About Your Machine
Specifications
Weight | 145 lb (65 kg) | |
Payload | 13 lb (6 kg) | |
Reach | 38 in. (975 mm) | |
Joint ranges |
| |
| Joint 1 | ± 170° |
| Joint 2 | +135° to -100° |
| Joint 3 | +155° to -120° |
| Joint 4 | ± 150° |
| Joint 5 | ± 120° |
| Joint 6 | ± 360° |
Joint speeds |
| |
| 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.
Reach
Speed
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
The robot is repeatable to better than ± 0.020 in. (0.5 mm).
Inputs/Outputs
The robot has 12 inputs and 12 outputs. One input (number 12) 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 M12 connectors used to interface the robot's IO.
Inputs
Number | 12 (10 user inputs, 2 dedicated safety inputs) |
Input type | NPN |
Update cycle | 0.5 ms |
Rated voltage | 24 Vdc |
"1" signal level | 0-5 Vdc |
"0" signal level | 15-30 Vdc (7 mA) |
Terminal protection | Over-voltage protection |
Outputs
Number | 12 |
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 |
Tool Flange Dimensions
