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.
Rua Jussara, 1750 - Bloco B- Sala 01, Jardim Santa Cecilia - CEP 06465-070,
Barueri - SP, Brasil
Tel: +55-11-4689-3000
Fax: +55-11-4689-3016
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-C
New publication, effective Jul. 2013
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.
RV - 4 F L C - D 1 - 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.
Product Lineup
Lineup
Sxx: Compliant with special models
such as CE specification and
KC specification etc (separately)
SHxx: Internal wiring specifications
1: CE/KC specification
Vert i cal , mu l t ip le -jo in t ty p e (RV)
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
Arm length
Blank: Standard arm
L : Long arm
LL : Super long arm
Controller Specifications
Series
F: F series
Maximum load capacity
2: 2kg 4: 4kg 7: 7kg 13: 13kg 20: 20kg
Robot structure
RV : Vertical, multiple-joint type
RH - 6 FH 55 20 M - D 1 - Sxx
RV-4FL
RV-7F
RV-7FL
RV-7FLL
RV-13F
RV-13FL
RV-20F
3
4
4
7
7
7
13
13
20
Maximum reach radius (mm)
504
515
649
713
908
1503
1094
1388
1094
Environmental
specifications
Standard
Oil mist
Clean
○(IP30)
○(IP40)
○(IP67)
—
○(IP40)
○(IP67)
○(IP40)
○(IP67)
○(IP40)
○(IP67)
○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3)
—
○(IP40)
○(IP67)
○(ISOclass3)
○(IP40)
○(IP67)
○(ISOclass3)
○(IP40)
○(IP67)
○(ISOclass3)
1: CE/KC specification
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
Controllers with protective specifications
(Equipped with controller protection boxes)
CR751
(CR750: Japan, Europe, U.S.; CR751: Asia)
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
○
Clean
(IP20)
○
○(IP65)
(IP20)
—
○(ISOclass3)
(ISOclass3)
○
○(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
Structure
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)
Type
50
514.5
690
397
50
RV-4F(M)(C)
RV-4FL(M)(C)
Standard/ Oil mist/ Clean
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
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
720 (-360 to +360)
J6
J1
300
J1
450
420
J2
150
J2
450
336
300
250
540
540
623
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
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°
J6
J3
310
350
140
+240°
998.7
648.7
°
7
Installation
Operating range
+1
R648.
Protection degree
Arm length
335
20
R140.4
14.7
Unit
Point P
764.9
.4
40
6)
Top view
Position repeatability
Tool wiring
85
R1
(200)
80
°(*
Cycle time *4
Tolerable amount of inertia
125
Control point (R point)
for -SH** specifications
J5
Maximum composite speed *3
Tolerable moment
Control point (R point)
Limits on operating range
for the rear (*6)
Approximately 100
+1
10
Environmental specifications
240 (-120 to +120)
deg
14.7
.8
35
-35°(
*6)
Rz25
80
102
(160)
128
Point P
480 (±240)
J2
Operating range
230
170
648.7
System Configuration
Floor type, ceiling type, (wall-mounted type *2)
648.7
Wrist's downward limit
Configurations Options
IP30
Installation
Maximum reach radius
(Installation reference
surface)
1.7
94.6
Standard
NO1 arm
0°
Motion space
at point P
View B
Rear Surface Diagram (Installation Dimension Detail)
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
Maximum load capacity
R1
50
R2
270
389.6
.5
39
R1
Specifications
Wrist's downward
singularity boundary
Maintenance
space (*2)
4-φ9 installation hole
80
(200)
Side view
Top view
Type
799.6
504.6
757
(160)
(120)
Rear Surface Diagram (Installation Dimension Detail)
5)
(160)
280
B
5
R514.
-114°(*6)
0°
-12
40°
+2
View B
80
(Installation reference
Rz25
surface)
R230
Wrist's downward
singularity boundary
102
°
20
+1
R136.8
Top view
RV- 4 F L
View A
Mechanical Interface Detail
R139.5
221
Rz 25
528
Point P
Point P
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
1)
ote
°
270
275
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
3° (N
-24
Control point (R point)
for -SH** specifications
230
170
Wrist's downward limit
Limits on operating range
for the rear (*5)
514.5
-11
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
External Dimensions/Operating Range Diagram
Same for RV-7F/7FL/7FLL
125
85
Type
Wrist's downward
singularity boundary
0°
0°
130
250
242.5
1242.6
Space for the cable
connection (*1)
C
Side view
*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. Limits on the operating range for the front part: When the J1-axis angle is inside the range of +145° ≤ J1 ≤ +215° or -145° ≤ J1 ≤ -215°, the operating range of the J2-axis is limited to -110° ≤ J2 ≤ +120°.
*5. Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -120°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
Operating range
for each axis:
J1: ±190°
J2: -90° to 150°
J3: -10° to 157.5°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
973.7
+190°
Operating range limitation
for the front/side faces (*5)
Top view
Type
Standard/ Oil mist/ Clean
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Protection degree
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Installation
Floor type, ceiling type, (wall-mounted type *2)
Installation
Floor type, ceiling type, (wall-mounted type *2)
Vertical, multiple-joint type
Position detection method
Arm length
NO1 arm
340 + 360
430 + 465
mm
713
908
565 + 805
mm
1503
380 (±190)
240 (-115 to +125)
240 (-110 to +130)
J2
240 (-90 to +150)
156 (-0 to +156)
162 (-0 to +162)
J3
167.5 (-10 to +157.5)
J4
deg
400 (±200)
Operating range
J4
deg
400 (±200)
J5
240 (-120 to +120)
720 (±360)
J6
240 (-120 to +120)
720 (±360)
J1
360
288
J1
234
J2
401
321
J2
450
360
337
337
J5
450
450
J5
450
J6
720
720
J6
720
J3
J4
deg/sec
11064
10977
sec
0.32
0.35
Position repeatability
mm
Ambient temperature
°C
Mass
kg
±0.02
0 to 40
65
67
J5
16.2
Nm
J6
J4
J5
Maximum speed
kgm
2
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.
