• twitter
  • facebook
  • mail

Products

Print Page

 

Horizontal type robot

Horizontal type robot MELFA

Specifications of RH-FR series

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

RH-3FRH series

Type Unit RH-3FRH3515/12C RH-3FRH4515/12C RH-3FRH5515/12C
Outside dimensions   RH-3FRH
Environmental specifications
Protection degree *1
  IP20(Standard)/ ISO class3(Clean)*6
Installation   Floor 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 350 450 550
Operating range J1 deg 340(-170 to +170)
J2 290(-145 to +145)
J3(Z) mm 150(Clean specification:120) *1
J4 deg 720(-360 to +360)
Maximum speed J1 deg 420
J2 720
J3(Z) mm 1100
J4 deg 3000
Maximum composite speed *2 mm/sec 6800 7500 8300
Cycle time *3 sec 0.41 0.46 0.51
Position repeatability Y-X composite mm -0.010 to +0.010 -0.010 to +0.010 -0.012 to +0.012
J3(Z) -0.01 to +0.01
J4 deg -0.004 to +0.004
Ambient temperature 0 to 40
Mass kg 29 29 32
Tolerable amount of inertia Rating kgm2 0.005
Maximum 0.06
Tool wiring   Gripper:8 input points/8 output points (20 pins total)
Signal cable for the multi-function gripper (2-pin + 2-pin power line)
LAN x 1 [100 BASE-TX] (8-pin) *4
Tool pneumatic pipes   Primary:ø6 x 2 Secondary:ø4 x 8
Machine cable   5m (connector on both ends)
Connected controller *5   CR800-D, CR800-R

*1) The range for vertical movement listed in the environmental resistance specifications (C: Clean specifications) for the RH-3FRH is narrower than for the standard model.
Keep this in mind when working with the RH-3FRH. The environment-resistant specifications are factory-set custom specifications.
*2) The value assumes composition of J1, J2, and J4.
*3) Value for a maximum load capacity of 2 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) Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*5) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.
*6) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.

RH-6FRH series

Type Unit RH-6FRH35XX/M/C RH-6FRH45XX/M/C RH-6FRH55XX/M/C
Outside dimensions   RH-6FRH
Environmental specifications
Protection degree *1
  IP20(standard) / IP65(oil mist)*6 / ISO class3(Clean)*7
Installation   Floor type
Structure   Horizontal multiple-joint type
Drive system   AC servo motor
Position detection method   Absolute encoder
Maximum load capacity kg Maximum 6 (Rated 3)
Maximum reach radius mm 350 450 550
Operating range J1 deg 340(-170 to +170)
J2 290(-145 to +145)
J3(Z) mm xx=20:200/ xx=34:340
J4 deg 720(-360 to +360)
Maximum speed J1 deg 400
J2 670
J3(Z) mm 2400
J4 deg 2500
Maximum composite speed *2 mm/sec 6900 7600 8300
Cycle time *3 sec 0.29
Position repeatability Y-X composite mm -0.010 to +0.010 -0.010 to +0.010 -0.012 to +0.012
J3(Z) -0.01 to +0.01
J4 deg -0.004 to +0.004
Ambient temperature 0 to 40
Mass kg 36 36 37
Tolerable amount of inertia Rating kgm2 0.01
Maximum 0.12
Tool wiring   Gripper: 8 input points/8 output points (20 pins total)
Signal cable for the multi-function gripper (2-pin + 2-pin power line)
LAN x 1 [100 BASE-TX] (8-pin) *4
Tool pneumatic pipes   Primary: ø6 x 2 Secondary: ø4 x 8
Machine cable   5m (connector on both ends)
Connected controller *5   CR800-D/CR800-R

*1) The environmental resistance specifications (M: Oil mist specifications, C: Cleanroom specifications) for the RH-6FRH is factory-set custom specifications.
*2) The value assumes composition of J1, J2, and J4.
*3) Value for a maximum load capacity of 2 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) Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*5) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.
*6) Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
*7) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.