Produits
Characteristics/Functions |
RV-2F-D1-S16/ RV-2F-Q1-S16 |
RV-2FB-D1-S15/ RV-2FB-Q1-S15 |
RV-2FL-D1-S16/ RV-2FL-Q1-S16 |
RV-2FLB-D1-S15/ RV-2FLB-Q1-S15 | |||
|---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 | ||||||
Installation posture |
Floor, ceiling or wall mounting possible | ||||||
Structure |
Vertical multiple-joint type | ||||||
Drive system |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) | |||
Position detection method |
Absolute encoder | ||||||
Payload capacity |
rated |
kg |
2 | ||||
maximum |
3 | ||||||
Arm reachable radius (to the center point of the J5 axis) |
mm |
504 |
649 | ||||
Operating range |
waist (J1) |
degree |
480 (-240–+240) |
480 (-240-+240) | |||
shoulder (J2) |
240 (-120–+120) |
237 (-117-+120) | |||||
elbow (J3) |
160 (0–+160) |
160 (0-+160) | |||||
wrist twist (J4) |
400 (-200–+200) |
400 (-200-+200) | |||||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120+120) | |||||
wrist roll (J6) |
720 (-360–+360) |
720 (-360-+360) | |||||
Maximum speed |
waist (J1) |
degree/s |
300 |
225 | |||
shoulder (J2) |
150 |
105 | |||||
elbow (J3) |
300 |
165 | |||||
wrist twist (J4) |
450 |
412 | |||||
wrist pitch (J5) |
450 |
450 | |||||
wrist roll (J6) |
720 |
720 | |||||
Maximum composite speed |
mm/s |
4955 |
4206 | ||||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.6 |
0.7 | ||||
Position repeatability |
mm |
±0.02 | |||||
Ambient temperature |
°C |
0 to 40 | |||||
Weight |
kg |
19 |
21 | ||||
Tolerable moment |
wrist twist (J4) |
Nm |
4.17 | ||||
wrist pitch (J5) |
4.17 | ||||||
wrist roll (J6) |
2.45 | ||||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.18 (0.27) | ||||
wrist pitch (J5) |
0.18 (0.27) | ||||||
wrist roll (J6) |
0.04 (0.1) | ||||||
Tool wiring |
Hand input 4 points/hand output 4 points | ||||||
Tool pneumatic pipes |
Ø 4x4 (from the base level to the gripper hand area) | ||||||
Supply pneumatic pressure |
MPa |
0.5 ±10 % | |||||
Gripper flange |
ISO 9409-1-31.5 | ||||||
Protection rating |
IP30 | ||||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU | ||||||
Order information |
Art. no. |
255212/ 255214 |
255211/ 255213 |
286641/ 286642 |
286655/ 286656 | ||
Characteristics/Functions |
RV-4FLM-D1-S15 |
RV-4FLM-Q1-S15 | |||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 | ||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | ||||
Structure |
Vertical multiple-joint type | ||||
Drive system |
AC servo (brakes on all axes) | ||||
Position detection method |
Absolute encoder | ||||
Payload capacity |
maximum |
kg |
4 | ||
Arm reachable radius (to the center point of the J5 axis) |
mm |
649 | |||
Operating range |
waist (J1) |
degree |
480 (±240) | ||
shoulder (J2) |
240 (-120–+120) | ||||
elbow (J3) |
164 (-0 to +164) | ||||
wrist twist (J4) |
400 (±200) | ||||
wrist pitch (J5) |
240 (-120–+120) | ||||
wrist roll (J6) |
720 (±360) | ||||
Maximum speed |
waist (J1) |
degree/s |
420 | ||
shoulder (J2) |
336 | ||||
elbow (J3) |
250 | ||||
wrist twist (J4) |
540 | ||||
wrist pitch (J5) |
623 | ||||
wrist roll (J6) |
720 | ||||
Maximum composite speed |
mm/s |
9048 | |||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.36 | |||
Position repeatability |
mm |
±0.02 | |||
Ambient temperature |
°C |
0–40 | |||
Weight |
kg |
