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Toshiba TV800 Instruction Manual
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Toshiba TV800 Instruction Manual

Industrial robot
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TV800
TV1000/TS3100
INSTRUCTION MANUAL
TRANSPORTATION AND INSTALLATION 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.
INDUSTRIAL ROBOT
Notice
December 2008
TOSHIBA MACHINE CO., LTD.
STE 80745–2

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Summary of Contents for Toshiba TV800

  • Page 1 TRANSPORTATION AND INSTALLATION 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 TRANSPORTATION AND INSTALLATION MANUAL Copyright 2008 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 TRANSPORTATION AND INSTALLATION MANUAL Preface This manual describes the basic specifications of the industrial robot and controller, and how to unpack and install them. Specifically, it describes how to unpack the shipment containing the equipment, how to install the equipment, how to connect wiring and air piping, and how to attach tools.
  • Page 4 TRANSPORTATION AND INSTALLATION MANUAL Precautions on Safety Important information on the robot and controller is noted in the instruction manual to prevent injury to the user and persons nearby, prevent damage to assets and to ensure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual.
  • Page 5 Wiring the robot before installation could lead to electric shocks or injuries. • Always use the power voltage and power capacity designated by Toshiba Machine. Failure to do so could lead to device faults or fires. • Always use the designated power cable. Using a cable other than that designated could lead to fires or faults.
  • Page 6 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • NEVER lift the robot by the arm 1 cover or arm 2. Doing so will apply an excessive force on the robot's mechanism section and could lead to faults. • For the controller, secure the ample space for air vent. Heating of controller could lead to malfunction.

  • Page 7: Table Of Contents

    TRANSPORTATION AND INSTALLATION MANUAL Table of Contents Page Specifications......................9 Name of Each Part ..................9 External Dimensions..................10 Specifications Table..................12 Transportation......................13 Unpacking......................13 Transportation ....................15 2.2.1 Mass and Dimensions ...............15 2.2.2 Transporting the Robot..............16 2.2.3 Transporting the Controller..............18 Storage ......................19 2.3.1 Storage Precautions for the Robot ............19 2.3.2 Storage Precautions for the Controller ..........19 Installation ......................20...
  • Page 8 TRANSPORTATION AND INSTALLATION MANUAL 4.1.1 Connector Arrangement on the Controller.........51 4.1.2 Connecting the Power Cable “ACIN” ( of Fig. 4.1; plug connector attached)..52 4.1.3 Connecting the Motor Cable “CN21” ( of Fig. 4.1) (Cable attached) ....53 4.1.4 Connecting the Encoder Cable “CN20” ( of Fig. 4.1) (Cable attached)....54 4.1.5 Connecting the Robot Control Signal Cable “CN20”...
  • Page 9 TRANSPORTATION AND INSTALLATION MANUAL Tables and Drawings Page Fig. 1.2 External dimensions of the TV800 ................. 10 Fig. 1.3 External dimensions of the TV1000 ............... 11 Fig. 2.1 Packaging state...................... 14 Fig. 2.2 Outer dimensions at transport ................15 Fig. 2.3 Lifting up the robot....................16 Fig.

  • Page 10: Specifications

    TRANSPORTATION AND INSTALLATION MANUAL Specifications Name of Each Part Fig. 1.1 shows the name of each part of the robot. Axis 3 Arm 2 (1) Axis 4 (rotation) (rotation) Arm 2 (2) Axis 2 (rotation) Arm 1 duct Arm 3 Arm 1 Axis 5 Base swivel...

  • Page 11: External Dimensions

    TRANSPORTATION AND INSTALLATION MANUAL External Dimensions Fig. 1.2 and Fig. 1.3 refers to the external dimensions of the robot. Connector panel for hand Dimensions used for cable connections Fig. 1.2 External dimensions of the TV800 STE 80745 – 10 –...
  • Page 12 TRANSPORTATION AND INSTALLATION MANUAL Connector panel for hand Dimensions used for cable connections Fig. 1.3 External dimensions of the TV1000 STE 80745 – 11 –...

