The Counter-Force Applied To The Installation Surface - Mitsubishi Electric CR800-05VD Standard Specifications Manual

Item
Allowable Wrist twist (J4)
inertia
Wrist pitch (J5)
Wrist roll (J6)
Wiring Hand I/O
Force sensor
cable/
Spare cable
LAN cable
Primary hoses
Plumbing
Secondary hoses
Supply pressure
Protection specification
Note7)
Status indicator LED
Painting color
External magnetic field
Note1) Values in parentheses indicate the maximum speed when the input voltage is single-phase 100 to 120 VAC.
Note2) These values represent the maximum overall speed of all axes combined. The safety functions limit the robot to the speeds
shown in the table. For accurate collision force data when the robot is in Collaborative operation mode, measure collision forces
under actual operating conditions.
For further information on safety functions, refer to the section "Safely-limited speed function (SLS)" in the Function Manual.
Note3) Allowable load when the mechanical interface faces downward at an inclination within ±10° to the vertical direction. Please note
that when confirming the contact force that occurs in a collision and when confirming the stopping time and stopping distance at
our company, the maximum payload is set to the rated payload of 5.0 kg.
Note4) The pose repeatability details are given in
Note5) Sets the robot's operating environmental temperature as parameter OLTMX. The initial value is 30 (°C). Corresponding to the
environment, the continuous control action performance and the overload-protection function are optimized. (Refers to
"Optimizing the overload level" described in "Chapter 5 Functions set with parameters" of separate instruction manual/ Detailed
explanations of functions and operations for details.)
Note6) The protection specification details are given in
Note7) The protection performance may not be ensured depending on the oil characteristics. Please consult the dealer.
Note8) Clean-room specifications are based on values acquired from Mitsubishi Electric's in-house tests.
Note9) For further information on the meaning of each color, refer to
Note10) Do not place a magnet on the robot surface.

2.1.2 The counter-force applied to the installation surface

The counter-force applied to the installation surface for the strength design of the robot installation surface
is shown.
F
V
M
T
F
H
M
L
F
H
F
V
Table 2-2: Value of each counter-force
Item
Falls moment: M
L
Torsion moment: M
T
Horizontal translation force: F
Vertical translation force: F
Unit
2
kg•m
Mechanical interface: 2 inputs/4 outputs
- Forearm: 6 inputs/0 outputs
Base: 0 inputs/4 outputs
5-conductor (24 V/0.7 A) One of the conductors should be used for the frame ground (FG).
-
- Cat-5e supported
- Φ6 × 2
- Φ4 × 4 From the base of the robot to the elbow.
MPa
Note6)
-
-
-
mT
Page 14, "2.2.1 Pose repeatability"
F
H
M
L
F
H
Unit
N•m
N•m
N
H
N
V
Specifications
IP54 (ISO Class 5
Six colors: red, yellow, green, blue, white, and light blue.
Light gray (Equivalent to Munsell: 0.6B7.6/0.2, PANTONE: 428C)
Less than 10
Page 17, "2.2.6 Protection specifications".
Page 21, "2.3.2 Status indicator
Value
325
275
700
1,010
0.34
0.34
0.10
0.54
Note8)
)
Note9)
Note10)
LED".
Standard specifications 2-13
2 Robot arm