I&J Dispensing SCARA Robot

Description
SCARA is an acronym for Selective Compliance Assembly Robot Arm. This technology provides maximum flexibility for complex dispensing applications. The robot is multi-jointed similar to a human arm. The model TMB100-4 also includes a 360° tool-rotation.

The TMB100 series makes it possible to systemise assembly lines with a small investment. There is no need to learn a complicated robot language. The ROBOT is available for a variety of applications, such as, dispensing, soldering, screw fastening, pick & place etc. The controller is built into the body of the robot.

Operation
The operational area of the TMB100 can be described as a kidney shape having a left & right hand arc boundary, with the robot in the center. The length of the robot arm is 440mm.

• Arm length 440mm
• Dots, lines, arcs, and circles
• Gaskets, potting, filling, and shielding
• No computer skills required
• 100 programs, 6000 points of data per memory card
• Fast, accurate and reliable 24 hours a day

Programming

• Multi-line backlit teaching pendant
• Continuous path motion for perfect dispensing
• Automatically interpolates any line or arc
• Three-dimensional interpolation
• Windows® and CAD input of coordinates software optional

I/O interface

• Three RS232C ports for interfacing with PCs or other devices
• Standard system includes 25 points for input signals and 24 points for output signals
• An optional I/O board increases capacity to 57 input points and 56 output points

Other possible applications

• Soldering
• Screw fastening
• Pick and place & general purpose

Specifications
	TMB100 3-axis model	TMB100-4 4-axis model
Operating range	J1 arm/±90° J2 arm/±150° Z axis/100mm	J1 arm/±90° J2 arm/±150° Z axis/100mm R axis/ ± 360°
Arm length	J1 arm 260mm J2 arm 180mm J1 + J2 440mm	J1 arm 260mm J2 arm 180mm J1 + J2 440mm
Load	Tool 5 kgf	Tool 5 kgf
R axis inertia		90 kg. cm2
Maximum Speed J1 + J2	1500mm/sec (1 kgf load) 1400mm/sec (3 kgf load) 1300mm/sec (5 kgf load)	1500mm/sec (1 kgf load) 1400mm/sec (3 kgf load) 1300mm/sec (5 kgf load)
Maximum speed Z & R axis	Z = 320mm/sec	Z = 320mm/sec, R = 1000°/sec
Repeatability	XY ±0.02mm per axis Z ±0.02mm	XY ±0.02mm per axis Z ±0.02mm R axis < ± 0.02°
Data memory capacity	100 programs 6000 points	100 programs 6000 points
Drive system	5-phase stepping motor	5-phase stepping motor
Operation system	Point to point and continuous path	Point to point and continuous path
Interpolation	XYZ simultaneous 3D linear interpolation	XYZ & R simultaneous 3D linear interpolation
Teaching method	Direct, remote & manual data Input (MDI) teaching	Direct, remote & manual data Input (MDI) teaching
CPU	32 bit (MC68EC020, MC68882)	32 bit (MC68EC020, MC68882)
PLC	50 programs, 100 steps for each program	50 programs, 100 steps for each program
I/O signals	25 input & 24 output signals	25 input & 24 output signals
External interface	RS232C - one channel for PC, one channel for the teach pendant and one channel for external equipment (optional)	RS232C - one channel for PC, one channel for the teach pendant and one channel for external equipment (optional)
Wiring & piping to tool	15 wires for signals, 4 air pipes (4mm)	15 wires for signals, 4 air pipes (4mm)
Interface – interlocking	4 input signals from interlock equipment	4 input signals from interlock equipment
Power supply 220V	AC 180-250V consumption 200VA	AC 180-250V consumption 200VA
Working temperature	0 - 40°C	0 - 40°C
Relative humidity	20 – 95% no condensation	20 – 95% no condensation
Weight	41kg	41kg

October 2009
Version 2.1