User manual | robots

MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
Industrial Robot
Systems
MELFA Robot Systems –
Practical Functions for all Applications
All MELFA robots feature
a large number of
advanced integrated
system functions that
enable you to adapt and
optimise their
performance for the
specific needs of your
applications.
Automatic acceleration and
braking ramp optimisation for
faster cycle times
Continuous Path function for
faster cycle times
Gravity compensation for
greater positioning and
palletising precision
Orthogonal ”compliance control” function for interactive
response to opposing forces
Object tracking function for
faster cycle times
Control functions for up to 8
additional axes
MELFARobots:
RV-A
RV-S
RH-AH
RP-AH
Multitasking function for
parallel execution of multiple
tasks
EUROPEAN HEADQUARTERS
EUROPEAN REPRESENTATIVES
louis poulsen
DENMARK
Geminivej 32
DK-2670 Greve
Phone +45 (0) 43 / 95 95 95
ILAN & GAVISH Autom.Service ISRAEL
24 Shenkar St.,Qiryat-Arie 49513
IL-49001 Petach-Tikva
Phone +972 (0) 3 / 922 18 24
INEA d.o.o.
SLOVENIA
Stegne 11
SI-61230 Ljubljana
Phone +386 (0) 1 / 5 13 81 00
MITSUBISHI ELECTRIC EUROPE B.V.
Gothaer Straße 8
D-40880 Ratingen
Phone +49 (0) 21 02/4 86-0
GEVA GmbH
AUSTRIA
Wiener Straße 89
A-2500 Baden
Phone +43 (0) 2252 / 85 55 20
Beijer Electronics OY
FINLAND
Ansatie 6a
FIN-01740 Vantaa
Phone +358 (0) 9 / 88 67 75 00
Getronics B.V.
NETHERLANDS
Donauweg 2B
NL-1043 AJ-Amsterdam
Phone +31 (0) 20 / 5 87 67 00
Beijer Electronics AB
SWEDEN
Box 426
S-20124 Malmö
Phone +46 (0) 40 / 35 86 00
MITSUBISHI ELECTRIC EUROPE B.V.
Via Paracelso 12
I-20041 Agrate Brianza (MI)
Phone +39 (0)39 6053 1
GETRONICS NV/SA
BELGIUM
Pontbeeklaan 43
B-1731 Asse-Zellik
Phone +32 (0) 2 / 4 67 17 51
Axicont Automatika Kft.
HUNGARY
Reitter F.U.132
HU-1131 Budapest
Phone +36 (0) 1 / 4 12-08 82
Beijer Electronics AS
NORWAY
Teglverksveien 1
N-3002 Drammen
Phone +47 (0) 32 / 24 30 00
ECONOTEC AG
SWITZERLAND
Postfach 282
CH-8309 Nürensdorf
Phone +41 (0) 1 / 8 38 48 11
MITSUBISHI ELECTRIC EUROPE B.V.
Carretera de Rubi, 76-80
E-08190 Sant Cugat del Vallés
Phone +34 (9)3/565 31 31
INEA CR d.o.o.
CROATIA
Drvinje 63
HR-10000 Zagreb
Phone +385 (0) 1 / 3 66 71 40
Meltrade Automatika Kft. HUNGARY
55,Harmat St.
HU-1105 Budapest
Phone +36 (0) 1 / 2 60 56 02
MPL Technology Sp.z.o.o.
POLAND
ul.Sliczna 36
PL-31444ul. Sliczna 36 Kraków
Phone +48 (0) 12 / 632 28 85
GTS
TURKEY
Darülaceze Cad.No.43A KAT:2
TR-80270 Okmeydani-Istanbul
Phone +90 (0) 212 / 3 20 16 40
MITSUBISHI ELECTRIC EUROPE B.V.
25,Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone +33 (0) 1 55 / 68 55 68
AutoCont Control s.r.o.
CZECHIA
Nemocnicni 12
CZ-70200 Ostrava 2
Phone +420 (0) 69 / 6 15 21 11
MITSUBISHI ELECTRIC
IRELAND
Westgate Business Park,Ballymount
IRL-Dublin 24
Phone +353 (0) 1 / 419 88 00
ACP AUTOCOMP a.s.
SLOVAKIA
Chalupkova 7
SK-81109 Bratislava
Phone +4 21 (0) 2 52 / 92 22 54, 55
MITSUBISHI ELECTRIC EUROPE B.V. UK
Travellers Lane
GB-Hatfield Herts. AL10 8 XB
Phone +44 (0) 1707 / 27 61 00
Specifications subject to change without notice.
Order-No.132282-E,Printed in Germany 1/04-RH
MITSUBISHI ELECTRIC
Gothaer Straße 8
D-40880 Ratingen
Phone +49 (0) 2102 486-1160
Hotline +49 (0) 1805 000-765
I N D U S T R I A L A U T O M AT I O N
Fax +49 (0) 2102 486-4069
www.mitsubishi-automation.com
[email protected]
Unfailing Quality
and Precision Handling
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
Although MELFA robots
can be used in individual
machines and ”island
solutions” they only
develop their full
versatility as
components in
integrated systems.
MELFA Industrial Robot
Systems – High-precision
Automation Solutions
Our customers include top
companies in all branches of
industry. Maximum reliability
is always the top priority for
our robots, no matter whether
they are used in simple
handling operations or the
highly-complex applications
of car manufacturers and their
high-tech suppliers. Whatever
the job, you can always
depend on the reliability of
Mitsubishi robots.
One possible network
connection
configuration for
MELFA robots
Example of a SCARA
robot application for
placing, soldering and
assembly in a
manufacturing plant for
mobile phones
2
Modern automation
technology from Mitsubishi
Electric is one of the driving
forces behind technical
progress and commercial
success all over the world.
Since 1978 small-scale
Mitsubishi robots have been
installed in over 30,000
industrial applications in
many different fields.
Mitsubishi is now one of the
leading manufacturers of small
robots.In Europe the company
markets SCARA robots with
handling payloads of up to
10kg, and articulated-arm
robots with 5 and 6 degrees of
freedom (DOF) and handling
payloads of up to 12 kg.
Other typical applications for
these robots include
manipulation of components
and tools, quality control,
placement and installation of
small and miniature parts and
handling tasks in medical and
laboratory environments.
The robot programming
language MELFA BASIC IV is
powerful yet easy to learn,
ensuring that users can start
producing their own powerful
and efficient robot programs
in a very short time. Those
who prefer systems that are
ready to run can have a
turnkey solution made for
them by one of our
automation partners, who
have many years of experience
in the development of tailormade production systems
geared to clients’ precise
needs and wishes.
When you choose a robot
from Mitsubishi you get a
tried and tested product that
has proved itself over and
over again in demanding
industrial environments.
