Toshiba TS3000 Series Instruction Manual
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Toshiba TS3000 Series Instruction Manual

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TS3000 SCARA / LINEAR system
TS3100 SCARA / LINEAR / 6-AXIS system
TSL3000 SCARA system
INSTRUCTION MANUAL
FIELD BUS SLAVE FUNCTION MANUAL
1.
Make sure that this instruction manual is delivered to the final
user of Toshiba Machine's industrial robot.
2.
Before operating the industrial robot, read through and
completely understand this manual.
3.
After reading through this manual, keep it nearby for future
reference.
Notice
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
STE 80756–2
６

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  • Page 1 FIELD BUS SLAVE FUNCTION 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.
  • Page 2 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Copyright 2012 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 notice to effect improvements.
  • Page 3 Preface This manual describes the initial setting procedures and operating method of the field bus slave function, the TS3000/TS3100/TSL3000 (referred to as TS3000 series below) robot controller extension function. It is intended for users with general knowledge of field bus.
  • Page 4 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller This manual does not contain any detailed descriptions on power and robot connection. CAUTION For the connection of the power and robot, see the Installation & Transport Manual. 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 damages to assets and to assure correct use.
  • Page 5 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller [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).
  • Page 6 Otherwise, the performance will deteriorate, resulting in troubles. Disassembly prohibited • To replace parts, use the spare parts designated by Toshiba Machine. • Carry out the maintenance and inspection on a regular basis. Mandatory Otherwise, the equipment may go wrong or accidents will be caused.

  • Page 7: Table Of Contents

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Table of Contents Page 1. Operation Flow ......................7 2. Hardware Structure ....................9 2.1 Field Bus Printed Board Assembling Procedures to the TS3000/TS3100 Controller ....................... 9 2.2 Installing the Printed Board in the TSL3000 Controller ........ 12 2.3 Connection....................

  • Page 8: Operation Flow

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Operation Flow The operation flow to enable the field bus interface is given below. * When specifying the Field Bus during the purchase of the robot controller, read the step (2) Connecting with the master station and skip to step (4) Setting the master station and go to later steps.
  • Page 9 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller ⇓ (5) Confirming the operation ··· See Section 5 of this manual and the master station instruction manual. The power is turned on in order of “First Field Bus master” and “Robot controller”.

  • Page 10: Hardware Structure

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Hardware Structure Field Bus Printed Board Assembling Procedures to the TS3000/TS3100 Controller Assemble the Field Bus printed board in the manner described below. (1) Turn off the power of the robot controller. (2) Turn off the main power of 200V supplied to the robot controller.
  • Page 11 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller (4) Remove the dummy connector plate attached to the rear side of the robot controller. Dummy connector plate Fig. 2 Rear Side of the TS3000/TS3100 Robot Controller (5) Remove the mounting screws on the X8GC printed board. (6) Insert the field bus printed board into CN19 of the X8GC printed board (7) Use the screws to secure the printed board in place.
  • Page 12 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller 8) Attach the cover to the robot controller as originally set, then secure it with the screws. Reference: After installing each field bus printed board, the appearance will be as shown in Fig. 4. PROFIBUS DeviceNet CC–Link...

  • Page 13: Installing The Printed Board In The Tsl3000 Controller

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Installing the Printed Board in the TSL3000 Controller Use the procedure below to install the field bus printed board into the robot controller. (1) Turn off the 200V power supplied to the robot controller from the primary side. To ensure safety, disconnect the power connector (ACIN).
  • Page 14 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller (3) Remove the dummy connector plate (shown as the cross-hatched section in Fig. 6) on the rear panel of the robot controller. Dummy connector plate Fig. 6 TSL3000 Robot Controller Front Panel Top (4) Remove the mounting screws on the X8YX printed board.

  • Page 15: Connection

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller (7) Remount the cover onto the robot controller, and secure in place using the screws. Reference: Fig. 8 shows the appearance after each type of field bus printed board is installed. CC-Link PROFIBUS DeviceNet PROFIBUS...
  • Page 16 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller 1pin 6pin 5pin 9pin 5pin 9pin PROFIBUS 6pin 1pin TS3000/TS3100 TSL3000 (b) DeviceNet Pin No. Signal name Application 24G (V–) Negative supply voltage CAN_L CAN_L bus line SHIELD Cable shield CAN_H CAN_H bus line P24V (V+) Positive supply voltage Field bus connector: 5.08 pluggable screw...

  • Page 17: Connection

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller CC–LINK Pin No. Signal name Application Communication line (DA) Communication line (DB) Digital GND (DG) SHIELD Cable shield Field bus connector: Terminal block 1pin 4pin CC -Link 4pin 1pin TS3000/TS3100 TSL3000 2.3.2 Connection For the cable connecting the external equipment, use the recommended cable of the master sequencer (PLC) you use.

