TX2touch
by Stäubli
The only cobot range certified SIL3/PLe — TX2 industrial kinematics wrapped in a safe touch skin, on the CS9 controller.
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6 of 17 specs differ across 5 models
| Spec | TXTX2touch-60 | TXTX2touch-60L | TXTX2touch-90 | TXTX2touch-90L | TXTX2touch-90XL |
|---|---|---|---|---|---|
| General | |||||
| Degrees of Freedom | 6 | 6 | 6 | 6 | 6 |
| Maximum Reach | 670 mm | 920 mm | 1000 mm | 1200 mm | 1450 mm |
| Repeatability | 0.02 mm | 0.03 mm | 0.03 mm | 0.035 mm | 0.04 mm |
| Payload Capacity | 4.5 kg | 3.5 kg | 10 kg | 10 kg | 6.8 kg |
| Max TCP Speed | 8.4 m/s | 11.1 m/s | 10.9 m/s | 11.1 m/s | 11.6 m/s |
| Joint Speed | 1445 °/s | 1445 °/s | 760 °/s | 760 °/s | 760 °/s |
| IP Rating | IP65 (IP67 at wrist) | IP65 (IP67 at wrist) | IP65 (IP67 at wrist) | IP65 (IP67 at wrist) | IP65 (IP67 at wrist) |
| Controller Included | Yes | Yes | Yes | Yes | Yes |
| Encoder Resolution | 19 bit | 19 bit | 19 bit | 19 bit | 19 bit |
| Encoder Type | Absolute | Absolute | Absolute | Absolute | Absolute |
| PL Rating | PL e | PL e | PL e | PL e | PL e |
| Pass-Through Utilities | Integrated electrical and pneumatic user circuit including Cat5e; sealed vertical cable routing available as an option | Integrated electrical and pneumatic user circuit including Cat5e; sealed vertical cable routing available as an option | Integrated electrical and pneumatic user circuit including Cat5e; sealed vertical cable routing available as an option | Integrated electrical and pneumatic user circuit including Cat5e; sealed vertical cable routing available as an option | Integrated electrical and pneumatic user circuit including Cat5e; sealed vertical cable routing available as an option |
| SIL Rating | SIL 3 | SIL 3 | SIL 3 | SIL 3 | SIL 3 |
| Safety Functions | Safe limited speed, safe stop, safe zone, safe tool, safe touch (5 modular SIL3-PLe functions) | Safe limited speed, safe stop, safe zone, safe tool, safe touch (5 modular SIL3-PLe functions) | Safe limited speed, safe stop, safe zone, safe tool, safe touch (5 modular SIL3-PLe functions) | Safe limited speed, safe stop, safe zone, safe tool, safe touch (5 modular SIL3-PLe functions) | Safe limited speed, safe stop, safe zone, safe tool, safe touch (5 modular SIL3-PLe functions) |
| Supported communications / fieldbus options | CS9 standard: EtherCAT Master, Modbus TCP/IP server & client, Sercos III slave, EtherNet/IP adapter, PROFINET IO-Device, EtherCAT slave, PowerLink controlled node, FSoE slave, 2x Ethernet, RS232. Optional PCIe: ASI master, CC-Link client, PROFIBUS DP master & slave, EtherNet/IP scanner & adapter, PROFINET IO-controller & device, EtherCAT master & slave, Sercos III master & slave; OPC UA server | CS9 standard: EtherCAT Master, Modbus TCP/IP server & client, Sercos III slave, EtherNet/IP adapter, PROFINET IO-Device, EtherCAT slave, PowerLink controlled node, FSoE slave, 2x Ethernet, RS232. Optional PCIe: ASI master, CC-Link client, PROFIBUS DP master & slave, EtherNet/IP scanner & adapter, PROFINET IO-controller & device, EtherCAT master & slave, Sercos III master & slave; OPC UA server | CS9 standard: EtherCAT Master, Modbus TCP/IP server & client, Sercos III slave, EtherNet/IP adapter, PROFINET IO-Device, EtherCAT slave, PowerLink controlled node, FSoE slave, 2x Ethernet, RS232. Optional PCIe: ASI master, CC-Link client, PROFIBUS DP master & slave, EtherNet/IP scanner & adapter, PROFINET IO-controller & device, EtherCAT master & slave, Sercos III master & slave; OPC UA server | CS9 standard: EtherCAT Master, Modbus TCP/IP server & client, Sercos III slave, EtherNet/IP adapter, PROFINET IO-Device, EtherCAT slave, PowerLink controlled node, FSoE slave, 2x Ethernet, RS232. Optional PCIe: ASI master, CC-Link client, PROFIBUS DP master & slave, EtherNet/IP scanner & adapter, PROFINET IO-controller & device, EtherCAT master & slave, Sercos III master & slave; OPC UA server | CS9 standard: EtherCAT Master, Modbus TCP/IP server & client, Sercos III slave, EtherNet/IP adapter, PROFINET IO-Device, EtherCAT slave, PowerLink controlled node, FSoE slave, 2x Ethernet, RS232. Optional PCIe: ASI master, CC-Link client, PROFIBUS DP master & slave, EtherNet/IP scanner & adapter, PROFINET IO-controller & device, EtherCAT master & slave, Sercos III master & slave; OPC UA server |
| Tactile Sensing | Yes | Yes | Yes | Yes | Yes |
| Weight | 51 kg | 52 kg | 111 kg | 114 kg | 116 kg |