Toshiba THP550-IP User manual

STE80783-0
THP550-IP
TH450A-IP
TH550A-IP/TS3000
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.
March, 2010
TOSHIBA MACHINE CO., LTD.

DUST- & DRIP-PROOF 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.
STE80783
– 1 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the THP550/TH450A/TH550A 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.
STE80783
– 2 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
[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 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.
!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.
STE80783
– 3 –

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.
Section 8 Optional Parts
This section explains the optional parts.
STE80783
– 4 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Table of Contents
Page
1. Specifications ...........................................................................................................7
1.1 Name of Each Part ..........................................................................................7
1.2 Outer Dimensions............................................................................................8
1.3 Specifications Table.......................................................................................14
2. Transportation ........................................................................................................16
2.1 Unpacking......................................................................................................16
2.2 Transportation................................................................................................16
2.2.1 Mass and Outer Dimensions.............................................................17
2.2.2 Transporting the Robot......................................................................19
3. Installation ..............................................................................................................21
3.1 Installation Environment ................................................................................21
3.2 Ingress Protection (IP) Class of Dust- and Drip-Proof Specification ..............22
3.3 Air Purge........................................................................................................23
3.4 Coordinate System........................................................................................24
3.5 Installing the Robot........................................................................................26
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
5. Maintenance...........................................................................................................36
5.1 Maintenance and Inspection Items................................................................36
5.1.1 Inspection in Power-Off State (Non-operating State).........................36
5.2 Layout of Robot Components........................................................................37
5.3 Tools and Supplies for Maintenance..............................................................38
5.4 Replacing Bellows .........................................................................................39
5.4.1 Replacing Lower Bellows..................................................................39
5.4.2 Replacing Upper Bellows..................................................................40
STE80783
– 5 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
5.5 Mounting and Dismounting Covers................................................................42
5.5.1 Base Cover .......................................................................................42
5.5.2 Arm 1 Covers ....................................................................................44
5.5.3 Arm 2 Cover......................................................................................45
6. Cleaning Robot Body..............................................................................................47
7. Replacement Parts for Maintenance.......................................................................48
7.1 Replacement Parts List for Maintenance.......................................................48
8. Optional Parts.........................................................................................................49
8.1 List of Optional Parts .....................................................................................49
STE80783
– 6 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
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 shows the THP550-IP.
A
xis 2
(rotation)
Wiring panel
Cover
Bellows
A
xis 1
(rotation)
A
rm 2
Bellows
Ball screw spline
(tool shaft)
A
rm 1
Base
Battery box
Tool flange
A
xis 3
(vertical)
A
xis 4
(rotation) Cable clamp
(spare)
A
ir purge joint
With speed controller
Quick-operated joint (φ8)
Cannon connector CN0
Quick-operated
j
oint for hand
4 places
Quick-operated
j
oint for air tube
(φ4) 4 places
