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THP700/TS3100
INSTRUCTION MANUAL
TRANSPORTATION AND INSTALLATION MANUAL
• Make sure that this instruction manual is delivered to the final
user of Toshiba Machine's industrial robot.
• Before operating the industrial robot, read through and
completely understand this manual.
• After reading through this manual, keep it nearby for future
reference.
INDUSTRIAL ROBOT
Notice
January, 2011
TOSHIBA MACHINE CO., LTD.
NUMAZU, JAPAN
STE 85320–2
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Table of Contents
Related Manuals for Toshiba THP700
Summary of Contents for Toshiba THP700
- Page 1 TRANSPORTATION AND INSTALLATION MANUAL Notice • Make sure that this instruction manual is delivered to the final user of Toshiba Machine’s industrial robot. • Before operating the industrial robot, read through and completely understand this manual. • After reading through this manual, keep it nearby for future reference.
- Page 2 TRANSPORTATION AND INSTALLATION MANUAL Copyright 2011 by Toshiba Machine Co., Ltd. All rights reserved. No part of this document may be reproduced in any form without obtaining prior written permission from Toshiba Machine Co., Ltd. The information contained in this manual is subject to change without prior notice to effect improvements.
- Page 3 TRANSPORTATION AND INSTALLATION MANUAL Preface This manual describes the basic specifications of the industrial robot and controller, and how to unpack and install them. Specifically, it describes how to unpack the shipment containing the equipment, how to install the equipment, how to connect wiring and air piping, and how to attach tools.
- Page 4 TRANSPORTATION AND INSTALLATION MANUAL Precautions on Safety Important information on the robot and controller is noted in the instruction manual to prevent injury to the user and persons nearby, prevent damage to assets and to ensure correct use. Make sure that the following details (indications and symbols) are well understood before reading this manual.
- Page 5 • Always use the power voltage and power capacity designated Mandatory by Toshiba Machine. Failure to do so could lead to device faults or fires. • Always use the designated power cable. Using a cable other than that designated could lead to fires or faults.
- Page 6 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • NEVER lift the robot by the arm 2 cover or arm 2. Doing so will apply an excessive force on the robot's mechanism section and could lead to faults. • For the controller, secure the ample space for air vent. Prohibited Heating of controller could lead to malfunction.
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Page 7: Table Of Contents
TRANSPORTATION AND INSTALLATION MANUAL Table of Contents Page Specifications ......................9 Robot Configuration Diagram ................9 Name of Each Part ..................10 External Dimensions ..................11 Specifications Table ..................12 Transportation ......................14 Unpacking ...................... 14 Transportation ....................15 2.2.1 Mass and Dimensions ............... - Page 8 TRANSPORTATION AND INSTALLATION MANUAL 4.1.3 Connecting the Motor Cable “MOTOR” ( of Fig. 4.1) (Cable attached) ......................33 4.1.4 Connecting the Encoder Cable “ENC” ( of Fig. 4.1) (Cable attached)34 4.1.5 Connecting the Robot Control Signal Cable “HAND” ( of Fig. 4.1) (Cable: option) ...................
- Page 9 TRANSPORTATION AND INSTALLATION MANUAL Tables and Drawings Page Fig. 1.1 Robot Configuration Diagram ................9 Fig. 1.2 Name of each part ....................10 Fig. 1.3 External dimensions of the robot ................ 11 Fig. 2.1 Packaging state ....................14 Fig. 2.2 Outer dimensions at transport ................15 Fig.
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Page 10: Specifications
Specifications Robot Configuration Diagram TSPC communication cable (obtained by customer)） PC (obtained by customer) Program support software TSPC (option) TCPRGOS (option) THP700 THP700 Robot unit robot unit Cable between robot and controller Operation panel Split type (option) Teach pendant (option) -
Page 11: Name Of Each Part
TRANSPORTATION AND INSTALLATION MANUAL Name of Each Part Fig. 1.2 shows the name of each part of the robot. Axis 2 (rotation) Eyebolt Axis 1 (rotation) Cover Wiring panel (base side) Arm 1 Ball screw spline Arm 2 Base (tool shaft) Axis 3 (vertical movement... -
Page 12: External Dimensions
TRANSPORTATION AND INSTALLATION MANUAL External Dimensions Fig. 1.3 refers to the external dimensions of the robot. Air joint for hand 4 x M5 Hand I/O connector Brake OFF switch Space for cable connection Fig. 1.3 External dimensions of the robot STE 85320 –... -
Page 13: Specifications Table
TRANSPORTATION AND INSTALLATION MANUAL Specifications Table Item Specifications Structure Horizontal multi-joint type SCARA robot Model THP700 Applicable controller TS3100 Mass of robot body 57 kg No. of controlled axes Arm length 700 mm (350 mm + 350 mm) Axis 1... - Page 14 TRANSPORTATION AND INSTALLATION MANUAL CAUTION Put the Z-axis (axis 3) in the raised position as much as possible, when moving Axes 1, 2, and 4. Moving Axis 1, 2, or 4 when the Z-axis is in low positions can lead to premature damage to the ball screw spline (Z-axis shaft).
