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) |
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RV-FR series |
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Vertical multiple-joint type |
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RV-4FR-R-SH01 |
RV-4FR-R-SH02 |
RV-4FR-R-SH03 |
RV-4FR-R-SH04 |
RV-4FR-R-SH05 |
Standard |
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IP40 |
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Floor type, ceiling type, (wall-mounted type) (*1) |
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6 |
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AC servo motor (All axes have the brake) |
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Absolute encoder |
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4 (*2) |
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4 |
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235 |
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275 |
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515 |
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-240 to ＋240 |
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-120 to ＋120 |
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-0 to ＋161 |
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-200 to ＋200 |
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-120 to ＋120 |
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-200 to ＋200 (*3) |
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450 |
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450 |
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300 |
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540 |
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623 |
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720 |
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10000 (*4) |
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0.36 (*5) |
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±0.02 |
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0 to 40 |
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40 |
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6.66 |
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6.66 |
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3.90 |
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0.20 |
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0.20 |
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0.10 |
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Gripper: 8 input points/8 output points Signal cable for the multi-function gripper and sensors LAN × 1 〈100BASE-TX〉 (*6) |
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Primary: ø6 × 2 Secondary: φ4 × 4(forearm section), φ4 × 4 (passes through in the wrist.) (*7) |
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○ (×4) |
ー |
○ (×2) |
||
○ |
ー |
○ |
||
ー |
○ |
ー |
○ |
|
ー |
○ (may be used for either force sensor or electric gripper) |
○ |
ー |
|
ー |
○ (may be used for either force sensor or electric gripper) |
○ |
ー |
|
5m (connector on both ends) |
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CR800-04VR |
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MELSEC iQ-R compatible |
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*1: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*2: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
*3: The operating range of the J6 axis is small compared to the model without internal cables/pipes.
*4: This is the value at the surface of the mechanical interface when all axes are composited.
*5: Value for a 25mm up/down and 300mm horizontal reciprocal movement with 1kg load. The cycle time is the value for RV-4FR-R and RV-4FRL-R.
*6: This can also be used as a spare wire (0.13sq 4-pair wire.) The wire is prepared up to inside the forearm.
*7: The internal wiring and piping specification is φ4x4.