Product Information EBG 232-EN RH-FH Series Industrial robots Intelligent solutions for complex manufacturing processes 0.29 s 12" cycle time enables high-precision, high-performance applications to be used to increase on-site productivity IP54 and food-grade grease for full integration Fully enclosed cabling to end of spindle for protection and safety Fitted with many interfaces such as Ethernet, USB, camera interface, additional axis controller, hand I/O etc. as standard MELFA RH-FH Series More productivity and efficiency The fastest in their class The robots of the RH-F series achieve the highest speeds in their class thanks to the new motors developed by Mitsubishi Electric, high arm rigidity and unique control technology. The resulting reduced cycle time of only 0.29 seconds for a 12" cycle make for significantly increased productivity and improved continuous operation. The dramatically extended movement range ensures more flexibility and thus simplifies system planning. Effective access to the entire, almost circular working range has many advantages: it reduces cycle times by avoiding unnecessary movements and increases the tasks which the robot can perform in its working range. Speed and easy integration allow wide-ranging applications. Forward-looking, fascinating and flexible The RH-F series is supported by high-performance controllers. When it comes to their modern production systems, companies are placing increasing importance on high production speeds and efficient integration into existing systems as well as a full range of connection options. Characteristics which are easily fulfilled by the Mitsubishi Electric RH-F series in a forward-looking, flexible and fascinating manner. Mitsubishi Electric SCARA robots are used wherever maximum precision is required. The innovative Mitsubishi Electric MELFA robots are known for their wide-ranging applications, whether for fast palletising, accurate sorting or parts assembly. The RH-F series also confirms this approach. These SCARA robots are suitable for a variety of industrial applications straight from the factory and without the need to purchase additional modules. Easy integration and application It makes no difference whether you are modernising your manufacturing system or setting it up for the first time. Straight from the factory, the RH-F series offers many features which are only available as optional extras on comparable products. For example, every model has connections for pneumatic grippers, Ethernet, USB, tracking functions, camera interface, hand I/O, additional axis controller and an interface for GOT HMIs with freely programmable user interfaces. The standard grease is foodgrade H1 grease – ideal for the food and beverage industry. An ISO Level III cleanroom model is also available for pharmaceutical and microelectronics applications. Even the RH-3FH entry-level model is equally well equipped, and with a load capacity of 3 kg is suitable for most applications. Anyone requiring to move heavier loads can call upon the top-of-the-range RH-6/20FH with a maximum load capacity of 20 kg. The RH-6/12/20FH has the tried-and-tested protection class IP54 for industrial systems which protects against dust and spray water. For use in particularly contaminated or dusty environments, the model can be retrospectively upgraded to IP65 at relatively little cost and without any problems thanks to the closed housing concept. MELFA RH-FH Series Wide-ranging applications The RH-F series is a range of robust, highquality robots with an outstanding price/ performance ratio. They are suitable straight from the factory for a wide range of industrial applications and can be deployed in many industries. Examples include industrial sectors such as food and beverage, packaging, laboratory automation, automobile manufacturing and cell manufacturing. In addition, MELFA RH-F robots can be easily and cost-effectively adapted to suit most requirements and