MELFA Family Промышленные роботы

MELFA Family
Industrial Robots
Consistent Quality –
Precise Control
Articulated-arm robots / SCARA robots / High-performance
Controllers / Programming software / Simulation /
MELFA Industrial Robots
Features in detail
Robots from € 1.65/hr
Calculated on the basis of their average service
life, around 6–7 years in typical applications,
Mitsubishi Electric robots have a surprisingly low
total cost of ownership at around € 1.65/h per
hour for both purchasing and operation.
Enclosed housing and IP54
for maximum protection
and hygiene
Internally-routed cables and hoses
prevent snagging on peripheral
equipment.
Versatility
Small robots have been used in more than
30,000 applications in widely differing fields
since 1978 – and what is more they work around
the clock, 24 hours a day, 7 days a week.
Mitsubishi Electric
servo motors for
ultimate performance
and speed
Suitable for high-precision
com­ponent placement with
repeatability performance of
±0.005 mm and a cycle period
of just 0.28 s.
Innovative design
Mitsubishi Electric’s high-performance robots
are the result of market-leading technology
combined with carefully planned design. For
example, locating pneumatic hoses and signal
cables in the robot body reduces the complexity
and cost of connecting grippers and sensors and
increases operational reliability.
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The World’s first twin-arm
SCARA robot with parallel
structure for maximum precision.
MELFA Industrial Robots
Simple programming
Intelligent metal construction
and twin-arm structure give
the robots particularly high
rigidity and precision.
A powerful range of robots needs an equally
powerful and user-friendly programming
interface. Mitsubishi Electric’s RT ToolBox2
and MELFA WORKS packages are powerful
programming and simulation software tools
tailored precisely for the needs of your robots.
All the gripper hands of the
articulated-arm robots conform
to the ISO 9409-1 standard.
Compact and economical
Compact mounting and an availability of 99.9 %
with the highest quality are the most important
factors for any application.
The high-precision Harmonic
Drive transmission helps
to provide exceptional
repeatability performance.
A very compact design takes up
minimum space for applications
in cramped quarters.
Network capabilities
Network connections like Ethernet, ProfiBus,
ProfiNet, DeviceNet and CC-Link make it easy to
integrate Mitsubishi Electric robot controllers in
to larger systems, providing users with access to
every step of the process.
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Precision
Precision and Flexibility
Pharmaceutical industry
Modular control concepts and pharmaceutical industry certification make MELFA
robots the ideal partner in the life sciences
sector. Integral database connection and
an all-embracing control concept facilitate
modular and flexible applications in any
field where quality and production data
have to be backed up in a comprehensible
manner.
Food and drink
Increasing hygiene demands, a variety of
products and the traceability of production
processes are ensured with MELFA robots –
now and in the future.
Innovative details and stringent guidelines
for MELFA robots guarantee assured quality
even in ultra-clean applications.
Automotive industry
Highly accurate and extremely flexible
MELFA robots are used whenever every little detail matters – haptic measurement,
quality assurance and assembly of complex
components. MELFA robots carry out their
tasks around the clock and at full speed.
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Flexibility
Packaging
High-performance and flexibility are a
matter of course for MELFA robots. It goes
equally without saying that all Mitsubishi
Electric automation components can be
incorporated. These include additional axes,
PLC controllers and operating terminals.
Furthermore, cameras can be connected
and robots synchronised with conveyor
belts. These functions enable packaging
tasks to be carried out reliably, quickly and
continuously.
Electronics and
­mechanical engineering
Mitsubishi Electric provides a wide range of
products from parallel-arm robots for the
micro assembly of miniature components to
fully sealed articulated arm robots. There are
no applications which are not suitable for
MELFA robots. Whether cleanroom or dirty,
oily and dusty environments, the product
range always includes the right robot for
your application.
Training
Learning from practical experience – a goal
which can be achieved in a training environment with the compact, lightweight MELFA
robots. Simple programming, simulation
options and experienced teachers make
entry into the field of robotics easy.
No limits – thanks to standard real-time
interfaces and simple programming, MELFA
robots provide all sorts of options for using
the robots as manipulators, even for complex university research projects.
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Technical features
The technology in detail
F-Q Series –
full PLC functionality
in the robot
As robots are never installed on a standalone basis, the system must be easy to
integrate into its working environment to
enable it to communicate with PLC and
motion systems as well as operating panels
and other systems. Together with the modular robot CPU, the Mitsubishi Electric iQ Platform provides the ideal basis for integrating
the full functionality of a PLC into the robot
controller – once again demonstrating the
company’s role as a pioneer in automation
technology.
More safety
The DIN ISO-10218 safety standard is common to all robots and therefore guarantees
safe operation in all applications. Mitsubishi
Electric’s supplementary product range
including safety controllers enables the
robots to be integrated into a common
safety concept. Ready-made example projects make it possible for anyone to put
together even complex systems quickly
and effectively.
Sensor-controlled
robots with image
processing
Mitsubishi Electric’s industrial robots can be
connected to any object recognition camera
system via the ethernet port or the robot
controller’s RS232 interface. This enables
static and moving parts to be detected with
the correct positional information.
The possible uses of sensor-controlled
robots in factory automation are manifold.
They range from component assembly
via quality control and the reworking of
workpieces to the location and removal of
objects from a conveyor belt.
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Technical features
Simple integration into
complex applications
Up to eight additional axes can be connected directly to the robot controller with
just one cable. Of these, two axes can be
used as additional interpolating axes, e.g. as
the seventh and eighth robot axis. The special feature compared with other systems
is that all additionally connected axes can
be programmed in exactly the same way as
the robot, using the same Teach-Box or the
standard RT ToolBox2 software. This avoids
the additional expense of software, training
and programming.
More efficient
monitoring and
maintenance functions
Ethernet
Direct connection of the company’s infrastructure GOT operating terminal via
Ethernet opens up a number of monitoring, control and maintenance functions for
the robot. The correction of taught points,
the backup and restore function, the entry
of production data, and the selection and
control of processes are just some of the
options provided by the Mitsubishi E­ lectric
operating terminal in conjunction with
MELFA robots.
Open communication
for PC connection
The robot controller can be connected to
an MES system, for example for easily and
quickly changing manufacturing sequences
without stopping production.
Furthermore, the robot can be initiated for
any kind of movement in real time. Flexible
and complex movements, which are generated graphically on the PC, for example, can
be realised in this way.
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Software for industrial robots
Programming and Simulation
High-performance industrial robots also
require high-performance software. For
this reason, more and more automation
engineers are opting for the versatile and
convenient Mitsubishi Electric software. All
tasks, such as the creation of projects, programming and simulation, are implemented
intuitively and mesh perfectly with one
another. This results in optimum movement
sequences in the shortest possible installation and commissioning time.
Programming
Offline and online programming with
simulation
Simulation
3D-CAD import and up to 16 robots can be
simulated in one project; additional axes
can be connected and positions taught
directly in the simulation.
Parameters
Parameter structure for the simple parameterisation of functions; complete overview
of all parameters with display of modified
values only.
Maintenance
Full backup and restore function and monitoring of service intervals, production runtimes and product cycles.
Monitoring
Display of load currents, position values,
variables and variable positions. Monitoring of switching signals, program execution
and fault history.
Documentation
Full project documentation with output of
modified parameters, program code and
positions.
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Simulation of a Mitsubishi Electric industrial robot directly in an application
3D-simulation with
MELFA-Works
The MELFA-Works add-in tool for SolidWorks
enables a robot in a production system to be
simulated on a PC, and converts the workpiece paths into robot position data.
Supplementing the SolidWorks platform by
the addition of MELFA-Works extends the
simulation functions and opens up new
simulation possibilities.
The CAD data of the system can be
directly imported
Grippers can be connected directly to
the robot
Handling of workpieces
Offline teaching in a 3D environment
Creation of robot programs
Collision-checking between robot and
system environment
The convenient
operating terminal
for mobile teaching
The R56TB is a powerful operating panel for
carrying out all tasks directly at the robot,
from controlling the robot and displaying the loads by means of the input/output display to complete program creation
and parameterisation. The comprehensive
functions ensure optimum utilisation of the
robot system and thus reduce setup times.
The integral USB port enables data to be
exchanged conveniently, and complete
controller backups can be uploaded and
downloaded through a memory stick.
Automation solutions
A world of
automation solutions
Robots
Motion control and servos
Inverters
LV circuit protection
Laser machines
CNC
controllers
HMI and GOTs
EDM machines
Micro PLCs
Modular PLCs
Mitsubishi Electric offers a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines.
A name to trust
Since its beginnings in 1870, some 45 companies use the Mitsubishi name, covering
a spectrum of finance, commerce and
industry.
The Mitsubishi brand name is recognized
around the world as a symbol of premium
quality.
Mitsubishi Electric Corporation is active in
space development, transportation, semiconductors, energy systems, communications and information processing, audio visual equipment, home electronics, building
and energy management and automation
systems, and has 237 factories and laboratories worldwide in over 121 countries.
This is why you can rely on a Mitsubishi
Electric automation solution – because we
know first hand about the need for reliable,
efficient, easy-to-use automation and control in our own factories.
As one of the world’s leading companies with
a global turnover of over 4 trillion Yen (over
$40 billion), employing over 100,000 people,
Mitsubishi Electric has the resource and
the commitment to deliver the ultimate
in service and support as well as the best
products.
Global partner. Local friend.
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Version check
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Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany /
Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / info@mitsubishi-automation.com / https://eu3a.mitsubishielectric.com
Art. no. 203684-G / 11.2013 / Specifications subject to change / All trademarks and copyrights acknowledged.
Ukraine
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Robots Productrange
Technical Information Section
Further Publications within the Industrial Automation Range
HMI Family
Brochures
Product catalogue for operator terminals, supervision software
and accessories
MR Family
Product catalogue for servo amplifiers and servo motors as well as
motion controller and accessories
FX Family
Product catalogue for programmable logic controllers and
accessories for the MELSEC FX family
Q/L Family
Product catalogues for programmable logic controllers and
accessories for the further MELSEC PLC series
FR Family
Product catalogue for frequency inverters and accessories
LVS Family
Product catalogue for low voltage switchgears,magnetic
contactors and circuit breakers
Automation Book
Overview on all Mitsubishi Electric automation products, like frequency
inverters, servo/motion, robots etc.
Further service supplies
This product catalogue is designed to give an overview of the extensive range of Mitsubishi Electric MELFA RV-F-, RV-FH-, RH-SDH- and
RP-ADH series. If you cannot find the information you require in this catalogue, there are a number of ways you can get further details on
configuration and technical issues, pricing and availability.
For technical issues visit the https://eu3a.mitsubishielectric.com website.
