Toshiba TCR Series Manuel utilisateur

STE 80897-0

TCR5L/TS2000

INSTRUCTION MANUAL

TRANSPORTATION & INSTALLATION

Notice

1. Make sure that this instruction manual is delivered to the

final user of Toshiba Machine's industrial robot.

2. Before installing and operating the industrial robot, read

through and completely understand this manual.

3. After reading through this manual, keep it nearby for future

reference.

July, 2010

TOSHIBA MACHINE CO., LTD.

NUMAZU, JAPAN

STE 80897

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TRANSPORTATION & INSTALLATION MANUAL

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.

STE 80897

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TRANSPORTATION & INSTALLATION MANUAL

PREFACE

This manual describes how to unpack and install the robot and robot controller.

Specifically, it describes how to unpack the shipments containing the robot and controller,

how to install them, how to connect wiring and air piping and how to mount a tool on the

robot arm. Be sure to read through this manual before unpacking each shipment.

Before beginning the work according to this manual, read through the Setup Manual and

Safety Manual so that you can learn the names and functions of various components and

the safety measures.

This manual is divided into the following four (4) sections.

Section 1: Transportation

This section describes how to unpack the shipments containing the robot

and controller and how to carry them to the installation site. Also, it

describes the precautions to be observed when the equipment are to be

stored temporarily after the unpacking.

Section 2: Installation

This section discusses the environment in which the robot and controller are

installed, space requirements and how to install the equipment.

Section 3: System Connections

This section describes how to connect the robot, controller and peripheral

equipment.

Section 4: Hand Interface

This section describes how to mount a tool on the robot arm and how to

connect wiring and air piping to the tool.

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TRANSPORTATION & INSTALLATION MANUAL

CAUTIONS ON SAFETY

This manual contains the important information on the robot and controller to prevent

injury to the operators and persons nearby, to prevent damage to assets and to assure

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

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 medical treatment.

*2) Physical damage refers to damages 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).

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.

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TRANSPORTATION & INSTALLATION MANUAL

!CAUTION

• Be sure to read through the Safety Manual provided separately before starting

actual work to assure safety of the work covering from the robot installation to

operation.

[Installation and transportation]

Be sure to observe the following items to use the robot safely.

!DANGER

Prohibited

• DO NOT install or operate if any parts are damaged or

missing. Otherwise, electric shocks, fires or faults could be

caused.

• DO NOT install the robot where it may be exposed to splash of

liquids such as water. Otherwise, electric shocks, fires or

faults could be caused.

• DO NOT place the robot near the combustibles.

Otherwise, fires could be caused if the material ignites due to

a fault, etc.

Mandatory

• Be sure to secure the robot with the attached clamps before

carrying the robot. Otherwise, you could be involved in

injuries if the arm moves when the robot is lifted.

• Connect the robot only after installation. If wiring is

performed before the robot installation, you could be involved

in electric shocks or injuries.

• Be sure to use the master power voltage and power capacity

designated by Toshiba Machine. Otherwise, the equipment

could be damaged or catch fires.

• Be sure to use the designated power cable.

Otherwise, fires or faults could be caused.

Always ground

• Completely connect the grounding cable.

Otherwise, electric shocks or fires could be caused if a fault or

leak current occurs, in addition to malfunction by noise.

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TRANSPORTATION & INSTALLATION MANUAL

!CAUTION

Prohibited

• NEVER lift the robot arm during the transport. Otherwise, an

excessive force will be exerted on the mechanical part of the

robot, resulting in faults.

• For the controller, keep an ample space for air vent.

Otherwise, the controller will be heated, causing faults.

Mandatory

• When lifting up the robot, do so carefully. If lifted suddenly,

the robot will tilt, which is very dangerous.

• When storing the robot, completely clamp the base.

If placed directly on the floor, the robot will be unstable and fall

over.

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TRANSPORTATION & INSTALLATION MANUAL

Table of Contents

Page

Section 1 Transportation................................................................................ 1–1

1.1 Unpacking............................................................................................ 1–1

1.2 Transport ............................................................................................. 1–2

1.2.1 Mass and External Dimensions.............................................. 1–2

1.2.2 Transporting the Robot........................................................... 1–2

1.2.3 Transporting the Controller..................................................... 1–4

1.3 Storage................................................................................................ 1–5

1.3.1 Cautions on Robot Storage.................................................... 1–5

1.3.2 Cautions on Robot Controller Storage.................................... 1–5

Section 2 Installation...................................................................................... 2–1

