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Toshiba TSL3000 Communications Manual

Ts3000 series robot controller
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TS3000
SCARA / LINEAR system
TS3100
SCARA / LINEAR system
TSL3000 SCARA system
TSL3000E
SCARA system
COMMUNICATION MANUAL
 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.
INSTRUCTION MANUAL
Notice
TOSHIBA MACHINE CO., LTD.
STE80722-6

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  • Page 1 COMMUNICATION 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 Robot Controller COMMUNICATION MANUAL Copyright 2016 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.
  • Page 3 series Robot Controller COMMUNICATION MANUAL 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.
  • Page 4: Table Of Contents

    series Robot Controller COMMUNICATION MANUAL 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 ....................
  • Page 5 series Robot Controller COMMUNICATION MANUAL Section 7 Appendix ....................168 7.1 ASCII Code ...................... 168 STE 80722 – d –...
  • Page 6: Introduction

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 7: Com1 Port And Host Port Specifications And Settings

    Section 2 COM1 Port and HOST Port Specifications and Settings The TS3000/TSL3000 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.
  • Page 8: Communication Specifications

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 9: Host Port

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 10: Communication Parameters

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 11 series Robot Controller COMMUNICATION MANUAL (Speed) Select the speed for data communication from the following six (6) rates. 115200 115200 bps * Host port only 38400 38400 bps 19200 19200 bps 9600 9600 bps 4800 4800 bps 2400 2400 bps 1200 1200 bps (Character length) :...
  • Page 12: Ethernet Specifications And Settings

    COMMUNICATION MANUAL Section 3 Ethernet Specifications and Settings The TS3000/TSL3000 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.
  • Page 13: Communication Specifications

    series Robot Controller COMMUNICATION MANUAL 3.2 Communication Specifications Table 3.1 Communication specifications Item Specification Interface 10BASE-T Communication system Communication rate 10 Mbps Maximum packet size 512 bits/packet Number of simultaneous connectable ports Applications IP0: Simple protocol communication IP1: Non-protocol communication IP2: Non-protocol communication IP3: Dedicated communication STE 80722...
  • Page 14: Communication Parameters

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 15 series Robot Controller COMMUNICATION MANUAL 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”...
  • Page 16 series Robot Controller COMMUNICATION MANUAL [E04] Default gateway [E04] Default gateway = 192.168.0.1 This parameter specifies the default gateway address. When connecting to a LAN, set the default gateway by following the instructions of the user's LAN system administrator. = (Default gateway address) [05] Own port no [E05] Own port no { IP0 }...
  • Page 17 series Robot Controller COMMUNICATION MANUAL [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.
  • Page 18 series Robot Controller COMMUNICATION MANUAL 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...
  • Page 19 series Robot Controller COMMUNICATION MANUAL [E10] TCP status alarm IP0 IP1 IP2 IP3 [E10] TCP status alarm IP0 IP1 IP2 IP3 {0:NON 1:Lv_1 2:Lv_2 4:LV_4 8:Lv_8} = 0 0 0 0 For the port being used, the alarm level (1Lv, 2Lv, 4Lv, 8Lv) generated when the Ethernet connection is cut off during running of a program can be set.
  • Page 20 series Robot Controller COMMUNICATION MANUAL *Parameter (ETHERNET.PAR) setting example [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"...
  • Page 21: Non-Protocol Communication

    series Robot Controller COMMUNICATION MANUAL 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.
  • Page 22 series Robot Controller COMMUNICATION MANUAL 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 : Ethernet IP1 port : Ethernet IP2 port : Screen output to teach pendant Unless <channel>...
  • Page 23 series Robot Controller COMMUNICATION MANUAL 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).
  • Page 24: Input Command

    series Robot Controller COMMUNICATION MANUAL 4.1.2 INPUT Command As opposed to the PRINT command, which is used for transmitting data, the INPUT command is used for receiving data. The only data which may be received by the controller are integers and real numbers. Data received by the controller is put into a variable (in a robot language program) specified by the INPUT command.
  • Page 25 series Robot Controller COMMUNICATION MANUAL than was specified with the INPUT command, the controller waits until the short data reach. Note 1) The controller starts reading any data sent to it only after an INPUT command is executed. Data are set in the ring buffer, and the input data are picked up according to the request of the INPUT statement.
  • Page 26: Clearing Communication Buffer

    series Robot Controller COMMUNICATION MANUAL Note 4) When an INPUT command is to be used to receive multiple variables transmitted as one text from the host computer, individual numerals should be separated in the text with commas. 4.1.3 Clearing Communication Buffer If the number of data the controller has received is larger than the number of data specified by the INPUT command, such data are stored in the communication buffer and used at request of the next INPUT command.
  • Page 27: Programming Examples For Communication With A Robot Language Program

    series Robot Controller COMMUNICATION MANUAL 4.2 Programming Examples for Communication with a Robot Language Program It is possible to utilize communication functions in a robot language program in order to do such things as specify program branches, correct the position of the robot to be performed, etc.
  • Page 28 series Robot Controller COMMUNICATION MANUAL Data exchange Controller External device PRINT COM1, “REQ” Execute INPUT COM1, N Execute (Number of repetitions) Send (Repeat operation.) PRINT COM1, END Execute STE 80722 – 23 –...
  • Page 29 series Robot Controller COMMUNICATION MANUAL Selecting a task to be performed (COM1) PROGRAM SELECT In this program, the external device tells the K = 0 controller what task is to be performed. START: First, the controller will send the character string PRINT COM1, "STR"...
  • Page 30 series Robot Controller COMMUNICATION MANUAL Data exchange Controller External device PRINT COM1, “STR” Execute INPUT COM1, K Execute (Task number) Send (Execute specified task.) Should a task number of anything besides 1, 2 or 3 be received: PRINT COM1, “NG” Execute STE 80722 –...
  • Page 31: Correcting The Position Of The Robot

