Toshiba TS3100 Instruction Manual Download Page 6

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TRANSPORTATION AND INSTALLATION MANUAL

CAUTION

Prohibited

• NEVER lift the robot by the cable duct or arm 2. Doing so will

apply an excessive force on the robot's mechanism 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.

Summary of Contents for TS3100

Page 1: ...livered 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 April 2014 TOSHIBA MACHINE CO LTD Robot controller TSL3100 Robot controller TSL3100E Robot controller TS3100 ...

Page 2: ...s TVL500 TVL700 Copyright 2014 by Toshiba 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 notice to effect improvements ...

Page 3: ... 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 to 6 Installation This section discus...

Page 4: ...es 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 action is pr...

Page 5: ... 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 capacity d...

Page 6: ... 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: ...orting the Robot 24 2 3 2 Transporting the Controller 27 2 3 3 2 4 Storage 27 Storage Precautions for the Robot 27 2 4 1 Storage Precautions for the Controller 27 2 4 2 3 Installation of the Robot Body 28 3 1 Installation Environment 28 3 2 Robot Installation 29 External Dimensions 29 3 2 1 Working Envelope 32 3 2 2 Coordinate System 35 3 2 3 Installing the Robot 36 3 2 4 3 3 Working Envelope Chan...

Page 8: ...Encoder Cable 74 7 1 3 Connecting the Brake Cable Robot Control Signal Cable 75 7 1 4 Connecting Power Supply Cable for External Input Output GND P24V 7 1 5 6 in Fig 7 1 75 Connecting and Disconnecting Cables 76 7 1 6 Examples of Connector Terminal Arrangement for the TSL3100 78 7 1 7 7 2 Controller Connector Signals 82 Connector Signal Connection Diagrams 82 7 2 1 Jumpers for Safety Related Signa...

Page 9: ...2 1 Jumpers for Safety Related Signals 107 9 2 2 9 3 When Detaching the Control Panel from the Controller for the TS3100 109 Dismounting the Control Panel 109 9 3 1 Cables between the Controller and the Control Panel 109 9 3 2 Installation Dimensions of the Control Panel 110 9 3 3 Mounting the Dummy Panel to the Controller 111 9 3 4 Dimensions When the Control Panel Is Detached 112 9 3 5 10 Tool I...

Page 10: ...TRANSPORTATION AND INSTALLATION MANUAL 10 13 1 Tool wiring 143 Tool Signals Controller Side 143 13 1 1 Tool Wiring Robot Arm Side 147 13 1 2 ...

Page 11: ...r the connection method of power supply 200V see 7 1 2 Connecting the Power Cable ACIN Again for the connection method of power supply 24V see 7 1 5 Connecting Power Supply Cable for External Input Output Robot controller TSL3100 TP cable TVL500 Cable between the robot and the controller For TSPC6ax communication cable provided by the customer PC provided by the customer Program support software T...

Page 12: ...or the connection method of power supply 24V see 8 1 5 Connecting Power Supply Cable for External Input Output TP cable TVL500 Cable between the robot and the controller For TSPC6ax communication cable provided by the customer PC provided by the customer Program support software TSPC6ax option TCPRGOS option 200V power supply 24V power supply RS 232C cross cable or LAN cable cross cable Teaching p...

Page 13: ... supply 24V see 9 1 5 Connecting Power Supply Cable for External Input Output 24V power supply from the rear TVL500 Robot controller TS3100 Operation panel of detached specification option For TSPC6ax communication cable provided by the customer 200V power supply TP cable RS 232C cross cable or LAN cable cross cable PC provided by the customer Program support software TSPC6ax option TCPRGOS option...

Page 14: ...t TVL500 Base swivel Arm 1 Axis 1 rotation Axis 3 rotation Axis 2 rotation Base Arm 2 1 Axis 6 rotation Axis 5 rotation Axis 4 rotation Arm 2 2 Arm 3 Cable duct HAND I O connector Tool tube joint 4 mm diameter 4 locations Tool tube joint 4 mm diameter 4 locations HAND signal brake cable connector Motor power encoder cable connector Grommet for wiring hole ...

Page 15: ...ANSPORTATION AND INSTALLATION MANUAL 15 1 3 External Dimensions Fig 1 5 to 1 6 refers to the external dimensions of the TVL500 TVL700 Fig 1 5 External dimensions of the TVL500 Dimensions used for cable 60 ...

Page 16: ...TRANSPORTATION AND INSTALLATION MANUAL 16 Fig 1 6 External dimensions of the TVL700 Dimensions used for cable 60 ...

Page 17: ... deg sec Axis 5 422 deg sec Axis 6 696 deg sec Maximum composite speed 7 98 m sec 7 71 m sec 8 Payload mass Rating 1 kg Note 1 Max 3 kg Downward 5 kg 4 kg Downward 5 kg 9 Standard cycle time for 1 kg transportation 0 3 sec unit 0 4 sec unit Note 2 10 Permissible load inertia Axes 4 and 5 0 15 kgm 2 0 09 kgm 2 Note 1 Axis 6 0 20 kgm 2 0 10 kgm 2 11 Repeatability X Y Z 0 02 mm Each component 0 03 mm...

Page 18: ...epeatability in one direction at a constant ambient temperature of 20 C Note 4 The color and surface treatment of the robot body may differ according to each production lot Please note that there is no problem in the very nature of the product quality ...

Page 19: ... a location easily accessible where the equipment is to be installed Take careful precautions not to damage the robot and controller After opening the packages make sure that all the accessories are present and that nothing has been damaged during transport For the accessories see the accessory list that comes with the controller Corrugated cardboard Cables Teach pendant option Wooden pallet Robot...

Page 20: ...taining the robot and controller have reached your office DO NOT install and operate them Otherwise the equipment will malfunction Contact Toshiba Machine immediately Dispose of the wooden pallet corrugated cardboards polyethylene shipping bags and cushion material according to the customer s in house regulations Corrugated cardboard external box Styrene foam cushions Controller ラ ...

Page 21: ...ackages in a location easily accessible where the equipment is to be installed Take careful precautions not to damage the robot and controller After opening the packages make sure that all the accessories are present and that nothing has been damaged during transport For the accessories see the accessory list that comes with the controller Teach pendant option Robot body actuator packed in a polye...

