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STE 80729-1

INSTRUCTION MANUAL

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

TS3100 SCARA / LINEAR / 6-AXIS system

Содержание TS3000 LINEAR

Страница 1: ...s 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 TS3100 SCARA LINEAR 6 AXIS system ...

Страница 2: ...ne 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 ...

Страница 3: ...he 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 Manual Operator s Manual User...

Страница 4: ...s 1 or physical 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 pi...

Страница 5: ...80729 5 INTERFACE 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 ...

Страница 6: ...egulations CAUTION 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 b...

Страница 7: ...4 4 External I O Signal Cable SYSTEM 12 1 5 Serial I O Signal Cable 13 1 5 1 Serial I O Signal COM1 13 1 5 2 Serial I O Signal HOST 13 1 5 3 TCPRGOS TCPRG 13 1 6 Trigger Cable TRIG 14 1 7 Memory Cable MEM 14 1 8 LAN Cable LAN 14 1 9 Conveyor Cable CONV 14 1 10 Fuse Cable FUSE 14 1 11 Fieldbus Cable FieldBUS Option 15 1 12 Teach Pendant Cable TP 15 1 13 Remote I O Cable EXT I O 15 2 Connecting Powe...

Страница 8: ...and Detaching External I O Signal Cable 82 4 12 Example of Controller Operation Using External Signals 83 5 Connecting Serial Signal Cable 87 5 1 Connecting Serial I O Signal Cables COM1 HOST and TCPRG 87 5 2 Attaching and Detaching Serial I O Signal Cables COM1 HOST and TCPRG 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 Commun...

Страница 9: ...Cable 111 10 2 Attaching and Detaching Incremental Encoder Input Signal Cables 112 11 LAN Signal Cable LAN 112 12 Memory Cable MEM 113 13 Robot Control Signal Cable BRK 113 13 1 Connecting Motor Brake Signal Cable SCRARA Type Robot 113 13 2 Connecting Motor Brake Signal Cable 6 axis Robot 114 14 Connecting External I O Power Supply Cable EMS 114 15 Appendixes 116 15 1 System Signal Table 116 15 2 ...

Страница 10: ...t controller is connected with the robot and external equipment using connectors and terminal block provided on the front and rear sides of the controller Field BUS TCPRG SYSTEM EMS INPUT OUTPUT EXT I O 24V FG B A 0V 3 2 1 15 16 18 17 19 20 21 4 5 6 7 9 8 10 11 12 13 14 Fig 1 Layout and name of connectors ...

Страница 11: ...cable The encoder cable is an interface which inputs the rotation angle detection encoder signal axis 1 to axis 6 of each robot axis to the TS3100 robot controller Connector ENC is used For details see the Installation Transport Manual provided separately 1 3 3 Robot Control Signal Cable HAND Fig 1 10 with cable This cable is used to input and output the robot control signals through hand operatio...

Страница 12: ...0 robot controller The external input signals enable control by the user of 32 programmable digital input signals using robot language Connector INPUT is used 1 4 3 External Output Signal Cable OUTPUT Fig 1 20 The external output signal cable is an interface which outputs the digital signal from the external equipment to the TS3100 robot controller Connector OUTPUT is used 1 4 4 External I O Signa...

Страница 13: ...ST Fig 1 5 Of the serial input and output signals of three 3 channels equipped on the TS3100 robot controller the D SUB 9 pin connector located on the second line from the top of the front connector unit in Fig 1 is HOST HOST is exclusively used for the RS 232C and allows transfer and saving of various parameters and updating of the system when connected with the host computer Connector HOST is us...

Страница 14: ...irectly to controller Also TCP IP protocol can be used to enable communication on the same local area network with computers and visual equipment on the Ethernet This allows program creation and editing debugging start support and maintenance using the computer programmer TSPC 1 9 Conveyor Cable CONV Fig 1 11 This is used when using the conveyor synchronization function Use an encoder having an ou...

