Robot Brochure

FACTORY AUTOMATION

MITSUBISHI INDUSTRIAL ROBOT

F Series

1

OVERVIEW

Product Lineup

Robot Specifications

Controller Specifications

Functions

System Configuration

Configurations Options

Options

38

39

41

23

26

7

10

5

6

7

3

4

1

2

2

3

Committed to ever higher customer satisfaction

IT system

FA integrated solution to reduce the TCO

FA-IT

Information collaborating product group

Production facility

ERP

MES

Production planning, cost control, Stock control, yield control, Process control, quality control ...

Energy-saving Data

Collection Server

MES Interface

IT

MES

Interface

GOT2000 display unit

(HMI)

MELQIC data collection analyzer

High-spped data logger

Box data logger

B/NET

MELDAS

Numerical controller

Ethernet

MELLASER

Laser processor

DIAX

Electrical discharge machine

MELSEC iQ-R

Programmable controller

MELSEC-Q

Power measurement

MELSEC-L

Sequencer module

Wire-saving network

MELSEC-QS

Safety Programmable controller

MELSEC iQ-R

Motion CPU

Safety Programmable controller

Safety field network

FR-E700EX/

MM-GKR

FR-A800

INVERTER

MELSEC-F

Programmable controller

MELSEC iQ-F

Programmable controller

CC-Link

CC-Link IE Field target product

Safety remote

I/O module

MR-J4

AC Servo

Ethernet

Power measuring unit

Energy-saving devices

EcoMonitorPro

Energy measuring unit

Electric multi-component indicator

INVERTER+

IPM motor

Sensor Solution

Mitsubishi Electric is a global leader in the research, manufacturing and marketing of electrical and electronic equipment used in areas such as communications, consumer electronics, industrial technology, energy and transportation. Within this, the industrial automation business has grown significantly since the first induction motor was manufactured over 90 years ago and has closely followed the automation industry in Japan, Asia, and beyond. Mitsubishi Electric industrial automation boasts a wide-range of product areas such as production control, drives, and mechatronics that are used in various industries. In addition,

Mitsubishi Electric offers [email protected] and iQ Platform, leveraging its total industrial automation solution portfolio. Mitsubishi

Electric will keep offering products to customers all over the world as a total supplier of FA.

System example with Mitsubishi FA products

Vision sensor

GOT2000

Servo-driven screw tightening machine

MELFA industrial robot

F series

Electric component assembly system

Touch panel

(GOT2000)

Central programmable controller network

• Sensors

• Peripheral

devices

Safety programmable controller

Screw tightening machine

Vertical multiple-joint robot

RV-7FL

Vision sensor

Ethernet

Camera for position detection

Connection with safety devices, wire-saving connection by

CC-Link Safety

Control device configuration

4

5

The manufacturing industry needs to handle changing challenges relating to global competition, employment/procurement, and others.

Such challenges can be solved by the "robot-based cell manufacturing", which is suitable for high-mix and various-volume production having no restrictions on places, production volume, and lead time.

Mitsubishi Electric has established various test cells for Mitsubishi products to commercialize automated manufacturing facilities using robots and robot-based cell manufacturing. Mitsubishi Electric will find and solve difficulties in systems and each component, and apply the techniques obtained through such processes to robots, functions, and peripheral components to offer solutions meeting market demands.

Improve reliability

Fulltime

Force sensor

Continuous operation

● Supports monitoring varying application of forces improving stability

● Reduce temporary line shutdowns through detecting errors and auto-recovery

● Failure prediction by various data

Addition of models

Cell manufacturing

Shorter startup

Higher productivity

Function

Shorter operation

Multiple hands

Interference prevention

● Improved coordinated control between robots prevents interference

● Multiple hand option supporting a wide range of processes

● Space-saving by man-machine collaboration

Faster startup

Facilitation

Increase usability

Flexibility

2D vision sensor

● Detect multiple part variations through

2D/3D vision sensor

● Streamlined positioning jig

● Enhanced simulation function

3D vision sensor iQ Platform

HMI

● Integrated into iQ Works

● Detailed display of teaching positions

● Easy-to-use teaching box

● Facilitation by iQ Monozukuri

Function development for automation

Intelligence solutions including sensor applications and the integrated controller iQ

Platform, iQ Monozukuri containing accumulated know-how as a package, and various engineering software facilitate plan, design operation, and maintenance of robot cells, reducing the total cost of ownership (TCO).

Higher basic performance

Industry-leading performance using advanced servo control techniques and compact arms and multi-function tools suitable for cell production will improve productivity.

Cooperative operation with human using the latest safety solution will further improve productivity improvement and contribute to space saving.

Improved reliability

The intelligence solution will allow robots to handle various variations, leading to a stable operation. Further, collected data will be converted into digital data to visualize robot maintenance information, leading to productivity and quality improvement.

F Series

Mitsubishi Electric's goal is to "reduce TCO" ranging from plan and design to operation and maintenance. Mitsubishi Electric will improve the robot performance and offer the "MELFA F series", which is equipped with "[email protected]" and solution techniques developed and tested at its own production plants.

6

1

Lineup

With a wide range of variations from Mitsubishi Electric, committed to ease in selection.

The Mitsubishi Electric robot product line is equipped with all of the basic performance features desired in a robot, such as being powerful, speedy, and compact.

The variations that Mitsubishi Electric is confident meet the needs of the current era and have pushed Factory Automation forward in a dramatic way.

Vertical, multiple-joint type (RV)

Type

Maximum load capacity (kg)

Maximum reach radius (mm)

Environmental specifications

Standard

Oil mist

Clean

Medical, food

RV-2F

504

3

(IP30)

RV-2FL

649

Controller

CR750

RV-4F RV-4FL

4

515

(IP67)

(ISOclass3)

(IP40)

(IP65)

649

Horizontal, multiple-joint type (RH)

RV-7F RV-7FL

7

713

(IP67)

(ISOclass3)

(IP40)

(IP65)

908

CR751

7

Type

Maximum load capacity (kg)

Maximum reach radius (mm)

Environmental specifications

Standard

Oil mist

Clean

Medical, food

RH-3FH35

3

350

RH-3FH45

3

450

(IP20)

(ISOclass3)

RH-3FH55

3

550

RH-6FH35

6

350

RH-6FH45

6

450

(IP20)

(ISOclass3)

(IP65)

(IP65)

RH-6FH55

6

550

Controller

CR750

With a wide range of variations from Mitsubishi Electric, committed to ease in selection.

1

RV-7FLL

7

1503

(IP40)

(IP67)

(ISOclass3)

(IP65)

Controllers with protective specifications

(Equipped with controller protection boxes)

RV-13F RV-13FL

13

1094

(IP67)

(ISOclass3)

(IP40)

(IP65)

1388

RV-20F

20

1094

(IP40)

(IP67)

(ISOclass3)

(IP65)

RV-35F

35

RV-50F

50

RV-70F

70

2050

(J1 to J4:IP40, J5 to J6:IP67 )

(IP67)

CR760-D/Q

RH-12FH55

12

550

RH-12FH70

12

700

(IP20)

(ISOclass3)

(IP65)

(IP65)

RH-12FH85

12

850

RH-20FH85

20

850

RH-20FH100

20

1000

(IP20)

(IP65)

(ISOclass3)

(IP65)

RH-3FHR

3

350

(IP20)

Water proof:

(IP65)

(ISOclass5)

8

CR751

Controllers with protective specifications

(Equipped with controller protection boxes)

1

Models

Vertical, multiple-joint type (RV)

RV - 4 F L C - D 1 - Sxx

Sxx: Compliant with special models such as CE specification and KC specification etc (separately)

SHxx: Internal wiring specifications

1: CE/KC specification

Controller type

D: CR750-D CR760-D Q: CR750-Q CR760-Q

1D : CR751-D 1Q: CR751-Q

Environment specification

Blank: Standard specifications

M: Oilmist specifications

C: Clean specifications

Arm length

Blank: Standard arm

L: Long arm

LL: Super long arm

Series

F: F series

Maximum load capacity

2 : 2kg 4: 4kg 7: 7kg 13: 13kg 20: 20kg 35: 35kg 50: 50kg 70: 70kg

Robot structure

RV: Vertical, multiple-joint type

Horizontal, multiple-joint type (RH)

RH - 6 FH 55 20 M - D 1 - Sxx

Sxx: Compliant with special models such as CE specification and KC specification etc (separately)

SM : Specification with protection specification controller (with the protection box)

1: CE/KC specification

Controller type

D: CR750-D Q: CR750-Q

1D : CR751-D 1Q: CR751-Q

Environment specification

Blank: Standard specifications

M: Oilmist specifications

C: Clean specifications

Vertical stroke

12 : 120mm

15 : 150mm

20 : 200mm

34 : 340mm

35 : 350mm

45 : 450mm

Arm length

35 : 350mm

45 : 450mm

55 : 550mm

70 : 700mm

85 : 850mm

100 : 1000mm

Series

FH: F series FHR: F series

Maximum load capacity

3: 3kg 6: 6kg 12: 12kg 20: 20kg

Robot structure

RH: Horizontal, multiple-joint type

9

Vertical

2

kg type

RV-2F

RV-2FL

RV-2F

Motion space at point P

External Dimensions/Operating Range Diagram

Motion space at point P

Wrist's downward limit

-240°

Control point

(R point)

504.6

70 270

504.6

Point

P

R504.6

Wrist's downward limit

209

-120°

R250

A

(80)

160

(80)

+120°

-120°

R504.6

+120°

Solenoid valve (option)

Installation space

R230

R139.5

2

45°

Point P

R230

φ

5H7, depth 8

4-M5 screw, depth 8

φ 20H7, depth 6

φ40h8, depth 6

φ31.5

View A

Mechanical Interface Detail

R139.5

RV-2FL

Motion space at point P

R649

Top view

-240°

+240°

140

Wrist's downward singularity boundary

Point

P

649

70 335

280

B

Side view

Wrist's downward limit

649

(Installation reference surface)

(Installation reference surface)

Rz 25

82

(135)

67.5 67.5

(40)

4-φ9 installation hole

(80)

160

(80)

Control point

(R point)

Wrist's downward limit

A

Solenoid valve (option)

Installation space

+120°

-1

17°

R162

R649

Point P

(160)

View B

Rear Surface Diagram (Installation Dimension Detail)

Solenoid valve (option)

Installation space

140

Motion space at point P

R162

+240°

Wrist's downward singularity boundary

Specifications

Top view

Type

Environmental specifications

Protection degree

Installation

Structure

Degrees of freedom

Drive system *1

Position detection method

Maximum load capacity

Arm length

Maximum reach radius

Unit RV-2F(B)

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 maximum 3 (Rated 2) *5

NO1 arm kg mm mm

230 + 270

504

Operating range

Maximum speed

J4

J5

J6

J1

J1

J2

J3

J2

J3

J4

J5

J6 deg deg/sec

240 (-120 to +120)

300

150

300

450

480 (±240)

160 (-0 to +160)

400 (±200)

240 (-120 to +120)

720 (-360 to +360)

450

720

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass mm/sec sec mm

°C kg

4955

0.6

19

±0.02

0 to 40

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

Nm kgm

2

4.17

4.17

2.45

0.18

0.18

0.04

Tool wiring

Hand: 4 input points/4 output points

Signal cable for the multi-function hand

Tool pneumatic pipes

φ

4 x 4

Machine cable 5m (connector on both ends)

Connected controller CR750, CR751

*1: The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. (RV-2FB)

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

*3: This is the value at the surface of the mechanical interface when all axes are composited.

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.

*5: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

RV-2FL(B)

310 + 335

649

237 (-117 to +120)

225

105

165

412

4200

0.7

21

B

Minimum: 300

Side view

10

Vertical

4

kg type

RV-4F

RV-4FL

2

11

Intersection

45°

φ 5H7, depth 8

4-M5 screw, depth 8 (*3)

External Dimensions/Operating Range Diagram

RV-4F

Motion space at point P

R514.5

-240°

For internal hand wiring and piping specifications (-SH**)

Wrist's downward limit

514.5

514.5

Limits on operating range for the rear (*5)

Control point (R point)

125

*5)

Control point (R point) for -SH** specifications

85 275

-35°(

(241)

170

A

Motion space at point P

Point P

R136.8

+120°

-120°

-1

13° (*5)

-1

13° (Note 1)

Point P

R135.8

R514.5

Operating range for each axis:

J1: ±240°

J2: ±120°

J3: 0° to 161°

J4: ±200°

J5: ±120°

J6: ±360°

+115°(*5)

+240°

Approximately 100

Maintenance space (*2)

Wrist's downward singularity boundary

Side view

P.C.D.

φ31.5

φ20H7, depth 6

φ40h8, depth 6

View A

Mechanical Interface Detail

(*4)

RV-4FL

R648.7

Motion space at point P

Top view

-240°

For internal hand wiring and piping specifications (-SH**)

648.7

125

85 335

648.7

Limits on operating range for the rear (*6)

Wrist's downward limit

(241)

170

Control point (R point)

Control point (R point) for -SH** specifications

-35°(*6)

(Installation reference surface)

(Installation reference surface) Rz25

102

80

(160)

80

4-φ9 installation hole

R140.4

Motion space at point P

Point P

R140.4

R648.7

+120°

-120°

14°

-1

(*6)

Operating range for each axis:

J1: ±240°

J2: ±120°

J3: 0° to 164°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

(200)

View B

Rear Surface Diagram (Installation Dimension Detail)

Specifications

Type

Environmental specifications

Protection degree

Installation

Structure

Degrees of freedom

Drive system *1

Position detection method

Maximum load capacity

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J2

J3

J4

J4

J5

J6

J1

J5

J6

J1

J2

J3

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

Point P

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

°C kg

Nm kgm

2

+110°(*6)

Top view

+240°

Approximately 100

Maintenance space (*2)

Wrist's downward singularity boundary

Side view

Note

*1. Make sure to leave enough space open for cable connections between devices.

*2. Make sure to leave enough space open for removing and attaching covers during maintenance work.

*3. Specify a thread engagement length of 7.5 to 8 mm.

*4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.

*5. The operating range for the J2 axis when -35°≤ J1 ≤ +115° is limited to -113° ≤ J2 ≤ +120°.

*6. The operating range for the J2 axis when -35°≤ J1 ≤ +110° is limited to -114° ≤ J2 ≤ +120°.

