Toshiba TH180, Instruction Manual

Page 1: ...his 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 January 2009 TOSHIBA MACHINE CO LTD NUMAZU JAPAN TH series ...

Page 2: ...shiba 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: ...sures This manual is divided into the following four 4 sections Section 1 Transportation This section describes how to remove the robot and controller from their boxes and how to transport them to the installation site This section also discusses how to temporarily store the equipment after unpacking the shipment Section 2 Installation This section discusses the equipment installation environment ...

Page 4: ...njuries 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 Explanation of symbols Symbol Meaning of symbol This means that the action is prohibited must not be done The details of the actions actually prohibited are indicated w...

Page 5: ...tters Doing so could lead to fires if the matter ignites due to a fault etc Mandatory Always secure the robot with the attached clamps before transporting it Failure to do so could lead to injuries if the arm moves when the robot is suspended Wire the robot after installation Wiring the robot before installation could lead to electric shocks or injuries Always use the power voltage and power capac...

Page 6: ...sm section and could lead to faults For the controller secure the ample space for air vent Heating of controller could lead to malfunction Mandatory When lifting the robot lift it up slowly The robot will tilt slightly so lifting it up suddenly could be hazardous When storing the robot securely fix it on the base The robot will be unstable if just set down and it could tilt over ...

Page 7: ...l Dimensions 17 2 2 2 Working Envelope 17 2 2 3 Coordinate System 21 2 2 4 Installing the Robot 25 2 3 Installing the Controller 28 2 3 1 External Dimensions 28 2 3 2 Rack Mounting Dimensions 29 2 3 3 Precautions for Rack Mounting 30 2 3 4 Precautions for Direct Installation 32 2 4 Precautions for Handling the Teach Pendant 33 2 5 Safety Measures 34 2 6 Position Detector Backup Batteries 35 2 7 Us...

Page 8: ...ion Diagrams 48 3 2 2 Jumpers for Safety Related Signals 48 Section 4 Tool Interface 50 4 1 Mounting Tool 50 4 2 Tool Hand Wiring and Piping 52 4 2 1 Controller s Tool Signals 55 4 3 Permissible Load Conditions and Program Setting 58 4 3 1 Permissible Load Conditions 58 4 3 2 Load Conditions and Program Setting 60 4 3 3 Setting Robot Acceleration and Maximum Speed for Load Conditions 64 Section 5 ...

Page 9: ...ful precautions not to damage the robot or controller After opening the packages make sure that all the accessories are present and that nothing has been damaged in transit DANGER If any parts of the equipment are found damaged or any accessories are missing after the shipment containing the robot and controller have reached your office DO NOT install and operate them Otherwise the equipment will ...

Page 10: ...STE 73995 9 TRANSPORTATION AND INSTALLATION MANUAL Fig 1 1 Robot package TH250A Fig 1 2 Robot package TH350A ...

Page 11: ...STE 73995 10 TRANSPORTATION AND INSTALLATION MANUAL Fig 1 3 Robot package TH180 ...

Page 12: ...t the equipment back into the corrugated cardboards 1 2 1 Mass and Dimensions The mass and dimensions of the robot and controller are shown in Table 1 1 Table 1 1 Type Mass Robot TH180 9 kg Robot TH250A 14 kg Robot TH350A 14 kg Robot TH350A T 14 kg Controller TS1000 10 kg 1 2 2 Transporting the Robot To transport the robot fold back and secure the arm with the attached clamp The robot is shipped i...

Page 13: ... not to damage the equipment When lifting the robot by workers hold the locations shaded areas by hands as shown in Figs 1 4 to 1 6 If the arm 2 or cover is held by hands an unusually large force is exerted resulting in a malfunction If the robot has been carried manually by workers take utmost care to prevent their hand or leg from being caught in the robot when placing it on the floor ...

Page 14: ...4 Robot handling area shaded area TH250A TH350A Fig 1 5 Robot handling area shaded area TH180 After the installation remove the clamp used for transport Robot harness Arm 2 cover Base Arm 1 Tool shaft Arm 2 Base Robot harness Arm 2 cover Arm 2 Tool shaft Arm 1 ...