375
15300
sec
0.63
Position repeatability
mm
±0.06
Ambient temperature
°C
0 to 40
Mass
kg
130
16.2
Nm
16.2
J4
Tolerable moment
J5
J4
Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)
219
mm/sec
0.45
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
164
deg/sec
Cycle time *4
J6
0.10
Primary: φ6 x 2
J4
6.86
0.45
J6
J3
Maximum composite speed *3
16.2
J4
Tool pneumatic pipes
mm
J3
mm/sec
Machine cable
Connected controller
Maximum: 7 (Rated: 7) *8
J1
Cycle time *4
Tool wiring
NO1 arm
Maximum reach radius
kg
J2
Maximum composite speed *3
Tolerable amount of inertia
Arm length
480 (±240)
J6
Tolerable moment
Absolute encoder
Maximum load capacity
mm
J5
Maximum speed
AC servo motor
Position detection method
7
J1
6
Drive system
Absolute encoder
kg
Maximum reach radius
Operating range
Degrees of freedom
AC servo motor
Maximum load capacity
Vertical, multiple-joint type
Structure
6
Drive system
130
RV-7FLL(M)(C)
Unit
Machine class
Protection degree
Degrees of freedom
399
529
Specifications
RV-7FL(M)(C)
Structure
Minimum: 430
300
View C
Rear Surface Diagram (Installation Dimension Detail)
Side view
Standard/ Oil mist/ Clean
Controller Specifications
65
(*1
)
300
1296.9
300
120
250
15
99
R3
Tolerable amount of inertia
J5
6.86
0.45
kgm
2
0.45
0.10
J6
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller
Functions
352.3
R
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°
13
.6
R1372
R5
400
.7
907
157.5°
160
4- φ14
installation hole
29
50
Point P
450
100
1371.5
Motion space
at point P
250
155
A
300
66
77.6
135
1307.7
30
+1
435
°
155
135
752.3
185 (*1)
R2
50
907.7
Point P
RV-7F(M)(C)
Machine class
347
114
+1
340
168.4
(Installation reference
surface)
Rz25
568.4
400
(Installation reference
Rz25
surface)
Maintenance
space (*2)
Top 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 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
2-φ8H7
Reamer
102
Point P
System Configuration
Specifications
1113.4
25
°
713.4
844.4
15.9
15.9
245
View B
Rear Surface Diagram (Installation Dimension Detail)
+2
470
R192.8
Approximately 100
°
40
245.7
85
939.4
.8
92
R1
Rz25
(Installation reference
surface)
102.5 102.5
124.5
Motion
space
at point P
4- φ9 installation hole
Point P
125
Control point (R point)
for -SH** specifications
(205)
102.5 102.5
Dedicated for RV-7FLL
907.7
907.7
Wrist's downward limit
Control point (R point)
805
Control point (R point)
for -SH** specifications
0°
(205)
Motion space
at point P
-11
162
-240°
270
200
124.5
Side view
85
Control point (R point)
Motion space at point P
For internal hand wiring
and piping specifications (-SH**)
View A
Mechanical Interface Detail
(Installation reference
Rz25
surface)
1
7
Wrist's downward
singularity boundary
View A
Mechanical Interface Detail
125
°
P.C
Maintenance
space (*2)
Wrist's downward singularity boundary
90
.5
RV-7FL
.7
07
R9
φ20H
7, de
pth 6
φ4
0h
8(
*4)
4
+2 Top view
Approximately 100
Note) The depth for the φ40 part is 3.5 mm (Oil mist/clean),
6 mm (Standard), or 6.5 mm (-SH** models).
For internal hand wiring and piping
specifications (-SH**)
-190°
.6
0°
4-M5 screw, depth 8 (*3)
31
φ
.D.
Point P
φ5H7, depth 8
45°
4
R197.
13.4
R7
RV-7FLL
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°
02
Intersection
Point P
5
R1
7
19
R
5°
-11
Motion
space
at point P
.4
φ5H7, depth 8
4-M5 screw, depth 8 (*3)
φ20
H7, d
φ
epth
40
6
h8
Note)
.5
31
D.φ
.
P.C
50
270
200
45°
370
Configurations Options
Control point (R point)
for -SH** specifications
713.4
Robot Specifications
713.4
Wrist's downward limit
Control point (R point)
4
Options
°
3.
1821.5
-240
71
External Dimensions/Operating Range Diagram
For internal hand wiring
and piping specifications (-SH**)
846.9
R
Motion space
at point P
RV-7FLL
565
RV-7F
7
kg
type
1152
7
kg
type
Vertical
Product Lineup
RV-7F
RV-7FL
Vertical
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
Secondary: φ6 x 8, φ4 x 4 (With wrist attached)
7m (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.
*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 (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
*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.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
2
8
Vertical
20 kg
External Dimensions/Operating Range Diagram
50
Rear Surface Diagram (Installation Dimension Detail)
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Floor type, ceiling type, (wall-mounted type *2)
410 + 550
565 + 690
1094
1388
240 (-90 to +150)
J4
Arm length
deg
NO1 arm
Maximum reach radius
kg
Maximum: 20 (Rated: 15) *8
mm
410 + 550
1094
mm
J1
380(±190)
167.5 (-10 to +157.5)
Absolute encoder
Maximum load capacity
mm
J2
AC servo motor
Position detection method
mm
J3
6
Drive system
240 (-90 to +150)
J2
Operating range
400 (±200)
J3
J4
167.5 (-10 to +157.5)
deg
400 (±200)
J5
J6
240 (-120 to +120)
720 (±360)
J1
290
234
J1
110
J2
234
164
J2
312
219
375
375
J5
375
375
J5
J6
720
720
J6
mm/sec
10450
9700
Cycle time *4
sec
0.53
Position repeatability
mm
Ambient temperature
°C
Mass
kg
J5
240 (-120 to +120)
720 (±360)
J6
Maximum speed
J3
J4
Maximum composite speed *3
deg/sec
0.68
±0.05
0 to 40
120
130
Tolerable moment
J5
19.3
Nm
J6
J4
Tolerable amount of inertia
J5
kgm
2
Tool pneumatic pipes
Machine cable
Connected controller
J4
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
*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 5 kg.