Page 22: ...t and controller have reached your office DO NOT install and operate them Otherwise the equipment will malfunction Contact Toshiba Machine immediately Dispose of the wooden pallet corrugated cardboards polyethylene shipping bags and cushion material according to the customer s in house regulations Styrene foam cushions Corrugated cardboard bottom board Corrugated cardboard external box Controller ...

Page 23: ... be moved to a location some distance from where it was unpacked reposition the cushions as they were and put the equipment back into the corrugated cardboards Mass and Dimensions 2 3 1 The mass and outer dimensions of the robot are shown in Fig 2 3 and 2 4 For details about the mass and external dimensions of the robot controller see Fig 4 1 for the TSL3100 Fig 5 1 for the TSL3100E or Fig 6 1 for...

Page 24: ...er you have unpacked the shipment you should move it as it is DANGER Be sure to secure the arm with the attached clamp before transporting the robot If a strong vibration or load is applied to the arm when power is off a motor position detection error may occur It is possible to lift up and transport the robot Pass the wire through the attached eyebolt then lift up the robot carefully as shown in ...

Page 25: ...an well withstand the mass of the robot When lifting up the robot it may tilt a little Lift it up slowly Lifting up and down should be performed 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 Wire ...

Page 26: ...force is exerted resulting in a malfunction Do not hold the cable duct by hand If you hold it the harness cable may be broken or the connections may be faulty When carrying the robot by workers take careful precautions to prevent their hand or leg from being caught in the robot The handling position may contain irregularities such as a notch in some very rare cases Take care not to be injured by t...

Page 27: ...d directly on the floor the robot is unstable and will fall over Keep the robot out of direct sunlight The timing belts and resin covers may deteriorate Seal the robot in a vinyl bag to prevent rust development and contaminant Put a desiccant in the bag to absorb moisture Before starting an operation perform running completely During storage the life of the backup batteries will shorten It is reco...

Page 28: ...tible gas should exist IP Ingress Protection rating IEC60529 IP40 for the robot and IP20 for the controller Overvoltage category IEC60664 1 Class III for the controller Protection against electric shock IEC61140 Class I for the controller Pollution degree IEC60664 1 Pollution Degree 3 for the controller Sunlight The robot and controller should not be exposed to direct sunlight Power noise A heavy ...

Page 29: ...or can occur In a low temperature environment be sure to operate the robot at low speed in continuous operation mode for several minutes after starting it which softens the grease Then change to high speed operation 3 2 Robot Installation Before the robot can be installed the installation layout must be studied in consideration of the working envelope the coordinate system and the maintenance clea...

Page 30: ...nal view TVL500 Joint 4 x 12 drilling For installing M10 bolt Cable occupied dimensions 60 Detail View of Tool Mounting Surface For dowel pin For dowel pin Only J3 is at the 90 position and the other are at the 0 position in the figures Working envelope deg ...

Page 31: ...xternal view TVL700 Working envelope deg Joint 4 x 12 drilling For installing M10 bolt Cable occupied dimensions 60 Only J3 is at the 90 position and the other are at the 0 position in the figures Detail View of Tool Mounting Surface ϕ6 H7 For dowel pin ...

Page 32: ...ent the robot from moving out of the working envelope by mis operation the robot is equipped with mechanical stoppers outside the working envelope In addition there are travel limits hereinafter called soft limits which are set by software The settings of soft limits can be changed by the user For details see the Instruction Manual User Parameters provided as a separate volume ...

Page 33: ...rking envelope deg Joint Only J3 is at the 90 position and the other are at the 0 position in the figures Working envelope of tool mounting flange surface Point P Working envelope TVL500 Point P Intersection of J5 and J6 Point P Working envelope of tool mounting flange surface ...

Page 34: ...g Joint Only J3 is at the 90 position and the other are at the 0 position in the figures Working envelope of tool mounting flange surface Point P Working envelope TVL700 Point P Intersection of J5 and J6 Point P Working envelope of tool mounting flange surface Point P Intersection of J5 and J6 ...

Page 35: ...lanes Fig 3 5 shows the base coordinate system and origin of each axis joint angle Fig 3 5 Base coordinate system and joint angle origin TVL500 Axis 2 Axis 3 Axis 5 Axis 1 Axis 4 Axis 6 TVL500 TVL700 TVL500 TVL700 Angle of axis Base coordinate system mm Base coordinate system mm J1 0 X 70 X 70 J2 0 Y 0 Y 0 J3 0 Z 900 Z 1100 J4 0 A 0 A 0 J5 0 B 0 B 0 J6 0 C 0 C 0 ...

Page 36: ...urface of base Fig 3 6 show a robot installation step using the reference surface Reference planes are provided on the base unit To align the robot position in the base coordinate system or to replace the robot provide adequate reference planes Then contact such reference planes to the base reference planes and secure the robot Fig 3 6 Setting method 1 Reference plane Reference plane Also provided...

Page 37: ...ting method 2 CAUTION While the robot is working a great load is applied to the frame If you want to install on the frame make sure that the frame has a sufficient 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 secure the robot with anchor bolts et...

Page 38: ... with the mechanical stoppers during operation The mechanical stoppers are not to strictly limit the movable range of the robot Do not go into the robot s working envelope when you turn on the robot If the robot collides with a mechanical stopper the robot will stop recognizing the collision but the mechanical stopper may be damaged Do not use the mechanical stopper any more The mechanical stopper...

Page 39: ...s 1 to travel between 171 The first axis mechanical stopper is common to both the TVL500 and the TVL700 robots Fig 3 8 shows the factory set working envelope Fig 3 8 Axis 1 working envelope setting Machine working envelope mechanical stopper Working envelope soft limit Factory set soft limit 171 Factory set soft limit 171 Mechanical stopper 174 See Fig 3 8 Machine working envelope Preset angle 171...

Page 40: ...RTATION AND INSTALLATION MANUAL 40 Fig 3 9 Factory set mechanical stopper TVL500 TVL700 Fig 3 10 Mechanical stopper location at the base TVL500 TVL700 2 x 6 8 drilling Example of material S45C 2 x M6 drilling ...

Page 41: ...ed If a working envelope position is changed the soft limit must be changed As for the change of soft limits see the Instruction Manual User Parameters provided as a separate volume Fig 3 11 Example of changing axis 1 working envelope TVL500 Machine working envelope mechanical stopper Working envelope soft limit Soft limit setting 90 Soft limit setting 120 Machine working envelope Mechanical stopp...

