STE 58792–
INSTRUCTION MANUAL
INDUSTRIAL ROBOT SR–HSP SERIES
CLEAN SPECIFICATIONS
Notice
1. Make sure that this instruction manual is delivered to the final user of
the Toshiba Machine's industrial robot.
2. Be sure to read this manual before installing and operating the
Toshiba Machine's industrial robot.
3. Keep the manual nearby for future reference during use of the robot.
March, 1998
TOSHIBA MACHINE CO., LTD.
TOKYO, JAPAN
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Preface
Toshiba Machine's SR–HSP–CR series system robot is designed and manufactured as
per the clean specifications, taking over the high-speed and high-precision performance
characteristics of the standard SR–HSP series robot.
This manual describes the difference in structure, wiring, piping and maintenance of the
basic robot from the standard specifications. Before actually unpacking, you are
requested to look through this manual.
Also, before using this manual, please understand the name and function of each part,
referring to the Transportation and Installation Manual and Maintenance Manual.
This manual consists of the following four (4) sections.
Section 1
Section 2
Section 3
Section 4
Cautions on Safety
This section deals with the important information on using the robot safely
and properly.
Clean Robot Basic specifications
This section describes the basic specifications, outer dimensions and
operating range of the robot.
Measures against Dust
This section stipulates the measures against dust when using the robot of
clean specifications.
Maintenance and Inspection
This section describes the difference in maintenance and inspection of the
basic robot from the standard specifications.
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Table of Contents
Page
5
Section 1
Section 2
Cautions on Safety ............................................................................
Clean Robot Basic specifications ......................................................
Basic Robot Specifications...........................................................
Outer Dimensions ........................................................................
Operating Range and Coordinate System ...................................
6
6
7
9
2.1
2.2
2.3
2.4
Tool Wiring and Piping................................................................. 10
2.4.1
2.4.2
Tool Wiring........................................................................... 10
Tool Air Piping...................................................................... 10
Section 3
Section 4
Measure against Dust........................................................................ 11
Specific Measures........................................................................ 11
Scavenging Piping in the Robot ................................................... 12
Sealing Robot Cover.................................................................... 13
3.1
3.2
3.3
Maintenance and Inspection.............................................................. 14
Maintenance and Inspection Items............................................... 14
Lubricating Tool Shaft and Tool Shaft Support Bearing ............... 14
Replacement Parts List for Maintenance of Robot Mechanism.... 15
4.1
4.2
4.3
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Section 1
Cautions on Safety
This manual contains the important information to prevent the operators and persons
nearby from injuries, to prevent damage to assets and to ensure correct use.
Make sure that you well understand the following details (indications and symbols)
before reading this manual. Always observe the information that is noted.
[Explanation of indications]
Indication
Meaning of indication
This means that "incorrect handling will lead to fatalities or serious
injuries."
Danger
This means that "incorrect handling may lead to personal injuries
¿1) or physical damage ¿2)."
Caution
¿1) Injuries refer to injuries, burns and electric shocks, etc., which do not require
hospitalization or long-term medical treatment.
¿2) Physical damage refers to damages due to destruction of assets or resources.
[Handling the clean robot]
Caution
• Take note that the type of grease used for the ball screw and spline differs from the
standard specifications. Failure to observe this could cause deterioration of robot
performance and malfunction.
• The customer should NEVER change or modify the parts other than those
stipulated in the instruction manual.
• For part replacement, be sure to use the spare parts designated by Toshiba
Machine.
• Carry out the maintenance and inspection regularly.
Unless they are executed, an abnormality or malfunction cannot be found, resulting
in accidents.
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Section 2
Clean Robot Basic Specifications
2.1
Basic Robot Specifications
Table 2.1 shows the basic specifications of the clean robot.
Table 2.1 Basic robot specifications
Model
Full length
SR–654HSP–CR
650 mm
350 mm
300 mm
±115°
SR–1054HSP–CR
1,050 mm
580 mm
470 mm
±115°
Arm length
Arm 1
Arm 2
Operating range
Axis 1
Axis 2
±140°
±145°
Axis 3 (vertical)
Axis 4 (wrist rotation)
Axis 1
185 mm
±280°
255°/s
185 mm
±360°
170°/s
Maximum speed
Axis 2
360°/s
270°/s
Axis 3 (vertical)
Axis 4 (wrist rotation)
Composite
800 mm/s
864°/s
800 mm/s
576°/s
4.77 m/s
5.33 m/s
Load
Mass of workpiece to
be carried
5 kgf (rated)
(Max. 10 kgf)
10 kgf (rated)
(Max. 20 kgf)
2
2
Permissible inertia
moment at the tip
0.0663 kgf·m
0.1 kgf·m
Repeatability
X, Y (plane)
±0.02 mm
±0.01 mm
±0.03°
±0.03 mm
±0.02 mm
±0.03°
Axis 3 (vertical)
Axis 4 (wrist rotation)
Tool wiring and air piping
Degree of cleanliness
Drive system
12 cables and 2 pipelines
Designed for cleanliness 10 (¿ Note 1)
AC servo motor
Mass of the basic body
Robot controller
65 kgf
95 kgf
SR7000
Note 1: Cleanliness 10:
When this robot is operated in the clean bench (cleanliness 1 or less)
installed in the downflow clean room, the number of fine particles of 0.3
3
µm or over contained in 1 ft as measured in the plane of the lower end
position of axis 3 stroke is ten (10) or less.
