Mitsubishi MELFA RH-6SH Series Standard Specifications Manual page 26

2Robot arm
Table 2-2 ： Tab Standard specifications of robot (Clean Specification)
Item
Type
Environment
Installation posture
Degree of freedom
Structure
Drive system
Position detection method
Motor capacity J1
J2
J3 (Z)
J4 (θaxis)
Brake
Arm length № 1 arm
№ 2 arm
Max.reach radius( № 1+ № 2)
Operating range J1
J2
J3 (Z)
J4 (θaxis)
Speed of motion J1
J2
J3 (Z)
J4 (θaxis)
Maximum horizontal composite speed
Note1)
Note2)
Cycle time
Rating
Load (Including hand)
Maximum
Allowable Rating
moment load
Maximum
Note3)
X-Y direc -
Pose repeatability
tion
J3 (Z)
J4 (θaxis)
Ambient temperature
Mass
Note4)
Tool wiring
Tool pneumatic pipes
Supply pressure
Note5)
Degree of cleanliness
Painting color
Note1)The value when J1, J2 and J4 are composed. The value in parentheses is the value when J1 and J2 are
composed.
Note2)Values of the operation below at rated load capacity.
･The cycle time may increase when the positioning accuracy or other criterion of a work is required, or depending on the position
of operation.
300
Note3)The pose repeatability details are given in
Note4)The pneumatic hand interface (option) is required when the tool (hand) output is used.
Note5)The details of the clean specifications are described in
of the cleanness of the robot is required if the down flow in a clean room is 0.3 m/s or more and robot
internal suction is 60 NL/min. A φ8 joint is prepared at the base rear part for suction.
Standard specifications
2-14
Unit
RH-6SH3517C
Ｗ
Ｗ
Ｗ
Ｗ
ｍｍ 125
ｍｍ
ｍｍ 350
deg
deg 274( ± 137)
ｍｍ
deg
deg/s
deg/s
mm/s
deg/s
mm/s
6,473(4,694)
sec 0.45
kg
kg
2
kg ･ ｍ
2
kg ･ ｍ
ｍｍ
ｍｍ
deg
℃
kg 20
MPa
Page 20, "2.2.1 Pose
Specifications
RH-6SH4517C
Clean specification
On floor
4
Horizontal, multiple-joint type
AC servo motor
Absolute encoder
400
100
100
100
J1, J2, J4 : no brake J3 : with brake
225
225
450
254( ± 127)
170(97 to 267)
720( ± 360)
375
612
1,177
2,411
7,128(5,349)
0.46
2
6
0.01
0.04
± 0.02
± 0.01
± 0.02
0 to 40
Input 8 points/Output 8 points, eight spare wires
Φ6 × 2
0.5 ± 10%
10(0.3μm)
Light gray （Equivalent to Munsell : 0.08GY7.46/0.81）
repeatability".
Page 28, "2.2.5 Clean specifications".
RH-6SH5517C
325
550
290( ± 145)
7,782(6,003)
0.47
21
Protection