MITSUBISHI INDUSTRIAL ROBOT SQ/SD Series Sales office Country/Region

MITSUBISHI INDUSTRIAL ROBOT SQ/SD Series Sales office Country/Region

MITSUBISHI INDUSTRIAL ROBOT

SQ/SD Series

Country/Region

U.S.A

Brazil

Germany

U.K

Italy

Spain

France

Czech Republic

Poland

Russia

South Africa

China

Taiwan

Korea

Singapore

Thailand

Indonesia

India

Australia

Sales office

Mitsubishi Electric Automation lnc.

500 Corporate Woods Parkway Vernon Hills, IL 60061, USA

MELCO-TEC Rep. Com.e Assessoria Tecnica Ltda.

Av Paulista, 1439-Cj. 72 Cerqueira Cesar CEP 01311-200,

Sao Paulo, SP, CEP:01311-200, Brazil

Mitsubishi Electric Europe B.V. German Branch

Gothaer Strasse 8 D-40880 Ratingen, GERMANY

Mitsubishi Electric Europe B.V. UK Branch

Travellers Lane, Hatfield, Hertfordshire., AL10 8XB, UK

Misubishi Electric Europe B.V. Italy Branch

VIALE COLLEONI 7-20041 Agrate Brianza(Milano),Italy

Mitsubishi Electric Europe B.V. Spanish Branch

Carretera de Rubi 76-80

E-08190 Sant Cugat del Valles(Barcelona), Spain

Mitsubishi Electric Europe B.V. French Branch

25,Boulevard des Bouvets, F-92741 Nanterre Cedex, France

Mitsubishi Electric Europe B.V. Czech Branch

Avenir Business Park, Radlická 714/113a CZ-158 00 Praha 5

Mitsubishi Electric Europe B.V. Polish Branch ul. Krakowska 50 32-083 Balice, Poland

Mitsubishi Electric Europe B.V. Moscow Office

52/3, Kosmodamianskaya nab., 115054, Moscow, Russia

Circuit Breaker Industries Ltd.

Private Bag 2016,ZA-1600 Isando, South Africa

Mitsubishi Electric Automaiton(Shanghai) Ltd.

17/F Chong Hing Finance Center,No.288 West Nanjing Road,

Shanghai 200003 CHINA

Setsuyo Enterprise Co., Ltd.

6F., No.105 Wu-Kung 3rd.Rd, Wu-Ku Hsiang, Taipei Hsine, Taiwan

Mitsubishi Electric Automation Korea Co., Ltd.

1480-6, Gayang-dong, Gangseo-ku Seoul 157-200, Korea

Mitsubishi Electric Asia Pte, Ltd.

307 Alexandra Road #05-01/02,

Mitsubishi Electric Bulding Singapore 159943

Mitsubishi Electric Automation (Thailanad) Co., Ltd.

Bang-Chan Industrial Estate No.111 Soi Serithai 54,

T.Kannayao, A.Kannayao, Bangkok 10230 Thailand

P.T. Autoteknindo Sumber Makmur

Muara Karang Selatan Block A/Utara No.1 Kav.

No.11 Kawasan Industri/Pergudangan Jakarta-Utara P.O Box5045

Jakarta 11050, Indonesia

Messung Systems Pvt.,Ltd.

Electronic Sadan NO:III Unit No15, M.I.D.C Bhosari, Pune-411026, India

Mitsubishi Electric Australia Pty.Ltd.

348 Victoria Road, Rydalmere, N.S.W 2116, Australia

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.

Tel/Fax

Tel: +1-847-478-2100

Fax: +1-847-478-0327

Tel: +55-11-3146-2200

Fax: +55-11-3146-2217

Tel: +49-2102-486-0

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Tel: +61-2-9684-7777

Fax: +61-2-9684-7245

L(NA)-09051ENG-A

New publication, effective Jun. 2011

Specifications are subject to change without notice.

MITSUBISHI INDUSTRIAL ROBOT

SQ/SD Series

1

Features

Mitsubishi Electric’s line of industrial robots offers high performance and reliability to address demanding applications across many industries. Utilization of our own leading servo and motion technologies provide superior speed and repeatability. Likewise, extended compatibility with other automation products allows for greater flexibility of integration. Standard, clean-room, and mist-proof models are available for many environments.

Compliant to all major safety standards for global acceptance (ISO, ANSI, CE and UL models are available)

Multiple network interfaces assure convenience and flexibility in integration

Comprehensive programming, modeling and diagnostic software is intuitive and easy to use

Vertical type

Compact but powerful vertically articulated RV models are available in five and six axis configurations. Floor mount or ceiling mount capabilities enhances overall design flexibility. Small footprints with high rigidity and payload capabilities are ideal for high speed / high accuracy applications.

Offers the fastest high-speed operation in its class

High-accuracy operation with rigid arm design and active gain control

Suitable for many environmental conditions

Horizontal type

Our horizontally articulated RH (SCARA) robots range from 350mm to

1000mm in reach and can handle up to 20Kg payload. The RH series is an excellent choice for high speed material handing, packaging, and assembly. Leading acceleration, speeds, settling time, and rigidity allow the RH to handle high throughput applications.

Application flexibility due to wide variations in payload, reach, and stroke

Capable of high-speed and high-accuracy operation with a simple arm and advanced motion control

Available in ceiling mount configuration

2

Lineup

A wide range of available models allows for ease of selection

The Mitsubishi Electric robot product line is equipped with all of the performance features expected for demanding applications such as strength, speed, and a compact footprint.

Mitsubishi’s broad offering ensures a confident fit for most every application.

RV - 3 SD J B C - Sxx

Vertical, multiple-joint type (RV)

Type

Number of axes

Maximum load capacity (kg)

Maximum reach radius (mm)

Controller *1

P5

RV-2SQ

RV-2SD

6

3

504

For RV-2SQ

P7 P8

RV-3SQJ

RV-3SDJ

5

3.5

641

CR1QA-7xx

CR1DA-7xx

P19

RV-3SQ

RV-3SD

6

3.5

642

For RV-2SD/

RV-3SQ/RV-3SD

P9

RV-6SQ

RV-6SD

6

6

695

P10

RV-6SQL

RV-6SDL

6

6

901

CR2QA-7xx

CR2DA-7xx

P19

CR3Q-7xx/CR3D-7xx type for mist specification

P11

RV-12SQ

RV-12SD

6

12

1086

CR2QA-7xx

CR2DA-7xx

P19

CR3Q-7xx/CR3D-7xx type for mist specification

P12

RV-12SQL

RV-12SDL

6

12

1385

CR3Q-7xx

CR3D-7xx

P19

Horizontal, multiple-joint type (RH)

-Sxx : Compliant with special models

such as CE specification and

UL specification etc. (separately)

Environment specification

Blank: Standard specifications

C : Clean specifications

Brake specification

Blank: J4 and J6 axis has no brake

B : All axes have the brake

Axis configuration

Blank: 6-axis type

J : 5-axis type

Series

SQ : SQ series

SD : SD series

Maximum load capacity

2 : 3kg 3: 3kg 6: 6kg 12: 12kg

Robot structure

RV : Vertical, multiple-joint type

RH - 6 SDH 55 17 M - Sxx

-Sxx : Compliant with special models

such as CE specification and

UL specification etc. (separately)

Environment specification

Blank: Standard specifications

M : Oilmist specifications

C : Clean specifications

Vertical stroke

17 : 170mm

20 : 200mm

27 : 270mm

30 : 300mm

32 : 320mm

35 : 350mm

38 : 380mm

45 : 450mm

Arm length

35 : 350mm

45 : 450mm

55 : 550mm

70 : 700mm

85 : 850mm

100 : 1000mm

Series

SQH: SQ series

SDH: SD series

Maximum load capacity

6: 6kg 12: 12kg 20: 20kg

Robot structure

RH : Horizontal, multiple-joint type

3

Type

Number of axes

Maximum load capacity (kg)

Maximum reach radius (mm)

P13

RH-3SQHR

RH-3SDHR

4

3

350

P15

RH-6SQH35

RH-6SDH35

4

6

350

P15

RH-6SQH45

RH-6SDH45

4

6

450

CR1QA-7xx

CR1DA-7xx

P19

P15

RH-6SQH55

RH-6SDH55

4

6

550

P16

RH-12SQH55

RH-12SDH55

4

12

550

P16

RH-12SQH70

RH-12SDH70

4

12

700

Controller *1

CR2QA-7xx

CR2DA-7xx

P19

P16 P17 P17

RH-12SQH85

RH-12SDH85

4

12

850

RH-20SQH85

RH-20SDH85

4

20

850

RH-20SQH100

RH-20SDH100

4

20

1000

CR2QA-7xx

CR2DA-7xx

P19

CR3Q-7xx/CR3D-7xx type for mist specification

*1: 7xx in controller type names differ according to the robot arm.

4

Vertical

2

kg type

RV-2SQ

RV-2SD

External Dimensions/Operating Range Diagram

Motion space at point P

Motion space at point P Wrist's downward limit

45°

φ

5H7, depth 8

4-M5 screw, depth 8

φ 20H7, depth 6

φ31.5

View A

Mechanical Interface Detail

A→

Point

P

Point P

Top view

Wrist's downward singularity boundary

B

Side view

<Operating range restriction> When J1 axis is within (-75° < J1 < 70°) and J2 axis is within (J2 < -110°), J3 axis is restricted within (80° � J3).

