Delta Robot High Speed Picking Parallel Link Robot

< Delta Robot series

FEATURES
M-1+A Series

● Thesemodels are light weight and compact high

speed assembly robots.

● Installation types of no stand, desktop stand and

ceiling mount are selectable. It makes easy inte-
gration in narrow space.

●A variety of wrist configurations (6 or 4 axes) and

operating area (standard or long arm) are sele-
ctable to meet different application needs.

●A camera for +RVision (integrated vision) can be

integrated in the mechanical unit.

M-2+A, M-3+A, DR-3+B Series

● These are parallel link robots for high speed

picking and assembly.

● According to applications, weights of objects,

necessity of posture change of the objects and
size of workspace, extensive models are lined up
from a middle size (operating space Φ800mm) to
a large size (operating space Φ1600mm).

● The enclosed structure realizes IP67 environmental

resistance (water/dust proof). There are also
R-30+B Compact Plus IP69K options which withstand high-pressure
washing (M-2+A/DR-3+B).

● NSF H1 food grade oil/grease are applied as

lubricants for all robot types. Materials and surface
finishing for food sanitary can be selected (options).

● The metal surface of DR-3+B/6 STAINLESS is all

stainless and can withstand daily washdown /
sterilization. This robot can be operated more
hygienically.

● Variousintelligent functions are available, such as

+RVision (integrated vision) and +RPickTool.
Operating space
M-2+A/3S M-2+A/3SL

0
13
a.1
00 Di
a.8
Di

37
37

1057
878

856
677

250
200

130
96

270
204

Dia.830
Work envelope Dia.580 Work envelope
(●part motion) (●part motion) Dia.1130
Dia.800

Specifications
Model M-2+A/3S M-2+A/3SL
Type Parallel link mechanism
Controlled axes 4 axes (J1, J2, J3, J4)
Installation Ceiling mount
Motion range J1- J3 Diameter 800 mm, height 300 mm Diameter 1130 mm, height 400 mm
(Maximum speed)
Note 1) J4 720º (3500º/s) 12.57 rad (61.06rad/s)
Max.payload at wrist 3 kg
Repeatability Note 2) ± 0.03 mm
Drive method Electric servo drive by AC servo motor
Mass Note 3) 130 kg
Ambient temperature ： 0 to 45℃
Ambient humidity
Installation environment Normally ： 75%RH or less (No dew, nor frost allowed)
Short term ： Max. 95%RH or less (within one month)
Vibration：4.9m/s2(0.5G) or less
Note 1) During short distance motions, the axis speed may not reach the maximum value stated.
Note 2) Compliant with ISO9283.
Note 3) Without controller.
Operating space
M-3+A/6S M-3+A/12H
Dia.1350
Dia.1350 For the payload
For the payload equal or less
equal or less than 6kg than 6kg

Dia.1300
Dia.1300 For the
For the payload payload 12kg
larger than 6kg

37
37

1028
1101

Work envelope

785
of ● point
858

Work envelope
of ● point

300

200
300
200

300
300

Dia.900
Dia.900
Dia.1300
Dia.1300
Dia.1350
Dia.1350

Specifications
Model M-3+A/6S M-3+A/12H
Type Parallel link mechanism
Controlled axes 4 axes (J1, J2, J3, J4) 3 axes (J1, J2, J3)
Installation Ceiling mount
Motion range(Maximum J1-J3 Diameter 1350 mm, height 500 mm Note 4)
speed) Note 1) J4 720º (4000º/s) 12.57 rad (69.81 rad/s) −
Max.payload at wrist 6 kg (8 kg with an option) 12 kg
Repeatability Note 2) ±0.03 mm
Drive method Electric servo drive by AC servo motor
Mass Note 3) 160 kg 155 kg
Ambient temperature ： 0 to 45℃
Ambient humidity
Installation environment Normally ： 75%RH or less (No dew, nor frost allowed)
Short term ： Max. 95%RH or less (within one month)
Vibration：4.9m/s2(0.5G) or less
Note 1) During short distance motions, the axis speed doesn't reach maximum one.
Note 2) Compliant with ISO9283.
Note 3) Without controller.
Note 4) In case the payload is larger than 6 kg, there is a limitation on the work envelope.
Operating space
DR-3+B/6 STAINLESS DR-3+B/8L

