Toshiba SR-1054HSP Robotics User Manual
Contents
1. Areference plane is prepared on the base section and is marked with xxx To align the robot s base coordinate system position or when the robot must be replaced prepare an adequate reference plane Then contact that reference plane to the base reference plane and fasten The reference plane has been coated with anticorrosive agents before shipment so wipe the agent off with thinner before using VAN Caution The robot will suddenly accelerate and decelerate during operation so when installing it on a frame make sure that the frame has sufficient strength and rigidity If the robot is installed on a frame that does not have sufficient rigidity the vibration will occur while the robot is operating and could lead to faults When installing the robot on the floor fasten the robot down securely with foundation bolts Install the robot on a level place Failure to do so could lead to a drop in performance or faults Reference plane M12 hexagon socket bolt i 4 b 14hole b 24depth counterbore ERS oo Fig 2 16 Installing the SR 504HSP robot 2 15 STE 58764 M16 hexagon socket bolt 160 4 618 hole counterbore 26 Reference plane Installing the SR 554HSP SR 654HSP SR 854HSP robot Fig 2 17 4 18 hole counterbore 26 Reference plane M16 hexagon socket bolt l 240 40 Installing the SR 1054H2. of the front panel and fix the controller Optional side brackets are required AN Caution If the rack is completely sealed provide holes to allow the air to be let out forcibly ventilate the rack with a fan or cool it indirectly so that the heat will not be trapped in the rack If the heat is trapped in the rack or controller faults could occur 2 The cable connectors are connected to the rear side of the controller so provide a space of 110mm at the rear side 2 18 STE 58764 3 The upper cover must be removed during maintenance See Fig 2 21 Keep this in mind when installing the controller Specifically the controller should be easily removable from the rack Practically be careful of the following points a Arrange the cables around the rear panel of the controller so that the controller can be removed b Arrange the cables between the controller and the control panel when the control panel is separated so that the controller can be removed c Connect all the cables in a position where the robot can be operated even if the controller is removed from the rack Upper cover mil gil Fig 2 21 Upper cover 4 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 onl
3. SP robot Fig 2 18 2 16 STE 58764 2 3 INSTALLING THE CONTROLLER 2 3 1 External Dimensions An external view of the controller is shown in Fig 2 19 381 330 30 5 Top Right side 430 _SRA7000 reneteontweter meme 230 241 gt D Rear Fig 2 19 External view of the controller 2 17 STE 58764 2 3 2 Rack Mounting Dimensions When mounting the SR 7000 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 in Fig 2 20 Side brackets are optional 10 460 10 Dd lt 4 4 R3 SR70000 gepot Controller TREE Q 4 ye ef o Adaptive screw gt lo 2 diameter 5mm A a lo Q y y oA N NEE lft gt Dn se D P Fig 2 20 Dimensions of controller rack mounting holes 2 3 3 Precautions for Rack Mounting Pay attention to the following when rack mounting the SR 7000 robot controller 1 When mounting the controller in a rack use the screw holes provided at both ends
4. STE 58764 CHAPTER 2 INSTALLATION 2 1 INSTALLATION ENVIRONMENT Table 2 1 shows the environmental conditions for the location in which the SR HSP Series Robot and SR7000 Controller are to be installed Table 2 1 Environmental Conditions for the Robot and Controller Item Specifications Temperature In operation Oto40 C In storage 10 to 50 C Humidity 20 to 90 Non condensing Do not install the robot where it may be subject to fluids such as water Altitude 1000 m or less Vibration In operation z Within 0 98m s In transport Within 9 8m s Dust There is to be no inductive dust Please consult with Toshiba first should you wish to use the robot and controller in an especially dusty environment Gas There is to be no corrosive or combustible gas Sunlight The robot must not be subject to direct sunlight Electromagnetic There are to be no devices in the area which produce an excessive noise amount of electromechanical noise Field There are to be no devices in the area that generate a strong field Danger Do not place the robot near combustible matters Doing so could lead to fires if the matter ignites due to a fault etc 2 2 ROBOT INSTALLATION Before actually installing the robot you must plan a layout and take into consideration such matters as the working space coordinate system and space for maintenance 2 2 1 External Dimensions An outline drawing of t
