Mitsubishi Electric MELFA CR800 Series Special Specifications Manual page 30

2Robot arm
2) Pattern 2
Y
Fig.2-4 ： Operating area (X-Y) and conveyance conditions
Table 2-5 ： Operating area (a conveyance distance in the Y-axis direction) and the number of conveyance times
Position in
the X-axis
200mm
direction
500mm 171
400mm 152
300mm 142
200mm 115
200
200
)
i n
m
150
( /
150
Numbers
c e
of con -
l a
veyance
P
100
100
&
times
k
(/min)
i c
P
50
50
200
Standard specifications
2-17
X
300mm
600mm
900mm
Conveyance distance to Y-axis direction and the number of conveyance times
250mm 300mm
152 138
142 129
125 115
104 95
250 300
X Position (mm)
Position in X-axis direction (mm)
200 to 900mm (X-Y)
Place x 1
Dly: 0.035 [s]
<Conditions>
・ Tracking: OFF
・ Payload: 1kg
・ Y-axis parallel
・ Conveyance pattern of the the Y-axis as a
center (movement of J1 axis only)
・ Dly: 0.035 [s] x 2
(The processing at the time of tracking ON,
such as hand opening and closing.)
・ Amount of eccentricity of a hand: nothing
400mm 500mm
- -
112 102
99 89
82 74
Z Distance 25mm
* A distance of Z-axis direction is 25mm.
350 400 450
Pick x 1
Dly: 0.035 [s]
600mm 700mm 800mm
- -
91 80
80 75
69 66
Conveyance distance in
the Y-axis direction
Y Distance 200mm
Y Distance 250mm
Y Distance 300mm
Y Distance 400mm
Y Distance 500mm
Y Distance 600mm
Y Distance 700mm
500
Y Distance 800mm
Y Distance 900mm
Z=-450mm
25mm (Z)
Z=-475mm
900mm
- -
- -
71 -
63 60