Cartesian Coordinate Robots

Cartesian Coordinate Robot COMPO ARM BA-Ⅲ Series

The COMPO ARM BA-Ⅲ series carries on the features of the previous BA-Ⅱ and adds new features for enhanced ease of operation. The BA-Ⅲ serieslineup features a wide range of variations from single axis to Cartesian axis (2 to 4 axes) configurations.

Single Axis Specifications

BA-Ⅲ series single-axis maximum stroke 4450mm. Maximum speed ball screw driven 1200mm / s, timing belt driving 2000mm / s.

For Transfer of Light Loads

Maximum payload 4 kg – 30 kg

	Maximum payload （kg）	Stroke （mm）	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-T5D	5～10 (horizontal), 1.5～3 (vertical) * Note 1	50～500	800 * Note 2	±0.02	50	Ball screw
BA3-T7D	12～30 (horizontal), 4～8 (vertical) * Note 1	50～700	800 * Note 3	±0.02	50	Ball screw
BA3-T3D Pushrod type	4 (horizontal), 1.9 (vertical)	50～150	600	±0.02	50	Ball screw
BA3-T4D Pushrod type	7 (horizontal), 3.1 (vertical)	50～200	600	±0.02	50	Ball screw
BA3-T5E Pushrod type	25 (horizontal), 6.5 (vertical)	50～300	600 * Note 4	±0.02	100	Ball screw
BA3-00D-RH	10	–	360 (deg/s)	±0.025 (deg)	50	Harmonic drive
BA3-00D-RP	10	–	857 (deg/s)	±0.125 (deg)	50	Planet gear

For Transfer of Medium Loads

Maximum payload 15 kg – 80 kg

	Maximum payload （kg）	Stroke （mm）	Maximum speed (mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-10	20～80 (horizontal), 3～22 (vertical) * Note 1	100～1250	1200 * Note 2	±0.01	100	Ball screw
BA3-30	30～100 (horizontal), 3～40 (vertical) * Note 1	100～1250	1200 * Note 2	±0.01	100、200	Ball screw
BA3-10	15～20 (horizontal) * Note 1	100～2550	2000 * Note 3	±0.04	100、200	Timing belt
BA3-30	20～40 (horizontal) * Note 1	100～3200	2000 * Note 3	±0.04	100、200	Timing belt
BA3-50	20～40 (horizontal) * Note 1	200～3500	2000 * Note 3	±0.04	200、400	Timing belt

For Transfer of Heavy Loads

Maximum payload 60 kg – 250 kg

	Maximum payload （kg）	Stroke （mm）	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-50	60～150 (horizontal), 3～60 (vertical) * Note 1	200～1600	1200 * Note 2	±0.01	200、400	Ball screw
BA3-60	25～250 (horizontal), 25～100 (vertical) * Note 1	150～1700	2400 * Note 3 2300 * Note 4	±0.01	400、750	Ball screw
BA3-50	100 (horizontal)	150～4450	1000	±0.05	400	Timing belt
BA3-60	200 (horizontal)	150～4450	1000	±0.05	750	Timing belt

Orthiginal Axes Specifications

Combination axis variations of 2 to 4 axes.

BA-Ⅲ Series 2-Axis Robots Lineup

Combined axes structure: X-Y

	Maximum payload（kg）	Axis	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-T7-A2A	5	X-axis	800 *Note 1	±0.02	50	Ball screw
BA3-T7-A2A	5	Y-axis	800	±0.02	50	Ball screw
BA3-A1-A2E	10.5	X-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A1-A2E	10.5	Y-axis	800	±0.02	50	Ball screw
BA3-A1-A2A	9	X-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A1-A2A	9	Y-axis	1200	±0.01	100	Ball screw
BA3-A3-A2A	13	X-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A3-A2A	13	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A3-A2B	15	X-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A3-A2B	15	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A5-A2A	20	X-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A5-A2A	20	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A5-A2B	40(31) *Note2	X-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A5-A2B	40(31) *Note2	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A5-A2F	60(50) *Note2	X-axis	1200 *Note 1	±0.01	400	Ball screw
BA3-A5-A2F	60(50) *Note2	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A6-A2E	100	X-axis	900 *Note 1	±0.01	750	Ball screw
BA3-A6-A2E	100	Y-axis	1200 *Note 1	±0.01	400	Ball screw
BA3-L1-A2A	8	X-axis	1000	±0.04	100	Timing belt
BA3-L1-A2A	8	Y-axis	1000	±0.04	100	Timing belt
BA3-L1-A2B	9	X-axis	1000	±0.04	200	Timing belt
BA3-L1-A2B	9	Y-axis	1000	±0.04	100	Timing belt
BA3-L3-A2A	8	X-axis	1000	±0.04	100	Timing belt
BA3-L3-A2A	8	Y-axis	1000	±0.04	100	Timing belt
BA3-L3-A2B	15	X-axis	1000	±0.04	200	Timing belt
BA3-L3-A2B	15	Y-axis	1000	±0.04	100	Timing belt
BA3-L3-A2C	20	X-axis	1000	±0.04	200	Timing belt
BA3-L3-A2C	20	Y-axis	1000	±0.04	200	Timing belt
BA3-L5-A2A	15	X-axis	1000	±0.04	200	Timing belt
BA3-L5-A2A	15	Y-axis	1000	±0.04	100	Timing belt
BA3-L5-A2B	20	X-axis	1000	±0.04	200	Timing belt
BA3-L5-A2B	20	Y-axis	1000	±0.04	200	Timing belt

