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Robot controller TSL3000
Robot controller TSL3000E
Robot controller TS3000
Robot controller TS3000E
INSTRUCTION MANUAL
1.
Make sure that this instruction manual is delivered to the final
user of Toshiba Machine's industrial robot.
2.
Before operating the industrial robot, read through and
completely understand this manual.
3.
After reading through this manual, keep it nearby for future
reference.
THL Series
SAFETY MANUAL
Notice
November, 2011
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
STE85358-6
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Summary of Contents for Toshiba THL Series
- Page 1 SAFETY MANUAL Notice Make sure that this instruction manual is delivered to the final user of Toshiba Machine’s industrial robot. Before operating the industrial robot, read through and completely understand this manual. After reading through this manual, keep it nearby for future reference.
- Page 2 SAFETY MANUAL This Instruction Manual applies to the following robots: THL Series: THL300, THL400, THL500, THL600, THL700, THL800, THL900, THL1000 Copyright 2011 by Toshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd.
- Page 3 SAFETY MANUAL Preface This manual describes the safety measures for the system robots (THL series) built by Toshiba Machine. You are requested to read through this manual and handle the robot, strictly observing the instructions given throughout the manual, so that you can completely understand the performance of the robot and use its functions safely over the long years to come.
- Page 4 SAFETY MANUAL Cautions on Safety This manual contains the important information on the robot and controller to prevent injury to the operators and persons nearby, to prevent damage to assets and to ensure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual.
- Page 5 SAFETY MANUAL [Operation] DANGER • During operation, NEVER enter the dangerous area of the robot. Otherwise, you will be injured seriously. (The dangerous area signifies an area near the robot, where, if a person has entered, he or she will be jeopardized.) •...
- Page 6 SAFETY MANUAL WARNING • NEVER enter the movable range of the robot. Otherwise, an accident causing injury or death will occur. • NEVER put your hands close to the moving part of the robot. Prohibited Otherwise, your hands will get caught in the moving part and get injured.
- Page 7 SAFETY MANUAL CAUTION • If an abnormality has generated or the POWER LED lamp on the control panel remains off after the power of the equipment was turned on (TS3000 and TS3000E), turn off the main power immediately and confirm the wiring. Otherwise, you will be struck by an electric shock or a fire will break out.
- Page 8 SAFETY MANUAL CAUTION • The speed of test operation is initially set at 20% of the maximum robot speed and limited to 250mm/sec. Based on requirements by 5.6.2 Reduced speed control operation of ISO10218-1 Safety requirements for industrial robots, during test operation the speed of the TCP(Tool Caution Center Point) does not exceed 250mm/s.
- Page 9 Mandatory • Always use the line voltage and power capacity designated by Toshiba Machine. Otherwise, the equipment will be damaged or a fire will break out. • Always use the designated power cables. (For details, see the "Transportation and Installation Manual.") If a cable other than the designated is used, fires or faults will be caused.
- Page 10 SAFETY MANUAL CAUTION • NEVER lift the robot by the arm 2 cover. Otherwise, an excessive force will be exerted on the robot mechanism, resulting in damage of the robot. • For the controller, secure an ample space for ventilation. (For details, see the "Transportation and Installation Manual.") Prohibited Otherwise, the controller will heat and go wrong.
- Page 11 • The axis 4 motor of the THL series robots is not provided with a brake. With the servo off, therefore, Axis 4 may rotate due to the dead weight of the tool and hand, offset condition or touch by hand.
- Page 12 SAFETY MANUAL Locations of Warning Labels Locations of robot warning labels (THL300, THL400) Left of the robot Right of the robot Top of the robot STE85358...
- Page 13 SAFETY MANUAL Locations of robot warning labels (THL500, THL600, THL700) Left of the robot Front of the robot Top of the robot STE85358...
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Page 14: Safety Manual
SAFETY MANUAL Locations of robot warning labels (THL800, THL900, THL1000) Right of the robot Left of the robot Front of the robot Top of the robot STE85358... -
Page 15: Robot Controller
Mfd.IN MASS POWER CAPACITY Robot Controller TOSHIBA MACHINE CO.,LTD. MADE IN JAPAN uiu{E? oie? aia{abagu{a ? uAaRaoagaiu[aee? e? e? e? a gice? e┼ e? Agupe!e\e│eouB Robot,contoroller having below listed numbers were combined. They must be used in the same combination. - Page 16 SAFETY MANUAL Locations of controller warning labels (for the TSL3000E) Controller top view ■本製品のロボット本体、コントローラは以下の組合せで ご使用ください。 Robot and contoroller with below listed numbers must be used in combination. Otherwise, problems such as vibration and inaccuracy may occur. ロボット本体 製造番号 ROBOT BODY SERIAL No. コントローラ...