  • Page 13: Specifications Table

    TRANSPORTATION AND INSTALLATION MANUAL Specifications Table Item Specifications Structure Vertical multi-joint 6-axis robot Model TV800 TV800-BL TV1000 TV1000-BL Applicable controller TS3100 Mass of actuator 45.5kg 47kg No. of controlled axes Arm length 800mm (380mm + 420mm) 1000mm (480mm + 520mm)

  • Page 14: Transportation

    TRANSPORTATION AND INSTALLATION MANUAL Transportation Unpacking The robot and controller are shipped separately in corrugated cardboards. Fig. 2.1 shows each packaging state. 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 nothing has been damaged during transport.
  • Page 15 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 malfunction. Contact Toshiba Machine immediately. • Dispose of the wooden pallet, corrugated cardboards, polyethylene shipping bags and cushion material according to the customer’s in-house regulations.

  • Page 16: Transportation

    TRANSPORTATION AND INSTALLATION 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 the clamp and base set bolts completely. If the equipment is to be moved to a location some distance from where it was unpacked, reposition the cushions as they were and put the equipment back into the corrugated cardboards.

  • Page 17: Transporting The Robot

    TRANSPORTATION AND INSTALLATION MANUAL 2.2.2 Transporting the Robot In principle, the robot should be transported in the state shown in Fig. 2.2 above. Fold back and secure the arm with the attached clamp. (The robot is shipped in this posture. After you have unpacked the shipment, you should move it as it is.) DANGER •...
  • Page 18 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • The wire to be used should be such that can well withstand the mass of the robot. • When lifting up the robot, it may tilt a little. Lift it up slowly. • Lifting up and down should be performed carefully so that any impact cannot be exerted on the robot.

  • Page 19: Transporting The Controller

    TRANSPORTATION AND INSTALLATION MANUAL CAUTION Do not remove the fixing brackets when transporting the •   TV800-BL/TV1000-BL. Doing so can cause the rotation of the axes with no motor brake. • When lifting up the robot by workers, hold the locations (arrowed parts) by hands as shown in Fig.

  • Page 20: Storage

    TRANSPORTATION AND INSTALLATION 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 completely to prevent the robot from falling over. When placed directly on the floor, the robot is unstable and will fall over.

  • Page 21: Installation

    0.98m/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 22: Robot Installation

    Particularly, the installation layout of the TV800-BL/TV1000-BL (without axis-1, axis-4, and axis-6 motor brakes) must be well studied so that the force of gravity will not act in the rotation directions of any axes not having a motor brake.
  • Page 23 TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.1 External view TV800 STE 80745 – 22 –...
  • Page 24 TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.2 External view TV1000 STE 80745 – 23 –...

  • Page 25: Working Envelope

    TRANSPORTATION AND INSTALLATION MANUAL 3.2.2 Working Envelope Fig. 3.3 and Fig. 3.4 shows the working envelope of the robot. 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 (mechanical ends) outside the working envelope.
  • Page 26 TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.3 Working envelope TV800 STE 80745 – 25 –...
  • Page 27 TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.4 Working envelope TV1000 STE 80745 – 26 –...

  • Page 28: Coordinate System

    TRANSPORTATION AND INSTALLATION MANUAL 3.2.3 Coordinate System The robot's joint angle origin (0° position) is factory-calibrated according to the base reference planes. Fig. 3.5 shows the base coordinate system and origin of each axis joint angle. (+) Axis 6 (+) Axis 4 (+) Axis 1 Axis 5 Axis 3...

  • Page 29: Installing The Robot

    TRANSPORTATION AND INSTALLATION MANUAL 3.2.4 Installing the Robot The robot is secured, using the set holes on the base (four (4) places). Use M10 hexagon socket head cap screws. The robot installation method is shown in Fig. 3.6. Reference planes are provided on the base unit.

  • Page 30: Mechanical End Change

    TRANSPORTATION AND INSTALLATION MANUAL Mechanical End Change This section explains the change of mechanical ends for the axes 1 to 3 of the TV800/TV1000. CAUTION • If mechanical ends are to be changed, design and manufacture mechanical stoppers in accordance with your operating conditions, referring to this manual.

