Toshiba THP700-IP Instruction Manual
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Toshiba THP700-IP Instruction Manual

Toshiba THP700-IP Instruction Manual

Industrial robot, dust- & drip-proof type industrial robot specifications
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THP700-IP/TS3100
INDUSTRIAL ROBOT SPECIFICATIONS
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.
INSTRUCTION MANUAL
DUST- & DRIP-PROOF TYPE
Notice
April 2011
TOSHIBA MACHINE CO., LTD.
STE85336-0

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Summary of Contents for Toshiba THP700-IP

  • Page 1 INDUSTRIAL ROBOT SPECIFICATIONS Notice Make sure that this instruction manual is delivered to the final user of Toshiba Machine’s industrial robot. Before operating the industrial robot, read through and completely understand this manual. After reading through this manual, keep it nearby for future reference.
  • Page 2 DUST- & DRIP-PROOF 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.
  • Page 3 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Preface This manual describes the specifications of the THP700 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.
  • Page 4 Disassembly caused. prohibited • 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 Mandatory caused.
  • Page 5 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.

  • Page 6: Table Of Contents

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Table of Contents Page Specifications ......................7 Name of Each Part..................7 Outer Dimensions ..................8 Specifications Table ..................10 Transportation ..................... 11 Unpacking ....................11 Transportation ...................12 2.2.1 Mass and Outer Dimensions ..............12 2.2.2 Transporting the Robot .................13 Installation ......................15 Installation Environment................15 Ingress Protection (IP) Class of Dust- and Drip-Proof Specification..16...
  • Page 7 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Replacement Parts for Maintenance..............40 Replacement Parts List for Maintenance ..........40 Optional Parts......................41 List of Optional Parts ................41 STE85336 – 6 –...

  • Page 8: Specifications

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Specifications Name of Each Part The names of respective parts of the dust- and drip-proof type robot are shown in Fig. 1.1 below. Axis 2 (rotation) Wiring panel Cover Bellows Axis 1 (rotation) Arm 2 Bellows Ball screw spline Arm 1...

  • Page 9: Outer Dimensions

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Outer Dimensions Fig. 1.2 shows the outer dimensions and Fig. 1.3 shows operating range of the robot. Hand air joint: For 4×φ 6 tube Hand I/O connector Brake OFF switch Z150: Upper limit Z300: Upper limit Space required for cable connection Z150: Origin Z300: Origin...
  • Page 10 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL (Axis 1 operating range) (Axis 1 operating range) Fig. 1.3 Operating range of the robot STE85336 – 9 –...

  • Page 11: Specifications Table

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Specifications Table Item Specifications Structure Horizontal multi-joint type SCARA robot Model THP700-IP Ingress protection (IP) class of dust- and IP65 (*1) drip-proof structure Applicable controller TS3100 (*2) Mass of robot body 58 kg No. of controlled axes...

  • Page 12: Transportation

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 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).

  • Page 13: Transportation

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Transportation Move the robot and controller very carefully. Make sure that no excessive impact or vibration is exerted on the equipment. If the equipment is to be subject to vibration over a long period, be sure to tighten all of the clamp and base set bolts completely and put the equipment back into the wooden crates or corrugated cardboards.

  • Page 14: 2.2.2 Transporting The Robot

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 2.2.2 Transporting the Robot The dust- and drip-proof type robot equals the standard robot added with a cap and 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. See the THP700 Installation and Transportation Manual provided separately.
  • Page 15 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 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. •...

  • Page 16: Installation

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Installation 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 Temperature In operation 0 to 40°C In storage –10 to 50°C...

  • Page 17: Ingress Protection (Ip) Class Of Dust- And Drip-Proof Specification

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Ingress Protection (IP) Class of Dust- and Drip-Proof Specification For the dust- and drip-proof specification of THP700, the ingress protection (IP) class against dust and water is IP65 or equivalent. Be sure to perform air purge. Under some operating environment, water or dust may enter.

  • Page 18: Air Purge

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Air Purge The dust- and drip-proof type robot is provided with an air supply port for air purge in its base connector unit. See Para. 1.1. (Quick-operated joint with speed controller) By feeding air into the air supply port, entry of dust into the robot can be prevented. The air supply unit (reducer or pressure reducing valve, air filter, etc.) and air tube (8 mm-dia.) should be provided by the customer.

  • Page 19: Coordinate System

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 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. Reference surface Reference surface （-）...

  • Page 20: Installing The Robot

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Installing the Robot The robot is secured, using the set holes on the base (four (4) places). Use M12 hexagon socket head cap screws. The robot installation method is shown in Fig. 3.3. The reference surfaces are provided on the base.

  • Page 21: Tool Interface

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Tool Interface Mounting of a tool and tool signals are the same as in the standard robot. For details, see the THP700 Installation and Transportation Manual provided separately. Tool Wiring Five (5) input signals are provided for sensors, etc. and four (4) control signals for solenoid valves, etc.

