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Specification of robot
arm
| Model |
RP-1AH |
RP-3AH |
RP-5AH |
| Degrees of freedom |
4 |
| Mechanical structure |
5 joint closed link |
| Drive method |
AC servo motor
(every drive has a break) |
| Location detection method |
absolute encoder |
| drive motor capacity |
100 W (for every motor) |
Arm
length |
No.1 arm |
100 mm |
140 mm |
200 mm |
| No.2 arm |
140 mm |
200 mm |
260 mm |
Working
space |
W × D |
150 × 105 mm
(A6) |
210 × 148 mm
(A5) |
300 × 210 mm
(A4) |
| Up / Down |
30 mm |
50 mm |
| Hand rotate |
200 degree |
Maximum
velocity |
J1 * J2 |
480 degree/s |
432 degree/s |
| J3 |
800 mm/s |
960 mm/s |
| J4 |
3000 degree/s |
1330 degree/s |
| Cycle time |
0.28 second |
0.33 second |
0.38 second |
Load
capacity |
Rated |
0.5 kg |
1.0 kg |
2.0 kg |
| Maximum |
1 kg |
3 kg |
5 kg |
| Allowable inertia |
3.1 × 10-4
kgm2 |
1.6 × 10-3
kgm2 |
3.2 × 10-3
kgm2 |
Pose
repeatability |
X,Y |
0.005 mm |
0.008 mm |
0.01 mm |
| Z |
0.01mm |
| Rotate |
0.02 degree |
0.03 degree |
| Mass |
12 kg |
24 kg |
25 kg |
| Ambient temperature |
0 - 40 °C |
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