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Toshiba TSL3000E Series User Manual
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STE85441-4
TVL Series
INSTRUCTION MANUAL
TRANSPORT
A
TION
A
ND INST
A
LL
A
TION MANUAL
Notice
1.
Make sure that this
instruction manual i
s delivered to the
final
user of Toshiba Ma
chine's industrial ro
bot.
2.
Before operating
the industrial robot
, read through and
completely
understand this manual.
3.
After reading
through this manual
, keep it nearby
for future
reference.
April 2014
T
OSHIBA
M
A
CHINE CO., L
TD.
Robot controller TSL3100
Robot controller TSL3100E
Robot controller TS3100
2
Table of Contents
Table of Contents
7
Specifications
11
Equipment Configuration Diagrams
11
Equipment Configuration Drawing (for the TSL3100)
11
Equipment Configuration Drawing (for the TSL3100E)
12
Equipment Configuration Drawing (for the TS3100)
13
Name of each Part
14
External Dimensions
15
Specifications Table
17
Transportation
19
Unpacking (for the TSL3100,TSL3100E)
19
Unpacking (for the TS3100)
21
Transportation
23
Mass and Dimensions
23
Transporting the Robot
24
Transporting the Controller
27
Storage
27
Storage Precautions for the Robot
27
Storage Precautions for the Controller
27
Installation of the Robot Body
28
Installation Environment
28
Robot Installation
29
External Dimensions
29
Working Envelope
32
Coordinate System
35
Installing the Robot
36
Working Envelope Change
38
Change of Axis-1 Working Envelope
39
Change of Axis-2 Working Envelope
43
Change of Axis-3 Working Envelope
49
Precautions for Handling the Teach Pendant
54
Safety Measures
54
Installing the Controller(in Case of TSL3100)
55
External Dimensions
55
Precautions for Direct Installation
56
Installation Surface Dimensions
57
Cautions for Assembling the Control Panel
58
Installing the Controller (in Case of TSL3100E)
61
External Dimensions
61
Precautions for Direct Installation
62
Installation Surface Dimensions
63
Cautions for Assembling the Control Panel
64
Installing the Controller (in Case of TS3100)
66
External Dimensions
66
Precautions for Direct Installation
67
Installation Surface Dimensions
68
Precautions for Rack Mounting
68
System Connections(in Case of TSL3100)
71
Cable Wiring
71
Connector Arrangement on the Controller
71
Connecting the Power Cable "ACIN
72
Connecting the Motor Cable/Encoder Cable
74
Connecting the Brake Cable/Robot Control Signal Cable
75
In Fig. 7.1)
75
Connecting and Disconnecting Cables
76
Examples of Connector Terminal Arrangement (for the TSL3100)
78
Controller Connector Signals
82
Connector Signal Connection Diagrams
82
Jumpers for Safety Related Signals
82
System Connections (in Case of TSL3100E)
84
Cable Wiring
84
Connector Arrangement on the Controller
84
Connecting the Power Cable "ACIN
85
Connecting the Motor Cable/Encoder Cable
87
Connecting the Brake Cable/Robot Control Signal Cable
88
In Fig. 8.1)
88
Connecting and Disconnecting Cables
89
Examples of Connector Terminal Arrangement (for the TSL3100)
92
Controller Connector Signals
95
Connector Signal Connection Diagrams
95
Jumpers for Safety Related Signals
95
System Connections(in Case of TS3100)
97
Cable Wiring
97
Connector Arrangement on the Controller
97
Connecting the Power Cable "ACIN
98
Connecting the Motor Cable/Encoder Cable
99
Connecting the Brake Cable/Robot Control Signal Cable
99
Connecting Power Supply Cable for External Input/Output "GND, P24V
100
Connecting and Disconnecting Cables
102
Examples of Connector Terminal Arrangement (for the TS3100)
104
Controller Connector Signals (for the TS3100)
107
Connector Signal Connection Diagrams
107
Jumpers for Safety Related Signals
107
When Detaching the Control Panel from the Controller (for the TS3100)
109
Dismounting the Control Panel
109
Cables between the Controller and the Control Panel
109
Installation Dimensions of the Control Panel
110
Mounting the Dummy Panel to the Controller
111
Dimensions When the Control Panel Is Detached
112
Tool Interface (Robot Body Side)
113
Mounting Tool
113
Tool Air Piping
114
Permissible Load Conditions and Program Setting
116
Permissible Load Conditions
116
Load Conditions and Program Setting
118
Tool Interface (for the TSL 3100)
121
Tool Wiring
121
Tool Signals (Controller Side)
121
Tool Wiring (Robot Arm Side)
125
Tool Interface (for the TSL3100E)
132
Tool Wiring
132
Tool Signals (Controller Side)
132
Tool Wiring (Robot Arm Side)
136
Tool Interface (for the TS3100)
143
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Toshiba TSL3000E Series Specifications
General
Brand
Toshiba
Model
TSL3000E Series
Category
Controller
Language
English
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