Latest Toshiba Scara

8/9/2019 Latest Toshiba Scara

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Compact SCARA Robot TH180, TH250A, TH350A

High-Speed and High-Precision SCARA Robot TH450, TH550

High Payload Mass SCARA Robot TH650A, TH850A, TH1050A

SCARA ROBOT TH SERIES

Wide Variations, Fast-Motion, and High Duty

Catalog TH0026-CJD-01


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SCARA Robot TH Series

The TH series, Flexible and Fast Maneuver ofTime-Space

Full lineup: From small to large, range to meet wide range of applications.

High-Speed: Fast motion for improved efficiency.

Wide Working Envelope

Working envelopes are widened to

the maximum to allow for the maxi-

mum freedom in system layout.

Diversity in Standard Features

Wiring and piping for user-side devices:Wiring and piping for end-effector control are built in the arm.

Z-axis brake release switch:The Z-axis brake release switch located on the arm for quick, one-touch

operation.

7-segment display:Error code, program step number, customized data such as process count

are displayed on the controller operation panel.

Torque control:Compliant to external force or obstruction, to protect workpieces and

end-effectors, and for press-in work. Constant Speed:

Constant speed along the motion path. Effective in such applications as

sealing.

Multi-task:Robot motion program and I/O signals (peripheral) handling are executed in

parallel, for more interactions and better time efficiency.

PLC function:A built-in PLC to control peripheral equipment and touch-sensitive panel

connection.

Field Networks (optional)

Various field network protocols are available, for high-speed communication,

reductions in wiring.

For the Ethernet (not supported by TS1000), CC-Link, DeviceNet and Profibus,

please request for detailed manuals.

Cleanroom Specification

(Optional)

Class 10 (0.3 m)TH180-CR/TH250A-CR/

TH350A-CR/TH650A-CR

Class 10 (0.1 m)TH250A-CRB/TH350A-CRB/

TH650A-CRB/TH850A-CRB/

TH1050A-CRB

High-performance evolution in Horizontal multi-joint type robot, TH series.Eight arm-length varieties with distinctive characteristics and full of convenientfunctionalities to suit broader range of applications.

Model Arm length Z-axis stroke Max. payload mass Model Arm length Z-axis stroke Max. payload mass

TH180 180 mm 120 mm 2 kg TH550 550 mm 150 mm 5 kg

TH250A 250 mm 120 mm 3 kg TH650A 650 mm 200 mm 10 kg

TH350A 350 mm 120 mm 3 kg TH850A 850 mm 200 mm 20 kg

TH450 450 mm 150 mm 5 kg TH1050A 1050 mm 200 mm 20 kg

Model Standard Cycle Time Load Max. Speed (Composite) Model Standard Cycle Time Load Max. Speed (Composite)

TH180 0.35 s 1 kg 2.6 m/s TH550 0.33 s 2 kg 6.21 m/s

TH250A 0.41 s 1 kg 3.53 m/s TH650A 0.31 s 2 kg 7.52 m/s

TH350A 0.41 s 1 kg 3.24 m/s TH850A 0.39 s 2 kg 8.13 m/s

TH450 0.33 s 2 kg 7.33 m/s TH1050A 0.39 s 2 kg 9.15 m/s

(Axis

1ope

ratin

grang

e)

(Axis2opera

tingrange)

143

(Axis1operatingrange)

143

R650

R350

R350

R211

.6

(Axis1operatingrange)

160

160

Working Envelope of TH650A


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SCARA Robot TH Series

End-effector pneumatic joints

Convenient Optional Features

Z-axis Related Options(1) Long stroke

Standard 150 mm 300 mmStandard 200 mm 400 mm

(2) Cap: TH450 ~ TH1050A

(3) Protective bellows: TH650A ~ TH1050A

Ceiling-Mount ConfigurationEffective use of space is possible : TH350A ~

TH650A

Tool flange for end-effector mount: TH180 ~TH550

I/O Related Options(1) Additional I/O unit:

28 inputs and 20 outputs per unit, up to two

units.

