Toshiba THP700-CBR User manual

STE85337-0
THP700-CRB/TS3100
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.
April 2011
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN

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CLEAN TYPE SPECIFICATIONS MANUAL
Copyright 2011 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.

CLEAN TYPE SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the 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.......................................................................................11
2. Transportation ........................................................................................................13
2.1 Unpacking and Transport ..............................................................................13
2.2 Mass and Outer Dimensions .........................................................................14
2.3 Cautions on Transporting the Robot..............................................................15
3. Installation ..............................................................................................................17
3.1 Installation Environment ................................................................................17
3.2 Air Suction Volume........................................................................................18
3.3 Coordinate System........................................................................................19
3.4 Installing the Robot........................................................................................20
4. Tool Interface..........................................................................................................21
4.1 Tool Air Piping ...............................................................................................21
5. Maintenance...........................................................................................................23
5.1 Items for Maintenance and Inspection...........................................................23
5.1.1 Check for Bellows..............................................................................24
5.1.2 Replacement of Bellows....................................................................24
5.1.3 Filling Grease to Ball Screw Spline Unit............................................24
5.2 Layout of Robot Components........................................................................25
5.3 Mounting and Dismounting Covers................................................................26
5.3.1 Base Cover .......................................................................................26
5.3.2 Arm 2 Cover......................................................................................27
5.4 Replacing Bellows .........................................................................................28
5.4.1 Replacement Procedures for Bellows (Lower) ..................................28
5.4.2 Replacement Procedures for Bellows (Upper) ..................................29
6. Replacement Parts for Maintenance.......................................................................31
6.1 Replacement Parts List for Maintenance.......................................................31
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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.
Arm 2
Bellows (upper)
Wiring panel Cover
Arm 1
Base
Fig. 1.1 Name of each part
Bellows (lower)
Ball screw spline
(tool shaft)
Tool flange
Axis 3
(vertical)
Axis 4
(rotation)
Axis 1
(rotation)
Axis 2 (rotation)
Z
Brake OFF switch D-SUB connector
Hand air joint (4 ×M5)
Spare (clamp)
Brake motor cable
Quick-operated joint for hand
(4 ×φ6)
Joint for air suction piping (φ8): 1
place
Encoder cable
Motor power
cable
Detail of wiring panel Viewed from Z
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1.2 Outer Dimensions
Fig. 1.2 shows the outer dimensions of the robot and Fig. 1.3 shows the operating
range of the robot.
Z-axis stroke: 300 mm Z-axis stroke: 150 mm
Z150: Upper limit
Z300: Upper limit
Stroke
Option stroke
Space required for cable connection
Z300: Origin
Z150: Origin
Fig. 1.2 Outer dimensions of the robot
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Fig. 1.3 Operating range of the robot
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1.3 Specifications Table
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model THP700-CRB
Applicable controller TS3100 (*1)
Mass of robot body 58 kg
No. of controlled axes Four (4)
Arm length 700 mm (350 + 350)
Axis 1 1,500 (W)
Axis 2 1,000 (W)
Axis 3 400 (W)
Motor capacity
Axis 4 400 (W)
Axis 1 ±120 (deg)
Axis 2 ±145 (deg)
Axis 3 150 (mm) [Option: 300 (mm)]
Operating range
Axis 4 ±360 (deg)
Axis 1 340 (deg/s)
Axis 2 600 (deg/s)
Axis 3 2,050 (mm/s)
Axis 4 1,800 (deg/s)
Maximum speed
(*2) Composite
speed of
axes 1 and 2 7.8 (m/s)
Rated payload mass 2 (kg)
Maximum payload mass 10 (kg)
Permissible load inertia (*2) 0.1 (kg·m2)
X, Y ±0.015 (mm)
Z ±0.01 (mm)
Repeatability (*3) C ±0.01 (deg)
Cycle time (*4) (When payload
mass is 2 kg) 0.345 (sec) 120 cycles/min
Drive system By means of AC servo motors
Position detection method Absolute
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CLEAN TYPE SPECIFICATIONS MANUAL
