Toshiba TH450A-T User manual

STE 80870–0
TH450A-T
TH550A-T
THP550-T/TS3000
INSTRUCTION MANUAL
CEILING TYPE (OVERHEAD TRAVELING 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 2010
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN

CEILING 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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Preface
This manual describes the specifications of the TH450A, TH550A, THP550 ceiling type (or
overhead traveling type) industrial robot.
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 fires 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.
The 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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!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.
This manual is comprised of the following five (5) sections:
Section 1 Specifications
This section describes the basic specifications and names of respective parts
for the ceiling type (or overhead traveling type) industrial robot.
Section 2 Transportation
This section describes how to remove the ceiling type robot from its box and
how to transport it to the installation site. This section also deals with the
precautions to be taken when the robot is to be stored temporarily after
unpacked.
Section 3 Installation
This section discusses the ceiling type robot installation environment, space
requirements, and how to install the robot.
Section 4 Maintenance
This section describes the structure of the ceiling type robot and all items
required for the maintenance and inspection of the same robot.
Section 5 Replacement Parts for Maintenance
This section explains the replacement parts for the maintenance.
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Table of Contents
Page
1. Specifications ...........................................................................................................6
1.1 Name of Each Part ..........................................................................................6
1.2 Outer Dimensions............................................................................................9
1.3 Specifications Table.......................................................................................15
2. Transportation ........................................................................................................19
2.1 Unpacking......................................................................................................19
2.2 Transportation ...............................................................................................19
2.2.1 Mass and Outer Dimensions.............................................................20
2.2.2 Transporting the Robot......................................................................22
2.3 Storage..........................................................................................................25
2.3.1 Storage Precautions for the Robot....................................................25
2.3.2 Storage Precautions for the Controller..............................................25
3. Installation ..............................................................................................................26
3.1 Installation Environment ................................................................................26
3.2 Installation Posture of the Robot....................................................................26
3.2.1 Coordinate System............................................................................27
3.2.2 Installing the Robot............................................................................29
3.2.3 Frame Rigidity...................................................................................32
4. Maintenance...........................................................................................................33
4.1 Layout of Robot Components........................................................................33
5. Replacement Parts for Maintenance.......................................................................35
5.1 Replacement Parts List for Maintenance.......................................................35
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1. Specifications
1.1 Name of Each Part
The names of respective parts of the ceiling type (or overhead traveling type) robot are
shown in Figs. 1.1 to 1.3 below.
Cove
r
Base
Eyebolt
Brake OFF switch
Hand I/O connecto
r
A
rm 1
A
xis 1
(rotation)
Axis 2
(rotation)
Axis 4
(rotation)
A
rm 2
Ball screw spline
(tool shaft)
Axis 3
(vertical
movement)
Fig. 1.1 Name of each part (TH450A-T)
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A
xis 2
(rotation)
Eyebolt
Brake OFF switch
Hand I/O connecto
r
A
rm 1
Axis 1
(rotation)
Axis 4
(rotation)
A
rm 2
Ball screw spline
(tool shaft)
Axis 3
(vertical
movement)
Fig. 1.2 Name of each part (TH550A-T)
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A
xis 2
(rotation)
Eyebolt
Brake OFF switch
Hand I/O connecto
r
A
rm 1
Axis 1
(rotation)
Axis 4
(rotation)
A
rm 2
Ball screw spline
(tool shaft)
Axis 3
(vertical
movement)
Fig. 1.3 Name of each part (THP550-T)
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1.2 Outer Dimensions
Figs. 1.4 to 1.9 show the outer dimensions of the ceiling type robot.
