3. BASIC SPECIFICATIONS
B-84194EN/04
Table 3.1 (a) Specifications (Note 1)
Item
Model
Type
Controlled axes
Reach
Installation
J1-axis
J2-axis
J3-axis
Motion range J4-axis
J5-axis
J6-axis
Maximum speed
(NOTE 3)
Specification
CRX-5iA
994mm
400° (6.98 rad)
635° (11.08 rad)
CRX-10iA
CRX-10iA/L
CRX-20iA/L
Articulated type
6-axis(J1, J2, J3, J4, J5, J6)
1249 mm
1418 mm
Floor, Upside-down, Wall & Angle mount (Note 2)
380° (6.63 rad)
360° (6.28 rad)
360° (6.28 rad)
570° (9.95 rad)
540° (9.42 rad)
380° (6.63 rad)
360° (6.28 rad)
450° (7.85 rad)
1000mm/s (NOTE 4)
(high speed mode 2000mm/s (NOTE 5))
Maximum load at wrist
5kg
10kg
J4-axis
Allowable
load moment
J5-axis
at wrist
J6-axis
J4-axis
Allowable
load inertia J5-axis
at wrist
J6-axis
Repeatability (NOTE 6)
Robot mass
Dust proof and drip
proof mechanism
(NOTE 7)
Acoustic noise level
19.0Nm
34.8Nm
15.4Nm
6.7Nm
0.77kg.m2
0.50kg.m2
0.10kg.m2
±0.03mm
25kg
26.0Nm
11.0Nm
1.28kg.m2
0.90kg.m2
0.30kg.m2
±0.04mm
40kg
40kg
CRX-25iA
1889mm
1000mm/s (NOTE4) 1000mm/s (NOTE4)
(high speed mode
(high speed mode
1000mm/s (NOTE5)) 2000mm/s (NOTE5))
25kg
(Max.30kg
20kg
NOTE 12)
100.0Nm
(Max.115.0Nm
70.0Nm
NOTE13)
64.0Nm
85.0Nm
30.0Nm
32.0Nm
4.00kg.m2
4.70kg.m2
2
4.00kg.m
4.00kg.m2
2.00kg.m2
2.00kg.m2
±0.05mm
41kg
135kg
Conform to IP67
Less than 70dB (NOTE 8)
Operating 0 to 45℃ (NOTE 9)
Storage,Transport -10 to 60℃
Ambient humidity:
Normally 75%RH or less (No condensation allowed.)
Short time (Within 1 month) 95%RH or less (No condensation allowed.)
Installation environment
Permitted altitude:
up to 1000 m above sea level
Free of corrosive gases (NOTE 10)
Vibration acceleration : 4.9m/s2 (0.5G) or less (NOTE 11)
Environment without fire
Ambient temperature:
NOTE
1
2
3
4
5
6
7
8
9
10
11
12
13
Even if the robot is used according to the defined specifications, motion programs might shorten reducer life or cause the
robot to overheat. Use ROBOGUIDE for further evaluation before running production.
There is no limit of operating space for all the installation types. (CRX-5iA has restrictions. If you perform angle mount
installation, please contact your local FANUC representative.)
During short distance motions, the speed may not reach the maximum value stated.
It is necessary to set a motion speed according to risk assessment of system considering pinching with the surroundings.
If the area is monitored by a safety sensor (located separately).
Compliant with ISO9283.
Definition of IP code
Definition of IP 67
6 = Dust-tight: Complete protection against contact
7 = Protection from water immersion: Ingress of water in harmful quantity shall not be possible
when the enclosure is immersed in water under defined conditions of pressure and time.
This value is equivalent continuous A-weighted sound pressure level, which applied with ISO11201 (EN31201). This
value is measured with the following conditions.
- Maximum load and speed
- Operating mode is AUTO
When robot is used in low temperature environment that is near to 0ºC, or not operated for a long time in the environment
that is less than 0ºC in a holiday or the night, collision detection alarm (SRVO-050) etc. may occur since the resistance of
the drive mechanism could be high immediately after starting the operation.
Contact the service representative, if the robot is to be used in an environment or a place subjected to hot/cold
temperatures, severe vibrations, heavy dust, cutting oil splash and or other foreign substances.
Depending on the vibration of the floor or the hand, robot may stop due to the vibration in less than this value.
The operating space is restricted when 30kg payload mode is selected. Refer to Fig. 3.2 (e).
J4-axis allowable load moment when 30kg payload mode is selected.
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