Toshiba TS2000 User Manual Download

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STE 71367–9

INSTRUCTION MANUAL

TS2000/TS2100 ROBOT CONTROLLER

INTERFACE MANUAL

Notice

• Make sure that this instruction manual is delivered to the

final user of Toshiba Machine's industrial robot.

• Before operating the industrial robot, read through and

completely understand this manual.

• After reading through this manual, keep it nearby for future

reference.

TOSHIBA MACHINE CO., LTD.

NUMAZU, JAPAN

Summary of Contents for TS2000

Page 1: ...re that this instruction manual is delivered to the final user of Toshiba Machine s industrial robot Before operating the industrial robot read through and completely understand this manual After reading through this manual keep it nearby for future reference TOSHIBA MACHINE CO LTD NUMAZU JAPAN ...

Page 2: ... 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 STE 71367 2 ...

Page 3: ...ws external operation of the controller system output signals informing an operator of the controller status PLC processing function and serial input and output signals that can be connected with the host computer etc are provided so that the user can easily construct an FA system Instruction manuals which are referred to from this manual Installation Transport Manual Maintenance Manual Safety Man...

Page 4: ...cal damage 2 1 Injuries refer to injuries burns and electric shocks etc which do not require hospitalization or long term medical treatment 2 Physical damage refers to damages due to destruction of assets or resources Explanation of symbols Symbol Meaning of symbol This means that the action is prohibited must not be done Details of the actions actually prohibited are indicated with pictures or wo...

Page 5: ...RFACE MANUAL CAUTION To perform the work ranging from robot installation to operation with safety read through and through the Safety Manual provided separately before actually starting the work STE 71367 5 ...

Page 6: ...AUTION Disassembly Prohibited The user should NEVER replace or change parts other than those stipulated in the instruction manual Otherwise the performance will deteriorate resulting in troubles Mandatory To replace parts use the spare parts designated by Toshiba Machine Carry out the maintenance and inspection on a regular basis Otherwise the equipment may go wrong or accidents will be caused CAU...

Page 7: ...th jumper 13 1 5 External I O Signal Cables 13 1 5 1 External Input Signal Cable CN5 13 1 5 2 External Output Signal Cable CN6 14 1 5 3 External I O Signal Cable CN12 14 1 6 Serial I O Signal Cable 15 1 6 1 Serial I O Signal COM1 15 1 6 2 Serial I O Signal HOST 15 1 6 3 TCPRGOS TCPRG 15 1 6 4 Serial I O Signal POD 16 1 7 Teach Pendant Cable TP 16 1 8 Remote I O Cable EXT I O 16 2 Connecting Power ...

Page 8: ... 87 5 1 Connecting Serial I O Signal Cables COM1 HOST TCPRG POD and COM2 Option 87 5 2 Attaching and Detaching Serial I O Signal Cables COM1 HOST TCPRG POD and COM2 Option 88 6 Connecting TP Teach Pendant Cable 89 7 Connecting EXT I O Cable 91 7 1 Connecting EXT I O Cable 91 7 2 EXT I O Communication 94 7 3 Attaching and Detaching EXT I O Cable 97 8 Connecting Extension I O Signal Cable Option 98 ...

Page 9: ...ed Input Signal Cable 107 9 2 Attaching and Detaching High Speed Input Signal Cable 107 11 Connecting Digital Output Power Select Cable 109 12 Appendixes 110 12 1 System Signal Table 110 12 2 Fabricating Cable Using D SUB Connector 113 12 3 Fabricating Cable Using Half Pitch Connector 114 STE 71367 9 ...

Page 10: ...ded on the front and rear sides of the controller Robot Controller TS2000 EXT INTERNAL TEACHING POWER EXT SIGNAL EXT HOST MODE EMERGENCY SERVO ON SERVO OFF RUN STOP CYCLE UF1 UF2 SELECT ALARM RESET LIN USER ALARM COM1 HOST TCPRG POD TP TP disconnect 16 12 13 14 TOSHIBA MACHINE 1 2 5 6 7 10 8 9 11 15 BRAKE CN12 CN6 CN5 CN3 CN4 24V 0V A B FG TB2 4 3 CN11 Fig 1 1 Layout and name of connectors STE 713...

Page 11: ...INTERFACE MANUAL Fig 1 2 Layout and name of connectors STE 71367 11 ...

Page 12: ...2 2 with cable The motor drive cable connects the TS2000 TS2100 robot controller and robot It feeds the 3 phase AC power to each axis feed motor of the robot Connector MOTOR CN2 is used For details see the Installation Transport Manual provided separately 1 3 2 TS2000 TS2100 Encoder Cable CN3 Fig 1 1 Fig 1 2 4 with cable The encoder cable is an interface which inputs the rotation angle detection e...

Page 13: ...teach pendant see the Operation Manual 1 3 5 Robot Control Signal Cable BRAKE Fig 1 1 Fig 1 2 10 Cable is optional Separate from the cable CN4 described in Para 1 3 4 above this cable is used to turn on and off the parking brake for securing the robot motor shaft Connector BRAKE is used When this signal cable is used the robot side is also addressed optionally 1 4 Digital Output Power Select Cable...

Page 14: ...l equipment This signal together with the external input signal in Para 1 5 1 allows the robot controller to work in concert with the external equipment Additionally four 4 signals of external servo ON external servo OFF and external emergency stop 1 2 are included in this cable Connector CN6 is used 1 5 3 External I O Signal Cable CN12 Fig 1 1 Fig 1 2 8 The external input output signal cable is a...

