Automation and Control

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SCARA

The widest range of Scara Robots in Europe

 

SCARA

Toshiba Machine’s range of SCARA industrial robots is believed to be the widest in Europe. Ranging from the tiny TH180, ideal for use in high precision applications, to the impressive TH1200A, which finds a home in heavy duty pick and place applications, the entire series is easy to install, program and manage.
SCARA stands for Selective Compliant Assembly Robot Arm or Selective Compliant Articulated Robot Arm – the two acronyms are both common and are entirely interchangeable. This acronym is the key to understanding the advantages of a SCARA robot.

The first thing to recognise is the robot’s parallel-axis joint layout, which is compliant in the X-Y direction but rigid in the ‘Z’ direction, hence the term ‘Selective Compliant’. This offers enormous advantages in all sorts of primary and secondary packaging applications as well as a host of other pick and place functions. Secondly, the jointed, two-link arm layout is similar to a human arm, which is why the phrase ‘articulated’ forms part of the acronym. As a result, the robot can reach into confined areas and then fold back out of the way.

Toshiba Machines’ SCARA robots are available with a host of options, including ceiling mount, IP65, conveyor synchronisation and vision.

Standard specifications SCARA

  • Standard specifications THL300-THL700

    Standard specifications SCARA-THL-Series
      THL300 THL400 THL500 THL600 THL700
    No. of controlled axes 4
    Arm length total,
    (first arm / second arm)     		300
    (125 + 175) mm     		400
    (225 + 175) mm     		500
    (300 + 200) mm     		600
    (300 + 300) mm     		700
    (400 + 300) mm
    Working envelope  
    Axis 1 +/-125°
    Axis 2 +/-145°
    Axis 3 (z-Axis ) 0 … 160 mm 0 … 150 mm (optional 300 mm)
    Axis 4 (z-Axis rotation) +/-360°
    Maximum speed
    Axis 1 660 °/s 450 °/s
    Axis 2 660 °/s 450 °/s
    Axis 3 (z-Axis ) 1120 mm/s 2000 mm/s
    Axis 4 (z-Axis rotation) 1500 °/s 1700 °/s
     
    Composite 5,1 m/s 6,3 m/s 6,3 m/s 7,1 m/s 7,9 m/s
    Standard cycle time (with 2kg load) 0,48 s 0,47 s 0,45 s 0,45 s 0,5 s
    Maximum payload mass 5 kg 10 kg (Ratings 2kg)
    Allowable moment of inertia 0,05 kgm² 0,2 kgm²
    Positioning repeatability
    X, Y +/-0,01 mm
    Z (Axis 3) +/-0,015 mm
    Z-Axis rotation 4 +/-0,007°
     
    Input / output signals for hand 8 Inputs / 8 outputs
    Pneumatic piping for hand Ø 4 x 3 pcs. Ø 6 x 3 pcs.
    Position detecting system Absolute
    Robot-controller cable 3,5 m
    Mass of robot body 12 kg 13 kg 22 kg 23 kg 24 kg

  • Standard specifications THL800-THL1000

    Standard specifications SCARA-THL-Serie 
      TH800 THL900 THL1000
    No. of controlled axes 4
    Arm length total,
    (first arm / second arm)    		 800
    (350 + 450)    		 900
    (450 + 450)    		 1000
    (550 + 450)
    Working envelope
    Axis 1 +/-125°
    Axis 2 +/-145°
    Axis 3 (Z-axis) 0 … 300 mm
    Axis 4 (Z-axis rotation) +/-360°
    Maximum speed
    Axis 1 187,5 °/s
    Axis 2 217,5 °/s
    Axis 3 (Z-axis) 2000 mm/s
    Axis 4 (Z-axis rotation) 1700 °/s
     
    Composite 4,3 m/s 4,6 m/s 5,0 m/s
    Standard cycle time (with 2kg load) 0,47 s  0,48 s 0,48 s
    Maximum payload mass 10 kg (Ratings 2kg)
    Allowable moment of inertia 0,2 kgm²
    Positioning repeatability
    X, Y +/-0,02 mm
    Z (axis 3) +/-0,015 mm
    Z-axis rotation 4 +/-0,007°
     
