Mitsubishi MELFA CR1QA-700, Специальные технические характеристики

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2Robot arm
Standard specifications 2-8
Table 2-2 ： Specifications of RV-3SQB/3SQJB series
Item Unit Specifications
Type RV-3SQB RV-3SQBC RV-3SQJB RV-3SQJBC
Type of robot 6-axis 5-axis
Environment Standard
(oil mist)
Clean
Standard
(oil mist)
Clean
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 (with brakes for all axes)
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) -
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)