Wide Variations, Fast-Motion, and High Duty
SCARA ROBOT TH SERIES
Compact SCARA Robot
High-Speed and High-Precision SCARA Robot
High Payload Mass SCARA Robot
TH180, TH250A, TH350A
TH450, TH550
TH650A, TH850A, TH1050A
Catalog TH0026-CJD-01
SCARA Robot TH Series
The TH series, Flexible and Fast Maneuver of
Time-Space
High-performance evolution in Horizontal multi-joint type robot, TH series.
Eight arm-length varieties with distinctive characteristics and full of convenient
functionalities to suit broader range of applications.
Full lineup: From small to large, range to meet wide range of applications.
Model
Arm length
Z-axis stroke
Max. payload mass
Model
Arm length
Z-axis stroke
TH180
180 mm
120 mm
2 kg
TH550
550 mm
150 mm
Max. payload mass
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
High-Speed: Fast motion for improved efficiency.
Max. Speed (Composite)
Model
TH180
Model
Standard Cycle Time Load
0.35 s
1 kg
2.6 m/s
TH550
Standard Cycle Time Load
0.33 s
2 kg
Max. Speed (Composite)
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
Wide Working Envelope
Diversity in Standard Features
Working envelopes are widened to
the maximum to allow for the maximum freedom in system layout.
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.
ing
operat
(Axis 2 143
range)
R3
50
50
R6
s
xi
(A
e)
ng
ra
g
in
at
r
0
e
op 16
R2
11
.6
50
R3
(A
xi
er
(Axis
143
1 oper
ating
at
range)
op
16
in
ra
ng
e
Working Envelope of TH650A
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
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.
SCARA Robot TH Series
Supportive Software
Convenient Optional Features
TSPC: for Programming Support
Program 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 Review
Guiding to optimizing system layout that results in
the high-speed operation.
TCPRGOS: Ladder Program Creation for Built-in
PLC
Z-axis Related Options
(1) Long stroke
Standard 150 mm 300 mm
Standard 200 mm 400 mm
(2) Cap: TH450 ~ TH1050A
(3) Protective bellows: TH650A ~ TH1050A
Ceiling-Mount Configuration
Effective 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 mor 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 m
Maximum 25 m
Conveyor Synchronization Functions
Detection of workpieces on moving conveyors
by vision sensors and synchronized handling
by the robot Simultaneously.
Position Data Latch Function
Registering of position data at the instant of
high-speed input signal.
CE Compliant
CE -compliant designs are available.
End-effector I/O connector
End-effector pneumatic
joints
Pneumatic joint for
cleanroom vacuum
Connector for
motor power
Z-axis brake release switch
Connector for Encoder
End-effector I/O connector
End-effector pneumatic joints
3
TH Series Lineup
Compact SCARA Robot
TH180
TH250A
TH350A
Arm Length 180 mm
Z-Axis Stroke 120 mm
Maximum Payload Mass 2 kg
Arm Length 250 mm
Z-Axis Stroke 120 mm
Maximum Payload Mass 3 kg
Arm Length 350 mm
Z-Axis Stroke 120 mm
Maximum Payload Mass 3 kg
High-Speed and High-Precision SCARA Robot
TH450
TH550
Arm Length 450 mm
Z-Axis Stroke 150/300 mm
