Toshiba TH850A User manual

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

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Copyright 2009 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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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the TH–A series dust- and drip-proof 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 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 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.
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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
This manual is comprised of the following seven (7) sections:
Section 1 Specifications
This section describes the basic specifications and names of respective parts
for the dust- and drip-proof type industrial robot.
Section 2 Transportation
This section describes how to remove the dust- and drip-proof 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 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
all items required for the maintenance and inspection of the same robot.
Section 6 Cleaning of Robot Body
This section describes the precautions to be taken when the robot body is to
be cleaned and washed.
Section 7 Replacement Parts for Maintenance
This section explains the replacement parts for the maintenance.
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Table of Contents
Page
1. Specifications ...........................................................................................................9
1.1 Name of Each Part ..........................................................................................9
1.2 Outer Dimensions..........................................................................................10
1.3 Specifications Table.......................................................................................13
2. Transportation ........................................................................................................15
2.1 Unpacking......................................................................................................15
2.2 Transportation ...............................................................................................15
2.2.1 Mass and Outer Dimensions.............................................................16
2.2.2 Transporting 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 ....................................................................................................29
4.1.1 How to Connect Connectors .............................................................30
4.2 Tool Air Piping ...............................................................................................35
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Page
5. Maintenance...........................................................................................................37
5.1 Layout of Robot Components........................................................................37
5.2 Maintenance Tools and Provisions................................................................38
5.3 Replacing Bellows .........................................................................................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
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1. Specifications
1.1 Name of Each Part
The names of respective parts of the dust- and drip-proof type robot are shown in Fig.
1.1 below. (The figure below shows the TH850A robot.)
Wiring panel
Arm 1
Axis 2
(rotation)
Axis 1
(rotation)
Cover
Base
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
Cannon connector
Details of wiring panel
Fig. 1.1 Name of each part
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1.2 Outer Dimensions
Fig. 1.2 and Fig. 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)
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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)
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Fig. 1.4 Operating range of the robot (TH850A)
Fig. 1.5 Operating range of the robot (TH1050A)
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1.3 Specifications Table
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model TH850A–IP TH1050A–IP
Ingress protection (IP) class of
dust- and drip-proof structure IP65 (*1)
Applicable controller TS2100 (*2)
Mass of robot body 77 kg 81 kg
No. of controlled axes Four (4)
Arm length 850 mm (350+500) 1,050 mm (550+500)
Axis 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 ±0.01 (mm)
Repeatability (*4) C ±0.004 (deg)
Cycle time (*5) (When payload
mass is 5 kg) 0.39 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
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*1: For details of the IP class, see Para. 3.2.
*2: The structure of the robot controller is not dust- and drip-proof.
*3: 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.
*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.
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2. Transportation
2.1 Unpacking
The robot and controller are shipped separately in wooden crates and 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.
The package posture and contents are the same as in the standard robot. See the
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 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 and corrugated cardboards.
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2.2.1 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)

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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)

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
2.2.2 Transporting the Robot
The dust- and drip-proof type robot equals the standard robot added with dust- and
drip-proof parts such as bellows. The precautions to be taken at transport are stated
below. The precautions other than the 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 the installation, remove the clamp and eyebolt used for transport.
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!CAUTION
• When lifting up the robot by workers, hold the shaded locations by hands, as
shown in Fig. 2.3. If the ball screw spline shaft 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.
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3. Installation
3.1 Installation Environment
Table 3.1 shows the environmental conditions for the location in which the robot and
controller are to be installed.
Table 3.1 Environmental conditions for robot and controller
Item Specifications
In operation : 0 to 40°CTemperature In storage : –10 to 50°C
Humidity 20 to 90 % (Non-condensing)
Altitude 1000 m or less
Vibration In operation : 0.98 m/s2or less
Dust 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 turning or cutting operation shall not be
contained.
Mist of cutting fluid or coolant oil shall not be contained.
!DANGER
• Do not place the robot or controller near combustible. Doing so could lead
to fires if it ignites due to a fault, etc.
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