Robot Arm; Standard Specifications; Basic Specifications - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Basic specifications

Table 2-1 ： Standard specifications of robot arm
Item
Type
Environment
Installation posture
Degree of freedom
Structure
Drive system
Position detection method
Motor capacity J1
J2
J3 (Z)
J4 (θaxis)
Brake
Arm length № 1 arm
№ 2 arm
Max.reach radius( № 1+ № 2)
Operating range J1
J2
J3 (Z)
J4 (θaxis)
Note2)
J1
Speed of motion
J2
J3 (Z)
J4 (θaxis)
Maximum horizontal composite
Note3)
speed
Note4)
Cycle time (load capacity)
Rating
Load
Maximum
Z axis pressing force Maximum
Note5)
Allowable inertia Rating/
maximum
Pose repeatability X-Y
Note6)
direction
J3 (Z)
J4 (θaxis)
Note7)
Ambient temperature
Mass
Tool wiring
Tool pneumatic pipes
Supply pressure
Note10)
Protection specification
Painting color
Note1) The specification value is a value when an optional bellows set has installed to a robot.
Note2) The maximum speed is the value which applied MvTune2 (high-speed movement mode).
Note3) 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.
Standard specifications
2-13
Unit
Ｗ
Ｗ
Ｗ
Ｗ
mm
mm
mm
deg
deg
mm
deg
deg/s
deg/s
mm/s
deg/s
mm/s
sec
kg
(N)
N
2
kg ･ m
mm
mm
deg
℃
k
･ 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)
Primary: φ6 x two hoses, Secondary: φ4 x eight hoses
MPa
With an optional bellows set: IP65
Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
Specifications
RH-1FRHR5515
Standard specification
Hanging
4
Horizontal, multiple-joint type
AC servo motor
Absolute encoder
1,500
400
100
50
J1, J2, J4: no brake, J3: with brake
325
225
550
±170
±145
150 (120: With an optional bellows set)
±360
337.5
720
765
3,000
6,000
0.28 (1kg)
1
3
82
0.005
±0.012
±0.010
±0.004
0 to 40
49
0.5±10%
IP20
Note11)
Note1)
Note8)
Note9)
Note12)
, ISO class 5