Maximum Payload Mass 5 kg
Arm Length 550 mm
Z-Axis Stroke 150/300 mm
Maximum Payload Mass 5 kg
High Payload Mass SCARA Robot
TH650A
TH850A
TH1050A
Arm Length 650 mm
Z-Axis Stroke 200/400 mm
Maximum Payload Mass 10 kg
Arm Length 850 mm
Z-Axis Stroke 200/400 mm
Maximum Payload Mass 20 kg
Arm Length 1050 mm
Z-Axis Stroke 200/400 mm
Maximum Payload Mass 20 kg
Full, extensive lineup to meet every application need
Order model code
TH650A-Z-CR-S
Special Design
Optional Specifications Cleanroom
Ceiling-Mount type
Z-axis long stroke
With cap
Arm length
With protective bellows
Water-proof (IP65)
: CR (0.3m), CRB (0.1m)
:T
:C
:B
: IP
Model
TH180
TH250A
TH350A
TH450
Arm length
(1st arm + 2nd arm)
180 mm
(70110)
250 mm
(125125)
350 mm
(225125)
450 mm
(200250)
Axis 1
120
115
115
Axis 2
140
140
145
145
Axis 3
120 mm
120 mm
120 mm
150 mm / 300 mm
Axis 4
360
360
360
360
Axis 1
533/s
540/s
337.5/s
600/s
Axis 2
480/s
540/s
540/s
600/s
Axis 3
1013 mm/s
1120 mm/s
1120 mm/s
2000 mm/s
Axis 4
1186/s
1143/s
1143/s
2000/s
Composite
2.6 m/s
3.53 m/s
3.24 m/s
7.33 m/s
0.33 s (With 1 kg load) *2
Working
Envelope
Maximum
Speed
120
Standard Cycle Time
0.35 s (With 1 kg load) *1
0.41 s (With 1 kg load) *2
0.41 s (With 1 kg load) *2
Maximum Payload Mass
2 kg
3 kg
3 kg
5 kg
Allowable Moment of Inertia
0.01 kgm2 *3
0.017 kgm2 *3
0.017 kgm2 *3
0.05 kgm2 *3
XY
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
Axis 4
0.005
0.005
0.005
0.005
Positioning
Repeatability
*4
Wiring and
Pneumatic Piping for Hand
5 Inputs / 4 Outputs, 4 4 pcs.
Cable Length
3 m (option: max. 10 m)
3 m (option: max. 10 m)
3 m (option: max. 10 m)
Mass
9 kg
14 kg
14 kg
27 kg
Controller
TS1000
TS1000
TS1000
TS2000
Model
TH550
TH650A
TH850A
TH1050A
Arm length
(1st arm + 2nd arm)
550 mm
(300250)
650 mm
(300350)
850 mm
(350500)
1050 mm
(550500)
Axis 1
120
160
160
160
Axis 2
145
143
145
145
Axis 3
150 mm / 300 mm
200 mm / 400 mm
200 mm / 400 mm
200 mm / 400 mm
Axis 4
360
360
360
360
Axis 1
375/s
340/s
300/s
300/s
Axis 2
600/s
600/s
420/s
420/s
Axis 3
2000 mm/s
2050 mm/s
2050 mm/s
2050 mm/s
Working
Envelope
Maximum
Speed
5 m (option: max. 25 m)
Axis 4
2000/s
1700/s
1200/s
1200/s
Composite
6.21 m/s
7.52 m/s
8.13 m/s
9.15 m/s
0.39 s (With 2 kg load) *2
Standard Cycle Time
0.33 s (With 2 kg load) *2
0.31 s (With 2 kg load) *2
0.39 s (With 2 kg load) *2
Maximum Payload Mass
5 kg
10 kg
20 kg
20 kg
Allowable Moment of Inertia
0.05 kgm2 *3
0.1 kgm2 *3
0.2 kgm2 *3
0.2 kgm2 *3
XY
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
0.01 mm
Axis 4
0.005
0.004
0.004
0.004
Positioning
Repeatability
*4
Wiring and
5 Inputs / 4 Outputs, 4 4 pcs.
Pneumatic Piping for Hand
5 Inputs / 4 Outputs, 6 4 pcs.
Cable Length
5 m (option: max. 25 m)
5 m (option: max. 25 m)
5 m (option: max. 25 m)
Mass
29 kg
52 kg
76 kg
80 kg
Controller
TS2000
TS2100
TS2100
TS2100
Standard cycle time motion pattern (coarse
positioning)
*1: Horizontal 100 mm, vertical 25 mm, round-trip
*2: Horizontal 300 mm, vertical 25 mm, round-trip
Continuous operation is not possible beyond the
effective load ratio.
