MITSUBISHI INDUSTRIAL ROBOT F Series Sales Office Country/Region

MITSUBISHI INDUSTRIAL ROBOT F Series Sales Office Country/Region
MITSUBISHI INDUSTRIAL ROBOT
F Series
MITSUBISHI INDUSTRIAL ROBOT
F Series
Country/Region Sales Office
Tel/Fax
U.S.A
Mitsubishi Electric Automation lnc.
500 Corporate Woods Parkway Vernon Hills, IL 60061, USA
Tel: +1-847-478-2100
Fax: +1-847-478-2253
Brazil
Mitsubishi Electric do Brasil Comercio e Servicos Ltda.
Av.Paulista, 1439, cj 74, Bela Vista, 01311-200,Sao Paulo
Tel: +55-11-3146-2200
Fax: +55-11-3146-2217
Germany
Mitsubishi Electric Europe B.V. German Branch
Gothaer Strasse 8 D-40880 Ratingen, Gernany
Tel: +49-2102-486-0
Fax: +49-2102-486-1120
U.K
Mitsubishi Electric Europe B.V. UK Branch
Travellers Lane, Hatfield, Hertfordshire., AL10 8XB, UK
Tel: +44-1707-27-6100
Fax: +44-1707-27-8695
Italy
Mitsubishi Electric Europe B.V. Italian Branch
VIALE COLLEONI 7-20041 Agrate Brianza(Milano),Italy
Tel: +39-039-60531
Fax: +39-039-6053-312
Spain
Mitsubishi Electric Europe B.V. Spanish Branch
Carretera de Rubi 76-80-AC.420,
E-08190 Sant Cugat del Valles(Barcelona), Spain
Tel: +34-935-65-3131
Fax: +34-935-89-2948
France
Mitsubishi Electric Europe B.V. French Branch
25,Boulevard des Bouvets, F-92741 Nanterre Cedex, France
Tel: +33-1-5568-5568
Fax: +33-1-5568-5757
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch
Avenir Business Park, Radicka 714/113a, 158 00 Praha5, Czech Republic
Tel: +420-251-551-470
Fax: +420-251-551-471
Poland
Mitsubishi Electric Europe B.V. Polish Branch
ul. Krakowska 50 32-083 Balice, Poland
Tel: +48-12-630-47-00
Fax: +48-12-630-47-01
Ireland
Mitsubishi Electric Europe B.V. Irish Branch
Westgate Business Park, Ballymount. IRL-Dublin 24
Tel: +353-14198800
Fax: +353-14198890
Russia
Mitsubishi Electric Europe B.V. Russian Branch Moscow Office
52, bld. 3, Kosmodamianskaya nab., RU-115054, Moscow, Russia
Tel: +7-495-721-2070
Fax: +7-495-721-2071
China
Mitsubishi Electric Automation (CHINA) Ltd.
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center 3F Shanghai,
China
Tel: +86-21-2322-3030
Fax: +86-21-2322-3000
Taiwan
Mitsubishi Electric Taiwan Co.,Ltd.
10F,No.88,Sec.6,Chung-Shan N.Rd.,Taipei,Taiwan
Tel: +886-02-2833-5430
Fax: +886-02-2833-5433
Korea
Mitsubishi Electric Automation Korea Co., Ltd.
1480-6, Gayang-Dong, Gangseo-Gu Seoul 157-200, Korea
Tel: +82-2-3660-9552
Fax: +82-2-3664-8372
Singapore
Mitsubishi Electric Asia Pte, Ltd.
307 Alexandra Road #05-01/02, Mitsubishi Electric Building, Singapore
Tel: +65-6470-2480
Fax: +65-6476-7439
Thailand
Mitsubishi Electric Automation (Thailanad) Co., Ltd.
Bang-Chan Industrial Estate No.111 Soi Serithai 54,
T.Kannayao, A.Kannayao, Bangkok 10230 Thailand
Tel: +66-2517-1326
Fax: +66-2906-3239
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN
This catalog is an introduction to only part of what Mitsubishi Electric has to offer.
Mitsubishi Electric offers individualized solutions for the challenges in your factory.
L(NA)-09067ENG
New publication, effective Sep. 2012
Specifications are subject to change without notice.
Product Lineup
Features
Robot Specifications
Mitsubishi Electric's F-Series industrial robots are equipped with technology developed and
tested at its own production plants. Equipped with advanced technology and easy-to-use
features, these robots are designed to facilitate automation of any production plant.
Designed for flexible automation
Compact and powerful
Controller Specifications
High reliability
Vertical type
Contributes to improved productivity with
high-frequency operations
Prevention of interference with cables
System Configuration
The fastest high-speed operation in its class
Functions
A compact 6-axis jointed robot with an optimal arm length and wider range of
movement suited for complex assembly and processing tasks.
Compact body and slim arm design, allowing operating area to be expanded and
load capacity increased.
Layout accommodates a wide range of applications from transport of mechanical
parts to assembly of electrical parts.
Environmental resistance specifications enable application to a wide range of uses
without needing to consider the installation environment.
Compact installation with operation performed near the robot
base
Changes in operating posture made even more quickly
Full use of installation space
Compatibility with internal Ethernet cable tools
Configurations Options
Expanded J4 axis operating range
Horizontal type
The fastest high-speed operation in its class
Improved speed for vertical movements
Improved continuous operability
Options
Matches perfectly to a variety of applications with a wide range of operating
areas and variations.
High speed and high accuracy achieved with the highly rigid arm and latest
servo control technology.
Suitable for a wide range of fields from mass production of food and pharmaceutical products requiring high-speed operation to assembly operations
requiring high precision.
Compatibility with internal
Ethernet cable tools
Full use of installation space
Enhanced wrist axis
Internal routing of cables results in simplified cable management
1
2
With a wide range of variations from Mitsubishi
Electric, committed to ease in selection.
Product Lineup
Lineup
RV - 4 F L C - D - Sxx
The Mitsubishi Electric robot product line is equipped with all of the basic performance features desired in a robot, such as
being powerful, speedy, and compact.
The variations that Mitsubishi Electric is confident meet the needs of the current era and have pushed Factory Automation
forward in a dramatic way.
Sxx: Compliant with special models
such as CE specification and
KC specification etc (separately)
SHxx: Internal wiring specifications
Robot Specifications
Controller type
D: CR750-D Q: CR750-Q
1D: CR751-D 1Q: CR751-Q
Environment specification
Blank: Standard specifications
M : Oilmist specifications
C : Clean specifications
Vert i cal , mu l t ip le -jo in t ty p e (RV)
Arm length
Blank: Standard arm
L : Long arm
Series
F: F series
Controller Specifications
Maximum load capacity
2: 2kg 4: 4kg 7: 7kg
Robot structure
RV : Vertical, multiple-joint type
RH - 6 FH 55 20 M - D - Sxx
RV-4FL
RV-7F
RV-7FL
2
4
4
7
7
Maximum reach radius (mm)
504
515
649
713
908
Environmental
specifications
Standard
Oil mist
○(IP30)
○(IP40)
○(IP67)
—
○(ISOclass3)
—
Clean
○(IP40)
○(IP67)
○(IP40)
○(IP67)
○(ISOclass3)
○(ISOclass3)
Controller type
D: CR750-D Q: CR750-Q
1D: CR751-D 1Q: CR751-Q
○(IP40)
○(IP67)
Environment specification
Blank: Standard specifications
M : Oilmist specifications
C : Clean specifications
○(ISOclass3)
Vertical stroke
12 : 120mm
34 : 340mm
15 : 150mm
35 : 350mm
20 : 200mm
45 : 450mm
Arm length
35 : 350mm
45 : 450mm
55 : 550mm
Controller
CR750
(CR750: Japan, Europe, U.S.; CR751: Asia)
Controllers with protective specifications
(Equipped with controller protection boxes)
CR751
Functions
RV-4F
Maximum load capacity (kg)
70 : 700mm
85 : 850mm
100 : 1000mm
System Configuration
RV-2F
Type
Sxx: Compliant with special models
such as CE specification and
KC specification etc (separately)
SM : Specification with protection
specification controller
(with the protection box)
Series
FH: F series
Maximum load capacity
3: 3kg 6: 6kg 12: 12kg 20: 20kg
Robot structure
RH: Horizontal, multiple-joint type
Configurations Options
Horizontal, multiple-joint type (RH)
RH-3FH45
RH-3FH55
RH-6FH35
RH-6FH45
RH-6FH55
RH-12FH55
RH-12FH70
RH-12FH85
12
20
20
850
850
1000
Maximum load capacity (kg)
3
3
3
6
6
6
12
12
Maximum reach radius (mm)
350
450
550
350
450
550
550
700
Environmental
specifications
○
Standard
Oil mist
(IP20)
—
○
○(IP65)
(IP20)
○(ISOclass3)
—
Clean
○
○(IP65)
(IP20)
○(ISOclass3)
RH-20FH85
RH-20FH100
○(IP20)
○(IP65)
Options
RH-3FH35
Type
○(ISOclass3)
Controller
CR750
CR751
(CR750: Europe, U.S.; CR751: Japan, Asia)
3
CR750
(CR750: Japan, Europe, U.S.; CR751: Asia)
CR751
Controllers with protective specifications
(Equipped with controller protection boxes)
4
4 kg
type
type
External Dimensions/Operating Range Diagram
For internal hand wiring
and piping specifications (-SH**)
Vertical, multiple-joint type
Degrees of freedom
6
Drive system *1
AC servo motor (J2, J3 and J5: with brake)
Position detection method
Absolute encoder
kg
2
mm
230 + 270
mm
504
J1
Maximum speed
J3
J4
160 (-0 to +160)
400 (±200)
50
514.5
690
397
14.7
.8
35
50
350
14.7
140
+240°
Maintenance
Wrist's downward
space (*2)
singularity boundary
Side view
Note
*1. Make sure to leave enough space open for cable connections between devices.
*2. Make sure to leave enough space open for removing and attaching covers during maintenance work.
*3. Specify a thread engagement length of 7.5 to 8 mm.
*4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.
*5. The operating range for the J2 axis when -35°≤ J1 ≤ +115° is limited to -113° ≤ J2 ≤ +120°.
*6. The operating range for the J2 axis when -35°≤ J1 ≤ +110° is limited to -114° ≤ J2 ≤ +120°.
*7. The posture shown in the diagram results from when the robot axis angles are set as listed.
