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Toshiba TH180 Instruction Manual
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Toshiba TH180 Instruction Manual

Industrial robot
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TH180
TH250A
TH350A／TS3000
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
August 2012
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
STE85389-0

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Summary of Contents for Toshiba TH180

  • 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 2012 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 how to unpack and install the industrial robot TH series and controller. 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. Be sure to look through this manual before unpacking the shipment.
  • 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 2 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

    2.2.4 Installing the Robot ..................26 Changing the Mechanical Ends ..............29 2.3.1 Changing the Mechanical Ends of Axes 1 and 2 (TH180) ......30 2.3.2 Changing the Mechanical Ends of Axis 3 ............37 2.3.3 Changing Software Limits ................44 2.4 Installing the Controller ..................
  • Page 8 TRANSPORTATION AND INSTALLATION MANUAL 3.3.1 Removing Control Panel ................. 64 3.3.2 Cable between Controller and Control Panel ..........65 3.3.3 Control Panel Mounting Dimensions ............... 66 3.3.4 Mounting Dummy Panel on Controller ............67 3.3.5 Dimensions when Separating Control Panel ........... 68 Section 4 Tool Interface ....................

  • Page 9: Section 1 Transportation

    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 corrugated cardboards, polyethylene shipping bags and cushion material according to your standards.
  • Page 10 TRANSPORTATION AND INSTALLATION MANUAL Fig. 1.1 Packaging state (TH250A) Fig. 1.2 Packaging state (TH350A) STE 85389 – 10 –...
  • Page 11 TRANSPORTATION AND INSTALLATION MANUAL Fig. 1.3 Packaging state (TH180) STE 85389 – 11 –...

  • Page 12: Transportation

    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 14 kg Robot TH350A‐...
  • Page 13 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • When transporting or unpacking the robot and robot controller, take careful precautions not to get injured by the drop of them or not to damage the equipment. • When lifting the robot by workers, hold the locations (shaded areas) by hands as shown in Figs.
  • Page 14 Fig. 1.4 Robot handling area (shaded area) (TH250A, TH350A) Arm 2 cover Robot harness Arm 2 Tool shaft Base Arm 1 Fig. 1.5 Robot handling area (shaded area) (TH180) After the installation, remove the clamp used for transport. STE 85389 – 14 –...
  • Page 15 TRANSPORTATION AND INSTALLATION MANUAL Robot harness Arm 2 cover Arm 2 Base Tool shaft Arm 1 Fig. 1.6 Robot handling area (shaded area) (TH350A‐ T) STE 85389 – 15 –...

  • Page 16: Transporting The Controller

    TRANSPORTATION AND INSTALLATION MANUAL 1.2.3 Transporting the Controller Disconnect all cables and teach pendant before transporting the controller. DANGER • When placing the controller on the floor, etc., make sure not to catch your hands or feet. 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.

  • Page 17: Section 2 Installation

    9.8 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. Protection class IEC60529 IP10 (robot side) IP20 (controller side)

  • Page 18: Robot Installation

    Also, high temperatures can reduce the performance and lifespan of the battery. If using the robot under high temperatures, please consult with the Toshiba Machine sales office.  If high-speed operation is performed when starting in a low temperature environment, the torque may increase and an error may occur.
  • Page 19 TRANSPORTATION AND INSTALLATION MANUAL Hand I/O connector Hand air joint Details of hand set part Scale 1 : 2 Set hole Details of T-slot for mounting peripheral equipment Scale 1 : 2 Clean vacuum air joint for φ4 tube Hand I/O connector Motor power connector Axis 3 brake OFF switch Working envelope...
  • Page 20 Clean vacuum air joint for φ6 tube Brake OFF switch Battery box Hand air joint for 4x φ4 tube Details of hand set part Space for cable: 80 or over Fig. 2.3 External view of TH180 robot STE 85389 – 20 –...
  • Page 21 TRANSPORTATION AND INSTALLATION MANUAL Fig. 2.4 External view of TH350A‐ T robot STE 85389 – 21 –...

