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 | ||
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 |
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 | ||
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 |
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 | |
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 |
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 | |
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 |
CR750-D |
CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
275483 |
275484 | ||