    Input / output signals for hand 8 inputs / 8 outputs
    Pneumatic piping for hand Ø 6 x 3 pcs.
    Position detecting system Absolute
    Robot-controller cable 3,5 m
    Mass of robot body 32 kg 34 kg 36 kg

  • Standard specifications TH180 - TH550A

    Standard specifications TH180 - TH550A
      TH180 TH250A TH350A TH450A TH550A
      Compact class High-precision and high-speed
    Arm length total, (first arm / second arm) 180
    (70 + 110) mm     		250
    (125 + 125) mm     		350
    (225 + 125) mm     		450
    (200 + 250) mm     		550
    (300 + 250) mm
    Working envelope          
    Axis 1 +/-120° +/-115° +/-115° +/-120° +/-120°
    Axis 2 +/-140° +/-140° +/-145° +/-145° +/-145°
    Axis 3 (z-Axis ) 120 mm 120 mm
    (150 mm)     		120 mm
    (150 mm)     		150 mm
    (300 mm)     		150 mm
    (300 mm)
    Axis 4 (z-Axis rotation) +/-360° +/-360° +/-360° +/-360° +/-360°
    Maximum speed          
    Axis 1 533 °/s 540 °/s 337,5 °/s 600 °/s 375 °/s
    Axis 2 480 °/s 540 °/s 540 °/s 600 °/s 600 °/s
    Axis 3 (z-Axis ) 1013 mm/s 1120 mm/s 1120 mm/s 2000 mm/s 2000 mm/s
    Axis 4 (z-Axis rotation) 1186 °/s 1143 °/s 1143 °/s 2000 °/s 2000 °/s
               
    Composite 2,6 m/s 3,53 m/s 3,24 m/s 7,33 m/s 6,21 m/s
    Standard cycle time 0,35 s (@ 1 kg payload) (*1) 0,41 s (@ 1 kg payload) (*2) 0,41 s (@ 1 kg payload) (*2) 0,33 s (@ 2 kg payload) (*2) 0,33 s (@ 2 kg payload) (*2)
    Maximum payload mass 2 kg 3 kg 3 kg 5 kg 5 kg
    Allowable moment of inertia at end 0,01 kgm² (*3) 0,017 kgm² (*3) 0,017 kgm² (*3) 0,05 kgm² (*3) 0,05 kgm² (*3)
    Positioning repeatability          
    X, Y, Z +/-0,01 mm +/-0,01 mm +/-0,01 mm +/-0,015 mm +/-0,015 mm
    Axis 4 (z-axis rotation) +/-0,005° +/-0,005° +/-0,005° +/-0,005° +/-0,005°
               
    Input / output signals for hand 5 inputs,
    4 outputs    		 5 inputs,
    4 outputs    		 5 inputs,
    4 outputs    		 5 inputs,
    4 outputs    		 5 inputs,
    4 outputs
    Pneumatic piping for hand 4 mm-dia.X4 pcs 4 mm-dia.X4 pcs 4 mm-dia.X4 pcs 4 mm-dia.X4 pcs 4 mm-dia.X4 pcs
    Robot-controller cable 3 m
    (optional max. 5m)    		 3 m
    (optional max. 5m)    		 3 m
    (optional max. 5m)    		 5 m
    (optional max. 25 m)    		 5 m
    (optional max. 25 m)
    Mass of robot body 9 kg 14 kg 14 kg 27 kg 29 kg
    Controller TS3000E TS3000E TS3000E TS3000E TS3000E

    *1: Motion pattern 100 mm horizontal motion, 25 mm vertical motion and round-trip
    *2: Motion pattern 300 mm horizontal motion,, 25 mm vertical motion and round-trip
    *3: The acceleration/deceleration rates may be limited depending on motion patterns, load mass and offset amount.