    series Robot Controller COMMUNICATION MANUAL 4.2.2 Correcting the Position of the Robot Data received from the host computer can be used to correct the position of the robot. Directly specifying position (COJM1) In this program, the controller moves the robot to a position specified by the PROGRAM DIRECT external device.
  • Page 32 series Robot Controller COMMUNICATION MANUAL Data exchange Controller External device PRINT COM1, “REQ” Execute INPUT COM1, X, Y, Z, C, T, SUM Execute Positional data transmission (<X>, <Y>, <Z>, <C>, <T>, <SUM> (CR)) PRINT COM1, “OK” Execute Move to position (X, Y, Z, C, T) STE 80722 –...
  • Page 33 series Robot Controller COMMUNICATION MANUAL Specifying a relative position (COM1) PROGRAM RELATIV In this program, the controller moves X = 0.0 the robot to a position specified by the Y = 0.0 external device. SUM = 0.0 The controller sends the character MOVE P1 string REQ to the external device.
  • Page 34 series Robot Controller COMMUNICATION MANUAL Data exchange Controller External device PRINT COM1, “REQ” Execute INPUT COM1, X, Y, SUM Execute Positional data transmission (<X>, <Y>, <SUM> (CR)) PRINT COM1, “OK” Execute Move to position P1 + (X, Y) STE 80722 –...
  • Page 35: Input Character String Conversion Function

    series Robot Controller COMMUNICATION MANUAL 4.3 INPUT Character String Conversion Function The INPUT command in SCOL language cannot receive a character string. If a nonnumeric character string is received, 2-046 Invalid Channel error occurs. A character string may be sent depending on the specification of the external device. This function converts the character string received by the robot into a numeric value.
  • Page 36: Converting A Character String To 0

    series Robot Controller COMMUNICATION MANUAL 4.3.1 Converting a Character String to 0 The value of (FUNCTION 1), the 1st column in 1st row of user parameter [U25] FUNCTION SELECT SWITCH is set to 1. [U25] FUNCTION SELECT SWITCH = 1 0 0 0 0 0 = 0 0 0 0 0 0 = 0 0 0 0 0 0 = 0 0 0 0 0 0...
  • Page 37: Converting A Character String To Any Numeric Value

    series Robot Controller COMMUNICATION MANUAL 4.3.2 Converting a Character String to Any Numeric Value The value of (FUNCTION 1), the 1st column in 1st row of user parameter [U25] FUNCTION SELECT SWITCH is set to 2. [U25] FUNCTION SELECT SWITCH = 2 0 0 0 0 0 = 0 0 0 0 0 0 = 0 0 0 0 0 0...
  • Page 38 series Robot Controller COMMUNICATION MANUAL If the first data is other than a number (integer), the second data has 33 characters or more, and the number of data elements is other than 2, 8-015 Parameter error occurs. *If a matching character string is not found, Invalid Channel error occurs without numeric conversion.
  • Page 39: Simple Protocol Communication

    series Robot Controller COMMUNICATION MANUAL Section 5 Simple Protocol Communication The simple protocol communication issues a command to the robot controller and performs start/stop operation of the robot, transfer of program files, and monitoring of the status. 5.1 Transmission Protocol The RS-232C HOST port and Ethernet IP0 port wait for requests from the host computer after the power is supplied to the robot controller.
  • Page 40: Transmission Format

    series Robot Controller COMMUNICATION MANUAL 5.2 Transmission Format Transmissions are made with the text unit shown below. A maximum of 253 bytes of actual data can be transmitted as a single text. Actual data in amounts over 253 bytes will be transmitted in one of the following two ways. (1) Files (robot programs, positional data, parameters) will be broken down into multiple texts and transmitted as described in Para.
  • Page 41: Data Section Format

    series Robot Controller COMMUNICATION MANUAL 5.2.2 Data Section Format The basic format of data is shown below. Command Operand CR(0x0D) Delimiter Variable length 2 characters (1) Command Command consists of two alphabetical letters which signify the type of command. See Table 5.1 for command types and descriptions. (2) Operand The form of the operand varies depending on the type of command.
  • Page 42: Ethernet Status Display [Ether]

    series Robot Controller COMMUNICATION MANUAL 5.2.3 Ethernet Status Display [ETHER] (1) Function Displays the Ethernet status. (2) Procedures 1. Press the NEXT key repeatedly until [ETHER] is displayed in the menu, and then press [ETHER]. The screen shown below is displayed. E T H E R N E T S T A T U S [ 1 / 3 ]...
  • Page 43 series Robot Controller COMMUNICATION MANUAL (Page 2) E T H E R N E T S T A T U S [ 2 / 3 ] O w n P o r C o n n e c t P o r t I P 0 1 0 0 0 0 0 0 .
  • Page 44: Confirmation With A Windows Computer

    series Robot Controller COMMUNICATION MANUAL Established Fin-Wait1 Fin-Wait2 Close wait Closing Last ACK Time Wait (3) Cautions  Check that the Ethernet cable between the controller and external device is connected correctly.  Use a cross connect cable if connecting the robot controller directly to an external device, and use a straight cable if the connection passes through a hub.
  • Page 45 series Robot Controller COMMUNICATION MANUAL Fig. 5.2 Ping execution screen (Problem result) Fig. 5.3 Ping execution screen (Normal result) STE 80722 – 40 –...
  • Page 46: Commands