  • Page 31: Change Of Axis-1 Mechanical Ends

    The change of axis-1 mechanical ends by adding or changing a mechanical stopper is called mechanical end change. The TV800/TV1000 is shipped while the soft limits and mechanical ends are factory-set for axis 1 to travel between ±171°. Fig. 3.7 shows the factory-set mechanical ends.
  • Page 32 TRANSPORTATION AND INSTALLATION MANUAL Axis-1 mechanical stopper 2x6.6 drilling, 11 counter boring, depth 6.5 Example of material: S45C Fig. 3.8 Factory-set mechanical stopper Fig. 3.9 Mechanical stopper location (at the base) STE 80745 – 31 –...
  • Page 33 TRANSPORTATION AND INSTALLATION MANUAL <2> Example of changing axis-1 mechanical ends and the change method If a mechanical end position is changed, the soft limit must be changed. There are soft limits that can be changed by the user. For details, see the user parameter instruction manual provided separately.
  • Page 34 TRANSPORTATION AND INSTALLATION MANUAL Example of changing axis-1 mechanical stoppers Setting range: +90° to -120° 4x6.6 drilling, 11 counterboring, depth 6.5 Example of material: S45C Fig. 3.11 Example of changing mechanical stoppers (reference) STE 80745 – 33 –...

  • Page 35: Change Of Axis-2 And Axis-3 Mechanical Ends

    Change of Axis-2 and Axis-3 Mechanical Ends <1> Change of axis-2 and axis-3 mechanical ends The TV800/TV1000 is shipped while the mechanical ends are factory-set with the angles in Table 3.2. Working angles are determined by soft limits which are set for the insides of the mechanical ends.
  • Page 36 TRANSPORTATION AND INSTALLATION MANUAL <2> Examples of changing axis-2 and axis-3 mechanical ends and the change method The following are mechanical stopper reference drawings for axis-2 and axis-3 mechanical ends. Axis-2 mechanical end 2x5.5 drilling, 9.5 counterboring, depth 5.5 Example of material: S45C Fig.
  • Page 37 TRANSPORTATION AND INSTALLATION MANUAL Axis-3 mechanical end 2x5.5 drilling, 9.5 counterboring, depth 5.5 Example of material: S45C Fig. 3.13 Axis-3 mechanical stopper reference drawing STE 80745 – 36 –...
  • Page 38 TRANSPORTATION AND INSTALLATION MANUAL Example of changing axis-2 mechanical ends (1) Negative direction Mechanical stoppers Positive direction on the arm-1 side Positions with J2 = 0° Factory-set negative soft limit Factory-set negative mechanical end position Factory-set mechanical stopper location Factory-set Factory-set positive positive soft limit mechanical end position...
  • Page 39 TRANSPORTATION AND INSTALLATION MANUAL Additional mechanical stopper Movable range in positive Movable range in negative position direction direction No addition (when shipped) Mechanical-end preset angle: Mechanical-end preset angle: +153° -103° Soft limit: +150° Soft limit: -100° Example 1 Mechanical stoppers shown in Fig. Mechanical-end preset angle: 3.12 are mounted at positions A.
  • Page 40 TRANSPORTATION AND INSTALLATION MANUAL Example of changing axis-2 mechanical ends (2) Negative direction Mechanical stoppers Positive direction on the arm-1 side Positions with J2 = 0° Factory-set negative soft limit Factory-set negative mechanical end position Factory-set mechanical stopper location Factory-set Factory-set positive positive soft limit mechanical end position...
  • Page 41 TRANSPORTATION AND INSTALLATION MANUAL Additional mechanical stopper Movable range in positive Movable range in negative position direction direction No addition (when shipped) Mechanical-end preset angle: Mechanical-end preset angle: +153° -103° Soft limit: +150° Soft limit: -100° Example 4 Mechanical stoppers shown in Fig. Mechanical-end preset angle: 3.12 are mounted at positions D.
  • Page 42 TRANSPORTATION AND INSTALLATION MANUAL Example of changing axis-3 mechanical ends (1) Factory-set positive Factory-set Factory-set negative mechanical end position positive soft limit mechanical end position Positive Factory-set negative direction Negative mechanical end position direction Factory-set mechanical stopper Mechanical stoppers Positions with on the arm-1 side J3 = 0°...
  • Page 43 TRANSPORTATION AND INSTALLATION MANUAL Additional mechanical stopper Movable range in positive Movable range in negative position direction direction No addition (when shipped) Mechanical-end preset angle: Mechanical-end preset angle: +171° -129° Soft limit: +167° Soft limit: -127° Example 1 Mechanical stoppers shown in Fig. Mechanical-end preset angle: 3.13 are mounted at positions A.
  • Page 44 TRANSPORTATION AND INSTALLATION MANUAL Example of changing axis-3 mechanical ends (2) Factory-set positive Factory-set Factory-set negative mechanical end position positive soft limit mechanical end position Positive direction Negative Factory-set negative direction mechanical end position Factory-set mechanical stopper Positions with Mechanical stoppers J3 = 0°...
  • Page 45 TRANSPORTATION AND INSTALLATION MANUAL Additional mechanical stopper Movable range in positive Movable range in negative position direction direction No addition (when shipped) Mechanical-end preset angle: Mechanical-end preset angle: +171° -129° Soft limit: +167° Soft limit: -127° Example 5 Mechanical stoppers shown in Fig. Mechanical-end preset angle: 3.13 are mounted at positions E.

