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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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Copyright 1998 by Toshiba Machine. All rights reserved. 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 – 2 –
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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 th
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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................................
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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 Danger i
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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 (vertic
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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 STE 58792 – 7 –
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Figure 2.2 SR–1054HSP–CR external view STE 58792 – 8 –
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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 STE 58792 – 9 –
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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 pipeline
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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 equippe
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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 sc
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Figure 3.2 SR–1054HSP–CR scavenging air piping 3.3 Sealing Robot Cover 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. STE 58792 – 13 –
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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: AUSIM
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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 Q'ty Remarks AC servo motor T–Z06030S–OU001 Toshiba 1 For axis 1 T–Y04030S–OU001 Machine 1 For axis 2 T–Z02030S–BOU002 1 For axis 3 T–Y01030S–BOU001 1 For axis 4 Harmonic drive P0712544P1 Harmonic 1 For axis 1 P0713566P1 Drive Systems 1 For axis 2 Planetary K0713184P1 Toshiba 1 For axis 4 reduction gear Machine Timing belt
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Table 4.2 SR–1054HSP–CR replacement parts list for maintenance Part name Dwg. No./Type Maker Q'ty Remarks AC servo motor T–Z06030S–OU001 Toshiba 1 For axis 1 T–Y04030S–OU001 Machine 1 For axis 2 T–Y02030S–BOU001 1 For axis 3 T–Z02030S–BOU002 1 For axis 4 Harmonic drive P0712555P1 Harmonic 1 For axis 1 P0712544P1 Drive Systems 1 For axis 2 M0713610P1 1 For axis 4 Timing belt UNITTA 1 For axis 3 73167 ×9 1 For axis 4 75172 ×25 Timing pulley K0713159P1 Toshiba 1 For axis
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Edition Revised No. Revision Date In Charge Newly prepared. March, 1998 – 1 2 3 4 APPROVED BY: CHECKED BY: PREPARED BY: STE 58792 – 17 –
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BARAUCHI Page 3 (in Japanese version) (1) 4–ø18 hole, counterbore 26 (2) Controller cable (3) Cable length (4) 2–ø22 hole (5) User's air fitting (6) Scavenging air fitting (7) Max. 1000 Page 4 (1) 4–ø18 hole, counterbore 26 (2) Controller cable (3) Cable length (4) 2–ø22 hole (5) User's air fitting (6) Scavenging air fitting (7) Max. 950 Page 6 (1) Hand wiring connector (2) Pipeline B (3) Pipeline A (4) Pipeline A (5) Pipeline B (6) Scavenging air fitting (7) Hand wir
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(4) Air tube (O.D. 6 mm × I.D. 4 mm) (5) Elbow (6) Tool air fitting (7) Scavenging air fitting Page 9 (1) Scavenging in arm 2 (2) Union Y-bend (3) Scavenging of axis 4 rotating unit (4) Air tube (O.D. 6 mm × I.D. 4 mm) (5) Elbow (6) Tool air fitting (7) Scavenging air fitting STE 58792 – 19 –