Page 42: ...ON AND INSTALLATION MANUAL 42 Fig 3 12 Example of changing axis 1 mechanical stoppers reference 2 x 6 8 drilling Example of material S45C Example of changing TVL500 axis 1 mechanical stopper Setting range 90 to 120 ...

Page 43: ...ond axis at factory shipment Operating direction TVL500 TVL700 166 166 65 91 The settings of the operating range when the TVL500 robot is shipped from the factory are shown in Fig 3 13 and those of the TVL700 robot in Fig 3 14 To change the operating range of the second axis the customer needs to prepare a new mechanical stopper If the operating range is changed it is also necessary to changer the...

Page 44: ...echanical stopper position on the arm 1 side for positive side soft limit Mechanical stopper position on the arm 1 side for negative side soft limit Machine working envelope mechanical stopper Working envelope soft limit Hexagon socket head bolt M5 x 8 SUS for positive side soft limit for the mechanical stopper on base swivel side Hexagon socket head bolt M5 x 8 SUS for negative side soft limit fo...

Page 45: ...ged the soft limit must be changed As for the change of soft limits see the Instruction Manual User Parameters provided as a separate volume Arm 1 center axis axis 2 0 Factory set soft limit 91 Factory set soft limit 166 Machine working envelope Preset angle 91 Machine working envelope Preset angle 166 Mechanical stopper position on the arm 1 side for positive side soft limit Machine working envel...

Page 46: ...angle 30 Machine working envelope Mechanical stopper preset angle 90 Mechanical stopper position on the arm 1 side for positive side soft limit Mechanical stopper position on the arm 1 side for negative side soft limit Machine working envelope mechanical stopper Working envelope soft limit Hexagon socket head bolt M5 12 SUS 4 For setting of 90 and 30 See Fig 3 14 Example of changing movable range ...

Page 47: ...0 Fig 3 17 Arm 1 side mechanical stopper TVL700 4 x 4 3 drilling This cannot be changed by the customer Example of material S45C from rear side Arm 1 center position This cannot be changed by the customer Example of material S45C Arm 1 center position 4 x 4 3 drilling 4 3 from rear side ...

Page 48: ...ANUAL 48 Fig 3 18 Design example of mechanical stopper on base swivel side For reference e g TVL 500 This cannot be changed by the customer Example of material S45C 4 x 5 5 drilling Example of changing movable range Setting range 30 90 ...

Page 49: ...perating direction TVL500 TVL700 150 5 166 0 5 0 5 The settings of the operating range when the TVL500 robot is shipped from the factory are shown in Fig 3 19 and those of the TVL700 robot in Fig 3 20 To change the operating range of the second axis the customer needs to prepare a new mechanical stopper If the operating range is changed it is also necessary to changer the software limits For detai...

Page 50: ...le 150 5 Mechanical stopper position on the arm 1 side for negative side soft limit Mechanical stopper position on the arm 1 side for positive side soft limit Machine working envelope mechanical stopper Working envelope soft limit Mechanical stopper position on the arm 2 side Hexagon socket head bolt M5 8 SUS for positive side soft limit Mechanical stopper position on the arm 2 side Hexagon socket...

Page 51: ...be changed As for the change of soft limits see the Instruction Manual User Parameters provided as a separate volume Arm 2 center axis axis 3 0 Factory set soft limit 0 5 Factory set soft limit 166 Machine working envelope Mechanical stopper preset angle 0 5 Machine working envelope Mechanical stopper preset angle 166 Mechanical stopper position on the arm 1 side for positive side soft limit Mecha...

Page 52: ...e working envelope Mechanical stopper preset angle 90 Mechanical stopper position on the arm 1 side for positive side soft limit Mechanical stopper position on the arm 1 side for negative side soft limit Machine working envelope mechanical stopper Working envelope soft limit Hexagon socket head bolt M5 10 SUS 2 Mechanical stopper position on the arm 2 side For setting of 90 and 0 See Fig 3 18 Exam...

Page 53: ...e mechanical stopper TVL500 Fig 3 23 Arm 1 side mechanical stopper TVL700 3x3 3 drilling This cannot be changed by the customer Example of material S45C from rear side This cannot be changed by the customer Example of material S45C 3x3 3 drilling from rear side ...

Page 54: ...ng from the teach pendant DO NOT press the switches on the teach pendant with anything sharp like the tip of a knife pencil ball point pen etc DO NOT place or use the teach pendant near open flames DO NOT leave the teach pendant in direct sunlight for a long period of time 3 5 Safety Measures To correctly handle the robot carefully read the instruction manual Safety as a separate volume and take n...

Page 55: ...stallation of the Controller In case of TSL3100E For the TS3100 please see 6 Installation of the Controller In case of TS3100 External view of the controller is shown in Fig 4 1 Fig 4 1 External view of controller TSL3100 Mass of controller 9 kg Compatibility with Ethernet or distributed I O provided Cable clamp Robot connector dimension Unit mm ...

Page 56: ... 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 4 2 Controller ventilation space TSL3100 100 mm or mo...

Page 57: ...100 on the control panel or others mount the fixture using the rubber leg screw hole on the bottom surface and fix the controller on the control panel Note The fixture two piece set is optional You are requested to assemble it Fig 4 3 Screw hole dimensions for securing controller TSL3100 Fixture 4 4 10 oblong hole ...

Page 58: ... distributed I O a cable must be connected to the rear of the controller In this case a space of 110 mm is required c For maintenance the upper cover should be removed See Fig 4 4 d Keep this in mind when installing the controller In particular when the controller is mounted on the control panel at the time of shipment the controller must be removed from the control panel at the time of maintenanc...

Page 59: ...TRANSPORTATION AND INSTALLATION MANUAL 59 Fig 4 4 Removing upper cover TSL3100 ...

Page 60: ...f the controller Fig 4 5 Clearance of controller front side TSL3100 CAUTION If the control panel is completely sealed open an air vent hole use a fan to provide forcible ventilation or provide indirect cooling so that heat will not remain inside the control panel If not heat will remain in the control panel and controller and this may cause a trouble Compatibility with Ethernet or distributed I O ...

