TH Series: Wide Variations, Fast Motion and Heavy Duty

Wide Variations, Fast Motion and Heavy Duty
Safety warnings

TH SERIES
TM ROBOTICS [AMERICAS] INC.
755 Greenleaf Avenue, EIK Grove Village, IL 60007, U.S.A.
TEL:[1]-847-709-7308 Mail:info@tmrobotics.com
TM ROBOTICS [EUROPE] LTD.

Unit 2, Bridge Gate Centre, Martinfield,
Welwyn Garden City, Herts, AL7 1JG UK
TEL:[44]- (0)1707-290370 Mail:sales@tmrobotics.co.uk
Compact
SCARA ROBOT
TH180, TH250A, TH350A
High-Speed and High-Cycle

SCARA ROBOT
THP550, THP700
High-Speed
and High-Precision SCARA ROBOT
TH450A, TH550A
www.shibaura-machine.co.jp
High Payload Mass SCARA ROBOT

TH650A, TH850A,
TH1050A, TH1200A
SM20097-1000-EI
Printed in Japan Catalog TH0039-CEC-10
SCARA Robot TH Series SCARA Robot TH Series
The TH series, Flexible and Fast Manoeuvre of Time-Space Convenient Optional Features
Introduction
Introduction
SCARA Robot
SCARA Robot
Option Z-axis long Protective Z-axis Ceiling-mount Safety Cable Dust and Tool Flange for Additional Cleanroom
Bellows End Effectors Design
Model stroke(-Z) for Z-Axis(-B) Cap(-C) type(-T) Category3 Extension(Max.) Splash-Proof Mounting 5th axis (-CR,-CRB)
TH180 ーーーーー 10 m ー ○ ー CR
TH250A ーーーーー 10 m ー ○ ー CR, CRB
TH350A ーーー ○ ー 10 m ー ○ ー CR, CRB
TH450A 300 ㎜ ○ ○ ○ ○ 25 m ○ ○ ○ CRB
TH550A 300 ㎜ ○ ○ ○ ○ 25 m ○ ○ ○ CRB
High-performance evolution in Horizontal multi-joint type robot, TH series. TH650A 400 ㎜ ○ ○ ○ ○ 25 m ○ standard ○ CRB
Configurations
Configurations
TH-Series Model
TH-Series Model
Eleven arm-length varieties with distinctive characteristics and featuring many TH850A 400 ㎜ ○ ○ ー ○ 25 m ○ standard ○ CRB
TH1050A 400 ㎜ ○ ○ ○ ○ 25 m ○ standard ○ CRB
convenient functionalities to suit a broad range of applications. TH1200A 400 ㎜ ○ ○ ー ○ 25 m ー standard ○ ー
THP550 300 ㎜ ○ ○ ○ ○ 25 m ○ ○ ○ CRB
THP700 300 ㎜ ○ ○ ー ○ 25 m ○ ○ ー CRB
*See page 22 for details on the options.
Full line-up: From small to large range to meet a wide range of applications.
Controller Configurations
Model Arm length Z-axis stroke Max. payload Mass Model Arm length Z-axis stroke Max. payload Mass
TH180 180 ㎜ 120 ㎜ 2㎏ TH650A 650 ㎜ 200 ㎜ 10 ㎏
TH250A 250 ㎜ 120 ㎜ 3㎏ TH850A 850 ㎜ 200 ㎜ 20 ㎏
TH350A 350 ㎜ 120 ㎜ 3㎏ TH1050A 1050 ㎜ 200 ㎜ 20 ㎏ Support Software
TH450A 450 ㎜ 150 ㎜ 5㎏ TH1200A 1200 ㎜ 200 ㎜ 20 ㎏
TH550A 550 ㎜ 150 ㎜ 5㎏ THP550 550 ㎜ 150 ㎜ 2㎏ ●TsAssist: robot programming assist tool
THP700 700 ㎜ 150 ㎜ 10 ㎏ With high performance 3D simulation,
End-effector I/O connector
highly functional program editor, and easy
operation, TSAssist provides powerful
High speed: Fast motion for improved efficiency. End-effector assistances to all phases of automation
Application Examples
pneumatic joints facilities, from planning, installation to
Model Standard cycle time Load Max. speed (Composite) Model Standard cycle time Load Max. speed (Composite) enhancement.
TH180 0.35 s 1㎏ 2.6 m/s TH650A 0.31 s 2㎏ 7.52 m/s
TH250A 0.41 s 1㎏ 3.53 m/s TH850A 0.39 s 2㎏ 8.13 m/s
TH350A 0.41 s 1㎏ 3.24 m/s TH1050A 0.39 s 2㎏ 9.15 m/s
TH450A 0.30 s 2㎏ 7.3 m/s TH1200A 0.57 s 2㎏ 7.9 m/s
TH550A 0.30 s 2㎏ 6.2 m/s THP550 0.29 s 1㎏ 6.21 m/s
THP700 0.345 s 2㎏ 7.8 m/s
SCARA Robot TH-A Series

Wide Working Envelope Diversity in Standard Features
Working envelopes are widened to ●Wiring and piping for user-side devices:
maximum to allow for maximum Wiring and piping for end-effector control are built in the arm.
freedom in system layout. ●Z-axis brake release switch:
ge
) The Z-axis brake release switch is located on the arm for quick, one-touch operation.
n
ra
at
in
g
●7-segment display: ●TC-WORX:
er °
op 60
xis
1 1
xis 2 op
eratin g range) Error code, program step number, customized data such as process count are displayed Ladder program creation for built-in PLC
(A (A 143°
SCARA Robot THP Series

R65
on the controller operation panel.

0
●Torque control:
50
Compliant to external force or obstruction, to protect workpieces and end-effectors,

R3 R3
50
and for press-in work.

