Mitsubishi Electric CR800 Series, Special Specifications Manual, Page: 26 / 156

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