(Installation reference surface)

Rz 25

82

(135)

67.5 67.5

(40)

4- φ9 installation hole

(160)

View B

Rear Surface Diagram (Installation Dimension Detail)

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system *1

Position detection method

Maximum load capacity (rating) *3

Arm length

Maximum reach radius

Operating range

Maximum speed

Maximum composite speed *4

Cycle time *5

Position repeatability

Ambient temperature

Mass

Tool wiring *6

Tool pneumatic pipes

Machine cable

Connected controller

J4

J5

J6

J1

J1

J2

J3

J2

J3

J4

J5

J6

Unit kg mm mm deg deg/sec mm/sec sec mm

°C kg

RV-2SQ / RV-2SD

Standard

IP30

Floor type, ceiling type, (wall-mounted type *2)

Vertical, multiple-joint type

6

AC servo motor (J2, J3 and J5: with brake)

Absolute encoder

3 (2)

230 + 270

504

480 (-240 to +240)

240 (-120 to +120)

160 (-0 to +160)

400 (-200 to +200)

240 (-120 to +120)

720 (-360 to +360)

225

150

275

412

450

720

Approx. 4400

0.6-0.7

±0.02

0 to 40

19

Hand: 4 input points / 0 output points

Primary piping: φ4 x 4 (from base portion to forearm)

5m (connector on both ends)

CR1QA-772 / CR1DA-771

*1: The standard model has no brake on the J1-axis, J4-axis, and J6-axis. (A model with brake on all axes is also available.)

*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.

*3: The maximum load capacity indicates the maximum payload when the wrist flange is facing downward (±10°).

*4: This is at the hand flange surface when all axes are composited.

*5: 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.

*6: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

A

COMPACT

6

AXIS ROBOT IDEALLY SUITED FOR ASSEMBLY

,

MATERIAL HANDLING

,

INSPECTION

,

AND A WIDE VARIETY OF

OTHER TASKS

.

Reduced profile while maintaining a large operating range

The length and shape of the arm are designed for optimum performance and maximum reach while providing the ability to reach positions close to the robot base.

A greater range of motion is insured in applications requiring celling or wall mount.

J1 operation range is expanded to 480°(±240°). This eliminates any rear side dead zone.

Advanced servo control provides high-speed and high-accuracy operation

Maximum composite speed is 4,400mm/s. Additionally, the speeds of axes J4-J6 have been optimized to satisfy high-speed assembly applications.

Positioning repeatability of ±0.02mm combined with active-gain control and highly rigid arm design for high accuracy positioning at high speed.

Unique arm design allows greater range of motion and accessibility.

Offset arm design greatly reduces the robots minimum operating radius allowing work close to the robot base.

Reduced elbow protrusion lessens rear interference points.

A compact wrist design enables the robot to reach into smaller spaces at many angles.

Ability to layout the work cell with points near the robot base

Range of motion is now closer to the base of the robot. This allows more flexibility and smaller system footprint.

Large work area can be reached without rotating the arm

Extended back reaching access is effective for ceiling mount applications.

Close proximity is permitted!!

Offset arm design

Work

Layout is made more compact.

Position/posture at minimum operating radius

The minimum radius becomes smaller by the offset arm design. However the overall operating range is greater.

Increased space efficiency and the compact layout is possible.

Quicker posture changes- ideal for assembly applications

Assembly work typically requires many postures compared to pick and place work.

Assembly cell

Increasing the speed of posture change has a significant affect on overall cycle time. By optimizing the performance of axes J4-J6, posture change time is improved.

The speed of J4,J5 and J6 have improved.

700mm

Robot's forward direction

380mm 380mm

Unlike its conventional varieties, the robot can even extend back into its rear space.

CL

Expanded J2 operation range for extended back reach.

Wide work area can be reached without turning around the arm.

Decreases extra motion and reduces the cycle time.

The J1 operation range designed +/- 240 degree

Cycle time can be shortened if it is possible to take a short cut path.

Apparatus 2

1

2

3

Apparatus 1

1

3

2

Examples of moving paths

Delivery

Removal

J1 operation range expanded to 480

°

(±240

°

).

Minimize path, Minimize cycle time.

Increased flexibility of machine layout.

Apparatus 3

Vertical

3

kg type

RV-3SQJ

RV-3SDJ

External Dimensions/Operating Range Diagram

Flange downward limit

Locus of point P

Point

P

(*3)

Note 6)

Wide-angle limit at rear

φ

Machine cable

P entry prohibited area

(*3)

(*2)

P entry prohibited area

Note 5)

Wide-angle limit at front

<Wide-angle/narrow-angle limits at front>

<Wide-angle/narrow-angle limits at rear>

Note 5: When the J1-axis angle is inside the range of 170 deg

|J1| > 125 deg, the operating range of the J2-axis is limited to 120 deg > J2

-90 deg.

Note 6: When the J2-axis angle is inside the range of -30 deg > J2

-90 deg, the operating range of the J3-axis is limited to the range where “14 x J2 + 9 x J3 > -1530” and “137 deg > J3 > -100 deg” are both satisfied.

φ

5H7, depth 9

4-M5 screw, depth 9 (Installation reference surface)

Note

(*1) Indicates the dimension when the solenoid valve (optional) is installed.

(*2) Indicates the space required for the interconnection cable.

(*3) Indicates the screw hole (M4) used for affixing user wiring and piping.

φ20H7, depth 8.5

φ40h8, depth 6.5

φ

View A: Details of Hand Installation Flange

(Conforming to ISO 9409-1)

4-φ9 installation hole

View B Rear Surface Diagram; Installation Dimension Detail

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *2

Arm length

Maximum reach radius

Unit kg mm mm

RV-3SQJ / RV-3SDJ RV-3SQJ-SM / RV-3SDJ-SM

Standard (oil mist)

IP65 *1

Floor type, ceiling type, (wall-mounted type *3)

Vertical, multiple-joint type

5

AC servo motor

Absolute encoder

3.5 (3)

245 + 300

641

340 (±170)

225 (-90 to + 135)

237 (-100 to + 137)

RV-3SQJC / RV-3SDJC

Clean

Class 10 (0.3μm)

Floor type

Operating range

Maximum speed

J5

J6

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4 deg deg/sec

240 (±120)

720 (±360)

250

187

250

Maximum composite speed *4

Cycle time

Position repeatability

Ambient temperature

Mass

Tool wiring *5

Tool pneumatic pipes

Machine cable

Connected controller *6 mm/sec sec mm

°C kg

CR1QA-731 / CR1DA-731

412

660

Approx. 5300

0.61

±0.02

0 to 40

Approx. 33

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

Primary: φ6 x 2 Secondary: φ4 x 8

5m (connector on both ends)

CR1QA-731 + CR1D-MB / CR1DA-731 + CR1D-MB

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot be secured depending on the characteristics of oil you use.

*2: The maximum load capacity indicates the maximum payload when the wrist flange is facing downward (±10°).

*3: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.

*4: This is at the hand flange surface when all axes are composited.

*5: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

*6: Select either controller according to your application. “-SM6” is appended at the end of the robot model name when the CR3Q-711M/CR3D-711M is selected.

2 )

CR1QA-731 / CR1DA-731

Vertical

3

kg type

RV-3SQ

RV-3SD

External Dimensions/Operating Range Diagram

Flange downward limit

Locus of point P

Locus of point P

Point

R

Note 3)

Wide-angle limit at rear

Note 4)

Wide-angle limit at rear

Point

P

(*3)

Machine cable

P entry prohibited area

(*3)

P entry prohibited area

Note 1)

Wide-angle limit at rear

Note 2)

Wide-angle limit at rear

(*2)

<Wide-angle/narrow-angle limits at front>

<Wide-angle/narrow-angle limits at rear>

Note 1: When the J1-axis angle is inside the range of 170 deg

J1 > 125 deg, the operating range of the J2-axis is limited to 125 deg > J2

-90 deg.

Note 2: When the J1-axis angle is inside the range of -125 deg > J1

-170 deg, the operating range of the J2-axis is limited to 130 deg > J2

-90 deg.

Note 3: When the J2-axis angle is inside the range of -30 deg > J2

-60 deg, the operating range of the J3-axis is limited to the range where “4 x J2 + 3 x J3 > -180” and “171 deg > J3 > -20 deg” are both satisfied.

Note 4: When the J2-axis angle is inside the range of -60 deg > J2

-90 deg, the operating range of the J3-axis is limited to the range where “2.7 x J2 + J3 > -142” and “171 deg

J3 > -20 deg” are both satisfied.

φ

5H7, depth 9

4-M5 screw, depth 9

(Installation reference surface)

Note

(*1) Indicates the dimension when the solenoid valve (optional) is installed.

(*2) Indicates the space required for the interconnection cable.

(*3) Indicates the screw hole (M4) used for affixing user wiring and piping.

φ20H7, depth 8.5

φ40h8, depth 6.5

φ

4-φ9 installation hole

View A: Details of Hand Installation Flange

View B Rear Surface Diagram; Installation Dimension Detail

(Conforming to ISO 9409-1)

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *2

Arm length

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Unit kg mm mm deg deg/sec

RV-3SQ / RV-3SD RV-3SQ-SM / RV-3SD-SM

Maximum composite speed *4

Cycle time

Position repeatability

Ambient temperature

Mass

Tool wiring *5

Tool pneumatic pipes

Machine cable

Connected controller *6 mm/sec sec mm

°C kg

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot be secured depending on the characteristics of oil you use.

*2: The maximum load capacity indicates the maximum payload when the wrist flange is facing downward (±10°).

*3: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.

*4: This is at the hand flange surface when all axes are composited.

*5: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

*6: Select either controller according to your application. “-SM6” is appended at the end of the robot model name when the CR3Q-711M/CR3D-711M is selected.

