Toshiba TH650A - Page 9

TRANSPORTATION AND INSTALLATION MANUAL
Tables and Drawings
Page
Fig. 1.1 Name of each part .............................................................................................. 10
Fig. 1.2 External dimensions of the robot ........................................................................ 11
Fig. 2.1 Packaging state .................................................................................................. 15
Fig. 2.2 Outer dimensions at transport ............................................................................ 16
Fig. 2.3 Lifting up the robot ............................................................................................. 17
Fig. 2.4 Robot handling areas (shaded areas) ................................................................ 18
Table 3.1 Environmental conditions for robot and controller ........................................... 21
Fig. 3.1 External view ...................................................................................................... 23
Fig. 3.2 Working envelope .............................................................................................. 24
Fig. 3.3 Base coordinate system and joint angle origin ................................................... 25
Fig. 3.4 Setting method ................................................................................................... 26
Fig. 3.5 External view of controller .................................................................................. 27
Fig. 3.6 Controller ventilation space ................................................................................ 28
Fig. 3.7 Screw hole dimensions for securing controller ................................................... 29
Fig. 3.8 Removing upper cover ....................................................................................... 30
Fig. 3.9 Clearance of controller front side ....................................................................... 31
Fig. 4.1 Robot controller connector arrangement ............................................................ 33
Table 4.1 Power supply specifications ............................................................................ 34
Fig. 4.2 Robot side connector arrangement .................................................................... 36
Fig. 4.3 Connecting and disconnecting a circular connector ........................................... 37
Fig. 4.4 Connecting and disconnecting a square connector ........................................... 38
Fig. 4.5 Removing control panel...................................................................................... 44
Fig. 4.6 Control panel mounting dimensions ................................................................... 45
Fig. 4.7 Mounting dummy panel ...................................................................................... 46
Fig. 4.8 Cable connections of dummy panel and control panel....................................... 47
Fig. 5.1 Tool mounting dimensions ................................................................................. 48
Fig. 5.2 Wiring to PLC, etc. ............................................................................................. 54
Fig. 5.3 Tool wiring .......................................................................................................... 56
Fig. 5.5 Procedures for relocating wiring panel ............................................................... 59
Fig. 5.6 Wiring method .................................................................................................... 61
Fig. 5.7 Tool air piping ..................................................................................................... 63
Table 5.1 Permissible load conditions ............................................................................. 64
Fig. 5.8 Robot tool ........................................................................................................... 65
Fig. 5.9 Setting of maximum speed and acceleration/deceleration in relation to load
mass 69
Fig. 5.10 Setting of maximum speed and acceleration/deceleration in relation to
gravity center offset (Axes 1 and 2) ................................................................................... 70
Fig. 5.11 Setting of maximum speed and acceleration/deceleration in relation to
gravity center offset (Axes 3 and 4) ................................................................................... 71
STE 85305
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