J1 = 0°, J2 = 0°, J3 = 90°, J4 = 0°, J5 = 0°, J6 = 0°
RV-4F(M)(C)
RV-4FL(M)(C)
Standard/ Oil mist/ Clean
Floor type, ceiling type, (wall-mounted type *2)
Vertical, multiple-joint type
Structure
Degrees of freedom
6
Drive system *1
AC servo motor
Position detection method
Absolute encoder
Maximum load capacity
kg
NO1 arm
Maximum reach radius
4
mm
240 + 270
mm
515
245 + 300
649
J1
480 (±240)
J2
J3
J4
240 (-120 to +120)
161 (-0 to +161)
deg
164 (-0 to +164)
400 (±200)
240 (-120 to +120)
J5
J6
720 (-360 to +360)
J6
J1
300
J1
450
420
J2
150
J2
450
336
300
250
540
540
623
J3
J4
300
deg/sec
450
Maximum speed
J3
J4
240 (-120 to +120)
720 (±360)
deg/sec
J5
450
J5
623
J6
720
J6
720
720
mm/sec
9027
9048
0.36
mm/sec
4955
Maximum composite speed *3
sec
0.6
Cycle time *4
sec
mm
±0.02
Position repeatability
mm
Ambient temperature
°C
0 to 40
Ambient temperature
°C
Mass
kg
19
4.17
Mass
kg
4.17
Tolerable moment
J4
J5
Nm
J6
J4
J5
kgm
2
0.18
J4
Hand: 4 input points/4 output points
Signal cable for the multi-function hand
Tool pneumatic pipes
φ4 x 4
Machine cable
Connected controller
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
*1: The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. (RV-2FB)
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*3: This is the value at the surface of the mechanical interface when all axes are composited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
J5
J6
0.04
J6
0.36
±0.02
0 to 40
39
41
6.66
J4
2.45
0.18
Tolerable amount of inertia
J5
6.66
Nm
3.96
0.2
kgm
2
0.2
0.1
J6
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller *6
Operating range
for each axis:
J1: ±240°
J2: ±120°
J3: 0° to 164°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
Functions
7
310
+1
R648.
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Operating range
°
20
R140.4
998.7
764.9
.4
40
R1
80
Unit
Point P
Installation
Arm length
335
648.7
-35°(
*6)
Rz25
80
102
(160)
128
(200)
6)
Top view
Position repeatability
Tool wiring
85
Limits on operating range
for the rear (*6)
Approximately 100
+1
10
°(*
Cycle time *4
Tolerable amount of inertia
125
Control point (R point)
for -SH** specifications
Protection degree
240 (-120 to +120)
deg
Control point (R point)
648.7
J5
Maximum composite speed *3
Tolerable moment
230
170
Environmental specifications
480 (±240)
J2
648.7
Wrist's downward limit
System Configuration
Floor type, ceiling type, (wall-mounted type *2)
Structure
Operating range
0°
Configurations Options
IP30
Installation
Maximum reach radius
(Installation reference
surface)
1.7
94.6
Standard
NO1 arm
Point P
Type
RV-2F(B)
Protection degree
Arm length
-24
Options
Unit
Operating range
for each axis:
J1: ±240°
J2: ±120°
J3: 0° to 161°
J4: ±200°
J5: ±120°
J6: ±360°
Side view
For internal hand wiring
and piping specifications (-SH**)
Motion space
at point P
Specifications
Environmental specifications
Wrist's downward
singularity boundary
Maintenance
space (*2)
Motion space
at point P
View B
Rear Surface Diagram (Installation Dimension Detail)
Side view
Specifications
5)
4-φ9 installation hole
80
(200)
B
5
R514.
(160)
280
Top view
Maximum load capacity
R1
50
270
389.6
39
R1
Rear Surface Diagram (Installation Dimension Detail)
Type
799.6
504.6
757
.5
(120)
(160)
40°
+2
View B
80
°
20
+1
R136.8
-114°(*6)
0°
-12
R230
Wrist's downward
singularity boundary
102
(Installation reference
Rz25
surface)
221
Rz 25
528
Point P
Point P
Top view
RV- 4 F L
View A
Mechanical Interface Detail
R139.5
275
7
4-φ9 installation hole
(40)
φ20
H7, d
epth
φ
6
40
h8
,d
ep
th
6(
*4)
.5
°
40
+2
Approximately 100
°(*
.
48
R6
R230
(135)
67.5 67.5
0°
-12
(Installation reference
surface)
°
20
+1
2
+1
+1
15
4-M5 screw, depth 8 (*3)
31
D.φ
.
P.C
0°
R504.6
(160)
1
5
φ5H7, depth 8
45°
A
Mechanical Interface Detail
(Installation reference
surface)
Rz 25
82
20
-1
408
.5
1
φ3
67.5 67.5
°
In t e r s e c t io n
4-M5 screw, depth 8
φ20H7,
depth 6
φ4
0h8
, de
pth
6
View A
82
Point P
R2
°
270
Limits on operating range
for the rear (*5)
A
Motion space
at point P
209
.6
φ5H7, depth 8
45
504.6
70
Point
P
Wrist's downward
limit
04
(135)
504.6
Control point
(R point)
0°
85
1)
°注
13(
-24
Control point (R point)
for -SH** specifications
230
170
Wrist's downward limit
514.5
-1
5)
3°(*
-11
0°
-12
R5
-35°(
*5)
Motion space
at point P
Motion space
at point P
514.5
125
Robot Specifications
5
Wrist's downward limit
Control point (R point)
Controller Specifications
.
14
R5
°
864.5
-240
235
Motion space
at point P
350
RV- 4 F
47
External Dimensions/Operating Range Diagram
490
2 kg
RV-4F
RV-4FL
Vertical
Product Lineup
RV-2F
Vertical
Hand: 8 input points/8 output points
Signal cable for the multi-function hand and sensors
LAN X 1 <100 BASE-TX> (8-pin)) *5
Primary: φ6 x 2
Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*3: This is the value at the surface of the mechanical interface when all axes are composited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
*5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*6: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
2
6
3
External Dimensions/Operating Range Diagram
Maximum speed
430 + 465
713
908
480 (±240)
162 (-0 to +162)
156 (-0 to +156)
400 (±200)
J2
401
321
450
360
337
337
J5
450
450
J6
720
720
mm/sec
11064
10977
sec
0.32
0.35
Position repeatability
mm
±0.02
Ambient temperature
°C
0 to 40
Mass
kg
65
J5
J4
Tolerable amount of inertia
J5
6.86
0.45
2
0.45
kgm
0.10
J6
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller
Operating range
Maximum speed
Hand: 8 input points/8 output points (20 pins total)
Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *5
Primary: φ6 x 2
B
136
C
Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*3: This is at the hand flange surface when all axes are composited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
*5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*6: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
F
130
174
110
D
10
Position repeatability
55
188
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller *5
82
X
RH-3FH4515/12C
Functions
220
H
416
10
X
200 (*2)
RH-3FH5515/12C
4
Absolute encoder
kg
NO1 arm
NO2 arm
Maximum 3 (rating 1)
125
mm
J2
J3 (Z)
J2
150 (Clean specification : 120) *1
720 (±360)
420
deg/sec
J4 (θ)
deg/sec
mm/sec
mm
720
1100
3000
6800
7500
0.41
0.46
0.51
±0.010
±0.010
±0.012
8300
±0.01
deg
±0.004
0 to 40
kg
Maximum
550
290 (±145)
mm
deg
kgm
325
340 (±170)
mm/sec
Rating
450
350
deg
J3 (Z)
Y-X composite
J3 (Z)
225
225
mm
J4 (θ)
Tolerable amount of inertia
Controller Specifications
357
40
22
773
J
65
Y
AC servo motor
Maximum composite speed *2
Cycle time *3
16.2
J6
10
Floor type
Mass
16.2
Nm
RH-3FH3515/12C
Ambient temperature
67
J4
10
Horizontal, multiple-joint type
J4 (θ)
Cycle time *4
Tolerable moment
(*3)
IP20/ ISOclass3 *6
J1
288
Maximum composite speed *3
J
150
120
150
120
150
120
Standard/ Clean
J1
240 (-120 to +120)
720 (±360)
deg/sec
Unit
Maximum reach radius
360
J4
Arm length
240 (-110 to +130)
240 (-115 to +125)
J1
J3
H
342
342
337
337
337
337
System Configuration
340 + 360
J6
G
R174
R196
R174
R197
R197
R222
(*1) 160
Maximum load capacity
mm
J5
F
220
268
220
268
172
259
Position detection method
mm
deg
E
R253
R253
R253
R253
R244
R253
Configurations Options
J3
J4
D
210
224
210
224
160
160
29
0.005
29
2
32
Options
Operating range
C
R142
R142
R135
R135
R191
R191
Drive system
7
J2
B
R350
R350
R450
R450
R550
R550
Degrees of freedom
Absolute encoder
J1
174
180
1307.7
352.3
6
NO1 arm
A
125
125
225
225
325
325
Structure
AC servo motor
Maximum reach radius
Only clean spec
(*3)
Type
Installation
Vertical, multiple-joint type
E
5°
Machine class
Protection degree *1
Arm length
G
hole
Side view
Floor type, ceiling type, (wall-mounted type *2)
kg
165
14
*1: Space required for the battery replacement
*2: Space required for the interconnection cable
*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides
and 2 locations on the front of the No. 2 arm.)
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Position detection method
gh
rou
1th
φ1
A
100
92
168.4
Robot series
RH-3FH3515
RH-3FH3512C
RH-3FH4515
RH-3FH4512C
RH-3FH5515
RH-3FH5512C
Installation
Maximum load capacity
[clean specifications]
15
60
225
Cross-section Z-Z
Protection degree
Drive system
Rz25
400
568.4
50
435
400
Operating range
for each axis:
J1: ±240°
J2: -110° to 130°
J3: 0° to 162°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
Standard/ Oil mist/ Clean
Degrees of freedom
50
Rz25
(Installation standards)
RV-7FL(M)(C)
Structure
Z
Specifications
RV-7F(M)(C)
Machine class
φ16h7
120
150
340
1113.4
°
25
+1
°
30
07.7
R9
Wrist's downward
singularity boundary
Note
*1. Make sure to leave enough space open for cable connections between devices.
*2. Make sure to leave enough space open for removing and attaching covers during maintenance work.
*3. Specify a thread engagement length of 7.5 to 8 mm.
*4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.
*5. The posture shown in the diagram results from when the robot axis angles are set as listed.