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Page 15: Transportation
TRANSPORTATION AND INSTALLATION MANUAL Transportation Unpacking The robot and controller are shipped separately in corrugated cardboards. Fig. 2.1 shows each packaging state. Open the packages in a location easily accessible, where the equipment is to be installed. Take careful precautions not to damage the robot and controller. After opening the packages, make sure that all the accessories are present and that nothing has been damaged during transport. -
Page 16: Transportation
If any parts of the equipment are found damaged or any accessories are missing after the shipment containing the robot and controller have reached your office, DO NOT install and operate them. Otherwise, the equipment will malfunction. Contact Toshiba Machine immediately. • Dispose of the wooden pallet, corrugated cardboards, polyethylene shipping bags and cushion material according to the customer’s in-house regulations. -
Page 17: Transporting The Robot
TRANSPORTATION AND INSTALLATION MANUAL 2.2.2 Transporting the Robot In principle, the robot should be transported in the state shown in Fig. 2.2 above. Fold back and secure the arm with the attached clamp. (The robot is shipped in this posture. After you have unpacked the shipment, you should move it as it is.) At this time, take careful precautions not to impose a large force on the tool shaft. - Page 18 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • The wire to be used should be such that can well withstand the mass of the robot. • When lifting up the robot, it may tilt a little. Lift it up slowly. • Lifting up and down should be performed carefully so that any impact cannot be exerted on the robot.
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Page 19: Transporting The Controller
TRANSPORTATION AND INSTALLATION MANUAL After the installation, remove the clamp and eyebolt used for transport. CAUTION • When lifting up the robot by workers, hold the locations (shaded areas) by hands as shown in Fig. 2.4. If the arm 2, cover or ball screw spline shaft is held by hands, an unusually large force is exerted, resulting in a malfunction. -
Page 20: Storage
TRANSPORTATION AND INSTALLATION MANUAL Storage Avoid storing the robot and controller for long periods of time after unpacking them. If this is unavoidable, however, strictly observe the following precautions for storage. 2.3.1 Storage Precautions for the Robot CAUTION • Secure the base completely to prevent the robot from falling over. When placed directly on the floor, the robot is unstable and will fall over. -
Page 21: Installation
0.98m/s or less Dust No inductive dust should exist. Consult with Toshiba Machine first if you wish to use the robot and controller in a dusty environment. No corrosive or combustible gas should exist. Sunlight The robot and controller should not be exposed to direct sunlight. -
Page 22: Robot Installation
Also, high temperatures can reduce the performance and lifespan of the battery. If using the robot under high temperatures, please consult with the Toshiba Machine sales office. When starting fast-movement operation in low-temperature environment, errors may occur because of the increased torque. - Page 23 TRANSPORTATION AND INSTALLATION MANUAL Standard stroke Option Z-axis stroke Axis-2 working Axis-2 working envelope envelope Z-axis stroke 150 mm Z-axis stroke 300 mm Axis-1 working Axis-1 working envelope envelope Fig. 3.1 External view and working envelope STE 85320 – 22 –...