Page 15: ... TS2100 robot controller the D SUB 9 pin connector located on the second line from the top of the front connector unit in Fig 1 1 is HOST HOST is exclusively used for the RS232C and allows transfer and saving of various parameters and updating of the system when connected with the host computer Connector HOST is used 1 6 3 TCPRGOS TCPRG Fig 1 1 Fig 1 2 14 The TS2000 TS2100 robot controller uses ex...

Page 16: ... dummy connector This is an interface connecting the TS2000 TS2100 robot controller and teach pendant TP1000 The TP1000 is an option By connecting the TP cable creation of motion programs manual robot guidance etc are possible through the teach pendant Connector TP is used The TP cable is secured to the teach pendant and cannot be disconnected from the teach pendant The standard cable length is 5 ...

Page 17: ...E18 10PE B ø 180 250 V 50 60 Hz TS2000 TS2100 robot controller User side TS2000 ø 190 250 V 50 60 Hz TS2100 Fig 2 1 Connection of power cable A B C D R S PE L1 L2 Grounding Perform exclusive grounding with grounding resistance of 100Ωor less JL04V 2E18 10PE B ø 3 180 250 V 50 60 Hz TS2100 robot controller User side T L3 Fig 2 2 Connection of power cable For details of the power cable connection se...

Page 18: ...0 robot controller Motor drive cable 1 2 3 4 5 6 V1 W1 U2 V2 W2 1 2 3 U1 Connector MOTOR CN2 Robot body U V W U V W 7 8 9 U3 V3 U4 10 11 12 V4 W4 W3 FG 13 14 15 16 Case E Axis 1 Axis 2 Axis 3 Axis 4 J1A J2A 4 SM 1 2 3 U V W E J3A 4 SM E 1 2 3 U V W E J4A 4 SM 1 2 3 Connector MOTOR 1 2 3 4 SM 4 1 2 3 11 J6A 4 5 6 12 7 8 9 Axis 5 SM U V W E J7A Option U5 V5 W5 Fig 3 1 Connection of motor drive cable...

Page 19: ...4 R V W V4 W4 W3 FG D H I M Case E Axis 1 Axis 2 Axis 3 Axis 4 J1A J2A 4 SM 1 2 3 U V W E J3A 4 SM E 1 2 3 U V W E J4A 4 SM 1 2 3 Connector MOTOR 1 2 3 4 SM 4 1 2 3 11 J6A 4 5 6 12 7 8 9 Axis 5 SM U V W E J7A Option U5 V5 W5 Fig 3 2 Connection of motor drive cables For the motor drive cable connection see the Installation Transport Manual STE 71367 19 ...

Page 20: ... 2 3 4 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 9 J6B 9 J7B Axis 1 encoder Axis 2 encoder Axis 4 encoder Axis 3 encoder 5 6 1 2 3 4 5 6 1 2 3 4 5 6 6 5 1RQ SD 1RQ SD P5V LG 2RQ SD 2RQ SD P5V LG FG 3RQ SD 3RQ SD P5V LG 4RQ SD 4RQ SD P5V LG FG Encoder cable Robot X8HS 1 ENCA X8HS 1 ENCB X8HS 2 ENCA X8HS 2 ENCB 1 3 8 9 J1B 1 3 8 9 J2B 1 3 8 9 J3B 1 3 8 9 J4B 15 15 15 15 X8HW 1 ENC X8HW 2 ENC Fig 3 2 Connectio...

Page 21: ...ect the encoder TS2000 TS2100 robot controller 1 9 2 3 10 4 5 FG CN11 13 7 Case 11 12 15 6 14 1 2 3 4 1 2 3 4 5 6 7 8 9 Axis 5 encoder 6 5 5RQ SD 5RQ SD P5V LG FG Encoder cable Robot X8HS 3 ENCA 1 3 8 9 J8B J5B 15 8 Fig 3 3 Connection of encoder cable For the encoder cable connection see the Installation Transport Manual STE 71367 21 ...

Page 22: ... N When X8HN printed board is used TS2000 TS2100 robocontroller Robot control signal cable 1 2 3 4 5 8 11 Case Robot 13 7 16 CN4 FG JOEP 1 Signal name of DIN command 204 205 203 202 201 P24G Signal name of DOUT command 6 9 10 12 14 15 17 18 19 20 X8HN printed board PCR E20FS JOEP 2 JOEP 3 JOEP 4 JOEP 5 J6C 1 JOFP 1 JOFP 2 JOFP 4 JOFP 5 J6C 2 JOFP 3 JOFP 6 JOEP 6 JOEP 7 203 204 202 201 Brake P24V J...

Page 23: ...trol signal cable CN4 Sink type common Source type common P24V P24V P24V 11 Case 13 16 12 14 15 17 18 19 20 Type P Fig 3 5 Connection of robot control signal cable Type P The robot control signal controls ON OFF of the brake for securing the motor shaft and the end effector such as hand operation The TS2000 TS2100 controller is provided with five 5 hand input signals and four 4 hand output signals...

Page 24: ...tput signals forming the double solenoid can be made exclusive While the controller power is turned off or turned on both output signals turn off The hand output signal can be turned on and off manually through the teach pendant on condition that each hand output signal which turns on and off is defined in the user parameter USER PAR beforehand For the setting procedures see the User Parameter Man...

Page 25: ...y drive User side P24V Type N Type P CAUTION If the current which exceeds the rated output current is supplied the output device may be damaged or the printed board may be burnt To avoid this be sure to use within the rated output current The current of a total of four 4 hand output signals should be 1 A or less NEVER use the hand input output function of the controller together with the external ...

Page 26: ...socket type connector XM2S 3711 connector cover The input common comes in the two 2 types Type N X8HN output sink type is selected for the I O printed board and the polarity is the same as in the SR7000 robot and Type P X8HI output source type is selected for the I O printed board After confirming the type of your controller connect the external input signal cables STE 71367 26 ...