  • Page 22: Coordinate System

    TRANSPORTATION AND INSTALLATION MANUAL 2.2.3 Coordinate System The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the base reference planes. The 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.
  • Page 23 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane Axis 2 Axis 2 Axis 4 Axis 1 Axis 4 Axis 1 Axis 3 Origin of base coordinate system Fig. 2.6 TH350A base coordinate system and joint angle origin STE 85389 – 23 –...
  • Page 24 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane Axis 2 Axis 4 Axis 4 Axis 1 Axis 2 Axis 1 Axis 3 Origin of base coordinate system Fig. 2.7 TH180 base coordinate system and joint angle origin STE 85389 – 24 –...
  • Page 25 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane Axis 2 Axis 4 Axis 4 Axis 2 Axis 1 Axis 3 Origin of base coordinate system Fig. 2.8 TH350A‐ T base coordinate system and joint angle origin STE 85389 – 25 –...

  • Page 26: Installing The Robot

    TRANSPORTATION AND INSTALLATION MANUAL 2.2.4 Installing the Robot The robot is secured, using the set holes on the base. Use M8 hexagon socket head cap screws. The robot installation method is shown in Figs. 2.9 to 2. 11. Reference planes are provided on the base section and marked with “xxx”.1 To align the robot position in the base coordinate system, or to replace the robot, provide adequate reference planes.
  • Page 27 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane Reference plane Reference plane 4xφ9 hole 4xφ7 hole Fig. 2.9 Installing the TH250A and Fig. 2.10 Installing the TH180 robot TH350A robots STE 85389 – 27 –...
  • Page 28 TRANSPORTATION AND INSTALLATION MANUAL Reference plane Reference plane 4×φ9 hole Fig. 2.11 Installing the TH350A‐ T robot STE 85389 – 28 –...

  • Page 29: Changing The Mechanical Ends

    TRANSPORTATION AND INSTALLATION MANUAL Changing the Mechanical Ends Mechanical stoppers are installed to the robot to mechanically control the operating range of each axis. Changing the mechanical operating range of the robot by modifying or adding these mechanical stoppers is referred to as "changing the mechanical ends." Here, how to change the mechanical ends of Axes 1 to 3 of the robot is explained.

  • Page 30: Changing The Mechanical Ends Of Axes 1 And 2 (Th180)

    TRANSPORTATION AND INSTALLATION MANUAL 2.3.1 Changing the Mechanical Ends of Axes 1 and 2 (TH180) When the robot is shipped from the factory, software limits and mechanical stoppers are preset so that the stroke of Axis 1 satisfies ±120° and the stroke of Axis 2 satisfies ±...
  • Page 31 Mechanical stopper on the shipment 141° arm 1 side (Contact part with the mechanical stopper on the arm 2 side) Software limit at Mechanical stopper -142° shipment -141° Arm 2 Fig. 2.13 Axis 2 mechanical end settings (TH180) STE 85389 – 31 –...
  • Page 32 TRANSPORTATION AND INSTALLATION MANUAL M8 depth 16 Fig. 2.14 Mechanical stopper installation positions STE 85389 – 32 –...
  • Page 33 TRANSPORTATION AND INSTALLATION MANUAL The mechanical ends can be set into a desired operating range by changing the shapes of the mechanical stoppers. An example of changing the mechanical stopper for Axis 1 is shown in Fig. 2.15 and examples of changing the mechanical stopper for Axis 2 are shown in Fig.
  • Page 34 TRANSPORTATION AND INSTALLATION MANUAL Example) When the stroke of Axis 1 has been changed to 100°, -100° Machine's operating range (mechanical stopper) Machine's operating range (Mechanical end setting angle) 100°+α° Operating range (software limit) Mechanical stopper For setting up 100°, -100° Software limit (see Fig.
  • Page 35 TRANSPORTATION AND INSTALLATION MANUAL Example of changing the mechanical stopper for Axis 2 Setup operating range: 120°, -120° Material: S45C 9 holes, 14 deep counterbore, depth 8 Fig. 2.17 Example of changing the mechanical stopper for Axis 2 STE 85389 –...
  • Page 36 TRANSPORTATION AND INSTALLATION MANUAL Example) When the stroke of Axis 2 has been changed to 120°, -120° Machine's operating range (mechanical stopper) Mechanical stopper For setting up 120°, -120° (see Fig. 2.17) Machine's operating range (Mechanical end setting angle) Operating range (software 120°+α°...