Allowable moment of inertia
*3: Acceleration/deceleration rates may
be limited according to the motion
pattern, load mass and amount of
offset.
5 m (option: max. 25 m)
Positioning repeatability
*4: When the environmental
temperature is constant.
5
TS Series Controllers
Controller
TS1000
TS2000
TS2100
Teach pendant
TP1000
Optional
Controller Specifications
Model
No. of Controlled Axes
Motion Modes
TS1000
TS2000
TS2100
Standard 4 axes (Maximum 5 axes: TS2000/TS2100)
PTP (point-to-point), CP (Continuous Path; Linear, Circular), Short-Cut, Arch Motion
Position Detection
Absolute Encoders
Storage Capacity
Approx. Total: 6400 points + 12800 steps 1 program: 2000 points + 3000 steps
Maximum 256 (247 user files + 9 system files)
No. of Registrable Programs
SCOL (similar to BASIC)
Programming Language
Teaching Unit
External I/O Signals
Teach pendant TP1000: Cable length 5 m / Programming support PC software TSPC also available
31+7 inputs / 22+10 outputs
7 / 10 can be assigned to system signals.
16 inputs / 16 outputs
8 / 8 can be assigned to system signals.
5 inputs / 4 outputs
Hand Control Signals
External Operation signal
Input: cycle operation mode, start, stop, program reset, etc. Output: Servo ON, operation ready, fault, etc.
Serial Communication Ports
RS232C: 2 ports
Power Supply and Capacity
Single phase,
Single phase,
Three-phase,
AC190 V ~ 250 V, 50/60 Hz, 1.1 kVA AC190 V ~ 250 V, 50/60 Hz, 2.3 kVA AC190 V ~ 250 V, 50/60 Hz, 3.5 ~ 4.4 kVA
Outer Dimensions and Mass
Other Functions
PC Software for Programming
Support (optional)
Options
170W290H280D (mm) / 10 kg
290W230H280D (mm) / 12 kg
Interruption processing, robot motion ON signal, communication processing,
arithmetic operation, torque limit, PLC, self-diagnosis, etc.
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
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.
420W230H300D (mm) / 16 kg
DeviceNet is a registered trademark of ODVA.
Profibusis is a registered trademark of Profibus User Organization.
TS Series Controllers External View
Top view
280
315
TS1000
Space for controller ventilation
Upward direction: 100 mm or more
Left and right side direction: 50 mm or more
Cable space
120 mm or more
Right-side
view
Front view
290
301
Rear view
170
TS2000
BRAKE
24V
0VA B FG TB2
Rear view
Top view
for
(cableSpace
connection )
100 or more
290
280
100 or more
30.5
TOSHIBA MACHINE
EMERGENCY
INT
EXT
for
(cableSpace
connection )
MANU
POWER
COM1
EXT.SIGNAL
EXT.PC
HOST
MODE
230
TCPRG
SERVO SERVO
ON
OFF
POD
RUN
STOP
CYCLE
UF1
TP
SELECT
LINE
USER
ALARM
ALARM
RESET
TP
UF2
Robot Controller
disconnect
TS2000
12
Front view
Right-side view
420
TS2100
POWER
MOTOR CN2
BRAKE
24V
0VA B FG TB2
ACIN CN1
Rear view
Top view
Space for
cable connection
100 or more
300
170 or more
30.5
TOSHIBA MACHINE
EMERGENCY
INT
EXT
for
(cableSpace
connection )
MANU
POWER
COM1
EXT.SIGNAL
EXT.PC
HOST
MODE
230
TCPRG
SERVO SERVO
ON
OFF
POD
RUN
STOP
UF1
CYCLE
TP
SELECT
LINE
USER
ALARM
ALARM
RESET
UF2
TP
disconnect
12
Robot Controller
Front view
TS2100
Right-side view
Compact SCARA robot TH180
TH180
Model
TH180
Type
Horizontal multi-joint type
Cleanliness (optional)
Class 10 (0.3 m)
No. of controlled axes
4 axes
Arm length
180 mm (70 mm110 mm)
Working
Axis 1
envelope
Axis 2
120
140
Axis 3 (Z-axis)
Maximum
speed
120 mm
Axis 4 (Z-axis rotation)
360
Axis 1
533/s
Axis 2
480/s
Axis 3 (Z-axis)
1013 mm/s
Axis 4 (Z-axis rotation)
1186/s
Composite
2.6 m/s
Standard cycle time (with 1 kg load)
0.35 s
Maximum payload mass
2 kg
Allowable moment of inertia
0.01 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.005*4
Wiring for hand
5 inputs / 4 outputs
Pneumatic piping for hand
4 pcs. (4)
Robot-Controller Cable
3 m (optional: maximum 10 m)
Mass
9 kg
For *1, *2, *3 and *4, see page 5.