Z-axis brake release switch
.6
●Constant speed: Pneumatic joint for

11
(Axis 143°
R2
2 op
(A
eratin
Constant speed along the motion path. Effective in such applications as sealing. cleanroom vacuum
xis
g ran
ge)
1
16 rati
op
0° ng
e
●Multi-task:
ra
Robot motion program and I/O signals (peripheral) handling are executed in parallel,
ng
Connector for encoder

e)
for more interactions and better time efficiency. Connector for

Options and Others
Options and Others

Working Envelope of TH650A
●PLC function: motor power
A built-in PLC to control peripheral equipment and touch-sensitive panel connection.
End-effector I/O connector

Field Networks (optional) End-effector pneumatic joints
Various field network protocols are available, for high-speed communication and resulting in reductions in wiring.
For the Ethernent (not supported by TS1000), PROFIBUS, DeviceNet, CC-Link, Eathernet/IP, EatherCAT and PROFINET, please request detailed manuals.
02 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 03

Full, extensive lineup to meet every application need Full, extensive lineup to meet every application need
Compact SCARA Robot Order model code

Introduction
Introduction
SCARA Robot
SCARA Robot
Arm Leghth 180mm-350mm
4
*For details on the corresponding options,
see the correspondence table in page 3.
Special design
Optional specifications Cleanroom : CR (0.3µm), CRB (0.1µm)
Z-axis long stroke Ceiling-mount type :T
With cap :C
Arm length
Configurations
Configurations
TH-Series Model
TH-Series Model
TH180 TH250A TH350A With protective bellows : B
Water-proof (IP65) : IP
Model TH550A TH650A TH850A TH1050A

High Payload Mass SCARA Robot High-Speed and High-Precision SCARA Robot Arm length 550 mm 650 mm 850 mm 1050 mm
(1st arm + 2nd arm) (300+250) (300+350) (350+500) (550+500)
Arm Leghth 850mm-1200mm Arm Leghth 450mm-550mm
Axis 1 ±120° ±160° ±160° ±160°
Working Axis 2 ±145° ±143° ±145° ±145°
Envelope Axis 3 150 mm / 300 mm 200 mm / 400 mm 200 mm / 400 mm 200 mm / 400 mm
Axis 4 ±360° ±360° ±360° ±360°
Axis 1 375°/s 340°/s 300°/s 300°/s
Axis 2 600°/s 600°/s 420°/s 420°/s
Maximum
Axis 3 2000 mm/s 2050 mm/s 2050 mm/s 2050 mm/s
Speed
Axis 4 2000°/s 1700°/s 1200°/s 1200°/s
TH450A TH550A Composite 6.2 m/s 7.52 m/s 8.13 m/s 9.15 m/s
Standard Cycle Time 0.30 s (With 2 kg load)*2 0.31 s (With 2 kg load)*2 0.39 s (With 2 kg load)*2 0.39 s (With 2 kg load)*2
TH650A TH850A Maximum Payload Mass 5 kg 10 kg 20 kg 20 kg
High-Speed and High-Cycle SCARA Robot Allowable Moment of Inertia 0.06 kg・m2 *3 0.1 kg・m2 *3 0.2 kg・m2 *3 0.2 kg・m2 *3
X・Y ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Arm Leghth 550mm-700mm Positioning
Z ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Repeatability*4
Axis 4 ±0.005° ±0.004° ±0.004° ±0.004°
Wiring and Pneumatic Piping for Hand 8 Inputs / 8 Outputs, φ4×4 pcs.*5 5 Inputs / 4 Outputs, φ6×4 pcs.
Cable Length 5 m (optional: max. 25 m)
Mass 28 kg 52 kg 76 kg 80 kg
Standard Controller TS3000 TS3100 TS3100 TS3100
TH1050A TH1200A
Model TH1200A THP550 THP700

THP550 THP700 Arm length 1200 mm 550 mm 700 mm
(1st arm + 2nd arm) (700+500) (300+250) (350+350)
*For detailed specifications, see the respective model specifications (pages 10-21).
Axis 1 ±160° ±120° ±120°
Working Axis 2 ±145° ±145° ±145°
Envelope Axis 3 200 mm / 400 mm 150 mm / 300 mm 150 mm / 300 mm
Model TH180 TH250A TH350A TH450A
Axis 4 ±360° ±360° ±360°
Arm length 180 mm 250 mm 350 mm 450 mm
Axis 1 240°/s 375°/s 340°/s
(1st arm + 2nd arm) (70+110) (125+125) (225+125) (200+250)
Axis 2 330°/s 600°/s 600°/s
Axis 1 ±120° ±115° ±115° ±120° Maximum
Speed Axis 3 1800 mm/s 2000 mm/s 2050 mm/s
Working Axis 2 ±140° ±140° ±145° ±145°

Axis 4 1000°/s 2000°/s 1800°/s
Envelope Axis 3 120 mm 120 mm 120 mm 150 mm / 300 mm
Composite 7.9 m/s 6.21 m/s 7.8 m/s
Axis 4 ±360° ±360° ±360° ±360°
Standard Cycle Time 0.57 s (With 2 kg load)*2 0.29 s (With 1 kg load)*2 0.345 s (With 2 kg load)*2
Axis 1 533°/s 540°/s 337.5°/s 600°/s
Maximum Payload Mass 20 kg 2 kg 10 kg
Axis 2 480°/s 540°/s 540°/s 600°/s
Maximum Allowable Moment of Inertia 0.2 kg・m2 *3 0.01 kg・m2 *3 0.1 kg・m2 *3
Axis 3 1013 mm/s 1120 mm/s 1120 mm/s 2000 mm/s
Speed X・Y ±0.03 mm ±0.015 mm ±0.03 mm
Axis 4 1186°/s 1143°/s 1143°/s 2000°/s Positioning
Z ±0.02 mm ±0.01 mm ±0.02 mm
Composite 2.6 ｍ/s 3.53 m/s 3.24 m/s 7.3 m/s Repeatability*4
Axis 4 ±0.005° ±0.02° ±0.02°
Standard Cycle Time 0.35 s (With 1 kg load)*1 0.41 s (With 1 kg load)*2 0.41 s (With 1 kg load)*2 0.30 s (With 2 kg load)*2
Wiring and Pneumatic Piping for Hand 5 Inputs / 4 Outputs, φ6×4 pcs. 8 Inputs / 8 Outputs, φ4×4 pcs. 8 Inputs / 8 Outputs, φ4×6 pcs.
Maximum Payload Mass 2 kg 3 kg 3 kg 5 kg
Options and Others
Options and Others

Cable Length 5 m (optional: max. 25 m)
Allowable Moment of Inertia 0.01 kg・m2 *3 0.017 kg・m2 *3 0.017 kg・m2 *3 0.06 kg・m2 *3
Mass 83 kg 26 kg 57 kg
X・Y ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Positioning Standard Controller TS3100 TS3000 TS3100
Repeatability*4 Z ±0.01 mm ±0.01 mm ±0.01 mm ±0.01 mm
Axis 4 ±0.005° ±0.005° ±0.005° ±0.005° ■ Standard cycle time motion pattern (coarse positioning)
*1: Horizontal 100 mm, vertical 25mm, round-trip *2: Horizontal 300 mm, vertical 25mm, round-trip Continuous operation is not possible beyond the effective load ratio.
Wiring and Pneumatic Piping for Hand 5 Inputs / 4 Outputs, φ4×4 pcs. 8 Inputs / 8 Outputs, φ4×4 pcs.
■ Allowable moment of inertia
Cable Length 3 m (optional: max. 10 m) 3 m (optional: max. 10 m) 3 m (optional: max. 10 m) 5 m (optional: max. 25 m) *3: Acceleration/deceleration rates may be limited according to the motion pattern, load mass and amount of offset.
Mass 9 kg 14 kg 14 kg 26 kg ■ Positioning repeatability
*4: Positioning repeatable accuracy in one-direction movement, when the environmental temperature and robot temperature are constant. It is not the absolute positioning accuracy.
Standard Controller TS1000 TS1000 TS1000 TS3000 Positioning repeatability for X-Y and C are for when Z-axis is at the upper-most position. Trajectory accuracy is not ensured.

