General SCARA Presentation

8/12/2019 General SCARA Presentation

1/22

Toshiba Machines System Robot SR-H Series

TOSHIBA MACHINE CO. LTDElectronic Equipment Sales Group Control Systems Division

2068-3 Ooka,Numazu-shi Shizuoka-ken 410-8510,Japan

TEL:+81-559-26-5032 FAX:+81-559-25-6527

TOSHIOBA MACHINE CO. AMERICA.755 Greenleaf Avenue,Elk Grove Village,IL 60007,U.S.A

TEL:847-593-1616 FAX:847-640-6197


2/22

1. Qu es el Sistema Robot SR-HSeries?

El robot serie SR-H es de tipo multi-junta horizontal,comnmente llamado el robot SCARA.

La serie SR-H se presenta en los siguientes dostipos.

De alta velocidad y el tipo de alta precisin: SerieSR-HSP

A gran tamao y gran capacidad de carga de tipo demasa: Serie SR-HZ

Cmo mover:

El brazo que tiene la articulacin que se extiendeen la direccin horizontal puede girar alrededor dela base. El eje Z (que sirve como el eje vertical y eleje de rotacin) est provisto en el extremo delbrazo. (La serie HZ permite que el brazo se muevahacia arriba y hacia abajo.)

Las manos:

La mano puede ser unido al extremo del eje Z.

Nmero de ejes controlados simultneamente

El nmero de ejes controlados simultneamente soncuatro; dos ejes giratorios del brazo (de base y delas articulaciones) y los dos movimientos del eje Z

(movimiento vertical y rotacin).


3/22

2. Caractersticas del RobotSCARA

Velocidad de movimientorpido:

4 a 6 veces la del robot decoordenadas cartesianas.Espacio de trabajo amplio:

Dotacin de trabajo ampliacon forma de rosquilla A estdisponible, centrado en tornoa la base de instalacin.

Con menos espaciomuerto, el diseo sin

restricciones es posible. El uso eficiente del

espacio:En comparacin con el

sobre de trabajo, el rea deinstalacin es muy pequea.Adems, la instalacin es

fcil.


4/22

3. SR-H Nombres de la serie de cadaUnidad

Rev.0 Oct.2000 2000 All Rights Reserved TOSHIBA MACHINE CO.,LTD


5/22

4 SR-H Series L ine-up

70kg

5.28m/s

0.02mm

Max. 20kg

200mm

400mm

850mm

SR 854HSP

90kg

5.33m/s

0.03mm

Max. 20kg

200mm

400mm

1050mm

SR 1054HSP

5.22m/s3.61m/s5.15m/s4.71m/s4.24m/s3.87m/sMaximumcombined

speed

0.2mm0.05mm0.02mm0.02mm0.02mm0.02mmPositioning

repeatability

550kg400kg60kg55kg38kg21kgMass of the

robot

SR7000L

SR7000

with

regenerative

resistor unit

SR7000Controller

Max.70kg

(Max.40kg)Max. 50kgMax. 10kgMax. 10kgMax. 4kgMax. 3kg

Payload

mass

600mm

(Max.

1200mm)

400mm200mm

(400mm)

200mm

(400mm)150mm150mm

Z-axis

stroke

650mm

SR 654HSP

550mm

SR 554HSP

500mm

SR 504HSP

1500mm

Max.

1950mm

SR 1504HZR 1054HZR 424HSP

1050mm

SR HZ series

420mm

SR HSP series

Arm length

Model

*Remarks: A value in parentheses is an option.


6/22

5. Cmo identificar ModeloNmero de Serie SR-H

El nmero de modelo de la serie SR-H incluye la informacin sobre la longitud del brazo, nmero de ejes

controlados y similares.

SR-1054HSP-Z400Option:

Z-axis long stroke type,

Series: stroke 400mm

HSP CR = Clean room type

HZ S = Special function

None = Without option

No. of controlled axes: 4 =Four-axis control

5 =Five-axis control

(When adding the traverse axis, etc.)

Arm length: 195 = 1950mm 105 = 1050mm 55 = 550mm

150 = 1500mm 85 = 850mm 50 = 500mm

65 = 650mm 42 = 420mm


7/22

6. Estructura del sistema de SR-H

SeriesBsicamente, el sistema est compuesto por el cuerpo de robot, el controlador y la botonera.

Tanto la unidad de programacin y la unidad FDD puede ser compartida por un nmero plural de

robots.


8/22

7 Features o f SR-H SeriesAn ample array of variations: The arm length ranges from 420 to 1,950 mm, and a total of eight models are available.

Large payload mass: Compared with the same models of our competitor makers, the payload mass is by far the larger.

High rigidity: Smart with highly rigid arm. This robot can withstand a long-hour operation under a heavy load.

Home return is not required.: Use of an absolute system standardly equipped can eliminate a troublesome home return

operation.

Advanced robot controller: Highly advanced controller SR7000 can control a maximum of five axes at the same time.

Features and applications of respective models:

SR 424HSP Very compact-sized and the smallest among the SR-H series. Intended for realizing an automation in a small space.SR 504HSP Best suited for carrying and palletizing small parts of electronic equipment, electric equipment and automobiles at fast speed.SR 554HSP Small-sized capable of carrying parts weighing up to 10 kg each. Intended for carrying a heavy load in a limited space.SR 654HSP Middle-sized capable of carrying parts weighing up to 10 kg each. Intended for assembling and carrying parts at fast

speed and with precision.

SR 854HSP Middle-sized capable of carrying parts weighing up to 20 kg each. Intended for fast speed handling with a long reach.SR 1054HSP Large-sized capable of carrying parts weighing up to 20 kg each. Intended for carrying parts in a broad space with a

long reach and large payload mass.