Page 61: ...nsions For the TSL3100 please see 4 Installation of the Controller In case of TSL3100 For the TS3100 please see 6 Installation of the Controller In case of TS3100 External view of the controller is shown in Fig 5 1 Fig 5 1 External view of the controller TSL3100E Cable clamp Unit mm Robot connector dimension ...

Page 62: ... 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 5 2 Controller ventilation space TSL3100E 100 mm or m...

Page 63: ...ount the fixture using the rubber leg screw hole on the bottom surface and fix the controller on the control panel The rubber leg located in the middle of controller should not be removed Note The fixture two piece set is optional You are requested to assemble it Fig 5 3 Screw hole dimensions for securing controller TSL3100E Fixture 4 4 10 oblong hole ...

Page 64: ...ber leg b For maintenance the upper cover should be removed See Fig 5 4 c Keep this in mind when installing the controller In particular when the controller is mounted on the control panel at the time of shipment the controller must be removed from the control panel at the time of maintenance Specifically be careful of the following points 1 Arrange the cables around the controller so that the con...

Page 65: ...ance of 110 mm on the rear of the controller Fig 5 5 Clearance of controller front side TSL3100E CAUTION If the control panel is completely sealed open an air vent hole use a fan to provide forcible ventilation or provide indirect cooling so that heat will not remain inside the control panel If not heat will remain in the control panel and controller and this may cause a trouble ...

Page 66: ...4 Installation of the Controller In case of TSL3100 For the TSL3100E please see 5 Installation of the Controller In case of TSL3100E External view of the controller is shown in Fig 6 1 Fig 6 1 External view of the controller TS3100 42 0 29 8 33 5 23 1 24 TCPRG SYSTEM EMS Field BUS OUTPUT INPUT 0V A B FG 24V EXT I O Mass of controller 17 kg ...

Page 67: ...tilation 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 6 2 Controller ventilation space 100 mm or more For vertical placement spec...

Page 68: ...nting When mounting the robot controller TS3100 to the rack please follow the precautions below a When installing the robot controller by mounting in a rack use the holes located at both ends of the front panel to fix the robot controller to the rack Side brackets are required 420 6 450 470 40 150 40 11 230 241 If the rack is completely airtight open air release holes ventilate the air forcibly wi...

Page 69: ...lem Especially when the robot controller is stored in a rack it will be necessary to take out the robot controller from the rack for maintenance The following items must be taken into account 1 Cable installation in the rear of the robot controller Cables must be installed in such a way that the robot controller can be pulled out easily 2 Cable installation between the robot controller and the con...

Page 70: ... screw holes are provided to fasten the robot controller panel and thus the weight of the robot controller cannot be supported solely with these d Allocate a clearance of about 90 mm in front of the robot controller for connecting the teaching pendant connector Even if the teaching pendant is not used a clearance of about 60 mm is required since a dummy plug must be connected Fig 6 5 Clearance in ...

Page 71: ...pes of cables and connectors and explains how these are to be connected Connector Arrangement on the Controller 7 1 1 The cables connected to the robot controller are shown in Fig 6 1 Fig 7 1 Robot controller connector arrangement TSL3100 1 Power cable ACIN 2 Motor cable Encoder cable ROBOT 3 Robot control signal cable HAND 2 1 5 3 4 6 ...

Page 72: ...ntroller Table 7 1 Power supply specifications TSL3100 Power supply Single phase 190 240 VAC 50 60 Hz 1 Hz Instantaneous power failure Within 40 msec Grounding Class D grounding The connector is a standard accessory ACIN plug connector Type 03JFAT SAYGF I Maker J S T Mfg Wire 0 8 mm2 2 0 mm2 AWG 18 AWG 14 As the cable is not an accessory use the attached plug connector connected to ACIN on the con...

Page 73: ...tc to confirm the connection 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 maser power voltage at the controller power connector satisfies the specified input power of the controller and that the same voltage is stabilized For details on 8 027 Slow Charge error...

Page 74: ...ble is a signal line used to transmit a signal from the rotation angle detecting encoder of each robot axis to the controller The motor cable connector and encoder connector are for ROBOT 2 in Fig 7 1 The motor cable and encoder cable on the robot side are located at 1 of Fig 7 2 The cables and connectors for the motor cable and encoder cable are standard accessories Fig 7 2 Robot side connector a...

Page 75: ...re standard accessories Connecting Power Supply Cable for External Input Output 7 1 5 Use the attached connector ML 4000 CP 2PGY to connect the power supply cable for external input output GND P24V 6 in Fig 7 1 The P24V power is supplied from the front of the controller Shown below are the input output signals that use the externally supplied power 24 VDC Be sure to supply external power 24 VDC Ex...

Page 76: ...se you may damage the cable When removing the cable pull off the plug while holding the controller If you do not hold the controller the controller may be overturned when removing the plug a ROBOT connector ROBOT To connect the connector firmly insert the connector on the cable side into the connector on the side of the controller body Raise the levers located on the upper and lower portions on th...

Page 77: ...r into the controller connector Then tighten the lock screws on both ends of the cable 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 BRK and HAND are quick operated lock type connectors howeve...

Page 78: ...CIN Connects to controller Type 03JFAT SAYGF I Manufacturer J S T Msg 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 DANGER Controller side connector Cable side connector Connector Tighten Loosen Single phase 190 to 240 VAC 50 60 Hz Grounding Class D or higher level 1 L 2 N 3 FG ...

Page 79: ...ontroller Type XM3B 3722 112 Manufacturer Omron The counterpart is attached to the controller For details see Part ST85364 TSL3000 Interface d General purpose output signal cable connector OUTPUT Connects to controller Type XM3B 2522 112 Manufacturer Omron The counterpart is attached to the controller For details see Part ST85364 TSL3000 Interface 1 20 19 37 25 13 14 1 For motor power For encoder ...

Page 80: ... f Communication connector HOST TCPRG COM1 Connects to controller Type XM2C 0942 132L Manufacturer Omron g Distributed I O connector EXT I O Controller rear Connects to controller Type ML 4000 CWJH 05PGY Manufacturer Sato Parts Co Ltd The counterpart is attached to the controller For details see Part ST85364 TSL3000 Interface h Ethernet connector LAN Controller rear Connects to controller Type J00...

Page 81: ...L 81 k Brake signal cable connector BRK l Robot control signal cable connector HAND Connects to controller Type J21DPM 20V KX Manufacturer J S T Mfg A6 A1 B1 B6 Connects to controller Type J21DPM 12V KX Manufacturer J S T Mfg A10 B10 A1 B1 ...

