Toshiba TH850A Manuel utilisateur

STE 80765–0

TH850A/TH1050A–IP/TS2100

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.

April, 2009

TOSHIBA MACHINE CO., LTD.

NUMAZU, JAPAN

DUST- & DRIP-PROOF TYPE SPECIFICATIONS 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.

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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL

Preface

This manual describes the specifications of the TH–A series 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.

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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 or 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.

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DUST- & DRIP-PROOF 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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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.

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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL

Table of Contents

Page

1. Specifications ...........................................................................................................9

1.1 Name of Each Part ..........................................................................................9

1.2 Outer Dimensions..........................................................................................10

1.3 Specifications Table.......................................................................................13

2. Transportation ........................................................................................................15

2.1 Unpacking......................................................................................................15

2.2 Transportation ...............................................................................................15

2.2.1 Mass and Outer Dimensions.............................................................16

2.2.2 Transporting the Robot......................................................................18

3. Installation ..............................................................................................................20

3.1 Installation Environment ................................................................................20

3.2 Ingress Protection (IP) Class of Dust- and Drip-Proof Specification..............21

3.3 Air Purge........................................................................................................22

3.4 Coordinate System........................................................................................23

3.5 Installing the Robot........................................................................................25

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

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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL

Page

5. Maintenance...........................................................................................................37

5.1 Layout of Robot Components........................................................................37

5.2 Maintenance Tools and Provisions................................................................38

5.3 Replacing Bellows .........................................................................................39

5.3.1 Procedures for Replacing Lower Bellows..........................................39

5.3.2 Procedures for Replacing Upper Bellows..........................................40

5.4 Mounting and Dismounting Covers................................................................42

5.4.1 Base Cover .......................................................................................42

5.4.2 Arm 1 Covers ....................................................................................44

5.4.3 Arm 2 Cover......................................................................................46

5.4.4 Arm 2 Panel Cover............................................................................48

6. Cleaning Robot Body..............................................................................................49

7. Replacement Parts for Maintenance.......................................................................50

7.1 Replacement Parts List for Maintenance.......................................................50

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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 below shows the TH850A robot.)

Wiring panel

Arm 1

Axis 2

(rotation)

Axis 1

(rotation)

Cover

Base

Battery box

Axis 3

(vertical)

Bellows

Ball screw spline

(tool shaft)

Cap

Arm 2

Tool flange

Bellows

Axis 4

(rotation)

Square connector

For motor drive, encoder and

control signal cables

CN20 (CN3, CN4, CN5)

Air purge joint

With speed controller

Quick-operated joint (ø8)

Cable clamp

(spare)

Quick-operated joint

for air tube

(ø6) 3 places

When viewed from arrow-mark Z

3xM5 Air joint for hand Brake OFF switch

Cannon connector

Details of wiring panel

Fig. 1.1 Name of each part

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DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL

1.2 Outer Dimensions

Fig. 1.2 and Fig. 1.3 show the outer dimensions, and Fig. 1.4 and Fig. 1.5 refer to the

operating range of the robot.

Space required for cable connection

Z-axis stroke 340 mm

Z-axis stroke 170 mm

Z-axis stroke (340 mm)

Z-axis stroke (170 mm)

配線用パネル

Fig. 1.2 Outer dimensions of the robot (TH850A)

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