Air speed of downflow is 0.3 ~ 0.5 m/s.
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2.2
Outer Dimensions
Figures 2.1 and 2.2 show the external view of the basic robot.
Figure 2.1 SR–654HSP–CR external view
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Figure 2.2 SR–1054HSP–CR external view
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2.3
Operating Range and Coordinate System
For the clean specifications, the operating range of axis 3 (vertical) is smaller than
the standard specifications.
When installing the robot, review the layout after confirming the operating range
shown in Figures 2.3 and 2.4.
The zero point of the base coordinate system and each joint angle is the same as in
the standard specifications.
Figure 2.3 SR–654HSP–CR operating range
Figure 2.4 SR–1054HSP–CR operating range
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2.4
Tool Wiring and Piping
This paragraph describes the wiring and air piping for the tool.
2.4.1
Tool Wiring
For the tool wiring, see the descriptions on tool wiring (Para. 4.2.2) included in the
Transportation and Installation Manual.
For the wiring, be sure to use the connector at the lower side of arm 2.
2.4.2
Tool Air Piping
In all, two (2) air pipelines (outer dia. 6 mm × inner dia. 4 mm) are available for the
tool. Figures 2.5 and 2.6 show the joint locations of these pipelines.
Lower side of arm 2
Rear side of fixed base
Figure 2.5 Location of SR–654HSP–CR piping joint
Lower side of arm 2
Rear side of fixed base
Figure 2.6 Location of SR–1054HSP–CR piping joint
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Section 3
Specific Measures
1) Ball screw and spline
The ball screw and spline shafts are hard chrome plated.
Balls of the ball screw nut and spline nut are made of stainless steel.
They are lubricated with clean fluorine base grease.
2) Axis 4 rotating unit
The axis 4 rotating unit has a labyrinth structure.
3) Robot internal scavenging
The arm 2 cover interior and axis 4 rotating unit are scavenged by means of an
air tube.
4) Totally enclosed structure
The arm 2 cover is equipped in such a manner that there is no clearance with
the arm. Additionally, they are completely sealed with sealant to prevent dust
flow into the outside and to increase negative pressure.
5) Painting
Melamin baking finish is used for all paining.
6) Bolt and air fitting
All bolts exposed are made of SUS304.
All air fittings exposed are non-electrolytic nickle plated.
7) User's wiring and piping
The user's wiring and piping run under the arm 2.
The user's wiring can be easily removed and attached by means of a round
connector.
8) Assembly and test
Assembly and test are conducted in the clean booth of class 10000.
9) Packing
After cleaning the robot exterior with alcohol, the entire robot is packed in a
polyethylene bag for delivery.
As no clean measures are taken on controller SR7000, take utmost care of the place
where it is to be installed.
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3.2
Scavenging Piping in the Robot
An air tube is incorporated in the clean robot for scavenging.
Figures 3.1 and 3.2 show the piping of the air tube.
When operating the robot as the clean robot, scavenge through the air fitting, using
a scavenging vacuum pump (or equivalent to be provided by the user). Yardstick
for the scavenging volume is 75 liters/min.
If the robot is operated without scavenging, the specified degree of cleanliness
cannot be maintained.
Figure 3.1 SR–654HSP–CR scavenging air piping
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Figure 3.2 SR–1054HSP–CR scavenging air piping
Sealing Robot Cover
3.3
To maintain a better effect, the clean robot cover is filled up with sealant to eliminate
any clearance and to realize a totally closed robot structure. Dust in the robot will
not flow into the outside.
Except for the internal inspection and adjustment, DO NOT remove the cover.
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Section 4
Maintenance and Inspection
4.1
Maintenance and Inspection Items
The maintenance and inspection schedule and inspection items are the same as in
the standard specifications. For details, see Section 1 of the Maintenance Manual.
Bear in mind that the type of grease for the ball screw and spline differs from the
standard specifications.
4.2
Lubricating Tool Shaft and Tool Shaft Support Bearing
For the tool shaft, use the following grease.
• FONBLINE Grease OT–20 (maker: AUSIMONT)
For the greasing, see Para. 2.3.4 of the Maintenance Manual (STE 58766).
