Page 1 Make sure that this instruction manual is delivered to the final user of this product. Before using this product, read through and completely understand this manual. After reading through this manual, keep it nearby for future reference. July, 2012 TOSHIBA MACHINE CO., LTD. NUMAZU, JAPAN...
Page 2 MAINTENANCE MANUAL This Operation Manual describes the following robots: THL Series: THL300, THL400, THL500, THL600, THL700, THL800, THL900 and THL1000 Copyright 2012 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 MAINTENANCE MANUAL WARRANTY This product is delivered to each customer only after it is inspected very carefully to make sure that it satisfies the Toshiba Machine’s standard. Should it cause an inconvenience, we will guarantee as described below. Warranty period Toshiba Machine agrees to repair or replace as necessary all defective material or workmanship up to the period shown below, whichever comes first.
Page 4 Please note that the warnings, cautions and other descriptions stipulated in this manual are only those which can be assumed by Toshiba Machine as of now. (*1) The consumable parts signify the replacement parts for maintenance as listed in Section 8 of this manual.
Page 5 MAINTENANCE MANUAL INTRODUCTION This manual describes the maintenance of this product, THL series, and the TSL3000, TSL300E, TS3000 and TS3000E controllers. The maintenance and inspection are essential to maintain the product performance for long years to prevent a trouble and improve the safe work.
Page 6 Disassembly caused. prohibited • Always use the Toshiba Machine's designated spare parts when replacing the parts. • Maintenance and inspection should be performed regularly. Otherwise, the system may malfunction or accidents will be Mandatory caused.
Page 7: Table Of Contents
MAINTENANCE MANUAL Table of Contents Maintenance ........................13 Maintenance Schedule .................... 13 Items for Maintenance and Inspection ..............14 1.2.1 Inspection at Power OFF (at Non-Operation) ..........14 1.2.2 Inspection at Power ON (at Operation) ............15 1.2.3 Overhaul ..................... 15 Cautions on Maintenance and Inspection ..............
Page 8 MAINTENANCE MANUAL 2.5.1 Type of Timing Belt ..................48 2.5.2 Timing Belt Locations .................. 49 2.5.3 Replacing Axis 3 Timing Belt ............... 49 2.5.4 Replacing Axis 4 Timing Belt ............... 53 2.5.5 Check Timing Belt Adjustment ..............58 Filling Grease to Ball Screw Spline Unit and Replacement ........59 2.6.1 Type of Ball Screw Spline Unit ..............
Page 9 MAINTENANCE MANUAL 3.4.8 Mounting Axis 3 Motor ................103 3.4.9 Dismounting Axis 4 Motor ................105 3.4.10 Mounting Axis 4 Motor ................106 Adjusting and Replacing Timing Belt ..............107 3.5.1 Type of Timing Belt ..................107 3.5.2 Timing Belt Locations ................108 3.5.3 Replacing Axis 3 Timing Belt ..............
Page 10 MAINTENANCE MANUAL 4.4.4 Mounting Axis 1 Motor ................151 4.4.5 Dismounting Axis 2 Motor ................154 4.4.6 Mounting Axis 2 Motor ................156 4.4.7 Dismounting Axis 3 Motor ................159 4.4.8 Mounting Axis 3 Motor ................161 4.4.9 Dismounting Axis 4 Motor ................162 4.4.10 Mounting Axis 4 Motor ................
Page 11 MAINTENANCE MANUAL Maintenance of Controller (TSL3000E) ................212 Cautions on Maintenance and Inspection .............. 212 Layout of Controller Parts ..................213 Maintenance Procedures ..................214 6.3.1 Check of Controller Air Vent Holes ............214 6.3.2 Check of Safety Devices for Function ............215 6.3.3 Battery Replacement .................
Page 12 MAINTENANCE MANUAL [4]Restoring Home Position Data by HOME Function ..........262 8.9.1 Outline of HOME Function ................. 262 8.9.2 Setting HOME1 and HOME2 ..............263 8.9.3 How to Restore Data by HOME1 or HOME2 ..........264 8.9.4 How to Restore Data by HOME3 or HOME4 ..........266 8.9.5 Change for Home Position Data Form ............
Page 13: Maintenance
MAINTENANCE MANUAL Maintenance Maintenance Schedule Maintenance comes in the two (2) types; daily inspection, and regular inspection and maintenance. For the regular inspection and maintenance, inspection items are added every 1,200 running hours. 1200 3-month check 2400 3-month check 6-month check 3600 3-month check 4800...
Page 14: Items For Maintenance And Inspection
MAINTENANCE MANUAL Items for Maintenance and Inspection This section describes the items for maintenance and inspection. For the executing procedures, see the relevant paragraph listed in the table below. 1.2.1 Inspection at Power OFF (at Non-Operation) D: Daily inspection Q: Quarterly inspection S: Semi-annual inspection A: Annual inspection Table 1.1 Inspection at Power OFF...
Page 15: Inspection At Power On (At Operation)
MAINTENANCE MANUAL 1.2.2 Inspection at Power ON (at Operation) D: Daily inspection Q: Quarterly inspection S: Semi-annual inspection A: Annual inspection Table 1.2 Inspection at Power ON Refer to THL500 THL800 Description Check position THL300 THL600 THL900 THL400 THL700 THL1000 Make sure that enough Para.
Page 16: Cautions On Maintenance And Inspection
MAINTENANCE MANUAL Cautions on Maintenance and Inspection When performing inspection or maintenance of the robot, strictly observe the following precautions to protect yourself and coworkers. DANGER • Be sure to remove the power plug of the controller from the power source before approaching the robot for maintenance and inspection.
Page 17: Clamping Hexagon Socket Head Cap Screws And Set Screws
MAINTENANCE MANUAL Clamping Hexagon Socket Head Cap Screws and Set screws This robot uses hexagon socket head cap screws at places requiring mechanical strength. At the time of factory-assembly, Loctite is applied and each screw is tightened with the following clamping torque. When these screws and set screws are tightened again according to the inspection and maintenance as stipulated in this manual, use a torque wrench or torque driver, and Loctite (medium strength) to assure the appropriate clamping torque.
Page 18: Maintenance Contract And Repair
If a fault has occurred or if repair is necessary, turn off the controller power and contact the Toshiba Machine Service Department. At this time, advise us of the details of the fault and the following information stated on the robot and controller.
Page 19: Modification
1.6.3 Modification The robot and controller MUST NOT be modified or disassembled without a prior consent from Toshiba Machine. CAUTION • The user must NEVER replace or modify parts other than those described in the instruction manual. Otherwise, the performance may deteriorate or faults or accidents will be caused.
Page 20: Maintenance Of The Main Robot (Thl300, Thl400)
MAINTENANCE MANUAL Maintenance of the Main Robot (THL300, THL400) Details of Inspection 2.1.1 Check of Each Bolt (or Screw) for Clamping Tool Set Bolts Using the hexagonal wrench key, make sure that the clamping bolts (M4 x 4 pcs.) of the tool set flange (option), which are clamped to the tool shaft, are tightened completely.
Page 21 MAINTENANCE MANUAL Robot Installation Bolts Make sure, using the hexagonal wrench key, that the installation bolts of the main robot base are tightened completely. If loosened, tighten them completely. (Loctite is not necessary) Robot installation bolt M8 x 4 pcs. Fig.
Page 22: Check Of Each Cable And Air Tube For Abrasion
MAINTENANCE MANUAL 2.1.2 Check of Each Cable and Air Tube for Abrasion Disassemble the arm 2 cover and the base rear cover, and make sure that each cable is not worn out, broken or cracked. Especially, carefully inspect the vicinity of the cable outlets.
Page 23: Check Of Cable Clamp Tightening
MAINTENANCE MANUAL CAUTION • The air tube is a consumable item. Check the condition during periodic inspection. If any damage is found, replace it. • Please note that Fig. 2.3 shows a piping example and does not warrant damage to the air tube and its accessories.
Page 24: Check Of Each Axis For Operation
MAINTENANCE MANUAL 2.1.4 Check of Each Axis for Operation Connect the power plug of the controller to the power source, then keep the EMERGENCY pushbutton switch in the depressed condition. Move each axis by hand and make sure that it can move smoothly. For Axis 3, when the brake release switch is pressed, the brake is released.
Page 25: Layout Of Robot Components And Drive Mechanism
MAINTENANCE MANUAL Layout of Robot Components and Drive Mechanism The layout of the robot mechanical components is shown in Fig. 2.5. Axis 3 drive motor Axis 4 drive motor Ball screw Axis 4 spline shaft reduction gear Axis 1 reduction Axis 2 Axis 3 timing belt gear...
Page 26: Dismounting And Mounting Each Cover
MAINTENANCE MANUAL Dismounting and Mounting Each Cover This paragraph describes the dismounting and mounting of the covers, which are common to the maintenance and replacement of each unit. DANGER • When opening the cover, take careful precautions not to allow entry of moisture or contaminant into the robot.
Page 27: Arm 2 Cover
MAINTENANCE MANUAL 2.3.1 Arm 2 Cover The arm 2 cover is secured to Arm 2 and the harness guide with 4 hexagon socket head cap screws (M3 x 16) and to cross truss head screws (M3 x 10 x 2 pcs., M3 x 6 x 8 pcs.) (It is not necessary to apply Loctite when installing.) Socket head bolt M3 x 16 x 4 pcs.
Page 28: Base Covers
MAINTENANCE MANUAL After the cover is mounted, manually move up and down the ball screw spline shaft while pressing the brake release switch, and make sure that the ball screw hole for the arm 2 cover will not interfere with the ball screw stopper. 2.3.2 Base Covers There are four (4) types of base covers: base front cover, base rear cover, base side...
Page 29 MAINTENANCE MANUAL Base rear cover Cross truss head screw M4 x 8 x 6 pcs. Fig. 2.8 Base rear cover (THL300, THL400) Hex countersunk Base side covers screw M4 x 12x 4 pcs. Hex countersunk screw M4 x 12 x 4 pcs. Fig.
Page 30 MAINTENANCE MANUAL Hex countersunk screw M4 x 8 x 4 pcs. Base bottom cover Fig. 2.10 Base bottom cover (THL300, THL400) STE 85357...
Page 31: Replacing Motor
MAINTENANCE MANUAL Replacing Motor The motor is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The motor should be replaced with a new one only after the controller power supply plug is removed.
Page 32: Motor Locations
MAINTENANCE MANUAL 2.4.2 Motor Locations Axis 4 motor Axis 2 motor Axis 3 motor Axis 1 motor Fig. 2.11 Motor locations (THL300, THL400) STE 85357...
Page 33: Dismounting Axis 1 Motor
MAINTENANCE MANUAL 2.4.3 Dismounting Axis 1 Motor Remove the base front cover and both of the base side covers. (See “Para. 2.4.2, Base Covers.”) The battery for position detection is connected to the base front cover, so do not forcibly pull it or unplug the connector. Remove the four hexagon socket head cap screws (M4 x 12 x 4 pcs.) and the washers that secure the axis 1 motor, pull the axis 1 motor assembly in the axis direction and then pull it out.
Page 34: Mounting Axis 1 Motor
MAINTENANCE MANUAL Wave generator Set screws (2 pcs.) Axis 1 motor Fig. 2.13 Dismounting axis 1 wave generator (THL300, THL400) 2.4.4 Mounting Axis 1 Motor When inserting the wave generator into the axis 1 motor, be sure to fasten it using the two jigs for fastening Axis 1.
Page 35 MAINTENANCE MANUAL Apply grease to the O-ring (CO0534A) and mount it to touch the base groove side surface. Be careful not to drop the O-ring while doing so. O-ring Base groove side surface CO0534A Fig. 2.15 Mounting axis 1 base side O-ring (THL300, THL400) Apply an appropriate amount of grease onto the all surfaces of the wave generator mounted to the axis 1 motor.
Page 36 MAINTENANCE MANUAL Insert the axis 1 motor assembly into the base while paying attention to the motor's mounting phases, the orientations of the reduction gear's main body and wave generator when the motor is inserted (align the long sides of the ovals of the reduction gear and the wave generator), and the position of the O-ring (it should not move).
Page 37: Dismounting Axis 2 Motor
MAINTENANCE MANUAL CAUTION • Do not forget to mount the O-ring. If the O-ring is not mounted, grease will leak from the motor mounted surface. 2.4.5 Dismounting Axis 2 Motor Disconnect the arm 2 cover. (See “Para. 2.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers or the like, and remove J2AS and J2AP (axis 2 power drive cables), J2BS and J2BP (axis 2 encoder cables).