    series Robot Controller COMMUNICATION MANUAL 5.3 Commands 5.3.1 List of Commands Commands which may be used with this communication protocol are shown in Tables 5.1 and 5.2. Table 5.1 List of commands (Host computer → Controller) Command Descriptions Details Text Start Automatic operation Stop...
  • Page 47 series Robot Controller COMMUNICATION MANUAL Command Descriptions Details Text Guide mode JOG setting request MD, 0 INCHING setting request MD, 1 Guide rate Slow speed setting RT, 0 request Mid speed setting request RT, 1 Fast speed setting RT, 2 request Guidance coordinate Joint coordinate setting...
  • Page 48 series Robot Controller COMMUNICATION MANUAL Command Descriptions Details Text Maintenance information Information request for MN, 1 total rotational amount of motor Information request for MN, 2 movement amount of joint axis Information request for MN, 3 integrated amount of motor torque Information request for MN, 4 integrated amount of...
  • Page 49 series Robot Controller COMMUNICATION MANUAL Command Descriptions Details Text Maintenance information Reset request for total RM, 1 reset rotational amount of motor Reset request for RM, 2 movement amount of joint axis Reset request for RM, 3 integrated amount of motor torque Reset request for RM, 4...
  • Page 50 series Robot Controller COMMUNICATION MANUAL Command Descriptions Details Text Motion status Motion status information SM, version acquisition Input signal read Hexadecimal-coding and HI, signal name signal reading of Input signal length 3-axis origin position 3-axis origin position change information change information request Controller mode change EXT.SIG change request...
  • Page 51: Commands And Operation Modes

    series Robot Controller COMMUNICATION MANUAL 5.3.2 Commands and Operation Modes Tables 5.3 and 5.4 show the operation modes in which each command is operative. The communications through the HOST port are effective irrespective of master modes, but their function is limited by a master mode. For details, see the following table.
  • Page 52 series Robot Controller COMMUNICATION MANUAL Teaching point movement  execution Current position acquisition      Individual current information      acquisition Maintenance information      acquisition Maintenance information    ...
  • Page 53 series Robot Controller COMMUNICATION MANUAL The communications through the IP0 port are effective irrespective of master modes, but their function is limited by a master mode. For details, see the following table. Table 5.4 IPO port (Ethernet) commands and operation modes INTERNAL Master mode (Key switch) TEACHING...
  • Page 54 series Robot Controller COMMUNICATION MANUAL IO information acquisition      Watchdog execution      Alarm history acquisition      Output signal write  Robot tip speed information     ...
  • Page 55: Details Of Commands

