Ceiling mounted, horizontal type robot
High speed, high precision, space saving inverse mounting robot
Capable of wide range applications electric and electronic parts, precision assembly of small parts inspections, high speed transfer and packing
MELFA Robots – RH-F(R)HR Series
Maximum Speed and Precision
With its special compact design and support for overhead installation above the application, the robots RH‑1F(R)HR and RH‑3F(R)HR do not take up any valuable space in the work area next to the installation location, enabling even smaller work cell dimensions. For high-speed handling of small parts up to 1kg, the RH‑1F(R)HR is the perfect robot. It allows up to 150picks/min. with conveyer tracking including hand open/close. The RH‑3F(R)HR robot’s perfectly circular cylindrical work space is 150 mm high with a diameter of 700 mm. It can access any point in this space while manipulating a payload up to 3kg.
Highlights RH-1F(R)HR
- Highest productivity: Up to 150 picks/min. with conveyor tracking including hand open/close
- Flexible installation: Cell, wall and floor mounting for easy integration into any working cell
- Increased operation area: Peripheral equipment can be set up below the robot
- Wide range of applications: IP protection from IP20 to IP65 / ISO Class 5 can be increased by adding a bellow
- Closed arm housing: Internal vacuum valve and internally routed cables present any snagging with peripheral equipment.
Highlights RH-3F(R)HR
- Space saving: Overhead installation for minimum spare requirement
- Compact and cost effective: Compact design by only 24kg weight for simple mounting system
- Increase your productivity: Cycle times of up to 0.32 seconds with accuracy of up to 0.01 mm
- Flexible workspace: 700 mm circular diameter, 150 mm spindle extension movement
- Protection for harsh environments: IP20, optional IP65 and Clean-room model (ISO-Level III) is available
The RH-FRHR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".
Product range:
| Model | RH-1FHR RH-1FRHR |
RH-3FHR RH-3FRHR |
|
|---|---|---|---|
| Degrees of freedom | 4 | 4 | |
| Payload nominal | kg | 1 | 3 |
| Maximum reach radius | mm | 550 | 350 |
| Z-Stroke | mm | 150 | 150 |
| Environmental specifications | Standard | IP20 (IP65 optional) | IP20 (IP65 optional) |
| Clean | – | ISOclass5 (optional) | |
| Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
||
RH-FRHR series
With their special compact design and support for overhead installation above the application, the robots RH‑1FRHR and RH‑3FRHR enable small work space.
"Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions". With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Product Specification:
|
RH-1FRHR5515-D |
RH-1FRHR5515-R |
||||
|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
|
Installation posture |
On floor, ceiling mounting, wall mounting |
||||
|
Structure |
Horizontal articulated arm (SCARA) |
||||
|
Drive system |
AC servo |
||||
|
Position detection method |
Absolute encoder |
||||
|
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
|
Payload capacity |
rated |
kg |
1 |
||
|
maximum |
3 |
||||
|
Maximum reach |
mm |
550 |
|||
|
Operating range |
J1 |
degree |
±177 |
||
|
J2 |
degree |
±145 |
|||
|
J3 (Z) |
mm |
150 |
|||
|
J4 (Θ axis) |
degree |
±360 |
|||
|
Maximum speed |
J1 |
degree/s |
337.5 |
||
|
J2 |
degree/s |
720 |
|||
|
J3 (Z) |
mm/s |
765 |
|||
|
J4 (Θ axis) |
degree/s |
3000 |
|||
|
Maximum composite speed |
mm/s |
6267 |
|||
|
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.28 |
|||
|
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
|
maximum |
0.005 |
||||
|
Position repeatability |
X, Y direction |
mm |
±0.012 |
||
|
J3 (Z direction) |
mm |
±0.01 |
|||
|
J4 (Θ axis) |
degree |
±0.004 |
|||
|
Ambient temperature |
°C |
0-40 |
|||
|
Weight |
kg |
49 |
|||
|
Tool wiring |
Hand: 8 inputs/8 outputs, 8 signal cables |
||||
|
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
|
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
|
Protection rating |
IP20 (IP65/ISO class 5 with additional bellow) |
||||
|
Robot controller |
CR800-D |
CR800-R + R16RTCPU |
|||
|
Order information |
Art. no. |
312997 |
313661 |
||
|
RH-3FRHR3515-D-S25 |
RH-3FRHR3515-R-S25 |
||||
|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
|
Installation posture |
Overhead |
||||
|
Structure |
Horizontal multiple-joint type |
||||
|
Drive system |
AC servo |
||||
|
Position detection method |
Absolute encoder |
||||
|
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
|
Payload capacity |
rated |
kg |
1 |
||
|
maximum |
3 |
||||
|
Maximum reach |
arm 1 + arm 2mm |
350 |
|||
|
Operating range |
J1 |
degree |
450 (±225) |
||
|
J2 |
degree |
450 (±225) |
|||
|
J3 (Z) |
mm |
150 |
|||
|
J4 (Θ axis) |
degree |
1440 (±720) |
|||
|
Maximum speed |
J1 |
degree/s |
672 |
||
|
J2 |
degree/s |
708 |
|||
|
J3 (Z) |
mm/s |
1500 |
|||
|
J4 (Θ axis) |
degree/s |
3146 |
|||
|
Maximum composite speed |
mm/s |
6267 (J1, J2) |
|||
|
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
|||
|
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
|
maximum |
0.05 |
||||
|
Position repeatability |
X, Y direction |
mm |
±0.01 |
||
|
J3 (Z direction) |
mm |
±0.01 |
|||
|
J4 (Θ axis) |
degree |
±0.01 |
|||
|
Ambient temperature |
°C |
0–40 |
|||
|
Weight |
kg |
24 |
|||
|
Tool wiring |
Input 8 points/output 8 points (option: output 8 points), 8 spare wires |
||||
|
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
|
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
|
Protection rating |
IP20 (Optional IP65 and clean room model available) |
||||
|
Robot controller |
CR800-D |
CR800-R + R16RTCPU |
|||
|
Order information |
Art. no. |
312998 |
314028 |
||
RH-FHR Series
The RH-FHR-D series, use the next generation controller that incorporates many intelligent features and significantly improves the performance of the robots.
