ARTICULATED ROBOTS. Series. Ideal for compact cell construction, transport and assembly of small parts, and inspection work.

Transcription

1 Series Product Lineup RTIULTED ROOTS Ideal for compact cell construction, transport and assembly of small parts, and inspection work. U-axis rm -axis rm -axis T-axis T-axis R-axis U-axis R-axis ody L-axis S-axis S-axis: Rotate the body horizontally L-axis: Move the body forward/backward U-axis: Move the arm up/down R-axis: Rotate the arm -axis: Move the tip of the arm up/down T-axis: Rotate the tip of the arm ody L-axis E-axis S-axis S-axis: Rotate the body horizontally L-axis: Move the body forward/backward E-axis: Twist the arm U-axis: Move the arm up/down R-axis: Rotate the arm -axis: Move the tip of the arm up/down T-axis: Rotate the tip of the arm 8

2 Reduce personnel, increase productivity -RJ -R3J -R6F -R5F -R5LF -U2F -U5F -U1F Type Model pplication Number of axes (kg) Vertical reach (mm) Horizontal reach (mm) Page -RJ -R3F P.112 -R5F Handling (general) P.113 -R5LF P.114 -R6F P.115 -U5F P.116 ssembly / -U1F P.117 Placement -U2F P.118 Note. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. 1 kg (max. 2 kg Note ) P.111 POINT High-speed operation reduces cycle time Thanks to high-speed, low-inertia servo motors, an arm designed for light weight, and the latest control technology, these achieve an operating speed that is best in their class.from supply, assembly, inspection, and packing to palletization, all applications can enjoy shorter cycle time and improved productivity. Workpieces with a high wrist load are also supported With a wrist section that has the highest allowable moment of inertia in its class, these can support jobs involving a high wrist load, or simultaneous handling of multiple workpieces. Robot simulator dramatically reduces startup time We provide software that lets you use 3D D data to construct a production facility in virtual space in a personal computer, and easily perform engineering tasks such creating programs and checking for robot interference. Teaching can be performed even before the actual production line is completed, dramatically reducing line startup time. Note. Optional support Interference checking program Free arm movement further boosts productivity. Reduced space allows sophisticated system layouts Since these can be installed close to workpieces or other equipment, you can reduce the space required for your production facility. y locating multiple close to each other, processing can be integrated and shortened. ccess the workpiece from the opposite side or from below Rotation of the seventh axis enables flexible movement with the same freedom of motion as a human arm, allowing the workpiece to be accessed from the opposite side or from below. This allows the robot to enter narrow locations that a person could not fit in, or to approach the workpiece in a way that avoids obstructions, giving you more freedom to design the layout for shorter cycle time and reduced space. Elbow movement unique to models allows optimal posture to be maintained The U-type allow elbow movement, changing only the elbow angle without affecting the position or posture of the tool. This permits operation to avoid nearby obstructions. Elbow movement with unchanged flange position 9

3 rticulated LM1 single-axis RTIULTED ROOTS SERIES Single-axis single-axis ONTENTS SERIES MNIPULTOR SPEIFITIONS 11 -RJ 111 -R3F 112 -R5F 113 -R5LF 114 -R6F 115 -U5F 116 -U1F 117 -U2F ccessories and part options 12 Main functions P.8 19