    series Robot Controller COMMUNICATION MANUAL 5.3.3 Details of Commands : Automatic Operation Start (Host computer → Controller) Format Description The RN (Automatic Operation Start) command is a command given by the host computer to the controller telling the controller to start up the program. If, after stopping the program with the SP (Automatic Operation Stop) command, one sends the RN command again, the robot will start up from the step immediately following the step at which it was stopped.
  • Page 56 series Robot Controller COMMUNICATION MANUAL Note If the power is turned on while the controller is set for the host mode, the operation mode of the system will be the cycle operation mode. If the controller is changed over to the host mode from the internal automatic mode, the operation mode of the system will be that in effect beforehand.
  • Page 57 series Robot Controller COMMUNICATION MANUAL : Automatic Operation Stop (Host computer → Controller) Format Description The SP (Automatic Operation Stop) command is given by the host computer to the controller telling the controller to stop automatic operation. Also, this command informs the host computer when the controller is stopped.
  • Page 58 series Robot Controller COMMUNICATION MANUAL : Servo OFF (Host computer → Controller) Format Description The BR (Servo OFF) command is given by the host computer to the controller telling the controller to turn off the servo power. Protocol Controller Host computer (Servo power OFF) Normal response Normal response...
  • Page 59 series Robot Controller COMMUNICATION MANUAL : Servo ON (Host computer → Controller) Format Description The servo ON command is given from the host computer to the controller to turn the power on. Protocol Controller Host computer (Servo power ON) Normal response Normal response Error (Cannot receive request) Request not accepted...
  • Page 60 series Robot Controller COMMUNICATION MANUAL : Reset (Host computer → Controller) Format RS, XXX XXX : PRG Reset all program data (internal data) Reset the program back to Step 1. All program data remains unchanged. CYC Reset the program back to the step marked by the label RCYCLE.
  • Page 61 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host computer RS, PRG Normal completion Normal completion Abnormal completion Request not accepted STE 80722 – 56 –...
  • Page 62 series Robot Controller COMMUNICATION MANUAL : Program Selection (Host computer → Controller) Format SL, file name Description The SL command selects a program to be executed under automatic operation. Protocol Controller Host computer SL, file name Normal completion Normal completion Abnormal completion Request not accepted STE 80722...
  • Page 63 series Robot Controller COMMUNICATION MANUAL : File Upload Request (Host computer → Controller) Format UL, file name Function The UL command is used to upload (transmit) the specified RAM file in the controller to the host computer. For information on the contents of files to be uploaded, see the FL (File) command.
  • Page 64 series Robot Controller COMMUNICATION MANUAL Note Put in a delay of about 50 msec until the host computer sends an affirmative response OK to the controller after the host computer has received the file contents. STE 80722 – 59 –...
  • Page 65 series Robot Controller COMMUNICATION MANUAL : File Download Request (Host computer → Controller) Format DL, file name Function The DL command is used to download (transmit) a specified file from the host computer to the controller RAM drive. For information on the contents of files to be downloaded, see the FL (File) command.
  • Page 66 series Robot Controller COMMUNICATION MANUAL Note Put in a delay of about 50 msec until the host computer sends the file contents to the controller after the host computer has received OK. STE 80722 – 61 –...
  • Page 67 series Robot Controller COMMUNICATION MANUAL : File Directory Request (Host computer → Controller) Format Function The CA command is used to transmit the directory of files in the RAM drive from the controller to the host computer. For information on the contents of directories to be transmitted, see the FL (File) command.
  • Page 68 series Robot Controller COMMUNICATION MANUAL : Status Request (Host computer → Controller) : System Total Status Request (Host computer → Controller) Format Status information System total status information Function The SU command is used to send the internal status (state) of the controller to the host computer.
  • Page 69 series Robot Controller COMMUNICATION MANUAL : Error History Request (Host computer → Controller) Format Function The EU command is used to send the controller error history data to the host computer. For information on the contents of error history files to be transmitted, see the FL (File) command.
  • Page 70 series Robot Controller COMMUNICATION MANUAL : File Erase (Host computer → Controller) Format ER, file name Description The ER command is used to erase a specified file from the controller RAM drive. Protocol Controller Host computer ER, file name Normal completion Affirmative response Error (Cannot receive request)
  • Page 71 series Robot Controller COMMUNICATION MANUAL : I/O Write (Host computer → Controller) Format IW, Line No. ON/OFF command Description The IW command is used to instruct forced writing of up to 32 I/Os from the host computer to the controller. For the ON/OFF command, specify "0" for OFF and "1" for ON.
  • Page 72 series Robot Controller COMMUNICATION MANUAL : Version read (Host computer → Controller) Format Description The VR command is used to send the system version information to the host computer. For details on the version information, see the FL (File) command. Protocol Controller Host computer...
  • Page 73 series Robot Controller COMMUNICATION MANUAL : Execution of DO statement (Host computer → Controller) Format DO, Command statement Description The DO command is used to directly execute a command from the host computer. For details on the command, see the Robot Language Manual. In the feed hold status or servo power OFF status, negative response NG is sent back from the controller.
  • Page 74 series Robot Controller COMMUNICATION MANUAL : Variable read (Host computer → Controller) Format MR, Variable name Variable type Description The MR command is used to transfer the read data of global-defined variable to the host computer. Each variable name should consist of up to ten (10) characters. For the array variable, specify the array elements ("Variable name (*, *, ···)").
  • Page 75 series Robot Controller COMMUNICATION MANUAL : Write global variable (Host computer → Controller) Format MW, Flag Variable name Variable type Write data ··· Descriptions This function requests writing of data into the user’s defined variable. The flag is a control flag for restoring or non-restoring of data in the program file, as shown below.
  • Page 76 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host computer MW, Flag Variable name Write data CR Variable type (1) Normal completion (2) Abnormal completion Request not accepted (Absence of variable name, abnormal data) STE 80722 – 71 –...
  • Page 77 series Robot Controller COMMUNICATION MANUAL : Feed hold (Host computer → Controller) Format Description The FD command is used to inform from the host computer to the controller that the FEED HOLD pushbutton switch has been pressed. Protocol Controller Host computer (1) Normal response Normal response (2) Error...
  • Page 78 series Robot Controller COMMUNICATION MANUAL : Acknowledge (Host computer ↔ Controller) Format Description The OK (Acknowledge) command indicates an affirmative response. STE 80722 – 73 –...
  • Page 79 series Robot Controller COMMUNICATION MANUAL : Non-acknowledge (Host computer ↔ Controller) Format Description The NG (Non-acknowledge) command indicates a negative response. STE 80722 – 74 –...
  • Page 80 series Robot Controller COMMUNICATION MANUAL : Internal Command (Host computer → Controller) Format EC, Command Description The internal command can be executed from the host computer. The executable internal commands are as follows. MODECONT MODECYCLE MODESTEP MODESEG OVRDSet value (1 - 100) BREAK Note: ""...
  • Page 81 series Robot Controller COMMUNICATION MANUAL : Currently occurring alarm acquisition with message (Host computer→ Controller) Format Function The AC command is used to transfer the alarm that currently occurs in the controller with message to the host computer. For the details on the currently occurring alarm, see the FL (File) command. Protocol Controller Host computer...
  • Page 82 series Robot Controller COMMUNICATION MANUAL : Guide mode setting (Host computer → Controller) Format MD, Guide mode Description The MD command is used to set the guide mode of the controller from the host computer. Specify one of the following numbers for the guide mode. 0: JOG 1: INCHING Protocol...
  • Page 83 series Robot Controller COMMUNICATION MANUAL : Guide rate setting (Host computer → Controller) Format RT, Guide rate Description The RT command is used to set the guide rate of the controller from the host computer. Specify one of the following numbers for the guide rate. 0: Slow speed 1: Mid speed 2: Fast speed...
  • Page 84 series Robot Controller COMMUNICATION MANUAL : Guidance coordinate setting (Host computer → Controller) Format SC, Guidance coordinate Description The SC command is used to set the guidance coordinate of the controller from the host computer. Specify one of the following numbers for the guidance coordinate. 0: Joint coordinate 1: Tool coordinate 2: Work coordinate...
  • Page 85 series Robot Controller COMMUNICATION MANUAL : JOG execution (Host computer → Controller) Format JG, Axis direction Description The JG command is used to direct the controller to start jog from the host computer. Specify one of the following numbers for the axis. 1 to 5 Specify one of the following items for the direction +: Plus direction jog...
  • Page 86 series Robot Controller COMMUNICATION MANUAL : Coordinate setting (Host computer → Controller) Format ZS, Coordinate identification coordinate name coordinate value Description The ZS command is used to set the work and tool coordinates of the controller from the host computer. Specify one of the following numbers for the coordinate identification.
  • Page 87 series Robot Controller COMMUNICATION MANUAL : Teaching point movement (Host computer → Controller) Format MP, coordinate identification code movement position Description The MP command is used to direct the controller to start teaching point movement from the host computer. Specify one of the following numbers for the coordinate identification code. 0: Normal movement motion 1: Move the Z axis at the current position Specify the movement positon in the following format.
  • Page 88 series Robot Controller COMMUNICATION MANUAL : Current position information acquisition (Host computer → Controller) PS Format Description The PS command is used to transfer current position information (motion status, execution line number, current position) to the host computer. For details on the contents of current position information, see the FL (File) command.