Our website provides a simple and fast way of accessing further technical data and up to the minute details on our products and s­ ervices.
Manuals and catalogues are available in several different languages and can be downloaded for free.
For technical, configuration, pricing and availability issues contact our distributors and partners.
Mitsubishi Electric partners and distributors are only too happy to help answer your technical questions or help with configuration building. For a list of Mitsubishi Electric partners please see the back of this catalogue or alternatively take a look at the „contact us“ section of
our website.
About this product catalogue
This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and configuration the associated product manuals must be read. You must satisfy yourself that any system you design with the products in this
catalogue is fit for purpose, meets your requires and conforms to the product configuration rules as defined in the product manuals.
Specifications are subject to change without notice. All trademarks acknowledged.
© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group
The products of Mitsubishi Electric Europe B.V., that are listed and described in this document, are neither subject to
approval for export nor subject to the Dual-Use List.
2
Contents
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Robots
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Overview robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Industrial robots RV-2F(B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Industrial robots RV-4FLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Industrial robots RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
Industrial robots RV-13FM/RV-13FLM/RV-20FM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
Industrial robots RP-1ADH, RP-3ADH und RP-5ADH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Industrial robots RH-3SDHR/SQHR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Industrial robots RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
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Controller
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Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Dimensions of the control units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
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Accessories
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Teaching box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Wiring set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Interface boards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Tubes and extension cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
PC and I/O connection cables, controller protection box and buffer batteries. . . . . . . . . . . . . . . . . . . . . . . . . . . .
General overview of options.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Programming Language
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MELFA-BASIC IV/V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
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Software
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RT Toolbox2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
MELFA-Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
3
Overview robots
A complete lineup
Overview robots 
1
Large range of robot models makes selection easy
Mitsubishi Electric produces a comprehensive range of robot models to cater to
the full spectrum of modern needs.
All Mitsubishi Electric robots are powerful, fast and compact – that goes almost
without saying.
The product range includes the almost
universal articulated-arm robots with
6 degrees of freedom and payloads of 2 kg
to 20 kg and SCARA robots with 4 degrees
of freedom and payloads of 3 kg to 20 kg
for assembly and palletising tasks.
Two special models are the unique
high-precision robots with their parallel
arm structure for very fast micro handling
tasks with payloads of 1 kg to 5 kg as well
as the flexible high-speed SCARA robot for
ceiling mounting.
Vertical, multiple-joint type (RV)
Type
Number of axis
Payload Maximum reach radius Environmental
specifications
kg
mm
Standard
Clean
RV-2F(B)
6
2
504
IP30
—
RV-4FLM
6
4
649
IP67
(ISOclass3 optional)
Controller
RV-7FM
6
7
713
IP67
(ISOclass3 optional)
RV-7FLM
6
7
908
IP67
(ISOclass3 optional)
RV-7FLLM
6
7
1503
IP67
(ISOclass3 optional)
RH-3SDHR
4
3
350
IP20 (IP65 optinal)
(ISOclass5 optional)
RH-3SQHR
4
3
350
IP20 (IP65 optional)
(ISOclass5 optional)
CR2DA
CR2QA + Q172DRCPU
CR750-D/CR750-Q + Q172DRCPU
Horizontal, multiple-joint type (RH/RP)
Type
Number of axis
Payload Maximum reach radius Environmental
specifications
Controller
4
Standard
Clean
RP-1ADH
RP-3ADH
RP-5ADH
4
4
4
kg
1
3
5
mm 150x105 (corresponds to DIN A6) 210x148 (corresponds to DIN A5) 297x210 (corresponds to DIN A4)
IP30
IP30
IP30
—
—
—
CR1DA
Overview robots
Overview robots 
1
RV-13FM
6
13
1094
IP67
(ISOclass3 optional)
RV-13FLM
6
13
1388
IP67
(ISOclass3 optional)
RV-20FM
6
20
1094
IP67
(ISOclass3 optional)
CR750-D/CR750-Q + Q172DRCPU
RH-3FH5515
4
3
550
IP20
(ISOclass3 optional)
RH-6FH5520
4
6
550
IP54 (IP65 optional)
(ISOclass3 optional)
RH-12FH8535
4
12
850
IP54 (IP65 optional)
(ISOclass3 optional)
RH-20FH10035
4
20
1000
IP54 (IP65 optional)
(ISOclass3 optional)
CR750-D/CR750-Q +Q172DRCPU
5
Special Functions
Shortened takt times
„„
Improved control performance
Special Functions
1
Torque
Torque increased
Produced the fastest operating performance in its class
using high-performance motors and unique driver control
technology developed by Mitsubishi Electric.
New generation of
motor
zz Enabled high torque output at high rotational speed,
shortening acceleration/deceleration time
zz Shortened positioning time for improved device throughput
Previous generation
of motor
zz Continuous operability improved
Speed increased
Rotational speed (rpm)
Improved tooling performance
„„
Internal routing of hand wiring and signal cable
zz Internal routing of cables and air hoses
zz No interference with cables around devices
Internal routing of wiring
and wiring channels
enabled within the arm
up to the J6 axis tip.
Internally embedded valves
zz Reduced risk of wiring disconnection
To hand
Flexibility with internal Ethernet cable tools
Internal installation of wiring and piping for connecting to
vision sensors enabled.
zz Hand: 8 input points/8 output points
zz Ethernet cable for the vision sensor
Ethernet connected
on the back of the
base
zz Attachment of the vision sensor to the wrist facilitates
wiring.
zz Additional cables to control vision systems or other
sensors
Vision sensor
Full use of installation space
„„
Expanded pivotal operating range
Expanded J1 axis pivotal operating range to allow access to rear of machine
zz Improved flexibility for robot layout design
24
zz More effective use of access space around the entire
perimeter
0°
zz Shortened movement distances, enabling takt times to be
shortened
Delivery
0°
24
Removal
Diversity through flexibility
6
Rear access on RV-4F
Special Functions
Improved user friendliness
„„
Simple automatic operation from the teaching box
1
zz Same functions as on the operating panel of the robot
controller
Special Functions
zz Monitoring screens can be set up individually to match
the needs of user debugging conditions
zz Enabled for R32TB and R56TB
Robot control screen (R56TB)
Enables automatic operation of servo motor on/off, startup and shutdown, reset, program selection, and other
operations.
GOT backup/restore functions
(Supported on GT14, GT15 and GT16)
Backup
Robot data on the GOT can be backed up to and restored
from a CF card or USB memory stick. Due to the direct
Ethernet connection a PC is not required
zz This helps prevent data from being lost due to the empty
battery / battery or robot malfunction.
CF card
Restore
zz Data can be saved after periodic maintenance tasks are
performed or when unexpected errors occur. Dramatically
improves serviceability
Improved accuracy
„„
Deflection compensation function
kθ
zz Compensates for deflection in the robot arm occurring
due to gravity
compensation
zz Improved palletization accuracy
zz Improved trajectory accuracy
Deflection
compensation
Simplified tool length setting
Tool settings for the tool coordinate system can be set by
attaching the tool and using three to eight of the same
teaching points.
zz Eliminates errors introduced when the tool was made.
zz Higher precision
zz Saving time, since measuring the tool is not necessary.
Tool length
Set using three to
eight teaching points
7
Special Functions
Adaptation to operation
„„
Orthogonal compliance control
Special Functions
1
Insertion direction or normal control direction
This function reduces the rigidity of the robot arm and
tracks external forces.
Copy plane
Tool coordinate system
zz Special hands and sensors are unnecessary
zz Reduced tooling costs
Robot hand
zz Shortened line stop times
+Y
+Z
Positioning device
Collision avoidance (Q type controllers only)
„„
The robot is stopped, even before collisions can occur.
This is possible due to the fast position control, that ist
implemented in the iQ Platform as a standard feature.
zz Robots can operate together in a confine space without
interfereing with each other
zz Reduces the number of recovery man-hours required
after a collision
zz Already represented in the simulation of the RT ToolBox2
Possible collisions with other robots
are avoided.
Coordinated control (Q type controllers only)
„„
Enables coordinated control between multiple robots
through CPU connection between the robots.
zz Easy to operate by predefined default function
zz Enables transport of lengthy or heavy objects using smallsized robots
zz Programming as already known by using standard commands
Enables installation work to be completed while
gripper positions between robots are maintained.
8
+X
Special Functions
Connection to peripheral devices
„„
Network vision sensor
1
Special Functions
The robot and camera can be easily simultaneously
calibrated through a simple process using vision sensor
setting tools.
zz Simple connection between the robot and camera using
Ethernet
zz Simple control using vision control commands in the
robot programs
zz Shortened takt times
zz Reduced system costs
Tracking
Transport, alignment, and installation work, etc. can be
performed while robots are tracked with the workpiece on
the conveyor without stopping the conveyor.
zz Higher throughput of components
Vision sensor
zz Easy programm creation (MELFA BASIC IV/V)
zz No need for an additional positioning device
Encoder
Conveyor
Processing capability
increased by 15%
Can be used with multiple conveyors at the same time (Up to 2).
Additional axis function
The layout can be set up to include the robot traveling axis
and turntable as well as user machines separate from the
robot such as loaders and positioning devices.
Robot
Up to 8 additional axes
zz Up to 8 additional axes can be controlled by the controller
zz No additional motion control hardware necessary
zz Plug-and-play compatibility with the MELSERVO
(MR-J4-B, MR-J3-BS) servos
zz Two axes can be contolled simultaneous with the robot
zz No need of special programming knowledge, because
standard instructions are used
Additional
axis
User
machine
User
machine
Up to 2 axes
Up to 3 axes
Up to 3 axes
Machine 1
Machine 2
Machine 3
Additional axis
Simultaneous control
Compatible with MR-J4-B and MR-J3-BS
9
Special Functions
Safety features
„„
Special Functions
1
Safety circuits (emergency stop circuits) can easily be
installed for the customer‘s entire system, not just for the
robot itself.
zz Complies with the latest ISO-10218-1 (2011) standards for
Robots and robotic devices - Safety requirements
zz Meets the requirements for PL d of ISO13849-1 Category 3
Applicable standards
zz CE: European Conformity
(European safety standards)
Compliant with the EMC Directive, 2004/108/EC
Compliant with the Machinery Directive, 2006/42/EC
zz KCC: Korean Communications Commission
(Korean safety certification)
Complies with the revised Korea Radio Act (Article 58 Section 2)
Sustained tracking during emergency stop
The robot trajectory can be sustained even when the
machine is shut down using an emergency stop.
Shutdown with
trajectory sustained
zz Reduction of interference with peripheral devices
Note: Use of this function does not guarantee that the trajectory will be sustained.