A product that you can
depend on to deliver
outstanding performance in
your application.
The robot’s work space
can be expanded by
installing it on a linear
travel axes. This adds a
linear degree of
freedom, radically
enlarging the robot’s
reach and the scale of
the system it can serve.
3
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
Although MELFA robots
can be used in individual
machines and ”island
solutions” they only
develop their full
versatility as
components in
integrated systems.
MELFA Industrial Robot
Systems – High-precision
Automation Solutions
Our customers include top
companies in all branches of
industry. Maximum reliability
is always the top priority for
our robots, no matter whether
they are used in simple
handling operations or the
highly-complex applications
of car manufacturers and their
high-tech suppliers. Whatever
the job, you can always
depend on the reliability of
Mitsubishi robots.
One possible network
connection
configuration for
MELFA robots
Example of a SCARA
robot application for
placing, soldering and
assembly in a
manufacturing plant for
mobile phones
2
Modern automation
technology from Mitsubishi
Electric is one of the driving
forces behind technical
progress and commercial
success all over the world.
Since 1978 small-scale
Mitsubishi robots have been
installed in over 30,000
industrial applications in
many different fields.
Mitsubishi is now one of the
leading manufacturers of small
robots.In Europe the company
markets SCARA robots with
handling payloads of up to
10kg, and articulated-arm
robots with 5 and 6 degrees of
freedom (DOF) and handling
payloads of up to 12 kg.
Other typical applications for
these robots include
manipulation of components
and tools, quality control,
placement and installation of
small and miniature parts and
handling tasks in medical and
laboratory environments.
The robot programming
language MELFA BASIC IV is
powerful yet easy to learn,
ensuring that users can start
producing their own powerful
and efficient robot programs
in a very short time. Those
who prefer systems that are
ready to run can have a
turnkey solution made for
them by one of our
automation partners, who
have many years of experience
in the development of tailormade production systems
geared to clients’ precise
needs and wishes.
When you choose a robot
from Mitsubishi you get a
tried and tested product that
has proved itself over and
over again in demanding
industrial environments.
A product that you can
depend on to deliver
outstanding performance in
your application.
The robot’s work space
can be expanded by
installing it on a linear
travel axes. This adds a
linear degree of
freedom, radically
enlarging the robot’s
reach and the scale of
the system it can serve.
3
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
Robot System
Components
The MELFA Concept –
Innovation in Movement
solutions for everything from
simple tool and component
handling tasks to complex
applications in which the
entire system is controlled by
the robot.
The compressed air and
signal inputs are
conveniently located
near to the ISO 9409-1
gripper mounting
flange.
For years, Mitsubishi robots
have been demonstrating the
power and productivity of
their innovative technology in
thousands of demanding
applications.
These robots are now in
service in virtually all
branches of the motor
industry and its suppliers, and
also in medical, education and
training applications. With
their powerful controllers
they provide cost-effective,
reliable and easily-installable
Signal, power and
compressed air
connection of the SCARA
robots
u Compressed air and
signal inputs of the RV1A/2AJ
uu Gripper mounting
flange (ISO 9409-1-31.5
standard)
Mitsubishi’s compact, 5-Joint
closed link robot is the only
one of its kind in the world,
and it shines with an
installation footprint no larger
than an A5 sheet of paper and
repeatability of ±0.005mm.
This accuracy, combined with
a cycle period of just 0.28s,
predestines it for use in
precise component
placement applications.
The individual joints and axes
of the robots are powered by
high-precision AC servo
motors coupled with play-free
Harmonic Drive gears.
Absolute position encoders
are fitted to every motor,
saving time by enabling the
robot to start work as soon as
it is powered up.
The robot controllers are
equally small and compact.
With dimensions close to
those of a standard PC they
can be installed in the most
cramped environments
without taking up valuable
production space. Their
multitasking operating
system and the powerful
MELFA BASIC programming
language make it easy to use
Electric gripper
control card
RV-SL
Gripper signal cable
Pneumatic gripper
control card
Expansion
I/Os
RV-S
Pneumatic
gripper
NC
CR3
CR1
RV-A
ACServos
Expansion
option cards:
Ethernet,
Profibus DP,
CC-Link,
RS-232,
RS-422 and
Additional axis
controller
CR2A
RV-AJ
PLC
Option
Box
Electric gripper
Pneumatic valve
Vision
RH-AH
PC
RP-AH
Software:
COSIROP
COSIMIR
Teaching
Box
them to control other system
components. For example, the
language instruction set also
includes simple commands
for the integration of cameras
for object identification.
Quality requirements are
becoming more exacting
every day, and as a result
Mitsubishi robots in quality
control applications are often
in operation round the clock,
seven days a week – yet
another demonstration of the
quality and reliability of
Mitsubishi robots under the
most demanding conditions.
Festo Didactic, one of the
world’s leading suppliers of
training applications, has
Signal, power and
compressed air
connection of the
articulated-arm robots
already been using Mitsubishi
robots in its training systems
for years. Thousands of
students and trainees have
already learned to appreciate
the capabilities of Mitsubishi
robots on these systems.
Mitsubishi is committed to
the ongoing development
and improvement of its
robots, to ensure that they
continue to earn the
confidence of our customers
in the future.
uuu Gripper mounting
flange of the SCARA
robots
4
5
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
Robot System
Components
The MELFA Concept –
Innovation in Movement
solutions for everything from
simple tool and component
handling tasks to complex
applications in which the
entire system is controlled by
the robot.
The compressed air and
signal inputs are
conveniently located
near to the ISO 9409-1
gripper mounting
flange.
For years, Mitsubishi robots
have been demonstrating the
power and productivity of
their innovative technology in
thousands of demanding
applications.
These robots are now in
service in virtually all
branches of the motor
industry and its suppliers, and
also in medical, education and
training applications. With
their powerful controllers
they provide cost-effective,
reliable and easily-installable
Signal, power and
compressed air
connection of the SCARA
robots
u Compressed air and
signal inputs of the RV1A/2AJ
uu Gripper mounting
flange (ISO 9409-1-31.5
standard)
Mitsubishi’s compact, 5-Joint
closed link robot is the only
one of its kind in the world,
and it shines with an
installation footprint no larger
than an A5 sheet of paper and
repeatability of ±0.005mm.
This accuracy, combined with
a cycle period of just 0.28s,
predestines it for use in
precise component
placement applications.
The individual joints and axes
of the robots are powered by
high-precision AC servo
motors coupled with play-free
Harmonic Drive gears.
Absolute position encoders
are fitted to every motor,
saving time by enabling the
robot to start work as soon as
it is powered up.
The robot controllers are
equally small and compact.
