SCARA ROBOT TH SERIES

(1)

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 SERIES

Wide Variations, Fast Motion, and Heavy Duty

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SCARA Robot TH Series

The TH series, Flexible and Fast Manoeuvre of

Time-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 to

maximum to allow for maximum

freedom 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-touch

operation.

● 7-segment display:

Error code, program step number, customized data such as process count

are 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 as

sealing.

● Multi-task:

Robot motion program and I/O signals (peripheral) handling are executed in

parallel, for more interactions and better time efficiency.

● PLC function:

A built-in PLC to control peripheral equipment and touch-sensitive panel

connection.

■

Field Networks (optional)

Various field network protocols are available, for high-speed communication and

resulting 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

μ

m)

TH180-CR/TH250A-CR/

TH350A-CR/TH650A-CR

Class 10 (0.1

μ

m)

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 many

convenient 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 ope ratin g ra nge)

(Axis 2 operating range)143°

R650

R350

R35 0

R211.6

(Axis 1 operating ran

ge) 160° 160°

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3 SCARA Robot TH Series

End-effector pneumatic joints

■

Convenient Optional Features

● Z-axis Related Options

(1) Long stroke

Standard 150 mm

→

300 mm

Standard 200 mm

→

400 mm

(2) Cap: TH450 ~ TH1050A

(3) Protective bellows: TH650A ~ TH1050A

● Ceiling-Mount Configuration

Effective 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 two

units.

(2) I/O cables: For standard and additional I/Os,

6 m-long each

● Controller Related Options

(1) Separated operation panel: The operation

panel can be installed, separated from the

robot controller, using a dedicated cable (3

m-or 5 m-long). The connectm-or panel can also be

separated.

(2) Side brackets: for rack-mount.

● Cable Length

(1) Between robot and controller

H180 ~ TH350A: Standard 3 m

→

Maximum 10 m

TH450 ~ TH1050A: Standard 5 m

→

Maximum 25 m

● Conveyor Synchronization Functions

Detection of workpieces on moving conveyors

by vision sensors and synchronized handling

by the robot simultaneously.

● Position Data Latch Function

Registering of position data at the instant of

high-speed input signal.

● CE Compliant

CE-compliant designs are available.

■

Supportive Software

● TSPC: Programming Support

Program 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 Review

Guiding to optimizing system layout that results in

the high-speed operation.

● TCPRGOS: Ladder Program Creation for Built-in

PLC

Connector for encoder

Z-axis brake release switch

End-effector I/O connector

Connector for

motor power

Pneumatic joint for

cleanroom vacuum

End-effector pneumatic

joints

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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

● Arm Length 650 mm

● Z-Axis Stroke 200/400 mm

● Maximum Payload Mass 10 kg

● Arm Length 250 mm

● Z-Axis Stroke 120 mm

● Maximum Payload Mass 3 kg

● Arm Length 350 mm

● Z-Axis Stroke 120 mm

● Maximum Payload Mass 3 kg

● Arm Length 550 mm

● Z-Axis Stroke 150/300 mm

● Maximum Payload Mass 5 kg

● Arm Length 850 mm

● Z-Axis Stroke 200/400 mm

● Maximum Payload Mass 20 kg

● Arm Length 1050 mm

● Z-Axis Stroke 200/400 mm

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5 Full, extensive lineup to meet every application need

TH180

TH350A

Model Arm length (1st arm + 2nd arm) Working Envelope Maximum Speed Positioning Repeatability *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 0.41 s (With 1 kg load) *2 3 kg 0.017 kg・m2_*3 ±0.01 mm ±0.01 mm ±0.005° 3 m (optional: max. 10 m) 14 kg TS1000 X・Y Z Axis 4 Standard Cycle Time Maximum Payload Mass Allowable Moment of Inertia

Cable Length Mass Controller

TH250A

250 mm (125＋125)

TH450

5 Inputs / 4 Outputs, φ4 ×4 pcs. Model Arm length (1st arm + 2nd arm) Working Envelope Maximum Speed Positioning Repeatability *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 0.31 s (With 2 kg load) *2 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 0.39 s (With 2 kg load) *2 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 0.39 s (With 2 kg load) *2 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) 5 Inputs / 4 Outputs, φ6 ×4 pcs.

