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TV1000H-WP/TS3100
INSTRUCTION MANUAL
DUST-PROOF/WATER-PROOF TYPE
INDUSTRIAL ROBOT SPECIFICATIONS MANUAL
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
July 2011
TOSHIBA MACHINE CO., LTD.
STE 85338-0
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Table of Contents
Related Manuals for Toshiba TV1000H-WP
Summary of Contents for Toshiba TV1000H-WP
- Page 1 INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 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-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT 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-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Preface This manual describes the specifications of the TV1000H-WP dust-proof/water-proof type industrial robot. This manual contains the sections relating to the TV1000H-WP dust-proof/water-proof specifications. Before using the robot, be sure to thoroughly read the separate TV800/TV1000/TV1000H Instruction Manual for the regular operating procedures.
- Page 4 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL [Explanation of indications] Indication Meaning of indication This means that "incorrect handling will lead to fatalities or major injuries". DANGER This means that "incorrect handling will lead to fatalities or serious injuries." WARNING This means that "incorrect handling may lead to personal injuries *1) or physical damage *2)".
- Page 5 Doing co could cause reduced performance, a machine breakdown, or accident. Disassembly prohibited • When replacing parts, use the spare parts specified by Toshiba Machine. • If water comes inside the robot, robot malfunction, electric Mandatory shock or fire may occur. •...
- Page 6 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL This manual is divided into the following sections: Section 1 Specifications This section describes the basic specifications and names of respective units of the dust-proof/water-proof type industrial robot. Section 2 Transportation This section describes how to remove the dust-proof/water-proof type industrial robot from its box and how to transport it to the installation site.
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Page 7: Table Of Contents
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Table of Contents Page Specifications......................7 Name of Each Part ..................7 External Dimensions..................8 Specifications Table..................10 Protection Class Specification ...............11 Precautions for Use ..................12 1.5.1 Retained Posture................12 1.5.2 Operating Posture ................13 Transportation......................14 Installation ......................15 Installation Environment ................15 Air Purge......................17 Tool Interface ......................19 Tool Air Tubes ....................19... -
Page 8: Specifications
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Specifications Name of Each Part Name of Each Part Fig. 1.1 shows the name of each part of the robot. Axis 4 Axis 3 (rotation) Arm 2 (1) (rotation) Arm 2 (2) Axis 2 (rotation) Arm 1 duct Arm 1... -
Page 9: External Dimensions
External Dimensions The robot external dimensions are shown in Fig. 1.2, and the operating range is shown in Fig. 1.3. Connector panel for hand Dimensions used for cable Fig. 1.2 External dimensions of TV1000H-WP connections STE 85338 – 8 –... - Page 10 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Fig. 1.3 TV1000H-WP operating range STE 85338 – 9 –...
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Page 11: Specifications Table
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Specifications Table Item Specifications Structure Vertical multi-joint 6-axis robot Model TV1000H-WP Applicable controller TS3100 *1 Mass of actuator 49.5kg No. of controlled axes Arm length 1000mm (480mm + 520mm) Reach: 1090mm Axis 1 ±170 (deg) -
Page 12: Protection Class Specification
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Protection Class Specification The protection classes of the TV1000H-WP for dust-proof and water-proof specifications are IP67 for the wrist section and IP65 for the main body section. Be sure to air-purge before using the robot. If the robot is used exceeding the designated protection classes, water and dust may enter the robot. -
Page 13: Precautions For Use
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Precautions for Use Please follow the items below when using the TV1000H-WP. 1.5.1 Retained Posture It is not possible to retain loads such as the hand and workpiece in the posture with the arm fully extended, as shown at left in Fig. 1.5 below. -
Page 14: Operating Posture
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 1.5.2 Operating Posture Do not attempt to move Axis 1 and Axis 2 individually during automatic operation with the arm fully extended as shown in Fig. 1.6 below. Failure to observe this instruction will cause a breakdown the motor and the decelerator in early stages. If it is necessary to move Axis 1 and Axis 2 individually, fold Axis 3 in advance before doing so. -
Page 15: Transportation
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Transportation The packaging type, content, weight, and outer dimensions of the wooden crate packaging and corrugated cardboard packaging and the precautions in transporting the robot are identical to those for the standard machine. Refer to the separate “TV800/TV1000/TV1000H Instruction Manual: Installation and Transport”. -
Page 16: Installation
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT 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 35°C In storage –10 to 50°C... - Page 17 • The robot controller does not have a dust-proof/drip-proof design. • Please contact Toshiba Machine for details about water protection performance for non-water substances. • Be sure to always perform an air purge. If an air purge is not performed, dust and water protection performance will be reduced.