Page 82: ...19 EMS1B EMS1C INPUT 36 37 EMS2B EMS2C INPUT 17 35 INCOM P24V Standard 24V common is assumed These signals are already jumpered for the connectors provided for the TSL3100 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 t...

Page 83: ...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 84: ...pes of cables and connectors and explains how these are to be connected Connector Arrangement on the Controller 8 1 1 The cables connected to the robot controller are shown in Fig 8 1 Fig 8 1 Robot controller connector arrangement TSL3100E 1 Power cable ACIN 2 Motor cable Encoder cable ROBOT 3 Robot control signal cable HAND 2 1 5 3 4 6 ...

Page 85: ...ly specifications TSL3100E Power supply Single phase 190 240 VAC 50 60 Hz 1 Hz Instantaneous power failure Within 40 msec Grounding Class D grounding The connector is a standard accessory ACIN plug connector Type JL04V 6A18 10SE EB Maker J S T Mfg Wire 2 0mm2 AWG 14 As the cable is not an accessory use the attached plug connector connected to ACIN on the controller side to manufacture a cable For ...

Page 86: ...tc to confirm the connection 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 maser power voltage at the controller power connector satisfies the specified input power of the controller and that the same voltage is stabilized For details on 8 027 Slow Charge error...

Page 87: ...ble is a signal line used to transmit a signal from the rotation angle detecting encoder of each robot axis to the controller The motor cable connector and encoder connector are for ROBOT 2 in Fig 8 1 The motor cable and encoder cable on the robot side are located at 1 of Fig 8 2 The cables and connectors for the motor cable and encoder cable are standard accessories Fig 8 2 Robot side connector a...

Page 88: ...le are standard accessories Connecting Power Supply Cable for External Input Output 8 1 5 Use the attached connector ML 4000 CP 5PGY to connect the power supply cable for external input output GND P24V 6 in Fig 8 1 The P24V power is supplied from the front of the controller Shown below are the input output signals that use the externally supplied power 24 VDC Be sure to supply external power 24 VD...

Page 89: ...ble be sure to pull the connector and not the cord Otherwise you may damage the cable When removing the cable pull off the plug while holding the controller If you do not hold the controller the controller may be overturned when removing the plug a ROBOT connector ROBOT To connect the connector firmly insert the connector on the cable side into the connector on the side of the controller body Rais...

Page 90: ...r into the controller connector Then tighten the lock screws on both ends of the cable 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 BRK and HAND are quick operated lock type connectors howeve...

Page 91: ...e connector is loose it may cause accidents due to connector contact failure so be sure to check that the connector is securely inserted To disconnect the connector rotate the lock screw counterclockwise in the opposite direction from connecting to loosen the connector and then pull out the connector on the cable side Fig 8 4 Connecting disconnecting the circular connector TS3100E Controller side ...

Page 92: ...ly 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 DANGER Single phase 190 to 240 VAC 50 60 Hz Grounding Class D or higher level A B D Connects to controller Type JL04V 2E18 10PE B Manufacturer J S T Msg Connects to controller Manufacturer Harting Co Ltd For motor power For encoder ...

Page 93: ...22 112 Manufacturer Omron The counterpart is attached to the controller For details see Part ST85364 TSL3000 Interface or Part ST85457 TSL3000E Interface e Input output signal power supply and Distributed I O connector EXT I O connector f Communication connector HOST TCPRG COM1 Connects to controller Type XM2C 0942 132L Manufacturer Omron 1 20 19 37 25 13 1 5 6 9 14 1 Connects to controller Type M...

Page 94: ...o controller Type J0026D21BNL Manufacturer PULSE Electronics k Brake signal cable connector BRK Connects to controller Type J21DPM 12V KX Manufacturer J S T Mfg l Robot control signal cable connector HAND Connects to controller Type J21DPM 20V KX Manufacturer J S T Mfg A6 A1 B1 B6 A10 B10 A1 B1 ...

Page 95: ...FF INPUT 32 BREAK INPUT 17 35 SYSINCOM P24V Standard 24V common is assumed These signals are already jumpered for the connectors provided for the TSL3100E 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 sid...

Page 96: ...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 97: ... 1 Robot controller connector arrangement TS3100 1 Power cable ACIN 2 Motor cable MOTOR 3 Encoder cable ENC 4 Robot control signal cable HAND 5 External input signals SYSTEM INPUT OUTPUT 6 Brake signal cable BRK 7 Distributed I O EXT I O 8 Power supply cable for external input output EMS In the subsequent paragraphs we explain how to connect cables 1 to 4 inclusive For information on how to connec...

Page 98: ...o ACIN on the controller side to manufacture cable Connect the connector and the power cable by soldering For the terminal arrangement see Para 9 1 7 DANGER Be sure to use the designated wire Failure to do so could lead to fires or faults 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 ...

Page 99: ...motor cable connector and encoder connector are for MOTOR 2 in Fig 9 1 The motor cable and encoder cable on the robot side are located at 1 of Fig 9 2 The cables and connectors for the motor cable and encoder cable are standard accessories Fig 9 2 Robot side connector arrangement TS3100 Connecting the Brake Cable Robot Control Signal Cable 9 1 4 The brake cable is used to input and output an ON OF...

Page 100: ...able Supply P24V power from the EMS connector located on the rear of the robot controller Shown below are the input output signals that use the externally supplied power 24 VDC Be sure to supply external power 24 VDC External input output External operation input output Extended input output Hand input output Note that both trigger input and brake output use the power supply 24 VDC inside the robo...

Page 101: ...table external power supply for your system specification ampacity For details about the plugging and unplugging the EMS connector see the Instruction Manual Interface CAUTION Be sure to supply external power 24 DVC Otherwise the safety signal will not be enabled and the controller servo power cannot be turned on ...

Page 102: ...nnector on the cable side into the connector on the robot controller body side and then tighten by rotating the lock screw on the cable side clockwise If the connector is loose it may cause accidents due to connector contact failure so be sure to check that the connector is securely inserted To disconnect the connector rotate the lock screw counterclockwise in the opposite direction from connectin...

Page 103: ...ith 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 9 5 Connecting and disconnecting a square connector TS3100 Connector on the controller body s...