(2) I/O cables: For standard and additional

I/O's, 6 m-long each

Controller Related Options(1) Separated operation panel: The operation

panel can be installed, separated from the

robot controller, using a dedicated cable (3 m-

or 5 m-long). The connector panel can also be

separated.

(2) Side brackets: for rack-mount.

Cable Length(1) Between robot and controller

H180 ~ TH350A: Standard 3 m Maximum 10 m

TH450 ~TH1050A: Standard 5 mMaximum 25 m

Conveyor Synchronization FunctionsDetection of workpieces on moving conveyors

by vision sensors and synchronized handling

by the robot Simultaneously.

Position Data Latch FunctionRegistering of position data at the instant of

high-speed input signal.

CE CompliantCE -compliant designs are available.

Supportive Software

TSPC: for Programming SupportProgram editor, grammar check, and file transfer;

simple operations such as program selection and

execution; Real time monitors of variables and I/O

status; and 3D simulation.

TSLayout: for Layout ReviewGuiding to optimizing system layout that results in

the high-speed operation.

TCPRGOS: Ladder Program Creation for Built-inPLC

Connector for Encoder

Z-axis brake release switch

End-effector I/O connector

Connector formotor power

Pneumatic joint forcleanroom vacuum

End-effector pneumaticjoints

End-effector I/O connector


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TH Series Lineup

TH180 TH250A TH350A

TH450 TH550

TH650A TH850A TH1050A

Compact SCARA Robot

High-Speed and High-Precision SCARA Robot

High Payload Mass SCARA Robot

Arm Length 180 mm Z-Axis Stroke 120 mm Maximum Payload Mass 2 kg

Arm Length 450 mm Z-Axis Stroke 150/300 mm Maximum Payload Mass 5 kg








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TS Series Controllers

TS1000 TS2000

Controller

TS2100

TP1000

Teach pendant

TS1000 TS2000 TS2100Model

Standard 4 axes (Maximum 5 axes: TS2000/TS2100)

PTP (point-to-point), CP (Continuous Path; Linear, Circular), Short-Cut, Arch Motion

Absolute Encoders

Approx. Total: 6400 points + 12800 steps 1 program: 2000 points + 3000 steps

Maximum 256 (247 user files + 9 system files)

SCOL (similar to BASIC)

Teach pendant TP1000: Cable length 5 m / Programming support PC software TSPC also available

Interruption processing, robot motion ON signal, communication processing,

arithmetic operation, torque limit, PLC, self-diagnosis, etc.

Single phase,

AC190 V ~ 250 V, 50/60 Hz, 1.1 kVA

Single phase,

AC190 V ~ 250 V, 50/60 Hz, 2.3 kVA

Three-phase,

AC190 V ~ 250 V, 50/60 Hz, 3.5 ~ 4.4 kVA

5 inputs / 4 outputsInput: cycle operation mode, start, stop, program reset, etc. Output: Servo ON, operation ready, fault, etc.

RS232C: 2 ports

16 inputs / 16 outputs

8 / 8 can be assigned to system signals.

31+7 inputs / 22+10 outputs

7 / 10 can be assigned to system signals.

No. of Controlled Axes

Motion Modes

Position Detection

Storage Capacity

No. of Registrable Programs

Programming Language

Teaching Unit

External I/O Signals

Hand Control SignalsExternal Operation signal

Serial Communication Ports

Other Functions

PC Software for Programming

Support (optional)

Options

TSPC: Program editor, teaching, remote operation TCPRGOS: PLC sequence program creation

(Supporting OS: Windows2000, WindowsXP)

Conveyor synchronization (not supported by TS1000), Additional I/O, I/O cable, position data latch function,

smooth (constant speed) function, separated operation panel, network (Ethernet: Not supported by TS1000,

CC-Link, DeviceNet, Profibus), CE-compliant

Outer Dimensions and Mass 170W290H280Dmm/ 10 kg 290W230H280Dmm/ 12 kg 420W230H300Dmm/ 16 kg

Power Supply and Capacity

Controller Specifications

Windows is a registered trademark of Microsoft Corporation in the U.S.A.

