User manual | RH-FH Series Industrial robots Intelligent solutions for complex manufacturing processes

Product Information
EBG 232-EN
RH-FH Series
Industrial robots
Intelligent solutions
for complex manufacturing processes
0.29 s 12" cycle time enables high-precision, high-performance applications to be used to increase
on-site productivity
IP54 and food-grade grease for full integration
Fully enclosed cabling to end of spindle for protection and safety
Fitted with many interfaces such as Ethernet, USB, camera interface, additional axis controller, hand
I/O etc. as standard
MELFA RH-FH Series
More productivity
and efficiency
The fastest in their class
The robots of the RH-F series achieve the
highest speeds in their class thanks to
the new motors developed by Mitsubishi
Electric, high arm rigidity and unique control technology. The resulting reduced cycle
time of only 0.29 seconds for a 12" cycle
make for significantly increased productivity and improved continuous operation.
The dramatically extended movement
range ensures more flexibility and thus simplifies system planning. Effective access to
the entire, almost circular working range
has many advantages: it reduces cycle times
by avoiding unnecessary movements and
increases the tasks which the robot can perform in its working range.
Speed and easy integration allow wide-ranging applications.
Forward-looking,
fascinating and flexible
The RH-F series is supported by high-performance
controllers.
When it comes to their modern production
systems, companies are placing increasing
importance on high production speeds and
efficient integration into existing systems as
well as a full range of connection options.
Characteristics which are easily fulfilled
by the Mitsubishi Electric RH-F series in a
forward-looking, flexible and fascinating
manner.
Mitsubishi Electric SCARA robots are used
wherever maximum precision is required.
The innovative Mitsubishi Electric MELFA
robots are known for their wide-ranging
applications, whether for fast palletising,
accurate sorting or parts assembly. The RH-F
series also confirms this approach. These
SCARA robots are suitable for a variety of
industrial applications straight from the
factory and without the need to purchase
additional modules.
Easy integration
and application
It makes no difference whether you are
modernising your manufacturing system
or setting it up for the first time. Straight
from the factory, the RH-F series offers
many features which are only available as
optional extras on comparable products. For
example, every model has connections for
pneumatic grippers, Ethernet, USB, tracking functions, camera interface, hand I/O,
additional axis controller and an interface
for GOT HMIs with freely programmable
user interfaces. The standard grease is foodgrade H1 grease – ideal for the food and
beverage industry. An ISO Level III cleanroom model is also available for pharmaceutical and microelectronics applications.
Even the RH-3FH entry-level model is equally
well equipped, and with a load capacity of
3 kg is suitable for most applications. Anyone requiring to move heavier loads can
call upon the top-of-the-range RH-6/20FH
with a maximum load capacity of 20 kg. The
­RH-6/12/20FH has the tried-and-tested protection class IP54 for industrial systems which
protects against dust and spray water. For use
in particularly contaminated or dusty environments, the model can be retrospectively
upgraded to IP65 at relatively little cost and
without any problems thanks to the closed
housing concept.
MELFA RH-FH Series
Wide-ranging
applications
The RH-F series is a range of robust, highquality robots with an outstanding price/
performance ratio. They are suitable straight
from the factory for a wide range of industrial applications and can be deployed in
many industries. Examples include industrial sectors such as food and beverage,
packaging, laboratory automation, automobile manufacturing and cell manufacturing.
In addition, MELFA RH-F robots can be easily
and cost-effectively adapted to suit most
requirements and situations.
Robot CPU
when using
the FQ system
USB communication
Ethernet
Image recognition
RH-3FH/
RH-6FH/
RH-12FH/
RH-20FH robot
Encoder input signal
GOT
Pulse generator
More safety
When several robots are used in one work
cell, a CPU connection between the controllers ensures that individual robots are
controlled in a co-ordinated manner. They
can be operated individually as easily as in
normal operation.
SSCNETIII
(optical transmission)
PC
Standard version
MR-J3-BSafety/
MR-J4-B
Touch version
Customer‘s installation
Optional programming and control unit
Standard robot control interfaces
Advanced programming
In jog or automatic mode, an anti-collision
function ensures that robots are stopped
in good time before they can collide, thus
preventing damage. This avoids additional
expensive working time for carrying out
repairs following a collision due to incorrect position information or wrongly set
interlocks.
A further advantage is the quick and easy
commissioning via PC. Models of the
RH-F series can be quickly and easily programmed using the supplied RT ToolBox2
software.
The RT ToolBox2 programming software‘s
graphical interface enables imported 3D
CAD files, program variables and robot simulations to be displayed quickly and easily.
Simulation with CAD data
Movement range and dimensions
170°
RH-6FHmm
RH-12FH/20FHmm
165
B
H
C
100
F
D
130
136
D
110
G
E
C
170°
140
A
0
R8
225
B
60
E
120
5°
174
14
(*3)
M
10
A1
25
80
30
65
82
20
75
X
K
X
400
164
10
H
404
J
Y
340
G st
38
L
F
55
80
4
10
13.2
(*3)
A2
(*1) 160
Dimensions for type
200
240
200 (*2)
All dimensions in mm
A
A1
A2
B
C
D
E
F
G
H
J
K
L
M
RH-6FH5520-S15
325
—
—
R550
R191
160
R244
172
R197
337
200
133
798
386
RH-12FH/20FH8535-S15
—
525
325
R850
R278
153°
—
—
—
—
—
—
The shown data in the table are only an extract of all data about standard reach arms.