Page 104: ...e 200 to 240V AC 50 60Hz B C D Grounding Class D or higher level C D Connects to controller Model JL04HV 2E22 22PE B Manufacturer Japan Aviation Electronics Industry Limited B A 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 Danger ...

Page 105: ...tor 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 Co Ltd F G H I E A B C D J L K M N P R S T U V W X 1 2 3 4 5 6 7 8 9 10 28 27 26 25 24 23 22 21 20 19 17 16 15 14 13 12 11 18 36 35 34 33 32 31 30 29 1 2 3 4 5 6 7 8 9 10 20 19 18 17 16 15 14 13 12 11 1 2 3 4 5 6...

Page 106: ...1479 Manufacturer Molex Co Ltd j Emergency stop safety input and external P24V supply connector EMS Connects to controller Type ML 4000CWJH 10PGY Manufacturer Sato Parts Co Ltd k Brake connector BRK Connects to controller Type 1 1827876 6 Manufacturer Tyco Electronics Japan G K 1 2 3 4 5 6 7 14 13 12 11 10 9 8 8 7 6 5 4 3 2 1 15 14 13 12 11 9 10 1 2 3 4 5 6 7 10 9 8 B6 B5 B4 B3 B1 A1 A2 A3 A4 A5A6...

Page 107: ... EMS2B to EMS2C EMS 9 10 EMS1B to EMS1C EMS 3 4 ENA2B to ENA2C EMS 5 6 ENA1B to 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 contr...

Page 108: ... 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 109: ...ews that fix the control panel b Remove the four screws and slowly pull out the panel section forward Note Exercise caution as cables are connected to the rear side of the panel section Fig 9 6 Dismounting the control panel TS3100 Cables between the Controller and the Control Panel 9 3 2 When the control panel is detached from the robot controller the cable that connects the controller panel to th...

Page 110: ...n Dimensions of the Control Panel 9 3 3 The installation dimensions of the control panel are as shown in Fig 9 6 Cross truss screws φ3 6 ZN3 B are used Fig 9 7 Installation dimensions of the control panel TS3100 5 5 180 190 5 5 180 190 170 180 4 M3 170 180 ...

Page 111: ...Fig 9 8 The dummy panel and mounting parts are provided as options a Insert the connector of the cable which was removed when detaching the control panel from the controller from the rear side of the dummy panel and fix both ends of the connector with screws To mount the connector use cross truss screws φ3 6 ZN3 B b Fix the dummy panel to the controller with the screws Fig 9 8 Mounting the dummy p...

Page 112: ... mm or more when the cover is used in the back of the detached control panel When the connection cable is attached to the dummy panel of the controller a clearance of about 80 mm is required as the cable connector is protruded to the front of the controller Fig 9 9 Connection diagram of the dummy panel and the control panel TS3100 80 mm or more from the dummy panel Without cover 50 mm or more With...

Page 113: ...at the end of arm 3 Fig 10 1 shows the dimensions of the tool mounting flange As shown in Fig 10 1 the tool is centered with the ø20H7 mating section The tool direction is adjusted by means of the ø5 knock pin and secured with four 4 M5 bolts Fig 10 1 Tool mounting dimensions Tool mounting bolt M5 x 4 pieces Recommended tightening torque 9 0 N m Tool ...

Page 114: ... Fig 10 2 shows the tool air piping Fig 10 2 Tool air piping 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 4 x 4 dia air tube one touch type Enlarged view of base rear E n Enlarged view of hand panel 1 2 3 4 4 x 4 dia air tube one touch type E n ...

Page 115: ...TRANSPORTATION AND INSTALLATION MANUAL 115 Fig 10 3 Tool air piping option HAND IO connector 1 2 3 4 Hand IO option ...

Page 116: ...he center of the tool shaft as shown in Fig 10 4 and Fig 10 5 The permissible load conditions for TVL500 TVL700 are shown in Table 10 1 Table 10 1 Permissible load conditions Conditions Permissible values Type TVL500 TVL700 Mass Rating 1 kg Max 3 kg Rating 1 kg Max 4kg Load inertia Axes4 and 5 0 15 kg m2 axis 6 0 2 kg m2 Axes4 and 5 0 09 kg m2 axis 6 0 1 kg m2 Offset value of load gravity center M...

Page 117: ...ment The following drawing shows an example of a model with simplified robot and load and a formula for calculating the load inertia moment L Distance from the center of axis 6 to load center gravity m a Load width m b Load length m M Load mass kg Inertia moment kg m 2 a2 b2 ML2 Fig 10 5 Robot tool coordinate system Gx Gy Gz X Y Z Mechanical interface coordinate system M 12 Load center gravity b a...

Page 118: ...tion Units in mm Absolute value Gy Center of gravity offset in the Y direction Units in mm Absolute value Gz Center of gravity offset in the Z direction Units in mm Absolute value The PAYLOAD command has the following functions The maximum speed and acceleration deceleration of each robot axis are automatically changed according to the set load conditions The servo gain of each robot axis is autom...

Page 119: ...ed Pick and place operation is executed under the above conditions PROGRAM SAMPLE PAYLOAD 3 0 0 20 ACCUR COARSE ENABLE NOWAIT RESET DOUT MOVE P0 DOUT 1 WAIT DIN 1 LOOP MOVE P1 POINT 0 0 100 IF DIN 1 THEN GOTO FIN MOVE P1 WAIT MOTION 100 DOUT 213 DELAY 1 PAYLOAD 1 30 0 50 MOVE P1 POINT 0 0 100 MOVE P2 POINT 0 0 100 MOVE P2 WAIT MOTION 100 DOUT 213 DELAY 1 PAYLOAD 3 0 0 20 MOVE P2 POINT 0 0 100 GOTO...

Page 120: ...D 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 10 1 A large inertia moment may cause the robot to vibrate even through the load s center of gravity is not offset In this case arbitrarily specify the following PAYLOAD M Gx Gy Gz CAUT...

Page 121: ...r thus enabling the wiring from the controller to external equipment Cables between the controller and external equipment are optional The signals are explained below a 1 Input signal connector HAND TSL3100 Type N Pin Signal name Signal No Input circuit and example of connections A1 D_IN1 Input signal 1 201 INPUTCOM Source type Common TSL3100 Customer s side P24G Contact or transistor The INPUTCOM...

