Wide Variations, Fast Motion, and Heavy Duty SCARA ROBOT ... · 3 SCARA Robot TH Series...

Compact SCARA Robot TH180, TH250A, TH350A

High-Speed and High-Precision SCARA Robot TH450, TH550

High Payload Mass SCARA Robot TH650A, TH850A, TH1050A

SCARA ROBOT TH SERIESWide Variations, Fast Motion, and Heavy Duty

Catalog TH0026-CJD-01

2

SCARA Robot TH Series

The TH series, Flexible and Fast Manoeuvre ofTime-Space

■ Full line-up: From small to large range to meet a wide range of applications.

■ High speed: Fast motion for improved efficiency.

■Wide Working Envelope

Working envelopes are widened tomaximum to allow for maximumfreedom in system layout.

■ Diversity in Standard Features

●Wiring and piping for user-side devices:Wiring and piping for end-effector control are built in the arm.

● Z-axis brake release switch:The Z-axis brake release switch is located on the arm for quick, one-touchoperation.

● 7-segment display: Error code, program step number, customized data such as process countare displayed on the controller operation panel.

● Torque control: Compliant to external force or obstruction, to protect workpieces and end-effectors, and for press-in work.

● Constant speed: Constant speed along the motion path. Effective in such applications assealing.

●Multi-task: Robot motion program and I/O signals (peripheral) handling are executed inparallel, for more interactions and better time efficiency.

● PLC function: A built-in PLC to control peripheral equipment and touch-sensitive panelconnection.

■ Field Networks (optional)

Various field network protocols are available, for high-speed communication andresulting in reductions in wiring.For the Ethernet (not supported by TS1000), CC-Link, DeviceNet and Profibus,please request for detailed manuals.

■ Cleanroom Specification(Optional)

Class 10 (0.3 μm)TH180-CR/TH250A-CR/TH350A-CR/TH650A-CRClass 10 (0.1 μm)TH250A-CRB/TH350A-CRB/TH650A-CRB/TH850A-CRB/TH1050A-CRB

High-performance evolution in Horizontal multi-joint type robot, TH series.Eight arm-length varieties with distinctive characteristics and featuring manyconvenient functionalities to suit a broad range of applications.

Model Arm length Z-axis stroke Max. payload mass Model Arm length Z-axis stroke Max. payload mass

TH180 180 mm 120 mm 2 kg TH550 550 mm 150 mm 5 kg

TH250A 250 mm 120 mm 3 kg TH650A 650 mm 200 mm 10 kg

TH350A 350 mm 120 mm 3 kg TH850A 850 mm 200 mm 20 kg

TH450 450 mm 150 mm 5 kg TH1050A 1050 mm 200 mm 20 kg

Model Standard cycle time Load Max. speed (Composite) Model Standard cycle time Load Max. speed (Composite)

TH180 0.35 s 1 kg 2.6 m/s TH550 0.33 s 2 kg 6.21 m/s

TH250A 0.41 s 1 kg 3.53 m/s TH650A 0.31 s 2 kg 7.52 m/s

TH350A 0.41 s 1 kg 3.24 m/s TH850A 0.39 s 2 kg 8.13 m/s

TH450 0.33 s 2 kg 7.33 m/s TH1050A 0.39 s 2 kg 9.15 m/s

(Axis

1 oper

ating

rang

e)

(Axis 2 operating range)

143°


143°

R650

R350

R350

R211

.6


160°

160°

Working Envelope of TH650A

3

SCARA Robot TH Series

End-effector pneumatic joints

■ Convenient Optional Features

● Z-axis Related Options(1) Long stroke

Standard 150 mm → 300 mmStandard 200 mm → 400 mm

(2) Cap: TH450 ~ TH1050A(3) Protective bellows: TH650A ~ TH1050A● Ceiling-Mount ConfigurationEffective use of space is possible:

TH350A ~ TH650A● Tool flange for end-effector mount:

TH180 ~ TH550● I/O Related Options(1) Additional I/O unit: 28 inputs and 20 outputs per unit, up to twounits.(2) I/O cables: For standard and additional I/Os,6 m-long each● Controller Related Options(1) Separated operation panel: The operationpanel can be installed, separated from therobot controller, using a dedicated cable (3 m-or 5 m-long). The connector panel can also beseparated.(2) Side brackets: for rack-mount.● Cable Length(1) Between robot and controller

H180 ~ TH350A: Standard 3 m→Maximum 10 mTH450 ~TH1050A: Standard 5 m→Maximum 25 m

● Conveyor Synchronization FunctionsDetection of workpieces on moving conveyorsby vision sensors and synchronized handlingby the robot simultaneously.● Position Data Latch FunctionRegistering of position data at the instant ofhigh-speed input signal.● CE CompliantCE-compliant designs are available.

