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MELFA Family Industrial Robots Consistent Quality – Precise Control Articulated-arm robots / SCARA robots / High-performance Controllers / Programming software / Simulation / MELFA Industrial Robots Features in detail Robots from € 1.65/hr Calculated on the basis of their average service life, around 6–7 years in typical applications, Mitsubishi Electric robots have a surprisingly low total cost of ownership at around € 1.65/h per hour for both purchasing and operation. Enclosed housing and IP54 for maximum protection and hygiene Internally-routed cables and hoses prevent snagging on peripheral equipment. Versatility Small robots have been used in more than 30,000 applications in widely differing fields since 1978 – and what is more they work around the clock, 24 hours a day, 7 days a week. Mitsubishi Electric servo motors for ultimate performance and speed Suitable for high-precision com­ponent placement with repeatability performance of ±0.005 mm and a cycle period of just 0.28 s. Innovative design Mitsubishi Electric’s high-performance robots are the result of market-leading technology combined with carefully planned design. For example, locating pneumatic hoses and signal cables in the robot body reduces the complexity and cost of connecting grippers and sensors and increases operational reliability. 2 The World’s first twin-arm SCARA robot with parallel structure for maximum precision. MELFA Industrial Robots Simple programming Intelligent metal construction and twin-arm structure give the robots particularly high rigidity and precision. A powerful range of robots needs an equally powerful and user-friendly programming interface. Mitsubishi Electric’s RT ToolBox2 and MELFA WORKS packages are powerful programming and simulation software tools tailored precisely for the needs of your robots. All the gripper hands of the articulated-arm robots conform to the ISO 9409-1 standard. Compact and economical Compact mounting and an availability of 99.9 % with the highest quality are the most important factors for any application. The high-precision Harmonic Drive transmission helps to provide exceptional repeatability performance. A very compact design takes up minimum space for applications in cramped quarters. Network capabilities Network connections like Ethernet, ProfiBus, ProfiNet, DeviceNet and CC-Link make it easy to integrate Mitsubishi Electric robot controllers in to larger systems, providing users with access to every step of the process. 3 Precision Precision and Flexibility Pharmaceutical industry Modular control concepts and pharmaceutical industry certification make MELFA robots the ideal partner in the life sciences sector. Integral database connection and an all-embracing control concept facilitate modular and flexible applications in any field where quality and production data have to be backed up in a comprehensible manner. Food and drink Increasing hygiene demands, a variety of products and the traceability of production processes are ensured with MELFA robots – now and in the future. Innovative details and stringent guidelines for MELFA robots guarantee assured quality even in ultra-clean applications. Automotive industry Highly accurate and extremely flexible MELFA robots are used whenever every little detail matters – haptic measurement, quality assurance and assembly of complex components. MELFA robots carry out their tasks around the clock and at full speed. 4 Flexibility Packaging High-performance and flexibility are a matter of course for MELFA robots. It goes equally without saying that all Mitsubishi Electric automation components can be incorporated. These include additional axes, PLC controllers and operating terminals. Furthermore, cameras can be connected and robots synchronised with conveyor belts. These functions enable packaging tasks to be carried out reliably, quickly and continuously. Electronics and ­mechanical engineering Mitsubishi Electric provides a wide range of products from parallel-arm robots for the micro assembly of miniature components to fully sealed articulated arm robots. There are no applications which are not suitable for MELFA robots. Whether cleanroom or dirty, oily and dusty environments, the product range always includes the right robot for your application. Training Learning from practical experience – a goal which can be achieved in a training environment with the compact, lightweight MELFA robots. Simple programming, simulation options and experienced teachers make entry into the field of robotics easy. No limits – thanks to standard real-time interfaces and simple programming, MELFA robots provide all sorts of options for using the robots as manipulators, even for complex university research projects. 