Page 122: ...nput signal 6 206 A4 D_IN7 Input signal 7 207 B4 D_IN8 Input signal 8 208 A5 DC 24V P24V As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specifications Contact rating 24 VDC 10 mA or over circuit current approx 7 mA Minimum contact current 24 VDC 1 mA Contact impedance 100 or less Transistor specifications Withhold voltage between collector and ...

Page 123: ...put signal 1 201 A6 D_OUT2 Output signal 2 202 B6 D_OUT3 Output signal 3 203 A7 D_OUT4 Output signal 4 204 B7 D_OUT5 Output signal 5 205 A8 D_OUT6 Output signal 6 206 B8 D_OUT7 Output signal 7 207 A9 D_OUT8 Output signal 8 208 A10 DC 24V P24V 24 VDC power B10 DC 24V P24V Customer s side P24V P24G Sink type Common DC relay Diode for preventing counter electromotive voltage ...

Page 124: ...utput signal 8 208 A10 DC 24V GND P24G B10 DC 24V GND P24G By using the 24 VDC power of the controller a relay solenoid valve etc can be driven To use external power supply connect GND of the external power supply with the 24 VDC GND P24G of the robot controller GND common connection However do NOT connect the external power supply 24V with the 24 VDC P24V of the robot controller Otherwise the pow...

Page 125: ... shows the HAND cable option list DANGER Be sure to use the designated wire Otherwise fires or faults 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 If the separately installed sequencer or the like is used for control remove the connector panel of the base portion and se...

Page 126: ...l 1 201 P24V Source type Common TS3100 Customer s side P24G Contact or transistor 2 D_IN2 Input signal 2 202 3 D_IN3 Input signal 3 203 4 D_IN4 Input signal 4 204 5 DC 24V GND P24G 6 D_OUT1 Output signal 1 201 Customer s side P24V P24G Sink type Common DC relay Diode for preventing counter electromotive voltage 7 D_OUT2 Output signal 2 202 8 D_OUT3 Output signal 3 203 9 D_OUT4 Output signal 4 204 ...

Page 127: ... is located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 Output signal 5 205 2 D_OUT6 Output signal 6 206 3 DC 24V P24V Pin Connector HOUT4 Signal name Signal No 1 D_OUT7 Output signal 7 207 2 D_OUT8 Output signal 8 208 3 DC 24V P24V ...

Page 128: ...e DC relay Diode for preventing counter electromotive voltage Source type Common P24V P24G 7 D_OUT2 Output signal 2 202 8 D_OUT3 Output signal 3 203 9 D_OUT4 Output signal 4 204 10 DC 24V GND P24G Input output signal connector HOUT3 HOUT4 Type P This connector is located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 ...

Page 129: ...urrent approx 7 mA Leak current between collector and emitter 100 µA or less By using the 24 VDC 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 PG of the robot controller Output specifications Rated voltage 24 VDC Rated current 100 mA If the 24 VDC power supplied from the robot controller is used th...

Page 130: ...ame Toshiba Dwg No Unit code Maker Plug type Length 1 I O cable 392N1201 Y610A3VP0 Toshiba Machine Angle plug 1M 2 392N1202 Y610A3VQ0 2M Fig 11 2 Tool I O wiring HIN HOUT HIN HOUT Inside arm 2 1 standard HAND IO connector HIN HOUT Inside arm 2 2 optional Inside arm 3 optional HIN HOUT ...

Page 131: ... arm 2 for hand optional Used at the time of installation of the IO arm 3 for hand optional Used at the time of installation of the IO arm 3 for hand optional Arm 3 To robot hand Cable connected by customer Connector for customer Connector JN2FS10SL2 R JAE Contact JN1 22 22S PKG100 JAE Used at the time of installation of the IO arm 2 for hand optional Black White Red Green Yellow Brown Blue Gray O...

Page 132: ... wiring from the controller to external equipment Cables between the controller and external equipment are optional The signals are explained below a 1 Input signal connector HAND TSL3100E Type N Pin Signal name Signal No Input circuit and example of connections A1 D_IN1 Input signal 1 201 The SYSINCOM signal is the same as that of the pins 17 and 30 connected to the INPUT connector on the control...

Page 133: ... D_IN7 Input signal 7 207 B4 D_IN8 Input signal 8 208 A5 DC 24V P24V As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specifications Contact rating 24 VDC 10 mA or over circuit current approx 7 mA Minimum contact current 24 VDC 1 mA Contact impedance 100 or less Transistor specifications Withhold voltage between collector and emitter 30 V or over...

Page 134: ...hat of the pins 10 and 23 connected to the OUTPUT connector on the controller front face A6 D_OUT2 Output signal 2 202 B6 D_OUT3 Output signal 3 203 A7 D_OUT4 Output signal 4 204 B7 D_OUT5 Output signal 5 205 A8 D_OUT6 Output signal 6 206 B8 D_OUT7 Output signal 7 207 A9 D_OUT8 Output signal 8 208 A5 DC 24V P24V お客様側 P24G ｺﾓﾝ接続 P24V P24G SYSOUTCOM D_OUT Sink type ﾏｲﾅｽｺﾓﾝ Customer side Sink type C...

Page 135: ...y using the 24 VDC power of the controller a relay solenoid valve etc can be driven To use external power supply connect GND of the external power supply with the 24 VDC GND P24G of the robot controller GND common connection However do NOT connect the external power supply 24V with the 24 VDC P24V of the robot controller Otherwise the power supply may be damaged Output specifications Rated voltage...

Page 136: ... shows the HAND cable option list DANGER Be sure to use the designated wire Otherwise fires or faults 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 If the separately installed sequencer or the like is used for control remove the connector panel of the base portion and se...

Page 137: ...l 2 202 3 D_IN3 Input signal 3 203 4 D_IN4 Input signal 4 204 5 DC 24V GND P24G 6 D_OUT1 Output signal 1 201 7 D_OUT2 Output signal 2 202 8 D_OUT3 Output signal 3 203 9 D_OUT4 Output signal 4 204 10 DC 24V P24V HIN Grommet inner dia 15 mm Cable inlet 1 places HOUT SYSINCOM TSL3100E お客様側 P24G 接点又はトランジスタＳｏｕｒｃｅｔｙｐｅﾌﾟﾗｽｺﾓﾝ Customer side Contact or transistor Source type Common Arm 2 1 お客様側 P24G...