■ Supportive Software

● TSPC: Programming SupportProgram editor, grammar and syntax check, and file transfer; simple operations such as program selection and execution; Real time monitors of variables and I/O status; and 3D simulation.

● TSLayout: Layout ReviewGuiding to optimizing system layout that results inthe high-speed operation.

●TCPRGOS: Ladder Program Creation for Built-inPLC

Connector for encoder

Z-axis brake release switch

End-effector I/O connector

Connector formotor power

Pneumatic joint forcleanroom vacuum

End-effector pneumaticjoints

End-effector I/O connector

4

TH Series Lineup

TH180 TH250A TH350A

TH450 TH550

TH650A TH850A TH1050A

■ Compact SCARA Robot

■ High-Speed and High-Precision SCARA Robot

■ High Payload Mass SCARA Robot

● Arm Length 180 mm● Z-Axis Stroke 120 mm●Maximum Payload Mass 2 kg

● Arm Length 450 mm● Z-Axis Stroke 150/300 mm●Maximum Payload Mass 5 kg







5

Full, extensive lineup to meet every application need

TH180 TH350AModel

Arm length(1st arm + 2nd arm)

WorkingEnvelope

MaximumSpeed

PositioningRepeatability

*4

180 mm(70＋110)

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

Composite

±120°

±140°

120 mm

±360°

533°/s

480°/s

1013 mm/s

1186°/s

2.6 m/s

0.35 s (With 1 kg load) *1

2 kg

0.01 kg・m2 *3

±0.01 mm

±0.01 mm

±0.005°

3 m (optional: max. 10 m)

9 kg

TS1000

350 mm(225＋125)

±115°

±145°

120 mm

±360°

337.5°/s

540°/s

1120 mm/s

1143°/s

3.24 m/s


3 kg

0.017 kg・m2 *3

±0.01 mm

±0.01 mm

±0.005°


14 kg

TS1000

X・Y

Z

Axis 4

Standard Cycle Time

Maximum Payload Mass

Allowable Moment of Inertia

Cable Length

Mass

Controller

TH250A250 mm(125＋125)

TH450

5 Inputs / 4 Outputs, φ4 ×4 pcs.

Model

Arm length(1st arm + 2nd arm)

WorkingEnvelope

MaximumSpeed

PositioningRepeatability

*4

Standard Cycle Time

Maximum Payload Mass

Allowable Moment of Inertia

Cable Length

Mass

Controller

TH650A TH850A

650 mm(300＋350)

Axis 1

Axis 2

Axis 3

Axis 4

Axis 1

Axis 2

Axis 3

Axis 4

Composite

±160°

±143°

200 mm / 400 mm

±360°

340°/s

600°/s

2050 mm/s

1700°/s

7.52 m/s


10 kg

0.1 kg・m2 *3

±0.01 mm

±0.01 mm

±0.004°

±160°

±145°

200 mm / 400 mm

±360°

300°/s

420°/s

2050 mm/s

1200°/s

8.13 m/s


20 kg

0.2 kg・m2 *3

±0.01 mm

±0.01 mm

±0.004°

±160°

±145°

200 mm / 400 mm

±360°

300°/s

420°/s

2050 mm/s

1200°/s

9.15 m/s


20 kg

0.2 kg・m2 *3

±0.01 mm

±0.01 mm

±0.004°

850 mm(350＋500)

X・Y

Z

Axis 4

TH1050A

1050 mm(550＋500)


TH550

550 mm(300＋250)