Page 38 MAINTENANCE MANUAL Remove four (4) hexagon socket head cap screws (M4 x 12) and washers that secure the axis 2 motor. Pull out the axis 2 motor assembly. Also remove the O-ring (CO0538A). [Axis 1 drive motor set bolt] Hexagon socket head cap screw M4 x 12 x 4 pcs.
Page 39: Mounting Axis 2 Motor
MAINTENANCE MANUAL 2.4.6 Mounting Axis 2 Motor Mount the wave generator to the axis 2 motor. (Same as Step 1 in “Para. 2.4.4, Mounting Axis 1 Motor.”) When inserting the wave generator into the axis 2 motor, be sure to use the two jigs for fastening Axis 2. Wave generator Fastening jigs (S890937) Set screws (2 pcs.)
Page 40 MAINTENANCE MANUAL Secure the axis 2 motor with four (4) hexagon socket head cap screws (M4 x 12) and washers. [Axis 2 drive motor set bolt] Hexagon socket head cap screw O-ring M4 x 12 x 4 pcs. CO0538A (Apply medium strength Loctite.) Washer Axis 2 motor assembly Flange rabbet...
Page 41 MAINTENANCE MANUAL Connect J2AS and J2AP (axis 2 power drive cables) and J2BS and J2BP (axis 2 encoder cables). Hexagon socket head cap screw M3 x 6 x 2 pcs. (Apply medium strength Loctite.) Cross countersunk screw M3 x 6 x 1 pc. Harness guide Support plate Fig.
Page 42: Dismounting Axis 3 Motor
MAINTENANCE MANUAL 2.4.7 Dismounting Axis 3 Motor CAUTION • The axis 3 motor is provided with a brake. At replacement of the axis 3 motor, this brake becomes inoperative. Before starting the work, therefore, move down the ball screw spline to the lower limit.
Page 43: Mounting Axis 3 Motor
MAINTENANCE MANUAL Remove the set screws (4 x 5 x 2 pcs. and 3 x 5 x 2 pcs.). Then, pull out the pulley. Remove four (4) hexagon socket head cap screws (M3 x 10) and washers that secure the axis 3 motor and then disassemble the axis 3 motor plate and the axis 3 motor.
Page 44 MAINTENANCE MANUAL [Axis 2 drive motor set bolt] Hexagon socket head cap screw M3 x 10 x 4 pcs. Axis 3 motor (Apply medium strength Loctite.) Fasten so that the motor Washer lead wire faces the direction of the arrow. Be sure to secure the tension Pulley adjustment bolt so that it faces...
Page 45: Dismounting Axis 4 Motor
MAINTENANCE MANUAL Connect the connectors and restore the cables. (See the pictures taken in Section 2.4.7 Dismounting Axis 3 Motor Step 2) Mount the arm 2 cover and perform home setting for Axes 3 and 4. Now, the axis 3 motor replacement is complete. Need perform home setting for Axes 4 at this time.
Page 46 MAINTENANCE MANUAL Remove the cap on the side panel of the axis 4 reduction gear and loosen the bolt (M3) of the coupling which is fastening the input axis of the axis 4 reduction gear. If the phases of the hexagonal holes of the bolt cannot be aligned, manually rotate the ball screw spline shaft and align the phases.
Page 47: Mounting Axis 4 Motor
MAINTENANCE MANUAL 2.4.10 Mounting Axis 4 Motor Mount the new motor to the reduction gear with four (4) hexagon socket head cap screws (M4 x 12) and washers. Be careful with the phase when mounting the motor. (Recommended clamping torque: 2.3 N·m) Tighten the coupling of the axis 4 reduction gear by means of the attached bolt (M3) to mount the cap.
Page 48: Adjusting And Replacing Timing Belt
MAINTENANCE MANUAL Adjusting and Replacing Timing Belt The timing belt is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The timing belt should be replaced with a new one only after the controller power supply plug is removed.
Page 49: Timing Belt Locations
MAINTENANCE MANUAL 2.5.2 Timing Belt Locations Axis 3 timing belt Axis 4 timing belt Fig. 2.29 Timing belt locations (THL300, THL400) 2.5.3 Replacing Axis 3 Timing Belt Remove the arm 2 cover. (See “Para. 2.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers. It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 50 MAINTENANCE MANUAL Disconnect the axis 3 timing belt. Axis 3 timing belt Fig. 2.30 Replacing axis 3 timing belt (THL300, THL400) Mount the new timing belt. Hang the timing belt to the axis 3 motor assembly which was previously removed in 3), and temporarily secure it to Arm 2 with four (4) flange head bolts (M4 x 8, application of Loctite not necessary).
Page 51 MAINTENANCE MANUAL Table 2.4 Value of tension of axis 3 timing belt (THL300, THL400) Value of tension [N] Unit mass [g/m] Belt width [mm] Span [mm] 48 to 64 Tension meter [Axis 3 motor plate set bolt] Flange head bolt M4 x 8 x 4 pcs.
Page 52 MAINTENANCE MANUAL operation of the ball screw. Carry out a test operation of Axes 3 and 4 and make sure that each part operates properly. STE 85357...
Page 53: Replacing Axis 4 Timing Belt
MAINTENANCE MANUAL 2.5.4 Replacing Axis 4 Timing Belt CAUTION • When the axis 4 timing belt is replaced with a new one, Axis 3 should be disassembled also due to the structure. Therefore, strictly observe the cautions on replacement of the axis 3 timing belt and motor also.
Page 54 MAINTENANCE MANUAL Remove the hexagon socket head cap screws (M4 x 8 x 4 pcs.) which are fastening the axis 3 brackets (sheet metal, 2 pcs.), and then remove the axis 3 brackets (sheet metal, 2 pcs.). Hexagon socket head cap screw M4 x 8 x 4 pcs.
Page 55 MAINTENANCE MANUAL Temporarily fasten the axis 3 bracket (casting) to Arm 2 with the hexagon socket head cap screws (M4 x 16 x 4 pcs.). At this time, hang a new axis 4 timing belt on the pulley. Hexagon socket head cap screw M4 x 16 x 4 pcs.
Page 56 MAINTENANCE MANUAL [Axis 4 motor plate set bolt] Flange head bolts M4 x 8 x 4 pcs. Axis 4 motor assembly Fig. 2.36 Mounting axis 4 motor assembly (THL300, THL400) While pulling the axis 4 motor plate with the axis 4 tension adjustment bolts, measure the tension with a tension meter.
Page 57 MAINTENANCE MANUAL Table 2.5 Value of tension of axis 4 timing belt (THL300, THL400) Value of tension [N] Unit mass [g/m] Belt width [mm] Span [mm] 66 to 88 Mount the axis 3 motor and timing belt. For the mounting procedures, see “Para.
Page 58: Check Timing Belt Adjustment
MAINTENANCE MANUAL 2.5.5 Check Timing Belt Adjustment Perform inspection and adjustment of each timing belt semi-annually (every six (6) months). Remove the arm 2 cover. (See “Para. 2.4.1, Arm 2 Cover.”) If the belt is worn out, replace it. (See “Para. 3.6.3, Replacing Axis 3 Timing Belt.”) If scratches are found on the belt, please replace it or contact our Service Department.
Page 59: Filling Grease To Ball Screw Spline Unit And Replacement
MAINTENANCE MANUAL Filling Grease to Ball Screw Spline Unit and Replacement The ball screw spline unit is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER •...
Page 60: Ball Screw Spline Unit Location
To avoid this, take careful precautions to prevent shortage of the grease. • Be sure to use the grease designated by Toshiba Machine. • Apply anticorrosive when dried up. If anticorrosive is not applied in such a case, rust will be generated on the ball screw spline unit.
Page 61 MAINTENANCE MANUAL Basically, fill the grease to the ball screw spline unit every three (3) months. If you have verified that there is not much grease, be sure to apply grease. At daily inspection also, make sure that the ball screw spline unit is filled with a sufficient volume of grease.
Page 62 MAINTENANCE MANUAL Directly apply the grease to the exposed shaft area by brash. Apply the grease to such an extent that the shaft groove can be filled. Table 2.8 Recommended grease (THL300, THL400) Recommended grease Maker AFF grease Ball screw spline shaft Axis 3 brake release switch Apply the grease to this area.
Page 63 MAINTENANCE MANUAL Ball screw spline shaft Apply the grease to this area Axis 3 brake release switch Ball screw nut Fig. 2.41 Greasing upper side of ball screw spline unit (THL300, THL400) Move the shaft up and down repeatedly while pressing the axis 3 brake release switch to fill the grease uniformly.
Page 64: Dismounting Ball Screw Spline Unit
MAINTENANCE MANUAL 2.6.4 Dismounting Ball Screw Spline Unit DANGER • The ball screw spline unit should be replaced with a new one only after the controller power supply plug is removed. If the work is done while the power is connected, you may get an electric shock or the robot may malfunction, which is very dangerous.
Page 65 MAINTENANCE MANUAL Remove the hexagon socket head cap screws (M4 x 12 x 6 pcs.), and then pull out the ball screw nuts and the ball screw spline shaft together upward. Be cautious when pulling them out. Remove the hexagon socket head cap screws (M4 x 16 x 4 pcs.) securing the axis 3 bracket (casting), and then remove the axis 3 bracket from Arm 2.
Page 66 MAINTENANCE MANUAL Remove the hexagon socket head cap screw (M4 x 12 x 6 pcs.) securing the ball spline nut, and pull out the ball spline nut downward. If it is hard to remove the ball spline nut, lightly tap the pulley with a plastic hammer or similar tool that does not make scratches and then remove the ball spline nut.
Page 67 MAINTENANCE MANUAL Cable ties Ball screw spline shaft Ball screw spline shaft Ball screw nut Align the phase of each marking(number). * It should be noted that the ball spline nut has two marks, which are not on the flange side.
Page 68: Mounting Ball Screw Spline Unit
MAINTENANCE MANUAL 2.6.5 Mounting Ball Screw Spline Unit DANGER • The ball screw spline unit should be replaced with a new one only after the controller power supply plug is removed. If the work is done while the power is connected, you may get an electric shock or the robot may malfunction, which is very dangerous.
Page 69 MAINTENANCE MANUAL Hexagon socket head cap screw M4 x 12 x 6 pcs. (Apply medium Ball spline nut strength Loctite.) Ball screw nut Ball spline nut Hexagon socket head cap screw Axis 4 nut pulley M4 x 10 x 6 pcs. (Apply medium strength Loctite.) Ball screw spline shaft...
Page 70 MAINTENANCE MANUAL Stopper Hexagon socket head cap screw M4 x 25 x 4 pcs. Stopper split line (Apply medium strength Loctite.) Hexagon socket head cap screw Ball screw M4 x 12 x 6 pcs. groove (Apply medium strength Loctite.) The bolt head Never remove.
Page 71: Reduction Gear Replacement
MAINTENANCE MANUAL Reduction Gear Replacement The reduction gear is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The reduction gear should be replaced with a new one only after the controller power supply plug is removed.
Page 72: Reduction Gear Locations
MAINTENANCE MANUAL 2.7.2 Reduction Gear Locations Axis 1 reduction gear Axis 4 reduction gear Axis 2 reduction gear Fig. 2.47 Reduction gear locations (THL300, THL400) 2.7.3 Dismounting Axis 1 Reduction Gear Remove the base front cover and the base side covers. (See “Para. 2.3.2, Base Covers.”) Remove four (4) hexagon socket head cap screws (M4 x 12) and the washers that secure the axis 1 motor assembly, pull out the axis 1 motor assembly, and...
Page 73 MAINTENANCE MANUAL O-ring CO0534A Washer [Axis 4 drive motor set bolt] Hexagon socket head cap screw Hexagon socket M4 x 12 x 4 pcs. head cap screw M3 x 20 x 16 pcs. Axis 1 motor assembly Fig. 2.48 Dismounting axis 1 motor assembly and Arm 1 (THL300, THL400) CAUTION •...
