User manual | MITSUBISHI INDUSTRIAL ROBOT MELFA F Series Catalog

MITSUBISHI INDUSTRIAL ROBOT

F Series

Country/Region

U.S.A

Brazil

Germany

U.K

Italy

Spain

France

Czech Republic

Poland

Ireland

Russia

China

Taiwan

Korea

Singapore

Thailand

Sales Office

Mitsubishi Electric Automation lnc.

500 Corporate Woods Parkway Vernon Hills, IL 60061, USA

Mitsubishi Electric do Brasil Comercio e Servicos Ltda.

Av.Paulista, 1439, cj 74, Bela Vista, 01311-200,Sao Paulo

Mitsubishi Electric Europe B.V. German Branch

Gothaer Strasse 8 D-40880 Ratingen, Gernany

Mitsubishi Electric Europe B.V. UK Branch

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

Mitsubishi Electric Europe B.V. Italian Branch

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

Mitsubishi Electric Europe B.V. Spanish Branch

Carretera de Rubi 76-80-AC.420,

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

Mitsubishi Electric Europe B.V. French Branch

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

Mitsubishi Electric Europe B.V. Czech Branch

Avenir Business Park, Radicka 714/113a, 158 00 Praha5, Czech Republic

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

Mitsubishi Electric Europe B.V. Irish Branch

Westgate Business Park, Ballymount. IRL-Dublin 24

Mitsubishi Electric Europe B.V. Russian Branch Moscow Office

52, bld. 3, Kosmodamianskaya nab., RU-115054, Moscow, Russia

Mitsubishi Electric Automation (CHINA) Ltd.

No.1386 Hongqiao Road, Mitsubishi Electric Automation Center 3F Shanghai,

China

Mitsubishi Electric Taiwan Co.,Ltd.

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

Mitsubishi Electric Automation Korea Co., Ltd.

1480-6, Gayang-Dong, Gangseo-Gu Seoul 157-200, Korea

Mitsubishi Electric Asia Pte, Ltd.

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

Mitsubishi Electric Automation (Thailanad) Co., Ltd.

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

T.Kannayao, A.Kannayao, Bangkok 10230 Thailand

Tel/Fax

Tel: +1-847-478-2100

Fax: +1-847-478-2253

Tel: +55-11-3146-2200

Fax: +55-11-3146-2217

Tel: +49-2102-486-0

Fax: +49-2102-486-1120

Tel: +44-1707-27-6100

Fax: +44-1707-27-8695

Tel: +39-039-60531

Fax: +39-039-6053-312

Tel: +34-935-65-3131

Fax: +34-935-89-2948

Tel: +33-1-5568-5568

Fax: +33-1-5568-5757

Tel: +420-251-551-470

Fax: +420-251-551-471

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

Fax: +48-12-630-47-01

Tel: +353-14198800

Fax: +353-14198890

Tel: +7-495-721-2070

Fax: +7-495-721-2071

Tel: +86-21-2322-3030

Fax: +86-21-2322-3000

Tel: +886-02-2833-5430

Fax: +886-02-2833-5433

Tel: +82-2-3660-9552

Fax: +82-2-3664-8372

Tel: +65-6470-2480

Fax: +65-6476-7439

Tel: +66-2517-1326

Fax: +66-2906-3239

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN

NAGOYA WORKS: 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN

This catalog is an introduction to only part of what Mitsubishi Electric has to offer.

Mitsubishi Electric offers individualized solutions for the challenges in your factory.

L(NA)-09067ENG

New publication, effective Sep. 2012

Specifications are subject to change without notice.

MITSUBISHI INDUSTRIAL ROBOT

F Series

Features

Mitsubishi Electric's F-Series industrial robots are equipped with technology developed and tested at its own production plants. Equipped with advanced technology and easy-to-use features, these robots are designed to facilitate automation of any production plant.

Designed for flexible automation

Compact and powerful

High reliability

Vertical type

A compact 6-axis jointed robot with an optimal arm length and wider range of movement suited for complex assembly and processing tasks.

Compact body and slim arm design, allowing operating area to be expanded and load capacity increased.

Layout accommodates a wide range of applications from transport of mechanical parts to assembly of electrical parts.

Environmental resistance specifications enable application to a wide range of uses without needing to consider the installation environment.