Brake OFF switch
Details of wiring panel
Fig. 1.1 Name of each part
Square connector
For motor drive, encoder, control signal and brake cables
CN20 (MOTOR, ENC, HAND, BRAKE)
When viewed from arrow-mark Z
STE80783
– 7 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
1.2 Outer Dimensions
Fig. 1.2 to Fig. 1.4 show the outer dimensions and Fig. 1.5 to Fig. 1.7 show operating
range of the robot.
Hand I/O connector
Brake OFF switch Mounting hole (4
×
φ
14)
Hand air joint: For 4
×
φ
4 tube
Z-axis stroke 150 mm
Z-axis stroke 300 mm
Z-axis stroke 150 mm
Z-axis stroke 300 mm
Z150: Upper limit
Z300: Upper limit
Z-axis stroke
Option: Z-axis stroke
Space required for cable connection
Z150: Origin
Z300: Origin
Fig. 1.2 Outer dimensions of the robot (THP550-IP)
STE80783
– 8 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Mounting hole (4
×
φ
14)
Hand air joint: For 4×
φ
4 tube
Hand I/O connector
Brake OFF switch
Standard Z-axis stroke
Space required for cable connection
Fig. 1.3 Operating range of the robot (TH450A-IP)
STE80783
– 9 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Mounting hole (4
×
φ
14)
Hand air joint: For 4
×
φ
4 tube
Hand I/O connector
Brake OFF switch
Standard Z-axis stroke
Space required for cable connection
Fig. 1.4 Operating range of the robot (TH550A-IP)
STE80783
– 10 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
(Axis 1 operating range)
(A
x
i
s
2
operat
i
ng range
)
(A
x
i
s
2
operat
i
ng range
)
(
Axis
1
operating range
)
Fig. 1.5 Operating range of the robot (THP550-IP)
STE80783
– 11 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
(
Axis
1
operating range
)
(A
x
i
s
2
operat
i
ng range
)
(A
x
i
s
2
operat
i
ng range
)
(
Axis
1
operating range
)
Fig. 1.6 Operating range of the robot (TH450A-IP)
STE80783
– 12 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
(
Axis
1
operating range
)
(A
x
i
s
2
operat
i
ng range
)
(A
x
i
s
2
operat
i
ng range
)
(
Axis
1
operating range
)
Fig. 1.7 Operating range of the robot (TH550A-IP)
STE80783
– 13 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
1.3 Specifications Table
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model THP550-IP
Ingress protection (IP) class of dust- and
drip-proof structure IP65 (*1)
Applicable controller TS3000 (*2)
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 2000 (mm/s)
Axis 4 2000 (deg/s)
Maximum speed (*3)
Composite speed
of axes 1 and 2 6.21 (m/s)
Rated payload mass 1 (kg)
Maximum payload mass 2 (kg)
Permissible load inertia (*3) 0.01 (kg·m2)
X, Y ±0.015 (mm)
Z ±0.01 (mm)
Repeatability (*4) C ±0.02 (deg)
Cycle time (*5)
(When payload mass is 1 kg) 0.29 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
*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.
STE80783
– 14 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model TH450A-IP TH550A-IP
Ingress protection (IP) class of dust- and
drip-proof structure IP65 (*1)
Applicable controller TS3000 (*2)
Mass of robot body 28 kg 29 kg
No. of controlled axes 4
Arm length 450 mm (200+250) 550 mm (300+250)
Axis 1 1000 (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 2000 (mm/s)
Axis 4 2000 (deg/s)
Maximum speed (*3
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 (*3) 0.06 (kg·m2)
X, Y ±0.01 (mm)
Z ±0.01 (mm)
Repeatability (*4) C ±0.005 (deg)
Cycle time (*5)
(When payload mass is 2 kg) 0.3 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
*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.
STE80783
– 15 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
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.
The package posture and contents are the same as in the standard robot. See the
THP550A Installation and Transportation Manual and TH450A/TH550A 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 or corrugated cardboards.
STE80783
– 16 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
2.2.1 Mass and Outer Dimensions
The mass and outer dimensions of the robot are shown in Fig. 2.1 to Fig. 2.3.
Fig. 2.1 Outer dimensions at transport (THP550-IP)
Fixture
When Z-axis stroke is 150 mm When Z-axis stroke is 300 mm
Mass of main robot = 27 kg
Fig. 2.1 Outer dimensions at transport (THP550-IP)
STE80783
– 17 –

DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
Mass of main robot = 28 kg
689 When Z-axis stroke is 150 mm
Fixture
Fig. 2.2 Outer dimensions at transport (TH450A-IP)
Mass of main robot = 29 kg
689 When Z-axis stroke is 150 mm
Fixture
Fig. 2.3 Outer dimensions at transport (TH550A-IP)
STE80783
– 18 –

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 a cap and
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 TH650A
Installation and Transportation Manual provided separately.
DO NOT hold
the bellows. DO NOT hold the
cable duct.
Handling areas
(shaded areas)
DO NOT hold
the arm 2 cover.
DO NOT hold the
connectors.
DO NOT hold
the bellows.
DO NOT hold the tool flange
and ball screw spline shaft.
Fig. 2.4 Robot handling prohibited areas
After the installation, remove the clamp and eyebolt used for transport.
STE80783
– 19 –