  • Page 46: Installing The Controller

    TRANSPORTATION AND INSTALLATION MANUAL Installing the Controller 3.4.1 External Dimensions External view of the controller is shown in Fig. 3.18. 33.5 Mass of controller: 17 kg Fig. 3.18 External view of controller STE 80745 – 45 –...

  • Page 47: Precautions For Direct Installation

    TRANSPORTATION AND INSTALLATION MANUAL 3.4.2 Precautions for Direct Installation It is necessary to provide a clearance of 50 mm or more in the horizontal direction and a clearance of 100 mm or more in the upward direction near the controller. CAUTION •...

  • Page 48: Rack Mounting Dimensions

    TRANSPORTATION AND INSTALLATION MANUAL 3.4.3 Rack Mounting Dimensions When mounting the 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 in Fig.
  • Page 49 TRANSPORTATION AND INSTALLATION MANUAL As the cable connectors are connected to the rear side of the controller, provide a space of 110 mm on the rear side. For maintenance, the upper cover should be removed. (See Fig. 3.8.) Keep this in mind when installing the controller. At maintenance, the controller should be removed from the rack.

  • Page 50: Precautions For Handling The Teach Pendant

    TRANSPORTATION AND INSTALLATION MANUAL When the controller is mounted on the rack, the weight of the controller should be supported with the legs of the controller. Screw holes for rack-mounting the controller are used for securing the controller panel, and the weight of the controller cannot be supported only with these screws.

  • Page 51: Safety Measures

    TRANSPORTATION AND INSTALLATION MANUAL Safety Measures To correctly handle the robot, carefully read the instruction manual "Safety" as a separate volume and take necessary safety measures. STE 80745 – 50 –...

  • Page 52: System Connections

    TRANSPORTATION AND INSTALLATION MANUAL System Connections Cable Wiring This section describes the various types of cables and connectors and explains how these are to be connected. 4.1.1 Connector Arrangement on the Controller The cables connected to the robot controller are shown in Fig. 4.1. Fig.

  • Page 53: Connecting The Power Cable "Acin" ( Of Fig. 4.1; Plug Connector Attached)

    TRANSPORTATION AND INSTALLATION MANUAL In the subsequent paragraphs, we explain how to connect cables inclusive. For information on how to connect cables , refer to the Interface Manual. 4.1.2 Connecting the Power Cable “ACIN” ( of Fig. 4.1; plug connector attached) The power cable is used to supply the main AC power to the controller.

  • Page 54: Connecting The Motor Cable "Cn21" ( Of Fig. 4.1) (Cable Attached)

    TRANSPORTATION AND INSTALLATION MANUAL 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 stabilized.

  • Page 55: Connecting The Encoder Cable "Cn20" ( Of Fig. 4.1) (Cable Attached)

    TRANSPORTATION AND INSTALLATION MANUAL 4.1.4 Connecting the Encoder Cable “CN20” ( of Fig. 4.1) (Cable attached) The encoder cable is a signal line used to transmit a signal from the rotation angle detecting encoder of each robot axis to the controller. The connector for connecting the encoder cable is ENC ( of Fig.
  • Page 56 TRANSPORTATION AND INSTALLATION MANUAL Key position Controller side connector Loosen. Lock screw Tighten. Cable side connector Fig. 4.3 Connecting and disconnecting a circular connector Square connectors: ENC, HAND, SYSTEM, INPUT, OUTPUT, TRIG, CONV Firstly, completely insert the cable side connector into the controller connector. Then tighten the lock screws on both ends of the cable side connector with a screwdriver.