External view
12
R1
140
80
5
2
96
62
80
94
110
7.5
140
4.5
17
110
70
120
[Detail of C]
(T-shaped slot for peripheral device mount)
180
140
120
30
25
Hand I/O connector
R7
2
.13
Hand pneumatic joints 4M5
10
7
Brake release
switch
148.5
120
Stroke
31
31
35
Battery box
[Detail of B]
Pneumatic joint for
cleanroom vacuum: for 6 tube
Hand pneumatic joints: for 44 tube
10
[Detail of A]
(End-effector mount)
40
35
13
16
40
175
27
10
35
Hand mounts area
Tapped hole for peripheral device mounting 2M4
; both sides
40
150
Space for cable 80 or more
Compact SCARA robot TH250A
TH250A
Model
TH250A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m / 0.3 m)
No. of controlled axes
4 axes
Arm length
250 mm (125 mm125 mm)
Working
Axis 1
envelope
Axis 2
115
140
Axis 3 (Z-axis)
Maximum
speed
120 mm
Axis 4 (Z-axis rotation)
360
Axis 1
540/s
Axis 2
540/s
Axis 3 (Z-axis)
1120 mm/s
Axis 4 (Z-axis rotation)
1143/s
Composite
3.53 m/s
Standard cycle time (with 1 kg load)
0.41 s
Maximum payload mass
3 kg
Allowable moment of inertia
0.017 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.005*4
Wiring for hand
5 inputs / 4 outputs
Pneumatic piping for hand
4 pcs. (4)
Robot-Controller Cable
3 m (optional: max. 10 m)
Mass
14 kg
For *1, *2, *3 and *4, see page 5.
External view
200
Hand I/O connector
Hand pneumatic joints 4M5
170
35
4.5
7.5
15
R85.5
125
167
125
11
59.5
457.5
16
172
[Detail of
end-effector mount]
Pneumatic joint for cleanroom vacuum:
for6 tube
Hand I/O connector
Axis 3 brake release switch
Motor power connector
Encoder connector
M4 thread hole for grounding
[Z View]
18.5
10
120
Battery case
[Detail of T-shaped slot
49
for peripheral
mounting
device mount]
holes
Maximum 580
140
141.08
442
150
65
120
50
10
140
5
R2
101
11
140
Hand pneumatic joints: for 44 tube
Compact SCARA robot TH350A
TH350A
Model
TH350A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1m / 0.3m)
No. of controlled axes
4 axes
Arm length
350 mm (225 mm+125mm)
Working
Axis 1
envelope
Axis 2
115
145
Axis 3 (Z-axis)
120 mm
Axis 4 (Z-axis rotation)
Maximum
Axis 1
speed
Axis 2
360
337.5/s
540/s
Axis 3 (Z-axis)
1120 mm/s
Axis 4 (Z-axis rotation)
1143/s
Composite
3.24 m/s
Standard cycle time (with 1 kg load)
0.41 s
Maximum payload mass
3 kg
Allowable moment of inertia
0.017 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.005*4
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (4)
Robot-Controller Cable
3 m (optional: max. 10 m)
Mass
14 kg
For *1, *2, *3 and *4, see page 5.
