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STE85337-0
THP700-CRB/TS3100
INSTRUCTION MANUAL
CLEAN TYPE
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.
April 2011
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
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Table of Contents
Related Manuals for Toshiba THP700-CBR
Summary of Contents for Toshiba THP700-CBR
- 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 CLEAN 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 CLEAN TYPE SPECIFICATIONS MANUAL Preface This manual describes the specifications of the THP series clean type industrial robots. 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 CLEAN 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.
- Page 5 Disassembly 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 6 CLEAN TYPE SPECIFICATIONS MANUAL This manual is comprised of the following six (6) sections: Section 1 Specifications This section describes the basic specifications and names of respective parts of the clean type industrial robot. Section 2 Transportation This section describes how to remove the clean type robot from its box and how to transport it to the installation site.
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Page 7: Table Of Contents
CLEAN TYPE SPECIFICATIONS MANUAL Table of Contents Page Specifications ......................8 Name of Each Part ..................8 Outer Dimensions ....................9 Specifications Table..................11 Transportation ......................13 Unpacking and Transport ................13 Mass and Outer Dimensions .................14 Cautions on Transporting the Robot ..............15 Installation ......................17 Installation Environment ................17 Air Suction Volume ..................18 Coordinate System ..................19 Installing the Robot ..................20... -
Page 8: Specifications
CLEAN TYPE SPECIFICATIONS MANUAL Specifications Name of Each Part The names of respective parts of the clean type robot are shown in Fig. 1.1 below. Axis 2 (rotation) Wiring panel Cover Axis 1 Bellows (upper) (rotation) Arm 2 Bellows (lower) Arm 1 Ball screw spline (tool shaft) -
Page 9: Outer Dimensions
CLEAN TYPE SPECIFICATIONS MANUAL Outer Dimensions Fig. 1.2 shows the outer dimensions of the robot and Fig. 1.3 shows the operating range of the robot. Z150: Upper limit Z300: Upper limit Space required for cable connection Z150: Origin Z300: Origin Fig. - Page 10 CLEAN TYPE SPECIFICATIONS MANUAL Fig. 1.3 Operating range of the robot STE 85337-0 – 10 –...
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Page 11: Specifications Table
CLEAN TYPE SPECIFICATIONS MANUAL Specifications Table Item Specifications Structure Horizontal multi-joint type SCARA robot Model THP700-CRB Applicable controller TS3100 (*1) Mass of robot body 58 kg No. of controlled axes Four (4) Arm length 700 mm (350 + 350) Axis 1 1,500 (W) Axis 2 1,000 (W) - Page 12 CLEAN TYPE SPECIFICATIONS MANUAL Item Specifications Ten (10) or less dust particles of 0.1 μm or Cleanness level (*5) over in diameter, which exist in 1 cft (28,317 ) of a sample area. Equivalent to clean class 3 defined by ISO Air suction volume 60 normal liters/min The structure of the robot controller is not of a clean type.
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Page 13: Transportation
CLEAN 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 14: Mass And Outer Dimensions
CLEAN TYPE SPECIFICATIONS MANUAL Mass and Outer Dimensions The mass and outer dimensions of the robot at the time of transport are shown in Fig. 2.1. Mass of main robot = 58 kg Clamp Fig. 2.1 Outer dimensions at transport STE 85337-0 –... -
Page 15: Cautions On Transporting The Robot
CLEAN TYPE SPECIFICATIONS MANUAL Cautions on Transporting the Robot The clean type robot equals the standard robot added with two (2) 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. For details, see the THP700/TS3100 Installation and Transportation Manual provided separately. - Page 16 CLEAN TYPE SPECIFICATIONS MANUAL After the installation, remove the clamp and eyebolt used for transport. 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.