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Page 24: Coordinate System
TRANSPORTATION AND INSTALLATION MANUAL 3.2.2 Coordinate System The robot's joint angle origin (0° or 0 mm position) is factory-calibrated according to the base reference planes. Fig. 3.2 shows the base coordinate system and origin of each axis joint angle. Reference panel Reference panel (－) (－) -
Page 25: Installing The Robot
TRANSPORTATION AND INSTALLATION MANUAL 3.2.3 Installing the Robot The robot is secured, using the mounting holes on the base (four (4) places). Use M16 hexagon socket head cap screws. The robot installation method is shown in Fig. 3.3. Reference planes are provided on the base unit. -
Page 26: Installing The Controller
TRANSPORTATION AND INSTALLATION MANUAL Installing the Controller 3.3.1 External Dimensions External view of the controller is shown in Fig. 3.4. Mass of controller: 17 kg Fig. 3.4 External view of controller STE 85320 – 25 –... -
Page 27: Precautions For Direct Installation
TRANSPORTATION AND INSTALLATION MANUAL 3.3.2 Precautions for Direct Installation It is necessary to provide a clearance of 50 mm or more in the horizontal direction and a clearance of 100 mm or more in the upward direction near the controller. If the controller is used placed vertically, be sure to install it in such a way that the right side when it is installed horizontally faces the floor. -
Page 28: Rack Mounting Dimensions
TRANSPORTATION AND INSTALLATION MANUAL 3.3.3 Rack Mounting Dimensions When mounting the robot controller in a rack, mount the side brackets using the screw holes provided on both ends of the front panel, and secure the controller to the rack. The side brackets in Fig. 3.6 are optional. Fig. - Page 29 TRANSPORTATION AND INSTALLATION MANUAL As the cable connectors are connected to the rear side of the controller, provide a space of 110 mm or more on the rear side. For maintenance, the upper cover should be removed. (See Fig. 3.7.) Install the controller for enabling easy access to the controller when conducting maintenance.
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Page 30: Precautions For Handling The Teach Pendant
TRANSPORTATION AND INSTALLATION MANUAL When the controller is mounted on the rack, the weight of the controller should be supported with the legs of the controller. Screw holes for rack-mounting the controller are used for securing the controller panel, and the weight of the controller cannot be supported only with these screws. -
Page 31: Safety Measures
TRANSPORTATION AND INSTALLATION MANUAL Safety Measures When installing the robot, provide sufficient space to carry out the work safely. Clarify the hazard zone, and provide a safety fence so that other persons cannot enter the zone easily. The hazard zone is the zone near the robot's working space where a hazardous state could occur if a person enters. -
Page 32: System Connections
TRANSPORTATION AND INSTALLATION MANUAL System Connections Cable Wiring This section describes the various types of cables and connectors and explains how these are to be connected. 4.1.1 Connector Arrangement on the Controller The cables connected to the robot controller are shown in Fig. 4.1. Fig. -
Page 33: Connecting The Power Cable "Acin" ( Of Fig. 4.1) (Plug Connector Attached)
TRANSPORTATION AND INSTALLATION MANUAL In the subsequent paragraphs, we explain how to connect cables to inclusive. For information on how to connect cables to , refer to the Interface Manual. 4.1.2 Connecting the Power Cable “ACIN” ( of Fig. 4.1) (Plug connector attached) The power cable is used to supply the main AC power to the controller. -
Page 34: Connecting The Motor Cable "Motor" ( Of Fig. 4.1) (Cable Attached)
TRANSPORTATION AND INSTALLATION MANUAL CAUTION • Unless the main power is normally supplied to the controller due to phase defect or voltage drop, an error of “8–027 Slow Charge error” occurs. When this happens, make sure that the maser power voltage at the controller power connector satisfies the specified input power of the controller, and that the same voltage is stabilized. -
Page 35: Connecting The Robot Control Signal Cable "Hand" ( Of Fig. 4.1) (Cable: Option)
TRANSPORTATION AND INSTALLATION MANUAL 4.1.4 Connecting the Encoder Cable “ENC” ( of Fig. 4.1) (Cable attached) The encoder cable is a signal line used to transmit a signal from the rotation angle detecting encoder of each robot axis to the controller. The connector for connecting the encoder cable is ENC (... - Page 36 TRANSPORTATION AND INSTALLATION MANUAL Key position Controller side connector Loosen. Lock screw Tighten. Cable side connector Fig. 4.3 Connecting and disconnecting a circular connector Square connectors: ENC, HAND, SYSTEM, INPUT, OUTPUT, TRIG, CONV Firstly, completely insert the cable side connector into the controller connector. Then tighten the lock screws on both ends of the cable side connector with a screwdriver.
