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STE 80765–0

TH850A/TH1050A–IP/TS2100

INSTRUCTION MANUAL

DUST- & DRIP-PROOF TYPE

INDUSTRIAL ROBOT SPECIFICATIONS

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.

April, 2009

TOSHIBA MACHINE CO., LTD.

NUMAZU, JAPAN

Содержание TS2100

Страница 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 April 2009 TOSHIBA MACHINE CO LTD NUMAZU JAPAN ...

Страница 2: ...ine 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 STE 80765 2 ...

Страница 3: ...e to assets and to ensure correct use Make sure that the following details indications and symbols are well understood before reading this manual Always observe the information that is noted Explanation of indications Indication Meaning of indication DANGER This means that incorrect handling will imminently lead to fatalities or major injuries WARNING This means that incorrect handling may lead to...

Страница 4: ... with pictures or words in or near the symbol This means danger or caution The details of the actual caution are indicated with pictures or words in or near the symbol Maintenance and inspection Be sure to observe the following items to use this product safely DANGER Prohibited DO NOT incinerate disassemble or charge the batteries Otherwise they may rupture Mandatory Be sure to turn off the main p...

Страница 5: ...scribed in the instruction manual Otherwise the performance may deteriorate or faults or accidents will be caused Mandatory Always use the Toshiba Machine s designated spare parts when replacing the parts Maintenance and inspection should be performed regularly Otherwise the system may malfunction or accidents will be caused STE 80765 5 ...

Страница 6: ...packed Section 3 Installation This section discusses the dust and drip proof type robot installation environment space requirements and how to install the robot Section 4 Tool Interface This section discusses how to connect the cables and pipelines for the tool of the dust and drip proof type robot Section 5 Maintenance This section describes the structure of the dust and drip proof type robot and...

Страница 7: ...ting the Robot 18 3 Installation 20 3 1 Installation Environment 20 3 2 Ingress Protection IP Class of Dust and Drip Proof Specification 21 3 3 Air Purge 22 3 4 Coordinate System 23 3 5 Installing the Robot 25 3 6 Cable Connection 27 3 6 1 Cables between Robot and Controller 27 3 6 2 Connecting and Disconnecting Connectors 27 3 6 3 Connector Terminal Layout 28 4 Tool Interface 29 4 1 Tool Wiring 2...

Страница 8: ...ellows 39 5 3 1 Procedures for Replacing Lower Bellows 39 5 3 2 Procedures for Replacing Upper Bellows 40 5 4 Mounting and Dismounting Covers 42 5 4 1 Base Cover 42 5 4 2 Arm 1 Covers 44 5 4 3 Arm 2 Cover 46 5 4 4 Arm 2 Panel Cover 48 6 Cleaning Robot Body 49 7 Replacement Parts for Maintenance 50 7 1 Replacement Parts List for Maintenance 50 STE 80765 8 ...

Страница 9: ...ase Battery box Axis 3 vertical Bellows Ball screw spline tool shaft Cap Arm 2 Tool flange Z Bellows Axis 4 rotation Square connector For motor drive encoder and control signal cables CN20 CN3 CN4 CN5 Air purge joint With speed controller Quick operated joint ø8 Cable clamp spare Quick operated joint for air tube ø6 3 places When viewed from arrow mark Z 3xM5 Air joint for hand Brake OFF switch Ca...

Страница 10: ... 1 3 show the outer dimensions and Fig 1 4 and Fig 1 5 refer to the operating range of the robot Space required for cable connection Z axis stroke 340 mm Z axis stroke 170 mm Z axis stroke 340 mm Z axis stroke 170 mm 配線用パネル Fig 1 2 Outer dimensions of the robot TH850A STE 80765 10 ...

Страница 11: ...TYPE SPECIFICATIONS MANUAL Wiring panel Space required for cable connection Z axis stroke 340 mm Z axis stroke 170 mm Z axis stroke 340 mm Z axis stroke 170 mm Fig 1 3 Outer dimensions of the robot TH1050A STE 80765 11 ...

Страница 12: ...DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL Fig 1 4 Operating range of the robot TH850A Fig 1 5 Operating range of the robot TH1050A STE 80765 12 ...