situations. Robot CPU when using the FQ system USB communication Ethernet Image recognition RH-3FH/ RH-6FH/ RH-12FH/ RH-20FH robot Encoder input signal GOT Pulse generator More safety When several robots are used in one work cell, a CPU connection between the controllers ensures that individual robots are controlled in a co-ordinated manner. They can be operated individually as easily as in normal operation. SSCNETIII (optical transmission) PC Standard version MR-J3-BSafety/ MR-J4-B Touch version Customer‘s installation Optional programming and control unit Standard robot control interfaces Advanced programming In jog or automatic mode, an anti-collision function ensures that robots are stopped in good time before they can collide, thus preventing damage. This avoids additional expensive working time for carrying out repairs following a collision due to incorrect position information or wrongly set interlocks. A further advantage is the quick and easy commissioning via PC. Models of the RH-F series can be quickly and easily programmed using the supplied RT ToolBox2 software. The RT ToolBox2 programming software‘s graphical interface enables imported 3D CAD files, program variables and robot simulations to be displayed quickly and easily. Simulation with CAD data Movement range and dimensions 170° RH-6FHmm RH-12FH/20FHmm 165 B H C 100 F D 130 136 D 110 G E C 170° 140 A 0 R8 225 B 60 E 120 5° 174 14 (*3) M 10 A1 25 80 30 65 82 20 75 X K X 400 164 10 H 404 J Y 340 G st 38 L F 55 80 4 10 13.2 (*3) A2 (*1) 160 Dimensions for type 200 240 200 (*2) All dimensions in mm A A1 A2 B C D E F G H J K L M RH-6FH5520-S15 325 — — R550 R191 160 R244 172 R197 337 200 133 798 386 RH-12FH/20FH8535-S15 — 525 325 R850 R278 153° — — — — — — The shown data in the table are only an extract of all data about standard reach arms. 1080/1180 350/450 MELFA RH-FH Series Specifications Robot RH-3FH 5515-S15 RH-6FH 5520-S15 Installation Teaching, manual data input (MDI) General-purpose I/O Absolute encoder mm 325 525 Arm 2 mm 225 325 Max. working range (Arm 1 + Arm 2) mm 550 420 400 250 J2-axisdeg/s 720 670 450 J3(Z)-axismm/s 1100 2400 J4(q)-axisdeg/s 3000 mm/s Cycle time (with 2 kg load) s 2800 2500 8300 1700 11372 0.29 1 3 3 Maximumkg 3 6 12 X-,Y-directionmm Operating temperature ±0.004 Weightkg 37 69 Power supply 75 Hand: 8 inputs/8 outputs (20 pins total) Serial signal cable for parallel I/O (2-pin and 2 pins for power supply) LAN 100BASE-TX (RJ45) Tool wiring Tool pneumatic pipes 1 (redundant) Emergency stop additional axes 1 (redundant) 1 (Teaching Box) 1 (Teaching Box) 1 (spare) 10BASE-T/100BASE-TX 1 (Teaching Box) 1 (USB port for PLC CPU) USB 1 (Mini-B connector, Ver. 2.0) up to 8 (SSCNETIII) 20 0–40 32 1 (redundant) Enabling switch Conveyor belt tracking encoder ±0.005 °C Door closed contact Additional axis ±0.010 deg 8 inputs 1 (redundant) 5 ±0.015 J3(Z)-axismm J4(q)-axis Interfaces 0.30 ±0.012 User-defined External emergency stop Ethernet 2400 2400 0.51 up to 256 RS422 11350 Nominalkg up to 8192 Common I/O for multiple CPU Gripper status signal inputs External I/O 850 J1-axisdeg/s Maximum composite speed Repeat accuracy Position determination Dedicated I/O Arm 1 CR750-D MELFA-BASIC V AC servo motor Position detection method CR750-Q Programming language Horizontal articulated arm (SCARA) Drive system Lifting capacity Robot controller 4 Design Maximum speed RH-20FH 8535N-S15 Floor mounting Degrees of freedom Arm length RH-12FH 8535N-S15 Q173DPX (optional) 2 Expansion slot — 2 Input voltage Single phase 180 V to 253 V AC a 2.0 Power consumption kVA b Ambient temperature °C Dimensions (WxHxD) mm 0-40 (drive unit)/ 0–55 (robot CPU) 0–40 430x425x174 approx. 20 Weightkg Housing/protection class Floor mounting/IP20 The supply voltage should not vary by more than 10 %. Without switch-on current. 