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TRANSPORTATION AND INSTALLATION MANUAL

STE80753

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Fig. 3.2 External view (TH1050A)

963 Z-stroke 400 mm

763 Z-stroke 200 mm

Option Z-stroke

Standard

Z-stroke

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Summary of Contents for TH1050A

Page 1: ... 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 January 2009 TOSHIBA MACHINE CO LTD ...

Page 2: ...shiba Machine Co Ltd All rights reserved No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co Ltd The information contained in this manual is subject to change without prior notice to effect improvements ...

Page 3: ...ications This section describes the basic specifications and names of respective units of the robot and controller Section 2 Transportation This section describes how to remove the robot and controller from their boxes and how to transport them to the installation site This section also discusses how to temporarily store the equipment after unpacking the shipment Section 3 Installation This sectio...

Page 4: ... fatalities or serious injuries CAUTION This means that incorrect handling may lead to personal injuries 1 or physical damage 2 1 Injuries refer to injuries burns and electric shocks etc which do not require hospitalization or long term treatment 2 Physical damage refers to major fires due to destruction of assets or resources Explanation of symbols Symbol Meaning of symbol This means that the act...

Page 5: ...ters Doing so could lead to fires if the matter ignites due to a fault etc Mandatory Always secure the robot with the attached clamps before transporting it Failure to do so could lead to injuries if the arm moves when the robot is suspended Wire the robot after installation Wiring the robot before installation could lead to electric shocks or injuries Always use the power voltage and power capaci...

Page 6: ...anism section and could lead to faults For the controller secure the ample space for air vent Heating of controller could lead to malfunction Mandatory When lifting the robot lift it up slowly The robot will tilt slightly so lifting it up suddenly could be hazardous When storing the robot secure it to the base The robot will be unstable if just set down and it could tilt over ...

Page 7: ...ontroller 22 3 Installation 23 3 1 Installation Environment 23 3 2 Robot Installation 24 3 2 1 External Dimensions 24 3 2 2 Working Envelope 28 3 2 3 Coordinate System 31 3 2 4 Installing the Robot 32 3 3 Installing the Controller 33 3 3 1 External Dimensions 33 3 3 2 Precautions for Direct Installation 34 3 3 3 Rack Mounting Dimensions 35 3 3 4 Precautions for Rack Mounting 35 3 4 Precautions for...

Page 8: ...afety Related Signals 48 4 3 Separating Control Panel from Controller 50 4 3 1 Removing Control Panel 50 4 3 2 Cable between Controller and Control Panel 50 4 3 3 Control Panel Mounting Dimensions 51 4 3 4 Mounting Dummy Panel on Controller 52 4 3 5 Dimensions when Separating Control Panel 53 5 Tool Interface 54 5 1 Mounting Tool 54 5 2 Tool Wiring and Piping 55 5 2 1 Tool Signals Controller Side ...

Page 9: ...2 5 Lifting up the robot 19 Fig 2 6 Robot handling areas shaded areas 20 Table 3 1 Environmental conditions for robot and controller 23 Fig 3 1 External view TH850A 25 Fig 3 2 External view TH1050A 26 Fig 3 2 External view TH200A 27 Fig 3 4 Working envelope TH850A 28 Fig 3 5 Working envelope TH1050A 29 Fig 3 6 Working envelope TH1200A 30 Fig 3 7 Base coordinate system and joint angle origin 31 Fig...

Page 10: ...nting dimensions 51 Fig 4 7 Mounting dummy panel 52 Fig 4 8 Cable connections of dummy panel and control panel 53 Fig 5 1 Tool mounting dimensions 54 Fig 5 2 Wiring to PLC etc 60 Fig 5 3 Tool wiring Type N 62 Fig 5 3 A Tool wiring Type P 61 Fig 5 4 1 Procedures for relocating wiring panel 63 Fig 5 4 2 Procedures for relocating wiring panel 64 Fig 5 5 Wiring method 65 Fig 5 6 Tool air piping 67 Tab...

Page 11: ...ty center offset Axes 1 and 2 TH850A and TH1050A 75 Fig 5 11 Setting of maximum speed and acceleration deceleration in relation to gravity center offset Axes 3 and 4 TH850A and TH1050A 76 Fig 5 12 Setting of maximum speed and acceleration deceleration in relation to gravity center offset Axes 1 and 2 TH1200 77 Fig 5 13 Setting of maximum speed and acceleration deceleration in relation to gravity c...