5 Technical features The technology in detail F-Q Series – full PLC functionality in the robot As robots are never installed on a standalone basis, the system must be easy to integrate into its working environment to enable it to communicate with PLC and motion systems as well as operating panels and other systems. Together with the modular robot CPU, the Mitsubishi Electric iQ Platform provides the ideal basis for integrating the full functionality of a PLC into the robot controller – once again demonstrating the company’s role as a pioneer in automation technology. More safety The DIN ISO-10218 safety standard is common to all robots and therefore guarantees safe operation in all applications. Mitsubishi Electric’s supplementary product range including safety controllers enables the robots to be integrated into a common safety concept. Ready-made example projects make it possible for anyone to put together even complex systems quickly and effectively. Sensor-controlled robots with image processing Mitsubishi Electric’s industrial robots can be connected to any object recognition camera system via the ethernet port or the robot controller’s RS232 interface. This enables static and moving parts to be detected with the correct positional information. The possible uses of sensor-controlled robots in factory automation are manifold. They range from component assembly via quality control and the reworking of workpieces to the location and removal of objects from a conveyor belt. 6 Technical features Simple integration into complex applications Up to eight additional axes can be connected directly to the robot controller with just one cable. Of these, two axes can be used as additional interpolating axes, e.g. as the seventh and eighth robot axis. The special feature compared with other systems is that all additionally connected axes can be programmed in exactly the same way as the robot, using the same Teach-Box or the standard RT ToolBox2 software. This avoids the additional expense of software, training and programming. More efficient monitoring and maintenance functions Ethernet Direct connection of the company’s infrastructure GOT operating terminal via Ethernet opens up a number of monitoring, control and maintenance functions for the robot. The correction of taught points, the backup and restore function, the entry of production data, and the selection and control of processes are just some of the options provided by the Mitsubishi E­ lectric operating terminal in conjunction with MELFA robots. Open communication for PC connection The robot controller can be connected to an MES system, for example for easily and quickly changing manufacturing sequences without stopping production. Furthermore, the robot can be initiated for any kind of movement in real time. Flexible and complex movements, which are generated graphically on the PC, for example, can be realised in this way. 7 Software for industrial robots Programming and Simulation High-performance industrial robots also require high-performance software. For this reason, more and more automation engineers are opting for the versatile and convenient Mitsubishi Electric software. All tasks, such as the creation of projects, programming and simulation, are implemented intuitively and mesh perfectly with one another. This results in optimum movement sequences in the shortest possible installation and commissioning time. Programming Offline and online programming with simulation Simulation 3D-CAD import and up to 16 robots can be simulated in one project; additional axes can be connected and positions taught directly in the simulation. Parameters Parameter structure for the simple parameterisation of functions; complete overview of all parameters with display of modified values only. Maintenance Full backup and restore function and monitoring of service intervals, production runtimes and product cycles. Monitoring Display of load currents, position values, variables and variable positions. Monitoring of switching signals, program execution and fault history. Documentation Full project documentation with output of modified parameters, program code and positions. 8 Simulation of a Mitsubishi Electric industrial robot directly in an application 3D-simulation with MELFA-Works The MELFA-Works add-in tool for SolidWorks enables a robot in a production system to be simulated on a PC, and converts the workpiece paths into robot position data. Supplementing the SolidWorks platform by the addition of MELFA-Works extends the simulation functions and opens up new simulation possibilities. The CAD data of the system can be directly imported Grippers can be connected directly to the robot Handling of workpieces Offline teaching in a 3D environment Creation of robot programs Collision-checking between robot and system environment The convenient operating terminal for mobile teaching The R56TB is a powerful operating panel for carrying out all tasks directly at the robot, from controlling the robot and displaying the loads by means of the input/output display to complete program creation and parameterisation. The comprehensive functions ensure optimum utilisation of the robot system and thus reduce setup times. The integral USB port enables data to be exchanged conveniently, and complete controller backups can be uploaded and downloaded through a memory stick. Robots Productrange Technical Information Section Further Publications within the Industrial Automation Range HMI Family Brochures Product catalogue for operator terminals, supervision software and accessories MR Family Product catalogue for servo amplifiers and servo motors as well as motion controller and accessories FX Family Product catalogue for programmable logic controllers and accessories for the MELSEC FX family Q/L Family Product catalogues for programmable logic controllers and accessories for the further MELSEC PLC series FR Family Product catalogue for frequency inverters and accessories LVS Family Product catalogue for low voltage switchgears,magnetic contactors and circuit breakers Automation Book Overview on all Mitsubishi Electric automation products, like frequency inverters, servo/motion, robots etc. Further service supplies This product catalogue is designed to give an overview of the extensive range of Mitsubishi Electric MELFA RV-F-, RV-FH- and RP-ADH series. If you cannot