Robot przegubowy Seria RV-F
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Characteristics/Functions |
RV-2F-D1-S16/ RV-2F-Q1-S16 |
RV-2FB-D1-S15/ RV-2FB-Q1-S15 |
RV-2FL-D1-S16/ RV-2FL-Q1-S16 |
RV-2FLB-D1-S15/ RV-2FLB-Q1-S15 |
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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 |
4206 |
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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 to 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 |
CR750-D/CR750-Q + Q172DRCPU |
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Order information |
Art. no. |
255212/ 255214 |
255211/ 255213 |
286641/ 286642 |
286655/ 286656 |
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|
Characteristics/Functions |
RV-4FLM-D1-S15 |
RV-4FLM-Q1-S15 |
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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 to +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 |
CR750-D |
CR750-Q + Q172DRCPU |
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Order information |
Art. no. |
255268 |
255272 |
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|
Characteristics/Functions |
RV-7FM-D1-S15/ RV-7FM-Q1-S15 |
RV-7FLM-D1-S15/ RV-7FLM-Q1-S15 |
RV-7FLLM-D1-S15 RV-7FLLM-Q1-S15 |
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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 |
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|
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 |
11064 |
10977 |
15300 |
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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 |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
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Order information |
Art. no. |
255275/ 255279 |
255276/ 255280 |
268460/ 268462 |
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Characteristics/Functions |
RV-13FM-D1-S15 RV-13FM-Q1-S15 |
RV-13FLM-D1-S15 RV-13FLM-Q1-S15 |
RV-20FM-D1-S15 RV-20FM-Q1-S15 |
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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 (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 |
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|
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 |
CR750-D/CR750-Q + Q172DRCPU |
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|
Order information |
Art. no. |
268488/ 268492 |
268490/ 268494 |
268504/ 268506 |
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|
Characteristics/Functions |
RV-35FM-D1-S15 / RV-35FM-Q1-S15 |
RV-50FM-D1-S15 / RV-50FM-Q1-S15 |
RV-70FM-D1-S15 / RV-70FM-Q1-S15 |
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|---|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
6 |
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Installation posture |
Floor |
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|
Structure |
Vertical multiple-joint type |
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|
Drive system |
AC servo (all axes with brakes) |
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|
Position detection method |
Absolute encoder |
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Payload capacity |
kg |
35 |
50 |
70 |
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Arm reachable radius (to the center point of the J5 axis) |
mm |
2050 |
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Operating range |
waist (J1) |
degree |
330(±165) |
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|
shoulder (J2) |
215 (-80–135) |
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elbow (J3) |
261(-90–171) |
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wrist twist (J4) |
720 (±360) |
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wrist pitch (J5) |
250 (±125) |
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wrist roll (J6) |
900 (±450) |
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Maximum speed |
waist (J1) |
degree/s |
185 |
180 |
175 |
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|
shoulder (J2) |
180 |
180 |
145 |
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elbow (J3) |
190 |
180 |
165 |
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wrist twist (J4) |
305 |
255 |
235 |
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wrist pitch (J5) |
305 |
255 |
235 |
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wrist roll (J6) |
420 |
370 |
350 |
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Maximum composite speed |
mm/s |
13,450 |
13,000 |
11,500 |
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Position repeatability |
mm |
±0.07 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
640 |
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Tolerable moment |
wrist twist (J4) |
Nm |
160 |
210 |
300 |
|
|
wrist pitch (J5) |
160 |
210 |
300 |
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|
wrist roll (J6) |
90 |
130 |
150 |
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Tolerable inertia |
wrist twist (J4) |
kgm² |
16 |
30 |
30 |
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|
wrist pitch (J5) |
16 |
30 |
30 |
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|
wrist roll (J6) |
5 |
12 |
12 |
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Tool wiring |
16 input points/16 output points |
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Tool pneumatic pipes |
Ø 10x2 |
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Supply pneumatic pressure |
MPa |
Max. 0.49 |
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Protection rating |
IP67 |
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|
Robot controller |
CR760-D/CR760-Q + Q172DRCPU |
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|
Order information |
Art. no. |
On request |
On request |
On request |
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