4 rticulated LM1 SERIES MNIPULTOR SPEIFITIONS pplications Handling (general) ssembly / Placement single-axis Single-axis single-axis -RJ -R3F -R5F -R5LF -R6F -U5F -U1F -U2F Number of axes kg (max. 2 kg Note 2 ) 3 kg 5 kg 5 kg 6 kg 5 kg 1 kg 2 kg Vertical reach 99 mm 84 mm 1193 mm 156 mm 2486 mm 17 mm 123 mm 1498 mm Horizontal reach 545 mm 532 mm 76 mm 895 mm 1422 mm 559 mm 72 mm 91 mm ±.3 mm ±.3 mm ±.2 mm ±.3 mm ±.8 mm ±.6 mm ±.1 mm ±.1 mm -16 to to to to to to to to +18 L-axis (lower rm) -9 to to to to to to to to +11 E-axis (elbow twist) to to to +17 Range of Motion U-axis (upper arm) -29 to to to to to to to to to to to to to to to to to to to to to to to to +11 T-axis (wrist twist) -36 to to to to to to to to /s 2 /s 376 /s 27 /s 22 /s 2 /s 17 /s 13 /s L-axis (lower rm) 13 /s 15 /s 35 /s 28 /s 2 /s 2 /s 17 /s 13 /s E-axis (elbow twist) /s 17 /s 17 /s Maximum U-axis (upper arm) Speed 2 /s 19 /s 4 /s 3 /s 22 /s 2 /s 17 /s 17 /s 3 /s 3 /s 45 /s 45 /s 41 /s 2 /s 2 /s 2 /s 4 /s 3 /s 45 /s 45 /s 41 /s 23 /s 2 /s 2 /s T-axis (wrist twist) 5 /s 42 /s 72 /s 72 /s 61 /s 35 /s 4 /s 4 /s 3.33 N. m 5.39 N. m 12 N. m 12 N. m 11.8 N. m 14.7 N. m 31.4 N. m 58.8 N. m 3.33 N m 5.39 N. m 12 N. m 12 N. m 9.8 N. m 14.7 N. m 31.4 N. m 58.8 N. m T-axis (wrist twist).98 N. m 2.94 N. m 7 N. m 7 N. m 5.9 N. m 7.35 N. m 19.6 N. m 29.4 N. m.58 kg. m 2.1 kg. m 2.3 kg. m 2.3 kg. m 2.27 kg. m 2.45 kg. m 2 1. kg. m 2 4. kg. m 2 Inertia.58 kg. m 2.1 kg. m 2.3 kg. m 2.3 kg. m 2.27 kg. m 2.45 kg. m 2 1. kg. m 2 4. kg. m 2 T-axis (wrist twist).5 kg. m 2.3 kg. m 2.1 kg. m 2.1 kg. m 2.6 kg. m 2.11 kg. m 2.4 kg. m 2 2. kg. m 2 15 kg 27 kg 27 kg 29 kg 13 kg 3 kg 6 kg 12 kg Power Requirements Note 1.5 kv.5 kv 1. kv 1. kv 1. kv 1. kv 1. kv 1.5 kv Detailed info page P.111 P.112 P.113 P.114 P.115 P.116 P.117 P.118 Note 1. Varies in accordance with applications and motion patterns. Note 2. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. For details, refer to the dimensional diagram on P.111. series basic system contents Device cable connector *1 Programming box P-J (Japanese) *2 Standard power supply cable 4m P cable 8m Optional extension cable 4m/8m/12m Standard boards NPN (PNP *3 ) DIO board 28 I/O each EtherNet board Option board NPN (PNP *3 ) expansion DIO board 28 I/O each Up to four boards series Standard Optional P software Option Optional power supply cable 1m/15m/2m Software pendant (P dummy connector is required.) MotoSimEG-VRG for MH via EtherNet 1 Optional functionality Vision function External reference point control *1. Differs by model. For details, refer to the page for each model. *2. P-E (English) or P- (hinese) can also be selected. *3. PNP model is an option. Take care not to mix NPN and PNP for DIO. DeviceNet TM board Master/Slave -Link board Slave PROFIUS board Slave EtherNet/IP TM board Slave PROFINET board Master/Slave EtherT board Slave onveyer synchronization board 11