*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
*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.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
125
sec
0.70
±0.05
Ambient temperature
°C
0 to 40
Mass
kg
120
49.0
Nm
49.0
J4
Tolerable moment
Tolerable amount of inertia
J5
J5
11
Tool pneumatic pipes
Machine cable
Connected controller
Robot Specifications
1.40
kgm
2
1.40
0.14
J6
Tool wiring
Controller Specifications
360
4200
mm
J4
7m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
124
Cycle time *4
0.47
Secondary: φ6 x 8, φ4 x 4 (With wrist attached)
110
Position repeatability
J6
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
110
deg/sec
mm/sec
Maximum composite speed *3
0.14
Primary: φ6 x 2
J3
11
0.47
J6
Tool wiring
Maximum speed
19.3
J4
458.9
380 (±190)
Configurations Options
NO1 arm
J1
Operating range
Degrees of freedom
Absolute encoder
Maximum reach radius
Vertical, multiple-joint type
Structure
System Configuration
Protection degree
Arm length
1413.8
65
Standard/ Oil mist/ Clean
Installation
Maximum: 13 (Rated: 12) *8
Operating range
for each axis:
J1: ±190°
J2: -90° to 150°
J3: -10° to 157.5°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
RV-20F(M)(C)
Unit
Floor type, ceiling type, (wall-mounted type *2)
kg
997
Specifications
Type
Space for the cable
connection (*2)
*1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°,
the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
*2: Make sure to leave enough space open for cable connections between devices.
*3: Specify a thread engagement length of 10 to 9 mm.
IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
AC servo motor
130
Side view
Machine class
6
833.8
280.3
4- φ14 installation hole
View B
Vertical, multiple-joint type
Minimum: 430
B
Protection degree
Maximum load capacity
450
130
683.6
Top view
250
155
100
300
RV-13FL
242.5
+190°
120
135
(Installation reference
surface)
Rz25
155
pth 10
φ25H7, de th 6 (SH specifications)
φ25H7, dep
φ50
H8,
φ
50H depth
P.C
8, de
6
pth 8 .5
(SH
spec
ifica
tions
)
View A
Mechanical Interface Detail
Operating range limitation
for the front/side faces (*1)
Installation
Position detection method
410
1)
3.8
Functions
2-φ8H7
Reamer
40
.D ∅
RV-13FL(M)(C)
Drive system
0°
15
.3
6
R9
7.6
(Installation reference
surface)
Rz25
φ6H7, depth 8
4-M6 screw, depth 10 (*3)
Space for the cable
connection (*3)
Standard/ Oil mist/ Clean
Degrees of freedom
.5°
R2
7
1128.1
130
B
Side view
Operating range
for each axis:
J1: ±190°
J2: -90° to 150°
J3: -10° to 157.5°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
45°
250
732.4
Minimum: 430
327.6
RV-13F(M)(C)
Structure
157
135
1708.1
450
250
242.5
*1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
*2: Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +130° or J1 ≤ -140°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
*3: Make sure to leave enough space open for cable connections between devices.
*4: Specify a thread engagement length of 10 to 9 mm.
Machine class
°
Options
930.5
Operating range limitation
for the front/side faces (*2)
565
.5°
130
1182.4
250
135
300
Top view
157
.1
R1258
27.6
R3
R4
+190°
°
1152
Point P
0°(
*3
15 )
0°
12
13
Motion space
at point P
90
R280
908.9
Motion space
at point P
130
° (*
Point P
250
65
1258.1
185 (*3)
.6
963.8
65
450
A
160
690
°
155
135
120
150
90
77
166
A
160
Unit
166
7.6
7.9
(Installation reference
surface)
Rz25
38
347
300
300
.3
300
97
Control point (R point)
.6
57
Type
10
Control point (R point)
for -SH** specifications
4- φ14 installation hole
Specifications
R4
For internal hand wiring and piping specifications (-SH**)
Wrist's downward singularity boundary
R2
Rear Surface Diagram
(Installation Dimension Detail)
347
300
Point P
B
Side view
-190°
Point P
250
833.8
550
Control point (R point)
for -SH** specifications
Space for the cable
connection (*3)
Minimum: 430
97
Control point (R point)
Motion space
at point P
Operating range
for each axis:
J1: ±190°
J2: -90° to 150°
J3: -10° to 157.5°
J4: ±200°
J5: ±120°
J6: ±360°
J6 when -SH
specifications
are used: ±200°
150
Wrist's downward singularity boundary
130
Motion space at point P
50
250
242.5
683.6
280.3
Top view
RV- 1 3 F L
View B
1
9
3.8
6
R9
+190°
View A
Mechanical Interface Detail
(Installation reference
Rz25
surface)
.5°
.3
R280
Operating range limitation
for the front/side faces (*1)
R1
φ25H7, depth 10
φ25H7, depth 6
(SH specifications)
φ50H8, depth 6.5
φ50H8, depth 8
(SH specifications)
155
100
157
300
φ6H7, depth 8
4-M6 screw, depth 8 (*4)
P.C.D φ40
2-φ8H7 Reamer
°
R2
7
Shared parts
45°
Motion space
at point P
908.9
160
90
410
997
1413.8
Point P
458.9
.3
130
166
10
A
963.8
185 (*3)
R4
347
300
For internal hand wiring and piping specifications (-SH**)
-190°
.8
Point P
550
93
.8
Motion space at point P
150
97
Control point (R point)
Control point (R point)
for -SH** specifications
130
°(*1
)
15
0°
93
Wrist's downward singularity boundary
0
R1
0
R1
-190°
For internal hand wiring and piping specifications (-SH**)
Product Lineup
type
External Dimensions/Operating Range Diagram
RV- 1 3 F
RV-20F
185 (*2)
13
kg
type
RV-13F
RV-13FL
300
Vertical
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
Secondary: φ6 x 8, φ4 x 4 (With wrist attached)
7m (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.
*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 5 kg.