Page 12: ...xis 2 rotation Axis 1 rotation Eyebolt Base Battery box Arm 1 Arm 2 Tool flange Axis 3 vertical movement Axis 4 rotation D SUB connector 4 M5 Air joint for hand D SUB panel Spare grommet Brake OFF switch Cannon connector Spare grommet Brake OFF switch Cannon panel option 4 M5 Air joint for hand Encoder cable connector ENC Two spares grommet Quick operated joint for 6 mm dia tube Control signal cab...

Page 13: ...xternal Dimensions Fig 1 2 to Fig 1 4 refer to the external dimensions of each robot Fig 1 2 External dimensions of the robot TH850A Wiring panel Optional Z axis stroke Standard Z axis stroke Z axis stroke 200 m Z axis stroke 400 m Space for cable connection ...

Page 14: ...ON AND INSTALLATION MANUAL STE80753 13 Fig 1 3 External dimensions of the robot TH1050A Wiring panel Optional Z axis stroke Standard Z axis stroke Z axis stroke 200 m Z axis stroke 400 m Space for cable connection ...

Page 15: ...al dimensions of the robot TH1200A Hand I O connector panel Z axis stroke 763 Z axis stroke 200 m 963 Z axis stroke 400 m Space for cable connection Z400 upper limit position Z200 upper limit position Z axis stroke Z200 lower limit position Z400 lower limit position ...

Page 16: ...g s 330 deg s Axis 3 2050 mm s 1800 mm s Axis 4 1200 deg s 1200 deg s Maximum speed 1 Composite speed of axes 1 and 2 8 13 m s 9 15 m s 7 9 m s Rated payload mass 5 kg Maximum payload mass 20 kg Permissible load inertia 1 0 2 kg m2 X Y 0 01 mm 0 03 mm Z 0 01 mm 0 02 mm Repeatability C 0 004 deg 0 005 deg Cycle time 2 When payload mass is 5 kg 0 39 sec 0 56 sec Drive system By means of AC servo mot...

Page 17: ... accessories are present and that nothing has been damaged during transport Fig 2 1 Packaging state Accessories included in the controller package EMS dummy connector 1 pc SYSTEM dummy connector 1 pc TP dummy connector 1 pc Accessories included in the instruction manuals System CD RW 1 pc CD ROM for TCPRGOS option 1 pc CD ROM for TSPC option 1 pc Corrugated cardboard Robot body actuator packed in ...

Page 18: ...ion Move the robot and controller very carefully Make sure that no excessive impact or vibration is exerted on the equipment If the equipment is to be subject to vibration over a long period be sure to tighten all the clamp and base set bolts completely If the equipment is to be moved to a location some distance from where it was unpacked reposition the cushions as they were and put the equipment ...

Page 19: ...TRANSPORTATION AND INSTALLATION MANUAL STE80753 18 Fig 2 3 Outer dimensions at transport TH1050A Fig 2 4 Outer dimensions at transport TH1200A Mass of robot body 80 kg Clamp ...

Page 20: ...u should move it as it is At this time take careful precautions not to impose a large force on the tool shaft DANGER Be sure to secure the arm with the attached clamp before transporting the robot Failure to do so could cause a hazardous situation as the arm will move when the robot is lifted It is possible to lift up and transport the robot Pass the wire through the attached eyebolt then lift up ...

Page 21: ...formed carefully so that any impact cannot be exerted on the robot When carrying the robot by workers take careful precautions to prevent their hand or leg from being caught in the robot The above figure shows the TH850A Fig 2 6 Robot handling areas shaded areas After the installation remove the clamp and eyebolt used for transport Handling areas shaded areas DO NOT hold the tool flange and ball s...

Page 22: ... large force is exerted resulting in a malfunction When carrying the robot by workers take careful precautions to prevent their hand or leg from being caught in the robot The work should be performed by two 2 or more workers 2 2 3 Transporting the Controller Disconnect all cables and teach pendant before transporting the controller DANGER When placing the controller on the floor etc make sure not ...

Page 23: ...nt rust development and contaminant Put a desiccant in the bag to absorb moisture As the tool shaft is susceptible to rust development coat it with rust preventive agent or grease the entire tool shaft beforehand Before the use apply the grease to the tool shaft Before starting an operation perform running completely During storage the life of the backup batteries will shorten It is recommended to...