Страница 15: ... 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 m 1 13 Remote I O Cable EXT I O Fig 1 15 with connector This is an RS 485 communication terminal connecting the ...

Страница 16: ...on Electronics Industry Robot controller User side AC IN R L1 S L2 A B C D FG PE Single phase Grounding Class D grounding JL04V 2E22 22PE B 50 60 Hz 1 Hz Connector JL04V 6A22 22SE EB R Clamp JL04 2022CK 14 R 200 240 VAC Fig 1 Connection of power cable For details of the power cable connection see the Installation Transport Manual provided separately ...

Страница 17: ... controller Motor drive cable U A Connector MOTOR Robot U V W U V W E Axis 1 U V W E E U V W E Connector MOTOR SM A E F N P U B C G R V W M V A W A U B V B W B U C V C W C U D V D W D SM SM SM A E F N P U B C G R V W J K FG Axis 2 Axis 3 Axis 4 Fig 3 1 Connection of motor drive cables SCARA type robot For details of the motor drive cable connection see the Installation Transport Manual provided se...

Страница 18: ...E Connector CN21 U V W E SM A E F N P U B C G R V W D H I S T X M V A W A U B V B W B U C V C W C U D V D W D U E V E W E U V W E U F V F W F SM SM SM SM SM A1 A2 A3 A4 A5 A6 A8 A9 A10 A11 A12 A13 A15 A16 A17 A18 A19 A20 Case A7 FG A14 Axis 2 Axis 3 Axis 4 Axis 5 Axis 6 Fig 3 2 Connection of motor drive cables 6 axis robot For details of the motor drive cable connection see the Installation Transp...

Страница 19: ...cable 1RQ SD 1RQ SD P5V LG 2RQ SD 2RQ SD P5V FG LG 3RQ SD 3RQ SD P5V FG LG 4RQ SD 4RQ SD P5V FG J2B J3B J4B 1 2 19 13 20 14 7 8 25 31 26 32 5 6 23 17 24 18 3 4 21 15 22 16 Case LG ARQ SD ARQ SD P5V LG BRQ SD BRQ SD P5V LG CRQ SD CRQ SD P5V LG DRQ SD DRQ SD P5V LG P5V A B C D E F G H J K L M N P R S T U Case CN3 Connector Axis 2 encode Axis 3 encode Axis 4 encode Fig 3 3 Connection of encoder cable...

Страница 20: ...1 26 32 5 6 23 17 24 18 3 4 21 15 22 16 11 12 29 35 30 36 9 10 27 33 28 34 Case LG ARQ SD ARQ SD P5V LG BRQ SD BRQ SD P5V LG CRQ SD CRQ SD P5V LG DRQ SD DRQ SD P5V LG ERQ SD ERQ SD P5V LG FRQ SD FRQ SD P5V LG P5V A1 A2 A3 A4 A5 A6 A7 A8 A9 A10 A11 A12 A13 A14 A15 A16 A17 A18 A19 A20 A21 A22 Case 4 5 7 8 3 A1 A2 A3 A4 A5 A6 A7 A8 A10 B1 B2 B3 B4 B5 B6 B7 A9 FG B8 B21 B22 B23 B24 B25 Connector CN20 ...

Страница 21: ...is selected for the I O printed board After confirming the type of your controller connect the robot control signal cable Type N When X8GN printed board is used FG P24 V TS3100 robot controller HAND Robot control signal cable Robot 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Case D E F G H P R S J Case 201 202 203 204 205 206 207 208 N L M 201 202 203 204 205 206 207 208 X8GC printed board ...

Страница 22: ...1 12 13 14 15 16 17 18 19 20 Case D E F G H P R S J Case 201 202 203 204 205 206 207 208 N L M 201 202 203 204 205 206 207 208 Robot X8GC printed board Sink type common Source type common P24 V P24G 54306 2019 MOLEX P24G P24V P24G CN4 Signal name of DIN command Signal name of DOUT command Fig 3 6 Connection of robot control signal cable Type P Type P ...