With dimensions close to
those of a standard PC they
can be installed in the most
cramped environments
without taking up valuable
production space. Their
multitasking operating
system and the powerful
MELFA BASIC programming
language make it easy to use
Electric gripper
control card
RV-SL
Gripper signal cable
Pneumatic gripper
control card
Expansion
I/Os
RV-S
Pneumatic
gripper
NC
CR3
CR1
RV-A
ACServos
Expansion
option cards:
Ethernet,
Profibus DP,
CC-Link,
RS-232,
RS-422 and
Additional axis
controller
CR2A
RV-AJ
PLC
Option
Box
Electric gripper
Pneumatic valve
Vision
RH-AH
PC
RP-AH
Software:
COSIROP
COSIMIR
Teaching
Box
them to control other system
components. For example, the
language instruction set also
includes simple commands
for the integration of cameras
for object identification.
Quality requirements are
becoming more exacting
every day, and as a result
Mitsubishi robots in quality
control applications are often
in operation round the clock,
seven days a week – yet
another demonstration of the
quality and reliability of
Mitsubishi robots under the
most demanding conditions.
Festo Didactic, one of the
world’s leading suppliers of
training applications, has
Signal, power and
compressed air
connection of the
articulated-arm robots
already been using Mitsubishi
robots in its training systems
for years. Thousands of
students and trainees have
already learned to appreciate
the capabilities of Mitsubishi
robots on these systems.
Mitsubishi is committed to
the ongoing development
and improvement of its
robots, to ensure that they
continue to earn the
confidence of our customers
in the future.
uuu Gripper mounting
flange of the SCARA
robots
4
5
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
MELFA Industrial Robot Systems –
A Model Range for All Needs
RV-2AJ/RV-1A Articulated-arm Robots –
The Powerful Compact Class
reconfiguration of production
systems.
Do you need the speed and
high precision of the robots of
the RP series? The assembly
and product placement
capabilities of the RH series of
SCARA robots? Or the great
versatility of the 5 and 6 DOF
robots of the RH series?
Whichever product you
choose, you always get a
system designed from the
ground up for continuous
operation, that will perform its
work reliably 24 hours a day, 7
days a week.
A comprehensive range of
products
The MELFA line includes a
broad selection of robot
models and versions. This
The MELFA range of
robots has everything
you need. They are
available in a wide
variety of configurations
and performance
classes:
family of products is designed
to meet all the needs of most
industrial applications, and
they also provide the extreme
flexibility required for quick
The combination of small
dimensions and a reach of
around 400mm make these
two 5 and 6 DOF robots very
popular in applications calling
for compact robots that can
be installed right next to or
even in the system they are
serving. They are predestined for handling tasks
involving the removal
and/or placement of
small components.
Other applications
include quality control
and sample handling in
laboratories and medical
facilities.
Or does your application
impose extreme precision,
speed and reach
requirements? Robots from
Mitsubishi Electric are the
solution to all these problems,
and more.
Component handling can be
performed with a single
electric gripper or up to two
pneumatic grippers. Preinstalled pneumatic hoses
in the robot arm make
connection of the
compressed air for the
grippers quick and easy.
Need a larger work space
combined with compact
dimensions? Just like all other
Mitsubishi robots this model
can be installed on carriage
for traversing along a linear
axis.
Articulated-arm
Robots
● From SCARA to
articulated-arm
robots
● From 4 to 6 degrees of
freedom
● From 1kg to 10kg
handling payloads
● From 150mm to
1,385mm action
radius
SCARA Robots
6
The degrees of freedom
of the RV-2AJ and RV-1A
robots
Model
RV-2AJ
RV-1A
Degrees of freedom
5
6
Maximum payload
2 kg
1 kg
Gripper flange reach
482 mm
490 mm
Repeatability
±0.02 mm
±0.02 mm
Max. speed
2,100 mm/s
2,200 mm/s
Controller type
CR1
CR1
Pick and place
(cycle period in mm)
1.1 s
1.2 s
Reach (from Q/mm)
A 410, B 285
A 418, B 308
Reach (from Q/mm)
C 190, D 300
C 211, D 300
Reach (from Q/deg.)
E 150
E 150
Reach (from Q/mm)
R1 220, R2 410
R1 207, R2 418
Robot weight
17 kg
19 kg
7
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
MELFA Industrial Robot Systems –
A Model Range for All Needs
RV-2AJ/RV-1A Articulated-arm Robots –
The Powerful Compact Class
reconfiguration of production
systems.
Do you need the speed and
high precision of the robots of
the RP series? The assembly
and product placement
capabilities of the RH series of
SCARA robots? Or the great
versatility of the 5 and 6 DOF
robots of the RH series?
Whichever product you
choose, you always get a
system designed from the
ground up for continuous
operation, that will perform its
work reliably 24 hours a day, 7
days a week.
A comprehensive range of
products
The MELFA line includes a
broad selection of robot
models and versions. This
The MELFA range of
robots has everything
you need. They are
available in a wide
variety of configurations
and performance
classes:
family of products is designed
to meet all the needs of most
industrial applications, and
they also provide the extreme
flexibility required for quick
The combination of small
dimensions and a reach of
around 400mm make these
two 5 and 6 DOF robots very
popular in applications calling
for compact robots that can
be installed right next to or
even in the system they are
serving. They are predestined for handling tasks
involving the removal
and/or placement of
small components.
Other applications
include quality control
and sample handling in
laboratories and medical
facilities.
Or does your application
impose extreme precision,
speed and reach
requirements? Robots from
Mitsubishi Electric are the
solution to all these problems,
and more.
Component handling can be
performed with a single
electric gripper or up to two
pneumatic grippers. Preinstalled pneumatic hoses
in the robot arm make
connection of the
compressed air for the
grippers quick and easy.
Need a larger work space
combined with compact
dimensions? Just like all other
Mitsubishi robots this model
can be installed on carriage
for traversing along a linear
axis.
Articulated-arm
Robots
● From SCARA to
articulated-arm
robots
● From 4 to 6 degrees of
freedom
● From 1kg to 10kg
handling payloads
● From 150mm to
1,385mm action
radius
SCARA Robots
6
The degrees of freedom
of the RV-2AJ and RV-1A
robots
Model
RV-2AJ
RV-1A
Degrees of freedom
5
6
Maximum payload
2 kg
1 kg
Gripper flange reach
482 mm
490 mm
Repeatability
±0.02 mm
±0.02 mm
Max. speed
2,100 mm/s
2,200 mm/s
Controller type
CR1
CR1
Pick and place
(cycle period in mm)
1.1 s
1.2 s
Reach (from Q/mm)
A 410, B 285
A 418, B 308
Reach (from Q/mm)
C 190, D 300
C 211, D 300
Reach (from Q/deg.)