Page 24: ... may be subject to fluids such as water Altitude 1000 m or less Vibration In operation 0 98 m s2 or less Dust No inductive dust should exist Consult with Toshiba Machine first if you wish to use the robot and controller in a dusty environment Gas No corrosive or combustible gas should exist Sunlight The robot and controller should not be exposed to direct sunlight Power noise A heavy noise source ...

Page 25: ... Installation Before installing the robot you should plan a layout fully considering the working envelope or operating range coordinate system and space for maintenance 3 2 1 External Dimensions External view drawing of each robot is shown in Fig 3 1 to Fig 3 3 ...

Page 26: ...n Z stroke Standard Z stroke 4 5 5 drill evenly spaced Details of hand set part Scale 1 3 When viewed from Y arrow mark Battery case Hand I O connector panel Details of base set part Scale 1 5 When viewed from Z arrow mark Encoder connector I O connector Motor power connector Air joint for 4 φ6 tube Space for cable connection ...

Page 27: ...n Z stroke Standard Z stroke 4 5 5 drill evenly spaced Details of hand set part Scale 1 3 When viewed from Y arrow mark Battery case Hand I O connector panel Details of base set part Scale 1 5 When viewed from Z arrow mark Encoder connector I O connector Motor power connector Air joint for 4 φ6 tube Space for cable connection ...

Page 28: ...Y arrow mark Z400 upper limit position Hand I O connector panel Details of base set part Scale 1 6 When viewed from Z arrow mark Encoder connector I O connector Motor power connector Air joint for 4 φ6 tube Space for cable connection 963 Z stroke 400 mm 763 Z stroke 200 mm Z200 upper limit position Z200 lower limit position Z400 lower limit position Inner diameter of ball screw Battery case ...

Page 29: ...king envelope by mis operation the robot is equipped with mechanical stoppers outside the working envelope Additionally soft limits which can be set by the user are provided For further information see the user parameter instruction manual provided separately Fig 3 4 Working envelope TH850A Axis 1 working envelope Axis 1 working envelope Axis 2 working envelope Axis 2 working envelope Optional Z a...

Page 30: ...ON AND INSTALLATION MANUAL STE80753 29 Fig 3 5 Working envelope TH1050A Axis 1 working envelope Axis 1 working envelope Axis 2 working envelope Axis 2 working envelope Optional Z axis stroke Standard Z axis stroke ...

Page 31: ...RTATION AND INSTALLATION MANUAL STE80753 30 Fig 3 6 Working envelope TH1200A Axis 1 working envelope Axis 1 working envelope Axis 2 working envelope Axis 2 working envelope Z axis stroke Optional Z axis stroke ...

Page 32: ...ystem and origin of each axis joint angle The same coordinate system is used for the TH850A TH1050A and TH1200A The figure below shows the TH850A Fig 3 7 Base coordinate system and joint angle origin Axis 4 Origin of base coordinate system when Z axis stroke is 400 mm Origin of base coordinate system when Z axis stroke is 200 mm Axis 2 Axis 1 Reference plane Reference plane Standard Z axis stroke ...

Page 33: ...sed for the TH850A TH1050A and TH1200A CAUTION The robot will suddenly accelerate and decelerate during operation When installing it on a frame make sure that the frame has sufficient strength and rigidity If the robot is installed on a frame that does not have sufficient rigidity vibration will occur while the robot is operating and could lead to faults When installing the robot on the floor secu...

Page 34: ...ATION AND INSTALLATION MANUAL STE80753 33 3 3 Installing the Controller 3 3 1 External Dimensions External view of the controller is shown in Fig 3 9 Fig 3 9 External view of controller Mass of controller 17 kg ...

Page 35: ...ar the controller CAUTION Provide a ventilation space at the side of the controller so that the air vent holes are not blocked The space equal to the length of the legs should be kept below the lower surface Failure to do so could cause the cooling performance to drop or to faults DO NOT stack the controllers DO NOT place any object on top of the controller Fig 3 10 Controller ventilation space 50...

Page 36: ...er 3 3 4 Precautions for Rack Mounting Pay attention to the following matters when rack mounting the robot controller a When mounting the robot controller in a rack use the screw holes provided on both ends of the front panel and secure the controller Optional side brackets are required CAUTION If the rack is completely sealed provide holes to allow the air to be let out force ventilate the rack w...

