Seria RV-FR
"Inteligentne funkcje", "Bezpieczne aplikacje kolaborujące" i "Inetgracja z systemami IT". Dzięki tym trzem kluczowym funkcjom, seria FR może spełnić praktycznie wszystkie Twoje potrzeby z zakresu automatyzacji.
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RV-2FR-D / RV-2FR-R |
RV-2FRB-D-S25 / RV-2FRB-R-S25 |
RV-2FRL-D-S25 / RV-2FRL-R-S25 |
RV-2FRLB-D-S25 / RV-2FRLB-R-S25 |
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|---|---|---|---|---|---|---|---|
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Degrees of freedom (no. of axes) |
6 |
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Installation posture |
Floor, ceiling or wall mounting possible |
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Structure |
Vertical multiple-joint type |
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Drive system |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
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Position detection method |
Absolute encoder |
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Payload capacity |
rated |
kg |
2 |
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maximum |
3 |
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Arm reachable radius (to the center point of the J5 axis) |
mm |
504 |
649 |
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Operating range |
waist (J1) |
degree |
480 (-240–240) |
480 (-240–240) |
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shoulder (J2) |
240 (-120–120) |
237 (-117–120) |
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elbow (J3) |
160 (0–160) |
160 (0–160) |
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wrist twist (J4) |
400 (-200–200) |
400 (-200–200) |
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wrist pitch (J5) |
240 (-120–120) |
240 (-120–120) |
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|
wrist roll (J6) |
720 (-360–360) |
720 (-360–360) |
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Maximum speed |
waist (J1) |
degree/s |
300 |
225 |
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shoulder (J2) |
150 |
105 |
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elbow (J3) |
300 |
165 |
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wrist twist (J4) |
450 |
412 |
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wrist pitch (J5) |
450 |
450 |
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wrist roll (J6) |
720 |
720 |
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Maximum composite speed |
mm/s |
4955 |
4200 |
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Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.6 |
0.7 |
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Position repeatability |
mm |
±0.02 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
19 |
21 |
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Tolerable moment |
wrist twist (J4) |
Nm |
4.17 |
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wrist pitch (J5) |
4.17 |
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wrist roll (J6) |
2.45 |
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Tolerable inertia |
wrist twist (J4) |
kgm² |
0.18 (0.27) |
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|
wrist pitch (J5) |
0.18 (0.27) |
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|
wrist roll (J6) |
0.04 (0.1) |
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Tool wiring |
Hand input 4 points/hand output 4 points |
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Tool pneumatic pipes |
Ø 4x4 (from the base level to the gripper hand area) |
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Supply pneumatic pressure |
MPa |
0.5 ±10 % |
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Gripper flange |
ISO 9409-1-31.5 |
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Protection rating |
IP30 |
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Robot controller |
CR800-D/CR800-R + R16RTCPU |
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Order information |
Art. no. |
313052 / 314029 |
313053 / 314030 |
313054 / 314031 |
313085 / 314032 |
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RV-4FRLM-D |
RV-4FRLM-R |
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|---|---|---|---|---|---|
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Degrees of freedom (no. of axes) |
6 |
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Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
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|
Structure |
Vertical multiple-joint type |
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Drive system |
AC servo (brakes on all axes) |
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Position detection method |
Absolute encoder |
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Payload capacity |
maximum |
kg |
4 |
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Arm reachable radius (to the center point of the J5 axis) |
mm |
649 |
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Operating range |
waist (J1) |
degree |
480 (±240) |
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shoulder (J2) |
240 (-120–120) |
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elbow (J3) |
164 (0–164) |
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wrist twist (J4) |
400 (±200) |
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wrist pitch (J5) |
240 (-120–120) |
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wrist roll (J6) |
720 (±360) |
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Maximum speed |
waist (J1) |
degree/s |
420 |
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shoulder (J2) |
336 |
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elbow (J3) |
250 |
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wrist twist (J4) |
540 |
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wrist pitch (J5) |
623 |
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wrist roll (J6) |
720 |
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Maximum composite speed |
mm/s |
9048 |
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Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.36 |
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Position repeatability |
mm |
±0.02 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
41 |
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Tolerable moment |
wrist twist (J4) |
Nm |
6.66 |
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wrist pitch (J5) |
6.66 |
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wrist roll (J6) |
3.96 |
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Tolerable inertia |
wrist twist (J4) |
kgm² |
0.20 |
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wrist pitch (J5) |
0.20 |
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wrist roll (J6) |
0.10 |
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Tool wiring |
Hand input 8 points/hand output 8 points |
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Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
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Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
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Gripper flange |
ISO 9409-1-31.5 |
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Protection rating |
IP67 (Optional clean room model available) |
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Robot controller |
CR800-D |
CR800-R + R16RTCPU |
