoteLib..................................................................18
TsRemote ............................................................................................ 18
TsRemoteS ............................................................................................ 18
TsRemoteV ............................................................................................ 18
TsPointS ............................................................................................ 18
TsPointV ............................................................................................ 19
ConfigVpart ............................................................................................19
TsJointS ............................................................................................ 20
TsJointV ............................................................................................ 20
TsTransS ............................................................................................20
TsTransV ............................................................................................20
TsPayloadS ............................................................................................21
TsPayloadV ............................................................................................21
TsFileInfo ............................................................................................21
TsVersion ............................................................................................ 21
TsDIO ............................................................................................ 22
TsStatus ............................................................................................23
TsStatusAllS ............................................................................................24
TsStatusAllV ............................................................................................26
TsStatusMonitor ............................................................................................28
TsRemoteSException ............................................................................................30
3.3 Enumerations ThatAre Defined in TsRemoteLib.........................................................31
ConfigS ............................................................................................31
ConfigV ............................................................................................31
Gain ............................................................................................32
RunMode ............................................................................................32
ErrorCode ............................................................................................33
3.4 TsRemoteS Class Properties ......................................................................................34
MvAccel ............................................................................................34
MvDecel ............................................................................................ 34
MvSpeed ............................................................................................ 35

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3.5 TsRemote Class Method ............................................................................................. 36
Connect() ............................................................................................36
DeleteFile() ............................................................................................37
DirectDo() ............................................................................................38
Disconnect() ............................................................................................39
Dispose() ............................................................................................40
GetAlarmHistory() ............................................................................................41
GetCurrentAlarm() ............................................................................................ 42
GetDIn() ............................................................................................43
GetDIO() ............................................................................................44
GetDir() ............................................................................................45
GetDout() ............................................................................................46
GetGlobalINT() ............................................................................................47
GetGlobalREAL() ............................................................................................48
GetHexIn() ............................................................................................49
GetStatus() ............................................................................................50
GetStatusMonitor() ............................................................................................51
GetSystemVersion() ............................................................................................ 52
ProgramBreak() ............................................................................................ 53
ProgramRun() ............................................................................................ 54
ProgramSelect() ............................................................................................ 55
ProgramStop() ............................................................................................ 56
ReceiveFile() ............................................................................................57
ResetALARM() ............................................................................................58
ResetCYCLE() ............................................................................................ 59
ResetPRG() ............................................................................................60
ResetMove() ............................................................................................61
ResetSELECT() ............................................................................................62
ResetSIGNAL() ............................................................................................63
ResetSTEP() ............................................................................................ 64
SendFile() ............................................................................................65
ServoOff() ............................................................................................66
ServoOn() ............................................................................................ 67
SetComPort() ............................................................................................68
SetDout() ............................................................................................69
SetGlobalINT() ............................................................................................70
SetGlobalREAL() ............................................................................................71
SetHexOut() ............................................................................................72
SetIPaddr() ............................................................................................73
SetOVRD() ............................................................................................74
SetRunMode() ............................................................................................ 75
WatchDogStart() ............................................................................................76
WatchDogStop() ............................................................................................77

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3.6 TsRemoteS Class property..........................................................................................78
MvConfig ............................................................................................78
MvTool ............................................................................................78
MvWork ............................................................................................78
3.7 TsRemoteS Class Method........................................................................................... 79
GetGlobalPOINT() ............................................................................................79
GetGlobalPAYLOAD() ............................................................................................ 80
GetGlobalTRANS() ............................................................................................81
GetPsnCmdJoint() ............................................................................................ 82
GetPsnCmdWork() ............................................................................................83
GetPsnCmdWorld() ............................................................................................84
GetPsnFbkJoint() ............................................................................................85
GetPsnFbkWork() ............................................................................................86
GetPsnFbkWorld() ............................................................................................87
GetStatusAll() ............................................................................................88
GetVelocJoint() ............................................................................................89
GetVelocWorld() ............................................................................................90
Move() ............................................................................................91
Movea() ............................................................................................92
Movej() ............................................................................................93
Moves() ............................................................................................ 94
SetGain() ............................................................................................95
SetGlobalPOINT() ............................................................................................96
SetGlobalPYLOAD() ............................................................................................97
SetGlobalTRANS() ............................................................................................98
SetPayload() ............................................................................................99
SetTransTool() .......................................................................................... 100
SetTransWork() .......................................................................................... 101