*7. The posture shown in the diagram results from when the robot axis angles are set as listed.

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

RV-4F(M)(C) RV-4FL(M)(C)

Standard/ Oil mist/ Clean

IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7

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

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

4

240 + 270

515

245 + 300

649

480 (±240)

240 (-120 to +120)

161 (-0 to +161) 164 (-0 to +164)

400 (±200)

240 (-120 to +120)

720 (±360)

450

450

300

540

623

720

9027

0.36

420

336

250

540

623

720

9048

0.36

±0.02

0 to 40

39 41

6.66

6.66

3.96

0.2

0.2

0.1

Tool wiring

Hand: 8 input points/8 output points

Signal cable for the multi-function hand and sensors

LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)

Machine cable 5m (connector on both ends)

Connected controller *6

CR750, CR751

*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.

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

*3: This is the value at the surface of the mechanical interface when all axes are composited.

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.

*5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.

*6: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

Vertical

7

kg type

RV-7F

RV-7FL

Intersection

45°

φ

5H7, depth 8

4-M5 screw, depth 8 (*3)

φ20H7, depth 6

φ40h8 (*4)

P.C.D.

φ31.5

View A

Mechanical Interface Detail

RV-7F

Motion space at point P

External Dimensions/Operating Range Diagram

For internal hand wiring and piping specifications (-SH**)

-240°

R713.4

(278)

200

Wrist's downward limit

Control point (R point)

Control point (R point) for -SH** specifications

713.4

125

85 370

713.4

2

Motion space at point P

Point P

R197.4

Approximately 100

Maintenance space (*2)

Point P

+125°

-1

15°

Operating range for each axis:

J1: ±240°

J2: -115° to 125°

J3: 0° to 156°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

Wrist's downward singularity boundary

R197.4

R713.4

Side view

RV-7FL

R907.7

-240°

For internal hand wiring and piping specifications (-SH**)

907.7

Motion space at point P

Wrist's downward limit

Control point (R point)

(278)

200

Control point (R point) for -SH** specifications

907.7

125

85 470 102

(Installation reference surface)

(Installation reference surface) Rz25

124.5

(205)

102.5 102.5

4- φ9 installation hole

Motion space at point P

Point P

+130°

-1

10°

245.7

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

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

Unit kg mm mm deg

Point P deg/sec mm/sec sec mm

°C kg

Nm kgm

2

R192.8

Approximately 100

Maintenance space (*2)

+240°

Top view

Note

*1. Make sure to leave enough space open for cable connections between devices.

*2. Make sure to leave enough space open for removing and attaching covers during maintenance work.

*3. Specify a thread engagement length of 7.5 to 8 mm.

*4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.

*5. The posture shown in the diagram results from when the robot axis angles are set as listed.

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

RV-7F(M)(C)

340 + 370

713

240 (-115 to +125)

156 (-0 to +156)

360

401

450

337

450

720

11064

0.32

65

480 (±240)

R907.7

Wrist's downward singularity boundary

400 (±200)

240 (-120 to +120)

720 (±360)

±0.02

0 to 40

16.2

16.2

6.86

0.45

0.45

0.10

R192.8

Standard/ Oil mist/ Clean

IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7

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

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

7

RV-7FL(M)(C)

435 + 470

908

67

Side view

240 (-110 to +130)

162 (-0 to +162)

288

321

360

337

450

720

10977

0.35

Operating range for each axis:

J1: ±240°

J2: -110° to 130°

J3: 0° to 162°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)

Machine cable

Connected controller

5m (connector on both ends)

CR750, CR751

*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.

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

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

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.

*5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.

*6: Select either controller according to your application.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

12

Vertical

7

kg type

RV-7FLL

2

13

External Dimensions/Operating Range Diagram

Same for RV-7F/7FL/7FLL

45°

φ 5H7, depth 8

4-M5 screw, depth 8 (*3)

RV-7FLL

R1502.6

Motion space at point P

Dedicated for RV-7FLL

Point P

-190°

For internal hand wiring and piping specifications (-SH**)

Wrist's downward singularity boundary

125

85

Control point (R point)

Control point (R point) for -SH** specifications

347

300

A

805

P.C.D.

φ31.5

φ

φ

20H7, depth 6

40h8

Note)

Note) The depth for the φ40 part is 3.5 mm (Oil mist/clean),

6 mm (Standard), or 6.5 mm (-SH** models).

View A

Mechanical Interface Detail

90°

R277.6

Point P

157.5°

4- φ14 installation hole

160

Motion space at point P

130° (*1) 150°

2-φ8H7

Reamer

(Installation reference surface)

(Installation reference surface) Rz25

155

100

250

50

R1372.6

R399

R529

300

250

242.5

Minimum: 430

300

View C

Rear Surface Diagram (Installation Dimension Detail)

+190°

973.7

399

529

130

1242.6

Top view

Operating range limitation for the front/side faces (*5)

C Side view

*1. Make sure to leave enough space open for cable connections between devices.

*2. Make sure to leave enough space open for removing and attaching covers during maintenance work.

*3. Specify a thread engagement length of 7.5 to 8 mm.

*4. Limits on the operating range for the front part: When the J1-axis angle is inside the range of +145° ≤ J1 ≤ +215° or -145° ≤ J1 ≤ -215°, the operating range of the J2-axis is limited to -110° ≤ J2 ≤ +120°.

*5. Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -120°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

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

°C kg

Nm kgm

2

RV-7FLL(M)(C)

Standard/ Oil mist/ Clean

IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7

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

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

Maximum: 7 (Rated: 7)

565 + 805

1503

380 (±190)

240 (-90 to +150)

167.5 (-10 to +157.5)

400 (±200)

240 (-120 to +120)

720 (±360)

234

164

219

375

450

720

15300

0.63

±0.06

0 to 40

130

16.2

16.2

6.86

0.45

0.45

0.10

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 ( With wrist attached )

Machine cable

Connected controller

7m (connector on both ends)

CR750, CR751

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

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

*3: This is the value at the surface of the mechanical interface when all axes are composited.

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.

*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.

*6: Select either controller according to your application.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

Space for the cable connection (*1)

Operating range for each axis:

J1: ±190°

J2: -90° to 150°

J3: -10° to 157.5°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

Vertical

13

kg type

RV-13F

RV-13FL

Shared parts

45°

φ

6H7, depth 8

4-M6 screw, depth 8 (*4)

φ

25H7, depth 10

φ

25H7, depth 6

P.C.D φ40

φ

50H8, depth 6.5

φ

50H8, depth 8

(SH specifications)

View A

Mechanical Interface Detail

RV-13F

External Dimensions/Operating Range Diagram

R1093.8

-190°

For internal hand wiring and piping specifications (-SH**)

Wrist's downward singularity boundary

150

97 550

Control point (R point)

Motion space at point P

Control point (R point) for -SH** specifications

Point P

R410.3

347

300

A

160

Motion space at point P

Point P

R280.3

130°(*1)

150°

R963.8

90°

157.5°

Operating range for each axis:

J1: ±190°

J2: -90° to 150°

J3: -10° to 157.5°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

R277.6

RV-13FL

Motion space at point P

R1387.9

+190°

Top view

-190°

300

Operating range limitation for the front/side faces (*1)

250

242.5

683.6

Minimum: 430

280.3

130

B

Side view

833.8

For internal hand wiring and piping specifications (-SH**)

Wrist's downward singularity boundary

Control point (R point)

Control point (R point) for -SH** specifications

97

150

690

Space for the cable connection (*3)

2

Point P

347

300

A

12°

R277.6

Point P 90°

2-φ8H7 Reamer

(Installation reference surface)

(Installation reference surface) Rz25 kg mm mm mm/sec sec mm

°C kg

290

234

312

375

375

720

10450

0.53

Motion space at point P

Standard/ Oil mist/ Clean

IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7

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

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

Maximum: 13 (Rated: 12) *8

380(±190)

240 (-90 to +150)

167.5 (-10 to +157.5)

400 (±200)

240 (-120 to +120)

720 (±360)

±0.05

0 to 40

19.3

19.3

11

0.47

0.47

0.14

130°(*3)

150°

234

164

219

375

375

720

9700

0.68

157.5°

155

100

250

50

300

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

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

4- φ14 installation hole

R457.6

300

160

R1258.1

R327.6

242.5

250

Minimum: 430

Operating range for each axis:

J1: ±190°

J2: -90° to 150°

J3: -10° to 157.5°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

+190°

Top view

930.5

Operating range limitation for the front/side faces (*2)

327.6

130

B

Side view

1128.1

Space for the cable connection (*3)

RV-13FL

*1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.

*2: Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +130° or J1 ≤ -140°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.

*3: Make sure to leave enough space open for cable connections between devices.

*4: Specify a thread engagement length of 10 to 9 mm.

Unit deg deg/sec

Nm kgm

2

RV-13F(M)(C)

410 + 550

1094

120

RV-13FL(M)(C)

565 + 690

1388

130

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (With wrist attached)

Machine cable

Connected controller

7m (connector on both ends)

CR750, CR751

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

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

*3: This is the value at the surface of the mechanical interface when all axes are composited.

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5 kg.

*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.

*6: Select either controller according to your application.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

14

Vertical

20

kg type

RV-20F

2

Motion space at point P

Point P

R1093.8

External Dimensions/Operating Range Diagram

-190°

For internal hand wiring and piping specifications (-SH**)

Wrist's downward singularity boundary

Control point (R point)

Control point (R point) for -SH** specifications

347

300

A

97

150

550

90°

R410.3

157.5°

Point P

130° (*1)

150°

160

Motion space at point P

R280.3

R963.8

R277.6

300

45°

+190°

Top view

φ

6H7, depth 8

4-M6 screw, depth 10 (*3)

φ

25H7, depth 10

φ

25H7, depth 6 (SH specifications)

φ50H8, depth 6.5

φ50H8, depth 8 (SH specifications)

2-φ8H7

Reamer

(Installation reference surface)

(Installation reference surface)

Rz25

155

100

250

50

4- φ14 installation hole

Operating range limitation for the front/side faces (*1)

683.6

242.5

280.3

B

Side view

250

Minimum: 430

833.8

130

P.C.D

40

15

View A

Mechanical Interface Detail

300

View B

Rear Surface Diagram (Installation Dimension Detail)

*1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.

*2: Make sure to leave enough space open for cable connections between devices.

*3: Specify a thread engagement length of 10 to 9 mm.

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

J5

J6

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

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

°C kg

Nm kgm

2

RV-20F(M)(C)

Standard/ Oil mist/ Clean

IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7

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

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

Maximum: 20 (Rated: 15) *8

410 + 550

1094

380 (±190)

240 (-90 to +150)

167.5 (-10 to +157.5)

400 (±200)

240 (-120 to +120)

720 (±360)

110

110

110

124

125

360

4200

0.70

±0.05

0 to 40

120

49.0

49.0

11

1.40

1.40

0.14

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (With wrist attached)

Machine cable

Connected controller

7m (connector on both ends)

CR750, CR751

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

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

*3: This is the value at the surface of the mechanical interface when all axes are composited.

*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5 kg.

*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.

*6: Select either controller according to your application.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

Space for the cable connection (*2)

Operating range for each axis:

J1: ±190°

J2: -90° to 150°

J3: -10° to 157.5°

J4: ±200°

J5: ±120°

J6: ±360°

J6 when -SH

specifications

are used: ±200°

Point P

Motion space at point P

+165

R2050

−165°

R390

R458

φ

100H7

, depth

14

(Installation reference surface)

Top view

φ

80

6-M8 screw, depth 12

250

205 205

4-φ22 installation hole

φ50H7

, depth

6

2-φ8H7, depth 8

View A

Mechanical Interface Detail

Specifications

Type

Machine class

Protection degree

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

Maximum reach radius

NO1 arm

Operating range

Maximum speed

J5

J6

J1

J2

J3

J4

J5

J6

J1

J2

J3

J4

Maximum composite speed *3

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

J4

J5

J6

J4

J5

J6

Tool wiring

(Installation reference surface)

View B

Rear Surface Diagram (Installation Dimension Detail)

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

°C kg

Nm kgm

2

RV-35F(M)

35

185

190

305

305

420

13450

160

160

90

16

16

5

Tool pneumatic pipes

Connected controller

Vertical

35/50/70 kg type

RV-35F

RV-50F

RV-70F

Please contact your local representative or sales office.

External Dimensions/Operating Range Diagram

(240)

1737 2050

175 990

P entry prohibited area

(295)

For mist specifications

For standard specifications

(275)

(266.6)

(234.5)

For mist specifications

(Not provided for standard specifications)

R point

(310) A

Control point (R point)

(352.8)

Motion space at point P

-125°

+125°

R1900

R308

+135°

-80°

+171°

R1000

R390

458

1593

500

308

150

1108

B

Side view

-90

°

P entry prohibited area

Operating range for each axis:

J1: ±165°

J2: -80° to 135°

J3: -90° to 171°

J4: ±360°

J5: ±125°

J6: ±450°

<Operable range>

(1) For 11° ≤ J2 < 56°, J3 ≤ [170.5 - {(1 / 6) * (J2 - 8)}]°

(2) For J2 ≥ 56°, the point P shall not enter the operable range limit area.

(3) For J3 ≥ 162.5°, J2 ≤ 1031 - 6 × J3°

(4) For J2 ≥ 130°, J1 ≤ 110°, or for J1 > 110°, J2 ≤ 130°

RV-70F(M) RV-50F(M)

Standard/ Oil mist

J1 to J4:IP40, J5 to J6:IP67 (standard)/ IP67 (oil mist) *1

Floor type

Vertical, multiple-joint type

6

AC servo motor

Absolute encoder

50

900 + 990

2050

330 (±165)

215 (-80 to +135)

261 (-90 to +171)

720 (±360)

250 (±125)

900 (±450)

180

180

180

255

255

370

13000

±0.07

0 to 40

640

210

210

130

30

30

12

Hand: 16 input points/16 output points

LAN X 1

φ

10 x 2

CR760-D/Q

75

175

145

165

235

235

350

11500

300

300

150

16

2

2

Cross-section X-X

(Installation Dimension Detail)

2-φ6 hole

(φ8 prepared hole for positioning pins)

4-φ9installation hole

(Installation standards)

Rz25

Horizontal

3

kg type

RH-3FH35

RH-3FH45

RH-3FH55

External Dimensions/Operating Range Diagram

170°

Y section details

(Hand mounting)

φ

90

φ 37.5

Z Z

10 Z

Z

50 225

100

A

B

165

C

G

E

92

90

150

60

120

φ 16h7

[clean specifications]

15

φ11through hole

Cross-section Z-Z

145°

Only clean spec

φ

90

Variable dimensions

Robot series

RH-3FH3515

RH-3FH3512C

RH-3FH4515

RH-3FH4512C

RH-3FH5515

RH-3FH5512C

A B C D E F G H

125 R350 R142 210 R253 220 R174 342

125 R350 R142 224 R253 268 R196 342

225 R450 R135 210 R253 220 R174 337

225 R450 R135 224 R253 268 R197 337

325 R550 R191 160 R244 172 R197 337

325 R550 R191 160 R253 259 R222 337

J

150

120

150

120

150

120

*1: Space required for the battery replacement

*2: Space required for the interconnection cable

*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides and 2 locations on the front of the No. 2 arm.)