The trajectory may be shifted out of line depending on the timing at which
the emergency stop is activated.
Target position
Starting position
Emergency stop
Collision detection function
This function detects if the arm collides with an obstacle
while teaching or operating, and helps reduce damage to
the robot arm and tools.
zz Protection of workpiece from becoming damaged
Collision
detection
zz Shortened line stop times
zz Reduced maintenance costs
Password and safety functions
Read/write protection prevents parameters from
being overwritten and programs from being changed
inadvertently. Sensitive data can be protected using
password protection.
zz Passwords can be set to protect created programs
zz The viewing and copying of data from the teaching
pendant and RT ToolBox2 can be disabled
Program-related
Parameter-related
RT Tool Box2
Protected and restricted functions
Reading and writing of programs
Program deletion and copying
Renaming and initialization of programs
Writing of parameters
Data backup and restore
zz Writing operations for parameters can be disabled
Mitsubishi Electric offers even more products with security features such as modular and compact PLCs, inverters or servo amplifiers.
Refer to the Automation Book for detailed information.
10
Special Functions
Special functions with GOT terminals and the iQ Platform
„„
Shared memory expansion
zz Enables the robot to be controlled from the GOT even
without a teaching box
zz Current robot position data, error information, and other
items can be displayed easily on the GOT
Operation panel screen
Jog/hand operation screen
Current position monitor screen
Current value and load factor
monitor screen
Maintenance forecast screen
Manual/video display menu
zz Connection with a single Ethernet cable and direct access
to the control unit
zz 8192 input an output points can be exchanged via
­Ethernet connection
No need to use any
robot programs!!
Direct execution function for programmable
­controllers
Command number
Robots can be controlled easily using programmable
controller language.
Programmable controller
+ Robot CPU
Destination number
Designated option
zz Control of system operation using an single programmable controller
zz Direct changing of system specifications via programmable controller
Sequence program
Robot
zz Direct handling of troubleshhooting
zz Simple movement to teached positions by PLC program
zz No need to use any robot programs
Operation
Motion control
Details
Joint-interpolated motion
Linear-interpolated motion
Designated override
Designated acceleration/deceleration settings
Designated speed
Tool settings
Designated auxiliary motion
Opening/closing of hand
11
Special Functions
1
Enhanced efficiency of monitoring and maintenance
operations onsite using a single GOT (display device) as the
Human Machine Interface (HMI).
Specifications
Industrial robots RV-2F(B)
„„
The articulated arm robots RV-2F(B)
1
Robots
The compact and light RV-2F(B) can be seamless integrated into
different automation systems. Flexibility and the wide range of
motion permits acting in applications with limited space, like
mounting, assembling, palletising, sorting or bonding. Even the
basic model is available with a fully equipped standard controller
or as PLC robot with integration onto the iQ Platform.
Highlights:
zzOnly 19 kg weight and extremely compact
zzHighest flexibility
zzFloor, wall and ceiling installation possible
zzPosition repeatability of ±0.02 mm
RV-2F(B)
Characteristics/Functions
Degrees of freedom (no. of axes)
Installation posture
Structure
Drive system
Position detection method
Operating range
Maximum speed
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
Maximum composite speed
Payload capacity
Tolerable inertia
Arm reachable radius
(to the center point of the J5 axis)
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Gripper flange
Protection rating
Robot controller
Order information
12
degree/s
mm/s
rated
maximum
Position repeatability
Ambient temperature
Weight
Tolerable moment
degree
kg
mm
°C
kg
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
Nm
kgm²
Specifications
RV-2F-D1-S16
RV-2F-Q1-S16
6
Floor, ceiling or wall mounting possible
Vertical multiple-joint type
AC servo axes J1, J4, J6: no brake
Absolute encoder
480 (-240–+240)
240 (-120–+120)
160 (0–+160)
400 (-200–+200)
240 (-120–+120)
720 (-360–+360)
300
150
300
450
450
720
4955
2
3
±0.02
0 to 40
19
4.17
4.17
2.45
0.18 (0.27)
0.18 (0.27)
0.04 (0.1)
RV-2FB-D1-S15
RV-2FB-Q1-S15
AC servo (brakes on all axes)
mm 504
Hand input 4 points / hand output 4 points
Ø4x4 (from the base level to the gripper hand area)
MPa (bar) 0.5 ±10 % (5 ±10 %)
ISO 9409-1-31.5
IP30
CR750-D
Art. no. 255212
CR750-Q + Q172DRCPU
CR750-D
CR750-Q + Q172DRCPU
255214
255211
255213
Dimensions and movement ranges
Robot arms RV-2F(B)
„„
RV-2F(B)
1
-24
R5
Robots
0°
04
.6
Motion space at
point P
504.6
504.6
70
270
209
50
°
R2
20
-1
20
0°
.5
39
0°
757
799.6
-12
R230
40°
+2
Top view
R139.5
9
°
389.6
270
45
R230
1.5
䃥3
䃥5H7
4-M5
䃥20H7
䃥4
0h8
94.6
221
1.7
504.6
°
2
+1
R504.6
528
Motion space at
point P
R1
+1
408
A
280
Side view
View x
Dimensions: mm
13
Specifications
Industrial robots RV-4FLM
„„
The articulated arm robots RV-4FLM
1
Robots
The robots of the RV-4 F series are designed for easy integration
into existing work cells or innovative and compact applications.
Features such as the direct control over local I/Os allows the robot
to interact directly with sensors and actuators, speeding up and
simplifying system building. A new innovative design allows a
maximum of flexibility, so that the robot can expand his workspace to work faster and more flexible.
Highlights:
zzSlim arm design
zzIP67 protection
zzInternal routed cables and air hoses
zzExtended maintenance intervals
zz4 kg rated and maximal payload
RV-4FLM
Characteristics/Functions
Degrees of freedom (no. of axes)
Installation posture
Structure
Drive system
Position detection method
Operating range
Maximum speed
Maximum composite speed
Payload capacity
Position repeatability
Ambient temperature
Weight
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
maximum
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
wrist twist (J4)
Tolerable inertia
wrist pitch (J5)
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Gripper flange
Protection rating
Tolerable moment
Robot controller
Order information
14
degree
degree/s
mm/s
kg
mm
°C
kg
Nm
kgm²
mm
MPa (bar)
Specifications
RV-4FLM-D1-S15
RV-4FLM-Q1-S15
6
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)
Vertical multiple-joint type
AC servo (brakes on all axes)
Absolute encoder
480 (±240)
240 (-120–+120)
164 (-0 to +164)
400 (±200)
240 (-120–+120)
720 (±360)
420
336
250
540
623
720
9048
4
±0.02
0–40
41
6.66
6.66
3.96
0.20
0.20
0.10
649
Hand input 8 points / hand output 8 points
Ø6x2 for robot connection (Ø4x8 from base portion to forearm)
0.54 (as overpressure if required)
ISO 9409-1-31.5
IP67 (Optional cleanroom model available)
CR750-D
Art. no. 255268
CR750-Q + Q172DRCPU
255272
Dimensions and movement ranges
Robot arms RV-4FLM
„„
RV-4FL
1
-24
R6
0°
48
.7
Robots
R1
40
.4
-35°
(*6)
Motion space at
point P
648.7
648.7
125
Rz25
50
310
102
80
+240°
6)
(160)
80
4-䃥9
45°
䃥5H7
(200)
80
(160)
80
102
Rz25
128
R648.7
490
°
20
+1
°(*
998.7
point P
R140.4
+1
10
350
Motion space at
point P
)
-114°(*6
0°
14.7
point P
335
-12
764.9
648.7
85
140
230
170
.5
1
䃥3
.D.
P.C
(200)
4-M5
䃥20
H7
䃥
40
h8
Gripper flange
ISO 9409-1-31,5
Dimensions: mm
15
Specifications
Industrial robots RV-7FM/7FLM/7FLLM
„„
The articulated arm robots RV-7FM/7FLM/7FLLM
1
Robots
The RV-7FM with a nominal and maximum payload of 7 kg sets
new benchmark standards for speed, flexibility, ease of integration
and simplicity of programming. For an optimum work radius the
robot is available in three versions with ranges from 713 mm to
1503 mm. Ethernet, USB, tracking, camera connection and additional axis connections are standard in all MELFA Robot Series.
Highlights:
zzCycle time of only 0.32 s (RV-7FM) for a 12-inch cycle
zzDrastically increased working range for J1 and J4 axis for
a maximum working area
zzInternal wiring
zzIP67 protection
zzWorkspace radius of up to 1503 mm (RV-7FLLM)
RV-7FLM
Characteristics/Functions
Degrees of freedom (no. of axes)
Installation posture
Structure
Drive system
Position detection method
Operating range
Maximum speed
Maximum composite speed
Payload capacity
Position repeatability
Ambient temperature
Weight
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
maximum
wrist twist (J4)
Tolerable moment
wrist pitch (J5)
wrist roll (J6)
wrist twist (J4)
Tolerable inertia
wrist pitch (J5)
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Gripper flange
Protection rating
Robot controller
Order information
16
degree
degree/s
mm/s
kg
mm
°C
kg
Nm
kgm²
mm
MPa (bar)
Specifications
RV-7FM-D1-S15/
RV-7FLM-D1-S15/
RV-7FM-Q1-S15
RV-7FLM-Q1-S15
6
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)
Vertical multiple-joint type
AC servo (brakes on all axes)
Absolute encoder
480 (±240)
240 (-115–+125)
240 (-110–+130)
156 (-0–+156)
162 (-0–+162)
400 (±200)
240 (-120–+120)
720 (±360)
360
288
401
321
450
360
337
450
720
11064
10977
7
±0.02
0–40
65
67
16.2
16.2
6.86
0.45
0.45
0.10
713
908
Hand input 8 points / hand output 8 points
Ø6x2 for robot connection (Ø4x8 from base portion to forearm)
0.54 (as overpressure if required)
ISO 9409-1-31.5
IP67 (Optional cleanroom model available)
CR750-D/CR750-Q + Q172DRCPU
Art. no. 255275/
255279
RV-7FLLM-D1-S15
RV-7FLLM-Q1-S15
6 (super long arm)
380 (±190)
240 (-90–+150)
167.5 (-10–+157.5)
234
164
219
375
15300
±0.06
130
1503
CR750-D/CR750-Q + Q172DRCPU
CR750-D/CR750-Q + Q172DRCPU
255276/
255280
268460/
268462
Dimensions and movement ranges
Robot arms RV-7FM/7FLM/7FLLM
„„
713.4
125
85
R
-240
°
71
370
4
270
200
4-M5
245
.䃥
.D
P.C
䃥20H
7
䃥4
0h
8
.5
31
1113.4
-240°
0
R9
907.7
907.7
7.7
125
85
°
40
+2
Gripper flange
ISO 9409-1-31,5
245.7
RV-7FLM
point P
168.4
䃥5H7
45°
R
4
7.