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 0.33 s (With 2 kg load) *2 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 0.33 s (With 1 kg load) *2 5 kg 0.05 kg・m2_*3 ±0.01 mm ±0.01 mm ±0.005° 5 m (optional: max. 25 m) 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 0.41 s (With 1 kg load) *2 3 kg 0.017 kg・m2_*3 ±0.01 mm ±0.01 mm ±0.005° 3 m (optional: max. 10 m) 14 kg TS1000 Wiring and

Pneumatic Piping for Hand 5 Inputs / 4 Outputs, φ4 ×4 pcs. 5 m (optional: max. 25 m) 29 kg TS2000 5 m (optional: max. 25 m) 52 kg TS2100 5 m (optional: max. 25 m) 76 kg TS2100 5 m (optional: max. 25 m) 80 kg TS2100 Wiring and

Pneumatic Piping for Hand

■

Allowable moment of inertia

*3: Acceleration/deceleration rates may

be limited according to the motion

pattern, load mass and amount of

offset.

■

Order model code

TH650A-Z-CR-S

Special design

Optional specifications

Cleanroom

: CR (0.3

μ

m), CRB (0.1

μ

m)

Ceiling-mount type

: T

With cap

: C

With protective bellows : B

Water-proof (IP65)

: IP

Z-axis long stroke

Arm length

■

Standard cycle time motion pattern (coarse

positioning)

*1: Horizontal 100 mm, vertical 25 mm, round-trip

*2: Horizontal 300 mm, vertical 25 mm, round-trip

Continuous operation is not possible beyond the

effective load ratio.

■

Positioning repeatability

*4: When the environmental

temperature is constant.

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TS Series Controllers

TS1000

TS2000

Controller

TS2100

TP1000

Teach pendant

TS1000 TS2000 TS2100 Model

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 outputs 8 / 8 can be assigned to system signals.

31+7 inputs / 22+10 outputs 7 / 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.

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7 TS Series Controllers External View

Space for controller ventilation Upward direction: 100 mm or more Left and right side direction: 50 mm or more

280 315 290 301 Cable space 120 mm or more 170 Top view

Rear view Front view Right-side

view ＥＮＣＣＮ４ TB2 BRAKE ＣＮ１２ＣＮ６ＣＮ５ 0V FG B A 24V ＰＯＷＥＲＭＯＴＯＲＣＮ２ＡＣＩＮＣＮ１ T O S H I B A M A C H I N E TS2000 Robot Controller disconnect TP TP POD TCPRG HOST COM1 MANU EXT INT EMERGENCY ALARMUSER LINE UF2 UF1 RESET ALARM SELECT CYCLE STOP RUN OFF SERVO ON SERVO MODE EXT.PC EXT.SIGNAL POWER 230 12 290 100 or more 280 100 or more 30.5 Space for cable connection

(

)

Space for cable connection

(

)

Top view Rear view

Front view Right-side view

POWER MOTOR CN2 ACIN CN1 ＣＮ３ＣＮ４ TB2 BRAKE ＣＮ１２ＣＮ６ＣＮ５ 0V FGB A 24V T O S H I B A M A C H I N E Robot ControllerT S 2 1 0 0 disconnect TP TP POD TCPRG HOST COM1 MANU

EXTINT EMERGENCY

ALARM USER LINE UF2 UF1 RESET ALARM SELECT CYCLE STOP RUN OFF SERVO ON SERVO MODE EXT.PC EXT.SIGNAL POWER 170 or more 100 or more 30.5 300 420 230 12 Space for cable connection

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)

Space for cable connection

(

)

Top view Rear view

Front view Right-side view

TS1000

TS2000

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Compact SCARA robot TH180

■

TH180

120° 120° 140° 140° R180 R72.131 140 30 96 110 180 70 25 120 C B 62 80 94 ₁₁₀ 4 ₂ 5 7.5 4.5 17 [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

27

10

Tapped hole for peripheral device mounting 2×M4 ; both sides 175 13 Stroke 120 148.5 40 40 40 Battery box 31 35 35