(*3)

10 10

Y

10

188

65

82

X

(*3)

X

17

(*1)

160 200 (*2)

Specifications

Type

Machine class

Protection degree *1

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

NO1 arm

NO2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *2

Cycle time *3

Position repeatability

Y-X composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tolerable amount of inertia

Rating

Maximum

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

2

RH-3FH3515/12C

125

350

6800

0.41

±0.010

29

RH-3FH4515/12C

Standard/ Clean

IP20/ ISOclass3 *6

Floor type

Horizontal, multiple-joint type

4

AC servo motor

Absolute encoder

Maximum 3 (rating 1)

225

225

450

340 (±170)

290 (±145)

150 (Clean specification : 120) *1

720 (±360)

420

720

1100

3000

7500

0.46

±0.010

±0.01

±0.004

0 to 40

29

0.005

0.06

RH-3FH5515/12C

325

550

8300

0.51

±0.012

32

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *4

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8

Machine cable

Connected controller *5

5m (connector on both ends)

CR750, CR751

*1: The range for vertical movement listed in the environmental resistance specifications (C: Clean specifications) for the RH-3FH is narrower than for the standard model. Keep this in mind when working with the RH-3FH. The environment-resistant specifications are factory-set custom specifications.

*2: The value assumes composition of J1, J2, and J4.

*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)

*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.

*5: Select either controller according to your application.

*6: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.

Horizontal

6

kg type

RH-6FH35

RH-6FH45

RH-6FH55

External Dimensions/Operating Range Diagram

Y section details

(Hand mounting)

φ

39.5

φ

90

60.5

Z

Z

Z

Z Z Z

Cross-section X-X

(Installation Dimension Detail)

2-φ6 hole

(φ8 prepared hole for positioning pins)

4-φ9installation hole

(Installation standards)

Rz25

92

90

150

60

120

φ

25h7

[Standard specifications]

24

φ18through hole

[Mist specifications]

φ

90

Z Z

60 225

100

A

B

C

170°

165

G

Cross-section Z-Z

[Clean specifications]

E

145°

(*3)

10

Y

10 164

65

20

82

Only clean spec

Variable dimensions

Robot series

RH-6FH3520

RH-6FH3520M/C

RH-6FH3534

RH-6FH3534M/C

RH-6FH4520

RH-6FH4520M/C

RH-6FH4534

RH-6FH4534M/C

RH-6FH5520

RH-6FH5520C

RH-6FH5520M

RH-6FH5534

RH-6FH5534C

RH-6FH5534M

A

125

125

125

125

225

225

225

225

325

R450 R135 224 R253 268 R197

R550 R191 160 R244 172 R197

325

325

325

325

325

B C D E

R350 R142 210 R253

R350 R142

R350 R142

R350 R142

R450 R135

224

210

224

210

R253

R253

R253

R253

R450 R135 224 R253

R450 R135 210 R253

R550 R191 160 R253

R550 R191 160 R244

R550 R191 160 R244

R550 R191 160 R253

R550 R191 160 R244

F G

220 R174

268

220

268

220

R196

R174

268 R196

220 R174

R197

R174

259 R222

259 R222

172 R197

259 R222

259 R222

337

337

337

337

337

337

337

H

342

342

342

342

337

337

337

J

200

200

340

340

200

200

340

340

200

200

200

340

340

340

K

133

133

-7

-43

133

133

-7

-43

133

133

133

-7

-43

-43

L

798

798

938

938

798

798

938

938

798

798

798

938

938

938

M

386

386

526

526

386

386

526

526

386

386

386

526

526

526

*1: Space required for the battery replacement

*2: Space required for the interconnection cable

*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides and 2 locations on the front of the No. 2 arm.)

10

(*3)

X

160(*1) 200(*2)

X

Specifications

Type

Machine class

Protection degree *1

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

NO1 arm

NO2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *2

Cycle time *3

Position repeatability

Y-X composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tolerable amount of inertia

Rating

Maximum

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

2

RH-6FH35XX/M/C

125

350

6900

±0.010

36

RH-6FH45XX/M/C

Standard/ oil mist/ Clean

IP20 *6/ IP65 *7/ ISO3 *8

Floor type

Horizontal, multiple-joint type

4

AC servo motor

Absolute encoder

Maximum 6 (rating 3)

225

225

450

340 (±170)

290 (±145) xx = 20 : 200/ xx = 34 : 340

720 (±360)

400

670

2400

2500

7600

0.29

±0.010

±0.01

±0.004

0 to 40

36

0.01

0.12

RH-6FH55XX/M/C

325

550

8300

±0.012

37

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *4

Primary: φ6 x 2 Secondary: φ4 x 8 Tool pneumatic pipes

Machine cable

Connected controller *5

5m (connector on both ends)

CR750, CR751

*1: The range of vertical movement listed in the environmental resistance specifications (M: Oil mist specifications, C: Cleanroom specifications) for the RH-6FH is factory-set custom specifications.

*2: The value assumes composition of J1, J2, and J4.

*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)

*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.

*5: Select either controller according to your application. Note that controllers with oil mist specifications come equipped with a controller protection box (CR750-MB) and "-SM" is appended at the end of the robot model name. If you require it, consult with the Mitsubishi Electric dealer.

*6: IP54 rating for European models.

*7: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.

*8: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

18

2

170°

Horizontal

12/20

kg type

RH-12FH55

RH-12FH70

RH-12FH85

RH-20FH85

RH-20FH100

External Dimensions/Operating Range Diagram

RH-12FH RH-20FH

2

A2

B

C

R80

120

A1

H

D

Z Z

Installation reference surface

2-φ6 prepared holes for positioning

4-φ16 installation holes

Standard

φ

25h7

φ

110

Z Z

Z

Z Z

Standard

φ

30h7

φ

110

Z

19

Installation reference surface

120

122

200

φ

25h7

Mist, Clearn

φ

30h7

Mist, Clearn

24

φ18through hole

29

φ21through hole

80

Only clean spec

4N9

( 0

-0.030

)

Cross-section Z-Z Cross-section Z-Z

Specifications

Type

Machine class

Protection degree *1

Installation

Structure

Degrees of freedom

Drive system

Position detection method

Maximum load capacity

Arm length

NO1 arm

NO2 arm

Maximum reach radius

Operating range

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *2

Cycle time *3

Position repeatability

Y-X composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tolerable amount of inertia

Rating

Maximum

75

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

2

200

240

Variable dimensions

Robot series A1

RH-12FH55xx

RH-12FH55xxM/C

RH-12FH70xx

RH-12FH70xxM/C

RH-12FH/20FH85xx

RH-12FH/20FH85xxM/C

RH-20FH100xx

RH-20FH100xxM/C

225

225

375

375

525

525

525

525

A2

325

325

325

325

325

325

475

475

RH-12FH55XX/M/C

225

550

11435

0.30

±0.012

65

RH-12FH70XX/M/C RH-12FH85XX/M/C

Standard/ oil mist/ Clean

IP20/ IP65 *6/ ISO3 *7

Floor type

Maximum 12 (rating 3)

375

325

700

340 (±170)

290 (±145) xx = 35 : 350/ xx = 45 : 450

720 (±360)

420

450

Horizontal, multiple-joint type

4

AC servo motor

Absolute encoder

525

850

306 (±153)

280

2800

2400

12535

0.30

±0.015

±0.01

11350

0.30

±0.015

±0.005

67

0.025

0.3

0 to 40

69

B

R550

R550

R700

R700

R850

R850

R1000

R1000

C

R191

R191

R216

R216

R278

R278

R238

R238

RH-20FH85XX/M/C RH-20FH100XX/M/C

Standard/ oil mist/ Clean

IP20/ IP65 *6/ ISO3 *7

Floor type

Maximum 20 (rating 5)

525

325

850

340 (±170)

306 (±153) xx = 35 : 350/ xx = 45 : 450

720 (±360)

525

475

1000

280

450

2400

1700

11372

0.30

±0.015

13283

0.36

±0.02

±0.01

±0.005

75

D

145°

145°

145°

145°

153°

153°

153°

153°

E

240

320

240

320

240

240

320

F

1080/1180

1080/1180

1080/1180

1080/1180

1080/1180

1080/1180

1080/1180

1080/1180

0.065

1.05

G

350/450

350/450

350/450

350/450

350/450

350/450

350/450

350/450

77

H

R295

R382

R295

R382

R367

R295

R382

Tool wiring

Hand: 8 input points/8 output points (20 pins total)

Serial signal cable for parallel I/O (2-pin + 2-pin power line)

LAN X 1 <100 BASE-TX> (8-pin)) *4

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ6 x 8

Machine cable

Connected controller *5

5m (connector on both ends)

CR750, CR751

*1: The environment-resistant specifications (C: Clean specification, M: Mist specification) are factory-set custom specifications.

*2: The value assumes composition of J1, J2, and J4.

*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)

*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.

*5: Select either controller according to your application. Note that controllers with oil mist specifications come equipped with a controller protection box (CR750-MB) and "-SM" is appended at the end of the robot model name. If you require it, consult with the Mitsubishi Electric dealer.

*6: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.

*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

Horizontal

3

kg type

RH-3FHR

External Dimensions/Operating Range Diagram

(Installation

(Installation reference surface) reference surface)

J4-axis-centered locus

4-M8 jack-up hole

4-φ9 installation hole

2

2-M12 suspension hole

Robot origin

View A

Operating range of the J2-axis

Operating range of the J1-axis

J1-axis

J2-axis

J4-axis

Operating range: ±720°

Specifications

Type Unit

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

Maximum speed

J1

J2

J3 (Z)

J4 (θ)

J1

J2

J3 (Z)

J4 (θ)

Maximum composite speed *2

Cycle time *3

Position repeatability

X-Y composite

J3 (Z)

J4 (θ)

Ambient temperature

Mass

Tool wiring

Tool pneumatic pipes

Machine cable

Connected controller kg mm mm deg mm deg deg/sec mm/s deg/sec mm/sec sec mm deg

°C kg

RH-3FHR3515

Standard

IP20

RH-3FHR3512C *1

Standard

ISOclass5 *5

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

J3-axis

Operating range 0 to 150mm

Standard spec

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)

CR751 / CR750 *4

RH-3FHR3512W *1

Standard

IP65 *6

*1: The environmental resistance specifications of RH-3FHR (C: Clean specification, W: Waterproof specification) are factory-set custom specifications.

*2: The value assumes composition of J1, J2, and J4.

*3: Based on a load capacity of 1 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.

(The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)

*4: Select either controller according to your application.

CR750-D/CR-751-Q: Standalone type, CR750-Q/CR751-Q: iQ Platform compatible type.

*5: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

*6: Direct jet to the bellows is excluded.

20

Vertical

4/7/12/20 kg type

The environmentresistant specifications

(For medicinal products and foods)

2

The resistance to corrosion due to chemical cleaning is enhanced, and this improves detergency and cleanliness.

These types of robots are applicable to the production environments including conveying or processing medicinal products and foods.

Enhanced resistance to acid and alkaline cleaning liquids

• Since special coating (compliant to FDA *1) and special sealing are applied to these types of robots, they can be used in an environment sterilized with hydrogen peroxide gas and withstand wipe cleaning with hydrogen peroxide water.

• Stainless materials are used to enhance the corrosion resistance.

NSF H1 *2 -certified grease for food machinery

The grease for food machinery is used to improve cleanliness.

Surface shape that prevents foreign matter from getting into and remaining inside

Specially-shaped bolts and the smooth surface facilitate daily cleaning.

*1: Food and Drug Administration

*2: Sanitation guideline of NSF (National Sanitation Foundation) in the United States

21

Models

Vertical, multiple-joint type

RV-4F series

Type

Chemical-resistant H1 grease for food machinery

RV-7F series

RV-13F series

RV-20F series

RV-4FM

RV-4FLM

RV-7FM

RV-7FLM

RV-7FLLM

RV-13FM

RV-13FLM

RV-20FM

-SE∗∗01 -SE∗∗02

Horizontal, multiple-joint type

RH-6FH series

RH-12FH series

RH-20FH series

Type

RH-6FH35XXM

RH-6FH45XXM

RH-6FH55XXM

RH-12FH55XXM

RH-12FH70XXM

RH-12FH85XXM

RH-20FH85XXM

RH-20FH100XXM

Chemical-resistant

-SE∗∗01

H1 grease for food machinery

-SE∗∗02

For the specifications of each model, refer to the specifications of each standard model. Note that these models have the following differences from the standard models.

The protection degree of all the models is IP65.

Specifications

A

NSF H1-certified grease is applied

(Compliant to FDA)

H1 grease for food machinery is applied to joint oil seals.

(Oil seals exposed to the external air)

B

Stainless materials are used for robot tips

The tool flange of a robot tip is changed from a plated one to the one using stainless materials, and this enhances the corrosion resistance.

C

Special hexagon flange bolts are used

(Cover-fixing bolts)

D

Stainless materials

Chemical-resistant coating to chassis

(Compliant to FDA and the Food Sanitation Act)

Chemical-resistant special coating is applied to the arm.

Liquid does not remain in the special bolts that are made of stainless-steel, and this improves detergency.

Grooving is performed to the bolts to enable easy cleaning the area around the cover-fixing bolts.

Special hexagon flange bolts

E

Seals exposed to the external air are resistant to chemicals

F

Special coating

(Compliant to FDA)

The chemical resistance of bellows is improved (RH-F series only)

Highly chemical-resistant rubbers are used for oil seals and packing, the seals exposed to the external environment, and this improves the detergency at food and pharmaceutical factories.

