TH650A0 pages

Model

TH650A

Type

Horizontal Multi-joint

Number of controlled axis

4

Arm length

650mm (300mm+350mm)

Working Axis 1

±160°

envelope ^ 2

±143°

Axis 3(Z-axis)

200mm/400mm

Axis 4(Z-axis rotation)

±360°

Maximum Axis 1

340°/s

sPeed Axis 2

600°/s

Axis 3(Z-axis)

2050mm/s

Axis 4(Z-axis rotation)

1700°/s

Composite

7.52m/s

Standard cycle timefwith 2kg payload)

0.31s

Maximum payload mass

10kg

Allowable moment of inertia at end

0.1 kgm2

Positioning X-Y(Plane)

±0.01mm

repeatability z.axis (vertica|)

±0.01mm

Axis 4(Z-axis rotation)

±0.004°

Input/output signals for hand

5 inputs / 4 outputs

Air piping for hand

(66 x 4 pes.

Position detecting system

Absolute system

Robot-controller cable

5m (Optional length maximum 25m)

Mass

52kg

Model

TS2100

No. of axis

Maximum five-axis simultaneous control

Operation mode

PTP, CP (linear, circular), Short-cut, Arch motion

Storage capacity

Total: Approx 6400 points +12800 steps

1 program: Approx 2000point+3000steps

No. of programs

Max. 256 (247 user files + 9 system files)

Programming language

SCOL (proprietary, similar to BASIC)

Teaching unit

Teach pendant TP1000, with 5-meter cable

(Program can be written on PC)

External

inputs/outputs (general)

31 +7 inputs / 22+10 outputs

(7/10 can be switchable with system)

Hand control signals

5 inputs/4 outputs

External operation

signals(exclusive)

Inputs: Cycle operation start, stop, reset, etc.

Outputs: Servo-On status, emergency stop, ready for

operation, malfunction alarm, etc.

Serial communication port

RS-232C: 2ports

Other functions

Torque control, Interruptive functions, self-diagnosis,

I/O control and communications during motion,

Coordinate calculations, etc.

Power supply

Three-phase AC190—250V 50/60HZ

Power capacity

3.5kVA

Outer dimensions and mass

420WX230HX300D(mm), 16kg

PC software (optional)

TSPC---Program editor, Teaching, remote operation, etc.

Options

I/O extension, field-network connection,

Conveyor synchronization, etc.