TOSHIBA MACHINE

Launched in 1986, the Cartesian robot COMPO ARM has developed a proven track record among many devoted customers because of its features of high reliability and ease of operation. For this reason, today, it is used as an integral part in many different types of production lines. The new BA-III series carries on the features of the previous BA-II series while also providing enhanced functions for even greater ease of operation. Models are available from single-axis to Cartesian axes (2 to 4 axes) and in a wide range of variations for also meeting the future needs of customers. ●High load Single-axis...

Controller Features Enhanced Functions! ● A high-performance servo control engine is used to enable handling of even complex sealing work. ● A special line-up of controllers for high loads (motor capacity: 750 W) is available for reducing the cost of high-load systems. ● A master unit with a built-in driver for one axis can handle up to a maximum of four control axes (two axes in previous models) for eliminating the need for a high-function master unit, which was required for 3- and 4-axis combinations before. This enables lower costs and reduced space requirements. ● The processing speed of...

ROIbot Line-up For Transfer of Light Loads ◆Maximum payload 4kg BA3-T5D (Ball screw drive) BA3-T7D (Ball screw drive) BA3-T3D (Ball screw drive) Pushrod type BA3-T4D (Ball screw drive) Pushrod type BA3-T5E (Ball screw drive) Pushrod type

For Transfer of Medium Loads ◆Maximum payload 15kg BA3-10 (Ball screw drive) BA3-30 (Ball screw drive) BA3-10 (Timing belt drive) BA3-30 (Timing belt drive) BA3-50 (Timing belt drive) Note 1: The payload varies depending on the lead and motor output. Note 2:

For Transfer of Heavy Loads ◆Maximum payload 60kg BA3-50 (Ball screw drive) BA3-60 (Ball screw drive) BA3-50 (Timing belt drive) BA3-60 (Timing belt drive) Note 1: The payload varies depending on the lead and motor output. Note 2: The speed

[Cartesian axes] Typical Examples Other combinations of multiple models are possible. Type selection: Page 11 See Pages 56 - 76 Type selection: Page 12 See Pages 102 - 112 Type selection: Page 11 See Pages 77 - 88 Type selection: Page 13 - 14 See Pages 113 - 133 Type selection: Page 12 See Pages 89 - 101 Type selection: Page 15 See Pages 134 - 141 [Components of control system] Controller Master unit Slave unit

[Components of control system] Controller Other optional units With extension I/O Unit See Pages 178 - 179 With CC-Link Unit See Pages 180 - 182 Regenerative discharge unit See Pages 186 - 190 Teach pendant See page 191 With DeviceNet Unit See Pages 183 - 185

Type Selection Single Axis Specifications

Ball screw driven ■Single axis payload table (horizontal) Ref. page Type Timing belt driven Lead Max. speed (mm) (mm/s) © I I * When a regenerative discharge unit is used.

Ball screw driven (pushrod type) ■Single axis payload table (vertical) Ref. page Type Ball screw driven I | * When a regenerative discharge unit is used.

Ball screw driven (pushrod type) Ref. page Type Stroke Lead Max. speed Max. payload ■Single axis payload table (rotation) Range of ReductionMax. speed rotation rationMax. speed Harmonic drive Planet gear

■ 2-axis (X-Y) Combination payload table X-axis: Ball screw driven Y-axis: Ball screw driven Payload (kg) X-axis: Timing belt driven Y-axis: Timing belt driven BA3-L3-A2C See Page 74 BA3-L1-A2B See Page 71 ■ 2-axis (X-Z) Combination payload table X-axis: Ball screw driven Z-axis: Ball screw driven X-axis: Timing belt driven Z-axis: Ball screw driven

■ 2-axis (Y-Z) Combination payload table Y-axis: Ball screw driven Z-axis: Ball screw driven Y-axis: Timing belt driven Z-axis: Ball screw driven ■ 2-axis (Z-Y) Combination payload table Payload (kg) 40 Z-axis: Ball screw driven Y-axis: Ball screw driven Z-axis: Ball screw driven Y-axis: Timing belt driven

■ 3-axis (X-Y-Z) Combination payload table X-axis: Ball screw driven Y-axis: Ball screw driven Z-axis: Ball screw driven Payload (kg) Z-axis stroke: 50-150 mm BA3-A3-A3A See Page 119-120 BA3-A1-A3D See Page 113-114 BA3-A3-A3B See Page 121-122 BA3-A1-A3F See Page 115-116 Z-axis stroke: 200-250 mm BA3-A3-A3A See Page 119-120 Z-axis stroke: 300-350 mm BA3-A3-A3A See Page 119-120 BA3-A1-A3D See Page 113-114 BA3-A3-A3B See Page 121-122 BA3-A1-A3F See Page 115-116 BA3-A3-A3N See Page 117-118

■ 3-axis (X-Y-Z) Combination payload table See Pages 129-133 X-axis: Timing belt driven Y-axis: Timing belt driven Z-axis: Ball screw driven Z-axis stroke: 50-150 mm Payload (kg) 15 Z-axis stroke: 200-250 mm Payload (kg) 15 Z-axis stroke: 300-350 mm Payload (kg) 15

■ 4-axis (X-Y-Z-R) Combination payload table X-axis: Ball screw driven Y-axis: Ball screw driven Z-axis: Ball screw driven R-axis: Rotating axis See Pages 134-141 X-Y-Z-R

Example applications Loading parts Parts assembly

Before you read this manual ■ Definition of terms ■ [Axis1 and Axis2]: When forming a Cartesian axes configuration, an axis which is mounted directly on the userprovided equipment is called the “Axis 1”, and the other axis which is mounted on the Axis 1 with a bracket is called the “Axis 2”. Axis 1 Equipment surface [Straight axis]: An axis whose ball screw and servo motor shaft centers are placed along a straight line. Left side [Right side mounted axis, Left side mounted axis and Bottom side mounted axis]: An axis whose servo motor is turned back, which is coupled with a ball screw via a timing...

Terms used throughout this publication are classified into the two groups; general robot terms and those specific to Toshiba Machine robots. ITerms used for controller |Terms used for actuator (or axis) [Slider] The part of the actuator which moves along a straight line. A hand or other tooling is assembled to the slider. When a bracket for axis combination is mounted on the slider, a two axes system can be configured. This is also called the "saddle" in overseas nations. [Drive system] Components for power transformation, such as the ball screw and timing belt, which are used to drive the movable...