*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
*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.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
2
10
RH-6FH35
RH-6FH45
RH-6FH55
6
kg
type
External Dimensions/Operating Range Diagram
External Dimensions/Operating Range Diagram
170°
Y section details
(Hand mounting)
φ39.5
Robot Specifications
φ90
60.5
φ90
10
27.5
10
F
10
110
E
D
58
10 10
30
G
174
174
150
180
5°
14
H
X
X
G
R174
R196
R174
R196
R174
R197
R174
R197
R197
R222
R222
R197
R222
R222
H
342
342
342
342
337
337
337
337
337
337
337
337
337
337
J
200
200
340
340
200
200
340
340
200
200
200
340
340
340
K
133
133
-7
-43
133
133
-7
-43
133
133
133
-7
-43
-43
L
798
798
938
938
798
798
938
938
798
798
798
938
938
938
M
386
386
526
526
386
386
526
526
386
386
386
526
526
526
(*3)
10
10
4 55
F
220
268
220
268
220
268
220
268
172
259
259
172
259
259
M
E
R253
R253
R253
R253
R253
R253
R253
R253
R244
R253
R244
R244
R253
R244
25
D
210
224
210
224
210
224
210
224
160
160
160
160
160
160
L
C
R142
R142
R142
R142
R135
R135
R135
R135
R191
R191
R191
R191
R191
R191
65
Y
10
164
82
20
H
82
B
R350
R350
R350
R350
R450
R450
R450
R450
R550
R550
R550
R550
R550
R550
J
188
10
A
125
125
125
125
225
225
225
225
325
325
325
325
325
325
412
65
Y
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
(*3)
X
K
10
Only clean spec
30
10
55
(*3)
RH-3FH4515/12C
*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.)
200 (*2)
RH-3FH5515/12C
IP20/ ISOclass3 *6
Floor type
160(*1)
kg
NO1 arm
NO2 arm
Maximum reach radius
125
J2
J3 (Z)
J4 (θ)
J1
J2
X
200(*2)
mm/sec
mm
Maximum
kgm
J2
J3 (Z)
J2
Maximum speed
0.41
0.46
0.51
±0.010
±0.010
±0.012
Position repeatability
±0.004
0 to 40
Ambient temperature
29
0.005
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
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.
Tool wiring
Tool pneumatic pipes
Machine cable
Connected controller *5
450
350
325
550
340 (±170)
deg
290 (±145)
mm
deg
xx = 20 : 200/ xx = 34 : 340
720 (±360)
400
deg/sec
J4 (θ)
deg/sec
mm/sec
670
2400
2500
6900
7600
8300
0.29
Y-X composite
J3 (Z)
Mass
Tolerable amount of inertia
225
225
mm/sec
J4 (θ)
32
125
mm
J3 (Z)
Maximum composite speed *2
Cycle time *3
±0.01
Maximum 6 (rating 3)
mm
720
8300
Primary: φ6 x 2
NO1 arm
NO2 arm
J4 (θ)
3000
29
Absolute encoder
kg
J1
7500
2
4
AC servo motor
420
6800
deg
kg
Rating
Operating range
1100
Ambient temperature
Floor type
Maximum reach radius
720 (±360)
deg/sec
deg/sec
Mass
Arm length
RH-6FH55XX/M/C
Horizontal, multiple-joint type
J1
150 (Clean specification : 120) *1
J4 (θ)
J4 (θ)
550
290 (±145)
mm
deg
mm/sec
Y-X composite
J3 (Z)
325
340 (±170)
deg
J3 (Z)
Maximum composite speed *2
Cycle time *3
450
350
IP20 *6/ IP65 *7/ ISO3 *8
Maximum load capacity
225
mm
J1
225
Protection degree *1
Position detection method
Maximum 3 (rating 1)
mm
RH-6FH45XX/M/C
Standard/ oil mist/ Clean
Drive system
Absolute encoder
Maximum load capacity
RH-6FH35XX/M/C
Degrees of freedom
AC servo motor
Position detection method
Unit
Structure
4
Drive system
Type
Machine class
Installation
Horizontal, multiple-joint type
Degrees of freedom
1
11
[Clean specifications]
Variable dimensions
Standard/ Clean
Structure
Tool pneumatic pipes
100
±0.010
mm
Maximum
deg
kgm
±0.010
±0.012
±0.01
±0.004
0 to 40
kg
Rating
System Configuration
RH-3FH3515/12C
Installation
Machine cable
Connected controller *5
Z
Configurations Options
Unit
Protection degree *1
Tool wiring
Cross-section Z-Z
Z
36
36
0.01
2
37
0.12
Options
Type
Tolerable amount of inertia
165
Specifications
Machine class
Position repeatability
A
22 13.2
357
J
150
120
150
120
150
120
40
H
342
342
337
337
337
337
22
G
R174
R196
R174
R197
R197
R222
J
F
220
268
220
268
172
259
220
E
R253
R253
R253
R253
R244
R253
773
D
210
224
210
224
160
160
416
C
R142
R142
R135
R135
R191
R191
26
B
R350
R350
R450
R450
R550
R550
Specifications
Maximum speed
225
(*3)
(*1) 160
Operating range
60
92
174
150
Only clean spec
*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.)
Arm length
gh
hole
130
92
A
125
125
225
225
325
325
φ90
170°
rou
8th
φ1
60
5°
180
Robot series
RH-3FH3515
RH-3FH3512C
RH-3FH4515
RH-3FH4512C
RH-3FH5515
RH-3FH5512C
120
150
14
φ90
Variable dimensions
90
24
Rz25
(Installation standards)
[Mist specifications]
136
Cross-section Z-Z
φ25h7
[Standard specifications]
92
4-φ9installation hole
Z
30
F
D
1th
φ1
Rz25
(Installation standards)
Z
10
2-φ6 hole
(φ8 prepared hole for positioning pins)
hole
10
Cross-section X-X
(Installation Dimension Detail)
E
Z
24
G
130
174
15
165
C
gh
rou
A
100
Rz25
[clean specifications]
15
60
225
136
30
120
(Installation standards)
B
10
Z
50
10
φ16h7
150
4-φ9installation hole
Z
C
10
10
10
92
90
Z
110
Rz25
2-φ6 hole
(φ8 prepared hole for positioning pins)
Z
30
Cross-section X-X
(Installation Dimension Detail)
Z
Z
B
(Installation standards)
Z
15
φ37.5
Controller Specifications
Y section details
(Hand mounting)
Functions
3
kg
type
Horizontal
Product Lineup
RH-3FH35
RH-3FH45
RH-3FH55
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: φ4 x 8
5m (connector on both ends)
CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)
*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.