41 | |||
Tolerable moment |
wrist twist (J4) |
Nm |
6.66 | ||
wrist pitch (J5) |
6.66 | ||||
wrist roll (J6) |
3.96 | ||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.20 | ||
wrist pitch (J5) |
0.20 | ||||
wrist roll (J6) |
0.10 | ||||
Tool wiring |
Hand input 8 points/hand output 8 points | ||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) | ||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) | |||
Gripper flange |
ISO 9409-1-31.5 | ||||
Protection rating |
IP67 (Optional clean room model available) | ||||
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
255268 |
255272 | ||
Characteristics/Functions |
RV-7FM-D1-S15/ RV-7FM-Q1-S15 |
RV-7FLM-D1-S15/ RV-7FLM-Q1-S15 |
RV-7FLLM-D1-S15 RV-7FLLM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 (super long arm) | ||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||||
Structure |
Vertical multiple-joint type | |||||
Drive system |
AC servo (brakes on all axes) | |||||
Position detection method |
Absolute encoder | |||||
Payload capacity |
maximum |
kg |
7 | |||
Arm reachable radius (to the center point of the J5 axis) |
mm |
713 |
908 |
1503 | ||
Operating range |
waist (J1) |
degree |
480 (±240) |
380 (±190) | ||
shoulder (J2) |
240 (-115–+125) |
240 (-110–+130) |
240 (-90–+150) | |||
elbow (J3) |
156 (-0–+156) |
162 (-0–+162) |
167.5 (-10–+157.5) | |||
wrist twist (J4) |
400 (±200) | |||||
wrist pitch (J5) |
240 (-120–+120) | |||||
wrist roll (J6) |
720 (±360) | |||||
Maximum speed |
waist (J1) |
degree/s |
360 |
288 |
234 | |
shoulder (J2) |
401 |
321 |
164 | |||
elbow (J3) |
450 |
360 |
219 | |||
wrist twist (J4) |
337 |
375 | ||||
wrist pitch (J5) |
450 | |||||
wrist roll (J6) |
720 | |||||
Maximum composite speed |
mm/s |
11064 |
10977 |
15300 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
0.35 |
0.63 | ||
Position repeatability |
mm |
±0.02 |
±0.06 | |||
Ambient temperature |
°C |
0–40 | ||||
Weight |
kg |
65 |
67 |
130 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
16.2 | |||
wrist pitch (J5) |
16.2 | |||||
wrist roll (J6) |
6.86 | |||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.45 | |||
wrist pitch (J5) |
0.45 | |||||
wrist roll (J6) |
0.10 | |||||
Tool wiring |
Hand input 8 points/hand output 8 points | |||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) | |||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) | ||||
Gripper flange |
ISO 9409-1-31.5 | |||||
Protection rating |
IP67 (Optional clean room model available) | |||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
255275/ 255279 |
255276/ 255280 |
268460/ 268462 | ||
Characteristics/Functions |
RV-13FM-D1-S15 RV-13FM-Q1-S15 |
RV-13FLM-D1-S15 RV-13FLM-Q1-S15 |
RV-20FM-D1-S15 RV-20FM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 | |||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||||
Structure |
Vertical multiple-joint type | |||||
Drive system |
AC servo (all axes with brakes) | |||||
Position detection method |
Absolute encoder | |||||
Payload capacity |
rated |
kg |
12 |
15 | ||
maximum |
13 |
20 | ||||
Arm reachable radius (to the center point of the J5 axis) |
mm |
1094 |
1388 |
1094 | ||
Operating range |
waist (J1) |
degree |
380(±190) | |||
shoulder (J2) |
240 (-90–+150) | |||||
elbow (J3) |