Page 27: ...ls LOW_SPD P24G Strobe Program reset Step reset Cycle reset Output signal reset Alarm reset Start X8HN printed board DI_13 DI_14 DI_15 DI_16 DI_17 DI_18 DI_19 DI_20 DI_21 DI_22 DI_23 DI_24 ALM_RST DI_10 DI_5 STROBE DI_33 PRG_RST DI_34 STEP_RST DI_35 CYC_RST DI_36 DO_RST DI_37 RUN DI_38 STOP CYCLE BREAK 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 33 34 35 36 37 38 250 251 252 253 255 P24V Stop 257...

Page 28: ... Strobe Program reset Step reset Cycle reset Output signal reset Alarm reset Start X8HI printed board DI_13 DI_14 DI_15 DI_16 DI_17 DI_18 DI_19 DI_20 DI_21 DI_22 DI_23 DI_24 ALM_RST DI_10 DI_5 STROBE DI_33 PRG_RST DI_34 STEP_RST DI_35 CYC_RST DI_36 DO_RST DI_37 RUN DI_38 STOP CYCLE BREAK 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 33 34 35 36 37 38 250 251 252 253 255 Stop 257 P24V P24V Cycle mod...

Page 29: ...e controlled by the PLC built in the TS2000 TS2100 For details see the Simple PLC Function Manual 4 2 Connecting External Output Signal Cable To connect the external output signal cable use the attached connector XM2A 3701 plug type connector XM2S 3711 connector cover The output common comes in the two 2 types Type N X8HN output sink type is selected for the I O printed board and the polarity is t...

Page 30: ... 37 19 Case DO_9 DO_10 DO_11 DO_12 DO_13 DO_14 DO_15 SV_RDY DO_16 BT_ALM ACK DO_25 TEACH DO_26 EXTSIG DO_27 SYS_RDY DO_28 AUTORUN DO_29 ALARM DO_30 CYC_END DO_31 LOW_ST DO_32 EMSST_B EX_SVON SVOFF EMS2B EMS2C EMS1B EMS1C P24V P24V 9 10 11 12 13 14 15 16 25 26 27 28 29 30 31 32 Manual mode ON Emergency stop contact output External servo ON Servo OFF Emergency stop contact 2 Emergency stop contact 1...

Page 31: ...DO_26 EXTSIG DO_27 SYS_RDY DO_28 AUTORUN DO_29 ALARM DO_30 CYC_END DO_31 LOW_ST DO_32 EMSST_B EX_SVON SVOFF EMS2B EMS2C EMS1B EMS1C P24G P24G 9 10 11 12 13 14 15 16 25 26 27 28 29 30 31 32 Manual mode ON Emergency stop contact output External servo ON Servo OFF Emergency stop contact 2 Emergency stop contact 1 System output signals System input signals P24V Source Type common P24V External servo O...

Page 32: ... the input polarity For the function circuit to use etc of each signal see Para 4 5 4 7 and 4 8 Additionally the external output signals can be controlled by the PLC built in the TS2000 TS2100 For details see the Simple PLC Function Manual 4 3 Connecting External I O Signal Cable To connect the external input output signal cable use the connector XM2A 2501 plug type connector XM2S 2511 connector c...

Page 33: ...mand 25 DI_25 P24G P24G Digital output signals A total of 2 A or less including CN6 X8HN printed board P24V P24G DI_26 DI_27 DI_28 DI_29 DI_30 DI_31 DI_32 P24V P24V DO_17 DO_18 DO_19 DO_20 DO_21 DO_22 DO_23 DO_24 26 27 28 29 30 31 32 Digital input signals 17 18 19 20 21 22 23 24 Sink type common Source type common Signal name of DOUT command Fig 4 5 Connection of external I O signal cables Type N ...

Page 34: ...nd 25 DI_25 P24V P24V Digital output signals X8HI printed board DI_26 DI_27 DI_28 DI_29 DI_30 DI_31 DI_32 P24G P24G DO_17 DO_18 DO_19 DO_20 DO_21 DO_22 DO_23 DO_24 26 27 28 29 30 31 32 Digital input signals 17 18 19 20 21 22 23 24 P24V P24G Sink type common Source type common A total of 2 A or less including CN6 Signal name of DOUT command Type P Fig 4 6 Connection of external output signal cables...

Page 35: ...ignal see Para 4 4 and 4 8 Additionally the external input output signals can be controlled by the PLC built in the TS2000 TS2100 For details see the Simple PLC Function Manual CAUTION The COM1 HOST TCPRG POD and CN12 connectors of the TS2000 TS2100 robot controller are attached with a connector cap respectively Unless these connectors are used be sure to attach the connector caps to prevent stati...

Page 36: ...DI_33 DI_38 by changing the user parameter Function Each signal status of DI_1 DI_38 can be identified by the robot program DIN command to branch the processing of program Also it is possible to perform interruptive processing of each signal DI_1 DI_38 with change in signal status monitored during the robot operation Input type Non voltage contact input or transistor open collector input Example o...

Page 37: ... the pulse width should be 100 ms or over DI_1 DI_38 100 ms or over When using the system input signals as the digital input signals When Default standard PLC is specified by user parameter U11 I O mode you can select whether INPUT23 24 33 38 are the system input signals or digital input signals User parameter U13 U13 Select input signal Default I O mode only Input 23 24 33 34 35 36 37 38 0 System...

Page 38: ...ero 0 system input for the bit of INPUT23 After the above parameter has been changed save the data turn the power off and on again Otherwise the parameter will not be operative 0 System input signal 1 Digital input signal Input signal cable 0 System input 1 Digital input INPUT23 Reserved for extending function DI_23 INPUT24 ALM_RST DI_24 INPUT33 STROBE DI_33 INPUT34 PRG_RST DI_34 INPUT35 STEP_RST ...