RV-3SQC / RV-3SDC

Standard (oil mist)

IP65 *1

Floor type, ceiling type, (wall-mounted type *3)

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

3.5 (3)

245 + 270

642

340 (±170)

225 (-90 to + 135)

191 (-20 to + 171)

320 (±160)

240 (±120)

720 (±360)

250

187

250

412

412

660

Approx. 5500

0.63

±0.02

Clean

Class 10 (0.3μm)

Floor type

0 to 40

Approx. 37

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

2

)

CR1QA-721 / CR1DA-721

Primary: φ6 x 2 Secondary: φ4 x 8

5m (connector on both ends)

CR1QA-721 + CR1D-MB / CR1DA-721 + CR1D-MB CR1QA-721 / CR1DA-721

Vertical

6

kg type

RV-6SQ

RV-6SD

External Dimensions/Operating Range Diagram

Locus of point P:

Reversing area (dotted line)

Locus of point P:

Entire area (solid line)

Flange downward limit (dotted line)

Wide-angle limit at front (*5)

C1

Wide-angle limit at rear (*2)

Wide-angle limit at rear (*3)

Wide-angle limit at rear (*1)

φ

5H7 depth 9

4-M5 screw, depth 9

φ

φ

20H7

φ

40H7 depth 8.5

depth 6.5

View A: Mechanical Interface

2-φ6 hole

for positioning pin)

B

Posture at J1 = J2 = J4 = J5 = J6 = 0°, J3 = 90°

Wide-angle limit at rear: (*1) When -45°

J2 < 15°: J2 + J3×2

-200° (*2) When |J1|

75°, J2 < -45°: J2 + J3

8° (*3) When |J1| > 75°, J2 < -45°: J2 + J3

-40°

Wide-angle limit at front: (*4) When -105°

J1

95°, J2

123°: J3

-40° (*5) When J1 < -105°, J1 > 95°: J2

110°; however, J2 - J3

150° if 85°

J2

110°

* indicates a service screw hole for tooling (M4 x 6 locations).

(Installation reference

View B Rear Surface Diagram; Installation Dimension Detail

*

View C1

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *3

Arm length

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3

J4

J4

J5

J6

J5

J6

J1

J2

J3

Unit kg mm mm deg deg/sec

RV-6SQ / RV-6SD RV-6SQ-SM6 / RV-6SD-SM6

Maximum composite speed *4

Cycle time *5

Position repeatability

Ambient temperature

Mass

Tool wiring *6

Tool pneumatic pipes

Machine cable

Connected controller *7 mm/sec sec mm

°C kg

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot 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.

RV-6SQC / RV-6SDC

Standard (oil mist)

IP65 (J4 to J6), IP54 (J1 to J3) *1

Floor type, ceiling type, (wall-mounted type *2)

Vertical, multiple-joint type

6

AC servo motor (with brake on all axes)

Absolute encoder

6 (5)

280 + 315

695

340 (±170)

227 (-92 to +135)

273 (-107 to +166)

320 (±160)

240 (±120)

720 (±360)

Clean

Class 10 (0.3μm)

Floor type

401

321

401

352

450

660

Approx. 9300

0.47

±0.02

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

2

)

Primary: φ6 x 2 Secondary: φ4 x 8

CR2QA-711 / CR2DA-711

0 to 40

Approx. 58

5m (connector on both ends)

CR3Q-711M / CR3D-711M CR2QA-711 / CR2DA-711

*4: This is at the hand flange surface when all axes are composited.

*5: 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. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.

*6: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

Vertical

6

kg type

RV-6SQL

RV-6SDL

External Dimensions/Operating Range Diagram

Locus of point P:

Reversing area (dotted line)

Locus of point P:

Entire area (solid line)

C2

Flange downward limit (dotted line)

φ

5H7 depth 9

4-M5 screw, depth 9

φ

φ

20H7

φ

40H7 depth 8.5

depth 6.5

View A: Mechanical Interface

2-φ6 hole

for positioning pin)

B

Wide-angle limit at front (*5)

Wide-angle limit at rear (*2)

Wide-angle limit at rear (*1)

Wide-angle limit at rear (*4)

(Installation reference

View B Rear Surface Diagram;

Installation Dimension Detail

*

Posture at J1 = J2 = J4 = J5 = J6 = 0°, J3 = 90°

Wide-angle limit at rear: (*1) When -38°

J2 < 4°: J2 + J3 x 2

-254° (*2) When |J1|

70°, -80°

J2 < -38°: J2 x 1.5 + J3

-165°

(*3)When |J1|

70°, J2 < -80°: J2 + J3

-47° (*4) When |J1| > 70°, J2 < -38°: J2 + J3 x 2

-254°

Wide-angle limit at front: (*5) When J1 < -120°, J1 > 95°: J2

110°

* indicates a service screw hole for tooling (M4 x 6 locations).

View C2

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *3

Arm length

Maximum reach radius

Operating range

Maximum speed

J5

J6

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

Unit kg mm mm deg deg/sec

RV-6SQL / RV-6SDL RV-6SQL-SM6 / RV-6SDL-SM6

Maximum composite speed *4

Cycle time *5

Position repeatability

Ambient temperature

Mass

Tool wiring *6

Tool pneumatic pipes

Machine cable

Connected controller *7 mm/sec sec mm

°C kg

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot 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.

RV-6SQLC / RV-6SDLC

Standard (oil mist)

IP65 (J4 to J6), IP54 (J1 to J3) *1

Floor type, ceiling type, (wall-mounted type *2)

Vertical, multiple-joint type

6

AC servo motor (with brake on all axes)

Absolute encoder

6 (5)

380 + 425

902

340 (±170)

227 (-92 to +135)

295 (-129 to +166)

320 (±160)

Clean

Class 10 (0.3μm)

Floor type

240 (±120)

720 (±360)

250

267

267

352

450

660

Approx. 8500

0.50

±0.02

0 to 40

Approx. 60

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

2

)

Primary: φ6 x 2 Secondary: φ4 x 8

CR2QA-711 / CR2DA-711

5m (connector on both ends)

CR3Q-711M / CR3D-711M CR2QA-711 / CR2DA-711

*4: This is at the hand flange surface when all axes are composited.

*5: 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. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.

*6: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

Vertical

12

kg type

RV-12SQ

RV-12SD

External Dimensions/Operating Range Diagram

Locus of point P:

Reversing area (dotted line)

Locus of point P:

Entire area (solid line)

C1

φ

6H7 depth 13.5

φ

4-M6 screw, depth 10.5

φ

25H7

φ

50H8 depth 9.5

depth 8

View A: Mechanical Interface

2-φ6 hole

for positioning pin)

(*1)

(Installation reference

View B Rear Surface Diagram;

Installation Dimension Detail

B

Locus of point P

*

Posture at J1 = J2 = J4 = J5 = J6 = 0°, J3 = 90°

Wide-angle limit at rear: (*1) When |J1|

60°, J2

-95°: J3

50° * indicates a service screw hole for tooling (M4 x 6 locations).

View C1

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *3

Arm length

Maximum reach radius

Operating range

Maximum speed

Maximum composite speed *4

Cycle time *5

Position repeatability

Ambient temperature

Mass

Tool wiring *6

Tool pneumatic pipes

Machine cable

Connected controller *7

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Unit kg mm mm deg deg/sec mm/sec sec mm

°C kg

RV-12SQ / RV-12SD RV-12SQ-S300 / RV-12SD-S300 RV-12SQC / RV-12SDC

Standard (oil mist)

IP65 (J4 to J6), IP54 (J1 to J3) *1

Floor type, ceiling type, (wall-mounted type *2)

Vertical, multiple-joint type

6

AC servo motor (with brake on all axes)

Absolute encoder

12 (10)

400 + 530

1086

340 (±170)

230 (-100 to +130)

290 (-130 to +160)

320 (±160)

240 (±120)

720 (±360)

276

230

267

352

375

660

Clean

Class 10 (0.3μm)

Floor type

Approx. 9600

0.66

±0.05

0 to 40

Approx. 93

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

2

)

Primary: φ6 x 2 Secondary: φ6 x 8

7m (connector on both ends)

CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701

CR3Q-701 / CR2QA-701

CR3D-701 / CR2DA-701

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot 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: The maximum load capacity indicates the maximum payload when the wrist flange is facing downward (±10°).

*4: This is at the hand flange surface when all axes are composited.

*5: 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. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.

*6: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

*7: Select either controller according to your application. “-S300” is appended at the end of the robot model name when the CR2QA-701/CR2DA-701 is connected.CR2QA-701/CR2DA-701 (IP20) are open structures.

Take care with the installation environment.

Vertical

12

kg type

RV-12SQL

RV-12SDL

External Dimensions/Operating Range Diagram

Locus of point P:

Entire area (solid line)

C2

φ

6H7 depth 13.5

φ

4-M6 screw, depth 10.5

Flange downward limit (dotted line)

φ

25H7

φ

50H8 depth 9.5

depth 8

View A: Mechanical Interface

2-φ6 hole

for positioning pin)

(Installation reference

View B Rear Surface Diagram;

Installation Dimension Detail

B

Locus of point P

200 or more

Posture at J1 = J2 = J4 = J5 = J6 = 0°, J3 = 90° * indicates a service screw hole for tooling (M4 x 6 locations).

View C2

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating) *3

Arm length

Maximum reach radius

Operating range

Maximum speed

Maximum composite speed *4

Cycle time *5

Position repeatability

Ambient temperature

Mass

Tool wiring *6

Tool pneumatic pipes

Machine cable

Connected controller *7

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Unit kg mm mm deg deg/sec mm/sec sec mm

°C kg

RV-12SQL / RV-12SDL RV-12SQL-S300 / RV-12SDL-S300 RV-12SQLC / RV-12SDLC

Standard (oil mist)

IP65 (J4 to J6), IP54 (J1 to J3) *1

Floor type, ceiling type, (wall-mounted type *2)

Vertical, multiple-joint type

6

AC servo motor (with brake on all axes)

Absolute encoder

12 (10)

560 + 670

1385

340 (±170)

230 (-100 to +130)

290 (-130 to +160)

320 (±160)

240 (±120)

720 (±360)

230

172

Clean

Class 10 (0.3μm)

Floor type

200

352

375

660

Approx. 9500

0.74

±0.05

0 to 40

Approx. 98

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm

2

)

Primary: φ6 x 2 Secondary: φ6 x 8

7m (connector on both ends)

CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701

CR3Q-701 / CR2QA-701

CR3D-701 / CR2DA-701

*1: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot 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: The maximum load capacity indicates the maximum payload when the wrist flange is facing downward (±10°).

