TH650 - spec
| Arm Length | 650mm(300+350) | |
| Working Envelope | Axis 1 | +/-160 degrees |
| Axis 2 | +/-143 degrees | |
| Axis 3 | 200mm (400mm) | |
| Axis 4 | +/-360 degrees | |
| Max Speed | Axis 1 | 337.5 degrees/s |
| Axis 2 | 600 degrees/s | |
| Axis 3 | 2000mm/s | |
| Axis 4 | 1700 degrees/s | |
| Comp. | 7.49 m/s | |
| Load | Maximum 10kg | |
| Allowable moment of inertia | 0.1kg | |
| Positioning | x,y | +/-0.015mm |
| Repeatability | z | +/-0.01mm |
| 4th | +/-0.015 degrees |
CONTROLLER
| TS2100 | |
| No of axis | Max five-axis simultaneous control |
| Operation mode | PTP, CP (linear, circular), short cut |
| Position detection | Absolute encoders system |
| Storage capacity | Total: 6400 points + 12800 steps One program: 2000 points + 3000 steps |
| Programs | Max 256 |
| Program language | SCOL (proprietary, similar to BASIC) |
| Teach unit | New teach pendant (program can be written on PC) |
| External inputs / outputs | 31+7 inputs / 22+10 ouputs (7/10 can be switchable with system) (1/0 are supplyable between plus-common and minus-common) |
| Hand control signals | 5 inputs / 4 outputs |
| External operation signals | Inputs: Cycle operation modes, start, stop, program reset etc (6 dedicated inputs + 7 inputs shared with general). Outputs: Servo on, emergency stop, malfunction, alarm etc (2 dedicated outputs + 10 outputs shared with general) |
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