Page 39: ... setting of the user parameter This signal can be used as ALM_RST by changing the user parameter The structure of the system input signal is quite the same as that of the digital input signal See the descriptions in Para 4 4 However the two 2 signals of emergency stop contact 1 and emergency stop contact 2 differ from the above specifications See the descriptions on each signal When inputting the ...

Page 40: ...O ALM_RST Alarm reset O RUN Start O EX_SVON External servo ON O STOP Stop O O O O CYCLE Cycle operation mode O LOW_SPD Low speed command O O O O BREAK Deceleration and stop O O O O SVOFF Servo OFF O O O O EMS B EMS C Emergency stop contacts 1 and 2 O O O O O ON mode Designation STROBE Strobe Input terminal CN5 13 pin Exclusive signal name used in the controller 249 Signal logic Signal judgment Sig...

Page 41: ...rameter Manual This signal can be used only in the EXT SIGNAL mode Signal timing DI X DI X n 1 I STROBE I ACK O RUN I With the start of the STROBE signal the above digital signals are read to select an appropriate program After the program has been selected the ACK signal turns on Turn on the RUN signal and execute the program Cautions The STROBE signal should not be input together with the PRG_RS...

Page 42: ... in DIN command signifies an input signal number assigned in a program to run the internal sequence The signal name is predetermined in the program and cannot be changed by the user For the digital input signal signal name in DIN command represents a number in parentheses as shown on the right side of the signal name in Fig 4 1 and 4 2 Leading signal name in DIN command Specify the leading number ...

Page 43: ...0 0 PROG10 1 0 0 1 PROG11 1 0 1 0 PROG12 1 0 1 1 PROG13 1 1 0 0 PROG14 1 1 0 1 PROG15 1 1 1 0 PROG16 1 1 1 1 When bits underlined 12 two 2 external digital input signals 1 and 2 are used and the number of program files selected is four 4 from PROG1 PROG4 To register the program file name to the program number use the EXTRNSEL SYS file Copyright C 2001 by TOSHIBA MACHINE CO LTD All rights reserved ...

Page 44: ...ithout registering the program names a Compile Error occurs Then specify zero 0 for both bits 1 and 2 of DIN command which are set by user parameter U07 assume that U07 1 2 and input the STROBE signal Program AAA is automatically selected now After the above parameter has been changed save the data turn the power off and on again Otherwise the parameter will not be operative For the EXTRNSEL SYS f...

Page 45: ...alue of each variable is also reset to zero 0 This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O PRG_RST I ACK O Cautions 1 The PRG_RST signal should not be input together with the STROBE CYC_RST STEP_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This signal cannot be ...

Page 46: ...ach variable used in the program remains unchanged This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O STEP_RST I ACK O Cautions 1 The STEP_RST signal should not be input together with the STROBE PRG_RST CYC_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This signal cann...

Page 47: ...alue of each variable used in the program remains unchanged This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O CYC_RST I ACK O Cautions 1 The CYC_RST signal should not be input together with the STROBE PRG_RST STEP_RST or DO_RST signal Because the ACK signal is used in common only the first signal which is input becomes valid and all other signals become invalid 2 This sig...

Page 48: ...f DO_1 DO_32 turn off When DO_15 DO_16 DO_25 DO_32 are set as the system output signals however they are turned on This signal can be used only in the EXT SIGNAL mode Signal timing AUTORUN O DO_RST I ACK O D0_1 D0_32 O Cautions 1 The DO_RST signal should not be input together with the STROBE PRG_RST CYC_RST or STEP_RST signal Because the ACK signal is used in common only the first signal which is ...

Page 49: ... Used to cancel an alarm from the external equipment which occurred while the TS2000 TS2100 robot controller was ready to start This signal can be used only in the EXT SIGNAL mode Signal timing SYS_RDY O ALARM O ALM_RST O Cautions If an alarm of the emergency stop level which will not allow the processing of EX_SVON or EMSST_A EMSST_B is output alarm reset by the ALM_RST signal is not possible STE...

Page 50: ...minal ON OFF Open O Short circuit O Function Used to start a program registered in the TS2000 TS2100 robot controller from the external equipment to execute an automatic cycle operation This signal can be used only in the EXT SIGNAL mode Signal timing POWER ON SYS_RDY O SV_RDY O EX_SVON I SVST_A SVST_B O RUN I STOP I AUTORUN O Approx 1 sec STE 71367 50 ...

Page 51: ...It takes about one 1 second from the input of EX_SVON to the time when the robot is actually ready to work Set ON the RUN signal only after the SV_RDY signal is ON Even if the RUN signal is input before the SV_RDY signal is ON it is neglected and the automatic operation will not be started STE 71367 51 ...

Page 52: ...used only in the EXT SIGNAL mode Signal timing POWER ON SYS_RDY O SV_RDY O EX_SVON I SVST_A SVST_B O Servo ON Servo ON Servo OFF Approx 1 sec 5 sec or over Processing of servo OFF Cautions 1 It takes about one 1 second from the servo ON to the time when the robot is actually ready to work Therefore program so that the RUN signal etc can turn on only after the SV_RDY signal turns on 2 To prevent an...

Page 53: ...signal is open the robot cannot be operated This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing RUN I AUTORUN O STOP I Robot motion 1 segment 1 segment 1 segment 1 1 Duration from the start of one motion command to just before the start of next motion command is called 1 segment Cautions 1 When the RUN command is executed after cancel o...