*4: This is at the hand flange surface when all axes are composited.

*5: 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. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.

*6: When the tool (hand) output is used, the pneumatic hand interface (optional) is required.

*7: Select either controller according to your application. “-S300” is appended at the end of the robot model name when the CR2QA-701/CR2DA-701 is connected.CR2QA-701/CR2DA-701 (IP20) are open structures.

Take care with the installation environment.

(Installation

(Installation reference surface) reference surface)

Horizontal

3

kg type

RH-3SQHR

RH-3SDHR

External Dimensions/Operating Range Diagram

J4-axis-centered locus

4-M8 jack-up hole

4-φ9 installation hole

2-M12 suspension hole

Robot origin

View A

J1-axis

J2-axis

J4-axis

Operating range: ±720°

J3-axis

Operating range 0 to 150mm

Specifications

Maximum speed

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity (rating)

Arm length

No. 1 arm

No. 2 arm

Maximum reach radius

(No. 1 + No. 2)

Operating range

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *1

Cycle time *2

Position repeatability

X-Y composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tool wiring

Tool pneumatic pipes

Machine cable

Connected controller

Unit kg mm mm deg mm deg deg/sec mm/s deg/sec mm/sec sec mm deg

°C kg

RH-3SQHR

RH-3SDHR

Standard

IP20

Ceiling type

Horizontal, multiple-joint type

4

AC servo motor (J1, J2 and J4: with no brake, J3: with brake)

Absolute encoder

3 (1)

175

175

350

450 (±225)

450 (±225)

150 (0 to 150)

1440 (±720)

672

708

1500

3146

6267

0.32

±0.01

±0.01

±0.01

0 to 40

Approx. 24

Hand: 8 input points / 0 output points, 8 spare lines (8 output points by options)

Primary: φ6 x 2 (Secondary: φ4 x 8)

5m (connector on both ends)

CR2QA-781 / CR2DA-781

*1: The value assumes composition of J1 and J2.

*2: Back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg

Operating range of the J2-axis

Operating range of the J1-axis

D

IVERSE APPLICATIONS INCLUDE ASSEMBLY OF ELECTRIC AND

ELECTRONIC PARTS

,

PRECISION ASSEMBLY OF SMALL PARTS

,

INSPECTIONS

,

HIGH SPEED TRANSFER

,

AND PACKING

.

Capable of high-speed operation with dedicated motor and high rigidity mechanical structure

The highly rigid arm section and Mitsubishi low-inertia motor enable operations at high acceleration/deceleration speeds with high accuracy.

An inverted SCARA design that is arranged such that the No.2 arm can completely pass by the No.1 arm. This allows high-speed operation between points following the optimum path.

High-speed movement with a cycle time of 0.32 seconds. (30% increase from Mitsubishi conventional models)

(*Cycle time: 0.32 sec ... Load: 1kg, Operation: 25mm vertical - 300mm horizontal reciprocal operation)

Space-saving layout realized with ceiling mounted installation

The ceiling mounted installation allows previously unusable robot installation spaces to be used effectively. A wide operating range encompasses the entire cylindrical area (Ф700 x 150) under the arm.

The cylindrical operating range simplifies the layout setting by eliminating restrictions resulting from the layout orientation of pallets and conveyors, etc.

Improved robot system start up and serviceablity

The iQ Platform is supported allowing the robot to be operated, monitored and controlled easily from the Mitsubishi programmable controller and GOT.

The robot’s internal information (error status, maintenance information, etc.) can be displayed on the GOT, and control can be realized without a robot program.

Piping work is simplified by providing a hand piping path in the Z axis shaft.

Easy installation and start up Saving work-cell space

Base section

Mount onto top of beam

Ceiling beam

J1

Entire surface can be accessed

J2

No.1 arm

No.2 arm

J4

J3

A

A

Inaccessible area

J1

J2

J3

J4

(1) The robot can be mounted and installed onto the top of a

ceiling beam making it easy to install the system.

B

3SQHR/3SDHR operating range

(Plan view: Cylindrical shape)

B

Operating range of traditional SCARA

(Plan view)

Installing the robot on the ceiling eliminates wasted space.

Piping path provided inside shaft core.

Operating range limited with cylindrical limit

No interference

Column

Arm and column interfere within normal operating range

Column

(2) An interior path for piping the hand is provided at the end

axis allowing tools to be piped easily. This eliminates

problems with external piping.

No. 2 arm

Column

Base surface

No. 1 arm

Column

(3) When starting up a compact system which fits into the robot’s

maximum operating range, if the cylindrical operating range

limit function is used, the robot will move without protruding

from the set cylindrical range. This allows the system to be

started up and adjusted without worrying about interference.

Horizontal

6

kg type

RH-6SQH

RH-6SDH

225

127°

A

External Dimensions/Operating Range Diagram

(*5)

43 225 A 165

40

4-φ9 installation hole

(*5)

D

Enlarged

Y portion

Installation dimensions

Cross-section X-X

φ

(*6)

(*2)

(*2)

150

Primary air supply port

B

φ

40

R53

115

C

φ

D

φ14 t hrough hole

127°

Robot installation

200 or more

20

Variable dimensions

Robot series

RH-6SQH35

RH-6SDH35

RH-6SQH45

RH-6SDH45

RH-6SQH55

RH-6SDH55

A

125

225

325

B

R350

R450

R550

C

R159

R136

R191

D

137°

145°

145°

E (*1)

210

210

160

Hand mounting dimensions

Cross-section Y-Y

View Z

(*6)

*1: Limited area according to the drawing of operating ranges. *2: Indicates the screw hole (M4) used for affixing user wiring and piping. *3: 788 (908) on the oil mist and clean specification models.

*4: 170 st on the oil mist and clean specification models.*5: 270 st on the oil mist and clean specification models.

*6: On the oil mist and clean specification models, bellows are installed in the exposed areas (top and bottom) of the ball screw spline.

Protection degree *1

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

No. 1 arm

No. 2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *3

Cycle time *4

X-Y composite

Position repeatability

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tool wiring *5

Tool pneumatic pipes

Machine cable

Specifications

Type Unit

RH-6SQH35xx

RH-6SDH35xx

Machine class

Connected controller *6 kg mm mm deg deg/sec mm/sec sec mm deg

°C kg

RH-6SQH45xx

RH-6SDH45xx

Standard

RH-6SQH55xx

RH-6SDH55xx

RH-6SQH35xxM

RH-6SDH35xxM

RH-6SQH45xxM

RH-6SDH45xxM

Oil mist proof

RH-6SQH35xxC

RH-6SDH35xxC

RH-6SQH45xxC

RH-6SDH45xxC

Clean

RH-6SQH55xxC

RH-6SDH55xxC

125

350

274 (±137)

IP20

225

450

290 (±145)

200 (97 to 297)/320 (-23 to 297)

325

550

IP54 *2

Floor type

Horizontal, multiple-joint type

4

AC servo motor (J1, J2 and J4: with no brake, J3: with brake)

Absolute encoder

125

350

6

225

225

450

325

550

274 (±137)

125

350

254 (±127)

290 (±145) 274 (±137)

170 (97 to 267)/270 (-23 to 247)

720 (±360)

375

612

1177

Class 10 (0.3μm)

225

450

290 (±145)

325

550

6473 (4694)

0.42

7128 (5349)

Approx. 20

CR1QA-761 / CR1DA-761

7782 (6003)

0.43

6473 (4694)

0.42

2411

7128 (5349) 7782 (6003)

0.43

6473 (4694)

±0.02

±0.01

±0.02

0 to 40

Approx. 21 Approx. 20 Approx. 21

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm

2

)

0.42

7128 (5349)

Approx. 20

Primary: φ6 x 2 Secondary: φ4 x 8

5m (connector on both ends)

CR1QA-761 (Protection box (CR1D-MB) included for -SM specification)

CR1DA-761 (Protection box (CR1D-MB) included for -SM specification)

CR1QA-761 / CR1DA-761

7782 (6003)

0.43

Approx. 21

*1: Take note that on the models of environment-resistant specifications (C: Clean specification, M: Mist specification), the operating range of the vertical axis is smaller than on the standard models.

The environment-resistant specifications are factory-set custom specifications. For the approximate timeframe for delivery, contact the Mitsubishi Electric dealer or sales agent near you.

*2: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot be secured depending on the characteristics of oil you use.

*3: The value assumes composition of J1, J2, and J4.The value in parentheses assumes composition of J1 and J2.

*4: Based on a 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.)

*5: If the hand output is used, the air hand interface (optional) is required.

*6: Select either controller according to your application. The controller protection box is attached to the mist specification controller (CR1D-MB (protection box) is attached to CR1QA-7xx/CR1DA-7xx (IP20)), and “-SM” is appended to the model name. If you require it, consult with the Mitsubishi Electric dealer.

Horizontal

12

kg type

RH-12SQH

RH-12SDH

External Dimensions/Operating Range Diagram

Enlarged Y portion

RH-12SQH / SDH

G (*6)

70 A2

48

A1 210

4-φ16

(installation hole)

A2

140°

A1

φ

φ

φ18 t hrough hole

(*6)

(*2)

200

(*2)

B

C

D

Hand mounting dimensions

Cross-section Y-Y

105 180

140° 4-φ16

(*1) installation hole

(*1)

G Z

R76

Primary air supply port

Y

X X

Robot installation

Variable dimensions

Robot series

RH-12SQH55

RH-12SDH55

RH-12SQH70

RH-12SDH70

RH-12SQH85

RH-12SDH85

A1

225

375

525

A2

325

325

325

B

R550

R700

R850

C

R191

R216

R278

D

145°

145°

153°

E (*11)

240

240

-

F (*13)

972(1072)

972(1072)

972(1072)

G

φ

25

φ

25

φ

25

H

30

30

30

Installation dimensions

Cross-section X-X

*1: Limited area according to the drawing of operating ranges. *2: Indicates the screw hole (M4) used for affixing user wiring and piping.