Page 37: ...the controller At maintenance the controller should be removed from the rack Specifically be careful of the following points 1 Arrange the cables around the rear side of the controller so that the controller can be removed 2 Arrange the cables between the controller and control panel when the control panel is separated 3 Connect all cables in such a manner that the robot can be operated even if th...

Page 38: ...of the teach pendant Even if the teach pendant is not used a clearance of approx 60 mm is required for connecting a dummy plug Fig 3 13 Clearance of controller front side 3 4 Precautions for Handling the Teach Pendant Be careful of the following matters when handling the teach pendant CAUTION DO NOT drop the teach pendant or hit it against anything DO NOT pull the cable running from the teach pend...

Page 39: ...rance of the safety fence to provide an emergency stop function that will stop the robot if a person enters the hazard zone The emergency stop function should be an electrically independent normal close contact closed in normal operation with compulsive opening function and must not be automatically recovered d The controller should be installed at a place outside the hazard zone where the operato...

Page 40: ...o be connected 4 1 1 Connector Arrangement on the Controller The cables connected to the robot controller are shown in Fig 4 1 Fig 4 1 Robot controller connector arrangement 1 Power cable ACIN 2 Motor cable MOTOR 3 Encoder cable ENC 4 Robot control signal cable HAND 5 External operation input signal cables SYSTEM INPUT OUTPUT 6 Brake signal cable BRK 7 Distribution I O cable EXT I O ...

Page 41: ...pply specifications Item Specifications Power supply Single phase AC 200 240 V 50 60 Hz 1 Hz Power capacity 4 4 kVA Instantaneous power failure Within 40 msec Grounding JIS class D The connector is ACIN 1 of Fig 4 1 ACIN plug connector Type JL04V 6A22 22SE EB R Maker Japan Aviation Electronics Industry ACIN cable clamp Type JL04 2022CK 14 R Maker Japan Aviation Electronics Industry Wire 3 5 mm2 5 ...

Page 42: ...c to confirm the connection For the terminal arrangement see Para 4 1 7 CAUTION Unless the main power is normally supplied to the controller due to phase defect or voltage drop an error of 8 027 Slow Charge error occurs When this happens make sure that the master power voltage at the controller power connector satisfies the specified input power of the controller and that the same voltage is stabi...

Page 43: ...TOR 2 of Fig 4 1 Location of the motor cable on the robot side is 1 in Fig 4 2 Fig 4 2 Robot side connector arrangement 4 1 4 Connecting the Encoder Cable ENC 3 of Fig 4 1 Cable attached The encoder cable is a signal line used to transmit a signal from the rotation angle detecting encoder of each robot axis to the controller The connector for connecting the encoder cable is ENC 3 of Fig 4 1 Locati...

Page 44: ...r cable be sure to turn off the main power POWER switch When disconnecting a cable be sure to pull the plug and not the cord Otherwise you may damage the cable a Circular connectors ACIN MOTOR Firstly align the key position and completely insert the connector on the cable side into the controller connector Then turn the cable side lock screw to the right to clamp the cable A loose screw can cause ...

Page 45: ... side connector with a screwdriver A loose screw can cause a contact failure or other accident To avoid this make sure that the screws are clamped completely To disconnect the connectors first loosen the lock screws then pull out the cable side connector INPUT and OUTPUT are quick operated lock type connectors however Fig 4 4 Connecting and disconnecting a square connector Controller side connecto...

Page 46: ...DANGER Completely connect the grounding cable Otherwise an electric shock or fire may be caused if a fault or electric leak occurred Or mis operation may be caused by noise b Motor cable connector MOTOR Connects to controller Type JL04V 2A28 11SE Manufacturer Japan Aviation Electronics Industry c Encoder cable connector ENC Connects to controller Type 52986 3659 Manufacturer MOLEX d Robot control ...

Page 47: ...ignal cable connector OUTPUT Connects to controller Type DHA RC40 R132N FA Manufacturer DDK Ltd g System input output signal cable connector SYSTEM Connects to controller Type 52986 5079 Manufacturer Molex h Trigger input connector TRIG Connects to controller Type XM2C 1542 112L Manufacturer OMRON i Encoder cable connector CONV Connects to controller Type 52986 1479 Manufacturer Molex ...