Страница 23: ...DIN command 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 Case B1 B2 B3 B4 B5 B18 B20 Case 201 202 203 204 205 206 207 208 Signal name of DOUT command B17 201 202 203 204 205 206 207 208 B6 B7 B8 B9 B10 B11 B12 B13 B14 B15 B16 B19 X8GC printed board P24 V Source type common P24G Sink type common 54306 2019 MOLEX P24V P24G P24V P24G CN20 Fig 3 7 Connection of robot control signal cables Type N...

Страница 24: ...l cables 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 TS3100 controller is provided with eight 8 hand input signals and eight 8 hand output signals to control the end effector The specifications of the hand input signal are same as those of the digital input signal Robot control signals are those for turni...

Страница 25: ...the two 2 output 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 P...

Страница 26: ...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 For further information on the robot control signal cable connection see the Installation Transport Manual ...

Страница 27: ... HPA36 3R hood The input common comes in the two 2 types Type N X8GN output sink type is selected for the I O printed board and Type P X8GI output source type is selected for the I O printed board After confirming the type of your controller connect the external input signal cables This connector is not included in the accessories Therefore please order one separately from Toshiba Machine or obtai...

Страница 28: ...1 DIN12 DHA PC36 3G DDK TS3100 robot controller FG 5 Signal name of DIN command INPUT Digital input signal P24G X8GN printed board DIN13 DIN14 DIN15 DIN16 DIN17 DIN18 DIN19 DIN20 DIN21 DIN22 DIN23 DIN24 DIN10 DIN5 DIN25 DIN26 DIN27 DIN28 DIN29 DIN30 DIN31 DIN32 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 P24V P24G Case 31 32 Source type common P24G P24G Fig 4 1 Connection of ext...

Страница 29: ...11 DIN12 DHA PC36 3G DDK robot controller FG 5 Signal name of DIN command INPUT Digital input signals P24V X8GI printed board DIN13 DIN14 DIN15 DIN16 DIN17 DIN18 DIN19 DIN20 DIN21 DIN22 DIN23 DIN24 DIN10 DIN5 DIN25 DIN26 DIN27 DIN28 DIN29 DIN30 DIN31 DIN32 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 P24V Case 31 32 Sink type common P24V P24V P24G TS3100 Fig 4 2 Connection of ext...

Страница 30: ...PLC Function Manual 4 2 Connecting External Output Signal Cable OUTPUT To connect the external output signal cable use the attached connector DHA PC40 3G connector DHA HPA40 3R hood The output common comes in the two 2 types Type N X8GN output sink type is selected for the I O printed board and Type P X8GI output source type is selected for the I O printed board After confirming the type of your c...

Страница 31: ...26 7 27 8 28 9 29 10 30 11 31 12 32 13 33 14 34 15 35 16 36 17 37 18 38 19 Case DOUT9 DOUT10 DOUT11 DOUT12 DOUT13 DOUT14 DOUT15 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 P24G DOUT16 DOUT17 DOUT18 DOUT19 DOUT20 DOUT21 DOUT22 DOUT23 DOUT24 DOUT25 DOUT26 DOUT27 DOUT28 DOUT29 DOUT30 DOUT31 DOUT32 39 20 40 NC NC NC NC P24V P24V P24V P24V 25 26 27 28 29 30 31 32 DHA PC40 3G DDK Sink type common TS3...

Страница 32: ...6 7 27 8 28 9 29 10 30 11 31 12 32 13 33 14 34 15 35 16 36 17 37 18 38 19 Case DOUT9 DOUT10 DOUT11 DOUT12 DOUT13 DOUT14 DOUT15 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 DOUT16 DOUT17 DOUT18 DOUT19 DOUT20 DOUT21 DOUT22 DOUT23 DOUT24 DOUT25 DOUT26 DOUT27 DOUT28 DOUT29 DOUT30 DOUT31 DOUT32 39 20 40 NC NC NC NC P24G P24G P24G P24G 25 26 27 28 29 30 31 32 DHA PC40 3G DDK P24V Source type common TS...