Page 138: ... is located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 Output signal 5 205 2 D_OUT6 Output signal 6 206 3 DC 24V P24V Pin Connector HOUT4 Signal name Signal No 1 D_OUT7 Output signal 7 207 2 D_OUT8 Output signal 8 208 3 DC 24V P24V ...

Page 139: ...GND P24G Input output signal connector HOUT3 HOUT4 Type P This connector is located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 Output signal 5 205 2 D_OUT6 Output signal 6 206 3 DC 24V GND P24G Pin Connector HOUT4 Signal name Signal No 1 D_OUT7 Output signal 7 207 2 D_OUT8 Output signal 8 208 3 DC 24V GND P24G Arm...

Page 140: ...urrent approx 7 mA Leak current between collector and emitter 100 µA or less By using the 24 VDC 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 PG of the robot controller Output specifications Rated voltage 24 VDC Rated current 100 mA If the 24 VDC power supplied from the robot controller is used th...

Page 141: ...ame Toshiba Dwg No Unit code Maker Plug type Length 1 I O cable 392N1201 Y610A3VP0 Toshiba Machine Angle plug 1M 2 392N1202 Y610A3VQ0 2M Fig 12 2 Tool I O wiring HIN HOUT HIN HOUT Inside arm 2 1 standard HAND IO connector HIN HOUT Inside arm 2 2 optional Inside arm 3 optional HIN HOUT ...

Page 142: ... arm 2 for hand optional Used at the time of installation of the IO arm 3 for hand optional Used at the time of installation of the IO arm 3 for hand optional Arm 3 To robot hand Cable connected by customer Connector for customer Connector JN2FS10SL2 R JAE Contact JN1 22 22S PKG100 JAE Used at the time of installation of the IO arm 2 for hand optional Black White Red Green Yellow Brown Blue Gray O...

Page 143: ...nd 24 VDC GND are provided as tool signals for the controller thus enabling the wiring from the controller to external equipment Cables between the controller and external equipment are optional The signals are explained below a 1 Input signal connector HAND TS3100 Type N Pin Signal name Signal No Input circuit and example of connections 1 D_IN1 Input signal 1 201 P24V Source type Common TS3100 Cu...

Page 144: ...Input signal 6 206 7 D_IN7 Input signal 7 207 8 D_IN8 Input signal 8 208 19 DC 24V P24V 20 DC 24V P24V As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specifications Contact rating 24 VDC 10 mA or over circuit current approx 7 mA Minimum contact current 24 VDC 1 mA Contact impedance 100 or less Transistor specifications Withhold voltage between ...

Page 145: ...201 10 D_OUT2 Output signal 2 202 11 D_OUT3 Output signal 3 203 12 D_OUT4 Output signal 4 204 13 D_OUT5 Output signal 5 205 14 D_OUT6 Output signal 6 206 15 D_OUT7 Output signal 7 207 16 D_OUT8 Output signal 8 208 17 DC 24V P24V 18 DC 24V P24V Customer s side P24V P24G Sink type Common DC relay Diode for preventing counter electromotive voltage ...

Page 146: ...Output signal 8 208 17 DC 24VGND P24G 18 DC 24VGND P24G By using the 24 VDC power of the controller a relay solenoid valve etc can be driven To use external power supply connect GND of the external power supply with the 24 VDC GND P24G of the robot controller GND common connection However do NOT connect the external power supply 24V with the 24 VDC P24V of the robot controller Otherwise the power ...

Page 147: ... shows the HAND cable option list DANGER Be sure to use the designated wire Otherwise fires or faults 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 If the separately installed sequencer or the like is used for control remove the connector panel of the base portion and se...

Page 148: ...TRANSPORTATION AND INSTALLATION MANUAL 148 Type of contact SHF 001T 0 8BS Adaptive cable AWG22 AWG28 Fig 13 1 Wiring to PLC etc HIN Grommet inner dia 15 mm Cable inlet 1 places HOUT ...

Page 149: ... type Common TS3100 Customer s side P24G Contact or transistor 2 D_IN2 Input signal 2 202 3 D_IN3 Input signal 3 203 4 D_IN4 Input signal 4 204 5 DC 24VGND P24G 6 D_OUT1 Output signal 1 201 Customer s side P24V P24G Sink type Common DC relay Diode for preventing counter electromotive voltage 7 D_OUT2 Output signal 2 202 8 D_OUT3 Output signal 3 203 9 D_OUT4 Output signal 4 204 10 DC 24V P24V Arm 2...

Page 150: ...located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 Output signal 5 205 2 D_OUT6 Output signal 6 206 3 DC 24V P24V Pin Connector HOUT4 Signal name Signal No 1 D_OUT7 Output signal 7 207 2 D_OUT8 Output signal 8 208 3 DC 24V P24V ...

Page 151: ... relay Diode for preventing counter electromotive voltage Source type Common P24V P24G 7 D_OUT2 Output signal 2 202 8 D_OUT3 Output signal 3 203 9 D_OUT4 Output signal 4 204 10 DC 24V GND P24G Input output signal connector HOUT3 HOUT4 Type P This connector is located in arm 2 1 and connected to the solenoid valve when the manifold is optional Pin Connector HOUT3 Signal name Signal No 1 D_OUT5 Outp...

Page 152: ...urrent approx 7 mA Leak current between collector and emitter 100 µA or less By using the 24 VDC 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 PG of the robot controller Output specifications Rated voltage 24 VDC Rated current 100 mA If the 24 VDC power supplied from the robot controller is used th...

Page 153: ...ame Toshiba Dwg No Unit code Maker Plug type Length 1 I O cable 392N1201 Y610A3VP0 Toshiba Machine Angle plug 1M 2 392N1202 Y610A3VQ0 2M Fig 13 2 Tool I O wiring HIN HOUT HIN HOUT Inside arm 2 1 standard HAND IO connector HIN HOUT Inside arm 2 2 optional Inside arm 3 optional HIN HOUT ...

Page 154: ...ptional Used at the time of installation of the IO arm 3 for hand optional Used at the time of installation of the IO arm 3 for hand optional Arm 3 To robot hand Cable connected by customer Connector for customer Connector JN2FS10SL2 R JAE Contact JN1 22 22S PKG100 JAE Used at the time of installation of the IO arm 2 for hand optional Black White Red Green Brown Blue Gray Orange Purple Pink Sky bl...

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