Toshiba TS3000 Series Instruction Manual
  1. Manuals
  2. Brands
  3. Toshiba Manuals
  4. Controller
  5. TS3000 Series
  6. Instruction manual

Toshiba TS3000 Series Instruction Manual

Vertical articulated robot system controller
Hide thumbs Also See for TS3000 Series:
Table of Contents

Advertisement

Quick Links

Download this manual
TS3100 6AXIS system
TSL3100 6AXIS system
COMMUNICATION MANUAL
(Vertical Articulated Robot System)
 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.
STE 80732-3

Advertisement

Table of Contents
loading

Related Manuals for Toshiba TS3000 Series

Summary of Contents for Toshiba TS3000 Series

  • Page 1 (Vertical Articulated Robot System) 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 2014 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 This manual is divided into six (6) sections: Section 1 Introduction This section presents and introduction to the communication functions provided by the TS3000 Series robot system. Section 2 COM1 Port and HOST Port Specifications and Settings This section describes the RS-232C port hardware interfaces, communication modes, and other information.

  • 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: 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. It is possible to perform the following with such serial communications: Non-protocol communication (1) Input variables into the program from the external device. (2) Output variables or messages in the program.

  • Page 6: Com1 Port And Host Port Specifications And Settings

    series Robot Controller COMMUNICATION MANUAL Section 2 COM1 Port and HOST Port Specifications and Settings The TS3100/TSL3100 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 7: 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 1200, 2400, 4800, 9600, 19200, 38400 bps Data format ASCII code No.

  • Page 8: 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 1200, 2400, 4800, 9600, 19200, 38400, 115200 bps Data format ASCII code No.

  • Page 9: 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. Communication is performed according to the contents defined under [U06] of the user parameter file (USER.PAR) in the RAM drive.
  • Page 10 series Robot Controller COMMUNICATION MANUAL (Speed) Select the speed for data communication from the following six (6) rates. 115200 115200 bps (Can be specified only for the HOST port.) 38400 38400 bps 19200 19200 bps 9600 9600 bps 4800 4800 bps 2400 2400 bps 1200...

  • Page 11: Ethernet Specifications And Settings

    series Robot Controller COMMUNICATION MANUAL Section 3 Ethernet Specifications and Settings The TS3100/TSL3100 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 12: 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 13 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 14 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 address by following the instructions of the user's LAN system administrator. = (Default gateway address) [05] Own port no [E05] Own port no...
  • Page 15 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 16 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 17 series Robot Controller COMMUNICATION MANUAL [E10] TCP status alarm IP0 IP1 IP2 IP3 Ethernet communication alarm [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 This parameter can set the alarm level (1Lv, 2Lv, 4Lv, 8Lv) that is generated when the Ethernet connection is disconnected during running of a program for the ports that are being used.
  • Page 18 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 19: 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 20 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 21 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 22: 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 23 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 24: 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 25: 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 26 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 80732 – 22 –...
  • Page 27 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 28 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 80732 –...

  • Page 29: 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 (upper level computer) can be used to correct the position of the robot. Directly specifying position (COM1) PROGRAM DIRECT In this program, the controller moves the X=0.0 robot to a position specified by the Y=0.0...
  • Page 30 series Robot Controller COMMUNICATION MANUAL Data exchange Controller External device PRINT COM1, “REQ” Execute INPUT COM1, X, Y, Z, A, B, C, U, V, SUM Execute Positional data transmission (<X>, <Y>, <Z>, <A>, <B>, <C>, <U>, <V>, <SUM> (CR)) PRINT COM1, “OK” Execute Move to position (X, Y, Z, A, B, C, U, V) STE 80732...
  • Page 31 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 location 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 32 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 80732 –...

  • Page 33: 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 34: 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 35: 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 names and descriptions. (2) Operand The form of the operand varies depending on the type of command.