E 150
E 150
Reach (from Q/mm)
R1 220, R2 410
R1 207, R2 418
Robot weight
17 kg
19 kg
7
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
RV-3AJ/RV-2A Articulated-arm Robots –
The Reliable Mid-range Solution
RV-6S/RV-6SL/RV-12SL Articulated-arm Robots –
Exceptional Power and Reach
series is predestined for
handling parts in industrial
production and for chaining
plant stations. An IP65
protection rating provides the
capabilities needed for heavyduty applications, like those in
the motor industry suppliers
sector. The state-of-the-art
technology used in this series
drastically reduces work cycle
times. All the new robots
complete the 12-inch test in
less than a second!
Typical applications for these
two robots include handling
samples for analysis
instruments and similar
manipulations in other quality
control applications. Their slim
design and exceptional
mobility make it easy to
integrate them in test setups
and other systems.
Free choice of grippers
The degrees of freedom
of the RV-3AJ and RV-2A
robots
The robot can be fitted with
one electric gripper or up to
two pneumatic grippers,
depending on the task at
hand. Gripper force is
continuously adjustable,
making it possible to handle
even fragile items safely and
securely.
Multifunctional
robot controllers
With handling payloads of up
to 12 kg, a truly impressive
maximum workspace radius
of 1,385 mm and exceptional
precision (repeatability:
±0.05 mm) the new RV-S
Pneumatic hoses and signal
cables are pre-installed in the
robot, making gripper
connection quick and simple.
8
Model
RV-3AJ
RV-2A
Model
RV-6S
RV-6SL
RV-12SL
Degrees of freedom
5
6
Degrees of freedom
6
6
6
Maximum payload
3 kg
2 kg
Maximum payload
6 (5) kg
6 (5) kg
12 (10) kg
Gripper flange reach
715 mm
706 mm
Gripper flange reach
781 mm
987 mm
1,482 mm
Repeatability
±0.04 mm
±0.04 mm
Repeatability
±0.02 mm
±0.02 mm
±0.05 mm
Max. speed
3,500 mm/s
3,500 mm/s
Max. speed
9,300 mm/s
8,500 mm/s
9,500 mm/s
Controller type
CR1
CR1
Controller type
CR2B
CR2B
CR2B
0.4 s
0.6 s
0.7 s
Pick and place
(cycle period in mm)
1.25 s
1.3 s
Pick and place
(cycle period in mm)
Reach (from Q) in mm
A 530, B 457
A 521, B 459
Reach (from Q/mm)
A 611, B 529
A 817, B 705
A 1,235, B 1,035
Reach (from Q) in mm
C 308, D 350
C 348, D 350
Reach (from Q/mm)
C 437, D 350
C 617, D 350
C 928, D 450
E 170
Reach (from Q) in deg.
E 160
E 160
Reach (from Q/deg.)
E 170
E 170
Reach (from Q) in mm
R1 322, R2 630
R1 273, R2 621
Reach (from Q/mm)
R1 258, R2 696
R1 285, R2 902
R1 457, R2 1,385
Robot weight
33 kg
37 kg
Robot weight
58 kg
60 kg
98 kg
The robots are controlled by
the multitasking controllers
CR2B or CR3. Connection of
any image processing system,
control of up to 8 additional
axes and high-speed
communication via an
Ethernet link are just a few of
the impressive highlights of
this high-performance robot
controllers. Other features
include automatic conveyor
belt tracking, crash detection
without sensors and a wide
range of powerful functions
for work cycle optimisation.
The degrees of freedom
of the RV-6S and
RV-12SL robots
9
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
RV-3AJ/RV-2A Articulated-arm Robots –
The Reliable Mid-range Solution
RV-6S/RV-6SL/RV-12SL Articulated-arm Robots –
Exceptional Power and Reach
series is predestined for
handling parts in industrial
production and for chaining
plant stations. An IP65
protection rating provides the
capabilities needed for heavyduty applications, like those in
the motor industry suppliers
sector. The state-of-the-art
technology used in this series
drastically reduces work cycle
times. All the new robots
complete the 12-inch test in
less than a second!
Typical applications for these
two robots include handling
samples for analysis
instruments and similar
manipulations in other quality
control applications. Their slim
design and exceptional
mobility make it easy to
integrate them in test setups
and other systems.
Free choice of grippers
The degrees of freedom
of the RV-3AJ and RV-2A
robots
The robot can be fitted with
one electric gripper or up to
two pneumatic grippers,
depending on the task at
hand. Gripper force is
continuously adjustable,
making it possible to handle
even fragile items safely and
securely.
Multifunctional
robot controllers
With handling payloads of up
to 12 kg, a truly impressive
maximum workspace radius
of 1,385 mm and exceptional
precision (repeatability:
±0.05 mm) the new RV-S
Pneumatic hoses and signal
cables are pre-installed in the
robot, making gripper
connection quick and simple.
8
Model
RV-3AJ
RV-2A
Model
RV-6S
RV-6SL
RV-12SL
Degrees of freedom
5
6
Degrees of freedom
6
6
6
Maximum payload
3 kg
2 kg
Maximum payload
6 (5) kg
6 (5) kg
12 (10) kg
Gripper flange reach
715 mm
706 mm
Gripper flange reach
781 mm
987 mm
1,482 mm
Repeatability
±0.04 mm
±0.04 mm
Repeatability
±0.02 mm
±0.02 mm
±0.05 mm
Max. speed
3,500 mm/s
3,500 mm/s
Max. speed
9,300 mm/s
8,500 mm/s
9,500 mm/s
Controller type
CR1
CR1
Controller type
CR2B
CR2B
CR2B
0.4 s
0.6 s
0.7 s
Pick and place
(cycle period in mm)
1.25 s
1.3 s
Pick and place
(cycle period in mm)
Reach (from Q) in mm
A 530, B 457
A 521, B 459
Reach (from Q/mm)
A 611, B 529
A 817, B 705
A 1,235, B 1,035
Reach (from Q) in mm
C 308, D 350
C 348, D 350
Reach (from Q/mm)
C 437, D 350
C 617, D 350
C 928, D 450
E 170
Reach (from Q) in deg.
E 160
E 160
Reach (from Q/deg.)
E 170
E 170
Reach (from Q) in mm
R1 322, R2 630
R1 273, R2 621
Reach (from Q/mm)
R1 258, R2 696
R1 285, R2 902
R1 457, R2 1,385
Robot weight
33 kg
37 kg
Robot weight
58 kg
60 kg
98 kg
The robots are controlled by
the multitasking controllers
CR2B or CR3. Connection of
any image processing system,
control of up to 8 additional
axes and high-speed
communication via an
Ethernet link are just a few of
the impressive highlights of
this high-performance robot
controllers. Other features
include automatic conveyor
belt tracking, crash detection
without sensors and a wide
range of powerful functions
for work cycle optimisation.