  • Page 89 series Robot Controller COMMUNICATION MANUAL : Individual current position information acquisition (Host computer → Controller) Format PR, coordinate system Description The PR command is used to transfer the current position information for the specified coordinate system to the host computer. For details on the contents of the current position information for the specified coordinate system, see the FL (File) command.
  • Page 90 series Robot Controller COMMUNICATION MANUAL : Maintenance information acquisition (Host computer → Controller) Format MN, maintenance information number Description The MN command is used to transfer the specified maintenance information to the host computer. For details on the contents of the specified maintenance information, see the FL (File) command.
  • Page 91 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host computer MN, maintenance information number Normal response FL, maintenance information Affirmative response Error (Cannot receive request) Negative response Note Put in a delay of about 50 msec until the host computer sends an affirmative response OK to the controller after the host computer has received the file contents.
  • Page 92 series Robot Controller COMMUNICATION MANUAL : Maintenance information reset (Host computer → Controller) Format RM, reset number Description The RM command is used to direct the controller to reset the specified maintenance information from the host computer. Specify one of the following numbers for the reset number. 1: Total rotational amount of motor 2: Movement amount of joint axis 3: Integrated amount of motor torque...
  • Page 93 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host RM, reset number Normal completion Abnormal completion Request cannot be accepted STE 80722 – 88 –...
  • Page 94 series Robot Controller COMMUNICATION MANUAL : IO information acquisition (Host computer → Controller) Format IO, version Description The IO command is used to transfer the specified version of IO information to the host computer. For details on the contents of IO information, see the FL (File) command. Specify the following number for the version.
  • Page 95 series Robot Controller COMMUNICATION MANUAL : Watchdog timer setting (Host computer → Controller) Format WD, timer value alarm level Description The WD command is used to set the watchdog timer of the controller from the host computer. Specify one of the following numbers for the timer value (msec). 0 to 99999 *However, if 0 is specified, it means that watchdog monitor is stopped.
  • Page 96 series Robot Controller COMMUNICATION MANUAL : Alarm history acquisition with message (Host computer → Controller) AH Format Function The AH command is used to transfer the alarm history with message of the controller to the host computer. For details on the contents of the alarm history, see the FL (File) command. Protocol Controller Host computer...
  • Page 97 series Robot Controller COMMUNICATION MANUAL : Hexadecimal-coding and writing of output signal (Host computer → Controller) Format HO, signal name signal length Expression Description The HO command is used to direct the controller to hexadecimal-code and forcibly write up to 32 output signals from the host computer. Specify one of the following numbers for the signal.
  • Page 98 series Robot Controller COMMUNICATION MANUAL : Robot tip speed information acquisition (Host computer → Controller) VL Format VL, speed type Description The VL command is used to transfer the specified robot tip speed information to the host computer. For details on the contents of the specified robot tip speed information, see the FL (File) command.
  • Page 99 series Robot Controller COMMUNICATION MANUAL : Motion status request (Host computer → Controller) Format SM, version Function The SM command is used to transfer the motion status of the controller to the host computer. For details on the contents of the motion status, see the FL (File) command. Specify the following number for the version.
  • Page 100 series Robot Controller COMMUNICATION MANUAL : Hexadecimal-coding and reading of Input signal (Host computer → Controller) Format HI, signal name signal length Description The HI command is used to hexadecimal-code the input signal for transfer to the host computer. For details on the contents of the expression, see the FL (File) command. Specify one of the following numbers for the signal name.
  • Page 101 series Robot Controller COMMUNICATION MANUAL : 3-axis origin position change information acquisition (Host computer → Controller) Format Description The ZC command is used to transfer 3-axis origin position change information to the host computer. For details on the contents of 3-axis origin position change information, see the FL (File) command.
  • Page 102 series Robot Controller COMMUNICATION MANUAL : Controller mode change request (Host computer → Controller) Format EM, EXTERNAL mode Function The EM command is used to direct the controller to change the EXTERNAL mode from the host computer. Specify one of the following numbers for the EXTERNAL mode. If the current mode is EXTERNAL RS232C: ...
  • Page 103 series Robot Controller COMMUNICATION MANUAL : File (Host computer ↔ Controller) Format FL, file contents EOF  If the data exceeds one text field or 253 bytes, the data is transmitted in two or more texts, as shown below. file contents 1 File contents 2 File contents 3 ...
  • Page 104 series Robot Controller COMMUNICATION MANUAL Robot tip speed information Motion status Hexadecimal-coding and reading of input signal 3-axis origin position change information STE 80722 – 99 –...
  • Page 105 series Robot Controller COMMUNICATION MANUAL File contents A file is composed of one or more records. Different kinds of files are made up of different kinds of records, each of which is shown below. Furthermore, in the tables below, the value in the Size column is the maximum size of the data section.
  • Page 106 series Robot Controller COMMUNICATION MANUAL Record structure Name Size(byte) Description File name in alphanumeric characters File name 12(Variable) beginning with an alphabetic character. Size 5(Variable) Size of file in bytes. Shows the attribution. Attribute -(Variable) The attribute is omitted if the attribution is not specified.
  • Page 107 series Robot Controller COMMUNICATION MANUAL Name Size(byte) Description Mode The controller mode is shown in the following format: (Variable) "MODE: (mode)/(operation mode)" (1) MODE : 5 byte fixed length (2) (mode) : Controller modes "external (sig)" : External Automatic Mode (External operation signal mode) "external (rs232C)"...
  • Page 108 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Reserved served (Variable) Machine The machine status is shown in the following format: status (Variable) "MACHINE : (status)" (1) MACHINE : 8 byte fixed length (2) (status) : Robot status "free" : Status in which machine lock has been released : (Mode in which the robot can move)
  • Page 109 series Robot Controller COMMUNICATION MANUAL Error history file Size Error code Date Time 1 record Name Size(byte) Description Size Number (in base 10) of error histories. (Variable) Placed only at the beginning of the file. Error 7 (Fixed) The error code of an error which occurred is shown in code the following format.
  • Page 110 series Robot Controller COMMUNICATION MANUAL (5) System total status The following information is transmitted as the system total status information in the binary notation (250 bytes). Motion status I/O information Current value data 52 bytes 64 bytes 134 bytes Detailed data of each group are tabled below. STE 80722 –...
  • Page 111 series Robot Controller COMMUNICATION MANUAL Motion status Name Size (byte) Description Servo power status 0: OFF, 1: ON EMERGENCY stop 0: OFF, 1: ON switch status Motion status 0: STOP (RESET) 1: RUN 2: STOP (RETRY) 3: STOP (CONT) SU command request 0: Without request, 1: With request Current alarm 2 ×...
  • Page 112 series Robot Controller COMMUNICATION MANUAL I/O information Name Size (byte) Description General input 1 Line No. Signal name Din1 General input Din2 General input Din3 General input Din4 General input Din5 General input Din6 General input Din7 General input Din8 General input Din9 General input...
  • Page 113 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General input 3 Line No. Signal name Din33 General input Din34 General input Din35 General input Din36 General input Din37 General input Din38 General input Din39 General input Din40 General input Din41 General input Din42...
  • Page 114 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension input 1 Line No. Signal name Din101 Extension input Din102 Extension input Din103 Extension input Din104 Extension input Din105 Extension input Din106 Extension input Din107 Extension input Din108 Extension input Din109 Extension input Din110...
  • Page 115 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension input 3 Line No. Signal name Din133 Extension input Din134 Extension input Din135 Extension input Din136 Extension input Din137 Extension input Din138 Extension input Din139 Extension input Din140 Extension input Din141 Extension input Din142...
  • Page 116 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System input 1 Line No. Signal name Din201 Hand input Din202 Hand input Din203 Hand input Din204 Hand input Din205 Hand input Din206 Hand input Din207 Hand input Din208 Hand input Din209 Din210 Din211...
  • Page 117 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System input 3 Line No. Signal name Din233 Din234 Din235 Din236 Din237 Din238 Din239 Din240 Din241 Din242 Din243 Din244 Din245 Din246 Din247 Din248 System input 4 Line No. Signal name Din249 STROBE Din250 PRG_RST...
  • Page 118 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80722 – 113 –...
  • Page 119 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80722 – 114 –...
  • Page 120 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General output 1 Line No. Signal name Dout1 General output Dout2 General output Dout3 General output Dout4 General output Dout5 General output Dout6 General output Dout7 General output Dout8 General output Dout9 General output Dout10...
  • Page 121 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General output 3 Line No. Signal name Dout33 General output Dout34 General output Dout35 General output Dout36 General output Dout37 General output Dout38 General output Dout39 General output Dout40 General output Dout41 General output Dout42...
  • Page 122 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension output 1 Line No. Signal name Dout101 Extension output Dout102 Extension output Dout103 Extension output Dout104 Extension output Dout105 Extension output Dout106 Extension output Dout107 Extension output Dout108 Extension output Dout109 Extension output Dout110...
  • Page 123 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension output 3 Line No. Signal name Dout133 Extension output Dout134 Extension output Dout135 Extension output Dout136 Extension output Dout137 Extension output Dout138 Extension output Dout139 Extension output Dout140 Extension output Dout141 Extension output Dout142...