±120°

±145°

150 mm / 300 mm

±360°

375°/s

600°/s

2000 mm/s

2000°/s

6.21 m/s


5 kg

0.05 kg・m2 *3

±0.01 mm

±0.01 mm

±0.005°

±120°

±145°

150 mm / 300 mm

±360°

600°/s

600°/s

2000 mm/s

2000°/s

7.33 m/s


5 kg

0.05 kg・m2 *3

±0.01 mm

±0.01 mm

±0.005°


27 kg

TS2000

450 mm(200＋250)

±115°

±140°

120 mm

±360°

540°/s

540°/s

1120 mm/s

1143°/s

3.53 m/s


3 kg

0.017 kg・m2 *3

±0.01 mm

±0.01 mm

±0.005°


14 kg

TS1000

Wiring andPneumatic Piping for Hand



29 kg

TS2000


52 kg

TS2100


76 kg

TS2100


80 kg

TS2100

Wiring andPneumatic Piping for Hand

■Allowable moment of inertia*3: Acceleration/deceleration rates may

be limited according to the motionpattern, load mass and amount ofoffset.

■ Order model code

TH650A-Z-CR-SSpecial design

Optional specifications Cleanroom : CR (0.3μm), CRB (0.1μm)Ceiling-mount type : TWith cap : CWith protective bellows : BWater-proof (IP65) : IP

Z-axis long strokeArm length

■Standard cycle time motion pattern (coarsepositioning)

*1: Horizontal 100 mm, vertical 25 mm, round-trip*2: Horizontal 300 mm, vertical 25 mm, round-tripContinuous operation is not possible beyond theeffective load ratio.

■Positioning repeatability*4: When the environmental

temperature is constant.

6

TS Series Controllers

TS1000 TS2000

ControllerTS2100

TP1000

Teach pendant

TS1000 TS2000 TS2100Model

Standard 4 axes (Maximum 5 axes: TS2000/TS2100)

PTP (point-to-point), CP (Continuous Path; Linear, Circular), Short-Cut, Arch Motion

Absolute Encoders

Approx. Total: 6400 points + 12800 steps 1 program: 2000 points + 3000 steps

Maximum 256 (247 user files + 9 system files)

SCOL (similar to BASIC)

Teach pendant TP1000: Cable length 5 m / Programming support PC software TSPC also available

Interruption processing, robot motion ON signal, communication processing, arithmetic operation, torque limit, PLC, self-diagnosis, etc.

Single phase, AC190 V ~ 250 V, 50/60 Hz, 1.1 kVA

Single phase, AC190 V ~ 250 V, 50/60 Hz, 2.3 kVA

Three-phase, AC190 V ~ 250 V, 50/60 Hz, 3.5 ~ 4.4 kVA

5 inputs / 4 outputs

Input: cycle operation mode, start, stop, program reset, etc. Output: Servo ON, operation ready, fault, etc.

RS232C: 2 ports

16 inputs / 16 outputs8 / 8 can be assigned to system signals.

31+7 inputs / 22+10 outputs7 / 10 can be assigned to system signals.

No. of Controlled Axes

Motion Modes

Position Detection

Storage Capacity

No. of Registrable Programs

Programming Language

Teaching Unit

External I/O Signals

Hand Control Signals

External Operation Signal

Serial Communication Ports

Other Functions

PC Software for Programming Support (optional)

Options

TSPC: Program editor, teaching, remote operation TCPRGOS: PLC sequence program creation(Supporting OS: Windows2000, WindowsXP)

Conveyor synchronization (not supported by TS1000), Additional I/O, I/O cable, position data latch function, smooth (constant speed) function, separated operation panel, network (Ethernet: Not supported by TS1000, CC-Link, DeviceNet, Profibus), CE-compliant

Outer Dimensions and Mass 170W×290H×280D (mm) / 10 kg 290W×230H×280D (mm) / 12 kg 420W×230H×300D (mm) / 16 kg

Power Supply and Capacity

■ Controller Specifications

･Windows is a registered trademark of Microsoft Corporation in the U.S.A.･Ethernet is a registered trademark of XEROX Corp. in the U.S.A.･CC-Link is a registered trademark of CC-Link Partner Association.

･DeviceNet is a registered trademark of ODVA.･Profibusis is a registered trademark of Profibus User Organization.