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3.8 TsRemoteV Class property........................................................................................102
MvConfig ..........................................................................................102
MvTool ..........................................................................................102
MvWork ..........................................................................................102
3.9 TsRemoteS Class Method......................................................................................... 103
GetGlobalPOINT() ..........................................................................................103
GetGlobalPAYLOAD() .......................................................................................... 104
GetGlobalTRANS() ..........................................................................................105
GetPsnCmdJoint() .......................................................................................... 106
GetPsnCmdWork() ..........................................................................................107
GetPsnCmdWorld() ..........................................................................................108
GetPsnFbkJoint() ..........................................................................................109
GetPsnFbkWork() ...........................................................................................110
GetPsnFbkWorld() ...........................................................................................111
GetStatusAll() ...........................................................................................112
GetVelocJoint() ...........................................................................................113
GetVelocWorld() ...........................................................................................114
Move() ...........................................................................................115
Movea() ...........................................................................................116
Moves() ...........................................................................................117
SetGain() ...........................................................................................118
SetGlobalPAYLOAD() ...........................................................................................119
SetGlobalPOINT() ..........................................................................................120
SetGlobalTRANS() ..........................................................................................121
SetPayload() ..........................................................................................122
SetTransTool() .......................................................................................... 123
SetTransWork() .......................................................................................... 124

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Section 1 Overview
To control the robot in remote mode through communication with the TS3000/TSL3000 series robot
controller, commands are sent to and received from the controller.“ TsRemoteLib.DLL” compiles in DLL
(Dynamic Link Library) the method groups for remote control of the robot in a simple manner without
coding communication programs. “TsRemoteLib.DLL” runs under Windows .Net 2.0/3.0/3.5 and the
applications are developed using VB/C++/C# of Microsoft Visual Studio.
The following diagram shows a coding example of a simple application for a robot operation command
and stop on the buttons that are assigned in the form.
Hardware
Windows
Microsoft.Net framework
TsRemoteLib.DLL
Customer application TS3000/TSL3000
IP0
Robot operation processing
TCP/IP
Fig. 1.1 TsRemoteLibS.DLL
RUN STOP
TS3000
TSL3000
RunButton_click()
{ MOVE(P1)
MOVE(P2)
MOVE(P3)
……….
……….
}
StopButton_click()
{ ProgramStop()
……….
}
Customer application TsRemoteLib.DLL
MOVE()
{
Command creation
Transmission processing
Response confirmation
Operation completion
checking
}
ProgramStop()
{
Command creation
Transmission processing
Response confirmation
}
MOVE
operation
Stop
processing
Figure 1.2 Outline of the application development using DLL

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Section 2 Example of Application Development Using C#
This section describes the procedure for reference setting of TsRemoteLib for the application for
controlling the SCARA robot. As the precondition, Visual Studio 2008 (referred to as VS2008 henceforth)
must have been installed in the application creation environment. The file called TsRemoteLib.DLL is
stored in the same folder as that of the application execution file.
2.1 Creating an Application Solution
(1) Select File -> New -> Project.

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(2) Enter a project name.
1Select Windows Forms Application as the template.
2Enter a project name and the location.
2
1

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2.2 Setting Application Execution File Output Destination
(1) Set the mouse cursor on the required item with the Solution Explorer and click the right button.
(2) Add the context menu that is displayed -> Select New folder.
(3) Set EXE as the new folder name. (Assign any name.)
Click the right mouse button.

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(4) Set the execution file output destination to the EXE folder that was created on the Properties screen
of the TsRemoteLibSample project.
(5) Copy TsRemoteLib.DLL into the EXE folder that was created.
(TsRemoteLib.DLL and the application that is created by the customer (EXE file) must be stored in
the same directory.)

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2.3 Reference Setting of TsRemoteLib
(1) Select Reference -> Add Reference.
(2) Select TsRemoteLib.DLL that is copied from the EXE folder and press OK.
TsRemoteLib can be used by setting reference.

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2.4 Calling TsRemoteS Interface
(1) Opening TsRemoteLibSample.cs
Form1 is used as the default name immediately after creation of a project. In this explanation, the
form name is changed to TsRemoteLibSample.
(2) Declaring TsRemoteLib
Enter the following command in TsRemoteLibSample.cs.
using TsRemoteLib;
(3) Calling the interface
Assume that the form contains the buttons that are shown below. The procedure for calling the
interface is described in the source of each click event handler.

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1Install connection button processing.
Use the instance name of class TsRemoteS for the Robot.
(In the case of 6-axis,Use the instance name of class TsRemoteV)
Sample IP address and port number are used.
2Start Watch Dog.
private void btnStartWatchDog_Click(object sender, EventArgs e)
{
try
{
if (Robot != null)
{
Robot.WatchDogStart(100, 0, new
TsRemoteS.TSStatusEvent(testTSStatusEvent));
}
}
catch (TsRemoteSException ex)
{
//Error processing }
}
Status monitoring
interval
Event handler name
イベントハンドラ名
private void btnConnect_Click(object sender, EventArgs e)
{
try
{
if (Robot == null)
{
Robot = new TsRemoteS();
Robot.SetIPaddr(0, "192.168.0.124", 1000);
}
Robot.Connect(1);
//Connected successfully
}
catch (TsRemoteSException ex)
{
//Error processing
}
}
Connection
destination IP
address
Connection
destination port
number

