Horizontal type robot
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-12FRH series
| Type | Unit | RH-12FRH55XX/M/C | RH-12FRH70XX/M/C | RH-12FRH85XX/M/C | |
|---|---|---|---|---|---|
| Outside dimensions | RH-12FRH | ||||
| Environmental specifications Protection degree *1 |
IP20(standard)/ IP65(oil mist)*6/ ISOclass3(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 12 (Rated 3) | |||
| Maximum reach radius | mm | 550 | 700 | 850 | |
| Operating range | J1 | deg | 340(-170 to +170) | ||
| J2 | 290(-145 to +145) | 306(-153 to +153) | |||
| J3(Z) | mm | xx=35:35/ xx=45:450 | |||
| J4 | deg | 720(-360 to +360) | |||
| Maximum speed | J1 | deg | 420 | 280 | |
| J2 | 450 | ||||
| J3(Z) | mm | 2800 | |||
| J4 | deg | 2400 | |||
| Maximum composite speed *2 | mm/sec | 11435 | 12535 | 11350 | |
| Cycle time *3 | sec | 0.30 | 0.30 | 0.30 | |
| Position repeatability | Y-X composite | mm | -0.012 to +0.012 | -0.015 to +0.015 | -0.015 to +0.015 |
| J3(Z) | -0.01 to +0.01 | ||||
| J4 | deg | -0.005 to +0.005 | |||
| Ambient temperature | ℃ | 0 to 40 | |||
| Mass | kg | 65 | 67 | 69 | |
| Tolerable amount of inertia | Rating | kgm2 | 0.025 | ||
| Maximum | 0.3 | ||||
| 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: ø6 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) 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. |
RH-20FRH series
| Type | Unit | RH-20FRH85XX/M/C | RH-20FRH100XX/M/C | ||
|---|---|---|---|---|---|
| Outside dimensions | RH-20FRH | ||||
| Environmental specifications Protection degree *1 |
IP20(standard)/ IP65(oil mist)*6/ ISOclass3(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 20 (Rated 5) | |||
| Maximum reach radius | mm | 850 | 1000 | ||
| Operating range | J1 | deg | 340(-170 to +170) | ||
| J2 | 306(-153 to +153) | ||||
| J3(Z) | mm | xx=35:350/ xx=45:450 | |||
| J4 | deg | 720(-360 to +360) | |||
| Maximum speed | J1 | deg | 280 | ||
| J2 | 450 | ||||
| J3(Z) | mm | 2400 | |||
| J4 | deg | 1700 | |||
| Maximum composite speed *2 | mm/sec | 11372 | 13283 | ||
| Cycle time *3 | sec | 0.30 | 0.36 | ||
| Position repeatability | Y-X composite | mm | -0.015 to +0.015 | -0.02 to +0.02 | |
| J3(Z) | -0.01 to +0.01 | ||||
| J4 | deg | -0.005 to +0.005 | |||
| Ambient temperature | ℃ | 0 to 40 | |||
| Mass | kg | 75 | 77 | ||
| Tolerable amount of inertia | Rating | kgm2 | 0.065 | ||
| Maximum | 1.05 | ||||
| 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: ø6 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) 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. |