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) |
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RH-FR series |
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Horizontal multiple-joint type |
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RH-20FRH10035-R |
RH-20FRH10045-R |
RH-20FRH10035M-R |
RH-20FRH10045M-R |
RH-20FRH10035C-R |
RH-20FRH10045C-R |
Standard |
Oil mist (*1) |
Cleanroom (*1) |
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IP20 |
IP65 (*2) |
ISO class 3 (*2) |
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Floor type |
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4 |
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AC servo motor |
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Absolute encoder |
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20 |
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5 |
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525 |
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475 |
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1000 |
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-170 to ＋170 |
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-153 to ＋153 |
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350 (-10 to +340) |
450 (-110 to +340) |
350 (-10 to +340) |
450 (-110 to +340) |
350 (-10 to +340) |
450 (-110 to +340) |
-360 to ＋360 |
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280 |
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450 |
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2400 |
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1700 |
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13283 (*1) |
13283 (*3) |
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0.36 (*2) |
0.36 (*4) |
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±0.020 |
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±0.010 |
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±0.005 |
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0 to 40 |
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77 |
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0.065 |
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1.05 |
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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) (*3) |
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) |
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Primary: ø6 × 2 Secondary: ø6 × 8 |
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5m (connector on both ends) |
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CR800-20HR |
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MELSEC iQ-R compatible |
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*1: The value assumes composition of J1, J2, and J4.
*2: 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.)
*3: This can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.