Optional

7

TS Series Controllers External View

Space for controller ventilationUpward direction: 100 mm or moreLeft and right side direction: 50 mm or more

280

315

290

301

Cable space120 mm or more

170

Top view

Rear view Front view Right-sideview

ＥＮＣ

ＣＮ４

TB2

BRAKE

ＣＮ１２

ＣＮ６

ＣＮ５

0VFG

BA

24V

ＰＯＷＥＲ

ＭＯＴＯＲ　ＣＮ２

ＡＣＩＮ　ＣＮ１

TO SH I B A MACH I N E

TS2000Robot Controller

disconnectTP

TP

POD

TCPRG

HOST

COM1

MANUEXTINT EMERGENCY

ALARMUSERLINE

UF2

UF1

RESETALARM

SELECT

CYCLESTOPRUN

OFFSERVO

ONSERVO

MODE

EXT.PCEXT.SIGNAL

POWER

230

12

290 100 or more100 or more 280

30.5

Space forcable connection( )Space for

cable connection( )Top view

Rear view

Front view Right-side view

POWER

MOTOR CN2

ACIN CN1

ＣＮ３

ＣＮ４

TB2

BRAKE

ＣＮ１２

ＣＮ６

ＣＮ５

0VFG

BA

24V

T O S H I B A M A C H I N E

Robot Controller T S 2 1 0 0

disconnectTP

TP

POD

TCPRG

HOST

COM1

MANUEXTINT EMERGENCY

ALARMUSERLINE

UF2

UF1

RESETALARM

SELECT

CYCLESTOPRUN

OFFSERVO

ONSERVO

MODE

EXT.PCEXT.SIGNAL

POWER

170 or more100 or more

30.5

300

420

230

12

Space forcable connection( ) Space for

cable connection( )Top view

Rear view

Front view Right-side view

TS1000

TS2000

TS2100

8

Compact SCARA robot TH180

■ TH180

120°

120°

140°140°

R180

R72.131

140

30

96

110180

70

25120 C

B

62 80 94 110 4

25

7.5

4.517

[Detail of C](T-shaped slot for peripheral device mount)

[Detail of B]

Hand I/O connector

Hand pneumatic joints 4×M5

φ35

φ16

Hand mounts area

2710

Tapped hole for peripheral device mounting 2×M4; both sides

175

13Stroke120

148.5

40 40

40

Battery box

3135 35

150 Space for cable 80 or more

10

Brake releaseswitch

2710

Pneumatic joint for cleanroom vacuum: for φ6 tube

Hand pneumatic joints: for 4×φ4 tubes

A

31

[Detail of A](End-effector mount)

External view

TH180

Horizontal multi-joint type

Class 10 (0.3μm)

4

180 mm (70 mm＋110 mm)

±120°

±140°

120 mm

±360°

533°/s

480°/s

1013 mm/s

1186°/s

2.6 m/s

0.35 s

2 kg

0.01 kgm2　　*3

±0.01 mm　*4

±0.01 mm　*4

±0.005°　*4


4 pcs. (φ4)

3 m (optional: maximum 10 m)

9 kg

Model

Type

Cleanliness (optional)

No. of controlled axes

Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)

Axis 4 (Z-axis rotation)

Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite

Standard cycle time (with 1 kg load)

Maximum payload mass

Allowable moment of inertia

Positioning X-Y

repeatability Axis 3 (Z-axis)


Hand wiring

Hand piping

Robot controller cable

Mass

For *1, *2, *3 and *4, see page 5.

9

■ TH250A

Hand I/O connectorHand pneumatic joints 4×M5

M4 thread hole for grounding

Hand I/O connectorAxis 3 brake release switchMotor power connectorEncoder connector

115°

R250

R85.5

140°

115°

140°

141.08

101

200

15 170

125 12550 150

167442

120

140

10

4×φ9 mounting holes

4.5 7.5 φ35

φ16

[Detail of T-shaped slot for peripheral device mount]

[Detail of end-effector mount]

25

65

[Z View]

457.5

59.5

120

18.5

172

10

Z

Maximum 580

Pneumatic joint for cleanroom vacuum: forφ6 tube


Battery case

External view

TH250A

Horizontal multi-joint

Class 10 (0.1μm / 0.3μm)

4

250 mm (125 mm＋125 mm)

±115°

±140°

120 mm

±360°

540°/s

540°/s

1120 mm/s

1143°/s

3.53 m/s

0.41 s

3 kg

0.017 kgm2　*3

±0.01 mm　*4

±0.01 mm　*4

±0.005°　*4


4 pcs. (φ4)


14 kg

Model

Type



Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping


Mass

Compact SCARA robot TH250A

For *1, *2, *3 and *4, see page 5.