Страница 13: ...xis 1 1 000 W Axis 2 1 000 W Axis 3 600 W Motor capacity Axis 4 750 W Axis 1 160 deg Axis 2 145 deg Axis 3 170 mm Option 340 mm Operating range Axis 4 360 deg Axis 1 300 deg s Axis 2 420 deg s Axis 3 2 050 mm s Axis 4 1 200 deg s Maximum speed 3 Composite speed of axes 1 and 2 8 13 m s 9 15 m s Rated payload mass 5 kg Maximum payload mass 20 kg Permissible load inertia 3 0 2 kg m2 X Y 0 01 mm Z 0 ...

Страница 14: ...en the mass of load exceeds 2 kg or when the gravity center position of load is away from the axis 4 center position both the speed and acceleration should be reduced using the PAYLOAD command 4 The ambient temperature is predetermined at 20 C 5 Shuttle time for rough positioning in horizontal direction of 300 mm and vertical direction of 25 mm STE 80765 14 ...

Страница 15: ... TH850A TH1050A Installation and Transportation Manual provided separately For the dust and drip proof type robot strictly observe the following cautions CAUTION The main robot is factory packed in a vinyl bag for shipment Carefully remove the bag after the shipment has reached your office If the vinyl bag is pulled by force the bellows or cover may be damaged 2 2 Transportation Move the robot and...

Страница 16: ... Mass and Outer Dimensions The mass and outer dimensions of the robot at the time of transport are shown in Fig 2 1 and Fig 2 2 When Z axis stroke is 170 mm When Z axis stroke is 340 mm Fixture Mass of main robot 77 kg Fig 2 1 Outer dimensions at transport TH850A ...

Страница 17: ...STE 80765 17 DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL When Z axis stroke is 170 mm When Z axis stroke is 340 mm Fixture Mass of main robot 81 kg Fig 2 2 Outer dimensions at transport TH1050A ...

Страница 18: ...below are the same as in the standard robot See the TH850A TH1050A Installation and Transportation Manual provided separately The figure below shows the TH850A robot DO NOT hold the bellows DO NOT hold the bellows DO NOT hold the tool flange and ball screw spline shaft DO NOT hold the connectors DO NOT hold the arm 2 cover Handling areas shaded areas Fig 2 3 Robot handling prohibited areas After t...

Страница 19: ...t is held by hands an unusually large force is exerted resulting in a malfunction If the bellows is held or gripped by hands it may be broken due to friction with the parts inside When carrying the robot by workers take careful precautions to prevent their hand or leg from being caught in the robot The work should always be performed by two 2 or more workers STE 80765 19 ...

Страница 20: ...t No inductive dust should exist 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 should not exist nearby Magnetic field A heavy magnetic field source should not exist nearby Dust proof and drip proof Any place where the equipment sinks in liquid shall not exist Small chips involved in turni...

Страница 21: ...ide Protection characteristic symbol IP WARNING DO NOT use the entire robot or part of the robot sinking in water Otherwise the water will enter the robot interior DO NOT use the robot in an environment exceeding the specified IP class against water and dust Otherwise the water or dust may enter the robot interior resulting in shortening of the robot life deterioration of operating accuracy or mis...

Страница 22: ...tor unit Set the pressure to 0 3 MPa 0 58 MPa maximum pressure using a regulator or pressure reducing valve to be provided by the customer then connect the air tube Turn the needle of the speed controller counterclockwise from the fully closed state to increase the flowrate Regulate the flowrate while observing the bellows condition and tighten the lock nut of the speed controller If the air volum...

Страница 23: ...anes Fig 3 1 and Fig 3 2 show the base coordinate system XB YB ZB and origin of each axis joint angle ZB Origin of base coordinate system when Z axis stroke is 170 mm Axis 1 Axis 2 Axis 3 Axis 4 XB YB Reference surface Reference surface Origin of base coordinate system when Z axis stroke is 340 mm Fig 3 1 Base coordinate system and joint angle origin TH850A STE 80765 23 ...

Страница 24: ...base coordinate system when Z axis stroke is 170 mm Axis 1 Axis 2 Axis 3 Axis 4 YB Reference surface Reference surface XB Origin of base coordinate system when Z axis stroke is 340 mm Fig 3 2 Base coordinate system and joint angle origin TH1050A STE 80765 24 ...

Страница 25: ...he robot by applying them to the reference surfaces of the base The base is commonly used by the TH850A and TH1050A robots 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 rob...