TS Series Controllers TS Series Controllers External View
Controller
Introduction
Introduction
SCARA Robot
SCARA Robot
TS1000
TS1000 TS3000 TS3100
Top view Right-side Front view Rear view
Cable space view
120mm or more
Configurations
Configurations
TH-Series Model
TH-Series Model
Controller Combinations
Controller Controller Space for controller ventilation
SCARA Model TS1000 TS3000 TS3100 SCARA Model TS1000 TS3000 TS3100
Upward direction: 100mm or more
Model Model
Left and right side direction: 50mm or more
TH180A A B TH850A A
TH250A A B TH1050A A
TH350A A B TH1200A A
TH450A A THP550 A TS3000
TH550A A THP700 A
TH650A A
Top view Right-side Front view Rear view
A: Standard combination B: Optional combination view
*Please note that standard cycle time and number of hand control signals may change depending on the robot-controller combinations.
Controller Specifications 150
18 298 34
100
290
Model TS1000 TS2000 TS2100

No. of Controlled Axes Standard 4 axes Standard 4 axes (Optional additional Axes)
230
Motion Modes PTP (point-to-point), CP (Continuous Path; Linear, Circular), Short-Cut, Arch Motion
Position Detection Absolute Encoders
Storage Capacity Approx. Total: 6400 points + 12800 steps Approx. Total: 12800 points + 25600 steps
11

1program: 2000 points + 3000 steps 1program: 2000 points + 3000 steps
No. of Registrable Programs Maximum 256 (250 user files + 6 system files) Maximum 256 (243 user files + 13 system files)
Programming Language SCOL (similar to BASIC)
Teaching Unit Teach pendant TP1000 / TP3000: Cable length 5m / Programming support PC software also available
External I/O Signals 16 inputs / 16 outputs 8/8 can be assigned to system signals. 32 inputs / 32 outputs
Hand Control Signal 5 inputs / 4 outputs 8 inputs / 8 outputs
TS3100
External Operation Signal Input: cycle operation mode, start, stop, program reset, etc. Output: Servo ON, operation ready, fault, etc.
Communication Ports

RS232C 2 ports General-purpose (HOST, COM1) RS232C 2 ports General-purpose (HOST, COM1)
RS232C 1 port Proprietary (TCPRG, POD) RS232C 1 port Proprietary (TCPRG, POD)
RS4285 1 port (for I/O expansion units, Input 28 signals Top view Right-side Front view Rear view
RS4285 1 port (for I/O expansion units, Input 28 signals view
and Output 20 signals per unit. Maximum 2 units)
and Output 20 signals per unit. Maximum 2 units)
RS422 1 port (for teach pendant)
RS422 1 port (for teach pendant) Ethernet 10 Mbps
Power Supply and Capacity Single phase, AC190 V-250 V, 50/60 Hz Single phase, AC200 V-240 V, 50/60 Hz
100 170
Outer Dimensions and Mass 170W×290H×280D (mm) / 10 kg 290W×230H×298D (mm) / 13 kg 420W×230H×298D (mm) / 17 kg 18 298 34 420
Other Functions Interruption processing, robot motion ON signal, communication processing,

arithmetic operation, torque limit, PLC, self-diagnosis, etc.
Options and Others
Options and Others

230
PC Software for Programming TSAssist: Program editor, teaching, remote operation*1 (Supporting OS: Windows 7, 8.1, 10 (32/64 bit))
Support (optional) TC-WORX: PLC program editor (Supporting OS: Windows 7, 8.1, 10 (32/64 bit))
11
Options Conveyor synchronization (not supported by TS1000), Additional I/O, I/O cable, position date latch function, smooth (constant speed) function,
separated operation panel, network (Ethernet: Not supported by TS1000, PROFIBUS, DeviceNet, CC-Link,Ethernet/IP, EtherCAT, PROFINET), CE-compliant
-Windows is a registered trademark of Microsoft Corporation in the U.S.A. Ethernet is a registered trademark of XEROX Corp. in the U.S.A. CC-Link is a
registered trademark of CC-Link Partner Association. DeviceNet and EtherNet/IP are registered trademarks of ODVA. PROFIBUS and PROFINET are registered
trademarks of PROFIBUS User Organization. EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
*1 TS1000 controller is not compatible. Please use TSPC (optional).

Control System Options Application Examples
Teach Pendant (Optional)

Introduction
Introduction
SCARA Robot
SCARA Robot
TP1000
New sensation!
Equipped with graphic
operation keys!
The teach pendant TP3000
Configurations
Configurations
TH-Series Model
TH-Series Model
is easy to see and operate!
●Adoption of an easy-to-view vivid color screen ●Equipped with graphic operation keys
Compared to our conventional teaching pendant TP1000, the The keyboard display changes dynamically according to the
TP3000 has significantly improved expression capability with operation. Required keys can be displayed whenever they are
the adoption of an LCD color screen. necessary. Food Manufacturing Food
Used for food manufacturing lines to prepare and Used for food boxing lines to automatically box ready-packed
transport food. food being transported on the belt conveyor into boxes.
●Equipped with language association function ●Outline function
Language input candidates are displayed according to character The main program, subprograms and labels in the SCOL
input.Compared to the conventional teaching pendant TP1000, program can be displayed hierarchically so that the program
?
the TP3000 makes it easier to input commands more quickly. structure can be viewed quickly.
●Support for IP65 IP□□ (Second characteristic numeral)

What is IP65? (First characteristic numeral)
IP (International Protection) rating classifies and rates the degree of protection provided
against the ingress of solid foreign objects (including particles and dust) and water in
mechanical casings and with electrical enclosures.
The first characteristic numeral indicates the level of protection that the enclosure provides
against the ingress of solid foreign objects (including particles and dust). “6”means “totally
dust tight” so that “the enclosure provides against the ingress of solid particles and dust”.
The second characteristic numeral indicates the level of protection that the enclosure
provides against the ingress of water. “5” means “protection against water jets” so
that “water directly projected by a nozzle against the enclosure from any direction shall
have no harmful effects”.