Page 48: ...80753 47 j Emergency stop safety input and external P24V supply connector EMS Connects to controller Type ML 4000CWJH 10PGY Manufacturer SATO PARTS k Brake connector BRK Connects to controller Type 1 1827876 6 Manufacturer TYCO ELECTRONICS AMP ...

Page 49: ...S 7 8 EMS2B EMS2C EMS 9 10 EMS1B EMS1C EMS 3 4 ENA2B ENA2C EMA 5 6 ENA1B ENA1C These signals are already jumpered for the connectors provided for the TS3100 robot controller If you wish to use or change them therefore you should remove the jumpers and rewire as appropriate If you plan to use the robot without using system input signals be sure to connect the attached connectors to the controller s...

Page 50: ...t be turned on Unless the CYCLE signal is jumpered the controller enters the cycle operation mode Unless the LOW_SPD signal is jumpered the robot is operated at low speed during automatic operation Unless the STOP signal is jumpered automatic operation of the robot is not possible Unless the BREAK signal is jumpered automatic operation of the robot is not possible ...

Page 51: ...ws at the four 4 corners which secure the control panel b Remove these screws then carefully draw out the control panel toward your side Caution Be careful of the cable connected on the rear side Fig 4 5 Removing control panel 4 3 2 Cable between Controller and Control Panel The cable required to connect the control panel and controller when they are installed separately can be provided optionally...

Page 52: ...NSTALLATION MANUAL STE80753 51 4 3 3 Control Panel Mounting Dimensions The dimensions of mounting the control panel are shown in Fig 4 6 Cross truss head screws φ3 6 ZN3 B are used Fig 4 6 Control panel mounting dimensions ...

Page 53: ...efore as shown in Fig 4 7 The dummy panel set parts etc are provided optionally a Connect the cable connector which was disconnected when separating the controller from the control panel to the rear side of the dummy panel then screw both ends of the connector When mounting the connector use the cross truss screws φ3 6 ZN3 B b Screw the dummy panel into the controller Fig 4 7 Mounting dummy panel ...

Page 54: ...re with cover 60 mm or more on the rear side of the separated control panel When the cable is connected to the dummy panel of the controller provide a clearance of 80 mm or so in front of the controller as the cable connector sticks out of the panel surface Fig 4 8 Cable connections of dummy panel and control panel Without cover 50 mm or more With cover 60 mm or more 80 mm or more from dummy panel...

Page 55: ... section are shown in Fig 5 1 As shown in Fig 5 1 the tool is centered with the φ20H7 mating section The tool direction is adjusted by means of the 5 5 keys and secured with four 4 M5 bolts The same tool flange is used for the TH850A TH1050A and TH1200A Fig 5 1 Tool mounting dimensions Axis 3 upper limit position 4 5 5 hole evenly spaced every 90 deg M5 bolt Tool ...

Page 56: ...l signals for solenoid valves DC24 V P24V signal and DC24 V GND P24G signal The signals enable connection from the controller to external equipment a 1 Input signal connector HAND Type N Pin Signal name Signal No Input circuit and example of connections 1 D IN0 Input signal 0 201 2 D IN1 Input signal 1 202 3 D IN2 Input signal 2 203 4 D IN3 Input signal 3 204 5 D IN4 Input signal 4 205 6 D IN5 Inp...

Page 57: ...ignal 7 208 19 P24V DC24 V power 20 As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specifications Contact rating DC24 V 10 mA or over circuit current approx 7 mA Minimum contact current DC24 V 1 mA Contact impedance 100 Ω or less Transistor specifications Withhold voltage between collector and emitter 30 V or over Current between collector and ...

Page 58: ...ns 9 D OUT0 Output signal 0 201 10 D OUT1 Output signal 1 202 11 D OUT2 Output signal 2 203 12 DOUT3 Output signal 3 204 13 D OUT4 Output signal 4 205 14 D OUT5 Output signal 5 206 15 D OUT6 Output signal 6 207 16 D OUT7 Output signal 7 208 17 18 P24V DC24 V power Customer s side DC relay Sink type common Diode for preventing counter electromotive voltage ...

Page 59: ... P24V power of the controller a relay solenoid valve etc can be driven When the external power is used GND of the external power should be common to GND P24G of the robot controller Output specifications Rated voltage DC24 V P24V Rated current 100 mA When a relay or solenoid valve etc is connected it is necessary to use a surge killer or diode to absorb the surge voltage When a double solenoid is ...