- Page 17 MODEL Mfd.IN MASS POWER CAPACITY Robot Controller TOSHIBA MACHINE CO.,LTD. MADE IN JAPAN Top of the controller ■本製品のロボット本体、コントローラは以下の組合せで ご使用ください。 Robot and contoroller with below listed numbers must be used in combination. Otherwise, problems such as vibration and inaccuracy may occur.
- Page 18 Cautions on Safety Toshiba Machine’s SCARA robots and robot controller are equipped with various safety functions. When actually operating the robot, however, the following dangers will be supposed. Danger supposed in normal automatic operation •...
- Page 19 SAFETY MANUAL Safety Functions This robot and robot controller have various safety functions as shown below. Emergency stop function An EMERGENCY stop pushbutton switch is equipped on the robot controller (TS3000 and TS3000E) and teach pendant, respectively. When this switch is pressed, the robot stops immediately and the main power of the robot is turned off.
- Page 20 SAFETY MANUAL Safety contact input function The controller has the redundant safety contact input function that is separate from the emergency stop system. Connect interlock switches such as limit switch and foot switch that work with the safety fence door. 【...
- Page 21 SAFETY MANUAL The external emergency stop contacts for the TSL3000E are shown in the following figure. Connect an emergency stop button to the SAFE connector pins 3-4 and 5-6 on the front of the TSL3000E, and a safety door or the like to the pins 13-14 and 15-16. Then, connect an interlock switch such as a limit switch or a foot switch that operates in conjunction with the door of the safety fence.
- Page 22 SAFETY MANUAL The external emergency stop contacts for the TS3000 and TS3000E are shown in the following figure. Connect an emergency stop button to the EMS connector pins 7-8 and 9-10 on the rear of the TS3000 and TS3000E, and a safety door or the like to the pins 3-4 and 5-6. Then, connect an interlock switch such as a limit switch or a foot switch that operates in conjunction with the door of the safety fence.
- Page 23 SAFETY MANUAL c) Mechanical stopper To prevent overrun, this robot is equipped with mechanical stoppers. The mechanical stoppers are provided on axis 1, axis 2 and axis 3, which prevent the moving part of the robot from overrunning. Some robot models allow the position of the mechanical stopper to be changed to limit the working range.
- Page 24 SAFETY MANUAL Operation key on teach pendant An enable switch is equipped on the teach pendant to enhance safety. When manually guiding the robot, the operator should keep pressing this enable switch while carrying the teach pendant to turn the servo power on. This enable switch is of a 3-position type.
- Page 25 SAFETY MANUAL Master switch on the front side of the controller (TSL3000/TSL3000E) Key switch used to change over the TEACHING and EXT modes. If an operator has to enter the operating range inevitably for teaching operation or inspection, he should carry a key with him so that anyone cannot change over the mode.
- Page 26 SAFETY MANUAL Safety Measures Most of disasters caused by the robot originate from unsafe behavior of man. When using the robot, he should foresee what will involve danger and try to prevent such a dangerous condition. Operation should be done only after all safety conditions are satisfied. Main safety measures are as follows: General cautions on using the robot When installing the robot, provide a space required for the job safely.
- Page 27 SAFETY MANUAL Outside the safety fence, the emergency stop switch should be installed and connected to the external emergency stop contacts (EMS1B and EMS1C, EMS2B and EMS2C) of the robot controller. The emergency stop switch should be installed in the area where the operator who has judged an abnormality can press it immediately.
- Page 28 SAFETY MANUAL The operator should do the job in an attitude ready to press the EMERGENCY stop pushbutton switch at any time. Also, he should perform the job at a position from which he can evacuate immediately at the time of an emergency after confirming the robot operating zone and shields in the surroundings.
- Page 29 THL600 TS3000E+TS3FSB ISO13849-1:2008 THL700 THL800 THL900 THL1000 The KCs mark safety certification has been obtained for the combination of the THL series and TSL3000 controller Combination of robots and controllers and safety performance ISO13849-1:1999 ISO13849-1:2008 Robot Controller Safety category...