167.5 (-10–+157.5) | |||||
wrist twist (J4) |
400 (±200) | |||||
wrist pitch (J5) |
240 (-120–+120) | |||||
wrist roll (J6) |
720 (±360) | |||||
Maximum speed |
waist (J1) |
degree/s |
290 |
234 |
110 | |
shoulder (J2) |
234 |
164 |
110 | |||
elbow (J3) |
312 |
219 |
110 | |||
wrist twist (J4) |
375 |
124 | ||||
wrist pitch (J5) |
375 |
125 | ||||
wrist roll (J6) |
720 |
360 | ||||
Maximum composite speed |
mm/s |
10450 |
9700 |
4200 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.53 |
0.68 |
0.70 | ||
Position repeatability |
mm |
±0.05 | ||||
Ambient temperature |
°C |
0–40 | ||||
Weight |
kg |
120 |
130 |
120 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
19.3 |
49.0 | ||
wrist pitch (J5) |
19.3 |
49.0 | ||||
wrist roll (J6) |
11 | |||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.47 |
1.40 | ||
wrist pitch (J5) |
0.47 |
1.40 | ||||
wrist roll (J6) |
0.14 | |||||
Tool wiring |
Hand input 8 points / hand output 8 points | |||||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 6x8 | |||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) | ||||
Gripper flange |
ISO 9409-1-40 | |||||
Protection rating |
IP67 (Optional clean room model available) | |||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU | |||||
Order information |
Art. no. |
268488/ 268492 |
268490/ 268494 |
268504/ 268506 | ||
Characteristics/Functions |
RV-35FM-D1-S15 / RV-35FM-Q1-S15 |
RV-50FM-D1-S15 / RV-50FM-Q1-S15 |
RV-70FM-D1-S15 / RV-70FM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 | |||||
Installation posture |
Floor | |||||
Structure |
Vertical multiple-joint type | |||||
Drive system |
AC servo (all axes with brakes) | |||||
Position detection method |
Absolute encoder | |||||
Payload capacity |
kg |
35 |
50 |
70 | ||
Arm reachable radius (to the center point of the J5 axis) |
mm |
2050 | ||||
Operating range |
waist (J1) |
degree |
330(±165) | |||
shoulder (J2) |
215 (-80–135) | |||||
elbow (J3) |
261(-90–171) | |||||
wrist twist (J4) |
720 (±360) | |||||
wrist pitch (J5) |
250 (±125) | |||||
wrist roll (J6) |
900 (±450) | |||||
Maximum speed |
waist (J1) |
degree/s |
185 |
180 |
175 | |
shoulder (J2) |
180 |
180 |
145 | |||
elbow (J3) |
190 |
180 |
165 | |||
wrist twist (J4) |
305 |
255 |
235 | |||
wrist pitch (J5) |
305 |
255 |
235 | |||
wrist roll (J6) |
420 |
370 |
350 | |||
Maximum composite speed |
mm/s |
13,450 |
13,000 |
11,500 | ||
Position repeatability |
mm |
±0.07 | ||||
Ambient temperature |
°C |
0–40 | ||||
Weight |
kg |
640 | ||||
Tolerable moment |
wrist twist (J4) |
Nm |
160 |
210 |
300 | |
wrist pitch (J5) |
160 |
210 |
300 | |||
wrist roll (J6) |
90 |
130 |
150 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
16 |
30 |
30 | |
wrist pitch (J5) |
16 |
30 |
30 | |||
wrist roll (J6) |
5 |
12 |
12 | |||
Tool wiring |
16 input points/16 output points | |||||
Tool pneumatic pipes |
Ø 10x2 | |||||
Supply pneumatic pressure |
MPa |
Max. 0.49 | ||||
Protection rating |
IP67 | |||||
Robot controller |
CR760-D/CR760-Q + Q172DRCPU | |||||
Order information |
Art. no. |
On request |
On request |
On request | ||
Characteristics/Functions |
RV-2F-D1-S16/ RV-2F-Q1-S16 |
RV-2FB-D1-S15/ RV-2FB-Q1-S15 |
RV-2FL-D1-S16/ RV-2FL-Q1-S16 |
RV-2FLB-D1-S15/ RV-2FLB-Q1-S15 | |||
