Toshiba Robotics SR 1054HSP User Manual

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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  
0 to 40 ℃  
Temperature  
In operation  
In storage  
:
:
-10 to 50  
Humidity  
20 to 90 % (Non-condensing)  
Do not install the robot where it may be subject to fluids such as water.  
1000 m or less  
In operation  
In transport  
Altitude  
Vibration  
: Within 0.98m/s2  
: Within 9.8m/s2  
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.  
The robot must not be subject to direct sunlight.  
There are to be no devices in the area which produce an excessive  
amount of electromechanical noise.  
Sunlight  
Electromagnetic  
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 the robot is shown in Figs. 2.1 to 2.5.  
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Fig. 2.2 External view of SR-554HSP robot  
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Fig. 2.3 External view of SR-654HSP robot  
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Fig. 2.4 External view of SR-854HSP robot  
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Fig. 2.5 External view of SR-1054HSP robot  
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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.  
110°  
137°  
R184  
R500  
R250  
137°  
110°  
Fig. 2.6 SR-504HSP robot working space  
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115°  
R550  
R193  
120°  
120°  
115°  
Fig. 2.7 SR-554HSP robot working space  
115°  
R227  
140°  
R650  
140°  
115°  
Fig. 2.8 SR-654HSP robot working space  
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115°  
145°  
R350  
R850  
145°  
115°  
Fig. 2.9 SR-854HSP robot working space  
115°  
R333  
145°  
R1050  
145°  
115°  
Fig. 2.10 SR-1054HSP working space  
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2.2.3 Coordinate System  
The robot's joint angle zero point (0° or 0mm position) has been calibrated before  
shipment in respect to the base reference planes. The base coordinate system will 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  
(-)  
(-)  
(-)  
0°  
0°  
0°  
X
B
Axis 4  
(+)  
(+)  
(+)  
Axis 2  
90  
Axis 1  
250  
250  
Y
B
Z
B
Axis 3  
(+)  
Origin of base  
coordinate system  
0mm  
Fig. 2.11 SR-504HSP base coordinate system and joint angle zero point  
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Reference plane  
(-)  
Reference plane  
(-)  
(-)  
(+)  
X
B
Axis 4  
Axis 2  
(+)  
(+)  
Axis 1  
105  
250  
300  
Y
B
Z
B
Axis 3  
X
B
(+)  
Origin of base  
coordinate system  
0mm  
View A  
View A  
Fig. 2.12 SR-554HSP base coordinate system and joint angle zero point  
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Reference plane  
Reference plane  
(-)  
(-)  
(-)  
0°  
0°  
0°  
XB  
Axis 4  
(+)  
Axis 1  
(+)  
350  
(+)  
Axis 2  
105  
300  
Y
B
Z
B
X
B
Axis 3  
(+)  
Origin of base  
View A  
coordinate system  
0mm  
View A  
Fig. 2.13 SR-654HSP base coordinate system and joint angle zero point  
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Reference plane  
(-)  
Reference plane  
(-)  
(-)  
0°  
0°  
0°  
B
X
Axis 4  
(+)  
(+)  
Axis 1  
(+)  
105  
Axis 2  
300  
550  
B
Y
B
Z
Axis 3  
(+)  
B
X
Origin of base  
View A  
0mm  
coordinate system  
View A  
Fig. 2.14 SR-854HSP base coordinate system and joint angle zero point  
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Reference plane  
Reference plane  
(-)  
(-)  
(-)  
0°  
0°  
0°  
XB  
(+)  
Axis 4  
Axis 2  
(+)  
Axis 1  
(+)  
150  
470  
580  
YB  
B
Z
Axis 3  
(+)  
B
X
Origin of base  
coordinate system  
View A  
0mm  
View A  
Fig. 2.15 SR-1054HSP base coordinate system and joint angle zero point  
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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. A reference 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.  
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  
130  
65  
4-φ14hole  
φ24depth counterbore  
××  
×
×
××  
90  
140  
Reference plane  
Fig. 2.16 Installing the SR-504HSP robot  
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M16 hexagon  
socket bolt  
Reference plane  
160  
4-φ18 hole,counterbore 26  
×××  
×
×
××105  
104  
160  
Reference plane  
Fig. 2.17 Installing the SR-554HSP,SR-654HSP, SR-854HSP robot  
Reference plane  
240  
4-φ18 hole,counterbore 26  
×××  
×
×
M16 hexagon  
socket bolt  
×
×
××××  
150  
148  
185  
Reference plane  
Fig. 2.18 Installing the SR-1054HSP robot  
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2.3 INSTALLING THE CONTROLLER  
2.3.1 External Dimensions  
An external view of the controller is shown in Fig 2.19.  
Top  
Right side  
430  
Front  
Rear  
Fig. 2.19 External view of the controller  
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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  
4-R3  
Adaptive screw  
diameter 5mm  
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 of  
the front panel, and fix the controller. (Optional side brackets are required.)  
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.  
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(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  
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 only 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  
90mm  
50mm  
Fig. 2.22 Clearance of front panel of controller  
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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.  
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.  
SERVO POWER  
EMERGENCY  
J1  
J2  
OFF  
ON  
POWER  
50mm or more  
50mm or more  
PC  
STOP  
START  
FAULT  
BATTERY  
ALARM  
FDD  
INT  
CC24V  
C.P.  
EXT  
MANU  
CYCLE STOP  
POWER  
TP  
10AT  
11mm  
Fig. 2.23 Controller ventilation space  
2.4 PRECAUTIONS FOR HANDLING THE TEACH PENDANT  
Be careful of the following when handling the teach pendant.  
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.  
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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.  
Limit switch  
Door  
Warning light  
Safety fence  
Robot unit  
Controller  
Photo  
switches  
Foot switch  
Robot working space  
Line  
Line  
Photo switches  
Foot switch  
Safety fence  
Warning light  
Door  
Limit switch  
(4) The controller must be installed at a place outside the hazard zone where the operator can  
view the robot movement.  
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