Table Of Contents - Toshiba TH180 Instruction Manual

Section 1 Transportation ................................................................................................... 9
1.1 Unpacking ......................................................................................................... 9
1.2 Transportation ................................................................................................ 12
1.2.1 Mass and Dimensions ..................................................................................... 12
1.2.2 Transporting the Robot ................................................................................... 12
1.2.3 Transporting the Controller ............................................................................. 16
1.3 Storage ........................................................................................................... 16
1.3.1 Storage Precautions for the Robot .................................................................. 16
1.3.2 Storage Precautions for the Controller ............................................................ 16
Section 2 Installation ....................................................................................................... 17
2.1 Installation Environment ................................................................................. 17
2.2 Robot Installation ............................................................................................ 18
2.2.1 External Dimensions ....................................................................................... 18
2.2.2 Working Envelope ........................................................................................... 18
2.2.3 Coordinate System ......................................................................................... 22
2.2.4 Installing the Robot ......................................................................................... 26
2.3 Changing the Mechanical Ends ...................................................................... 29
2.3.1 Changing the Mechanical Ends of Axes 1 and 2 (TH180) .............................. 30
2.3.2 Changing the Mechanical Ends of Axis 3 ........................................................ 37
2.3.3 Changing Software Limits ............................................................................... 44
2.4 Installing the Controller .......................................................................................... 45
2.4.1 External Dimensions ....................................................................................... 45
2.4.2 Precautions for Direct Installation ................................................................... 46
2.4.3 Rack Mounting Dimensions ............................................................................ 47
2.4.4 Precautions for Rack Mounting ....................................................................... 48
2.5 Precautions for Handling the Teach Pendant ................................................. 50
2.6 Safety Measures ............................................................................................. 51
2.7 Position Detector Backup Batteries ................................................................ 52
2.8 Using the Robot in Clean Room ..................................................................... 53
Section 3 System Connections ....................................................................................... 54
3.1 Cable Wiring ................................................................................................... 54
3.1.1 Connector Arrangement on the Controller ...................................................... 54
3.1.2 Connecting the Power Cable "ACIN" [1] of Fig. 3.1 (Plug Connector Attached)
........................................................................................................................ 55
3.1.3 Connecting the Motor Cable "MOTOR" Fig. 3.1-[1] (Cable Attached) ............. 56
3.1.4 Connecting the Encoder Cable "ENC" Fig. 3.1 [3] (Cable attached) ............... 58
3.1.5 Connecting the Hand Control Signal Cable "HAND" Fig. 3.1-[4] (Cable
Optional) ......................................................................................................... 58
3.1.6 Connecting the Brake Signal Cable "BRK" Fig. 3.1-[8] (Cable Attached) ....... 58
3.1.7 Grounding the Robot ....................................................................................... 59
3.1.8 Inserting and Removing Cables ...................................................................... 59
3.1.9 Examples of Connector Terminal Arrangement .............................................. 61
3.2 Controller Connector Signals .......................................................................... 63
3.2.1 Connector Signal Connection Diagrams ......................................................... 63
3.3 Separating Control Panel from Controller ....................................................... 64
TRANSPORTATION AND INSTALLATION MANUAL

Table of Contents

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STE 85389