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Discontinued models (RP-ADH series)

RPシリーズ(生産終了機種)

RP-ADH series (Discontinued model)

RP series is an ultra-compact robot with the 5-joint closed link struc-ture.
The arm section has been downsized and made highly rigid, allowing productivity to be increased with high-speed operations.
*Production discontinuation: May 31,2021

Features

Compact, High-speed operation and High precision

  • Align the compact controller of the body and the A4 size, space-saving.Possible integration into the high-density arrangement and equipment.
  • 5 links structure adopted. Lightweight and high rigidity of the arm portion.Throughput is significantly improved in the high-speed operation.
  • The closed link structure, has achieved an order of magnitude higher positioning accuracy.It enables precise fine work.

Mechanism of closed 5 link structure

System Configuration / Specifications

System Configuration of RP-ADH series

Item Unit RP-1ADH RP-3ADH RP-5ADH
Outside dimensions   RP-1ADH RP-3ADH RP-5ADH
Degree of freedom   4
Drive system   AC servo motor (brake provided on all axes)
Position detection method   Absolute encoder
Maximum load capacity (*1) kg maximum 1 (Rated 0.5) maximum 3 (Rated 1.0) maximum 5 (Rated 2.0)
Arm length mm 100 + 140 140 + 200 200 + 260
Motion range width x depth mm 150 x 105 210 x 148 297 x 210
J3 Vertical mm 30 50
J4 deg -200 to +200
Maximum velocity J1 deg/s 480 432
J2 deg/s 480 432
J3 Vertical mm/s 800 960
J4 deg/s 3000 1330 1230
Cycle time (*2) s 0.28 0.33 0.38
Position repeatability (*3) X,Y direction mm -0.005 to +0.005 -0.008 to +0.008 -0.01 to +0.01
J3 Vertical mm -0.01 to +0.01
J4 deg -0.02 to +0.02 -0.03 to +0.03
Tolerable wrist moment of inertia kgm2 0.3x10-3 1.6x10-3 3.2x10-3
Ambient temperature 0 to 40
Mass kg Approx. 12 Approx. 24 Approx. 25
Tool wiring(*4)   Input 8 points/ Output 8 points
Tool pneumatic pipes   None
Installation posture   Floor type
Environmental specifications   IP30(Standard)
Connected controller   CR1DA-7A1

*1) It is necessary to set the acceleration/deacceleration speed appropriately according to the installing load mass.
*2) The cycle time may increase if specific requirements apply such as high work positioning accuracy.
*3) If the conditions (temperature / operation pattern) change, the position repeatability may increase.
*4) To use the tool (hand), the air hand interface is required.

Item Unit CR1DA-7A1
Path control method   PTP control and CP control
Number of control axis   Simultaneously 4
Robot language   MELFA-BASIC V or MELFA-BASIC IV
Position teaching method   Teaching method, MDI method
Memory capacity Programmed positions Point 13,000
Number of steps step 26,000
Number of programs   256
External input and output General-purpose I/O points Input 0 /Output 0
(Max. 256/256 by option)
Dedicated I/O Assigned to general-purpose I/O
Special stop input 1
Hand open/close input/output Input 8/Output 0
(Up to 8 output points when an pneumatic hand interface is installed.)
Emergency stop input 1(Dual line)
Door switch input 1(Dual line)
Enabling device input 1(Dual line)
Mode output 1(Dual line)
Robot error output 1(Dual line)
Synchronization of additional axes 1(Dual line)
Interface RS-232C port 1
(For expansion such as the personal computer, vision sensor)
Ethernet 1(T/B),1(For customers)
10BASE-T/100BASE-TX
USB 1
(Device functions only, mini B terminal)
Hand dedicated slot slot 1
(Dedicated for pneumatic hand interface)
Additional-axis interface channel 1
(SSCNETIII)
Serial encoder interface 1
Operating temperature range 0 to 40
Ambient humidity %RH 45 to 85
Power source (*1) Input voltage range V 1-phase, AC180 to 253
Power capacity (*3) KVA 1.0
Outline dimensions mm 240(W)X290(D)X200(H)
(Excluding protrusions)
Mass kg(lb) Approx. 9 (19.8)
Construction (*3)   Self-contained floor type
Opened type (IP20)
Grounding (*4) Ω 100 or less (D class grounding earth)

*1) Please use the controller with an input power supply voltage fluctuation rate of 10% or less.
*2) The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the currentbeing input when the power is turned on.
The power capacity is only a rough guide and whether or not operation can be guaranteed depends on the input power-supply voltage.
*3) This controller is a general environment specification.
*4) The robot must be grounded by the customer.