19
400
568.4
4- 䃥9
102.5 102.5
470
102
Motion space at
point P
1307.7
30
+1
.8
400
R192.8
92
939.4
0°
7
07.
R9
point P
Rz25
352.3
752.3
15.9
-11
°
point P
435
907.7
50
270
200
R1
124.5
340
844.4
15.9
Rz25
(205)
102.5 102.5
(205)
+1
2
5°
713.4
50
Motion space at
point P
.4
R197
4
13.
R7
Rz25
162
5°
124.5
-11
point P
1
3.
Robots
713.4
RV-7FM
124.5
(205)
102.5 102.5
4- 䃥9
45°
245
102.5 102.5
(205)
162
124.5
Rz25
4-M5
䃥20H
7
䃥4
0h
8
.5
31
.䃥
.D
P.C
°
40
+2
䃥5H7
Gripper flange
ISO 9409-1-31,5
245.7
RV-7FLLM
point P
Motion space at
point P
Motion space at
point P
4- 䃥9
45°
.5
31
.䃥
.D
P.C
䃥5H7
4-M5
䃥20
H7
䃥
40
h8
Gripper flange
ISO 9409-1-31,5
Dimensions: mm
17
Specifications
Industrial robots RV-13FM/RV-13FLM/RV-20FM
„„
The articulated arm robots RV-13FM/RV-13FLM/RV-20FM
1
Robots
The high-performance robots RV-13 and RV-20 are specially
suited for handling heavy loads. Due to the compact body and
slim arm design, the robots can operate in a large work area. The
anti-collision function of the iQ Platform models prevents collisions between robots which are working close together.
Highlights:
zzinternal routing of cables and air hoses through the robot arm
zzNew gears for quiet, precise positioning and movement
zzmaximum payload of 20 kg (RV-20FM)
zzProtection rating IP67 standard
RV-20FM
Characteristics/Functions
Degrees of freedom (no. of axes)
Installation posture
Structure
Drive system
Position detection method
Operating range
Maximum speed
waist (J1)
shoulder (J2)
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
waist (J1)
shoulder (J2)
234
164
110
elbow (J3)
wrist twist (J4)
wrist pitch (J5)
wrist roll (J6)
312
375
375
720
10450
12
13
±0.05
0–40
120
19.3
19.3
11
0.47
0.47
0.14
1094
Hand input 8 points / hand output 8 points
Primary: Ø 6x2, secondary: Ø 6x8
0.54 (as overpressure if required)
ISO 9409-1-31,5
IP67 (Optional cleanroom model available)
CR750-D/CR750-Q + Q172DRCPU
219
110
124
125
360
4200
15
20
Maximum composite speed
Payload capacity
wrist twist (J4)
Tolerable moment
wrist pitch (J5)
wrist roll (J6)
wrist twist (J4)
Tolerable inertia
wrist pitch (J5)
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Gripper flange
Protection rating
Robot controller
18
degree/s
mm/s
rated
maximum
Position repeatability
Ambient temperature
Weight
Order information
Specifications
RV-13FM-D1-S15
RV-13FLM-D1-S15
RV-20FM-D1-S15
RV-13FM-Q1-S15
RV-13FLM-Q1-S15
RV-20FM-Q1-S15
6
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)
Vertical multiple-joint type
AC servo (all axes with brakes)
Absolute encoder
380(±190)
240 (-90–+150)
167.5 (-10–+157.5)
degree
400 (±200)
240 (-120–+120)
720 (±360)
290
234
110
kg
mm
°C
kg
Nm
kgm²
mm
MPa (bar)
Art. no. 268488/
268492
9700
130
120
49.0
49.0
1.40
1.40
1388
1094
268490/
268494
268504/
268506
Dimensions and movement ranges
Robot arms RV-13FM/RV-13FLM/RV-20FM
„„
RV-13FM/20FM/13FLM
Punkt P movement area
K
(minus side)
1
Robots
A
point P
F
G
B
H
D
J
point P
C
E
Punkt P movement area
(plus side)
㻠㻙䃥㻝㻠㻌
㻌
㻠㻙㻹㻢㻌
Dimensions: mm
Variable dimensions
Robot series
RV-13FM/20FM
RV-13FLM
A
550
690
B
R964
R1258
C
R280
R328
D
410
565
E
R554
R693
F
1004
1143
G
1191
1416
H
1414
1708
J
R410
R458
K
R1094
R1388
Dimensions: mm
19
Specifications
Industrial robots RP-1ADH, RP-3ADH and RP-5ADH
„„
The SCARA robots RP-1ADH, RP-3ADH and RP-5ADH
1
Robots
The RP-1ADH, RP-3ADH and RP-5ADH SCARA robots are in their
element in all applications calling for fast and precise placement
of components in limited space. The unique mechanical design of
these robots gives them a significant edge for improved productivity and micro-handling quality.
Highlights:
zzRepeatability ±0.005 mm (RP-1ADH)
zzFootprint just 200x160 mm (RP-1ADH)
zzPick & Place cycle time <0.5 s
zzunique concept
RP-5ADH
Characteristics/Functions
Degrees of freedom (no. of axes)
Installation posture
Drive system
Position detection method
Brake attachment
Payload capacity
Operating range
Maximum speed
Inertial moment
Position repeatability
Ambient temperature
Weight
Tool wiring
Supply pneumatic pressure
Robot controller
Order information
20
rated
maximum
width ´ depth
vertical
twist
J1/J2
J3
J4
wrist
X, Y direction
Z direction
direction of the wrist twist
kg
mm
mm
degree
degree/s
mm/s
degree/s
2
kgm
mm
mm
degree
°C
kg
MPa (bar)
Specifications
RP-1ADH
4
Floor mounting
AC servo
Absolute encoder
All axes
0.5
1.0
150x105 (DIN-A6)
30
±200
480
800
3000
3.10x10-4
±0.005
±0.01
±0.02
0–40
12
8 inputs/8 outputs
0.5 ± 10 % (5 ± 10 %)
CR1DA
Art. no. 252843
RP-3ADH
RP-5ADH
1.0
3.0
210x148 (DIN-A5)
50
2.0
5.0
297x210 (DIN-A4)
432
960
1330
1.60x10-3
±0.008
1230
3.20x10-3
±0.01
±0.03
24
25
252844
252885
Dimensions and movement ranges
Robot arms RP-1ADH, RP-3ADH and RP-5ADH
„„
RP-1AH
RP-1ADH
1
198
(162)
120
34
107
95
6
Robots
4
36
56
5.5
5
12
10
0,5
0
14 8
2
R3
)
(56
0,5
R3
,5
24
5
22
ø6h7
M6
ø8
ø18
0,5
5,5
R3
100
61
5,5
38
140
56
28
110°
(5
6
76
)
A
R30,5
24
,5
95
140
155
165
100
56
133
150
162
233,9
105
32
160°
120
180
224,9
4xØ9 hole
80
24,2
150
100
B
ø 18
ø8
110
6,5
°
180
230
177
77 6
B
31
R140
85
R14
0
95
31
R23
8
M5
21
30
24
A
RP-3AH/RP-5AH
RP-3ADH/RP-5ADH
50
31 31
36
12
5,5
5
8
30
28
11
E
85
170
200
216
(ø23)
R42
13,5
140
155
165
ø14h7
ø15h7
84
120
180
224,9
13,5
E
D
A
28
(E
)
4xØ9 hole
36
C
13,5
267
42
261
180
40
50
77 6
103,5
8
15
3,5
ø15h7
ø14h7
ø11
(12)
(23)
118
(ø23)
280
42
13,5
B
A
B
RP-3ADH
RP-3AH
Variable dimensions
RP-5ADH
RP-5AH
332
148
450,9
20
130
210
190
170
50
200
50
260
105°
Robot series
RP-3ADH
RP-5ADH
C
140
200
D
200
260
E
86
116
105°
160°
160°
297
210
110
°
110
5
°
R33
3,2
R26
R200
0
0
R45
R20
(38)
8
82,5
)
(E
D
263
(213)
85
141
125
100
Dimensions: mm
21
Specifications
Industrial robots RH-3SDHR/SQHR
„„
The SCARA robots RH-3SDHR/SQHR
1
Robots
With its special compact design and support for overhead installation above the application, the robot RH-3SDHR/SQHR doesn’t
take up any valuable space in the work area next to the installation
location, enabling even smaller work cell dimensions. The 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 with a
repeatability of just ±0.01 mm while manipulating a payload of up
to 3 kg.
Highlights:
zzOverhead installation for minimum space requirements
zzOnly 24 kg weight
zzCycle times of only 0.32 s
zzHigh stability due to compact design
zzPneumatic hoses and signal wires are routed inside the robot
RH-3SDHR/RH-3SQHR
Characteristics/Functions
Degrees of freedom (no. of axes)
Machine class
Installation posture
Structure
Drive system
Position detection method
Brake attachment
Payload capacity
Maximum reach
Operating range
Maximum speed
rated
maximum
arm 1 + arm 2
J1
J2
J3 (Z)
J4 (Θ axis)
J1
J2
J3 (Z)
J4 (Θ axis)
Maximum composite speed
Allowable wrist moment of inertia
Position repeatability
Ambient temperature
Weight
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Protection rating
Robot controller
Order information
22
rated
maximum
X, Y direction
J3 (Z direction)
J4 (Θ axis)
kg
mm
degree
degree
mm
degree
degree/s
degree/s
mm/s
degree/s
mm/s
kgm2
mm
mm
degree
°C
kg
MPa (bar)
Specifications
RH-3SDHR3515
RH-3SQHR3515
4
4
Standard
Overhead
Horizontal multiple-joint type
AC servo
Absolute encoder
Axes J1, J2, J4: no brake; axis J3: with brake
1
3
350
450 (±225)
450 (±225)
150
1440 (±720)
672
708
1500
3146
6267 (J1, J2)
0.005
0.05
±0.01
±0.01
±0.01
0–40
24
Input 8 points/output 8 points (option: output 8 points), 8 spare wires
Primary: Ø 6x2 (secondary: Ø 4x8 by option)
5 ±10 % for the pneumatic gripper
IP20 (Optional IP65 and cleanroom model available)
CR2DA
CR2QA + Q172DRCPU
Art. no. 237390
237391
Dimensions and movement ranges
Robot arms RH-3SDHR/SQHR
„„
RH-3SQHR/3SDHR
Robot origin
Robots
1
J4 axis center path
Installation
surface
4-M8 jack-up hole
4- Ø 9 installation hole
J1
2-M12 suspension hole
J2
J4
operating range
:
J3
operating range
: 0 –150mm
J2 axis operating range
J1 axis operating range
Dimensions: mm
23
Specifications
Industrial robots RH-FH
„„
The SCARA robots RH-FH
1
Robots
SCARA robots are ideal for sorting, palletising and component
installation due their short cycle time. The robots of the RH-F
series achieve the highest speeds in their class thanks to the new
motors developed by Mitsubishi Electric, high arm rigidity and
unique control technology.