200
170
50
125
167
225
150
10
145
2
R14
50
R3
120
140
35
4.5
7.5
15
101
2
5
65
Hand I/O connector
Hand pneumatic
joints
4M5
15
49
mounting [Detail of T-shaped slot
holes
for peripheral
device mount]
16
[Detail of
end-effector mount]
145
542
Hand-mount
range 27
External view
11
[Z View]
10
Pneumatic joint for cleanroom vacuum:
for 6 tube
172
Hand I/O connector
Axis 3 brake release switch
Motor power connector
Encoder connector
10
18.5
120
Battery case
457.5
59.5
Maximum 635
M4 thread hole for grounding
Hand pneumatic joints:
for 44 tube
High-Speed and High-Precision SCARA Robot TH450
TH450
Model
TH450
Type
Horizontal multi-joint
No. of controlled axes
4 axes
Arm length
450 mm (200 mm250 mm)
Working
Axis 1
Envelope
Axis 2
120
145
Axis 3 (Z-axis)
150 mm (optional: 300 mm)
Axis 4 (Z-axis rotation)
Maximum
360
Axis 1
speed
600/
Axis 2
600/
Axis 3 (Z-axis)
2000 mm/
Axis 4 (Z-axis rotation)
2000/
Composite
7.33 /
Standard cycle time (with 2 kg load)
0.33 s*1
Maximum payload mass
5 kg
Allowable moment of inertia
0.05 kgm2*2
Positioning X-Y
0.01 mm*3
repeatability Axis 3 (Z-axis)
0.01 mm*3
0.005*3
Axis 4 (Z-axis rotation)
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (4)
Absolute
Position detection
5 m (optional: max. 25 m)
Robot-Controller Cable
27 kg
Mass
For *1, *2, *3 and *4, see page 5.
External view
0
146
170
130
12
Brake release switch
180
[Working envelope of A]
145
R4
50
250
58
70
200
112
140
414 mounting holes
3
R14
Hand I/O connector
39.6
Hand pneumatic joint
4M5
Z-axis 150mm
142.5
240
Space for cables
Hand pneumatic joint:
for 44 tube
Z-axis 300 mm
4M4 depth 8
138
25
16
[Detail of A View] (Hand mount)
[Cross Section
B-B]
M4 tapped hole for grounding
Backup battery compartment
2
4.5
7.5
2M4 depth 8
216
Z-axis 150 mm
102
30
20
Hand-mount width
32
85
300
Tapped holes
for peripheral
device
mount
12
12
130
150
64
88
145
540
253
340
200
150
Z-axis 300 mm
66.4
[Detail of D]
(T-shaped slot for peripheral device mount)
[Detail of C]
(Tapped holes for peripheral device mount)
11
High-Speed and High-Precision SCARA Robot TH550
TH550
Model
TH550
Type
Horizontal multi-joint
No. of controlled axes
4 axes
Arm length
550mm (300mm250mm)
Working
Axis 1
Envelope
Axis 2
120
145
Axis 3 (Z-axis)
150 mm (optional: 300 mm)
Axis 4 (Z-axis rotation)
Maximum
speed
360
Axis 1
375/
Axis 2
600/
Axis 3 (Z-axis)
2000 mm/
Axis 4 (Z-axis rotation)
2000/
Composite
6.21/
Standard cycle time (with 2 kg load)
0.33 s*1
Maximum payload mass
5 kg
Allowable moment of inertia
0.05 kgm2*2
Positioning X-Y
0.01 mm*3
repeatability Axis 3 (Z-axis)
0.01 mm*3
Axis 4 (Z-axis rotation)
0.005*3
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (4)
Absolute
Position detection
5 m (optional: max. 25 m)
Robot-Controller Cable
29 kg
Mass
For *1, *2, *3 and *4, see page 5.
