The Counter-Force Applied To The Installation Surface - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

Note4) The value of the following movement which applied MvTune2 (high-speed movement mode) with the carrying mass of 1kg.
･ The cycle time may increase with the case where the positioning accuracy of the work etc. is necessary, or by the moving position.
･ A transportation frequency during the conveyor tracking operation is 140-160 times/min. A transportation frequency may be
reduced by the posture of a robot, working environment, temperature, or a shape of a hand.
300
Note5) This is the downwards pressing force that occurs at the end of the load when the maximum load is on board and the J1, J2 and J4 axis are
in their resting state. Please operate at this level or below. When pressing for long periods of time, an excess load error may occur. Please
operate in a manner that does not cause errors.
Note6) The pose repeatability details are given in
Note7) Sets the robot's operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control
action performance and the overload-protection function are optimized. (Refers to "Optimizing the overload level" described in "Chapter 5
Functions set with parameters" of separate instruction manual/ Detailed explanations of functions and operations for details.)
Note8) The 8-wire cable designated for LAN wiring can also be used for backup wiring.
Note9) The φ4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional)
are shown on Page 47, "(3) Solenoid valve
Note10) The protection specification details are given in
Note11) Direct jet flow to the bellows section is not included.
Note12) The conditions necessary to guarantee cleanliness are as follows: clean room down flow 0.3 m/s or greater.

2.1.2 The counter-force applied to the installation surface

The counter-force applied to the installation surface for the strength design of the robot installation surface is
shown.
Table 2-2 ： Value of each counter-force
Item
Falls moment: M
L
Torsion moment: M
T
Horizontal translation force: F
Vertical translation force: F
Page 19, "2.2.1 Pose
set".
Page 25, "2.2.7 Protection
Unit
N ･ m
N ･ m
N
H
N
V
repeatability".
specifications".
Value
610
807
1,575
712
2Robot arm
Standard specifications
2-14