2
12
MELFA
Controller
Q Type
(iQ Platform compatible)
Controller configuration
External Dimensions/Operating Range Diagram
CR750-Q
CR751-Q
R H -2 0 FH
Z
11
10
10
φ30h7
Z
Mist, Clearn
h
ug
le
ho
o
24
r
8th
gh
ou
29
1
r
1th
le
ho
Additional axis function
2
28
φ
24
φ
CRnD-7xx
Controller
Pulse encoder
SSCNET III
(optical communications)
φ30h7
Mist, Clearn
122
Additional axis function
Drive unit
USB
communication
11
φ25h7
120
Z
8
10
10
Z
Controller
Robot CPU
10
10
φ110
Z
200
SSCNET III
(optical
communications)
Standard
φ110
10
Installation reference
surface
10
122
A1
240
200
120
A2
4-φ16 installation holes
Installation reference
surface
Standard
MR-J4-B
MR-J3-BS
Encoder input function
USB
communication
4N9 ( -0.030)
0
F
80
80
Only clean spec
Cross-section Z-Z
Cross-section Z-Z
400
340
G st
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
Specifications
Type
Unit
RH-12FH55XX/M/C
Machine class
RH-12FH70XX/M/C
RH-12FH85XX/M/C
H
R295
R382
R295
R382
─
R367
R295
R382
RH-20FH100XX/M/C
Type
kg
NO2 arm
mm
325
mm
J2
J3 (Z)
J4 (θ)
J1
J2
deg
mm
deg
1000
deg/sec
mm/sec
mm
306 (±153)
306 (±153)
Rating
Maximum
kgm
2
Door switch input
Enabling device input
1 (redundant)
1 (redundant)
points
1 (redundant)
1 (redundant)
450
450
Synchronization of additional axes
2800
2400
RS-422
12535
1700
11350
13283
11372
0.30
0.30
0.30
0.36
±0.015
±0.015
±0.015
±0.02
±0.01
±0.01
±0.005
±0.005
67
0.025
69
Interface
Ethernet
channels
Encoder input
channels
77
0.065
ports
Additional-axis interface
Extension slot *1
Relative humidity
75
1 (redundant)
USB
Ambient temperature
Power supply *5
Input voltage range *2
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
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
1.05
0.3
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.
Power capacity *3
External dimensions (including legs)
Weight
Structure [protective specification]
Grounding *4
FD 0 input/0 output (Up to 256/256 when options are used)
FD Assigned to general-purpose I/O.
8 input / 8 output
Emergency stop input
1 (redundant)
0.30
65
FQ Assigned to multiple CPU common device. /
Dedicated I/O
Hand open/close
External
input/output
*5
FD 78,000
FQ 256 / FD 512
FQ 8192 input points/8192 output points with the multiple CPU common device /
Robot error output
280
0 to 40
kg
Unit
FD 39,000
FQ 26,000 /
280
720 (±360)
Ambient temperature
Mass
Number of programs
FQ 13,000 /
1 (redundant)
720 (±360)
±0.012
deg
Number of steps
Teaching method, MDI method
points
step
Mode output
xx = 35 : 350/ xx = 45 : 450
2400
11435
Number of teaching points
Emergency stop output
xx = 35 : 350/ xx = 45 : 450
420
deg/sec
J4 (θ)
J4 (θ)
475
850
340 (±170)
290 (±145)
mm/sec
Y-X composite
J3 (Z)
325
340 (±170)
J3 (Z)
Maximum composite speed *2
Cycle time *3
850
700
550
Maximum 6 axes
MELFA-BASIC IV/V
General-purpose I/O
525
525
FQ Q172DRCPU
PTP control and CP control
Position teaching method
Maximum 20 (rating 5)
525
375
CR751-Q
CR751-D
Path control method
Memory
capacity
Maximum 12 (rating 3)
225
CR750-Q
CR750-D
Robot CPU
Absolute encoder
NO1 arm
Unit
Robot language
AC servo motor
J1
1
13
Specifications
Number of axes controlled
4
Maximum reach radius
Machine cable
Connected controller *5
RH-20FH85XX/M/C
G
350/450
350/450
350/450
350/450
350/450
350/450
350/450
350/450
Horizontal, multiple-joint type
Maximum load capacity
Tool pneumatic pipes
F
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
1080/1180
Floor type
Position detection method
Tool wiring
E
240
320
240
320
─
240
240
320
IP20/ IP65 *6/ ISO3 *7
Drive system
Tolerable amount of inertia
D
145°
145°
145°
145°
153°
153°
153°
153°
Floor type
Structure
Position repeatability
C
R191
R191
R216
R216
R278
R278
R238
R238
IP20/ IP65 *6/ ISO3 *7
Degrees of freedom
Maximum speed
B
R550
R550
R700
R700
R850
R850
R1000
R1000
Standard/ oil mist/ Clean
Protection degree *1
Operating range
A2
325
325
325
325
325
325
475
475
Standard/ oil mist/ Clean
Installation
Arm length
A1
225
225
375
375
525
525
525
525
Functions
Variable dimensions
75
System Configuration
D
E
140
φ25h7
2-φ6 prepared holes for positioning
Ethernet
8
Z
H
C
MR-J4-B
MR-J3-BS
Ethernet
Z
44
Z
10
52
10
0
R8
B
CR750-D
CR751-D
Robot CPU
Q172DRCPU
170°
R H -1 2 FH
MELFA
Controller
D Type
(Standalone)
Controller configuration
Product Lineup
FD series
Robot Specifications
FQ series
mm
430 (W) x 425 (D) x 174 (H)
430 (W) x 425 (D) x 98 (H)
kg
Approx. 16
Approx. 12
Ω
Configurations Options
type
Options
12/20kg
Controller
Controller Specifications
RH-12FH55 RH-20FH85
RH-12FH70 RH-20FH100
RH-12FH85
Horizontal
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.
2
14
Functions
Drive unit CR751-Q
Controller CR751-D
Improved control performance
100
(92.5)
520
510
725
505
365
(10)
(45)
160
(45)
Rubber feet for vertical
mounting screws
(Four)
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
Robot Specifications
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
55
330
500
(85)
(25)
(85)
Multiple CPU environment
1010
1020
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)
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
Normal control
Time
Shortened cycle times
Unit
Base
Power
supply
Programmable
controller
CPU
Type
High-speed standard base between multiple CPU
• Q35DB: 5 slots
• Q38DB: 8 slots
• Q312DB: 12 slots
• Q61P
• Q62P
• Q63P
• Q64PN
Universal model
• Q03UD (E/V) CPU
• Q04UD (E/V) HCPU
• Q06UD (E/V) HCPU
• Q10UD (E) HCPU
• Q13UD (E/V) HCPU
• Q20UD (E) HCPU
• Q26UD (E/V) HCPU
• Q100UD (E) HCPU
Improved continuous operability
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.