Страница 33: ...S3100 For details see the Simple PLC Function Manual 4 3 Connecting External I O Signal Cable SYSTEM To connect the external input output signal cable use the attached connector 10150 3000PE connector 10350 52A0 008 hood The I O common comes in the two 2 types Type N X8GN output sink type is selected for the I O printed board and Type P X8GI output source type is selected for the I O printed board...

Страница 34: ...T command Digital input signals 250 261 251 252 254 256 257 262 258 259 P24G Sink type common Servo ON Emergency stop ON 41 42 43 44 45 46 47 48 49 50 SVST_A SVST_B Servo ON contact output EMSST_A EMSST_B Emergency stop contact output P24V P24V P24V P24G P24G P24G TS3100 Alarm reset Strobe Program reset Step reset Cycle reset Output signal reset Start External servo ON Stop Cycle mode Deceleration...

Страница 35: ...ed Reserved Reserved Reserved Reserved Reserved Alarm reset Strobe Program reset Step reset Cycle reset Output signal reset Start External servo ON Stop Cycle mode Deceleration and stop Low speed command Servo OFF Signal name of DIN command Digital input signals Digital output signals Signal name of DOUT command Note The system output signals cannot serve as DOUT in the program Servo ready Battery...

Страница 36: ...1C EMS2B EMS2C X8GC printed board 1 2 3 4 5 6 7 8 9 10 EMS1B EMS1C ML 4000 CP 10PGY Emergency stop contact 1 System input signals P24V Emergency stop contact 2 Safe input contact 1 Safe input contact 2 ENA2C ENA2B P24G P24V TS3100 The system input signals Emergency stop contacts 1 and 2 linked 2 contact configuration and Safe input contacts 1 and 2 linked 2 contact configuration are non voltage co...

Страница 37: ...r transistor open collector input Example of circuit Input circuit structure P24V Source type common TS3100 User side P24G Contact or transistor Signal Input terminal Signal judgment Open OFF Short circuit ON Specifications of non voltage contact and transistor Non voltage contact specifications Contact rating 24 VDC 10 mA or over Circuit current Approx 7 mA Minimum current 24 VDC 1 mA Contact imp...

Страница 38: ...e system input signal is quite the same as that of the digital input signal See the descriptions in Para 4 5 However the four 4 signals of emergency stop contact 1 and emergency stop contact 2 and safe input contacts 1 and 2 differ from the above specifications See the descriptions on each signal When inputting the system input signal keep the input status until the output signal corresponding to ...

Страница 39: ...l reset 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 ENA B ENA C Safe input contacts 1 and 2 O O O O O ON mode Designation STROBE Strobe Input terminal SYSTEM 5 pin Signal name 249 Signal ...

Страница 40: ...e User Parameter 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 t...

Страница 41: ...h Signal name 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 le...

Страница 42: ... 1 PROG9 1 0 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 rig...

Страница 43: ...s are taken without 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 E...

Страница 44: ...f 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 used w...

Страница 45: ...ariable 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 cannot be...

Страница 46: ...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 signal c...

Страница 47: ...e also reset When reset all signals of DO_1 DO_32 turn off 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 input becomes valid and all other signals become invalid...

Страница 48: ...sed to cancel an alarm from the external equipment which occurred while the TS3100 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 ...

Страница 49: ...inal ON OFF Open O Short circuit O Function Used to start a program registered in the TS3100 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 ...

Страница 50: ...e RUN signal 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 ...

Страница 51: ...y in the EXT SIGNAL mode Signal timing POWER ON SYS_RDY O SV_RDY O EX_SVON I SVST_A SVST_B O 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 internal damage the servo cannot be turned on about 4 5 seconds after it is turned off...

