Toshiba TH450A-CRB User manual

STE 80872-0
TH450A-CRB
TH550A-CRB
THP550-CRB/TS3000
INSTRUCTION MANUAL
CLEAN TYPE
INDUSTRIAL ROBOT SPECIFICATIONS
Notice
yMake sure that this instruction manual is delivered to the final
user of Toshiba Machine’s industrial robot.
yBefore operating the industrial robot, read through and
completely understand this manual.
yAfter reading through this manual, keep it nearby for future
reference.
May 2010
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN

CLEAN TYPE SPECIFICATIONS MANUAL
Copyright 2010 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 prior notice to effect
improvements.
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CLEAN TYPE SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the TH–A and THP series clean type industrial
robots.
This manual is essential to keep the robot performance for a long time, to prevent failures
and to assure safety. Be sure to look through this manual and set up a maintenance
program before actually starting the robot.
Precautions on Safety
Important information on the robot and controller is noted in the instruction manual to
prevent injury to the user and persons nearby, prevent damage 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
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 damage due to destruction of assets or
resources.
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[Explanation of symbols]
Symbol Meaning of symbol
This means that the action is prohibited (must not be done).
Details of the actions actually prohibited are indicated with
pictures or words in or near the symbol.
This means that the action is mandatory (must be done).
Details of the actions that must be done are indicated with
pictures or words in or near the symbol.
This means danger and caution.
Details of the actual danger and 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 power switch of the controller
before starting inspection or maintenance.
• Batteries should be disposed of according to the user's
in-house regulations.
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CLEAN TYPE SPECIFICATIONS MANUAL
!CAUTION
Disassembly
prohibited
• The user must NEVER replace or modify parts other than
those described 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.
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CLEAN TYPE SPECIFICATIONS MANUAL
This manual is comprised of the following six (6) sections:
Section 1 Specifications
This section describes the basic specifications and names of respective parts
of the clean type industrial robot.
Section 2 Transportation
This section describes how to remove the clean type robot from its box and
how to transport it to the installation site.
Section 3 Installation
This section discusses the clean 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 clean type robot.
Section 5 Maintenance
This section describes the structure of the clean type robot and all items
required for the maintenance and inspection of the same robot.
Section 6 Replacement Parts for Maintenance
This section explains the replacement parts for the maintenance.
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CLEAN TYPE SPECIFICATIONS MANUAL
Table of Contents
Page
1. Specifications ...........................................................................................................8
1.1 Name of Each Part ..........................................................................................8
1.2 Outer Dimensions............................................................................................9
1.3 Specifications Table.......................................................................................15
2. Transportation ........................................................................................................19
2.1 Unpacking and Transport ..............................................................................19
2.2 Mass and Outer Dimensions .........................................................................19
2.3 Cautions on Transporting the Robot..............................................................21
3. Installation ..............................................................................................................23
3.1 Installation Environment ................................................................................23
3.2 Air Suction Volume........................................................................................24
3.3 Coordinate System........................................................................................25
3.4 Installing the Robot........................................................................................27
4. Tool Interface..........................................................................................................28
4.1 Tool Air Piping ...............................................................................................28
5. Maintenance...........................................................................................................30
5.1 Items for Maintenance and Inspection...........................................................30
5.1.1 Check for Bellows..............................................................................31
5.1.2 Replacement of Bellows....................................................................31
5.1.3 Filling Grease to Ball Screw Spline Unit............................................31
5.2 Layout of Robot Components........................................................................32
5.3 Mounting and Dismounting Covers................................................................34
5.3.1 Base Cover .......................................................................................34
5.3.2 Arm 1 Covers ....................................................................................35
5.3.3 Arm 2 Cover......................................................................................37
5.4 Replacing Bellows .........................................................................................38
5.4.1 Replacement Procedures for Bellows (Lower) ..................................38
5.4.2 Replacement Procedures for Bellows (Upper) ..................................39
6. Replacement Parts for Maintenance.......................................................................41
6.1 Replacement Parts List for Maintenance.......................................................41
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CLEAN TYPE SPECIFICATIONS MANUAL
1. Specifications
1.1 Name of Each Part
The names of respective parts of the clean type robot are shown in Fig. 1.1 below.
Axis 2 (rotation)
A
rm 2
Bellows (upper)
Wiring panel
Cover
Arm 1
Axis 1
(rotation)
Tool flange
Axis 3
(vertical)
Ball screw spline
(tool shaft)
Bellows (lower)
Z
Base
Axis 4
(rotation)
Brake OFF switch Spare (grommet)
Cannon connector Brake
Encode
r
Joint for air suction piping (φ8): 1
place
Motor power connecto
r
I/O
Quick-operated joint for hand
(4 ×φ4) Quick-operated joint for hand
(4 ×φ4)
Fig. 1.1 Name of each part
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1.2 Outer Dimensions
Fig. 1.2 to Fig. 1.4 show the outer dimensions of the robot and Fig. 1.5 to Fig. 1.7 show
the operating range of the robot.