External view
[Working envelope of A]
Brake release switch
180
146
170
130
12
58
70
112
140
Hand I/O connector
414
mounting holes
300
4M5
Hand pneumatic joints
Z-axis 300mm
4M5
150
39.6
B
Z-axis 150mm
540
340
253
200
R17
R5
50
145
250
216
[Cross Section
B-B]
85
Z-axis 150mm
240
12
Space for cables
[Detail of A View] (Hand mount)
4M4 depth 8
25
66.4
Backup battery compartment
2
4.5
7.5
138
102
2M4 depth 8
16
30
20
Hand-mount width
32
M4 tapped hole for grounding
Hand pneumatic joints:
for 44 tubes
Z-axis 300mm
12
12
88
C
130
300
150
64
145
B
Tapped holes
for peripheral
device mount
[Detail of D]
(T-shaped slot for peripheral device mount)
[Detail of C]
(Tapped holes for peripheral device mount)
High payload mass type SCARA robot TH650A
TH650A
Model
TH650A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
No. of controlled axes
4 axes
Arm length
650 mm (300 mm350 mm)
Operating
Axis 1
range
Axis 2
160
143
Axis 3 (Z-axis)
200 mm (optional: 400 mm)
Axis 4 (Z-axis rotation)
Maximum
360
Axis 1
speed
340/
Axis 2
600/
Axis 3 (Z-axis)
2050 mm/
Axis 4 (Z-axis rotation)
1700/
Composite
7.52/
Standard cycle time (with 2 kg load)
0.31 s
Maximum. payload mass
10 kg
Allowable moment of inertia
0.1 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.004*4
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (6)
Position detection
Absolute detection
Robot-Controller Cable
5 m (optional: max. 25 m)
Mass
52 kg
For *1, *2, *3 and *4, see page 5.
External view
range)
stroke3
14
25
(Axis 2
Hand I/O connector panel
210
160
50
R3
300
xi
10
C
143
2 stro
ke ran
Z View
Detail of base mount
ge)
ro
k
16
st
(Axis
R2
11
.6
(919)
(A
160
50
123
350
18
105
R3
50
50
R6
(A
26
19
xi
e
ng
ra
ke
rt o 60
s 1
ra
n
ge
Working Envelope
Y View
272
115
300
687
963 Z stroke 400 mm
463
200
Encoder connector
Hand I/O connector
100
100
60
400
Optional Z stroke
5 P9
45.5 drill (evenly spaced)
Standard
Z stroke
Battery case
20 H7
70
763 Z stroke 200 mm
40
663
18 ball screw inner diameter
340
Space for cables
Detail of hand mount
Pneumatic joints
(46 tube)
Motor power connector
13
High payload mass type SCARA robot TH850A
TH850A
Model
TH850A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
No. of controlled axes
4 axes
Arm length
850 mm (350 mm500 mm)
Working
Axis 1
Envelope
Axis 2
160
145
Axis 3 (Z-axis)
200 mm (optional: 400 mm)
Axis 4 (Z-axis rotation)
Maximum
speed
360
Axis 1
300/
Axis 2
420/
Axis 3 (Z-axis)
2050 mm/
Axis 4 (Z-axis rotation)
1200/
Composite
8.13 /
Standard cycle time (with 2 kg load)
0.39 s
Maximum. payload mass
20 kg
Allowable moment of inertia
0.2 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.004*4
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (6)
Position detection
Absolute detection
Robot-Controller Cable
5 m (optional: max. 25 m)
Mass
76 kg
For *1, *2, *3 and *4, see page 5.