Combined axes structure: Y-Z

	Maximum payload （kg）	Axis	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-T7-H2A	3	Y-axis	800 *Note 1	±0.02	50	Ball screw
BA3-T7-H2A	3	Z-axis	400 *Note 1	±0.02	50, with brake	Ball screw
BA3-A1-H2E	4	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A1-H2E	4	Z-axis	400 *Note 1	±0.02	50, with brake	Ball screw
BA3-A1-H2A	8	Y-axis	1200	±0.01	100	Ball screw
BA3-A1-H2A	8	Z-axis	600	±0.01	100, with brake	Ball screw
BA3-A3-H2A	12	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A3-H2A	12	Z-axis	600 *Note 1	±0.01	100, with brake	Ball screw
BA3-A3-H2B	12	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A3-H2B	12	Z-axis	600 *Note 1	±0.01	100, with brake	Ball screw
BA3-A5-H2A	12	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A5-H2A	12	Z-axis	600 *Note 1	±0.01	100, with brake	Ball screw
BA3-A5-H2B	20	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A5-H2B	20	Z-axis	600 *Note 1	±0.01	200, with brake	Ball screw
BA3-L1-H2J	4	Y-axis	1000	±0.04	100	Timing belt
BA3-L1-H2J	4	Z-axis	400 *Note 1	±0.02	50, with brake	Timing belt
BA3-L1-H2A	8	Y-axis	1000	±0.04	100	Timing belt
BA3-L1-H2A	8	Z-axis	600	±0.01	100, with brake	Timing belt
BA3-L3-H2A	6	Y-axis	1000	±0.04	100	Timing belt
BA3-L3-H2A	6	Z-axis	600 *Note 1	±0.01	100, with brake	Timing belt
BA3-L3-H2B	12	Y-axis	1000	±0.04	200	Timing belt
BA3-L3-H2B	12	Z-axis	600 *Note 1	±0.01	100, with brake	Timing belt
BA3-L5-H2A	12	Y-axis	1000	±0.04	200	Timing belt
BA3-L5-H2A	12	Z-axis	600 *Note 1	±0.01	100, with brake	Timing belt
BA3-L5-H2B	20	Y-axis	1000	±0.04	200	Timing belt
BA3-L5-H2B	20	Z-axis	600 *Note 1	±0.01	200, with brake	Timing belt

Combined axes structure: Z-Y

	Maximum payload （kg）	Axis	Maximum speed（mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-A1-C2A	15	Z-axis	300 *Note 1	±0.01	100, with brake	Ball screw
BA3-A1-C2A	15	Y-axis	1200	±0.01	100	Ball screw
BA3-A3-C2A	15	Z-axis	300 *Note 1	±0.01	100, with brake	Ball screw
BA3-A3-C2A	15	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A3-C2B	15	Z-axis	300 *Note 1	±0.01	200, with brake	Ball screw
BA3-A3-C2B	15	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A5-C2A	20	Z-axis	300 *Note 1	±0.01	200, with brake	Ball screw
BA3-A5-C2A	20	Y-axis	1200 *Note 1	±0.01	100	Ball screw
BA3-A5-C2B	28	Z-axis	300 *Note 1	±0.01	200, with brake	Ball screw
BA3-A5-C2B	28	Y-axis	1200 *Note 1	±0.01	200	Ball screw
BA3-A1-L2A	15	Z-axis	300 *Note 1	±0.01	100, with brake	Timing belt
BA3-A1-L2A	15	Y-axis	1200	±0.04	100	Timing belt
BA3-A3-L2A	15	Z-axis	300 *Note 1	±0.01	100, with brake	Timing belt
BA3-A3-L2A	15	Y-axis	1000	±0.04	100	Timing belt
BA3-A3-L2B	15	Z-axis	300 *Note 1	±0.01	200, with brake	Timing belt
BA3-A3-L2B	15	Y-axis	1000	±0.04	100	Timing belt
BA3-A3-L2C	20	Z-axis	300 *Note 1	±0.01	200, with brake	Timing belt
BA3-A3-L2C	20	Y-axis	1000	±0.04	200	Timing belt
BA3-A5-L2A	15	Z-axis	300 *Note 1	±0.01	200, with brake	Timing belt
BA3-A5-L2A	15	Y-axis	1000	±0.04	100	Timing belt
BA3-A5-L2B	27	Z-axis	300 *Note 1	±0.01	200, with brake	Timing belt
BA3-A5-L2B	27	Y-axis	1000	±0.04	200	Timing belt