  • Standard specification TH650A - TH1200A

    Standard specification TH650A - TH1200A
      TH650A TH850A TH1050A TH1200
      High-load capacity, high-speed and high-precision
    Arm length total,
    (first arm / second arm)     		650
    (300 + 350) mm    		 850
    ( 350 + 500) mm    		 1050
    ( 550 + 500) mm    		 1200
    (700 + 550) mm
    Working envelope
    Axis 1 +/-160° +/-160° +/-160° +/-160°
    Axis 2 +/-145° +/-145° +/-145° +/-145°
    Axis 3 (z-axis) 200 mm (400 mm) 200 mm (400 mm) 200 mm (400 mm) 200 mm (400 mm)
    Axis 4 (z-axis rotation) +/-360° +/-360° +/-360° +/-360°
    Maximum speed
    Axis 1 340 °/s 300 °/s 300 °/s 240 °/s
    Axis 2 600 °/s 420 °/s 420 °/s 330 °/s
    Axis 3 (z-axis) 2050 mm/s 2050 mm/s 2050 mm/s 1800 mm/s
    Axis 4 (z-axis rotation) 1700 °/s 1200 °/s 1200 °/s 1200 °/s
     
    Composite 7,52 m/s 8,13 m/s 9,15 m/s 7,9 m/s
    Standard cycle time 0,31 s (@ 2 kg payload) (*2) 0,39 s (@ 2 kg payload) (*2) 0,39 s (@ 2 kg payload) (*2) 0,57 s (@ 2 kg payload) (*2)
    Maximum payload mass 10 kg 20 kg 20 kg 20 kg
    Allowable moment of inertia at end 0,1 kgm² (*3) 0,2 kgm² (*3) 0,2 kgm² (*3) 0,2 kgm² (*3)
    Positioning repeatability
    X, Y, Z +/-0,01 mm +/-0,01 mm +/-0,01 mm +/-0,03 (Z: +/-0,002) mm
    Axis 4 (z-axis rotation) +/-0,004° +/-0,004° +/-0,004° +/-0,005°
             
    Input / output signals for hand 5 Inputs,
    4 outputs     		5 Inputs,
    4 outputs     		5 Inputs,
    4 outputs     		5 Inputs,
    4 outputs
    Pneumatic piping for hand 6 mm-dia.X4 pcs 6 mm-dia.X4 pcs 6 mm-dia.X4 pcs 6 mm-dia.X4 pcs
    Robot-controller cable 5 m
    (optional max. 25 m)    		 5 m
    (optional max. 25 m)    		 5 m
    (optional max. 25 m)    		 5 m
    (optional max. 25 m)
    Mass of robot body 51 kg 76 kg 80 kg 83 kg
    Controller TS3100E TS3100E TS3100E TS3100E

    *1: Motion pattern 100 mm horizontal motion, 25 mm vertical motion and round-trip
    *2: Motion pattern 300 mm horizontal motion,, 25 mm vertical motion and round-trip
    *3: The acceleration/deceleration rates may be limited depending on motion patterns, load mass and offset amount.

  • Standard specification THP550 + THP700

    Standard specification THP550 + THP700
      THP550 THP700
      Horizontal multi-jointer
    Number of axis 4 4
    Arm length total,
    (first arm / second arm)     		550
    (300 + 250) mm    		 700
    (350 + 350) mm
    Working envelope
    Axis 1 +/- 120°
    Axis 2 +/-145°
    Axis 3 (z-axis) 150 mm (300 mm)
    Axis 4 (z-axis rotation) +/-360°
    Maximum speed
    Axis 1 375 °/s 340 °/s
    Axis 2 600 °/s 600 °/s
    Axis 3 (z-axis) 2000 mm/s 2050 mm/s
    Axis 4 (z-axis rotation) 2000 °/s 1800 °/s
     
    Composite 6,21 m/s 7,8 m/s
    Standard cycle time 0,29 s (*1) 0,345 s (*1)
    Maximum payload mass 2 kg 10 kg
    Allowable moment of inertia at end 0,01 kgm² (*2) 0,01 kgm² (*2)
    Positioning repeatability
    X, Y +/-0,015 mm (*3) +/-0,03 mm (*3)
    Z +/-0,01 mm (*3) +/-0,02 mm (*3)
    Axis 4 (z-axis rotation) +/-0,02° (*3) +/-0,02° (*3)
         