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Page 37: Examples Of Connector Terminal Arrangement
TRANSPORTATION AND INSTALLATION MANUAL 4.1.7 Examples of Connector Terminal Arrangement Power cable connector ACIN Connects to controller. Type: JL04HV-2E22-22PE-B DANGER Manufacturer: • Completely connect the Japan Aviation grounding cable. Electronics Industry Otherwise, an electric shock or fire may be Single phase, 200 ~ 240 VAC , caused if a fault or 50/60 Hz electric leak occurred. - Page 38 TRANSPORTATION AND INSTALLATION MANUAL Universal input signal cable connector INPUT Connects to controller. Type: DHA-RC36-R132N-FA Manufacturer: DDK, Ltd. Universal output signal cable connector OUTPUT Connects to controller. Type: DHA-RC40-R132N-FA Manufacturer: DDK, Ltd. System input/output signal cable connector SYSTEM Connects to controller. Type: 52986-5079 Manufacturer: Molex Trigger input connector TRIG...
- Page 39 TRANSPORTATION AND INSTALLATION MANUAL j) Emergency stop, safety input, and external P24V supply connector EMS Connects to controller. Type: ML-4000CWJH-10PGY 10 9 8 Manufacturer: SATO PARTS k) Brake connector BRK Connects to controller. Type: 1-1827876-6 A1 A2 A3 A4 A5 A6 Manufacturer: Tyco Electronics AMP STE 85320 –...
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Page 40: Controller Connector Signals
TRANSPORTATION AND INSTALLATION MANUAL Controller Connector Signals 4.2.1 Connector Signal Connection Diagrams Diagrams showing which signals correspond to which terminals are shown in Section 2 of the Interface Manual. 4.2.2 Jumpers for Safety Related Signals The following system input signals are provided to serve for the safety purpose. System input signals SYSTEM-12 (STOP) - Page 41 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • Unless the signals of SVOFF and emergency stop contacts 1, 2 are jumpered, the controller servo power cannot be turned on. • Unless the CYCLE signal is jumpered, the controller enters the cycle operation mode.
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Page 42: Separating Control Panel From Controller
TRANSPORTATION AND INSTALLATION MANUAL Separating Control Panel from Controller 4.3.1 Removing Control Panel Remove the control panel in the following manner. Loosen the four (4) screws at the four (4) corners, which secure the control panel. Remove these screws, then carefully draw out the control panel toward your side. Caution: Be careful of the cable connected on the rear side. -
Page 43: Control Panel Mounting Dimensions
TRANSPORTATION AND INSTALLATION MANUAL 4.3.3 Control Panel Mounting Dimensions The dimensions of mounting the control panel are shown in Fig. 4.6. Cross truss head screws (φ3×6, ZN3–B) are used. 4-M3 Fig. 4.6 Control panel mounting dimensions STE 85320 – 42 –... -
Page 44: Mounting Dummy Panel On Controller
TRANSPORTATION AND INSTALLATION MANUAL 4.3.4 Mounting Dummy Panel on Controller When the control panel has been disengaged from the controller, mount a dummy panel on the place where the control panel was set before, as shown in Fig. 4.7. The dummy panel, set parts, etc. - Page 45 TRANSPORTATION AND INSTALLATION MANUAL 4.3.5 Dimensions when Separating Control Panel Fig. 4.8 shows the connections of the control panel and dummy panel. Provide a clearance of 50 mm or more (with cover, 60 mm or more) on the rear side of the separated control panel.
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Page 46: Tool Interface
TRANSPORTATION AND INSTALLATION MANUAL Tool Interface Mounting Tool The tool is mounted on the end of the tool shaft. Dimensions of the tool shaft section are shown in Fig. 5.1. As shown in Fig. 5.1, the tool is centered with the φ12H7 mating section. -
Page 47: Tool Wiring And Piping
TRANSPORTATION AND INSTALLATION MANUAL Tool Wiring and Piping The robot is provided with wiring and air piping for the tool. These wiring and piping extend to the arm 2 and are used as follows: 5.2.1 Tool Signals (Controller Side) The controller is provided with the tool signals of eight input signals for sensors, eight control signals for solenoid valves, DC24 V (P24V) signal, and DC24 V GND (P24G) signal. - Page 48 TRANSPORTATION AND INSTALLATION MANUAL a-2) Input signal connector HAND (Type P) Signal Input circuit and example of Signal name connections Input D-IN1 signal 1 Customer's side Input TS3100 D-IN2 signal 2 P24V Input D-IN3 signal 3 Input D-IN4 signal 4 ●...