Page 15: ...STE 73995 14 TRANSPORTATION AND INSTALLATION MANUAL Fig 1 6 Robot handling area shaded area TH350A T Arm 1 Arm 2 cover Robot harness Base Arm 2 Tool shaft ...

Page 16: ... the robot in the shipment posture using the attached clamp for transport CAUTION Secure the base completely to prevent the robot from falling over When placed directly on the floor the robot is unstable and will fall over Keep the robot out of direct sunlight The timing belts and resin covers may deteriorate Seal the robot in a vinyl bag to prevent rust development and contaminant Put a desiccant...

Page 17: ...may be subject to fluids such as water Altitude 1000 m or less In operation 0 98m s2 or less Vibration In transport 9 8m s2 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 Gas No corrosive or combustible gas should exist Sunlight The robot and controller should not be exposed to direct sunlight Power ...

Page 18: ... are shown in Figs 2 1 to 2 4 2 2 2 Working Envelope Each axis can operate within the working envelope To prevent the robot from moving out of the working envelope by mis operation the robot is equipped with mechanical stoppers outside the working envelope Additionally soft limits which can be set by the user are provided y In the case where batteries for detecting the motor position are of alkali...

Page 19: ...nd air joint for 4xφ4 tube Max 580 Details of T slot for mounting peripheral equipment Fig 2 1 External view of TH250A robot Working envelope Battery case Hand I O connector Hand air joint Set hole Details of hand set part Scale 1 2 Hand set width 27 Details of T slot for mounting peripheral equipment Scale 1 2 Clean vacuum air joint for φ4 tube Hand I O connector Axis 3 brake OFF switch Motor pow...

Page 20: ... mounting equipment Hand I O connector Hand air joint Clean vacuum air joint for φ6 tube Hand air joint for 4xφ4 tube Space for cable 80 or over Battery box Brake OFF switch Stroke Tap for mounting equipment 2xM4 Both sides Hand set width 27 Details of hand set part Fig 2 3 External view of TH180 robot ...

Page 21: ...STE 73995 20 TRANSPORTATION AND INSTALLATION MANUAL Fig 2 4 External view of TH350A T robot ...

Page 22: ... base coordinate system is determined according to this calibration Figs 2 5 to 2 8 show the base coordinate system and zero position of each axis joint angle Figs 2 5 to 2 8 show the base coordinate system by XBYBZB Axis 2 Reference plane Reference plane Axis 1 Axis 4 Axis 1 Axis 2 Axis 4 Axis 3 Origin of base coordinate system Fig 2 5 TH250A base coordinate system and joint angle origin ...

Page 23: ... TRANSPORTATION AND INSTALLATION MANUAL Axis 2 Reference plane Reference plane Axis 1 Axis 1 Axis 2 Axis 4 Axis 4 Axis 3 Origin of base coordinate system Fig 2 6 TH350A base coordinate system and joint angle origin ...

Page 24: ... TRANSPORTATION AND INSTALLATION MANUAL Axis 2 Reference plane Reference plane Axis 1 Axis 1 Axis 2 Axis 4 Axis 4 Axis 3 Origin of base coordinate system Fig 2 7 TH180 base coordinate system and joint angle origin ...

Page 25: ...24 TRANSPORTATION AND INSTALLATION MANUAL Fig 2 8 TH350A T base coordinate system and joint angle origin Origin of base coordinate system Axis 2 Axis 4 Axis 4 Axis 2 Axis 1 Axis 3 Reference plane Reference plane ...

Page 26: ...te reference planes Then contact such reference planes to the base reference planes and secure the robot CAUTION The robot will suddenly accelerate and decelerate during operation When installing it on a frame make sure that the frame has sufficient strength and rigidity If the robot is installed on a frame that does not have sufficient rigidity vibration will occur while the robot is operating an...

Page 27: ... 26 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane 4xφ9 hole Reference plane Reference plane 4xφ7 hole Fig 2 9 Installing the TH250A and TH350A robots Fig 2 10 Installing the TH180 robot ...

Page 28: ...STE 73995 27 TRANSPORTATION AND INSTALLATION MANUAL Fig 2 11 Installing the TH350A T robot Reference plane Reference plane 4 Ф9 hole ...