Ethernet is a registered trademark of XEROX Corp. in the U.S.A.

CC-Link is a registered trademark of CC-Link Partner Association.

DeviceNet is a registered trademark of ODVA.

Profibusis is a registered trademark of Profibus User Organization.

Optional


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TS Series Controllers External View

Space for controller ventilationUpward direction: 100 mm or more

Left and right side direction: 50 mm or more

280

315

290

301

Cable space120 mm or more

170

Top view

Rear view Front view Right-sideview

TS2000Robot Controller

230

12

290100 or more100 or more

28030.5

Space forcable connection


Top view

Rear view

Front view Right-side view

T O S H I B A M A C H I N E

TS2100


Space forcable connection Top view

Rear view

Front view Right-side view

TS1000

TS2000

TS2100


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Compact SCARA robot TH180

TH180

External view

TH180

Horizontal multi-joint type

Class 10 (0.3 m)4 axes

180 mm (70 mm110 mm)

120

140

120 mm

360

533/s

480/s

1013 mm/s

1186/s

2.6 m/s

0.35 s

2 kg0.01 kgm2 *3

0.01 mm*4

0.01 mm*4

0.005*4


4 pcs. (4)

3 m (optional: maximum 10 m)

9 kg

Model

Type

Cleanliness (optional)No. of controlled axes

Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)

Axis 4 (Z-axis rotation)

Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite

Standard cycle time (with 1 kg load)

Maximum payload massAllowable moment of inertia

Positioning X-Y

repeatability Axis 3 (Z-axis)


Wiring for hand

Pneumatic piping for hand

Robot-Controller Cable

Mass

For *1, *2, *3 and *4, see page 5.


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TH250A

M4 thread hole for grounding

Hand I/O connector

Axis 3 brake release switch

Motor power connector

Encoder connector

Pneumatic joint for cleanroom vacuum:

for6tube

Hand pneumatic joints: for 4 tube

External view

TH250A

Horizontal multi-joint

Class 10 (0.1 m / 0.3 m)4 axes

250

mm125 mm125 mm

115

140

120 mm

360

540/s

540/s

1120 mm/s

1143/s

3.53 m/s

0.41 s

3 kg0.017 kgm2*3

0.01 mm*4

0.01 mm*4

0.005*4


4 pcs. (4)

3 m (optional: max. 10 m)

14 kg

Model

Type

Cleanliness (optional)No. of controlled axes

Arm length

Working Axis 1

envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite


Maximum payload massAllowable moment of inertia

Positioning X-Y



Wiring for hand

Pneumatic piping for hand


Mass

Compact SCARA robot TH250A

For *1, *2, *3 and *4, see page 5.


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TH450

External view

Model

Type

No. of controlled axes

Arm length

Working Axis 1

Envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite


Maximum payload mass

Allowable moment of inertiaPositioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH450


4 axes

450 mm (200 mm250 mm)

120

145

150 mm (optional: 300 mm)

360

600/

600/

2000 mm/

2000/

7.33 /

0.33 s*1

5 kg

0.05 kgm

2

*20.01 mm*3

0.01 mm*3

0.005*3


4 pcs. (4)

Absolute


27 kg

High-Speed and High-Precision SCARA Robot TH450

For *1, *2, *3 and *4, see page 5.


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High-Speed and High-Precision SCARA Robot TH550

TH550

External view

Model

Type


Arm length

Working Axis 1

Envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite


Maximum payload mass

Allowable moment of inertiaPositioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH550


4 axes

550mm300mm250mm

120

145


360

375/

600/

2000 mm/

2000/

6.21/

0.33 s*1

5 kg

0.05 kgm

2

*20.01 mm*3

0.01 mm*3

0.005*3


4 pcs. (4)

Absolute


29 kg

For *1, *2, *3 and *4, see page 5.


