Toshiba TH450A-T Instruction Manual
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Toshiba TH450A-T Instruction Manual

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TH450A-T
TH550A-T
THP550-T/TS3000
INSTRUCTION MANUAL
CEILING TYPE (OVERHEAD TRAVELING TYPE)
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.
Notice
April 2010
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
STE 80870–0

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Summary of Contents for Toshiba TH450A-T

  • 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 CEILING TYPE SPECIFICATIONS MANUAL Copyright 2010 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 CEILING TYPE SPECIFICATIONS MANUAL Preface This manual describes the specifications of the TH450A, TH550A, THP550 ceiling type (or overhead traveling 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 CEILING 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: Table Of Contents

    CEILING TYPE SPECIFICATIONS MANUAL Table of Contents Page Specifications ......................6 Name of Each Part ..................6 Outer Dimensions ....................9 Specifications Table..................15 Transportation ......................19 Unpacking......................19 Transportation ....................19 2.2.1 Mass and Outer Dimensions .............20 2.2.2 Transporting the Robot..............22 Storage ......................25 2.3.1 Storage Precautions for the Robot ............25 2.3.2 Storage Precautions for the Controller ..........25 Installation ......................26...

  • Page 7: Specifications

    Figs. 1.1 to 1.3 below. Hand I/O connector Cover Brake OFF switch Base Arm 2 Arm 1 Axis 1 (rotation) Eyebolt Axis 2 Ball screw spline (rotation) (tool shaft) Axis 4 (rotation) Fig. 1.1 Name of each part (TH450A-T) STE 80870 – 6 –...
  • Page 8 CEILING TYPE SPECIFICATIONS MANUAL Axis 2 (rotation) Hand I/O connector Brake OFF switch Arm 2 Arm 1 Eyebolt Axis 1 Ball screw spline (rotation) (tool shaft) Axis 4 (rotation) Fig. 1.2 Name of each part (TH550A-T) STE 80870 – 7 –...
  • Page 9 CEILING TYPE SPECIFICATIONS MANUAL Axis 2 (rotation) Hand I/O connector Brake OFF switch Arm 2 Arm 1 Eyebolt Axis 1 Ball screw spline (rotation) (tool shaft) Axis 4 (rotation) Fig. 1.3 Name of each part (THP550-T) STE 80870 – 8 –...

  • Page 10: Outer Dimensions

    Figs. 1.4 to 1.9 show the outer dimensions of the ceiling type robot. Air joint for hand for 4 ×φ 4 tube Hand I/O connector 4 ×φ 14 mounting hole Brake OFF switch Fig. 1.4 Outer dimensions of the robot (TH450A-T) STE 80870 – 9 –...
  • Page 11 CEILING TYPE SPECIFICATIONS MANUAL Fig. 1.5 Operating range of the robot (TH450A-T) STE 80870 – 10 –...
  • Page 12 CEILING TYPE SPECIFICATIONS MANUAL Air joint for hand for 4 ×φ 4 air tube Hand I/O connector 4 ×φ 14 mounting hole Brake OFF switch Occupied size at cable connection Fig. 1.6 Outer dimensions of the robot (TH550A-T) STE 80870 –...
  • Page 13 CEILING TYPE SPECIFICATIONS MANUAL Fig. 1.7 Operating range of the robot (TH550A-T) STE 80870 – 12 –...
  • Page 14 CEILING TYPE SPECIFICATIONS MANUAL Air joint for hand for 4 ×φ 4 air tube Hand I/O connector 4 ×φ 14 mounting hole Brake OFF switch Fig. 1.8 Outer dimensions of the robot (THP550-T) STE 80870 – 13 –...
  • Page 15 CEILING TYPE SPECIFICATIONS MANUAL Fig. 1.9 Operating range of the robot (THP550-T) STE 80870 – 14 –...

  • Page 16: Specifications Table

    CEILING TYPE SPECIFICATIONS MANUAL Specifications Table [TH450A–T/TH550A–T] Item Specifications Structure Horizontal multi-joint type SCARA robot Model TH450A–T TH550A–T Applicable controller TS3000 Mass of robot body 26 kg 28 kg No. of controlled axes Four (4) 450 mm 550 mm Arm length (250 mm + 200 mm) (250 mm + 300 mm) Axis 1...
  • Page 17 CEILING TYPE SPECIFICATIONS MANUAL When the mass of load exceeds 2 kg, or when the gravity center position of load is away from the axis 4 center position, both the speed and acceleration should be reduced, using the PAYLOAD command. This is the value for the single-direction repeatability at a fixed ambient temperature.
  • Page 18 CEILING TYPE SPECIFICATIONS MANUAL [THP550–T] Item Specifications Structure Horizontal multi-joint type SCARA robot Model THP550A–T Applicable controller TS3000 Mass of robot body 26 kg No. of controlled axes Four (4) Arm length 550 mm (250 mm + 300 mm) Axis 1 1,000 (W) Axis 2 400 (W)
  • Page 19 CEILING TYPE SPECIFICATIONS MANUAL When the mass of load exceeds 1 kg, or when the gravity center position of load is away from the axis 4 center position, both the speed and acceleration should be reduced, using the PAYLOAD command. This is the value for the single-direction repeatability at a fixed ambient temperature.

  • Page 20: Transportation

    CEILING TYPE SPECIFICATIONS MANUAL Transportation Unpacking The robot and controller are shipped separately in wooden crates or corrugated cardboards. Open the packages in a location easily accessible, where the equipment is to be installed. Take careful precautions not to damage the robot and controller. After opening the packages, make sure that all the accessories are present and that no part has been damaged during transport.