Page 54: ...urrent one 1 cycle operation has been executed during automatic operation This signal can be used only in the EXT SIGNAL mode Signal timing RUN I AUTORUN O CYCLE I Robot motion END 1 segment 1 segment 1 segment 1 cycle 1 2 1 Duration from the start of one motion command to just before the start of next motion command is called 1 segment 2 Duration from the top of the main program to the END comman...

Page 55: ...ot operation speed override in the low speed mode can be set by means of the parameter Initial set value 25 When this signal is short circuited the previously set value initial set value 100 takes effect again This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O LOW_SPD I LOW_ST O Cautions 1 If the speed override lower than the...

Page 56: ... the robot will not operate To restart the robot short circuit this signal then execute the RUN command If this signal is open the robot cannot be started This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing RUN I AUTORUN O BREAK O Robot motion 1 segment 1 segment Slowdown and stop during motion command 1 1 Duration from the start of one...

Page 57: ...off the servo driver main power from the external equipment While this signal is open the servo power is turned off This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing EX_SVON I SV_RDY O SVOFF I Approx 1 sec Cautions 1 While this signal is open the servo power cannot be turned on in any mode 2 Unless this signal is used short circuit be...

Page 58: ...t O Function Used to emergency stop the robot from the external equipment While this signal is open the processing of robot emergency stop is executed Use this signal by connecting a safety device such as external emergency stop switch photoelectric type sensing safety device and safety mat switch When the emergency stop contact is open system output signals EMSST_A EMSST_B are short circuited Sig...

Page 59: ...cting function of hardware works to effect an emergency stop It is not possible therefore to short circuit the one side and use the other side as the emergency stop When this happens the system can be restored only by tuning off and on again the controller power For the contact structure of the emergency stop switch see the descriptions on the emergency stop signal line given below 3 Unless this s...

Page 60: ...switch is shown below EMS1A EMS1B EMS1B EMS1C EMS2A EMS2B EMS2B EMS2C P5V P5G P24G P5G P5V P5G P24G P5G TS2000 TS2100 User side TP unit External input signals Control panel unit To processing of emergency stop P5V P5V Emergency stop contact 1 Emergency stop contact 2 P24V P24V STE 71367 60 ...

Page 61: ... to connect the attached connectors to the CN5 CN6 connectors on the controller side Unless the following signals are used as the system signals jumper the cables also CN5 36 LOW_SPD CN5 35 CYCLE Jumper of connectors CN5 CN6 16 18 17 18 18 34 35 37 36 19 16 35 17 36 CAUTION 1 Unless the signals of SVOFF and emergency stop contacts 1 and 2 are jumpered the controller servo power cannot be turned on...

Page 62: ...6 9 12 pins and 28 31 pins can be used as signals DO_25 DO_32 by changing the user parameter Function ON OFF of signals DO_1 DO_32 and pulse output can be performed by the robot program BCDOUT command and PULOUT command Output type Transistor output Output circuit structure User side P24V P24G Sink type common User side P24V P24G Source Type common Electric rating Rated voltage DC24 V Rated curren...

Page 63: ...ther OUTPUT13 16 25 32 are the system output signals or digital output signals User parameter U14 U14 Select output signal Default I O mode only Output 13 14 15 16 0 System 1 User 1 1 1 1 Output 25 26 27 28 29 30 31 32 0 System 1 User 0 0 0 0 0 0 0 0 Specify 1 for a desired bit underlined above and appropriate system output signal can serve as the digital output signal Respective bits on the upper...

Page 64: ...e parameter has been changed save the data turn the power off and on again Otherwise the parameter will not be operative 0 System output signal 1 Digital output signal Output signal cable 0 System output 1 Digital output OUTPUT13 Reserved for extending function DO_13 OUTPUT14 Reserved for extending function DO_14 OUTPUT15 SV_RDY DO_15 OUTPUT16 BT_ALM DO_16 OUTPUT25 ACK DO_25 OUTPUT26 TEACH DO_26 O...

Page 65: ...l setting of the user parameter They can be used as SV_RDY and BT_ALM by changing the user parameter The two 2 relay output signals are SVST_A SVST_B and EMSST_A EMSST_B The former signal SVST_A SVST_B is of a normal open contact type and the latter signal EMSST_A EMSST_B is of a normal close contact type They differ in contact operation at the time of output signal ON OFF When using take careful ...

Page 66: ...ntact output The above figure exemplifies a normal open contact output structure The servo ON contact output is of a normal open contact type and the emergency stop contact output is of a normal close contact type Take utmost care when using User side P24V P24G Sink type common User side External power supply Type N STE 71367 66 ...

Page 67: ...When Type P is selected when X8HI printed board is used User side External power supply User side P24V P24G Source Type common Type P Transistor specification Rated voltage DC 24 V Rated current 100 mA max Relay contact specification Maximum rating AC125 V 0 5 A DC60 V 1 0 A CAUTION If the current which exceeds the rated output current is supplied the output device may be damaged or the printed bo...

Page 68: ... one of these signals is input the ACK signal is sent back to inform that appropriate processing has finished This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O Program selection I STROBE PRG_RST etc ACK O Cautions If two 2 or more input signals shown above are input at the same time only the signal which was input first is p...

Page 69: ... O Function This signal turns on when the MODE switch of the TS2000 TS2100 robot controller is set to TEACH and the test operation mode is not selected During the output of this signal the robot arm can be guided through the teach pendant Signal timing Mode switch EXT TEACH INT EDIT EDIT Test operation Function key selection TEACH O Cautions STE 71367 69 ...

Page 70: ... the servo power of the TS2000 TS2100 robot controller has turned on with the robot ready for starting an operation This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing POWER ON SYS_RDY O SV_RDY O EX_SVON I SVST_A SVST_B O RUN I AUTORUN O Approx 1 sec 5 sec or over Processing of servo OFF Servo ON Servo ON Servo OFF STE 71367 70 ...