10

Compact SCARA robot TH350A

■ TH350A

Hand I/O connector

Pneumatic joint for cleanroom vacuum: for φ6 tubeHand I/O connectorAxis 3 brake release switchMotor power connectorEncoder connector

M4 thread hole for grounding

115°

R350

R142

145°

115°

145°

[Z View]

Battery case

Hand pneumatic joints4×M5

20015 170

125 225

50 150

167542

120

140

10

4×φ9mounting holes

4.5 7.5

φ35

φ16

[Detail of T-shaped slotfor peripheraldevice mount]

[Detail ofend-effector mount]

2

655

Hand-mount

range 27


457.5

59.5

120

18.5

172

10

101

Z

Maximum 635

External view

TH350A


Class 10 (0.1μm / 0.3μm)

4

350 mm (225 mm+125mm)

±115°

±145°

120 mm

±360°

337.5°/s

540°/s

1120 mm/s

1143°/s

3.24 m/s

0.41 s

3 kg

0.017 kgm2　*3

±0.01 mm　*4

±0.01 mm　*4

±0.005°　*4


4 pcs. (φ4)


14 kg

Model

Type



Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping


Mass

For *1, *2, *3 and *4, see page 5.

11

■ TH450

Brake release switch[Working envelope of A]

R143

R450

120°

180

145°

2×M4 depth 84×M4 depth 8


4×M5

Hand-mount width

Hand pneumatic joints

Hand I/O connector

120°

145°

200

130

250 2007058

140112

170

102

4.57.530

146

5 2

φ32

φ20

25

16

138

66.4[Detail of A View] (Hand mount)

[Detail of D](T-shaped slot for peripheral device mount)

[Detail of C] (Tapped holes for peripheral device mount)

[Cross SectionB-B]

Tapped holesfor peripheraldevicemount

Z-axis 300 mm

Z-axis 300 mm

300

216

142.5

540

12

B

240

340

253

150

130

885

7

64

150

39.6

Z-axis 150 mm

Z-axis 150mm

C

B

A


Space for cablesM4 tapped hole for grounding

Backup battery compartment

85

DD

External view

Model

Type


Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH450


4

450 mm (200 mm＋250 mm)

±120°

±145°

150 mm (optional: 300 mm)

±360°

600°/ｓ

600°/ｓ

2000 mm/ｓ

2000°/ｓ

7.33 ｍ/ｓ

0.33 s　*1

5 kg

0.05 kgm2　*2

±0.01 mm　*3

±0.01 mm　*3

±0.005°　*3


4 pcs. (φ4)

Absolute


27 kg

High-Speed and High-Precision SCARA Robot TH450

For *1, *2, *3 and *4, see page 5.

12

High-Speed and High-Precision SCARA Robot TH550

■ TH550


Tapped holes for peripheral device mount

180

200

120°

120°

145°

145°

R172

R550

58 11270 140

146

170

300250

130

540

216

12

7.54.5

5 2

85

66.4

138 25

102

16

Brake release switch

B

B

A C

DD

240

150

300

340 253

64150

39.6

Z-axis 150mm

Z-axis 300mm

Z-axis 300mm

Z-axis 150mm

130

885

φ20

φ32

30

Hand-mount width

2×M4 depth 84×M4 depth 8

[Working envelope of A]

[Detail of A View] (Hand mount)

4×M5

4×M5Hand I/O connector

Hand pneumatic joints


Space for cablesM4 tapped hole for grounding

Backup battery compartment

[Cross SectionB-B]

[Detail of D](T-shaped slot for peripheral device mount)

[Detail of C](Tapped holes for peripheral device mount)

External view

Model

Type


Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH550


4

550 mm (300 mm＋250 mm)

±120°

±145°


±360°

375°/ｓ

600°/ｓ

2000 mm/ｓ

2000°/ｓ

6.21 ｍ/ｓ

0.33 s　*1

5 kg

0.05 kgm2　*2

±0.01 mm　*3

±0.01 mm　*3

±0.005°　*3


4 pcs. (φ4)

Absolute


29 kg

For *1, *2, *3 and *4, see page 5.