*The images shown are illustration only
Note: The controller’s main body and the parts around the connector do
Note: Be sure to turn off the main power before attaching or detaching the cable.
Pharmaceutical and Medical Medical Examination
not support the IP.
Used for boxing lines of pharmaceutical and medical Used to automate the processing of a large quantity of
TS3SFB Safety Category 3 Safety Circuit Unit (Optional) products to automatically box finished products being specimen samples at medical institutions. Test tubes
transported on the belt conveyor into boxes. picked up by the SCARA robot are read by a barcode
reader, allowing uniform work and secure repeatability.
TS3SFB unit is used to realize Safety Category 3,
which is required for CE marking.
*The TS3SFB unit can be connected to the TS3000E/TS3100E controller.
It is necessary to design and implement safety related features.

Front view Rear view
External View
203
Space for Cables
Approx. 40
ACIN2 RESET-1,2 SAFE
1234
Options and Others
Options and Others

134
240
210
11
170 Assembling and Inspection Cutting

Rear view Left-side Front view Top view Bottom View Used to assemble and inspect electronic devices. The Used as a cutting device. Cardboard boxes being
View （W）
203 （H）
×145 ×240 （D） SCARA robot has been adopted for manufacturing of transported by the conveyor are cut by the cutter
Unit in mm
precision machines. attached to the SCARA robot.

TH180 TH250A
Compact SCARA robot TH180 Compact SCARA robot TH250A
Introduction
Introduction
SCARA Robot
SCARA Robot
Model TH180A Model TH250A
Type Horizontal multi-joint Type Horizontal multi-joint
No. of controlled axes 4 No. of controlled axes 4
Arm length 180 mm (70 mm+110 mm) Arm length 250 mm (125 mm+125 mm)
Working Axis 1 ±120° Working Axis 1 ±115°
envelope Axis 2 ±140° envelope Axis 2 ±140°
Axis 3 (Z-axis) 120 mm Axis 3 (Z-axis) 120 mm
Configurations
Configurations
TH-Series Model
TH-Series Model
Axis 4 (Z-axis rotation) ±360° Axis 4 (Z-axis rotation) ±360°
Maximum Axis 1 533°/s Maximum Axis 1 540°/s
speed Axis 2 480°/s speed Axis 2 540°/s
Axis 3 (Z-axis) 1013 mm/s Axis 3 (Z-axis) 1120 mm/s
Axis 4 (Z-axis rotation) 1186°/s Axis 4 (Z-axis rotation) 1143°/s
Composite 2.6 m/s Composite 3.53 m/s
Standard cycle time (with 1kg load) 0.35 s ＊1 Standard cycle time (with 1kg load) 0.41 s ＊2
Maximum payload mass 2 kg (rated: 1 kg) Maximum payload mass 3 kg (rated: 1 kg)
Allowable moment of inertia 0.01 kgm2 ＊3 Allowable moment of inertia 0.017 kgm2 ＊3
Positioning X -Y ±0.01 mm ＊4 Positioning X -Y ±0.01 mm ＊4
＊4
repeatability Z (Axis 3) ±0.01 mm repeatability Z (Axis 3) ±0.01 mm ＊4
Axis 4 (Z-axis rotation) ±0.005° ＊4 Axis 4 (Z-axis rotation) ±0.005° ＊4
Hand wiring 5 inputs / 4 outputs Hand wiring 5 inputs / 4 outputs
Hand piping 4 pcs. (φ4) Hand piping 4 pcs. (φ4)
Robot controller cable 3 m (optional: maximum 10 m) Robot controller cable 3 m (optional: max. 10 m)
Power Capacity 0.5 kVA Power Capacity 0.9 kVA
Mass 9 kg Mass 14 kg
■ This model is used with the controller TS1000 or TS3000. ■ This model is used with the controller TS1000 or TS3000.
Please see the Controller Combinations table on page 6 for the combinations Please see the Controller Combinations table on page 6 for the combinations
of robot models and controllers. of robot models and controllers.
■ For *1, *3 and *4, see page 5. ■ For *2, *3 and *4, see page 5.
External view External view
0°

200
12 Hand I/O connector
15 170
R1 Hand pneumatic joints 4×M5 φ35
7.5
80
140
5 °
4.5
7.5 11
°
101
120
140
2
110
2 5
4
62
80
94
96
R2
65
140
4.5
50
140
φ16
17
10
R85.5
50 150
°
25 4×φ7 Detail of T-shaped slot Detail of
120 mounting Detail of C 125 125 4×φ9
°
110 70
30
holes (T-shaped slot for peripheral device mount) mounting for peripheral end-effector mount
120
180 167 holes

C Hand I/O connector 442 device mount
140
141.08
Hand pneumatic joints 4×M5
°
1

13
2.
R7
°
140
Maximum 580
Tapped hole for peripheral device mounting 2×M4
; both sides 11
5° Pneumatic joint for cleanroom vacuum:
457.5
forφ6 tube
7 10
Hand mounts area
φ35 40 40 Hand I/O connector

2 Axis 3 brake release switch
59.5
31 31
10
35 35
Motor power connector
Brake release Detail of B
13 Stroke 120
Battery case Encoder connector

Options and Others
Options and Others

switch
27
172
120
175
Pneumatic joint for

148.5
Z M4 thread hole for grounding

cleanroom vacuum: for φ6 tube
Battery box
10
φ16
18.5
Detail of A Hand pneumatic joints: for 4×φ4 tubes Z View Hand pneumatic joints: for 4×φ4 tubes
(End-effector mount)
10
40 Space for cable

A 150 Space for cable 80 or more 80 or more

TH350A TH450A
Compact SCARA robot TH350A High-Speed and High-Precision SCARA Robot TH450A
Introduction
Introduction
SCARA Robot
SCARA Robot
Axis 3 (Z-axis) 120 mm Axis 3 (Z-axis) 150 mm (optional: 300 mm)
Configurations
Configurations
TH-Series Model
TH-Series Model
Maximum Axis 1 337.5°/s Maximum Axis 1 600°/s
repeatability Z (Axis 3) ±0.01 mm ＊4 repeatability Z (Axis 3) ±0.01 mm ＊4
Robot controller cable 3 m (optional: max. 10 m) Position detection Absolute
Power Capacity 0.9 kVA Robot controller cable 5 m (optional: max. 25 m)
Mass 14 kg Power Capacity 2.3 kVA
■ This model is used with the controller TS1000 or TS3000. Mass 26 kg
Please see the Controller Combinations table on page 6 for the combinations
■ For *2, *3 and *4, see page 5.
of robot models and controllers.
e
op
el

