Seria RH-F
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Characteristics/Functions |
RH-3FH5515-D1-S15 RH-3FH5515-Q1-S15 |
RH-6FH5520-D1-S15 RH-6FH5520-Q1-S15 |
RH-12FH8535N-D1-S15 RH-12FH8535N-Q1-S15 |
RH-20FH10035N-D1-S15 RH-20FH10035N-Q1-S15 |
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Degrees of freedom (no. of axes) |
4 |
4 |
4 |
4 |
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Installation posture |
Floor mounting |
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Structure |
Horizontal multiple-joint type |
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Drive system |
AC servo |
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Position detection method |
Absolute encoder |
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Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
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Payload capacity |
rated |
kg |
1 |
3 |
3 |
5 |
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maximum |
3 |
6 |
12 |
20 |
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Maximum reach |
arm 1 + arm 2mm |
550 |
550 |
850 |
1000 |
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Operating range |
J1 |
degree |
340 (±170) |
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J2 |
degree |
290 (±145) |
306 (±153) |
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J3 (Z) |
mm |
150 |
200 |
350 |
350 |
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J4 (Θ axis) |
degree |
720 (±360) |
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Maximum speed |
J1 |
degree/s |
400 |
400 |
280 |
280 |
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J2 |
degree/s |
720 |
670 |
450 |
450 |
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J3 (Z) |
mm/s |
1100 |
2400 |
2800 |
2400 |
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J4 (Θ axis) |
degree/s |
3000 |
2500 |
2400 |
1700 |
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Maximum composite speed |
mm/s |
8300 |
8300 |
11350 |
13283 |
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Cycle time (25x300x25 mm with max. 2 kg load) |
sec |
0.51 |
0.29 |
0.30 |
0.36 |
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Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
0.01 |
0.025 |
0.065 |
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maximum |
0.06 |
0.12 |
0.3 |
1.05 |
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Position repeatability |
X, Y direction |
mm |
±0.012 |
±0.012 |
±0.015 |
±0.015 |
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J3 (Z direction) |
mm |
±0.010 |
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J4 (Θ axis) |
degree |
±0.004 |
±0.005 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
32 |
37 |
69 |
77 |
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Tool wiring |
Input 8 points/output 8 points (total 20 scores) |
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Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 4x8 |
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Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
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Protection rating |
IP20 |
IP54 (IP65 with additional bellow, optional clean room model available) |
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Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
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Order information |
Art. no. |
250377/ 250380 |
250383/ 250389 |
254377/ 254383 |
254388/ 254392 |
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