Product Specifications
Arm Length | Full length | 400 mm |
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First arm | 225 mm |
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Second arm | 175 mm |
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Working Envelope | Axis 1 | ±130 ° |
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Axis 2 | ±145 ° |
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Axis 3 (Z-axis) | 0 ~ 160 mm |
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Axis 4 (Z-axial rotation) | ±360° |
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Maximum Speed *1 | Axis 1 | 672 °/sec |
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Axis 2 | 780 °/sec |
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Axis 3 (Z-axis) | 1,120 mm/sec |
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Axis 4 (Z-axial rotation) | 1,800 °/ssec |
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Composite (Axis 1 and 2 composite) | 7.0 m/sec |
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Standard Cycle Time *2 | (With 2 Kg load) | 0.39 sec |
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Load | Maximum payload mass *1 | 5 kg |
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Allowable moment of inertia *1 | 0.06 kg·m2 *2 |
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Position Repeatability *3 | X-Y | ±0.01 mm |
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Axis 3 (Z-axis) | ±0.01 mm |
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Axis 4 (Z-axial rotation) | ±0.007 ° |
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Hand wiring *4 | 8 inputs and 8 outputs |
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Hand Pneumatic Joint *4 | Provided by user |
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Position Detection | Absolute |
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Robot Controller Cable | 3.5 m |
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Power Supply | 2.6 kVA |
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Mass | 15 kg |
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Controllers | |
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*1: Acceleration/deceleration rates may be limited according to the motion pattern, load mass and amount of offset.
*2: Horizontal 300 mm, vertical 25 mm, round-trip with coarse positioning. Continuous operation is not possible beyond the effective load ratio.
*3: Positioning repeatable accuracy in one-direction movement, when the environmental temperature is constant 20°C. Not absolute positioning accuracy. Positioning repeatability for X-Y and C are for when Z-axis is at the upper-most position. Trajectory accuracy is not ensured.
*4: Optional design duct for hand wiring and tubing is planned.
Controller Specifications
| TSL3000 Controller |
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Series | THL, THE, BAIII |
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Teach Pendant | TP1000, TP3000 |
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Power Supply | Single phase 190-240VAC @ 50/60Hz |
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Max Power Capacity | 0.7 ~ 1.4 kVA |
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Dimensions | 150W x 266H x 304D |
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Mass | 7kg |
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Storage | 256 programs 6400 points 12800 steps |
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CE Version | TSL3000E Dimensions change: 320W x 266H x 304D 13kg |
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USER I/O Count | 8/8 |
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SYSTEM I/O Count | 13/9 |
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SYSTEM INPUTS | Alarm reset, strobe, program reset, step reset, cycle reset, output reset, start, external servo on, stop, cycle mode, break, low speed, servo off |
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SYSTEM OUTPUTS | Servo ready, battery alarm, acknowledge, external mode on, system ready, autorun, alarm, cycle end, low speed on |
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Fieldbus SLAVE options | DeviceNet, Profibus, CC-Link, Ethernet I/P, EtherCat, ProfiNet |
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Extended I/O Options | TR48-DIOC Module Add 28In/20Out Up to 2 modules can be added to controller |
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Communications | RS232C (2), Ethernet (TCP/IP), USB |
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Standard SCOL Functions | Torque control (individual axis), gain control (individual axis), interrupt functions, SPURT function, coordinate calculations, payload command, multi-tasking, AREA output function, NCBOY additional axis control, self-diagnostics |
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Optional SCOL Functions | Pulse output control, conveyor tracking, vision+conveyor tracking |
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External Control Standard Functions | HOST Protocol, .dll library, LabView integration support |
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