*3: 1027 (1127) on the RH-12SQH/12SDH-series models, and 999 (1079) on the RH-20SQH/20SDH-series models, of oil mist or clean specification.

*4: 300 st on the oil mist and clean specification models. *5: 380 st on the oil mist and clean specification models.

*6: On the oil mist and clean specification models, bellows are installed in the exposed areas (top and bottom) of the ball screw spline.

View Z

(*2)

240 or more

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

No. 1 arm

No. 2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *3

Cycle time *4

Position repeatability

X-Y composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tool wiring *5

Tool pneumatic pipes

Machine cable

Connected controller *6

Specifications

Type Unit

RH-12SQH55xx

RH-12SDH55xx

Machine class

Protection degree *1 kg mm mm deg deg/sec mm/sec sec mm deg

°C kg

RH-12SQH70xx

RH-12SDH70xx

Standard

IP20

RH-12SQH85xx

RH-12SDH85xx

RH-12SQH55xxM

RH-12SDH55xxM

RH-12SQH70xxM

RH-12SDH70xxM

Oil mist proof

IP54 *2

RH-12SQH55xxC

RH-12SDH55xxC

RH-12SQH70xxC

RH-12SDH70xxC

Clean

Class 10 (0.3μm)

RH-12SQH85xxC

RH-12SDH85xxC

225

550

350 (-10 to +340)/450 (-110 to +340)

10555 (5796)

0.43

±0.02

290 (±145)

Approx. 41

360

375

700

525

850

306 (±153)

AC servo motor (J1, J2 and J4: with no brake, J3: with brake)

Absolute encoder

225

12

375 525

550

Floor type

Horizontal, multiple-joint type

4

325

700

280 (±140)

290 (±145)

850

306 (±153)

225

550

290 ( ±145)

300 (-10 to +290)/380 (-110 to +270)

720 (±360)

360 288 360 288

412.5

1300

1500

11498 (6738)

0.44

±0.025

Approx. 43

11221 (6612)

0.45

10555 (5796)

0.43

±0.02

11498 (6738)

0.44

±0.025

11221 (6612)

0.45

±0.01

±0.03

0 to 40

10555 (5796)

0.42

±0.02

Approx. 45 Approx. 41 Approx. 43 Approx. 45 Approx. 41

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm

2

)

Primary: φ6 x 2 Secondary: φ6 x 8

5m (connector on both ends)

CR2QA-741 / CR2DA-741

375

700

11498 (6738)

0.44

Approx. 43

±0.025

525

850

306 (±153)

288

11221 (6612)

0.45

Approx. 45

*1: Take note that on the models of environment-resistant specifications (C: Clean specification, M: Mist specification), the operating range of the vertical axis is smaller than on the standard models. The environment-resistant specifications are factory-set custom specifications. For the approximate timeframe for delivery, contact the Mitsubishi Electric dealer or sales agent near you.

*2: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot be secured depending on the characteristics of oil you use.

*3: The value assumes composition of J1, J2, and J4. The value in parentheses assumes composition of J1 and J2.

*4: Based on a load capacity of 5kg. 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.)

*5: If the hand output is used, the pneumatic hand interface (optional) is required.

*6: Select either controller according to your application. The mist specification controller is CR3Q/CR3D type, and “-SM6” is appended to the model name. If you require it, consult with the Mitsubishi Electric dealer.

Horizontal

20

kg type

RH-20SQH

RH-20SDH

External Dimensions/Operating Range Diagram

Enlarged Y portion

RH-20SQH / SDH

G (*6)

70 A2 A1 210

4-φ16

(installation hole)

48

A2

140°

A1

B

C

140°

D

φ

32h7

φ

60

φ23 t hrough hole

4-φ16

(*1) installation hole

(*1)

31

Hand mounting dimensions

Cross-section Y-Y

(*2)

(*6)

105 180

Y

G Z

R76

(*2)

200

Primary air supply port

Variable dimensions

Robot series

RH-20SQH85

RH-20SDH85

RH-20SQH100

RH-20SDH100

A1

525

525

A2

325

475

B

R850

R1000

C

R278

R239

D

153°

153°

E (*11)

-

F (*13)

967 (1067)

967 (1067)

G

φ

32

φ

32

H

40

40

Installation dimensions

Cross-section X-X

*1: Limited area according to the drawing of operating ranges. *2: Indicates the screw hole (M4) used for affixing user wiring and piping.

*3: 1027 (1127) on the RH-12SQH/12SDH-series models, and 999 (1079) on the RH-20SQH/20SDH-series models, of oil mist or clean specification.

*4: 300 st on the oil mist and clean specification models. *5: 380 st on the oil mist and clean specification models.

*6: On the oil mist and clean specification models, bellows are installed in the exposed areas (top and bottom) of the ball screw spline.

View Z

(*2)

X X

240 or more

Robot installation

Specifications

Machine class

Protection degree *1

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

No. 1 arm

No. 2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *3

Cycle time *4

Position repeatability

X-Y composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tool wiring *5

Tool pneumatic pipes

Machine cable

Connected controller *6

Type Unit kg mm mm deg deg/sec mm/sec sec mm deg

°C kg

RH-20SQH85xx

RH-20SDH85xx

Standard

IP20

RH-20SQH100xx

RH-20SDH100xx

RH-20SQH85xxM

RH-20SDH85xxM

RH-20SQH100xxM

RH-20SDH100xxM

Oil mist proof

IP54 *2

RH-20SQH85xxC

RH-20SDH85xxC

RH-20SQH100xxC

RH-20SDH100xxC

Clean

Class 10 (0.3μm)

325

850

475

1000

Floor type

Horizontal, multiple-joint type

4

AC servo motor (J1, J2 and J4: with no brake, J3: with brake)

Absolute encoder

20

525

325

850

475

1000

280 (±140)

306 (±153)

325

850

350 (-10 to + 340)/450 (-110 to +340)

11221 (6612)

0.46

Approx. 47

300 (-10 to + 290)/380 (-110 to +270)

720 (±360)

288

412.5

1200

1500

13055 (8446)

0.57

11221 (6612)

0.46

13055 (8446)

0.57

11221 (6612)

0.46

±0.025

±0.01

±0.03

0 to 40

Approx. 51 Approx. 47 Approx. 51 Approx. 47

Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm

2

)

Primary: φ6 x 2 Secondary: φ6 x 8

5m (connector on both ends)

CR2QA-751 / CR2DA-751

475

1000

13055 (8446)

0.57

Approx. 51

*1: Take note that on the models of environment-resistant specifications (C: Clean specification, M: Mist specification), the operating range of the vertical axis is smaller than on the standard models. The environment-resistant specifications are factory-set custom specifications. For the approximate timeframe for delivery, contact the Mitsubishi Electric dealer or sales agent near you.

*2: Please contact to Mitsubishi Electric dealer since the environmental resistance cannot be secured depending on the characteristics of oil you use.

*3: The value assumes composition of J1, J2, and J4. The value in parentheses assumes composition of J1 and J2.

*4: Based on a load capacity of 5kg. 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.)

*5: If the hand output is used, the pneumatic hand interface (optional) is required.

*6: Select either controller according to your application. The mist specification controller is CR3Q/CR3D type, and “-SM6” is appended to the model name. If you require it, consult with the Mitsubishi Electric dealer.

M

ELFA

RANGE

RH

OF

SERIES

TASKS

HAS

FROM

A VERSATILITY

THE PRECISION

TO FULFILL

ASSEMBLY

A

OF

WIDE

SMALL

HEAVY

PARTS

ITEMS

.

TO TRANSFER AND PACKAGING OF

Payload: 6 kg to 20 kg

The conventional 18 kg model has been enhanced to a 20 kg rating. Greater payloads are now possible.

Ability to use heavier multifunction tooling.

Arm reach: 350 mm to 1,000 mm

Arm reach has been extended to 1000 mm. (20 kg model only)

A greater flexibility in choosing pallet sizes and layout design.

Also, eliminated are problems with the shortage of stroke which are encountered when rearranging conventional units.

Z Stroke: 200 mm to 450 mm

Z stroke with 6 to 20 kg model is available with an extended stroke:

6 kg model: 320 mm added to conventional 200 mm

12/20 kg model: 450 mm added to conventional 350 mm

More application versatility in long reach applications such as packaging.

Model

Payload

Reach

Z stroke

RH-6SQH/6SDH RH-12SQH/12SDH RH-20SQH/20SDH

6 kg 12 kg

350 mm 450 mm 550 mm 700 mm

200 mm

320 mm

850 mm

350 mm

450 mm

20 kg

1000 mm

Controller

SQ series

Controller configuration

Ethernet

SD series

A variety of interfaces are available as standard.

