Specification
| Category | ||
| Series | ||
| Structure | ||
| Type | ||
| Environmental specifications | ||
| Protection degree | ||
| Installation | ||
| Degrees of freedom | ||
| Drive system | ||
| Position detection method | ||
| Load capacity | Maximum | kg |
| Rated | kg | |
| Arm length | Upper arm | mm |
| Fore arm | mm | |
| Maximum reach radius | mm | |
| Operating range | J1 | deg |
| J2 | deg | |
| J3 | deg | |
| J4 | deg | |
| J5 | deg | |
| J6 | deg | |
| Maximum speed | J1 | deg/sec |
| J2 | deg/sec | |
| J3 | deg/sec | |
| J4 | deg/sec | |
| J5 | deg/sec | |
| J6 | deg/sec | |
| Maximum composite speed | mm/sec | |
| Cycle time | sec | |
| Position repeatability | mm | |
| Ambient temperature | ℃ | |
| Mass | kg | |
| Tolerable moment | J4 | Nm |
| J5 | Nm | |
| J6 | Nm | |
| Tolerable amount of inertia | J4 | kgm2 |
| J5 | kgm2 | |
| J6 | kgm2 | |
| Tool wiring | ||
| Tool pneumatic pipes | ||
| Mounting cable specifications | Air ø4 | |
| Gripper input 8 points | ||
| Vision sensor | ||
| Force sensor | ||
| Electric gripper | ||
| Machine cable | ||
| Connected controller Type | ||
| Control Type | ||
Robot arm (Vertical type) |
RV-FR series |
Vertical multiple-joint type |
RV-2FRL-D |
Standard |
IP30 |
Floor type, ceiling type, (wall-mounted type) (*1) |
6 |
AC servo motor (J2, J3 and J5: with brake) (*2) |
Absolute encoder |
3 (*3) |
2 |
310 |
335 |
649 |
-240 to ＋240 |
-117 to ＋120 |
0 to ＋160 |
-200 to ＋200 |
-120 to ＋120 |
-360 to ＋360 |
225 |
105 |
165 |
412 |
450 |
720 |
4200 (*4) |
0.7 (*5) |
土0.02 |
0 to 40 |
21 |
4.17 |
4.17 |
2.45 |
0.18 |
0.18 |
0.04 |
Gripper: 4 input points/4 output points Signal cable for the multi-function gripper |
φ4 × 4 |
ー |
ー |
ー |
ー |
ー |
5m (connector on both ends) |
CR800-02VD |
Standalone |
*1: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*2: The standard model (RV-2FRL) does not have a brake on the J1, J4, or J6 axis.There are models available with brakes included for all axes (RV-2FRLB).
*3: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
*4: This is the value at the surface of the mechanical interface when all axes are composited.
*5: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.