  • Page 22: How To Connect Connectors

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Type of connector: JOES SMP–11V–BC (Maker: J.S.T. Mfg.) JOFS SMP–10V–BC (Maker: J.S.T. Mfg.) Type of contact: BHF–001T–0.8SS (Maker: J.S.T. Mfg.) Adaptive cable: Conductive cross section area: 0.2 mm ~ 0.3 mm Opposite connector type Type of connector: JOEP SMR–11V–B (Maker: J.S.T.
  • Page 23 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Cable clamp Rubber bushing Terminal crimping Filler From PLC, etc. onnectors Cover (rubber) Rubber (JOFS, J OES) User cable bushing Fig. 4.2 How to connect connectors Remove the motor cover of the base unit. For the dismantling procedures, see Section 5.
  • Page 24 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Input/output signal connector CN0 (Type-N) Signal Input/output circuit Signal name (Cannon) and example of connections D-IN0 Input signal 0 P24V Customer’s side D-IN1 Input signal 1 D-IN2 Input signal 2 D-IN3 Input signal 3 D-IN4 Input signal 4 D-IN5...
  • Page 25 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL By using the DC24 V power of the controller, a relay, solenoid valve, etc., can be driven. When the external power is used, GND of the external power should be common to GND (PG) of the robot controller. Output specification: Rated voltage DC24 V (max.
  • Page 26 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Fig. 4.4 Tool wiring diagram (Type-N) STE85336 – 25 –...
  • Page 27 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Fig. 4.5 Tool wiring diagram (Type-P) STE85336 – 26 –...

  • Page 28: Tool Air Piping

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Tool Air Piping The robot is provided four (4) air lines for the tool. The outer diameter of the air pipelines is 6 mm. Fig. 4.6 shows the tool air piping. The air control unit (oiler, regulator with gage and filter) and solenoid valves should be provided by the user.

  • Page 29: Maintenance

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Maintenance The basic structure of the dust- and drip proof type robot is the same as that of the standard robot. For the contents of inspection, etc., see the THP700 Maintenance Manual provided separately. This section deals with the layout of the robot mechanical components and the procedures for mounting and dismounting the covers and for replacing the bellows.

  • Page 30: Layout Of Robot Components

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Layout of Robot Components The layout of the robot mechanical components is shown in Fig. 5.1. Shaft for bellows Axis-4 motor Axis-3 motor Bellows Axis 2 motor Axis 2 reduction gear Axis 3 timing belt Axis 4 timing belt Axis 1 reduction gear...

  • Page 31: Tools And Supplies For Maintenance

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Tools and Supplies for Maintenance The following should be provided as tools and supplies for maintenance. For other tools and supplies, see the THP700 Maintenance Manual provided separately. • Phillips and slotted screwdrivers • Set of hexagon wrenches M3-M16 •...

  • Page 32: Replacing Lower Bellows

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 5.4.1 Replacing Lower Bellows Remove the tool flange, followed by the keep plate under the bellows. Remove the keep plate above the bellows, then pull the bellows downward. Gasket Gasket (Attached to the inside of bellows.) Keep plate (upper) Keep plate (lower)

  • Page 33: Replacing Upper Bellows

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL To mount the bellows, observe the above steps in the reversed order. Be sure to attach the gasket, and apply the Loctite adhesives to all set bolts. CAUTION • When dismantling the bellows, DO NOT pull it out by force. Otherwise, the bellows may rupture.
  • Page 34 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Shaft for bellows Bellows Setscrew Gasket Attached to the keep plate Lower keep plate Upper keep plate Gasket Attached to the Setscrew bearing case Wiring guide Bearing case Bellows mounting ring Bellows mounting ring No need to be removed No need to be removed Arm-2 cover...

  • Page 35: Mounting And Dismounting Covers

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Mounting and Dismounting Covers A gasket (i.e., rubber packing) is attached to each cover set surface of the dust- and drip-proof type robot. Also, as the liquid gasket is coated to some areas, the mounting and dismounting procedures of each cover differ from those of the standard robot.
  • Page 36 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Also, apply the Loctite adhesives to all set bolts. CAUTION • Do not forget to install the gasket. Also, be sure to coat the Loctite adhesives to all set bolts. Otherwise, the dust- and drip-proof performance is damaged to cause entry of water or dust.

  • Page 37: Arm 1 Covers

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL 5.5.2 Arm 1 Covers The arm 1 covers are provided above the axis 1 (arm cover 1). Each cover is secured to the arm 1 with eight (8) cross-recessed truss head screws (M4 × 6) by inserting the gasket.

  • Page 38: Arm 2 Cover

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL CAUTION • Do not forget to install the gasket. Also, be sure to coat the Loctite adhesives to all set bolts. Otherwise, the dust- and drip-proof performance is damaged to cause entry of water or dust.
  • Page 39 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL When mounting the cover, apply the liquid gasket to the area shown in Fig. 5.7 above. Also, apply the Loctite adhesives to all set bolts. CAUTION • When using the cutter, take careful precautions not to cut the gasket body. •...

  • Page 40: Cleaning Robot Body

    DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL Cleaning Robot Body To clean and wash the robot body, be sure to use a neutral detergent. Use a soft sponge and waste cloth, and take careful precautions not to cut or scratch the robot body.
  • Page 41 Replacement Parts for Maintenance Replacement Parts List for Maintenance Our dwg. Part name Type Unit code Maker Q’ty Remarks Bellows S854575 Y610A3GH0 Toshiba When Z-axis Machine stroke is 150 Bellows S860334 Y610A3J60 Toshiba When Z-axis Machine stroke is 300 Ball screws...
  • Page 42 Optional Parts List of Optional Parts Part name Type Our dwg. No. Unit code Maker Q’ty Remarks S854768 Y610A3F40 Toshiba Set of assembly Machine connectors and clamps • Contact us for the purchase of optional parts. STE85336 – 41 –...
  • Page 43 DUST- & DRIP-PROOF TYPE SPECIFICATIONS MANUAL APPROVED BY: CHECKED BY: PREPARED BY: STE85336 – 42. –...

This manual is also suitable for:

Ts3100

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