150 Space for cable 80 or more

10 Brake release switch 2 7 10

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 5 inputs / 4 outputs 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) Axis 4 (Z-axis rotation) Composite

Standard cycle time (with 1 kg load) Maximum payload mass

Allowable moment of inertia Positioning X-Y

repeatability Axis 3 (Z-axis) Axis 4 (Z-axis rotation) Hand wiring

Hand piping Robot controller cable Mass

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9 ■

TH250A

Hand I/O connector Hand pneumatic joints 4×M5

M4 thread hole for grounding Hand I/O connector Axis 3 brake release switch Motor power connector Encoder connector 115° R250 R85.5 140° 115° 140° 141.08 101 200 15 170 125 125 50 150 167 442 120 140 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] 2 5 65 [Z View] 457.5 59.5 120 18.5 172 10 Z Maximum 580

Pneumatic joint for cleanroom vacuum: forφ6 tube

Hand pneumatic joints: for 4×φ4 tubes

Battery case

External view

TH250A Horizontal multi-joint Class 10 (0.1μm / 0.3μm) 4 250mm (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 5 inputs / 4 outputs 4 pcs. (φ4) 3 m (optional: max. 10 m) 14 kg Model Type Cleanliness (optional) No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

Hand piping Robot controller cable Mass

Compact SCARA robot TH250A

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Compact SCARA robot TH350A

■

TH350A

Hand I/O connector

Pneumatic joint for cleanroom vacuum: for φ6 tube

Hand I/O connector Axis 3 brake release switch Motor power connector Encoder connector M4 thread hole for grounding

115° R350 R142 145° 115° 14 5° [Z View] Battery case Hand pneumatic joints 4×M5 200 15 170 125 225 50 150 167 542 120 140 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] 2 65 5 Hand-mount range 27

Hand pneumatic joints: for 4×φ4 tubes 457.5 59.5 120 18.5 172 10 101 Z Maximum 635

External view

TH350A Horizontal multi-joint 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 5 inputs / 4 outputs 4 pcs. (φ4) 3 m (optional: max. 10 m) 14 kg Model Type Cleanliness (optional) No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

repeatability Axis 3 (Z-axis) Axis 4 (Z-axis rotation) Handwiring

Handpiping Robot controller cable Mass

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11 ■

TH450

Brake release switch [Working envelope of A] R143 R450 120° 180 145° 2×M4 depth 8 4×M4 depth 8 4×φ14 mounting holes 4×M5 Hand-mount width

Hand pneumatic joints Hand I/O connector

120° 145° 200 130 250 200 70 58 140 112 170 102 4.5 7.5 30 146 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 Section B-B] Tapped holes for peripheral device mount Z-axis 300 mm Z-axis 300 mm 300 216 142.5 540 12 B 240 340 253 150 130 88 5 7 64 150 39.6 Z-axis 150 mm Z-axis 150mm C B A

Hand pneumatic joints: for 4×φ4 tubes Space for cables

M4 tapped hole for grounding Backup battery compartment

85 D D

External view

Model Type

No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

Hand piping Position detection Robot controller cable Mass TH450 Horizontal multi-joint 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 5 inputs / 4 outputs 4 pcs. (φ4) Absolute 5 m (optional: max. 25 m) 27 kg

High-Speed and High-Precision SCARA Robot TH450

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High-Speed and High-Precision SCARA Robot TH550

■

TH550

4×φ14 mounting holes Tapped holes for peripheral device mount 180 200 120° 120° 145° 145° R172 R550 58 112 70 140 146 170 300 250 130 540 216 12 7.5 4.5 5 2 85 66.4 138 25 102 16

Brake release switch

B B A C D D 240 150 300 340 253 64 150 39.6 Z-axis 150mm Z-axis 300mm Z-axis 300mm Z-axis 150mm 130 88 5 φ20 φ32 30 Hand-mount width 2×M4 depth 8 4×M4 depth 8 [Working envelope of A]

[Detail of A View] (Hand mount)