J1 = 0°, J2 = 0°, J3 = 90°, J4 = 0°, J5 = 0°, J6 = 0°
Unit
102
Maintenance
space (*2)
Top view
Z
30
50
Type
Point P
752.3
15.9
245
Specifications
+2
470
R192.8
Approximately 100
°
40
View B
Rear Surface Diagram (Installation Dimension Detail)
85
939.4
.8
92
R1
102.5 102.5
Point P
92
90
Z
150
4-φ9installation hole
Variable dimensions
125
907.7
Motion
space
at point P
4- φ9 installation hole
Z
φ90
907.7
907.7
Control point (R point)
for -SH** specifications
(205)
102.5 102.5
Side view
Wrist's downward limit
Control point (R point)
270
200
124.5
713.4
844.4
15.9
-240°
Motion space
at point P
245.7
1
7
Wrist's downward
singularity boundary
2-φ6 hole
(φ8 prepared hole for positioning pins)
For internal hand wiring
and piping specifications (-SH**)
View A
Mechanical Interface Detail
Rz25
(Installation reference
surface)
Maintenance
space (*2)
Operating range
for each axis:
J1: ±240°
J2: -115° to 125°
J3: 0° to 156°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
0°
124.5
Approximately 100
-11
(205)
RV-7FL
.7
07
R9
φ20H
7, de
pth 6
φ4
0h
8(
*4)
.5
(Installation reference
Rz25
surface)
162
°
40
+2 Top view
4-M5 screw, depth 8 (*3)
31
D.φ
.
P.C
4
R197.
13.4
R7
Point P
φ5H7, depth 8
45°
Point P
+1
Intersection
.4
7
19
R
Cross-section X-X
(Installation Dimension Detail)
5°
-11
Motion
space
at point P
Robot Specifications
φ37.5
370
10
125
85
Control point (R point)
for -SH** specifications
270
200
φ90
26
4
170°
Y section details
(Hand mounting)
713.4
15
Motion space
at point P
713.4
Wrist's downward limit
Control point (R point)
10
°
3.
10
-240
71
30
R
External Dimensions/Operating Range Diagram
For internal hand wiring
and piping specifications (-SH**)
(Installation standards)
RV-7F
RH-3FH35
RH-3FH45
RH-3FH55
kg
type
10
7
kg
type
Horizontal
Product Lineup
RV-7F
RV-7FL
Vertical
0.06
Hand: 8 input points/8 output points (20 pins total)
Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *4
Primary: φ6 x 2
Secondary: φ4 x 8
5m (connector on both ends)
CR750, CR751 (CR750: Europe, U.S.; CR751: Japan, Asia)
*1: The range for vertical movement listed in the environmental resistance specifications (C: Clean specifications) for the RH-3FH is narrower than for the standard model. Keep this in mind when working with the RH-3FH. The
environment-resistant specifications are factory-set custom specifications.
*2: The value assumes composition of J1, J2, and J4.
*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth
movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*5: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type.
*6: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
2
8
type
External Dimensions/Operating Range Diagram
External Dimensions/Operating Range Diagram
Y section details
(Hand mounting)
10
*1: Space required for the battery replacement
*2: Space required for the interconnection cable
*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides and 2 locations on the front of the No. 2 arm.)
RH-6FH35XX/M/C
160(*1)
RH-6FH45XX/M/C
Standard/ oil mist/ Clean
Protection degree *1
IP20 *6/ IP65 *7/ ISO3 *8
Installation
Arm length
kg
NO1 arm
NO2 arm
Maximum reach radius
J2
J3 (Z)
J4 (θ)
J1
Maximum speed
J2
mm/sec
6900
±0.010
mm
Mass
Tool pneumatic pipes
Machine cable
Connected controller *5
7600
8300
Maximum
kgm
Position repeatability
36
36
0.01
2
J3 (Z)
Hand: 8 input points/8 output points (20 pins total)
Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *4
Secondary: φ4 x 8
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller *5
Robot Specifications
8
44
10
11
10
E
240
320
240
320
─
240
240
320
8
11
10
10
F
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
RH-20FH85XX/M/C
G
350/450
350/450
350/450
350/450
350/450
350/450
350/450
350/450
H
R295
R382
R295
R382
─
R367
R295
R382
RH-20FH100XX/M/C
IP20/ IP65 *6/ ISO3 *7
225
mm
Floor type
325
850
700
550
325
475
850
1000
340 (±170)
306 (±153)
306 (±153)
290 (±145)
mm
deg
xx = 35 : 350/ xx = 45 : 450
xx = 35 : 350/ xx = 45 : 450
720 (±360)
720 (±360)
450
450
2400
mm/sec
2800
deg/sec
2400
mm/sec
mm
280
280
420
deg/sec
525
525
340 (±170)
deg
J4 (θ)
Y-X composite
J3 (Z)
Maximum 20 (rating 5)
525
375
J3 (Z)
1700
11435
12535
11350
11372
0.30
0.30
0.30
0.30
0.36
±0.012
±0.015
±0.015
±0.015
±0.02
deg
13283
±0.01
±0.01
±0.005
±0.005
0 to 40
Mass
Tolerable amount of inertia
D
145°
145°
145°
145°
153°
153°
153°
153°
IP20/ IP65 *6/ ISO3 *7
Ambient temperature
0.12
Primary: φ6 x 2
J2
J4 (θ)
37
C
R191
R191
R216
R216
R278
R278
R238
R238
Maximum 12 (rating 3)
mm
Maximum composite speed *2
Cycle time *3
±0.012
±0.004
0 to 40
kg
Rating
±0.010
*1: The range of vertical movement listed in the environmental resistance specifications (M: Oil mist specifications, C: Cleanroom specifications) for the RH-6FH is factory-set custom specifications.
*2: The value assumes composition of J1, J2, and J4.
*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth
movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*5: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type. Note that controllers with oil mist specifications come equipped with a controller protection box
(CR750-MB) and "-SM" is appended at the end of the robot model name. If you require it, consult with the Mitsubishi Electric dealer.
*6: IP54 rating for European models.
*7: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
*8: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
1
9
10
Maximum speed
±0.01
deg
NO2 arm
J4 (θ)
0.29
Y-X composite
J3 (Z)
NO1 arm
J2
2500
B
R550
R550
R700
R700
R850
R850
R1000
R1000
Absolute encoder
670
2400
Cross-section Z-Z
Standard/ oil mist/ Clean
kg
J1
mm/sec
2
φ
4
400
deg/sec
le
ho
AC servo motor
J1
720 (±360)
deg/sec
r
1th
Horizontal, multiple-joint type
Maximum reach radius
Operating range
xx = 20 : 200/ xx = 34 : 340
Ambient temperature
Tool wiring
550
Arm length
A2
325
325
325
325
325
325
475
475
Floor type
Maximum load capacity
325
A1
225
225
375
375
525
525
525
525
RH-12FH85XX/M/C
Position detection method
290 (±145)
mm
deg
RH-12FH70XX/M/C
Drive system
340 (±170)
deg
J4 (θ)
J4 (θ)
Tolerable amount of inertia
450
J3 (Z)
Maximum composite speed *2
Cycle time *3
Position repeatability
225
350
1
gh
ou
29
Standard/ oil mist/ Clean
Degrees of freedom
225
mm
J1
Operating range
125
RH-12FH55XX/M/C
Structure
Maximum 6 (rating 3)
mm
Unit
Protection degree *1
Absolute encoder
Maximum load capacity
Type
Installation
AC servo motor
Position detection method
Robot series
RH-12FH55xx
RH-12FH55xxM/C
RH-12FH70xx
RH-12FH70xxM/C
RH-12FH/20FH85xx
RH-12FH/20FH85xxM/C
RH-20FH100xx
RH-20FH100xxM/C
200
240
Machine class
4
Drive system
24
le
ho
Variable dimensions
RH-6FH55XX/M/C
Horizontal, multiple-joint type
Degrees of freedom
gh
ou
r
8th
Cross-section Z-Z
200(*2)
Floor type
Structure
122
0
75
Specifications
Unit
φ30h7
4N9 ( -0.030)
X
Specifications
Type
120
Z
Mist, Clearn
Mist, Clearn
Only clean spec
400
X
Machine class
φ25h7
200
Z
80
82
20
80
164
F
10
Z
φ
65
Y
Z
Controller Specifications
10
φ110
φ110
28
(*3)
Standard
24
M
386
386
526
526
386
386
526
526
386
386
386
526
526
526
340
G st
L
798
798
938
938
798
798
938
938
798
798
798
938
938
938
4 55
K
133
133
-7
-43
133
133
-7
-43
133
133
133
-7
-43
-43
H
J
200
200
340
340
200
200
340
340
200
200
200
340
340
340
M
H
342
342
342
342
337
337
337
337
337
337
337
337
337
337
25
G
R174
R196
R174
R196
R174
R197
R174
R197
R197
R222
R222
R197
R222
R222
L
F
220
268
220
268
220
268
220
268
172
259
259
172
259
259
22 13.2
E
R253
R253
R253
R253
R253
R253
R253
R253
R244
R253
R244
R244
R253
R244
J
D
210
224
210
224
210
224
210
224
160
160
160
160
160
160
412
C
R142
R142
R142
R142
R135
R135
R135
R135
R191
R191
R191
R191
R191
R191
(*3)
K
B
R350
R350
R350
R350
R450
R450
R450
R450
R550
R550
R550
R550
R550
R550
30
A
125
125
125
125
225
225
225
225
325
325
325
325
325
325
Installation reference
surface
174
174
150
180
Robot series
RH-6FH3520
RH-6FH3520M/C
RH-6FH3534
RH-6FH3534M/C
RH-6FH4520
RH-6FH4520M/C
RH-6FH4534
RH-6FH4534M/C
RH-6FH5520
RH-6FH5520C
RH-6FH5520M
RH-6FH5534
RH-6FH5534C
RH-6FH5534M
φ30h7
Standard
10
A1
5°
14
10
122
F
A2
4-φ16 installation holes
Installation reference
surface
120
Only clean spec
Variable dimensions
52
D
E
D
[Clean specifications]
130
G
92
Cross-section Z-Z
100
Z
φ25h7
2-φ6 prepared holes for positioning
110
24
60
Z
30
8th
φ1
150
Z
136
gh
rou
10
120
165
Z
10
A
10
225
Z
E
60
170°
hole
10
24
Z
H
C
140
φ90
10
30
B
240
200
10
[Mist specifications]
27.5
10
10
Rz25
φ25h7
Rz25
(Installation standards)
Z
C
90
4-φ9installation hole
Z
Functions
15
10 10
Z
0
R8
(Installation standards)
Z
[Standard specifications]
92
R H - 20F H
R H - 12F H
Z
B
Cross-section X-X
(Installation Dimension Detail)
2-φ6 hole
(φ8 prepared hole for positioning pins)
58
Z
170°
φ90
60.5
System Configuration
φ39.5
Configurations Options
type
12/20kg
kg
Rating
Maximum
kgm
65
2
67
0.025
69
75
77
0.065
1.05
0.3
Options
6 kg
RH-12FH55 RH-20FH85
RH-12FH70 RH-20FH100
RH-12FH85
Horizontal
Product Lineup
RH-6FH35
RH-6FH45
RH-6FH55
Horizontal
Hand: 8 input points/8 output points (20 pins total)
Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *4
Primary: φ6 x 2
Secondary: φ6 x 8
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
*1: The environment-resistant specifications (C: Clean specification, M: Mist specification) are factory-set custom specifications.