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Page 17: Installation
CLEAN 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 Humidity... -
Page 18: Air Suction Volume
CLEAN TYPE SPECIFICATIONS MANUAL Air Suction Volume It is possible to maintain the equivalent to clean class 3 defined by ISO by sucking a specified volume of air from the quick-operated joint for air suction attached to the base cover (i.e., connector unit of the base). The air suction unit and suction air tube (8mm-dia.) should be provided by the customer. -
Page 19: Coordinate System
CLEAN 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. （‐）... -
Page 20: Installing The Robot
CLEAN 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 (made of stainless steel). The robot installation method is shown in Fig. 3.3. The reference surfaces are provided on the base. -
Page 21: Tool Interface
CLEAN 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/TS3100 Installation and Transportation Manual provided separately. Tool Air Piping The robot is provided with four (4) air lines for the tool. The outer diameter of the air pipelines is 6 mm. - Page 22 CLEAN TYPE SPECIFICATIONS MANUAL Air joint pitches of the panel Fig. 4.1 Tool air piping STE 85337-0 – 22 –...
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Page 23: Maintenance
CLEAN TYPE SPECIFICATIONS MANUAL Maintenance Items for Maintenance and Inspection The maintenance schedule and maintenance procedures for the clean type robot are shown in Table 5.1 below. The basic structure of the clean type robot is the same as that of the standard robot. For the maintenance schedule, maintenance procedures, contents of inspection, etc., see the THP700/TS3100 Maintenance of Instruction Manual provided separately. -
Page 24: Check For Bellows
CLEAN TYPE SPECIFICATIONS MANUAL 5.1.1 Check for Bellows Visually make sure that each bellows is not found broken, worn out, twisted or folded during robot operation or stop. If it is found broken or worn out, the cleanness level will drop. Replace it with a new one immediately. -
Page 25: Layout Of Robot Components
CLEAN TYPE SPECIFICATIONS MANUAL Layout of Robot Components The layout of the robot mechanical components is shown in Fig. 5.1. Bellows (upper) Shaft for bellows Axis 4 motor Axis 3 motor Axis 2 motor Axis 2 reduction gear Axis 1 reduction gear Axis 3 timing belt Axis 4 reduction gear Axis 4 timing belt... -
Page 26: Mounting And Dismounting Covers
CLEAN TYPE SPECIFICATIONS MANUAL Mounting and Dismounting Covers Packing is attached to each cover set surface of the clean type robot. Strictly observe the following procedures to mount and dismount each cover. DANGER • Before mounting and dismounting each cover, be sure to turn off the main power (“POWER”) switch. -
Page 27: Arm 2 Cover
CLEAN TYPE SPECIFICATIONS MANUAL 5.3.2 Arm 2 Cover The arm 2 cover is secured to the cover securing bracket with eleven hexagon socket head bolts (M4 × 8). Due to the clean type robot, the bellows (upper) is attached to the cover. -
Page 28: Replacing Bellows
CLEAN TYPE SPECIFICATIONS MANUAL Replacing Bellows DANGER • Before replacing the bellows with a new one, be sure to turn off the controller power and remove the power plug. 5.4.1 eplacement Procedures for Bellows (Lower) Remove the tool flange, followed by the keep plate under the bellows. Remove the keep plate above the bellows, then pull the bellows downward. -
Page 29: Replacement Procedures For Bellows (Upper)
CLEAN TYPE SPECIFICATIONS MANUAL CAUTION • When dismantling the bellows, DO NOT pull it out by force. Otherwise, the bellows may rupture. • Be sure to attach the packing. Otherwise, the cleanness level will deteriorate. 5.4.2 eplacement Procedures for Bellows (Upper) Remove the three (3) set screws (3 ×... - Page 30 CLEAN TYPE SPECIFICATIONS MANUAL Cross-recessed truss head screw Wiring guide Bellows Set screw Upper keep plate Lower keep plate Packing adhered to the bearing case Bearing case Cross-recessed truss head screw Packing Bellows set ring No need to be removed Arm 2 cove r Fig.
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Page 31: Replacement Parts For Maintenance
CLEAN TYPE SPECIFICATIONS MANUAL Replacement Parts for Maintenance Replacement Parts List for Maintenance Our dwg. Part name Unit code Stroke Q’ty Remarks Bellows S854575 Y610A3GH0 Z150 Bellows S860334 Y610A3J60 Z300 Ball-screw H846618 Y610A3HN0 Z150 Ball-screw H846619 Y610A3HX0 Z300 The replacement parts for maintenance other than the above are the same as those of the THP700 robot. - Page 32 CLEAN TYPE SPECIFICATIONS MANUAL APPROVED BY: CHECKED BY: PREPARED BY: STE 85337-0 – 32 –...