Toshiba TH180, Instruction Manual, Page: 76 / 80

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TRANSPORTATION AND INSTALLATION MANUAL
Item Specifications
Structure Horizontal multi-joint type SCARA robot
Model TH250A TH350A
Applicable controller TS1000
Mass of actuator 14 kg
No. of controlled axes Four (4)
Arm length 250 mm (125 mm +
125 mm)
350 mm (225 mm +
125 mm)
Axis 1 200 (W)
Axis 2 100 (W)
Axis 3 100 (W)
Motor capacity
Axis 4 100 (W)
Axis 1 ±115 (deg)
Axis 2 ±140 (deg)
Axis 3 120 (mm)
Operating range
Axis 4 ±360 (deg)
Axis 1 540 (deg/s) 337.5 (deg/s)
Axis 2 500 (deg/s)
Axis 3 1120 (mm/s)
Axis 4 1143 (deg/s)
Maximum speed
(*1)
Composite
speed of axes
1 and 2 3.53 (m/s) 3.24 (m/s)
Rated payload mass 1 (kg)
Maximum payload mass 3 (kg)
Permissible load inertia (*1)
0.017 (kg·m
2
)
X, Y ±0.01 (mm)
Z ±0.01 (mm) Repeatability
C ±0.03 (deg)
Cycle time (*2) (When payload
mass is 2 kg) 0.41 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
*1: When the mass of load exceeds 1 kg, or when the gravity center position of load
is away from the axis 4 center position, both the speed and acceleration should
be reduced, using the PAYLOAD command.