Page 71: ... be turned on only after the SV_RDY signal turns on 2 To prevent an internal damage the servo cannot be turned on about 4 5 seconds after it is turned off To turn the servo on again wait at least five 5 seconds after the SVST_A SVST_B signal turns off STE 71367 71 ...

Page 72: ...his signal turns on while the TS2000 TS2100 robot controller is in the EXT SIGNAL mode Signal timing Mode switch EXT mode selector switch EXTSIG O INT EXT EXT SIGNAL EXT HOST Cautions When the EXT mode is selected by means of the MODE switch and the EXT SIGNAL mode is selected by means of the EXT mode selector switch all system input signals become operative STE 71367 72 ...

Page 73: ... O Function This signal turns on when the robot can start after the controller main power is turned on With this signal it is possible to confirm that the robot can be operated This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing POWER ON SYS_RDY O EX_SVON I SVST_A SVST_B O Cautions STE 71367 73 ...

Page 74: ... signal is turned on automatic operation starts with this signal output This signal remains on as long as the robot is operating in the automatic operation mode This signal turns on when the INT or EXT EXT SIGNAL EXT HOST mode is selected by means of the MODE switch of the TS2000 TS2100 robot controller Signal timing SYS_RDY O RUN I STOP I AUTORUN O Cautions This signal will not turn on while the ...

Page 75: ...ly when the CYCLE signal is made valid in the program execution RUN mode and an automatic operation is executed This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O CYCLE I CYC_END O Cautions 1 This signal turns off when the RUN mode takes effect 2 This signal turns on also when the cycle operation has been stopped by the STOP ...

Page 76: ... Output terminal ON OFF High O Low O Function This signal turns on while the robot is operating in the low speed mode by the input of system input signal LOW_SPD This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O LOW_SPD I LOW_ST O Cautions STE 71367 76 ...

Page 77: ...obot controller The battery alarm detects all encoders of axis 1 to axis 5 and battery level in the main control board X8HC This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing Battery alarm BT_ALM O Cautions If the battery alarm has occurred replace the battery immediately by identifying a battery whose voltage has dropped and referring...

Page 78: ...d in the robot or robot controller This signal is kept ON during error detection and turns off after the error has been cleared For details on the errors see the Operator s Manual This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing AUTORUN O ALARM O SVST_A O SVST_B Error has been cleared Servo OFF only when an error of level 8 occurred ...

Page 79: ...t terminals are short circuited This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing EXT_SVON I SVOFF I SVST_A SVST_B O Cautions The signal is of a non voltage contact output type The logic is a normal open contact output The contact capacity is AC 125 V max 0 5 A max DC 60 V max 1 A max It takes about one 1 second from the servo ON to t...

Page 80: ... terminals of this signal are open This signal can always be used irrespective of the master mode selected by means of the MODE switch Signal timing SVST_A SVST_B O Emergency stop SW or I emergency stop contacts 1 2 Hardware abnormal EMSST_A EMSST_B O Cautions The signal is of a non voltage contact output type The logic is a normal close contact output The contact capacity is AC 125 V max 0 5 A ma...

Page 81: ... 3701 pin type connector XM2S 3711 connector cover OMRON CN12 XM2A 2501 pin type connector XM2S 2511 connector cover OMRON b Select the cables which meet the following specifications Core wires 0 18 mm2 0 32 mm2 twisted wires Cable outer diameter Max 10 5 mm CN5 CN6 9 mm CN12 Shield Batch shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise short c...

Page 82: ...g 4 7 Attaching and detaching external I O signal cable To connect an external I O signal cable completely insert the cable side connector into the controller side connector and tighten the lock screws on both sides of the connector with a screwdriver as shown in Fig 4 7 To disconnect the cable loosen the lock screws then pull out the connector At this time DO NOT pull the cable instead of the con...

Page 83: ...ec EX_SVON I SVOFF I SVST_A O SVST_B Program selection I STROBE I ACK O RUN I CYCLE I STOP I AUTORUN O CYC_END O 2 2 1 1 Set ON the RUN signal only after the SV_RDY signal is ON 2 Include a sufficient delay time before the program select signal starts between the program select signal input and STROBE signal input 200 msec or so STE 71367 83 ...

Page 84: ...AL 2 Example of restarting the stopped robot Restart after stop to resume the operation RUN I STOP I AUTORUN O Restart after stop to start the program from the top RUN I STOP I AUTORUN O STEP_RST I ACK O STE 71367 84 ...

Page 85: ... RUN signal only after the SV_RDY signal is ON 2 Include a sufficient delay time before the program select signal starts between the program select signal input and STROBE signal input 200 msec or so Note 1 Signals EMSST_A EMSST_B emergency stop contact output turn on when the emergency stop contacts 1 and 2 become valid Note 2 Program selection PRG_RST STEP_RST and CYC_RST can be skipped unless n...

Page 86: ...c Error has been cleared 1 Set ON the RUN signal only after the SV_RDY signal is ON 2 Include a sufficient delay time before the program select signal starts between the program select signal input and STROBE signal input 200 msec or so Note 1 To continue the automatic operation program selection PRG_RST STEP_RST and CYC_RST are necessary Note 2 The servo power may not be turned off with some type...

Page 87: ...lable cables Connection of the RS232C may differ with the communicating device Before use therefore confirm the signals of the communicating device and the connection of commercially available cables TS2000 TS2100 robot controller Commercially available cross cables for DOS V personal computer 1 2 3 4 5 6 7 8 9 Case 1 2 3 4 5 6 7 8 9 DOS V personal computer Case Dsub 9S Dsub 9S Inch screw Inch scr...

