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Toshiba SR-854HSP manual

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Table of contents for the manual

  • Page 1

    STE 58 764 － － 2-1 CHAPTER 2 INST ALLA TION 2.1 INST ALLA TION ENVIRONMENT T able 2.1 shows the environmental conditions for the location in which the SR- HSP Series Robot and SR7000 Controller are to be installed. T able 2.1 Environmental Conditions for the Rob ot and Controller Item S pecifications In operation : 0 to 40 ℃ T emperatur e In [...]

  • Page 2

    STE 58 764 － － 2-2 Fig. 2.1 External view of SR-504HSP robot[...]

  • Page 3

    STE 58 764 － － 2-3 Fig. 2.2 External view of SR-554HSP robot[...]

  • Page 4

    STE 58 764 － － 2-4 Fig. 2.3 External view of SR-654HSP robot[...]

  • Page 5

    STE 58 764 － － 2-5 Fig. 2.4 External view of SR-854HSP robot[...]

  • Page 6

    STE 58 764 － － 2-6 Fig. 2.5 External view of SR-1054HSP robot[...]

  • Page 7

    STE 58 764 － － 2-7 2.2.2 W orking S pace Figs. 2.6 to 2.10 show the working space of the rob ot. Each axis can operate within the working space. T o keep the robot from moving out of the working space by mis-operation, the robot is equipped with me chanical stoppers outside the moving range. In addition, soft limit s are provided which may be s[...]

  • Page 8

    STE 58 764 － － 2-8 Fig. 2.7 SR-554 HSP robot working space Fig. 2.8 SR-654H SP robo t working sp ace 200 115° 115° 120° R193 R550 120° 100 200 115° 115° 140° 140° R227 R650 100[...]

  • Page 9

    STE 58 764 － － 2-9 Fig. 2.9 SR-854 HSP robot working space Fig. 2.10 SR-1054HSP working sp ace 200 145° 145° 115° 115° R350 R850 110 200 115° 115° 145° 145° R333 R1050 150[...]

  • Page 10

    STE 58 764 － － 2-10 2.2.3 Coordinate S ystem The robo t's joint angle z ero point (0° or 0mm position ) has been c alibrated befo re shipment in respect to the base reference planes. The base coordina te system will be determined according to this calibration. Figs. 2.1 1 to 2.15 show the base coordinate system and the zero positions of e[...]

  • Page 11

    STE 58 764 － － 2-1 1 Fig. 2.12 SR-554HSP base coordinate system and joint angle zero point 105 210 250 300 Axis 1 Axis 2 Axis 4 (+) (+) (+) (-) (-) (-) Reference plane View A View A Axis 3 (+) Origin of base coordinate system ◎ 100 0mm X B X B Y B Z B Reference plane[...]

  • Page 12

    STE 58 764 － － 2-12 Fig. 2.13 SR-654HSP base coordinate system and joint angle zero point 105 300 210 350 100 ◎ Origin of base coordinate system (+) 0mm View A Reference plane (-) (-) (-) (+) (+) (+) Axis 4 Axis 2 Axis 1 0° 0° 0° View A X B X B Y B Z B Reference plane Axis 3[...]

  • Page 13

    STE 58 764 － － 2-13 Fig. 2.14 SR-854HSP base coordinate system and joint angle zero point 105 550 300 210 Y B Reference plane Reference plane X B (-) (-) (-) (+) (+) (+) Axis 1 Axis 2 Axis 4 0° 0° 0° 110 View A Z B (+) 0mm ◎ Origin of base coordinate system View A X B Axis 3[...]

  • Page 14

    STE 58 764 － － 2-14 Fig. 2.15 SR-1054HSP base coordinate system and joint angle zero point View A X B View A (+) 0mm 150 ◎ Origin of base coordinate system Z B B 150 300 580 470 Reference plane Reference plane (-) (-) (-) (+) (+) (+) 0° 0° 0° Axis 1 Axis 2 Axis 4 X B Y Axis 3[...]

  • Page 15

    STE 58 764 － － 2-15 2.2.4 Installing the Robot The robot is fastened down using the moun ting 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 refer ence plane is prepared on t[...]

  • Page 16

    STE 58 764 － － 2-16 Fig. 2.17 Inst alling the SR-5 54HSP ,SR-654HSP , SR-854HSP robot Fig. 2.18 Inst alling the SR-1054HSP robot 40 25 M16 hexagon socket bolt 4-φ18 hole,counterbore 26 160 160 160 105 104 105 105 Reference plane Reference plane × × × × × ×× 40 25 M16 hexagon socket bolt 4-φ18 hole,counterbore 26 240 148 150 240 185 150[...]

  • Page 17

    STE 58 764 － － 2-17 2.3 INST ALLING THE CONTROLLER 2.3.1 External Dimensions An external view of the controller is sho wn in Fig 2.19. T o p R i g h t s i d e F r o n t R e a r Fig. 2.19 Ex ternal view of the controller 381 330 30.5 20.5 430 241 230 11[...]

  • Page 18

    STE 58 764 － － 2-18 2.3.2 Rack Mounting Dimensions When mounting the SR-7000 robot controller in a rack, set the sid e brackets using the screw holes provided on both ends of the front panel, and secure the controller to the r ack. ( ① in Fig. 2.20: Side brackets are optional.) Fig. 2.20 Dimensions of controller rack mounting holes 2.3.3 Prec[...]

  • Page 19

    STE 58 764 － － 2-19 (3) The upper cover must be removed during main tenance. (See Fig. 2.21.) Keep this in mind when inst a lling the controller . S pecifica lly , the controller should be easily removable from the rack. Practica lly , be careful of the following points. (a) Arrange the c ables around the rear pa nel of the c ontroller (so that[...]

  • Page 20

    STE 58 764 － － 2-20 2.3.4 Precautions for Direct Inst allation When two or more contr ollers are used, it is necessary to pr ovide 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 [...]

  • Page 21

    STE 58 764 － － 2-21 2.5 SAFETY MEASU RES (1) When inst alling the robot, prov ide suf ficient sp ace to carry o ut the work s afely . (2) Clarify the hazard zone, and provide a safety fence so that other persons cannot enter the zone easily . The hazard zone is the z one near the robot's working space where a hazardous state c ould occur i[...]