Industrial/Collaborative Robots-MELFARH-6CRH-D Specifications
Specification
Category | ||
Series | ||
Structure | ||
Type | ||
Environmental specifications | ||
Protection degree | ||
Installation | ||
Degrees of freedom | ||
Drive system | ||
Position detection method | ||
Load capacity | Maximum | kg |
Rated | kg | |
Arm length | No.1 arm | mm |
No.2 arm | mm | |
Maximum reach radius | mm | |
Operating range | J1 | deg |
J2 | deg | |
J3(Z) | mm | |
J4(θ) | deg | |
Maximum speed | J1 | deg |
J2 | deg | |
J3(Z) | mm | |
J4(θ) | deg | |
Maximum composite speed | J1+J2 | mm/sec |
Cycle time | sec | |
Position repeatability | Y-X composite | mm |
J3(Z) | mm | |
J4(θ) | deg | |
Ambient temperature | ℃ | |
Mass | kg | |
Tolerable moment | Rating | kgm2 |
Maximum | kgm2 | |
Tool wiring | ||
Tool pneumatic pipes | ||
Machine cable | ||
Connected controller Type | ||
Control Type |
Robot arm |
|
RH-CRH series |
|
Horizontal articulated |
|
RH-6CRH6020-D |
RH-6CRH7020-D |
Standard |
|
IP20 |
|
Floor type |
|
4 |
|
AC servo motor |
|
Absolute encoder |
|
6 |
|
2 |
|
325 |
425 |
275 |
|
600 |
700 |
-132 to +132 |
|
-150 to +150 |
|
200 |
|
-360 to +360 |
|
420 |
360 |
720 |
|
1100 |
|
2500 |
|
7800 (*1) |
|
0.41 (*2) |
0.43 (*2) |
±0.02 |
|
±0.01 |
|
±0.01 |
|
0 to 40 |
|
17 |
18 |
0.01 |
|
0.12(0.18) (*3) |
|
D-sub 15 pins |
|
ø6 × 2, ø4 × 1 |
|
5m (connector on both ends) |
|
CR800-CHD |
|
Standalone |
*1: The value assumes composition of J1 and J2.
*2: The cycle time was calculated from reciprocating motion of the robot arm 300 mm horizontally and 25 mm vertically with the robot in MvTune2 (high-speed operation mode) while using a 2 kg payload.
The cycle time may take longer depending on the position the robot is moving to or if the workpiece needs to be positioned more accurately.
*3: Values in parentheses indicate the maximum permissible inertia for when high inertia mode is enabled.