Toshiba TS3000 Series Manual de usuario

STE 80756–2

６

TS3000 SCARA / LINEAR system

TS3100 SCARA / LINEAR / 6-AXIS system

TSL3000 SCARA system

INSTRUCTION MANUAL

FIELD BUS SLAVE FUNCTION MANUAL

Notice

1. Make sure that this instruction manual is delivered to the final

user of Toshiba Machine's industrial robot.

2. Before operating the industrial robot, read through and

completely understand this manual.

3. After reading through this manual, keep it nearby for future

reference.

TOSHIBA MACHINE CO., LTD.

NUMAZU, JAPAN

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

No part of this document may be reproduced in any form without obtaining prior written

permission from Toshiba Machine Co., Ltd.

The information contained in this manual is subject to change without notice to effect

improvements.

- 1 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

Preface

This manual describes the initial setting procedures and operating method of the field

bus slave function, the TS3000/TS3100/TSL3000 (referred to as TS3000 series below)

robot controller extension function. It is intended for users with general knowledge of

field bus.

The slave module for the field bus can select either of the three (3) types; PROFIBUS,

DeviceNet or CC–Link, which should be determined at order entry.

The field bus input signals are assigned to DIN301 to DIN364 and DIN401 to DIN464,

and the output signals are assigned to DOUT301 to DOUT364 and DOUT401 to

DOUT464. Also, the Simple PLC Function (option) can be used to enable changing of

the I/O and routing of the system signal I/O through the field bus.

Instruction manuals which are referred to from this manual

• Robot language manual

• Operation manual

• User parameter manual

• Maintenance manual

• Instruction manual of master station you wish to use

- 2 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

!CAUTION

This manual does not contain any detailed descriptions

on power and robot connection.

For the connection of the power and robot, see the

Installation & Transport Manual.

Cautions on Safety

This manual contains the important information on the robot and controller to prevent

injury to the operators and persons nearby, to prevent damages to assets and to assure

correct use.

Make sure that you well understand the following details (indications and symbols)

before reading this manual. Always observe the information that is noted.

[Explanation of indications]

Indication Meaning of indication

!DANGER

This means that "incorrect handling will lead to fatalities or

serious injuries."

!CAUTION

This means that "incorrect handling may lead to personal

injuries 1) or physical damage 2)."

•Injuries refer to injuries, burns and electric shocks, etc., which do not require

hospitalization or long-term medical treatment.

•Physical damage refers to damages due to destruction of assets or resources.

- 3 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

[Explanation of symbols]

Symbol Meaning of symbol

This means that the action is prohibited (must not be done).

Details of the actions actually prohibited are indicated with

pictures or words in or near the symbol.

This means that the action is mandatory (must be done).

Details of the actions that must be done are indicated with

pictures or words in or near the symbol.

This means danger.

Details of the actual danger are indicated with pictures or words in

or near the symbol.

This means caution.

Details of the actual caution are indicated with pictures or words in

or near the symbol.

!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.

- 4 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

Maintenance and Inspection

To use the robot safety, strictly observe the following matters.

!DANGER

Prohibited

• NEVER burn, disassemble or charge the battery. Otherwise,

it may explode.

Mandatory

• Before performing the maintenance and inspection, be sure to

turn off the main power switch of the controller.

• When disposing of batteries, be sure to follow the user's

regulations.

!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 be

caused.

!CAUTION

To perform the maintenance and inspection of the robot

with safety, read through and through the Maintenance

Manual provided separately before actually starting the

work.