The degrees of freedom
of the RV-6S and
RV-12SL robots
9
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
RP-AH SCARA Robots –
Outstanding Speed Plus High Precision
The degrees of freedom
of the RP-1AH, RP-3AH
and RP-5AH robots
The RP-1AH is in its element in
all applications where parts
have to be processed quickly
and precisely in cramped
quarters. It has an installation
footprint of just 200 x 160mm
and a reach of 236mm, and it
can place components with a
precision of ±0.005mm. This
combination of compact
dimensions and great
precision predestine the RP
robots for micro-handling
tasks like micro-assembly and
the population and soldering
of SMD circuit boards for
mobile phones. The robots of
this series are incomparably
more flexible than traditional
automated machines, and this
pays off in greatly enhanced
efficiency and higher
productivity.
RH-AH SCARA Robots –
Specialists for Palletising
No reference point travel
Travel and position are
measured with absolute
encoders, so that the robot
can start work as soon as it is
powered up without wasting
time with reference point
traverses. In fact, the robot can
even resume at the point
where it left off after power
failures and emergency
shutdowns in the middle of a
movement sequence. In most
cases, this eliminates the need
to reset the entire system.
The RP-3AH and RP-5AH
models have handling
payloads of 3kg and 5kg and a
reach of 335mm and 453mm,
making them ideal for
applications requiring more
lifting capacity and longer
reaches.
SCARA robots are ideal for
sorting, palletising and
component installation. They
have a short cycle period of
less than 0.5 seconds for a
movement sequence of
25mm vertical lift, 300mm
horizontal traverse and 25mm
vertical lower and return (the
12” test).
The degrees of freedom
of the RH-5AH and RH10AH robots
Optimum gripper
connections
Pneumatic hoses and signal
connection lines are routed
inside the robot, making it
easy to connect grippers and
sensors.
Unpack, calibrate, start work
You can start work almost as
soon as you have unpacked
the robot and installed the
arm assembly. You only have
to enter the reference point
data recorded at the factory,
then the robot is ready to
execute the first movements.
10
Model
RP-1AH
RP-3AH
RP-5AH
Model
RH-5AH55
RH-10AH85
Degrees of freedom
4
4
4
Degrees of freedom
4
4
Maximum payload
1 kg
3 kg
5 kg
Maximum payload
5 kg
10 kg
Controller type
CR1
CR1
CR1
Controller type
CR2A
CR2A
Repeatability x/y
±0.005 mm
±0.008 mm
±0.01 mm
Gripper flange reach
von 198 bis 550 mm
von 278 bis 850 mm
Pick and place
(cycle period in mm)
0.28 s
0.33 s
0.38 s
Axis range in degrees
J1 ±127, J2 ±137
J1 ±140, J2 ±145
Repeatability
±0.02 mm
±0.025 mm
Z-axes travel in mm
200
350
Pick and place
(cycle period in mm)
0.48 s
0.52 s
Max. speed
5,360 mm/s
5,650 mm/s
Robot weight
19 kg
40 kg
A x B (in mm)
105 x 150
(DIN A6)
150 x 210
(DIN A5)
210 x 300
(DIN A4)
C (in mm)
234
332
451
D (in mm)
95
130
170
E-axes travel (in mm)
30
50
50
Robot weight
12 kg
24 kg
25 kg
11
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
RP-AH SCARA Robots –
Outstanding Speed Plus High Precision
The degrees of freedom
of the RP-1AH, RP-3AH
and RP-5AH robots
The RP-1AH is in its element in
all applications where parts
have to be processed quickly
and precisely in cramped
quarters. It has an installation
footprint of just 200 x 160mm
and a reach of 236mm, and it
can place components with a
precision of ±0.005mm. This
combination of compact
dimensions and great
precision predestine the RP
robots for micro-handling
tasks like micro-assembly and
the population and soldering
of SMD circuit boards for
mobile phones. The robots of
this series are incomparably
more flexible than traditional
automated machines, and this
pays off in greatly enhanced
efficiency and higher
productivity.
RH-AH SCARA Robots –
Specialists for Palletising
No reference point travel
Travel and position are
measured with absolute
encoders, so that the robot
can start work as soon as it is
powered up without wasting
time with reference point
traverses. In fact, the robot can
even resume at the point
where it left off after power
failures and emergency
shutdowns in the middle of a
movement sequence. In most
cases, this eliminates the need
to reset the entire system.
The RP-3AH and RP-5AH
models have handling
payloads of 3kg and 5kg and a
reach of 335mm and 453mm,
making them ideal for
applications requiring more
lifting capacity and longer
reaches.
SCARA robots are ideal for
sorting, palletising and
component installation. They
have a short cycle period of
less than 0.5 seconds for a
movement sequence of
25mm vertical lift, 300mm
horizontal traverse and 25mm
vertical lower and return (the
12” test).
The degrees of freedom
of the RH-5AH and RH10AH robots
Optimum gripper
connections
Pneumatic hoses and signal
connection lines are routed
inside the robot, making it
easy to connect grippers and
sensors.
Unpack, calibrate, start work
You can start work almost as
soon as you have unpacked
the robot and installed the
arm assembly. You only have
to enter the reference point
data recorded at the factory,
then the robot is ready to
execute the first movements.
10
Model
RP-1AH
RP-3AH
RP-5AH
Model
RH-5AH55
RH-10AH85
Degrees of freedom
4
4
4
Degrees of freedom
4
4
Maximum payload
1 kg
3 kg
5 kg
Maximum payload
5 kg
10 kg
Controller type
CR1
CR1
CR1
Controller type
CR2A
CR2A
Repeatability x/y
±0.005 mm
±0.008 mm
±0.01 mm
Gripper flange reach
von 198 bis 550 mm
von 278 bis 850 mm
Pick and place
(cycle period in mm)
0.28 s
0.33 s
0.38 s
Axis range in degrees
J1 ±127, J2 ±137
J1 ±140, J2 ±145
Repeatability
±0.02 mm
±0.025 mm
Z-axes travel in mm
200
350
Pick and place
(cycle period in mm)
0.48 s
0.52 s
Max. speed
5,360 mm/s
5,650 mm/s
Robot weight
19 kg
40 kg
A x B (in mm)
105 x 150
(DIN A6)
150 x 210
(DIN A5)
210 x 300
(DIN A4)
C (in mm)
234
332
451
D (in mm)
95
130
170
E-axes travel (in mm)
30
50
50
Robot weight
12 kg
24 kg
25 kg
11
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
The Robot Controller –
A Compact Switching &
Control Packge
Example of a robot
system configuration
CC-Link
Robot controller
Gentle joining
The convenient
Teaching Box is used for
manual entry of the
working positions of the
MELFA robot. It also has
functions for testing the
entire programmed
movement sequence
after it has been
entered.
The compact, modular
robot controller is an
integral part of the
robot system. It contains
the CPU and the power
electronics for powering
and controlling the
robot.