*2: The value assumes composition of J1, J2, and J4.
*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth
movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*5: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type. Note that controllers with oil mist specifications come equipped with a controller protection box
(CR750-MB) and "-SM" is appended at the end of the robot model name. If you require it, consult with the Mitsubishi Electric dealer.
*6: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
2
10
25
CRnD-7xx
Controller
Drive unit
Pulse encoder
SSCNET III
(optical communications)
Additional axis function
MR-J4-B
MR-J3-BS
(30)
Encoder input function
USB
communication
(7.8)
96
98
(30)
370
430
4-φ18
(30)
370
430
Controller protection box (IP54)
(2)
158
174
Additional axis function
Robot CPU
USB
communication
(21.7)
Controller
85
SSCNET III
(optical
communications)
30
Note) The operating panel is not attached to the
CR-751. Set up the robot operating
environment to accommodate operation
by a customer graphical optical terminal
(GOT) or operating panel.
Automatic and other operation modes can
be enabled from the teaching pendant.
Robot Specifications
Ethernet
425
Ethernet
Controller Specifications
MR-J4-B
MR-J3-BS
425
Robot CPU
Q172DRCPU
(40)
(70.3)
CR750-D
CR751-D
(80)
CR750-Q
CR751-Q
(5.2)
MELFA
Controller
D Type
(Standalone)
Controller configuration
Drive unit CR751-Q
Controller CR751-D
370
MELFA
Controller
Q Type
(iQ Platform compatible)
Controller configuration
Drive unit CR750-Q
Controller CR750-D
(30)
FD series
260
FQ series
Product Lineup
Controller
Drive unit CR750-MB
FQ Q172DRCPU
Robot CPU
Path control method
Unit
FQ 13,000 /
FD 39,000
FQ 26,000 /
FD 78,000
FQ 256 / FD 512
FQ 8192 input points/8192 output points with the multiple CPU common device /
FQ Assigned to multiple CPU common device. /
Dedicated I/O
Hand open/close
1 (redundant)
Robot error output
1 (redundant)
Synchronization of additional axes
1 (redundant)
RS-422
ports
USB
Additional-axis interface
Extension slot *1
channels
Encoder input
channels
Input voltage range *2
Power capacity *3
1 (Teaching pendant: dedicated T/B)
FQ 1 (dedicated teaching pendant port) 10BASE-T / FD 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX
FQ 1 (USB port of programmable controller CPU unit can be used.) / FD 1 (Ver. 2.0 device functions only, mini B terminal)
1 (SSCNET III)
FQ ― / FD 2
slots
Unit
FQ Q173DPX (Sold separately) / FD 2
FQ 0 to 40 (drive unit)/0 to 55 (Robot CPU) / FD 0 to 40
°C
%RH
45 to 85
V
RV-2F/4F, RH-3FH/6FH: Single-phase AC 180 V to 253 V
RV-7, RH-12FH/20FH: Three-phase AC 180 V to 253 V or Single-phase AC 207 V to 253 V
KVA
RV-2F, RH-3FH : 0.5
RV-4F, RH-6FH : 1.0
RH-12FH/20FH : 1.5
RV-7F : 2.0
mm
430 (W) x 425 (D) x 174 (H)
430 (W) x 425 (D) x 98 (H)
kg
Approx. 16
Approx. 12
Structure [protective specification]
Grounding *4
Ω
Self-contained floor type/open structure (Vertical and horizontal position can be placed) [IP20]
100 or less (class D grounding)
*1: For installing option interface.
*2: The rate of power-supply voltage fluctuation is within 10%.
*3: The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the currentbeing input when the power is turned on. The power capacity is only a rough guide and whether or not
operation can be guaranteed depends on the input power-supply voltage.
*4: Grounding works are the customer’s responsibility.
*5: For CR751, crimp or solder wiring for connection to user wiring connectors for emergency stop input/output, door switch input, etc. and power supply connectors.
The optional terminal block replacement tool available separately can also be used to connect wiring.
1
11
Base
Power
supply
Weight
External dimensions (including legs)
330
500
(85)
510
Functions
100
(45)
Rubber feet for vertical
mounting screws
(Four)
Programmable
controller
CPU
Configurations Options
1 (redundant)
1 (redundant)
Relative humidity
(85)
Multiple CPU environment
1 (redundant)
points
Mode output
Ambient temperature
FD 0 input/0 output (Up to 256/256 when options are used)
FD Assigned to general-purpose I/O.
1 (redundant)
Emergency stop output
Ethernet
160
8 input / 8 output
Emergency stop input
Enabling device input
(45)
Teaching method, MDI method
points
step
General-purpose I/O
Door switch input
(10)
Type
High-speed standard base between multiple CPU
• Q35DB: 5 slots
• Q38DB: 8 slots
• Q312DB: 12 slots
• Q61P
• Q62P
• Q63P
• Q64PN
Options
Number of programs
505
365
164
250
Number of steps
72.5
55
Number of teaching points
Power supply *5
(10)
MELFA-BASIC IV/V
Position teaching method
Interface
(92.5)
Maximum 6 axes
Robot language
External
input/output
*5
725
PTP control and CP control
Number of axes controlled
Memory
capacity
Controller installation location
System Configuration
CR751-Q
CR751-D
520
CR750-Q
CR750-D
100
Unit
(25)
Type
Drain hole
(122.5)
Specifications
Cable cover
The controller protection box is used to
protect the controller from oil mist and
other usage environments. (For
CR750)
The front panel of the protection box
has a mode switch and teaching box
connector. It also contains a display
window for viewing the controller
operation panel.
Universal model
• Q03UD (E) CPU
• Q04UD (E) HCPU
• Q06UD (E) HCPU
• Q10UD (E) HCPU
• Q13UD (E) HCPU
• Q20UD (E) HCPU
• Q26UD (E) HCPU
• Q100UD (E) HCPU
2
12
Functions
Shortened takt times
Improved control performance
Compatuability with internal Ethernet cable tools
Produced the fastest operating performance in its class using high-performance
motors and unique driver control technology developed by Mitsubishi Electric.
Internal installation of wiring and piping for connecting to vision sensors enabled.
● Hand: 8 input points/8 output points
● Ethernet cable for the vision sensor
Torque
Connectable
Torque increased
New model motor
· Attachment of the vision sensor to the wrist facilitates
wiring.
Previous model motor
Vision sensor
Speed increased
Robot Specifications
● Enabled high torque output at high rotational speed, shortening
acceleration/deceleration time.
● Shortened positioning time for improved device throughput.
● Continuous operability improved
● Improved speed for the vertical movements that are so essential to horizontal
multi-joint robot operation. 2400 mm/s, [RH-6FH: Twice as fast as the
conventional speed]
Product Lineup
Improved tooling performance
High-speed execution of programs
Internal routing of hand wiring and wiring channels
Enables execution up to 1.2 times faster than with the SQ/SD series.
Numerical operation and conditional branch processing speeds increased by up
to twice as fast, leading to shortened takt times.
Internal routing of cables and air hoses is enabled through the internal channels
that lead up to the end of the robot arm.
Such internal routing increases the areas of the work envelope that the robot
can reach without twisting and entangling cables and hoses.
This prevents interference with cables around devices and reduces the risk of
wiring disconnection.
1000
1010
1020
1030
·
·
·
Allows numerical operation and
conditional branch processing
times to be shortened dramatically.
(The shortening rate may vary
depending on operating conditions.)
PL=P1*POFF*PSHIFT
PUP=PL
PUP.Z=PUP.Z+MZ
MOV PUP
RH-F Series
10
20 30 40 50 60 70
SQ/SD Series
10
20
30
40
50
60
80
Processing speed
increased by 20%
Note) Shortening effect depends on
the contents of program
instructions and processing.
Shortened by
around 20%
90 1000 1010 1020 1030
70
80
90
1000
1010
1020
Note) The sections of wiring that can be routed internally
may differ depending on the model.
Internal routing of wiring and wiring
channels enabled within the arm up
to the J6 axis tip.
Internally embedded valves
1030
Program processing time
Robot programs can be executed 1.2 times faster than before if compiled in advance and processed using an intermediate language.
Takt times can be shortened by up to 3 times as much for longer lines. (Compared to previous models)
To hand
Note: Specify a model with Internal wiring (a model ending in ‘-SHxx’).
The supported Internal wiring types may vary by model.
Optimal acceleration/deceleration control and optimal override control
● Optimal acceleration/deceleration times and speeds set automatically based
on robot operating position, posture, and load conditions.
● Load conditions are set, enabling acceleration/deceleration times and speeds
to be changed automatically according to whether a workpiece is present or
not.
● This enables the maximum operating speed to be produced for each task
● Time needed to shorten cycle times reduced.
Speed
Optimal acceleration/deceleration control
and optimal override control
Full use of installation space
Normal control
Expanded pivotal operating range
Time
Shortened cycle times
Improved flexibility for robot layout design considerations.
Enabling more effective use of access space around the entire perimeter
including to the rear.
Shortened movement distances, enabling takt times to be shortened.
Improved continuous operability
Ambient
temperature
Encoder temperature
monitor
Apparatus 1
Apparatus 3
Delivery
Removal
Encoder temperature monitoring screen
1
13
Expanded J1 axis pivotal operating
range to allow access to rear of machine
Apparatus 2
Options
Overload detection levels optimized based on the ambient temperature settings
for the robot (set in the parameters). This helps improve continuous operability
using load levels calculated based on actual environmental conditions for the
robot axes.