- 5 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

Table of Contents

Page

1. Operation Flow......................................................................................................... 7

2. Hardware Structure .................................................................................................. 9

2.1 Field Bus Printed Board Assembling Procedures to the TS3000/TS3100

Controller....................................................................................................... 9

2.2 Installing the Printed Board in the TSL3000 Controller................................ 12

2.3 Connection................................................................................................... 14

2.3.1 Pin Array of Connector for Connecting External Equipment........... 14

2.3.2 Connection ..................................................................................... 16

3. Field Bus Slave Module.......................................................................................... 17

3.1 PROFIBUS Slave Module Specifications..................................................... 17

3.1.1 PROFIBUS Specifications.............................................................. 17

3.1.2 Setting of PROFIBUS User Parameter........................................... 18

3.2 DeviceNet Slave Module Specifications....................................................... 20

3.2.1 DeviceNet Specifications................................................................ 20

3.2.2 Setting of DeviceNet User Parameter............................................. 21

3.3 CC–Link Slave Module Specifications ......................................................... 23

3.3.1 CC–Link Specifications................................................................... 23

3.3.2 Setting of CC–Link User Parameter ............................................... 24

4. Error Detection ....................................................................................................... 26

5. Verifying Motion...................................................................................................... 27

6. How to Use SCOL Language Instruction................................................................ 30

6.1 Sample Program.......................................................................................... 31

- 6 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

1. Operation Flow

The operation flow to enable the field bus interface is given below.

* When specifying the Field Bus during the purchase of the robot controller, read the

step (2) Connecting with the master station and skip to step (4) Setting the master

station and go to later steps.

(1) Mounting the field bus ··· See Section 2 of this manual.

Mount the field bus you procured on the controller.

Uncover the controller and perform the manual work.

Before starting this work, be sure to turn the power off.

When you already specified the field bus at order entry of the robot, the bus is

factory-set. Make sure of it.

To proceed with the next process, the controller should remain uncovered.

⇓

(2) Connecting with the master station ··· See Section 2 of this manual.

Connect the field bus terminal on the controller side with the field bus cable

connecting to the master station.

⇓

(3) Setting the controller parameters ··· See Section 3 of this manual, the

operation manual and user parameter manual.

Turn on the controller power, edit the [U16 FIELD BUS] parameter contained

in the user parameter (USER.PAR) file.

The user parameter becomes operative after the power is turned off once,

then on again.

⇓

(4) Setting the master station ··· See Section 3 of this manual and the master

station instruction manual.

Perform setting of the master station. The setting procedures differ with the

master station to be used. Refer to the master station instruction manual you

procured.

⇓

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FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

⇓

(5) Confirming the operation ··· See Section 5 of this manual and the master

station instruction manual.

The power is turned on in order of “First Field Bus master” and “Robot

controller”.

To make sure that the I/Os assigned to the robot controller can be operated

properly, set ON the switch assigned from the master station and monitor the

I/O status from the robot controller. Also, set ON the switch on the robot

controller side and monitor the I/O state from the master station to make sure

that the information can be transmitted legally.

If an error has generated, investigate the error information from the master

station.

⇓

(6) Creating the robot program and verifying the control ··· See Section 6 of this

manual and the master language instruction manual.

Create the robot program, referring to the example of robot program creation

and make sure that the I/Os on the field bus can be controlled, using the

SCOL language.

⇓

(7) Finish of the work

Now the work has finished. Turn off the controller power and cover the

controller.

- 8 - STE 80756

FIELD BUS SLAVE FUNCTION MANUAL

series Robot Controller

2. Hardware Structure

2.1 Field Bus Printed Board Assembling Procedures to the TS3000/TS3100

Controller

Assemble the Field Bus printed board in the manner described below.

(1) Turn off the power of the robot controller.

(2) Turn off the main power of 200V supplied to the robot controller.

Disconnect the power connector (ACIN–CN1) to assure safety.

(3) Remove the top cover of the robot controller.

This top cover is secured with a total of twelve (12) screws (M3 ×6) (eight (8)

screws each on the both lateral sides and four (4) screws on the top side of the

robot controller. Remove the screws, using a screwdriver, then draw the cover to

side and remove.

Fig. 1 Removing the TS3000/TS3100 Cover

- 9 - STE 80756

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