External view
ro
ke
16 ran
0 ge
26
20
193
(A
50
R8
xis
st
(Axis 2 stroke range)
145
Hand I/O connector panel
R7
80
130.5
500
240
300
240
00
R5
R5
0
18
150
350
(A
R2
92
.9
(1122)
C
xis
145
(Axis 2 stroke range)
10
Z View
Detail of base mount
k
ro
16
st
e
n
ra
ge
)
Working Envelope
Y View
316
132
Encoder connector
Hand I/O connector
286
350
Space for cables
Detail of hand mount
Z
14
763 Z stroke 200 mm
734
288
200
Standard
Z stroke
5 P9
3
100
0
6
100
9
45.5 drill (evenly spaced)
400
Optional Z stroke
Battery case
20 H7
70
963 Z stroke 400 mm
663
40
463
18 ball screw inner diameter
Pneumatic joints
(46 tube)
Motor power connector
High payload mass type SCARA robot TH1050A
TH1050A
Model
TH1050A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
No. of controlled axes
4 axes
Arm length
1050 mm (550 mm500 mm)
Working
Axis 1
Envelope
Axis 2
160
145
Axis 3 (Z-axis)
200 mm (optional: 400 mm)
Axis 4 (Z-axis rotation)
Maximum
speed
360
Axis 1
300/
Axis 2
420/
Axis 3 (Z-axis)
2050 mm/
Axis 4 (Z-axis rotation)
1200/
Composite
9.15 /
Standard cycle time (under 2 kg load)
0.39 s
Maximum. payload mass
20 kg
Allowable moment of inertia
0.2 kgm2*3
Positioning X-Y
0.01 mm*4
repeatability Axis 3 (Z-axis)
0.01 mm*4
Axis 4 (Z-axis rotation)
0.004*4
Hand wiring
5 inputs / 4 outputs
Hand piping
4 pcs. (6)
Position detection
Absolute detection
Robot-Controller Cable
5 m (optional: max. 25 m)
Mass
80 kg
For *1, *2, *3 and *4, see page 5.
External view
18
st
20
ro
16 ke r
0 an
g
e)
26
300
00
R5
130.5
550
9.3
500
(1322)
R3
1
240
80
R5
00
Hand I/O connector panel
R7
1
240
05
(A
xis
R1
(Axis 2 stroke range)
145
193
150
145
(Axis 2 stroke range)
10
C
Z View
Detail of base mount
(A
xis
1
ro 60
ke
ra
ng
e
st
5 P9
Y View
132
286
Encoder connector
Hand I/O connector
Y
350
Space for cables
3
Detail of hand mount
963 Z stroke 400 mm
734
288
70
45.5 Hole
400
Optional Z stroke
100 100
200
Standard
Z stroke
40
Battery case
20 H7
763 Z stroke 200 mm
463
Working Envelope
18 ball screw inner diameter
316
663
Pneumatic joints
(46 tube)
Motor power connector
15
OPTIONS
These functional optional specifications are
designed with consideration for applications,
environment, and system-layout requirements.
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
Standard
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.)
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.
Ceiling-mount type (-T)
TH350A / TH450 / TH550 / TH650A
To enable more freedom in system layout and effective use of a space, the robot is suspended from the
upper side of the working area.
(Note: The working envelopes differ from the standard-type robots. Please contact us for
details.)
Optional cables length
Between robot and controller: Maximum 10 m (TH180 ~ 350A)
Maximum 25 m (TH450 ~ TH1050A)
Teach pendant: Max. 15 m
16
Z-axis long stroke
OPTIONS
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.)
Water-proof Design (-IP)
TH650A / TH850A / TH1050A
Protection grade: IP65
(Note: Limitation is imposed on acceleration / deceleration rates. Please contact us for details.)
Tool Flange for End Effectors Mounting
TH180 / TH250A / TH350A / TH450 / TH550
Tool flange for securing the robot's hand is available. Standard-equipped for TH650A and larger models.
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.
CAD Data Service
Robots and controllers external view drawings are available in DXF format, downloadable from our website
URL: http://www.toshiba-machine.co.jp
17
FUNCTIONS AND APPLICATIONS
Vision + Conveyor Synchronization
Cost reduction by "one camera to one line"
Cost reduction of the system is realized. With an off-theshelf ethernet Hub, data from one vision sensor can be
shared among two or more robot controllers.