Page 29: ... sh o ck o r d a ma g e o f th e e q u ip me n t Co n tro lle r sid e WARNING Yo u m a y g e t in ju re d o r d ie fr o m a n e le ctr ic sh o ck Be fo re sta r in g m a in te n a n ce a n d in sp e ctio n b e su re to tu rn th e p o we r o ff a n d d isco n n e ct th e p o we r co n n e cto r AC IN o f th e co n tro lle r Top view Right view MOTOR EN C TP IN PU T OU TPU T EXT I O T S 1 0 0 0 T O ...

Page 30: ...0 robot controller in a rack set the side brackets using the screw holes provided on both ends of the front panel and secure the controller to the rack The side brackets 1 in Fig 2 13 are optional Fig 2 13 Screw hole dimensions for securing controller R3 290mm 1 30mm 150mm 70mm 70mm 6 mm Dimensional details ...

Page 31: ...trapped in the rack or controller faults could occur b As the cable connectors are connected to the front side of the controller provide a space of 130 mm on the front side For maintenance the upper cover should be removed See Fig 2 14 Keep this in mind when installing the controller At maintenance the controller should be removed from the rack Specifically be careful of the following points 1 Arr...

Page 32: ...mounting the controller are used for securing the controller panel and the weight of the controller cannot be supported only with the screws d On the front of the controller a clearance of approx 130 mm should be provided for connecting the connector of the teach pendant Even if the teach pendant is not used a clearance of approx 50 mm is required for connecting a dummy plug 3 5 1 3 0 Fig 2 15 Cle...

Page 33: ...ide of the controller so that the air vent holes are not blocked The space equal to the length of the legs should be kept below the lower surface Failure to do so could cause the cooling performance to drop or to faults DO NOT stack the controllers DO NOT place any object on top of them MOTOR ENC TP INPUT OUTPUT EXT I O T S 1 0 0 0 T O S H I B A M A C H I N E POWER AC IN 5AT R o b o t C o n t r o ...

Page 34: ...t CAUTION DO NOT drop the teach pendant or hit it against anything DO NOT pull the cable running from the teach pendant DO NOT press the switches on the teach pendant with anything sharp like the tip of a knife pencil ball point pen etc DO NOT place or use the teach pendant near open flames DO NOT leave the teach pendant in direct sunlight for a long period of time ...

Page 35: ...e safety fence to provide an emergency stop function that will stop the robot if a person enters the hazard zone The emergency stop function should be an electrically independent close contact closed in normal operation with compulsive opening function and must not be automatically recovered Fig 2 17 Example of safety measures d The controller should be installed at a place outside the hazard zone...

Page 36: ...ce the batteries on a regular basis If the master power voltage of the batteries has dropped an alarm of level 1 as shown below occurs first When this happens replace the batteries immediately For the battery replacement see Para 2 3 8 and 3 3 3 of the Maintenance Manual Table 2 2 List of level 1 alarms Error code Descriptions 1 049 Axis1 Battery alarm 1 065 Axis2 Battery alarm 1 081 Axis3 Battery...

Page 37: ...TION MANUAL Table 2 3 List of level 8 alarms Error code Descriptions 8 065 Axis1 Encoder abnormal 8 097 Axis2 Encoder abnormal 8 129 Axis3 Encoder abnormal 8 161 Axis4 Encoder abnormal 8 193 Axis5 Encoder abnormal 8 225 Axis6 Encoder abnormal ...

Page 38: ...lower limit position is 10 or less The downflow air speed should be 0 3 to 0 5 m s As the TS1000 controller is not designed to satisfy the specified clean class take careful precautions to select the place of installation In the clean robot an air tube is incorporated for ventilation To operate it as the clean robot scavenge by connecting a scavenging vacuum pump or equivalent which is to be provi...

Page 39: ...s 1 to 5 For information on how to connect cables 6 to 11 refer to the Interface Manual COM1 HOST TCPR G EXT I O TP HAN D E 170 50 218 17 11 290 Main power supply Rubber shoe Operation panel 10 OUTPUT For external output signal 9 INPUT For external input signal 11 EXT I O For distribution I O signal Optional extended unit X8L1 1 AC IN For main power supply AC200 2 MOTOR For connecting motor 4 HAND...