2.1 Installation Environment ...................................................................... 2–1

2.2 Installing the Robot.............................................................................. 2–2

2.2.1 External Dimensions .............................................................. 2–2

2.2.2 Working Envelope.................................................................. 2–2

2.2.3 Origin Posture and Coordinate System of the Robot.............. 2–4

2.2.4 Robot Installation Procedures ................................................ 2–5

2.3 Installing the Controller........................................................................ 2–6

2.3.1 External Dimensions .............................................................. 2–6

2.3.2 Rack Mounting Dimensions.................................................... 2–7

2.3.3 Cautions on Rack Mounting ................................................... 2–7

2.3.4 Cautions on Direct Installation................................................ 2–10

2.4 Cautions on Handling of Teach Pendant ............................................. 2–11

2.5 Safety Measures.................................................................................. 2–12

2.6 Position Detector Backup Batteries ..................................................... 2–13

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Page

Section 3 System Connection........................................................................ 3–1

3.1 Cable Connection................................................................................ 3–1

3.1.1 Connector Layout of the Controller......................................... 3–1

3.1.2 Connecting Power Cable........................................................ 3–2

3.1.3 Connecting Motor Cable......................................................... 3–3

3.1.4 Connecting Encoder Cable..................................................... 3–3

3.1.5 Connecting Robot Control Signal Cable................................. 3–3

3.1.6 Inserting and Removing Connectors...................................... 3–3

3.1.7 List of Connector Terminal Arrangement Examples............... 3–5

3.2 Controller Connector Signals............................................................... 3–7

3.2.1 Connector Signal Connection Diagrams................................. 3–7

3.2.2 Jumpers for Safety Related Signals....................................... 3–7

3.3 Separating Control Panel from Controller............................................ 3–9

3.3.1 Removing Control Panel......................................................... 3–9

3.3.2 Cable between Controller and Control Panel ......................... 3–10

3.3.3 Control Panel Mounting Dimensions...................................... 3–10

3.3.4 Mounting Dummy Panel on Controller.................................... 3–11

3.3.5 Dimensions when Separating Control Panel.......................... 3–12

Section 4 Hand Interface................................................................................ 4–1

4.1 Hand Attachment................................................................................. 4–1

4.2 Wiring and Piping for Hand.................................................................. 4–1

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TRANSPORTATION & INSTALLATION MANUAL

Section 1 Transportation

1.1 Unpacking

The robot and controller are shipped separately in wooden crates and corrugated

cardboards. The packaging state of the controller is shown in Fig. 1.1.

The teach pendant and other accessories including instruction manuals are packed

separately.

Open the shipments at a location easily accessible for subsequent transport and

installation. At this time, take careful precautions not to damage the robot and

controller. After unpacking, make sure that all accessories are present and that all

equipment have not been damaged during transport.

!DANGER

• If any parts of the equipment are found defective or damaged, or if some

accessories are missing when the robot and controller have reached your

office, DO NOT install or operate the equipment. Otherwise, the equipment

could malfunction. Contact us immediately at our sales agent in your territory.

• After unpacking, dispose of the wooden crates, corrugated cardboards,

polyethylene shipping bags and cushion materials according to your

regulations.

Fig. 1.1 Packaging state of controller

Corrugated cardboard

(outside box)

Styrene foam

cushions

Controller

Corrugated cardboard

(bottom board)

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1.2 Transport

Carefully move the robot and controller to avoid excessive impact (9.8 m/s2or over) or

vibration from being exerted on them. If the equipment are subject to vibration over a

long period of time, be sure to completely tighten all nuts and screws.

When relocating the equipment at another place, apply the cushions as originally set,

then put the equipment back into the wooden crates and corrugated cardboards.

1.2.1 Mass and External Dimensions

The mass of controller TS2000 is 12 kg. For the mass of the basic robot, see the

relevant specifications.

1.2.2 Transporting the Robot

When transporting the robot, observe the following procedures, fully confirming the

cautions.

!DANGER

• When transporting the robot, be sure to use the attached lifting fixtures.

• When transporting the robot, be sure to secure the arm with the attached

clamp beforehand. Otherwise, a hazardous situation may be caused

because the arm will move when the robot is suspended.

When transporting the robot by a crane, observe the following procedures.

1) Make sure that the arm clamps are attached.

2) Make sure that the eyebolts are attached to the transport fixtures.

3) Pass wire ropes through the eyebolts. To assure safety, be sure to use four (4)

wire ropes. If there is a fear that the wire rope will contact the robot body due

to the length of the wire rope, use a cushion.

Ce manuel convient aux modèles suivants

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