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Characteristics/Functions

RH-1FHR5515-D1-S60

RH-1FHR5515-Q1-S60

Degrees of freedom (no. of axes)

4

4

Installation posture

On floor, ceiling mounting, wall mounting

Structure

Horizontal articulated arm (SCARA)

Drive system

AC servo

Position detection method

Absolute encoder

Brake attachment

Axes J1, J2, J4: no brake; axis J3: with brake

Payload capacity

rated

kg

1

maximum

3

Maximum reach

mm

550

Operating range

J1

degree

±177

J2

degree

±145

J3 (Z)

mm

150

J4 (Θ axis)

degree

±360

Maximum speed

J1

degree/s

337.5

J2

degree/s

720

J3 (Z)

mm/s

765

J4 (Θ axis)

degree/s

3000

Maximum composite speed

mm/s

6267

Cycle time (25x300x25 mm with 1 kg load)

sec

0.28

Allowable wrist moment of inertia

rated

kgm 2

0.005

maximum

0.005

Position repeatability

X, Y direction

mm

±0.012

J3 (Z direction)

mm

±0.01

J4 (Θ axis)

degree

±0.004

Ambient temperature

°C

0-40

Weight

kg

49

Tool wiring

Hand: 8 inputs/8 outputs, 8 signal cables

Tool pneumatic pipes

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Supply pneumatic pressure

MPa

5 ±10 % for the pneumatic gripper

Protection rating

IP20 (IP65/ISO class 5 with additional bellow)

Robot controller

CR750-D

CR750-Q + Q172DRCPU

Order information

Art. no.

277708

277709

Characteristics/Functions

RH-3FHR3515-D1-S15

RH-3FHR3515-Q1-S15

Degrees of freedom (no. of axes)

4

4

Installation posture

Overhead

Structure

Horizontal multiple-joint type

Drive system

AC servo

Position detection method

Absolute encoder

Brake attachment

Axes J1, J2, J4: no brake; axis J3: with brake

Payload capacity

rated

kg

1

maximum

3

Maximum reach

arm 1 + arm 2mm

350

Operating range

J1

degree

450 (±225)

J2

degree

450 (±225)

J3 (Z)

mm

150

J4 (Θ axis)

degree

1440 (±720)

Maximum speed

J1

degree/s

672

J2

degree/s

708

J3 (Z)

mm/s

1500

J4 (Θ axis)

degree/s

3146

Maximum composite speed

mm/s

6267 (J1, J2)

Cycle time (25x300x25 mm with 1 kg load)

sec

0.32

Allowable wrist moment of inertia

rated

kgm 2

0.005

maximum

0.05

Position repeatability

X, Y direction

mm

±0.01

J3 (Z direction)

mm

±0.01

J4 (Θ axis)

degree

±0.01

Ambient temperature

°C

0–40

Weight

kg

24

Tool wiring

Input 8 points/output 8 points (option: output 8 points), 8 spare wires

Tool pneumatic pipes

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Supply pneumatic pressure

MPa

5 ±10 % for the pneumatic gripper

Protection rating

IP20 (Optional IP65 and clean room model available)

Robot controller

CR750-D

CR750-Q + Q172DRCPU

Order information

Art. no.

275483

275484

Characteristics/Functions

RH-1FHR5515-D1-S60

RH-1FHR5515-Q1-S60

Degrees of freedom (no. of axes)

4

4

Installation posture

On floor, ceiling mounting, wall mounting

On floor, ceiling mounting, wall mounting

Structure

Horizontal articulated arm (SCARA)

Horizontal articulated arm (SCARA)

Drive system

AC servo

AC servo

Position detection method

Absolute encoder

Absolute encoder

Brake attachment

Axes J1, J2, J4: no brake; axis J3: with brake

Axes J1, J2, J4: no brake; axis J3: with brake

Payload capacity

rated

kg

1

1

maximum

3

3

Maximum reach

mm

550

550

Operating range

J1

degree

±177

±177

J2

degree

±145

±145

J3 (Z)

mm

150

150

J4 (Θ axis)

degree

±360

±360

Maximum speed

J1

degree/s

337.5

337.5

J2

degree/s

720

720

J3 (Z)

mm/s

765

765

J4 (Θ axis)

degree/s

3000

3000

Maximum composite speed

mm/s

6267

6267

Cycle time (25x300x25 mm with 1 kg load)

sec

0.28

0.28

Allowable wrist moment of inertia

rated

kgm 2

0.005

0.005

maximum

0.005

0.005

Position repeatability

X, Y direction

mm

±0.012

±0.012

J3 (Z direction)

mm

±0.01

±0.01

J4 (Θ axis)

degree

±0.004

±0.004

Ambient temperature

°C

0-40

0-40

Weight

kg

49

49

Tool wiring

Hand: 8 inputs/8 outputs, 8 signal cables

Hand: 8 inputs/8 outputs, 8 signal cables

Tool pneumatic pipes

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Supply pneumatic pressure

MPa

5 ±10 % for the pneumatic gripper

5 ±10 % for the pneumatic gripper

Protection rating

IP20 (IP65/ISO class 5 with additional bellow)

IP20 (IP65/ISO class 5 with additional bellow)

Robot controller

CR750-D

CR750-Q + Q172DRCPU

Order information

Art. no.

277708

277709

Characteristics/Functions

RH-3FHR3515-D1-S15

RH-3FHR3515-Q1-S15

Degrees of freedom (no. of axes)

4

4

Installation posture

Overhead

Overhead

Structure

Horizontal multiple-joint type

Horizontal multiple-joint type

Drive system

AC servo

AC servo

Position detection method

Absolute encoder

Absolute encoder

Brake attachment

Axes J1, J2, J4: no brake; axis J3: with brake

Axes J1, J2, J4: no brake; axis J3: with brake

Payload capacity

rated

kg

1

1

maximum

3

3

Maximum reach

arm 1 + arm 2mm

350

350

Operating range

J1

degree

450 (±225)

450 (±225)

J2

degree

450 (±225)

450 (±225)

J3 (Z)

mm

150

150

J4 (Θ axis)

degree

1440 (±720)

1440 (±720)

Maximum speed

J1

degree/s

672

672

J2

degree/s

708

708

J3 (Z)

mm/s

1500

1500

J4 (Θ axis)

degree/s

3146

3146

Maximum composite speed

mm/s

6267 (J1, J2)

6267 (J1, J2)

Cycle time (25x300x25 mm with 1 kg load)

sec

0.32

0.32

Allowable wrist moment of inertia

rated

kgm 2

0.005

0.005

maximum

0.05

0.05

Position repeatability

X, Y direction

mm

±0.01

±0.01

J3 (Z direction)

mm

±0.01

±0.01

J4 (Θ axis)

degree

±0.01

±0.01

Ambient temperature

°C

0–40

0–40

Weight

kg

24

24

Tool wiring

Input 8 points/output 8 points (option: output 8 points), 8 spare wires

Input 8 points/output 8 points (option: output 8 points), 8 spare wires

Tool pneumatic pipes

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Primary: Ø 6x2 (secondary: Ø 4x8 by option)

Supply pneumatic pressure

MPa

5 ±10 % for the pneumatic gripper

5 ±10 % for the pneumatic gripper

Protection rating

IP20 (Optional IP65 and clean room model available)

IP20 (Optional IP65 and clean room model available)

Robot controller

CR750-D

CR750-Q + Q172DRCPU

Order information

Art. no.

275483

275484

Retour

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