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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-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

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