13

■ TH650A

Sta

ndar

d

Z s

trok

eφ70

φ60

φ18 ball screw inner diameter

(Axis

1 str

oke ra

nge)

(Axis 2 stroke range)

143°


143°

R650

R350

R350

R211

.6


160°

Hand I/O connector panel

350(919)

123300

340

400

100

100

200

Op

tiona

l Z s

trok

e

Space for cables

687

763

Z s

trok

e 20

0 m

m

963

Z s

trok

e 40

0 m

m

663

463

Z

Pneumatic joints(4×φ6 tubes)

Working Envelope

5 P

94×5.5 drill (evenly spaced)

409

Detail of hand mount

Y View

Battery case

Z ViewDetail of base mount

160105

25

50

210

160

2×C10

Encoder connector

Hand I/O connector

Motor power connector

300

115

272

Y

160°

φ20 H7

φ18

φ26

φ19

6

3

External view

Model

Type



Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH650A


Class 10 (0.1μm)

4

650 mm (300 mm＋350 mm)

±160°

±143°


±360°

340°/ｓ

600°/ｓ

2050 mm/ｓ

1700°/ｓ

7.52 ｍ/ｓ

0.31 s

10 kg

0.1 kgm2　*3

±0.01 mm　*4

±0.01 mm　*4

±0.004°　*4


4 pcs. (φ6)

Absolute


52 kg

High payload mass type SCARA robot TH650A

For *1, *2, *3 and *4, see page 5.

14


■ TH850A

R850

R500

R71

R500



Working Envelope

3

4×5.5 drill (evenly spaced)

5 P

9

409


Y View

Battery case


(1122)

500130.5

350

663

463

400

100

100

28820

0O

ptio

nal Z

str

oke

Sta

ndar

d

Z s

trok

e

Y

Z

350

Space for cables

734

763

Z s

trok

e 20

0 m

m

963

Z s

trok

e 40

0 m

m

Pneumatic joints (4×φ6 tubes)

Motor power connector

Encoder connectorHand I/O connector

286

132

316

Z View

Detail of base mount2×C10

20

240150

80

300

240

(Axis

1 st

roke

rang

e)16

0°


R292

.9

145°

145°160°

φ19

3

φ26

φ18


φ70

φ20 H7

φ60

External view

Model

Type



Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite




Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH850A


Class 10 (0.1μm)

4

850 mm (350 mm＋500 mm)

±160°

±145°


±360°

300°/ｓ

420°/ｓ

2050 mm/ｓ

1200°/ｓ

8.13 ｍ/ｓ

0.39 s

20 kg

0.2 kgm2　*3

±0.01 mm　*4

±0.01 mm　*4

±0.004°　*4


4 pcs. (φ6)

Absolute


76 kg

For *1, *2, *3 and *4, see page 5.

15

■ TH1050A9

Z ViewDetail of base mount

(Axis

1 s

troke

rang

e)

160°

145°

145°



R1050

R500

R500

R319

.3


160°

Working Envelope


φ20 H7

40

φ70

4×5.5 Hole

φ60


5 P

9

3Y View

Battery case

663

463

400

100

100

200

Op

tiona

l Z s

trok

e

Sta

ndar

d

Z s

trok

e

R71


φ19

3

(1322)

500130.5

550

288

Y

Z

350

Encoder connector

Hand I/O connector

Motor power connectorPneumatic joints(4×φ6 tubes)

286

132

316

734

763

Z s

trok

e 20

0 m

m

963

Z s

trok

e 40

0 m

m

2×C10

300

240

φ26

φ18

20

150240

80

Space for cables

External view

Model

Type



Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite

Standard cycle time (under 2 kg load)



Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH1050A


Class 10 (0.1μm)

4

1050 mm (550 mm＋500 mm)

±160°

±145°


±360°

300°/ｓ

420°/ｓ

2050 mm/ｓ

1200°/ｓ

9.15 ｍ/ｓ

0.39 s

20 kg

0.2 kgm2　*3

±0.01 mm　*4

±0.01 mm　*4

±0.004°　*4


4 pcs. (φ6)

Absolute


80 kg


For *1, *2, *3 and *4, see page 5.