Dia.1600

Dia.1200

37
25
1044

878

1375

1217
300
245 205

310
155
Dia.970

345
Dia.1200
Work Envelope
of ● point
Dia.1200
Work Envelope Dia.1600
of ● point

Specifications
Model DR-3+B/6 STAINLESS DR-3+B/8L
Type Parallel link mechanism
Controlled axes 4 axes (J1, J2, J3, J4)
Installation Ceiling mount
Motion range(Maximum J1-J3 Diameter 1200 mm, height 450 mm Diameter 1600 mm, height 500 mm
speed) Note 1) J4 720º (1714º/s) 12.57 rad (29.91rad/s) 720º (2000º/s) 12.57 rad (34.91rad/s)
Max.payload at wrist 6 kg 8 kg
Repeatability Note 2) ±0.03 mm
Drive method Electric servo drive by AC servo motor
Mass Note 3) 250 kg 170 kg
Ambient temperature ： 0 to 45℃
Ambient humidity
Installation environment Normally ： 75%RH or less (No condensation allowed)
Short term (within one month) ： Max. 95%RH or less (No condensation allowed)
Vibration：4.9m/s2 (0.5G) or less
Note 1) During short distance motions, the axis speed may not reach the maximum value stated.
Note 2) Compliant with ISO9283.
Note 3) Without controller.
Operating space
M-1+A/0.5A, M-1+A/0.5S M-1+A/0.5AL, M-1+A/0.5SL
80
.2 20
IA .4
D DIA

185
185

370

430
370

430
384

334
499

535
435

205
205

484.1
310.85

535
297.6
124.35

/0.5A /0.5AL
438

80
52.5

127
60

205
29 39

40

29 39
205

Work envelope

23
Work envelope R366

18
7

DIA. 94
310.85

484.14
(●part motion)
39.5
EG
.
DIA. 280 (●part motion) DIA. 200

.
D

G
30

DE
39.5
18

DIA. 420

30
/0.5S /0.5SL
52.5
60

80
127
40
15

Work envelope R366

15
DIA.94 Work envelope

23
(●part motion) DIA.280
(●part motion) DIA.200
DIA.420

Specifications
Model M-1+A/0.5A M-1+A/0.5S
Type Parallel link mechanism
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6) 4 axes (J1, J2, J3, J4)
Installation Floor, angle and ceiling mount Floor and ceiling mount
J1-J3 Diameter 280 mm, height 100 mm
Motion range 720º (1440º/s) 12.57 rad (25.13 rad/s) 720º (3000º/s) 12.57 rad (52.34 rad/s)
J4
(Maximum speed)
J5 300º (1440º/s) 5.24 rad (25.13 rad/s) −
Note 1)
J6 720º (1440º/s) 12.57 rad (25.13 rad/s) −
Max.payload at wrist 0.5 kg (1 kg with an option)
Repeatability Note 2) ±0.02 mm
Drive method Electric servo drive by AC servo motor
Mass Note 3) 17 kg 14 kg
Ambient temperature：0 to 45℃
Ambient humidity
Installation environment Normally：75%RH or less (No dew, nor frost allowed)
Short term：Max. 95%RH or less (within one month)
Vibration：4.9m/s2 (0.5G) or less

Model M-1+A/0.5AL M-1+A/0.5SL

Type Parallel link mechanism
Controlled axes 6 axes (J1, J2, J3, J4, J5, J6) 4 axes (J1, J2, J3, J4)
Installation Floor, angle and ceiling mount Floor and ceiling mount
J1-J3 Diameter 420 mm, height 150 mm
Motion range 720º (1440º/s) 12.57 rad ( 25.13 rad/s) 720º (3000º/s) 12.57 rad ( 52.34 rad/s)
J4
(Maximum speed)
J5 300º (1440º/s) 5.24 rad ( 25.13 rad/s) −
Note 1)
J6 720º (1440º/s) 12.57 rad ( 25.13 rad/s) −
Max.payload at wrist 0.5 kg (1 kg with an option)
Repeatability Note 2) ±0.02 mm
Drive method Electric servo drive by AC servo motor
Mass Note 3) 20 kg 17 kg
Ambient temperature：0 to 45℃
Ambient humidity
Installation environment Normally：75%RH or less (No dew, nor frost allowed)
Short term：Max. 95%RH or less (within one month)
Vibration：4.9m/s2 (0.5G) or less
Note 1) During short distance motions, the axis speed may not reach the maximum value stated.
Note 2) Compliant with ISO9283.
Note 3) In case of "No stand"
 Space saving M-1+A
Work envelope is closed around operation object so
that the total installation space can be minimized.
It enables to place the robot and the worker along
the manufacturing line effectively.

General articulated robot

working space

R140
04
(R210 for R7
long arm)

Pouched goods arranging by DR-3+B/8L

High speed arranging the foods by M-3+A/6S Fresh food arranging by DR-3+B/6 STAINLESS

● Headquarters 3580, Shibokusa, Oshino-mura, Minamitsuru-gun

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Phone: (+81)555-84-5555 https://www.fanuc.co.jp/
● Overseas
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All specifications are subject to change without notice.

No part of this catalog may be reproduced in any form.
The products in this catalog are controlled based on Japan's“Foreign Exchange and Foreign Trade Law". The
export from Japan may be subject to an export license by the government of Japan. Further, re-export to
another country may be subject to the license of the government of the country from where the product is
re-exported. Furthermore, the product may also be controlled by re-export regulations of the United States 2022
government. Should you wish to export or re-export these products, please contact FANUC for advice. DELTA(E)-01, 2023.4, Printed in Japan