Страница 52: ...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 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 of STOP the program restarts from the step next to the i...

Страница 53: ... 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 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 command is called 1 cycle Cautions 1 Unless this signal is used short circu...

Страница 54: ...ration 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 param...

Страница 55: ...bot 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 1 Duration from the start of one motion command to just before the start of next motion command is called 1 segmen...

Страница 56: ... 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 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 0 V input terminal SYS...

Страница 57: ...t circuit 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 circu...

Страница 58: ...n conformity detecting 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 Emergency stop signal line given below 3 ...

Страница 59: ...ction 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 If the safety input contact is opened a short circuit occurs between the system output signals EMSST_A and E...

Страница 60: ... the non conformity detecting 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 details on the enable switch contact configuration see Emergency stop signal line on the next page 3 Unless t...

Страница 61: ...gency stop contact 1 Emergency stop contact 2 P24V Control panel unit TP section Safe input unit EMS2A P5V P5V Emergency stop detection 1 Emergency stop detection 2 EMS1B EMS1C Emergency stop button Enable switch EMS2B EMS2C Safe input contact 1 Safe input contact 2 P5V P5V Enable detection 1 Enable detection 2 ENA1B ENA1C ENA2B ENA2C ENA1A P24V ENA2A ...

Страница 62: ... to connect the attached connectors to the SYSTEM EMS connectors on the controller side Unless the following signals are used as the system signals jumper the cables also SYSTEM 15 LOW_SPD SYSTEM 13 CYCLE Jumper of connectors SYSTEM EMS 12 17 18 14 17 18 3 4 5 6 16 17 18 13 17 18 7 8 9 10 15 17 18 CAUTION 1 Unless the signals of SVOFF and emergency stop contacts 1 and 2 and safe input contacts 1 a...

Страница 63: ...t 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 24 VDC Rated current 100 mA max Caution If the current which exceeds the rated output current is supplied the output device may be damaged or the printed board may b...

Страница 64: ...put by the PULOUT command the output pulse width should be 200 ms or over DO_1 DO_32 200 ms Example of circuit User side P24V P24G Sink type common DC relay Counter voltage preventing diode User side P24V P24G Counter voltage preventing diode DC relay Source type common ...

Страница 65: ...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 precautions not to mistake The specifications of the system output signals are as follows Output type 1 Transistor output system output signal 2 Relay contact out...

Страница 66: ...ut 2 Relay contact 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 Type N User side P24V P24G Sink type common User side External Power supply ...

Страница 67: ...re when using Transistor specification Rated voltage 24 VDC Rated current 100 mA max Relay contact specification Maximum rating 125 VAC 0 5 A 60 VDC 1 0 A 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 Type P When Type P is selected when X8GI pr...

Страница 68: ...signals When 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 inpu...

Страница 69: ... OFF High O Low O Function This signal turns on when the MODE switch of the TS3100 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 Function key selection TEACH O Cautions EXT TEACH INT EDIT EDIT Test operation ...

Страница 70: ...l indicates that the servo power of the TS3100 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 ...

Страница 71: ...UN signal can 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 ...

Страница 72: ...ow O Function This signal turns on while the TS3100 robot controller is in the EXT SIGNAL mode Signal timing 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 Mode switch EXT mode selector switch EXTSIG O INT EXT EXT SIGNAL EXT HOST ...

Страница 73: ... High O Low 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 ...

Страница 74: ... after the SYS_RDY 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 TS3100 robot controller Signal timing SYS_RDY O RUN I STOP I AUTORUN O Cautions This signal will not turn on...

Страница 75: ...operation only 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 ...

Страница 76: ...nal judgment 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 ...

Страница 77: ... robot or robot controller The battery alarm detects all encoders of axis 1 to axis 6 and battery level in the main control board X8GC 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 an...

Страница 78: ... occurred in the robot or TS3100 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 Cautions Error has been cleared Servo OFF only when an er...