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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!CAUTION
If possible, movement of Axes 1, 2, and 4 should be performed while the Z-axis
(Axis 3) is in the raised position.
Moving Axis 1, 2, or 4 while the Z-axis is lowered can result in premature
damage to the ball screw spline (Z-axis shaft).
If Axis 1, 2, or 4 must be moved while the Z-axis is lowered due to unavoidable
circumstances, use the SPEED and ACCEL/DECEL/PAYLOAD commands to
adjust the operating speed and acceleration so that the ball screw spline does
not vibrate.
When moving Axis 1, 2, or 4 while the Z-axis is lowered, pay careful attention to
ensure that no collision occurs with obstacles or other objects.
Even if Axis 1, 2, or 4 is moved at low speed, a collision with an obstacle or
other mishap can cause damage to the ball screw spline (Z-axis shaft) before
an alarm occurs.
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 THP700/TS3100 Installation and
Transportation Manual provided separately.
!CAUTION
• Clean packaging has not been used for this product. Before bringing into a
cleanroom, use an air shower or other apparatus to raise the cleanliness
level of the robot to the required level.
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2.2 Mass and Outer Dimensions
The mass and outer dimensions of the robot at the time of transport are shown in
Fig. 2.1.
Mass of main robot = 58 kg
Clamp
Z-axis stroke: 300 Z-axis stroke: 150
Fig. 2.1 Outer dimensions at transport
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2.3 Cautions on Transporting the Robot
The clean type robot equals the standard robot added with two (2) 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. For details, see the THP700/TS3100
Installation and Transportation Manual provided separately.
Handling areas
(shaded areas)
DO NOT hold the
duct.
DO NOT hold the
lower bellows.
DO NOT hold the
upper bellows.
DO NOT hold the arm 2
cover.
DO NOT hold the
connectors.
DO NOT hold the tool flange and
ball screw spline shaft.
Fig. 2.2 Robot handling prohibited areas
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After the installation, remove the clamp and eyebolt used for transport.
!CAUTION
• When lifting up the robot by workers, hold the shaded locations by hands, as
shown in Fig. 2.2. 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)
DO NOT install the robot and controller in a place where they are
exposed to water or other liquid.
Altitude 1000 m or less
Vibration In operation : 0.98 m/s2or less
Dust No inductive dust should exist.
When using the robot and controller in a dusty environment,
consult with us beforehand.
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.
!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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3.2 Air Suction Volume
It is possible to maintain the equivalent to clean class 3 defined by ISO by sucking a
specified volume of air from the quick-operated joint for air suction attached to the base
cover (i.e., connector unit of the base).
The air suction unit and suction air tube (8mm-dia.) should be provided by the
customer.
A
ir tube (8mm-dia.)
Quick-operated joint
for air suction
Air suction volume 60 normal liters/min
Equivalent to clean
class 3 defined by ISO yThe number of particles of 0.1 μm or larger shall
be 1000 or less in a cubic meter of air.
yThe number of particles of 0.1 μm or larger shall
be 29 or less in a cubic foot of air.
!CAUTION
• In the clean room, the down flowrate should be 0.4 m/s or over.
• Unless air suction is executed, dust will generate.
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3.3 Coordinate System
The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the
base reference planes. Fig. 3.1 shows the base coordinate system (XB, YB, ZB) and
origin of each axis joint angle.
Fig. 3.1 Base coordinate system and joint angle origin
XB
（‐）
（＋）
（‐）
（＋）
（‐）
（＋）
YB
Option stroke
Origin of base
coordinate system
For Z-stroke of 150 mm
A
xis 3
（＋）
（‐）
ZB
Stroke
Z-axis stroke: 300 mm Z-axis stroke: 150 mm
Z150: Upper limit
Z300: Upper limit
Z300: Origin
Z150: Origin Origin of base
For Z-stroke of 300 mm

CLEAN TYPE SPECIFICATIONS MANUAL
3.4 Installing the Robot
The robot is secured, using the set holes on the base (four (4) places).
Use M12 hexagon socket head cap screws (made of stainless steel).
The robot installation method is shown in Fig. 3.3. The reference surfaces are
provided on the base.
When you wish to adjust the robot position in the base coordinate system, or replace
the robot with another one, provide appropriate reference surfaces and secure the
robot by applying them to the reference surfaces of the base.
!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 robot is operating, and could lead to faults.
When the robot is installed on the floor, secure it completely with anchor
bolts, etc.
• Install the robot on a level place. Failure to do so could lead to a drop in
performance or faults.
Hexagon socket
head cap screw
M16
Robot bottom view
Reference surface Detail of robot set hole
(4 locations)
Fig. 3.2 Installation method
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