New Product Information！

● HIGH LOAD CAPACITY ･･･ Maximum 10kg

TOSHIBA MACHINE’S ● HIGH SPEED ･･･ Cycle time 0.31s
HIGH SPEED SCARA ROBOT           (With 2kg payload)
● POSITIONING REPEATABILITY
  ･･･ X,Y ±0.01mm, Z ±0.01mm, C ±0.004deg
● HIGH RIGIDITY
● BUILT-IN PLC ･･･ Ready for Touch-Sensitive
Operation panel
● DUCT-LESS DESIGN

Robot Model TH650A

specifications Type Horizontal Multi-joint
Number of controlled axis ４
Arm length 650mm (300mm＋350mm)
Working Axis 1 ±160°
envelope
Axis 2 ±143°
Axis 3(Z-axis) 200mm/400mm
Axis 4(Z-axis rotation) ±360°
Maximum Axis 1 340°
/ｓ
speed
Axis 2 600°
/ｓ
Axis 3(Z-axis) 2050mm/ｓ
Axis 4(Z-axis rotation) 1700°
/ｓ
Composite 7.52m/s
Standard cycle time(with 2kg payload) 0.31s
Maximum payload mass 10kg
Allowable moment of inertia at end 0.1kgm2
Positioning X-Y(Plane) ±0.01mm
repeatability Z-axis (vertical) ±0.01mm
Axis 4(Z-axis rotation) ±0.004°
Input/output signals for hand 5 inputs / 4 outputs
Air piping for hand φ6 x 4 pcs.
Position detecting system Absolute system
Robot-controller cable 5m (Optional length maximum 25m)
Mass 52kg

Controller Model TS2100

specifications No. of axis Maximum five-axis simultaneous control
Operation mode PTP, CP (linear, circular), Short-cut, Arch motion
Storage capacity Total: Approx 6400 points +12800 steps
1 program: Approx 2000point+3000steps
No. of programs Max. 256 (247 user files + 9 system files)
Programming language SCOL (proprietary, similar to BASIC)
Teaching unit Teach pendant TP1000, with 5-meter cable
(Program can be written on PC)

External 31+7 inputs / 22+10 outputs

inputs/outputs (general) (7/10 can be switchable with system)
Hand control signals 5 inputs/4 outputs
External operation Inputs: Cycle operation start, stop, reset, etc.
signals(exclusive) Outputs: Servo-On status, emergency stop, ready for
operation, malfunction alarm, etc.
Serial communication port RS-232C: 2ports
Other functions Torque control, Interruptive functions, self-diagnosis,
I/O control and communications during motion,
Coordinate calculations, etc.
Power supply Three-phase AC190∼250V 50/60Hz
Power capacity 3.5kVA
Outer dimensions and mass 420W×230H×300D(mm), 16kg
PC software (optional) TSPC…Program editor, Teaching, remote operation, etc.
Options I/O extension, field-network connection,
Conveyor synchronization, etc.

Catalog TH6522-CES-01
 TH650A

■TH650A External view

e)
op
v el
en Φ26
e
ov 0
m 6 lope)
is 1 ve enve

25
x Φ18
-a xis mo
st (2st-a

6
143

R6

Φ19
(1 Hand I/O connector panel 105
160
50
50

50

210
160
R3
R3
123

50
350 300
(919)

0
.6

1
11

xC
Z View
(1

2
R2

st (2st- 143 Detail of mount base

-a axis
xi move
s enve
lope)
1

m
6

ov
0

e
en
ve
lo
pe
)
Move envelope

763 Z stroke 200mm

963 Z stroke 400mm
Φ18 Inside diameter of ball screw

272
663

463
40

687

115
Battery case Encoder connector
9

Φ20 H7
Hand I/O connector
Z stroke of option

of basic
Z stroke

Φ70
200

300
5 P9

4x5.5Hole
400

Y
100 100

0
Φ6 3
Pneumatic joint
Y View for users Motor armature connector
340
Space for cable (4xΦ6 tube)
Detail of hand fixture
approx. 340

■TS2100 External view

420
POWER
ＣＮ３

ＣＮ５

ＣＮ６

MOTOR CN2
ＣＮ４

ＣＮ１２
24V
0VA B FG TB2

ACIN CN1
BRAKE

Rear view

Top view ( Dimentions, when

cables are attached ) ( Dimentions,
cables are attached )
when

100 (or more) 300 170 (or more)

TOSHIBA MACHINE 30.5

INT EMERGENCY
EXT MANU
POWER
COM1
EXT.SIGNAL
EXT.PC
HOST
MODE

TCPRG
230

SERVO SERVO
ON OFF
POD

RUN STOP CYCLE UF1

TP
SELECT

LINE
ALARM TP
USER RESET UF2 disconnect
ALARM

Robot Controller TS2100

12

Front view Right side view

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

URL http://www.toshiba-machine.co.jp/english/product/sr_e/
＊ Contents included in this catalog are subject to change without prior notice to reflect improvements. SM 08013-1000-EI
Printed in Japan