The encoder temperature is monitored such that the machine is shut down due
to error if the temperature exceeds the tolerable limit.
System Configuration
JOVRD 100
MOV P100
M1=M_IN (10)
IF M1=1 THEN GOTO 1000
IF M1=2 THEN GOTO 2000
IF M1=3 THEN GOTO 3000
MOV P999
ERROR 9000
END
Configurations Options
10
20
30
40
50
60
70
80
90
Functions
Sample program
Controller Specifications
Rotational speed (rpm)
Optimize
the
overload detection level
Removal
Delivery
Movable stopper for the J1 axis
Rear access on RH-FQ/FD
RV-2FQ/2FD pivot operation
2
14
Simplified tool length setting
Improved accuracy
Active gain control
● Optimal motor control tuning set automatically based on robot operating
position, posture, and load conditions.
● Improves tracking accuracy for the target trajectory.
Tool length
Set using three to eight
teaching points
Function for passing through the singular point
· This is effective for standard operations and tooling work requiring
high accuracy.
Improved trajectory accuracy
Improved vibration-damping performance
● The robot can be made to pass through the singular point, unlike with previous
robot models. This allows for greater flexibility in the layout of robots and
surrounding areas.
● Teaching operations can be performed more easily as there is no longer any
need to cancel operations due to the presence of the singular point.
High-accuracy trajectory mode
MvTune 3
high-speed positioning
mode
MvTune 2
Standard settings
MvTune 1
What a singular point is:
There is an unlimited number of angles at which
the J4 and J6 axes can be set such that the angle
of the J5 axis is 0° when linear interpolation
operations are performed using position data from
a joint coordinate system. This point is the singular
point and is the point at which the robot cannot be
operated at an assigned position and posture
under normal conditions. The position at which this
occurs is referred to as a singular point.
High speed
Deflection compensation function
kθ
compensation
· Effective for work transporting workpieces to cassettes with low pitch and
palletizing work.
1
15
P1
Posture at target position
Movement direction
P2
J4 axis rotation
In moving from P1→P2, if the
robot is passing the singular
point (J5 axis = 0°) or a location
in the vicinity at a constant
posture, the J4 axis on the robot
will rotate at high speed and be
unable to pass through it.
P2
Orthogonal compliance control
● Compensates for deflection in the robot arm occurring due to gravity.
● Calculates the amount of compensation needed based on the operating
position, posture, and load conditions of the robot and compensates for any
deflection automatically.
● Compensates not only for static deflection due to gravitational pull but also for
dynamic deflection due to the inertial force present during operation.
Improved palletization accuracy
Improved trajectory accuracy
Posture at start point
System Configuration
● Trajectory priority mode/speed priority operation can be set in programs to
match customer system requirements.
● Optimal motor control tuning set automatically based on robot operating
position, posture, and load conditions.
● Improves tracking accuracy for the target trajectory.
High accuracy
Operating mode setting function
Controller Specifications
Adaptation to operation
● This function reduces the rigidity of the robot arm and tracks external forces.
The robot itself is equipped with a compliance function, which makes special
hands and sensors unnecessary.
● This allows the amount of force generated through interference during
chucking and workpiece insertion to be reduced and external movement
copying forces to be controlled.
Insertion direction or normal
control direction
Copy plane
Tool coordinate system
Robot hand
· The compliance direction can be set arbitrarily using the robot
coordinate system, the tool coordinate system, etc.
· This is useful in protecting against workpiece interference and cutting
down on stoppage.
Deflection
compensation
Reduced tooling costs
Shortened line stop times
Shortened startup times
Functions
Monitor the robot posture and load conditions
Automatic tuning
Configurations Options
Target track
With active
gain control
Without active
gain control
Robot Specifications
Load
+Y
+Z
+X
Options
· Active gain control is a control method that
allows the position gain to be changed in
real time.
· This is effective for standard operations
and tooling work requiring high accuracy.
Product Lineup
Tool settings for the tool coordinate system can be set by attaching the tool and
using three to eight of the same teaching points.
Enables settings to be made for the actual tool including errors introduced
when the tool was made and other data without needing to calculate values
from the tool diagram.
Positioning device
2
16
User-defined screen creation tools
Improved user friendliness
Simple automatic operation from the teaching box
Product Lineup
Screens can be created anew, imported, or exported from "User-defined
Screen Editing" in the project tree. Buttons, lamps, robot information, labels,
and ruled lines can be arranged into layouts and assigned to robot variables.
Data created here is exported and loaded into the R56/57TB.
Can be used as a user screen.
Robot Specifications
● Enables the robot to be controlled from the robot control screen using the
same functions as on the operating panel of the robot controller.
● Monitoring screens can be set up individually to match the needs of user
debugging conditions.
· Enabled for R32B/R33TB and R56TB/R57TB.
● Program management simplified
Enables batch management of programs and data in blocks from the
programmable controller to the servo, display device, and robot.
● Device model selection simplified
All Mitsubishi 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 (mini ver.).
Programmable controller
program designer
Display of teaching positions and trajectories of end points helps to
facilitate confirmation tasks during programming or simulations.
Functions
Enhanced RT ToolBox 2 visual functions
MELSOFT Navigator
GOT connection function
Display of selected positions
Display of user-defined regions/freedom-limited planes
Display of trajectories
Hands can be created as combinations of basic diagrams on the
Hand Editing screen and then attached to the robot. Allows the
relationships between the hand, workpiece, and peripheral
devices to be checked with a single glance during simulation.
Standard 3D polygonal models can be imported into the program.
Environmental models created using 3DCAD can be displayed on
the screen, allowing operators to confirm the positional relationship
between the robot and peripheral devices during simulation.
(Applicable 3D data file formats: STL, OBJ)
● The robot can be controlled directly from a Mitsubishi GOT 1000.
● Enables robot controller statuses to be uploaded and operations to be
controlled directly from the GOT. Allows robot startup/shutdown, status/alarm
monitoring, and other tasks to be completed from the GOT easily and quickly.
● Use of the transparent function enables editing of programs and parameters
from the USB interface on the front GOT screen, improving user friendliness.
Operation of engineering
tools from the USB
interface on the front GOT
screen.
The personal
computer and the
GOT are connected
with a USB cable or
RS232 cable
[For Q type /D type controllers]
Attachment of a hand created in RT ToolBox2
1
17
Example of a system environment screen from an imported model
Configurations Options
Display of selected position data
Simplified control panel created using a GOT
No need for ladder circuits with the GOT
connection
System Configuration
Enables automatic operation of servo power on/off, startup,
shutdown, reset, program selection, and other operations.
· Ethernet
· Serial signals
etc.
Example GOT screen
Options
Robot control screen (R56TB)
Enhanced RT ToolBox2 (PC software) graphic display function
allowing setting parameters to be displayed visually. Visual
confirmation using this function helps to proactively prevent
setting errors.
Controller Specifications
Linked to iQ Works
[For Q type /D type controllers]
* You can download a sample image from the Mitsubishi
FA site.
(Sample data corresponds to the GT16, 640×480 or more)
2
18
Connection to peripheral devices
● Simple settings
The robot and camera can be calibrated through a simple process using vision
sensor setting tools.
● Simple connection
Simple connection between the robot and camera using Ethernet.
● Simple control
Simple control using vision control commands in the robot programs.
● Three robots connected to a single vision sensor/Seven vision sensors connected
to a single robot
→ Enables costs to be reduced even for complicated system configurations.
Security features were added to protect programs and parameters. Read/write
protection prevents parameters from being overwritten and programs from
being changed inadvertently. Sensitive data can be protected using password
protection.
In-Sight Micro
Shortened takt times
Reduced system costs
Network vision
sensor
(In-Sight 5400)
··Seven··
Encoder
* 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.
Conveyor
Shutdown with
trajectory sustained
Emergency
stop
Shutdown with trajectory shifted
Collision detection function
Up to 8 additional axes
(Up to 3 groups)
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
*Applicable software: Ver. R3g/S3g or later.
User interfaces
The various network options available allow connection to a variety of devices
used throughout the world.
Option: CC-Link
Profibus
DeviceNet
Network base card (EtherNet/IP)
Reduced tooling costs
Shortened line stop times
Reduced maintenance costs
System Configuration
Robot
Error
Collision
Configurations Options
Can be used with multiple conveyors at the same time
(Up to 8 max.).
● This function detects if the arm collides with an obstacle while teaching or
operating, and helps reduce damage to the robot arm and tools.
● The collision detection function can be used to protect the workpiece from
becoming damaged due to interference between the workpiece and affected
objects.
● The detection level can be changed according to the protection targets.
● The collision detection function can be programmed to generate an alarm or
perform a specific escape move or both.
Ex.) An error is output due to the robot stopping suddenly, an error is output
after escape movements are made, etc.
Complies with safety standards
Complies with the latest ISO-10218-1 (2011) standards for Robots and robotic
devices - Safety requirements.
Meets the requirements for PL d of ISO13849-1 Category 3.
Safety circuits (emergency stop circuits) can easily be installed for the
customer's entire system, not just for the robot itself.
There are robots with special specifications that comply with various safety
standards. Contact a Mitsubishi Electric dealer or sales agent for further details
if interested.
Applicable standards
●CE: European Conformity
(European safety standards)
· Compliant with the EMC Directive, 2004/108/EC
· Compliant with the Machinery Directive, 2006/42/EC
Options
Processing capability
increased by 15%
Compatible with MR-J4-B (J3-compatible mode)*
1
19
Data backup and restore
Functions
Vision sensor
Additional axis function
Standard equipment: Ethernet
USB
SSCNET III
RT Tool Box2
Writing of parameters
Target position
No need for a positioning device
Improved operating takt
Reduced system costs
No need for a dedicated control device
Parameter-related
Reading and writing of programs
Program deletion and copying
Renaming and initialization of programs
The robot trajectory can be sustained even when the machine is shut down
using an emergency stop. This allows interference with peripheral devices and
other objects to be reduced or even fully prevented using the inertia of the robot
arm to let it coast to a stop.
Tracking
● 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.
● Up to 8 additional axes can be controlled by the controller.
● Additional axes and user machines can be operated from the robot
program and teaching pendant without any additional motion control
hardware. The same JOG operation as for the robot can be used. Robot
language can be used for control operations.
● The robot controller has plug-and-play compatibility with the MELSERVO
(MR-J4-B, MR-J3-BS) servos.