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TH650A

Standard

Zstroke70

60

18 ball screw inner diameter

(Axis

1stroke

rang

e)

(Axis2stroke

range)

143

(Axis2strokerange)

143

R650

R350

R350

R211.6

(Axis1strokerange)

160

Hand I/O connector panel

350

(919)

123

300

340

400

100

100

200

OptionalZstroke

Space for cables

687

763

Zstroke200mm

963

Zstroke400mm

663

463

Z

Pneumatic joints

(46 tube)

Working Envelope

5P9

45.5 drill (evenly spaced)

40

9

Detail of hand mount

Y View

Battery case

Z View

Detail of base mount

160105

25

50

210

160

2C10

Encoder connector

Hand I/O connector


300

115

272

Y

160

20 H7

18

26

196

3

External view

Model

Type

Cleanliness (optional)


Arm length

Operating Axis 1

range Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite


Maximum. payload massAllowable moment of inertia

Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH650A


Class 10 (0.1 m)

4 axes

650 mm300 mm350 mm

160

143


360

340/

600/

2050 mm/

1700/

7.52/

0.31 s

10 kg0.1 kgm2*3

0.01 mm*4

0.01 mm*4

0.004*4


4 pcs. (6)

Absolute detection


52 kg

High payload mass type SCARA robot TH650A

For *1, *2, *3 and *4, see page 5.


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TH850A

R850

R500

R71

R500

(Axis 2 stroke range)


Working Envelope

3

45.5 drill (evenly spaced)

5P9

40

9


Y View

Battery case

Hand I/O connector panel

(1122)

500

130.5

350

663

463

400

100

100

2882

00

OptionalZstroke

Standard

Zstroke

Y

Z

350

Space for cables

734

763

Zstroke200mm

963

Zstroke400mm

Pneumatic joints(46 tube)


Encoder connector

Hand I/O connector

286

132

316

Z View

Detail of base mount2

C10

20

240150

80

300

240

(Axis1stroke

rang

e)

160

(Axis1strokerange)

R292

.9

145

145

160

193

26

18


70

20 H7

60

External view

Model

Type



Arm length

Working Axis 1

Envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite



Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH850A


Class 10 (0.1 m)

4 axes

850 mm350 mm500 mm

160

145


360

300/

420/

2050 mm/

1200/

8.13 /

0.39 s

20 kg0.2 kgm2*3

0.01 mm*4

0.01 mm*4

0.004*4


4 pcs. (6)

Absolute detection


76 kg

For *1, *2, *3 and *4, see page 5.


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TH1050A

9

Z View

Detail of base mount

(Axi

s1

stroke

rang

e)

160

145

145



R1050

R500

R500

R31

9.3

(Axis1strokerange)

160

Working Envelope


20 H7

40

70

45.5 Hole

60


5P9

3

Y View

Battery case

663

463

400

100

100

200

OptionalZstroke

Standard

Zstroke

R71

Hand I/O connector panel193

(1322)

500

130.5

550

288

Y

Z

350

Encoder connector

Hand I/O connector

Motor power connectorPneumatic joints

(46 tube)

286

132

316

734

763

Zstroke200mm

963

Zstroke400mm

2C10

300

240

26

1820

150240

80

Space for cables

External view

Model

Type



Arm length

Working Axis 1

Envelope Axis 2

Axis 3 (Z-axis)


Maximum Axis 1

speed Axis 2

Axis 3 (Z-axis)


Composite

Standard cycle time (under 2 kg load)


Positioning X-Y



Hand wiring

Hand piping

Position detection


Mass

TH1050A


Class 10 (0.1 m)

4 axes

1050 mm550 mm500 mm

160

145


360

300/

420/

2050 mm/

1200/

9.15 /

0.39 s

20 kg0.2 kgm2*3

0.01 mm*4

0.01 mm*4

0.004*4


4 pcs. (6)

Absolute detection


80 kg


For *1, *2, *3 and *4, see page 5.