5 -RJ Maximum payload 2 kg Longest Reach R545 mm rticulated -RJ 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. This unit is ideal for small tabletop devices or for education. Note. The ultra-light, compact -RJ features portability and easy installation for simplified system integration. Note. Each axis uses a motor of 8 W or less. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. ontrolled xis 6 1 kg (max. 2 kg Note 1 ) ±.3 mm -16 to +16 L-axis (lower rm) -9 to +11 Range of U-axis (upper arm) -29 to +15 Motion -18 to to +13 T-axis (wrist twist) -36 to +36 xis with brake Note 2 L-axis, U-axis 2.79 rad/s, 16 /s L-axis (lower rm) 2.27 rad/s, 13 /s Maximum U-axis (upper arm) 3.49 rad/s, 2 /s Speed 5.23 rad/s, 3 /s 6.98 rad/s, 4 /s T-axis (wrist twist) 8.72 rad/s, 5 /s -RJ R29 R545 R5 Inertia mbient 3.33 N. m 3.33 N. m T-axis (wrist twist).98 N. m.58 kg. m 2.58 kg. m 2 T-axis (wrist twist).5 kg. m 2 mbient Relative Humidity Vibration cceleration Power Requirements Note 3 15 kg During operation: to +4, During storage: -1 to +6 9% max. (non-condensing).5 kv Note 1. When a load is more than 1 kg, the motion range will be smaller. Use the robot within the recommended motion range. (See diagrams below) Note 2. The S-, R-, -, and T-axes do not have any brakes. Make sure that the operation does not require brakes. Note 3. Varies in accordance with applications and motion patterns. 6 (fitting depth) P-point maximum envelop for 1-kg load P-point maximum envelop for 2-kg load 4-M5 P.8 Depth 9 ф1h7 View 2-ф5H7 Depth 7 P..D ± ±.2 45 ase side <Part number> KEM-M487- LM1 single-axis Single-axis single-axis ir inlet Tapped holes M5 Pitch:.8mm with pipe plug L-axis U-axis D R-axis -axis 11 S-axis T-axis ±.2 8±.1 (Holes on diameter line) 2-ф6H7 (Reference hole) ф ф9 ir inlet Tapped holes M5 Pitch:.8mm with pipe plug P-point maximum envelop for 1-kg load P-point maximum envelop for 2-kg load View rm side <Part number> KEM-M487-1 View D 1 u

6 rticulated LM1 single-axis Single-axis single-axis -R3F Maximum payload 3 kg Longest Reach R532 mm -R3F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. The -R3F, a compact manipulator with a motor of 8 W or less mounted on all axes, requires minimal space (baseplate: 24 mm 17 mm). No fence is required for robot s working area. The robot can be used in applications such as automated guided vehicles (GVs), testing equipment, and educational tools. Note. Standard models include four air hoses (diameter: 4 mm), and an internal user I/O wiring harness (.2 mm 2 1) running through the U-arm. This structure simplifies wiring and tubing for easier system construction. Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. ontrolled xis 6 3 kg ±.3 mm -16 to +16 Note 1 L-axis (lower rm) -85 to +9 Range of U-axis (upper arm) -15 to +26 Motion -17 to to +12 T-axis (wrist twist) -36 to rad/s, 2 /s L-axis (lower rm) 2.62 rad/s, 15 /s Maximum U-axis (upper arm) 3.32 rad/s, 19 /s Speed 5.24 rad/s, 3 /s 5.24 rad/s, 3 /s T-axis (wrist twist) 7.33 rad/s, 42 /s -R3F 8 R R188 R M8 P1.25 Depth 16 5 (fitting depth) 822 Inertia mbient 5.39 N. m 5.39 N. m T-axis (wrist twist) 2.94 N. m.1 kg. m 2.1 kg. m 2 T-axis (wrist twist).3 kg. m 2 Humidity Vibration Power Requirements Note 2 27 kg to +4 2 to 8%RH (non-condensing).5 kv Note 1. For wall-mounted installation, the S-axis operating range is ±25. Note 2. Varies in accordance with applications and motion patterns. ф2h6 ф4h6 5 (fitting depth) 4-M5 P.8 Depth 9 View 45 ф5h7 Depth 7 P..D ± ±.1 78± View 5 ф6h ±.1 4-ф9 (Mounting Holes) (Note 1) L U R S D T (Note 2) 4 ir inlets Tapped hole M5 (4 places) with pipe plug ase side <Part number> KEM-M4873- rm side <Part number> KEM-M4874- View D 4 Exhaust ports Tapped hole M5 (4places) with pipe plug Note 1. Motion range of point P when the S-axis is between -4 to +4. Note 2. Motion range of point P when the S-axis is between -125 to -16 or +125 to u 119

