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

Robot