  • Page 36: 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 37 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 38: 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 39 series Robot Controller COMMUNICATION MANUAL Fig. 5.2 Ping execution screen (Problem result) Fig. 5.3 Ping execution screen (Normal result) STE 80732 – 35 –...

  • Page 40: 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 41 series Robot Controller COMMUNICATION MANUAL The internal commands executable by the EC command are as follows: (1) MODE (2) OVRD (3) BREAK Table 5.2 List of commands (Controller  Host computer) Command Descriptions Details Text File FL, File contents Acknowledge Non-acknowledge The following files can be sent with the FL command.

  • Page 42: 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 43 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 44: Details Of Commands

    series Robot Controller COMMUNICATION MANUAL 5.3.3 Details of Commands (Host computer  Controller) : Automatic Operation Start 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 robot 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 45 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 46 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Automatic Operation Stop 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 47 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Servo OFF 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 BR CR (Servo power OFF) Normal response OK CR...
  • Page 48 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Servo ON Format Description The servo ON command is given from the host computer to the controller to turn the power on. Protocol Controller Host computer SO CR (Servo power ON) Normal response OK CR Normal response...
  • Page 49 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Reset Format RS, XXX XXX : PRG Reset all program data (internal data) STP 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 50 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host computer RS, PRG CR Normal completion OK CR Normal completion Abnormal completion NG CR Request not accepted. STE 80732 – 46 –...
  • Page 51 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Program Selection Format SL, file name CR Description The SL command selects a program to be executed under automatic operation. Protocol Controller Host computer SL, file name CR Normal completion OK CR Normal completion Abnormal completion...
  • Page 52 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : File Upload Request Format UL, file name CR 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 53 series Robot Controller COMMUNICATION MANUAL Note Put in a delay of about 50 msec until the host computer sends an affirmative response OK signal to the controller after the host computer has received the file contents. STE 80732 – 49 –...
  • Page 54 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : File Download Request Format DL, file name CR 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 55 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : File Directory Request Format CA CR 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 56 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Status Request (Host computer  Controller) : System total status request Format SU CR Status information SF CR System total status information Function The SU command is used to send the internal status (state) of the controller to the host computer.
  • Page 57 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Error History Request Format EU CR 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 58 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : File Erase Format ER, file name CR Description The ER command is used to erase a specified file from the controller RAM drive. Protocol Controller Host computer ER, file name CR Normal completion OK CR Affirmative response...
  • Page 59 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : I/O Write Format IW, Line No. ON/OFF command CR Function 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 60 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Version read Format VR CR Function 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 61 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Execution of DO statement Format DO, Command statement CR Function 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 62 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Variable read Format MR, Variable name Variable type CR Function 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 63 series Robot Controller COMMUNICATION MANUAL (HOST  CNTL) : Write global variable 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 64 series Robot Controller COMMUNICATION MANUAL Protocol Controller Host computer MW, Flag Variable name Write data CR Variable type (1) Normal completion OK CR (2) Abnormal completion Request cannot be accepted. NG CR (Absence of variable name, abnormal data) STE 80732 –...
  • Page 65 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Feed hold Format FD CR Function 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 FD CR...
  • Page 66 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Acknowledge Format OK CR Description The OK (Acknowledge) command indicates an affirmative response. STE 80732 – 62 –...
  • Page 67 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Non-acknowledge Format NG CR Description The NG (Non-acknowledge) command indicates a negative response. STE 80732 – 63 –...