4×M5 4×M5 Hand I/O connector

Hand pneumatic joints

Hand pneumatic joints: for 4×φ4 tubes Space for cables

M4 tapped hole for grounding Backup battery compartment

[Cross Section B-B]

[Detail of D]

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

(Tapped holes for peripheral device mount)

External view

Model Type

No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

Standard cycle time (with 2 kg load) Maximum payload mass Allowable moment of inertia Positioning X-Y

Hand piping Position detection Robot controller cable Mass TH550 Horizontal multi-joint 4 550 mm (300 mm＋250 mm) ±120° ±145° 150 mm (optional: 300 mm) ±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 5 inputs / 4 outputs 4 pcs. (φ4) Absolute 5 m (optional: max. 25 m) 29 kg

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13 ■

TH650A

Standar d Z str oke φ70 φ60

φ18 ball screw inner diameter

(Axis 1 str oke r

ange)

(Axis 2 stroke range)143°

(Axis 2 str oke r_ange) 143° R650 R350 R350 R211.6 (Axis 1 str oke r ange) 160°

Hand I/O connector panel

350 (919) 123 300 340 400 100 100 200 Optional Z str oke

Space for cables

687 763 Z str oke 200 mm 963 Z str oke 400 mm 663 463 Z Pneumatic joints (4×φ6 tubes) Working Envelope 5 P9

4×5.5 drill (evenly spaced)

40

9

Detail of hand mount

Y View Battery case

Z View Detail of base mount

160 105 25 50 210 160 2×C 10 Encoder connector Hand I/O connector

Motor power connector

300 115 272 Y 160° φ20 H7 φ18 φ26 φ 196 3

External view

Model Type Cleanliness (optional) No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

Hand piping Position detection Robot controller cable Mass TH650A Horizontal multi-joint Class 10 (0.1μm) 4 650 mm (300 mm＋350 mm) ±160° ±143° 200 mm (optional: 400 mm) ±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 5 inputs / 4 outputs 4 pcs. (φ6) Absolute 5 m (optional: max. 25 m) 52 kg

High payload mass type SCARA robot TH650A

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High payload mass type SCARA robot TH850A

■

TH850A

R850 R500 R71 R5 00

(Axis 2 stroke range)

Working Envelope

3

4×5.5 drill (evenly spaced)

5 P9

40

9

Y View Battery case

Hand I/O connector panel

(1122) 500 130.5 350 663 463 400 100 1 00 288 200 Optional Z str oke Standar d Z str oke Y Z 350 Space for cables

734 763 Z str oke 200 mm 963 Z str oke 400 mm Pneumatic joints (4×φ6 tubes)

Motor power connector Encoder connector Hand I/O connector

286

1

32

316

2× C10 20 240 150 80 300 240 (Axis 1 str oke r ange) 160° (A xis₁ s_tr ok e r an ge₎ R292. 9 145° 145° 160° φ193 φ26 φ18

φ70 φ20 H7 φ60

External view

Model Type Cleanliness (optional) No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

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15 ■

TH1050A

9

(Axis 1 str oke range)

160°

145°

145° (Axis 2 stroke range)

(Axis 2 stroke range)

R1050 R50 0 R₅₀ 0 R319.3 (Axis 1 str oke r ange) 160° Working Envelope

φ20 H7

40

φ70

4×5.5 Hole

φ60

5 P9 3 Y View Battery case 663 463 400 100 100 200 Optional Z str oke Standar d Z str oke R71

Hand I/O connector panel φ1 93 (1322) 500 130.5 550 288 Y Z 350 Encoder connector Hand I/O connector

Motor power connector Pneumatic joints (4×φ6 tubes) 286 132 316 734 763 Z str oke 200 mm 963 Z str oke 400 mm 2× C10 300 240 φ26 φ18 20 150 240 80

Space for cables

External view

Model Type

Cleanliness (optional) No. of controlled axes Arm length

Working Axis 1

envelope Axis 2

Maximum Axis 1

speed Axis 2

Standard cycle time (under 2 kg load) Maximum payload mass

High payload mass type SCARA robot TH1050A

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OPTIONS

● Z-axis long stroke (-Z)

TH450 / TH550: 300 mm

TH650A / TH850A / TH1050A: 400 mm

The Z-axis stroke range is extended.