● Standard interface function (Separate servo amplifier and servo motor
required.)
Program-related
Sustained tracking during emergency stop
Three controllers
● Transport, alignment, and installation work, etc. can be performed while robots
are tracked with the workpiece on the conveyor without stopping the conveyor.
Processing capability improved by up to 15% compared to that for SQ/SD
series robots.
● Different variations can be selected, including vision tracking in combination
with a vision sensor, tracking in combination with an opto-electric sensor, etc.
● Programs can be created easily in robot language (MELFA BASIC IV, V).
● Standard interface function. (D type only.) (Separate encoder and vision
sensor required.)
● Passwords can be set to protect created programs.
● The viewing and copying of data from the teaching pendant and RT
ToolBox2 can be disabled.
● Writing operations for parameters can be disabled.
Protected and restricted functions
Robot Specifications
Security features
Controller Specifications
Vision sensor
Product Lineup
Safety features
●KCC: Korean Communications Commission
(Korean safety certification)
· Complies with the revised Korea Radio Act
(Article 58 Section 2)
2
20
The number of device points between the programmable controller
and robot was increased to 8192 input points and 8192 output
points. This allows the system to handle larger programs, more
complicated control, and other objects that require a lot of I/O points.
High-speed communications
Measurement example: Transfer
of 16-word data (With data matching
check)
CC-Link: 262ms
Between multiple CPUs: 63 ms
(Approx. 4×)
System costs can be reduced with the use of wireless systems and deletion of
I/O units and network units.
Programmable controller
PIO cable
Before
Controller Specifications
Use of a flap-style arm contributes to a slimming of customer equipment, enabling operations to be completed in even closer proximity to the
robot.
Reduced wiring and number of units used
Remote unit
Wireless
Functions
Compact installation with operation performed near the robot base
Shared memory
Number of I/O points: 8192/8192
Remote I/O: 256/256
CC-Link (4 stations, 1×): 126/126
CC-Link (4 stations, 8×): 894/894
After
I/O unit
Changes in operating posture can be made even more quickly!!
Changes in operating posture, which occur frequently during assembly, can be completed at rapid speed, increasing the speed of the axis
close at hand as well as that of the base axis. Enables changes to be made to the operating posture at high speed.
Direct communication between CPU units
Direct control between I/O units
Enables shared memory to be read from and written to between
multiple robot CPUs.
Speeds for data communications between robots increase, enabling
more detailed control, such as with an interference prevention
function or coordinated control, and cutting down on wasted time.
Enables data to be read and written directly between the CPU unit
and I/O unit.
Responsivity improved and interlock times and cycle times
shortened using high-speed I/O communications to peripheral
devices.
No need for special
programmable controller
programs as shared
memory is used.
Direct communication between CPUs
Enhanced wrist axis
Tolerable J4 axis inertia dramatically increased. Applies easily to multiple hands, offset hands, etc.
[5 times that of previous models (RH-20FH)]
Direct control between CPUs and I/O units
Batch management of multiple robots
Enables access to robots in the programmable controller network from a PC
connected to the main CPU. Leads to a shortening of rise times and improved
maintainability for robots on the production line.
iQ Platform
Programmable controller
Personal computer
RT ToolBox2
Compatible with workpieces
that are 2.2 times larger
SQ/SD Series
F Series
Enhanced wrist (RH-20FH)
1
21
Robot Specifications
Increases the speed of data communications between CPUs and
dramatically reduces I/O processing times using a high-speed
standard base between multiple CPUs.
Access to other stations by Ethernet or serial
communications enabled
USB/RS-232/Ethernet
Enables Robot 1, Robot 2,
and Robot 3 to be monitored
from a single location.
No need for
programmable
controller programs for
signal input/output
Improved responsivity
without any delay due
to scanning time
System Configuration
SQ/SD
Series
±160°
Large amounts of data
Configurations Options
RV-F Series
±200°
Improved responsivity through high-speed communications
Options
Expanding the J4 axis operating range enables the posture to be changed continuously during assembly and transport operations. It also
eliminates the need for the robot to move in the opposite direction partway through an operation.
Product Lineup
Features of IQ Platform Controllers
Expanded J4 axis operating range
CC-Link-IE/CC-Link
iQ Platform
Programmable controller
iQ Platform
Programmable controller
iQ Platform
Programmable controller
5 times the capability
of previous models
Q type robot 1
Q type robot 2
Q type robot 3
2
22
Shared memory expansion
For automatic prevention of collisions between robots
The software constantly monitors robots motion, predicts collisions before they
occur, and immediately stops the robots. This avoids damage to the robot
during both the JOG operations and automatic mode operations. Also, this
enables the number of interlocks needed to prevent collisions between robots to
be reduced. (Alarm shutdown)
Current value and load factor
monitor screen
Maintenance forecast screen
Robot Specifications
Jog/hand operation screen
Current position monitor screen
Checking interference using the robot
with a defined solid model
Manual/video display menu
GOT connection (transparent function) (For GOT1000 Series)
Decreases downtime during startup operation
Programs and parameters can be edited from the USB interface on the front of
the GOT using a transparent function for improved operability.
Reduces the number of recovery man-hours required after collisions due to
teaching operation errors or failure to set interlocks
Engineering environment
GOT backup/restore functions (Supported on GT14, GT15 and GT16)
Robot data on the GOT can be backed up to and restored from a CF card or
USB memory stick. With no need for a PC.
This helps prevent data from being lost due to the empty battery / battery or
robot malfunction.
Data can be saved after periodic maintenance tasks are performed or when
unexpected errors occur. Dramatically improves serviceability.
Coordinated control
Coordinated control between multiple robots
Functions
The personal
computer and the
GOT are connected
with a USB cable or
RS232 cable
[Q type controllers only]
Enables coordinated control between multiple robots through CPU connection
between the robots. Easy to operate and use under normal operation through
individual robot operation.
System Configuration
Engineering tool
operations performed
from the USB interface on
the front of the GOT
Coordinated transport
Enables transport of lengthy or heavy objects using multiple small-sized robots
instead of larger ones.
Backup
Enables installation work to be completed while gripper
positions between robots are maintained.
CF card
Restore
Direct execution function for programmable controllers
Robots can be controlled easily using programmable controller language.
System operation can be controlled using a single programmable controller.
This enables the operation of the programmable controller to handle making
changes to system specifications and troubleshooting directly.
No need to use any
robot programs!!
Command number
Destination number
Programmable controller
+
Robot CPU
Designated option
Shared memory
sequence program
Robot
1
23
Controller Specifications
Operation panel screen
[Details of supported control
operations]
Details
Operation
· Joint-interpolated motion
· Linear-interpolated motion
Motion
control
· Designated override
· Designated acceleration/
deceleration settings
· Designated speed
· Tool settings
· Designated auxiliary motion
· Opening/closing of hand
Options
Internal robot information
● Error, variable, and program information
● Robot status (Current speed, current position, etc.)
● Maintenance information (Remaining battery capacity, grease
life, etc.)
● Servo data (Load factor, current values, etc.)
[Q type controllers only]
Configurations Options
Enables the robot to be controlled from the GOT even without a
teaching box.
Current robot position data, error information, and other items
can be displayed easily on the GOT.
Product Lineup
Collision Avoidance
Enhanced efficiency of monitoring and maintenance operations onsite using a
single GOT (display device) as the Human Machine Interface (HMI).
2
24
Configurations Options
1E-VD0□ (Sink)
1E-VD0□E (Source)
1F-VD0□-02 (Sink)
1F-VD0□E-02 (Source)
Solenoid valve set
1F-VD0□-01 (Sink)
1F-VD0□E-01 (Source)
1S-VD0□-01 (Sink)
1S-VD0□E-01 (Source)
Ethernet
Hand curl tube
GOT
Vision system
1E-GR35S
Encoder
interface
Hand output cable
Insert
M EL SEC
Q6xP
POWER Q01CPU
RUN
ERR
Hand output cable
1F-GR35S-02
1F-GR60S-01
Q173DPX
Q172DRCPU
Q41X
1S-HC30C-11
SW
PULL
▼
CN1
Robot CPU
MITSUBISHI
CCable for robot
CPU-to-DU connection
▼
RS-232
1F-HC35S-02
CN2
PULL
TU I/F
Hand input cable
DISPLAY I/F
STOP RUN
EMI
IQ Platform-compatible
programmable controller
Hand input cable
NC
1F-HC35C-01
1F-HC35C-02
Drive unit
Solenoid valve set
1E-ST0408C
Internal wiring and
piping set for hand
<Robot arm options>
Robot
<Standard devices>
Teaching pendant
(option)
Pulse encoder
GOT
1E-ST0408C-300
External wiring set 1
for the forearm
1F-HB01S-01
External wiring set 2
for the forearm
1F-HB02S-01
External wiring set 1
for the base
1F-HA01S-01
External wiring set 2
for the base
1F-HA02S-01
1N-ST0608C-01
Servo
Controller
Machine cable
External user wiring
and piping box
Hand (curl) tube
Robot arm
1F-HS604S-01
1F-HS604S-02
USB cable
MELFA-Works
USB
communication
RT ToolBox2
Internal wiring and piping set
for hand
SSCNETIII
Additional
axis function
1F-HS408S-01
1F-HS408S-02
Servo
(MR-J3-BS/MR-J4-B)
1F-HS304S-01
<Software options>
FDseries
External user wiring and
piping box
1F-UT-BOX
Machine cable (replacement
for shorter 2-m type) (*1)
1S-02UCBL-01
1F-02UCBL-01
1S-□□CBL-11
Machine cable,
for extension/fixed
System Configuration
1F-UT-BOX-01
1S-□□CBL-01
1F-□□UCBL-02
1S-□□LCBL-11
Machine cable,
for extension/flexible
1S-□□LCBL-01
1F-□□LUCBL-02
1S-DH-11J1
Pulse encoder
Hand curl tube
Stopper for changing
the J1-axis operating range
GOT
1F-DH-04
1F-DH-03
1F-DH-02
Vision system
Hand output cable
1F-DH-01
RH
2F
4F
7F
3FH
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Functional specifications
6FH 12FH
20FH
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1 to 2 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1 or 2 valves)
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves)
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves)
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves)
Straight cable for 2-solenoid valve systems, total length of 300 mm, with a robot
connector on one side and unterminated on the other side
Straight cable for 4-solenoid valve systems, total length of 300 mm, with a robot
connector on one side and unterminated on the other side
Straight cable for 4-solenoid valve systems, total length of 1050 mm, with a robot connector
on one side and unterminated on the other side, equipped with a splash-proof grommet
4-point type, with a robot connector on one side and unterminated on the other side
8-point type, total length of 1000 mm , with a robot connector on one side and unterminated on the other side
8-point type, total length of 1650 mm (includes a 350-mm-long curled section), with a robot
connector on one side and unterminated on the other side, equipped with a splash-proof grommet
8-point type, total length of 1800 mm (includes a 350-mm-long curled section), with a robot
connector on one side and unterminated on the other side, equipped with a splash-proof grommet
Compatibility with φ4-4 solenoid valve systems (L = 300 mm)
Compatibility with φ4-4 solenoid valve systems (L = 300 mm)
Compatibility with φ6-4 solenoid valve systems
Used for the forearm. External wiring box used for connecting the hand input cable, the Ethernet
cable, and the electrical hand and force sensor cable.
