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

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[Set designation]

Harmonic drive type

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

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

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

Axis 1 stroke

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-U □ -M20N- □ 0	BB30E-ST-M20N- □ 5	BB10E-ST-M05B □ 0	BA00D-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

7.3

3.6

1.5

6 ^ipffi-⁵ _a| |_e 105 5

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

.T-Slot for M4 hexagon nut (T-slot E)

V1IN20

Stroke Y +37 8

V1AX 60

J 36 I,

Stroke X

181

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

I I

T-slotrarMehexagon bolt (T-slot D)

286 l

2. 6 45. l

T-slotforM4hexagon nut (T-slot C)/ T-slotforM4hexagon nut (T-slot B)/ T-slotforM8hexaqon bolt (T-slot A)/

V1AX 100

T-slot range for M8 hexagon bolt

Stroke X +326

131

L: Left-handed

26 ,. 193

T3 CD

T-slot for M4 hexagon njt flT-slotEi.

010

Details of R-axis

Stroke Y +378

V1AX 60

V1IN20

92.7

,88 181

Stroke X

1 3

T3 CD

Flexibleduct(f)

T-slotfor|M6 hexagon bolt

(T-slot D)

2.6

45.7

286 7

NT-slot for M4 hexagon nut (T-slot C) Vf-slot for M4 hexagon nut (T-slot B| V-slotforM8 hexagon bolt (T-slot A)

V1AX 100

J-slot range for MS hexagon bolt.

StrokeX +326

131.2,

164

BA II Arm Robot Catalog - TM Robotics - #166

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