Page 74: Mounting Axis 1 Reduction Gear
MAINTENANCE MANUAL 2.7.4 Mounting Axis 1 Reduction Gear CAUTION • Handle the reduction gear with extreme care. If it drops or an unusually large external force is exerted on it, the reduction gear cannot function any further. • Use the wave generator which is attached to the new reduction gear. If the old center gear is used as it is, abnormal noise will be caused, the service life will shorten or positioning accuracy will deteriorate due to incompatibility with the new reduction gear.
Page 75 Fig. 2.51 Application of grease to axis 1 reduction gear (THL300, THL400) CAUTION • Be sure to use the grease designated by Toshiba Machine. Increase in internal pressure will adversely affect the starting torque and damage the internal seal. To avoid this, be sure to observe the grease filling volume.
Page 76 MAINTENANCE MANUAL Secure Arm 1 to the base with sixteen (16) hexagon socket head cap screws (M3 x 20). Apply grease to the O-ring (CO0534A), and then mount it to the base groove side surface. Hexagon socket head cap screw M3 x 20 x 16 pcs.
Page 77: Dismounting Axis 2 Reduction Gear
MAINTENANCE MANUAL 2.7.5 Dismounting Axis 2 Reduction Gear Remove Arm 2 cover. (See “Para. 2.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers. Disconnect connectors J2AS and J2AP (power drive cables), connectors J2BS and J2BP (encoder cables). It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 78: Mounting Axis 2 Reduction Gear
MAINTENANCE MANUAL CAUTION • Arm should always be mounted and dismounted by two (2) or more persons. When removing Arm set bolts, take careful precautions because Arm will drop. Also, if an excessively large impact is imposed on Arm, the robot will be damaged. 2.7.6 Mounting Axis 2 Reduction Gear CAUTION...
Page 79 MAINTENANCE MANUAL Apply liquid gasket onto the arm 2 mounting surface of the new reduction gear. Mount the O-ring Align the phases so that the protrusion Apply liquid gasket. (attached to the reduction of the axis 2 reduction gear and the gear) in the O-ring groove.
Page 80: Replacing Axis 4 Reduction Gear
MAINTENANCE MANUAL Set up the home positions of axes 2 to complete axis 4 reduction gear replacement. 2.7.7 Replacing Axis 4 Reduction Gear CAUTION • Handle the reduction gear with extreme care. If it drops or an unusually large external force is exerted on it, the reduction gear cannot function any further.
Page 81 MAINTENANCE MANUAL [Axis 4 drive motor set bolt] [Axis 4 reduction gear set bolt] Hexagon socket head cap screw Hexagon socket head cap screw M4 x 12 x 4 pcs. M5 x 16 x 4 pcs. (Apply medium strength Loctite.) Washer (Apply medium strength Loctite.) (When mounted) recommended...
Page 82: Maintenance Of The Main Robot (Thl500, Thl600, Thl700)
MAINTENANCE MANUAL Maintenance of the Main Robot (THL500, THL600, THL700) Details of Inspection 3.1.1 Check of Each Bolt (or Screw) for Clamping Tool Set Bolts Using the hexagonal wrench key, make sure that the clamping bolts (M4 x 4 pcs.) of the tool set flange (option), which are clamped to the tool shaft, are tightened completely.
Page 83 MAINTENANCE MANUAL Robot installation bolt M10 x 4 pcs. Fig. 3.2 Robot installation bolts (THL500, THL600, THL700) Motor Set Bolts Make sure, using the hexagonal wrench key, that the bolts for securing each axis drive motor are tightened completely. If loosened, tighten them completely. Also make sure that the motor and motor plate bolts are tightened completely.
Page 84: Check Of Each Cable And Air Tube For Abrasion
MAINTENANCE MANUAL 3.1.2 Check of Each Cable and Air Tube for Abrasion Disassemble the arm 2 cover and the base rear cover, and make sure that each cable is not worn out, broken or cracked. Especially, carefully inspect the vicinity of the cable outlets.
Page 85: Check Of Cable Clamp Tightening
MAINTENANCE MANUAL CAUTION • The air tube is a consumable item. Check the condition during periodic inspection. If any damage is found, replace it. • Please note that Fig. 3.3 shows a piping example and does not warrant damage to the air tube and its accessories.
Page 86: Check Of Each Axis For Operation
MAINTENANCE MANUAL 3.1.4 Check of Each Axis for Operation Connect the power plug of the controller to the power source, then keep the EMERGENCY pushbutton switch in the depressed condition. Move each axis by hand and make sure that it can move smoothly. For Axis 3, when the brake release switch is pressed, the brake is released.
Page 87: Layout Of Robot Components And Drive Mechanism
MAINTENANCE MANUAL Layout of Robot Components and Drive Mechanism The layout of the robot mechanical components is shown in Fig. 3.5. Axis 3 Axis 4 drive motor drive motor Ball screw Axis 4 spline shaft reduction gear Axis 2 Ball screw nut Axis 1 drive motor reduction gear...
Page 88: Dismounting And Mounting Each Cover
MAINTENANCE MANUAL Dismounting and Mounting Each Cover This paragraph describes the dismounting and mounting of the covers, which are common to the maintenance and replacement of each unit. DANGER • When opening the cover, take careful precautions not to allow entry of moisture or contaminant into the robot.
Page 89: Arm 2 Cover
MAINTENANCE MANUAL 3.3.1 Arm 2 Cover The arm 2 cover is secured to Arm 2 and the harness guide with 14 hexagon socket head cap screws (M3 x 16 x 4 pcs., M4 x 6 x 8 pcs., M4 x 10 x 2 pcs.) and nylon washers.
Page 90 MAINTENANCE MANUAL connected with the connectors inside. Each of the left and right base side covers is secured to the base with six (6) hex countersunk screws (M4 x 12). The base cover is secured to the base with six (6) hex countersunk screws (M4 x 8). Base front cover Cross truss head screw M4 x 6 x 6 pcs.
Page 91 MAINTENANCE MANUAL Base side covers Hex countersunk screw M4 x 12 x 6 pcs. Hex countersunk screw M4 x 12 x 6 pcs. Fig. 3.9 Base side covers (THL500, THL600, THL700) Hex countersunk screw M4 x 8 x 6 pcs. Base bottom cover Fig.
Page 92: Replacing Motor
MAINTENANCE MANUAL Replacing Motor The motor is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The motor should be replaced with a new one only after the controller power supply plug is removed.
Page 93: Motor Locations
MAINTENANCE MANUAL Table 3.2 Type of Motor (THL500, THL600, THL700) Description Axis name Type Our drawing No. Unit code Axis 1 Y610A3M20 S875289 Axis 2 Y610A3M30 S875290 AC servo motor Axis 3 Y610A3430 S746337 Axis 4 Y610A3M40 S875291 Axis 3 Square key 4 x 4 x 16 * The key to be used with Axis 2 is attached to the motor.
Page 94: Dismounting Axis 1 Motor
MAINTENANCE MANUAL 3.4.3 Dismounting Axis 1 Motor Remove the base front cover and both of the base side covers. (See “Para. 3.3.2, Base Covers.”) The battery for position detection is being connected to the base front cover, so do not forcibly pull it or unplug the connector. Remove the four hexagon socket head cap screws (M5 x 16 x 4 pcs.) and the washers that secure the axis 1 motor, pull the axis 1 motor assembly in the axis direction and then pull it out.
Page 95: Mounting Axis 1 Motor
MAINTENANCE MANUAL Protrusion Hexagon socket head cap screws M4 x 10 x 1 pc. Holding plate Wave generator Axis 1 motor Fig. 3.13 Dismounting axis 1 wave generator (THL500, THL600, THL700) 3.4.4 Mounting Axis 1 Motor Mount the wave generator, and secure it with the hexagon socket head cap screw (M4 x 10 x 1 pc.) and the holding plate.
Page 96 MAINTENANCE MANUAL Apply grease to the O-ring (CO0545A) and mount it to touch the base groove side surface. Be careful not to drop the O-ring while doing so. Base groove side surface O-ring CO0545A Fig. 3.15 Mounting axis 1 base side O-ring (THL500, THL600, THL700) Apply an appropriate amount of grease onto the all surfaces of the wave generator mounted to the axis 1 motor.
Page 97 MAINTENANCE MANUAL Secure the axis 1 motor assembly with four (4) hexagon socket head cap screws (M5 x 16) and washers. Axis 1 motor assembly Washer [Axis 1 drive motor set bolt] Hexagon socket head cap screws Fasten so that the motor M5 x 16 x 4 pcs.
Page 98: Dismounting Axis 2 Motor
MAINTENANCE MANUAL 3.4.5 Dismounting Axis 2 Motor Disconnect the arm 2 cover. (See “Para. 3.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers or the like, and remove J2AS and J2AP (axis 2 power drive cables), J2BS and J2BP (axis 2 encoder cables). It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 99: Mounting Axis 2 Motor
MAINTENANCE MANUAL Remove four (4) hexagon socket head cap screws (M4 x 16) and washers securing the axis 2 motor. Also remove the O-ring (CO0538A). [Axis 2 drive motor set bolt] Hexagon socket head cap screw M4 x 14 x 4 pcs. Washer O-ring CO0538A...
Page 100 MAINTENANCE MANUAL Secure the axis 2 motor with four (4) hexagon socket head cap screws (M4 x [Axis 2 drive motor 16) and washers. set bolt] Hexagon socket head cap screw M4 x 14 x 4 pcs. (Apply medium O-ring CO0538A strength Loctite.) Axis 2 motor...
Page 101 MAINTENANCE MANUAL Hexagon socket head cap screw Hex countersunk screw M4 x 8 x 2 pcs. M4 x 8 x 1 pc. Harness guide Support plate Fig. 3.21 Mounting harness guide and support plate (THL500, THL600, THL700) Restore the cables in A 2 to the original conditions. 10) mount Arm 2 cover.
Page 102: Dismounting Axis 3 Motor
MAINTENANCE MANUAL 3.4.7 Dismounting Axis 3 Motor CAUTION • The axis 3 motor is provided with a brake. At replacement of the axis 3 motor, this brake becomes inoperative. Before starting the work, therefore, move down the ball screw spline to the lower limit.
Page 103: Mounting Axis 3 Motor
MAINTENANCE MANUAL Remove one (1) hexagon socket head cap screw at the end of the axis (M3 x 8). (Same as Step 4 in “Para. 3.5.3, Dismounting Axis 1 Motor.”) Next, pull out the washer, holding plate, pulley and key. Remove four (4) hexagon socket head cap screws (M4 x 12) and washers that secure the axis 3 motor and then disassemble the axis 3 motor plate and the axis 3 motor.
Page 104 MAINTENANCE MANUAL [Axis 3 drive motor set bolt] Hexagon socket head cap screw M4 x 12 x 4 pcs. (Apply medium Axis 3 motor strength Loctite.) Washer Be sure to secure the tension adjustment bolt so that it faces the direction of the arrow. Pulley Holding plate Fasten so that the motor...
Page 105: Dismounting Axis 4 Motor
MAINTENANCE MANUAL Connect the connectors. (See the pictures taken in Para. 3.4.7, Step 2.) Mount the arm 2 cover and perform home setting for Axes 3 and 4. Now, the axis 3 motor replacement is complete. Need perform home setting for Axes 4 at this time.
Page 106: 3.4.10 Mounting Axis 4 Motor
MAINTENANCE MANUAL 3.4.10 Mounting Axis 4 Motor Mount the new motor to the reduction gear with four (4) hexagon socket head cap screws (M4 x 12) and washers. Be careful with the phase when mounting the motor. (Recommended clamping torque: 2.3 N·m) Tighten the coupling of the axis 4 reduction gear by means of the attached bolt (M4) to mount the cap.
Page 107: Adjusting And Replacing Timing Belt
MAINTENANCE MANUAL Adjusting and Replacing Timing Belt The timing belt is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The timing belt should be replaced with a new one only after the controller power supply plug is removed.
Page 108: Timing Belt Locations
MAINTENANCE MANUAL 3.5.2 Timing Belt Locations Axis 3 timing belt Axis 4 timing belt Fig. 3.28 Timing belt locations (THL500, THL600, THL700) 3.5.3 Replacing Axis 3 Timing Belt Remove the arm 2 cover. (See “Para. 3.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers. It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 109 MAINTENANCE MANUAL Note that if the ball screw nut is pulled out of the shaft, the ball falls off from the ball screw nut and, consequently, the ball screw spline unit can no longer be used. Disconnect the axis 3 timing belt. Stopper Hexagon socket head cap screws M4 x 16 x 4 pcs.
