| | | | | | | | | | | | | | | | | | | | | Full length | 250mm | 350mm | 450mm | 550mm | 650mm | 850mm | 1050mm | 1500mm | | | | | Arm Length | Axis 1 | 125mm | 225mm | 200mm | 300mm | 300mm | 350mm | 550mm | 850mm | | | | | | | Axis 2 | 125mm | 125mm | 250mm | 250mm | 350mm | 500mm | 500mm | 650mm | | | | | | Axis 1 | ±115° | ±115° | ±120° | ±120° | ±160° | ±160° | ±160° | ±110° | | | | | Working Envelope | Axis 2 | ±140° | ±145° | ±145° | ±145° | ±143° | ±145° | ±145° | ±150° | | | | | Axis 3 (Z-axis) | 120mm | 120mm | 150mm (300mm) | 150mm (300mm) | 200mm (400mm) | 200mm (400mm) | 200mm (400mm) | 600mm (1200mm) | | | | | | Axis 4 (Z-axis rotation) | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | | | | | | | Axis 1 | 480°/sec | 3007sec | 600°/sec | 375°/sec | 337.5°/sec | 300°/sec | 281°/sec | 130°/sec | | | | | | Axis 2 | 480°/sec | 4807sec | 600°/sec | 600°/sec | 6007sec | 411°/sec | 411°/sec | 160°/sec | | | | | Maximum speed | Axis 3 (Z-axis) | 1067mm/sec | 1067mm/sec | 2000mm/sec | 2000mm/sec | 2000mm/sec | 2000mm/sec | 2000mm/sec | lOOOmm/sec | | | | | | Axis 4 (Z-axis rotation) | 1143°/sec | 1143°/sec | 2000°/sec | 2000°/sec | 17007sec | 1147°/sec | 1147°/sec | 300°/sec | | | | | | Composite | 3.14m/s | 2.88m/s | 7.33m/sec | 6.21m/sec | 7.49m/sec | 8.03m/sec | 8.73m/sec | 5.22m/sec | | | | Load | Maximum payload mass | 3kg | 3 kg | 5kg | 5kg | 10kg | 20kg | 20kg | 70kg (arm length 1950:40kg) | | | | Allowable moment of inertia at end | 0.017kgm2 (With limited acceleration) | 0.017kgm2 (With limited acceleration) | 0.05kgm2 | 0.05kgm2 | O.lkgm2 | 0.2kgm2 | 0.12kgm2 | 3.5kgm2 | | | | | | X, Y (Plane) | ±0.01mm | ±0.01mm | ±0.015mm | ±0.015mm | ±0.015mm | ±0.03mm | ±0.03mm | ±0.2mm | | | | | Positioning repeatabilitg | Z-axis (Vertical) | ±0.01mm | ±0.01mm | ±0.01mm | iO.Olmm | ±0.01mm | ±0.02mm | ±0.02mm | ±0.2mm | | | | | | Axis 4 (Z-axis rotation) | ±0.03° | ±0.03° | ±0.015° | ±0.15° | ±0.015° | ±0.03° | ±0.03° | ±0.05° | | | | Input/output signals for hand | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | 5 inputs, 4 outputs | | | | Air piping for hand | d)4x4 pes. | d)4x4 pes. | d)4x4 pes. | 0)4x4 pes. | d)6x4 pes. | d)6x4 pes. | d)6x4 pes. | d)12x2 pes. | | | | Position detecting sgstem | Absolute system | Absolute system | Absolute system | Absolute system | Absolute system | Absolute system | Absolute system | Absolute system | | | | Mass of the robot | 15kg | 15kg | 27kg | 29kg | 55kg | 72kg | 75kg | 550kg | | | | Controller | TS1000 | TS1000 | TS2000 | TS2000 | TS2100 | TS2100 | TS2100 | TS2100 | | | | Externa] view | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | see www.tmrobotics.co.uk | | | | Note: An item in parentheses is an option | | | | | | | | | | | | | | | | | | | |