  • Page 57: Examples Of Connector Terminal Arrangement

    TRANSPORTATION AND INSTALLATION MANUAL 4.1.7 Examples of Connector Terminal Arrangement Power cable connector ACIN Connects to controller. DANGER Type: JL04HV-2E22-22PE-B Manufacturer: • Completely connect the Japan Aviation grounding cable. Electronics Industry Otherwise, an electric shock or fire may be Single-phase, AC 200~240 V, caused if a fault or 50/60 Hz electric leak occurred.
  • Page 58 TRANSPORTATION AND INSTALLATION MANUAL General purpose input signal cable connector INPUT Connects to controller. 17 16 15 14 13 12 11 Type: DHA-RC36-R132N-FA 28 27 26 25 24 23 22 21 20 19 36 35 34 33 32 31 30 29 Manufacturer: DDK Ltd.
  • Page 59 TRANSPORTATION AND INSTALLATION MANUAL Emergency stop, safety input, and external 24 V power connector EMS Connects to controller. Type: ML-4000CWJH-10PGY 10 9 8 Manufacturer: Sato Parts Brake connector BRK Connects to controller. Type: 1-1827876-6 A1 A2 A3 A4 A5 A6 Manufacturer: Tyco Electronics STE 80745 –...

  • Page 60: Controller Connector Signals

    TRANSPORTATION AND INSTALLATION MANUAL Controller Connector Signals 4.2.1 Connector Signal Connection Diagrams Diagrams showing which signals correspond to which terminals are shown in Section 2 of the Interface Manual. 4.2.2 Jumpers for Safety Related Signals The following system input signals are provided to serve for the safety purpose. System input signals SYSTEM-12 (STOP)
  • Page 61 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • Unless the signals of SVOFF and emergency stop contacts 1, 2 are jumpered, the controller servo power cannot be turned on. • Unless the CYCLE signal is jumpered, the controller enters the cycle operation mode.

  • Page 62: Separating Control Panel From Controller

    TRANSPORTATION AND INSTALLATION MANUAL Separating Control Panel from Controller 4.3.1 Removing Control Panel Remove the control panel in the following manner. Loosen the four (4) screws at the four (4) corners, which secure the control panel. Remove these screws, then carefully draw out the control panel toward your side. Caution: Be careful of the cable connected on the rear side.

  • Page 63: Control Panel Mounting Dimensions

    TRANSPORTATION AND INSTALLATION MANUAL 4.3.3 Control Panel Mounting Dimensions The dimensions of mounting the control panel are shown in Fig. 4.6. Cross truss head screws (ø3 x 6, ZN3–B) are used. 4-M3 Fig. 4.6 Control panel mounting dimensions STE 80745 –...

  • Page 64: Mounting Dummy Panel On Controller

    TRANSPORTATION AND INSTALLATION MANUAL 4.3.4 Mounting Dummy Panel on Controller When the control panel has been disengaged from the controller, mount a dummy panel on the place where the control panel was set before, as shown in Fig. 4.7. The dummy panel, set parts, etc.

  • Page 65: Dimensions When Separating Control Panel

    TRANSPORTATION AND INSTALLATION MANUAL 4.3.5 Dimensions when Separating Control Panel Fig. 4.8 shows the connections of the control panel and dummy panel. Provide a clearance of 50 mm or more (with cover, 60 mm or more) on the rear side of the separated control panel.

  • Page 66: Tool Interface

    TRANSPORTATION AND INSTALLATION MANUAL Tool Interface Mounting Tool The tool is to be mounted on the tool mounting flange at the end of arm 3. Fig. 5.1 shows the dimensions of the tool mounting flange. As shown in Fig. 5.1, the tool is centered with the ø20H7 mating section. The tool direction is adjusted by means of the ø5 knock pin and secured with four (4) M5 bolts.

  • Page 67: Tool Wiring And Piping

    TRANSPORTATION AND INSTALLATION MANUAL Tool Wiring and Piping The robot is provided with wiring and air piping for the tool. These wiring and piping extend to the arm 2 and are used as follows: Connection to external equipment from the robot controller can also be made without using the tool wiring in the robot arm.
  • Page 68 TRANSPORTATION AND INSTALLATION MANUAL a-2) Input signal connector HAND (Type-P) Signal Signal name Input circuit and example of connections Input D-IN 1 Customer's side signal 1 TS3100 Input D-IN 2 signal 2 P24V Input D-IN 3 signal 3 Input D-IN 4 signal 4 Contact or transistor...
  • Page 69 TRANSPORTATION AND INSTALLATION MANUAL b-1) Output signal connector HAND (Type-N) Signal Signal name Input circuit and example of connections Output D-OUT 1 signal 1 Customer’s side Output D-OUT 2 signal 2 P24V Output relay D-OUT 3 signal 3 Output D-OUT 4 signal 4 Output D-OUT 5...
  • Page 70 TRANSPORTATION AND INSTALLATION MANUAL b-2) Output signal connector HAND (Type-P) Signal Signal name Input circuit and example of connections Output D-OUT 1 signal 1 Customer's side Output D-OUT 2 signal 2 P24V Output ● D-OUT 3 signal 3 DC relay Output D-OUT 4 signal 4...

