Catalogue - BA II Arm Robot Catalog - TM Robotics - (Version JPG)

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Robotic cell, Cartesian robot, Vision system, Assembly robot, Articulated robot

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Orthogonal Axes Specifications

[Set designation]

Harmonic drive type

X-axis: Ball screw driven Motor straight Y-axis: Ball screw driven Motor straight Z-axis: Ball screw driven Motor straight R-axis: Harmonic drive

BA2 - A5 - A4A R A - 40 45 30 - RF 2 3

Axis 1 stroke

Combined operation R: Right-handed L: Left-handed

Controller 0: None

1 : CA20-M10

2 : CA10-M00B

3 : CA10-M01B

Axis 2 stroke

Axis 3 stroke

Cable length 3 : 3m 9 : 9m 5 : 5m B : 11m 7 : 7m D : 13m

20 : 200mm

15 : 150mm

10 : 100mm

90 : 900mm AO : 1000mm

95 : 950mm A5 : 1050mm

30 : 300mm

Note 1: When the stroke is as given

below, the maximum speed differs.

F0 : 1500mm


	Stroke (mm)	Maximum speed (mm/s)
	700 ~ 800	1100
	900 ~ 1000	1000
X-axis	1100 ~ 1200	700
X-axis	1300	500
	1400	400
	1500	300
	750	1000
Y-axis	850	800
	950 ~ 1050	600

[Specifications]


	X-axis	Y-axis	Z-axis	R-axis
Type of axis	BB50F-ST-M20N- □ 0	BB30E-ST-M12N- □ 5	BB10E-ST-M05B- □ 0	BB00D-RH-A
Stroke (in increments of 100 mm)	200 ~ 1500mm	150 ~ 1050mm	100 ~ 300mm	360°
Maximum speed	1,200 mm/s (Note 1)	1,200 mm/s (Note 1)	300mm/s	360°/s
Positioning repeatability	±0.01mm	±0.01mm	±0.01mm	±0.025°
Ball screw lead	20mm	20mm	5mm	1/50 (Reduction ratio)
Motor output	200W	100W	100 W, with brake	50W
Resolution	0.01 mm (R-axis: 0.01 deg.)

Acceleration/deceleration time when the maximum speed is set: 0.36 sec. or over


Maximum Payload (kg)		Y-axis stroke
Maximum Payload (kg)		150mm	250mm	350mm	450mm	550mm	650mm	750mm	850mm	950mm	1050mm
Z-axis stroke	100mm	5.0	5.0	5.0	5.0	5.0	5.0	5.0	5.0	5.0	3.0
	200mm	5.0	5.0	5.0	5.0	5.0	5.0	5.0	5.0	4.0	2.0
	300mm	5.0	5.0	5.0	5.0	5.0	5.0	5.0	5.0	4.0	1.0

R: Right-handed

8 1.5

13.5

3.6

1.5

Detail "A" ofT-slot Detail "B" of T-slot Detail "C" of T-slot Detail "D" of T-slot Detail "E" of T-slot

„T-slot for M4 hexagon nut (T-slot E)

MIN.20

V1AX.6Ü

■it-._

Stroke X

181

162

Section of flexible duct (1) Section of flexible duct (2) Section of flexible duct (3)

1.3

Flexible duct (3)

226.2 „| T-slot forM6 hexagon bolt (T-slot D)

356

V1AX.1ÜÜ

T-slot range forMS hexagon bolt

Stroke X +393

V1IN.20

131.2

L: Left-handed

I—I^S

CD O

T-slotforM4 hexagon nut (T-slot E),

86,

Stroke Y +3 7 8

V1AX.6Ü

VIIN.2 0

A10

162

181

Stroke X

Details of R-axis

Flexible duct (3) 226.2

T-slot for M6 hexagon bolt

(T-slot D)

+ w

_St

_35⁶_J&| 15

T-slot range for M8 hexagon bolt~N

\T-slot for M4 hexagon nut (T-slot C) \T-slot for M4 hexagon nut (T-slot B) \T-slot for M8 hexagon bolt (T-slot A)

V1AX.100

StrokeX +3 9 3

V1IN.20

131.2

163

BA II Arm Robot Catalog - TM Robotics - #165

Robotic cell, Cartesian robot, Vision system, Assembly robot, Articulated robot