  • Page 37: Changing The Mechanical Ends Of Axis 3

    TRANSPORTATION AND INSTALLATION MANUAL 2.3.2 Changing the Mechanical Ends of Axis 3 When the robot is shipped from the factory, software limits and mechanical stoppers are preset so that the Z stroke of Axis 3 satisfies the range from 0 to 120 mm. Fig.
  • Page 38 TRANSPORTATION AND INSTALLATION MANUAL To change the mechanical ends of Axis 3, change the stationary position of the mechanical stopper according to the procedure below. Remove the arm 2 cover. The arm 2 cover is secured to the cover fastening bracket and the arm 2 with 10 truss head screw (M3 x 6) and 4 socket head cap screws (M3 x 10).
  • Page 39 TRANSPORTATION AND INSTALLATION MANUAL Loosen the fixing bolts of the mechanical stoppers, move the mechanical stoppers to a desired position, and fix them again. When fixing the mechanical stoppers, be sure to apply Loctite to the fixing bolts. Upper limit mechanical stopper Upper limit mechanical stopper fixing bolt M5 x 16 Ball screw spline shaft...
  • Page 40 TRANSPORTATION AND INSTALLATION MANUAL Fig. 2.21 Moving the mechanical stopper STE 85389 – 40 –...
  • Page 41 TRANSPORTATION AND INSTALLATION MANUAL While pressing down the Brake Release switch, manually move Axis 3 up and down, and verify that the operating range has been changed. Move Axis 3 up and down. Brake Release switch Fig. 2.22 Verifying the operating range after change STE 85389 –...
  • Page 42 TRANSPORTATION AND INSTALLATION MANUAL Example) When the Z stroke has been changed to 60 to 120 mm Upper limit mechanical stopper (move 60 mm downward) If the coordinates of Axis 3 are moved to the position of "55 mm," the upper limit mechanical stopper and the pulley will make contact.
  • Page 43 TRANSPORTATION AND INSTALLATION MANUAL To move the Z stroke range into the range from 0 to 75 mm, move the fixing position of the lower limit mechanical stopper 75 mm upward according to the procedure in 2). Reinstall the arm 2 cover. Install the arm 2 cover with 10 truss head screw (M3 x 6) and 4 socket head cap screws (M3 x 10) using the recommended tightening torque.

  • Page 44: Changing Software Limits

    TRANSPORTATION AND INSTALLATION MANUAL 2.3.3 Changing Software Limits When the mechanical ends were changed, be sure to also change the software limits. There are the following two types of methods to change the software limits. [1] Change the setting values of the "User Parameter File (file name: USER.PAR)." There are software limits that can be set by the customer.

  • Page 45: Installing The Controller

    TRANSPORTATION AND INSTALLATION MANUAL 2.4 Installing the Controller 2.4.1 External Dimensions Fig. 2.25 shows the outline drawing of the controller. Controller main body mass 13 kg Fig. 2.25 TS3000 controller outline drawing STE 85389 – 45 –...

  • Page 46: Precautions For Direct Installation

    TRANSPORTATION AND INSTALLATION MANUAL 2.4.2 Precautions for Direct Installation Allocate a space of at least 50 mm at both left and right in the side directions of the controller and at least 100 mm above the controller. CAUTION • Provide a ventilation space at the side of the controller so that the air vent holes are not blocked.

