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tSpecifications
Weight | 145 lb (65 kg) | |
Payload | 13 lb (6 kg) | |
Reach | 38 in. (975 mm) | |
Joint ranges |
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Joint 1 | ± 170° | |
Joint 2 | +135° to -100° | |
Joint 3 | +155° to -120° | |
Joint 4 | ± 150° | |
Joint 5 | ± 120° | |
Joint 6 | ± 360° | |
Joint speeds |
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Joint 1 | 150° s-1 | |
Joint 2 | 112.5°s-1 | |
Joint 3 | 150° s-1 | |
Joint 4 | 204.5° s-1 | |
Joint 5 | 225° s-1 | |
Joint 6 | 360° s-1 | |
Repeatability | ± 0.020 in. (0.5 mm) | |
Degrees of freedom | 6 rotating joints | |
Control box size (W × H × D) | 650 mm × 820 mm × 360 mm | |
Digital inputs | 16 | |
Digital outputs | 16 | |
I/O power supply | 24 V 2 A | |
Programming | Teach-mode programming through PathPilot GUI, Python | |
Noise | Comparatively noiseless | |
IP classification | IP65 | |
Power supply | 200-240 Vac, 50-60 Hz, single-phase | |
Control cable length (electrical cabinet to robot) | 2.6m | |
Payload
The Tormach ZA6 robot is capable of moving a 6 kg payload (combined weight of payload + end effector) at maximum joint velocity and acceleration settings. At slower velocities and accelerations, the payload increases, but the complexity of the robot's kinematics means overloading a detuned robot may work for some moves but fail for others. Tormach cannot help troubleshoot motion control issues related to payloads greater than the 6 kg rating.
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Inputs/Outputs
The robot has 16 12 inputs and 16 12 outputs. One input (number 012) is reserved for a safety circuit. Others are accessible to help you integrate the robot with sensors, machine tools, and other peripheral devices.
Tormach sells many peripherals (solenoids, proximity sensors, etc.) that are plug-and-play devices. If you want to wire your own peripherals, you must refer to page 15 of the robot electrical schematic for the pinout of the GX-16 M12 connectors used to interface the robot's IO.
Inputs
Number | 16 12 (14 10 user inputs, 2 dedicated safety inputs) |
Input type | NPN |
Update cycle | 0.5 ms |
Rated voltage | 24 Vdc |
"1" signal leve | 0-5 Vdc |
"0" signal level | 15-30 Vdc (7 mA) |
Terminal protection | Over-voltage protection |
Outputs
Number | 1612 |
Output type | Relay |
Rated voltage | 30 Vdc/250 Vac |
"1" signal level | Relay dry contact closed |
"0" signal level | Relay dry contact open |
Maximum output current (single channel) | 1 A |
Maximum spike current (single channel) | 2 A |
Maximum continuous output current | 16 A |
Closed contact resistance | <= 50milli-Ohm |
Program Access to System Variables
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Tool Flange Dimensions
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