Справочник Пользователя для Mitsubishi Electronics CR751-D
2-9
Standard specifications
2Robot arm
2 Robot arm
2.1 Standard specifications
2.1 Standard specifications
2.1.1 Basic specifications
(1) Standard specification
Table 2-1 ： Standard specifications of robot arm
Item
Unit
Specifications
Type
RH-3FH3515
RH-3FH4515
RH-3FH5515
Environment
Standard specification
Installation posture
On floor
Degree of freedom
4
Structure
Horizontal, multiple-joint type
Drive system
AC servo motor
Position detection method
Absolute encoder
Motor capacity
J1
Ｗ
200
J2
Ｗ
100
J3 (Z)
Ｗ
100
J4 (θaxis)
Ｗ
50
Brake
J1, J2, J4: no brake, J3: with brake
Arm length
№ 1 arm
mm
125
225
325
№ 2 arm
mm
225
Max.reach radius( № 1+ № 2)
mm
350
450
550
Operating range
J1
deg
±170
J2
deg
±145
J3 (Z)
mm
150
J4 (θaxis)
deg
±360
Speed of motion
Note1)
Note1) The maximum speed is the value which applied MvTune2 (high-speed movement mode).
J1
deg/s
400
J2
deg/s
720
J3 (Z)
mm/s
1,100
J4 (θaxis)
deg/s
3,000
Maximum horizontal composite speed
Note2)
Note2) At the maximum speed on the X-Y flat surface in the robot's control point, it is obtained with each speed of J1, J2,
and J4. The control point is the position offset by the rated inertia from the flange.
mm/s
6,800
7,500
8,300
Cycle time
Note3)
sec
0.41
0.46
0.51
Load
Rating
kg
(N)
1
Maximum
3
Z axis pressing force
Note4)
Maximum
N
82
Allowable inertia
Rating
kg ･ m
2
0.005
Maximum
0.06
Pose repeatability
Note5)
X-Y
direction
direction
mm
±0.010
±0.010
±0.012
J3 (Z)
mm
±0.010
J4 (θaxis)
deg
±0.004
Ambient temperature
Note6)
℃
0 to 40
Mass
k
29
32
Tool wiring
･ Input 8 points/Output 8 points, (total 20 cores)
･ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)
･ Ethernet cable one cable (100BASE-TX, eight cores)
･ Dedicated signal cable for multifunctional hand (Two cores + Power cable two cores)
･ Ethernet cable one cable (100BASE-TX, eight cores)
Note7)
Tool pneumatic pipes
Primary: φ6 x two hoses, Secondary: φ4 x eight hoses
Note8)
Supply pressure
MPa
0.5±10%
Protection specification
Note9)
IP20
Painting color
Light gray (Equivalent to Munsell: 0.6B7.6/0.2)