The fastest high-speed operation in its class

Contributes to improved productivity with high-frequency operations

Prevention of interference with cables

Compatibility with internal Ethernet cable tools

Expanded J4 axis operating range

Compact installation with operation performed near the robot base

Changes in operating posture made even more quickly

Full use of installation space

Horizontal type

Matches perfectly to a variety of applications with a wide range of operating areas and variations.

High speed and high accuracy achieved with the highly rigid arm and latest servo control technology.

Suitable for a wide range of fields from mass production of food and pharmaceutical products requiring high-speed operation to assembly operations requiring high precision.

The fastest high-speed operation in its class

Improved speed for vertical movements

Improved continuous operability

Compatibility with internal

Ethernet cable tools

Full use of installation space

Enhanced wrist axis

Internal routing of cables results in simplified cable management

Type

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.

RV - 4 F L C - D - Sxx

Sxx: Compliant with special models

such as CE specification and

KC specification etc (separately)

SHxx: Internal wiring specifications

Controller type

D: CR750-D Q: CR750-Q

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

Vertical, multiple-joint type (RV)

Environment specification

Blank: Standard specifications

M : Oilmist specifications

C : Clean specifications

Arm length

Blank: Standard arm

L : Long arm

Series

F: F series

Maximum load capacity

2 : 2kg 4: 4kg 7: 7kg

Robot structure

RV : Vertical, multiple-joint type

RH - 6 FH 55 20 M - D - Sxx

Maximum load capacity (kg)

Maximum reach radius (mm)

Environmental specifications

Controller

Standard

Oil mist

Clean

RV-2F

504

○

(IP30)

—

CR750

RV-4F

515

○

(IP40)

○

(IP67)

(ISOclass3)

RV-4FL

649

○

(IP40)

○

(IP67)

(ISOclass3)

(CR750: Japan, Europe, U.S.; CR751: Asia)

CR751

RV-7F

713

○

(IP40)

○

(IP67)

(ISOclass3)

RV-7FL

908

○

(IP40)

○

(IP67)

(ISOclass3)

Controllers with protective specifications

(Equipped with controller protection boxes)

Sxx: Compliant with special models

such as CE specification and

KC specification etc (separately)

SM : Specification with protection

specification controller

(with the protection box)

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

Maximum load capacity

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

Robot structure

RH: Horizontal, multiple-joint type

Horizontal, multiple-joint type (RH)

Type

Maximum load capacity (kg)

Maximum reach radius (mm)

Environmental specifications

Standard

Oil mist

Clean

Controller

RH-3FH35

350

RH-3FH45

450

○

(IP20)

—

RH-3FH55

550

RH-6FH35

350

RH-6FH45

450

○

(IP20)

○

(IP65)

(ISOclass3)

RH-6FH55

550

RH-12FH55

550

RH-12FH70

700

○

(IP20)

○

(IP65)

(ISOclass3)

RH-12FH85

850

RH-20FH85

850

RH-20FH100

1000

○

(IP20)

(IP65)

○

(ISOclass3)

CR750 CR751

(CR750: Europe, U.S.; CR751: Japan, Asia)

CR750

(CR750: Japan, Europe, U.S.; CR751: Asia)

CR751

Controllers with protective specifications

(Equipped with controller protection boxes)

Vertical

kg type

RV-2F

External Dimensions/Operating Range Diagram

Motion space at point P

R504.6

45°

5H7, depth 8

4-M5 screw, depth 8

φ 20H7, depth 6

φ40h8, depth 6

φ31.5

View A

Mechanical Interface Detail

(Installation reference surface)

Rz 25

(135)

67.5 67.5

(40)

4-φ9 installation hole

Point P

-240

Motion space at point P

Control point

(R point)

Wrist's downward limit

Point

504.6

270

209

Wrist's downward limit

504.6

-120°

+120

R504.6

R230

R139.5

+120°

R250

-120°

R230

+240

(160)

View B

Rear Surface Diagram (Installation Dimension Detail)

R139.5

Wrist's downward singularity boundary

280

Top view

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

Operating range

Maximum speed

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

NO1 arm

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

°C kg

Nm kgm

RV-2F(B)

Standard

IP30

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

Vertical, multiple-joint type

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

Absolute encoder

230 + 270

504

480 (±240)

240 (-120 to +120)

160 (-0 to +160)

400 (±200)

240 (-120 to +120)

720 (-360 to +360)

300

150

300

450

720

4955

0.6

±0.02

0 to 40

4.17

2.45

0.18

0.04

Tool wiring

Hand: 4 input points/4 output points

Signal cable for the multi-function hand

Tool pneumatic pipes

4 x 4

Machine cable 5m (connector on both ends)