Page 40: ...0 0 5 kVA TH350A T 0 9 kVA Instantaneous power failure Within half the cycle time Grounding Grounding with grounding resistance of 100 Ω or less The connector is ACIN 1 of Fig 3 1 The cable is not an accessory so use the attached plug connector connected to ACIN on the controller side to manufacture a cable ACIN plug connector Type JL04V 6A18 10SE EB Maker Japan Aviation Electronics Industry ACIN ...

Page 41: ... to confirm the connection For the terminal arrangement see Para 3 1 7 CAUTION Unless the main power is normally supplied to the controller due to phase defect or voltage drop an error of 8 027 Slow Charge error occurs When this happens make sure that the maser power voltage at the controller power connector satisfies the specified input power of the controller and that the same voltage is stabili...

Page 42: ...side is 1 in Fig 3 2 1 in Fig 3 3 or 1 in Fig 3 4 Controller cable Cable length 3000 Cable space 80 or more Hand air joint For 4 φ4 tube 4 M4 screw hole for grounding 2 ENC Encoder connector Axis 3 brake OFF switch 1 MOTOR Motor connector 3 HAND Hand I O connector Clean vacuum air joint For φ4 tube Fig 3 2 Robot side connectors arrangement TH250A TH350A Controller cable Cable length 3000 Space for...

Page 43: ...STE 73995 42 TRANSPORTATION AND INSTALLATION MANUAL Fig 3 4 Robot side connector arrangement TH350A T ...

Page 44: ...3 or 2 in Fig 3 4 3 1 5 Connecting the Hand Control Signal Cable HAND 4 of Fig 3 1 Cable option The robot hand control signal cable is used for input and output of robot control signals such as hand operation signal The connector for connecting the hand control signal cable is HAND 4 of Fig 3 1 Location of the hand control signal cable on the robot side is 3 in Fig 3 2 3 in Fig 3 3 or 3 in Fig 3 4...

Page 45: ...an cause a contact failure or other accident so be careful and do the job right To remove the connector turn the lock screw to the left and pull out the cable side connector Fig 3 5 Inserting and removing a circular connector b Square connectors ENC HAND TP INPUT OUTPUT COM1 HOST1 TCPRG First completely insert the cable side connector into the controller connector Then tighten the lock screws on b...

Page 46: ...STE 73995 45 TRANSPORTATION AND INSTALLATION MANUAL Fig 3 6 Inserting and removing a square connector Loosen Tighten Lock screw Plug Receptacle ...

Page 47: ...herwise an electric shock or fire may be caused if a fault or electric leak has occurred Or mis operation may be caused by noise Fig 3 7 External view of power cable connector b Motor cable connector MOTOR Connects to controller Type JR25RK 16S Manufacturer Hirose Electric Fig 3 8 External view of motor cable connector c Encoder cable connector ENC Connects to controller Type 10120 3000VE Manufact...

Page 48: ...ntroller Type XM2F 3740 112L Manufacturer OMRON Fig 3 11 External view of external input signal cable connector f External output signal cable connector OUTPUT Connects to controller Type XM2F 3540 112L Manufacturer OMRON Fig 3 12 External view of external output signal cable connector 1 2 3 4 5 6 7 14 13 12 11 10 9 8 19 18 17 16 15 14 13 12 11 10 9 8 7 37 36 35 34 33 32 31 30 29 28 26 27 4 3 2 1 ...

Page 49: ...PUT 32 BREAK INPUT 18 19 EMS1B EMS1C INPUT 36 37 EMS2B EMS2C INPUT 17 35 INCOM3 P24G These signals are already jumpered for the connectors provided for the TS1000 controller If you wish to use them therefore you should remove the jumpers and rewire as appropriate If you plan to use the robot without using system signals be sure to connect the attached connector to the controller side INPUT connect...

Page 50: ...less the CYCLE signal is jumpered the controller enters the cycle operation mode Unless the LOW_SPD signal is jumpered the robot is operated at low speed during automatic operation Unless the STOP signal is jumpered automatic operation of the robot is not possible For all connectors not used attach connector covers Otherwise the controller will malfunction due to static electricity ...