Страница 26: ...DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL Fig 3 3 Installation method STE 80765 26 ...

Страница 27: ... connector Square connector CN3 Motor drive cable connector Round connector CN2 Robot side connector CN20 Robot control signal cable connector Square connector CN4 Controller side connector Square connector dust and drip proof specification Gray thin Black thin Gray thick CAUTION Neither the robot controller nor the connectors on the robot controller side are dust and drip proof 3 6 2 Connecting a...

Страница 28: ... connector Lever Cable side connector Lock the lever Fig 3 4 Connecting and disconnecting connectors 3 6 3 Connector Terminal Layout Square connector on the robot side CN20 Type 09300160307 Body 09140160313 Frame Maker Harting Motor drive cable connector CN2 Type 09140203101 Maker Harting Motor encoder cable connector CN3 Type 09140173101 Maker Harting Robot control signal cable connector CN4 Type...

Страница 29: ...nnected by soldering DANGER Be sure to use the designated cables Otherwise fires or faults may be caused When connecting the connector and cables 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 ...

Страница 30: ...1 Wiring to PLC etc 4 1 1 How to Connect Connectors The motor cover of the dust and drip proof type robot base is equipped with a cable clamp dust and drip proof construction To connect the cables from the separate PLC etc use this cable clamp to connect them with the connectors in the robot For the cable clamp use a cable with shield whose outer diameter is 6 0 to 12 0 mm Cable clamp Cap Filler r...

Страница 31: ...ushing into the cable clamp and completely tighten the cap 6 Connect the cables with connectors JOFP and JOEP on the robot side 7 Mount the motor cover in the manner described in Section 5 DANGER Before connecting or disconnecting the cables be sure to turn off the main power POWER switch Otherwise the robot may malfunction Be sure to use the cable of the designated specification Otherwise the cab...

Страница 32: ... Shield Minus common X8HN Diode for preventing counter electromotive voltage J0F 3 6 PG P24V Customer s side Plus common X8HI DC relay drive PG P24V Customer s side Diode for preventing counter electromotive voltage DC relay As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specification Contact rating DC24 V 10 mA or over circuit current approx 7...

Страница 33: ...V power is supplied from the robot controller the total current should be 2 A or less When the external power is used the total current should also be 2 A or less When a relay solenoid valve etc are connected it is necessary to use a surge killer or diode to absorb the surge voltage Wiring panel Details of wiring panel CN0 hand connector 3xM5 air joint for hand 3xø6 quick operated joint for hand C...

Страница 34: ...DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL Fig 4 3 Tool wiring STE 80765 34 ...

Страница 35: ...regulator with gage and filter and solenoid valves should be provided by the user Wiring panel Details of wiring panel 3xø6 air tube L type quick operated joint Quick operated joint 1 2 3 3 2 1 3xM5 hand air joint 3xø6 quick operated joint for hand Details 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 ...

Страница 36: ...DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL Air joint pitches of the panel Fig 4 4 Tool air piping STE 80765 36 ...

Страница 37: ...he procedures for replacing the bellows upper and lower sides and for mounting and dismounting the covers 5 1 Layout of Robot Components The layout of the robot mechanical components is shown in Fig 5 1 The figure below shows the TH850A robot Fig 5 1 Layout of robot mechanical components Bellows Ball screw spline shaft Bellows Axis 4 reduction gear Axis 4 motor Axis 3 motor Axis 2 reduction gear A...

Страница 38: ...ntenance For the tools and provisions other than the below mentioned see the TH850A 1050A Maintenance Manual provided separately Screwdrivers Phillips head screwdriver and slotted screwdriver A kit of hexagonal wrench key M3 M16 Cutter knife Liquid gasket Recommendation 1211 made by ThreeBond Loctite adhesives 242 mid strength STE 80765 38 ...

Страница 39: ...with a new one be sure to turn off the controller power and remove the power plug 5 3 1 Procedures for Replacing Lower Bellows 1 Remove the tool flange followed by the keep plate under the bellows 2 Remove the keep plate above the bellows then pull the bellows downward Tool flange Gasket Attached to the inside of bellows Keep plate upper Gasket Bellows Keep plate lower When mounting apply the liqu...