Connected controller CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)

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

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

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

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

Side view

Vertical

kg type

RV-4F

RV-4FL

Intersection

45°

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

Limits on operating range for the rear (*5)

Control point (R point)

125

*5)

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

85 275

-35°(

230

170

Point P

R135.8

Motion space at point P

Point P

R136.8

R514.5

+120°

-120°

-1

13°(*5)

-113

°（

注1

）

Operating range for each axis:

J1: ±240°

J2: ±120°

J3: 0° to 161°

J4: ±200°

J5: ±120°

J6: ±360°

+115°(*5)

+240°

Approximately 100

Wrist's downward singularity boundary

Maintenance space (*2)

Side view

φ20H7, depth 6

φ40h8, depth 6

P.C.D.

φ31.5

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)

230

170

Wrist's downward limit

Control point (R point)

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

(Installation reference surface)

(Installation reference surface) Rz25

102

(160)

4-φ9 installation hole

-35°(*6)

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

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

Point P

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

°C kg

Nm kgm

+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

AC servo motor

Absolute encoder

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

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

3.96

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

Connected controller *6

5m (connector on both ends)

CR750, CR751 (CR750: Japan, Europe, U.S.; CR751: Asia)

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

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

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

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

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

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

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

Vertical

kg type

RV-7F

RV-7FL

Intersection

45°

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

270

200

Wrist's downward limit

Control point (R point)

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

713.4

125

85 370

713.4

Motion space at point P

-1

15°

Point P

R197.4

Approximately 100

Maintenance space (*2)

Point P

R197.4

R713.4

+125° 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°

RV-7FL

R907.7

Motion space at point P

-240°

Wrist's downward singularity boundary

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

270

200

Wrist's downward limit

Control point (R point)

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

907.7

125

85 470

Side view

102

907.7

(Installation reference surface) Rz25

(Installation reference surface)

124.5

(205)

102.5 102.5

4- φ9 installation hole

Motion space at point P

Point P

+130°

-1

10°

Point P

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° kg mm mm mm/sec sec mm

°C kg kgm

340 + 360

713

240 (-115 to +125)

156 (-0 to +156)

360

401

450

337

450

720

11064

0.32

R192.8

R907.7

Standard/ Oil mist/ Clean

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

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

Vertical, multiple-joint type

AC servo motor

Absolute encoder

400 (±200)

240 (-120 to +120)

720 (±360)

±0.02

0 to 40

16.2

6.86

0.45

0.10

430 + 465

908

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°

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

Maximum composite speed *3

Cycle time *4

Position repeatability

Ambient temperature

Mass

Tolerable moment

Tolerable amount of inertia

Unit deg deg/sec

RV-7F(M)(C)

Wrist's downward singularity boundary

480 (±240)

Side view

RV-7FL(M)(C)

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 (CR750: Japan, Europe, U.S.; CR751: Asia)

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

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

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

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

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

Cross-section X-X

(Installation Dimension Detail)

2-φ6 hole

(φ8 prepared hole for positioning pins)

4-φ9installation hole

(Installation standards)

Rz25

Horizontal

kg type

RH-3FH35

RH-3FH45

RH-3FH55

External Dimensions/Operating Range Diagram

170°

Y section details

(Hand mounting)

φ 37.5

Z Z

10 Z

50 225

100

165

150

120

φ 16h7

[clean specifications]

φ11through hole

Cross-section Z-Z

145°

Only clean spec

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

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

188

(*3)

(*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

J3 (Z)

J4 (θ)

J3 (Z)

J4 (θ)

Maximum composite speed *2

Cycle time *3

Position repeatability

Ambient temperature

Mass

Tolerable amount of inertia

Y-X composite

J3 (Z)

J4 (θ)

Rating

Maximum

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

RH-3FH3515/12C

125

350

6800

0.41

±0.010

RH-3FH4515/12C

Standard/ Clean

IP20/ ISOclass3 *6

Floor type

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

Maximum 3 (rating 1)

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

0.005

0.06

RH-3FH5515/12C

325

550

8300

0.51

±0.012

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 (CR750: Europe, U.S.; CR751: Japan, Asia)

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

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

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

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

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

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

Horizontal

kg type

RH-6FH35

RH-6FH45

RH-6FH55

External Dimensions/Operating Range Diagram

Y section details

(Hand mounting)