    Input / output signals for hand 8 Inputs / 8 outputs 8 Inputs / 8 outputs
    Pneumatic piping for hand Ø 4 mm, 4 pcs Ø 6 mm, 4 pcs
    Position detecting system Absolute Encoders, AC servo motor
    Robot-controller cable 5 m
    (optional max. 25 m)    		 5 m
    (optional max. 25 m)
    Mass of robot body 26 kg 57 kg
    Controller TS3100E TS3100E

    *1: Payload 2 kg. The acceleration/deceleration rates may be limited depending on motion patterns, load mass and offset amount.
    *2: Continous operation is not possible beyond the effective load ratio on the standard cycle time motion pattern. Horizontal 300mm?Vertical 25mm, round-trip
    *3: At constant temperature

  • Controller

    Controller
      TS3000E TS3100E
    Number of axis Standard 4 axis, maximum 5 axis Maximum 8 axis simultaneous control
    Operation mode PTP, CP (linear, circular), Short cut, Arch motion
    Position detecting system Absolute -Encoders
    Storage capacity Total: 12800 points + 25600 steps 1 program: 2000 points + 3000 steps Total: 12800 points + 25600 steps 1 program: 2000 points + 3000 steps
    No. of programs Max. 256 (247 user files + 9 system files)
    Programming language SCOL (Symbolic Code Language, similar to BASIC)
    Teaching unit (option) Teach Pendant TP1000, 5-meter cable, (Program can be written on PC)
    External I/O 32 inputs / 32 outputs 32 inputs / 32 outputs
    Hand control signal 8 inputs / 8 outputs 8 inputs / 8 outputs
    External operation signal Inputs: Cycle operation start,stop,reset,etc Outputs: Servo-On status, emergency stop, ready for operation, malfunction alarm, etc
    Serial communication port 2 x RS-232C, 1 x Ethernet 2 x RS-232C, 1 x Ethernet
    Power supply Single phase 200/240 V AC, 50/60 Hz, 2,3 kVA Single phase 200/250 V AC, 50/60 Hz, 4,4 kVA
    Dimension (WxHxD), Mass 290 x 230 x 298 [mm], 13 kg 420 x 230 x 298 [mm], 17 kg
    Other functions Torque control,Interruptive functions, self-diagnosis, I/O control and communications during motion, Coordinate calculations, Built-in PLC, etc
    Certification Safety relais box TS3SFB, according to safety category 3 corresponding to ISO10218-1:2011 and ISO13849-1:2008
    Options I/O extention, I/O cable, Field-Network (DeviceNet®, CC-Link®, ProfiBus®)

Downloads

SCARA_Flyer-THP700-T SCARA_Flyer-THP700-T
SCARA_Flyer-THP700 SCARA_Flyer-THP700
SCARA_Flyer-THP550 SCARA_Flyer-THP550
SCARA_Flyer-THL700 SCARA_Flyer-THL700
SCARA_Flyer-THL600 SCARA_Flyer-THL600
SCARA_Flyer-THL500 SCARA_Flyer-THL500
SCARA_Flyer-THL400 SCARA_Flyer-THL400
SCARA_Flyer-THL300 SCARA_Flyer-THL300
SCARA_Flyer-TH850A SCARA_Flyer-TH850A
SCARA_Flyer-TH650A SCARA_Flyer-TH650A
SCARA_Flyer-TH350A SCARA_Flyer-TH350A
SCARA_Flyer-TH180 SCARA_Flyer-TH180
SCARA_Flyer-TH1200A SCARA_Flyer-TH1200A
SCARA_Flyer-TH1050A SCARA_Flyer-TH1050A
SCARA-Operators Manual [TS3000-TS3100]_e_STE80720-1 SCARA-Operators Manual [TS3000-TS3100]_e_STE80720-1

 

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