STE85389-0INSTRUCTION MANUALINDUSTRIAL ROBOTTRANSPORTATION AND INSTALLATION MANUALNotice1. Make sure that this instruction manual is delivered to the finaluser of Toshiba Machine’s industrial robot.2. Before operating the industrial robot, read through andcompletely understand this manual.3. After reading through this manual, keep it nearby for futurereference.August 2012TOSHIBA MACHINE CO., LTD.NUMAZU, JAPANTH180TH250ATH350A／TS3000

Toshiba TH180 Instruction Manual

TS3000 Series

Section 1 Introduction

Section 2 COM1 Port and HOST Port Specifications and Settings

Communication Specifications

HOST Port

Communication Parameters

Section 3 Ethernet Specifications and Settings

Section 4 Non-Protocol Communication

INPUT Command

Clearing Communication Buffer

Programming Examples for Communication with a Robot Language Program

Correcting the Position of the Robot

INPUT Character String Conversion Function

Converting a Character String to 0

Converting a Character String to Any Numeric Value

Section 5 Simple Protocol Communication

Transmission Format

Data Section Format

Ethernet Status Display [ETHER]

Confirmation with a Windows Computer

Commands

Commands and Operation Modes

Details of Commands

Ram Files

TSPC Settings

Section 6 Robot Operation Sequence Using External Communication

Section 1 Overview

Section 2 Example of Application Development Using C

Setting Application Execution File Output Destination

Reference Setting of TsRemoteLib

Calling TsRemoteS Interface

Event Processing Performed Based on the Information from WatchDog of TsRemoteLib

Outline of TsRemoteLib

Classes That Are Defined in TsRemoteLib

TsPointV

TsJointS

TsPayloadS

TsDIO

TsStatus

TsStatusAllS

TsStatusAllV

TsStatusMonitor

TsRemoteSException

Enumerations That Are Defined in TsRemoteLib

Gain

ErrorCode

TsRemoteS Class Properties

MvSpeed

TsRemote Class Method

DeleteFile()

DirectDo()

Disconnect()

Dispose()

GetAlarmHistory()

GetCurrentAlarm()

GetDIn()

GetDIO()

GetDir()

GetDout()

GetGlobalINT()

GetGlobalREAL()

GetHexIn()

GetStatus()

GetStatusMonitor()

GetSystemVersion()

ProgramBreak()

ProgramRun()

ProgramSelect()

ProgramStop()

ReceiveFile()

ResetALARM()

ResetCYCLE()

ResetPRG()

ResetMove()

ResetSELECT()

ResetSIGNAL()

ResetSTEP()

SendFile()

ServoOff()

ServoOn()

SetComPort()

SetDout()

SetGlobalINT()

SetGlobalREAL()

SetHexOut()

SetIPaddr()

SetOVRD()

SetRunMode()

WatchDogStart()

WatchDogStop()

TsRemoteS Class property

TsRemoteS Class Method

GetGlobalPAYLOAD()

GetGlobalTRANS()

GetPsnCmdJoint()

GetPsnCmdWork()

GetPsnCmdWorld()

GetPsnFbkJoint()

GetPsnFbkWork()

GetPsnFbkWorld()

GetStatusAll()

GetVelocJoint()

GetVelocWorld()

Move()

Movea()

Movej()

Moves()

SetGain()

SetGlobalPOINT()

SetGlobalPYLOAD()

SetGlobalTRANS()

SetPayload()

SetTransTool()

SetTransWork()

TsRemoteV Class property

TH180

TH250A

TH350A

Toshiba TH180 Instruction Manual

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