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Characteristics/Functions

RP-1ADH

RP-3ADH

RP-5ADH

Degrees of freedom (no. of axes)

4

Installation posture

Floor mounting

Drive system

AC servo

Position detection method

Absolute encoder

Brake attachment

All axes

Payload capacity

rated

kg

0.5

1.0

2.0

maximum

1.0

3.0

5.0

Operating range

width depth

mm

150x105 (DIN-A6)

210x148 (DIN-A5)

297x210 (DIN-A4)

vertical

mm

30

50

twist

degree

±200

Maximum speed

J1/J2

degree/s

480

432

J3

mm/s

800

960

J4

degree/s

3000

1330

1230

Cycle time (25 x 100 x 25 mm)

sec

0.28

0.33

0.38

Inertial moment

wrist

kgm 2

3.10x10-4

1.60x10-3

3.20x10-3

Position repeatability

X, Y direction

mm

±0.005

±0.008

±0.01

Z direction

mm

±0.01

direction of the wrist twist

degree

±0.02

±0.03

Ambient temperature

°C

0–40

Weight

kg

12

24

25

Tool wiring

8 inputs/8 outputs

Supply pneumatic pressure

MPa

0.5 ±10 %

Robot controller

CR1DA

Order information

Art. no.

252843

252844

252885

Characteristics/Functions

RP-1ADH

RP-3ADH

RP-5ADH

Degrees of freedom (no. of axes)

4

4

4

Installation posture

Floor mounting

Floor mounting

Floor mounting

Drive system

AC servo

AC servo

AC servo

Position detection method

Absolute encoder

Absolute encoder

Absolute encoder

Brake attachment

All axes

All axes

All axes

Payload capacity

rated

kg

0.5

1.0

2.0

maximum

1.0

3.0

5.0

Operating range

width depth

mm

150x105 (DIN-A6)

210x148 (DIN-A5)

297x210 (DIN-A4)

vertical

mm

30

50

50

twist

degree

±200

±200

±200

Maximum speed

J1/J2

degree/s

480

432

432

J3

mm/s

800

960

960

J4

degree/s

3000

1330

1230

Cycle time (25 x 100 x 25 mm)

sec

0.28

0.33

0.38

Inertial moment

wrist

kgm 2

3.10x10-4

1.60x10-3

3.20x10-3

Position repeatability

X, Y direction

mm

±0.005

±0.008

±0.01

Z direction

mm

±0.01

±0.01

±0.01

direction of the wrist twist

degree

±0.02

±0.03

±0.03

Ambient temperature

°C

0–40

0–40

0–40

Weight

kg

12

24

25

Tool wiring

8 inputs/8 outputs

8 inputs/8 outputs

8 inputs/8 outputs

Supply pneumatic pressure

MPa

0.5 ±10 %

0.5 ±10 %

0.5 ±10 %

Robot controller

CR1DA

CR1DA

CR1DA

Order information

Art. no.

252843

252844

252885

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