Mitsubishi MELFA CR1QA-700, Special Specifications Manual

Page: 18 / 146

2-7 Standard specifications
2Robot arm
2 Robot arm
2.1 Standard specifications
Table 2-1 ： Standard specifications of robot
Item Unit Specifications
Type RV-3SQ RV-3SQC RV-3Q-SM RV-3SQJ RV-3SQJC RV-3SQJ-SM
Type of robot 6-axis 5-axis
Environment
Standard
(oil mist)
Clean
With the con
-
troller protec
-
tion box
Standard
(oil mist)
Clean
With the con
-
troller protec
-
tion box
Degree of freedom 6 5
Installation posture On floor, hanging,(against wall
Note1)
)
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
Please give an order separately.
Structure Vertical, multiple-joint type
Drive system AC servo motor (J1 to J3:and J5: with brake)
Position detection method Absolute encoder
Arm length Upper arm mm
245
Fore arm 270 300
Operating
range
Waist (J1)
Note1)
Degree
340 (-170 to +170)
Shoulder (J2) 225 (-90 to +135)
Elbow (J3) 191 (-20 to +171) 237 (-100 to +137)
Wrist twist (J4) 320 (-160 to +160) -
Wrist pitch (J5) 240 (-120 to +120)
Wrist roll (J6)
720 (-360 to +360)
Speed of
motion
Waist (J1)
Degree/
s
250
Shoulder (J2) 187
Elbow (J3) 250
Wrist twist (J4) 412 -
Wrist pitch (J5)
412
Wrist roll (J6) 660
Maximum resultant velocity
Note2)
Note2) This is the value on the mechanical interface surface when all axes are combined.
mm/sec 5,500 5,300
Load Maximum
Note3)
Note3) The maximum load capacity is the mass with the mechanical interface posture facing down word at the ±10°limit.
kg
(N)
3.5 (34.3)
Rating 3 (29.4)
Pose repeatability
Note4)
Note4) The pose repeatability details are given in Page 10, "2.2.1 Pose repeatability"
mm
±0.02
Ambient temperature ℃ 0 to 40
Mass kg 37 33
Allowable
moment load
Wrist twist (J4)
N ･ m
5.83 －
Wrist pitch (J5) 5.83
Wrist roll (J6)
3.9
Allowable
inertia
Wrist twist (J4)
kg ･ m
2
0.137 -
Wrist pitch (J5)
0.137
Wrist roll (J6)
0.047
Note5)
Note5) When the optimum acceleration/deceleration mode is in effect, up to twice the specification value indicated here can
be set.
Arm reachable radius front p-axis
center point
mm
642 641
Tool wiring
Note6)
Note6) The pneumatic hand interface (option) is required when the tool (hand) output is used.
Hand input 8 point, hand output 8 point, eight spare wires
(AWG#24(0.2mm
2
) with shielded)
Tool pneumatic pipes
Primary side: Φ6×2 (Base to fore arm section)
Secondary side: Φ4 ×8 (Optional)
Supply pressure MPa
0.5±10%
Protection specification
Note7)
Note7) The protection specification details are given in Page 13, "2.2.5 Protection specifications" .
IP65 (all axes) - IP65 (all axes) IP65 (all axes) - IP65 (all axes)
Degree of cleanliness
Note8)
Note8) The clean specification details are given in Page 15, "2.2.6 Clean specifications" . A down flow(0.3m/s or more) in the
clean room is the necessary conditions for the cleanliness.
-
10(0.3μm)
Internal suction
requirement
- -
10(0.3μm)
Internal suction
requirement
-
Painting color
Light gray (Equivalent to Munsell: 0.08GY7.64/0.81)