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.
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.
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.
Table of Contents Page Section 1 Cautions on Safety ............................................................................ 5 Section 2 Clean Robot Basic specifications ...................................................... 2.1 Basic Robot Specifications........................................................... 2.2 Outer Dimensions ........................................................................ 2.3 Operating Range and Coordinate System ................................... 2.
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.
Section 2 2.1 Clean Robot Basic Specifications Basic Robot Specifications Table 2.1 shows the basic specifications of the clean robot. Table 2.
2.2 Outer Dimensions Figures 2.1 and 2.2 show the external view of the basic robot. Figure 2.
Figure 2.
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.
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 pipelines.
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.
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.
Figure 3.2 3.3 SR–1054HSP–CR scavenging air piping 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.
Section 4 4.1 Maintenance and Inspection 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.
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.
Table 4.2 SR–1054HSP–CR replacement parts list for maintenance Part name Dwg. No.
Edition No. Revised Date Revision Newly prepared.
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.
(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.