Серия RH-FRHR
RH-1FRHR5515-D | RH-1FRHR5515-R | ||||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) | 4 | 4 | |||
Installation posture | On floor, ceiling mounting, wall mounting | ||||
Structure | Horizontal articulated arm (SCARA) | ||||
Drive system | AC servo | ||||
Position detection method | Absolute encoder | ||||
Brake attachment | Axes J1, J2, J4: no brake; axis J3: with brake | ||||
Payload capacity | rated | kg | 1 | ||
maximum | 3 | ||||
Maximum reach | mm | 550 | |||
Operating range | J1 | degree | ±177 | ||
J2 | degree | ±145 | |||
J3 (Z) | mm | 150 | |||
J4 (Θ axis) | degree | ±360 | |||
Maximum speed | J1 | degree/s | 337.5 | ||
J2 | degree/s | 720 | |||
J3 (Z) | mm/s | 765 | |||
J4 (Θ axis) | degree/s | 3000 | |||
Maximum composite speed | mm/s | 6267 | |||
Cycle time (25x300x25 mm with 1 kg load) | sec | 0.28 | |||
Allowable wrist moment of inertia | rated | kgm 2 | 0.005 | ||
maximum | 0.005 | ||||
Position repeatability | X, Y direction | mm | ±0.012 | ||
J3 (Z direction) | mm | ±0.01 | |||
J4 (Θ axis) | degree | ±0.004 | |||
Ambient temperature | °C | 0-40 | |||
Weight | kg | 49 | |||
Tool wiring | Hand: 8 inputs/8 outputs, 8 signal cables | ||||
Tool pneumatic pipes | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | ||||
Supply pneumatic pressure | MPa | 5 ±10 % for the pneumatic gripper | |||
Protection rating | IP20 (IP65/ISO class 5 with additional bellow) | ||||
Robot controller | CR800-D | CR800-R + R16RTCPU | |||
Order information | Art. no. | 312997 | 313661 | ||
RH-3FRHR3515-D-S25 | RH-3FRHR3515-R-S25 | ||||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) | 4 | 4 | |||
Installation posture | Overhead | ||||
Structure | Horizontal multiple-joint type | ||||
Drive system | AC servo | ||||
Position detection method | Absolute encoder | ||||
Brake attachment | Axes J1, J2, J4: no brake; axis J3: with brake | ||||
Payload capacity | rated | kg | 1 | ||
maximum | 3 | ||||
Maximum reach | arm 1 + arm 2mm | 350 | |||
Operating range | J1 | degree | 450 (±225) | ||
J2 | degree | 450 (±225) | |||
J3 (Z) | mm | 150 | |||
J4 (Θ axis) | degree | 1440 (±720) | |||
Maximum speed | J1 | degree/s | 672 | ||
J2 | degree/s | 708 | |||
J3 (Z) | mm/s | 1500 | |||
J4 (Θ axis) | degree/s | 3146 | |||
Maximum composite speed | mm/s | 6267 (J1, J2) | |||
Cycle time (25x300x25 mm with 1 kg load) | sec | 0.32 | |||
Allowable wrist moment of inertia | rated | kgm 2 | 0.005 | ||
maximum | 0.05 | ||||
Position repeatability | X, Y direction | mm | ±0.01 | ||
J3 (Z direction) | mm | ±0.01 | |||
J4 (Θ axis) | degree | ±0.01 | |||
Ambient temperature | °C | 0–40 | |||
Weight | kg | 24 | |||
Tool wiring | Input 8 points/output 8 points (option: output 8 points), 8 spare wires | ||||
Tool pneumatic pipes | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | ||||
Supply pneumatic pressure | MPa | 5 ±10 % for the pneumatic gripper | |||
Protection rating | IP20 (Optional IP65 and clean room model available) | ||||
Robot controller | CR800-D | CR800-R + R16RTCPU | |||
Order information | Art. no. | 312998 | 314028 | ||
RH-1FRHR5515-D | RH-1FRHR5515-R | ||||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) | 4 | 4 | |||
Installation posture | On floor, ceiling mounting, wall mounting | On floor, ceiling mounting, wall mounting | |||
Structure | Horizontal articulated arm (SCARA) | Horizontal articulated arm (SCARA) | |||
Drive system | AC servo | AC servo | |||
Position detection method | Absolute encoder | Absolute encoder | |||