2nd-axis move envelope
Hand I/O connector
0° nv
Hand air joint
12 e e
° Hand pneumatic 200 for 4×φ12 tube 4×φ12 mounting hole φ40
15
ov
1 joints 106
m
15 170
Hand-mount
φ35
s
4×M5 Hand I/O connector
xi
8
t-a
range 27
2
2
7.5
Brake release switch
1s
φ1
4
145°
φ1
4.5
R1
R3
R5
145°
101
R4
140
120
42
4
50
42
50
2
146
170
65
5 φ14 ball hollow

diameter
10
50 150 φ16
4×φ9 φ20 h7
200
125 225 mounting
holes Detail of T-shaped slot Detail of 58 112 Detail installation view of hand
167
for peripheral end-effector mount 70 140
542 200

250
43
device mount
145°
R1
(693)

1s
145°
t-a
xi
s
m
12ve
o
630 Z stroke 300㎜

0°env
500 Z stroke 300㎜

11
5°
loe
pe
Working envelope
Maximum 635
235.5
570
237.5
Pneumatic joint for cleanroom vacuum: Spare
350
for φ6 tube grommet
457.5
Hand I/O connector See detail drawing Spare

Axis 3 brake release switch
A 130 grommet
79.5
50
59.5
Motor power connector 2 5

Battery case Encoder
Options and Others
Options and Others

88
Encoder connector I/O
16
172
228
Motor armature
191
120
Z M4 thread hole for grounding
169.5
connector
169.5
Z stroke
7.5
4.5
Option Z stroke
130
Detail drawingA 2 locations Z
300
Hand pneumatic joints:
150
10
Z View
18.5
for 4×φ4 tubes

Detail of T-slot for mounting Hand air joint
12
Space for cable Z view
20
80 or more peripheral device 350
for 4×φ12 tube M4 tapped holes
for grounding
Space for cable approx .

TH550A TH650A
High-Speed and High-Precision SCARA Robot TH550A High payload SCARA robot TH650A
Introduction
Introduction
SCARA Robot
SCARA Robot
Axis 3 (Z-axis) 150 mm (optional: 300 mm) Axis 3 (Z-axis) 200 mm (optional: 400 mm)
Configurations
Configurations
TH-Series Model
TH-Series Model
＊2
Standard cycle time (with 2kg load) 0.30 s Standard cycle time (with 2kg load) 0.31 s
Position detection Absolute Position detection Absolute
Robot controller cable 5m (optional: Max. 25 m) Robot controller cable 5 m (optional: max. 25 m)
φ26
pe
)
lo
ge
0° ve

Hand I/O connector 4×φ14 mounting hole n φ18
ra
12 en
25
Hand air joint ke °
e
106 rt o 60
ov
for 4×φ4 tube φ40 s 1 Detail of base mount hole

m
1
range)
s
s
xi
xi
stroke
8
Brake release switch (Axis 2 143°

t-a
145°
(A
2
4×φ18 mount holes

2
105
6
φ1
R6
R5 Hand I/O connector panel
1s
φ19
φ1
4 160
50
50
R5
50
42
146
170
φ14 ball hollow
50
210
160
R3
diameter
58 112 123
R3
φ20 h7
200
70 140
50
350 300
250 300
(919)
(793) Detail installation view of hand
10
Z View
.6
C
72
11
2×
(A 143

Detail of base mount
R1
(Axis
xi 2 stro °
R2
145°
s ke ran
1 ge)
st
ro
16
ke
1s
0°
ra
t-a
ng
xi
e)
s
m
12ve
o
0°en
Working Envelope
500 Z stroke 300㎜
ve
630 Z stroke 300㎜

lo
φ18 ball screw inner diameter

pe
Working envelope
235.5
763 Z stroke 200 mm

963 Z stroke 400 mm
570
Spare
272
663
463
237.5
grommet
350
See detail drawing Spare
40
grommet Battery case Encoder connector
687
115
A
76.5
130
50
2 5 φ20 H7
9
Encoder Hand I/O connector
88
φ70
Standard
Options and Others
Options and Others

Z stroke
I/O
Optional Z stroke
16
228
200
191
Motor armature 4×5.5 drill (evenly spaced)

169.5
169.5
300
connector
Z stroke
5 P9
400
Y
130
300
4.5
150
7.5
Option Z stroke
100 100
Detail drawingA 2 locations
0
φ6 3
12
Z Y View Pneumatic joints Motor power connector

20
340
Detail of T-slot for mounting Z view Hand air joint (4×φ6 tubes)
for 4×φ4 tube Detail of hand mount Space for cables
peripheral device
350 M4 tapped holes
Space for cable approx . for grounding Z

TH850A TH1050A
High payload SCARA robot TH850A High payload SCARA robot TH1050A
Introduction
Introduction
SCARA Robot
SCARA Robot
Configurations
Configurations
TH-Series Model
TH-Series Model
＊2 ＊2
Standard cycle time (with 2kg load) 0.39 s Standard cycle time (with 2kg load) 0.39 s
Robot controller cable 5 m (optional: max. 25 m) Robot controller cable 5 m (optional: max. 25 m)
φ26 φ26
e)
e)

φ18
g
φ18
ng
0° ran
20
20
a
0°e r
16 ke
Detail of base mount hole
16trok
ro
(Axis 2 stroke range) Detail of base mount hole

st
s
145° 150
1
4×φ18 mount holes
1
240
φ193
is
(Axis 2 stroke range)
φ193
Hand I/O connector panel 150
xis
4×φ18 mount holes 80
R8
x
R1
240 Hand I/O connector panel
(A
145°
(A
R7 80
50
05
1 R7
0
1
00
R5
00
300
240
R5
R5
300
240
00 130.5
R5
500 130.5
350
00
500 550
(1122)
3
10
.9
(1322)
Z View
.
19
92
145° C
10 2× Detail of base mount
R3
Z View
R2

145° C
(A
(Axis 2 stroke range)

2× Detail of base mount
xi
(A
s
(Axis 2 stroke range) xi

1
16 ke
s 1
st
1
0° ran
st 60
ro
ro °
ke
ra
ge
ng
e)
)
Working Envelope
663
Working Envelope
316
763 Z stroke 200 mm
963 Z stroke 400 mm
463
663

763 Z stroke 200 mm
963 Z stroke 400 mm
316
463
734
132
Battery case
40
Encoder connector
40
132
Battery case
φ20 H7
Optional Z stroke
Standard
Hand I/O connector
Options and Others
Options and Others