Robot CPU

Q172DRCPU

SSCNET III

(optical communications)

MR-J3

Additional axis function

Ethernet

Controller

USB communication

Robot CPU

+

Drive unit

CRnD-7xx

Controller

USB communication Encoder input function

SSCNET III (optical communications)

Additional axis function

Pulse encoder

MR-J3

Specifications

Robot CPU

Drive unit

Type

Path control method

Number of axes controlled

Robot language

Position teaching method

Memory capacity

External input/output

Number of teaching points

Number of steps

Number of programs

General-purpose I/O

Dedicated I/O

Special stop input

Hand open/close

Emergency stop input

Door switch input

Enabling device input

Emergency stop output

Mode output

Interface

Robot error output

Synchronization of additional axes

RS-232

RS-422

Ethernet

USB

Hand dedicated slot

Key switch interface

Additional-axis interface

Tracking interface

Memory slot

Extension slot *1

Ambient temperature

Relative humidity

Power supply

Input voltage range

Power capacity *3

External dimensions (including legs)

Unit points step

Unit points ports slots points channels slots

°C

%RH

V

KVA mm

CR1QA-772

CR1DA-771

DU1A-772

4 input / 0 output *7

SQ

1 /

SD

-

CR3Q-701M

CR3Q-711M

CR3D-701M

CR3D-711M

Q172DRCPU

DU1A-721 DU1A-731 DU2A-711 DU2A-701

DU3-701M

DU3-711M

PTP control and CP control

6 axes 5 axes 6 axes

MELFA-BASIC V or MELFA-BASIC IV

Teaching method, MDI method

13,000

26,000

SQ

256

8192 input points/8192 output points with the multiple CPU common device

SQ Assigned to multiple CPU common device.

1

/

/

SD

8 input / 0 output *6

1 (redundant)

1 (redundant)

1 (redundant)

1 (redundant)

1 (redundant)

SD 0 input/0 output (Up to 256/256 when options are used)

Assigned to general-purpose I/O.

SQ

-

/

SD

1 (redundant)

1 (redundant)

1 (for the extension of a personal computer, vision sensor, etc.)

1 (Teaching pendant: dedicated T/B)

SQ 1 (dedicated teaching pendant port) 10BASE-T

SQ

/ SD 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX

1 (USB port of programmable controller CPU unit (mini B terminal) can be used.) /

1 (dedicated for pneumatic hand interface)

SD 1 (device functions only, mini B terminal)

-

SQ

1 (SSCNET Ⅲ)

Q173DPX (sold separately)

SQ

-

/

SD

1

/ SD 1

SQ

-

/

SD

1

SQ

-

/

SD

3

0.5

240 (W) x 290(D) x 200 (H) (excluding protrusions)

1.0

240 (W) x 290 (D) x 200 (H)

SQ

0 to 40

0 to 40 (drive unit)/0 to 55 (Robot CPU) / SD 45 to 85

3-phase AC180 to 253 *2

2.0

470 (W) x 400 (D) x 200 (H)

3.0

450 (W) x 440 (D) x 625 (H) *5

Weight kg Approx. 9

Structure [protective specification]

Grounding *4

Approx. 21

100 or less (class D grounding)

Approx. 60

Self-contained floor type/ sealed structure [IP54]

Ω

Self-contained floor type/open structure [IP20]

Drive unit DU1A-7xx

Controller CR1DA-7xx

Drive unit DU2A-7xx

Controller CR2DA-7xx

4-M5 screw

(for vertical installation)

20 143 (21)

103.2

177

408

(127.8)

(135) (37.5)

(30) 210

(8.5)

4-M3 screw

193

(8.5)

Drive unit DU3-7xx (M)

Controller CR3D-7xx (M)

(*1) 50 mm if a dummy teaching pendant plug is installed.

184 200

49

4-M5 screw

310

408

467

(49)

(59)

(*1) 50 mm if a dummy teaching pendant plug is installed.

Drive unit CR1QA-772

Suspension bolt

2-M10

DU3-701 DU1A-761

(30) 210

φ hole

DU2A-781

4 axes

CR2QA-741

CR2QA-751

CR2DA-741

CR2DA-751

DU2A-741

DU2A-751

(8.5)

4-M3 screw

193

CR3Q-741M

CR3Q-751M

CR3D-741M

CR3D-751M

DU3-741M

DU3-751M

(8.5)

(*1) 50 mm if a dummy teaching pendant plug is installed.

Note) The robot controller is not equipped with an operating panel.

The operating panel for operation, such as switch box or GOT, is prepared by customer.

Unit

Base

Power supply

Programmable controller

CPU

Type

High-speed standard base between multiple CPU

• Q38DB: 8 slots

• Q312DB: 12 slots

• Q61P

• Q62P

• Q63P

• Q64PN

Universal model

(CPU that can transmit by multiple CPU high speed transmission)

• Q03UD (E) CPU

• Q04UD (E) HCPU

• Q06UD (E) HCPU

• Q10UD (E) HCPU

• Q13UD (E) HCPU

• Q20UD (E) HCPU

• Q26UD (E) HCPU

• Q100UD (E) HCPU

Note) For details of each programmable controller unit, refer to the programmable controller manuals,

MELFANSweb, etc.

450 (W) x 380 (D) x 625 (H) *5

SQ

-

/

SD

1

1.0

240 (W) x 290 (D) x 200 (H)

Approx. 9

Self-contained floor type/open structure [IP20]

2.0

470 (W) x 400 (D) x 200 (H)

Approx. 21

SQ

-

/

SD

3

3.0

450 (W) x 440 (D) x 625 (H) *5

Approx. 60

Self-contained floor type/ sealed structure [IP54]

*1:

*2:

*3:

*4:

*5:

*6:

*7:

For installing option interface.

The rate of power-supply voltage fluctuation is within 10%.

The power capacity indicates the rating for normal operation.

Take note that the power capacity does not include the current being 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.

Grounding works are the customer’s responsibility.

615 (H) for the caster specification.

8 input /8 output when pneumatic hand interface is used.

4 input /4 output when pneumatic hand interface is used.

Features (SQ series)

Shared memory expansion function

(operating and monitor functions)

Robot Controller Software

Ver. N8 or later

No need for a teaching pendant/ personal computer

Convenient monitoring and retrieval of information from robot and other machine components at a single point.

The following types of operating and information windows can be displayed on the GOT:

Display manuals

Display VTRs of operating examples

Robot operation window

Robot jog/hand operation window

Robot position monitor window

Current values display window

Easy to get the status of the robot!

Essential data from the robot can be displayed without referring to the robot program, editing software, or teaching pendant.

GOT interface provides easy access to robot data and status.

Maintenance forecast window

User manual window

Status information of robot

Error, variable, and program information

Robot status (current speed, current position, etc.)

Maintenance information (remaining battery/grease life, etc.)

Servo data (load factor/current value, etc.)

Customer system panel

Panel operations

GOT1000

(GT16/GT15)

Robot controller

Teaching pendant

Personal computer support software

Sequencer direct operation

Robot Controller Software

Ver. N8 or later

No need to use any programs

The ability to command the robot directly fron the programmable controller language.

Use of this function

Traditional method

In most cases, the PLC program and robot program are written independently by different programmers and in different languages.

This increases programming and debug time and the need for multiple programming environments.

With direct robot control from a programmable controller

Programming can be accoplished directly within the programmable controller language. No need to use a second language/ program to control the robot.

PLC programmer Robot programmer

PLC programmer

What is the direct execution function for programmable controller?

Robots can be operated through writing of setting values decided in advance to given addresses in multi-CPUs and shared memory, regardless of programm (ladder, ST language, SFC, etc.). Joint interpolation movement and linear interpolation movement modes are available.

Additionally robot operations such as operating speed, acceleration/deceleration, and tool settings can be set in detail.

Programming with a programmable controller

Command number

Destination number

Designated option

Shared memory

No need for separate robot programs

PLC program

Robot

Advantages provided by the direct robot control from a programmable controller

System operation can be controlled solely by the programmable controller. Easy to operate those systems because only PLC programmer can handle system specifications or trouble shooting.

GOT backup / restore function

Robot Controller Software

SQ: Ver. N8 or later, SD: Ver. P8 or later

Features for protecting program data

Robot data can be backed-up and restored from GOT without personal computer (for SQ/SD series)

Backup

<1> Backup data beforehand

GOT1000

(GT16/GT15)

The latest data can be saved witout PC, great to use even in emergencies!!

CF card

Backup the robot data to a CF card or to USB memory with

GOT operations

<2> Restore data after the exchange

In the event that the CPU needs to be replaced.

In the event that data is lost due to battery depletion.

Note) To use the back-up / restore function with the GOT, install an operating system (OS) with a backup/restore function on the GOT using GT Designer3 Ver. 1.07H or later.

High-speed communication between the programmable controller robot

With the robot CPU mounted in an iQ system, communications between the programmable controller or other available CPU's are much faster and at greater volumes. Total machine integration is simplified and performance is enhanced.

Data

Robot program

PLC CPU

Q-bus

Robot CPU

Robot

Status information

Data

Machine information

3-robot CPUs

High capacity communication

between the programmable controller robot

High capacity communication can support multi machines system with large I/O requirements. Enables simplified integration of all I/O in complex systems.

(8192 Input/8192 Output)

Program for C

Program for B

Program for A

Products # / process # / Recipe /

Sensing data etc.

Product A process1

Hand program

Main program

MPOS=MFCST

Wait M_In(10181)=1

Wait M_In(10185)=1

M_Out(10185)=1

Save wiring / save communication modules

Less wiring and shard modules reduces overall system cost.

Programmable controller

PIO cable

Remote unit

Increased number of I/O units

Save I/O modules

Wireless

Mount in a Q bus

No need for separate

I/O unit

No need for any configurations options

Program maintenace from one port.

Multiple robots can be accessed from a personal computer connected to the main

CPU via a control network. This provides convenience and time savings when performing setup and maintenance.

Personal computer

RT ToolBox2

USB/RS-232/Ethernet

Also enables access to other stations by Ethernet or serial communications iQ Platform

Programmable controller

Controller network (CC-Link IE)

Network is controlled from one port.

iQ Platform

Programmable controller

SQ robot 1 iQ Platform

Programmable controller

SQ robot 2

Robots 1, 2, and 3 can be monitored from a single location. iQ Platform

Programmable controller

SQ robot 3

GOT connection (transparent function)

Programs and parameters can be written from the USB interface on the front of the GOT using a transparent function.This function is available for SD Series as well.