Fluorine resin is used for bellows, and this enhances the chemical resistance and improves the detergency at food and pharmaceutical factories.

Fluorine resin bellows

Correspondence table for environmental resistance specifications

(for medicinal products and foods)

Specifications

C

D

A

B

E

F

Item

Chemical-resistant

-SE∗∗01 *3

H1 grease is applied to the seals exposed to the external air

Stainless materials are used for robot tips

Special hexagon flange bolts are used

Chemical-resistant coating to chassis

Chemical-resistant seals

The chemical resistance of bellows is improved

RV - 13 F L M - 1D 1 - SE1501

H1 grease for food machinery

-SE∗∗02

-

-

Robot structure (Horizontal, multiple-joint type)

Maximum load capacity *5

Series *5

Arm length *5

Special device No.

SE1101: Chemical-resistant

SE1102: H1 grease for food machinery

SE1501: Chemical-resistant with CE

SE1502: H1 grease for food machinery with CE

1: CE specification

Controller type *5

Environment specification

M: Oilmist specifications

RH - 20 FH 100 45 M - 1D 1 - SE1501

Robot structure (Horizontal, multiple-joint type)

Maximum load capacity *5

Series *5

Arm length *5

Vertical stroke *5

Special device No.

SE1101: Chemical-resistant

SE1102: H1 grease for food machinery

SE1501: Chemical-resistant with CE

SE1502: H1 grease for food machinery with CE

1: CE specification

Controller type *5

Environment specification

M: Oilmist specifications

*3: This model can be used in an environment sterilized with hydrogen peroxide gas (Concentration: 120ppm) and withstand wipe cleaning with hydrogen peroxide water (Concentration: 6%).

*4: Not apply for SE1102

*5: For the notations, refer to the standard models. (Refer page 4)

22

2

Controller

FQ series

Controller configuration

MELFA

Controller

Q Type

(iQ Platform compatible)

CR750-Q

CR751-Q

Robot CPU

Q172DRCPU

Ethernet

FD series

Controller configuration

MR-J4-B

MR-J3-BS

Ethernet

MELFA

Controller

D Type

(Standalone)

CR750-D

CR751-D

3

USB communication

Controller

Robot CPU

Drive unit

SSCNET III

(optical communications)

Additional axis function

MR-J4-B

MR-J3-BS

SSCNET III

(optical communications)

Additional axis function

Pulse encoder

CRnD-7xx

Controller

Encoder input function

USB communication

23

Specifications

Type Unit

Robot CPU

Path control method

Number of axes controlled

Robot language

Position teaching method

Memory capacity

Number of teaching points

Number of steps

Number of programs

General-purpose I/O

Dedicated I/O

Hand open/close

External input/output

*5

Interface

Emergency stop input

Door switch input

Enabling device input

Emergency stop output

Mode output

Robot error output

Synchronization of additional axes

RS-232

RS-422

Ethernet

USB

Additional-axis interface

Extension slot *1

Encoder input

Memory extension slot

Ambient temperature

Relative humidity

Input voltage range *2 points step

Unit points ports channels slots channels slots

°C

%RH

V

CR750-Q

CR750-D

CR751-Q

CR751-D

FQ Q172DRCPU

PTP control and CP control

Maximum 6 axes

MELFA-BASIC IV/V

Teaching method, MDI method

FQ

FQ 13,000 / FD 39,000

FQ 26,000 / FD 78,000

FQ

256 /

FD

512

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

FQ Assigned to multiple CPU common device.

/ FD

/

FD

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

Assigned to general-purpose I/O.

8 input / 8 output

1 (redundant)

1 (redundant)

1 (redundant)

1 (redundant)

1 (redundant)

FD

/

2

FD

0 to 40

1 (redundant)

1 (redundant)

FQ

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

1 (USB port of programmable controller CPU unit can be used.) / FD

1 (Teaching pendant: dedicated T/B)

1 (Ver. 2.0 device functions only, mini B terminal)

1 (SSCNET III)

FQ ― / FD 2

FQ

Q173DPX (Sold separately)

/

FQ

0 to 40 (drive unit)/0 to 55 (Robot CPU)

45 to 85

RV-2F/4F, RH-3FH/6FH: Single-phase AC 180 V to 253 V

RV-7, 7FLL/13F/20F, RH-12FH/20FH: Three-phase AC 180 V to 253 V or Single-phase AC 207 V to 253 V

Power supply *5

Power capacity *3

External dimensions (including legs)

Weight

Structure [protective specification]

Grounding *4

KVA mm kg

430 (W) x 425 (D) x 174 (H)

RV-2F, RH-3FH : 0.5

RV-4F, RH-6FH : 1.0

RH-12FH/20FH : 1.5

RV-7F : 2.0

RV-7FLL/13F/20F : 3.0

430 (W) x 425 (D) x 98 (H) / 430 (W) x 425 (D) x 174 (H) *6

Approx. 18 Approx. 12 / Approx. 18 *6

Self-contained floor type/open structure (Vertical and horizontal position can be placed) [IP20]

100 or less (class D grounding)

Ω

*1: For installing option interface.

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

*3: The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the currentbeing input when the power is turned on. The power capacity is only a rough guide and whether or not operation can be guaranteed depends on the input power-supply voltage.

*4: Grounding works are the customer’s responsibility.

*5: For CR751, crimp or solder wiring for connection to user wiring connectors for emergency stop input/output, door switch input, etc. and power supply connectors.

The optional terminal block replacement tool available separately can also be used to connect wiring.

*6: For RV-7FLL/13F/20F

Multiple CPU environment

Drive unit

CR750-Q

Controller

CR750-D

Unit

Base

Power supply

Programmable controller

CPU

Type

High-speed standard base between multiple CPU

• Q35DB: 5 slots

• Q38DB: 8 slots

• Q312DB: 12 slots

• Q61P

• Q62P

• Q63P

• Q64PN

Universal model

• Q03UD (E/V) CPU

• Q04UD (E/V) HCPU

• Q06UD (E/V) HCPU

• Q10UD (E) HCPU

• Q13UD (E/V) HCPU

• Q20UD (E) HCPU

• Q26UD (E/V) HCPU

• Q100UD (E) HCPU

(30)

370

430

Drive unit

CR751-Q

Controller

CR751-D

(RH, RV-2F/4F/7F)

(30)

158 174

CR760-Q

CR760-D

FQ Q172DRCPU / FD Built-in

6 axes + additional 8 axes available

13,000

26,000

256

0 input/0 output

Assigned to general-purpose I/O.

16 input / 16 output

180

195

Cable fixation plate (Attachment)

This plate must be installed by customers.

(30) 370

430

4-φ18

30

(RV-7FLL/13F/20F)

FQ 1 / FD Use the function of the programmable controller.

FQ Use the function of the programmable controller.

/ FD 1

FQ

FQ

Use the option of the programmable controller.

Use the option of the programmable controller.

FQ ― /

0 to 40

FD 1

/

/ FD

FD

3

2

RV-35F/50F/70F: Three-phase AC 180 V to 253 V

RV-35F/50F/70F: Maximum : 20

670 (W) x 415 (D) x 700 (H)

Approx. 120

Self-contained floor type/sealed structure [IP54]

180

195

4-M5

370

430

Cable fixation plate (Attachment)

This plate must be installed by customers.

(30)

Note) The operating panel is not attached to the

CR-751. Set up the robot operating environment to accommodate operation by a customer graphical optical terminal

(GOT) or operating panel.

Automatic and other operation modes can be enabled from the teaching pendant.

24

3

3

Controller protection box (IP54)

CR750-MB/CR751-MB

CR750-MB

The controller protection box is used to protect the controller from oil mist and other usage environments. (For CR750)

The front panel of the protection box has a mode switch and teaching box connector. It also contains a display window for viewing the controller operation panel.

Cable cover

Drain hole

Controller installation location

(10)

72.5

505

365

(10)

(45) 160 (45)

Rubber feet for vertical mounting screws

(Four)

(85) 330

500

(85)

CR751-MB

The controller protection box is used to protect the controller from oil mist and other usage environments. (For CR751)

CR760-Q/CR760-D

CR760-Q

3) (25

40

(45) 160 (45)

Rubber feet for vertical mounting screws (Four)

(10) 505

Cable cover

(10)

(85) 330

500

(85)

) (59

1) (29

700

75

8) (63

Cable inlet φ3

25

Functions

Increase through put

Improved control performance

Produced the fastest operating performance in its class using high-performance motors and unique driver control technology developed by Mitsubishi Electric.

Enabled high torque output at high rotational speed, shortening acceleration/deceleration time.

Shortened positioning time for improved device throughput.

Continuous operability improved

Improved speed for the vertical movements that are so essential to horizontal multi-joint robot operation. 2400 mm/s, [RH-6FH: Twice as fast as the conventional speed]

Torque

Torque increased

New model motor

Previous model motor

Speed increased

Rotational speed (rpm)

High-speed execution of programs

Enables execution up to 1.2 times faster than with the SQ/SD series.

Numerical operation and conditional branch processing speeds increased by up to twice as fast, leading to shortened takt times.

Sample program

10 JOVRD 100

20 MOV P100

30 M1=M_IN (10)

40 IF M1=1 THEN GOTO 1000

50 IF M1=2 THEN GOTO 2000

60 IF M1=3 THEN GOTO 3000

70 MOV P999

80 ERROR 9000

90 END

1000 PL=P1*POFF*PSHIFT

1010 PUP=PL

1020 PUP.Z=PUP.Z+MZ

1030 MOV PUP

·

·

·

RH-F Series

SQ/SD Series

Allows numerical operation and conditional branch processing times to be shortened dramatically.

(The shortening rate may vary depending on operating conditions.)

Processing speed increased by 20%

Note) Shortening effect depends on the contents of program instructions and processing.

10 20 30 40 50 60 70 80 90 1000 1010 1020 1030

Shortened by around 20%

10 20 30 40 50 60 70 80 90 1000 1010 1020 1030

Program processing time

Robot programs can be executed 1.2 times faster than before if compiled in advance and processed using an intermediate language.

Takt times can be shortened by up to 3 times as much for longer lines. (Compared to previous models)

4

Optimal acceleration/deceleration control and optimal override control

Optimal acceleration/deceleration times and speeds set automatically based on robot operating position, posture, and load conditions.

Load conditions are set, enabling acceleration/deceleration times and speeds to be changed automatically according to whether a workpiece is present or not.

This enables the maximum operating speed to be produced for each task

Time needed to shorten cycle times reduced.

Speed

Optimal acceleration/deceleration control and optimal override control

Normal control

Time

Shortened cycle times

Improved continuous operatability

Overload detection levels optimized based on the ambient temperature settings for the robot (set in the parameters). This helps improve continuous operability using load levels calculated based on actual environmental conditions for the robot axes.

The encoder temperature is monitored such that the machine is shut down due to error if the temperature exceeds the tolerable limit.

Ambient temperature

Encoder temperature monitor

26

Encoder temperature monitoring screen

Optimize the overload detection level

Functions

Improved tooling performance

Compatuability with internal Ethernet cable tools

Internal installation of wiring and piping for connecting to vision sensors enabled.

Hand: 8 input points/8 output points

Ethernet cable for the vision sensor

Connectable

· Attachment of the vision sensor to the wrist facilitates wiring.

Vision sensor

4

Internal routing of hand wiring and wiring channels

Internal routing of cables and air hoses is enabled through the internal channels that lead up to the end of the robot arm.

Such internal routing increases the areas of the work envelope that the robot can reach without twisting and entangling cables and hoses.

This prevents interference with cables around devices and reduces the risk of wiring disconnection.

Note) The sections of wiring that can be routed internally may differ depending on the model.

Internal routing of wiring and wiring channels enabled within the arm up to the J6 axis tip.

Internally embedded valves

To hand

Note: Specify a model with Internal wiring (a model ending in ‘-SHxx’).

The supported Internal wiring types may vary by model.

27

Space saving

Expanded pivotal operating range

Improved flexibility for robot layout design considerations.

Enabling more effective use of access space around the entire perimeter including to the rear.

Shortened movement distances, enabling takt times to be shortened.

Machine 2

Machine 1

Input

Machine 3

Output

Pick Place

Movable stopper for the J1 axis

RV-2FQ/2FD pivot operation

Expanded J1 axis pivotal operating range to allow access to back of robot

Rear access of RH-FQ/FD

Improved accuracy

Active gain control

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

Improves tracking accuracy for the target trajectory.

· Active gain control is a control method that allows the position gain to be changed in real time.

· This is effective for standard operations and tooling work requiring high accuracy.

Load

Target track

With active gain control

Without active gain control

Monitor the robot posture and load conditions

Automatic tuning

4

Operating mode setting function

Trajectory priority mode/speed priority operation can be set in programs to match customer system requirements.

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

Improves tracking accuracy for the target trajectory.

· This is effective for standard operations and tooling work requiring high accuracy.

Improve trajectory accuracy

Improve vibration-damping performance

High-accuracy trajectory mode

MvTune 3 high-speed positioning mode

MvTune 2

Standard settings

MvTune 1

High speed

Deflection compensation function

Compensates for deflection in the robot arm occurring due to gravity.

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

Compensates not only for static deflection due to gravitational pull but also for dynamic deflection due to the inertial force present during operation.

· Effective for work transporting workpieces to cassettes with low pitch and palletizing work.

Improve palletization accuracy

Improve trajectory accuracy

Deflection compensation

k

θ compensation

28

Functions

Simplified tool length setting

Tool settings for the tool coordinate system can be set by attaching the tool and using three to eight of the same teaching points.

Enables settings to be made for the actual tool including errors introduced when the tool was made and other data without needing to calculate values from the tool diagram.

4

Tool length

Set using three to eight teaching points

Adaptation to operation

Function for passing through the singular point

The robot can be made to pass through the singular point, unlike with previous robot models. This allows for greater flexibility in the layout of robots and surrounding areas.

Teaching operations can be performed more easily as there is no longer any need to cancel operations due to the presence of the singular point.

Posture at start point

What a singular point is:

There is an unlimited number of angles at which the J4 and J6 axes can be set such that the angle of the J5 axis is 0° when linear interpolation operations are performed using position data from a joint coordinate system. This point is the singular point and is the point at which the robot cannot be operated at an assigned position and posture under normal conditions. The position at which this occurs is referred to as a singular point.