  • Page 47: Rack Mounting Dimensions

    TRANSPORTATION AND INSTALLATION MANUAL 2.4.3 Rack Mounting Dimensions When mounting the robot controller in a rack, mount 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. 2.7 are optional. ①...

  • Page 48: Precautions For Rack Mounting

    TRANSPORTATION AND INSTALLATION MANUAL 2.4.4 Precautions for Rack Mounting Pay attention to the following matters when rack-mounting the TS3000 robot controller. When installing the controller by mounting in a rack, use the holes located at both ends of the front panel to fix the controller. (Side brackets are required.) Because a cable connector will be connected to the rear of the controller, a space of at least 110 mm is necessary in the rear direction.
  • Page 49 TRANSPORTATION AND INSTALLATION MANUAL Fig. 2.28 Removing upper cover When storing the controller in a rack, be sure to configure so that the weight of the controller can be supported by the legs of the controller. The controller's rack mount screw holes are provided to fasten the controller panel and thus the weight of the controller cannot be supported with these only.

  • Page 50: Precautions For Handling The Teach Pendant

    TRANSPORTATION AND INSTALLATION MANUAL Fig. 2.15 Clearance of controller front side Precautions for Handling the Teach Pendant Be careful of the following matters when handling the teach pendant. CAUTION • DO NOT drop the teach pendant or hit it against anything. •...

  • Page 51: Safety Measures

    TRANSPORTATION AND INSTALLATION MANUAL Safety Measures When installing the robot, provide sufficient space to carry out the work safely. Clarify the hazard zone, and provide a safety fence so that other persons cannot enter the zone easily. The hazard zone is the zone near the robot's working space where a hazardous state could occur if a person enters.

  • Page 52: Position Detector Backup Batteries

    TRANSPORTATION AND INSTALLATION MANUAL Position Detector Backup Batteries The robot has batteries to back up positional information on position detectors in its base. Unless the robot is used for a long period of time, the battery voltage will drop and the positional data of origin will be lost. Replace the batteries every year.

  • Page 53: Using The Robot In Clean Room

    TRANSPORTATION AND INSTALLATION 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 Using the Robot in Clean Room The main robot is designed pursuant to the Clean Class 10.

  • Page 54: Section 3 System Connections

    TRANSPORTATION AND INSTALLATION MANUAL Section 3 System Connections Cable Wiring This section describes the various types of cables and connectors and explains how these are to be connected. 3.1.1 Connector Arrangement on the Controller The cables connected to the TS3000 robot controller are shown in Fig. 3.1. Fig.

  • Page 55: Connecting The Power Cable "Acin" [1] Of Fig. 3.1 (Plug Connector Attached)

    Specifications Power supply Single phase, AC 200 ~ 240 V, 50/60 Hz±1 Hz Power supply TH250A/TH350A (0.9 kVA) capacity TH180 (0.5 kVA) TH350A-T (0.9 kVA) Instantaneous power For 50 Hz, within 40 msec failure For 60 Hz, within 32 msec...

  • Page 56: Connecting The Motor Cable "Motor" Fig. 3.1-[1] (Cable Attached)

    TRANSPORTATION AND INSTALLATION MANUAL DANGER • Always use the designated wire. Failure to do so could lead to fires or faults. • When connecting the connector and wires, make sure not to mistake the terminal arrangement. • After making the connection, use a tester, etc., to confirm the connection. For the terminal arrangement, see Para.
  • Page 57 Cable length 3000 Hand air joint For 4- φ4 tube [2] ENC: Encoder connector [3] HAND: Hand I/O connector Space for cable: 80 or more [1] MOTOR: Motor connector Fig. 3.3 Robot side connector layout drawing (TH180) STE 85389 – 57 –...

