TRANSPORTATION AND INSTALLATION MANUAL
STE80753
– 15 –
1.3 Specifications
Table
Item Specifications
Structure
Horizontal multi-joint type SCARA robot
Model TH850A
TH1050A
TH1200A
Applicable controller
TS3100
Mass of actuator
76 kg
80 kg
83 kg
No. of controlled axes
4
Arm length
850 mm
(350 mm +
500 mm)
1050 mm
(550 mm +
500 mm)
1200 mm
(550 mm +
650 mm)
Axis 1
1000 (W)
Axis 2
1000 (W)
Axis 3
600 (W)
Motor capacity
Axis 4
750 (W)
Axis 1
±
160 (deg)
Axis 2
±
145 (deg)
Axis 3
200 (mm) [Option: 400 (mm)]
Operating
range
Axis 4
±
360 (deg)
Axis 1
300 (deg/s)
240 (deg/s)
Axis 2
420 (deg/s)
330 (deg/s)
Axis 3
2050 (mm/s)
1800 (mm/s)
Axis 4
1200 (deg/s)
1200 (deg/s)
Maximum
speed (*1)
Composite speed of
axes 1 and 2
8.13 (m/s)
9.15 (m/s)
7.9 (m/s)
Rated payload mass
5 (kg)
Maximum payload mass
20 (kg)
Permissible load inertia (*1)
0.2 (kg•m
2
)
X, Y
±
0.01 (mm)
±
0.03 (mm)
Z
±
0.01 (mm)
±
0.02 (mm)
Repeatability
C
±
0.004 (deg)
±
0.005 (deg)
Cycle time (*2) (When payload mass
is 5 kg)
0.39 (sec)
0.56 (sec)
Drive system
By means of AC servo motors
Position detection method
Absolute
*1:
When the mass of load exceeds 5 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.
*2:
Shuttle time for rough positioning in horizontal direction of 300 mm and vertical direction of 25
mm.