  • Page 124 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System output 1 Line No. Signal name Dout201 Hand output Dout202 Hand output Dout203 Hand output Dout204 Hand output Dout205 Hand output Dout206 Hand output Dout207 Hand output Dout208 Hand output Dout209 Dout210 Dout211...
  • Page 125 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System output 3 Line No. Signal name Dout233 Dout234 Dout235 Dout236 Dout237 Dout238 Dout239 Dout240 Dout241 Dout242 Dout243 Dout244 Dout245 Dout246 Dout247 Dout248 System output 4 Line No. Signal name Dout249 EMG_ST Dout250 SV_RDY...
  • Page 126 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80722 – 121 –...
  • Page 127 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80722 – 122 –...
  • Page 128 series Robot Controller COMMUNICATION MANUAL III) Current value data Name Size (byte) Description Joint coordinate value 4 × 8 axes As shown below, values are set in the order of axis 1 to axis 6. World coordinate value Axis 1 (float) 4 ×...
  • Page 129 series Robot Controller COMMUNICATION MANUAL (6) Version information Time of Date of creation System name creation Checksum (Year/Month/Day) (Hour/Min) 1 record Record structure Name Size (byte) Description System name Date of creation 20**/**/** (Year/Month/Day) Time of creation **:** (Hour/Min) Checksum Record end code (0x0D) STE 80722 –...
  • Page 130 series Robot Controller COMMUNICATION MANUAL (7) Variable read data Read data 1 Read data 2 Read data 3 The variable read data differs as shown below with the type of variable. Variable Type Read data type data Integer type 1 pc. (long) Real number type 1 pc.
  • Page 131 series Robot Controller COMMUNICATION MANUAL (8) Currently occurring alarm Size Alarm number Message Date Time 1 record Name Size (byte) Description Size Number of currently occurring alarms (decimal) (Variable) This is added to only the beginning of the file. Alarm 7 (Fixed) Shows the occurring alarm number in the following number...
  • Page 132 series Robot Controller COMMUNICATION MANUAL (9) Current position information Axis 2 current Motion Program Axis 1 current position position status execution (integer part) (integer part) Axis 3 current Axis 4 current Axis 5 current Axis 6 current position position position position (integer part) (integer part)
  • Page 133 series Robot Controller COMMUNICATION MANUAL Current - (Variable) Joint coordinate value of axis 1 to axis 6 position The value is sent as a real number to three decimal places. Motor - (Variable) Motor torque current value of axis 1 to axis 6 torque The value is sent as a real number to one decimal current...
  • Page 134 series Robot Controller COMMUNICATION MANUAL (10) Individual current position information Axis 2 (Y) current Axis 1 (X) current position Axis 3 (Z) current position position Axis 4 (C ) current Axis 5 (T) current Axis 6 current position position position Current configuration Name Size (byte)
  • Page 135 series Robot Controller COMMUNICATION MANUAL (11) Maintenance information  Format 1 Maintenance information Axis 1 information Axis 2 information number Axis 3 information Axis 4 information Axis 5 information Axis 6 information Name Size (byte) Description Maintenance - (Variable) Maintenance information number of request information number Axis...
  • Page 136 series Robot Controller COMMUNICATION MANUAL  Format 2 Maintenance information Current information number Name Size (byte) Description Maintenance - (Variable) Maintenance information number of request information number Information - (Variable) Information This value is sent as a real number to one decimal point.
  • Page 137 series Robot Controller COMMUNICATION MANUAL (12) IO information Name Size (byte) Description General input 1 Line No. Signal name Din1 General input Din2 General input Din3 General input Din4 General input Din5 General input Din6 General input Din7 General input Din8 General input Din9...
  • Page 138 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General input 3 Line No. Signal name General input Din33 General input Din34 General input Din35 General input Din36 General input Din37 General input Din38 General input Din39 General input Din40 General input Din41 General input...
  • Page 139 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension input 1 Line No. Signal name Extension input Din101 Extension input Din102 Extension input Din103 Extension input Din104 Extension input Din105 Extension input Din106 Extension input Din107 Extension input Din108 Extension input Din109 Extension input...
  • Page 140 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension input 3 Line No. Signal name Extension input Din133 Extension input Din134 Extension input Din135 Extension input Din136 Extension input Din137 Extension input Din138 Extension input Din139 Extension input Din140 Extension input Din141 Extension input...
  • Page 141 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System input 1 Line No. Signal name Hand input Din201 Hand input Din202 Hand input Din203 Hand input Din204 Hand input Din205 Hand input Din206 Hand input Din207 Hand input Din208 Din209 Din210 Din211...
  • Page 142 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System input 3 Line No. Signal name Din233 Din234 Din235 Din236 Din237 Din238 Din239 Din240 Din241 Din242 Din243 Din244 Din245 Din246 Din247 Din248 System input 4 Line No. Signal name Din249 STROBE Din250 PRG_RST...
  • Page 143 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus input 1 Line No. Signal name DIN301 DIN302 DIN303 DIN304 DIN305 DIN306 DIN307 DIN308 DIN309 DIN310 DIN311 DIN312 DIN313 DIN314 DIN315 DIN316 Field bus input 2 Line No. Signal name DIN317 DIN318 DIN319...
  • Page 144 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus input 3 Line No. Signal name Din333 Din334 Din335 Din336 Din337 Din338 Din339 Din340 Din341 Din342 Din343 Din344 Din345 Din346 Din347 Din348 Field bus input 4 Line No. Signal name Din349 Din350 Din351...
  • Page 145 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus input 5 Line No. Signal name DIN401 DIN402 DIN403 DIN404 DIN405 DIN406 DIN407 DIN408 DIN409 DIN410 DIN411 DIN412 DIN413 DIN414 DIN415 DIN416 Field bus input 6 Line No. Signal name DIN417 DIN418 DIN419...
  • Page 146 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus input 7 Line No. Signal name Din433 Din434 Din435 Din436 Din437 Din438 Din439 Din440 Din441 Din442 Din443 Din444 Din445 Din446 Din447 Din448 Field bus input 8 Line No. Signal name Din449 Din450 Din451...
  • Page 147 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General output 1 Line No. Signal name General output Dout1 General output Dout2 General output Dout3 General output Dout4 General output Dout5 General output Dout6 General output Dout7 General output Dout8 General output Dout9 General output...
  • Page 148 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description General output 3 Line No. Signal name General output Dout33 General output Dout34 General output Dout35 General output Dout36 General output Dout37 General output Dout38 General output Dout39 General output Dout40 General output Dout41 General output...
  • Page 149 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension output 1 Line No. Signal name Extension output Dout101 Extension output Dout102 Extension output Dout103 Extension output Dout104 Extension output Dout105 Extension output Dout106 Extension output Dout107 Extension output Dout108 Extension output Dout109 Extension output...
  • Page 150 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Extension output 3 Line No. Signal name Extension output Dout133 Extension output Dout134 Extension output Dout135 Extension output Dout136 Extension output Dout137 Extension output Dout138 Extension output Dout139 Extension output Dout140 Extension output Dout141 Extension output...
  • Page 151 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System output 1 Line No. Signal name Hand output Dout201 Hand output Dout202 Hand output Dout203 Hand output Dout204 Hand output Dout205 Hand output Dout206 Hand output Dout207 Hand output Dout208 Dout209 Dout210 Dout211...
  • Page 152 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System output 3 Line No. Signal name Dout233 Dout234 Dout235 Dout236 Dout237 Dout238 Dout239 Dout240 Dout241 Dout242 Dout243 Dout244 Dout245 Dout246 Dout247 Dout248 System output 4 Line No. Signal name EMG_ST Dout249 SV_RDY Dout250...
  • Page 153 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus output 1 Line No. Signal name Dout301 Dout302 Dout303 Dout304 Dout305 Dout306 Dout307 Dout308 Dout309 Dout310 Dout311 Dout312 Dout313 Dout314 Dout315 Dout316 Field bus output 2 Line No. Signal name Dout317 Dout318 Dout319...
  • Page 154 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus output 3 Line No. Signal name Dout333 Dout334 Dout335 Dout336 Dout337 Dout338 Dout339 Dout340 Dout341 Dout342 Dout343 Dout344 Dout345 Dout346 Dout347 Dout348 Field bus output 4 Line No. Signal name Dout349 Dout350 Dout351...
  • Page 155 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus output 5 Line No. Signal name Dout401 Dout402 Dout403 Dout404 Dout405 Dout406 Dout407 Dout408 Dout409 Dout410 Dout411 Dout412 Dout413 Dout414 Dout415 Dout416 Field bus output 6 Line No. Signal name Dout417 Dout418 Dout419...
  • Page 156 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Field bus output 7 Line No. Signal name Dout433 Dout434 Dout435 Dout436 Dout437 Dout438 Dout439 Dout440 Dout441 Dout442 Dout443 Dout444 Dout445 Dout446 Dout447 Dout448 Field bus output 8 Line No. Signal name Dout449 Dout450 Dout451...
  • Page 157 series Robot Controller COMMUNICATION MANUAL (13) Alarm history Size Alarm number Message Date Time 1 record Name Size (byte) Description Size Number of alarm histories (decimal) (Variable) This is added to only the beginning of the file. Alarm 7 (Fixed) Shows the occurring alarm number in the following number format.
  • Page 158 series Robot Controller COMMUNICATION MANUAL (14) Robot tip speed information Axis 1 (X) tip speed Axis 2 (Y) tip speed Axis 3 (Z) tip speed information information information Axis 4 (C) tip speed Axis 5 (T) tip speed Axis 6 tip speed information information information...
  • Page 159 series Robot Controller COMMUNICATION MANUAL (15) Motion status Data header Data header Data header Data Data Data Data header Data header Data header Data Data Data Data header Data header Data header Data Data Data Data header Data header Data header Data Data Data...
  • Page 160 series Robot Controller COMMUNICATION MANUAL Data header Data Size Meaning Data contents (2BYTE) (byte) Emergency STOP Event 0: Without event 1 (Fixed) 1: With event Safety SW Event 0: Without event 1 (Fixed) 1: With event Stop command Event 0: Without event 1 (Fixed) 1: With event Break command Event...
  • Page 161 series Robot Controller COMMUNICATION MANUAL (16) Motion status Expression (value) Name Size (byte) Description Expression - (Variable) Hexadecimal-coded information of the specified input (value) signal (17) Motion status 3-axis origin change Function determination value (integer) Name Size (byte) Description Function 1 (Fixed) 3-axis origin change function determina-...
  • Page 162: Ram Files