16

OPTIONS

● Z-axis long stroke (-Z) TH450 / TH550: 300 mmTH650A / TH850A / TH1050A: 400 mm

The Z-axis stroke range is extended.Useful in an application with large up-downmovements and handling of long workpieces

These functional optional specifications aredesigned with consideration for applications,environment, and system-layout requirements.

● Optional cables lengthBetween robot and controller: Maximum 10 m (TH180 ~ 350A)

Maximum 25 m (TH450 ~ TH1050A)Teach pendant: Max. 15 m

● Ceiling-mount type (-T)TH350A / TH450 / TH550 / TH650A

To enable more freedom in system layout and effective use of a space, the robot is suspendedfrom the upper side of the working area.

(Note: The working envelopes differ from the standard-type robots. Please contact us fordetails.)

● Z-Axis Cap (-C)TH650A / TH850A / TH1050A

Protection of the Z-axis shaft upper side in an environment where liquid or chips mayscatter. It also prevents intrusion and jamming by cables and other peripheral items.

● Protective Bellows for Z-Axis (-B) TH650A ~ TH1050A

Protection of the Z-axis shaft lower side in an environment where liquid or chips mayscatter.(Note: The cycle time and Z-axis stroke differ from the standard specifications.

Please contact us for details.)

Standard Z-axis long stroke

17

● CAD Data ServiceRobots and controllers external view drawings are available in DXF format, downloadable from our websiteURL: http://www.toshiba-machine.co.jp

● Cleanroom Design (-CR, -CRB)TH180 / TH250A / TH350A / TH650A / TH850A / TH1050A

Class 10 (0.1 μm: -CRB, 0.3 μm: -CR)Applicable around the hand area and in the downward airflow ofspeed 0.4 m/s or larger.(Note: Maintain negative air pressure - air intake: approximately 60

L/min - in the robot. Limitations are imposed on accelerationrates. Please contact us for details.)

● Additional 5th Axis (Traverse axis, Wrist axis, etc.)TH450 / TH550 / TH650A / TH850A / TH1050A

5th axis can be added for such usage as wrist axis forworkpiece flip-over or moving the robot on a traverseaxis.

● Tool Flange for End Effectors MountingTH180 / TH250A / TH350A / TH450 / TH550

Tool flange for securing the robot's hand is available. Standard-equipped for TH650A and larger models.

OPTIONS

●Waterproof Design (-IP) TH650A / TH850A / TH1050A

Protection grade: IP65(Note: Limitation is imposed on acceleration / deceleration rates. Please contact us for details.)

18

FUNCTIONS AND APPLICATIONS

■ Vision + Conveyor Synchronization

137

18

69

42. 2

S ER VOON

CYCLE

S ER VOOFF

R U N

S TOP

ALAR MR E SE T

S ELE CT

LINEUS ER

ALAR M

E XT . S IG NALE XT . H OS T

P OWE R

MODE

E XTINT

MANU

E ME R GENCY

UF1

UF2

Robot Controller TS2000

24 Outputs / 36 Inputs, 4 Hand Outputs / 5 Hand Inputs

PLC

I/O Extension via Serial CommunicationRemote location (maximum 400 m).(Maximum 64 Outputs / 64 Inputs)

Connectivity with Programmable Display Unit.

Ladder programming in Windows environment.

Touch-Sensitive Operator panel

ExtensionI/O

■ Built-in PLC

■ Field network

PLC

TS1000 TS2000 TS2100

TH180 TH450 TH650A

Field network (CC-Link, Profibus, DeviceNet)

O：128I ：128 *1

O：128I ：128 *1

O：128I ：128 *1

A PLC (TCmini) is built in the controllers TS1000, 2000 and2100. Input and output signals can be handled by ladder-style programming logic, independent from robotmotion.[Features and advantages]TCmini controls input/output signals of standard I/O, extension I/O and touch-sensitive panel by ladder programand exchanges data with robot program.Thus, flexible system design and control of peripheral equipment is possible without the added cost of an outsidehost PLC.Creation, monitoring and debugging of ladder-logic programming with powerful programming support softwareTCPRGOS-W (optional).The scan time is 5 ms per 1 K-word. Connection is possiblewith various programmable controllers and display units etc.