Encoder connector φ20 H7
Z stroke
9
200
9
φ70 Hand I/O connector

734
Optional Z stroke
φ70
Standard
288
286
200
Z stroke
400
4×5.5 drill (evenly spaced)
288
4×5.5 Hole 5 P9 Y
286
5 P9
400
100 100
Y
100 100
0 0 350
φ6 φ6 Y View Space for cables
3 350 Pneumatic 3
Y View Motor power connector
Space for cables joints Detail of hand mount Motor power connector
Detail of hand mount (4×φ6 tubes) Z Pneumatic joints
(4×φ6 tubes)
Z

TH1200A
High payload SCARA robot TH1200A
High-Speed and High-Cycle SCARA ROBOT
THP SERIES
Introduction
SCARA Robot
Model TH1200A
Type Horizontal multi-joint
No. of controlled axes 4
Arm length 1200 mm (700 mm+500 mm)
Working Axis 1 ±160°
envelope Axis 2 ±145°
Axis 3 (Z-axis) 200 mm (optional: 400 mm)
Configurations
TH-Series Model
Maximum
Axis 4 (Z-axis rotation)
Axis 1
±360°
240°/s
Realization of Long Continuous Operation
speed Axis 2
Axis 3 (Z-axis)
330°/s
1800 mm/s
at Maximum Speed
Axis 4 (Z-axis rotation) 1000°/s
Composite
Standard cycle time (with 2kg load)
7.9 m/s
0.57 s ＊2
Outstanding Performance
Maximum payload mass
Allowable moment of inertia
20 kg (rated: 5 kg)
0.2 kgm2 ＊3
in High-Precision Processes
Positioning X -Y ±0.03 mm ＊4
repeatability Z (Axis 3) ±0.02 mm ＊4
Axis 4 (Z-axis rotation) ±0.005° ＊4
Hand wiring 5 inputs / 4 outputs
Hand piping 4 pcs. (φ6)
Position detection Absolute
Robot controller cable 5 m (optional: max. 25 m)
Power Capacity 4.4 kVA
Mass 83 kg
External view
lope φ26
ve
en
e °
THP550
v
mo 160 Hand I/O connector panel φ18
xis
20
3
t-a
Ø19
1s Detail of base mount hole

R7
R1
2nd-axis move 4×φ18 mount

1
20
envelope 150 holes

240
0
145° 80
130.5
500 700
00
R5
(1472)
240
300
R5
00
.2
145°
08
10
2nd-axis move Z view

R4
1s
envelope Z400 upper

2×
THP700
Detail of base fixture
t
-a
stroke limit
xi
s
m
Z200 upper
16 en
ov
e
0° ve
stroke limit
lo
pe
Working envelope
φ18 Inside diameter

of ball screw
No Fatigue even from 24-Hour,
663
763 Z stroke 200㎜

963 Z stroke 400㎜
316
463
Encoder
connector
Battery case
High-Cycle Operation
734
132
Hand I/O
Z stroke
connector
40
100 200
φ20 H7 The use of lightweight arm and the achievement of low inertia realize the
Options and Others
Z stroke
100 300
288
9
286
Y
400
φ70
4×5.5 Hole Y view

highly durable models that offer a fast cycle time of 0.3-second level, and 120
Motor armature
5 P9
350
Space for cable
connector cycles per minute in 24-hour continuous operation.
60 Z200 lower stroke limit
.D.φ
P.C 3
Z400 lower stroke limit
Z
Application: The THP-series models are best for high-speed continuous operation to
Detail of hand fixture Pneumatic joint for
users (4×φ6 tube) transfer items such as crystalline silicon solar cells, food products, and
pharmaceutical products between conveyors and packing them in boxes.

THP550 THP700
High-Speed and High-Cycle SCARA robot THP550 High-Speed and High-Cycle SCARA robot THP700
Introduction
Introduction
SCARA Robot
SCARA Robot
Model THP550 Model THP700
Configurations
Configurations
TH-Series Model
TH-Series Model
Robot controller cable 5 m (optional: max. 25 m) Robot controller cable 5 m (optional: max. 25 m)
lope
ve
en
e

op
e φ26
Hand I/O connector v
el

mo 20°
0° nv
Hand pneumatic xis 1

12 e e

t-a
ov
Brake release switch joints 4xφ4 tubes

4xφ14 Mounting holes 1s Pneumatic joint for users φ18
m
20
(4×φ6 tube)
s
xi
106 0 Detail of base mount hole

t-a
R35
145°
φ35
145°
Hand I/O connector panel
1s
R5
.4
6
160
R7
50 105
80
2
Brake release switch

2
φ1
R5
4
00
80 90
φ1
R5
φ1
4 4.
2
30
146
170
φ11 ball screw

2nd-axis move
224
200
internal diameter
envelope

φ16 h7
210
160
200
58 112
350 350
145°
250 300 70 140 Detail installation view of hand (974)
.5
72
145°
10
R35
R1
R2

1s
10
t-a
1s
Z view
C
xi
2×
t-a
s
12 ve
m
Detail of base mount
xi
o
0° env
s
m
12ve
o
0°env
88.5
e
lo
pe
e
lo
pe
Working envelope
580
Working envelope
250.5
750 Z stroke 300 mm
560 Z stroke 150 mm
238.5
390
765 Z Stroke 300mm
261
Spare
615 Z Stroke 150mm

Spare
500
350
grommet
586
grommet 40
（719）
Battery case Spare
4 39
Spare connector clamp
154
Options and Others
Options and Others

80
Z stroke 63
2 5 grommet axis1 Motor armature

connector
Option Stroke
A
Standard
130 Encoder connector
241
115 150
216
Stroke
42
349
303
Z Encoder
169.5
300
150
Brake Clamp
229
167
300
I/O
Motor armature φ14 Inside diameter Y
7.5
4.5
connector of ball screw

A View φ20 h7
289
20
ax2 ax4 Motor

12
Detail of T-slot for mounting Z view 350 Y view

130
M4 tapped holes Space for cable armature connector
35
Space for cable approx. Detail of hand fixture
peripheral device for grounding
Hand air joint Hand I/O
Hand air joint
for 4×φ6 tube connector
for 4×φ4 tube
Z