  • Page 71: Tool Wiring

    TRANSPORTATION AND INSTALLATION MANUAL 5.2.2 Tool Wiring Eight input signals are provided for sensors, etc. and eight control signals for solenoid valves, etc. A supply power signal of DC24 V is also provided. They are connected to the controller. The wiring arrangement for these cables is shown in Fig. 5.2. The wires are connected to the connectors on the upper side of the arm 2.
  • Page 72 TRANSPORTATION AND INSTALLATION MANUAL JOES JOEP SOLS Grommet inner dia. 15 mm SOLP Cable inlet (1 places) Fig. 5.2 Wiring to PLC, etc. Input/output signal connector CN22 Signal Signal name Input/output circuit and example of connections (Cannon) H_IN0 Input signal 0 Minus common (X8GN) Plus common (X8GI) TS3100...
  • Page 73 TRANSPORTATION AND INSTALLATION MANUAL Input/output signal connector SOLP (This connector is located in arm 2, and connected to the solenoid valve when the manifold is optional.) Signal name Signal No. (Connector) H_OUT2 Output signal 2 H_OUT3 Output signal 3 H_OUT4 Output signal 4 H_OUT5 Output signal 5...
  • Page 74 Connection to the CN20 JOES connector for encoder SOLP cable/control signal cable 4×φ6 air tube SOLS Fig. 5.3 Tool wiring Table 5.1 CN22 Cable (option) list Part name Toshiba Dwg. No. Unit code Maker Plug type Length 338N9101 Y610A38W0 Straight plug 338N9102 Toshiba...
  • Page 75 TRANSPORTATION AND INSTALLATION MANUAL Fig. 5.4 Internal connection diagram STE 80745 – 74 –...

  • Page 76: Tool Air Piping

    TRANSPORTATION AND INSTALLATION MANUAL 5.2.3 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. Fig. 5.6 shows the tool air piping. The air control unit (oiler, regulator with gage and filter) for the solenoid valves should be provided by the customer.

  • Page 77: Permissible Load Conditions And Program Setting

    TRANSPORTATION AND INSTALLATION MANUAL Permissible Load Conditions and Program Setting This paragraph describes the permissible load conditions of the robot and how to set up the program according to the load. 5.3.1 Permissible Load Conditions The robot load conditions are defined by the tool mass, moment of inertia and offset value of tool gravity center from the center of the tool shaft, as shown in Fig.

  • Page 78: Load Conditions And Program Setting

    TRANSPORTATION AND INSTALLATION MANUAL Mechanical interface coordinate system (Gx,Gy,Gz) Fig. 5.7 Robot tool 5.3.2 Load Conditions and Program Setting This robot can automatically change the maximum speed, acceleration/deceleration and servo gain by using the PAYLOAD command in the program according to the load conditions.
  • Page 79 TRANSPORTATION AND INSTALLATION MANUAL The PAYLOAD command has the following functions. • The maximum speed and acceleration/deceleration of each robot axis are automatically changed according to the set load conditions. • The servo gain of each robot axis is automatically changed according to the set load conditions.
  • Page 80 TRANSPORTATION AND INSTALLATION MANUAL PAYLOAD={5,30,0,50} MOVE P1+POINT(0,0,100) MOVE P2+POINT(0,0,100) MOVE P2 WAIT MOTION>=100 DOUT(-213) DELAY 1 PAYLOAD={3,0,0,20} MOVE P2+POINT(0,0,100) GOTO LOOP FIN: MOVE P0 DOUT(1) STOP STE 80745 – 79 –...
  • Page 81 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • When guiding manually, the robot may vibrate if the load mass or gravity center offset is large. This is because the servo gain is not appropriate. When this happens, perform the following operation while setting the load conditions in the test run mode.
  • Page 82 TRANSPORTATION AND INSTALLATION MANUAL APPROVED BY: CHECKED BY: PREPARED BY: STE 80745 – z. –...

This manual is also suitable for:

Tv1000Ts3100

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