Product Features & Benefits
- 6-Axis vertically articulated arms
- Available in 800, and 1000mm arm lengths
- Up to 5kg payload
- Ideal for machine loading/unloading and assembly applications
Product Specifications
| Arm Length | Total Length | 1000mm |
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| 1st Arm | 480mm |
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| 1st Arm | 520mm |
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| Reach | 1090mm |
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| Working envelope | Axis 1 (J1) | ±170° |
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| Axis 2 (J2) | -100 ∼ +150° |
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| Axis 3 (J3) | -127 ∼ +167° |
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| Axis 4 (J4) | ±190° |
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| Axis 5 (J5) | ±120° |
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| Axis 6 (J6) | ±360° |
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| Maximum speed *1 | Axis 1 (J1) | 237°/s |
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| Axis 2 (J2) | 240°/s |
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| Axis 3 (J3) | 288°/s |
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| Axis 4 (J4) | 350.5°/s |
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| Axis 5 (J5) | 484°/s |
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| Axis 6 (J6) | 576°/s |
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| Composite *2 | 9.61m/s |
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| Standard cycle time *3 | Horizontal: 300mm
Vertical: 25mm | 0.6sec |
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| Load | Maximum payload | 5kg |
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Allowable moment
of inertia *1 | Axis 4, 5 | 0.3kg·m2 |
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| Axis 6 | 0.05kg·m2 |
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| Positioning repeatability | X, Y, Z *4 | ±0.03mm |
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| Input Signal for Hand | 8 inputs, 8 outputs |
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| Air Piping for Hand | φ6×3pcs. |
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| Position Detection Method | Absolute encoder mode |
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| Total Weight | 47kg |
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| Attached Cable | Standard: 5m |
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| Controller | |
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＊1： Acceleration rates are limited depending on motion patterns, payload mass, and offset value.
＊2： Under rated load.
＊3： Continuous operation of standard cycle motion pattern is not possible beyond the effective load ratio. (Horizontal 300 mm, vertical 25 mm, round-trip, course positioning)
＊4： When the environment temperature is constant.
Controller Specifications
| TS3100 Controller |
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| Series | TH, THP, TV |
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| Teach Pendant | TP1000, TP3000, TV1000-6ax |
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| Power Supply | Single phase
200-240VAC @ 50/60Hz |
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| Max Power Capacity | 3.5~4.8 kVA |
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| Dimensions | 420W x 230H x 298D |
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| Mass | 17kg |
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| Storage | 256 programs
12800 points
25600 steps |
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| CE Version | TS3100E + SFB |
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| USER I/O Count | 32/32 |
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| SYSTEM I/O Count | 13/10 |
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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, teach mode on, 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 (3), 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, pulse output control, conveyor tracking, vision+conveyor tracking |
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| Optional SCOL Functions | All options included as standard. |
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| External Control Standard Functions | HOST Protocol, .dll library, LabView integration support |
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Click here to download this product's data sheet
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