Z-axis stroke
Space required for cable connection
Fig. 1.2 Outer dimensions of the robot (TH450A-CRB)
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Z-axis stroke
Space required for cable connection
Fig. 1.3 Outer dimensions of the robot (TH550A-CRB)
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(Z stroke 150 mm) (Z stroke 300 mm)
Stroke 150 mm (upper limit)
Stroke 300 mm (upper limit)
Space required for cable connection
Fig. 1.4 Outer dimensions of the robot (THP550-CRB)
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Fig. 1.5 Operating range of the robot (TH450A-CRB)
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Fig. 1.6 Operating range of the robot (TH550A-CRB)
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Fig. 1.7 Operating range of the robot (THP550-CRB)
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1.3 Specifications Table
[TH450A-CRB/TH550A-CRB]
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model TH450A–CRB TH550A–CRB
Applicable controller TS3000 (*1)
Mass of robot body 28 kg 29 kg
No. of controlled axes Four (4)
Arm length 450 mm (200 + 250) 550 mm (300 + 250)
Axis 1 1,000 (W)
Axis 2 400 (W)
Axis 3 200 (W)
Motor capacity
Axis 4 200 (W)
Axis 1 ±120 (deg)
Axis 2 ±145 (deg)
Axis 3 150 (mm) [Option: 300 (mm)]
Operating range
Axis 4 ±360 (deg)
Axis 1 600 (deg/s) 375 (deg/s)
Axis 2 600 (deg/s)
Axis 3 2,000 (mm/s)
Axis 4 2,000 (deg/s)
Maximum speed
(*2) Composite
speed of
axes 1 and 2 7.3 (m/s) 6.21 (m/s)
Rated payload mass 2 (kg)
Maximum payload mass 5 (kg)
Permissible load inertia (*2) 0.06 (kg·m2)
X, Y ±0.01 (mm)
Z ±0.01 (mm)
Repeatability (*3) C ±0.005 (deg)
Cycle time (*4) (When payload
mass is 2 kg) 0.30 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
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Item Specifications
Cleanness level (*5) Ten (10) or less dust particles of 0.1 μm or
over in diameter, which exist in 1 cft (28,317
cm3) of a sample area.
Equivalent to clean class 3 defined by ISO
Air suction volume 60 normal liters/min
*1: The structure of the robot controller is not of a clean type.
*2: When 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.
*3: The ambient temperature is predetermined at 20°C.
*4: Shuttle time for rough positioning in horizontal direction of 300 mm and vertical
direction of 25 mm.
*5: When the air suction volume is 60 normal liters/min, down flowrate in the clean
room is 0.4 m/s or over.
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[THP550-CRB] Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model THP550–CRB
Applicable controller TS3000 (*1)
Mass of robot body 27 kg
No. of controlled axes 4
Arm length 550 mm (300 + 250)
Axis 1 1000 (W)
Axis 2 400 (W)
Axis 3 200 (W)
Motor capacity
Axis 4 100 (W)
Axis 1 ±120 (deg)
Axis 2 ±145 (deg)
Axis 3 150 (mm) [Option: 300 (mm)]
Operating range
Axis 4 ±360 (deg)
Axis 1 375 (deg/s)
Axis 2 600 (deg/s)
Axis 3 2,000 (mm/s)
Axis 4 2,000 (deg/s)
Maximum speed
(*2) Composite
speed of axes
1 and 2 6.21 (m/s)
Rated payload mass 1 (kg)
Maximum payload mass 2 (kg)
Permissible load inertia (*2) 0.01 (kg·m2)
X, Y ±0.015 (mm)
Z ±0.01 (mm)
Repeatability (*3) C ±0.02(deg)
Cycle time (*4) (When payload
mass is 2 kg) 0.29(sec)
Drive system By means of AC servo motors
Position detection method Absolute
Cleanness level (*5) Ten (10) or less dust particles of 0.1 μm or
over in diameter, which exist in 1 cft (28,317
cm3) of a sample area.
Equivalent to clean class 3 defined by ISO
Air suction volume 60 normal liters/min
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*1: The structure of the robot controller is not of a clean type.
*2: When the mass of load exceeds 1 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.
*3: The ambient temperature is predetermined at 20°C.
*4: Shuttle time for rough positioning in horizontal direction of 300 mm and vertical
direction of 25 mm.
*5: When the air suction volume is 60 normal liters/min, down flowrate in the clean
room is 0.4 m/s or over.
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2. Transportation
2.1 Unpacking and Transport
The robot and controller are shipped either in wooden crates or cardboard boxes.
Open the packages 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 no
part has been damaged during transport.
The package posture and contents of the wooden crates and cardboard boxes are the
same as in the standard robot. For details, see the TH450A/TH550A/TS3000
Installation and Transportation Manual or the THP550/TS3000 Installation and
Transportation Manual provided separately.
2.2 Mass and Outer Dimensions
The mass and outer dimensions of the robot at the time of transport are shown in Figs.
2.1 to 2.3.
Mass of main robot = 28 kg
Clamp
Fig. 2.1 Outer dimensions at transport (TH450A-CRB)
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Mass of main robot = 29 kg
Clamp
Fig. 2.2 Outer dimensions at transport (TH550A-CRB)
Mass of main robot = 27 kg
Z-axis standard stroke
Z-axis long stroke
Clamp
Fig. 2.3 Outer dimensions at transport (THP550-CRB)
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