|---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 |
6 |
6 | |||
Installation posture |
Floor, ceiling or wall mounting possible |
Floor, ceiling or wall mounting possible |
Floor, ceiling or wall mounting possible |
Floor, ceiling or wall mounting possible | |||
Structure |
Vertical multiple-joint type |
Vertical multiple-joint type |
Vertical multiple-joint type |
Vertical multiple-joint type | |||
Drive system |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) | |||
Position detection method |
Absolute encoder |
Absolute encoder |
Absolute encoder |
Absolute encoder | |||
Payload capacity |
rated |
kg |
2 |
2 |
2 |
2 | |
maximum |
3 |
3 |
3 |
3 | |||
Arm reachable radius (to the center point of the J5 axis) |
mm |
504 |
504 |
649 |
649 | ||
Operating range |
waist (J1) |
degree |
480 (-240–+240) |
480 (-240–+240) |
480 (-240-+240) |
480 (-240-+240) | |
shoulder (J2) |
240 (-120–+120) |
240 (-120–+120) |
237 (-117-+120) |
237 (-117-+120) | |||
elbow (J3) |
160 (0–+160) |
160 (0–+160) |
160 (0-+160) |
160 (0-+160) | |||
wrist twist (J4) |
400 (-200–+200) |
400 (-200–+200) |
400 (-200-+200) |
400 (-200-+200) | |||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120–+120) |
240 (-120+120) |
240 (-120+120) | |||
wrist roll (J6) |
720 (-360–+360) |
720 (-360–+360) |
720 (-360-+360) |
720 (-360-+360) | |||
Maximum speed |
waist (J1) |
degree/s |
300 |
300 |
225 |
225 | |
shoulder (J2) |
150 |
150 |
105 |
105 | |||
elbow (J3) |
300 |
300 |
165 |
165 | |||
wrist twist (J4) |
450 |
450 |
412 |
412 | |||
wrist pitch (J5) |
450 |
450 |
450 |
450 | |||
wrist roll (J6) |
720 |
720 |
720 |
720 | |||
Maximum composite speed |
mm/s |
4955 |
4955 |
4206 |
4206 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.6 |
0.6 |
0.7 |
0.7 | ||
Position repeatability |
mm |
±0.02 |
±0.02 |
±0.02 |
±0.02 | ||
Ambient temperature |
°C |
0 to 40 |
0 to 40 |
0 to 40 |
0 to 40 | ||
Weight |
kg |
19 |
19 |
21 |
21 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
4.17 |
4.17 |
4.17 |
4.17 | |
wrist pitch (J5) |
4.17 |
4.17 |
4.17 |
4.17 | |||
wrist roll (J6) |
2.45 |
2.45 |
2.45 |
2.45 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.18 (0.27) |
0.18 (0.27) |
0.18 (0.27) |
0.18 (0.27) | |
wrist pitch (J5) |
0.18 (0.27) |
0.18 (0.27) |
0.18 (0.27) |
0.18 (0.27) | |||
wrist roll (J6) |
0.04 (0.1) |
0.04 (0.1) |
0.04 (0.1) |
0.04 (0.1) | |||
Tool wiring |
Hand input 4 points/hand output 4 points |
Hand input 4 points/hand output 4 points |
Hand input 4 points/hand output 4 points |
Hand input 4 points/hand output 4 points | |||
Tool pneumatic pipes |
Ø 4x4 (from the base level to the gripper hand area) |
Ø 4x4 (from the base level to the gripper hand area) |
Ø 4x4 (from the base level to the gripper hand area) |
Ø 4x4 (from the base level to the gripper hand area) | |||
Supply pneumatic pressure |
MPa |
0.5 ±10 % |
0.5 ±10 % |
0.5 ±10 % |
0.5 ±10 % | ||
Gripper flange |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 | |||
Protection rating |
IP30 |
IP30 |
IP30 |
IP30 | |||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
255212/ 255214 |
255211/ 255213 |
286641/ 286642 |
286655/ 286656 | ||
Characteristics/Functions |
RV-4FLM-D1-S15 |
RV-4FLM-Q1-S15 | |||
|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 | |||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||