Страница 40: ...Upper Bellows 1 Remove the cap and upper keep plate then the three 3 set screws Remove the wiring guide 2 Remove the lower keep plate then pull the bellows upward 3 When disconnecting the arm 2 cover pull the bearing case upward For the procedures for disconnecting the arm 2 cover see Para 5 3 3 4 When replacing the ball screw remove the three 3 set screws securing the shaft for bellows then pull ...

Страница 41: ...o these areas When mounting apply the liquid gasket to this area Fig 5 3 Upper bellows 5 To mount the bellows observe the above steps in the reversed order Be sure to attach the gasket and apply the Loctite adhesives to all set bolts CAUTION When dismantling the bellows DO NOT pull it out by force Otherwise the bellows may rupture Be sure to apply the Loctite adhesives to all set bolts Otherwise t...

Страница 42: ...nant will not enter the robot If the power is supplied while water or contaminant is left in the robot you may get an electric shock or the robot may be damaged which is very dangerous 5 4 1 Base Cover In all two 2 base covers are provided the cover concurrently used for connector panel and the cover concurrently used for battery box 1 The former cover is secured to the base with six 6 cross reces...

Страница 43: ...ver set surface to fill a gap between the gasket cover and base Also apply the Loctite adhesives to all set bolts CAUTION Be sure to attach the gasket and apply the liquid gasket Also be sure to coat the Loctite adhesives to all set bolts Otherwise the dust and drip proof performance is damaged to cause entry of water or dust 2 The latter cover is secured to the base with four 4 cross recessed tru...

Страница 44: ...nd apply the liquid gasket Also be sure to coat the Loctite adhesives to all set bolts Otherwise the dust and drip proof performance is damaged to cause entry of water or dust 5 4 2 Arm 1 Covers The arm 1 covers are provided above the axis 1 arm cover 1 and under the axis 2 arm cover 2 Each cover is secured to the arm 1 with six 6 cross recessed truss head screws M4 6 by inserting the gasket The g...

Страница 45: ...and arm 1 Fig 5 6 Arm 1 covers When mounting the cover apply the liquid gasket to the area shown in Fig 5 6 above After mounting the arm cover 1 coat the liquid gasket to fill the gap with the arm 1 Also apply the Loctite adhesives to all set bolts CAUTION Be sure to attach the gasket and apply the liquid gasket Also be sure to coat the Loctite adhesives to all set bolts Otherwise the dust and dri...

Страница 46: ...6 truss head screws M4 10 securing the panel As in the wiring panel the gasket is glued to the panel and the gasket is also glued to the cover with the liquid gasket This is why the panel cannot be disconnected from the cover Take careful precautions not to disconnect them by force Wiring panel with wiring and connectors Panel Gasket Gasket and liquid gasket Panel DO NOT disconnect from the cover ...

Страница 47: ...ives to all set bolts CAUTION When using the cutter take careful precautions not to cut the packing body DO NOT peel off the liquid gasket between the cover and packing Otherwise the dust and drip proof performance is damaged to cause entry of water or dust Under some circumstances the packing may be separated from the cover When this happens apply the liquid gasket to between the cover and packin...

Страница 48: ...sket is coated to the cover and gasket Remove the four 4 cross recessed truss head screws and you can dismantle the cover As the gasket is glued to the cover they can be removed all together When mounting the cover apply the Loctite adhesives to all set bolts and mount the gasket together with the cover Cover Gasket Arm 2 Fig 5 9 Arm 2 panel cover CAUTION Be sure to attach the gasket Also be sure ...

Страница 49: ...e to turn off the controller power and remove the power plug Otherwise you will get an electric shock or the robot will malfunction which is very dangerous After the cleaning completely wipe out the water CAUTION Be sure to use a neutral detergent to clean and wash the robot body If a detergent such as chlorine detergent and acid detergent other than the neutral detergent is used the paint may det...

Страница 50: ...When Z axis stroke is 170 mm 2 Bellows S835831 Y610A38Y0 Toshiba Machine 2 When Z axis stroke is 340 mm The replacement parts for maintenance other than the above are the same as those of the TH850A TH1050A robot For details see the TH850A TH1050A Maintenance Manual provided separately When you wish to purchase the replacement parts for maintenance make sure of the serial number of the main robot ...

Страница 51: ...DUST DRIP PROOF TYPE SPECIFICATIONS MANUAL APPROVED BY CHECKED BY PREPARED BY STE 80765 51 ...

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