- Page 49 TRANSPORTATION AND INSTALLATION MANUAL b-1) Output signal connector HAND (Type N) Output circuit and example of Signal name Signal No. connections Output D-OUT1 signal 1 Output Customer's D-OUT2 side signal 2 Output P24V D-OUT3 DC relay signal 3 Output D-OUT4 signal 4 Output D-OUT5...
- Page 50 TRANSPORTATION AND INSTALLATION MANUAL b-2) Output signal connector HAND (Type P) Output circuit and example of Signal name Signal No. connections Output D-OUT1 signal 1 Customer's Output side D-OUT2 signal 2 P24V Output D-OUT3 signal 3 DC relay D-OUT Output D-OUT4 signal 4 Output...
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Page 51: Tool Wiring
TRANSPORTATION AND INSTALLATION MANUAL 5.2.2 Tool Wiring Eight (8) input signals are provided for sensors, etc. and eight (8) control signals for solenoid valves, etc. A supply power signal of 24 VDC is also provided. They are connected to the controller. The wiring arrangement for these cables is shown in Fig. 5.2. - Page 52 TRANSPORTATION AND INSTALLATION MANUAL Cable clamp Applicable cable outside diameter JOFP JOEP 9 to 14 JOES JOFS From PLC JOES JOFS Cable inlet (1 place) Disconnect. (HAND side) Fig. 5.2 Wiring to PLC, etc. STE 85320 – 51 –...
- Page 53 TRANSPORTATION AND INSTALLATION MANUAL Input/output signal connector CN0 (Type-N) Signal Signal name Output circuit and example of connections (D-SUB) D-IN1 Input signal 1 TS3100 User side D-IN2 Input signal 2 P24V D-IN3 Input signal 3 D-IN4 Input signal 4 D-IN5 Input signal 5 Contact or transistor...
- Page 54 TRANSPORTATION AND INSTALLATION MANUAL Input/output signal connector CN0 (Type-P) Signal Signal name Output circuit and example of connections (D-SUB) D-IN1 Input signal 1 User side TS3100 D-IN2 Input signal 2 D-IN3 Input signal 3 P24V D-IN4 Input signal 4 D-IN5 Input signal 5 D-IN6 Input signal 6...
- Page 55 TRANSPORTATION AND INSTALLATION MANUAL As input signals, no-voltage contacts or transistor open collector inputs are used. No-voltage contact specifications: Contact rating: 24 VDC, 10 mA or over (circuit current: approx. 7 mA) Minimum contact current: 24 VDC, 1 mA Contact impedance: 100 Ω or less Transistor specifications: Withhold voltage between collector and emitter: 30 V or over Current between collector and emitter: 10 mA or over (circuit current: approx.
- Page 56 TRANSPORTATION AND INSTALLATION MANUAL 4×M5 air joint for hand CN0 hand connector Wiring panel JOFP JOFS CN4 hand connector Connect to TS3100 JOEP JOES JOEP JOES JOFP JOFS 4×φ6 air tube 4×φ6 air joint for hand (quick-operated) Fig. 5.3 Tool wiring CAUTION •...
- Page 57 TRANSPORTATION AND INSTALLATION MANUAL For robot hand (To be connected by customer) Fig. 5.4 Tool wiring（ Type-N） STE 85320 – 55 –...
- Page 58 TRANSPORTATION AND INSTALLATION MANUAL For robot hand (To be connected by customer) Fig. 5.5 Tool wiring（ Type-P） STE 85320 – 56 –...
- Page 59 TRANSPORTATION AND INSTALLATION MANUAL Protect the cable with a Hand wiring connector (D-SUB) Teflon tape or the like. Ball screw shaft (hollow) If wiring up to the hand is done through the hollow (φ14) in the Z-axis ball screw shaft: Hand Fig.
- Page 60 TRANSPORTATION AND INSTALLATION MANUAL JOFP JOFS JOEP JOES Hand Panel Fig. 5.7 Example of hand cable wiring A panel is attached to the undersurface of the arm 2 with four bolts (M4x6). Make a hole in the panel, install the parts such as the grommet and the D-SUB connector, remove JOES and JOFS, and then perform wiring from underneath to the hand.