Page 51: ... in front of the dog is used for mounting the tool At this time the dog should not be removed Dimensions of the tool shaft section are shown in Fig 4 1 a As shown in Fig 4 1 the tool is secured to the tool shaft with split clamp As there is not a reference such as keyway on the tool shaft however take care of the tool direction when mounting a Dimensions of tool shaft section φ16 0 018 φ35 25 Tool...

Page 52: ...TION AND INSTALLATION MANUAL b Dimensions of tool set flange option Fig 4 1 Mounting TH250A TH350A TH350A T and TH180 tools 4P9 0 012 0 042 6 2 5 0 1 0 φ60 30 φ12H7 0 018 0 depth 4 42 Split clamp Tool P C D 50 45 4 φ4 5 hole ...

Page 53: ...NE5 6 LINE6 6 LINE6 7 LINE7 7 LINE7 8 LINE8 8 LINE8 9 LINE9 9 LINE9 10 LINE10 10 LINE10 11 LINE11 11 LINE11 12 LINE12 12 LINE12 13 LINE13 13 LINE13 14 LINE14 14 LINE14 15 Shield 15 Shield Fig 4 2 Machine I O harness wiring b Air piping for tool A total of four 4 lines φ4 2 5 are provided for the tool air piping which are shown in Fig 4 3 to Fig 4 5 Pneumatic devices such as solenoid valve should b...

Page 54: ... INSTALLATION MANUAL Hand air joint 4xM5 Hand air tube 4xφ4 Hand air joint For 4xφ4 tube Fig 4 3 Air piping for tool TH250A TH350A Hand air joint 4xM5 Hand air tube 4xφ4 Hand air joint For 4xφ4 tube Fig 4 4 Air piping for tool TH180 ...

Page 55: ...STE 73995 54 TRANSPORTATION AND INSTALLATION MANUAL Fig 4 5 Air piping for tool TH350A T Hand air joint Hand air tube 4 φ4 Hand air joint For 4 φ4 tube ...

Page 56: ...mple of connections 1 HI_2 Hand input 1 201 8 HI_2 Hand input 2 202 2 HI_3 Hand input 3 203 9 HI_4 Hand input 4 204 3 HI_5 Hand input 5 205 10 P24V 24 V 4 P24G 0 V 11 HI_COM1 Common 11 Customer s side 1 8 2 9 3 Power supply As input signals no voltage contacts or transistor open collector inputs are used No voltage contact specifications Contact rating DC24 V 10 mA or over circuit current approx 7...

Page 57: ... GND PG of the TS1000 robot controller NEVER connect 24 V with P24 V Otherwise the power supply may be damaged Output specifications Rated voltage DC24 V max DC30 V Rated current 1 A 1 2 A or less including other I Os when the internal power supply is used Leak current 100 µA or less If the DC24 V power supplied from the robot controller is used the total current should be 2 A or less When a relay...

Page 58: ...ND INSTALLATION MANUAL The figure below shows the DC relay circuit when the external power is used DC relay drive PG P24V Customer s side Diode for preventing counter electromotive voltage DC relay Fig 4 6 DC relay circuit diagram ...

Page 59: ...center of the tool shaft as shown in Fig 4 7and Fig 4 8 The load conditions permitted for the TH250A TH350A TH180 and TH350A T robots are shown in Table 4 3 Table 4 3 Permissible load conditions Model Conditions Permissible values Load mass Max 3 kg Moment of inertia Max 0 0170 kg m2 TH250A TH350A TH350A T Gravity center offset of load Max 70 mm Load mass Max 2 kg Moment of inertia Max 0 01 kg m2 ...

Page 60: ...NSTALLATION MANUAL Tool center of gravity Moment of inertia Tool Gravity center offset Fig 4 7 Tool and robot body Normal type Fig 4 8 Tool and robot body Ceiling type Gravity center offset Moment of inertia Tool Tool center of gravity ...

Page 61: ...n is explained below a PAYLOAD command The PAYLOAD command format is written as shown below if the tool mass is M kg and the gravity center is L mm PAYLOAD M L M Load mass unit kg L Gravity center offset unit mm The PAYLOAD command has the following functions The acceleration of each robot axis is automatically changed according to the set load conditions The servo gain of each robot axis is autom...