Page 110 MAINTENANCE MANUAL Table 3.4 Value of tension of axis 3 timing belt (THL500, THL600, THL700) Value of tension [N] Unit mass [g/m] Belt width [mm] Span [mm] 49 to 57 Axis 3 timing belt Tension meter Bolts for adjusting axis 3 tension M4 x 16 x 2 pcs.
Page 111: Replacing Axis 4 Timing Belt
MAINTENANCE MANUAL 3.5.4 Replacing Axis 4 Timing Belt CAUTION • When the axis 4 timing belt is replaced with a new one, the axis 3 should be disassembled also due to the structure. Therefore, strictly observe the cautions on replacement of the axis 3 timing belt and motor also.
Page 112 MAINTENANCE MANUAL For the mounting of the ball screw spline unit and the stoppers, see “Para. 3.7.5, Mounting Ball Screw Spline Unit.” Temporarily set the axis 4 motor assembly which was disconnected in Step 2) above to Arm 2 with the four (4) flange head bolts (M4 x 10 x 4 Loctite is not necessary) after setting the axis 4 timing belt to the axis 4 motor pulley.
Page 113 MAINTENANCE MANUAL Axis 4 timing belt Tension meter Bolts for adjusting axis 3 tension Hexagon socket head cap screws M4 x 16 x 2 pcs. Hexagon nuts Fig. 3.33 Ball screw and axis 4 motor assembly (THL500, THL600, THL700) Table 3.5 Value of tension of axis 4 timing belt (THL500, THL600, THL700) Value of tension [N] Unit mass [g/m] Belt width [mm]...
Page 114: Check Timing Belt Adjustment
MAINTENANCE MANUAL 3.5.5 Check Timing Belt Adjustment Perform inspection and adjustment of each timing belt semi-annually (every six (6) months). Remove the arm 2 cover. (See “Para. 3.3.1, Arm 2 Cover.”) If the belt is worn out, replace it. If cracks are observed or there is a serious abrasion (see "3.5.3 Replacement of the 3rd-axis timing belt"), replace the belt.
Page 115: Filling Grease To Ball Screw Spline Unit And Replacement
MAINTENANCE MANUAL Filling Grease to Ball Screw Spline Unit and Replacement The ball screw spline unit is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER •...
Page 116: Ball Screw Spline Unit Location
To avoid this, take careful precautions to prevent shortage of the grease. • Be sure to use the grease designated by Toshiba Machine. • Apply anticorrosive when dried up. If anticorrosive is not applied in such a case, rust will be generated on the ball screw spline unit.
Page 117 MAINTENANCE MANUAL fill the grease to the ball screw spline unit every three (3) months. Basically, If you have verified that there is not much grease, be sure to apply grease. At daily inspection also, make sure that the ball screw spline unit is filled with a sufficient volume of grease.
Page 118 MAINTENANCE MANUAL Directly apply the grease to the exposed shaft area by brash. Apply the grease to such an extent that the shaft groove can be filled. Wipe out the surplus grease. Table 3.8 Recommended grease (THL500, THL600, THL700) Recommended grease Maker AFF grease Ball screw spline shaft...
Page 119: Dismounting Ball Screw Spline Unit
MAINTENANCE MANUAL 3.6.4 Dismounting Ball Screw Spline Unit DANGER • The ball screw spline unit should be replaced with a new one only after the controller power supply plug is removed. If the work is done while the power is connected, you may get an electric shock or the robot may malfunction, which is very dangerous.
Page 120 MAINTENANCE MANUAL Remove six (6) hexagon socket head cap screws (M4 x 12) securing the ball screw nut, and then pull it out of the axis 4 bracket. If it cannot be pulled out by hand, use a removal tap. Remove the stopper on the upper side as well. Remove four (4) hexagon socket head cap screws (M5 x 20) and washers, and then remove the axis 3 nut pulley which is secured to the ball screw nut.
Page 121 MAINTENANCE MANUAL Hexagon socket head cap screws M4 x 12 x 6 pcs. Ball spline nut Tap for disassembly Axis 4 nut pulley Washer Hexagon socket head cap screws M5 x 12 x 6 pcs. Fig. 3.39 Dismounting ball screw spline nut (THL500, THL600, THL700) Insert the disconnected ball spline nut into the ball screw spline shaft.
Page 122: Mounting Ball Screw Spline Unit
MAINTENANCE MANUAL 3.6.5 Mounting Ball Screw Spline Unit DANGER • The ball screw spline unit should be replaced with a new one only after the controller power supply plug is removed. If the work is done while the power is connected, you may get an electric shock or the robot may malfunction, which is very dangerous.
Page 123 MAINTENANCE MANUAL Hexagon socket head cap screw M4 x 12 x 6 pcs. (Apply medium strength Loctite.) Ball spline nut Ball screw nut Ball spline nut Washer Axis 4 nut pulley Ball screw spline shaft Fasten so that the removal tap faces the Hexagon socket head cap screw direction of the arrow.
Page 124 MAINTENANCE MANUAL Hexagon socket head cap screw Hexagon socket head cap screw M4 x 16 x 4 pcs. M5 x 20 x 4 pcs. (Apply medium strength Loctite.) (Apply medium strength Loctite.) Axis 4 bracket Washer Axis 3 nut pulley Ball screw nut Fig.
Page 125 MAINTENANCE MANUAL Stopper split line Stopper Hexagon socket head cap screw Ball screw M4 x 12 x 4 pcs. groove (Apply medium strength Loctite.) Ball screw nut The bolt head Do not pull out. must be on the right side. Axis 4 bracket Marking shaft (number) Ball screw spline shaft...
Page 126: Reduction Gear Replacement
MAINTENANCE MANUAL Reduction Gear Replacement The reduction gear is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The reduction gear should be replaced with a new one only after the controller power supply plug is removed.
Page 127: Reduction Gear Locations
MAINTENANCE MANUAL 3.7.2 Reduction Gear Locations Axis 1 reduction gear Axis 2 reduction gear Axis 4 reduction gear Fig. 3.44 Reduction gear locations (THL500, THL600, THL700) 3.7.3 Dismounting Axis 1 Reduction Gear Remove the base front cover and the base side covers. (See “Para. 3.4.2, Base Covers.”) Remove four (4) hexagon socket head cap screws (M5 x 16) and the washers that secure the axis 1 motor assembly, pull out the axis 1 motor assembly, and...
Page 128 MAINTENANCE MANUAL O-ring CO0545 Washer [Axis 4 motor plate Hexagon socket set bolt] head cap screw Hexagon socket M4 x 20 x 16 pcs. head cap screw M5 x 16 x 4 pcs. Axis 1 motor assembly Fig. 3.45 Dismounting axis 1 motor assembly and Arm 1 (THL500, THL600, THL700) CAUTION •...
Page 129: Mounting Axis 1 Reduction Gear
MAINTENANCE MANUAL Hexagon socket head cap screw M4 x 30 x 12 pcs. Axis 1 reduction gear Remove the O-ring in advance. Arm 1 Fig. 3.46 Dismounting axis 1 reduction gear (THL500, THL600, THL700) 3.7.4 Mounting Axis 1 Reduction Gear CAUTION •...
Page 130 MAINTENANCE MANUAL Hexagon socket head cap screw Align the phases so that the Mount the O-ring (attached M4 x 30 x 12 pcs. protrusion of the axis 1 to the reduction gear) in (Apply medium strength Loctite.) reduction gear and the relief the O-ring groove.
Page 131 MAINTENANCE MANUAL CAUTION • Be sure to use the grease designated by Toshiba Machine. Increase in internal pressure will adversely affect the starting torque and damage the internal seal. To avoid this, be sure to observe the grease filling volume.
Page 132 MAINTENANCE MANUAL Mount the base front cover and the base side covers. (See “Para. 3.3.2, Base Covers.”) 10) Set up the axis 1 home position to complete axis 1 reduction gear replacement. Because the reduction gear is changed, home position settings of Axes 2 through 4 are required.
Page 133: Dismounting Axis 2 Reduction Gear
MAINTENANCE MANUAL 3.7.5 Dismounting Axis 2 Reduction Gear Remove the arm 2 cover. (See “Para. 3.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers. It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 134: Mounting Axis 2 Reduction Gear
MAINTENANCE MANUAL CAUTION • Arm should always be mounted and dismounted by two (2) or more persons. When removing Arm set bolts, take careful precautions because Arm will drop. Also, if an excessively large impact is imposed on Arm, the robot will be damaged. 3.7.6 Mounting Axis 2 Reduction Gear CAUTION...
Page 135 MAINTENANCE MANUAL Apply grease to the other O-ring attached to the new reduction gear, and then mount it in the O-ring groove of the axis 2 reduction gear. Mount the O-ring (attached to the reduction gear) in the O-ring groove. Hexagon socket head cap screw Mount the O-ring (attached to the...
Page 136: Replacing Axis 4 Reduction Gear
MAINTENANCE MANUAL Move Arm 2 by hand and check that there is no abnormal sound before turning on the power. 10) Set up the home positions of axes 2 to complete axis 2 reduction gear replacement. 3.7.7 Replacing Axis 4 Reduction Gear CAUTION •...
Page 137 MAINTENANCE MANUAL [Axis 4 drive motor set bolt] Hexagon socket head cap screw [Axis 4 reduction gear set bolt] M4 x 12 x 4 pcs. Hexagon socket head cap screw (Apply medium strength Loctite.) Washer M5 x 16 x 4 pcs. (When mounted) recommended (Apply medium strength Loctite.) clamping torque: 2.3 Nm...
Page 138: Maintenance Of The Main Robot (Thl800, Thl900, Thl1000)
MAINTENANCE MANUAL Maintenance of the Main Robot (THL800, THL900, THL1000) Details of Inspection 4.1.1 Check of Each Bolt (or Screw) for Clamping Tool Set Bolts Using the hexagonal wrench key, make sure that the clamping bolts (M4 x 4 pcs.) of the tool set flange (option), which are clamped to the tool shaft, are tightened completely.
Page 139 MAINTENANCE MANUAL Robot installation bolt M12 x 6 pcs. Fig. 4.2 Robot installation bolts (THL800, THL900, THL1000) Motor Set Bolts Make sure, using the hexagonal wrench key, that the bolts for securing each axis drive motor are tightened completely. If loosened, tighten them completely. Also make sure that the motor and motor plate bolts are tightened completely.
Page 140: Check Of Each Cable And Air Tube For Abrasion
MAINTENANCE MANUAL 4.1.2 Check of Each Cable and Air Tube for Abrasion Disassemble the arm 2 cover and the base rear cover, and make sure that each cable is not worn out, broken or cracked. Especially, carefully inspect the vicinity of the cable outlets.
Page 141: Check Of Cable Clamp Tightening
MAINTENANCE MANUAL CAUTION • The air tube is a consumable item. Check the condition during periodic inspection. If any damage is found, replace it. • Please note that Fig. 4.3 shows a piping example and does not warrant damage to the air tube and its accessories.
Page 142: Check Of Each Axis For Operation
MAINTENANCE MANUAL 4.1.4 Check of Each Axis for Operation Connect the power plug of the controller to the power source, then keep the EMERGENCY pushbutton switch in the depressed condition. Move each axis by hand and make sure that it can move smoothly. For Axis 3, when the brake release switch is pressed, the brake is released.
Page 143: Layout Of Robot Components And Drive Mechanism
MAINTENANCE MANUAL Layout of Robot Components and Drive Mechanism The layout of the robot mechanical components is shown in Fig. 4.5. Ball screw spline shaft Axis 4 Axis 3 drive motor drive motor Axis 4 reduction gear Ball screw nut Axis 2 Axis 1 drive motor...
Page 144: Dismounting And Mounting Each Cover
MAINTENANCE MANUAL Dismounting and Mounting Each Cover This paragraph describes the dismounting and mounting of the covers, which are common to the maintenance and replacement of each unit. DANGER • When opening the cover, take careful precautions not to allow entry of moisture or contaminant into the robot.
Page 145: Arm 2 Cover
MAINTENANCE MANUAL 4.3.1 Arm 2 Cover The arm 2 cover is secured to Arm 2 and the harness guide with 14 hexagon socket head bolts (M3 x 6 x 4 pcs., M4 x 6 x 8 pcs., M4 x 10 x 2 pcs.) and nylon washers. (It is not necessary to apply Loctite when installing.) Socket head bolt M3 x 6 x 4 pcs.