  • Page 21: Mass And Outer Dimensions

    CEILING TYPE SPECIFICATIONS MANUAL 2.2.1 Mass and Outer Dimensions The mass and outer dimensions of the robot are shown in Figs. 2.1 to 2.3. Mass of robot body: 26kg Clamp Fig. 2.1 Outer dimensions at transport (TH450A-T) STE 80870 – 20 –...
  • Page 22 CEILING TYPE SPECIFICATIONS MANUAL Mass of robot body: 28kg Clamp Fig. 2.2 Outer dimensions at transport (TH550A-T) Mass of robot body: 26kg Clamp Fig. 2.3 Outer dimensions at transport (THP550-T) STE 80870 – 21 –...

  • Page 23: Transporting The Robot

    CEILING TYPE SPECIFICATIONS MANUAL 2.2.2 Transporting the Robot In principle, the robot should be transported in the state shown in Figs. 2.1 to 2.3 above. Fold back and secure the arm with the attached clamp. (The robot is shipped in this posture.
  • Page 24 CEILING TYPE SPECIFICATIONS MANUAL Use a wire with a length of TH450A-T/TH550A-T 195 mm on one side. Use a wire with a length of THP550-T 216 mm on one side. Wires Clamp Fig. 2.4 Lifting up the robot CAUTION •...
  • Page 25 CEILING TYPE SPECIFICATIONS MANUAL DO NOT hold the duct. DO NOT hold the cover. Handling areas DO NOT hold the ball screw spline shaft. The above figure shows the TH550A-T Fig. 2.5 Robot handling areas After the installation, remove the clamp and eyebolt used for transport. CAUTION •...

  • Page 26: Storage

    CEILING TYPE SPECIFICATIONS MANUAL Storage Avoid storing the robot and controller for long periods of time after unpacking them. If this is unavoidable, however, strictly observe the following precautions for storage. 2.3.1 Storage Precautions for the Robot CAUTION • Secure the base or arm 1 bottom surface completely to prevent the robot from falling over.

  • Page 27: Installation

    0.98 m/s or 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. No corrosive or combustible gas should exist. Sunlight The robot and controller should not be exposed to direct sunlight.

  • Page 28: Coordinate System

    Origin of base coordinate system (when Z-axis Axis 3 stroke is 150 mm) (–) Origin of base coordinate system (when Z-axis stroke is 300 mm) Bottom Fig. 3.1 Base coordinate system and joint angle origin (TH450A-T/TH550A-T) STE 80870 – 27 –...
  • Page 29 CEILING TYPE SPECIFICATIONS MANUAL (–) (–) (–) Axis 2 Axis 4 Axis 1 Origin of base coordinate system (when Z-axis Axis 3 stroke is 150 mm) (–) Origin of base coordinate system (when Z-axis stroke is 300 mm) Bottom Fig. 3.2 Base coordinate system and joint angle origin (THP550-T) STE 80870 –...

  • Page 30: Installing The Robot

    CEILING TYPE SPECIFICATIONS MANUAL 3.2.2 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 Figs. 3.3 and 3.4. Place the robot on a pallet, etc., then carry it to a frame where the robot is to be installed, using a forklift truck, etc.
  • Page 31 CEILING TYPE SPECIFICATIONS MANUAL Reference planes Set hole M12 Pallet, etc. The ball screws are projecting downward. Take careful precautions not to hit them against the pallet, etc. Fig. 3.3 Installation method (TH450A-T) STE 80870 – 30 –...
  • Page 32 CEILING TYPE SPECIFICATIONS MANUAL Reference planes Pallet, etc. The ball screws are projecting downward. Take careful precautions not to hit them against the pallet, etc. Fig. 3.4 Installation method (TH550A-T/THP550-T) STE 80870 – 31 –...

  • Page 33: Frame Rigidity

    CEILING TYPE SPECIFICATIONS MANUAL 3.2.3 Frame Rigidity The loads that occur during TH450A-T/TH550A-T/THP550-T operation are shown in Table 3.2. A reaction force due to the loads shown in Table 3.2 occur on the frame, and so be sure to design the frame by incorporating a large number of beams and using other methods to provide a sufficient factor of safety.

  • Page 34: Maintenance

    Ball screw nut Axis 3 Axis 1 motor timing belt Axis 4 timing belt Axis 1 reduction gear Ball Axis 2 reduction gear spline nut Fig. 4.1 Layout of robot mechanical components (TH450A-T/TH550A-T) STE 80870 – 33 –...
  • Page 35 CEILING TYPE SPECIFICATIONS MANUAL Axis 3 motor Axis 4 motor, Axis 4 reduction gear * Placed in parallel Axis 3 timing belt Battery box Axis 2 motor Ball screw nut Axis 2 reduction gear Axis 1 motor Axis 4 timing belt Ball spline nut Axis 1 reduction gear Ball screw spline shaft...

  • Page 36: Replacement Parts For Maintenance

    CEILING TYPE SPECIFICATIONS MANUAL Replacement Parts for Maintenance Replacement Parts List for Maintenance The replacement parts lists for maintenance are the same as those of the TH450A/TH550A/THP550 robot. For details, see Section 5 of the ST80773 THP550/TH450A/TH550A/TS3000 Maintenance Manual provided separately. •...

This manual is also suitable for:

Th550a-tThp550-tTs3000

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