7 -R5F Maximum payload 5 kg Longest Reach R76 mm -R5F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. Thanks to the higher control rate of the 1 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while shortening the cycle time and achieving the fastest speed in this class. Note. Longest reach in a respective class (76 mm) Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. ontrolled xis 6 5 kg ±.2 mm -17 to +17 Note 1 L-axis (lower rm) -65 to +15 Range of U-axis (upper arm) -136 to +255 Motion -19 to to +135 T-axis (wrist twist) -36 to rad/s, 376 /s L-axis (lower rm) 6.11 rad/s, 35 /s Maximum U-axis (upper arm) 6.98 rad/s, 4 /s Speed 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s T-axis (wrist twist) rad/s, 72 /s -R5F 51 4-M8 P1.25 Depth R R M4 P.7 Depth M4 P.7 Depth 8 Inertia mbient 12 N. m 12 N. m T-axis (wrist twist) 7 N. m.3 kg. m 2.3 kg. m 2 T-axis (wrist twist).1 kg. m 2 Humidity Vibration Power Requirements Note 2 27 kg to to 8%RH (non-condensing) 1. kv Note 1. For wall-mounted installation, the S-axis operating range is ±3. Note 2. Varies in accordance with applications and motion patterns. 4-M5 P.8 Depth 9 ф12h7 P..D (fitting depth) View 45 ф5h7 Depth 7 6±.1 View 66±.1 ase side cable connector is an optional item. <Part number> KEM-M (Two connectors) ir inlet Tapped holes PT1/4 (with pipe plug) 2-ф6H7 rticulated LM1 single-axis Single-axis single-axis L U S 37 D R T ф12h ± ±.1 92± ± ф12 (Mounting Holes) ±.1 rm side cable connector is an optional item. <Part number> KEM-M (Two connectors) IR1 4 3 IR View D 2 ir inlet Tapped hole PT1/4 (with pipe plug) 1 u

8 IR1 IR2 rticulated LM1 single-axis Single-axis single-axis -R5LF Maximum payload 5 kg Longest Reach R895 mm -R5LF 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. Thanks to the higher control rate of the 1 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while shortening the cycle time and achieving the fastest speed in this class. Note. Longest reach in a respective class (895 mm) Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. ontrolled xis 6 5 kg ±.3 mm -17 to +17 Note 1 L-axis (lower rm) -65 to +15 Range of U-axis (upper arm) -138 to +255 Motion -19 to to +135 T-axis (wrist twist) -36 to rad/s, 27 /s L-axis (lower rm) 4.89 rad/s, 28 /s Maximum U-axis (upper arm) 5.24 rad/s, 3 /s Speed 7.85 rad/s, 45 /s 7.85 rad/s, 45 /s T-axis (wrist twist) rad/s, 72 /s -R5LF 681 R M4 P.7 Depth R895 Inertia 4-M8 P1.25 Depth M4 P.7 Depth mbient 12 N. m 12 N. m T-axis (wrist twist) 7 N. m.3 kg. m 2.3 kg. m 2 T-axis (wrist twist).1 kg. m 2 Humidity Vibration Power Requirements Note 2 29 kg to to 8%RH (non-condensing) 1. kv Note 1. For wall-mounted installation, the S-axis operating range is ±3. Note 2. Varies in accordance with applications and motion patterns. 4-M5 P.8 Depth 9 ф12h7 P..D (fitting depth) View 45 ф5h7 Depth 7 6± View 2 ase side cable connector is an optional item. <Part number> KEM-M (Two connectors) 66±.1 ir inlet Tapped holes PT1/4 (with pipe plug) 2-ф6H L D 8 U R T S ф12h7 85± ф12 (Mounting Holes) ± ±.1 92± ±.1 rm side cable connector is an optional item. <Part number> KEM-M (Two connectors) IR1 4 3 IR2 2 ir inlet Tapped hole PT1/4 (with pipe plug) View D u 119