Страница 79: ...d on the output 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 125 VAC max 0 5 A max 60 VDC max 1 A max It takes about one 1 second from the s...

Страница 80: ...normal the output 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 Cautions The signal is of a non voltage contact output type The logic is a normal close contact output The contact capacity is 125 VAC max 0 5 A max 60 VDC max 1 A max Hardware abnormal Servo Amp error X8GL IPM error PW Over Volt Serv...

Страница 81: ... 3R hood DDK OUTPUT DHA PC40 3G connector DHA HPA40 3R hood DDK b Select the cables which meet the following specifications Core wires AWG 24 30 SYSTEM AWG 28 30 INPUT OUTPUT Cable outer diameter Max φ16 0 mm SYSTEM Max φ7 2 mm INPUT φ7 4 mm OUTPUT Shield Batch shield Cable length 30 m or less NEVER use cables which do not conform to the specifications Otherwise short circuit or cable melting due ...

Страница 82: ...rnal I O signal cable INPUT OUTPUT 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 SYSTEM The INPUT and OUTPUT connectors have a one touch lock system and so check that they are locked securely To disconnect the cable loosen the loc...

Страница 83: ...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 Approx 1 sec Program selection I 2 2 1 POWER I SYS_RDY O SV_RDY O EX_SVON I SVOFF I SVST_A O SVST_B STROBE I ACK O RUN I CYCLE I STOP I AUTORUN O CYC_END O ...

Страница 84: ...NTERFACE MANUAL 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 ...

Страница 85: ...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 necessary Note 3 Program selection PRG_RST STEP_RST and CYC_RST can be executed at any timing unless the auto operation mode is selected EX_SVON I SVOFF I Emergency stop EMSST_A O EMSST_B SVST_A O SVST...

Страница 86: ...en 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 of error Note 3 Program selection PRG_RST STEP_RST and CYC_RST can be executed at any timing unless the auto operation mode is selected 2 1 Approx 1 sec Error has...

Страница 87: ...ables Connection of the RS 232C may differ with the communicating device Before use therefore confirm the signals of the communicating device and the connection of commercially available cables 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 screw FG User side RXD ...

Страница 88: ... a screwdriver To remove the cable perform the connection procedure in reverse by loosening the lock screws and then pulling out the connector Be sure to grasp the connector and not the wire section when disconnecting If the wire section is pulled out without holding onto the connector excessive force could be applied to the cable and damage it CAUTION When attaching or detaching the cable be sure...

Страница 89: ...V P24V P24G EMS1A EMS1B ENABLE1A ENABLE1B ENABLE2A ENABLE2B EMS2A EMS2B TP_SVON 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 connecto...

Страница 90: ...ntact output is ON The time for attaching or detaching the connector should be thirty 30 seconds or less CAUTION Unless the TP cable or dummy connector is connected with the TP connector of the TS3100 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 d...

Страница 91: ...ect the optimum external power supply according to the customer s system specifications power supply capacity TS3100 robot controller 5 4 3 2 1 Terminal block EXT I O 1 2 3 24V FG User side FG 0V TR48DIOCN TR48DIOC ML 4000 CP 5PGY 485A 485B 4 5 B 485B A 485A P24V P24G slave statrion 0 Fig 7 1 Connection of RS 485 cable a Use the cable attached to the TR48DIOCN TR48DIOC module or the cable which sa...

Страница 92: ...e 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 robot controller 5 4 3 2 1 Terminal block EXT I O 1 2 3 24V FG User side FG 0V TR48 DIOCN ...

Страница 93: ...1 2 3 4 5 0V P24G 485A 485B 24V External 24 V power supply TR48DIOCN TR48DIOC TR48DIOCN TR48DIOC slave station 1 24V 0V B 485A FG A 485A 24V 0V B 485A FG robot controller User side slave station 0 Terminal block Fig 7 3 Connection of EXT I O cable when external power supply is used ...