Page 88: ...gnal cables COM1 HOST TCPRG POD and COM2 option are the same as in Para 4 10 For details see Para 4 10 CAUTION The COM1 HOST TCPRG POD and CN12 connectors of the TS2000 TS2100 robot controller are attached with a connector cap respectively Unless these connectors are used be sure to attach the connector caps to prevent static electricity and damage STE 71367 88 ...

Page 89: ... stop contact 2 Emergency stop contact 1 To TP control power circuit Fig 6 1 Connection of TP1000 teach pendant I O signals The TP cable is a serial I O signal cable used only for the TP1000 teach pendant option One side of the TP cable is secured to the teach pendant and the other side has a D SUB 15 pin connector Unless the teach pendant is connected insert the attached dummy connector to connec...

Page 90: ... for attaching or detaching the connector should be ninety 90 seconds or less CAUTION Unless the TP cable or dummy connector is connected with the TP connector of the TS2000 TS2100 robot controller the servo power cannot be turned on CAUTION NEVER keep pressing the TP disconnect switch intentionally As shown in Fig 6 1 the teach pendant I O signals include the I O signals for data transmission bet...

Page 91: ...l I O when the internal power supply is used use an external power supply that can supply both 24 V and 0 V NEVER use the internal power supply together with the external power supply Otherwise the power supply may be damaged TS2000 TS2100 robot controller 1 2 3 4 5 Terminal block EXT I O 1 2 3 24V FG User side FG 0V TR48DIOCN TR48DIOC slave station 0 FFKDS V1 5 08 5P 485A 485B 4 5 B 485B A 485A P...

Page 92: ... be caused Additionally the robot may work improperly due to noise b When connecting two 2 TR48DIOCN TR48DIOC modules for I O extension be sure to branch from the terminal block of slave station 0 as shown in Fig 7 2 For the I O extension up to two 2 TR48DIOCN TR48DIOC modules can be connected For details on the TR48DIOCN TR48DIOC module see the Simple PLC Function Manual TS2000 TS2100 robot contr...

Page 93: ...of EXT I O cable when external power supply is used CAUTION The maximum current capacity of the internal 24 V power supply of the TS2000 TS2100 robot controller which can be fed to the external equipment is 3 A Therefore the total current used for the external I O hand I O and remote I O modules should be 3 A or less If the current used exceeds the rated value the internal 24 V power supply will b...

Page 94: ...e TS2000 TS2100 robot controller is assigned to the master station and the TR48DIOCN TR48DIOC module to the slave station inputs and outputs can be controlled via the RS485 serial communication In addition to the TR48DIOCN TR48DIOC module a remote I O module designated by Toshiba Machine which can serve as the slave station can be used also TR48DIOCN TR48DIOC 1 Slave station number setting 2 Termi...

Page 95: ...orresponding to station 0 to 1 1 28 20 0 28 20 After saving the parameter file turn off the controller power and on again Then the above parameter becomes effective If you wish to use both stations 0 and 1 i e two 2 TR48DIOCN TR48DIOC modules specify as follows and perform the same operation as above to make the parameter valid 1 28 20 1 28 20 Station number and terminator setting The switches 2 p...

Page 96: ...tting switch equipped on this module alone The terminator of the left TR48DIOCN TR48DIOC module should remain OFF When using the TR48DIOCN TR48DIOC module careful precautions should be taken on the following matters 1 Make sure that the slave station number set in USER PAR coincides with the station number setting of the TR48DIOCN TR48DIOC module 2 When the TR48DIOCN TR48DIOC module or modules are...

Page 97: ...rol lever with a screwdriver push the twisted cable then remove the lever from the control lever Fig 7 5 Attaching and detaching EXT I O cable As shown in Fig 7 5 above when connecting the EXT I O cable keep holding the spring type control lever above the connector with a screwdriver and completely push the attached cable Remove the screwdriver from the control lever then Lightly pull the cable an...

Page 98: ...our extension I O module connect the extension I O signal cables 8 1 TR48DIOCN The output specifications of the TR48DIOCN are the same as those of the SR7000 i e sink type For the input specifications a bidirectional photocoupler is used in the input circuit and it is possible to change over the source type or sink type by the selection of INCOM 8 1 1 Connecting Extension Input Signal Cable To con...

Page 99: ..._141 148 as shown in the figure above is the source type DI_109 DI_141 DI_110 DI_142 DI_111 DI_143 DI_112 DI_144 DI_113 DI_145 DI_114 DI_146 DI_115 DI_147 DI_116 DI_148 DI_117 DI_128 DI_149 DI_160 Note 3 An example connection of DI_117 128 DI_149 160 as shown in the figure above is the source type DI_117 DI_149 DI_118 DI_150 DI_119 DI_151 DI_120 DI_152 DI_121 DI_153 DI_122 DI_154 DI_123 DI_155 DI_...

Page 100: ...OM1 3 P24V P24G Contact or transistor User side TR48DIOCN DI_128 DI_133 DI_160 DI_101 DI_128 DI_133 DI_160 Non voltage contact transistor specifications Non voltage contact specifications Transistor specifications Contact rating DC24 V 10 mA or over Circuit current Approx 7 mA Minimum current DC24 V 1 mA Connected impedance 100 Ω or less Voltage between collector and emitter 30 V or over Current b...

Page 101: ..._152 Note 1 All of DO_101 120 DO_133 152 in the figure above are the transistor outputs DO_101 DO_133 DO_102 DO_134 DO_103 DO_135 DO_104 DO_136 DO_105 DO_137 DO_106 DO_138 DO_107 DO_139 DO_108 DO_140 DO_109 DO_141 DO_110 DO_142 DO_111 DO_143 DO_112 DO_144 DO_113 DO_145 DO_114 DO_146 DO_115 DO_147 DO_116 DO_148 DO_117 DO_149 DO_118 DO_150 DO_119 DO_151 DO_120 DO_152 Station 0 Station 1 Signal name ...