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Page 61: Tool Air Piping
TRANSPORTATION AND INSTALLATION MANUAL Hand wiring connector (D-SUB) Fixed stay (To be provided by customer) Fig. 5.8 Example of hand cable wiring Fasten the panel on the undersurface of the arm 2 together with the fixed stay. CAUTION • Be sure to use a highly flexible robot cable, which should be secured below the arm with a cable clamp, etc. - Page 62 TRANSPORTATION AND INSTALLATION MANUAL 5.2.3 Tool Air Piping The robot is provided with four (4) air lines for the tool. The outer diameter of the air pipelines is 6 mm. Fig. 5.9 shows the tool air piping. Three (3)-air control unit set for the solenoid valves should be provided by the user. Wiring panel 4×M5 air joint for hand Details...
- Page 63 TRANSPORTATION AND INSTALLATION MANUAL Panel air joint pitch dimensions Fig. 5.9 Tool air piping STE 85320 – 61 –...
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Page 64: Permissible Load Conditions And Program Setting
TRANSPORTATION AND INSTALLATION MANUAL Permissible Load Conditions and Program Setting This paragraph describes the permissible load conditions of the robot and how to set up the program according to the load. 5.3.1 Permissible Load Conditions The robot load conditions are defined by the tool mass, moment of inertia and offset value of tool gravity center from the center of the tool shaft, as shown in Fig. - Page 65 TRANSPORTATION AND INSTALLATION MANUAL 5.3.2 Load Conditions and Program Setting This robot can automatically change the maximum speed, acceleration/deceleration and servo gain by using the PAYLOAD command in the program according to the load conditions. Be sure to use the PAYLOAD command. The specific method for using this function is explained below.
- Page 66 TRANSPORTATION AND INSTALLATION MANUAL (Program example 2) When the hand mass is 3 kg and the gravity center offset is 30 mm, and the mass is 5 kg and gravity center offset is 50 mm when the workpiece is grasped. Pick-and-place operation is executed under the above conditions.
- Page 67 TRANSPORTATION AND INSTALLATION MANUAL Setting of PAYLOAD command In the default state, or when the PAYLOAD command is not used, the maximum speed and acceleration/deceleration are set to 100 % and the servo gain is set to the value under the minimum load. (See Para. 5.3.3.) CAUTION •...
- Page 68 TRANSPORTATION AND INSTALLATION MANUAL CAUTION • When guiding manually, the robot may vibrate if the load mass or gravity center offset is large. This is because the servo gain is not appropriate. When this happens, perform the following operation while setting the load conditions in the test run mode.
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Page 69: Setting Maximum Speed And Robot Acceleration/Deceleration For Load Conditions
TRANSPORTATION AND INSTALLATION MANUAL 5.3.3 Setting Maximum Speed and Robot Acceleration/Deceleration for Load Conditions When the PAYLOAD command is used, the maximum speed and acceleration/deceleration of the robot are automatically changed according to the load conditions. The maximum speed and acceleration/deceleration change with the load mass, as shown in Fig. - Page 70 TRANSPORTATION AND INSTALLATION MANUAL Additionally, if there is an offset of load gravity center, the maximum speed and acceleration/deceleration change as shown in Fig. 5.12 and Fig. 5.13. For the axis 3, however, no restriction is imposed on the offset. Load mass ≤...
- Page 71 TRANSPORTATION AND INSTALLATION MANUAL Load mass ≤ 2 (kg) Load mass ≤ 2 (kg) 2 (kg) < Load mass ≤ 5 (kg) 2 (kg) < Load mass ≤ 5 (kg) Load mass > 5 (kg) Load mass > 5 (kg) Offset (mm) Offset (mm) Setting of acceleration/deceleration in...
- Page 72 TRANSPORTATION AND INSTALLATION MANUAL 取扱説明書の変更経歴書 番号 STE85320 機械形式 THP700 表題 THP700 取扱説明書 据付・輸送編 全頁数 全71枚 追加頁 削除頁 注 全枚数にこの用紙は含まない数を記入する 変更記録 変更 日 付 変更箇所・変更内容 承認 調査 担当 回数 ０ 11-1-12 新規作成 １ 11-7-27 P-21：低温起動時における注意文の追加 表紙：変更経歴番号修正 12-11-1 P-52：入出力信号 コネクタCN0（Type-N）修正 ２ P-52A：入出力信号 コネクタCN0（Type-P）追加...