At Mitsubishi
Electric ”switchgear cabinets”
are relics of the past – everything is now packed into a single compact controller.Depending on the robot model
either the CR1 controller with a
footprint no larger than an A4
sheet of paper or the CR2/CR3
controller is used.The powerful
control performance is the
same in both the smaller and
larger versions; the only difference between the two is in the
power output stages.No matter
which controller you use you
always work with the same
programming language –
Controller type
Control mode
Processor
Control functions
MELFA BASIC IV – and have the
same options at your disposal.
This transparent compatibility
pays off when you need to use
different robot types or models
when the needs of your application change.The impressive
performance specifications of
these controllers speak for
themselves.
Number-crunching power
A 64-bit RISC processor with
DSP provides ample power for
3-D circular and linear
interpolation, and for multitasking with up to 32
programs running in parallel.
CR1, CR2, CR3
PTP and CP
64-bit RISC + DSP
Axial, linear and 3-D circular
interpolation; palletising functions,
interrupt control and multitasking
Max. position points
88
Max. Anzahl der Positionspunkte
2,500 per program
Max. program lines
5,000 per program
Internal I/Os
CR1:
16 I/16 O, max. 240 I/240 O
CR2/CR3: 32 I/32 O, max. 256 I/256 O
Safety functions
EMERGENCY OFF and door contact switch
Power supply
CR1/CR2: 207-253V AC, single-phase
CR3:
400 V AC; three-phase
Max./normal power consumption
3.5kVA/0.9kVA
Outside dimensions (W/H/D in mm) CR1: 212/166/290, CR2: 460/200/400,
CR3: 450/975/380
12
Potential collision situations
are identified reliably without
an additional sensor,
preventing damage to both
workpieces and peripherals.
Work space limitation
You can define multiple ”nogo” areas within the robot’s
work space that the robot is
not permitted to enter, even
in teaching mode. This makes
it possible to protect the
product being manipulated
and the robot from dangerous
collisions.
Digital inputs and outputs
In their standard
configurations the CR1 has 16
digital inputs and 16 digital
outputs, the CR2/CR3
32 digital inputs and 32 digital
outputs. Optional remote I/O
boxes make it possible to
increase this to up to 256
inputs and 256 outputs for
complex applications.
Large program memory
The controller can store up to
88 independent programs, all
of which can call each other,
for example when different
program sequences are
needed for different products.
SSC-NET
RS-232C or Ethernet
The standard ”compliance
control” function guarantees
gentle positioning. This
function can be activated and
deactivated as required,
making it possible to optimise
demanding joining and
assembly processes, saving
wear and tear on both
components and robots.
Sensorless collision
monitoring
SPS
PC
RS232 or
Ethernet
Remote
I/Os
Vision
sensor
CNC
Tracking
Remote
I/Os
Additional axis (linear)
Enhanced path precision
Applications like laser cutting
and welding require extreme
path precision. An enhanced
path precision function for
applications like this can be
switched on and off as
required.
PC
Ethernet
(TCP/IP)
Servo amplifier
PRG load/save
PDA production data acquisition
Monitoring
Control
Control for additional axes
The controller can handle up
to 8 additional axes, in
addition to the robot’s own
axes, and up to 2 of the
additional axes can be
interpolated with the robot.
Ethernet
The Ethernet expansion card
uses the standard TCP/IP protocol for high-speed communications between the robot
controller and PCs or sensors.
You can configure the card in
master or slave mode as
Example of a network
connection
configuration
CC-Link
Signal
transmission
Synchronisation
Read/write
variables
Expansion options for your
applications
You can expand the robot and
add features required by your
applications with expansion
cards that plug into slots in
the controller, similar to the
expansion cards in a personal
computer.
Servo
required by your application.
One of the most attractive
features of this communications option is the ability to
control the robot in real time,
so that the robot’s movements can respond instantaneously to sensor data.
RS232, RS422/485, tracking
This expansion card provides
several serial communications
options for the connection of
peripherals and two encoder
inputs for the registration
of conveyor belt speeds. In
combination with the
corresponding integrated
system functions these
encoder inputs allow the
implementation of a
”tracking” function, with
which the robot can synchronise with the conveyor belt
and process products while
they are in motion.
CC-Link and high-speed I/O
network
This option provides a large
number of virtual I/Os, for
example for communication
between several robots or
connection of a PLC via a
simple twisted-pair line.
13
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
The Robot Controller –
A Compact Switching &
Control Packge
Example of a robot
system configuration
CC-Link
Robot controller
Gentle joining
The convenient
Teaching Box is used for
manual entry of the
working positions of the
MELFA robot. It also has
functions for testing the
entire programmed
movement sequence
after it has been
entered.
The compact, modular
robot controller is an
integral part of the
robot system. It contains
the CPU and the power
electronics for powering
and controlling the
robot.
At Mitsubishi
Electric ”switchgear cabinets”
are relics of the past – everything is now packed into a single compact controller.Depending on the robot model
either the CR1 controller with a
footprint no larger than an A4
sheet of paper or the CR2/CR3
controller is used.The powerful
control performance is the
same in both the smaller and
larger versions; the only difference between the two is in the
power output stages.No matter
which controller you use you
always work with the same
programming language –
Controller type
Control mode
Processor
Control functions
MELFA BASIC IV – and have the
same options at your disposal.
This transparent compatibility
pays off when you need to use
different robot types or models
when the needs of your application change.The impressive
performance specifications of
these controllers speak for
themselves.
Number-crunching power
A 64-bit RISC processor with
DSP provides ample power for
3-D circular and linear
interpolation, and for multitasking with up to 32
programs running in parallel.
CR1, CR2, CR3
PTP and CP
64-bit RISC + DSP
Axial, linear and 3-D circular
interpolation; palletising functions,
interrupt control and multitasking
Max. position points
88
Max. Anzahl der Positionspunkte
2,500 per program
Max. program lines
5,000 per program
Internal I/Os
CR1:
16 I/16 O, max. 240 I/240 O
CR2/CR3: 32 I/32 O, max. 256 I/256 O
Safety functions
EMERGENCY OFF and door contact switch
Power supply
CR1/CR2: 207-253V AC, single-phase
CR3:
400 V AC; three-phase
Max./normal power consumption
3.5kVA/0.9kVA
Outside dimensions (W/H/D in mm) CR1: 212/166/290, CR2: 460/200/400,
CR3: 450/975/380
12
Potential collision situations
are identified reliably without
an additional sensor,
preventing damage to both
workpieces and peripherals.
Work space limitation
You can define multiple ”nogo” areas within the robot’s
work space that the robot is
not permitted to enter, even
in teaching mode. This makes
it possible to protect the
product being manipulated
and the robot from dangerous
collisions.