39.5

60.5

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

150

120

25h7

[Standard specifications]

φ18through hole

[Mist specifications]

Z Z

60 225

100

170°

165

Cross-section Z-Z

[Clean specifications]

145°

(*3)

10 164

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

325

125

225

B C

R350 R142

R450 R135

210

224

210

224

210

224

210

R253

220

268

220

268

220

268

220

R174

R196

R174

R196

R174

R197

R174

225

325

R450 R135 224 R253 268 R197

R550 R191 160 R244 172 R197

R550 R191 160 R253

R550 R191 160 R244

R550 R191 160 R253

R550 R191 160 R244

259 R222

172 R197

259 R222

337

342

337

200

340

200

340

200

340

133

-7

-43

133

-7

-43

133

-7

-43

798

938

798

938

798

938

386

526

386

526

386

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.)

(*3)

160(*1) 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

J3 (Z)

J4 (θ)

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

RH-6FH35XX/M/C

125

350

6900

±0.010

RH-6FH45XX/M/C

Standard/ oil mist/ Clean

IP20 *6/ IP65 *7/ ISO3 *8

Floor type

Horizontal, multiple-joint type

AC servo motor

Absolute encoder

Maximum 6 (rating 3)

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

0.01

0.12

RH-6FH55XX/M/C

325

550

8300

±0.012

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 (CR750: Japan, Europe, U.S.; CR751: Asia)

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

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

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

*5: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type. Note that controllers with oil mist specifications come equipped with a controller protection box

(CR750-MB) and "-SM" is appended at the end of the robot model name. If you require it, consult with the Mitsubishi Electric dealer.

*6: IP54 rating for European models.

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

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

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

R80

120

Z Z

Installation reference surface

2-φ6 prepared holes for positioning

4-φ16 installation holes

Standard

25h7

110

Z Z

Standard

30h7

110

Installation reference surface

120

122

200

25h7

Mist, Clearn

30h7

Mist, Clearn

φ18through hole

φ21through hole

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

J3 (Z)

J4 (θ)

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

200

240

Variable dimensions

Robot series

RH-12FH55xx

RH-12FH55xxM/C

RH-12FH70xx

RH-12FH70xxM/C

RH-12FH/20FH85xx

RH-12FH/20FH85xxM/C

RH-20FH100xx

RH-20FH100xxM/C

225

375

525

325

475

RH-12FH55XX/M/C

225

550

11435

0.30

±0.012

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

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

0.025

0.3

0 to 40

R550

R700

R850

R1000

R191

R216

R278

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

145°

153°

240

320

240

320

─

240

320

1080/1180

0.065

1.05

350/450

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 (CR750: Japan, Europe, U.S.; CR751: Asia)

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

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

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

(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.

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

USB communication

Controller

Robot CPU

Drive unit

SSCNET III

(optical communications)

Additional axis function

SSCNET III

(optical communications)

Additional axis function

Pulse encoder

CRnD-7xx

Controller

Encoder input function

USB communication

Specifications

Type Unit

CR750-Q

CR750-D

CR751-Q

CR751-D

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

External input/output

Dedicated I/O

Hand open/close

Emergency stop input

Door switch input

Enabling device input

Emergency stop output

Mode output

Interface

Robot error output

Synchronization of additional axes

RS-422

Ethernet

USB

Additional-axis interface

Extension slot *1

Encoder input

Ambient temperature

Relative humidity points step

Unit points ports

FQ 256 / FD

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

512

Q172DRCPU

PTP control and CP control

Maximum 6 axes

MELFA-BASIC IV/V

Teaching method, MDI method

13,000 /

39,000

26,000 /

Assigned to multiple CPU common device.

8 input / 8 output

1 (redundant)

78,000

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

Assigned to general-purpose I/O.

1 (dedicated teaching pendant port) 10BASE-T

1 (redundant)

1 (Teaching pendant: dedicated T/B)

/ 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 (Ver. 2.0 device functions only, mini B terminal) channels slots channels

°C

%RH

1 (SSCNET III)

― /

FQ Q173DPX (Sold separately) /

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

FD 0 to 40

45 to 85

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

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

Power supply *5

Input voltage range *2 V

Power capacity *3 KVA

RV-2F, RH-3FH : 0.5

RV-4F, RH-6FH : 1.0

RH-12FH/20FH : 1.5

RV-7F : 2.0

External dimensions (including legs)

Weight

Structure [protective specification]

Grounding *4 mm kg

430 (W) x 425 (D) x 174 (H) 430 (W) x 425 (D) x 98 (H)

Approx. 16 Approx. 12

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

100 or less (class D grounding)

*1: For installing option interface.