1080/1180 350/450
MELFA RH-FH Series
Specifications
Robot
RH-3FH
5515-S15
RH-6FH
5520-S15
Installation
Arm 1
mm
325
525
Arm 2
mm
225
325
Max. working range
(Arm 1 + Arm 2)
550
mm
J1-axisdeg/s
Teaching, manual data input (MDI)
Dedicated I/O
420
400
720
670
1100
2400
J4(q)-axisdeg/s
3000
mm/s
Cycle time (with 2 kg load)
s
8 inputs
External emergency stop
1 (redundant)
Door closed contact
1 (redundant)
Enabling switch
1 (redundant)
1 (Teaching Box)
2500
Ethernet
2400
2400
1700
11350
11372
Interfaces
0.30
1 (USB port
for PLC CPU)
USB
0.29
1
3
3
5
Conveyor belt tracking encoder
Maximumkg
3
6
12
20
Expansion slot
±0.012
Operating temperature
Power
supply
±0.010
±0.004
±0.005
°C
Weightkg
Additional axis
±0.015
J3(Z)-axismm
0–40
32
37
69
75
Tool wiring
Tool pneumatic pipes
1 (Mini-B connector,
Ver. 2.0)
up to 8 (SSCNETIII)
Input voltage
Q173DPX (optional)
2
—
2
Single phase 180 V to 253 V AC a
2.0
Power consumption kVA b
Ambient temperature
°C
Dimensions (WxHxD) mm
0-40 (drive unit)/
0–55 (robot CPU)
0–40
430x425x174
Weightkg
Hand: 8 inputs/8 outputs (20 pins total)
Serial signal cable for parallel I/O
(2-pin and 2 pins for power supply)
LAN 100BASE-TX (RJ45)
1 (Teaching Box)
1 (spare)
10BASE-T/100BASE-TX
1 (Teaching Box)
0.41
deg
1 (redundant)
RS422
Nominalkg
J4(q)-axis User-defined
450
2800
8300
X-,Y-directionmm
up to 256
Emergency stop additional axes
250
J3(Z)-axismm/s
up to 8192
Common I/O for multiple
CPU
Gripper status signal inputs
External
I/O
850
J2-axisdeg/s
Maximum composite speed Repeat
accuracy
Position determination
General-purpose I/O
Absolute encoder
CR750-D
MELFA-BASIC V
AC servo motor
Position detection method
CR750-Q
Programming language
Horizontal articulated arm (SCARA)
Drive system
Lifting
capacity
Robot controller
4
Design
Maximum
speed
RH-20FH
8535N-S15
Floor mounting
Degrees of freedom
Arm length
RH-12FH
8535N-S15
approx. 20
Housing/protection class
Floor mounting/IP20
The supply voltage should not vary by more than 10 %.
Without switch-on current.
1
2
Primary: Ø6 x 2, Secondary: Ø4 x 8
Protection class
IP20
Compatible robot controller *
IP54 (IP65 optional)
CR750-D/Q
* Select the control unit suitable for your application.
CR750-D: Stand-alone unit, CR750-Q: Unit for incorporating in iQ Platform.
European Branches
Representatives
Germany
Mitsubishi Electric Europe B.V.
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Czech Rep.
Mitsubishi Electric Europe B.V.-org.sl.
Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
GEVA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Koning & Hartman b.v.
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Austria
Belgium
UTECO
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
AXICONT AUTOMATIKA Kft.
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Greece
Portugal
Fonseca S.A.
R. João Francisco do Casal 87/89
PT - 3801-997 Aveiro, Esgueira
Phone: +351 (0)234 / 303 900
PROCONT, spol. s r.o. Prešov
Kúpeľná 1/A
SK-080 01 Prešov
Phone: +421 (0)51 7580 611
Slovakia
Switzerland
Robotronic AG
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (052) / 267 02 00
I.C. SYSTEMS LTD.
23 Al-Saad-Al-Alee St.
EG - Sarayat, Maadi, Cairo
Phone: +20 (0) 2 / 235 98 548
Egypt
Hungary
Romania
SIRIUS T & S SRL
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21 / 430 40 06
INEA RBT d.o.o.
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1 / 513 8116
Slovenia
GTS
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı İSTANBUL
Phone: +90 (0)216 526 39 90
Turkey
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Israel
Beijer Electronics AB
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Sweden
CSC Automation Ltd.
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Ukraine
Mitsubishi Electric Europe B.V.
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
France
Bosnia and Herzeg.
INEA RBT d.o.o.
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
ALFATRADE Ltd.
99, Paola Hill
Malta-Paola PLA 1702
Phone: +356 (0)21 / 697 816
Malta
INEA RBT d.o.o.
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 615 401
Serbia
Mitsubishi Electric Europe B.V.
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Italy
Bulgaria
AKHNATON
4, Andrei Ljapchev Blvd., PO Box 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6000
Netherlands
HIFLEX AUTOM. B.V.
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
SIMAP s.r.o.
Jána Derku 1671
SK-911 01 Trenčín
Phone: +421 (0)32 743 04 72
Slovakia
Mitsubishi Electric Europe B.V.
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Poland
Czech Republic
AutoCont C.S. s.r.o.
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Netherlands
Koning & Hartman b.v.
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Mitsubishi Electric Europe B.V.
52, bld. 3 Kosmodamianskaya nab 8 floor
RU-115054 Moscow
Phone: +7 495 721-2070
Russia
Beijer Electronics A/S
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Mitsubishi Electric Europe B.V.
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Spain
Beijer Electronics OY
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207 / 463 540
Version check
Mitsubishi Electric Europe B.V.
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Denmark
Beijer Electronics AS
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Norway
Finland
UK
Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany /
Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / [email protected] / www.mitsubishi-automation.com
Art. no. 251389-B / 11.2012 / Specifications subject to change / All trademarks and copyrights acknowledged.
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: 27 (0)11 / 977 0770
South Africa

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