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Produkty

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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

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