Structure |
Vertical multiple-joint type |
Vertical multiple-joint type | |||
Drive system |
AC servo (brakes on all axes) |
AC servo (brakes on all axes) | |||
Position detection method |
Absolute encoder |
Absolute encoder | |||
Payload capacity |
maximum |
kg |
4 |
4 | |
Arm reachable radius (to the center point of the J5 axis) |
mm |
649 |
649 | ||
Operating range |
waist (J1) |
degree |
480 (±240) |
480 (±240) | |
shoulder (J2) |
240 (-120–+120) |
240 (-120–+120) | |||
elbow (J3) |
164 (-0 to +164) |
164 (-0 to +164) | |||
wrist twist (J4) |
400 (±200) |
400 (±200) | |||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120–+120) | |||
wrist roll (J6) |
720 (±360) |
720 (±360) | |||
Maximum speed |
waist (J1) |
degree/s |
420 |
420 | |
shoulder (J2) |
336 |
336 | |||
elbow (J3) |
250 |
250 | |||
wrist twist (J4) |
540 |
540 | |||
wrist pitch (J5) |
623 |
623 | |||
wrist roll (J6) |
720 |
720 | |||
Maximum composite speed |
mm/s |
9048 |
9048 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.36 |
0.36 | ||
Position repeatability |
mm |
±0.02 |
±0.02 | ||
Ambient temperature |
°C |
0–40 |
0–40 | ||
Weight |
kg |
41 |
41 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
6.66 |
6.66 | |
wrist pitch (J5) |
6.66 |
6.66 | |||
wrist roll (J6) |
3.96 |
3.96 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.20 |
0.20 | |
wrist pitch (J5) |
0.20 |
0.20 | |||
wrist roll (J6) |
0.10 |
0.10 | |||
Tool wiring |
Hand input 8 points/hand output 8 points |
Hand input 8 points/hand output 8 points | |||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) | |||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
0.54 (as overpressure if required) | ||
Gripper flange |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 | |||
Protection rating |
IP67 (Optional clean room model available) |
IP67 (Optional clean room model available) | |||
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
255268 |
255272 | ||
Characteristics/Functions |
RV-7FM-D1-S15/ RV-7FM-Q1-S15 |
RV-7FLM-D1-S15/ RV-7FLM-Q1-S15 |
RV-7FLLM-D1-S15 RV-7FLLM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 |
6 (super long arm) | |||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||
Structure |
Vertical multiple-joint type |
Vertical multiple-joint type |
Vertical multiple-joint type | |||
Drive system |
AC servo (brakes on all axes) |
AC servo (brakes on all axes) |
AC servo (brakes on all axes) | |||
Position detection method |
Absolute encoder |
Absolute encoder |
Absolute encoder | |||
Payload capacity |
maximum |
kg |
7 |
7 |
7 | |
Arm reachable radius (to the center point of the J5 axis) |
mm |
713 |
908 |
1503 | ||
Operating range |
waist (J1) |
degree |
480 (±240) |
480 (±240) |
380 (±190) | |
shoulder (J2) |
240 (-115–+125) |
240 (-110–+130) |
240 (-90–+150) | |||
elbow (J3) |
156 (-0–+156) |
162 (-0–+162) |
167.5 (-10–+157.5) | |||
wrist twist (J4) |
400 (±200) |
400 (±200) |
400 (±200) | |||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120–+120) |
240 (-120–+120) | |||
wrist roll (J6) |
720 (±360) |
720 (±360) |
720 (±360) | |||
Maximum speed |
waist (J1) |
degree/s |
360 |
288 |
234 | |
shoulder (J2) |
401 |
321 |
164 | |||
elbow (J3) |
450 |
360 |
219 | |||