    series Robot Controller COMMUNICATION MANUAL 5.4 Ram Files 5.4.1 User Files (Work files) The user files store some programs and positional data. PROGRAM MAIN Main program or global variable (The program described at the beginning of the file becomes the main program.) The portion from the PROGRAM...
  • Page 163 series Robot Controller COMMUNICATION MANUAL The characters to be used should be ASCII code alphanumeric characters and symbols. Alphanumeric characters: A B C D E F G H I J K L M N O P Q R S T U V W X Y Z a b c d e f g h i m n o p q r s t...
  • Page 164 series Robot Controller COMMUNICATION MANUAL [1] Positional data POINT <Position name>=<X>,<Y>,<Z>,C>,<T>/<configuration> <Position name> : Name of positional data <X> <Y> : Coordinate values of X, Y, and Z (unit: mm) <Z> <C> : Rotating angle of tool end (unit: deg) <T>...
  • Page 165 series Robot Controller COMMUNICATION MANUAL [3] Load data PAYLOAD <Load name>=<mass>, <center of gravity offset> <Load name>: Name of load data <mass>: Mass of the load on the end of the robot hand (unit: kg) <center of gravity offset>: Offset of the center of gravity of the load on the end of the robot hand from the center of the tool axis (unit: mm) When the values of the mass and center-of-gravity offset are omitted, they are...
  • Page 166 series Robot Controller COMMUNICATION MANUAL (3) Example of user file Examples of the user file is as follows: A block end code (0x0A) is attached to the end of each line (or block). File name: TEST GLOBAL A = 10 Global variable block PROGRAM SAMPLE SPEED = 20...
  • Page 167 series Robot Controller COMMUNICATION MANUAL DATA Position in work POINT A1=400,0,200,0,0/RIGHTY coordinate system = POINT A2-400,200,200,0,0/RIGHTY world coordinate POINT A3=400,200,50,0,0/RIGHTY system POINT A4=400,-200,200,0,0/LEFTY POINT A5=400,-200,50,0,0/LEFTY TRANS W1=400,200,50,90 Coordinate data W1 TRANS W2=400,-200,50,0 Coordinate data W2 PAYLOAD HAND1=3,100 Load data HAND1 PAYLOAD HAND2=5,0 Load data HAND2 WORK W1...
  • Page 168: Tspc Settings