Options Options
These functional optional specifications are designed

Introduction
Introduction
SCARA Robot
SCARA Robot
with consideration for applications, environment,
and system-layout requirements.
● Z-axis long stroke (-Z) ● Support of Safety Category 3
300m: TH450A / TH550A / THP550 / THP700 All models
400m: TH650A / TH850A / TH1050A / TH1200A
Configurations
Configurations
TH-Series Model
TH-Series Model
The models can be equipped with optional unit TS3FB and by adding
The Z-axis stroke range is extended. necessary safety design, thus conform to the safety category 3
Useful in an application with large up-down that is required in the ANSI and CE marking.
movements and hadling of long workpieces. (Standard design is compatible with Safety category 2.)
(Note: If a stroke other than the above is desired, please contact us.) (Controller TS1000 is not compatible with this option.)
Standard Z-axis long stroke
● Dust-proof and splash-proof Design (-IP)
● Protective Bellows for Z-Axis (-B) TH450A / TH550A / TH650A / TH850A / TH1050A / TH1200A / THP550 / THP700
TH450A-TH1200A
Protection grade: IP65
(Note: Limitation is imposed on acceleration / deceleration rates. Please contact us for details.)
Protection of the Z-axis shaft lower side in an environment where liquid or chips
may scatter.
(Note: The cycle time and Z-axis stroke differ from the standard specifications. Please contact us for details.)
● Tool Flange for End Effectors Mounting
TH180 / TH250A / TH350A / TH450A /
TH550A / THP550 / THP700
● Z-Axis Cap (-C) Tool flange for securing the robot's hand is available.
TH450A / TH550A / TH650A / TH850A / Standard-equipped for TH650A and larger models.
TH1050A / TH1200A / THP550 / THP700

Protection of the Z-axis shaft upper side in an environment where liquid or chips
may scatter. It also prevents intrusion and jamming by cables and other peripheral
items.
● Additional Axis (Traverse axis, Wrist axis, etc.)
All models
● Ceiling-mount type (-T)

TH350A / TH450A / TH550A / Additional axis can be added for such usage as wrist axis
TH650A / TH1050A / THP550 or moving the robot on a traverse axis.
To enable more freedom in system layout

and effective use of a space, the robot is suspended
from the upprer side of the working area. ● CAD Date Service
(Note: The working envelopes differ from the standard-type robots.
Options and Others
Options and Others

Robots and controllers external view drawings
Please contact us for details.)
are available downloadable from our website.
www.shibaura-machine.co.jp
● Optional cables length
Between robot and controller: Maximum 10m (TH180-350A)
Maximum 25m (TH450A-1200A / THP550 / THP700)
Teach pendant: Max. 15m

Cleanliness Functions and Applications
Vision + Conveyor Synchronization

Introduction
Introduction
SCARA Robot
SCARA Robot
● Cost reduction by "one camera to one line" ● Effective in sorting large-quantity and many types of
Cost reduction of the system is realized. With an off- workpieces
the-shelf ethernet Hub, data from one vision sensor -Large quantity and many types workpieces on a conveyor can
can be shared among two or more robot controllers. be sorted and put in boxes by multiple robots in coordination.
● Cleanliness -Programming is made easy with special, dedicated commands
Vision Sensor Robot1 Robot2
Cleanliness indicates air cleanliness grades, which are t o re a l i z e e ff i c i e n t w o r k p i e c e - h a n d l i n g , w i t h s u c h
functionalities as identifications and duplicate data
expressed according to various standards.
Configurations
Configurations
TH-Series Model
TH-Series Model
avoidance.)
Our SCARA robots have optional CRB specifications
-Damage and breakage of workpieces are prevented by
which is equivalent to ISO Air Cleanliness Class 3, or synchronization to the conveyor.
Ethernet
CR specifications for a simple clean environment. Conveyor Encoder
Controller1
SCARA robots with the CRB or CR specifications are Conveyor Travel Distance
Robot1 Robot2 Robot3
useful for semiconductor and LCD manufacturing Trigger Signal Vision Sensor
processes in which dust should be removed. Ethernet HUB

Controller2
Choose a CRB-specifications or CR-specifications robot
Coordinate data (X, Y, C) and
in accordance with your operating environment. TH450A-CRB workpiece type information
Built-in PLC
CR Specifications CRB Specifications
Robot Controller TS3000 A PLC (TCmini) is built in the controllers TS1000, 3000 and
TH250A / TH350A / TH450A / TH550A / TH650A/
Applicable Model TH180 / TH250A / TH350A 32 Outputs / 3100. Input and output signals can be handled by ladder-style
TH850A / TH1050A / TH1200A / THP550 / THP700 32 Inputs, programming logic, independent from robot motion.
4 Hand Outputs /
- In a cubic meter of air, the allowable maximum - In a cubic meter of air, the allowable maximum number of 0.1 μm or E XT INT
5 Hand Inputs [Features and advantages]
number of 0.3 μm or larger particles shall be 350. larger particles shall be 1000.
MAN
U
-TCmini controls input/output signals of standard I/O, extension

P OW
ER
E ME
E XT
.S R GE
NC
IG
E XT NAL
.H
OS Y
T
MODE
S ER
ON VO
S ER
OFFVO
RU
I/O and touch-sensitive panel by ladder program and exchanges

N
S TOP
- In a cubic foot of air, the allowable maximum number - In a cubic foot of air, the allowable maximum number of 0.1 μm or
CY
CLE
UF1
LINE
S ELE
US CT
ER
ALAR
M
Cleanliness
ALAR
RE M
SE
T
UF2
of 0.3 μm or larger particles shall be 10. larger particles shall be 29. 137
18
data with robot program.
69
-Thus, flexible system design and control of peripheral

42.
- The above cleanliness is applied to the area around - Cleanliness equivalent to ISO Air Cleanliness Class 3 PLC
2
the hand. equipment is possible without the added cost of an outside
?
- The above cleanliness is applied to the area around the hand.
Extension host PLC.
Touch-Sensitive
I/O - Creat ion, m onit or ing and d e b u g g in g o f la d d e r-lo g ic

Operator panel
Ladder programming in programming with powerful programming support software
Connectivity with
Windows environment.
Programmable Display Unit. TC-WORX-W (optional).
1 ft3 and 1 m3 (What's the size of a cubic foot?) I/O Extension via Serial Communication
1m Remote location (maximum 400 m).
-The scan time is 5 ms per 1 K-Word (TS3000). Connection is possible
1/35 (Maximum 28 Outputs / 20 Inputs) ×2 with various programmable controllers and display units etc.
A cubic foot is a cube whose length, width, and height are all one
foot (30.5 cm). 1ft
The size of a cubic foot is about 1/35 of the size of a cubic meter that
1ft Field network
is generally used on high-cleanliness product markets. 1ft 1m
1m
Field Network

Various field network protocols are supported.
PLC *1: I:126 and O:126 for CC-Link
Field network
● Amount of suction (PROFIBUS, DeviceNet, CC-Link, Ethernet/IP, Ethernet CAT, PROFINET)
The clean specifications is achieved by sucking in the specified amount of air from the snap-on joint that I :128 *1 I :128 *1 I :128 *1
is located at the base cover (base connector section). TS1000 O:128 TS2000 O:128 TS3100 O:128
(Note: The user is requested to provide the suction unit and the air tube for suction. Bear in mind that a SCARA robot without the
suction unit generates dust.)
Options and Others
Options and Others

● Downward airflow
TH180 TH450A TH650A
In the clean room, the downward airflow rate shall be 0.4 m/s or higher.
A downward airflow rate less than 0.4 m/s can cause dust in the clean room. (Note: TS1000 controller
is available with PROFIBUS.
DeviceNet or CC-Link options.)