The resulting reduced cycle time of only 0.29 seconds for a 12"
cycle make for significantly increased productivity and improved
continuous operation.
Highlights:
zzConnections for pneumatic grippers, Ethernet, USB, tracking
functions, camera interface, hand I/O, additional axis controller
and an interface for GOT HMIs
zzFully enclosed cabling to end of spindle for protection and
safety
RH-12FH
zzRH-6/12/20FH has the tried-and-tested protection class IP54
(IP65 optional)
RH-6FH
zzFoodgrade H1 grease as standard – ideal for food and beverage
industry
Characteristics/Functions
Degrees of freedom (no. of axes)
Machine class
Installation posture
Structure
Drive system
Position detection method
Brake attachment
Payload capacity
Maximum reach
Operating range
Maximum speed
rated
maximum
arm 1 + arm 2
J1
J2
J3 (Z)
J4 (Θ axis)
J1
J2
J3 (Z)
J4 (Θ axis)
Maximum composite speed
Allowable wrist moment of inertia
Position repeatability
Ambient temperature
Weight
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Protection rating
Robot controller
Order information
24
rated
maximum
X, Y direction
J3 (Z direction)
J4 (Θ axis)
kg
mm
degree
degree
mm
degree
degree/s
degree/s
mm/s
degree/s
mm/s
kgm2
mm
mm
degree
°C
kg
MPa (bar)
Specifications
RH-3FH5515-D1-S15
RH-6FH5520-D1-S15
RH-12FH8535N-D1-S15
RH-20FH10035N-D1-S15
RH-3FH5515-Q1-S15
RH-6FH5520-Q1-S15
RH-12FH8535N-Q1-S15
RH-20FH10035N-Q1-S15
4
4
4
4
Standard
Floor mounting
Horizontal multiple-joint type
AC servo
Absolute encoder
Axes J1, J2, J4: no brake; axis J3: with brake
1
3
3
5
3
6
12
20
550
550
850
1000
340 (±170)
290 (±145)
306 (±153)
150
200
350
350
720 (±360)
400
400
280
280
720
670
450
450
1100
2400
2800
2400
3000
2500
2400
1700
8300
8300
11350
13283
0.005
0.01
0.025
0.065
0.06
0.12
0.3
1.05
±0.012
±0.012
±0.015
±0.015
±0.010
±0.004
±0.005
0–40
32
37
69
77
Input 8 points/output 8 points (total 20 scores)
Primary: Ø 6x2, secondary: Ø 4x8
5 ±10 % for the pneumatic gripper
IP20
IP54 (IP65 with additional bellow, optional cleanroom model available)
CR750-D/CR750-Q + Q172DRCPU
Art. no. 250377/
250380
250383/
250389
254377/
254383
254388/
254392
Dimensions and movement ranges
Robot arms RH-FH
„„
RH-3FH
Robots
1
A
M4
F
D
E
M4
G
J
B
H
C
(Ø 8 prepared hole for positioning pins)
92
Rz25
2-䃥6
䃥90
䃥37.5
90
10
92
174
180
10
䃥16h7
60
Rz25
Z
30
10
30
Z
150
10
Z
10
Z
120
150
4-䃥9
䃥90
15
15
1
䃥1
Dimensions: mm
Variable dimensions
Robot series
RH-3FH5515
A
125
B
R350
C
R142
D
210
E
R253
F
220
G
R174
H
342
J
150
RH-6FH
165
25
A
4 55
100
82
20
H
412
E
160(*1)
200(*2)
䃥90
60.5
Z
Z
Z
10
92
90
120
150
4-䃥9
60
Rz25
䃥90
174
150
Z
30
Z
10
24
8
䃥1
10
24
180
92
䃥25h7
2-䃥6
(Ø 8 prepared hole for positioning pins)
30
27.5
10
Z
10 10
Z
10
Z
15
䃥39.5
58
5°
14
174
X
Rz25
K
X
F
164
136
10
J
Y
G
110
65
D
22 13.2
L
170°
C
30
225
130
M
(*3)
60
10
B
(*3)
10
Dimensions: mm
Variable dimensions
Robot series
RH-6FH5520
A
325
B
R550
C
R191
D
160
E
R244
F
172
G
R197
H
337
J
200
K
133
L
798
M
386
25
174
Z
30
24
10
Dimensions and movement ranges
Z
150
hole
180
gh
rou
8th
䃥1
10
24
RH-12FH/20FH
1
80
H
C
D
E
140
F
0
80
B
R8
Robots
170°
400
340
G st
75
120
A2
A1
200
240
RH-20F H
RH-12F H
8
10
200
120
122
11
䃥25h7
24
Z
10
Z
10
10
10
Z
Z
Installation reference
surface
䃥110
䃥110
10
122
11
䃥30h7
䃥25h7
4-䃥16
240
200
Z
8
Z
10
Z
44
10
52
Z
10
10
2-䃥6 prepared holes for positioning
Installation reference
surface
䃥30h7
29
18
21
䃥
24
28
䃥
Dimensions: mm
4N9 ( -0.030)
0
Variable dimensions
Robot series
RH-12FH/20FH85m
RH-20FH100m
26
A1
525
525
A2
325
475
B
R850
R1000
C
R278
R238
D
153°
153°
E
—
240
F
1080/1180
1080/1180
G
350/340
350/340
H
—
R295
System overview
F-D series system configuration
„„
<Robot arm options>
Scope of delivery
1
Pulse encoder
GOT
<Equipment used for standard configuration>
Robots
Hand curl tube
Vision system
<Controller options>
Hand output cable
Encoder
interface
NC controller
Hand input cable
Ethernet
External I/O
cable
Remote parallel
I/O unit
Controller
Servo
Solenoid valve set
Machine cable
Internal wiring and
piping set for hand
Additional
axis interface
External user wiring
and piping box
POWER
On-board parallel
I/O interface
MODE
Teaching pendant
(option)
QY42P
QY42P
RUN
ERR
USER
QJ71LP21-25
BAT
BOOT
USB
communication
Robot
Q25HCPU
PULL
External I/O
cable
PULL
USB
RS-232
Programmable
controller
CC-Link
interface
GOT
<Software options>
Network interface
card (EtherNet/IP/
Profinet)
USB cable
MELFA-Works
Servo
(MR-J3-BS/MR-J4-B)
SSCNETIII
RT ToolBox2
F-Q series system configuration (iQ Platform)
„„
<Robot arm options>
Scope of delivery
Ethernet
Hand curl tube
Vision system
GOT
Hand output cable
<Standard devices>
Encoder
interface
Insert
Robot CPU
M EL SEC
Q6xP
Q173DPX
POWER Q01CPU
RUN
ERR
Q172DRCPU
Q41X
SW
CN1
PULL
▼
MITSUBISHI
▼
RS-232
CN2
PULL
Cable for robot
CPU-to-DU connection
TU I/F
Hand input cable
DISPLAY I/F
STOP RUN
EMI
iQ Platform-compatible
programmable controller
NC controller
Drive unit
Solenoid valve set
Internal wiring and
piping set for hand
Machine cable
External user wiring
and piping box
Servo
Controller
Robot
GOT
Teaching pendant
(option)
Pulse encoder
<Software options>
USB cable
USB
communication
MELFA-Works
RT ToolBox2
SSCNETIII
Additional
axis function
Servo
(MR-J3-BS/MR-J4-B)
27
Robot controller
Controller specifications
„„
Powerful controller
1
Every robot system has its own compact, modular robot controller,
which contains the CPU and the power electronics for controlling
the robot.
2
Mitsubishi Electric’s robot controllers have a particularly slim,
compact design. No matter which Mitsubishi robot you use the
programming language and options are always the same. You can
add special application functions by inserting expansion option
cards in the slots in the controllers. Therefore it is possible, to integrate the controller into different types of networks.
CR2DA
Controller
CR1DA
All Controller has already implemented functions like Ethernetand USB-Connection, Additional Axes Control over
SSCNETIII and Tracking Encoder interface as a standard.
The control unit CR750 also includes the input and output card for
the connection of a pneumatic or electric gripper.
Controller CR750-D
Drive unit CR750-Q
Characteristics/Functions
Shipped with robot
Robot CPU
Path control method
Number of controllable axes
Programming language
Position teaching method
Memory capacity
no. of teaching points
no. program steps
no. of programs
general purpose I/Os
dedicated I/Os
External inputs/outputs
Ambient temperature
Relative humidity
CR750-D
CR750-Q
RV-2F/4F/4FL/7F/7FL/13F/13FL/20F
RH-3FH/6FH/12FH/20FH
—
Q172DRCPU
PTP control and CP control
6 robot axes + 2 interpolation axes + 6 independent axes
MELFA-BASIC IV/V
Teaching method, MDI method
39000
13000
78000
26000
512
256
up to 8192 shared with
up to 256 optinal
PLC CPU
Assigned to generalAssigned to multiple CPU
purpose I/O
common device
CR1DA
CR2DA
RP-1ADH/3ADH/5ADH
RH-3SDHR/RH-3SQHR
—
—
Q172DRCPU
13000
26000
256
13000
26000
256
up to 256
up to 256
Assigned to generalpurpose I/O
Assigned to generalpurpose I/O
13000
26000
256
up to 8192 shared with
PLC CPU
Assigned to multiple CPU
common devices
8 Inputs/0 Outputs
hand open/close
8 Inputs/8 Outputs
emergency stop I/Os
door switch input
enabling device input
mode output
robot error output
synchronization of additional axes
Ethernet
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (10BASE-T/ 100BASE-TX)
USB
1 (Ver. 2.0 device functions
only, mini B terminal)
° C 0–40
1 (USB port of programmable controller CPU unit
can be used.)