9 R6F Maximum payload 6 kg Longest Reach R1422 mm -R6F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. Thanks to the higher control rate of the 1 controller and vibration-damping control of the arm, we have reduced the residual vibration when the arm stops moving, while shortening the cycle time and achieving the fastest speed in this class. Note. Longest reach in its class (1422 mm) and increased moment capacity of the wrist. Note. Floor-mounted, wall-mounted, and ceiling-mounted types are available. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. This unit can also be used in combination with a travel axis or other external axis. Please contact us. ontrolled xis 6 6 kg ±.8 mm -17 to +17 Note 1 L-axis (lower rm) -9 to +155 Range of U-axis (upper arm) -175 to +25 Motion -18 to to +225 T-axis (wrist twist) -36 to rad/s, 22 /s L-axis (lower rm) 3.49 rad/s, 2 /s Maximum U-axis (upper arm) 3.84 rad/s, 22 /s Speed 7.16 rad/s, 41 /s 7.16 rad/s, 41 /s T-axis (wrist twist) 1.65 rad/s, 61 /s -R6F R L U 83 R27 64 R 155 T 13 R1422 rm side <Part number> KEM-M Inertia mbient 11.8 N. m 9.8 N. m T-axis (wrist twist) 5.9 N. m.27 kg. m 2.27 kg. m 2 T-axis (wrist twist).6 kg. m 2 Humidity Vibration Power Requirements Note 2 13 kg to to 8%RH (non-condensing) 1. kv Note 1. For wall-mounted installation, the S-axis operating range is ±3. Note 2. Varies in accordance with applications and motion patterns. 141 ф25h7 ф6h7 Depth 6 ф5h6 View M6 P1. Depth 9 P..D.4 4-ф18 (Mounting Holes) ir inlet PT3/8 with pipe plug () ase side <Part number> KEM-M View ir inlet PT3/8 with pipe plug () 132±.1 2-ф16H7 12±.1 153±.1 rticulated LM1 single-axis Single-axis single-axis S ф12h7 1±.1 13± ±.1 153±.1 132± u

10 rticulated -U5F Maximum payload 5 kg LM1 single-axis Single-axis single-axis -U5F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. High degree of motion like a human arm with its arm. Note. The arm has been slimmed by employing a newly developed miniaturized actuator for the wrist section, greatly reducing the interference of the arm with the workpiece. Note. The narrowing of the motion range that usually results when downsizing a robot is avoided by an ingenious mechanism used for the arm joints, so maximum range is maintained. Note. Light and weighs only 3 kg, so many installation choices are available: floor, ceiling, or wall. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air lines and eight-core cables) External axis specification for a hand can be accommodated. ontact MH regarding your requirements. ontrolled xis 7 5 kg ±.6 mm -18 to +18 L-axis (lower rm) -11 to +11 E-axis (elbow twist) -17 to +17 Range of Motion U-axis (upper arm) -9 to to to +11 T-axis (wrist twist) -18 to rad/s, 2 /s L-axis (lower rm) 3.49 rad/s, 2 /s E-axis (elbow twist) 3.49 rad/s, 2 /s Maximum Speed U-axis (upper arm) 3.49 rad/s, 2 /s 3.49 rad/s, 2 /s 4.1 rad/s, 23 /s T-axis (wrist twist) 6.11 rad/s, 35 /s -U5F 559 P-point Maximum Envelop ф129.5 U-axis L-axis R-axis R144 ф15 -axis ф8 R E S onnector 14.7 N. m 14.7 N. m T-axis (wrist twist) 7.35 N. m.45 kg. m 2 Inertia.45 kg. m 2 T-axis (wrist twist).11 kg. m 2 3 kg Power Requirements Note 1 1. kv to +4 Humidity 2 to 8%RH (non-condensing) mbient Vibration Note 1. Varies in accordance with applications and motion patterns. T S1 IR-1 (Red), IR-2 (lue) ir inlet (2 inlets) Tapped hole PT3/8 with a pipe plug rm side cable connector is an optional item. <Part number> KEM-M487-4 ir Tube (2 tubes) (Outside dia.: 4 mm, Inside dia.: 2.5 mm) 5 (fitting depth) (Note 1) ф8h7 97.5±.1 (Tolerance shall be applied only for 8 dia hole) 165 P..D.63 (Note 2) (Note 2) View 4-M6 P1. Depth ф6H7 Depth 6 4-ф1 (Mounting Holes) 2-ф8H7 11± ase side <Part number> KEM-M ±.1 (Tolerance shall be applied only for 8 dia hole) 62.5± View Note 1. The flange is equipped with a cable through hole. When mounting equipment such as an attachment, ensure that no foreign liquid, oil, or dust go into hole. Note 2. bolt is mounted for T-axis grease replenished. When attaching an attachment to 8 dia. -.35/ part of the T-axis, enough space for the grease zerk (-MT6X1) is required to the shape of the attachment u 119