PC Software for programming support Functions and Applications
The following PC software tools are provided to shorten the time and ●TC-WORX: For programming the built-in PLC
Introduction
Introduction
SCARA Robot
SCARA Robot
increase the efficiency of system designing and installation work.
1. Ladder-style logic programming for the built-in PLC.
2. In addition to program creation, on-line monitoring of ladder
Robot Programming Assist Tool program and I/O status help reduce development and
debugging time.
3. Extensive functions such as address map display, comment
display and search functions are provided.
Configurations
Configurations
TH-Series Model
TH-Series Model
POWERFUL ASSISTANCE TO ALL PHASES OF AUTOMATION FACILITIES,
FROM PLANNING, INSTALLATION TO ENHANCEMENT
1.High Performance 3D Simulation

Accurate simulation with interference check, locus dis-
play, timer (cycle time measurement), placing simple
● Support for Connection Device Samples
workpieces and model shapes, loading 3D CAD data,
saving 3D simulation to a video file, and multi-angle
view.
These functions enable highly-accurate and a high-quality estimation of 3D STEP file
robot-automation processes. From simple outline simulation to “get the
picture” to accurate simulation closer to actual machine implementa-
tion, TSAssist powerfully assists all phases of robot-automation system CAD converter
life cycle, from initial “sketch,” planning, proposal, designing and
installation, to improvement and re-purposing of existing facilities.
Import
Robot unit with touch panel
Main screen An error
2.Highly Functional Program Editor (Screen created by customer) has occurred
in the robot! Alarm Monitor Screen
PRODUCTION COUNT
注記 3D CADデータを取り込むためには専用の変換ソフトウェア
（「VirfitAgent」
）が必要です。 Error details appear
Robot language input support (keyword suggestions), RUN STOP on the screen.
Outline display, Split display.
SUPPLY WORK UNLOAD WORK
ERROR DISPLAY
Point data (taught position information) editor with, sort, search, TRAYS TRAYS
ROBOT ERROR

CHECK ROBOT
filter functions. STATUS
RESET WORK TRAY SUPPLY FAILURE
WORK TRAY UNLOAD FAILURE
And in 3D Editor Mode, robot can be guided by mouse dragging and
by clicking on object model surface. No complex position calculation
is necessary.
With these functions, programming can be done efficiently and with
minimum mistakes.
Connection Device Samples is a collaborative system between Shibaura Machine Co., Ltd. and Digital Electronics Corporation.
It enables to check the status of the robot on the touch panel display device.
[Features and advantages]


・ When an error occurs in the robot, the error information or details can be checked on the
Alarm Monitor Screen (see the left figure).
3.Easy Operation ・ Additionally, various other screens for functions including Robot I/O Monitor, Current Position
Monitor, I/O Time Chart and Connected Device Data Transfer are provided.
Easy-to-understand, intuitive screen design, ribbon
・ The robot screens can be downloaded from the website of Digital Electronics Corporation
interface, window-dock function for customize-able free of charge. There is no need to create these screens and they can be used immediately
operator panels. after product purchase.
Beginners will find it easy to understand and can quickly learn robot http://www.pro-face.com/otasuke/sample/download/common/connection_robot_con_ts_e.html
programming skills. For experienced robot users, TSAssist helps mak- ・The status of the robot can be checked even by people who cannot operate the teach pendant.
Options and Others
Options and Others

ing robot programs efficiently by customization.
・Because the information about both the robot and the system is displayed on the same display device, troubleshooting is made easier.
*For product information about the touch panel that is compatible with this system, please contact Digital Electronics Corporation.
http://www.pro-face.com/otasuke/sample/detail/common/connection_robot_con_ts_e.html

TH Series: Wide Variations, Fast Motion and Heavy Duty

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TH Series: Wide Variations, Fast Motion and Heavy Duty

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Wide Variations, Fast Motion and Heavy Duty

TM ROBOTICS [EUROPE] LTD.

High-Speed and High-Cycle

High Payload Mass SCARA ROBOT

SCARA Robot TH-A Series

SCARA Robot THP Series

on the controller operation panel.

Compliant to external force or obstruction, to protect workpieces and end-effectors,

and for press-in work.

●Constant speed: Pneumatic joint for

Connector for encoder

for more interactions and better time efficiency. Connector for

Options and Others

End-effector I/O connector

02 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 03

Compact SCARA Robot Order model code

Model TH550A TH650A TH850A TH1050A

SCARA Robot TH-A Series

SCARA Robot THP Series

Options and Others

04 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 05

Model TS1000 TS2000 TS2100

SCARA Robot TH-A Series

SCARA Robot THP Series

Other Functions Interruption processing, robot motion ON signal, communication processing,

Options and Others

06 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 07

Teach Pendant (Optional)

●Support for IP65 IP□□ (Second characteristic numeral)

SCARA Robot TH-A Series

SCARA Robot THP Series

Options and Others

170 Assembling and Inspection Cutting

08 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 09

External view External view

SCARA Robot TH-A Series

180 167 holes

SCARA Robot THP Series

φ35 40 40 Hand I/O connector

Battery case Encoder connector

Options and Others

Pneumatic joint for

Z M4 thread hole for grounding

40 Space for cable

10 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 11

External view External view

SCARA Robot TH-A Series

Brake release switch

5 φ14 ball hollow

2nd-axis move envelope

SCARA Robot THP Series

630 Z stroke 300㎜

500 Z stroke 300㎜

Hand I/O connector See detail drawing Spare

Motor power connector 2 5

Options and Others

Z M4 thread hole for grounding

for 4×φ4 tubes

12 SHIBAURA MACHINE TH CATALOG SHIBAURA MACHINE TH CATALOG 13

External view External view

SCARA Robot TH-A Series

2nd-axis move envelope

for 4×φ4 tube φ40 s 1 Detail of base mount hole

■ For 2, 3 and *4, see page 5.