Vertical type robot
Specifications of RV-FR series
Please refer to the "Catalogs" or the "Manuals" for a robot and the details of the robot arm options.
RV-13FR/13FRL series
| Type | Unit | RV-13FR(M)(C) | RV-13FRL(M)(C) | ||
|---|---|---|---|---|---|
| Outside dimensions | RV-13FR | RV-13FRL | |||
| Environmental specifications Protection degree |
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3(Clean) *7 | ||||
| Installation | Floor type, ceiling type, (wall-mounted type *2) | ||||
| Structure | Vertical multiple-joint type | ||||
| Drive system | AC servo motor | ||||
| Position detection method | Absolute encoder | ||||
| Maximum load capacity | kg | Maximum:13 (Rated:12) *8 | |||
| Maximum reach radius | mm | 1094 | 1388 | ||
| Operating range | J1 | deg | 380 (-190 to +190) | ||
| J2 | 240 (-90 to +150) | ||||
| J3 | 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 | 290 | 234 | |
| J2 | 234 | 164 | |||
| J3 | 312 | 219 | |||
| J4 | 375 | 375 | |||
| J5 | 375 | 375 | |||
| J6 | 720 | 720 | |||
| Maximum composite speed *3 | sec | 10450 | 9700 | ||
| Cycle time *4 | sec | 0.53 | 0.68 | ||
| Position repeatability | mm | -0.05 to +0.05 | |||
| Ambient temperature | ℃ | 0 to 40 | |||
| Mass | kg | 120 | 130 | ||
| Tolerable moment | J4 | Nm | 19.3 | ||
| J5 | 19.3 | ||||
| J6 | 11 | ||||
| Tolerable amount of inertia | J4 | kgm2 | 0.47 | ||
| J5 | 0.47 | ||||
| J6 | 0.14 | ||||
| Tool wiring | Gripper: 8 input points/8 output 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: ø6 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 5 kg. |
| *5) | Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm. |
| *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 φ8-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). |
RV-20FR series
| Type | Unit | RV-20FR(M)(C) | |
|---|---|---|---|
| Outside dimensions | RV-20FR | ||
| Environmental specifications Protection degree |
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3(Clean) *2 | ||
| Installation | Floor type, ceiling type, (wall-mounted type *2) | ||
| Structure | Vertical multiple-joint type | ||
| Drive system | AC servo motor | ||
| Position detection method | Absolute encoder | ||
| Maximum load capacity | kg | Maximum:20 (Rated:15) *8 | |
| Maximum reach radius | mm | 1094 | |
| Operating range | J1 | deg | 380 (-190 to +190) |
| J2 | 240 (-90 to +150) | ||
| J3 | 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 | 110 |
| J2 | 110 | ||
| J3 | 110 | ||
| J4 | 124 | ||
| J5 | 125 | ||
| J6 | 360 | ||
| Maximum composite speed *3 | sec | 4200 | |
| Cycle time *4 | sec | 0.70 | |
| Position repeatability | mm | -0.05 to +0.05 | |
| Ambient temperature | ℃ | 0 to 40 | |
| Mass | kg | 120 | |
| Tolerable moment | J4 | Nm | 49.0 |
| J5 | 49.0 | ||
| J6 | 11 | ||
| Tolerable amount of inertia | J4 | kgm2 | 1.40 |
| J5 | 1.40 | ||
| J6 | 0.14 | ||
| Tool wiring | Gripper: 8 input points/8 output points Signal cable for the multi-function gripper LAN x 1 [100 BASE-TX] *5 |
||
| Tool pneumatic pipes | Primary: ø6 x 2 Secondary: ø6 x 8, ø4 x 4 (from base portion to forearm) |
||
| 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 5 kg. |
| *5) | Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm. |
| *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). |