Page 102: ...oupler is used in the input circuit and it is possible to change over the source type or sink type by the selection of INCOM 8 2 1 Connecting Extension Input Signal Cable To connect the extension input signal cable use the connector attached to the TR48DIOC module XM2A 3701 plug type connector XM2S 3711 connector cover Connect the inputs of the TR48DIOC DI_101 128 station 0 and DI_133 160 station ...

Page 103: ...0 DI_142 DI_111 DI_143 DI_112 DI_144 DI_113 DI_145 DI_114 DI_146 DI_115 DI_147 DI_116 DI_148 DI_117 DI_128 DI_149 DI_160 Note 3 An example connection of DI_117 128 DI_149 160 as shown in the figure above is the sink type DI_117 DI_149 DI_118 DI_150 DI_119 DI_151 DI_120 DI_152 DI_121 DI_153 DI_122 DI_154 DI_123 DI_155 DI_124 DI_156 DI_125 DI_157 DI_126 DI_158 DI_127 DI_159 DI_128 DI_160 Station 0 S...

Page 104: ...120 DO_133 152 in the figure above are the transistor outputs DO_101 DO_133 DO_102 DO_134 DO_103 DO_135 DO_104 DO_136 DO_105 DO_137 DO_106 DO_138 DO_107 DO_139 DO_108 DO_140 DO_109 DO_141 DO_110 DO_142 DO_111 DO_143 DO_112 DO_144 DO_113 DO_145 DO_114 DO_146 DO_115 DO_147 DO_116 DO_148 DO_117 DO_149 DO_118 DO_150 DO_119 DO_151 DO_120 DO_152 Station 0 Station 1 Signal name of DOUT command 101 133 10...

Page 105: ...he rated output current is supplied the output device may be damaged or the printed board may be burnt To avoid this be sure to use within the rated output current NEVER use an external power supply Otherwise the system will malfunction 8 3 Fabricating Extension I O Signal Cable When fabricating the extension I O signal cable see Para 4 9 8 4 Attaching and Detaching Extension I O Signal Cable For ...

Page 106: ...X8HL printed board Source type common Sink type common 9 2 10 3 11 4 12 5 13 6 14 7 15 8 Case User side DI_49 XM2D 1501 cable connector XM2S 1511 connector cover TS2000 TS2100 robot controller X8HL printed board FG CN15 COM P24V COM 1 P24G P24V COM 9 2 10 3 11 4 12 5 13 6 14 7 15 8 Case User side XM2D 1501 cable connector XM2S 1511 connector cover TS2000 TS2100 robot controller X8HL printed board ...

Page 107: ...h Speed Input Signal Cable When fabricating the high speed input signal cable see Para 4 9 9 2 Attaching and Detaching High Speed Input Signal Cable For attaching and detaching the high speed input signal cable see Para 4 10 STE 71367 107 ...

Page 108: ...de by Tyco Electronics Type of contact 1318107 1 made by Tyco Electronics TS2000 TS2100 root controller 1 2 3 Robot side X8HN X8HI printed board P24V P24G Sink type common P24G BRAKE Example of application circuit Motor brake ON OFF using BRAKE connector Motor brake ON OFF irrespective of control on controller side Brake P24G P24G 1 2 3 20 19 10 9 P24G TS2000 TS2100 robot controller Robot P24G P24...

Page 109: ... connecting the cable to and from terminal block TB2 see Para 7 3 TS2000 TS2100 robot controller 1 2 3 Terminal block TB2 User side P24G Internal power supply P24V External output supply power GND 24V AWG24 16 Fig 11 1 When using external power supply The cables designed for terminal block TB2 are AWG24 16 Select the best one according to the user s system specifications current capacity CAUTION T...

Page 110: ...e digital output signals DOUT1 32 DOUT101 120 DOUT133 152 ON Short circuit OFF Open ALM_RST I Cancels an alarm which has occurred while the robot controller was able to work ON Short circuit OFF Open RUN I Starts a program currently stopped to execute an automatic operation ON Short circuit OFF Open EX_SVON I Turns on the servo power ON Short circuit OFF Open STOP I Stops a program during automati...

Page 111: ...ode is selected by means of the MODE switch ON High OFF Low SYS_RDY O System ready signal ON High OFF Low AUTORUN O This signal is output while the program is executed in automatic operation ON High OFF Low CYC_END O This is the output signal for verifying that the program has stopped by the CYCLE signal input ON High OFF Low LOW_ST O This signal is output while the robot is operating at a low spe...

Page 112: ...nt EMSST_A EMSST_B O Used to detect the EMERGENCY stop switch equipped on the control panel or teach pendant and system input signal of emergency stop ON Contact open OFF Contact close Non voltage contact I Input signal O Output signal STE 71367 112 ...

Page 113: ... be fabricated as shown below 1 0 m m Housing Soldering Shield wire Stripped length of twisted wire 4 mm Cable clamp Note The shield wire of the cable using a D SUB connector is connected to the ground of the TS2000 TS2100 robot controller through the housing Completely connect the shield wire to the housing using the cable clamp STE 71367 113 ...

Page 114: ...le clamp Shield wire Stripped length of twisted wire 3 mm Note The shield wire of the robot control signal cable is connected to the ground of the TS2000 TS2100 robot controller through the housing Completely connect the shield wire to the housing using the cable clamp Also it is recommended to attach a protective cover such as thermal contraction tube to the soldered part to prevent a short circu...

Page 115: ...INTERFACE MANUAL APPROVED BY CHECKED BY PREPARED BY STE 71367 115 ...

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