Страница 94: ...tation inputs and outputs can be controlled via the RS 485 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 EMS OUTPUT SYSTEM INPUT TCPRG Field BUS A FG B EXT I O 24V0V RUN ERROR POWER OFF 0 T R CH ON 1 OUTPUT INPUT FG B A 0V 24V ERROR RUN POWER T R CH OFF 0 ON 1 OUTPUT INPUT 24...

Страница 95: ...ons 0 and 1 TR48DIOCN TR48DIOC module for instance change the underlined bit corresponding 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 paramete...

Страница 96: ...N TR48DIOC modules are used see Fig 7 4 for example As the TR48DIOCN TR48DIOC module on the extreme left side as viewed from the controller rear side is the terminal station in terms of cable wiring set ON the terminator setting 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 sh...

Страница 97: ...ule are illuminated 7 3 Attaching and Detaching EXT I O Cable For the EXT I O cable use the cable attached to the TR48DIOCN TR48DIOC module or a cable which meets the specifications Before attaching or detaching the EXT I O cable to or from the TS3100 robot controller be sure to turn off the POWER switch equipped on the rear side of the controller or the main power in the user s control panel Twis...

Страница 98: ... detached After the cable is firmly pressed in pull up the cable insert release button to release the lock Lightly pull the cable and make sure that the cable is connected completely and will not come off DO NOT pull the cable by force however If an unusually large force is exerted on the cable the cable may be damaged To detach a cable use a screwdriver to press in the cable insert release button...

Страница 99: ...e type of your 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 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...

Страница 100: ...8 127 159 128 160 P24V P24G P24V P24G Station 0 Station 1 Note 1 An example connection of DI_101 108 DI_133 140 as shown in the figure above is the source type DI_101 DI_133 DI_102 DI_134 DI_103 DI_135 DI_104 DI_136 DI_105 DI_137 DI_106 DI_138 DI_108 DI_140 DI_107 DI_139 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_149 DI...

Страница 101: ... DI_133 DI_160 DI_101 DI_128 DI_133 DI_160 P24V P24G INCOM1 3 TR48DIOCN P24G Contact or transistor Contact or transistor Non voltage contact transistor specifications Non voltage contact specifications Transistor specifications Contact rating 24 VDC 10 mA or over Circuit current Approx 7 mA Minimum current 24 VDC 1 mA Connected impedance 100 Ω or less Voltage between collector and emitter 30 V or ...

Страница 102: ...DO_120 DO_133 DO_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 Statio...

Страница 103: ...al 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 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...

Страница 104: ...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 Station 1 Signal name of DIN command 101 133 102 134 103 135 104 136 105 137 106 138 107 139 108 140 109 141 110 142 111 143 112 144 113 145 114 146 115 147 116 148 117 149 118 150 119 151 120 152 121 153 122 154 123 155 124 156 125 157 126 158 127 159 128 160 P24V P24G P24V P24G Note 1 An example con...

Страница 105: ...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 of DOUT co...

Страница 106: ... fabricating an extension I O signal cable a Either use the TR48DIOCN TR48DIOC supplied connector or obtain the same model connector separately An equivalent connector D sub connector by another manufacturer can also be used Connector name Type of connector Maker INPUT XM2A 3701 plug type XM2S 3711 connector cover OMRON OUTPUT XM2A 2501 plug type XM2S 2511 connector cover OMRON b Select a cable th...

Страница 107: ...ors that are joined by soldering the wires For details about the procedure for joining the wires to the connector and applying the shielding see Appendix in Chapter 15 8 4 Attaching and Detaching Extension I O Signal Cable For attaching and detaching the extension I O signal cable see Para 5 2 ...