P1

Movement direction

P2

J4 axis rotation

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

P2

Orthogonal compliance control

This function reduces the rigidity of the robot arm and tracks external forces.

The robot itself is equipped with a compliance function, which makes special hands and sensors unnecessary.

This allows the amount of force generated through interference during chucking and workpiece insertion to be reduced and external movement copying forces to be controlled.

· 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.

Insertion direction or normal control direction

Copy plane

Tool coordinate system

Robot hand

Posture at target position

+Y

+Z

+X

29

Reduce tooling costs

Shorten line stop times

Shorten startup times

Positioning device

Improved user friendliness

Simple automatic operation from the teaching box

Enables the robot to be controlled from the robot control screen using the same functions as on the operating panel of the robot controller.

Monitoring screens can be set up individually to match the needs of user debugging conditions.

· Enabled for R32B/R33TB and R56TB/R57TB.

Robot control screen (R56TB)

Enables automatic operation of servo power on/off, startup, shutdown, reset, program selection, and other operations.

Enhanced RT ToolBox 2 visual functions

Enhanced RT ToolBox2 (PC software) graphic display function allowing setting parameters to be displayed visually. Visual confirmation using this function helps to proactively prevent setting errors.

Display of teaching positions and trajectories of end points helps to facilitate confirmation tasks during programming or simulations.

4

Display of selected positions

Display of selected position data

Display of user-defined regions/freedom-limited planes

Hands can be created as combinations of basic diagrams on the

Hand Editing screen and then attached to the robot. Standard

3D polygonal models (applicable 3D data file formats: STL,

OBJ) can be imported into the program, allowing operators to confirm the relationship among the hands, workpieces, and peripheral devices during simulation.

Display of trajectories

Up to 80000 records of data including current position, speed, axial loading, and sensor information can be obtained in every operating cycle of the robot and displayed in a graph. Execution rows and I/O signals are recorded and used for analyzing the robot status, and this improves the debug efficiency.

The obtained data can be saved as an image (Bitmap) or in the

CSV format.

New

Example of a system environment screen from an imported model

Attachment of a hand created in RT ToolBox2

Oscillograph function (an example of the real-time monitoring of positions and current)

30

Functions

User-defined screen creation tools

Screens can be created anew, imported, or exported from "User-defined

Screen Editing" in the project tree. Buttons, lamps, robot information, labels, and ruled lines can be arranged into layouts and assigned to robot variables.

Data created here is exported and loaded into the R56/57TB.

Can be used as a user screen.

4

Linked to iQ Works

Program management simplified

Enables batch management of programs and data in blocks from the programmable controller to the servo, display device, and robot.

Device model selection simplified

All Mitsubishi device models are listed in the Navigator, enabling its use as a device model selection tool.

Ver. 1.24A and later is equipped with robot CPU selection capability and comes packaged with RT ToolBox2 (mini ver.).

Programmable controller program designer

31

MELSOFT Navigator

GOT connection function

The robot can be controlled directly from a Mitsubishi GOT 1000.

Enables robot controller statuses to be uploaded and operations to be controlled directly from the GOT. Allows robot startup/shutdown, status/alarm monitoring, and other tasks to be completed from the GOT easily and quickly.

Use of the transparent function enables editing of programs and parameters from the USB interface on the front GOT screen, improving user friendliness.

Operation of engineering tools from the USB interface on the front GOT screen.

The personal computer and the

GOT are connected with a USB cable or

RS232 cable

[For Q type /D type controllers]

·

Ethernet

· Serial signals etc.

Example GOT screen

[For Q type /D type controllers]

Simplified control panel created using a GOT

No need for ladder circuits with the GOT connection

* You can download a sample image from the Mitsubishi

FA site.

(Sample data corresponds to the GT16, 640×480 or more)

Connection to peripheral devices

Vision sensor

Simple settings

The robot and camera can be calibrated through a simple process using vision sensor setting tools.

Simple connection

Simple connection between the robot and camera using Ethernet.

Simple control

Simple control using vision control commands in the robot programs.

Three robots connected to a single vision sensor/Seven vision sensors connected to a single robot

→ Enables costs to be reduced even for complicated system configurations.

In-Sight Micro

Network vision sensor

(In-Sight 5400)

Reduce cycle time

Reduce system costs

··Seven··

Three controllers

Tracking

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

Processing capability improved by up to 15% compared to that for SQ/SD series robots.

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

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

Standard interface function. (D type only.) (Separate encoder and vision sensor required.)

Vision sensor

Encoder

Conveyor

No need for a positioning device

Reduce cycle time

Reduce system costs

Processing capability increased by 15%

Can be used with multiple conveyors at the same time

(Up to 8 max.).

Additional axis function

The layout can be set up to include the robot traveling axis and turntable as well as user machines separate from the robot such as loaders and positioning devices.

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

Additional axes and user machines can be operated from the robot program and teaching pendant without any additional motion control hardware. The same JOG operation as for the robot can be used. Robot language can be used for control operations.

The robot controller has plug-and-play compatibility with the MELSERVO

(MR-J4-B, MR-J3-BS) servos.

Standard interface function (Separate servo amplifier and servo motor required.)

Robot

Up to 2 axes

Machine 1

No need for a dedicated control device

Up to 8 additional axes

(Up to 3 groups)

User machine

Up to 3 axes

Machine 2

User machine

Up to 3 axes

Machine 3

Additional axis

Simultaneous control

Compatible with MR-J4-B (J3-compatible mode)

*

*Applicable software: Ver. R3g/S3g or later.

4

User interfaces

The various network options available allow connection to a variety of devices used throughout the world.

Standard equipment: Ethernet

USB

SSCNET III

Option: CC-Link

Profibus

DeviceNet

Network base card (EtherNet/IPPROFINET IO)

32

Functions

4

Safety features

Security features

Security features were added to protect programs and parameters. Read/write protection prevents parameters from being overwritten and programs from being changed inadvertently. Sensitive data can be protected using password protection.

Passwords can be set to protect created programs.

The viewing and copying of data from the teaching pendant and RT

ToolBox2 can be disabled.

Writing operations for parameters can be disabled.

Program-related

Parameter-related

RT Tool Box2

Protected and restricted functions

Reading and writing of programs

Program deletion and copying

Renaming and initialization of programs

Writing of parameters

Data backup and restore

Sustained tracking during emergency stop

The robot trajectory can be sustained even when the machine is shut down using an emergency stop. This allows interference with peripheral devices and other objects to be reduced or even fully prevented using the inertia of the robot arm to let it coast to a stop.

* Use of this function does not guarantee that the trajectory will be sustained.

The trajectory may be shifted out of line depending on the timing at which the emergency stop is activated.

Emergency stop

Collision detection function

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

The collision detection function can be used to protect the workpiece from becoming damaged due to interference between the workpiece and affected objects.

The detection level can be changed according to the protection targets.

The collision detection function can be programmed to generate an alarm or perform a specific escape move or both.

Ex.) An error is output due to the robot stopping suddenly, an error is output after escape movements are made, etc.

Reduce tooling costs

Shorten line stop times

Reduce maintenance costs

Shutdown with trajectory shifted

Error

Shutdown with trajectory sustained

Target position

Collision

33

Complies with safety standards

Complies with the latest ISO-10218-1 (2011) standards for Robots and robotic devices - Safety requirements.

Meets the requirements for PL d of ISO13849-1 Category 3.

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

There are robots with special specifications that comply with various safety standards. Contact a Mitsubishi Electric dealer or sales agent for further details if interested.

Applicable standards

CE: European Conformity

(European safety standards)

· Compliant with the EMC Directive, 2004/108/EC

· Compliant with the Machinery Directive, 2006/42/EC

KCC: Korean Communications Commission

(Korean safety certification)

· Complies with the revised Korea Radio Act

(Article 58 Section 2)

Expanded J4 axis operating range

Expanding the J4 axis operating range enables the posture to be changed continuously during assembly and transport operations. It also eliminates the need for the robot to move in the opposite direction partway through an operation.

RV-F Series

±200°

SQ/SD

Series

±160°

Compact installation with operation performed near the robot base

Use of a flap-style arm contributes to a slimming of customer equipment, enabling operations to be completed in even closer proximity to the robot.

4

Before

After

Changes in operating posture can be made even more quickly!!

Changes in operating posture, which occur frequently during assembly, can be completed at rapid speed, increasing the speed of the axis close at hand as well as that of the base axis. Enables changes to be made to the operating posture at high speed.

Enhanced wrist axis

Tolerable J4 axis inertia dramatically increased. Applies easily to multiple hands, offset hands, etc.

[5 times that of previous models (RH-20FH)]

SQ/SD Series

F Series

Enhanced wrist (RH-20FH)

Compatible with workpieces that are 2.2 times larger

5 times the capability of previous models

34

Functions

Features of IQ Platform Controllers

4

Improved responsivity through high-speed communications

Increases the speed of data communications between CPUs and dramatically reduces I/O processing times using a high-speed standard base between multiple CPUs.

High-speed communications

Measurement example: Transfer of 16-word data (With data matching check)

CC-Link: 262ms

Between multiple CPUs: 63 ms

(Approx. 4×)

Reduced wiring and number of units used

System costs can be reduced with the use of wireless systems and deletion of

I/O units and network units.

Programmable controller

Large amounts of data

The number of device points between the programmable controller and robot was increased to 8192 input points and 8192 output points. This allows the system to handle larger programs, more complicated control, and other objects that require a lot of I/O points.

Shared memory

Number of I/O points: 8192/8192

Remote I/O: 256/256

CC-Link (4 stations, 1×): 126/126

CC-Link (4 stations, 8×): 894/894

PIO cable

Remote unit

Wireless

I/O unit

35

Direct communication between CPU units Direct control between I/O units

Enables shared memory to be read from and written to between multiple robot CPUs.

Speeds for data communications between robots increase, enabling more detailed control, such as with an interference prevention function or coordinated control, and cutting down on wasted time.

Direct communication between CPUs

No need for special programmable controller programs as shared memory is used.

Enables data to be read and written directly between the CPU unit and I/O unit.

Responsivity improved and interlock times and cycle times shortened using high-speed I/O communications to peripheral devices.

Direct control between CPUs and I/O units

No need for programmable controller programs for signal input/output

Improved responsivity without any delay due to scanning time

Batch management of multiple robots

Enables access to robots in the programmable controller network from a PC connected to the main CPU. Leads to a shortening of rise times and improved maintainability for robots on the production line. iQ Platform

Programmable controller

Personal computer

RT ToolBox2

USB/RS-232/Ethernet

Access to other stations by Ethernet or serial communications enabled

CC-Link-IE/CC-Link

Enables Robot 1, Robot 2, and Robot 3 to be monitored from a single location.

iQ Platform

Programmable controller iQ Platform

Programmable controller iQ Platform

Programmable controller

Q type robot 1 Q type robot 2 Q type robot 3

Shared memory expansion

Enhanced efficiency of monitoring and maintenance operations onsite using a single GOT (display device) as the Human Machine Interface (HMI).

Enables the robot to be controlled from the GOT even without a teaching box.

Current robot position data, error information, and other items can be displayed easily on the GOT.

Internal robot information

Error, variable, and program information

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

Maintenance information (Remaining battery capacity, grease life, etc.)

Servo data (Load factor, current values, etc.)

Operation panel screen

Jog/hand operation screen Current position monitor screen

4

Current value and load factor monitor screen

GOT connection (transparent function) (For GOT1000 Series)

Programs and parameters can be edited from the USB interface on the front of the GOT using a transparent function for improved operability.

Engineering tool operations performed from the USB interface on the front of the GOT

Maintenance forecast screen Manual/video display menu

The personal computer and the

GOT are connected with a USB cable or

RS232 cable

Engineering environment

GOT backup/restore functions (Supported on GT14, GT15 and GT16)

Robot data on the GOT can be backed up to and restored from a CF card or

USB memory stick. With no need for a PC.

This helps prevent data from being lost due to the empty battery / battery or robot malfunction.

Data can be saved after periodic maintenance tasks are performed or when unexpected errors occur. Dramatically improves serviceability.

Backup

CF card

Restore

Direct execution function for programmable controllers

Robots can be controlled easily using programmable controller language.

System operation can be controlled using a single programmable controller.

This enables the operation of the programmable controller to handle making changes to system specifications and troubleshooting directly.

No need to use any robot programs!!

Command number

Destination number

Designated option

Shared memory

Programmable controller

+

Robot CPU sequence program

Robot

[Details of supported control operations]

Details

Operation · Joint-interpolated motion

· Linear-interpolated motion

Motion control

· Designated override

· Designated acceleration/

deceleration settings

· Designated speed

· Tool settings

· Designated auxiliary motion

· Opening/closing of hand

36

Functions

Collision Avoidance

For automatic prevention of collisions between robots

The software constantly monitors robots motion, predicts collisions before they occur, and immediately stops the robots. This avoids damage to the robot during both the JOG operations and automatic mode operations. Also, this enables the number of interlocks needed to prevent collisions between robots to be reduced. (Alarm shutdown)

[Q type controllers only]

4

Checking interference using the robot with a defined solid model

Decreases downtime during startup operation

Reduces the number of recovery man-hours required after collisions due to teaching operation errors or failure to set interlocks

Coordinated control

Coordinated control between multiple robots

Enables coordinated control between multiple robots through CPU connection between the robots. Easy to operate and use under normal operation through individual robot operation.

[Q type controllers only]

Coordinated transport

Enables transport of lengthy or heavy objects using multiple small-sized robots instead of larger ones.

Enables installation work to be completed while gripper positions between robots are maintained.

