Robot Arm; Standard Specifications - Mitsubishi RV-3SJ Series Standard Specifications Manual

2Robot arm

2 Robot arm

2.1 Standard specifications

2.1.1 Standard specifications
Table 2-1 ： Tab Standard specifications of robot
Item
Type
Type of robot
Environment
Degree of freedom
Installation posture
Structure
Drive system
Position detection method
Upper arm
Arm length
Fore arm
Waist (J1)
Shoulder (J2)
Elbow (J3)
Operating
range
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Waist (J1)
Shoulder (J2)
Elbow (J3)
Speed of
motion
Wrist twist (J4)
Wrist pitch (J5)
Wrist roll (J6)
Maximum resultant velocity
Load Maximum
Rating
Note4)
Pose repeatability
Ambient temperature
Mass
Wrist twist (J4)
Allowable
Wrist pitch (J5)
moment load
Wrist roll (J6)
Wrist twist (J4)
Allowable
Wrist pitch (J5)
inertia
Wrist roll (J6)
Arm reachable radius froot p-axis
center point
Note6)
Tool wiring
Tool pneumatic pipes
Supply pressure
Protection specification
Note8)
Degree of cleanliness
Painting color
Note1) When used by mounting on the wall, a special specification that limits the operating range of the J1 axis will be used.
The operating range is limited by changing the mechanical stopper position and also by setting parameters.
Note2) This is the value on the hand flange surface when all axes are combined.
Note3) The maximum load capacity is the mass with the flange posture facing downword at the ± 10°limit.
Note4) The pose repeatability details are given in
Note5) When the optimum acceleration/deceleration mode is in effect, up to twice the specification value indicated here can
be set.
Note6) The air hand interface (option) is required when the tool (hand) output is used.
Note7) The protection specification details are given in
Note8) The clean specification details are given in
clean room is the necessary conditions for the cleanliness.
Standard specifications
2-7
Unit
RV-3S
Standard
(oil mist)
mm
Note1)
Degree
Degree/
s
Note2)
mm/sec
Note3)
kg
mm
℃
kg
N ･ m
2
kg ･ m
mm
MPa
Note7)
IP65 (all axes)
-
Specifications
RV-3SC RV-3S-SM
6-axis
With the con -
troller protec -
Clean
tion box
6
On floor, hanging,(against wall
Vertical, multiple-joint type
AC servo motor (J1 to J3:and J5: with brake)
Absolute encoder
270
340 (-170 to +170)
225 (-90 to +135)
191 (-20 to +171)
320 (-160 to +160)
240 (-120 to +120)
720 (-360 to +360)
412
5,500
37
5.83
0.137
642
Hand input 8 point, hand output 8 point, eight spare wires
(AWG#24(0.2mm
Primary side: Φ6 × 2 (Base to fore arm section)
Secondary side: Φ4 × 8 (Optional)
- IP65 (all axes)
10(0.3μm)
Internal suction -
requirement
Light gray (Equivalent to Munsell: 0.08GY7.64/0.81)
Page 8, "2.2.1 Pose repeatability"
Page 9, "2.2.5 Protection specifications and working
Page 10, "2.2.6 Clean specifications". A down flow(0.3m/s or more) in the
RV-3SJ RV-3SJC
5-axis
Standard
Clean
(oil mist)
5
Note1)
)
245
300
237 (-100 to +137)
-
250
187
250
-
412
660
5,300
3.5
3
± 0.02
0 to 40
33
－
5.83
3.9
-
0.137
Note5)
0.047
641
2
) with shielded)
0.5 ± 10%
IP65 (all axes) -
10(0.3μm)
- Internal suction
requirement
RV-3SJ-SM
With the con -
troller protec -
tion box
IP65 (all axes)
-
environment".