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

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

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

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

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

Drive unit

CR750-Q

Controller

CR750-D

Drive unit

CR751-Q

Controller

CR751-D

(30)

158 174

(30) 370

430

Controller protection box (IP54)

Drive unit

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.

(30) 370

430

4-φ18

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.

Cable cover

Drain hole

Controller installation location

(10)

72.5

505

365

(10)

(45) 160 (45)

Rubber feet for vertical mounting screws

(Four)

(85) (85) 330

500

Multiple CPU environment

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) CPU

• Q04UD (E) HCPU

• Q06UD (E) HCPU

• Q10UD (E) HCPU

• Q13UD (E) HCPU

• Q20UD (E) HCPU

• Q26UD (E) HCPU

• Q100UD (E) HCPU

Functions

Shortened takt times

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)

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 operability

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

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

Ambient temperature

Encoder temperature monitor

Encoder temperature monitoring screen

Optimize the overload detection level

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

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.

Full use of installation space

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.

Apparatus 2

Apparatus 1

Delivery

Apparatus 3

Removal

Removal Delivery

Movable stopper for the J1 axis

RV-2FQ/2FD pivot operation

Expanded J1 axis pivotal operating range to allow access to rear of machine

Rear access on 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

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.

Improved trajectory accuracy

Improved 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.

Improved palletization accuracy

Improved trajectory accuracy

Deflection compensation

θ compensation

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.

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.

Movement direction

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.

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.

Insertion direction or normal control direction

Copy plane

Tool coordinate system

Robot hand

Posture at target position

Reduced tooling costs

Shortened line stop times

Shortened 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.

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.

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.

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. Allows the relationships between the hand, workpiece, and peripheral devices to be checked with a single glance during simulation.

Display of trajectories

Standard 3D polygonal models can be imported into the program.

Environmental models created using 3DCAD can be displayed on the screen, allowing operators to confirm the positional relationship between the robot and peripheral devices during simulation.

(Applicable 3D data file formats: STL, OBJ)

Attachment of a hand created in RT ToolBox2 Example of a system environment screen from an imported model

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

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)

Shortened takt times

Reduced 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

Improved operating takt

Reduced 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.

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/IP)

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.

Reduced tooling costs

Shortened line stop times

Reduced maintenance costs

Shutdown with trajectory shifted

Error

Shutdown with

trajectory sustained

Target position

Collision

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.

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

Features of IQ Platform Controllers

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

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

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

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

Motion control

· Joint-interpolated motion

· Linear-interpolated motion

· Designated override

· Designated acceleration/

deceleration settings

· Designated speed

· Tool settings

· Designated auxiliary motion

· Opening/closing of hand

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]

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.

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

CCable for robot

CPU-to-DU connection

Drive unit

Controller

Teaching pendant

(option)

Ethernet

Vision system

Encoder interface

Insert

Q173DPX

POWER Q01CPU Q172DRCPU

STOP RUN

EMI

Q41X

PULL

▼

PULL

▼

RS-232

MITSUBISHI

IQ Platform-compatible programmable controller

Pulse encoder

Servo

GOT

USB cable

USB communication

SSCNETIII

Additional axis function

Servo

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

MELFA-Works

<Software options>

RT ToolBox2

FDseries

System Configuration

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

MELFA-Works

<Software options>

RT ToolBox2

USB cable

CC-Link interface

Network base card

(EtherNet/IP)

SSCNETIII

Servo

Programmable controller

GOT

Servo

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

Configurations Options

Configurations options

Classification Name

Solenoid valve set

Hand output cable

Hand input cable

Hand (curl) tube

1E-VD0

□

(Sink)

E (Source)

1F-VD0

□

-02 (Sink)

E-02 (Source)

1F-VD0

□

-01 (Sink)

E-01 (Source)

1S-VD0

□

-01 (Sink)

E-01 (Source)