  • Page 58: Connecting The Encoder Cable "Enc" Fig. 3.1 [3] (Cable Attached)

    TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.4 Robot side connector layout drawing (TH350A-T) 3.1.4 Connecting the Encoder Cable “ENC” Fig. 3.1 [3] (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 ([3] of Fig.

  • Page 59: Grounding The Robot

    TRANSPORTATION AND INSTALLATION MANUAL 3.1.7 Grounding the Robot An M4 screw hole for grounding is provided in the base section of the robot's main body. (Fig. 3.2-[4] and Fig. 3.4-[4]). Be sure to securely connect the protective conductor of the entire facility with this M4 screw hole. 3.1.8 Inserting and Removing Cables CAUTION •...
  • Page 60 TRANSPORTATION AND INSTALLATION MANUAL 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 both ends of the cable side connector with a screwdriver.

  • Page 61: Examples Of Connector Terminal Arrangement

    TRANSPORTATION AND INSTALLATION MANUAL 3.1.9 Examples of Connector Terminal Arrangement Power cable connector ACIN Connects to controller. DANGER Type: JL04V–2E18–10PE–B • Completely connect the Manufacturer: grounding cable. Japan Aviation Electronics Otherwise, an electric Industry shock or fire may be Single phase, AC 170~250 V, caused if a fault or electric 50/60 Hz leak has occurred.
  • Page 62 TRANSPORTATION AND INSTALLATION MANUAL External output signal cable connector OUTPUT Connects to controller. 20 19 17 16 15 14 13 12 11 Type: DHA-RC40-R132N-FA 40 39 28 27 26 25 24 23 22 21 36 35 34 33 32 31 30 29 Manufacturer: DDK System input/output signal cable connector SYSTEM Connects to controller.

  • Page 63: Controller Connector Signals

    TRANSPORTATION AND INSTALLATION MANUAL Controller Connector Signals 3.2.1 Connector Signal Connection Diagrams Diagrams showing which signals correspond to which terminals are shown in Section 2 of the Interface Manual. System input signals INPUT–12 (STOP) SYSTEM-16 (SVOFF) SYSTEM-14 (BREAK) (EMS2B ～ EMS2C) EMS-7，...

  • Page 64: Separating Control Panel From Controller

    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 65: Cable Between Controller And Control Panel

    TRANSPORTATION AND INSTALLATION MANUAL Fig. 3.7 Removing control panel 3.3.2 Cable between Controller and Control Panel The cable required to connect the control panel and controller when they are installed separately can be provided optionally. STE 85389 – 65 –...

  • Page 66: Control Panel Mounting Dimensions

    TRANSPORTATION AND INSTALLATION MANUAL 3.3.3 Control Panel Mounting Dimensions The dimensions of mounting the control panel are shown in Fig. 4.6. Cross truss head screws (ø3 × 6, ZN3–B) are used. 4-M3 Fig. 3.8 Control panel mounting dimensions STE 85389 –...

  • Page 67: Mounting Dummy Panel On Controller

    TRANSPORTATION AND INSTALLATION MANUAL 3.3.4 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, mounting parts, etc.

  • Page 68: Dimensions When Separating Control Panel

    TRANSPORTATION AND INSTALLATION MANUAL 3.3.5 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 69: Section 4 Tool Interface

    Section 4 Tool Interface Mounting Tool TH250A, TH350A, TH180 and TH350A‐ T The tool is mounted on the end of the tool shaft (ø16). The tool shaft has a dog for the stopper, and the section in front of the dog is used for mounting the tool.
  • Page 70 TRANSPORTATION AND INSTALLATION MANUAL +0.018 -0.012 Split clamp φ12H7 -0.042 depth 4 φ60 Tool 45° 4-φ4.5 hole P.C.D.50 (b) Dimensions of tool set flange (option) Fig. 4.1 Mounting TH250A, TH350A , TH180 and TH350A‐ T tools STE 85389 – 70 –...