0–40 (drive unit)/0–55
(Robot CPU)
CR2QA
1 (Ver. 2.0 device functions only, mini B terminal)
0–40
0–40
% RH 45–85
RV-2F/4F, RH-3FH/6FH: 1-phase 180–253 V AC
input voltage range
V RV-7F, RH-12FH/20FH: 3-phase 180–253 V AC or 1-phase
RP-1/3/5ADH, RH-3SDHR: 1-phase 180–253 V AC
207–253 V AC
Power supply
RH-3FH: 0.5; RV-4F, RH-6FH: 1.0; RH-12FH/20FH:
power capacity
kVA RV-2F,
1.0
2.0
1.5; RV-7F: 2.0; RV-13F/20F: 3,0
Dimensions (WxHxD) including legs
mm 430x174x425
430x174x425
270x290x200
468x200x408
Weightkg 16
16
9
2
Structure (protective specification)
Self-contained floor type/open structure (Vertical and horizontal position can be placed) (IP20) + IP54 protection box available as an option
GroundingΩ 100 or less (class D grounding)
28
Robot controller
Controller dimensions
„„
CR750-D/CR750-Q
(40)
(70.3)
1
Controller
(30)
(30)
370
430
(21.7)
85
425
260
158
174
(80)
2
CR1DA
CR2DA/CR2QA
45
7
310
408
15
185
401
(24)
4 - M5
(36)
468
32
20
333
45
200
408
Dimensions: mm
29
Teaching box and handsets
Teaching box for F series, SD/SQ series and ADH series robots
„„
Operation and programming
1
The R56TB teach panel is a multifunctional
control and programming terminal for all
Mitsubishi Electric F series, SD/SQ series
and ADH series robots. Its intuitive user
interface makes it easy to control robot
movements and perform extensive diagnostics and monitoring functions for users
of all levels. All safety-critical functions such
as robot movements are assigned to keys.
2
R56TB
Accessories
3
R32TB
Programming and monitoring functions
are accessed and adjusted quickly and easily via the bright 6.5” touchscreen display.
In addition to controlling robot movements the terminal has many other functions: For example, writing programs with
a virtual on-screen keyboard and monitoring all system status parameters, inputs
and outputs, including those accessed via
the network.
A complete backup of the robot can simply
be loaded or stored on an USB stick via the
R56TB.
Specifications
Compatibility
Functions
R56TB
R32TB
All Mitsubishi Electric F series, SD/SQ series and ADH series robots
Operation, programming and monitoring of all robot functions
Read out information, also during operation;
program editing with virtual keyboard; display up
Read out information, also during operation,
to 14 lines of program code; I/O monitoring for up
program editing with T9-Key standard, supervising
Programming and monitoring
to 256 inputs and 256 outputs; service display with of I/Os, display of error alarms, Right-/Left-Hand
information on maintenance intervals; error display usage, 36 keys for operation selection
with details of the last 128 alarms
Software
Integrated operating system software with menu-based user interface
Menu navigation (language)
German, English, French, Italian
English, Japanese
Monochrome LCD graphic display
type/dimensions 6.5" TFT display (640x480 pixels)
(24 characters x 8 lines
Display
technology
Touchscreen with backlight
LCD with backlight
Interfaces
USB, Ethernet for connection to the robot controller
RS422 for connection to the robot controller
Connection
Direct connection to the robot controller, cable length 7m
Protection rating
IP65
IP65
kg 1.25
Weight 0.9
Order information 30
Art. no. 218854
214968
Wiring
Internal/external wiring
„„
Internal wiring/piping set for hand
Specifications
Robots
Strokemm
Length from the shaft end mm
Attachment
Remarks
Weight Order information 1F-HS304S-01
RH-3FH
—
300
4 air hoses (Ø3),
8 hand input cables (0.2 mm²)
2 power cables (0.3 mm²)
Both ends are free.
Eight reducers (Ø3 to Ø4) are
attached.
The robot arm side is connector
(HC1, HC2), and one side is free.
kg 0.4
Art. no. 250468
1
A bracket to fix the set on the arm 2 is
included. The set can be used with an
optional solenoid valve.
2
1F-HS408S-01
RH-6FH
200
300
4 air hoses (Ø4),
8 hand input cables (0.2 mm²)
2 power cables (0.3 mm²)
1F-HS604S-01
RH-12FH/20FH
350
400
4 air hoses (Ø6),
8 hand input cables (0.2 mm²)
2 power cables (0.3 mm²)
Both ends are free.
The robot arm side is connector
(HC1, HC2), and one side is free.
Both ends are free.
The robot arm side is connector
(HC1, HC2), and one side is free.
250469
254396
3
External wiring/piping box
With this option hand output and input
cables and pneumatic hoses can be routed
from the back of arm 2 to the spindle end
outside the robot casing. Connections for
connecting the external hoses and brackets for attaching the cables and hoses are
Specifications
Robots
Attachment
Weight Order information Pulled out from
robot arm
Forearm
Base
included. The option can also be used for
oil mist and clean room models. A bracket
to fix the set on the arm 2 is included. The
set can be used with an optional solenoid
valve.
1F-UT-BOX
1F-UT-BOX-01
RH-3FH/6FH
RH-12FH/20FH
Eight air hoses (connect to solenoid valve)
Installation screws (conical spring washer, plain washer)
kg 0.5
Art. no. 251104
254398
Forearm external wiring set/Base external wiring set
With these options the hand input signal
cables and the communication cables etc.
can be led out of the bottom of the forearm and from the side of the base.
Use the recommended pairing in the table
to led out the same cables on the arm side
and at the base.
Specifications
Robots
Part name
Hand input signal cable
1F-HB01S-01
RV-4FLM/7FM/7FLM/7FLLM/13FM/13FLM/20FM
Forearm external wiring set
8
1F-HA01S-01
Vision sensor camera cable
1
1
Editional cable
4
4
Recommended pairing
V
V
Order information Art. no. 257936
Base external wiring set
—
257935
31
Accessories
This set consists of hand input cables and
hoses that can be routed through the
spindle until the end of the arm 2.
Valve sets
Solenoid valve sets
„„
Solenoid gripper control valve sets
1
This option is used to control the gripper tool installed on the robot arm. The
valve set comes with all the components
required for installation, including the
branch manifold, couplings and dampers.
2
The valves are fitted with plug-in control
cables for quick and easy wiring.
The solenoid valve sets are for use with oilfree compressed air.
Accessories
3
Specifications
No. of valves
Range of use (robot type)
Valve function
Operating method
Effective sectional area
(CV value)
Operating preassure range
Maximum preassure
Response time
Max. operating frequency
Ambient temperature
Coil rated voltage
Order information
1A-VD0mE-RP
1
1
RP-1/3/5ADH
Double solenoid
Internal pilot method
2
2
3
3
1E-VD0mE
1
1
RV-2F(B)
Double solenoid
Internal pilot method
4
4
1.5 mm
1.5 mm
2–7 bar
10 bar
<12 ms at 24 V DC
5 Hz
-10–+50 °C
24 V DC ±10 %
2–7 bar
10 bar
<12 ms at 24 V DC
5 Hz
-10–+50 °C
24 V DC ±10 %
Art. no. 129780
129781
129793
Operating method
Internal pilot method
Internal pilot method
Internal pilot method
Internal pilot method
Internal pilot method
Effective sectional area
(CV value)
Operating preassure range
Maximum preassure
Response time
Max. operating frequency
Ambient temperature
Coil rated voltage
0.64 mm
0.64 mm
0.64 mm
0.64 mm
0.64 mm
1–7 bar
10 bar
<22 ms at 5 bar
5 Hz
-10–+50 °C
24 V DC ±10 %
1–7 bar
10 bar
<22 ms at 5 bar
5 Hz
-10–+50 °C
24 V DC ±10 %
1–7 bar
10 bar
<22 ms at 5 bar
5 Hz
-10–+50 °C
24 V DC ±10 %
1–7 bar
10 bar
<22 ms at 5 bar
5 Hz
-10–+50 °C
24 V DC ±10 %
1–7 bar
10 bar
<22 ms at 5 bar
5 Hz
-10–+50 °C
24 V DC ±10 %
Order information
32
4
4
4
4
1F-VD0mE-02
1
2
3
1
2
3
RV-4FL, RV-7F, RV-7FL
Double solenoid
47398
No. of valves
Range of use (see page )
Valve function
4
4
1S-VD0mE-01
1
2
3
1
2
3
RH-12/RH-20FH
Double solenoid
47397
1S-VD0mE-05
1
2
3
1
2
3
RH-3SDHR/RH-3SQHR
Double solenoid
Specifications
1F-VD0mE-01
1
2
3
1
2
3
RH-3FH, RH-6FH
Double solenoid
129792
2
4
4
1F-VD0mE-03
1
2
3
1
2
3
RV-13F, RV-20F
Double solenoid
4
4
Art. no. 238282 238283 238284 238375 250470 250471 250472 250473 153057 153058 153059 153062 255281 255282 255283 255284 268829 268830 268831 268832
Expansion option cards
Interface boards for robot controllers
„„
CC-Link interface
Specifications
Application
Type
Range of use
Communications cable
Max. number of I/O points and data registers
Refresh rate
Communications distances
Order information
1
The CC-Link interface is a high-speed bit
(for I/Os) and word (for data registers)
network card.
2D-TZ576
CC-Link interface
Built-in board
All MELFA robots except Q series
Shielded 3-core twisted cable
126 I/Os/16 data register
7.2 ms
100 m at 10 Mbps, 150 m at 5 Mbps, 250 m at 2.5 Mbps, 600 m at 0.62 Mbps, 1500 m at 0.15 Mbps
Art. no. 219063
I/O Interface
You can increase the number of I/Os to
a maximum of 64 by adding 2D-TZ378
interface modules.
2A-RZ371
Specifications
Application
Type
Range of use
Rated load voltage
Max. no. of usable I/O boxes
Order information
Profibus interface
These interface cards make it possible to
integrate the robot controller in a Profibus
network.
Specifications
Application
Type
Range of use
Communications cable
Communications distances
Max. no. of communications words
No. of mountable interface cards
Order information
Profinet I/O interface
These interface cards make it possible
to integrate the robot controller in a
Profinet I/O network.
Specifications
Application
Range of use
Communications cable
Transmission speed
Number of I/O Data
Order information
Pneumatic hand interface
The 2A-RZ375 interface card is used to
operate the robot’s pneumatic gripper. It
controls the solenoid valve set (see page 32).
Specifications
Application
Type
Range of use
Connections
Order information
By adding 2A-RZ371 slot-in cards you can
increase the number of remote I/Os to 256
(depends on the controller model).
