Seria RH-FHR
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Characteristics/Functions |
RH-1FHR5515-D1-S60 |
RH-1FHR5515-Q1-S60 |
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|---|---|---|---|---|---|
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Degrees of freedom (no. of axes) |
4 |
4 |
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Installation posture |
On floor, ceiling mounting, wall mounting |
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Structure |
Horizontal articulated arm (SCARA) |
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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 |
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maximum |
3 |
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Maximum reach |
mm |
550 |
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Operating range |
J1 |
degree |
±177 |
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J2 |
degree |
±145 |
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J3 (Z) |
mm |
150 |
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J4 (Θ axis) |
degree |
±360 |
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Maximum speed |
J1 |
degree/s |
337.5 |
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J2 |
degree/s |
720 |
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J3 (Z) |
mm/s |
765 |
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J4 (Θ axis) |
degree/s |
3000 |
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Maximum composite speed |
mm/s |
6267 |
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Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.28 |
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Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
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maximum |
0.005 |
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Position repeatability |
X, Y direction |
mm |
±0.012 |
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J3 (Z direction) |
mm |
±0.01 |
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J4 (Θ axis) |
degree |
±0.004 |
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Ambient temperature |
°C |
0-40 |
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Weight |
kg |
49 |
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Tool wiring |
Hand: 8 inputs/8 outputs, 8 signal cables |
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Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
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Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
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Protection rating |
IP20 (IP65/ISO class 5 with additional bellow) |
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Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
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Order information |
Art. no. |
277708 |
277709 |
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|
Characteristics/Functions |
RH-3FHR3515-D1-S15 |
RH-3FHR3515-Q1-S15 |
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|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
4 |
4 |
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|
Installation posture |
Overhead |
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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 |
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|
maximum |
3 |
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Maximum reach |
arm 1 + arm 2mm |
350 |
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Operating range |
J1 |
degree |
450 (±225) |
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J2 |
degree |
450 (±225) |
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J3 (Z) |
mm |
150 |
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J4 (Θ axis) |
degree |
1440 (±720) |
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Maximum speed |
J1 |
degree/s |
672 |
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J2 |
degree/s |
708 |
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J3 (Z) |
mm/s |
1500 |
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J4 (Θ axis) |
degree/s |
3146 |
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Maximum composite speed |
mm/s |
6267 (J1, J2) |
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|
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
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Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
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|
maximum |
0.05 |
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Position repeatability |
X, Y direction |
mm |
±0.01 |
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J3 (Z direction) |
mm |
±0.01 |
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J4 (Θ axis) |
degree |
±0.01 |
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Ambient temperature |
°C |
0–40 |
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Weight |
kg |
24 |
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Tool wiring |
Input 8 points/output 8 points (option: output 8 points), 8 spare wires |
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Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
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|
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
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|
Protection rating |
IP20 (Optional IP65 and clean room model available) |
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|
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
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|
Order information |
Art. no. |
275483 |
275484 |
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