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2.5 Event Processing Performed Based on the Information from WatchDog of
TsRemoteLib
Through WatchDog monitoring, information such as emergency stop, safety switch, mode, and Run
status is acquired periodically. When the acquired information changes, an event occurs. Since the
application basically runs in a different thread from that of WatchDog, create the handler for
processing events from WatchDog as follows.
Event occurrence factors handled by WatchDog are listed below. Refer to the TsStatusMonitor
class for the details.
•Emergency Stop request
•Safety switch stop request
•Various mode statuses
•Override
•Alarm
•Servo status
•WatchDog error
•Ethernet communication error
public void testTSStatusEvent(TsStatusMonitor para)
{
if (InvokeRequired)
{
BeginInvoke( new TsRemoteS.TSStatusEvent(testTSStatusEvent),para);
}
else
{
//Evaluate the value of TsStatusMonitor and perform event processing.
if (para.EmergencyStop == 1)
{
//Processing when the Emergency Stop button is pressed.
・・・・・・・・・・・・・・・・
}
if (para.SafetyStop == 1)
{
//Processingwhenthesafetyswitchispressed.
・・・・・・・・・・・・・・・・
}
・・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・・
}
}

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Section 3 Reference
3.1 Outline of TsRemoteLib
The following classes are installed in TSRemoteLib for remote control of the robot and information
acquisition.
class
TsRemoteLib.DLL
TSJointS ・・・・・ SCARA robot
j
oint t
yp
e data stora
g
e
TsPointS ・・・・・ SCARA robot
p
osition data stora
g
e
TsPa
y
loadS ・・・・・ SCARA robot load data stora
g
e
TsTransS ・・・・・ SCARA robot coordinate data stora
g
e
TsStatusAllS・・・・・SCARA robot all status stora
g
e
TsFileInfo ・・・・・ File information stora
g
e
TsAlarm ・・・・・ Alarm information stora
g
e
TsVersion ・・・・・ S
y
stem version information stora
g
e
TsDIO ・・・・・ IO information stora
g
e
TsStatus ・・・・・ Status stora
g
e
TsRemoteS ・・・・・SCARA robot control/information ac
q
uisition
TsRemoteV ・・・・・6-AXIS robot control/information ac
q
uisition
TsRemote ・・・・・Robott control/information ac
q
uisition
(
Su
p
er class
)
TSJoint
V
・・・・・ 6-AXIS robot
j
oint t
yp
e data stora
g
e
TsPoint
V
・・・・・ 6-AXIS robot
p
osition data stora
g
e
TsPa
y
load
V
・・・・・ 6-AXIS robot load data sto
r
a
g
e
TsTrans
V
・・・・・ 6-AXIS robot coordinate data stora
g
e
TsStatusAll
V
・・・・・6-AXIS robot all status stora
g
e

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3.2 Classes That Are Defined in TsRemoteLib
TsRemote class
Classes for remote-controlling the SCARA and 6-AXIS robot
TsRemote class is super class of the TsRemoteS/TsRemoteV class
In the case of SCARA robot, make the instance of the TsRemoteS class.
In the case of 6-AXIS robot, make the instance of the TsRemoteV class.
TsRemoteS class
Classes for remote-controlling the SCARA and 6-AXIS robot
In the case of SCARA robot, make the instance of the TsRemoteS class.
Please refer to Clause “3.4 TsRemoteS Class Properties”.
Please refer to Clause ”3.5 TsRemoteS Class Method”.
TsRemoteV class
Classes for remote-controlling the 6-AXIS robot
In the case of 6-AXIS robot, make the instance of the TsRemoteV class.
Please refer to Clause “3.4 TsRemoteV Class Properties”.
Please refer to Clause ”3.5 TsRemoteV Class Method”.
TsPointS class
Class for storing Point data of SCARA robot
Property
double X X point/speed
double Y Y point/speed
double Z Z point/speed
double C C point/speed
double T T point/speed
enum ConfigS Configuration (posture)
See also
GetGlobalPoint(),GetPsnCmdWorld(),SetPsnCmdWorld(),Move(),Moves(),Movej()

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TsPointV class
Class for storing Point data of 6-AXIS robot
Property
double X X point/speed
double Y Y point/speed
double Z Z point/speed
double A A point/speed
double B B point/speed
double C C point/speed
double U U point/speed
double V V point/speed
ConfigVpart Config Configuration (posture)
See also
GetGlobalPoint(),GetPsnCmdWorld(),SetPsnCmdWorld(),Move(),Moves(),Movej()
ConfigVpart class
Class for for storing configuration (posture) of 6-AXIS robot
Property
TvSholder Sholder Sholder configuration(enum 0:Free / 1:Lefty / 2:Righty)
TvElbow Elbow Elbow configuration(enum 0:Free / 1:Above / 2Below)
TvWrist Wrist Wrist configuration(enum 0:Free / 1:Nflip / 2Flip)
TvRot4 Rot4 4th axis configuration(enum 0:Free / 1:Single4 / 2:Double4)
TvRot6 Rot6 6th axis configuration(enum 0:Free / 1:Single6 / 2:Double6)
ConfigV All (enum configV)
About Config
config of the 6-Axis robot is decided by the combination of five elements of Sholder, Elbow, Wrist,
Rot4 and Rot6.
"All property "can set five elements by a lump. (enum ConfigV)
See also
TsPointV