Useful in an application with large up-down

movements and handling of long workpieces

These functional optional specifications are

designed with consideration for applications,

environment, and system-layout requirements.

● Optional cables length

Between 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 suspended

from the upper side of the working area.

(Note: The working envelopes differ from the

standard-type robots. Please contact us for

details.)

● Z-Axis Cap (-C)

TH650A / TH850A / TH1050A

Protection of the Z-axis shaft upper side in an environment where liquid or chips may

scatter. 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 may

scatter.

(Note: The cycle time and Z-axis stroke differ from the standard specifications.

Please contact us for details.)

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17

● CAD Data Service

Robots and controllers external view drawings are available in DXF format, downloadable from our website

URL: http://www.toshiba-machine.co.jp

● Cleanroom Design (-CR, -CRB)

TH180 / TH250A / TH350A / TH650A / TH850A / TH1050A

Class 10 (0.1

μ

m: -CRB, 0.3

μ

m: -CR)

Applicable around the hand area and in the downward airflow of

speed 0.4 m/s or larger.

(Note: Maintain negative air pressure - air intake: approximately 60

L/min - in the robot. Limitations are imposed on acceleration

rates. 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 for

workpiece flip-over or moving the robot on a traverse

axis.

● Tool Flange for End Effectors Mounting

TH180 / 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

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FUNCTIONS AND APPLICATIONS

■

Vision + Conveyor Synchronization

137 18 69 42. 2 S ER VOON CYCLE S ERVO OFF R UN S TOP ALAR M R ESET S ELEC T LINEUSER ALAR M E XT. SIGNAL E XT. HOST P OW ER MODE E XT INT MANU E ME RGENCY UF1 UF2 Robot Controller TS2000 24 Outputs / 36 Inputs, 4 Hand Outputs / 5 Hand Inputs PLC

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

Connectivity with Programmable Display Unit.

Ladder programming in Windows environment. Touch-Sensitive Operator panel Extension I/O

■

Built-in PLC

■

Field network

PLC

TS1000

TS2000

TS2100

TH180

TH450

TH650A

Field network (CC-Link, Profibus, DeviceNet)

O：128

I ：128 *

1

O：128

I ：128 *

1

O：128

I ：128 *

1

A PLC (TCmini) is built in the controllers TS1000, 2000 and

2100. Input and output signals can be handled by

ladder-style programming logic, independent from robot

motion.

[Features and advantages]

TCmini controls input/output signals of standard I/O,

extension I/O and touch-sensitive panel by ladder program

and exchanges data with robot program.

Thus, flexible system design and control of peripheral

equipment is possible without the added cost of an outside

host PLC.

Creation, monitoring and debugging of ladder-logic

programming with powerful programming support software

TCPRGOS-W (optional).

The scan time is 5 ms per 1 K-word. Connection is possible

with various programmable controllers and display units etc.

Robot1 Vision Sensor

Trigger Signal Ethernet HUB

Conveyor Travel Distance

Controller1

Controller2 Conveyor Encoder

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

Robot2

Ether

net

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 be

shared among two or more robot controllers.

● Effective in sorting large-quantity and many types of

workpieces

･

Large quantity and many types workpieces on a conveyor

can be sorted and put in boxes by multiple robots in

coordination.

● Programming is made easy with special, dedicated

commands to realize efficient workpiece-handling, with

such functionalities as identifications and duplicate data

avoidance.)

● Damage and breakage of workpieces are prevented by

synchronization to the conveyor.

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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 review

1. Instant cycle time estimation: Cycle time is calculated just by pointing at a position, without using the programming language.

2. Guidance for high-speed motions: Coloured speed map display indicates fast-motion areas from a given start position, guiding you to make the most optimized system layout.

3. Conversion to robot program:

Input positions data can be converted to a robot program just by one click on a menu.

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 ladder

program and I/O status help reduce development and debugging time.

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

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Head Office: 2068-3, Ooka, Numazu-shi, Shizuoka-ken 410-8510, Japan Phone: 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

●Before using, read through and completely understand the appropriate instruction 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]