Note) Compatible with the transparent function when the GOT

and CPU are connected by bus connection and in direct

connection mode.

Engineering tool operation from the USB port in front of GOT

In the control board

Simple connection

RT ToolBox2

Robot CPU Robot CPU direct communication

High speed direct communication with shared memory between CPU's increases the efficiency of detailed control programs which improves processing time.

Conventional communication

(1) #2CPU communicates with PLC CPU

Enhanced communication

(1) Direct communication between

#2CPU with #3CPU

・No need for the PLC program to communicate

between CPUs.

・High response with no delay of PLC s scan time.

(2) PLC CPU forwards data (3) PLC CPUcommunicates with #3CPU

Robot CPU IO control unit direct operation

High speed direct communication with shared memory, robot CPU, and I/O signals improves response time and reduces tact time.

Conventional communication

(1) #2CPU communicates with PLC CPU

Enhanced communication

(1) #2CPU controls IO signal unit directly

・No need for the PLC program to communicate

between CPU and IO signal unit.

・High response with no delay of PLC s scan time.

(2) PLC CPU forwards data (3) PLC CPU control IO signal unit

Functions

Optimal acceleration/deceleration control and optimal override function

●The optimal acceleration/deceleration time and speed are automatically set according to operation position, posture, and load conditions of the robot.

Speed

Optimal acceleration/ deceleration control and optimal override control

Normal control

Time

Shortened cycle time

Improved productivity through shortened cycle times

Shortened startup time

Active gain control

Optimal motor control tuning is set automatically based on the operating position, posture, and load conditions of the robot.

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

Improved trajectory accuracy

Improved vibration-damping performance

Monitor the robot posture and load conditions

Automatic tuning

Target track

With active gain control

Without active gain control

Orthogonal compliance control

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.

The amount of force generated through interference during chucking and workpiece insertion can be reduced, and external movement copying forces can be controlled.

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.

Reduce tooling cost

Shortened startup time

Copy plane

Tool coordinate system

+Y

+Z

Positioning device

Insertion direction or normal control direction

Robot hand

Automatic gravitation compensation

Independent of the load fixture - if near the base or far away - the gravitation control positions the load always with the same accuracy. This supports the high precision robot arm.

Calculates the amount of compensation needed based on the movement position, posture, and load conditions of the robot and compensates for any deflection automatically.

This is effective for work transporting workpieces to cassettes with low pitch and palletizing work.

Improved palletization accuracy

Improved trajectory accuracy

Automatic gravitation compensation kθ

θ compensation

Function for passing through points of singularity

The robot can pass through the singularity point, and the flexible layout can be achieved.

Teaching operations can be performed easily as there is no longer any need to cancel operations due to the singularity point.

What is a singularity point?:

There is an unlimited number of angles at which one interpolation axis can be set for a given position, the posture of the robot changes when linear interpolation operations are performed using position data from a joint coordinate system. In this case the robot can't be operated at a assigned position and posture under normal conditions. The position at which this occurs is referred to as a singularity point.

Expansion of the operating area

Easy to design

Shortened teaching operation times

Start point posture

Target position posture

P1

Movement direction

Rotation of

J4 axis

P2

P2

In moving from P1→P2, if the robot is passing the singularity point (J5 axis=0°) or a location in the vincinty at a constant posture, the J4 axis on the robot will rotate at high speed, unable to pass through it.

Collision detection function

This function detects if the arm collides with an obstacle while teaching or operating, and helps reduce damage to the robot arm and tools.

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.

Shortened startup time

Reduced tooling cost

Reduced line stop time

Reduced maintenance cost

Error

Collision

Multi-tasking function

Division of tasks other than robot motion tasks, such as machine vision, external motion, and I/O can divided and executed in one of 32 slots at the same time.

Reading external sensor data for example has no impact on robot motion processing or movement.

Priority can be assigned to processes between programs.

Shortened takt time

Reduce system costs

Parallel execution

Program 1

Robot

Program 2

Up to

32 programs Program 3

Conveyor, jig

Vision sensor

Program 4

Personal computer

Robot operation program

I/O processing program

Parallel execution

Communications processing program

Constantly executed program

(Executed by tuning the power supply on)

(Common variables)

Tracking function

Transport, alignment, and installation work, etc. can be performed while robots are tracked with the workpiece on the conveyor without stopping the conveyor.

Different variations can be selected, including vision tracking in combination with a vision sensor, tracking in combination with an opto-electric sensor, etc.

Tracking can be performed simultaneously for more than one conveyor.

(SQ series: up to 8 lines, SD series: up to 2 lines)

Programs can be created easily in robot language (MELFA BASIC IV, V).

Standard interface function. (For the SD series only. For the SQ series, prepare a separate Q173DPX motion unit for input of encoder signals).

No need for a positioning device

Improved operating tact

Reduce system costs

Vision sensor

Food, cosmetics, pharmaceuticals, etc.

Conveyor

Encoder

Additional axis function

Robot controller has plug-and-play connection to the MELSERVO-J3 servos.

Up to 8 additional axes can be controlled by the controller.

Additional axes and user machines can be operated from the robot program and teach pendant without any additional motion control hardware.

Additional axis control is performed directly from the robot program.

Robot

No need for separate motion control hardware

Additional axis

Up to 2 axes

Manufacturer 1

Up to 8 additional axes

(Up to 3 groups)

User machine

Up to 3 axes

Manufacturer 2

User machine

Up to 3 axes

Manufacturer 3

Maintenance forecast function

This function notifies users of when to complete maintenance tasks such as greasing, replacing belts, etc. Signals and warnings are output as notification at scheduled times set in advance.

Data for load conditions during times when the robot is in an actual operating state is collected and analyzed so that the rate of usage of consumables such as grease and belts can be estimated and used in calculating replacement periods.

System status can also be checked using the personal computer support software.

Shortened line stop time

Reduce maintenance cost

Consumable usage rate display screen (RT ToolBox2)

Safety features

Complies with the latest ISO-10218 (2006) standards for Robots and robotic devices--Safety requirements.

Safety circuits (emergency stop circuits) can easily be installed for the customer's entire system, not just for the robot itself.

Reduce maintenance cost

Enabling device input function

Enabling devices can be connected in three different positions to protect the robot system and robot operators from accidents.

The level of safety is increased due to collaborative robot control by multiple operators.

All safety signals are redundant inputs.

Complies with safety standards

CE standards :

European safety standards

Compliant with the EMC Directive,

2004/108/EC

Compliant with the EMC Directive,

2006/42/EC

Compatible with devices with

special specifications

UL standards : North American safety standards

Compliant with UL/CSA standards

Compatible with devices with

special specifications

Improved safety

System Configuration

SQseries

System Configuration iQ Platform

(Example with RV-6SQL)

Hand curl tube

(Option)

Hand input cable

(Option)

Air hand interface

(Option) Pulse encoder

■ Connecting to

peripheral devices

Note 2)

Hand output cable

(Option)

Robot

Controller

Tracking function

Note 5)

Robot CPU

Connector cable for connection between the robot CPU and DU iQ Platform programmable controller Note 1)

Q173DPX

NC

Solenoid valve set

(Option)

Machine cable

<Equipment used for standard configuration>

Drive unit

Servo amplifier

Vision sensor

Note 4)

(Option)

USB cable

<Shipping for models with special specifications>

Note 3)

Some machines have special specifications.

For details, refer to the manufacturer's specifications.

Robot arm, oil mist specifications

Robot arm, clean specifications

Machine extension cable

Extension cable for connecting the robot CPU and the drive unit

Teaching pendant

(Option)

Personal computer

RT ToolBox2 personal computer support software

(Option)

GOT

Note 1) The customer is to select the programmable controller unit.

Note 2) Select an appropriate interface for the I/Os or network functions of the peripheral device.

Note 3) The equipment configuration will be changed prior to shipment from the factory. Since this product is produced on order, inquire about the timeframe for delivery and applicable

specifications as necessary.

Note 4) A HUB is needed for the vision sensor connection. It must be provided by the customer.

Note 5) A motion unit Q173DPX is required for the pulse encoder connection. It must be provided by the customer.

SDseries

System Configuration

(Example of RV-3SDJ-SM)

Hand curl tube

(Option)

Hand output cable

(Option)

Hand input cable

(Option)

Tracking function

Robot

Controller

Machine cable

Expansion memory

Ethernet

Air hand interface

Parallel I/O unit

Vision sensor

External I/O cable

Parallel I/O interface

■ Connecting to

peripheral devices

Note 1)

NC

Solenoid valve set

(Option)

Servo amplifier

<Equipment used for standard configuration>

Controller protection box

(Option)

Personal computer cable

(Option)

External I/O cable

CC-Link interface

Programmable controller

<Shipping for models with special specifications>

Note 2)

Some machines have special specifications.

For details, refer to the manufacturer's specifications.

Robot arm, oil mist specifications

Robot arm, clean specifications

Machine extension cable

Teaching pendant

(Option)

Personal computer

RT ToolBox2 personal computer support software

(Option)

GOT

Note 1) Select an appropriate interface for the I/Os or network functions of the peripheral device.

Note 2) The equipment configuration will be changed prior to shipment from the factory. Since this product is produced on order, inquire about the timeframe for delivery and

applicable specifications as necessary.

Configurations Options

Configurations options

Classification Name

For details, refer to the specifications sheets.