Page 146: Base Covers
MAINTENANCE MANUAL 4.3.2 Base Covers There are two (2) types of base covers: base front cover and base rear cover. (It is not necessary to apply Loctite to all the covers when installing.) Each of the base front cover and the base rear cover is secured to the base with six (6) cross truss head screws (M4 x 8).
Page 147: Replacing Motor
MAINTENANCE MANUAL Replacing Motor The motor is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The motor should be replaced with a new one only after the controller power supply plug is removed.
Page 148: Motor Locations
MAINTENANCE MANUAL Table 4.2 Type of Motor (THL800, THL900, THL1000) Description Axis name Type Our drawing No. Unit code Axis 1 Y610A34C0 S746328 Axis 2 Y610A3M30 S875290 AC servo motor Axis 3 Y610A3430 S746337 Axis 4 Y610A3M40 S875291 Axis 1 Square key 5 x 5 x 16 Axis 3 Square key 4 x 4 x 16...
Page 149: Dismounting Axis 1 Motor
MAINTENANCE MANUAL 4.4.3 Dismounting Axis 1 Motor Remove the hexagon socket head bolts (M6 x 16 x 8 pcs.) securing the axis 1 motor base while changing the position of the arm 1 position. Since the arms 1 and 2 are heavy, two persons must cooperate with each other for this work. Further, the motor cable is connected, so do not pull it forcibly.
Page 150 MAINTENANCE MANUAL Washer Hexagon socket head bolts M5 x 30 x 16 pcs. O-ring (CO0551A) Fig. 4.11 Dismounting axis 1 motor assembly (THL800, THL900, THL1000) Remove a hexagon socket head bolt (M4 x 12 x 1 pc.) and washer securing the wave generator, and remove the wave generator.
Page 151: Mounting Axis 1 Motor
MAINTENANCE MANUAL [Axis 1 motor mounting bolt] Hexagon socket head bolts M4 x 14 x 4 pcs. Washer O-ring (CO0540A) Fig. 4.13 Dismounting axis 1 motor (THL800, THL900, THL1000) 4.4.4 Mounting Axis 1 Motor Using a new axis 1 motor and key, perform key adjustment. At the time of mounting, apply SK-1A grease to the key and motor shaft end (to ensure easier insertion of the wave generator).
Page 152 MAINTENANCE MANUAL Fix the wave generator using a hexagon socket head bolt (M12 x 4 x 1 pc.) and washer. Apply grease to the O-ring (CO0551A) and set the O-ring into the O-ring groove of the axis 1 motor mount. Wave generator Hexagon socket head bolt M4 x 12 x 1 pc.
Page 153 MAINTENANCE MANUAL Washer Hexagon socket head bolts M5 x 30 x 16 pcs. Fig. 4.17 Mounting axis 1 motor assembly (THL800, THL900, THL1000) Connect the connectors of the axis 1 motor, i.e., J1AS and J1AP (power drive cable), and J1BS and J1BP (encoder cables). Taking care of the pin (MS5-15), fix the motor mount on the base using hexagon socket head bolts (M6 x 16 x 8 pcs.).
Page 154: Dismounting Axis 2 Motor
MAINTENANCE MANUAL Turn on the power and set up the axis 1 home position to complete axis 1 motor replacement. (Check the coordinates of Axes 2 to 4 and set up the home position if necessary. See “Section 7, Robot Home Point and Position Detector Error”.) CAUTION •...
Page 155 MAINTENANCE MANUAL Hexagon socket head bolts M4 x 6 x 2 pcs. Harness guide Hex countersunk screw M4 x 8 x 1 pc. Support plate Fig. 4.19 Dismounting harness guide and support plate (THL800, THL900, THL1000) Remove eight (8) hexagon socket head bolts (M4 x 12) and washers securing the axis 2 motor.
Page 156: Mounting Axis 2 Motor
MAINTENANCE MANUAL Remove a hexagon socket head bolt (M4 x 10 x 1 pc.) and washer securing the wave generator, and remove the wave generator from the axis 1 motor assembly. Hexagon socket head bolt M4 x 1 0 x 1 pc. (Apply Locktite of intermediate strength.) Washer Wave generator...
Page 157 MAINTENANCE MANUAL [Axis 1 motor mounting bolt] Hexagon socket head bolts M4 x 12 x 4 pcs. (Apply Locktite of Take care of the phases of intermediate strength.) the motor and joint hole. Joint hole Washer O-ring (CO0540A) Fig. 4.23 Mounting axis 2 motor (THL800, THL900, THL1000) Fix the wave generator to the axis 2 motor assembly using a hexagon socket head bolt (M4 x 10 x 1 pc.) and washer.
Page 158 MAINTENANCE MANUAL Secure the axis 2 motor assembly with eight (8) hexagon socket head bolts (M4 x 12) and washers. Axis 2 motor assembly Hexagon socket head bolts M4 x 12 x 8 pcs. O-ring CO0545A Fig. 4.25 Mounting axis 2 motor assembly (THL800, THL900, THL1000) Secure the harness guide and the support plate with one (1) hex countersunk screw (M4 x 8) and two (2) hexagon socket head bolts (M4 x 6).
Page 159: Dismounting Axis 3 Motor
MAINTENANCE MANUAL Before turning on power subsequent to replacement of the axis 2 motor, move the arm 2 by hand and make sure that there is no abnormal noise. Mount the axis 2 arm cover after the cables and others in the axis 2 arm have been placed back to the original position.
Page 160 MAINTENANCE MANUAL motor plate to cancel the axis 3 timing belt tension. Then draw out axis 3 the motor assembly upward. [Axis 3 motor plate mounting bolt] Flange head bolt [Bolts for adjusting axis 3 tension] M4 x 16 x 2 pcs. M4 x 10 x 4 pcs.
Page 161: Mounting Axis 3 Motor
MAINTENANCE MANUAL 4.4.8 Mounting Axis 3 Motor Perform key alignment, using the new axis 3 motor and pulley. At this time, no clearance should exist between the motor shaft and pulley. Secure the axis 3 motor to the axis 3 motor plate with four (4) hexagon socket head bolts (M4 x 10) and washers.
Page 162: Dismounting Axis 4 Motor
MAINTENANCE MANUAL Timing Belt.”) Then, tighten and secure the temporarily tightened flange head bolts with hex nuts. [Axis 3 motor plate mounting bolt] Flange head bolt M4 x 10 x 4 pcs. Bolts for adjusting Fasten so that the motor axis 3 tension lead wire faces the M4 x 16 x 2 pcs.
Page 163: 4.4.10 Mounting Axis 4 Motor
MAINTENANCE MANUAL Remove four (4) hexagon socket head bolts (M4 x 12) and washers that secure the axis 4 motor, and then pull the axis 4 motor upward. [Axis 4 drive motor mounting bolt] Hexagon socket head bolts M4 x 12 x 4 pcs. Ball screw spline shaft Washer Remove in the...
Page 164 MAINTENANCE MANUAL [Axis 4 drive motor mounting bolt] Hexagon socket head bolts M4 x 12 x 4 pcs. (Recommended clamping torque: 2.3 N·m) (Apply medium strength Loctite.) Fasten so that the motor lead wire Washer faces the direction of the arrow. After clamping the coupling bolt, insert in the arrow-marked...
Page 165: Adjusting And Replacing Timing Belt
MAINTENANCE MANUAL Adjusting and Replacing Timing Belt The timing belt is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The timing belt should be replaced with a new one only after the controller power supply plug is removed.
Page 166: Timing Belt Locations
MAINTENANCE MANUAL 4.5.2 Timing Belt Locations Axis 3 timing belt Axis 4 timing belt Fig. 4.33 Timing belt locations (THL800, THL900, THL1000) 4.5.3 Replacing Axis 3 Timing Belt Remove the arm 2 cover. (See “Para. 4.3.1, Arm 2 Cover.”) Cut the cable ties of the cables with nippers. It is recommended to take photos of the cable installation positions and the locations where cable ties are used so that these locations can be restored when needed.
Page 167 MAINTENANCE MANUAL Remove six (6) hexagon socket head bolts (M4 x 12) securing the ball screw nut, and remove the ball screw nut from the axis 3 bracket. (Keep the hand wheel removed.) Remove the four (4) hexagon socket head bolts (M4 x 16) securing the axis 3 bracket.
Page 168 MAINTENANCE MANUAL being displaced from the current position, tighten four (4) hexagon socket head bolts (M4 x 16) clamped temporarily, and fix the axis 3 bracket in position. 10) Hang the timing belt to the axis 3 motor assembly which was previously removed in 3), and temporarily secure it to Arm 2 with four (4) flange head bolts (M4 x 10, application of Loctite not necessary).
Page 169: Replacing Axis 4 Timing Belt
MAINTENANCE MANUAL Connect the connector and set the zero points of Axes 3 and 4. After that, while pressing the brake release switch, manually move the ball screw in the vertical direction. Check if you feel a catch in the movement or if the movement of the ball screw is less smooth.
Page 170 MAINTENANCE MANUAL [Axis 4 motor plate mounting bolt] Axis 4 Flange head bolt motor assembly M4 x 10 x 4 pcs. [Bolts for adjusting axis 4 tension] Axis 4 timing belt M4 x 16 x 2 pcs. Hexagon nuts Fig. 4.36 Dismounting harness guide and support plate (THL800, THL900, THL1000) Mount a new belt.
Page 171 MAINTENANCE MANUAL Mount the lower stopper on the ball screw shaft. For the stopper mounting procedure, see "4.6.5 Mounting of ball screw spline shaft". Temporarily set the axis 4 motor assembly which was disconnected in Step 2) above to Arm 2 with the four (4) flange head bolts (M4 x 10 Loctite is not necessary) after setting the axis 4 timing belt to the axis 4 motor pulley.
Page 172 MAINTENANCE MANUAL Axis 4 timing belt [Bolts for adjusting axis 4 tension] M4 x 16 x 2 pcs. Tension meter Hexagon nuts Fig. 4.39 Ball screw and axis 4 motor assembly (THL800, THL900, THL1000) Table 4.5 Value of tension of axis 4 timing belt (THL800, THL900, THL1000) Value of tension [N] Unit mass [g/m] Belt width [mm]...
Page 173: Check Timing Belt Adjustment
MAINTENANCE MANUAL 4.5.5 Check Timing Belt Adjustment Perform inspection and adjustment of each timing belt semi-annually (every six (6) months). Remove the arm 2 cover. (See “Para. 4.3.1, Arm 2 Cover.”) If the belt is worn out, replace it. (See "4.5.3 Replacement of axis 3 timing belt.) If a crack or severe abrasion has been detected, the timing belt must be replaced.
Page 174: Filling Grease To Ball Screw Spline Unit And Replacement
MAINTENANCE MANUAL Filling Grease to Ball Screw Spline Unit and Replacement The ball screw spline unit is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER •...
Page 175: Ball Screw Spline Unit Location
To avoid this, take careful precautions to prevent shortage of the grease. • Be sure to use the grease designated by Toshiba Machine. • Apply anticorrosive when dried up. If anticorrosive is not applied in such a case, rust will be generated on the ball screw spline unit.
Page 176 MAINTENANCE MANUAL In principle, grease should be applied to the ball screw spline unit every three months. Be sure to apply grease whenever there is a shortage of grease. At daily inspection also, make sure that the ball screw spline unit is filled with a sufficient volume of grease.
Page 177 MAINTENANCE MANUAL Directly apply the grease to the exposed shaft area by brash. Apply the grease to such an extent that the shaft groove can be filled. Wipe out the surplus grease. Table 4.8 Recommended grease (THL800, THL900, THL1000) Recommended grease Maker AFF grease Ball screw spline shaft...
Page 178: Dismounting Ball Screw Spline Unit
MAINTENANCE MANUAL Ball screw spline shaft Apply the grease to this area Axis 3 brake release switch Ball screw nut Fig. 4.43 Greasing upper side of ball screw spline unit (THL800, THL900, THL1000) Move the shaft up and down repeatedly while pressing the axis 3 brake release switch to fill the grease uniformly.
Page 179 MAINTENANCE MANUAL In the descriptions on replacing the ball screw spline unit, the procedures for changing the axis 3 and 4 motors and timing belts are not included. For details, refer to the descriptions on replacement of each part (see “Para. 4.4.7, Dismounting Axis 3 Motor”, “Para.