11 -U1F Maximum payload 1 kg rticulated -U1F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56 points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. High degree of motion like a human arm with its arm. Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans. Note. Folds to compact size when not in use. Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. Optimal for handling small objects. Note. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air hoses and twelve-core cables) External axis specification for a hand can be accommodated. ontact MH regarding your requirements. ontrolled xis 7 1 kg ±.1 mm -18 to +18 L-axis (lower rm) -11 to +11 E-axis (elbow twist) -17 to +17 Range of Motion U-axis (upper arm) -135 to to to +11 T-axis (wrist twist) -18 to rad/s, 17 /s L-axis (lower rm) 2.97 rad/s, 17 /s E-axis (elbow twist) 2.97 rad/s, 17 /s Maximum Speed U-axis (upper arm) 2.97 rad/s, 17 /s 3.49 rad/s, 2 /s 3.49 rad/s, 2 /s T-axis (wrist twist) 6.98 rad/s, 4 /s -U1F P-point Maximum Envelop R ir Tube (2 tubes) IR-2 (lue) (Outside dia.: 4 mm, Inside dia.: 2.5 mm) 72 T-axis 73 -axis onnector Details S1-1 S R R-axis 84.5 U-axis E-axis 1 L-axis S-axis 31.4 N. m 31.4 N. m T-axis (wrist twist) 19.6 N. m 1. kg. m 2 Inertia 1. kg. m 2 T-axis (wrist twist).4 kg. m 2 6 kg Power Requirements Note 1 1. kv to +4 Humidity 2 to 8%RH (non-condensing) mbient Vibration Note 1. Varies in accordance with applications and motion patterns. 2-ф6H7 Depth (Range where the dimension 8 dia. is available) rm side cable connector is an optional item. <Part number> KEM-M487-5 IR-1 (Red) ф ir inlet (2 inlets) Tapped hole PT3/8 with a pipe plug (Note 1) ф8h ±.1 (Tolerance shall be applied only +.15 for 8 dia. hole) 97.5±.1 (Tolerance shall be applied only +.15 for 8 dia. hole) (Note 2) 4-ф14 (Mounting Holes) (Note 2) View 45 4-M6 P1. Depth 11 2-ф8H7 P..D.63 (holes for positioning) P..D ± ± (34) (264) View ase side <Part number> KEM-M Note 1. The flange is equipped with a cable through hole. When mounting equipment such as an attachment, ensure that no foreign liquid, oil, or dust go into hole. Note 2. bolt is mounted for T-axis grease replenished. When attaching an attachment to 8 dia. -.35/ part of the T-axis, enough space for the grease zerk (-MT6X1) is required to the shape of the attachment. 3 LM1 single-axis Single-axis single-axis 1 u