Ambient
temperature
Encoder temperature monitoring screen
1
15
Controller Specifications
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
164
250
72.5
100
(122.5)
(10)
Speed increased
Functions
(2)
10
20
30
40
50
60
70
80
90
Controller installation location
Previous model motor
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.
Drive unit CR750-MB
Drain hole
New model motor
High-speed execution of programs
Sample program
Cable cover
Torque increased
Rotational speed (rpm)
Controller protection box (IP54)
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.
Torque
System Configuration
25
(7.8)
96
98
(30)
370
430
30
● 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]
Configurations Options
370
425
85
(21.7)
370
430
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.
Produced the fastest operating performance in its class using high-performance
motors and unique driver control technology developed by Mitsubishi Electric.
Encoder temperature
monitor
Options
(30)
(40)
(70.3)
(80)
260
425
158
174
(30)
(30)
4-φ18
Product Lineup
Shortened takt times
(5.2)
Drive unit CR750-Q
Controller CR750-D
Optimize
the
overload detection level
2
16
Connectable
· Attachment of the vision sensor to the wrist facilitates
wiring.
Vision sensor
· 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.
Load
Target track
With active
gain control
Without active
gain control
Monitor the robot posture and load conditions
Automatic tuning
Controller Specifications
● Hand: 8 input points/8 output points
● Ethernet cable for the vision sensor
Internal routing of hand wiring and wiring channels
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.
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
· This is effective for standard operations and tooling work requiring
high accuracy.
Improved trajectory accuracy
Improved vibration-damping performance
To hand
High accuracy
Operating mode setting function
● 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 trajectory mode
MvTune 3
high-speed positioning
mode
MvTune 2
Standard settings
MvTune 1
Note: Specify a model with Internal wiring (a model ending in ‘-SHxx’).
The supported Internal wiring types may vary by model.
High speed
Full use of installation space
Deflection compensation function
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.
Expanded J1 axis pivotal operating
range to allow access to rear of machine
Apparatus 2
● 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.
kθ
compensation
· Effective for work transporting workpieces to cassettes with low pitch and
palletizing work.
Options
Expanded pivotal operating range
Apparatus 1
Improved palletization accuracy
Improved trajectory accuracy
Apparatus 3
Delivery
Removal
Removal
Robot Specifications
● Optimal motor control tuning set automatically based on robot operating
position, posture, and load conditions.
● Improves tracking accuracy for the target trajectory.
Functions
Internal installation of wiring and piping for connecting to vision sensors enabled.
System Configuration
Active gain control
Configurations Options
Compatuability with internal Ethernet cable tools
Product Lineup
Improved accuracy
Improved tooling performance
Deflection
compensation
Delivery
Movable stopper for the J1 axis
Rear access on RH-FQ/FD
RV-2FQ/2FD pivot operation
1
17
2
18
Simplified tool length setting
Product Lineup
Improved user friendliness
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.
Simple automatic operation from the teaching box
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.
Set using three to eight
teaching points
Function for passing through the singular point
Robot control screen (R56TB)
Posture at start point
● 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.
Enables automatic operation of servo power on/off, startup,
shutdown, reset, program selection, and other operations.
P1
Posture at target position
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.
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.
Display of selected positions
Display of selected position data
P2
Display of user-defined regions/freedom-limited planes
Orthogonal compliance control
Display of trajectories
Insertion direction or normal
control direction
Copy plane
Tool coordinate system
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.
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.
+Y
+Z
+X
Positioning device
Attachment of a hand created in RT ToolBox2
1
19
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)
Options
● 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.
Reduced tooling costs
Shortened line stop times
Shortened startup times
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
System Configuration
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.
Controller Specifications
Adaptation to operation
Configurations Options
Tool length
Example of a system environment screen from an imported model
2
20
User-defined screen creation tools
In-Sight Micro
Shortened takt times
Reduced system costs
··Seven··
Three controllers
Tracking
Programmable controller
program designer
MELSOFT Navigator
GOT connection function
Simplified control panel created using a GOT
No need for ladder circuits with the GOT
connection
Conveyor
No need for a positioning device
Improved operating takt
Reduced system costs
● 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.)
Operation of engineering
tools from the USB
interface on the front GOT
screen.
[For Q type /D type controllers]
Encoder
Processing capability
increased by 15%
Can be used with multiple conveyors at the same time
(Up to 8 max.).
Additional axis function
● 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.
Robot
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
Compatible with MR-J4-B (J3-compatible mode)*
· Ethernet
· Serial signals
etc.
No need for a dedicated control device
*Applicable software: Ver. R3g/S3g or later.
Example GOT screen
User interfaces
[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)
Options
The personal
computer and the
GOT are connected
with a USB cable or
RS232 cable
Vision sensor
Functions
● 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.)
System Configuration
● 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.).
Configurations Options
Linked to iQ Works
Network vision
sensor
(In-Sight 5400)
Controller Specifications
● 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.
Robot Specifications
Vision sensor
Data created here is exported and loaded into the R56/57TB.
Can be used as a user screen.
1
21
Product Lineup
Connection to peripheral devices
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.
The various network options available allow connection to a variety of devices
used throughout the world.
Standard equipment: Ethernet
USB
SSCNET III
Option: CC-Link
Profibus
DeviceNet
Network base card (EtherNet/IP)
2
22
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.
Parameter-related
RT Tool Box2
Reading and writing of programs
Program deletion and copying
Renaming and initialization of programs
SQ/SD
Series
±160°
Robot Specifications
Program-related
RV-F Series
±200°
Writing of parameters
Data backup and restore
Compact installation with operation performed near the robot base
Sustained tracking during emergency stop
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.
Shutdown with
trajectory sustained
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.
Target position
Shutdown with trajectory shifted
Before
Collision detection function
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.
