Mitsubishi Electric CR1DA-7A1-S15, Стандартные технические условия

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2Robot arm
Standard specifications
2-6
2 Robot arm
2.1 Standard specifications
Table 2-1 ： Standard specifications of robot
Item Unit Specifications
Type RP-1ADH PR-3ADH RP-5ADH
Degree of freedom of motion 4-axis
Installation posture On floor
Encoder/Drive system Absolute encoder/AC servo
Motor capacity W 100 (All axis) 200 (J1,J2,J3 axis), 100(J4 axis)
Brake With brakes (All axes)
Maximum load
Note1)
Note1) It is necessary to set the acceleration/deacceleration speed appropriately according to the installing load mass. Refer to Page 7,
"2.2 Definition of specifications" for detail.
kg 1.0 3.0 5.0
Rated load kg 0.5 1.0 2.0
Arm length No.1 Arm
mm
100 140 200
No.2 Arm 140 200 260
Motion range Width x depth
mm
150 x 105
(A6 size)
210 x 148
(A5 size)
297 x 210
(A4 size)
Vertical mm 30 50
Rotation Degree ±200
Maximum
velocity J1, J2 Degree/s 480 432
J3 mm/s 800 960
J4 Degree/s 3000 1330 1230
Tolerable wrist
moment of inertia
kg ･ m
2
3.10 x 10
-4
1.60 x 10
-3
3.20 x 10
-3
Position
repeatability X, Y direction mm ±0.005 ±0.008 ±0.01
Z direction mm ±0.01
Wrist rotation
direction
Degree ±0.02 ±0.03
Mass kg Apporox. 12 Apporox. 24 Apporox. 25
Tool wiring Input 8 point/ Output 8 point
Tool pneumatic pipes None
Cleanliness - - -
Paint color color: Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)