wrist twist (J4) |
337 |
337 |
375 | |||
wrist pitch (J5) |
450 |
450 |
450 | |||
wrist roll (J6) |
720 |
720 |
720 | |||
Maximum composite speed |
mm/s |
11064 |
10977 |
15300 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
0.35 |
0.63 | ||
Position repeatability |
mm |
±0.02 |
±0.02 |
±0.06 | ||
Ambient temperature |
°C |
0–40 |
0–40 |
0–40 | ||
Weight |
kg |
65 |
67 |
130 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
16.2 |
16.2 |
16.2 | |
wrist pitch (J5) |
16.2 |
16.2 |
16.2 | |||
wrist roll (J6) |
6.86 |
6.86 |
6.86 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.45 |
0.45 |
0.45 | |
wrist pitch (J5) |
0.45 |
0.45 |
0.45 | |||
wrist roll (J6) |
0.10 |
0.10 |
0.10 | |||
Tool wiring |
Hand input 8 points/hand output 8 points |
Hand input 8 points/hand output 8 points |
Hand input 8 points/hand output 8 points | |||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) | |||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
0.54 (as overpressure if required) |
0.54 (as overpressure if required) | ||
Gripper flange |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 |
ISO 9409-1-31.5 | |||
Protection rating |
IP67 (Optional clean room model available) |
IP67 (Optional clean room model available) |
IP67 (Optional clean room model available) | |||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
255275/ 255279 |
255276/ 255280 |
268460/ 268462 | ||
Characteristics/Functions |
RV-13FM-D1-S15 RV-13FM-Q1-S15 |
RV-13FLM-D1-S15 RV-13FLM-Q1-S15 |
RV-20FM-D1-S15 RV-20FM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 |
6 | |||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||
Structure |
Vertical multiple-joint type |
Vertical multiple-joint type |
Vertical multiple-joint type | |||
Drive system |
AC servo (all axes with brakes) |
AC servo (all axes with brakes) |
AC servo (all axes with brakes) | |||
Position detection method |
Absolute encoder |
Absolute encoder |
Absolute encoder | |||
Payload capacity |
rated |
kg |
12 |
12 |
15 | |
maximum |
13 |
13 |
20 | |||
Arm reachable radius (to the center point of the J5 axis) |
mm |
1094 |
1388 |
1094 | ||
Operating range |
waist (J1) |
degree |
380(±190) |
380(±190) |
380(±190) | |
shoulder (J2) |
240 (-90–+150) |
240 (-90–+150) |
240 (-90–+150) | |||
elbow (J3) |
167.5 (-10–+157.5) |
167.5 (-10–+157.5) |
167.5 (-10–+157.5) | |||
wrist twist (J4) |
400 (±200) |
400 (±200) |
400 (±200) | |||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120–+120) |
240 (-120–+120) | |||
wrist roll (J6) |
720 (±360) |
720 (±360) |
720 (±360) | |||
Maximum speed |
waist (J1) |
degree/s |
290 |
234 |
110 | |
shoulder (J2) |
234 |
164 |
110 | |||
elbow (J3) |
312 |
219 |
110 | |||
wrist twist (J4) |
375 |
375 |
124 | |||
wrist pitch (J5) |
375 |
375 |
125 | |||
wrist roll (J6) |
720 |
720 |
360 | |||
Maximum composite speed |
mm/s |
10450 |
9700 |
4200 | ||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.53 |
0.68 |
0.70 | ||
Position repeatability |
mm |
±0.05 |
±0.05 |
±0.05 | ||
Ambient temperature |
°C |
0–40 |
0–40 |
0–40 | ||
Weight |
kg |
120 |
130 |
120 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
19.3 |
19.3 |
49.0 | |
wrist pitch (J5) |
19.3 |
19.3 |
49.0 | |||
wrist roll (J6) |
11 |
11 |
11 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.47 |
