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DUST-PROOF & DRIP-PROOF TYPE SPECIFICATIONS MANUAL
1.3 Specifications Table
Item Specifications
Structure Horizontal articulated type SCARA robot
Model TH650A–IP
Ingress protection (IP) class of
dust- and drip-proof structure
IP65 (*1)
Applicable controller TS2100 (*2)
Mass of robot body 53 kg
No. of controlled axes Four (4)
Arm length 650 mm (300+350)
Axis 1 1,000 (W)
Axis 2 600 (W)
Axis 3 400 (W)
Motor capacity
Axis 4 400 (W)
Axis 1
±160 (deg)
Axis 2
±143 (deg)
Axis 3 200 (mm) [Option: 400 (mm)]
Operating range
Axis 4
±360 (deg)
Axis 1 340 (deg/s)
Axis 2 600 (deg/s)
Axis 3 2,050 (mm/s)
Axis 4 1,700 (deg/s)
Maximum speed
(*3)
Composite
speed of
axes 1 and 2
7.52 (m/s)
Rated payload mass 2 (kg)
Maximum payload mass 10 (kg)
Permissible load inertia (*3)
0.1 (kg·m
2
)
X, Y ±0.01 (mm)
Z ±0.01 (mm)
Repeatability (*4)
C ±0.004 (deg)
Cycle time (*5) (When payload
mass is 2 kg)
0.32 (sec)
Drive system By means of AC servo motors
Position detection method Absolute
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