Page 180 MAINTENANCE MANUAL Hexagon socket head bolts M4 x 12 x 6 pcs. Stopper Washer Hexagon socket head bolts M4 x 12 x 4 pcs. Do not pull out. Ball screw nut Ball screw spline shaft Axis 3 bracket Stopper Stopper Fig.
Page 181 MAINTENANCE MANUAL Hexagon socket head bolts M4 x 12 x 6 pcs. Ball spline nut Tap for disassembly Axis 4 nut pulley Washer Hexagon socket head bolts M5 x 12 x 6 pcs. Fig. 4.45 Dismounting ball screw spline nut (THL800, THL900, THL1000) Insert the disconnected ball spline nut into the ball screw spline shaft.
Page 182: Mounting Ball Screw Spline Unit
MAINTENANCE MANUAL 4.6.5 Mounting Ball Screw Spline Unit DANGER • The ball screw spline unit should be replaced with a new one only after the controller power supply plug is removed. If the work is done while the power is connected, you may get an electric shock or the robot may malfunction, which is very dangerous.
Page 183 MAINTENANCE MANUAL Hexagon socket head bolts M4 x 12 x 6 pcs. (Apply medium strength Loctite.) Ball spline nut Ball spline nut Ball screw nut Fasten so that the removal tap Washer faces the direction of the arrow. Hexagon socket head bolts Axis 4 nut pulley Ball screw spline shaft M5 x 12 x 6 pcs.
Page 184 MAINTENANCE MANUAL Hexagon socket head bolts M5 x 20 x 4 pcs. Hexagon socket head bolts (Apply medium strength Loctite.) M4 x 16 x 4 pcs. (Apply medium strength Loctite.) Washer Axis 3 nut pulley Ball screw nut Stopper Axis 3 bracket Fig.
Page 185 MAINTENANCE MANUAL Stopper split line Hexagon socket head bolts Ball screw M4 x 12 x 6 pcs. groove (Apply medium strength Loctite.) Ball screw nut The bolt head must be on the Ball screw spline shaft right side. Do not pull out. Marking shaft (number) Axis 3 bracket...
Page 186: Reduction Gear Replacement
MAINTENANCE MANUAL Reduction Gear Replacement The reduction gear is to be replaced by our service engineer. If it is replaced by the customer, we will not guarantee any consequential trouble or accident. DANGER • The reduction gear should be replaced with a new one only after the controller power supply plug is removed.
Page 187: Reduction Gear Locations
MAINTENANCE MANUAL 4.7.2 Reduction Gear Locations Axis 1 reduction gear Axis 2 reduction gear Axis 4 reduction gear Fig. 4.50 Reduction gear locations (THL800, THL900, THL1000) 4.7.3 Dismounting Axis 1 Reduction Gear Remove the base front cover. (See “Para. 4.3.2, Base Covers.”) Remove the parts up to the axis 1 motor assembly according to "4.3.2 Base cover".
Page 188: Mounting Axis 1 Reduction Gear
MAINTENANCE MANUAL Remove the wave generator from the axis 1 motor. (See “Para. 4.4.3, Dismounting Axis 1 Motor.”) Hexagon socket head bolts M5 x 35 x 12 pcs. Axis 1 reduction gear Remove the O-ring in advance. Arm 1 Fig. 4.51 Dismounting axis 1 reduction gear (THL800, THL900, THL1000) 4.7.4 Mounting Axis 1 Reduction Gear CAUTION...
Page 189 MAINTENANCE MANUAL Secure the axis 1 reduction gear with twelve (12) hexagon socket head bolts (M5 x 35). Hexagon socket head bolts Mount the O-ring (attached M5 x 35 x 12 pcs. to the reduction gear) in Align the phases so that the (Apply medium strength Loctite.) the O-ring groove.
Page 190 Fig. 4.53 Application of grease to axis 1 reduction gear (THL800, THL900, THL1000) CAUTION • Be sure to use the grease designated by Toshiba Machine. Increase in internal pressure will adversely affect the starting torque and damage the internal seal. To avoid this, be sure to observe the grease filling volume.
Page 191: Dismounting Axis 2 Reduction Gear
MAINTENANCE MANUAL After changing the axis 1 motor, move Arm 1 by hand and check that there is no abnormal sound. Set up the axis 1 home position to complete axis 1 reduction gear replacement. Because the reduction gear is changed, home position settings of Axes 2 through 4 are required.
Page 192: Mounting Axis 2 Reduction Gear
MAINTENANCE MANUAL CAUTION • Arm should always be mounted and dismounted by two (2) or more persons. When removing Arm mounting bolts, take careful precautions because Arm will drop. Also, if an excessively large impact is imposed on Arm, the robot will be damaged. 4.7.6 Mounting Axis 2 Reduction Gear CAUTION...
Page 193 MAINTENANCE MANUAL Apply grease to the other O-ring attached to the new reduction gear, and then mount it in the O-ring groove of the axis 2 reduction gear. Mount the O-ring in the O-ring groove. Hexagon socket head bolts M4 x 30 x 12 pcs. Mount the O-ring (attached to the (Apply medium strength Loctite.) reduction gear) in the O-ring groove.
Page 194: Replacing Axis 4 Reduction Gear
MAINTENANCE MANUAL Mount the axis 2 motor assembly, the harness guide and the support plate. Put back the cables to the original locations. Move Arm 2 by hand and check that there is no abnormal sound before turning on the power. 10) Mount the arm 2 cover.
Page 195 MAINTENANCE MANUAL [Axis 4 drive motor mounting bolt] Hexagon socket head bolts M4 x 12 x 4 pcs. [Axis 4 motor plate mounting (Apply medium strength Loctite.) bolt] Washer (When mounted) recommended Hexagon socket head bolts clamping torque: 2.3 Nm M5 x 16 x 4 pcs.
Page 196: Maintenance Of Controller (Tsl3000)
MAINTENANCE MANUAL Maintenance of Controller (TSL3000) Cautions on Maintenance and Inspection When performing maintenance and inspection of the controller, follow the items given below so that the work can be carried out safely. DANGER • If the power remains connected, the servo power printed board, servo printed board and switching power supply are charged, and touching them could lead to electric shocks.
Page 197: Layout Of Controller Parts
MAINTENANCE MANUAL Layout of Controller Parts X8YS unit servo power supply board X8YC (main board) PS1(P5V)，PS2(P24V) X8YX (I/O board) Controller weight: 7kg Fig. 5.1 Layout of controller parts (TSL3000) Table 5.1 Controller parts (TSL3000) Part name Descriptions PS1, PS2 PS1 (P5V), PS2 (P24V) output switching power supply X8YC Main control printed board X8YX...
Page 198: Maintenance Procedures
MAINTENANCE MANUAL Maintenance Procedures 5.3.1 Check of Controller Air Vent Holes If the air vent holes are blocked, the controller may overheat and malfunction. To avoid this, perform check on the air vent holes to make sure that air is flowing freely through them.
Page 199: Check Of Safety Devices For Function
MAINTENANCE MANUAL 5.3.2 Check of Safety Devices for Function Make sure that the EMERGENCY stop pushbutton switches equipped on the teach pendant work properly. Also make sure that the safety devices controlled by the external operation input signals work correctly. Make sure that the EMERGENCY (emergency stop) switch provided on the teach pendant functions properly.
Page 200 MAINTENANCE MANUAL At this time, make sure that the EMERGENCY STOP switch [1] remains depressed. Turn the EMERGENCY STOP switch [1] clockwise and make sure that the EMERGENCY switch [1] turns off. Make sure that the safety devices controlled by the external operation input signals work properly.
Page 201: Battery Replacement
MAINTENANCE MANUAL 5.3.3 Battery Replacement The memory equipped on the X8YC printed board of the robot controller is backed up by a lithium battery to save the data. Replace the battery every five (5) years. The lithium battery will turn its life when used for a predetermined time. If it is used, neglecting the life, the battery voltage will drop to below the voltage required for keeping the memory data, resulting in the data being lost and faults caused by leakage of the battery liquid.
Page 202 (5) years. Only the battery shown in the table above should be used. As this is an exclusive battery, contact Toshiba Machine at order entry. [Battery replacement procedures] If the battery is to be kept removed for more than one (1) minute, copy all programs and various parameters stored in the internal memory to the personal computer.
Page 203: Replacement Of Switching Power Supply Unit
MAINTENANCE MANUAL DANGER • Waste battery should be disposed of according to the user's in-house regulations. NEVER drop the battery into fire. NEVER short-circuit, charge, disassemble or heat it. Otherwise, liquid leakage or rupture may be caused. 5.3.4 Replacement of Switching Power Supply Unit The life of the switching power supply unit (5 VDC/24 VDC) used in the robot controller differs with the operating conditions.
Page 204 MAINTENANCE MANUAL Countersunk screws (M3 x 6 x 8 pcs.) When removing the interior panel unit, be sure to remove the key. ACIN connector Fig. 5.5 Removing cover (TSL3000) Remove the DC cable (blue and red), the SVIF cable (blue) and the encoder cable (blue) connected to the X8YC (main board) as well as the hand I/O cable (blue) and the brake cable (blue) connected to the X8YX (I/O board).
Page 205 MAINTENANCE MANUAL X8YX (I/O board) X8YC (main board) SVIF cable (blue) DC cable (blue and red) Brake cable (blue) Hand I/O cable (blue) Fig. 5.6 Controller interior (TSL3000) Encoder cable (blue) X8YC (main board - rear side) Controller front side view Fig.
Page 206 MAINTENANCE MANUAL Remove one (1) countersunk screw (M3 x 6) that secures the interior panel unit. Pull out the interior panel unit toward the rear of the controller. When removing the interior panel unit, be sure to remove the key. Pull out the interior panel unit.
Page 207: Replacement Of Fuse (X8Yx Printed Board)
MAINTENANCE MANUAL Using four (4) sems screws (M3 x 8), secure each of the new switching power supplies to the main body. Note) The PS1 and PS2 switching power supplies have the same installation pitch. Never install the PS1 and the PS2 upside down or right and left in reverse. 10) Attach a cable to each of the PS1 and the PS2.
Page 208 MAINTENANCE MANUAL Rotate while pushing. Fig. 5.10 Changing fuse (TSL3000) Table 5.3 Fuse replacement (TSL3000) Type of fuse Manufacturer 51NM030H PICO [Replacement procedures] Remove the power supply plug of the controller from the power source. Remove the fuse holder shown in the above figure. (To release the lock, push and turn the holder 90...
Page 209: Replacement Of Output Ics (X8Yx Printed Board)
MAINTENANCE MANUAL 5.3.6 Replacement of Output ICs (X8YX Printed Board) If the current exceeding the specified current has run through the output unit, the transistor output ICs on the X8YX printed board are damaged. When this happens, replace the ICs. Before the replacement, examine and identify an fault circuit, remedy the cause, then replace the ICs.
Page 210 MAINTENANCE MANUAL Table 5.4 Transistor output ICs (TSL3000) Output type Transistor output IC type Maker Type-N TD62084APG Toshiba Type-P M54562WP Mitsubishi Electric [Replacement procedures] Turn off the breaker for power supply. Disconnect the ACIN connector from the controller. Remove eight (8) countersunk screws (M3 x 6) that secure the cover, and then remove the cover from the main body.
Page 211 MAINTENANCE MANUAL Disconnect the hand I/O cable (blue) and the brake cable (blue) that are connected to the X8YX (I/O board). Remove five (5) sems screws (M3 x 8) that secures the X8YX board, and then remove the X8YX board. X8YX (I/O board) Hand I/O cable (blue)
Page 212: Maintenance Of Controller (Tsl3000E)
MAINTENANCE MANUAL Maintenance of Controller (TSL3000E) Cautions on Maintenance and Inspection When performing maintenance and inspection of the controller, follow the items given below so that the work can be carried out safely. DANGER • If the power remains connected, the servo power printed board, servo printed board and switching power supply are charged, and touching them could lead to electric shocks.
Page 213: Layout Of Controller Parts
MAINTENANCE MANUAL 6.2 Layout of Controller Parts Safety relay modules (SRM1, SRM2) X8YV (Main control printed boar) X8YJ (I/O printed board) PS1 (P5V,P24V) X8YH (unit servo power printed board) X8YZ (Safety input board) Controller weight: 13kg Fig. 6.1 Layout of controller parts (TSL3000E) Table 6.1 Controller parts (TSL3000E) Part name Descriptions...
