Please refer to the "Catalogs" or the "Manuals" for a robot and the details of the robot arm options.
Type | Unit | RH-3FRH3515/12C | RH-3FRH4515/12C | RH-3FRH5515/12C | |
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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 |
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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. |
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 |
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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. |