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OPTIONS

Z-axis long stroke (-Z)TH450 / TH550: 300 mm

TH650A / TH850A / TH1050A: 400 mm

The Z-axis stroke range is extended.

Useful in an application with large up-down

movements and handling of long workpieces

These functional optional specifications aredesigned with consideration for applications,environment, and system-layout requirements.

Optional cables lengthBetween robot and controller: Maximum 10 m (TH180 ~ 350A)

Maximum 25 m (TH450 ~ TH1050A)

Teach pendant: Max. 15 m

Ceiling-mount type (-T)

TH350A / TH450 / TH550 / TH650A

To enable more freedom in system layout and effec-

tive use of a space, the robot is suspended from the

upper side of the working area.

(Note: The working envelopes differ from the stan-

dard-type robots. Please contact us for

details.)

Z-Axis Cap (-C)TH650A / TH850A / TH1050A

Protection of the Z-axis shaft upper side in an environment where liquid or chips may

scatter. It also prevents intrusion and jamming by cables and other peripheral items.

Protective Bellows for Z-Axis (-B)TH650A ~ TH1050A

Protection of the Z-axis shaft lower side in an environment where liquid or chips may

scatter.

(Note: The cycle time and Z-axis stroke differ from the standard specifications.

Please contact us for details.)

Standard Z-axis long stroke


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CAD Data ServiceRobots and controllers external view drawings are available in DXF format, downloadable from our website

URL: http://www.toshiba-machine.co.jp

Cleanroom Design (-CR, -CRB)TH180 / TH250A / TH350A / TH650A / TH850A / TH1050A

Class 10 (0.1 m: -CRB, 0.3 m: -CR)Applicable around the hand area and in the downward airflow of

speed 0.4 m/s or larger.

(Note: Maintain negative air pressure (air intake: approximately 60

L/min) in the robot. Limitations are imposed on acceleration

rates. Please contact us for details.)

Additional 5th Axis (Traverse axis, Wrist Axis, etc.)TH450 / TH550 / TH650A / TH850A / TH1050A

5th axis can be added for such usage as wrist axis for

workpiece flip-over or moving the robot on a traverse

axis.

Tool Flange for End Effectors MountingTH180 / TH250A / TH350A / TH450 / TH550

Tool flange for securing the robot's hand is available. Standard-equipped for TH650A and larger models.

OPTIONS

Water-proof Design (-IP)TH650A / TH850A / TH1050A

Protection grade: IP65

(Note: Limitation is imposed on acceleration / deceleration rates. Please contact us for details.)


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FUNCTIONS AND APPLICATIONS

Vision + Conveyor Synchronization

137

18

69

42. 2

S ER V OON

CY C LE

S ER VOOFF

R U N

S TOP

ALARMRESET

SEL ECT

L INEU

SERALARM

EXT

.SIGNALEXT .HOST

P OW E R

MODE

E XTI N T

MANU

E ME R GENCY

UF 1

UF 2

Robot Controller TS2000

24 Outputs /

36 Inputs,

4 Hand Outputs /

5 Hand Inputs

PLC

I/O Extension via Serial Communication

Remote location (maximum 400 m).(Maximum 64 Outputs / 64 Inputs)

Connectivity withProgrammable Display Unit.

Ladder programming inWindows environment.

Touch-Sensitive

Operator panel

Extension

I/O

Built-in PLC

Field network

PLC

TS1000 TS2000 TS2100

TH180 TH450 TH650A

Field network (CC-Link, Profibus, DeviceNet)

O128

I128 *1

O128

I128 *1

O128

I128 *1

A PLC (TCmini) is built in the controllers TS1000, 2000 and

2100. Inputs and outputs signals can be handled by

ladder-style programming logic, independent from robot

motion.