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Page 18: Air Purge
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Air Purge A specified amount of air is supplied from the suction one-touch joint on the connector cover (base rear section) for enabling compliance with the dust-proof/water-proof specifications (IP65 for main body, IP67 for wrist section). A pressure-reducing valve (prepared by the customer) is set at the pressure from 0.3MPa to a maximum of 0.58MPa, and is connected to an air tube. - Page 19 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL CAUTION • The ingress of dust can occur if no air purge is applied. • The controller is not protected against dust and water. • Be sure to always use clean, dry air. If dry air is not used, condensation occurs inside the robot, and the moisture accumulates, resulting in electrical leakage or a malfunction.
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Page 20: Tool Interface
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Tool Interface Tool mounting and tool signals are identical to the standard machine. Refer to the separate “TV800/TV1000/TV1000H Instruction Manual: Installation and Transport”. Tool Air Tubes Two lines are provided for tool air tubes. The outer diameter of the air tubes is 6mm. These tubes are shown in Fig. -
Page 21: Maintenance
• Maintenance parts other than those specified in this manual shall be replaced by the Toshiba Machine service staff. Toshiba Machine will not be liable for any faults or accidents that occur due to replacement by the customer. DANGER •... -
Page 22: Maintenance Tools And Required Items
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Maintenance Tools and Required Items Preparation of the maintenance tools and items below is recommended. For details about tools and items other than those shown below, refer to the TV800/TV1000/TV1000H Instruction Manual: Maintenance. ⋅ Phillips-head screwdriver ⋅... -
Page 23: Base Covers
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.1 Base Covers There are two covers for the base section: the base cover and connector panel. Each cover is secured to the base by four bolts with a rubber packing inserted in between. The connector panel is connected to connectors inside the robot, and so it must not be pulled with excessive force. -
Page 24: Base Swivel Cover
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.2 Base Swivel Cover The base swivel cover is secured to the base swivel unit by six Phillips truss head screws (M4x8) with a packing inserted in between. When mounting the cover, be careful that no cables get pinched in between. Base swivel cover Packing * The internal cables are... -
Page 25: Arm 1 Cover
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.3 Arm 1 Cover The arm 1 cover is secured to the hexagonal supports attached to the arm 1 duct plate by Phillips truss head screws (M4x8). Liquid gasket is applied to the mounting surface of the packing. Therefore, when removing the packing, remove the cover while using a scraper or other tool to gradually peel off the liquid gasket. - Page 26 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL Apply liquid gasket to the entire groove circumference Fig. 5.4 Arm 1 duct plate CAUTION • Apply liquid gasket. Also, be sure to apply Loctite to the mounting bolts. Failure to apply Loctite will result in reduced dust-proof/drip-proof performance and the ingress of water and dust.
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Page 27: Arm 2 Cover (1)
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.4 Arm 2 Cover (1) The arm 2 cover (1) is secured to arm 2 (1) by six Phillips truss head screws (M4x8) with a rubber packing inserted in between. Before mounting the cover, be sure to first apply liquid gasket to the bearing faces of the six Phillips truss head screws (M4x8), and be careful that no cables get pinched in between when mounting. -
Page 28: Arm 2 Cover (2)
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.5 Arm 2 Cover (2) The arm 2 covers (2) are secured to arm 2 (2) with 16 socket head bolts on each side for a total of 32 screws (M3x16) with O packings inserted in between for each cover. When mounting the cover, be careful that no cables get pinched in between. -
Page 29: Arm 3 Cover
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.6 Arm 3 Cover The arm 3 cover is secured to arm 3 with four hexagon socket head bolts (M4x35) with an O-ring inserted in between. When mounting the cover, be careful that no cables get pinched in between. O-ring Arm 3 cover Seal washer... -
Page 30: Wiring/Piping Panel
DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL 5.3.7 Wiring/Piping Panel The wiring/piping panel is secured to arm 2 (2) with six hexagon socket head bolts (M4x10) with an O-ring inserted in between. When mounting the panel, be careful that no cables and O-ring get pinched in between. -
Page 31: Replacement Parts For Maintenance
The other replacement parts for maintenance are identical to the TV800/TV1000/TV1000H standard machine. For further information, refer to the “TV800/TV1000/TV1000H Instruction Manual: Maintenance”. To purchase the replacement parts for maintenance, be sure to first check the robot body serial number before contacting Toshiba Machine. STE 85338 – 30 –... - Page 32 DUST-PROOF/WATER-PROOF TYPE INDUSTRIAL ROBOT SPECIFICATIONS MANUAL APPROVED BY: CHECKED BY: PREPARED BY: STE 85338 – z –...