BA-Ⅲ Series 3- and 4-Axis Robots Lineup

Combined axes structure: X-Y-Z

	Maximum payload （kg）	Axis	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-A1-A3D	3	X-axis	1200　* Note 1	±0.01	100	Ball screw
		Y-axis	800	±0.02	50
		Z-axis	400	±0.02	50, with brake
BA3-A1-A3F	4	X-axis	1200 * Note 1	±0.01	100	Ball screw
		Y-axis	1200	±0.01	100
		Z-axis	400	±0.02	50, with brake
BA3-A3-A3N	4	X-axis	1200 * Note 1	±0.01	200	Ball screw
		Y-axis	1200 * Note 1	±0.01	100
		Z-axis	400	±0.02	50, with brake
BA3-A3-A3A	7	X-axis	1200 * Note 1	±0.01	100	Ball screw
		Y-axis	1200	±0.01	100
		Z-axis	600	±0.01	100, with brake
BA3-A3-A3B	7	X-axis	1200 * Note 1	±0.01	200	Ball screw
		Y-axis	1200	±0.01	100
		Z-axis	600	±0.01	100, with brake
BA3-A5-A3A	11	X-axis	1200 * Note 1	±0.01	200	Ball screw
		Y-axis	1200 * Note 1	±0.01	100
		Z-axis	300	±0.01	100, with brake
BA3-A5-A3B	15	X-axis	1200 * Note 1	±0.01	200	Ball screw
		Y-axis	1200 * Note 1	±0.01	200
		Z-axis	300	±0.01	100, with brake
BA3-A5-A3G	40	X-axis	1200 * Note 1	±0.01	400	Ball screw
		Y-axis	1200 * Note 1	±0.01	200
		Z-axis	300	±0.01	200, with brake
BA3-A6-A3N	40	X-axis	900 * Note 1	±0.01	750	Ball screw
		Y-axis	1200 * Note 1	±0.01	400
		Z-axis	300	±0.01	200, with brake
BA3-L1-A3P	4	X-axis	1000	±0.04	200	Timing belt
		Y-axis	1000	±0.04	100
		Z-axis	400	±0.02	50, with brake
BA3-L3-A3N	4	X-axis	1000	±0.04	200	Timing belt
		Y-axis	1000	±0.04	100
		Z-axis	400	±0.02	50, with brake
BA3-L3-A3B	8	X-axis	1000	±0.04	200	Timing belt
		Y-axis	1000	±0.04	100
		Z-axis	600	±0.01	100, with brake
BA3-L5-A3A	7	X-axis	1000	±0.04	200	Timing belt
		Y-axis	1000	±0.04	100
		Z-axis	300	±0.01	100, with brake
BA3-L5-A3B	14	X-axis	1000	±0.04	200	Timing belt
		Y-axis	1000	±0.04	200
		Z-axis	300	±0.01	100, with brake

Combined axes structure: X-Y-Z-R

	Maximum payload （kg）	Axis	Maximum speed （mm/s）	Positioning repeatability （mm）	Motor output （W）	Drive system
BA3-A5-A4A	5	X-axis	1200 *Note 1	±0.01	200	Harmonic drive
		Y-axis	1200 *Note 1	±0.01	100
		Z-axis	300	±0.01	100, with brake
		R-axis	360°/s	±0.025°	50
BA3-A5-A4B	5	X-axis	1200 *Note 1	±0.01	200	Harmonic drive
		Y-axis	1200 *Note 1	±0.01	200
		Z-axis	300	±0.01	100, with brake
		R-axis	360°/s	±0.025°	50
BA3-A5-A4A	8	X-axis	1200 *Note 1	±0.01	200	Planet gear
		Y-axis	1200 *Note 1	±0.01	100
		Z-axis	300	±0.01	100, with brake
		R-axis	857°/s	±0.025°	50
BA3-A5-A4B	10	X-axis	1200	±0.01	200	Planet gear
		Y-axis	1200	±0.01	200
		Z-axis	300	±0.01	100, with brake
		R-axis	857°/s	±0.025°	50

Cartesian Coordinate Robot COMPO ARM BA-Ⅱ Series

The lineup of rich variations short cycle time, high accuracy, from a single axis to orthogonal axes (2 to 4 axes) are lined up to respond to each user’s requirements.