Page 214: Maintenance Procedures
MAINTENANCE MANUAL Maintenance Procedures 6.3.1 Check of Controller Air Vent Holes If the air vent holes are blocked, the controller may overheat and malfunction. To avoid this, perform check on the air vent holes to make sure that air is flowing freely through them.
Page 215: Check Of Safety Devices For Function
MAINTENANCE MANUAL 6.3.2 Check of Safety Devices for Function Make sure that the EMERGENCY stop pushbutton switches equipped on the teach pendant work properly. Also make sure that the safety devices controlled by the external operation input signals work correctly. Make sure that the EMERGENCY (emergency stop) switch provided on the teach pendant functions properly.
Page 216 MAINTENANCE MANUAL At this time, make sure that the EMERGENCY STOP switch [1] remains depressed. Turn the EMERGENCY STOP switch [1] clockwise and make sure that the EMERGENCY switch [1] turns off. Make sure that the safety devices controlled by the external operation input signals work properly.
Page 217: Battery Replacement
MAINTENANCE MANUAL 6.3.3 Battery Replacement The memory equipped on the X8YC printed board of the robot controller is backed up by a lithium battery to save the data. Replace the battery every five (5) years. The lithium battery will turn its life when used for a predetermined time. If it is used, neglecting the life, the battery voltage will drop to below the voltage required for keeping the memory data, resulting in the data being lost and faults caused by leakage of the battery liquid.
Page 218 (5) years. Only the battery shown in the table above should be used. As this is an exclusive battery, contact Toshiba Machine at order entry. [Battery replacement procedures] If the battery is to be kept removed for more than one (1) minute, copy all programs and various parameters stored in the internal memory to the personal computer.
Page 219: Replacement Of Switching Power Supply Unit
MAINTENANCE MANUAL DANGER • Waste battery should be disposed of according to the user's in-house regulations. NEVER drop the battery into fire. NEVER short-circuit, charge, disassemble or heat it. Otherwise, liquid leakage or rupture may be caused. 6.3.4 Replacement of Switching Power Supply Unit The life of the switching power supply unit (5 VDC/24 VDC) used in the robot controller differs with the operating conditions.
Page 220 MAINTENANCE MANUAL ten flat countersunk head screws (M3 x 6) To remove the intermediate plate unit, remove the key. ACIN connector Fig. 6.6 Removing cover (TSL3000E) Remove the DC cable (blue and red), the SVIF cable (blue) and the encoder cable (blue) connected to the X8YV (main board) as well as the hand I/O cable (blue) and the brake cable (blue) connected to the X8YJ (I/O board).
Page 221 MAINTENANCE MANUAL X8YJ (I/O printed board) X8YV (main printed board) X8YZ (Safety input board) Brake cable (blue) DC cables (blue and red) Hand I/O cable (blue) SVIF cable (blue) Fig. 6.7 Controller interior side view (TSL3000E) Encoder cable (blue) Fig. 6.8 Controller interior front view (TSL3000E) STE 85357...
Page 222 MAINTENANCE MANUAL Remove three (3) countersunk screw (M3 x 6) that secures the interior panel unit. Pull out the interior panel unit toward the rear of the controller. When removing the interior panel unit, be sure to remove the key. three flat countersunk head screws (M3 x 6) Remove the intermediate plate unit.
Page 223 MAINTENANCE MANUAL 8) Remove four (4) sems screws (M3 x 8) that secure each of the switching power supplies (PS1), and then remove the switching power supplies from the interior panel unit. DC cable (blue) AC cable (black, PS1) DC side AC side Four sems screws PS1 (P5V, P24V) LFB100F-0524...
Page 224 MAINTENANCE MANUAL 12) Connect the DC cable (blue ), the SVIF cable (blue) and the encoder cable (blue) to the X8YV (main board) and, also, connect the hand I/O cable (blue) and the brake cable (blue) to the X8YJ (I/O board). (See Fig. 4.7 and 4.8) 13) Mount the cover to the main body using ten (10) countersunk screws (M3 x 6).
Page 225: Replacement Of Fuse (X8Yj Printed Board)
MAINTENANCE MANUAL 6.3.5 Replacement of Fuse (X8YJ Printed Board) If the current exceeding the specified current has run through the I/O unit, the fuse of the front of the TSL3000 controller is blown out. If the alarm saying “I/O Fuse Broken (8–273)”...
Page 226 MAINTENANCE MANUAL Table 6.3 Fuse replacement (TSL3000E) Type of fuse Manufacturer 51NM030H PICO [Replacement procedures] Remove the power supply plug of the controller from the power source. Remove the fuse holder shown in the above figure. (To release the lock, push and turn the holder 90...
Page 227: Maintenance Of Controller (Ts3000, Ts3000E)
MAINTENANCE MANUAL Maintenance of Controller (TS3000, TS3000E) Cautions on Maintenance and Inspection When performing maintenance and inspection of the controller, follow the items given below so that the work can be carried out safely. DANGER • If the power remains connected, the servo power printed board, servo printed board and switching power supply are charged, and touching them could lead to electric shocks.
Page 228: Layout Of Controller Parts
MAINTENANCE MANUAL Layout of Controller Parts X8GN X8GB (X8GI) X8G2, G3 X8GC PS1 (P24V) X8GL PS2 (P5V) Controller weight: 13kg Fig. 7.1 Layout of controller parts (TS3000, TS3000E) STE 85357...
Page 229 MAINTENANCE MANUAL Table 7.1 Controller parts (TS3000, TS3000E) Part name Descriptions P24V output switching power supply P5V output switching power supply X8GC Main control printed board X8GN (X8GI) I/O output printed board X8GL Servo logic printed board X8GI - X8G3 Servo amplifier printed board X8GB Mother board...
Page 230: Maintenance Procedures
MAINTENANCE MANUAL Maintenance Procedures For information on TSL3000, refer to Section 4.4. 7.3.1 Check of Controller Air Vent Holes If the air vent holes are blocked, the controller may overheat and malfunction. To avoid this, perform check on the air vent holes to make sure that air is flowing freely through them.
Page 231: Check Of Safety Devices For Function
MAINTENANCE MANUAL 7.3.2 Check of Safety Devices for Function Make sure that the EMERGENCY stop pushbutton switches equipped on the control panel and teach pendant work properly. Also make sure that the safety devices controlled by the external operation input signals work correctly. Fig.7.3 Layout of control panel switches (TS3000, TS3000E) Make sure that the EMERGENCY (emergency stop) switch [3] provided on the control panel functions properly.
Page 232 MAINTENANCE MANUAL LED is illuminated. At this time, make sure that the EMERGENCY switch [3] remains depressed. Turn the EMERGENCY switch [3] clockwise and make sure that the same switch turns off. Make sure that the EMERGENCY STOP switch [6] provided on the teach pendant functions properly.
Page 233: Battery Replacement
MAINTENANCE MANUAL At this time, make sure that the EMERGENCY STOP switch [4] remains depressed. Turn the EMERGENCY STOP switch [4] clockwise and make sure that the same switch [4] turns off. Make sure that the safety devices controlled by the external operation input signals work properly.
Page 234 (5) years. Only the battery shown in the table above should be used. As this is an exclusive battery, contact Toshiba Machine at order entry. STE 85357...
Page 235 MAINTENANCE MANUAL [Battery replacement procedures] If the battery is to be kept removed for more than one (1) minute, copy all programs and various parameters stored in the internal memory to the personal computer. In the worst case, all memory data are lost. Have a new battery ready, remove eleven (11) cross truss head screws (M3 x 6) that secure the cover, and then remove the cover from the main body.
Page 236: Replacement Of Switching Power Supply Unit
MAINTENANCE MANUAL 7.3.4 Replacement of Switching Power Supply Unit The life of the switching power supply unit (DC5 V/DC24 V) used in the robot controller differs with the operating conditions. This unit uses an aluminum electrolytic capacitor, and if the load current is large, the running time is long and the ambient temperature is high, the life will reduce.
Page 237 MAINTENANCE MANUAL Remove the two (2) countersunk screws (M3 x 8) securing the switching power supply (PS1). Countersunk screws M3 x 6 x 2 pcs. Fig. 7.7 Removal of PS1 Switching Power Supply Unit (TS3000, TS3000E) Mount the new power supply unit. Mount the cover to the main body.
Page 238 MAINTENANCE MANUAL [ PS2 replacement procedures] Turn off the main power switch. Turn off the power breaker. 3) Remove eleven (11) cross truss head screws (M3 x 6) that secure the cover, and then remove the cover from the main body. cross truss head screws (M3 x 6) Fig.
Page 239 MAINTENANCE MANUAL Remove servo driver. Note: Mount servo driver in same position as before. When mounting mistake, the robot don’t move. Servo driver Fig. 7.9 Removal of servo driver (TS3000, TS3000E) Remove the four (4) countersunk screws (M3 x 6) securing the switching power supply (PS2).
Page 240: Replacement Of Fuse (X8Gn, X8Gi Printed Board)
MAINTENANCE MANUAL 7.3.5 Replacement of Fuse (X8GN, X8GI Printed Board) If the current exceeding the specified current has run through the I/O unit, the fuse in the front of controller is blown out. If the alarm saying “I/O Fuse Broken (8–273)” is displayed, replace the fuse with a new one.
Page 241: Replacement Of Output Ics (X8Gn, X8Gi Printed Board)
MAINTENANCE MANUAL Remove the fuse holder in the above figure. (Push and turn the holder to the left by 90. It will be unlocked.) Remove the fuse and set a new fuse. Mount the fuse holder. (Push and turn the holder to the right by 90. It will be locked.) Turn on the controller main power and make sure that no error will occur.
Page 242 MAINTENANCE MANUAL [2] Output IC U3 User output signal: DOUT1 ~ DOUT8 Connector: OUTPUT [2] Output IC U4 User output signal: [1] Output IC DOUT9 ~ DOUT16 Connector: OUTPUT [2] Output IC U5 User output signal: DOUT17 ~ DOUT24 Connector: OUTPUT [2] Output IC U6 User output signal: DOUT25 ~ DOUT32...
Page 243 Table 7.4 Output ICs (TS3000, TS3000E) Name of board Type of IC Manufacturer X8GN TD62082AP Toshiba Corp. X8GI M54562WP Mitsubishi Electric [Replacement procedures] Turn off the controller main power. Remove eleven(11) cross truss head screws (M3 x 6) that secure the cover, and then remove the cover from the main body.
Page 244: Robot Home Point And Position Detector Error
MAINTENANCE MANUAL Robot Home Point and Position Detector Error Setting Robot Home Point Before delivery from our plant, home point setting is performed for the robot after its arm is secured with clamp for home point setting. At the time of home point setting, position data of the motor position detector (i.e., encoder) is backed up by batteries, and coordinates of the robot need not be set each time the power is connected.
Page 245 MAINTENANCE MANUAL The position detector error is an error detected by the encoder itself. Even if the data in the parameter file is lost (or changed) to change the home point coordinates of the robot, for instance, a position detector error will not occur. If the machine coordinates have changed without causing a position detector error, the mechanical connecting position of the servo motor and mechanical unit shifted or the data in the parameter file described above was changed.
Page 246 MAINTENANCE MANUAL When a position detection error has occurred during normal operation with the mechanical connection position unchanged: A position detector error may occur after battery voltage drop, or battery or cable replacement. When this happens, execute the following restoring operation. Execute “[1] Encoder error reset operation.”...
Page 247 MAINTENANCE MANUAL When the mechanical connecting position with the motor has changed after motor or belt replacement: A position detector error may occur after replacement and adjustment of the servo motor or timing belt. When this happens, execute the following restoring operation.
Page 248: Replacing Position Detector (Or Encoder) Batteries
MAINTENANCE MANUAL Replacing Position Detector (or Encoder) Batteries CAUTION • The batteries should be disposed of according to the user’s in-house regulations. NEVER drop the battery into fire. NEVER short-circuit, charge, disassemble or heat it. Otherwise, liquid leakage or rupture may be caused. To keep the data of the position detector attached to the motor, they are backed up by batteries.