Page 60: ... may be caused When connecting the connector and wires make sure not to mistake the terminal arrangement After making the connection use a tester etc to confirm the connection When controlling the robot from the sequencer i e programmable ladder controller PLC etc installed separately remove the motor cover from the base section remove connectors JOES and JOFS on the rear side then connect the cab...

Page 61: ...5 8 J P24G P24V 0 V 24 V K Not used 10 L D OUT0 Output signal 0 201 11 N D OUT1 Output signal 1 202 12 M P24V P24G 24 V 0 V 13 P D OUT2 Output signal 2 203 14 R D OUT3 Output signal 3 204 15 S P24V P24V 24 V 0 V 9 T Shield FG Minus common X8GN Plus common X8GI With Type P the signal names of pins 8 J 12 M and 15 S are shown in parentheses Disconnect CN4 side JOES JOFS From PLC etc Grommet inner di...

Page 62: ...t current approx 7 mA Leak current between collector and emitter 100 µA or less By using P24V power of the controller a relay solenoid valve etc can be driven When the external power is used GND of the external power should be common to GND P24G of the robot controller Output specifications Rated voltage DC24 V max DC30 V Rated current 100 mA If the P24V power supplied from the robot controller is...

Page 63: ...T 0 8SS JST Pin Signal name Color Black Brown Orange Yellow Purple Gray Green Black Brown Orange Yellow Purple Gray Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Signal name Color Purple Gray Green Black White Green Black Brown Orange Yellow Purple Gray Green ...

Page 64: ...olor Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Color Pin Signal name Color Pin Signal name Color Purple Gray Green Black White Green Black Brown Orange Yellow Purple Gray Green Green Red Yellow Brown Blue Orange Green Gray Purple Black White Red Yellow Black Brown Orange Yellow Purple Gray Green Red Yellow Br...

Page 65: ...ee 3 manners are available for the tool wiring and piping Wiring and piping to the tool through a hollow hole 18 mm dia on the tool shaft Wiring and piping using fixed stays Direct wiring and piping by relocating the wiring panel to the lower side Fig 5 4 and Fig 5 5 show the procedures for relocating the wiring panel and the wiring method respectively The same arm 2 is used for the TH850A TH1050A...

Page 66: ... the four 4 screws securing the wiring panel then dismount the wiring panel As all cables are connector connected disconnect all cables connected there The gasket for the panel should remain attached to the steel plate securing the cover 3 Remove the cover at the lower side of the arm 2 4 Mount the wiring panel which was dismounted in Step 2 Fig 5 4 1 Procedures for relocating wiring panel Cover N...

Page 67: ...llide with the axis 3 or 4 belt Secure any loosened cable to the bracket also using the TYRAP 6 Finally secure the cover disconnected in Step 3 to the location where the panel was mounted before then attach the cover At this time be sure to set the nylon washers Take careful precautions not to damage the cover Fig 5 4 2 Procedures for relocating wiring panel CAUTION Be sure to connect all connecto...

Page 68: ...p surface Recommended tap holes machined M4 depth 8 pre drilled hole depth 13 mm When machining surface B the hole will go through the top surface arm 2 interior When using the robot in a clean environment machine surfaces A and attach the stays there Tool connection by using the hollow hole 18 mm dia on Z axis ball screw shaft Fixed stay To be provided by customer Tool connection by mounting the ...

Page 69: ... take careful precautions not to exert a load on respective connectors 5 2 3 Tool Air Piping The robot is provided with four 4 air lines for the tool The outer diameter of the air pipelines is 6 mm Fig 5 6 shows the tool air piping The air control unit oiler regulator with gage and filter for the solenoid valves should be provided by the user Wiring panel 4 M5 hand air joint D SUB connector Detail...

Page 70: ...connector Cannon connector option The air tube is identified by the number and color At piping make sure that each tube is connected properly referring to the below mentioned 1 Red 2 White 3 Blue 4 Yellow Air joint pitches of the panel Fig 5 6 Tool air piping ...

Page 71: ...nd offset value of tool gravity center from the center of the tool shaft as shown in Fig 5 7 The permissible load conditions are shown in Table 5 1 The permissible load conditions are the same for both TH850A TH1050A and TH1200A Table 5 1 Permissible load conditions Conditions Permissible values Mass Max 20 kg Load inertia Max 0 20 kg m2 Offset value of load gravity center Max 100 mm CAUTION NEVER...