Single-Axis Robots Lineup

Axis structure: Horizontal

	Maximum payload (kg)	Axis	Maximum speed (mm/s)	Positioning repeatability (mm)	Motor output (W)	Drive system
BA2-05D	6	X-Axis	800	±0.02	50	Ball screw
BA2-07D	12	X-Axis	800	±0.02	50	Ball screw
BA2-10E	15	X-Axis	1200	±0.01	100	Ball screw
BA2-30E	20	X-Axis	1200	±0.01	100	Ball screw
BA2-30F	40	X-Axis	1200	±0.01	200	Ball screw
BA2-50F	60	X-Axis	1200	±0.01	200	Ball screw
BA2-50G	100	X-Axis	1200	±0.01	100	Ball screw
BA2-60G	100	X-Axis	1200	±0.01	400	Ball screw
BA2-60J	200	X-Axis	900	±0.01	750	Ball screw
BA2-10E	15	X-Axis	1000	±0.01	100	Timing belt
BA2-10F	20/10	X-Axis	1000 / 2000	±0.05	200	Timing belt
BA2-30E	15	X-Axis	1000	±0.05	100	Timing belt
BA2-30F	40/20	X-Axis	1000 / 2000	±0.05	200	Timing belt
BA2-50F	40	X-Axis	1000	±0.05	200	Timing belt
BA2-50G	20	X-Axis	2000	±0.05	400	Timing belt

Axis structure: Vertical

	Maximum payload (kg)	Axis	Maximum speed (mm/s)	Positioning repeatability (mm)	Motor output (W)	Drive system
BA2-05D	4	X-Axis	400	±0.01	50	Ball screw
BA2-07D	8	X-Axis	400	±0.01	50	Ball screw
BA2-10E	12	X-Axis	600	±0.01	100	Ball screw
BA2-30E	12	X-Axis	600	±0.01	100	Ball screw
BA2-30F	20	X-Axis	600	±0.01	200	Ball screw
BA2-50F	25	X-Axis	600	±0.01	200	Ball screw
BA2-50G	50	X-Axis	600	±0.01	400	Ball screw
BA2-60G	50	X-Axis	600	±0.01	400	Ball screw
BA2-60J	100	X-Axis	450	±0.01	750	Ball screw

Axis structure: Range

	Maximum payload (kg)	Axis	Maximum speed (mm/s)	Positioning repeatability (mm)	Motor output (W)	Drive system
BA2-00D-RH	5	R-Axis	360	±0.025	50	Harmonic drive
BA2-00D-RP	10	R-Axis	857	±0.125	50	Harmonic drive

Cartesian Coordinate Robot COMPO ARM BA-C Series

COMPO ARM BA-C Series are compact Cartesian Coordinate Robots equipped with AC servomotor, available as substitutes for air equipment. It is available in three axis types – slider, table, and rod.

Model

Stroke (mm)

Lead (mm)

Maximum payload (kg)

Maximu m speed (mm/s)

Position repeatability (mm)

Motor output

Axis

Driving method

Horizontal

Vertical

Slide/ Rod (type)

Table (type)

BAC5D

50 to 500
(50 mm increments)

–

1.5

800

±0.02

50W AC
servomotor

X-axis

Ball screw

–

3.0

400

BAC7D

50 to 500
(50 mm increments)

–

1.5

800

±0.02

50W AC
servomotor

X-axis

Ball screw

–

4.0

400

BAC5D(T)

50 to 500
(50 mm increments)

–

1.0

800

±0.02

50W AC
servomotor

X-axis

Ball screw

–

3.0

–

2.5

400

BAC7D(T)

50 to 500
(50 mm increments)

–

1.5

800

±0.02

50W AC
servomotor

X-axis

Ball screw

–

9.0

3.5

400

BAC3D

50 to 500
(50 mm increments)

3.2

–

1.5

600

±0.02

50W AC
servomotor

X-axis

Ball screw

BAC4D

50 to 500
(50 mm increments)

5.6

–

3.0

600

±0.02

50W AC
servomotor

X-axis

Ball screw

Cartesian Coordinate Robot COMPO ARM BA-Ⅲ Series

Single Axis Specifications

For Transfer of Light Loads

For Transfer of Medium Loads

For Transfer of Heavy Loads

Orthiginal Axes Specifications

BA-Ⅲ Series 2-Axis Robots Lineup

Combined axes structure: X-Y

Combined axes structure: Y-Z

Combined axes structure: Z-Y

BA-Ⅲ Series 3- and 4-Axis Robots Lineup

Combined axes structure: X-Y-Z

Combined axes structure: X-Y-Z-R

Cartesian Coordinate Robot COMPO ARM BA-Ⅱ Series

Single-Axis Robots Lineup

Axis structure: Horizontal

Axis structure: Vertical

Axis structure: Range

Cartesian Coordinate Robot COMPO ARM BA-C Series

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