37

System Configuration

FQseries

System Configuration iQ Platform

Hand curl tube

Hand output cable

GOT

Hand input cable

Solenoid valve set

Internal wiring and piping set for hand

External user wiring and piping box

<Robot arm options>

Robot

<Standard devices>

Machine cable

Robot CPU

Cable for robot

CPU-to-DU connection

Drive unit

Controller

Teaching pendant

(option)

Ethernet

Vision system

Encoder interface

Insert

Q173DPX

POWER Q01CPU Q172DRCPU

SW

STOP RUN

EMI

Q41X

PULL

PULL

RS-232

MITSUBISHI

IQ Platform-compatible programmable controller

Pulse encoder

CNC

Servo

GOT

Force sensor set

<Feature options>

MELFA-Works RT ToolBox2

<Software options>

FDseries

System Configuration

USB cable

USB communication

SSCNETIII

Additional axis function

Servo

(MR-J4-B/MR-J3-BS)

Pulse encoder

Hand curl tube

Hand output cable

GOT Vision system

Hand input cable

Encoder interface

Ethernet

Controller

Solenoid valve set

Internal wiring and piping set for hand

External user wiring and piping box

<Robot arm options>

Machine cable

Robot

<Equipment used for standard configuration>

Additional-axis interface

USB communication

Teaching pendant

(option)

Remote parallel

I/O unit

External I/O cable

On-board parallel

I/O interface

External I/O cable

Force sensor set

<Feature options>

MELFA-Works RT ToolBox2

<Software options>

USB cable

CC-Link interface

Network base card

<Controller options>

SSCNETIII

CNC

Servo

Programmable controller

GOT

Servo

(MR-J4-B/MR-J3-BS)

38

5

6

39

Configurations Options

Configurations options

Classification Name

Solenoid valve set

Hand output cable

Hand input cable

Hand (curl) tube

Hand tube

External wiring set 1 for the forearm

External wiring set 2 for the forearm

External wiring set 1 for the base

Robot arm

External wiring set 2 for the base

Internal wiring and piping set for hand

External user wiring and piping box

Machine cable (replacement for shorter 2m type) (*1)

Machine cable, for extension/fixed

CR-750

Machine cable, for extension/fixed

CR-751

Machine cable, for extension/flexible

CR-750

Machine cable, for extension/flexible

CR-751

Stopper for changing the J1-axis operating range

Stopper for changing the J2-axis operating range

1F-HA02S-01

1F-HS604S-01

1F-HS604S-02

1F-HS408S-01

1F-HS408S-02

1F-HS304S-01

1F-UT-BOX

1F-UT-BOX-01

1S-02UCBL-01

1F-02UCBL-01

1S-

□□

CBL-11

1S-

□□

CBL-01

1S-

□□

CBL-03

1F-

□□

UCBL-11

1F-

□□

UCBL-02

1S-

□□

LCBL-11

1S-

□□

LCBL-01

1S-

□□

LCBL-03

1F-

□□

LUCBL-11

1F-

□□

LUCBL-02

1S-DH-11J1

1F-DH-05J1

1F-DH-04

1F-DH-03

1F-DH-02

1S-DH-01

1S-DH-05J1

1S-DH-11J2

1S-DH-05J2

Stopper for changing the J3-axis operating range

1S-DH-11J3

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

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Type

1E-VD0

1E-VD0

(Sink)

E (Source)

1F-VD0

1F-VD0

1F-VD0

1F-VD0

-02 (Sink)

E-02 (Source)

-03 (Sink)

E-03 (Source)

1F-VD0

1F-VD0

1S-VD0

1S-VD0

-01 (Sink)

E-01 (Source)

-01 (Sink)

E-01 (Source)

1S-VD04-05 (Sink)

1S-VD04E-05 (Source)

1S-VD04W-05 (Sink)

1S-VD04WE-05 (Source)

1E-GR35S

1F-GR35S-02

1F-GR60S-01

1S-GR35S-02

1S-HC30C-11

1F-HC35S-02

1F-HC35C-01

1F-HC35C-02

1S-HC00S-01

1E-ST040

C

1E-ST0408C-300

1N-ST060

C-01

1N-ST0608C-01

1S-ST0304S

1F-HB01S-01

1F-HB02S-01

1F-HA01S-01

2F

2FL

4F

4FL

RV

7F

7FL

7FLL

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13F

13FL

20F

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6FH

12FH

20FH

3FHR

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Functional specifications

indicates the number of solenoid valves (1 or 2 valves) Output: φ4

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6

4 valves, with solenoid valve output cable. Output: φ4 (Standard)

4 valves, with solenoid valve output cable. Output: φ4 (water proof/clean)

Straight cable for 2-solenoid valve systems, total length of 300 mm, with a robot connector on one side and unterminated on the other side

Straight cable for 4-solenoid valve systems, total length of 300 mm, with a robot connector on one side and unterminated on the other side

Straight cable for 4-solenoid valve systems, total length of 1050 mm, with a robot connector on one side and unterminated on the other side, equipped with a splash-proof grommet

Straight cable for 4-solenoid valve systems, total length of 450 mm, with a robot connector on one side and unterminated on the other side

4-point type, with a robot connector on one side and unterminated on the other side

8-point type, total length of 1000 mm , with a robot connector on one side and unterminated on the other side

8-point type, total length of 1650 mm (includes a 350-mm-long curled section), with a robot connector on one side and unterminated on the other side, equipped with a splash-proof grommet

8-point type, total length of 1800 mm (includes a 350-mm-long curled section), with a robot connector on one side and unterminated on the other side, equipped with a splash-proof grommet

4-point type, total length of 1210 mm , with a robot connector on one side and unterminated on the other side

indicates the number of solenoid valves (2, 4, 6, or 8 valves). For RV-2F series, 2 or 4 valves only

For 4-φ4-valve systems, total length of 1000 mm (including curl part)

indicates the number of solenoid valves (2, 4, 6, or 8 valves).

For 1- to 4-φ6-valve systems, total length of 1300 mm (including curl part 250 mm)

φ3: 2 valves (Maximum usable length: 400mm)

Used for the forearm. External wiring box used for connecting the hand input cable, the Ethernet cable, and the electrical hand and force sensor cable.

Used for the forearm. External wiring box used for connecting the force sensor, the electrical hand, and the Ethernet cable.

Used for the base. External wiring box used for connecting the communications output for the electrical hand, the electrical hand and force sensor cable, and the Ethernet cable.

There are hand input connection available.

Used for the base. External wiring box used for connecting the communications output for the electrical hand, the electrical hand, the force sensor cable, and the Ethernet cable.

No hand input connection available.

Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand systems + φ6-2 solenoid valve systems) For 350mm Z-axis stroke

Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand systems + φ6-2 solenoid valve systems) For 450mm Z-axis stroke

Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand systems + φ4-4 solenoid valve systems) For 200mm Z-axis stroke

Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points for hand systems + φ4-4 solenoid valve systems) For 340mm Z-axis stroke

Wiring and piping set for internal mounting in the tip axis (Compatible with 4 input points for hand systems +φ3-2solenoid valve systems)

Box for external wiring of user wiring (hand I/O, hand tube)

Box for external wiring of user wiring (hand I/O, hand tube)

2m long cables for securement purposes (2-wire set with power supply and signal)

2m long cables for securement purposes (2-wire set with power supply and signal)

□□

type, extended length 5m, 10m, 15m (2wires set with power and signal wires)

indicates the length of cables (5, 10, 15m)

□□

indicates the length of cables (5, 10, 15m)

□□

indicates the length of cables (5, 10, 15m)

□□

type, extended length 5m, 10m, 15m (2wires set with power and signal wires)

indicates the length of cables (5, 10, 15m)

□□

type, extended length 10m, 15m, 20m (2wires set with power and signal wires)

indicates the length of cables (10, 15, 20m)

□□

type, extended length 5m, 10m, 15m (2wires set with power and signal wires)

indicates the length of cables (5, 10, 15m)

□□

indicates the length of cables (5, 10, 15m)

□□

indicates the length of cables (5, 10, 15m)

□□

type, extended length 5m, 10m, 15m (2wires set with power and signal wires)

indicates the length of cables (5, 10, 15m)

□□

type, extended length 10m, 15m, 20m (2wires set with power and signal wires)

indicates the length of cables (10, 15, 20m)

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

(Compatible with the RV-7FLL.)

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Classification

Controller

Conversion cable for the teaching box

Remote Parallel I/O cable (5m, 15m) 2A-CBL**

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

(Source type)

2D-TZ368

2D-TZ378

Remote Parallel I/O cable (5m, 15m) 2D-CBL**

MELFA- 3D Vision

Controller protection box

Extension memory

Name

Standard teaching pendant (7m, 15m)

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

Standard teaching pendant (7m, 15m)

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

CC-Link interface

Network base card

Force sensor set

Terminal block replacement tool for the user wiring

Encoder distribution unit

Personal computer support software

Personal computer support software -mini

Simulator (MELFA-Works)

Type

R32TB(-**)

R56TB(-**)

R33TB(-**)

R57TB(-**)

2F32CON03M

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

(Source type)

2A-RZ361

2A-RZ371

2D-TZ576

2D-TZ535

4F-FS001-W200

4F-3DVS2-PKG1

2F-CNUSR01M

2F-YZ581

CR750-MB

CR751-MB

3D-11C-WINJ

3D-12C-WINJ

3F-21D-WIN

2D-TZ454

-

-

-

-

-

CR750

Q type D type

CR751

Q type D type

CR760

Q type D type

○ ○ ○ ○

-

-

-

-

○ ○

-

Functional specifications

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

For controller CR-750-*

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

For controller CR-750-*

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

For controller CR-751-*

-

-

-

-

-

-

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

For controller CR-751-*

Conversion cable used to connect the R32TB to the CR-751 controller.

Cable length: 3 m.

○ -

-

○ -

-

-

-

-

-

-

-

32 output points/ 32 input points

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

32 output points/ 32 input points

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

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

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

Communication interface for installing an HMS Anybus-CompactCom module

An HMS EtherNet/IP module (AB6314

) and a PROFINET IO module

(AB6489-B) must be separately prepared by customers.

Set of devices required for the force control function including a force sensor and interface unit

Set of devices required for the 3D vision sensor function, including a 3D camera head and control unit (applicable model: RV-F series)

Terminal block replacement tool for the wiring for the external input/output, such as emergency input/output, door switch input, and enabling device input

Unit for connecting one rotary encoder to multiple robot controllers

(up to four controllers) when the tracking function is used

With a built-in CR750-D/Q for improved dust-proofing to IP54

(dedicated CR750)

With a built-in CR751-D/Q for improved dust-proofing to IP54

(dedicated CR751)

With simulation function (CD-ROM) (RT ToolBox2)

Simple version (CD-ROM)(RT ToolBox2 mini)

Layout study/Takt time study/Program debug.

Add-in software for Solidworks® (64 bit compatible, DVD)

Extended user program area of 2 MB

6

Configurations options (-SE∗∗01)

Classification

Robot arm

Name

Solenoid valve set

External wiring set 1 for the forearm

External wiring set 2 for the forearm

External wiring set 1 for the base

External wiring set 2 for the base

External user wiring and piping box

Machine cable, for extension/fixed

CR-751

Machine cable, for extension/flexible

CR-751

Stopper for changing the J1-axis operating range

Type

1F-VD0

1F-VD0

-04(Sink)

E-04 (Source)

1F-VD0

1F-VD0

-05 (Sink)

E-05 (Source)

1F-HB01S-02

1F-HB02S-02

1F-HA01S-02

1F-HA02S-02

1F-UT-BOX-04

1F-UT-BOX-03

1F-

□□

UCBL-03

1F-

□□

LUCBL-03

1F-DH-06

1F-DH-07

1F-DH-08

1F-DH-09

1F-DH-10

The following options are dedicated for the environmentally-resistant models (Chemical-resistant specification: -SE∗∗01). For other models, refer to the options for the standard models.

RV RH

4F

4FL

7F

7FL

7FLL

13F

13FL

20F

6FH

12FH

20FH

SE∗∗01 SE∗∗01 SE∗∗01 SE∗∗01 SE∗∗01 SE∗∗01

-

-

-

-

○ -

-

-

-

-

-

-

-

○ ○ ○ ○ -

-

-

○ ○

-

-

-

-

○ -

-

-

-

-

-

-

-

-

-

-

-

-

-

-

-

○ ○

-

-

○ -

-

-

-

-

-

-

-

-

-

Functional specifications

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4

indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6

Used for the forearm. External wiring box used for connecting the hand input cable, the Ethernet cable, and the electrical hand and force sensor cable.

Used for the forearm. External wiring box used for connecting the force sensor, the electrical hand, and the Ethernet cable.

Used for the base. External wiring box used for connecting the communications output for the electrical hand, the electrical hand and force sensor cable, and the Ethernet cable.

There are hand input connection available.

Used for the base. External wiring box used for connecting the communications output for the electrical hand, the electrical hand, the force sensor cable, and the Ethernet cable.

No hand input connection available.

Box for external wiring of user wiring (hand I/O, hand tube)

Box for external wiring of user wiring (hand I/O, hand tube)

□□

type, extended length 10m, 15m, 20m (2wires set with power and signal wires)

indicates the length of cables (10, 15, 20m)

□□

type, extended length 10m, 15m, 20m (2wires set with power and signal wires)

indicates the length of cables (10, 15, 20m)

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

Stopper for making changes, installed by customer

40

Options

RV-4F/RV-7F/13F/20F Series Tooling device configuration

Hand configuration

• Air-hand +

Hand input signal

• Air-hand +

Hand input signal

• Vision sensor

Wiring format

Interior equipment

Exterior equipment

Interior equipment

Exterior equipment

Robot

Required device for the forearm

External wiring set for the base (*3)

-SH01

Standard

-SH05

Standard

— (*1)

— (*2)

— (*1)

1F-HB01S-01 (*2)

(1F-HA01S-01)

1F-HA01S-01

• Air-hand +

Hand input signal

• Force sensor

Interior equipment

Exterior equipment

-SH04

Standard

— (*1)

1F-HB01S-01 (*2)

(1F-HA01S-01)

1F-HA01S-01

• Air-hand +

Hand input signal

• Vision sensor

• Force sensor

Interior equipment

(Air hoses are part of exterior equipment)

End the connection

-SH02 — (*1) (1F-HA01S-01)

Standard 1F-HB01S-01

*1: Users must provide the solenoid valves for Internal wiring model air-hands.

*2: Users must provide solenoid valves and hoses/input cables as needed for External wiring model air-hands.

*3: The external wiring set for the base is provided for models with Internal wiring and hoses.

1F-HA01S-01

Comments

Air hoses: Up to 2 systems (4 mm diameter x 4); 8 input signals

Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.

Air hoses: Up to 1 systems (4 mm diameter x 2); 8 input signals

Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.

Air hoses: Up to 1 systems (4 mm diameter x 2); 8 input signals

Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.

Air hoses are exterior equipment: 4 systems (4 mm diameter x 8)

Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.