2A-RZ371
2D-TZ378
Interface for additional inputs/outputs
Decentralized I/O box with 32 inputs and
Slot-In Card with 32 Inputs and 32 Outputs
32 outputs
All MELFA robots except Q series
Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per output
7
2
Art. no. 124658
218862
2D-TZ577
Profibus DP interface
Built-in board
All MELFA robots except Q series
Twisted pair cable
1200 m at 9.6/19.2/93.75 Kbps, 1000 m at 187.5 Kbps, 400 m at 500 Kbps, 200 m at 1500 Kbps
122
1
Art. no. 218861
2D-TZ535-PN-SET
Profinet I/O
All MELFA robots except Q series
Industrial Ethernet Twisted pair cable
100Mbit/s
Max. 256 bytes send and max. 256 bytes receive
Art. no. 269546
2A-RZ375
Interface for pneumatic hand (pneumatic valves)
Built-in board
All MELFA robots except F series
Up to 4 pneumatic valves
Art. no. 124657
33
2
3
Accessories
The 2D-TZ576 interface makes it possible
to integrate the CRm-D robot controller in
a CC-Link network.
Adaptor cables and connectors
Gripper signal cables
„„
Connection Cables
1
A variety of different cables are available for
connecting the control and status monitoring signals of the gripper tools.
When the pneumatic gripper is used you
need to monitor the position of the gripper.
2
Accessories
3
You should thus always connect a gripper
signal input cable when you use the pneumatic gripper. One end of the cable set is
fitted with a plug for the gripper’s sensor
signals. The other end is without connectors and can be wired as required for your
system.
Specifications
Type
1A-GR200-RP
Hand signal output cable
1E-GR35S
1F-GR35S-02
1F-GR60S-01
1S-GR35S-02
Range of use (robot type)
RP-1/3/5ADH
RV-2F(B)
RH-3FH/RH-6FH/RH-12FH/
RH-20FH
Single sided with connector
Custom-made magnetic valve set
1050
RH-3SDHR/SQHR
Single sided with connector
Custom-made magnetic valve set
450
250467
166272
Design
Single sided with connector
Application
Custom-made magnetic valve set
Lengthmm 2000
Single sided with connector
Custom-made magnetic valve set
350
RV-4FLM, RV-7FM/RV-7FLM/
7FLLM,RV-13FM/13FLM,RV-20FM
Single sided with connector
Custom-made magnetic valve set
500
Order information
47391
255285
Specifications
Type
Art. no. 129778
1A-HC200-RP
Hand signal input cable
1F-HC35C-01
1F-HC35C-02
1F-HC35S-02
RV-4FL, RV-7F,
RV-7FLM/7FLL,
RV-13F/13FL,RV-20F
Design
Single sided with connector Single sided with connector Single sided with connector Single sided with connector
Monitoring of the gripper
Monitoring of the gripper
Monitoring of the gripper
Monitoring of the gripper
Application
condition
condition
condition
condition
No. of cores
10
12
12
10
Lengthmm 2000
1650
1800
1000
Range of use (robot type)
Order information
RP-1/3/5ADH
Art. no. 129779
RH-3FH, RH-6FH
250474
RH-12FH/RH-20FH
254395
255286
1S-HC00S-01
1S-HC30C-11
RH-3SDHR/SQHR
RV-2FB
Single sided with connector
Monitoring of the gripper
condition
6
1210
Single sided with connector
Monitoring of the gripper
condition
11
300
238376
257063
Connectors and valve signal cables
„„
The connection to your system
Choose additional components to configure the optimal interface between the
robot system and your application.
The wide range of options makes it
possible to configure the robot precisely
for the individual requirements of your
application.
Specifications
Type
R-SMR-09V-B
Gripper output connector
R-SMR-10V-N
Gripper output connector
Range of use (robot type)
RP-1/3/5ADH
RP-1/3/5ADH
Design
Shipping contents
Black, 9 pins
Plug and contacts
Order information
34
Art. no. 132112
The connectors listed in the following table
can be used for making your own cables
for the gripper input and output signals
(see also the table above).
S-series Hand INPUT
Hand signal input connector
All MELFA robots except RP-ADH
and RV-F series
6 pins
Plug and contacts
Connection Kit
Connector set for input and LAN
White, 10 pins
Plug and contacts
S-series Hand OUTPUT
Hand signal output connector
All MELFA robots except RP-ADH
and RV-F series
8 pins
Plug and contacts
132113
164814
164815
268039
All MELFA RV-F Robots
Complete Set
Plug and contacts
Tubes and extension cables
Hand curl tube
„„
Replacement gripper hoses
1
These spiral hoses are for use with the
pneumatic gripper. They are also suitable
for use with clean room robots.
2
Order information
1E-ST0404C
Spiral hose
RV-2F(B), RV-4FL, RV-7F/7FL/7FLL
For double pneumatic gripper
4xØ 4
Art. no. 47389
1E-ST0408C-300
1N-ST0608C-01
1S-ST0304S
RH-3FH/6FH
For quadruple pneumatic gripper
8xØ 4
RH-12FH/20FH, RV-13F/20F
For quadruple pneumatic gripper
8xØ 6
RH-3SDHR
For double pneumatic gripper
4xØ 3
270236
269556
238377
3
Accessories
Specifications
Type
Range of use (robot type)
Application
Dimensionsmm
Extension cables for robots and controllers
„„
Extension cables for power and signal connections
These power and signal extension cables
make it possible to increase the distance
between the controller and the robot arm.
Versions are available for either flexible
and fixed routing of the cables between
the controller and the robot arm.
Specifications
Type
Range of use (robot type)
Minimum bending radius
Max. movement speed
Guidance of life count
Protection rating
No. of cores power cable
No. of cores signal cable
Length
Order information
1S-05CBL-01
1S-10CBL-01
Extension cable for a fixed installation in a drag chain
RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-6FH, RH-12FH, RH-20FH
More than 100 mm
2000 mm/s
—
Oil-proof specification sheath
1
1
m 5
10
Art. no. 155827
Specifications
Type
Range of use (robot type)
Minimum bending radius
Cable bear isovolumetric ration
Max. movement speed
Guidance of life count
Protection rating
No. of cores power cable
No. of cores signal cable
Length
Order information
Art. no. 157582
1S-15CBL-01
15
155830
1S-05LCBL-01
1S-10LCBL-01
Extension cable for a flexible installation in a drag chain
RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-6FH, RH-12FH, RH-20FH
More than 100 mm
≤50 %
2000 mm/s
6
7.5x10
Oil-proof specification sheath
2/8 (10 total)
5/1/1 (7 total)
m 5
10
157583
Use the flexible versions for installation of
the cables in drag chains and similar configurations. You can also use these cables
to extend the length of the standard cables
supplied with the robot.
155665
1S-15LCBL-01
1A-05LCBL-1
RP-ADH serie
15
total 10
6/1 (total 7)
5
157594
167304
35
Expansion and calibration
Connection cables for PCs and inputs/outputs
„„
Connection cables, connectors
1
The RV-CABm cable is for establishing an
RS232C serial connection between the
robot controller and a personal computer.
fitted with a connector for the controller’s
parallel I/O port. The other end is supplied
without a connector so that you can connect the appropriate connectors for your
equipment.
The I/O connection cable is for connecting
peripherals to the parallel I/O interface.
One end of the cable is
2
3
Specifications
Type
Accessories
Application
Range of use
Design
Length
Order information
RV-CAB4
2A-CBL05
I/O Connection cable
Serial (RS232C) I/O cable for
connection
2A-RZ371
PC–Controller
RP-ADH and
SD series
9/25-pin plug
m 3
Art. no. 55653
2A-CBL15
2D-CBL05
2D-CBL15
I/O cable for
2D-TZ378
All MELFA robots except Q series
Plug on one side
5
15
5
15
47387
59947
218857
218858
Controller protection box (IP54)
„„
The controller protection box for the
control unit CR750 prevents the penetration of oil mist or other influences from the
operating environment. The front of the
Specifications
Type
Application
Dimensions (WxHxD)
Order information
housing is equipped with a mode switch
and a connector for the teaching box. It
also contains a display window for viewing
the controller operation panel.
CR750-MB
Controller protection box
Controller CR750
mm 525x275x725
Art. no. 251455
Buffer batteries
„„
Batteries
The backup batteries are used to maintain
the encoder and memory power supply.
One battery supplies the control unit and
up to five batteries are installed in the
robot arm.
Specifications
A6BAT
ER6BAT
Q6BAT
36
RP-ADH serie
Number 3
Number —
Number 1
RH-SDHR serie
—
4
1
RH-FH serie
—
3
1
RV-F serie
—
3
1
Art. no.
4077
131168
130376
Configurations options
Options overview for all robots
„„
RV-7FM/ RV-13FM/
RV-7FLM RV-13FLM/
RV-7FLLM RV-20FM
Art. no.