  • Page 71: Tool (Hand) Wiring And Piping

    TRANSPORTATION AND INSTALLATION MANUAL Tool (Hand) Wiring and Piping The robot is provided with wiring and air piping for the tool. These wiring and piping extend to the arm 2 from the base. Wiring for tool Base side Arm side DSUB 25-pin connector DSUB 25-pin connector (XM2A–1501 made by OMRON)
  • Page 72 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) STE 85389 – 72 –...
  • Page 73 TRANSPORTATION AND INSTALLATION MANUAL Hand air joint 4xM5 Hand air joint For 4×φ4 tube Hand air tube 4×φ4 Fig. 4.5 Air piping for tool (TH350A－T) STE 85389 – 73–...

  • Page 74: Controller's Tool Signals

    TRANSPORTATION AND INSTALLATION MANUAL 4.2.1 Controller's Tool Signals The controller is provided with tool signals (i.e., five (5) input signals for sensor, etc., four (4) control signals for solenoid valve, etc., DC 24V and DC 24 VGND signals), which can be connected also from the controller side. (A cable between the controller and cable is an option.) The relevant signals are described below.
  • Page 75 TRANSPORTATION AND INSTALLATION MANUAL a-2) Input signal connector HAND (Type-P) Signal name Signal Input circuit and example of connections D-IN0 Input signal 0 Customer’s side TS3000 D-IN1 Input signal 1 P 24 V D-IN2 Input signal 2 D-IN3 Input signal 3 ●...
  • Page 76 TRANSPORTATION AND INSTALLATION MANUAL b-1) Output signal connector HAND (Type-N) Signal name Signal No. Output circuit and example of connections D-OUT0 Output signal 0 Customer’s side D-OUT1 Output signal 1 DC relay D-OUT2 Output signal 2 D-OUT3 Output signal 3 D-OUT4 Output signal 4 D-OUT...
  • Page 77 TRANSPORTATION AND INSTALLATION MANUAL b-1) Output signal connector HAND (Type-P) Signal name Signal No. Output circuit and example of connections D-OUT0 Output signal 0 Customer’s side D-OUT1 Output signal 1 D-OUT2 Output signal 2 DC relay D-OUT3 Output signal 3 D-OUT D-OUT4 Output signal 4...

  • Page 78: Permissible Load Conditions And Program Setting

    Fig. 4.6 and Fig. 4.7. 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...
  • Page 79 TRANSPORTATION AND INSTALLATION MANUAL Tool center of gravity Moment of inertia Tool Gravity center offset Fig. 4.6 Tool and robot body (Normal type) Tool center of gravity Moment of inertia Tool Gravity center offset Fig. 4.7 Tool and robot body (Ceiling type) STE 85389 –...

  • Page 80: Load Conditions And Program Setting

    TRANSPORTATION AND INSTALLATION MANUAL 4.3.2 Load Conditions and Program Setting Even if the tool load conditions are within the permissible values listed in Table 4.3, acceleration and servo gain that are adequate for the load conditions should be set. If this setting is inadequate, the robot may vibrate or overshoot, resulting in reduction of the robot life.
  • Page 81 TRANSPORTATION AND INSTALLATION MANUAL (Program example 2) Let’s assume that the hand mass is 1 kg and gravity center offset is 30 mm, and that the mass is 3 kg and gravity center offset is 50 mm when the workpiece is grasped.
  • Page 82 Then, the servo gain is changed to the value which meets the load conditions. 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. STE 85389...