For models with Internal wiring and hoses

7

On models with interior equipment, the length of each externally connected air tube and cable is 150 mm, and cables have connectors.

For external wiring

Machine cable

External wiring set for the forearm

41

Models with Internal wiring and hoses

Devices supporting interior hoses

Air 4 mm diameter (×4/×2)

Hand inputs (×8)

Ethernet (Vision sensor)

Force sensor

-SH01

(×4)

Model (special device number)

-SH02

-SH04

(×2)

Safety Option

Type

4F-SF001-01

Applicable robot controller

CR750-D/Q

CR751-D/Q

-SH05

(×2)

Robot

External wiring set for the base

RV series Tooling (air-hand) : External wiring

Hand curl tube

(Can be provided by the user.)

Hand input cable

External wiring BOX

(Standard supplied)

Solenoid valve

1 to 4 lines

Air hoses

φ

6×2

Hand input signal

8 points

7

Signal cable for the multi-function hand

Ethernet cable

RV series Tooling (air-hand) : Internal wiring

Solenoid valve

1 to 4 lines

Internal wiring models

(models ending in ‘-SH01’)

External wiring BOX

(Standard supplied)

Air hoses

Hand input signal

Air hoses

φ

6×2

Hand input signal

8 points

Signal cable for the multi-function hand

Ethernet cable

42

Options

RT ToolBox2

Type: 3D-11C-WINE

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.

7

Windows®-compatible

Easy operation on Windows®.

Compatible with Windows® 2000, Windows® XP, Windows® Vista, and Windows® 7 (32-bit Ver. 1.8 or later, 64-bit Ver. 2.0 or later).

*Windows is registered trademarks of Microsoft Corporation in the United States and other countries.

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/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

Offline robot motion and tact time check for designated parts of a 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.

43

*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

Wait M_In(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

These functions include maintenance forecast, position recovery support, parameter management, etc.

MELFA-

Works

Type: 3F-21D-WINE

What is MELFA-Works?

MELFA-Works is an add-in tool (*1) for SolidWorks(*2) used for robot simulation in production systems on PC's converting processing paths of workpieces into robot position data. Adding MELFA-Works into...on the robot simulation functions.

*1) An add-in tool is a software program that adds certain functions to application software packages.

*2) SolidWorks® is a registered trademark of SolidWorks Corp, (USA).

Features

■ Example Screens for MELFA-Works

Automatic robot program creation function

The teaching position data and robot operation programs necessary for operating robots can be generated automatically by simple loading of 3D CAD data (*3) for the applicable works into SolidWorks® and then setting of processing conditions and areas using MELFA-Works.

*3) Formats that can be loaded into SolidWorks®

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

List of functions

Loading of part data from peripheral devices and rearrangement

Part data created in Solidworks® can be loaded.

The positions of loaded parts can be rearranged relative to the CAD origin and other parts.

Part positions can also be changed via numerical input.

Display of the robot movement path

Robot movement path can be displayed in the application / the workspace as.

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 by a simple mouse click it on the screen. Information explaining the condition of interference that occurred (such as the contacted part, program line that was being executed when the interference occured, and corresponding robot position) can be saved to a logfile.

Saving of video data

Simulated movements 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)

Measurement of cycle times

The cycle time of robot movement can be measured using an easy-to-use function resembling a stopwatch. It realizes the cycle time measurement of a specified part in a program.

Robot program debugging functions

The following functions are provided to support the debug of robot programs.

• Step operation : A specified program can be executed step by step.

• Breakpoint : Breakpoints can be set in a specified program.

• Direct execution : Desired robot commands can be executed.

Jog function

The robot shown in SolidWorks® can be jogged just like a real robot.

Traveling axis

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

Assignment of robot programs

Robot programs can be used as is without any modifications.

A different robot program can also be specified for each task slot.

Simulation of robot operations

Robot programs, including I/O signals, can be simulated.This means that movements of the actual system can be recreated directly and accurately. The following two methods are provided to simulate I/O signals of your robot controller.

(1) Create simple definitions of operations associated with I/O signals.

(2) Link I/O signals with GX Simulator.

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

44

7

7

45

Options

Force sensor set

Type: 4F-FS001-W200

Allows copy and fitting work to be completed in the same way a person would while the force applied to the hand is monitored.

Enables necessary work such as fine force adjustments and force detection to be completed.

Improved production stability

Enables parts to be inserted or attached without being damaged while absorbing shifts in position due to part variations and emulating the slight amounts of external force applied. Improved operating stability gained through position latches and retry processes when work operations fail. Log data can be used to manage quality control and analyze causes of work errors and other issues.

Allows assembly of more complicated configurations

Force detection during contact allows operating directions and applied force to be changed and interrupts to be executed under trigger conditions combining position and force information.

Simple control

Simple programs can be created using specialized robot language.

Simple operation

Work conditions can be checked and adjusted by viewing position and force data from the teaching box and graphs on

RT ToolBox2.

Product features

Force control

Force detection

Force log

Teaching box

Item

Force control

Stiffness control

Gain changes

Execution of interrupts

Data latch

Data reference

Synchronous data

Start/stop trigger

FTP transmission

Force sense control

Force sense monitor

Teaching position search

Parameter setting screen

Features

Function for controlling robots while applying a specified force

Function for controlling the stiffness of robot appendages

Function for changing control characteristics while the robot is running

Interrupts can be executed (MO triggers) under trigger conditions combining position and force information.

Function for acquiring force sensor and robot positions while contact made

Function for display force sensor data and maintaining maximum values

Function for acquiring force sensor information synchronized to position infromation as log data and displaying it in graph form

Allows logging start/stop commands to be specified in robot programs

Function for transferring acquired log files to the FTP server

Enables/disables force sensor control and sets control conditions while jogging.

Displays sensor data and the force sense control setting status.

Function for searching for the contact position.

Parameter setting screen dedicated for the force sense function. (For R565B/R57TB)

Product Configuration

Name

Force sensor

Force sensor interface unit

Sensor adapter

Adapter cable

24V DC power supply

24V DC power supply cable

Serial cable between the unit and sensor

SSCNET III cable

Qty.

Qty. 1

Qty. 1

Qty. 1

Qty. 1

Qty. 1

1m

5m

10m

System Configuration

<Product Configuration>

RS-422

Force sensor

Adapter cable

Force sensor interface unit (2F-TZ561)

SSCNET III

Power supply cable

24-V DC power supply

LAN/USB

Force Sensor Specifications

Rated load

Item

Fx, Fy, Fz

Mx, My, Mz

Max. static load

Fx, Fy, Fz

Mx, My, Mz

Breaking load

Minimum control force

Fx, Fy, Fz

Mx, My, Mz

Fx, Fy, Fz

Mx, My, Mz

Consumption current

Weight (sensor unit)

External dimensions

Protective structure

Nm mA g mm

-

Nm

N

Nm

N

Unit Specification Value

N 200

Nm

N

4

1000

6

10000

300

0.3

0.03

200

200

φ

80 x 3.25

IP30

Robot controller

RV-F/RH-F

RT ToolBox2

Teaching pendant

(R56TB/R57TB/R32TB/R33TB)

Force Sense Interface Unit Specifications

Interface

Item

RS-422

SSCNET III

Power supply

Input voltage

Power consumption

External dimensions

Weight

Construction

Vdc

W mm kg

Unit Specification Value ch

1

(For sensor connection) ch

1

(For robot controller and additional axis ampconnection)

-

24±5%

25

225(W) x 111(D) x 48(H)

Approx. 0.8

IP20

(Panel installation,

opentype)

In-Sight

(Manufactured by COGNEX: For Mitsubishi Electric FA devices)

The In-Sight software developed exclusively for use with Mitsubishi Electric FA devices with enhanced linking to In-Sight, the vision system produced by COGNEX Corporation, offers better compatibility with FA devices, allowing it to be utilized more easily as a more user-friendly vision system.

Simplified settings using Easy Builder

Easy Builder allows connection to vision systems, setting of job (vision programs) settings, and calibration between the robot and vision system to be completed easily and quickly.

Simplified connection using Ethernet

Up to three robots and seven vision systems can be connected together to the same system by Ethernet connection. Vision system information can be shared between multiple robots.

Simplified control using robot language

The included dedicated vision system commands enable vision system startup, job selection, and control of data receiving and other operations to be completed quickly and easily using a single command without any need for protocols.

Simplified job editing

Jobs (Vision recognition programs) are created from the job editing screen. Jobs can be edited using condition settings and other data, eliminating the need for specialized knowledge of vision control commands and other programming instructions.

Simplified calibration

The calibration wizard allows settings used in converting workpiece positions recognized by the vision system into robot coordinate system coordinates easily and quickly.

7

Software

Item

Robot controller specifications

Adapted robot controller

Connected robot

Number of robots connected to the vision system

Robot program language

Specifications

Robot controller:

CR750 Series

CRnQ-700 Series: R1 ver. or later

CRnD-700 Series: S1 ver. or later

RT ToolBox2: Ver. 1.0 or later recommended

CR7xx/ CRnQ-7xx/ CRnD-7xx

All models

Number of cameras used per robot controller: Up to 7 max.

Number of robots that can be connected to a vision system:

Up to 3 max.

MELFA-BASIC V comes with dedicated vision sensor commands

Model name -□□□

Entry

100

Standard

110 140

In-Sight Series

High resolution

143

Color

110C 140C 143C

Performance and magnification

Average performance data setting that for the standard version to 1 (*2)

Camera

Resolution

CCD sensor size

Color

1× 2× 5× 4× 2× 5× 4×

640×

480

640×

480

640×

480

1600×

1200

640×

480

640×

480

1600×

1200

1/3 in. 1/3 in. 1/3 in. 1/1.8 in. 1/3 in. 1/3 in. 1/1.8 in.

× × × × ○ ○ ○

Simplified control using robot language

MELFA BASIC V comes with dedicated vision system control commands and status variables. These control commands and status variables enable the vision system to be controlled using simple programs.

Instruction word

NVOpen

Details

NVPst

NVRun

NVIn

NVClose

NVLoad

NVTrg

Connect to the vision system and log on.

Start up the specified vision program and receive the transmitted results.

Start up the specified vision program.

Receive the transmitted results of the vision program specified by the NVRUN command.

End the connection to the vision system.

Ready the specified vision program to enable it for startup.

Transmit a request to the vision system for the image and acquire the encoder values after the specified length of time.

Separate MELFA-Vision software is available for customers using In-Sight5000 series or In-Sight Micro series products.

The use of job programs corresponding to work tasks performed regularly enables even customers who are new to vision systems to easily understand and use them without problems.

46

7

47

Options

Please contact your local representative or sales office.

Multifunctional Electric Hand Option

The multifunctional electric hand option supports customer's various applications with various functions, great lineup, and highly accurate gripping

Highly advanced control impossible with air cylinders

Grip force/speed setting according to the target workpiece

Operation stroke setting according to the shape of the target workpiece

Easily applied to inspection, in addition to workpiece handling

Grip patterns can be set according to the grip target, such as soft workpieces and heavy workpieces, with the torque specification and grip speed setting.

Even when target workpieces are different in size, the optimal stroke can be specified with the operation position specification.

Applications to inspection are possible with feedbacks of the torque or position of the hand, including whether a workpiece is gripped or not or whether a workpiece is acceptable or not with workpiece dimension measurement.

New applications will be available.

Components

2) Robot cable

2) Electric hand control unit

1)

Name

Electric hand

Electric hand control unit

2) Hand cable

2) Hand cable

Robot cable

Quantity

1

1

1

1

Remarks

Select the model by the grip force and stroke.

Connected to the electric hand.

Connects the electric hand and control unit.

The cable type differs depending on the robot model.

(Note 1)

Install

(Note 2)

1) Electric hand

<Option range>

For RV-2F

(Refer to the next page for other models.)

Specifications of the electric hand control unit

Item

External dimensions

Specifications

60 (W) x 60 (D) x 40 (H)

Remarks

Weight

Approx. 200 g

Input power source

24 V DC ±10%,

1 A (max.)

Powered by the robot controller

(Customers need to prepare no power supplies.)

No. of teaching points

32 points Position data for multiple-point position control

* Only one model of the electric hand control unit is available for the electric hands.

(Note 1) To install the electric hand to a mechanical interface, fabricate an attachment separately.

(Note 2) The cable of the electric hand is not designed to be resistant to bending.

Take cautions to prevent any stress from applying to the cable while the robot is operating.

<Electric hand>

Item

2-claw type

(4 models)

Exterior image

2-claw type

(1 models)

Max. grip force

Grip force adjustment range

Stroke

Max. speed

Min. speed

Max. grip weight

Repetitive stop accuracy

Weight

Max. grip force

Grip force adjustment range

Stroke

Max. speed

Min. speed

Max. grip weight

Repetitive stop accuracy

Weight

Specifications

5.0 to 150N

100 to 30% of the max. grip force

3.2 to 38mm

100mm/s(Screw type : 50mm/s)

20mm/s

0.05 to 1.5kg

±0.01 to 0.02mm

90 to 890g

2.0N

100 to 30% of the max. grip force

13mm

100mm/s

20mm/s

0.02kg

±0.03mm

190g

Type

Single-cam type

Screw type

3-claw type

Model

4F-MEHGR-01

4F-MEHGR-02

4F-MEHGR-03

4F-MEHGR-04

4F-MEHGR-05

Stroke(mm)

3.2

7.6

14.3

38

13

Grip force(N)

1.5 to 5

1.8 to 6

6.6 to 22

45 to 150

0.6 to 2

Please contact your local representative or sales office.

Configuration requirement of the multi-function electric hand

RV-2F series

No.

1

2

Name: model

Electric hand

Control unit for the electric hand: 4F-MEHCU-01

3

4

5

Electric hand installation flange

Robot

Banding band/fixing plate

Quantity

1

1

1

1

As required

Purchased at

Mitsubishi Electric

Mitsubishi Electric

Fabricated by customers

Mitsubishi Electric

Fabricated by customers

Remarks

Electric hand used by customers

Electric hand used by customers

Standard specifications

For fixing a cable

RV-4F/7F/20F series, external wiring specifications

Electric hand

Control unit for the electric hand: 4F-MEHCU-02

Adapter cable: 4F-MEHCBL-01

Electric hand installation flange

Electric hand control unit installation stand

Robot

Robot, standard (external wiring) specifications

1

1

1

1

1

1

Mitsubishi Electric Electric hand used by customers

Fabricated by customers

For fixing the tip of the electric hand

For wiring from a forearm

External wiring unit for the base

External wiring unit for the forearm

Wrist wiring internal-wiring specifications:

RV-□F-SH02/SH-03

1

1

1

Mitsubishi Electric

Standard specifications

External wiring sets (option) need to be connected to each of the forearm part and base part.

