Specificaţii produs - Mitsubishi Electric Factory Automation

Produse

Characteristics/Functions			RH-1FHR5515-D1-S60	RH-1FHR5515-Q1-S60
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
Payload capacity	maximum	kg	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
Allowable wrist moment of inertia	maximum	kgm ²	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			CR750-D	CR750-Q + Q172DRCPU

Order information		Art. no.	277708	277709

Characteristics/Functions			RH-3FHR3515-D1-S15	RH-3FHR3515-Q1-S15
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
Payload capacity	maximum	kg	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
Allowable wrist moment of inertia	maximum	kgm ²	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			CR750-D	CR750-Q + Q172DRCPU

Order information		Art. no.	275483	275484


Characteristics/Functions			RH-1FHR5515-D1-S60	RH-1FHR5515-Q1-S60
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
Payload capacity	maximum	kg	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
Allowable wrist moment of inertia	maximum	kgm ²	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			CR750-D	CR750-Q + Q172DRCPU

Order information		Art. no.	277708	277709


Characteristics/Functions			RH-3FHR3515-D1-S15	RH-3FHR3515-Q1-S15
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
Payload capacity	maximum	kg	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
Allowable wrist moment of inertia	maximum	kgm ²	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			CR750-D	CR750-Q + Q172DRCPU

Order information		Art. no.	275483	275484

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