Error
Collision
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)]
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.
After
Changes in operating posture can be made even more quickly!!
● 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.
Reduced tooling costs
Shortened line stop times
Reduced maintenance costs
Functions
Emergency
stop
Options
* 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.
System Configuration
● 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
Configurations Options
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.
Controller Specifications
Security features
Product Lineup
Expanded J4 axis operating range
Safety features
Applicable standards
●CE: European Conformity
(European safety standards)
· Compliant with the EMC Directive, 2004/108/EC
· Compliant with the Machinery Directive, 2006/42/EC
●KCC: Korean Communications Commission
(Korean safety certification)
· Complies with the revised Korea Radio Act
(Article 58 Section 2)
Compatible with workpieces
that are 2.2 times larger
SQ/SD Series
F Series
5 times the capability
of previous models
Enhanced wrist (RH-20FH)
1
23
2
24
Shared memory expansion
Improved responsivity through high-speed communications
Large amounts of data
Increases the speed of data communications between CPUs and
dramatically reduces I/O processing times using a high-speed
standard base between multiple CPUs.
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×)
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
Product Lineup
Enhanced efficiency of monitoring and maintenance operations onsite using a
single GOT (display device) as the Human Machine Interface (HMI).
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.
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.)
Operation panel screen
Jog/hand operation screen
Current position monitor screen
Robot Specifications
Features of IQ Platform Controllers
Maintenance forecast screen
Manual/video display menu
GOT connection (transparent function) (For GOT1000 Series)
Programs and parameters can be edited from the USB interface on the front of
the GOT using a transparent function for improved operability.
Engineering tool
operations performed
from the USB interface on
the front of the GOT
Remote unit
Wireless
I/O unit
Engineering environment
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
Direct control between CPUs and I/O units
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.
No need for
programmable
controller programs for
signal input/output
Improved responsivity
without any delay due
to scanning time
Backup
CF card
Restore
Batch management of multiple robots
Direct execution function for programmable controllers
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.
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.
iQ Platform
Programmable controller
Enables Robot 1, Robot 2,
and Robot 3 to be monitored
from a single location.
No need to use any
robot programs!!
Access to other stations by Ethernet or serial
communications enabled
USB/RS-232/Ethernet
CC-Link-IE/CC-Link
iQ Platform
Programmable controller
Command number
iQ Platform
Programmable controller
Destination number
iQ Platform
Programmable controller
Programmable controller
+
Robot CPU
Designated option
Shared memory
sequence program
Q type robot 1
1
25
Q type robot 2
Q type robot 3
System Configuration
Direct control between I/O units
Configurations Options
Direct communication between CPU units
Personal computer
RT ToolBox2
The personal
computer and the
GOT are connected
with a USB cable or
RS232 cable
Robot
[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
PIO cable
Functions
Current value and load factor
monitor screen
System costs can be reduced with the use of wireless systems and deletion of
I/O units and network units.
Programmable controller
Controller Specifications
Reduced wiring and number of units used
2
26
System Configuration
Product Lineup
FQseries
System Configuration iQ Platform
For automatic prevention of collisions between robots
[Q type controllers only]
Ethernet
Hand curl tube
GOT
Encoder
interface
Hand output cable
Insert
M EL SEC
Q6xP
POWER Q01CPU
RUN
ERR
CCable for robot
CPU-to-DU connection
▼
CN1
DISPLAY I/F
CN2
RS-232
TU I/F
PULL
▼
PULL
IQ Platform-compatible
programmable controller
Internal wiring and
piping set for hand
<Robot arm options>
Servo
Controller
Machine cable
External user wiring
and piping box
Robot
<Standard devices>
Teaching pendant
(option)
Reduces the number of recovery man-hours required after collisions due to
teaching operation errors or failure to set interlocks
NC
Drive unit
Solenoid valve set
Decreases downtime during startup operation
Q41X
SW
EMI
Robot CPU
MITSUBISHI
Checking interference using the robot
with a defined solid model
Q173DPX
Q172DRCPU
STOP RUN
Hand input cable
Robot Specifications
Vision system
Pulse encoder
USB cable
Coordinated control
MELFA-Works
SSCNETIII
USB
communication
RT ToolBox2
GOT
Additional
axis function
Servo
(MR-J3-BS/MR-J4-B)
Controller Specifications
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)
Functions
Collision Avoidance
<Software options>
[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
FDseries
System Configuration
Pulse encoder
Coordinated transport
Hand curl tube
Enables transport of lengthy or heavy objects using multiple small-sized robots
instead of larger ones.
Hand output cable
GOT
Enables installation work to be completed while gripper
positions between robots are maintained.
Vision system
NC
Encoder
interface
Hand input cable
Ethernet
Controller
Remote parallel
I/O unit
External I/O
cable
Solenoid valve set
Configurations Options
Coordinated control between multiple robots
Servo
Machine cable
External user wiring
and piping box
<Robot arm options>
Robot
<Equipment used for standard configuration>
Additional-axis
interface
USB
communication
Teaching pendant
(option)
On-board parallel
I/O interface
External I/O
cable
CC-Link
interface
Programmable
controller
Options
Internal wiring and
piping set for hand
GOT
Network base card
(EtherNet/IP)
USB cable
MELFA-Works
<Software options>
1
27
RT ToolBox2
<Controller options>
SSCNETIII
Servo
(MR-J3-BS/MR-J4-B)
2
28
Configurations Options
Hand output cable
-
-
-
1 to 2 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1 or 2 valves) Output: φ4
1F-VD0□-02 (Sink)
1F-VD0□E-02 (Source)
High-function teaching pendant (7 m, 15 m)
R57TB(-**)
-
○ ○ ○
-
-
-
-
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4
Conversion cable for the teaching box
2F32CON03M
1F-VD0□-03 (Sink)
1F-VD0□E-03 (Source)
-
-
-
-
○
-
-
-
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6
On-board Parallel I/O interface
2A-RZ361
2A-RZ371
1F-VD0□-01 (Sink)
1F-VD0□E-01 (Source)
-
-
-
-
-
○ ○
-
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4
Remote Parallel I/O cable (5m, 15m)
2A-CBL**
1S-VD0□-01 (Sink)
1S-VD0□E-01 (Source)
-
-
-
-
-
-
-
○
1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6
On-board Parallel I/O interface (Installed internally) (Sink type)
(Source type)
2D-TZ368
1E-GR35S
○
-
-
-
-
-
-
-
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
Remote Parallel I/O cable (5m, 15m)
2D-CBL**
-
○ ○ ○ ○
-
-
-
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
CC-Link interface
2D-TZ576
Network base card
2D-TZ535
- - - - - ○ ○ ○
○ - - - - - - - ○ ○ ○ ○ - - -
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
Force sensor set
4F-FS001-W200
4-point type, with a robot connector on one side and unterminated on the other side
Terminal block replacement tool for the user wiring
2F-CNUSR01M
8-point type, total length of 1000 mm , with a robot connector on one side and unterminated
on the other side
AC power supply connection cable
1F-HC35C-01
-
-
-
-
-
○ ○
-
2F-ACIN□P01M
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
Controller protection box (*1)
CR750-MB
1F-HC35C-02
-
-
-
-
-
-
○
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
Personal computer support software
3D-11C-WINJ(E)
Personal computer support software -mini
3D-12C-WINJ(E)
Simulator (MELFA-Works)
3F-21D-WINJ(E)
1F-GR35S-02
1E-ST0408C-300
-
-
○ ○ ○ ○ - - - - - - - - ○ ○ - - - - ○ - - ○
- ○ ○ ○ ○ - - -
1 to 4 valves, with solenoid valve output cable.
