SCARA
The widest range of Scara Robots in Europe
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
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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) mm400
(225 + 175) mm500
(300 + 200) mm600
(300 + 300) mm700
(400 + 300) mmWorking 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) mm250
(125 + 125) mm350
(225 + 125) mm450
(200 + 250) mm550
(300 + 250) mmWorking 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 outputs5 inputs,
4 outputs5 inputs,
4 outputs5 inputs,
4 outputs5 inputs,
4 outputsPneumatic 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) mm850
( 350 + 500) mm1050
( 550 + 500) mm1200
(700 + 550) mmWorking 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 outputs5 Inputs,
4 outputs5 Inputs,
4 outputs5 Inputs,
4 outputsPneumatic 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) mm700
(350 + 350) mmWorking 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®)
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Exhibtion
26 - 28 November 2019
Nuremberg, Germany
Hall A4 / Stand 259
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