  • Page 18: Field Bus Slave Module

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Field Bus Slave Module PROFIBUS Slave Module Specifications 3.1.1 PROFIBUS Specifications Field bus specifications PROFIBUS Module name W8XOA Master operation Not supported. Master device 16-bit little endian device (e.g., Siemens S7 315DP2) 16-bit big endian device Node address The node address is specified by user parameter (1 to...

  • Page 19: Setting Of Profibus User Parameter

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller 3.1.2 Setting of PROFIBUS User Parameter The PROFIBUS user parameter should be specified, using [U16] of the USER.PAR file. The contents of [U16] are shown below. = (Type of field bus) (Node) (Baudrate) (Type of master) [U16] FIELD BUS = 1 3 -1 0 (Type of field bus) :...
  • Page 20 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller (Type of master) Specify the type of the field bus master. As the byte order (endian) differs with the master, specify the type according to the master. 16-bit big endian 16-bit little endian (S7 315DP2 made by Siemens) 32-bit big endian 32-bit little endian Example setting:...

  • Page 21: Devicenet Slave Module Specifications

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller DeviceNet Slave Module Specifications 3.2.1 DeviceNet Specifications Field bus specifications DeviceNet Module name W2XOA Module type Slave Master/scanner operation Not supported. Master device 16-bit little endian device 16-bit big endian device (e.g., OMRON DRM21) Node address An exclusive node address is assigned to the...

  • Page 22: Setting Of Devicenet User Parameter

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller 3.2.2 Setting of DeviceNet User Parameter The DeviceNet user parameter should be specified, using [U16] of the USER.PAR file. The contents of [U16] are shown below. = (Type of field bus) (Node) (Baudrate) (Type of master) [U16] FIELD BUS = 37 1 2 1 (Type of field bus) :...
  • Page 23 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Example setting 1: When the DeviceNet is selected, the node address is 2, the baudrate is 125 kbps and OMRON DRM21 is used as the master module: [U16] FIELD BUS {Type / Node Addr / Speed / Byte Order} = 37 2 0 0 Example setting 2: When the field bus slave module is neglected:...

  • Page 24: Cc-Link Slave Module Specifications

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller CC–Link Slave Module Specifications 3.3.1 CC–Link Specifications Field bus specifications CC–Link Version 1.10 Module name W1XOA Module type Remote device Master device 16-bit little endian device 16-bit big endian device (e.g., MELSEC A1SJH) Node address The node address is specified by user parameter (1 to 64).

  • Page 25: Setting Of Cc-Link User Parameter

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller 3.3.2 Setting of CC–Link User Parameter The CC–Link user parameter should be specified, using [U16] of the USER.PAR file. The contents of [U16] are shown below. = (Type of field bus) (Node) (Baudrate) (Type of master) [U16] FIELD BUS = -1 -1 0 0 (Type of field bus) :...
  • Page 26 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Example setting: When the CC–Link is selected, the node address is 2, the baudrate is 156 kbps and MELSEC's A1SJH is used as the master module: [U16] FIELD BUS {Type / Node Addr / Speed / Byte Order} = 144 2 0 0 Example setting: When the field bus slave module is neglected:...

  • Page 27: Error Detection

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Error Detection • 8-353 Field bus Parameter error The field bus parameter set value is wrong. Reset the parameter and then turn the power supply off, then on again. • 8-354 Field bus Offline The controller and master device side are offline status.

  • Page 28: Verifying Motion

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Verifying Motion The field bus input signals are assigned to DIN301 to DIN364 and DIN401 to DIN464. The field bus output signals are assigned to DOUT301 to DOUT364 and DOUT401 to DOUT464. Respective motions of the above signal cables can be confirmed in the utility mode.
  • Page 29 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller The input or output signal status is "1" when the contact is open. It is "0" when the contact is closed. A total of twenty (20) signals, separated by every five (5) signals, are displayed on the same line with the leading signal number shown on the left end.
  • Page 30 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller ALT + ↑ Used to call the previous page. When the top page is displayed, the page will not change over. Used to return the system to the utility screen. The operative soft keys and contents of operation are listed below. Descriptions [ON] Turns on the bit indicated by the cursor.

  • Page 31: How To Use Scol Language Instruction

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller How to Use SCOL Language Instruction The field bus signals can be operated by the SCOL language instructions. For details on how to use each instruction of the SCOL language, see the robot language instruction manual.

  • Page 32: Sample Program

    FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller Sample Program This is the program in which the robot waits until input signal 301 turns on, then moves to taught points A1, A2 and A3. ROGRAM DINSAMPLE AIT DIN(301) OVE A1 OVE A2 OVE A3 OINT A3...
  • Page 33 FIELD BUS SLAVE FUNCTION MANUAL series Robot Controller - Z. - STE 80756...

This manual is also suitable for:

Ts3000Ts3100Tsl3000

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