TRANSPORTATION AND INSTALLATION MANUAL
17
1.4. Specifications Table
No
Item
Specifications
Remarks
1
Structure
Vertical multi-joint
2
Model
TVL500
TVL700
3
No. of controlled axes
6
4
Arm length
Total length
500(mm)
700(mm)
Arm 1
260(mm)
400(mm)
Arm 2
240(mm)
300(mm)
Reach
602(mm)
801(mm)
5
Motor capacity /
Current limit
Axis 1
400(W) / 18.1(A
0-P
)
Axis 2
400(W) / 18.1(A
0-P
)
Axis 3
100(W) / 4.666(Ao-p)
Axis 4
50(W) / 5.091(Ao-p)
Axis 5
50(W) / 5.091(Ao-p)
Axis 6
50(W) / 5.091(Ao-p)
6
Operating range
Axis 1
±170(deg)
Axis 2
-64~+165(deg)
-90~+165(deg)
Axis 3
-0~+150(deg)
-0~+165(deg)
Axis 4
±190(deg)
Axis 5
±120(deg)
Axis 6
±360(deg)
7
Maximum speed
Axis 1
435(deg/sec)
295(deg/sec)
Note 1)
Axis 2
348(deg/sec)
270(deg/sec)
Axis 3
348(deg/sec)
295(deg/sec)
Axis 4
422(deg/sec)
Axis 5
422(deg/sec)
Axis 6
696(deg/sec)
Maximum
composite
speed
7.98(m/sec)
7.71(m/sec)
8
Payload mass
Rating
1(kg)
Note 1)
Max.
3(kg)(Downward 5 kg)
4(kg)(Downward 5 kg)
9
Standard cycle time
(for 1 kg transportation)
0.3 (sec) unit
0.4 (sec) unit
Note 2)
10
Permissible load
inertia
Axes 4 and 5
0.15(kgm
2
)
0.09(kgm
2
)
Note 1)
Axis 6
0.20(kgm
2
)
0.10(kgm
2
)
11
Repeatability
X-Y-Z
±0.02(mm) Each
component
±0.03(mm) Each
component
Note 3)
12
Drive system
TSL3100/TSL3100E/TS3100
13
Power supply capacity
1.5(kVA)
14
Robot body
Mass
28(kg)
31(kg)
Color
White/blue
Note 4)
Note 1: The speed and acceleration are limited in accordance with the operation pattern, the load
mass, and the offset value.
Note 2: Continuous operation cannot be performed if the effective load factor of the standard cycle
operation pattern is exceeded.
When carrying 1kg, with horizontal direction 300 mm, vertical direction 25 mm round-trip, and
rough positioning