1E-GR35S

1F-GR35S-02

1F-GR60S-01

1S-HC30C-11

1F-HC35S-02

1F-HC35C-01

1F-HC35C-02

1E-ST0408C

1E-ST0408C-300

1N-ST0608C-01

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

1F-HB01S-01

1F-HB02S-01

1F-HA01S-01

Robot arm

1F-HA02S-01

1F-HS604S-01

1F-HS604S-02

Internal wiring and piping set for hand

1F-HS408S-01

1F-HS408S-02

External user wiring and piping box

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

Machine cable, for extension/fixed

Machine cable, for extension/flexible

Stopper for changing the J1-axis operating range

1F-HS304S-01

1F-UT-BOX

1F-UT-BOX-01

1S-02UCBL-01

1F-02UCBL-01

1S-

□□

CBL-11

1S-

□□

CBL-01

1F-

□□

UCBL-02

1S-

□□

LCBL-11

1S-

□□

LCBL-01

1F-

□□

LUCBL-02

1S-DH-11J1

1F-DH-04

1F-DH-03

1F-DH-02

1F-DH-01

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

○

○ -

○ ○

○

For details, refer to the specifications sheets.

Type

4F 7F 3FH

6FH 12FH

20FH

○

Functional specifications

□

indicates the number of solenoid valves (1 or 2 valves)

□

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

□

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

□

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

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

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

Compatibility with φ4-4 solenoid valve systems (L = 300 mm)

Compatibility with φ6-4 solenoid valve systems

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)

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

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

□□

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

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

□□

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

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

□□

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

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

□□

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

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

□□

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

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

□□

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

Stopper for making changes, changed as needed for customer installations

Classification Name Type

Controller

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)

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

(Source type)

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

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

(Source type)

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

CC-Link interface

Network base card

Force sensor set

Terminal block replacement tool for the user wiring

R32TB(-**)

R56TB(-**)

R33TB(-**)

R57TB(-**)

2A-RZ361

2A-RZ371

2A-CBL**

2D-TZ368

2D-TZ378

2D-CBL**

2D-TZ576

2D-TZ535

4F-FS001-W200

2F-CNUSR01M

AC power supply connection cable 2F-ACIN

□

P01M

Controller protection box (*1)

Personal computer support software

Personal computer support software -mini

Simulator (MELFA-Works)

CR750-MB

3D-11C-WINJ(E)

3D-12C-WINJ(E)

3F-21D-WINJ(E)

*1: For CR-750

*2: Users need to provide the HMS EtherNet/IP module (AB6314-B) themselves.

*3: SolidWorks® is a registered trademark of SolidWorks Corporation (USA).

○

CR750

○

CR751

○

Q type D type

○

○ -

○

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-751-*

32 output points/ 32 input points

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

32 output points/ 32 input points

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

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

Communications interface for attaching to Anybus-CompactCom modules manufactured by HMS

Accepts EtherNet/IP modules (*2)

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

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

Connection terminal for the AC power supply input connector.

□

, 1 indicates the single phase and 3 indicates three phases.

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

With simulation function (CD-ROM)

Simple version (CD-ROM)

Layout study/Takt time study/Program debug. Add-in software for Solidworks® (*3)

Options

RV-4F/RV-7F 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 mm); 8 input signals

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

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

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

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

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

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

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

For models with Internal wiring and hoses

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

Robot

External wiring set for the forearm

Machine cable

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)

○

—

○

-SH05

○

(×2)

○

—

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

φ6×2

Hand input signal

8 points

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

φ6×2

Hand input signal

8 points

Signal cable for the multi-function hand

Ethernet cable

Options

RT ToolBox2

Software for program creation and total engineering support.

This PC software supports everything from system startup to debugging, simulation, maintenance and operation.

This includes programming and editing, operational checking before robots are installed, measureing process tact time, debugging during robot startup, monitoring robot operation after startup, and trouble shooting.

Windows®-compatible

Easy operation on Windows®.

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

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.

*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

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)

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.

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.

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

Options

Force sensor set

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 sensor control

Force sensor detection

Force sensor log

Item

Force control

Stiffness control

Gain changes

Execution of interrupts

Data latch

Data reference

Synchronous data

Start/stop trigger

FTP transmission

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

Product Configuration

Name

Force sensor

Force sensor interface unit

Sensor adapter

Adapter cable

24-V DC power supply

24-V DC power supply cable

Serial cable between the unit and sensor

SSCNET III

Qty.

Qty. 1

10m

System Configuration

Force sensor interface unit (2F-TZ561)

RS-422

SSCNET III

Power supply cable

24-V DC power supply

Force sensor

LAN/USB

Robot controller

RT ToolBox2

Adapter cable

RV-F/RH-F

Teaching pendant

(R56TB/R57TB/R32TB/R33TB)

In-S ight

(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.

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.