Toshiba SR1054HSPCR User Manual

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

No part of this document may be reproduced in any form without obtaining prior written

permission from Toshiba Machine.

The information contained in this manual is subject to change without notice.

STE 58792

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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 Cautions on Safety

This section deals with the important information on using the robot safely

and properly.

Section 2 Clean Robot Basic specifications

This section describes the basic specifications, outer dimensions and

operating range of the robot.

Section 3 Measures against Dust

This section stipulates the measures against dust when using the robot of

clean specifications.

Section 4 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

Section 1 Cautions on Safety ............................................................................ 5

Section 2 Clean Robot Basic specifications ...................................................... 6

2.1 Basic Robot Specifications........................................................... 6

2.2 Outer Dimensions ........................................................................ 7

2.3 Operating Range and Coordinate System ................................... 9

2.4 Tool Wiring and Piping ................................................................. 10

2.4.1 Tool Wiring........................................................................... 10

2.4.2 Tool Air Piping...................................................................... 10

Section 3 Measure against Dust........................................................................ 11

3.1 Specific Measures........................................................................ 11

3.2 Scavenging Piping in the Robot ................................................... 12

3.3 Sealing Robot Cover .................................................................... 13

Section 4 Maintenance and Inspection.............................................................. 14

4.1 Maintenance and Inspection Items............................................... 14

4.2 Lubricating Tool Shaft and Tool Shaft Support Bearing ............... 14

4.3 Replacement Parts List for Maintenance of Robot Mechanism.... 15

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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

Danger

This means that "incorrect handling will lead to fatalities or serious injuries."

Caution

¿1) Injuries refer to injuries, burns and electric shocks, etc., which do not require

This means that "incorrect handling may lead to personal injuries

¿1) or physical damage ¿2)."

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 SR–654HSP–CR SR–1054HSP–CR Arm length Full length 650 mm 1,050 mm Arm 1 350 mm 580 mm Arm 2 300 mm 470 mm Operating range Axis 1 ±115° ±115° Axis 2 ±140° ±145° Axis 3 (vertical) 185 mm 185 mm Axis 4 (wrist rotation) ±280° ±360° Maximum speed Axis 1 255°/s 170°/s Axis 2 360°/s 270°/s Axis 3 (vertical) 800 mm/s 800 mm/s Axis 4 (wrist rotation) 864°/s 576°/s Composite 4.77 m/s 5.33 m/s Load Mass of workpiece to

be carried

Permissible inertia

moment at the tip Repeatability X, Y (plane) ±0.02 mm ±0.03 mm Axis 3 (vertical) ±0.01 mm ±0.02 mm Axis 4 (wrist rotation) ±0.03° ±0.03° Tool wiring and air piping 12 cables and 2 pipelines Degree of cleanliness Designed for cleanliness 10 (¿ Note 1) Drive system AC servo motor Mass of the basic body 65 kgf 95 kgf Robot controller 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

µm or over contained in 1 ft3 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.

5 kgf (rated)

(Max. 10 kgf)

0.0663 kgf·m2 0.1 kgf·m2

10 kgf (rated) (Max. 20 kgf)

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