0.47 |
1.40 | |
wrist pitch (J5) |
0.47 |
0.47 |
1.40 | |||
wrist roll (J6) |
0.14 |
0.14 |
0.14 | |||
Tool wiring |
Hand input 8 points / hand output 8 points |
Hand input 8 points / hand output 8 points |
Hand input 8 points / hand output 8 points | |||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 6x8 |
Primary: Ø 6x2, secondary: Ø 6x8 |
Primary: Ø 6x2, secondary: Ø 6x8 | |||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
0.54 (as overpressure if required) |
0.54 (as overpressure if required) | ||
Gripper flange |
ISO 9409-1-40 |
ISO 9409-1-40 |
ISO 9409-1-40 | |||
Protection rating |
IP67 (Optional clean room model available) |
IP67 (Optional clean room model available) |
IP67 (Optional clean room model available) | |||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU |
CR750-D/CR750-Q + Q172DRCPU | |||
Order information |
Art. no. |
268488/ 268492 |
268490/ 268494 |
268504/ 268506 | ||
Characteristics/Functions |
RV-35FM-D1-S15 / RV-35FM-Q1-S15 |
RV-50FM-D1-S15 / RV-50FM-Q1-S15 |
RV-70FM-D1-S15 / RV-70FM-Q1-S15 | |||
|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
6 |
6 | |||
Installation posture |
Floor |
Floor |
Floor | |||
Structure |
Vertical multiple-joint type |
Vertical multiple-joint type |
Vertical multiple-joint type | |||
Drive system |
AC servo (all axes with brakes) |
AC servo (all axes with brakes) |
AC servo (all axes with brakes) | |||
Position detection method |
Absolute encoder |
Absolute encoder |
Absolute encoder | |||
Payload capacity |
kg |
35 |
50 |
70 | ||
Arm reachable radius (to the center point of the J5 axis) |
mm |
2050 |
2050 |
2050 | ||
Operating range |
waist (J1) |
degree |
330(±165) |
330(±165) |
330(±165) | |
shoulder (J2) |
215 (-80–135) |
215 (-80–135) |
215 (-80–135) | |||
elbow (J3) |
261(-90–171) |
261(-90–171) |
261(-90–171) | |||
wrist twist (J4) |
720 (±360) |
720 (±360) |
720 (±360) | |||
wrist pitch (J5) |
250 (±125) |
250 (±125) |
250 (±125) | |||
wrist roll (J6) |
900 (±450) |
900 (±450) |
900 (±450) | |||
Maximum speed |
waist (J1) |
degree/s |
185 |
180 |
175 | |
shoulder (J2) |
180 |
180 |
145 | |||
elbow (J3) |
190 |
180 |
165 | |||
wrist twist (J4) |
305 |
255 |
235 | |||
wrist pitch (J5) |
305 |
255 |
235 | |||
wrist roll (J6) |
420 |
370 |
350 | |||
Maximum composite speed |
mm/s |
13,450 |
13,000 |
11,500 | ||
Position repeatability |
mm |
±0.07 |
±0.07 |
±0.07 | ||
Ambient temperature |
°C |
0–40 |
0–40 |
0–40 | ||
Weight |
kg |
640 |
640 |
640 | ||
Tolerable moment |
wrist twist (J4) |
Nm |
160 |
210 |
300 | |
wrist pitch (J5) |
160 |
210 |
300 | |||
wrist roll (J6) |
90 |
130 |
150 | |||
Tolerable inertia |
wrist twist (J4) |
kgm² |
16 |
30 |
30 | |
wrist pitch (J5) |
16 |
30 |
30 | |||
wrist roll (J6) |
5 |
12 |
12 | |||
Tool wiring |
16 input points/16 output points |
16 input points/16 output points |
16 input points/16 output points | |||
Tool pneumatic pipes |
Ø 10x2 |
Ø 10x2 |
Ø 10x2 | |||
Supply pneumatic pressure |
MPa |
Max. 0.49 |
Max. 0.49 |
Max. 0.49 | ||
Protection rating |
IP67 |
IP67 |
IP67 | |||
Robot controller |
CR760-D/CR760-Q + Q172DRCPU |
CR760-D/CR760-Q + Q172DRCPU |
CR760-D/CR760-Q + Q172DRCPU | |||
Order information |
Art. no. |
On request |
On request |
On request | ||