RV

Type

2SQ

2SD

3SQ

3SQJ

3SD

3SDJ

6SQ

6SQL

6SD

6SDL

12SQ

12SQL

12SD

12SDL

1S-VD0□-01 (Sink)

1S-VD0□E-01 (Source)

Solenoid valve set

1S-VD0□-02 (Sink)

1S-VD0□E-02 (Source)

1S-VD0□M-03 (Sink)

1S-VD0□ME-03 (Source)

1S-VD0□M-04 (Sink)

1S-VD0□ME-04 (Source)

1S-VD0□-05 (Sink)

1S-VD0□E-05 (Source)

1E-VD0□ (Sink)

1E-VD0□E (Source)

Robot arm

Hand output cable

Hand input cable

Hand (curl) tube

Stopper for changing the J1-axis operating range

Stopper for changing the J2-axis operating range

1S-GR35S-01

1S-GR35S-02

1E-GR35S

1S-HC25C-01

1S-HC35C-02

1S-HC30C-11

1S-HC00S-01

1N-ST060□C

1E-ST040□C

1E-ST0408C-300

1N-ST0608C

1S-ST0304S

1S-DH-01

1S-DH-02

1S-DH-03

1S-DH-11J1

1S-DH-05J1

1S-DH-11J2

1S-DH-05J2

Stopper for changing the J3-axis operating range

1S-DH-11J3

Machine cable

(replacement for shorter 2-m type)

Note 1)

Machine cable, for extension/fixed

Machine cable, for extension/flexible

1S-02UCBL-03

1S-02CBL-1

1S-02UCBL-01

1S-□□CBL-01

1S-□□CBL-03

1S-□□CBL-11

1S-□□LCBL-01

1S-□□LCBL-03

1S-□□LCBL-11

Note 1) This is a special specification for shipping. Inquire for delivery and prices.

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3SDHR

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6SQH

6SDH

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12SQH

20SQH

12SDH

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Functional specifications

1 to 4 valves, with solenoid valve output cable.

indicates the number of solenoid valves (1, 2, 3, or 4 valves)

Only 1- or 2-valve models available for RV-2SQ/2SD.

4-valve type, not terminated at one end

2-valve type, not terminated at one end, for RV-2SQ/2SD

8-point type with splash-proof grommet

4-valve type, not terminated at one end, for RV-2SQ/2SD

* RH-20SQH/SDH 1000mm Arm: 1S-HC35C-03

φ

3 tube for RH-3SQHR/SDHR

φ

4 tube for RV-3SQ/SD, RV-6SQ/SD, and RH-6SQ/SD

φ

6 tube for RV-12SQ/SD and RH-12SQH/SDH,

RH-20SQH/SDH

indicates the number of sets (2, 4, 6, or 8 sets)

φ

4 tube for RV-2SQ/2SD, with 2 or 4 sets.

For changing the angle for 3SQ/SD (±30°, ±60°, ±90°, ±120°)

For changing the angle for 6, 12SQ/SD (±45°, ±90°, ±135°)

For changing the angle for 2SQ/SD (±90°, ±150°, ±210°)

Installation is the responsibility of the customer.

For changing the angle for 2SQ/SD (±30°)

Installation is the responsibility of the customer.

For changing the angle for 2SQ/SD (+70°)

Installation is the responsibility of the customer.

2 m (A 2-m cable is supplied instead of

the standard 5-m one)

Special specifications

Extension type, extended length: 5 m, 10 m, 15 m

indicates the length of the cable

(5 m, 10 m, or 15 m)

Replacement type for 2SQ/2SD: 10 m, 15 m

Classification

Controller

Name

Standard teaching pendant (7m, 15m)

High-function teaching pendant (7 m, 15 m)

Air hand interface (Sink type)

(Source type)

On-board Parallel I/O interface (Sink type)

(Source type)

On-board Parallel I/O cable (5m, 15m)

Remote Parallel I/O (Sink type)

(Source type)

Remote Parallel I/O cable (5m, 15m)

CC-Link interface

Key switch extension cable

TB extension cable

Expansion memory

Controller protection box *1

Personal computer support software

Personal computer support software -mini

Personal computer cable

Simulator

Type

R32TB(-**)

R56TB(-**)

2A-RZ365

2A-RZ375

2D-TZ368

2D-TZ378

2D-CBL**

2A-RZ361

2A-RZ371

2A-CBL**

2D-TZ576

2D-KEY-CBL**M

2D-EXTB-CBL**M

2D-TZ454

CR1D-MB

RT ToolBox2

RT ToolBox2 mini

2D-232CBL03M

MELFA-Works

SQ

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Functional specifications

7 m: Standard, 15 m: Custom ("-15" is included in the model name)

7 m: Standard, 15 m: Custom ("-15" is included in the model name)

8 output points, used exclusively for hand

24 VDC, 0.1 A/point

32 output points (12/24 VDC: 0.1 A/point)

32 input points (12 VDC: 3 mA, 24VDC: 7 mA)

CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2D-TZ368/378.

32 output points (12/24 VDC: 0.1 A/point)

32 input points (12 VDC: 3 mA, 24VDC: 7 mA)

CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2A-RZ361/371.

CC-Link Intelligent device station, Ver. 2.0, 1 to 4 stations

Key switch that can be connected to the key switch interface. (For CR1QA-772)

** indicates the cable length, where 05 = 5 m, 10 = 10 m, and 15 = 15 m.

Extension cable for connecting to the teaching pendant.

** indicates the cable length, where 05 = 5 m, 10 = 10 m, and 15 = 15 m.

User program area with expansion memory: 2 MB (For SD series only)

With a built-in CR1QA-7XX/CR1DA-7XX for improved dust-proofing.

With simulation function (CD-ROM)

Simple version (CD-ROM)

RS-232 cable for PC-AT compatible machine, 3 m

Layout study/Takt time study/Program debug.

Add-in software for Solidworks® *2

Service part

Backup battery

A6BAT

Q6BAT

Installed in the robot arm (Quantity: Differs by model type)

Installed in the controller (Quantity: 1 pc.)

*1: This only applies to CR1QA-7xx/CR1DA-7xx. Please ask a sales representative for details at the time of purchase. *2: SolidWorks® is a registered trademark of SolidWorks Corporation (USA).

Support Software

RT ToolBox2

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.

Windows®-compatible

Easy operation on Windows®.

Compatible with Windows®2000, Windows®XP, and Windows®Vista.

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.

Program editing and debugging functions

Creation of programs in MELFA-BASIC IV and 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.

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

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

Check the robot movements and measurement the tact time for designated parts of a program can be realized with running the program.

3D viewer

Graphical representation of a work along with the dimensions, color and other specified details of the work area to be gripped.

Monitor functions

This is used to monitor program execution status and variables, input signals, etc.

*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.

<Example of a Pick & Place program>

Mov Psafe

Mov Pget,-50

Mvs Pget

Dly 0.2

Hclose 1

Dly 0.2

Mvs Pget,-50

(12)=1

Mov Pput,-80

Mvs Pput

Dly 0.2

Hopen 1

・・・・・

Move the evasion point

'Move the workpiece extraction position up

'Move the workpiece extraction position

'Wait 0.2-sec. on standby

'Close the hand

'Wait 0.2-sec. on standby

'Move the workpiece extraction position up

'Wait for a signal

'Move the workpiece position up

'Move the workpiece position

'Wait 0.2-sec. on standby

'Close the hand

Classification

Operationrelated

Input/output

Numerical operations

Additional functions

Main functions

Joint, linear, and circular interpolation, optimal acceleration/ deceleration control, compliance control, collision detection, and singular point passage

Bit/byte/word signals, interrupt control

Numerical operations, pose (position), character strings, logic operations

Multi-tasking, tracking, and vision sensor functions

Maintenance functions

This function is for maintenance and includes maintenance forecast and position recovery support functions, a parameter management function, etc.

MELFA-

Works

MELFA-Works is an add-in tool that runs under solid-works, used for simulating production systems using robots on personal computers, converting processing paths defined for workpieces to data and outputting this data.

What is MELFA-Works?

MELFA-Works is an add-in tool (*1) for 3D CAD SolidWorks® (*2) software (hereinafter, SolidWorks®).

Adding MELFA-Works into the SolidWorks® platform adds to and expands 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).

Features

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.

*3) Formats that can be loaded into SolidWorks®

■ Example Screens for MELFA-Works

MELFA-Works SolidWorks®

RT-ToolBox2 (mini)

● IGES

● STEP

● ParasolidR

● SAT (ACISR)

● Pro/ENGINEERR

● CGR (CATIARgraphics)

● Unigraphics

● PAR (Solid Edge TM)

● IPT (Autodesk Inventor)

● DWG

● DXFTM

● STL

● VRML

● VDA-FS

● Machanical Desktop

● CADKEYR

● Viewpoint

● RealityWave

● HOOPS

● HCG (Highly compressed graphics)

Note) Check the SolidWorks website and other published documents for the latest specifications.

Calibration tool

Loading of part data from peripheral devices and rearrangement

Part data created in Solidworks® can be loaded.

The ositions of loaded parts can be rearranged relative to the CAD origin and otherparts.

Part positions can also be changed via numerical input.

List of functions

Display of the robot movement path

Robot movement path can be displayed in space as trace lines.

Installation of hands

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.

Interference checks

Interference between the robot and peripheral devices can be checked. A target of interference check can be specified simply by clicking 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 log.

Saving of video data

Simulated momements can be saved to video files (AVI format).

CAD link

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.

Offline teaching

The robot posture can be set up on the screen in advance.

Creation of robot programs (template)

Workflow processes can be created using a combination of the offline teaching and CAD link functions and then converted into robot programs. (MELFA-BASIC IV, V format)

Assignment of robot programs

Programs used with actual robots can be used as is.

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.

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 measurement the cycle time of a specified part in a program.

Robot program debugging functions

The following functions are provided to help you debug 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.

Jog function

The robot shown in SolidWorks® can be jogged just like you normally jog a robot using a teaching pendant.

Traveling axis

A traveling axis can be installed to a robot to verify the operation of the system equipped with this.

Calibration

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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