Page 62: ... is grasped Pick and place operation is executed under these conditions PROGRAM SAMPLE PAYLOAD 1 30 ACCUR COARSE ENABLE NOWAIT RESET DOUT MOVE TAIKI DOUT 1 WAIT DIN 1 LOOP MOVE A POINT 0 0 100 IF DIN 1 THEN GOTO FIN MOVE A WAIT MOTION 100 DOUT 213 DELAY 1 PAYLOAD 3 50 MOVE A POINT 0 0 100 MOVE B POINT 0 0 100 MOVE B WAIT MOTION 100 DOUT 213 DELAY 1 PAYLOAD 1 30 MOVE B POINT 0 0 100 GOTO LOOP FIN M...

Page 63: ...he moment of inertia of load should be within the tolerances given in Table 4 3 Even if there is no gravity center offset of load the robot may vibrate if the moment of inertia is large When this happens figure out virtual gravity center offset L mm from the following equation using the moment of inertia J kg m2 and mass M kg L J 106 M Then designate the following PAYLOAD M L CAUTION When guiding ...

Page 64: ... 73995 63 TRANSPORTATION AND INSTALLATION MANUAL If the robot still vibrates or overshoots after setting the above conditions contact Toshiba Machine Advise us of the then load conditions and program also ...

Page 65: ...es 1 2 and 4 is 66 of the maximum value 100 100 82 66 100 100 100 100 0 20 40 60 80 100 120 0 1 2 3 Load mass kg Acceleration Axes 1 2 4 Axis 3 0 Time Motion speed Acceleration 100 Acceleration 50 Fig 4 9 Setting of acceleration for load mass TH250A Fig 4 10 Acceleration changes Additionally if there is a gravity center offset of load the acceleration and maximum speed change as shown in Fig 4 11 ...

Page 66: ...1 2 kg 2 3 kg a Axes 1 and 2 70 40 100 0 25 50 75 100 125 0 70 Gravity center offset mm Acceleration 0 1 kg 1 2 kg 2 3 kg b Axis 4 100 100 0 25 50 75 100 125 0 70 Gravity center offset mm Acceleration 0 1 kg 1 2 kg 2 3 kg c Axis 3 Fig 4 11 Setting of acceleration for gravity center offset TH250A Load mass kg Load mass kg Load mass kg ...

Page 67: ...0 100 0 70 Gravity center offset mm Maximum speed 0 1 kg 1 2 kg 2 3 kg a Axes 1 2 4 100 100 0 20 40 60 80 100 0 70 Gravity center offset mm Maximum speed 0 1 kg 1 2 kg 2 3 kg b Axis 3 Fig 4 12 Setting of maximum speed for gravity center offset TH250A Load mass kg Load mass kg ...

Page 68: ...acceleration If the load mass is 3 kg for instance the acceleration of axes 1 2 and 4 is 70 100 100 85 70 100 100 100 100 0 20 40 60 80 100 120 0 1 2 3 Load mass kg Acceleration Axes 1 2 4 Axis 3 Fig 4 13 Setting of acceleration for load mass TH350A Additionally if there is a gravity center offset of load the acceleration changes as shown in Fig 4 14 If the load mass is 3 kg and gravity center off...

Page 69: ...00 125 0 70 Gravity center offset mm Acceleration 0 1 kg 1 2 kg 2 3 kg a Axes 1 2 and 4 100 100 0 25 50 75 100 125 0 70 Gravity center offset mm Acceleration 0 1 kg 1 2 kg 2 3 kg b Axis 3 Fig 4 14 Setting of acceleration for gravity center offset TH350A Load mass kg Load mass kg ...

Page 70: ...ne shows the acceleration If the load mass is 2 kg for instance the acceleration of axes 1 and 2 is 79 83 79 100 100 100 91 0 25 50 75 100 125 0 1 1 5 2 Load mass kg Acceleration Axes 1 2 Axis 3 Axis 4 Fig 4 15 Setting of acceleration for load mass TH180 Additionally if there is a gravity center offset of load the acceleration changes as shown in Fig 4 16 If the load mass is 2 kg and gravity cente...