A
ir joint for hand for 4×φ4 tube
Optional Z-axis stroke
Standard Z-axis stroke
Z-axis stroke 150 mm
Z-axis stroke 300 mm
Hand I/O connecto
r
Brake OFF switch 4
×
φ
14 mounting hole
(When Z-axis stroke is 300 mm)
Fig. 1.4 Outer dimensions of the robot (TH450A-T)
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(Axis 1operatingrange)
(Axis 1 operatingrange)
(Axis 2 operating range)(Axis 2 operating range)
Fig. 1.5 Operating range of the robot (TH450A-T)
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A
ir joint for hand for 4
×
φ
4 air tube
Optional Z-axis stroke
Standard Z-axis stroke
Z-axis stroke 150 mm
Z-axis stroke 300 mm
Hand I/O connector
Brake OFF switch 4×φ14 mounting hole
(When Z-axis stroke is 300 mm)
Maximum
Occupied size at
cable connection
Fig. 1.6 Outer dimensions of the robot (TH550A-T)
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(Axis1operatingrange)
(Axis1operatingrange)
(Axis 2 operating range)(Axis 2 operating range)
Fig. 1.7 Operating range of the robot (TH550A-T)
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A
ir joint for hand for 4
×
φ
4 air tube
Optional stroke
Standard
stroke
443 Z-axis stroke 150 mm
Z-axis stroke 300 mm
Hand I/O connecto
r
Brake OFF switch 4
×
φ
14 mounting hole
Maximum
Fig. 1.8 Outer dimensions of the robot (THP550-T)
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(Axis1operatingrange)
(Axis1operatingrange)
(Axis 2 operating range)(Axis 2 operating range)
Fig. 1.9 Operating range of the robot (THP550-T)
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1.3 Specifications Table
[TH450A–T/TH550A–T]
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model TH450A–T TH550A–T
Applicable controller TS3000
Mass of robot body 26 kg 28 kg
No. of controlled axes Four (4)
Arm length 450 mm
(250 mm + 200 mm) 550 mm (250 mm + 300 mm)
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 ±120 (deg) ±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
(*1) 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 (*1) 0.06 (kg·m2)
X, Y ±0.01 (mm)
Z ±0.01 (mm)
Repeatability (*2) C ±0.005 (deg)
Cycle time (*3)
(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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*1: 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.
*2: This is the value for the single-direction repeatability at a fixed ambient
temperature.
*3: Shuttle time for rough positioning in horizontal direction of 300 mm and vertical
direction of 25 mm.
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[THP550–T] Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model THP550A–T
Applicable controller TS3000
Mass of robot body 26 kg
No. of controlled axes Four (4)
Arm length 550 mm (250 mm + 300 mm)
Axis 1 1,000 (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
(*1) Composite
speed of
axes 1 and 2 6.21 (m/s)
Rated payload mass 1 (kg)
Maximum payload mass 2 (kg)
Permissible load inertia (*1) 0.01 (kg·m2)
X, Y ±0.015 (mm)
Z ±0.01 (mm)
Repeatability (*2) C ±0.02 (deg)
Cycle time (*3) (When payload
mass is 2 kg) 0.29 (sec) 120 cycle/min
Drive system By means of AC servo motors
Position detection method Absolute
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*1: 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.
*2: This is the value for the single-direction repeatability at a fixed ambient
temperature.
*3: Shuttle time for rough positioning in horizontal direction of 300 mm and vertical
direction of 25 mm.
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2. Transportation
2.1 Unpacking
The robot and controller are shipped separately in wooden crates or corrugated
cardboards. 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.
Accessories included in the instruction manuals
System CD-RW: 1 pc.
CD-ROM for TCPRGOS (option): 1 pc.
CD-ROM for TSPC (option): 1 pc.
Accessories included in the controller package
EMS dummy connector: 1 pc.
SYSTEM dummy connector: 1 pc.
TP dummy connector: 1 pc.
Power connector: 1 pc.
2.2 Transportation
Move the robot and controller very carefully. Make sure that no excessive impact or
vibration is exerted on the equipment. If the equipment is to be subject to vibration
over a long period, be sure to tighten all of the clamp and base set bolts completely
and put the equipment back into the wooden crates or corrugated cardboards.
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