Brake attachment | Axes J1, J2, J4: no brake; axis J3: with brake | Axes J1, J2, J4: no brake; axis J3: with brake | |||
Payload capacity | rated | kg | 1 | 1 | |
maximum | 3 | 3 | |||
Maximum reach | mm | 550 | 550 | ||
Operating range | J1 | degree | ±177 | ±177 | |
J2 | degree | ±145 | ±145 | ||
J3 (Z) | mm | 150 | 150 | ||
J4 (Θ axis) | degree | ±360 | ±360 | ||
Maximum speed | J1 | degree/s | 337.5 | 337.5 | |
J2 | degree/s | 720 | 720 | ||
J3 (Z) | mm/s | 765 | 765 | ||
J4 (Θ axis) | degree/s | 3000 | 3000 | ||
Maximum composite speed | mm/s | 6267 | 6267 | ||
Cycle time (25x300x25 mm with 1 kg load) | sec | 0.28 | 0.28 | ||
Allowable wrist moment of inertia | rated | kgm 2 | 0.005 | 0.005 | |
maximum | 0.005 | 0.005 | |||
Position repeatability | X, Y direction | mm | ±0.012 | ±0.012 | |
J3 (Z direction) | mm | ±0.01 | ±0.01 | ||
J4 (Θ axis) | degree | ±0.004 | ±0.004 | ||
Ambient temperature | °C | 0-40 | 0-40 | ||
Weight | kg | 49 | 49 | ||
Tool wiring | Hand: 8 inputs/8 outputs, 8 signal cables | Hand: 8 inputs/8 outputs, 8 signal cables | |||
Tool pneumatic pipes | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | |||
Supply pneumatic pressure | MPa | 5 ±10 % for the pneumatic gripper | 5 ±10 % for the pneumatic gripper | ||
Protection rating | IP20 (IP65/ISO class 5 with additional bellow) | IP20 (IP65/ISO class 5 with additional bellow) | |||
Robot controller | CR800-D | CR800-R + R16RTCPU | |||
Order information | Art. no. | 312997 | 313661 | ||
RH-3FRHR3515-D-S25 | RH-3FRHR3515-R-S25 | ||||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) | 4 | 4 | |||
Installation posture | Overhead | Overhead | |||
Structure | Horizontal multiple-joint type | Horizontal multiple-joint type | |||
Drive system | AC servo | AC servo | |||
Position detection method | Absolute encoder | Absolute encoder | |||
Brake attachment | Axes J1, J2, J4: no brake; axis J3: with brake | Axes J1, J2, J4: no brake; axis J3: with brake | |||
Payload capacity | rated | kg | 1 | 1 | |
maximum | 3 | 3 | |||
Maximum reach | arm 1 + arm 2mm | 350 | 350 | ||
Operating range | J1 | degree | 450 (±225) | 450 (±225) | |
J2 | degree | 450 (±225) | 450 (±225) | ||
J3 (Z) | mm | 150 | 150 | ||
J4 (Θ axis) | degree | 1440 (±720) | 1440 (±720) | ||
Maximum speed | J1 | degree/s | 672 | 672 | |
J2 | degree/s | 708 | 708 | ||
J3 (Z) | mm/s | 1500 | 1500 | ||
J4 (Θ axis) | degree/s | 3146 | 3146 | ||
Maximum composite speed | mm/s | 6267 (J1, J2) | 6267 (J1, J2) | ||
Cycle time (25x300x25 mm with 1 kg load) | sec | 0.32 | 0.32 | ||
Allowable wrist moment of inertia | rated | kgm 2 | 0.005 | 0.005 | |
maximum | 0.05 | 0.05 | |||
Position repeatability | X, Y direction | mm | ±0.01 | ±0.01 | |
J3 (Z direction) | mm | ±0.01 | ±0.01 | ||
J4 (Θ axis) | degree | ±0.01 | ±0.01 | ||
Ambient temperature | °C | 0–40 | 0–40 | ||
Weight | kg | 24 | 24 | ||
Tool wiring | Input 8 points/output 8 points (option: output 8 points), 8 spare wires | Input 8 points/output 8 points (option: output 8 points), 8 spare wires | |||
Tool pneumatic pipes | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | Primary: Ø 6x2 (secondary: Ø 4x8 by option) | |||
Supply pneumatic pressure | MPa | 5 ±10 % for the pneumatic gripper | 5 ±10 % for the pneumatic gripper | ||
Protection rating | IP20 (Optional IP65 and clean room model available) | IP20 (Optional IP65 and clean room model available) | |||
Robot controller | CR800-D | CR800-R + R16RTCPU | |||
Order information | Art. no. | 312998 | 314028 | ||