12 rticulated -U2F Maximum payload 2 kg LM1 single-axis Single-axis single-axis -U2F 4L 1 Model Power cable length Safety standard Language setting Option I/O Network option E: E marking J: Japanese/hinese N1, P1: 56/56points : -Link N4, P4: 14/14 points P: PROFIUS ES: EtherT slave Note. High degree of motion like a human arm with its arm. Note. The high flexibility of motion makes operation possible even in narrow spaces inaccessible to humans. Note. Folds to compact size when not in use. Note. Many installation options: on the floor, on the wall or on the ceiling. Please contact us separately regarding wall-mounted or ceiling-mounted installations. Note. ssembles and handles heavy objects up to 2 kg. Note. y utilizing internal user I/O wiring harness and air lines integrated in the arm, layout can be planned offline without worrying about peripheral interference. (Internal user I/O wiring harness and air lines specifications: two air hoses and sixteen-core cables) External axis specification for a hand can be accommodated. ontact MH regarding your requirements. ontrolled xis 7 2 kg ±.1 mm -18 to +18 L-axis (lower rm) -11 to +11 E-axis (elbow twist) -17 to +17 Range of Motion U-axis (upper arm) -13 to to to +11 T-axis (wrist twist) -18 to rad/s, 13 /s L-axis (lower rm) 2.27 rad/s, 13 /s E-axis (elbow twist) 2.97 rad/s, 17 /s Maximum Speed U-axis (upper arm) 2.97 rad/s, 17 /s 3.49 rad/s, 2 /s 3.49 rad/s, 2 /s T-axis (wrist twist) 6.98 rad/s, 4 /s -U2F rm side onnector Details S1-1 S1-2 <Part number> KEM-M487-4 ir1 (Red) ir Tube (2 tubes) ir2 (lue) (Outside dia.: 6 mm, Inside dia.: 4 mm) T-axis P-point Maximum Envelop -axis R R-axis 98 U-axis 58.8 N. m 58.8 N. m T-axis (wrist twist) 29.4 N. m 4. kg. m 2 Inertia 4. kg. m 2 T-axis (wrist twist) 2. kg. m 2 12 kg Power Requirements Note kv to +4 Humidity 2 to 8%RH (non-condensing) mbient Vibration Note 1. Varies in accordance with applications and motion patterns E-axis 19.5 L-axis S-axis (Usable dimension:1 dia.) ase side <Part number> KEM-M ф1h7 ф1 6 2-ф8H7 4-ф14 (Mounting Holes) ir inlet: ir1 Tapped hole PT3/8 with a pipe plug ir inlet: ir2 Tapped hole PT3/8 with a pipe plug 165 (Note 1) (Note 2) 2-ф8H7 Depth ±.1 3 View 13± ± View M8 P1.25 Depth 12 6± P..D (Note 2) 3 Note 1. The flange is equipped with a cable through hole. When mounting equipment such as an attachment, ensure that no foreign liquid, oil, or dust go into hole. Note 2. bolt is mounted for T-axis grease replenished. When attaching an attachment to 8 dia. -.35/ part of the T-axis, enough space for the grease zerk (-MT6X1) is required to the shape of the attachment u 119

13 for use with the series 1 1 controller specifications P programming pendant specifications rticulated onfiguration Dimensions Standard: IP2 (open structure) 47 mm (W) 42 mm (D) 2 mm (H) (Protrusions are not included.) 2 kg LM1 ooling System mbient Relative Humidity Power Supply Note Grounding Digital l/os Direct cooling During operation: to +4 During storage : -1 to +6 9% max. (non-condensing) Single-phase 2/23 V (+1% to -15%), 5/6 Hz Three-phase 2/22 V (+1% to -15%), 5/6 Hz Grounding resistance: 1 Ω or less Specialized signals: 8 inputs and 11 output General signals : 16 inputs and 16 outputs Max. I/O (optional) : 1,24 inputs and 1,24 outputs Dimensions 169 mm (W) mm (H) 5 mm (D).99 kg single-axis Single-axis Positioning System y serial encoder Programming apacity Expansion Slots LN (onnection to Host) Interface ontrol Method JO: 1, steps, 1, instructions IO ladder: 1,5 steps MP2 bus 5 slots 1 (1SE-T/1SE-TX) RS-232: 1ch Software servo control Material Operation Device Display Reinforced plastics Select keys, axis keys (8 axes), numerical/application keys, Mode switch with key (mode: teach, play, and remote), emergency stop button, enable switch, compact flash card interface device (compact flash is optional.), US port (1 port) pixels color LD, touch panel (lphanumeric characters, hinese characters, Japanese letters, ) single-axis Drive Units Painting olor Note. -R6F: Three-phase only. Six axes for. Two more axes can be added as external axes. (an be installed in the controller.) Munsell notation 5Y7/1 (reference value) IE Protection lass able Length IP65 Standard: 8 m, 4 m / 8 m / 12 m extension cable (maximum 2 m) Optimum controller for handling and assembly The 1 is a compact controller with improved performance and functions optimized for handling and assembly. Fits in a 19-inch rack and can be installed under conveyors. ommands specifically designed for workpiece handling with synchronized conveyors. Hardware Options External axis (max.: 2 axes) I/O module (28 points, NPN or PNP) Major fieldbus interface boards DeviceNet TM (master/slave), -Link (slave), PROFIUS (slave), EtherNet/IP TM (slave, I/O communications), EtherT (slave) Regarding the concurrent I/O ladder program Optional Functions onveyor synchronization Vision function External reference point control Software pendant The 1 controller is equipped with an NPN (or PNP) for standard I/O. Dedicated input/output is assigned to this standard I/O board. For this reason, if dedicated input/output is to be assigned to various types of field bus, concurrent I/O ladder program settings must be made. Sample programs can be downloaded from our website. Note Note. The member site requires registration. robot simulator that implements the same functionality as the actual controller MotoSim EG-VRG for MH Virtual programming before the actual line is completed allows major reduction in line startup time. Modeling layout Models of workers and workpieces can be easily laid out. Intuitive control of models Models can be moved intuitively, simply by using the mouse. Programming and debugging utomatic generation of robot operating programs, job editing, and job analysis can be performed easily. Intuitive robot operation The robot's posture can be operated intuitively, allowing more efficient teaching. Robot simulation The robot can be watched as it operates, allowing visual verification. 119