Page 71: ...75 100 125 0 50 Gravity center offset mm Acceleration 0 1 kg 1 2 kg a Axes 1 2 and 4 100 100 0 25 50 75 100 125 0 50 Gravity center offset mm Acceleration 0 1 kg 1 2 kg b Axis 3 Fig 4 16 Setting of acceleration for gravity center offset TH180 Load mass kg Load mass kg ...

Page 72: ...acceleration If the load mass is 3 kg for instance the acceleration of axes 1 2 and 4 is 70 100 100 85 70 100 100 100 100 0 20 40 60 80 100 120 0 1 2 3 Load mass kg Acceleration Axes 1 2 4 Axis 3 Fig 4 17 Setting of acceleration for load mass TH350A T Additionally if there is a gravity center offset of load the acceleration changes as shown in Fig 4 18 If the load mass is 3 kg and gravity center o...

Page 73: ... 100 125 0 70 Gravity center offset mm Acceleration 0 1 kg 1 2 kg 2 3 kg a Axes 1 2 and 4 100 100 0 25 50 75 100 125 0 50 Gravity center offset mm Acceleration 0 1 kg 1 2 kg b Axis 3 Fig 4 18 Setting of acceleration for gravity center offset TH350A T Load mass kg Load mass kg ...

Page 74: ... mm Axis 1 100 W Axis 2 50 W Axis 3 50 W Motor capacity Axis 4 50 W Axis 1 120 deg Axis 2 140 deg Axis 3 120 mm Operating range Axis 4 360 deg Axis 1 533 deg s Axis 2 480 deg s Axis 3 1013 mm s Axis 4 1186 deg s Maximum speed 1 Composite speed of axes 1 and 2 2 6 m s Rated payload mass 1 kg Maximum payload mass 2 kg Permissible load inertia 1 0 01 kg m2 X Y 0 01 mm Z 0 01 mm Repeatability C 0 005 ...

Page 75: ... when moving Axes 1 2 and 4 Moving Axis 1 2 or 4 when the Z axis is in low positions can lead to premature damage to the ball screw spline Z axis shaft If Axis 1 2 or 4 must be moved while the Z axis is in low positions due to unavoidable circumstances prevent the ball screw spline vibrations by using the SPEED ACCEL DECEL and PAYLOAD commands to adjust the operation speed and acceleration If Axis...

Page 76: ...360 deg Axis 1 540 deg s 337 5 deg s Axis 2 500 deg s Axis 3 1120 mm s Axis 4 1143 deg s Maximum speed 1 Composite speed of axes 1 and 2 3 53 m s 3 24 m s Rated payload mass 1 kg Maximum payload mass 3 kg Permissible load inertia 1 0 017 kg m2 X Y 0 01 mm Z 0 01 mm Repeatability C 0 03 deg Cycle time 2 When payload mass is 2 kg 0 41 sec Drive system By means of AC servo motors Position detection m...

Page 77: ... the ball screw spline Z axis shaft If Axis 1 2 or 4 must be moved while the Z axis is in low positions due to unavoidable circumstances prevent the ball screw spline vibrations by using the SPEED ACCEL DECEL and PAYLOAD commands to adjust the operation speed and acceleration If Axis 1 2 or 4 is moved while the Z axis is in low positions be extremely careful not to collide with any objects Even if...

Page 78: ...l unit 208 VA b Power capacity of servo driver The power capacity of the servo driver is the total of the power capacities of the servo motors used in the robot The following table lists the power capacity of each motor Table 5 1 Motor power capacity Motor capacity W Power capacity VA 50 71 100 143 200 286 Example The servo motor capacity and servo driver power capacity of the TH series robots are...

Page 79: ... capacity VA TH250A 208 715 923 TH350A 208 715 923 TH180 208 356 564 TH350A T 208 715 923 Note The above power capacity is required when all axes are continuously operated under 100 load If the power capacity is insufficient when the robot is operated troubles such as a drop in master power voltage a malfunction or resetting of the control power may take place Thus the robot may not be correctly o...

Page 80: ...STE 73995 79 TRANSPORTATION AND INSTALLATION MANUAL APPROVED BY CHECKED BY PREPARED BY ...