φ4: 1 to 4 valves (L = 300 mm) □ indicates the number of solenoid valves (2, 4, 6, 8).
2 or 4 valves for RV-2F.
Compatibility with φ4-4 solenoid valve systems (L = 300 mm)
φ6: 1 to 4 valves (L = 600 mm) □ indicates the number of solenoid valves (2, 4, 6, 8).
External wiring set 1
for the forearm
1F-HB01S-01
External wiring set 2
for the forearm
1F-HB02S-01
-
○ ○ ○ ○
-
-
-
Used for the forearm. External wiring box used for connecting the force sensor, the electrical
hand, and the Ethernet cable.
External wiring set 1
for the base
1F-HA01S-01
-
○ ○ ○ ○
-
-
-
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.
External wiring set 2
for the base
1F-HA02S-01
-
○ ○ ○ ○
-
-
-
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.
1F-HS604S-01
-
-
-
-
-
-
-
○
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
1F-HS604S-02
-
-
-
-
-
-
-
○
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
1F-HS408S-01
-
-
-
-
-
-
○
-
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
1F-HS408S-02
-
-
-
-
-
-
○
-
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
1S-□□CBL-11
- ○ - ○
○ ○
- - -
□□ indicates the length of cables (5, 10, 15m)
Machine cable,
for extension/fixed
1S-□□CBL-01
-
○ ○ ○ ○
-
○ ○
□□ indicates the length of cables (5, 10, 15m)
1F-□□UCBL-02
-
-
-
-
-
○
-
-
Direct type, 10m, 15m, 20m (2wires set with power and signal wires) □□ indicates the length
of cables (10, 15, 20m)
1S-□□LCBL-11
○
-
-
-
-
-
-
-
□□ indicates the length of cables (5, 10, 15m)
Machine cable,
for extension/flexible
1S-□□LCBL-01
-
○ ○ ○ ○
-
○ ○
□□ indicates the length of cables (5, 10, 15m)
1F-□□LUCBL-02
- - - - - ○ - - - - - - ○ - - - - ○ ○ - - - - ○ - - - - - ○ - - - - - - - - - - - - ○
- - - - - ○ ○ ○ - - - - - - -
1F-UT-BOX
1F-UT-BOX-01
1S-02UCBL-01
1F-02UCBL-01
1S-DH-11J1
1F-DH-05J1
Stopper for changing
the J1-axis operating range
1F-DH-04
1F-DH-03
1F-DH-02
1S-DH-01
Stopper for changing
the J2-axis operating range
1S-DH-11J2
Stopper for changing
the J3-axis operating range
1S-DH-11J3
○
-
-
-
-
-
-
-
Controller
(Sink type)
(Source type)
2D-TZ378
*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).
Functional specifications
○
○
-
○
○
-
○
○
○
○
○
○
○
-
○
○
○
○
○
○
○
-
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
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-*
7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-751-*
Conversion cable used to connect the R32TB to the CR-751 controller. Cable length: 3 m.
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
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)
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.
- - - - - ○
- - - - - ○
- - - - - - ○ ○ ○ ○ - - - - - ○
○ - - - - -
1F-HS304S-01
Machine cable (replacement
for shorter 2-m type) (*1)
R33TB(-**)
-
1N-ST060□C-01
External user wiring and
piping box
Standard teaching pendant (7m, 15m)
-
1E-ST040□C
Internal wiring and piping set
for hand
R56TB(-**)
-
1F-HC35S-02
Robot arm
High-function teaching pendant (7 m, 15 m)
CR751
Product Lineup
Functional specifications
○
1S-HC30C-11
Hand (curl) tube
13F
4F
7F
12FH
4FL 7FL 7FLL 13FL 3FH 6FH 20FH
20F
R32TB(-**)
1E-VD0□ (Sink)
1E-VD0□E (Source)
1F-GR60S-01
Hand input cable
2F
Standard teaching pendant (7m, 15m)
CR750
Q type D type Q type D type
Robot Specifications
Solenoid valve set
Type
Type
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)
Functions
Name
Name
System Configuration
Classification
Classification
RH
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)
Direct type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
Direct type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
Configurations Options
RV
Controller Specifications
For details, refer to the specifications sheets.
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
(Compatible with the RV-7FLL.)
Stopper for making changes, changed as needed for customer installations
Stopper for making changes, changed as needed for customer installations
Options
Configurations options
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.
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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); 8 input signals
Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
Air hoses: Up to 1 systems (4 mm diameter x 2); 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) are possible.
Robot Specifications
Wiring format
Air hoses: Up to 1 systems (4 mm diameter x 2); 8 input signals
Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
Air hoses are exterior equipment: 4 systems (4 mm diameter x 8)
External wiring BOX
(Standard supplied)
Air hoses: Up to 4 systems (4 mm diameter x 8) 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/13F/20F 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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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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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
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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
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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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