  • Page 68 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : Internal Command Format EC, Command CR 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 69 series Robot Controller COMMUNICATION MANUAL (Host computer  Controller) : File 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 70 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 71 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 72 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 73 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description Reserv- Reserved (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 74 series Robot Controller COMMUNICATION MANUAL Error history file Size Error code Date Time 1 record Name Size(byte) Description Size 2 (Variable) Number (in base 10) of error histories. 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 75 series Robot Controller COMMUNICATION MANUAL (5) System total status The following information is transmitted as the system total status information in the binary notation (276 bytes). Motion status I/O information Current value data 52 bytes 64 bytes 160 bytes Detailed data of each group are tabled below. STE 80732 –...
  • Page 76 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 2 ...
  • Page 77 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 78 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 79 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 Din110 Extension input Din110...
  • Page 80 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 81 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 Din210 Din210 Din211...
  • Page 82 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 STROBE Din249 Din250 PRG_RST...
  • Page 83 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80732 – 79 –...
  • Page 84 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80732 – 80 –...
  • Page 85 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 86 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 87 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 Dout110 Extension output Dout110...
  • Page 88 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 89 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 Dout210 Dout210 Dout211...
  • Page 90 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 SV_RDY Dout250...
  • Page 91 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80732 – 87 –...
  • Page 92 series Robot Controller COMMUNICATION MANUAL Name Size (byte) Description System reservation Line No. Signal name System reservation Line No. Signal name STE 80732 – 88 –...
  • Page 93 series Robot Controller COMMUNICATION MANUAL III) Current value data Name Size (byte) Description 4  8 axes As shown below, values are set in the Joint coordinate value order of axis 1 to axis 8. 4  8 axes World coordinate value Axis 1 (float) 4 ...
  • Page 94 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 80732 –...
  • Page 95 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 96: 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 97 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 m n o p q r s t u v w x y z 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 0 1 2 3 4 5 6 7 8 9...
  • Page 98 series Robot Controller COMMUNICATION MANUAL [1] Positional data POINT <Position name>=<X>,<Y>,<Z>,<A>,<B>,<C>,<U>,<V>/<configuration> <Position name> : Name of positional data <X> <Y> : Coordinate values of X, Y, and Z (unit: mm) <Z> <A> : Rotating angle of tool end about X axis (unit: deg) <B>...
  • Page 99 series Robot Controller COMMUNICATION MANUAL [3] Load data PAYLOAD <Load name>={<mass>, <center of gravity offset in X direction>, <center of gravity offset in Y direction>, <center of gravity offset in Z direction>, <work size in X direction>, <work size in Y direction>, <work size in Z direction>} <Load name>: Name of load data...
  • Page 100 series Robot Controller COMMUNICATION MANUAL [4] Designation of work coordinate system The positional data represent the position in the work coordinate system. The positional data are designated by the work coordinate system. When the work coordinate system is designated, the positional data described in the next line are treated as the position in the work coordinate system.
  • Page 101 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 102 series Robot Controller COMMUNICATION MANUAL DATA Position in work POINT A1=400,0,200,0,0,0,0,0/----- coordinate system = POINT A2-400,200,200,0,0,0,0,0/----- world coordinate POINT A3=400,200,50,0,0,0,0,0/----- system POINT A4=400,-200,200,0,0,0,0,0/----- POINT A5=400,-200,50,0,0,0,0,0/----- TRANS W1=400,200,50,90,0,0 Coordinate data W1 TRANS W2=400,-200,50,0,0,0 Coordinate data W2 PAYLOAD HAND1=3,100 Load data HAND1 PAYLOAD HAND2=5,0 Load data HAND2 WORK W1...

  • Page 103: 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 104: 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 105 series Robot Controller COMMUNICATION MANUAL Operation Manually turn on the controller power and servo power. Status check Perform Ready? necessary ; External control mode with operations. servo ON and without errors Abnormal completion Program selection Start System check Y (During operation) Fault? Robot check ;...
  • Page 106 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 80732 –...
  • Page 107 series Robot Controller COMMUNICATION MANUAL Restart Stop Abnormal Stopped? Normal Program reset Start System check Completion Fig. 6.3 Restart after program interruption STE 80732 – 103 –...

  • Page 108: Appendix

    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 * : Code 00 to 1F correspond to control characters. These characters will either be interpreted as a space (A) or as a code having a specific meaning.
  • Page 109 series Robot Controller COMMUNICATION MANUAL STE 80732 – z –...

This manual is also suitable for:

Ts3100Tsl3100

Table of Contents