5. he robot is shown in Figs 2 1 to 2 5 2 1 STE 58764 Fig 2 1 External view of SR 504HSP robot 2 2 STE 58764 Fig 2 2 External view of SR 554HSP robot ay en STE 58764 Fig 2 3 External view of SR 654HSP robot 2 4 STE 58764 Fig 2 4 External view of SR 854HSP robot 2 5 STE 58764 Fig 2 5 External view of SR 1054HSP robot 2 6 STE 58764 2 2 2 Working Space Figs 2 6 to 2 10 show the working space of the robot Each axis can operate within the working space To keep the robot from moving out of the working space by mis operation the robot is equipped with mechanical stoppers outside the moving range In addition soft limits are provided which may be set as desired by the user Fig 2 6 SR 504HSP robot working space 2 7 STE 58764 Fig 2 7 SR 554HSP robot working space 200 100 Fig 2 8 SR 654HSP robot working space 2 8 STE 58764 Fig 2 9 SR 854HSP robot working space Fig 2 10 SR 1054HSP working space 2 9 STE 58764 2 2 3 Coordinate System The robot s joint angle zero point 0 or Omm position has been calibrated before shipment in respect to the base reference planes The base coordinate system w
6. ill be determined according to this calibration Figs 2 11 to 2 15 show the base coordinate system and the zero positions of each axis joint angle Reference plane Reference plane z RED Origin of base coordinate system Fig 2 11 SR 504HSP base coordinate system and joint angle zero point 2 10 STE 58764 Reference plane Reference plane Axis 4 Axis 2 105 300 1 250 Origin of base coordinate system Fig 2 12 SR 554HSP base coordinate system and joint angle zero point 2 11 STE 58764 Reference plane Reference plane Origin of base coordinate system Fig 2 13 SR 654HSP base coordinate system and joint angle zero point 2 12 STE 58764 Reference plane Reference plane Origin of base coordinate system Fig 2 14 SR 854HSP base coordinate system and joint angle zero point d STE 58764 Reference plane Reference plane Fig 2 15 SR 1054HSP base coordinate system and joint angle zero point 2 14 STE 58764 2 2 4 Installing the Robot The robot is fastened down using the mounting holes in the base Use M12 hexagon socket bolts for the SR 504HSP and M16 hexagon socket bolts for the SR 554HSP SR 654HSP SR 854HSP and SR 1054HSP The robot installation method is shown in Figs 2 16 to 2 18
7. l of the following when handling the teach pendant VAN Caution Do not drop the teach pendant or hit it against anything Do not pull on the cable protruding from the teach pendant Do not press the switches on the teach pendant with anything sharp like the tip of a knife pencil ball point pen etc Do not place or use the teach pendant near open flames Do not leave the teach pendant in direct sunlight for a long period of time 2 20 STE 58764 2 5 SAFETY MEASURES 1 When installing the robot provide sufficient space to carry out the work safely 2 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 3 Provide a limit switch photo switch or foot switch etc at the entrance of the safety fence to provide an emergency stop function that will stop the robot if a person enters the hazard zone The emergency stop function should be an electrically independent b contact closed in normal operation with compulsive opening function and must not be automatically recovered Door ee switch Robot it ZZZ ea OE _ Jeontroner Warning light Safety fence Foot switch Robot working space Foot switch Safety fence Warning light Limit switch 4 The controller must be installed at a place outside the hazard zone where
8. the operator can view the robot movement 2 21
9. y with the screws 5 On the front of the controller a clearance of approx 90 mm should be provided for connecting the connector of the teach pendant Even if the teach pendant is not used a clearance of approx 50 mm is required for connecting a dummy plug 35mm I O O LJ 90mm 50mm Fig 2 22 Clearance of front panel of controller 2 19 STE 58764 2 3 4 Precautions for Direct Installation When two or more controllers are used 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 vertical direction between the controllers J Caution Provide a ventilation space at the side of the controller so that the air vent holes are not blocked The space equal to the length of the support should be kept below the lower surface Failure to do so could cause the cooling performance to drop or to faults Do not stack the controllers or place objects in front of it j SR70000 gepot Controller ACHRE p SERVO POWER F 0 50mm or more 50mm or more _ _ _ or ya START y P a LI ER CYCLE STOP limnf J aad ef Fig 2 23 Controller ventilation space 2 4 PRECAUTIONS FOR HANDLING THE TEACH PENDANT Be carefu
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