See
Page
V
214968
30
V
218854
30
V
129780
32
V
129781
32
V
129792
32
V
129793
32
47397
32
47398
32
V
250470
32
V
250471
32
V
V
250472
32
V
V
250473
32
V
255281
32
V
255282
32
V
V
255283
32
V
V
255284
32
V
268829
32
V
268830
32
V
153057
32
1S-VD02E-01
V
153058
32
Triple valve set
1S-VD03E-01
V
153059
32
Quadruple valve set
1S-VD04E-01
V
153062
32
CC-Link interface 1
2D-TZ576
V
V
V
V
V
V
V
V
V
219063
33
Profibus interface 1
2D-TZ577
V
V
V
V
V
V
V
V
V
218861
33
2D-TZ378
V
V
V
V
V
V
V
V
V
218862
33
2A-RZ371
V
V
V
V
V
V
V
V
V
124658
33
V
V
124657
33
V
129778
34
47391
34
Marking
RV-2F(B)
RV-4FLM
Teaching Box
R32TB
V
V
V
Teaching Box
R56TB
V
V
V
Single valve set
1A-VD01E-RP
Double valve set
1A-VD02E-RP
Triple valve set
1A-VD03E-RP
Quadruple valve set
1A-VD04E-RP
Single valve set
1E-VD01E
V
Double valve set
1E-VD02E
V
Single valve set
1F-VD01E-01
V
Double valve set
1F-VD02E-01
V
Triple valve set
1F-VD03E-01
Quadruple valve set
1F-VD04E-01
Single valve set
1F-VD01E-02
V
Double valve set
1F-VD02E-02
V
Triple valve set
1F-VD03E-02
Quadruple valve set
1F-VD04E-02
Single valve set
1F-VD01E-03
Double valve set
1F-VD02E-03
Single valve set
1S-VD01E-01
Double valve set
I/O interface
1
Pneumatic hand interface
RH-12FH/ RH-3SDHR/
RPRH-20FH RH-3SQHR 1/3/5ADH
RH-3FH
RH-6FH
V
V
V
V
V
V
V
V
V
V
2A-RZ375
1A-GR200-RP
1E-GR35S
Hand signal output cable
V
1F-GR35S-02
V
V
V
1F-GR60S-01
V
V
V
1S-GR35S-02
V
1A-HC200-RP
V
1F-HC35C-01
Hand signal input cable
V
V
1F-HC35C-02
V
1F-HC35S-02
V
V
V
1S-HC00S-01
1S-HC30C-11
Gripper output connector
V
34
250467
34
166272
34
129779
34
250474
34
254395
34
255286
34
238376
34
257063
34
V
132112
34
V
V
R-SMR-09V-B
255285
Gripper input connector
R-SMR-10V-N
132113
34
Hand signal output connector
S-series Hand OUTPUT
V
V
V
V
V
V
V
V
164814
34
Hand signal input connector
S-series Hand INPUT
V
V
V
V
V
V
V
V
164815
34
1E-ST0404C
V
V
V
47389
35
270236
35
238377
35
Hand curl tube 1
1E-ST0408C-300
1N-ST0608C-01
1F-HS304S-01
Internal wiring and piping set
V
V
1S-ST0304S
V
V
V
V
269556
35
250468
31
1F-HS408S-01
V
250469
31
1F-HS408S-02
V
251454
31
1F-HS604S-01
V
254396
31
1F-HS604S-02
V
254397
31
1
2
3
4
System configuration
Option
37
Configurations options
Options overview for all robots
„„
1
2
3
System configuration
4
See
Page
251104
254398
31
31
V
257936
31
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
257935
155827
155830
155665
167304
157582
157583
31
35
35
35
35
35
35
V
V
V
V
V
157594
35
55653
47387
59947
218857
218858
251455
36
36
36
36
36
36
External wiring/piping box
1F-UT-BOX
1F-UT-BOX-01
Forearm external wiring set
1F-HB01S-01
V
V
Base external wiring set
1F-HA01S-01
1S-05CBL-01
1S-10CBL-01
1S-15CBL-01
1A-05LCBL-1
1S-05LCBL-01
1S-10LCBL-01
V
V
V
V
V
V
V
V
V
V
1S-15LCBL-01
V
Extension cable for flexible
installation in a drag chain
RV-CAB4
2A-CBL05
2A-CBL15
Connection cable for I/O
interface 1
2D-CBL05
2D-CBL15
Controller protection box (IP54) CR750 -MB
RV-4FLM
Art. no.
Marking
Extension cable for fixed
installation
RV-2F(B)
RV-7FM/ RV-13FM/
RV-7FLM RV-13FLM/
RV-7FLLM RV-20FM
Option
RH-3FH
RH-6FH
V
V
RH-12FH/ RH-3SDHR/
RPRH-20FH RH-3SQHR 1/3/5ADH
V
V
PC connection cable
1 except Q series
2 only for D series
38
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
V
MELFA-BASIC IV
MELFA-BASIC IV/V programming
„„
Mitsubishi Electric robots are controlled
with programs written in the powerful
MELFA BASIC IV/V programming language.
In addition to the familiar standard BASIC
instructions and constructs like FOR …
NEXT and GOTO, MELFA BASIC IV/V also
has some extensions required for robots,
including additional data types, instructions for movement and gripper control
and I/O instructions. The familiarity of
standard BASIC makes it easy for beginners
Programming
Programs are written using the RT Toolbox2 programming and project managing
software or the CIROS programming
software for industrial robots. You can find
more information about the programming
software on the following pages..
Robot programs are written with the
MELFA BASIC IV/V instructions with the
help of a PC and the teaching box. The
positions are defined with the teaching
box and the actual program is written on
the PC.
1
2
3
4
Sample program
50 mm
P_SAFE
50 mm
R : Robot movement
V v: Movement position
to get started with robot programming.
Despite its simplicity and short learning
curve, MELFA BASIC IV/V is a powerful
language that can be used to create very
complex robot programs.
P1
P2
Pick workpiece
The sample program below is for a pickand-place operation. The input signal
M_IN(8) tells the program that there is a
workpiece in position P1. When a workpiece is present the input signal is set to
1 and the pick-and-place operation is performed. The workpiece is picked up from
position P1 and deposited in position P2. If
no workpiece is present the robot remains
in the retracted position P_SAFE.
Place workpiece
M_IN(8)
Pick-and-Place Program
10
MVS P_SAFE
Move to safe position
20
IF M_IN(8) = 0 THEN 20 ELSE 30
Wait until input bit 8 is set
30
HOPEN 1
Open gripper 1
40
MVS P1, -50
Move longitudinally to a position 50 mm from P1 relative to the tool
50
MVS P1
Move to position P1
60
HCLOSE 1
Close gripper 1
70
DLY 0.2
Wait for 0.2 s to ensure proper closing of gripper
80
MVS P1, -50
Move longitudinally to a position 50 mm from P1 relative to the tool
90
MVS P2, -50
Move longitudinally to a position 50 mm from P2 relative to the tool
100
MVS P2
Move to position P2
110
HOPEN 1
Open gripper 1 and deposit workpiece
120
DLY 0.2
Wait for 0.2 s to ensure proper opening of gripper
130
MVS P2, -50
Move longitudinally to a position 50 mm from P2 relative to the tool
140
IF M_IN(8) = 1 THEN 40 ELSE 150
If another workpiece is present repeat the pick-and-place operation
150
MVS P_SAFE
If no workpiece is present return to safe position and end program
160
ENDProgram end
39
5
Programming language
Easy-to-Learn MELFA-BASIC IV/V
Programming language
Software
RT Toolbox2
„„
1
2
RT Toolbox2 is a software for program
creation and total engineering support.
This PC software supports everything from
system startup to debugging, simulation,
maintenance and operation. This includes
programming and editing, operational
checking before robots are installed,
measureing process tact time, debugging
during robot startup, monitoring robot
operation after startup, and trouble
shooting.
zzSupport for all processes, from
programming and startup to
maintenance
zzCompatible with Windows® 2000,
Windows® XP, Windows® Vista,
Windows® 7 and Windows 8
(2.50C or later)
zzEnhanced simulation functions
zzAdvanced maintenance functions
3
4
Enhanced RT Toolbox2 visual ­functions
Program editing and debugging functions
zzSet parameters can be displayed visually to prevent setting errors.
Creation of programs in MELFA-BASIC IV/V and the Movemaster
languages.* Improvement of work operations by a multi-window
format and the various editing functions. This is helpful for use
in checking operations such as the execution of program steps,
setting of breakpoint settings, and other tasks.
zzDisplay of teaching positions and trajectories of end points.
zzHands can be created and then attached to the robot.
zz3D polygonal models can be imported into the program.
(Applicable 3D data file formats: STL, OBJ)
6
Display of trajectories
* MELFA-BASIC is a programming language that further expands upon and develops the commands needed for
robot control.
In MELFA-BASIC IV/V, the expansion of the command as well as parallel processing or structuring that were
difficult to realize in BASIC language can make it possible to operate MELFA easily.
Software
5
Display of selected position data
Linked to iQ Works
Simulation functions
zzProgram management simplified
Enables batch management of programs and data in blocks
from the programmable controller to the servo, display device,
and robot.
Offline robot motion and tact time check for designated parts of
a program.
zzDevice model selection simplified
All Mitsubishi Electric device models are listed in the Navigator,
enabling its use as a device model selection tool. Ver. 1.24A and
later is equipped with robot CPU selection capability and comes
packaged with RT Toolbox2.
MELSOFT Navigator
3D viewer
Graphical representation of a work along with the dimensions,
color and other specified details of the work area to be gripped.
40
Software
Monitor functions
Maintenance functions
This is used to monitor program execution status and variables,
input signals, etc.)
These functions include maintenance forecast, position recovery
support, parameter management, etc.
1
2
3
4
MELFA Works
„„
5
A 3D robot simulator offers powerful support for system design and preliminary layout.
zzOffline teaching in 3D CAD surrounding
zzLoading of part data from peripheral
created in Solidworks® devices and
rearrangement
zzSimulation of robot operations
zzDisplay of the robot movement path in
the application / the workspace
zzInterference checks between the robot
and peripheral devices
zzSaving simulated movements to video
files (AVI format)
zzInstallation of hands by CAD files
zzHandling of work pieces
zzCreating operation data from 3D CAD
source data
zzCreation of robot programs (template)
Workflow processes can be created using
a combination of the offline teaching
and CAD link functions and then converted into robot programs. (MELFA-BASIC
IV, V format)
Automatic robot program creation function
6
zzCalibration of point sequence data of
CAD coordinates and robot coordinate
data
1
2
A n add-in tool is a software program that adds certain functions to
application software packages.
SolidWorks® is a registered trademark of SolidWorks Corp, (USA).
Example screens for MELFA-Works
The teaching position data and robot operation programs necessary for
operating robots can be generated automatically by simple loading of 3D
CAD data3 for the applicable works into SolidWorks® and then setting of
processing conditions and areas using MELFA-Works.
3
zzMeasurement of cycle times
zzRobot program debugging functions
zzJog function – teaching the robot
zzInstallation of a travelling axis to verify
the operation of the system equipped
with this.
MELFA-Works
SolidWorks®
RT-ToolBox2 (mini)
Formats that can be loaded into SolidWorks®
• IGES
• STEP
• ParasolidR
• SAT (ACISR)
• Pro/ENGINEERR
• CGR (CATIARgraphics)
• Unigraphics
• PAR (Solid Edge TM)
• IPT (Autodesk Inventor)
• DWG
• DXFTM
• STL
• VRML
• VDA-FS
• Machanical Desktop
• CADKEYR
• Viewpoint
• RealityWave
• HOOPS
• HCG (Highly compressed graphics)
Note: Check the SolidWorks website and other published documents for the latest specifications.
Calibration tool
41
Software
MELFA-Works is an add-in tool 1 for
SolidWorks 2 used for robot simulation
in production systems on PC’s converting processing paths of workpieces into
robot position data. Adding MELFA-Works
into the SolidWorks platform adds to and
expands on the robot simulation functions.
Index
Index
A
O
Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Options overview for all robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Overview robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Horizontal, multiple-joint type (RH/RP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Vertical, multiple-joint type (RV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
Hand curl tube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Interface boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
RV-2F(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
P
Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39
S
RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
RH-3SDHR/SQHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18
RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
B
RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40, 41
MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
Buffer batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
C
Special Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Adaptation to operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Additional axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Collision avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Connection cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Connection to peripheral devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
Connector cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Coordinated control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Full use of installation space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Gripper signal cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
GOT terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
Improved accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Improved tooling performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
Improved user friendliness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
iQ Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
D
Safety features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Shortened takt times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
RH-3SDHR/SQHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
M
Movement ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
RH-3SDHR/SQHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
RV-2F(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19
42
Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
T
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
W
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31