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Ceiling mounted, horizontal type robot

Ceiling_mounted type robot MELFA

RH-3FRHR35 Specifications (FR series)

Please refer to the "Catalogs" or the "Manuals" for a robot and the details of the controller.

RH-3FRHR35 series

Type Unit RH-3FRHR3515 RH-3FRHR3512C *1 RH-3FRHR3512W *1
Outside dimensions   RH-3FRHR3515
Environmental specifications
Protection degree *1
  IP20(Standard) ISO class 5(Clean) *5 IP65(Waterproof) *6
Installation   Ceiling type
Structure   Horizontal multiple-joint type
Drive system   AC servo motor
Position detection method   Absolute encoder
Maximum load capacity kg maximum 3 (Rated 1)
Maximum reach radius mm 350
Operating range J1 deg 450(-225 to +225)
J2 450(-225 to +225)
J3(Z) mm 150 120
J4 deg 1440(-720 to +720)
Maximum speed J1 deg/sec 672
J2 708
J3(Z) mm/sec 1500
J4 deg 3146
Maximum composite speed *2 mm/sec 6267
Cycle time *3 sec 0.32
Position repeatability Y-X composite mm -0.01 to +0.01
J3(Z) -0.01 to +0.01
J4 deg -0.01 to +0.01
Ambient temperature 0 to 40
Mass   24 28
Tolerable amount of inertia Rating kgm2 0.005
Maximum 0.05
Tool wiring   Gripper: 8 input points (up to 4 points for shaft) / 8 output points, 8 spare lines
Tool pneumatic pipes   Primary: ø6 x 2 Secondary: ø4 x 8
Machine cable   5m (connector on both ends)
Connected controller *4   CR800-D/CR800-R

*1) The environmental resistance specifications (C: Cleanroom specifications, W:Waterproof specifications) for the RH-3FRHR is factory-set custom specifications.
*2) The value assumes composition of J1, J2, and J4.
*3) Value for a maximum load capacity of 1 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.
(The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
*4) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.
*5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
*6) Direct jet to the bellows is excluded.