Used for the forearm. External wiring box used for connecting the force sensor, the electrical hand,
and the Ethernet cable.
Used for the base. External wiring box used for connecting the communications output for the electrical hand,
the electrical hand and force sensor cable, and the Ethernet cable. There are hand input connection available.
Used for the base. External wiring box used for connecting the communications output for the electrical hand,
the electrical hand, the force sensor cable, and the Ethernet cable. No hand input connection available.
Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand
systems + φ6-2 solenoid valve systems) For 350mm Z-axis stroke
Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand
systems + φ6-2 solenoid valve systems) For 450mm Z-axis stroke
Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand
systems + φ4-4 solenoid valve systems) For 200mm Z-axis stroke
Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand
systems + φ4-4 solenoid valve systems) For 340mm Z-axis stroke
Wiring and piping set for internal mounting in the tip axis (Compatible with 4 input points
for hand systems +φ3-2solenoid valve systems)
Box for external wiring of user wiring (hand I/O, hand tube)
Box for external wiring of user wiring (hand I/O, hand tube)
2-m-long cables for securement purposes (2-wire set with power supply and signal)
2-m-long cables for securement purposes (2-wire set with power supply and signal)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires) □□ indicates the length of cables (5, 10, 15m)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires) □□ indicates the length of cables (5, 10, 15m)
Direct type, 10m, 15m, 20m (2wires set with power and signal wires) □□ indicates the length of cables (10, 15, 20m)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires) □□ indicates the length of cables (5, 10, 15m)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires) □□ indicates the length of cables (5, 10, 15m)
Direct type, 10m, 15m, 20m (2wires set with power and signal wires) □□ indicates the length of cables (10, 15, 20m)
Stopper for making changes, changed as needed for customer installations
Stopper for making changes, changed as needed for customer installations
Stopper for making changes, changed as needed for customer installations
Stopper for making changes, changed as needed for customer installations
Stopper for making changes, changed as needed for customer installations
Note 1) This is a special specification for shipping. Inquire for delivery and prices.
NC
Encoder
interface
Hand input cable
Ethernet
Controller
Remote parallel
I/O unit
Classification
External I/O
cable
Solenoid valve set
Servo
Internal wiring and
piping set for hand
Machine cable
External user wiring
and piping box
<Robot arm options>
Robot
<Equipment used for standard configuration>
Additional-axis
interface
USB
communication
On-board parallel
I/O interface
External I/O
cable
Programmable
controller
Controller
Teaching pendant
(option)
CC-Link
interface
GOT
Network base card
(EtherNet/IP)
USB cable
MELFA-Works
<Software options>
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25
RT ToolBox2
<Controller options>
SSCNETIII
Servo
(MR-J3-BS/MR-J4-B)
Name
Type
Standard teaching pendant (7m, 15m)
R32TB(-**)
High-function teaching pendant (7 m, 15 m)
R56TB(-**)
Standard teaching pendant (7m, 15m)
R33TB(-**)
High-function teaching pendant (7 m, 15 m)
R57TB(-**)
On-board Parallel I/O interface
2A-RZ361
2A-RZ371
(Sink type)
(Source type)
Remote Parallel I/O cable (5m, 15m)
2A-CBL**
On-board Parallel I/O interface (Installed internally) (Sink type)
(Source type)
2D-TZ368
2D-TZ378
Remote Parallel I/O cable (5m, 15m)
2D-CBL**
CC-Link interface
2D-TZ576
Network base card
2D-TZ535
Force sensor set
4F-FS001-W200
Terminal block replacement tool for the user wiring
2F-CNUSR01M
AC power supply connection cable
2F-ACIN□P01M
Controller protection box (*1)
CR750-MB
Personal computer support software
3D-11C-WINJ(E)
Personal computer support software -mini
3D-12C-WINJ(E)
Simulator (MELFA-Works)
3F-21D-WINJ(E)
*1: For CR-750
*2: Users need to provide the HMS EtherNet/IP module (AB6314-B) themselves.
*3: SolidWorks® is a registered trademark of SolidWorks Corporation (USA).
CR750
Robot Specifications
Type
Controller Specifications
Name
Functions
RV
Classification
System Configuration iQ Platform
Product Lineup
For details, refer to the specifications sheets.
System Configuration
Configurations options
CR751
Functional specifications
Q type D type Q type D type
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-
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○
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-
○
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○
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○
○
○
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○
○
○
○
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7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-750-*
7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-750-*
7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-751-*
Configurations Options
FQseries
7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-751-*
32 output points/ 32 input points
CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2A-RZ361/371.
32 output points/ 32 input points
CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2D-TZ368/378.
CC-Link Intelligent device station, Ver. 2.0, 1 to 4 stations
Options
System Configuration
Communications interface for attaching to Anybus-CompactCom modules manufactured by HMS
Accepts EtherNet/IP modules (*2)
Set of devices required for the force control function including a force sensor and interface unit
Terminal block replacement tool for the wiring for the external input/output, such as emergency
input/output, door switch input, and enabling device input
Connection terminal for the AC power supply input connector.
In □, 1 indicates the single phase and 3 indicates three phases.
With a built-in CR750-D/Q for improved dust-proofing to IP54 (dedicated CR750)
With simulation function (CD-ROM)
Simple version (CD-ROM)
Layout study/Takt time study/Program debug. Add-in software for Solidworks® (*3)
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26
Options
Required device
Robot
External
wiring
set External wiring set
specifications
for the forearm
for the base (*3)
—
• Air-hand +
Hand input signal
Interior equipment
-SH01
— (*1)
Exterior equipment
Standard
— (*2)
—
• Air-hand +
Hand input signal
• Vision sensor
Interior equipment
-SH05
— (*1)
(1F-HA01S-01)
Exterior equipment
Standard
1F-HB01S-01 (*2)
1F-HA01S-01
• Air-hand +
Hand input signal
• Force sensor
Interior equipment
-SH04
— (*1)
(1F-HA01S-01)
Exterior equipment
Standard
1F-HB01S-01 (*2)
1F-HA01S-01
• Air-hand +
Hand input signal
• Vision sensor
• Force sensor
Interior equipment
(Air hoses are part of
exterior equipment)
-SH02
— (*1)
(1F-HA01S-01)
Standard
1F-HB01S-01
1F-HA01S-01
End the connection
Solenoid valve
Comments
Air hoses: Up to 2 systems (4 mm diameter x 4 mm); 8 input signals
Air hoses: Up to 4 systems (4 mm diameter x 8 mm) are possible.
Air hoses: Up to 1 systems (4 mm diameter x 2 mm); 8 input signals
1 to 4 lines
Hand curl tube
(Can be provided by the user.)
Air hoses: Up to 4 systems (4 mm diameter x 8 mm) are possible.
Robot Specifications
Wiring format
Air hoses: Up to 1 systems (4 mm diameter x 2 mm); 8 input signals
Air hoses: Up to 4 systems (4 mm diameter x 8 mm) are possible.
Air hoses are exterior equipment: 4 systems (4 mm diameter x 8 mm)
External wiring BOX
(Standard supplied)
Air hoses: Up to 4 systems (4 mm diameter x 8 mm) are possible.
*1: Users must provide the solenoid valves for Internal wiring model air-hands.
*2: Users must provide solenoid valves and hoses/input cables as needed for External wiring model air-hands.
*3: The external wiring set for the base is provided for models with Internal wiring and hoses.
Hand input cable
Air hoses
φ6×2
For models with Internal wiring and hoses
Hand input signal
8 points
Signal cable for the
multi-function hand
Robot
Functions
On models with interior equipment,
the length of each externally
connected air tube and cable is 150
mm, and cables have connectors.
Controller Specifications
Hand configuration
RV series Tooling (air-hand) : External wiring
Product Lineup
RV-4F/RV-7F Series Tooling device configuration
Ethernet cable
For external wiring
System Configuration
RV series Tooling (air-hand) : Internal wiring
Solenoid valve
1 to 4 lines
Machine cable
External wiring BOX
Internal wiring models
(Standard supplied)
(models ending in ‘-SH01’)
Models with Internal wiring and hoses
Devices supporting interior hoses
Model (special device number)
-SH01
Hand inputs (×8)
○ (×4)
○
Ethernet (Vision sensor)
—
Force sensor
—
Air 4 mm diameter (×4/×2)
-SH02
—
○
○
○
Configurations Options
External wiring set
for the base
-SH04
○ (×2)
○
—
○
-SH05
○ (×2)
○
○
Air hoses
Hand input signal
Air hoses
φ6×2
—
Hand input signal
8 points
Options
External wiring set for the forearm
Signal cable for the
multi-function hand
Ethernet cable
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28
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.
Works
A 3D robot simulator offering powerful support for system design and
preliminary layout.
What is MELFA-Works?
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...on the robot simulation functions.
*1) An add-in tool is a software program that adds certain functions to application software packages.
*2) SolidWorks® is a registered trademark of SolidWorks Corp, (USA).
Support for all processes, from programming and startup to maintenance
Programming can be completed using the MELFA-BASIC IV/V and
Movemaster languages (vary depending on the model).
Robot movement and operating status, input signals, and servo status can be
monitored.
Advanced maintenance functions
Enhanced simulation functions
This function is compatible with all models that connect to CRn-500 series
and CRn-700 controllers.
Robots can be operated and tact time calculated using a personal computer.
(Not available for the mini version.)
Robot movements, operating status, input signals, and servo status can be
monitored.
The software has a maintenance function that notifies the operaters greasing
periods, battery life cycles as well as position recovery support function when
trouble occurs, etc. and is effective for preventative maintenance, shortening
of recovery time.