SR HZ High rigidity of the arm is realized by employing the arm elevation mechanism. Intended for carrying heavy parts.Rev.0 Oct.2000 2000 All Rights Reserved TOSHIBA MACHINE CO.,LTD


9/22

8 Features o f Con tro l ler SR7000High performance: High-performance controller that allows simultaneous control of up to five axes.

SR-HSP series SR7000

SR-HZ series SR7000L (large-size cabinet)

Simultaneous five-axis control:

Four axes of the robot and one axis of the servo motor can be controlled.

Traverse axis or wrist axis can be included in this control.

Small-size and light weight:

W430D330H230(mm), mass 18 kg

A compact size, it can be placed lengthwise. (Please advise us to this effect at order entry.)

A sufficient number of input and output signals available:

Ample interfaces such as general input/output signals (32 and 24 numbers, respectively),

external operation signals and communication ports are provided.

Large memory size: Max. 6,400 points + 12,800 steps, 247 programs

Easy programming: Programming is made, using our specially developed language named "SCOL".

It can be done very easily as if using the BASIC language. It conforms to the

MS-DOS format which allows programming on a personal computer.



10/22

9 Features o f Mu lt i -Functional Teach PendantThe SR series teach pendant is multi-functional and allows extensive operations.

1. Program creation and editing

2. Teaching of positions and data editing

3. File operation

Operations 1. to 3. inclusive can also be done through

the personal computer.

4. Test operation

5. Setting of conditions for automatic operation

The operation mode, speed, etc. can be specified.

6. Direct execution

The robot language can be executed directly.

7. UtilityInput/output signals, current position, etc. can be

monitored.

8. Error display

The current status and past error record can be displayed.

Size / Mass: 277W188H44.6Tmm) 1.6kg

Cable length:7 m The same pendant can be shared by two or more robots.



11/22

10 1 Variat ionsThe SR-H series comes in many variations.

Z-axis long stroke

. . . Designed for work at an undulating place and handling long workpieces.


Please consult with us any time for any other requirement.


12/22


Suspension from ceiling

. . . Suspended from the ceiling. Effective use of a space is possible.




13/22


Clean room type

. . . Designed for cleanroom environment. Class 10 and other designs are available.




14/22


Addition of traverse axis

. . . Utilizing the simultaneous five-axis control.

Addressing of wrist axis, etc. is also possible.




15/22

11 1 Opt ions

1. Protective bellows

. . . Work in a hostile environment is

possible.

2. Separation of operation panel

. . .The operation panel can be separated

from the main controller.

The SR-H series comes in many options.




16/22

11 2 Opt ionsThe SR-H series comes in many options.

3. External I/O cable. . . With 6 m-long cable. Connection with an external device is easy.

4.Addition of external input and output. . .The numbers of external input and output are

increased from 32 and 24 numbers to 56 and 40 numbers, respectively.

5. Teach pendant

6. FDD unit

7. Software for personal computer

SRPC.. Software for program creation and support

TMLINK.. Alternative software to FDD unit

8.Addition of signal line and piping for user's hand

9. Extension of various cables

10. Placing the controller lengthwise




17/22

12 1 Special Func t ions

1. Synchronized with conveyor

. . . Tracking of a moving workpiece is possible. Thus, handling is performed

without stopping the workpiece.

The SR-H series is provided with many special functions.




18/22

12 2 Special Func t ions

2. Position data latch function

. . . The workpiece position can be identified with a simple sensor. An expensive

visual sensor is unnecessary.

The SR-H series is provided with many special functions.




19/22

12 3 Special Func t ionsThe SR-H series is provided with many special functions.


3. Torque control function

. . . Torque of each axis feed motor can be controlled as you like. This function is also useful to protectworkpieces.

4.Payload command

. . . Optimized motion is realized according to the load conditions.

5. Multi-task function

. . . Control of peripheral equipment is also possible.

6. Speed regulation function

. . . Best suited for sealing work due to absence of speed fluctuation.

7. Conditions monitoring function

. . . Conditional stop of the robot during operation, interruptive processing, etc. can be executed easily.

8. Self-diagnosis function

. . . You need not worry about even if a trouble occurred.



20/22

13 Appl icat ions* SR-1054HZ

* SR-L

* SR-1054HSP Heavy workload

* Conveyor Synchronization(SR-854HSP+SR-424HSP)

* Screw tightening (SR-554HSP)* latch function (SR-654HSP)

* Painting Cell (Takubo Engineering)

* Cartesian robots (Shibaura Mechatronics)

See video..



21/22

13 Appl icat ions* SR-1054HZ

* SR-L

* SR-1054HSP Heavy workload

* Conveyor Synchronization(SR-854HSP+SR-424HSP)

* Screw tightening (SR-554HSP)* latch function (SR-654HSP)

* Painting Cell (Takubo Engineering)

* Cartesian robots (Shibaura Mechatronics)



22/22

14 Serv ices and supportsCAD data service: The robot and controller drawings can be presented in the format of DXF file.

Please ask our sales staff, or you can download them from the following Internet

homepage.

URL http://www.tmacontrolsystems.com

Robot school:This school is held once a month in our Numazu Head Office. For details, please askour sales staff.

In addition, we can provide a special course according to the customer's requirements.

Please consult with us.

Overseas bases:We have service bases in the U.S.A., Europe, Southeast Asia and South Korea to

provide the customers the world over with all necessary services under the support of the

Numazu Head Office.

Others:We can cope with various consultations from customers, ranging from the operating method to

the system construction.

Please feel free to consult with us.


Documents

General SCARA Presentation