Installation Manual

ManualsBrandsToshiba ManualsRoboticsToshiba Robotics SR-854HSP

STE 58764

－－

2-1

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

In operation :

0 to 40

℃

Temperature

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.

Altitude 1000 m or less

In operation : Within 0.98m/s

Vibration

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

noise

There are to be no devices in the area which produce an excessive

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 the robot is shown in Figs. 2.1 to 2.5.

Summary of content (21 pages)

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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 Specifications In operation : 0 to 40 ℃ 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. Altitude 1000 m or less 2 Vibration In operation : Within 0.
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STE 58764 Fig. 2.
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STE 58764 Fig. 2.
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STE 58764 Fig. 2.
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STE 58764 Fig. 2.
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STE 58764 Fig. 2.
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STE 58764 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° R500 R184 137° 137° 110° 150 R250 100 2.2.2 Fig. 2.
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STE 58764 115° R193 R550 200 120° 120° 100 115° Fig. 2.7 SR-554HSP robot working space 115° R227 140° 140° 200 R650 100 115° Fig. 2.
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STE 58764 115° R350 145° R850 200 145° 110 115° Fig. 2.9 SR-854HSP robot working space 115° R333 145° 115° 150 145° 200 R1050 Fig. 2.
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STE 58764 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.
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STE 58764 Reference plane (-) (-) 210 (-) XB Axis 4 (+) Reference plane Axis 2 (+) 300 (+) Axis 1 250 105 YB ZB Axis 3 XB (+) Origin of base coordinate system 0mm ◎ View A 100 View A Fig. 2.
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STE 58764 Reference plane 0° XB (-) (-) 210 (-) Reference plane 0° 0° Axis 4 (+) (+) Axis 2 Axis 1 300 (+) 105 350 YB ZB XB Axis 3 (+) Origin of base coordinate system View A 0mm 100 ◎ View A Fig. 2.
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STE 58764 Reference plane (-) 0° XB Axis 4 0° (+) (+) Axis 2 210 (-) Reference plane (-) 0° Axis 1 (+) 300 105 550 YB ZB Axis 3 XB (+) View A 0mm ◎ 110 View A Origin of base coordinate system Fig. 2.
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STE 58764 Reference plane (-) 300 (-) (-) 0° 0° XB Reference plane 0° (+) Axis 4 Axis 2 (+) Axis 1 (+) 150 470 580 YB ZB Axis 3 XB (+) 0mm ◎ Origin of base coordinate system 150 View A View A Fig. 2.
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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. 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.
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STE 58764 Reference plane M16 hexagon socket bolt 160 4-φ18 hole,counterbore 26 ××× 105 160 105 × × ××105 40 104 160 25 Reference plane Fig. 2.17 Installing the SR-554HSP,SR-654HSP, SR-854HSP robot Reference plane 240 4-φ18 hole,counterbore 26 ××× × × 150 240 150 M16 hexagon socket bolt ×××× 150 148 40 Reference plane 25 × × 185 Fig. 2.
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STE 58764 INSTALLING THE CONTROLLER External Dimensions 20.5 An external view of the controller is shown in Fig 2.19. 381 330 Right side Top 230 241 430 11 2.3.1 30.5 2.3 Front Rear Fig. 2.
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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. (① in Fig. 2.20: Side brackets are optional.) 10 460 10 40 4-R3 ① ① 11 40 150 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.
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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).
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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. 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.
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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.