Страница 108: ...5 13 6 14 7 15 8 Case User side robot controller X8GL printed board FG COM COM 1 COM FG COM Source type common Signal name of DIN command Source type common TS3100 TRIG Sink type common TRIG TS3100 Sink type common DI_49 DI_50 DI_51 DI_52 DI_53 DI_54 DI_55 DI_56 P24G P24G P24V P24V 49 50 51 52 53 54 55 56 9 2 10 3 11 4 12 5 13 6 14 7 15 8 1 Case COM COM DI_49 DI_50 DI_51 DI_52 DI_53 DI_54 DI_55 DI...

Страница 109: ...Cable wires 0 18 0 32 mm2 twisted wires Cable outer diameter Max 10 5 mm INPUT 9 mm OUTPUT Shield Batch shield Cable length 30 m or less Never use cables that differ from the specifications This can cause melting due to a short circuit or overheating of the wire cores and also malfunctioning of the robot due to the intrusion of noise c The TRIG connector is solder cap type connector that is joined...

Страница 110: ...onnect the cables in a pair as shown below If the cables are connected incorrectly anti noise performance will be reduced and this could cause a malfunction For details on the conveyor synchronization function see the Conveyor Synchronous Function Instruction Manual FG CH1AH CH1AL CH1BH CH1BL CH 2AH CH 2BH CH 2AL CH 2BL CONV TS3100 User side X8GL printed board robot controller 1 2 3 4 5 6 7 8 9 10...

Страница 111: ...bricating Incremental Encoder Input Signal Cable When fabricating an incremental encoder input signal cable follow the fabrication procedures below a Use the supplied connector Connector name Type of connector Maker CONV 54306 1419 connector 54331 0141 hood MOLEX b Select a cable that matches the specifications below Core wires 0 2 0 52 mm2 twisted wires Cable diameter Max 8 5 mm Shield Batch shie...

Страница 112: ...iting debugging start support and maintenance using the computer programmer TSPC If a hub is used to connect to external equipment connect using a straight cable Use a cross cable when connecting a computer directly to controller Some equipment has an automatic recognition function so that either a straight cable or cross cable can be used and so check the specifications of the equipment that is u...

Страница 113: ...motor brake It is also possible to turn on and off the robot motor brake irrespective of the control of the controller Connector and contact on the external user side Type of connector 1 1827864 6 made by Tyco Electronics Type of contact 1827589 2 made by Tyco Electronics 13 1 Connecting Motor Brake Signal Cable SCRARA Type Robot TS3100 robot controller BRK FG A1 B1 A2 A4 B4 A5 B5 A6 B6 B2 A3 B3 B...

Страница 114: ...Connecting motor brake signal cable 14 Connecting External I O Power Supply Cable EMS The external I O power supply cable is connected in the same way as the safety input signal cable and the supplied connector ML 4000 CP 10PGY connector is used The power supply P24 V is supplied from the EMS connector on the controller rear panel I O that uses an external power supply 24 VDC are shown below Be su...

Страница 115: ...ystem input signals Emergency stop contact 2 Safe input contact 1 Safe input contact 2 Fig 14 Connecting external power supply The EMS connector supports cables in the AWG24 to AWG16 range Select the optimum external power supply according to the customer s system specifications power supply capacity For the external I O power supply cable attaching and detaching procedure see Para 7 3 CAUTION Be ...

Страница 116: ...atch resets the 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 d...

Страница 117: ...G O This signal is output when the EXT SIGNAL mode 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 o...

Страница 118: ... Signal judgment 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 ...

Страница 119: ...d extension I O module connectors INPUT OUTPUT 1 0 m m Note The shield wire of the cable using a D SUB connector is connected to the ground of the TS3100 robot controller through the housing Completely connect the shield wire to the housing using the cable clamp Housing Stripped length of twisted wire 4 mm Cable clamp Soldering Shield wire ...

Страница 120: ...own below 1 0 m m Note The shield wire of the robot control signal cable is connected to the ground of the TS3100 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 circuit Cable clamp Stripped length of twisted wire ...

Страница 121: ...STE 80729 121 INTERFACE MANUAL APPROVED BY CHECKED BY PREPARED BY ...

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