Motion space upper and lower vertical limits -458.9mm…+1413.8mm
Functions
Vertical multi-joint industrial robotic arm
Design
built-in stand-alone controller (CR800-D) Oil-mist resistant vertically articulated multiple-joint type 6-axes / degrees of freedom AC servo motor drv. system Absolute encod. feedback on every axis 380° (+/-190°) angular span (articulation J1) 240° (-90°…+150°) angular span (articulation J2) 167.5° (-10°…+157.5°) angular span (articulation J3) 400° (+/-200°) angular span (articulation J4) 240° (+/-120°) angular span (articulation J5) 720° (+/-360°) angular span (articulation J6)
Capacity
13kg max. load
Moment of inertia
0.47kg.m2 (J4 axis) 0.47kg.m2 (J5 axis) 0.14kg.m2 (J6 axis) Tolerable moment 19.3Nm (J4 axis) Tolerable moment 19.3Nm (J5 axis) Tolerable moment 11Nm (J6 axis)
Connection type
2 x 6mm pneumatic connections (for robot hand I.O.) 8 x 6mm / 4 x 4mm pneumatic connections (for hand I.O.) 5m machine cable with connector on both ends
Length
410mm + 550mm (arm 1)
Mounting mode
Floor or ceiling or wall mounting
Speed
J1 337°/s J2 337°/s J3 375°/s J4 375°/s J5 375°/s J6 124°/s 10450mm/s composite max. speed 0.53s typical cycle time (with 1kg load; back-and-forth movement over a vertical distance of 25mm and horizontal distance of 300mm)
Measurement accuracy
Pose repeatability — +/-0.05mm
Degree of protection
IP67
Dimensions
1094mm reach radius (total arm length)
Ambient air temperature for operation
0…+40 °C
Ambient air temperature for storage
0…+40 °C
Contents
CR800-D controller
Order code / Manufacturer SKU
RV13FRMD
Manufacturer product status
Commercialized
Equivalent to
RV-13FRM-D
Benefits
Best fit for complex assembling. The function expansion option named “MELFA Smart Plus” is available with MELFA FR series. “MELFA Smart Plus” further broaden the range of possibilities of the MELFA FR series offering performance beyond your expectations. Collaboration with MELSEC Q series/MELSEC iQ-R server series realize more advanced work. Maximum load capacity 3kg to 20kg controller types R controller type — Compatible with the “iQ Platform”. MELSEC iQ-R series-dedicated. (CR800-R controller) Q controller type — Compatible with the “iQ Platform”. MELSEC Q series-dedicated. (CR800-Q controller) D controller type — Standalone controller (CR800-D controller)
