Toshiba TV800-CR User manual

STE 80768–1
TV800-CR
TV1000-CR/TS3100
INSTRUCTION MANUAL
CLEAN 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.
June 2009
TOSHIBA MACHINE CO., LTD.

CLEAN TYPE INDUSTRIAL ROBOT 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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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Preface
This manual describes the specifications of the TV series clean type industrial robot.
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.
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 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.
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
[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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CLEAN 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.
• Perform maintenance and inspection based on a regular
schedule. Failure to perform maintenance and inspection
could cause a machine breakdown or accident.
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CLEAN 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 clean type industrial robot.
Section 2 Transportation
This section describes how to remove the clean type industrial robot from its
box and how to transport it to the installation site.
Section 3 Installation
This section describes the clean 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 clean type industrial robot.
Chapter 5: Maintenance
This section describes the structure of the clean type industrial robot and all
items required for maintenance and inspection of the robot.
Chapter 6: Replacement Parts for Maintenance
This section describes the replacement parts for maintenance.
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CLEAN 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.......................................................................................12
2. Delivery...................................................................................................................13
2.1 Unpacking and Transport ..............................................................................13
2.2 Weight and External Dimensions...................................................................15
2.3 Robot Transport Notes ..................................................................................16
3. Installation ..............................................................................................................18
3.1 Installation Environment ................................................................................18
3.2 Suction Rate ..................................................................................................19
3.3 Coordinate System ........................................................................................20
3.4 Installing the Robot ........................................................................................21
4. Tool Interface ..........................................................................................................22
4.1 Tool Air Tubes ...............................................................................................22
5. Maintenance ...........................................................................................................23
5.1 Maintenance Items ........................................................................................23
5.2 Maintenance Tools and Required Items ........................................................23
5.2 Mounting and Removing the Covers..............................................................24
5.2.1 Base Covers......................................................................................25
5.2.2 Base Swivel Cover ............................................................................26
5.2.3 Arm 1 Cover ......................................................................................27
5.2.4 Arm 2 Cover (1).................................................................................28
5.2.5 Arm 2 Cover (2).................................................................................29
5.2.6 Arm 3 Cover ......................................................................................30
6. Replacement Parts for Maintenance.......................................................................31
6.1 Replacement Parts List for Maintenance (Clean specifications)....................31
To purchase the replacement parts for maintenance, be sure to first check the robot
body serial number before contacting Toshiba Machine................................31
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
1. Specifications
1.1 Name of Each Part
Fig. 1.1 shows the name of each part of the robot.
Arm 1 duct
Base
Axis 3
(rotation)
Axis 6
(rotation)
Arm 1
Base swivel
Arm 2 (1) Axis 4
(rotation)
Arm 2 (2)
Axis 2
(rotation)
Axis 1
(rotation)
Arm 3
Axis 5
(rotation)
Standard panel Suction tube joint (6mm
diameter): 1 location
Joint for tool tube
(6mm diameter): 2
locations
Quick-operated
j
oint for air tube
(6mm diameter):
2 locations
Spare (joint)
Spare (joint) Connector (CN20) for
encoder cable/control
signal cable
I/O connector (CN22) Motor drive
cable
connector
(CN21)
Optional panel
Air manifold for
hand
I/O connector (CN22)
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Fig. 1.1 Name of each part

CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
1.2 External Dimensions
180
Dimensions used for cable
connections
The robot external dimensions are shown in Fig. 1.2.and in Fig. 1.3, and the operating
range is shown in Fig. 1.4.and in Fig. 1.5.
Connector panel for hand
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Fig. 1.2 External dimensions of the TV800

CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Connector panel for hand
180
Dimensions used for
cable connections
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Fig. 1.3 External dimensions of the TV1000

CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Point P: J6 intersection point operating
Tool flange surface
Point P operating
Point P
Operating range of tool flange
surface and J6 intersection point
Fig. 1.4 TV800 operating range
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
Point P: J6 intersection point operating
Tool flange surface
Point P operating
Point P
Tool flange surface
Point P operating
Connector panel for hand
Fig. 1.5 TV1000 operating range
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
1.3 Specifications Table
Item Specifications
Structure Vertical multi-joint 6-axis robot
Model TV800-CR TV800-CR-BL TV1000-CR TV1000-CR-BL
Applicable controller TS3100 *1
Mass of actuator 45.5kg 47kg
No. of controlled axes 6
Arm length 800mm (380mm + 420mm)
Reach: 892mm 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 2 240 (deg/s)
Axis 3 288 (deg/s)
Axis 4 350.5 (deg/s)
Axis 5 484 (deg/s)
Axis 6 576 (deg/s)
Maximum
speed *2
Maximum
composite
speed 8058 (mm/s) 9610 (mm/s)
Rated payload mass 2 (kg)
Maximum payload mass 5 (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 ±0.02 (mm) *3 ±0.03 (mm) *3
Cycle time *4 0.4 (sec) unit 0.6 (sec) unit
Drive system AC servomotor
All axes with a
motor brake
AC servomotor
Axes 1, 4, and 6
with no motor
brake*6
AC servomotor
All axes with a
motor brake
AC servomotor
Axes 1, 4, and 6
with no motor
brake*6
Position detection method Absolute
Cleanness level *5 ISO class 3 0.1µm
Suction rate 30Nl/min
*1: The structure of the robot controller is not a clean 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 clean room downflow current rate is 0.4m/s or higher at a suction of 30Nl/min
*6: The axes 2, 3, and 5 are equipped with a motor brake.
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
2. Delivery
2.1 Unpacking and Transport
Based on the customer’s request, the robot and controller are shipped in clean
packaging (equivalent to ISO class 5), wooden crate packaging, or cardboard
packaging. Open the packaging at a location suitable for future transport and
installation, and be careful at all times that you do not damage the robot or controller.
After opening the packaging, first check for any damage that may have occurred during
transportation and the accessory quantities.
The packaging type and contents of wooden crate packaging and cardboard packaging
are identical to the standard machine. Refer to the separate
“TV800/TV1000 Instruction Manual: Installation and Transport”.
The clean packaging appears as shown in Fig. 2.1 below.
Entire package
Wrapped in antistatic
plastic sheet
Robot body
Wrapped in antistatic
plastic sheet
Instruction manuals
Cardboard box
Teach pendant
cardboard
TS3100 controller
Cardboard box
Pallet PP resin fo
r
clean room
Cables
Plastic bag
Cover for clean room
Outer box for clean room
Fig. 2.1 Clean packaging
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
The packaging is opened using the procedure below.
• Use a lifter or other device to transport the package to the entry room of the clean
room in the state shown in Fig. 2.1
• In the entry room, remove the outer antistatic plastic sheet, cover, and outer box.
• Lower all the cardboard boxes for the teach pendant, controller, and other items.
• Remove the antistatic plastic sheet wrapped around the robot body.
• Use the lifter (provided by the customer) for clean room to transport into the clean
room.
• When transporting the robot into the clean room, wipe the entire robot with alcohol.
Unload
Remove the robot body from the
clean room pallet and unload it at the
desired location
Lower the cardboard boxes, and
remove the antistatic plastic sheet
Using the lifter for
clean room
Lifter or
other device
Clean room
Entry
room
Fig. 2.2 Package opening procedure
!CAUTION
• The clean packaging is equivalent to ISO class 5. (Pallet resin: PP resin)
• When transporting the robot and controller, be careful not to subject them to jolts or
vibrations.
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
2.2 Weight and External Dimensions
The robot weight and external dimensions during transport are shown in Fig. 2.3.
Securing
j
ig
Suspension jigs
Joint
A
ngle (deg.) Joint
A
ngle (deg.)
Robot body weight
(including shipping jigs)
47 kg (48.5kg)
Fig. 2.3 External dimensions during transport
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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
2.3 Robot Transport Notes
Important points during transport are provided below. Additional points not provided
below are identical to the standard machine. Refer to the separate “TV800/TV1000
Instruction Manual: Installation and Transport”.
Wire
Fig. 2.4 Lifting up the robot
!CAUTION
• The wire to be used should be such that can well withstand the mass of the
robot.
• When lifting up the robot, it may tilt a little. Lift it up slowly.
• Lifting up and down should be performed carefully so that any impact cannot
be exerted on the robot.
• When carrying the robot by workers, take careful precautions to prevent
their hand or leg from being caught in the robot.
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DO NOT hold the arms 2 and 3.
Handlin
g
areas
Handlin
g
areas
Fig. 2.5 Robot handling areas
After the installation, remove the clamp and eyebolt used for transport.
!CAUTION
• When lifting up the robot by workers, hold the locations (arrowed parts) by
hands as shown in Fig. 2.5. If the arm 2 and arm 3 are held by hands, an
unusually large force is exerted, resulting in a malfunction.
• When carrying the robot by workers, take careful precautions to prevent
their hand or leg from being caught in the robot.
• Do not hold the arm-1 duct cover when handling the robot. Otherwise, it
will be deformed.
• The work should be performed by three or more workers.
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CLEAN 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.
Consult with Toshiba Machine first if you wish to use the
robot and controller in a dusty environment.
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.
*1: If the robot is used in a place where the temperature rises to 35°C or more, pay special
attention to the ambient temperature when the robot is operating. Consider the cooling of the
robot body as needed. Please ask us for the cooling of the robot.
!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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CLEAN TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
3.2 Suction Rate
A specified rate of suction air is supplied from the suction one-touch joint on the
connector cover (base rear section) for enabling a cleanness of ISO class 3.
The suction device and suction air tubes (6mm diameter) must be obtained by the
customer.
Suction rate 30Nl/min
Class 3 (ISO) Number of particles
with diameter 0.1μm
or more within a
sample area of 1m3
is 1000 or less
A
ir tube (6mm diameter)
Suction one-touch joint
!CAUTION
• The clean room must be an environment with a downflow rate of 0.4m/s or
higher.
• Failure to perform suction will result in dust.
• The cleanness level does not apply to the controller.
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