    series Robot Controller COMMUNICATION MANUAL 5.5 TSPC Settings TSPC corresponding to the ethernet interface is Version 1.06 and subsequent versions. Select Communication Settings from among the options. Select TCP/IP Connection. To connect to the controller through TCP/IP, enter IP address and port number ([E06] Own port no {IP0}) specified for the controller.
  • Page 169: Robot Operation Sequence Using External Communication

    series Robot Controller COMMUNICATION MANUAL Section 6 Robot Operation Sequence Using External Communication Operating procedures for the robot in the External Control Mode are basically the same as those in the Internal Control Mode. 6.1 Basic Operation Figure 6.1 presents a flow sequence in which a certain block is selected and executed repeatedly.
  • Page 170 series Robot Controller COMMUNICATION MANUAL Operation Manually turn on the controller power and servo power. Status check Perform Ready? necessary ; External control mode with servo ON and without operations. errors Abnormal completion Program selection Start System check Y (During operation) Fault? Robot check ;...
  • Page 171 series Robot Controller COMMUNICATION MANUAL Operation Preparations for operation (Same as Fig. 6.1) Program download Program selection System check Start Fault? Robot check ; Stops automatically Cycle finish? upon cycle completion. Continue operation? Servo OFF Completion Fig. 6.2 Operation sequence including program download STE 80722 –...
  • Page 172 series Robot Controller COMMUNICATION MANUAL Restart Stop Abnormal Stopped? Normal Program reset Start System check Completion Fig. 6.3 Restart after program interruption STE 80722 – 167 –...
  • Page 173 series Robot Controller COMMUNICATION MANUAL Section 7 Appendix 7.1 ASCII Code High-order 4 bits → Hexadecimal number 8 9 A B C D E F “ & ‘ < ¥ → ← · > ↑ ↓ ↑ Hexadecimal number * Codes 00 to 1F correspond to control characters. These characters will either be interpreted as a space or as a code having a specific meaning.
  • Page 174 series Robot Controller COMMUNICATION MANUAL STE 80722 – z. –...

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