Productos
RH-3FRH5515-D/ RH-3FRH5515-R |
RH-6FRH5520N-D/ RH-6FRH5520N-R |
RH-12FRH8535N-D/ RH-12FRH8535N-R |
RH-20FRH10035N-D/ RH-20FRH10035N-R | ||||
|---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
4 |
4 | |||
Installation posture |
Floor mounting | ||||||
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 |
3 |
3 |
5 | |
maximum |
3 |
6 |
12 |
20 | |||
Maximum reach |
arm 1 + arm 2 mm |
550 |
550 |
850 |
1000 | ||
Operating range |
J1 |
degree |
340 (±170) | ||||
J2 |
degree |
290 (±145) |
306 (±153) | ||||
J3 (Z) |
mm |
150 |
200 |
350 |
350 | ||
J4 (Θ axis) |
degree |
720 (±360) | |||||
Maximum speed |
J1 |
degree/s |
400 |
400 |
280 |
280 | |
J2 |
degree/s |
720 |
670 |
450 |
450 | ||
J3 (Z) |
mm/s |
1100 |
2400 |
2800 |
2400 | ||
J4 (Θ axis) |
degree/s |
3000 |
2500 |
2400 |
1700 | ||
Maximum composite speed |
mm/s |
8300 |
8300 |
11350 |
13283 | ||
Cycle time (25x300x25 mm with max. 2 kg load) |
sec |
0.51 |
0.29 |
0.30 |
0.36 | ||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
0.01 |
0.025 |
0.065 | |
maximum |
0.06 |
0.12 |
0.3 |
1.05 | |||
Position repeatability |
X, Y direction |
mm |
±0.012 |
±0.012 |
±0.015 |
±0.015 | |
J3 (Z direction) |
mm |
±0.010 | |||||
J4 (Θ axis) |
degree |
±0.004 |
±0.005 | ||||
Ambient temperature |
°C |
0–40 | |||||
Weight |
kg |
32 |
37 |
69 |
77 | ||
Tool wiring |
Input 8 points/output 8 points (total 20 scores) | ||||||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 4x8 | ||||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper | |||||
Protection rating |
IP20 |
IP54 (IP65 with additional bellow, optional clean room model available) | |||||
Robot controller |
CR800-D/CR800-R + R16RTCPU | ||||||
Order information |
Art. no. |
312930 / 313651 |
312985 / 313666 |
312991 / 313672 |
312995 / 313676 | ||
RH-3FRH5515-D/ RH-3FRH5515-R |
RH-6FRH5520N-D/ RH-6FRH5520N-R |
RH-12FRH8535N-D/ RH-12FRH8535N-R |
RH-20FRH10035N-D/ RH-20FRH10035N-R | ||||
|---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
4 |
4 | |||
Installation posture |
Floor mounting |
Floor mounting |
Floor mounting |
Floor mounting | |||
Structure |
Horizontal multiple-joint type |
Horizontal multiple-joint type |
Horizontal multiple-joint type |
Horizontal multiple-joint type | |||
Drive system |
AC servo |
AC servo |
AC servo |
AC servo | |||
Position detection method |
Absolute encoder |
Absolute encoder |
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 |
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 |
3 |
3 |
5 | |
maximum |
3 |
6 |
12 |
20 | |||
Maximum reach |
arm 1 + arm 2 mm |
550 |
550 |
850 |
1000 | ||
Operating range |
J1 |
degree |
340 (±170) |
340 (±170) |
340 (±170) |
340 (±170) | |
J2 |
degree |
290 (±145) |
290 (±145) |
306 (±153) |
306 (±153) | ||
J3 (Z) |
mm |
150 |
200 |
350 |
350 | ||
J4 (Θ axis) |
degree |
720 (±360) |
720 (±360) |
720 (±360) |
720 (±360) | ||
Maximum speed |
J1 |
degree/s |
400 |
400 |
280 |
280 | |
J2 |
degree/s |
720 |
670 |
450 |
450 | ||
J3 (Z) |
mm/s |
1100 |
2400 |
2800 |
2400 | ||
J4 (Θ axis) |
degree/s |
3000 |
2500 |
2400 |
1700 | ||
Maximum composite speed |
mm/s |
8300 |
8300 |
11350 |
13283 | ||
Cycle time (25x300x25 mm with max. 2 kg load) |
sec |
0.51 |
0.29 |
0.30 |
0.36 | ||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
0.01 |
0.025 |
0.065 | |
maximum |
0.06 |
0.12 |
0.3 |
1.05 | |||
Position repeatability |
X, Y direction |
mm |
±0.012 |
±0.012 |
±0.015 |
±0.015 | |
J3 (Z direction) |
mm |
±0.010 |
±0.010 |
±0.010 |
±0.010 | ||
J4 (Θ axis) |
degree |
±0.004 |
±0.004 |
±0.005 |
±0.005 | ||
Ambient temperature |
°C |
0–40 |
0–40 |
0–40 |
0–40 | ||
Weight |
kg |
32 |
37 |
69 |
77 | ||
Tool wiring |
Input 8 points/output 8 points (total 20 scores) |
Input 8 points/output 8 points (total 20 scores) |
Input 8 points/output 8 points (total 20 scores) |
Input 8 points/output 8 points (total 20 scores) | |||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 4x8 |
Primary: Ø 6x2, secondary: Ø 4x8 |
Primary: Ø 6x2, secondary: Ø 4x8 |
Primary: Ø 6x2, secondary: Ø 4x8 | |||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
5 ±10 % for the pneumatic gripper |
5 ±10 % for the pneumatic gripper |
5 ±10 % for the pneumatic gripper | ||
Protection rating |
IP20 |
IP54 (IP65 with additional bellow, optional clean room model available) |
IP54 (IP65 with additional bellow, optional clean room model available) |
IP54 (IP65 with additional bellow, optional clean room model available) | |||
Robot controller |
CR800-D/CR800-R + R16RTCPU |
CR800-D/CR800-R + R16RTCPU |
CR800-D/CR800-R + R16RTCPU |
CR800-D/CR800-R + R16RTCPU | |||
Order information |
Art. no. |
312930 / 313651 |
312985 / 313666 |
312991 / 313672 |
312995 / 313676 | ||