[Features and advantages]

TCmini controls input/output signals of standard I/O,

extension I/O and touch-sensitive panel by ladder program

and exchange data with robot program.

Thus, flexible system design and control of peripheralequipment is possible without added cost of outside host

PLC.

Creation, monitoring and debugging of ladder-logic

programming with powerful programming support software

TCPRGOS-W (optional).

The scan time is 5 ms per 1 K-word. Connection with various

programmable controller, display unit, etc. is possible.

Robot1Vision Sensor

Trigger Signal

Ethernet HUB

Conveyor Travel Distance

Controller1

Controller2

Conveyor Encoder

Coordinate data (X, Y, C) and

workpiece type information

Robot2

Ethernet

Vision Sensor

Robot1 Robot2 Robot3

Cost reduction by "one camera to one line"Cost reduction of the system is realized. With an off-the-

shelf ethernet Hub, data from one vision sensor can be

shared among two or more robot controllers.

Effective in sorting large-quantity and many types ofworkpieces

Large quantity and many types Workpieces on a conveyorcan be sorted and put in boxes by multiple robots in

coordination.

Programming is made easy with special, dedicatedcommands to realize efficient workpiece-handling, with

such functionalities as identifications and duplicate data

avoidance.)

Damage and breakage of workpieces are prevented bysynchronization to the conveyor.

Various field network protocols are supported. *1: I:126 and O:126 for CC-Link


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The following PC software tools are provided to shorten the time and increase the efficiency of

system designing and installation work.

TS LayOut: For Cycle-time and Lay-out review1. Instant cycle time estimation:

Cycle time is calculated just by pointingat position, without using the

programming language.

2. Guidance for high-speed Motions:

Colored speed map display indicates

fast-motion areas from a given start

position, guiding you to make the most

optimized system layout.

3. Conversion to robot program:

Input positions data can be converted to

a robot program just by one clicking on

a menu.

PC SOFTWARE FOR PROGRAMMING SUPPORT

1. Powerful Simulation Function:

Off-line robot program creation and simulation, with simulated I/O.

Lead time up to start of robot operation can be shortened.

Robot programs can be pre-checked without stopping the production line.

2. User-friendly programming Environment:

Extensive help information, powerful grammar check, direct, online editing of programs in the controller memory.

3. Multi-functional monitor and support:

Monitoring functions such as active program display, position display, motion status monitor by 3D model, and alarm history display.

Operation from on-screen operation panel. Connection via Ethernet (optional) is also supported.

TCPRGOS: For programming the built-in PLC

TSPC: For robot programming

1. Ladder-style logic programming for the built-in PLC.

2. In addition to program creation, on-line monitoring of ladder

program and I/O status help reducing development and

debugging time.

3. Extensive functions such as address map display, comment

display and search functions are provided.


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Export of the products listed on this catalog

Head Office : 2068-3, Ooka, Numazu-shi, Shizuoka-ken 410-8510, Japan

Phone: 81-55-926-5141 Fax: 81-55-925-6501

Cautions on safety

Homepage Address http://www.toshiba-machine.co.jp

Toshiba Machine Co., Ltd.Control Systems Division

Before using, read through and completely understand the appropriate

instruction manuals.

contents of this catalog may be subject to change without prior notice.

1. The robots described in this catalog fall under Item 16 of Attachment Table

1 of the Export Trade Control Order of Japan. If the robot is to be exported,

submission of an application for export permission may be required from

the Ministry of Economy, Trade and Industry in Japan. We may be asked

explanations about compliance to the said Order from the customs house

at the time of customs clearance. Please file with us, therefore, a compari-

son table by item (for judging the compliance) beforehand.

2. When the robot is incorporated in another equipment, strictly observe the

results of compliance for the same equipment.

October, 2008

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Latest Toshiba Scara