TX2-90 CR Six-axis robotic arm (manipulator)
Six-axis Robot · Load capacity 14kg · Reach 1000mm
TX2-90 CR Specifications
In cleanroom versions, the load is six axes, and panel electronics are produced.
Model introduction
TX2-90 CR Six-Axis Robot · Load capacity 14kg · Reach 1000mm. In cleanroom versions, the load is six axes, and panel electronics are produced.
Cleanroom Robot (CR/SCR) · Series technical features
Maximum ISO Level 2 · Semiconductor-specific
The SCR ultra-cleanroom series can achieve ISO Level 2 cleanliness.
Special sealing and surface treatment ensure extremely low dust generation.
The ideal choice for wafer handling and panel production.
Both the TX2 and TS2 series have cleanroom versions.
Typical application scenarios
Common application processes for this model (click to view process details):
Cleanroom Robot (CR/SCR) · Other models in the same series
Compare load and reach to choose the model that best suits your process.
TX2-90 CR model positioning and working condition adaptation
TX2-90 CR This is an industrial robot model from Stäubli Cleanroom Robot (CR/SCR), with a rated load of 14kg, a motion radius of 1000mm, and a repeatability of ±0.02mm. Stäubli's technical foundation is Swiss precision manufacturing: TX series high-speed, high-precision, fully enclosed structure with IP67 standard, setting standards for cleanliness and pharmaceutical conditions; The control platform is Stäubli CS9, and the programming ecosystem consists of VAL3 language + teach pendant.
From the perspective of working condition adaptation, typical applications for positioning light loads (14kg) are:Machine tool loading and unloading, 3C assembly, inspection, and handling of small and medium-sized partsCommon application processes for this model include panel handling and clean assembly. The medium reach (1000mm) meets the needs of conventional workstations, offering flexible single-station layout. ± 0.02mm repeatability is the standard level for six-axis industrial robots, covering the vast majority of welding operations, handling, palletizing, and loading and unloading operations. The end fixture is counted as a load from the most important point—the total of gripper + workpiece + sensor should not exceed 80% of the rated value. Workpieces with high inertia (long rod/uneven load) should be checked separately.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load capacity: 14kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Movement radius: 1000mm | Determine the radius of the workcell layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeatability: ±0.02mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 6 | Six-axis all-posture capability, the preferred choice for complex trajectory and inclined surface operations |
| Protection level: IPISO Level 4 cleanliness | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Controller: Stäubli CS9 | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
Control systems and common failure modes
The TX2-90 CR comes with a Stäubli CS9 controller, with a programming language and development environment of VAL3 + teach pendant. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| Encoder and feedback system failure | Encoder and feedback system failure (a sensitive link in high-precision systems) | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| Aging of joint seals | Aging of joint seals (key to protecting fully enclosed structures) | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| Driver alarm | Driver alarm | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| Risk of discontinuation of the old CS8 controller hardware | Risk of discontinuation of the old CS8 controller hardware | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Sealing and lubrication management per OEM specifications (grease grade strictly corresponds) | According to the manufacturer's manual cycle | Sealing and lubrication management per OEM specifications (grease grade strictly corresponds) |
| Accuracy trend monitoring (annual re-testing of laser trackers) | Year | Accuracy trend monitoring (annual re-testing of laser trackers) |
| CS8→CS9 Upgrade Evaluation (When the Spare Parts Cycle of Old Controllers Is Extended) | According to the manufacturer's manual cycle | CS8→CS9 Upgrade Evaluation (When the Spare Parts Cycle of Old Controllers Is Extended) |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for the TX2-90 CR
This site is a third-party robotics technology service provider. The TX2-90 CR supports eight major business services as follows (sorted by service frequency for each model):
- Maintenance and repair: For on-site diagnostics, board-level repairs, and annual maintenance contracts for TX2-90 CR—sealing and lubrication management to OEM specifications (strict correspondence with grease grades), we implement brand-exclusive items according to SOP and respond to Sichuan-Chongqing on the same day.
- Used & in-stock robot sales: High-end residual value remains strong, and used TX series remains a cost-effective choice for precision work; Recognize the CS8/CS9 generation and maintenance history; The TX2-90 CR or equivalent models in the library come with a full-function test report and a 12-month warranty.
- Sales of new industrial robots: When adding new production lines or replacing entire batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same class as Stäubli), and provide configuration and pricing plans.
- Applied technology services: TX2-90 CR process programming, trajectory optimization, tap time potential, and reshaping formula management, with targeted commissioning for panel handling and clean assembly conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for TX2-90 CR, with interfaces designed according to Stäubli flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, TX2-90 CR equivalent models in stock can be rented, including transportation, installation, and commissioning; flexible rental periods allow for repurchasing.
Common issues with this device
Is it easy to find spare parts for the TX2-90 CR?
Stäubli Spare Parts Channel for This Generation is smooth; we have in-stock or short-cycle channels for regular parts such as drivers, power modules, batteries, and teach pendant components; Follow OEM specifications for sealing and lubrication management (with strict grease grade) consumables according to the annual maintenance contract.
With a nominal load of 14kg, how much can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is the used TX2-90 CR worth buying?
High-end residual value remains strong, and the used TX series remains a cost-effective choice for precision conditions; Recognize the CS8/CS9 generation and maintenance history. Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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