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Order information |
Art. no. |
313089 |
314056 |
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|
RV-7FRM-D / RV-7FRM-R |
RV-7FRLM-D / RV-7FRLM-R |
RV-7FRLLM-D RV-7FRLLM-R |
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|---|---|---|---|---|---|---|
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Degrees of freedom (no. of axes) |
6 |
6 (super long arm) |
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Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
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Structure |
Vertical multiple-joint type |
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Drive system |
AC servo (brakes on all axes) |
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Position detection method |
Absolute encoder |
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Payload capacity |
maximum |
kg |
7 |
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Arm reachable radius (to the center point of the J5 axis) |
mm |
713 |
908 |
1503 |
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Operating range |
waist (J1) |
degree |
480 (±240) |
380 (±190) |
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shoulder (J2) |
240 (-115–125) |
240 (-110–130) |
240 (-90–150) |
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elbow (J3) |
156 (0–156) |
162 (0–162) |
167.5 (-10–157.5) |
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wrist twist (J4) |
400 (±200) |
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wrist pitch (J5) |
240 (-120–120) |
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wrist roll (J6) |
720 (±360) |
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Maximum speed |
waist (J1) |
degree/s |
360 |
288 |
234 |
|
|
shoulder (J2) |
401 |
321 |
164 |
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elbow (J3) |
450 |
360 |
219 |
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wrist twist (J4) |
337 |
375 |
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wrist pitch (J5) |
450 |
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wrist roll (J6) |
720 |
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Maximum composite speed |
mm/s |
11,064 |
10,977 |
15,300 |
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Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
0.35 |
0.63 |
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Position repeatability |
mm |
±0.02 |
±0.06 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
65 |
67 |
130 |
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Tolerable moment |
wrist twist (J4) |
Nm |
16.2 |
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wrist pitch (J5) |
16.2 |
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|
wrist roll (J6) |
6.86 |
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Tolerable inertia |
wrist twist (J4) |
kgm² |
0.45 |
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|
wrist pitch (J5) |
0.45 |
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|
wrist roll (J6) |
0.10 |
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Tool wiring |
Hand input 8 points/hand output 8 points |
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|
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
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|
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
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|
Gripper flange |
ISO 9409-1-31.5 |
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|
Protection rating |
IP67 (Optional clean room model available) |
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Robot controller |
CR800-D/CR800-R + R16RTCPU |
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Order information |
Art. no. |
313091 / 314058 |
313093 / 314060 |
313095 / 314062 |
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Characteristics/Functions |
RV-13FRM-D / RV-13FRM-R |
RV-13FRLM-D / RV-13FRLM-R |
RV-20FRM-D / RV-20FRM-R |
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|---|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
6 |
|||||
|
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
|||||
|
Structure |
Vertical multiple-joint type |
|||||
|
Drive system |
AC servo (all axes with brakes) |
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|
Position detection method |
Absolute encoder |
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Payload capacity |
rated |
kg |
12 |
15 |
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|
maximum |
13 |
20 |
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Arm reachable radius (to the center point of the J5 axis) |
mm |
1094 |
1388 |
1094 |
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Operating range |
waist (J1) |
degree |
380(±190) |
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|
shoulder (J2) |
240 (-90–150) |
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elbow (J3) |
167.5 (-10–157.5) |
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|
wrist twist (J4) |
400 (±200) |
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wrist pitch (J5) |
240 (-120–120) |
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wrist roll (J6) |
720 (±360) |
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Maximum speed |
waist (J1) |
degree/s |
290 |
234 |
110 |
|
|
shoulder (J2) |
234 |
164 |
110 |
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|
elbow (J3) |
312 |
219 |
110 |
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|
wrist twist (J4) |
375 |
124 |
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wrist pitch (J5) |
375 |
125 |
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wrist roll (J6) |
720 |
360 |
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Maximum composite speed |
mm/s |
10450 |
9700 |
4200 |
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Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.53 |
0.68 |
0.70 |
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Position repeatability |
mm |
±0.05 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
120 |
130 |
120 |
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Tolerable moment |
wrist twist (J4) |
Nm |
19.3 |
49.0 |
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|
wrist pitch (J5) |
19.3 |
49.0 |
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|
wrist roll (J6) |
11 |
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Tolerable inertia |
wrist twist (J4) |
kgm² |
0.47 |
1.40 |
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|
wrist pitch (J5) |
0.47 |
1.40 |
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|
wrist roll (J6) |
0.14 |
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Tool wiring |
Hand input 8 points / hand output 8 points |
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Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 6x8 |
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|
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
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|
Gripper flange |
ISO 9409-1-40 |
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|
Protection rating |
IP67 (Optional clean room model available) |
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|
Robot controller |
CR800-D/CR800-R + R16RTCPU |
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|
Order information |
Art. no. |
313097 / 314064 |
313099 / 314066 |
312663 / 314068 |
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