■ Simulation functions
■ Program editing and debugging functions
Creation of programs in MELFA-BASIC IV/V and the Movemaster languages. *1
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.
Offline robot motion and tact time check for designated parts of a program.
Features
■ Example Screens for MELFA-Works
Automatic robot program creation function
The teaching position data and robot operation programs necessary for
operating robots can be generated automatically by simple loading of 3D CAD
data (*3) for the applicable works into SolidWorks® and then setting of
processing conditions and areas using MELFA-Works.
MELFA-Works
SolidWorks®
RT-ToolBox2 (mini)
Controller Specifications
Windows®-compatible
Easy operation on Windows®.
Compatible with Windows® 2000, Windows® XP, Windows® Vista,
and Windows® 7 (32-bit Ver. 1.8 or later, 64-bit Ver. 2.0 or later).
*3) 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
Robot Specifications
MELFA-
● 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
Functions
RT ToolBox2
Product Lineup
Options
List of functions
■ Monitor functions
This is used to monitor program execution status and variables, input signals, etc.
Hands designed/created in SolidWorks® can be installed on robots. An ATC (Auto Tool
Changer) can also be specified for each hand.
Handling of work
Simulations of hand signal control can be created using a robot program to handle workpieces.
CAD link
Measurement of cycle times
The cycle time of robot movement can be measured using an easy-to-use function resembling a
stopwatch. It realizes the cycle time measurement of a specified part in a program.
Offline teaching
<Example of a Pick & Place program>
Mov Psafe
Mov Pget,-50
Move the evasion point
'Move the workpiece
extraction position up
Mvs Pget
'Move the workpiece
extraction position
Dly 0.2
'Wait 0.2-sec. on standby
Hclose 1
'Close the hand
Dly 0.2
'Wait 0.2-sec. on standby
Mvs Pget,-50
'Move the workpiece
extraction position up
Wait M_In(12)=1 'Wait for a signal
Mov Pput,-80
'Move the workpiece
position up
Mvs Pput
'Move the workpiece
position
Dly 0.2
'Wait 0.2-sec. on standby
Hopen 1
'Close the hand
··········
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29
Classification
Main functions
Operationrelated
Joint, linear, and circular
interpolation, optimal acceleration/
deceleration control,
compliance control, collision
detection, and singular point
passage
Input/output
Bit/byte/word signals,
interrupt control
Numerical
operations
Numerical operations, pose (position),
character strings, logic operations
Additional
functions
Multi-tasking, tracking,
and vision sensor functions
Creation of robot programs (template)
Maintenance functions
These functions include maintenance forecast, position recovery support,
parameter management, etc.
Saving of video data
Simulated movements can be saved to video files (AVI format).
Operation data needed to perform sealing and other operations requiring many teaching steps are easily
created. All you need is to select the target area to be processed from 3D CAD data. Since operation data
is created from 3D CAD source data, complex three-dimensional curves can be recreated with ease.
This leads to significant reduction in teaching time.
The robot posture can be set up on the screen in advance.
*1: 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.
Interference checks
Interference between the robot and peripheral devices can be checked. A target of interference
check can be specified by a simple mouse click it on the screen. Information explaining the
condition of interference that occurred (such as the contacted part, program line that was being
executed when the interference occured, and corresponding robot position) can be saved to a
logfile.
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)
Assignment of robot programs
Robot programs can be used as is without any modifications.
A different robot program can also be specified for each task slot.
Simulation of robot operations
Robot programs, including I/O signals, can be simulated.This means that movements of the
actual system can be recreated directly and accurately. The following two methods are
provided to simulate I/O signals of your robot controller.
(1) Create simple definitions of operations associated with I/O signals.
(2) Link I/O signals with GX Simulator.
System Configuration
Graphical representation of a work along with the dimensions, color and
other specified details of the work area to be gripped.
Installation of hands
Robot program debugging functions
The following functions are provided to support the debug of robot programs.
• Step operation : A specified program can be executed step by step.
• Breakpoint : Breakpoints can be set in a specified program.
• Direct execution : Desired robot commands can be executed.
Configurations Options
■ 3D viewer
Display of the robot movement path
Robot movement path can be displayed in the application / the workspace as.
Jog function
The robot shown in SolidWorks® can be jogged just like a real robot.
Traveling axis
A traveling axis can be installed to a robot to verify the operation of the system equipped with this.
Calibration
Options
Loading of part data from peripheral devices and rearrangement
Part data created in Solidworks® can be loaded.
The positions of loaded parts can be rearranged relative to the CAD origin and other parts.
Part positions can also be changed via numerical input.
Point sequence data of CAD coordinates created by the CAD link function can be corrected to
robot coordinate data.
Operation programs and point sequence data can also be transferred to robots.
To provide greater convenience for operators who perform calibration frequently on site, the
calibration tool is provided as an application independent of MELFA-Works.
Accordingly, the calibration tool can be operated effectively on a notebook computer in which
SolidWorks® software is not installed
2
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In-S ight
The In-Sight software developed exclusively for use with Mitsubishi Electric FA devices with
enhanced linking to In-Sight, the vision system produced by COGNEX Corporation, offers better
compatibility with FA devices, allowing it to be utilized more easily as a more user-friendly vision
system.
Improved production stability
Allows assembly of more complicated configurations
Enables parts to be inserted or attached without being
damaged while absorbing shifts in position due to part
variations and emulating the slight amounts of external force
applied. Improved operating stability gained through position
latches and retry processes when work operations fail. Log
data can be used to manage quality control and analyze
causes of work errors and other issues.
Force detection during contact allows operating directions and
applied force to be changed and interrupts to be executed
under trigger conditions combining position and force
information.
Simple control
Simple operation
Simple programs can be created using specialized robot
language.
Work conditions can be checked and adjusted by viewing
position and force data from the teaching box and graphs on
RT ToolBox2.
Force
sensor
detection
Force
sensor
log
Name
Features
Simplified connection using Ethernet
Up to three robots and seven vision systems can be connected together to the same
system by Ethernet connection. Vision system information can be shared between
multiple robots.
Product Configuration
Item
Force
sensor
control
Easy Builder allows connection to vision systems, setting of job (vision programs)
settings, and calibration between the robot and vision system to be completed easily
and quickly.
Qty.
Force control
Function for controlling robots while applying a specified force
Force sensor
Qty. 1
Stiffness control
Function for controlling the stiffness of robot appendages
Force sensor interface unit
Qty. 1
Gain changes
Function for changing control characteristics while the robot is running
Sensor adapter
Qty. 1
Execution of interrupts
Interrupts can be executed (MO triggers) under trigger conditions combining position and force information.
Adapter cable
Qty. 1
Data latch
Function for acquiring force sensor and robot positions while contact made
24-V DC power supply
Qty. 1
Data reference
Function for display force sensor data and maintaining maximum values
24-V DC power supply cable
Synchronous data
Function for acquiring force sensor information synchronized to position infromation as log data and displaying it in graph form
Serial cable between the unit and sensor
5m
Start/stop trigger
Allows logging start/stop commands to be specified in robot programs
SSCNET III
10m
FTP transmission
Function for transferring acquired log files to the FTP server
Simplified control using robot language
The included dedicated vision system commands enable vision system startup, job selection, and control of data receiving and
other operations to be completed quickly and easily using a single command without any need for protocols.
Simplified job editing
Simplified calibration
Jobs (Vision recognition programs) are created from the job
editing screen. Jobs can be edited using condition settings and
other data, eliminating the need for specialized knowledge of
vision control commands and other programming instructions.
The calibration wizard allows settings used in converting
workpiece positions recognized by the vision system into robot
coordinate system coordinates easily and quickly.
Functions
Product features
Simplified settings using Easy Builder
Robot Specifications
Allows copy and fitting work to be completed in the same way a person would while the force
applied to the hand is monitored.
Enables necessary work such as fine force adjustments and force detection to be completed.
(Manufactured by COGNEX: For Mitsubishi Electric FA devices)
Controller Specifications
Force sensor set
Product Lineup
Options
1m
RS-422
Simplified control using robot language
Robot controller specifications
SSCNET III
Power supply cable
Item
24-V DC
power supply
Robot controller:
CR750 Series
CRnQ-700 Series: R1 ver. or later
CRnD-700 Series: S1 ver. or later
RT ToolBox2: Ver. 1.0 or later recommended
Software
Force sensor
LAN/USB
Robot controller
RT ToolBox2
CR7xx/ CRnQ-7xx/ CRnD-7xx
Connected robot
All models
Number of robots connected
to the vision system
Number of cameras used per robot controller: Up to 7 max.
Number of robots that can be connected to a vision system:
Up to 3 max.
Robot program language
MELFA-BASIC V comes with dedicated vision sensor commands
Model name -□□□
Teaching pendant
(R56TB/R57TB/R32TB/R33TB)
Entry
Standard
In-Sight Series
High
Color
resolution
143
110C 140C 143C
100
110
140
1×
2×
5×
4×
2×
5×
4×
Resolution
640×
480
640×
480
640×
480
1600×
1200
640×
480
640×
480
1600×
1200
CCD sensor size
1/3 in. 1/3 in. 1/3 in.
Average performance
Performance
data setting that
and
for the standard
magnification
version to 1 (*2)
Camera
Color
1
31
Instruction
word
Adapted robot controller
Adapter cable
RV-F/RH-F
MELFA BASIC V comes with dedicated vision system
control commands and status variables. These control
commands and status variables enable the vision system
to be controlled using simple programs.
Specifications
×
×
×
1/1.8 in.
×
1/3 in. 1/3 in. 1/1.8 in.
○
○
○
Details
NVOpen
Connect to the vision system and log on.
NVPst
Start up the specified vision program and receive the
transmitted results.
NVRun
Start up the specified vision program.
NVIn
Receive the transmitted results of the vision program
specified by the NVRUN command.
NVClose
End the connection to the vision system.
NVLoad
Ready the specified vision program to enable it for startup.
NVTrg
Transmit a request to the vision system for the image and
acquire the encoder values after the specified length of time.
Configurations Options
Force sensor interface unit (2F-TZ561)
Options
<Product Configuration>
System Configuration
System Configuration
Separate MELFA-Vision software is available for customers
using In-Sight5000 series or In-Sight Micro series products.
The use of job programs corresponding to work tasks
performed regularly enables even customers who are new to
vision systems to easily understand and use them without
problems.
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MEMO
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MEMO
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