Ethernet
Vision Sensor
Robot1
Robot2
Conveyor Encoder
Effective in sorting large-quantity and many types of
workpieces
Large quantity and many types Workpieces on a conveyor
can be sorted and put in boxes by multiple robots in
coordination.
Programming is made easy with special, dedicated
commands to realize efficient workpiece-handling, with
such functionalities as identifications and duplicate data
avoidance.)
Damage and breakage of workpieces are prevented by
synchronization to the conveyor.
Robot1
Controller1
Robot2
Robot3
Vision Sensor
Conveyor Travel Distance
Trigger Signal
Ethernet HUB
Controller2
Coordinate data (X, Y, C) and
workpiece type information
Built-in PLC
Robot
Controller TS2000
24 Outputs /
36 Inputs,
4 Hand Outputs /
5 Hand Inputs
INT
E XT
MAN
U
P OW
E XT
E XT
.S
IG
.H
OS
ER
E ME
NAL
R GE
NC
MODE
S ER
ON VO
S ER
OFFVO
RU
N
S TOP
CY
CLE
UF1
LINE
US
ER
ALAR
M
S ELE
CT
ALAR
RE M
SE
T
UF2
137
18
69
42.
Extension
I/O
PLC
Touch-Sensitive
Operator panel
Connectivity with
Programmable Display Unit.
Ladder programming in
Windows environment.
I/O Extension via Serial Communication
Remote location (maximum 400 m).
(Maximum 64 Outputs / 64 Inputs)
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 peripheral
equipment 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.
Field network
PLC
Field network (CC-Link, Profibus, DeviceNet)
TS1000
I 128 *1
O128
TH180
TS2000
TH450
Various field network protocols are supported.
18
I 128 *1
O128
TS2100
I 128 *1
O128
TH650A
*1: I:126 and O:126 for CC-Link
PC SOFTWARE FOR PROGRAMMING SUPPORT
The following PC software tools are provided to shorten the time and increase the efficiency of
system designing and installation work.
TSPC: For robot programming
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.
TS LayOut: For Cycle-time and Lay-out review
1. Instant cycle time estimation:
Cycle time is calculated just by pointing
at 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.
TCPRGOS: For programming the built-in PLC
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.
19
Toshiba Machine Co., Ltd.
Control Systems Division
Head Office : 2068-3, Ooka, Numazu-shi, Shizuoka-ken 410-8510, Japan
Phone: 81-55-926-5141 Fax: 81-55-925-6501
Homepage Address http://www.toshiba-machine.co.jp
Cautions on safety
Before using, read through and completely understand the appropriate
instruction manuals.
contents of this catalog may be subject to change without prior notice.
Export of the products listed on this catalog
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 comparison 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
Control Systems Sales Department, Control Systems Division
2068-3, Ooka, Numazu-shi, Shizuoka-ken 410-8510, Japan
TEL:[81]-(0)55-926-5032 FAX:[81]-(0)55-925-6527
URL http://www.toshiba-machine.co.jp/seiji/prod/sr
E-MAIL robot@toshiba-machine.co.jp
755 Greenleaf Avenue, Elk Grove Village, IL 60007, U.S.A.
TEL:[1]-847-593-1616 FAX:[1]-847-593-0897
URL http://www.toshiba-machine.com/robotics/SR_homepagef.htm
E-MAIL salesleads@toshiba-machine.com
Unit 15, The Weltech Centre,
Ridgeway Welwyn Garden City, Herts AL7 2AA UK
TEL:[44]-(0)1707-871535 FAX:[44]-(0)1707-393959
URL http://www.tmrobotics.co.uk
E-MAIL info@tmrobotics.co.uk
AAAAAAAA
SM08087-2000-EI
Printed in Japan