Digital inputs and outputs
In their standard
configurations the CR1 has 16
digital inputs and 16 digital
outputs, the CR2/CR3
32 digital inputs and 32 digital
outputs. Optional remote I/O
boxes make it possible to
increase this to up to 256
inputs and 256 outputs for
complex applications.
Large program memory
The controller can store up to
88 independent programs, all
of which can call each other,
for example when different
program sequences are
needed for different products.
SSC-NET
RS-232C or Ethernet
The standard ”compliance
control” function guarantees
gentle positioning. This
function can be activated and
deactivated as required,
making it possible to optimise
demanding joining and
assembly processes, saving
wear and tear on both
components and robots.
Sensorless collision
monitoring
SPS
PC
RS232 or
Ethernet
Remote
I/Os
Vision
sensor
CNC
Tracking
Remote
I/Os
Additional axis (linear)
Enhanced path precision
Applications like laser cutting
and welding require extreme
path precision. An enhanced
path precision function for
applications like this can be
switched on and off as
required.
PC
Ethernet
(TCP/IP)
Servo amplifier
PRG load/save
PDA production data acquisition
Monitoring
Control
Control for additional axes
The controller can handle up
to 8 additional axes, in
addition to the robot’s own
axes, and up to 2 of the
additional axes can be
interpolated with the robot.
Ethernet
The Ethernet expansion card
uses the standard TCP/IP protocol for high-speed communications between the robot
controller and PCs or sensors.
You can configure the card in
master or slave mode as
Example of a network
connection
configuration
CC-Link
Signal
transmission
Synchronisation
Read/write
variables
Expansion options for your
applications
You can expand the robot and
add features required by your
applications with expansion
cards that plug into slots in
the controller, similar to the
expansion cards in a personal
computer.
Servo
required by your application.
One of the most attractive
features of this communications option is the ability to
control the robot in real time,
so that the robot’s movements can respond instantaneously to sensor data.
RS232, RS422/485, tracking
This expansion card provides
several serial communications
options for the connection of
peripherals and two encoder
inputs for the registration
of conveyor belt speeds. In
combination with the
corresponding integrated
system functions these
encoder inputs allow the
implementation of a
”tracking” function, with
which the robot can synchronise with the conveyor belt
and process products while
they are in motion.
CC-Link and high-speed I/O
network
This option provides a large
number of virtual I/Os, for
example for communication
between several robots or
connection of a PLC via a
simple twisted-pair line.
13
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
COSIROP –
Programming Software for the Real World
While the programs are being
executed you can monitor
and visualise the robot with
the help of COSIROP’s
comprehensive control and
diagnostics functions. The
real-time axis speeds and
motor currents are displayed
clearly, together with the
statuses of all the robot’s
inputs and outputs. Live
monitoring facilities for all the
programs executed by the
controller enable you to track
down program errors quickly
and reliably.
COSIROP also provides tools
for program archival and for
backing up the robot’s
parameters and settings.
Other useful functions
include:
Variable monitor for
program checking
Online position
definition and motor
current monitoring
Online-Teach-In
function with single-axis
mode
A powerful robot
programming language
needs an equally powerful
programming environment.
COSIROP is the programming
environment for all Mitsubishi
robots. It allows you to create
robot programs in minutes
using the MELFA BASIC IV or
MOVEMASTER COMMAND
robot programming
languages. After testing and
optimising your program you
can then transfer the program
to the actual robot with a
couple of mouse clicks, via an
efficient direct network or
serial link between the PC and
the robot.
●
Online ”teach-in” function
for robot positions
●
Position display on a 3-D
representation of the robot
●
Syntax checking
●
I/O monitor
●
Variable monitor
●
Online command execution
●
Error diagnostics
●
Position editor
●
Project management
COSIMIR® Industrial –
Integrated Simulation and Programming Software
The COSIMIR® 3-D robot
simulation system can
simulate entire work cells, i.e.
systems including both the
robot itself and its interaction
with its environment. In
addition to the entire
program of Mitsubishi robots
COSIMIR® also supports a
broad spectrum of automation
equipment including material
flow control systems, a variety
of sensors and actuators and
so on – the automation
components you use to create
production systems to meet
the needs of your application.
The powerful tools of the
COSIMIR® package help you
throughout the planning,
programming and test phases.
Reachability checks in the
early planning stages help
you to select the most
suitable robot systems for the
task. You can move the robots
and other work cell
components around in the
simulation at will, making it
easy to optimise the layout of
your system.
COSIMIR® uses the native
robot languages (MELFABASIC or Movemaster
Command) to program the
robots within the simulation
environment. This means that
no additional conversion or
processing steps are required
when you transfer the
resulting programs to real
robots. In addition, this
enables you to use the
familiar robot languages and
all your existing know-how
and skills when you are
working with the simulation.
The comprehensive online
help system is always
available when you need
support with the formulation
of the necessary syntax. After
creating your robot programs
you can test them directly in
the simulation environment,
eliminating the need to
remove the actual work cell
from the production process
for testing.
The COSIMIR® and COSIROP
packages are powerful tools
for achieving maximum
efficiency and costeffectiveness in the
configuration and operation
of robot-supported
automation solutions, and
they allow you to plan and
operate your systems with a
very high degree of
confidence.
The Model Explorer
simplifies object
management
You can open any
number of view
windows
Program execution
monitoring in the
simulation
COSIMIR is a registered trademark of EF-Robotertechnik GmbH, Schwerte, Germany
14
15
MITSUBISHI ELECTRIC
MELFA Robots –
Unfailing Quality
and Precision
Handling
Industrial Robot
Systems
COSIROP –
Programming Software for the Real World
While the programs are being
executed you can monitor
and visualise the robot with
the help of COSIROP’s
comprehensive control and
diagnostics functions. The
real-time axis speeds and
motor currents are displayed
clearly, together with the
statuses of all the robot’s
inputs and outputs. Live
monitoring facilities for all the
programs executed by the
controller enable you to track
down program errors quickly
and reliably.
COSIROP also provides tools
for program archival and for
backing up the robot’s
parameters and settings.
Other useful functions
include:
Variable monitor for
program checking
Online position
definition and motor
current monitoring
Online-Teach-In
function with single-axis
mode
A powerful robot
programming language
needs an equally powerful
programming environment.
COSIROP is the programming
environment for all Mitsubishi
robots. It allows you to create
robot programs in minutes
using the MELFA BASIC IV or
MOVEMASTER COMMAND
robot programming
languages. After testing and
optimising your program you
can then transfer the program
to the actual robot with a
couple of mouse clicks, via an
efficient direct network or
serial link between the PC and
the robot.
