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Catalog TH0026-CJD-01
Arm length
Z-axis stroke
Model
Arm length
Z-axis stroke
TH180
180 mm
120 mm
2 kg
TH550
550 mm
150 mm
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
TH180
Model
1 kg
2.6 m/s
TH550
2 kg
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
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
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
Supportive Software
TH Series Lineup
Compact SCARA Robot
TH180
TH250A
TH350A
TH550
TH850A
TH1050A
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)
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
2 kg
3 kg
3 kg
5 kg
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
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
5 kg
10 kg
20 kg
20 kg
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
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
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
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)
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
Input: cycle operation mode, start, stop, program reset, etc. Output: Servo ON, operation ready, fault, etc.
RS232C: 2 ports
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
170W290H280D (mm) / 10 kg
290W230H280D (mm) / 12 kg
420W230H300D (mm) / 16 kg
280
315
TS1000
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
TH180
Type
Cleanliness (optional)
Class 10 (0.3 m)
4 axes
Arm length
Working
Axis 1
envelope
Axis 2
120
140
Axis 3 (Z-axis)
Maximum
speed
120 mm
360
Axis 1
533/s
Axis 2
480/s
Axis 3 (Z-axis)
1013 mm/s
1186/s
Composite
2.6 m/s
0.35 s
2 kg
0.01 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
0.005*4
5 inputs / 4 outputs
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
R7
2
.13
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
40
150
TH250A
Type
Horizontal multi-joint
Cleanliness (optional)
4 axes
Arm length
Working
Axis 1
envelope
Axis 2
115
140
Axis 3 (Z-axis)
Maximum
speed
120 mm
360
Axis 1
540/s
Axis 2
540/s
Axis 3 (Z-axis)
1120 mm/s
1143/s
Composite
3.53 m/s
0.41 s
3 kg
0.017 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
0.005*4
5 inputs / 4 outputs
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
170
35
4.5
7.5
15
R85.5
125
167
125
11
59.5
457.5
16
172
[Detail of
end-effector mount]
[Z View]
18.5
10
120
Battery case
Maximum 580
140
141.08
442
150
65
120
50
10
140
5
R2
101
11
140
TH350A
Type
Horizontal multi-joint
Cleanliness (optional)
4 axes
Arm length
Working
Axis 1
envelope
Axis 2
115
145
Axis 3 (Z-axis)
120 mm
Axis 1
speed
Axis 2
360
337.5/s
540/s
Axis 3 (Z-axis)
1120 mm/s
1143/s
Composite
3.24 m/s
0.41 s
3 kg
0.017 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
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
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
172
10
18.5
120
Battery case
457.5
59.5
Maximum 635
TH450
Type
Horizontal multi-joint
4 axes
Arm length
Working
Axis 1
Envelope
Axis 2
120
145
Axis 3 (Z-axis)
360
Axis 1
speed
600/
Axis 2
600/
Axis 3 (Z-axis)
2000 mm/
2000/
Composite
7.33 /
0.33 s*1
5 kg
0.05 kgm2*2
Positioning X-Y
0.01 mm*3
0.01 mm*3
0.005*3
5 inputs / 4 outputs
Hand piping
4 pcs. (4)
Absolute
Position detection
5 m (optional: max. 25 m)
Robot-Controller Cable
27 kg
Mass
External view
0
146
170
130
12
180
[Working envelope of A]
145
R4
50
250
58
70
200
112
140
3
R14
39.6
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
[Cross Section
B-B]
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
TH550
Type
Horizontal multi-joint
4 axes
Arm length
550mm (300mm250mm)
Working
Axis 1
Envelope
Axis 2
120
145
Axis 3 (Z-axis)
360
Axis 1
375/
Axis 2
600/
Axis 3 (Z-axis)
2000 mm/
2000/
Composite
6.21/
0.33 s*1
5 kg
0.05 kgm2*2
Positioning X-Y
0.01 mm*3
0.01 mm*3
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
External view
[Working envelope of A]
180
146
170
130
12
58
70
112
140
414
mounting holes
300
4M5
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
4M4 depth 8
25
66.4
4.5
7.5
138
102
2M4 depth 8
16
30
20
Hand-mount width
32
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)
TH650A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
4 axes
Arm length
Operating
Axis 1
range
Axis 2
160
143
Axis 3 (Z-axis)
360
Axis 1
speed
340/
Axis 2
600/
Axis 3 (Z-axis)
2050 mm/
1700/
Composite
7.52/
0.31 s
10 kg
0.1 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
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
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
463
200
Encoder connector
Hand I/O connector
100
100
60
400
Optional Z stroke
5 P9
Standard
Z stroke
Battery case
20 H7
70
40
663
340
Space for cables
Pneumatic joints
(46 tube)
13
TH850A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
4 axes
Arm length
Working
Axis 1
Envelope
Axis 2
160
145
Axis 3 (Z-axis)
360
Axis 1
300/
Axis 2
420/
Axis 3 (Z-axis)
2050 mm/
1200/
Composite
8.13 /
0.39 s
20 kg
0.2 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
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
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
14
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
663
40
463
Pneumatic joints
(46 tube)
TH1050A
Type
Horizontal multi-joint
Cleanliness (optional)
Class 10 (0.1 m)
4 axes
Arm length
Working
Axis 1
Envelope
Axis 2
160
145
Axis 3 (Z-axis)
360
Axis 1
300/
Axis 2
420/
Axis 3 (Z-axis)
2050 mm/
1200/
Composite
9.15 /
0.39 s
20 kg
0.2 kgm2*3
Positioning X-Y
0.01 mm*4
0.01 mm*4
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
240
05
(A
xis
R1
193
150
145
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
734
288
70
45.5 Hole
400
Optional Z stroke
100 100
200
Standard
Z stroke
40
Battery case
20 H7
463
Working Envelope
18 ball screw inner diameter
316
663
Pneumatic joints
(46 tube)
15
OPTIONS
16
OPTIONS
17
Ethernet
Vision Sensor
Robot1
Robot2
Conveyor Encoder
Controller1
Robot2
Robot3
Vision Sensor
Ethernet HUB
Controller2
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.
Field network
PLC
Field network (CC-Link, Profibus, DeviceNet)
TS1000
I 128 *1
O128
TH180
TS2000
TH450
18
I 128 *1
O128
TS2100
I 128 *1
O128
TH650A
19
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.
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SM08087-2000-EI
Printed in Japan