Product Specification:
|
Characteristics/Functions |
RH-1FHR5515-D1-S60 |
RH-1FHR5515-Q1-S60 |
|||
|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
|
Installation posture |
On floor, ceiling mounting, wall mounting |
||||
|
Structure |
Horizontal articulated arm (SCARA) |
||||
|
Drive system |
AC servo |
||||
|
Position detection method |
Absolute encoder |
||||
|
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
|
Payload capacity |
rated |
kg |
1 |
||
|
maximum |
3 |
||||
|
Maximum reach |
mm |
550 |
|||
|
Operating range |
J1 |
degree |
±177 |
||
|
J2 |
degree |
±145 |
|||
|
J3 (Z) |
mm |
150 |
|||
|
J4 (Θ axis) |
degree |
±360 |
|||
|
Maximum speed |
J1 |
degree/s |
337.5 |
||
|
J2 |
degree/s |
720 |
|||
|
J3 (Z) |
mm/s |
765 |
|||
|
J4 (Θ axis) |
degree/s |
3000 |
|||
|
Maximum composite speed |
mm/s |
6267 |
|||
|
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.28 |
|||
|
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
|
maximum |
0.005 |
||||
|
Position repeatability |
X, Y direction |
mm |
±0.012 |
||
|
J3 (Z direction) |
mm |
±0.01 |
|||
|
J4 (Θ axis) |
degree |
±0.004 |
|||
|
Ambient temperature |
°C |
0-40 |
|||
|
Weight |
kg |
49 |
|||
|
Tool wiring |
Hand: 8 inputs/8 outputs, 8 signal cables |
||||
|
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
|
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
|
Protection rating |
IP20 (IP65/ISO class 5 with additional bellow) |
||||
|
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
|||
|
Order information |
Art. no. |
277708 |
277709 |
||
|
Characteristics/Functions |
RH-3FHR3515-D1-S15 |
RH-3FHR3515-Q1-S15 |
|||
|---|---|---|---|---|---|
|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
|
Installation posture |
Overhead |
||||
|
Structure |
Horizontal multiple-joint type |
||||
|
Drive system |
AC servo |
||||
|
Position detection method |
Absolute encoder |
||||
|
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
|
Payload capacity |
rated |
kg |
1 |
||
|
maximum |
3 |
||||
|
Maximum reach |
arm 1 + arm 2mm |
350 |
|||
|
Operating range |
J1 |
degree |
450 (±225) |
||
|
J2 |
degree |
450 (±225) |
|||
|
J3 (Z) |
mm |
150 |
|||
|
J4 (Θ axis) |
degree |
1440 (±720) |
|||
|
Maximum speed |
J1 |
degree/s |
672 |
||
|
J2 |
degree/s |
708 |
|||
|
J3 (Z) |
mm/s |
1500 |
|||
|
J4 (Θ axis) |
degree/s |
3146 |
|||
|
Maximum composite speed |
mm/s |
6267 (J1, J2) |
|||
|
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
|||
|
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
|
maximum |
0.05 |
||||
|
Position repeatability |
X, Y direction |
mm |
±0.01 |
||
|
J3 (Z direction) |
mm |
±0.01 |
|||
|
J4 (Θ axis) |
degree |
±0.01 |
|||
|
Ambient temperature |
°C |
0–40 |
|||
|
Weight |
kg |
24 |
|||
|
Tool wiring |
Input 8 points/output 8 points (option: output 8 points), 8 spare wires |
||||
|
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
|
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
|
Protection rating |
IP20 (Optional IP65 and clean room model available) |
||||
|
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
|||
|
Order information |
Art. no. |
275483 |
275484 |
||