●
Online ”teach-in” function
for robot positions
●
Position display on a 3-D
representation of the robot
●
Syntax checking
●
I/O monitor
●
Variable monitor
●
Online command execution
●
Error diagnostics
●
Position editor
●
Project management
COSIMIR® Industrial –
Integrated Simulation and Programming Software
The COSIMIR® 3-D robot
simulation system can
simulate entire work cells, i.e.
systems including both the
robot itself and its interaction
with its environment. In
addition to the entire
program of Mitsubishi robots
COSIMIR® also supports a
broad spectrum of automation
equipment including material
flow control systems, a variety
of sensors and actuators and
so on – the automation
components you use to create
production systems to meet
the needs of your application.
The powerful tools of the
COSIMIR® package help you
throughout the planning,
programming and test phases.
Reachability checks in the
early planning stages help
you to select the most
suitable robot systems for the
task. You can move the robots
and other work cell
components around in the
simulation at will, making it
easy to optimise the layout of
your system.
COSIMIR® uses the native
robot languages (MELFABASIC or Movemaster
Command) to program the
robots within the simulation
environment. This means that
no additional conversion or
processing steps are required
when you transfer the
resulting programs to real
robots. In addition, this
enables you to use the
familiar robot languages and
all your existing know-how
and skills when you are
working with the simulation.
The comprehensive online
help system is always
available when you need
support with the formulation
of the necessary syntax. After
creating your robot programs
you can test them directly in
the simulation environment,
eliminating the need to
remove the actual work cell
from the production process
for testing.
The COSIMIR® and COSIROP
packages are powerful tools
for achieving maximum
efficiency and costeffectiveness in the
configuration and operation
of robot-supported
automation solutions, and
they allow you to plan and
operate your systems with a
very high degree of
confidence.
The Model Explorer
simplifies object
management
You can open any
number of view
windows
Program execution
monitoring in the
simulation
COSIMIR is a registered trademark of EF-Robotertechnik GmbH, Schwerte, Germany
14
15
MITSUBISHI ELECTRIC
MITSUBISHI ELECTRIC
Industrial Robot
Systems
MELFA Robot Systems –
Practical Functions for all Applications
All MELFA robots feature
a large number of
advanced integrated
system functions that
enable you to adapt and
optimise their
performance for the
specific needs of your
applications.
Automatic acceleration and
braking ramp optimisation for
faster cycle times
Continuous Path function for
faster cycle times
Gravity compensation for
greater positioning and
palletising precision
Orthogonal ”compliance control” function for interactive
response to opposing forces
Object tracking function for
faster cycle times
Control functions for up to 8
additional axes
MELFARobots:
RV-A
RV-S
RH-AH
RP-AH
Multitasking function for
parallel execution of multiple
tasks
EUROPEAN HEADQUARTERS
EUROPEAN REPRESENTATIVES
louis poulsen
DENMARK
Geminivej 32
DK-2670 Greve
Phone +45 (0) 43 / 95 95 95
ILAN & GAVISH Autom.Service ISRAEL
24 Shenkar St.,Qiryat-Arie 49513
IL-49001 Petach-Tikva
Phone +972 (0) 3 / 922 18 24
INEA d.o.o.
SLOVENIA
Stegne 11
SI-61230 Ljubljana
Phone +386 (0) 1 / 5 13 81 00
MITSUBISHI ELECTRIC EUROPE B.V.
Gothaer Straße 8
D-40880 Ratingen
Phone +49 (0) 21 02/4 86-0
GEVA GmbH
AUSTRIA
Wiener Straße 89
A-2500 Baden
Phone +43 (0) 2252 / 85 55 20
Beijer Electronics OY
FINLAND
Ansatie 6a
FIN-01740 Vantaa
Phone +358 (0) 9 / 88 67 75 00
Getronics B.V.
NETHERLANDS
Donauweg 2B
NL-1043 AJ-Amsterdam
Phone +31 (0) 20 / 5 87 67 00
Beijer Electronics AB
SWEDEN
Box 426
S-20124 Malmö
Phone +46 (0) 40 / 35 86 00
MITSUBISHI ELECTRIC EUROPE B.V.
Via Paracelso 12
I-20041 Agrate Brianza (MI)
Phone +39 (0)39 6053 1
GETRONICS NV/SA
BELGIUM
Pontbeeklaan 43
B-1731 Asse-Zellik
Phone +32 (0) 2 / 4 67 17 51
Axicont Automatika Kft.
HUNGARY
Reitter F.U.132
HU-1131 Budapest
Phone +36 (0) 1 / 4 12-08 82
Beijer Electronics AS
NORWAY
Teglverksveien 1
N-3002 Drammen
Phone +47 (0) 32 / 24 30 00
ECONOTEC AG
SWITZERLAND
Postfach 282
CH-8309 Nürensdorf
Phone +41 (0) 1 / 8 38 48 11
MITSUBISHI ELECTRIC EUROPE B.V.
Carretera de Rubi, 76-80
E-08190 Sant Cugat del Vallés
Phone +34 (9)3/565 31 31
INEA CR d.o.o.
CROATIA
Drvinje 63
HR-10000 Zagreb
Phone +385 (0) 1 / 3 66 71 40
Meltrade Automatika Kft. HUNGARY
55,Harmat St.
HU-1105 Budapest
Phone +36 (0) 1 / 2 60 56 02
MPL Technology Sp.z.o.o.
POLAND
ul.Sliczna 36
PL-31444ul. Sliczna 36 Kraków
Phone +48 (0) 12 / 632 28 85
GTS
TURKEY
Darülaceze Cad.No.43A KAT:2
TR-80270 Okmeydani-Istanbul
Phone +90 (0) 212 / 3 20 16 40
MITSUBISHI ELECTRIC EUROPE B.V.
25,Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone +33 (0) 1 55 / 68 55 68
AutoCont Control s.r.o.
CZECHIA
Nemocnicni 12
CZ-70200 Ostrava 2
Phone +420 (0) 69 / 6 15 21 11
MITSUBISHI ELECTRIC
IRELAND
Westgate Business Park,Ballymount
IRL-Dublin 24
Phone +353 (0) 1 / 419 88 00
ACP AUTOCOMP a.s.
SLOVAKIA
Chalupkova 7
SK-81109 Bratislava
Phone +4 21 (0) 2 52 / 92 22 54, 55
MITSUBISHI ELECTRIC EUROPE B.V. UK
Travellers Lane
GB-Hatfield Herts. AL10 8 XB
Phone +44 (0) 1707 / 27 61 00
Specifications subject to change without notice.
Order-No.132282-E,Printed in Germany 1/04-RH
MITSUBISHI ELECTRIC
Gothaer Straße 8
D-40880 Ratingen
Phone +49 (0) 2102 486-1160
Hotline +49 (0) 1805 000-765
I N D U S T R I A L A U T O M AT I O N
Fax +49 (0) 2102 486-4069
www.mitsubishi-automation.com
[email protected]
Unfailing Quality
and Precision Handling

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