Please refer to the "Catalogs" or the "Manuals" for a robot and the details of the robot arm options.
Type | Unit | RV-2FR(B) | RV-2FRL(B) | ||
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Outside dimensions | RV-2FR | RV-2FRL | |||
Environmental specifications Protection degree |
IP30(Standard) | ||||
Installation | Floor type, ceiling type, (wall-mounted type *2) | ||||
Structure | Vertical multiple-joint type | ||||
Drive system *1 | AC servo motor (J2, J3 and J5: with brake) |
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Position detection method | Absolute encoder | ||||
Maximum load capacity | kg | maximum 3 (Rated 2) *5 | |||
Maximum reach radius | mm | 504 | 649 | ||
Operating range | J1 | deg | 480 (-240 to +240) | ||
J2 | 240 (-120 to +120) | 237 (-117 to +120) | |||
J3 | 160 (-0 to +160) | ||||
J4 | 400 (-200 to +200) | ||||
J5 | 240 (-120 to +120) | ||||
J6 | 720 (-360 to +360) | ||||
Maximum speed | J1 | deg/sec | 300 | 225 | |
J2 | 150 | 105 | |||
J3 | 300 | 165 | |||
J4 | 450 | 412 | |||
J5 | 450 | ||||
J6 | 720 | ||||
Maximum composite speed *3 | sec | 4955 | 4200 | ||
Cycle time *4 | sec | 0.6 | 0.7 | ||
Position repeatability | mm | -0.02 to +0.02 | |||
Ambient temperature | ℃ | 0 to 40 | |||
Mass | kg | 19 | 21 | ||
Tolerable moment | J4 | Nm | 4.17 | ||
J5 | 4.17 | ||||
J6 | 2.45 | ||||
Tolerable amount of inertia | J4 | kgm2 | 0.18 | ||
J5 | 0.18 | ||||
J6 | 0.04 | ||||
Tool wiring | Gripper: 4 input points/4 output points Signal cable for the multi-function gripper |
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Tool pneumatic pipes | ø4 x 4 | ||||
Machine cable | 5m (connector on both ends) | ||||
Connected controller *4 | CR800-D, CR800-R |
*1) | The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. |
*2) | The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. |
*3) | This is the value at the surface of the mechanical interface when all axes are composited. |
*4) | 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. |
*5) | The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular). |
Type | Unit | RV-4FR(M)(C) | RV-4FRL(M)(C) | ||
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Outside dimensions | RV-4FR | RV-4FRL | |||
Environmental specifications Protection degree |
IP40 (standard)/ IP67 (oil mist) *1/ ISO class3(Clean) *7 | ||||
Installation | Floor type, ceiling type, (wall-mounted type *2) | ||||
Structure | Vertical multiple-joint type | ||||
Degrees of freedom | 6 *9 | ||||
Drive system | AC servo motor | ||||
Position detection method | Absolute encoder | ||||
Maximum load capacity | kg | maximum 4 (Rated 4) *8 | |||
Maximum reach radius | mm | 515 | 649 | ||
Operating range | J1 | deg | 480 (-240 to +240) | ||
J2 | 240 (-120 to +120) | ||||
J3 | 161 (-0 to +161) | 164 (-0 to +164) | |||
J4 | 400 (-200 to +200) | ||||
J5 | 240 (-120 to +120) | ||||
J6 | 720 (-360 to +360) | ||||
Maximum speed | J1 | deg/sec | 450 | 420 | |
J2 | 450 | 336 | |||
J3 | 300 | 250 | |||
J4 | 540 | ||||
J5 | 623 | ||||
J6 | 720 | ||||
Maximum composite speed *3 | sec | 9027 | 9048 | ||
Cycle time *4 | sec | 0.36 | 0.36 | ||
Position repeatability | mm | -0.02 to +0.02 | |||
Ambient temperature | ℃ | 0 to 40 | |||
Mass | kg | 39 | 41 | ||
Tolerable moment | J4 | Nm | 6.66 | ||
J5 | 6.66 | ||||
J6 | 3.96 | ||||
Tolerable amount of inertia | J4 | kgm2 | 0.2 | ||
J5 | 0.2 | ||||
J6 | 0.1 | ||||
Tool wiring | Gripper: 8 input points/8 output points Signal cable for the multi-function gripper and sensors LAN x 1 [100 BASE-TX] *5 |
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Tool pneumatic pipes | Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm) |
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Machine cable | 5m (connector on both ends) | ||||
Connected controller *6 | CR800-D, CR800-R |
*1) | Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines.For details, refer to the specifications sheet. |
*2) | The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. |
*3) | This is the value at the surface of the mechanical interface when all axes are composited. |
*4) | 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. |
*5) | Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. |
*6) | Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type. |
*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. |
*8) | The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular). |
*9) | Please contact our sales offices if you request a five axes long arm model. |
Type | Unit | RV-7FR(M)(C) | RV-7FRL(M)(C) | RV-7FRLL(M)(C) | |
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Outside dimensions | RV-7FR | RV-7FRL | RV-7FRLL | ||
Environmental specifications Protection degree |
IP40 (standard)/ IP67 (oil mist) *1/ ISO class3(Clean) *2 | ||||
Installation | Floor type, ceiling type, (wall-mounted type *3) | ||||
Structure | Vertical multiple-joint type | ||||
Drive system | AC servo motor | ||||
Position detection method | Absolute encoder | ||||
Maximum load capacity | kg | maximum 7 (Rated 7) *8 | |||
Maximum reach radius | mm | 713 | 908 | 1503 | |
Operating range | J1 | deg | 480 (-240 to +240) | 380 (-190 to +190) | |
J2 | 240 (-115 to +125) | 240 (-110 to +130) | 240 (-90 to +150) | ||
J3 | 156 (-0 to +156) | 162 (-0 to +162) | 167.5 (-10 to +157.5) | ||
J4 | 400 (-200 to +200) | ||||
J5 | 240 (-120 to +120) | ||||
J6 | 720 (-360 to +360) | ||||
Maximum speed | J1 | deg/sec | 360 | 288 | 234 |
J2 | 401 | 321 | 164 | ||
J3 | 450 | 360 | 219 | ||
J4 | 337 | 375 | |||
J5 | 450 | ||||
J6 | 720 | ||||
Maximum composite speed *3 | sec | 11064 | 10977 | 15300 | |
Cycle time *4 | sec | 0.32 | 0.35 | 0.63 | |
Position repeatability | mm | -0.02 to +0.02 | -0.06 to +0.06 | ||
Ambient temperature | ℃ | 0 to 40 | |||
Mass | kg | 65 | 67 | 130 | |
Tolerable moment | J4 | Nm | 16.2 | ||
J5 | 16.2 | ||||
J6 | 6.86 | ||||
Tolerable amount of inertia | J4 | kgm2 | 0.45 | ||
J5 | 0.45 | ||||
J6 | 0.10 | ||||
Tool wiring | Gripper: 8 input points, Signal cable for the multi-function gripper, LAN x 1 [100 BASE-TX] *5 |
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Tool pneumatic pipes | Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm) |
Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm) |
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Machine cable | 5m (connector on both ends) | ||||
Connected controller *6 | CR800-D, CR800-R |
*1) | Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. |
*2) | The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. |
*3) | This is the value at the surface of the mechanical interface when all axes are composited. |
*4) | 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. |
*5) | Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. |
*6) | Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type. |
*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. |
*8) | The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular). |