1 2 Primary: Ø6 x 2, Secondary: Ø4 x 8 Protection class IP20 Compatible robot controller * IP54 (IP65 optional) CR750-D/Q * Select the control unit suitable for your application. CR750-D: Stand-alone unit, CR750-Q: Unit for incorporating in iQ Platform. European Branches Representatives Germany Mitsubishi Electric Europe B.V. Gothaer Straße 8 D-40880 Ratingen Phone: +49 (0)2102 / 486-0 GEVA Wiener Straße 89 AT-2500 Baden Phone: +43 (0)2252 / 85 55 20 Austria Beijer Electronics OY Vanha Nurmijärventie 62 FIN-01670 Vantaa Phone: +358 (0)207 / 463 500 Finland Beijer Electronics AS Postboks 487 NO-3002 Drammen Phone: +47 (0)32 / 24 30 00 Norway INEA SR Izletnicka 10 SER-113000 Smederevo Phone: +381 (0)26 / 615 401 Serbia Beijer Electronics Automation AB Sweden Box 426 SE-20124 Malmö Phone: +46 (0)40 / 35 86 00 I.C. SYSTEMS Ltd. 23 Al-Saad-Al-Alee St. EG-Sarayat, Maadi, Cairo Phone: +20 (0) 2 / 235 98 548 Egypt ILAN & GAVISH Ltd. 24 Shenkar St., Kiryat Arie IL-49001 Petah-Tiqva Phone: +972 (0)3 / 922 18 24 Israel Czech Rep. ESCO DRIVES Culliganlaan 3 BE-1831 Diegem Phone: +32 (0)2 / 717 64 60 Belgium PROVENDOR OY Teljänkatu 8 A3 FIN-28130 Pori Phone: +358 (0) 2 / 522 3300 Finland Fonseca S.A. R. João Francisco do Casal 87/89 PT-3801-997 Aveiro, Esgueira Phone: +351 (0)234 / 303 900 Portugal SIMAP s.r.o. Jána Derku 1671 SK-911 01 Trenčín Phone: +421 (0)32 743 04 72 Slovakia Turkey Fabrika Otomasyonu Merkezi Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye-İSTANBUL Phone: +90 (0)216 526 39 90 Mitsubishi Electric Europe B.V. 25, Boulevard des Bouvets F-92741 Nanterre Cedex Phone: +33 (0)1 / 55 68 55 68 France KONING & HARTMAN B.V. Woluwelaan 31 BE-1800 Vilvoorde Phone: +32 (0)2 / 257 02 40 Belgium UTECO A.B.E.E. 5, Mavrogenous Str. GR-18542 Piraeus Phone: +30 211 / 1206 900 Greece Romania Sirius Trading & Services Aleea Lacul Morii Nr. 3 RO-060841 Bucuresti, Sector 6 Phone: +40 (0)21 / 430 40 06 INEA RBT d.o.o. Stegne 11 SI-1000 Ljubljana Phone: +386 (0)1 / 513 8116 Slovenia CSC Automation Ltd. 4-B, M. Raskovoyi St. UA-02660 Kiev Phone: +380 (0)44 / 494 33 55 Mitsubishi Electric Europe B.V. Viale Colleoni 7 I-20864 Agrate Brianza (MB) Phone: +39 039 / 60 53 1 Italy Bosnia and Herzeg. INEA RBT d.o.o. Stegne 11 SI-1000 Ljubljana Phone: +386 (0)1/ 513 8116 AxiCont Automatika Kft. (Robot Center) Hungary Rokolya utca 1-13 HU-1131 Budapest Phone: +36 (0)1 / 412-0882 Mitsubishi Electric Europe B.V. Krakowska 50 PL-32-083 Balice Phone: +48 (0)12 / 630 47 00 Poland Bulgaria AKHNATON 4, Andrei Ljapchev Blvd., PO Box 21 BG-1756 Sofia Phone: +359 (0)2 / 817 6000 MELTRADE Ltd. Fertő utca 14. HU-1107 Budapest Phone: +36 (0)1 / 431-9726 Hungary Mitsubishi Electric Europe B.V. 52, bld. 3 Kosmodamianskaya nab 8 floor RU-115054 Moscow Phone: +7 495 / 721 2070 Russia Czech Republic AUTOCONT C.S. S.R.O. Kafkova 1853/3 CZ-702 00 Ostrava 2 Phone: +420 595 691 150 ALFATRADE Ltd. 99, Paola Hill Malta-Paola PLA 1702 Phone: +356 (0)21 / 697 816 Malta Mitsubishi Electric Europe B.V. Carretera de Rubí 76-80 E-08190 Sant Cugat del Vallés (Barcelona) Phone: 902 131121 // +34 935653131 Spain Croatia INEA CR Losinjska 4 a HR-10000 Zagreb Phone: +385 (0)1 / 36 940 - 01/ -02/ -03 Netherlands HIFLEX AUTOM. B.V. Wolweverstraat 22 NL-2984 CD Ridderkerk Phone: +31 (0)180 / 46 60 04 Denmark KONING & HARTMAN B.V. Netherlands Haarlerbergweg 21-23 NL-1101 CH Amsterdam Phone: +31 (0)20 / 587 76 00 Mitsubishi Electric Europe B.V.-org.sl. Radlická 751/113e CZ-158 00 Praha 5 Phone: +420-251 551 470 Version check Mitsubishi Electric Europe B.V. Travellers Lane UK-Hatfield, Herts. AL10 8XB Phone: +44 (0)1707 / 28 87 80 UK Beijer Electronics A/S Lykkegardsvej 17 DK-4000 Roskilde Phone: +45 (0)46/ 75 76 66 Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / [email protected] / www.mitsubishi-automation.com Art. no. 251389-B / 11.2012 / Specifications subject to change / All trademarks and copyrights acknowledged. Ukraine South Africa ADROIT TECHNOLOGIES 20 Waterford Office Park 189 Witkoppen Road ZA-Fourways Phone: + 27 (0)11 / 658 8100
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