Caution
• Be sure to select the proper grease. If the wrong grease is selected, the robot
performance will deteriorate, resulting in malfunction.
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4.4
Replacement Parts List for Maintenance of Robot Mechanism
Table 4.1 SR–654HSP–CR replacement parts list for maintenance
Part name
Dwg. No./Type
Maker
Toshiba
Q'ty
1
Remarks
For axis 1
For axis 2
For axis 3
For axis 4
For axis 1
For axis 2
For axis 4
AC servo motor T–Z06030S–OU001
T–Y04030S–OU001
Machine
1
T–Z02030S–BOU002
1
T–Y01030S–BOU001
1
Harmonic drive P0712544P1
P0713566P1
Harmonic
1
Drive Systems
1
Planetary
reduction gear
K0713184P1
Toshiba
Machine
1
Timing belt
UNITTA
1
1
1
1
1
1
For axis 3
For axis 4
For axis 3
For axis 3
For axis 4
For axis 4
Clean spec.
73113×9
75113×20
Timing pulley
K0713127P1
K0713126P1
K0713128P1
K0713125P1
P0712543P3
Toshiba
Machine
Ball screw,
spline
Sensor
AN9145
Matsushita
Controls
7
For axes 1, 2
& 4
GXL–8FB
RS–1SH
3
1
For axis 3
For axis 4
Japan
Automation
Harness
Grease
T0711393G1
SK–1A
Toshiba
Machine
1
Harmonic
Drive Systems
500 g,
2.5 kg
OT–20
AUSIMONT
100 g
Caution
• All items other than the sensor and grease listed above are options. When
purchasing them, place an order with us.
• NEVER replace the parts by the customer.
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Table 4.2 SR–1054HSP–CR replacement parts list for maintenance
Part name
Dwg. No./Type
Maker
Toshiba
Q'ty
1
Remarks
For axis 1
For axis 2
For axis 3
For axis 4
For axis 1
For axis 2
For axis 4
For axis 3
For axis 4
For axis 3
For axis 3
For axis 4
For axis 4
Clean spec.
AC servo motor T–Z06030S–OU001
T–Y04030S–OU001
Machine
1
T–Y02030S–BOU001
T–Z02030S–BOU002
Harmonic drive P0712555P1
P0712544P1
1
1
Harmonic
1
Drive Systems
1
M0713610P1
1
Timing belt
UNITTA
1
73167×9
1
75172×25
Timing pulley
K0713159P1
K0713126P1
K0713158P1
K0713160P1
P0712543P3
Toshiba
Machine
1
1
1
1
Ball screw,
spline
Bearing
6200ZZ
3
1
For axis 4
6810DDU
Contact
rubber seal
Sensor
AN9145
Matsushita
Controls
7
For axes 1, 2
& 4
GXL–8FB
RS–1SH
3
1
For axis 3
For axis 4
Japan
Automation
Harness
Grease
T0711405G1
SK–1A
Toshiba
Machine
1
Harmonic
Drive Systems
500 g,
2.5 kg
OT–20
AUSIMONT
100 g
Caution
• All items other than the sensor and grease listed above are options. When
purchasing them, place an order with us.
• NEVER replace the parts by the customer.
STE 58792
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Edition
No.
Revised
Date
Revision
In Charge
Newly prepared.
March,
1998
–
1
2
3
4
APPROVED BY:
CHECKED BY:
PREPARED BY:
STE 58792
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BARAUCHI
Page 3 (in Japanese version)
(1)
(2)
(3)
(4)
(5)
(6)
(7)
4–ø18 hole, counterbore 26
Controller cable
Cable length
2–ø22 hole
User's air fitting
Scavenging air fitting
Max. 1000
Page 4
(1)
(2)
(3)
(4)
(5)
(6)
(7)
4–ø18 hole, counterbore 26
Controller cable
Cable length
2–ø22 hole
User's air fitting
Scavenging air fitting
Max. 950
Page 6
(1)
Hand wiring connector
(2)
Pipeline B
(3)
Pipeline A
(4)
Pipeline A
(5)
Pipeline B
(6)
Scavenging air fitting
Hand wiring connector
Pipeline B
(7)
(8)
(9)
Pipeline A
(10)
(11)
(12)
Pipeline A
Pipeline B
Scavenging air fitting
Page 8
(1)
(2)
(3)
Scavenging in arm 2
Union Y-bend
Scavenging of axis 4 rotating unit
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(4)
(5)
(6)
(7)
Air tube (O.D. 6 mm × I.D. 4 mm)
Elbow
Tool air fitting
Scavenging air fitting
Page 9
(1)
(2)
(3)
(4)
(5)
(6)
(7)
Scavenging in arm 2
Union Y-bend
Scavenging of axis 4 rotating unit
Air tube (O.D. 6 mm × I.D. 4 mm)
Elbow
Tool air fitting
Scavenging air fitting
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