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 | No.1 arm | mm |
| No.2 arm | mm | |
| Maximum reach radius | mm | |
| Operating range | J1 | deg |
| J2 | deg | |
| J3(Z) | mm | |
| J4(θ) | deg | |
| Maximum speed | J1 | deg |
| J2 | deg | |
| J3(Z) | mm | |
| J4(θ) | deg | |
| Maximum composite speed | mm/sec | |
| Cycle time | sec | |
| Position repeatability | Y-X composite | mm |
| J3(Z) | mm | |
| J4(θ) | deg | |
| Ambient temperature | ℃ | |
| Mass | kg | |
| Tolerable moment | Rating | kgm2 |
| Maximum | kgm2 | |
| Tool wiring | ||
| Tool pneumatic pipes | ||
| Machine cable | ||
| Connected controller Type | ||
| Control Type | ||
Robot arm (Horizontal type) |
RH-FR series |
Horizontal multiple-joint type |
RH-20FRH10045C-Q |
Cleanroom (*1) |
ISO class 3 (*2) |
Floor type |
4 |
AC servo motor |
Absolute encoder |
20 |
5 |
525 |
475 |
1000 |
-170 to ＋170 |
-153 to ＋153 |
450 (-110 to +340) |
-360 to ＋360 |
280 |
450 |
2400 |
1700 |
13283 (*3) |
0.36 (*4) |
±0.020 |
±0.010 |
±0.005 |
0 to 40 |
77 |
0.065 |
1.05 |
Gripper: 8 input points/8 output points (20 pins total) Signal cable for the multi-function gripper (2-pin + 2-pin power line) LAN × 1 (100 BASE-TX) (8-pin) (*5) |
Primary: ø6 × 2 Secondary: ø6 × 8 |
5m (connector on both ends) |
CR800-20HQ |
MELSEC Q compatible |
*1: The environmental resistance specifications (C: Cleanroom specifications) is factory-set custom specifications.
*2: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/sec in the cleanroom and internal robot suctioning.
A ø8-mm coupler for suctioning is provided at the back of the base.
*3: The value assumes composition of J1, J2, and J4.
*4: 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.)
*5: This can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.