Page 249: Battery Box Location
MAINTENANCE MANUAL 8.3.1 Battery Box Location The battery box for the position detector is provided inside the battery box cover of the base unit. the battery box cover Battery box Fig. 8.1 Battery box location 8.3.2 Replacing Batteries DANGER • Only after assuring the safe work, replace the batteries with new ones while the power is turned on and an emergency stop is activated on the robot.
Page 250 MAINTENANCE MANUAL low, it has possibilities of bad fit. Please remove the battery and return the battery after cleaning the bracket of the battery box. If electric voltage is about 4.5V for tester, return to method of 3). And please don’t remove connector. battery box terminal of tester connector...
Page 251: Battery Error Code
MAINTENANCE MANUAL 8.3.3 Battery Error Code When a position detector error including battery error has occurred, the following error code is shown on the error display. When electric voltage decreased, the following error code is shown on the error display. When the following error code is shown in the error history at generation of a position detector error, the error can be identified as the battery error.
Page 252 MAINTENANCE MANUAL Table 8.3 8-61 x battery error code Error code Error content Remarks 8-611 Axis1 Enc battery empty 8-612 Axis2 Enc battery empty 8-613 Axis3 Enc battery empty 8-614 Axis4 Enc battery empty Case of TS3000 or TS3000E 8-615 Axis5 Enc battery empty (When you use axis addition function)
Page 253: About Home Position
MAINTENANCE MANUAL completely understand the descriptions carried in “Section 8, Robot Home Point and Position Detector Error.” About Home Position Home position what need at the moment of home position setting is shown. When the robot is moved to home position about 1 axis, 2 axis or 4 axis, suit to home point match-marks.
Page 254: Locations Of Robot Home Point Mach-Mark (Thl500, Thl600 And Thl700)
MAINTENANCE MANUAL 8.4.2 Locations of Robot Home Point Mach-Mark (THL500, THL600 and THL700) Axis 4 home point match-mark Axis 2 home point match-mark Axis 1 home point match-mark Fig. 8.4 Locations of home point match-marks (THL500, THL600 and THL700) 8.4.3 Locations of Robot Home Point Mach-Mark (THL800, THL900 and THL1000) Axis 4 home point match-mark...
Page 255: Home Position Of 3 Axis (Thl300 And Thl400)
MAINTENANCE MANUAL 8.4.4 Home Position of 3 axis (THL300 and THL400) Boss of tool shaft Fig. 8.6 Dimension of axis 3 home point (THL300, THL400) 8.4.5 Home Position of 3 axis (THL500, THL600 and THL700) Boss of tool shaft This figure shows when the standard axis stroke (150 mm) is used.
Page 256: Encoder Status Display
MAINTENANCE MANUAL Encoder Status Display Call the encoder status screen on the teach pendant display, and make sure of the position data and the type of position detector error there. The type of the position detector error (i.e., error status) is expressed as shown below. The multi-turn data, home position data within one (1) full turn of motor and error status are displayed under the column of [MULTI], [SINGLE] and [Err-df], respectively.
Page 257: 1] Encoder Error Reset Operation
MAINTENANCE MANUAL If the error status shown in the error status table above is displayed, you can restore from the position detector error. [1] Encoder Error Reset Operation When the mechanical connecting position of the servo motor and mechanical unit remains unchanged, that is, after battery replacement due to battery voltage drop or cable replacement due to cable breakage, execute this operation.
Page 258: 2] Restoring Home Position Data By Multi-Turn Data Clear
MAINTENANCE MANUAL [2] Restoring Home Position Data by Multi-Turn Data Clear When the mechanical connecting position of the servo motor and mechanical unit remains unchanged, that is, after battery replacement due to battery voltage drop or cable replacement due to cable breakage, execute this operation after encoder error reset operation.
Page 259: 3] Restoring Home Position Data By Zerop Function
MAINTENANCE MANUAL [3] Restoring Home Position Data by ZEROP Function When mechanical joint positions have deviated due to motor change and so on, and when re-teaching is assumed, execute this operation. CAUTION Some error may be caused according to the adjusting method. Re-teaching of the teach points may be required under some circumstances.
Page 260 MAINTENANCE MANUAL 10) The numerical value of E1 (axis 1) is inversely displayed. Z E R O P O S I T O N – 7 5 0 0 0 E 1 : E 2 : 1 3 9 9 8 0 0 E 3 : 5 8 0 9 E 4 :...
Page 261 MAINTENANCE MANUAL Turn off the controller power, then turn it on again. Execute “Para. 8.10. affirmation” before moving robot. Move the robot to the teach points, etc. and make sure that the robot can be located at them exactly. STE 85357...
Page 262: 4]Restoring Home Position Data By Home Function
MAINTENANCE MANUAL [4] Restoring Home Position Data by HOME Function 8.9.1 Outline of HOME Function This function memorizes a specific coordinate value in each axis and restores the original home position data by using the HOME function when the machine home position data has been destroyed.
Page 263: Setting Home1 And Home2
MAINTENANCE MANUAL 8.9.2 Setting HOME1 and HOME2 CAUTION When home position is right data, execute “Para. 8.9.2 Setting HOME1 and HOME2”. When you execute this setting after you became to need home position setting, home position data can’t restore by right. Guide the robot to secure the tool shaft at a desired position.
Page 264: How To Restore Data By Home1 Or Home2
MAINTENANCE MANUAL 8.9.3 How to Restore Data by HOME1 or HOME2 When mechanical joint positions have deviated due to motor change and so on, and when re-teaching is assumed, execute this operation. CAUTION Some error may be caused according to the adjusting method. Re-teaching of the teach points may be required under some circumstances.
Page 265 MAINTENANCE MANUAL CAUTION • Axes 3 and 4 of the robot are interlocked with each other. Unless the specified procedures are followed, therefore, the current position of the robot may shift. When restoring the home point of Axis 3 (or Axis 4) by using the [REORG] function, be sure to restore the home point of Axis 4 (or Axis 3) also.
Page 266: How To Restore Data By Home3 Or Home4
MAINTENANCE MANUAL 8.9.4 How to Restore Data by HOME3 or HOME4 When mechanical joint positions have deviated due to motor change and so on, and when re-teaching is assumed, execute this operation. The plus (+) side mechanical stopper positions and minus (–) side mechanical stopper positions of Axes 1 to 3 are factory-set in HOME3 and HOME4, respectively.
Page 267 MAINTENANCE MANUAL Likewise, contact Axis 2 of the robot to the plus (+) side mechanical stopper by hand. Move the cursor to (J2) of HOME3, then press the [SET] ([F1]) key. Now, the machine home point of Axis 2 is restored. Set Axis 4 to the home point match-mark.
Page 268: Change For Home Position Data Form
MAINTENANCE MANUAL 8.9.5 Change for Home Position Data Form The format of servo offset and multi-turn data differ from format are factory-set after HOME operation. In case of you continue to use without change, when battery empty and you execute to restore home position data by multi-turn data clear, home position data can’t restore by right.
Page 269 MAINTENANCE MANUAL The numerical value of E1 (axis 1) is inversely displayed. Z E R O P O S I T O N – 7 5 0 0 0 E 1 : E 2 : 1 3 9 9 8 0 0 E 3 : 5 8 0 9 E 4 :...
Page 270: Affirmation
MAINTENANCE MANUAL Turn off the controller power, then turn it on again. Execute “Para. 8.10. Affirmation” before moving robot. Move the robot to the teach points, etc. and make sure that the robot can be located at them exactly. 8.10 Affirmation Effect an emergency stop, manually move each axis to the motion limit and make sure that a soft limit error generates.
Page 271: Replacement Parts For Maintenance
CAUTION • With the exception of the encoder backup batteries, greases and hand I/O air tubes, all parts listed in List of Replacement Parts-Main Robot are custom-made to Toshiba Machine specifications. Contact Toshiba Machine at order entry. • Parts replacement work must be done by Toshiba Machine service engineer.
Page 272: List Of Replacement Parts - Main Robot (Thl300, Thl400)
List of Replacement Parts – Main Robot (THL300, THL400) Q’ty Part name Type Dwg. No. Unit code Maker Remarks Y610A3NL0 S890967 Axis 1 Toshiba AC servo motor Y610A3NM0 S890968 Axis 2, 4 Machine Y610A37A0 S777296 Axis 3 Y610A3NG0 S890907 Axis 1...
Page 273: List Of Replacement Parts - Main Robot (Thl500, Thl600, Thl700)
List of Replacement Parts – Main Robot (THL500, THL600, THL700) Q’ty Part name Type Dwg. No. Unit code Maker Remarks Y610A3M20 S875289 Axis 1 Y610A3M30 Toshiba S875290 Axis 2 AC servo motor Machine S746337 Y610A3430 Axis 3 Y610A3M40 S875291 Axis 4 Y610A3LW0...
Page 274: List Of Replacement Parts - Main Robot (Thl800, Thl900, Thl1000)
List of Replacement Parts – Main Robot (THL800, THL900, THL1000) Q’ty Part name Type Dwg. No. Unit code Maker Remarks S746328 Y610A34C0 Axis 1 Toshiba S875290 Y610A3M30 Axis 2 AC servo motor Machine S746337 Y610A3430 Axis 3 S875291 Y610A3M40 Axis 4...
Page 275: List Of Replacement Parts - Controller (Thl300,Thl400/Tsl3000)
Lithium battery ER6C WK27 Hitachi Maxell board For X8YX printed Fuse 51NM030H PICO board X8YCB (Main control) Y610A90B0 X8YSC (Servo) Y610A9050 Toshiba Printed board Machine X8YXA (I/O board) Y610A9020 Type-N X8YXB (I/O board) Y610A9030 Type-P TD62084APG Type-N Transistor output IC Toshiba...
Page 276: List Of Replacement Parts - Controller (Thl500～Thl1000/Tsl3000)
Lithium battery ER6C WK27 Hitachi Maxell board For X8YX printed Fuse 51NM030H PICO board X8YCB (Main control) Y610A90B0 X8YSB (Servo) Y610A9040 Toshiba Printed board Machine X8YXA (I/O board) Y610A9020 Type-N X8YXB (I/O board) Y610A9030 Type-P TD62084APG Type-N Transistor output IC Toshiba...
Page 277: List Of Replacement Parts - Controller (Thl300, Thl400/Tsl3000E)
Nippon Thermo For X8YJ printed Fuse 51NM030H PICO board X8YVA (Main control) Y610A90E0 X8YHC (Servo) Y610A90G0 1 axis to 4 axis Toshiba Printed board Machine X8YJA (I/O board) Y610A90J0 X8YZA (Safety board) Y610A90Z0 With 5 m-long TP1000 Y610A2600 cable TP1000 remodeling CE...
Page 278: List Of Replacement Parts - Controller (Thl500 To Thl1000/Tsl3000E)
Nippon Thermo For X8YJ printed Fuse 51NM030H PICO board X8YVA (Main control) Y610A90E0 X8YHB (Servo) Y610A90F0 1 axis to 4 axis Toshiba Printed board Machine X8YJA (I/O board) Y610A90J0 X8YZA (Safety board) Y610A90Z0 With 5 m-long TP1000 Y610A2600 cable TP1000 remodeling CE...
Page 279: List Of Replacement Parts - Controller (Thl300, Thl400/Ts3000, Ts3000E)
Type N, X8GCC(Main control) Y610A4010 CE/Category3 X8GCA (Main control) Y610A4020 Type P Type P, X8GCC (Main control) Y610A4030 CE/Category3 Toshiba X8GLA (Servo logic) Y610A4040 Machine Printed board X8GNA (I/O board) Y610A40A0 Type N X8GIA (I/O board) Y610A40B0 Type P X8G2A (10A) (Servo)
Page 280: List Of Replacement Parts - Controller (Thl500～Thl1000/Ts3000, Ts3000E)
Y610A4010 CE/Category3 X8GCA (Main control) Y610A4020 Type P Type P, X8GCC (Main control) Y610A4030 CE/Category3 X8GLA (Servo logic) Y610A4040 Toshiba Printed board Machine X8GNA (I/O board) Y610A40A0 Type N X8GIA (I/O board) Y610A40B0 Type P X8G2A (20A) (Servo) Y610A40F0 Axis 1...

This manual is also suitable for:

Thl300 Thl400 Thl500 Thl600 Thl700 Thl800 ... Show all

Toshiba THL Series Instruction Manual

Quick Links

Related Manuals for Toshiba THL Series

Summary of Contents for Toshiba THL Series