Robot1Vision Sensor

Trigger Signal

Ethernet HUB

Conveyor Travel Distance

Controller1

Controller2

Conveyor Encoder

Coordinate data (X, Y, C) and workpiece type information

Robot2

Eth

ern

et

Vision Sensor

Robot1 Robot2 Robot3

● Cost reduction by "one camera to one line"Cost reduction of the system is realized. With an off-the-shelf ethernet Hub, data from one vision sensor can beshared among two or more robot controllers.

●Effective in sorting large-quantity and many types of workpieces･Large quantity and many types workpieces on a conveyorcan be sorted and put in boxes by multiple robots in coordination.

●Programming is made easy with special, dedicated commands to realize efficient workpiece-handling, withsuch functionalities as identifications and duplicate dataavoidance.)●Damage and breakage of workpieces are prevented by

synchronization to the conveyor.

Various field network protocols are supported. *1: I:126 and O:126 for CC-Link

19

The following PC software tools are provided to shorten the time and increase the efficiency of

system designing and installation work.

TS LayOut: For cycle-time and lay-out review1. Instant cycle time estimation:

Cycle time is calculated just by pointingat a position, without using the programming language.

2. Guidance for high-speed motions: Coloured speed map display indicatesfast-motion areas from a given startposition, guiding you to make the mostoptimized system layout.

3. Conversion to robot program: Input positions data can be converted toa robot program just by one click on amenu.

PC SOFTWARE FOR PROGRAMMING SUPPORT

1. Powerful Simulation Function:Off-line robot program creation and simulation, with simulated I/O. Lead time up to the start of robot operation can be shortened.Robot programs can be pre-checked without stopping the production line.

2. User-friendly programming environment:Extensive help information, powerful grammar check, direct, online editing of programs in the controller memory.

3. Multi-functional monitor and support:Monitoring functions such as active program display, position display, motion status monitor by 3D model, and alarm history display.Operation from on-screen operation panel. Connection via Ethernet (optional) is also supported.

TCPRGOS: For programming the built-in PLC

TSPC: For robot programming

1. Ladder-style logic programming for the built-in PLC.

2. In addition to program creation, on-line monitoring of ladderprogram and I/O status help reduce development anddebugging time.

3. Extensive functions such as address map display, commentdisplay and search functions are provided.

Head Office: 2068-3, Ooka, Numazu-shi, Shizuoka-ken 410-8510, JapanPhone: 81-55-926-5141 Fax: 81-55-925-6501

Cautions on safety

Homepage Address http://www.toshiba-machine.co.jp

Toshiba Machine Co., Ltd.Control Systems Division

SM08087-2000-EI

Printed in Japan

●Before using, read through and completely understand the appropriateinstruction manuals.

●The contents of this catalog may be subject to change without prior notice.

Unit 2, Bridge Gate Centre, Martinfield, Welwyn Garden City, Herts, AL7 1JG UK TEL:[44]-(0)1707-290370 Fax:[44]-(0)1707-376662 URL http://www.tmrobotics.co.uk E-MAIL [email protected]

755 Greenleaf Avenue, Elk Grove Village, IL 60007, U.S.A. TEL:[1]-847-593-1616 FAX:[1]-847-593-0897 URL http://www.toshiba-machine.com/robotics/SR_homepagef.htm E-MAIL [email protected]

Export Sales Group, Control Systems Sales Department, Control Systems Division 2-2 Uchisaiwaicho, 2-Chome, Chiyoda-ku, Tokyo 100-8503, Japan TEL:[81]-(0)3-3509-0362 FAX:[81]-(0)3-3509-0335 URL http://www.toshiba-machine.co.jp/seiji/prod/sr E-MAIL [email protected]

Wide Variations, Fast Motion, and Heavy Duty SCARA ROBOT ... · 3 SCARA Robot TH Series...

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