Toshiba TV1000H-WP User manual

STE 85338-0
TV1000H-WP/TS3100
INSTRUCTION MANUAL
DUST-PROOF/WATER-PROOF TYPE
INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
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.
July 2011
TOSHIBA MACHINE CO., LTD.

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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT 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.

DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the TV1000H-WP dust-proof/water-proof type
industrial robot.
This manual contains the sections relating to the TV1000H-WP dust-proof/water-proof
specifications. Before using the robot, be sure to thoroughly read the separate
TV800/TV1000/TV1000H Instruction Manual for the regular operating procedures.
This manual is essential for maintaining robot performance over an extended period of
time, preventing a breakdown, and improving safety.
Before actually starting operation, please read through this manual once and set up a
maintenance plan beforehand.
Warranty
The warranty is the same as that described in the TV800/TV1000/TV1000H Instruction
Manual: Maintenance with the addition of the items below exclusively for the
dust-proof/water-proof specifications.
Warranty exceptions
1) Faults that occur when using the robot in environments exceeding the protection class
for water or dust
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.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
[Explanation of indications]
Indication Meaning of indication
!DANGER
This means that "incorrect handling will lead to
fatalities or major injuries".
!WARNING
This means that "incorrect handling will 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.
[Explanation of symbols]
Symbol Meaning of symbol
This means that the action is prohibited (must not be done). The
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). The
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.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
[Maintenance and Inspection]
To ensure safe operation of this product, be sure to carefully follow the maintenance and
inspection items below.
!DANGER
Prohibited
• Do not burn, disassemble, or try to charge the battery. Doing
so could cause the battery to rupture.
Mandatory
• Turn off the main power switch of the controller during
maintenance and inspection.
• Dispose of the battery in accordance with the rules and
regulations of your company.
!CAUTION
Disassembly
prohibited
• The customer must never replace parts or perform
modifications except on the items that are described in the
manual. Doing co could cause reduced performance, a
machine breakdown, or accident.
Mandatory
• When replacing parts, use the spare parts specified by
Toshiba Machine.
• If water comes inside the robot, robot malfunction, electric
shock or fire may occur.
• Perform maintenance and inspection on a daily or regular
basis. Failure to perform maintenance and inspection could
cause a machine breakdown or accident.
• Especially if any abnormality occurs in the electrical system,
turn off the robot controller and the power being supplied, and
immediately contact us.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
This manual is divided into the following sections:
Section 1 Specifications
This section describes the basic specifications and names of respective units
of the dust-proof/water-proof type industrial robot.
Section 2 Transportation
This section describes how to remove the dust-proof/water-proof type
industrial robot from its box and how to transport it to the installation site.
Section 3 Installation
This section describes the dust-proof/water-proof type industrial robot
installation environment, space requirements, and how to install the robot.
Section 4 Tool Interface
This section describes how to connect the cables and pipelines for the tool of
the dust-proof/water-proof type industrial robot.
Section 5 Maintenance
This section describes the structure of the dust-proof/water-proof type
industrial robot and all items required for maintenance and inspection of the
robot.
Section 6 Replacement Parts for Maintenance
This section describes the replacement parts for maintenance.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Table of Contents
Page
1. Specifications............................................................................................................7
1.1 Name of Each Part ..........................................................................................7
1.2 External Dimensions........................................................................................8
1.3 Specifications Table.......................................................................................10
1.4 Protection Class Specification .......................................................................11
1.5 Precautions for Use .......................................................................................12
1.5.1 Retained Posture...............................................................................12
1.5.2 Operating Posture .............................................................................13
2. Transportation.........................................................................................................14
3. Installation ..............................................................................................................15
3.1 Installation Environment ................................................................................15
3.2 Air Purge........................................................................................................17
4. Tool Interface ..........................................................................................................19
4.1 Tool Air Tubes ...............................................................................................19
5. Maintenance ...........................................................................................................20
5.1 Maintenance Items ........................................................................................20
5.2 Maintenance Tools and Required Items ........................................................21
5.3 Mounting and Removing the Covers..............................................................21
5.3.1 Base Covers......................................................................................22
5.3.2 Base Swivel Cover ............................................................................23
5.3.3 Arm 1 Cover ......................................................................................24
5.3.4 Arm 2 Cover (1).................................................................................26
5.3.5 Arm 2 Cover (2).................................................................................27
5.3.6 Arm 3 Cover ......................................................................................28
5.3.7 Wiring/Piping Panel ...........................................................................29
6. Replacement Parts for Maintenance.......................................................................30
6.1 Replacement Parts List for Maintenance (Dust-proof/water-proof specifications)
.......................................................................................................................30
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1. Specifications
1.1 Name of Each PartName of Each Part
Fig. 1.1 shows the name of each part of the robot.
Tool tube joint (6mm
diameter): 2 locations
Purge tube joint (6mm
diameter): 1 location
Spare:
1 location
External I/O
clamp
Motor drive
cable connector
(CN21)
Tool tube joint
(Rc 1/8): 2 locations
Connector
(CN20) for
encoder
cable/control
signal cable
Axis 4
(rotation)
Arm 1
Standard panel
Arm 3
Axis 1
(rotation)
Axis 2
(rotation)
Arm 2 (2)
Axis 5
(rotation)
Arm 2 (1)
Base swivel
Axis 6
(rotation)
Axis 3
(rotation)
Base
Arm 1 duct
Fig. 1.1 Name of each part
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1.2 External Dimensions
The robot external dimensions are shown in Fig. 1.2, and the operating range is shown
in Fig. 1.3.
Connector panel for hand
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200
Dimensions used for cable
connections
Fig. 1.2 External dimensions of TV1000H-WP

DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Operating Range (deg)
* In the posture in this drawing, only J3 is at +90°, and all other axes are at 0°.
-100 to +150 -127 to +167
Outline Drawing
Tool flange surface Operating
range of point P
Joint
Occupied dimension when
cables are connected: 200
Base Mounting Dimensions
Scale 1:3
External Dimensions and Operating Ranges Point P: The operating range of the intersection of J5 and J6 Detail of Tool Mounting Surface
Cross Section
Scale
Depth 10
Tool flange surface
Depth 5
Operating range of point P
Fig. 1.3 TV1000H-WP operating range
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1.3 Specifications Table
Item Specifications
Structure Vertical multi-joint 6-axis robot
Model TV1000H-WP
Applicable controller TS3100 *1
Mass of actuator 49.5kg
No. of controlled axes 6
Arm length 1000mm (480mm + 520mm) Reach: 1090mm
Axis 1 ±170 (deg)
Axis 2 +150 to -100 (deg)
Axis 3 +167 to -127 (deg)
Axis 4 ±190 (deg)
Axis 5 ±120 (deg)
Operating range
Axis 6 ±360 (deg)
Axis 1 237 (deg/s)
Axis 2 180 (deg/s)
Axis 3 180 (deg/s)
Axis 4 220.7 (deg/s)
Axis 5 244.4 (deg/s)
Axis 6 576 (deg/s)
Maximum speed *2
Maximum
composite speed 7.46 (m/s)
Rated payload mass 2 (kg)
Maximum payload mass 10 (kg)
Maximum allowable inertia moment around
axes 4 and 5 0.3 (kg•m2) *2
Maximum allowable inertia moment around
axis 6 0.05 (kg•m2) *2
Repeatability X, Y, Z ±0.04 (mm) *3
Cycle time *4 1.00 (sec) unit
Drive system By means of AC servo motors
Position detection method Absolute
IP specifications
(IP65 for main body, IP67 for wrist section)
1. Structure that protects against dust ingress
2. Structure that is not adversely affected by water jets
from any direction
3. Structure (wrist section) that is not adversely affected
even soaked in water at the pressure and for the time
specified
*1: The structure of the robot controller is not a dust-proof/water-proof type.
*2: The speed and acceleration are limited in accordance with the operation pattern, the load mass, and the
offset value.
*3: In environment in which the ambient temperature is constant
*4: Continuous operation cannot be performed if the effective load factor of the standard cycle operation
pattern is exceeded.
Shuttle time for rough positioning in horizontal direction of 300mm and vertical direction of 25mm
*5: The robot cannot be used in any environments that exceed the protection classes.
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1.4 Protection Class Specification
The protection classes of the TV1000H-WP for dust-proof and water-proof
specifications are IP67 for the wrist section and IP65 for the main body section.
Be sure to air-purge before using the robot. If the robot is used exceeding the
designated protection classes, water and dust may enter the robot.
The robot controller has no dust-proof and water-proof structure.
I P 6 X
Fig. 1.4 TV1000H-WP Protection Classes
Protection class for preventing ingress of water: 5 (main body)
Water jets from any direction do not have an adverse effect.
Water jet pressure: 30 kPa (30kN/m20.3 kgf/cm2)
Jet flow rate: 12.5L/min Distance from nozzle: 2.5 to 3 m Time: 3 minutes
Protection class for water intrusion: 7 (wrist section)
Structure that is not adversely affected even soaked in water at the pressure
and for the time specified
Soak in water de
p
th of 1 m for 30 min.
Protection class against solid objects: 6 (entire arm)
Protected against dust ingress.
IP67 (wrist section) IP65 (main body)

DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
1.5 Precautions for Use
Please follow the items below when using the TV1000H-WP.
1.5.1 Retained Posture
It is not possible to retain loads such as the hand and workpiece in the posture with the
arm fully extended, as shown at left in Fig. 1.5 below.
When waiting for a signal or at the home position of work, fold Axis 3 at 90°as shown
at right in Fig. 1.5 below.
Failure to observe this instruction will cause a breakdown of the motor and the
decelerator in early stages.
Fig. 1.5 Examples of Retained Postures
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1.5.2 Operating Posture
Do not attempt to move Axis 1 and Axis 2 individually during automatic operation with
the arm fully extended as shown in Fig. 1.6 below. Failure to observe this instruction
will cause a breakdown the motor and the decelerator in early stages.
If it is necessary to move Axis 1 and Axis 2 individually, fold Axis 3 in advance before
doing so.
Fig. 1.6 Cautions for Operating Postures
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2. Transportation
The packaging type, content, weight, and outer dimensions of the wooden crate
packaging and corrugated cardboard packaging and the precautions in transporting the
robot are identical to those for the standard machine. Refer to the separate
“TV800/TV1000/TV1000H Instruction Manual: Installation and Transport”.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
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 35°C*1Temperature
In storage : –10 to 50°C
Humidity 20 to 90 % (Non-condensing)
DO NOT install the robot where it may be subject to fluids
such as water.
Altitude 1000m or less
Vibration In operation : 0.98m/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/
Drip-proof
Conform to Item 1.4.
Not used in an environment where small grinding chips are
produced during turning, cutting, and other machining
processes.
Not used in an environment exposed to mists from cutting
oil, coolant, and similar substances.*2
*1: In an environment with temperature of 35°C or higher, especially watch for the
ambient temperature during operation, and cool off the robot as necessary. Or,
please contact us.
*2: We provide heat-resistant jackets as optional products for severe environments.
Please consult us for the application of these jackets.
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!DANGER
• Do not place the robot or controller near combustible. Doing so could lead
to fires if it ignites due to a fault, etc.
!WARNING
• Do not use the robot in environments exceeding the protection class for
water or dust. This can cause the ingress of water or dust, resulting in a
shorter robot lifespan, reduced operating accuracy, or malfunctions.
• The robot controller does not have a dust-proof/drip-proof design.
• Please contact Toshiba Machine for details about water protection
performance for non-water substances.
• Be sure to always perform an air purge. If an air purge is not performed,
dust and water protection performance will be reduced.
• The dust-proof/water-proof specifications do not provide an explosion-proof
structure.
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DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
3.2 Air Purge
A specified amount of air is supplied from the suction one-touch joint on the connector
cover (base rear section) for enabling compliance with the dust-proof/water-proof
specifications (IP65 for main body, IP67 for wrist section).
A pressure-reducing valve (prepared by the customer) is set at the pressure from
0.3MPa to a maximum of 0.58MPa, and is connected to an air tube.
The air supply is adjusted to around 30L/min using a speed controller or other device
(prepared by the customer). The air supply source and purge air tube (6mm diameter)
should be prepared by the customer.
Purge one-touch joint
Air tube (6mm diameter)
Fig. 3.1 Air Purge
•Air specifications
⋅Maximum operating pressure: 0.58MPa (6kgf/cm2)
⋅Tube size: 6mm (outer diameter) x 4mm (inner diameter)
⋅Fluid: Clean, dry air not including compressor oil or other
substances
Air filtration 10μm or less
⋅Internal pressure air supply: Approx. 30L/min
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!CAUTION
• The ingress of dust can occur if no air purge is applied.
• The controller is not protected against dust and water.
• Be sure to always use clean, dry air. If dry air is not used, condensation
occurs inside the robot, and the moisture accumulates, resulting in electrical
leakage or a malfunction.
• Do not apply a pressure exceeding the maximum specified pressure. This
can damage the seals and other components of the joints and reduce
dust-proof/water-proof performance.
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4. Tool Interface
Tool mounting and tool signals are identical to the standard machine. Refer to the
separate “TV800/TV1000/TV1000H Instruction Manual: Installation and
Transport”.
4.1 Tool Air Tubes
Two lines are provided for tool air tubes. The outer diameter of the air tubes is 6mm.
These tubes are shown in Fig. 4.1.
Fig. 4.1 Tool air tubes
The air tubes are divided by number and color. When connecting the tubes, refer to the
information below to prevent connecting errors.
1: Red 2: White 3 Blue (for purge)
1 2 3
1
2
Wire panel
Straight
one-touch joint
3 x 6mm diameter
air tube (#3 is for
purging inside the
machine.)
Detail of wire panel
Air joint for tool
(2×Rc1/8)
One tube is for
scavenging air inside
Arm 2
Standard panel