Page 72: ...fic method for using this function is explained below a PAYLOAD command format The PAYLOAD command format is written as shown below if the tool mass is M kg and the gravity center offset is L mm PAYLOAD M L M Load mass unit kg L Offset value of gravity center unit mm The PAYLOAD command has the following functions The maximum speed and acceleration deceleration of each robot axis are automatically...

Page 73: ...enter offset PROGRAM SAMPLE SPEED 100 PAYLOAD 5 100 MOVE P1 MOVE P2 STOP END Program example 2 When the hand mass is 3 kg and the gravity center offset is 30 mm and the mass is 5 kg and gravity center offset is 50 mm when the workpiece is grasped Pick and place operation is executed under the above conditions PROGRAM SAMPLE PAYLOAD 3 30 ACCUR COARSE ENABLE NOWAIT RESET DOUT MOVE P0 DOUT 1 WAIT DIN...

Page 74: ...shoot resulting in malfunction or shortening of the life of the mechanisms In the worst case the mechanism will be damaged Even when the PAYLOAD command is used regulate the speed by using the SPEED or DECEL command while confirming the workpiece behavior subject to handling CAUTION The load moment of inertia should be within the tolerances given in Table 5 1 Even if there is no offset of load gra...

Page 75: ...ad mass or gravity center offset is large This is because the servo gain is not appropriate When this happens perform the following operation while setting the load conditions in the test run mode DO PAYLOAD M L M Mass kg L Offset mm EXE The servo gain is changed then to the value which meets the load conditions ...

Page 76: ...imum Speed and Robot Acceleration Deceleration for Load Conditions When the PAYLOAD command is used the maximum speed and acceleration deceleration of the robot are automatically changed according to the load conditions The maximum speed and acceleration deceleration change with the load mass as shown in Fig 5 8 and Fig 5 9 Setting of the maximum speed and acceleration deceleration is the same for...

Page 77: ...ion to load mass TH1200A 0 10 20 30 40 50 60 70 80 90 100 0 2 4 6 8 10 12 14 16 18 20 22 Load kg Maximum speed Acceleration deceleration time Acceleration deceleration time Maximum speed 0 10 20 30 40 50 60 70 80 90 100 0 2 4 6 8 10 12 14 16 18 20 22 Load kg Maximum speed Acceleration deceleration time Acceleration deceleration time Maximum speed 0 10 20 30 40 50 60 70 80 90 100 0 2 4 6 8 10 12 14...

Page 78: ... Load mass 12 kg Setting of acceleration deceleration in relation to offset Axis 1 Setting of maximum speed in relation to offset Axis 1 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Acceleration deceleration Load mass 10 kg 10 kg Load mass 15 kg Load mass 15 kg 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Maximum speed Load mass 7 kg 7 kg Load mass 12 kg Loa...

Page 79: ...ffset Axis 3 Setting of maximum speed in relation to offset Axis 3 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Load mass 10 kg 10 kg Load mass 15 kg Load mass 15 kg 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Acceleration deceleration Load mass 7 kg 10 kg Load mass 12 kg Load mass 12 kg Setting of acceleration deceleration in relation to offset Axis 4 Sett...

Page 80: ...fset Axis 3 Setting of maximum speed in relation to offset Axis 3 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Acceleration deceleration time Load mass 10 kg 10 kg Load mass 15 kg Load mass 15 kg 88 90 92 94 96 98 100 0 20 40 60 80 100 120 Offset mm Maximum speed Load mass 7 kg 7 kg Load mass 12 kg Load mass 12 kg Setting of acceleration deceleration in relation to offset Axis ...

Page 81: ...fset Axis 3 Setting of maximum speed in relation to offset Axis 3 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Acceleration deceleration time Load mass 10 kg 10 kg Load mass 15 kg Load mass 15 kg 0 10 20 30 40 50 60 70 80 90 100 0 20 40 60 80 100 120 Offset mm Maximum speed Load mass 7 kg 7 kg Load mass 12 kg Load mass 12 kg Setting of acceleration deceleration in relation to o...

Page 82: ...STE80753 79 TRANSPORTATION AND INSTALLATION MANUAL APPROVED BY CHECKED BY PREPARED BY ...

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