  • Page 83: Setting Robot Acceleration And Maximum Speed For Load Conditions

    TRANSPORTATION AND INSTALLATION MANUAL 4.3.3 Setting Robot Acceleration and Maximum Speed for Load Conditions TH250A Acceleration of the robot is automatically changed according to the load conditions when the PAYLOAD command is used. The acceleration changes with the load mass, as shown in Fig. 4.8. The vertical line shows the acceleration.
  • Page 84 TRANSPORTATION AND INSTALLATION MANUAL Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (a) Axes 1 and 2 Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (b) Axis 4 Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (c) Axis 3 Fig.
  • Page 85 TRANSPORTATION AND INSTALLATION MANUAL Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (a) Axes 1, 2, 4 Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (b) Axis 3 Fig. 4.11 Setting of maximum speed for gravity center offset (TH250A) STE 85389 –...
  • Page 86 TRANSPORTATION AND INSTALLATION MANUAL TH350A Acceleration of the robot is automatically changed according to the load conditions when the PAYLOAD command is used. The acceleration changes with the load mass, as shown in Fig. 4.12. The vertical line shows the acceleration. If the load mass is 3 kg, for instance, the acceleration of axes 1, 2 and 4 is 70 %.
  • Page 87 TRANSPORTATION AND INSTALLATION MANUAL Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (a) Axes 1, 2, and 4 Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (b) Axis 3 Fig. 4.13 Setting of acceleration for gravity center offset (TH350A) STE 85389 –...
  • Page 88 Axes 1,2 Axis 3 Axis 4 Fig. 4.14 Setting of acceleration for load mass (TH180) Additionally, if there is a gravity center offset of load, the acceleration changes as shown in Fig. 4.15. If the load mass is 2 kg and gravity center offset is 50 mm, for instance, the acceleration is 31 % (= 79 % ×...
  • Page 89 Load mass [kg] 0～1[kg] 1～2[kg] Gravity center offset [mm] (a) Axes 1, 2, and 4 Load mass [kg] 0～1[kg] 1～2[kg] Gravity center offset [mm] (b) Axis 3 Fig. 4.15 Setting of acceleration for gravity center offset (TH180) STE 85389 – 89 –...
  • Page 90 TRANSPORTATION AND INSTALLATION MANUAL TH350A‐ T Acceleration of the robot is automatically changed according to the load conditions when the PAYLOAD command is used. The acceleration changes with the load mass, as shown in Fig. 4.16. The vertical line shows the acceleration. If the load mass is 3 kg, for instance, the acceleration of axes 1, 2 and 4 is 70 %.
  • Page 91 TRANSPORTATION AND INSTALLATION MANUAL Load mass [kg] 0～1[kg] 1～2[kg] 2～3[kg] Gravity center offset [mm] (a) Axes 1, 2, and 4 Load mass [kg] 0～1[kg] 1～2[kg] Gravity center offset [mm] (b) Axis 3 Fig. 4.17 Setting of acceleration for gravity center offset (TH350A‐ T) STE 85389 –...

  • Page 92: Section 5 Specifications

    TRANSPORTATION AND INSTALLATION MANUAL Section 5 Specifications Specifications Table Item Specifications Structure Horizontal multi-joint type SCARA robot Model TH180 Applicable controller TS3000 Mass of actuator 9 kg No. of controlled axes Four (4) Arm length 180 mm (70 mm + 110 mm)
  • Page 93 TRANSPORTATION AND INSTALLATION MANUAL *4: The tone of the paint color may be different among production lots. It does not affect the product quality, however. CAUTION Put the Z-axis (axis 3) in the raised position as much as possible, when moving Axes 1, 2, and 4.
  • Page 94 TRANSPORTATION AND INSTALLATION MANUAL Item Specifications Structure Horizontal multi-joint type SCARA robot Model TH250A TH350A Applicable controller TS3000 Mass of actuator 14 kg No. of controlled axes Four (4) Arm length 250 mm 350 mm (125 mm + 125 (225 mm + 125 mm) Axis 1 200 (W) Axis 2...
  • Page 95 TRANSPORTATION AND INSTALLATION MANUAL *4: The tone of the paint color may be different among production lots. It does not affect the product quality, however. CAUTION Put the Z-axis (axis 3) in the raised position as much as possible, when moving Axes 1, 2, and 4.

This manual is also suitable for:

Th250aTh350aTs3000

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