14 rticulated LM1 single-axis Single-axis single-axis Series ccessories and part options Series Standard accessories P programming box (with 8m cable) Parts for the 1 controller Name Model Language Name Model P-J KEN-M511-J Japanese Power supply connector KEN-M4871- P-E KEN-M511-E English Power supply cable clamp KEN-M4836- P- KEN-M511- hinese Dummy connector for shorting safety signal KEN-M537- Power supply protection fuse Standard I/O connector (STD.IO) Power cable (robot cable) Manipulator name Model able length able diameter ending radius -RJ KEM-M m Signal wire ф8.5 mm 85. mm Power wire ф13.5 mm 14. mm -R3F KEM-M m Signal wire ф17.5 mm 18. mm Power wire ф19.5 mm 2. mm -R5F/R5LF/R6F KEM-M m Signal wire ф17.5 mm 18. mm Power wire ф19.5 mm 18. mm -U5F/U1F KEM-M m Signal wire ф17.5 mm 18. mm Power wire ф16.1 mm 18. mm -U2F KEM-M m Signal wire ф17.5 mm 18. mm Power wire ф26. mm 26. mm Options Power cable (robot cable) Model Manipulator name able length (1 m) able length (15 m) able length (2 m) -RJ KEM-M471- KEM-M471-F KEM-M471-L -R3F KEM-M4711- KEM-M4711-F KEM-M4711-L -R5F/R5LF/R6F KEM-M4712- KEM-M4712-F KEM-M4712-L -U5F/U1F KEM-M4713- KEM-M4713-F KEM-M4713-L -U2F KEM-M4714- KEM-M4714-F KEM-M4714-L Device cable connector (connector for user wiring) Manipulator name Part position Model Remarks -RJ ase side KEM-M487- rm side KEM-M R3F ase side KEM-M4873- rm side KEM-M R5F/R5LF ase side KEM-M Two connectors rm side KEM-M Two connectors -R6F ase side KEM-M487-2 rm side KEM-M U5F ase side KEM-M rm side KEM-M U1F ase side KEM-M rm side KEM-M U2F ase side KEM-M487-6 rm side KEM-M487-4 able diameter KEN-M5853- KH-M442- KEN-M442- ending radius Signal wire ф8.5 mm 85. mm Power wire ф13.5 mm 14. mm Signal wire ф17.5 mm 18. mm Power wire ф19.5 mm 2. mm Signal wire ф17.5 mm 18. mm Power wire ф19.5 mm 18. mm Signal wire ф17.5 mm 18. mm Power wire ф16.1 mm 18. mm Signal wire ф17.5 mm 18. mm Power wire ф26. mm 26. mm Extension cable for P (extension cable for programming box) Name Model able length KEN-M531F-1 4 m Extension cable for KEN-M531F-2 8 m P KEN-M531F-3 12 m Dummy connector for P Name P dummy connector Maintenance parts Name attery unit for -RJ/R3F -R5F/R5LF/R6F attery unit for -U5F/U1F/U2F attery unit for 1 controller fan motor Model KEN-M5163- Model KEM-M53G3-1 KEM-M53G3- KEN-M53G3- KEN-M