1F-HA01S-01: When the hand input signal and Ethernet signal are used together

1F-HA02S-01: When the force sensor signal and Ethernet signal are used together

1F-HA01S-01: When the hand input signal and Ethernet signal are used together

1F-HA02S-01: When the force sensor signal and Ethernet signal are used together

Wrist wiring custom specifications

SH-02: When the hand input signal and vision sensor signal are used together

SH-03: When the force sensor signal and vision sensor signal are used together

RH-3/6/12/20F series

Electric hand

Control unit for the electric hand: 4F-MEHCU-02

Relay cable

RH-3FH35/45/5515

&C specifications

Z=120

RH-6FH(M)(C)35/45/5520

4F-MEHCBL-02

(Length: 1300 + 150 mm)

RH-6FH(M)(C)35/45/5534

4F-MEHCBL-03

(Length: 1600 + 150mm)

RH-12FH(M)(C)55/70/8535

RH-20FH(M)(C)8535

4F-MEHCBL-04

(Length: 1800 + 150mm)

RH-12FH(M)(C)55/70/8545

RH-20FH(M)(C)10035/45

4F-MEHCBL-05

(Length: 2100 + 150mm)

Banding band, nylon clamp, etc.

Electric hand installation flange

1

1

1

1

1

1

1

1

1

Mitsubishi Electric Electric hand used by customers

Fabricated by customers For fixing a cable

Fabricated by customers For fixing the shaft tip of the electric hand

RV-4F/7F/13F/20F series, piping internal wiring specifications

Accessory

Specifications Possible hand configuration

External wiring set for the forearm

External wiring set for the base

•Electric hand + hand input signal

•Vision sensor

•Electric hand

•Vision sensor

•Force sensor

-

1F-HA01S-01

1F-HA02S-01

Remarks

An external wiring set for the base is enclosed with the internal wiring type robot.

Electric hand Adapter cable

Electric hand control unit

Second arm

Electric hand

External wiring set for the forearm

In-machine cable outlet

Base part

Electric hand control unit

Electric hand

Hand cable

Electric hand control unit

Control unit attachment plate

48

7

<RV-2F attachment diagram> <RV-4F/7F/3F/20F attachment diagram> <RH-F hand attachment diagram>

7

49

Options

Please contact your local representative or sales office.

MELFA-3D Vision

Model name 4F-3DVS2-PKG1

This 3D vision sensor for small robots is small and performs high-speed and high-accuracy measurements.

This sensor is optimal as a replacement for a parts feeder. Its unique model-less recognition processing enables high-speed picking.

Small and light

Since this sensor is small and light (Camera head part: 146 × 87 ×

137 mm, approx. 0.9 kg), it can be used for eye-in-hand and can be fixed.

High-speed and high-accuracy measurement

This sensor enables high-speed recognition of 1.2 seconds at the earliest

(model-less recognition) and high-accuracy measurements with the minimum measuring error of approximately 0.3 mm.

As a replacement for part feeders

One of the following two recognition methods can be selected.

• Model-less recognition: The position of a workpiece is recognized without

registering its model.

• Model matching recognition: The pose of a workpiece is recognized using a

3D-CAD model. This sensor is more inexpensive and conserves a smaller

footprint than a part feeder (when multiple parts are used). Retry operation can

reduce stoppage.

Good connection compatibility supplied as a robot manufacturer

This sensor can be connected directly via LAN equipped with a controller as standard. The sensor can be set and its operation can be checked easily using a personal computer for setting. When the sensor is running, the personal computer is not required. The sensor has the coordinate calibration function of robots and vision sensors as standard installation.

The dedicated commands added to MELFA-BASIC V can be used to control the sensor.

Product specifications

Item

Measurement method (*1)

Measurement time

Recognition method

Recognition time (*2)

Measurement efficient points (*3)

Measurement viewing angle (*3)

Workpiece distance (*4)

Measuring error (*3)

Specifications

Triangulation method (Pattern light projection type)

Approx. 1.3 to 1.8 seconds

Model-less: Workpiece registration-free method

(4 degrees of freedom XYZC)

Model matching: 3D-CAD utilizing method

(6 degrees of freedom XYZABC)

Model-less: Approx. 1.2 to 2 seconds

Model matching: Approx. 3 to 5 seconds

Approx. 300000 to 600000 points

Approx. 15 to 20 degrees

300 to 1000 mm

Approx. 0.3 mm or larger

Camera head part (Minimum size, W is 3-step variable)

 146 (W) × 87 (H) × 137 (D) mm

Control unit part

External dimensions (*5)

 430 (W) × 370 (H) × 98 (D) mm  

Approx. 0.9 kg (Camera head part)

Approx. 12 kg (Control unit part)

Ambient temperature: 5 to 40 °C

General specifications Ambient humidity: 45 to 85%RH, with no condensation

Usage atmosphere: With no corrosive gas

Input

Voltage range

Single phase 180 to 253 V AC power

Power source capacity 0.2 kVA source

*1) Shielding measures may be required depending on the usage environment, such as when surrounding environmental light affects the sensor.

*2) The standard time from the recognition start to output. Depending on the conditions of surrounding environment, workpieces, and processing parameters, a time longer than the standard time may be taken.

*3) The number of effective points varies depending on the conditions including the sensor installation distance and a lens used.

*4) The range of the distance between the lens installation flange face and a position to be measured. All areas cannot be used at the same time. For details, refer to instruction manuals.

*5) The size of the camera head part depends on the mounting base to be used.

Components

No.

1

5

Name

Camera head

(Attachment: Standard lens, dedicated signal cable, and power cable)

Mounting base set

(S: Mounted before shipment, L: Included)

Control unit

Calibration block set

Package CD-ROM

(Instruction manual, setup guide, etc.)

Products prepared by customers

Name Description

Personal computer for setting

LAN cable

RT ToolBox2 (Ver. 3.00A or later) has already been installed.

Category 5e or later

(Refer to the product configuration diagrams.)

Precautions

Quantity

1

1

1

1

1

Quantity

1

2

1. The following workpieces cannot be measured.

• Transparent objects and mirror face objects

2. The following workpieces may be difficult to be measured or recognized.

• High-gloss objects, black objects, or deep color objects

3. Workpiece size (Reference values)

Model-less : Short side = 1/25 of the viewing field size to Long side = 1/3 of the viewing field size

Model matching : Short side = 1/10 of the viewing field size to Long side =

1/3 of the viewing field size

*The workpiece size depends on the conditions of the workpiece distance, sensor parameters, and the shape and surface of the workpiece. The reference values are based on our test condition. For details, refer to instruction manuals.

4. Whether the measurement can be performed or not and the measurement accuracy depend on the usage environment. For details, please contact us.

5. For model-less picking, a 2D vision sensor may be required in addition to a 3D vision sensor.

6. The applicable model is the vertical, multiple-joint type RV-F Series only.

Product configuration

Power source cable (10 m)

Signal cable (10 m)

❶ Camera head

LAN cable

(Products prepared by customers)

❷ Mounting

base set

❸ Control unit

LAN cable

(Products prepared by customers)

PC for setting

RT ToolBox2

200 V AC

Robot

(RV-F)

❹ Calibration block set

❺ Package CD-ROM

Safety Option

Feature

Operators can enter an operation area without stopping robots.

High safety compliant with international standards

Robot's automatic operation continues even with a safety fence opened.

The newly installed safety input function enables safety doors to open without causing an emergency stop of the robot.

Operators and robots share an operation area. = They can cooperate.

While an operator is in a cooperative operation area, a robot doesnot approach the area. (operation range limit function)

Robots in cooperative operation keeps the safety speed.

A robot in cooperative operation continues its operation at the safety speed to secure operator's safety.

Robots can automatically shift to single operation from cooperative operation.

Closing the safety door switches cooperative operation to single operation, and enables the robot to approach to the shared area.

*Risk assessment and safety level proof need to be performed for the system.

Examples of safety options

The operator operation area and robot operation area are separated each other with a monitoring plane for safety.

Monitoring plane setting

An operator and a robot access the shared operation area alternately, allowing for cooperative operation with a robot and an operator.

Monitoring plane setting

Set a shared operation area of a robot and an operator.

7

<Explanation>

•The robot operates at high speed while the safety fence is close.

•While the safety fence is open, the robot continues its operation at low speed inside the monitoring plane.

The operator can perform inspection inside the safety fence and outside the monitoring plane.

Area sensors secure the safety without safety fence.

<Explanation>

• While the operator is on the mat, the robot cannot enter the shared operation area.

• While the operator is not on the mat, the robot operates inside the shared operation area.

Stop area

Limit area <Explanation>

•When the operator enters the limit area, the robot operation speed is limited.

•Further, the operator approaches to the stop area, the robot stops its operation.

Item

STO function

SS1 function

SLS function

SLP function

STR function

Description

Electronically shuts off the power to the motor of the robot.

Controls and decelerates the motor speed of the robot.

Monitors the TCP speed not to exceed the monitoring speed.

Monitors a specified monitoring position not to exceed the position monitoring surface.

Monitors the torque feedback not to exceed the allowable torque range.

Remarks

Corresponds to the Stop category 0 of IEC 60204-1

Corresponds to the Stop category 1 of IEC 60204-1

Complies with EN61800-5-2

Complies with EN61800-5-2

Complies with EN61800-5-2

50

System configuration

Safety programmable controller

7

CC-Link Safety remote I/O module

Door switch

Robot safety option

Enabling switch

Emergency stop

Area sensor

Light curtain

Robot

Easy setting

Parameter setting example of the safety function with the personal computer support software MELSOFT RT ToolBox2

Set the position monitoring on an arm to limit the robot operation.

Set the monitoring plane to limit the robot operation area.

Position monitoring setting (plane setting)

Set the speed monitoring to stop the robot when the setting value is exceeded.

Position monitoring setting (position setting)

Speed monitoring setting

Set the torque monitoring range to stop the robot when the setting value is exceeded.

Torque monitoring setting

51

MEMO

52

53

MEMO

Mitsubishi Electric delivers a wide variety of FA products including FA devices, such as programmable controllers and AC servos, and industrial mechatronics products, such as

CNC and industrial robots.

TO A MOST RELIABLE

BRAND IN MANUFAC-

TURING SITES

Mitsubishi Electric deploys various FA

(factory automation) businesses covering from components to processing machines, and assists production systems in various fields for a goal of productivity improvement and quality improvement. With a system fully covering from development and manufacturing to quality assurance, Mitsubishi Electric is studying customer needs to produce products satisfying them.

Further, Mitsubishi Electric offers reliable and safe technical supports through its unique global network all over the world. The FA business of

Mitsubishi Electric always offers the front-line solutions and contributes to the global manufacturing through close communication with customers.

54

GLOBAL PARTNER. LOCAL FRIEND

American Offices

USA

Mitsubishi Electric Automation, Inc.

500 Corporate Woods Parkway, Vernon Hills, IL 60061, USA.

Tel: +1-847-478-2100

Brazil

Mitsubishi Electric do Brasil Comercio e Servicos Ltda.

Rua Jussara, 1750- Bloco B- Sala 01, Jardim Santa Cecilia,

CEP 06465-070, Barueri - SP, Brasil

Tel: +55-11-4689-3000

Asia-Pacific Offices

China

Mitsubishi Electric Automation (China) Ltd.

No.1386 Hongqiao Road, Mitsubishi Electric Automation

Center 3F Shanghai, China

Tel: +86-21-2322-3030

Singapore

Mitsubishi Electric Asia Pte. Ltd.

307 Alexandra Road #05-01/02, Mitsubishi Electric Building,

Singapore

Tel: +65-6470-2480

Taiwan

Mitsubishi Electric Taiwan Co.,Ltd.

10F,No.88,Sec.6,Chung-Shan N.Rd.,Taipei,Taiwan

Tel: +886-02-2833-5430

Thailand

Mitsubishi Electric Automation (Thailand) Co., Ltd.

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

T.Kannayao, Bangkok 10230 Thailand

Tel: +66-2517-1326

Korea

Mitsubishi Electric Automation Korea Co., Ltd.

7F-9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro,

Gangseo-Gu,Seoul 157-801, Korea

Tel: +82-2-3660-9550

India

Mitsubishi Electric India Pvt. Ltd.

Emerald House, EL -3, J Block, M.I.D.C., Bhosari,

Pune - 411026, Maharashtra State, India

Tel: +91-2710-2000

European Offices

Germany

Mitsubishi Electric Europe B.V.

German Branch

Gothaer Strasse 8, D-40880 Ratingen, Germany

Tel: +49-2102-486-0

Spain

Mitsubishi Electric Europe B.V.

Spanish Branch

Carretera de Rubi 76-80-AC.4720,

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

Tel: +34-935-65-3131

Poland

Mitsubishi Electric Europe B.V.

Polish Branch

ul. Krakowska 50 32-083 Balice, Poland

Tel: +48-12-630-47-00

UK

Mitsubishi Electric Europe B.V.

UK Branch

Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, U.K.

Tel: +44-1707-27-6100

Italy

Mitsubishi Electric Europe B.V.

Italian Branch

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

Tel: +39-039-60531

France

Mitsubishi Electric Europe B.V.

French Branch

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

Tel: +33-1-5568-5568

Ireland

Mitsubishi Electric Europe B.V.

Irish Branch

Westgate Business Park, Ballymount. IRL-Dublin 24

Tel: +353-14198800

Czech Republic

Mitsubishi Electric Europe B.V.

Czech Branch

Avenir Business Park, Radicka 714/113a,158 00 praha5,

Czech Republic

Tel: +420-251-551-470

Russia

Mitsubishi Electric Europe B.V.

Russian Branch

Moscow Office 52, bld. 3, Kosmodamianskaya nab.,

RU-115054, Moscow, Russia

Tel: +7-495-721-2070

L(NA)-09067ENG-F

Printed November 2015

HEAD OFFICE: TOKYO BLDG., 2-7-3 MARUNOUCHI,

CHIYODA-KU, TOKYO 100-8310, JA PAN

All trademarks acknowledged.

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