find the information you require in this catalogue, there are a number of ways you can get further details on configuration and technical issues, pricing and availability. For technical issues visit the https://eu3a.mitsubishielectric.com website. Our website provides a simple and fast way of accessing further technical data and up to the minute details on our products and s­ ervices. Manuals and catalogues are available in several different languages and can be downloaded for free. For technical, configuration, pricing and availability issues contact our distributors and partners. Mitsubishi Electric partners and distributors are only too happy to help answer your technical questions or help with configuration building. For a list of Mitsubishi Electric partners please see the back of this catalogue or alternatively take a look at the „contact us“ section of our website. About this product catalogue This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and configuration the associated product manuals must be read. You must satisfy yourself that any system you design with the products in this catalogue is fit for purpose, meets your requires and conforms to the product configuration rules as defined in the product manuals. Specifications are subject to change without notice. All trademarks acknowledged. © Mitsubishi Electric Europe B.V., Factory Automation - European Business Group The products of Mitsubishi Electric Europe B.V., that are listed and described in this document, are neither subject to approval for export nor subject to the Dual-Use List. 2 Contents 1 Robots Overview robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Industrial robots RV-2F(B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Industrial robots RV-4FLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Industrial robots RV-7FM/7FLM/7FLLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Industrial robots RV-13FM/RV-13FLM/RV-20FM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Industrial robots RP-1ADH, RP-3ADH und RP-5ADH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Industrial robots RH-3FHR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Industrial robots RH-FH. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 2 Controller Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Dimensions of the control units. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 3 Accessories Teaching box. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Wiring set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Interface boards. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Tubes and extension cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 PC and I/O connection cables, controller protection box and buffer batteries. . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 General overview of options.. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 4 Programming Language MELFA-BASIC IV/V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 5 Software RT Toolbox2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 MELFA-Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 1 2 3 4 5 3 Overview robots A complete lineup Overview robots 1 Large range of robot models makes selection easy Mitsubishi Electric produces a comprehensive range of robot models to cater to the full spectrum of modern needs. All Mitsubishi Electric robots are powerful, fast and compact – that goes almost without saying. The product range includes the almost universal articulated-arm robots with 6 degrees of freedom and payloads of 2 kg to 20 kg and SCARA robots with 4 degrees of freedom and payloads of 3 kg to 20 kg for assembly and palletising tasks. Two special models are the unique high-precision robots with their parallel arm structure for very fast micro handling tasks with payloads of 1 kg to 5 kg as well as the flexible high-speed SCARA robot for ceiling mounting. Vertical, multiple-joint type (RV) Type Number of axis Payload Maximum reach radius Environmental specifications kg mm Standard Clean RV-2F(B) 6 2 504 IP30 — Controller RV-4FLM 6 4 649 IP67 (ISOclass3 optional) RV-7FM 6 7 713 IP67 (ISOclass3 optional) RV-7FLM 6 7 908 IP67 (ISOclass3 optional) RV-7FLLM 6 7 1503 IP67 (ISOclass3 optional) CR750-D/CR750-Q + Q172DRCPU Horizontal, multiple-joint type (RH/RP) Type Number of axis Payload Maximum reach radius Environmental specifications Controller 4 kg mm Standard Clean RP-1ADH 4 1 150x105 (corresponds to DIN A6) IP30 — RP-3ADH 4 3 210x148 (corresponds to DIN A5) IP30 — CR1DA RP-5ADH 4 5 297x210 (corresponds to DIN A4) IP30 — RH-3FHR 4 3 350 IP20 (IP65 optinal) (ISOclass5 optional) CR750-D/CR750-Q + Q172DRCPU Overview robots Overview robots 1 RV-13FM 6 13 1094 IP67 (ISOclass3 optional) RV-13FLM 6 13 1388 IP67 (ISOclass3 optional) RV-20FM 6 20 1094 IP67 (ISOclass3 optional) CR750-D/CR750-Q + Q172DRCPU RH-3FH5515 4 3 550 IP20 (ISOclass3 optional) RH-6FH5520 4 6 550 IP54 (IP65 optional) (ISOclass3 optional) RH-12FH8535 4 12 850 IP54 (IP65 optional) (ISOclass3 optional) RH-20FH10035 4 20 1000 IP54 (IP65 optional) (ISOclass3 optional) CR750-D/CR750-Q + Q172DRCPU 5 Special functions Shortened takt times Improved control performance Special functions 1 Torque Torque increased Produced the fastest operating performance in its class using high-performance motors and unique driver control technology developed by Mitsubishi Electric. New generation of motor zz Enabled high torque output at high rotational speed, shortening acceleration/deceleration time zz Shortened positioning time for improved device throughput Previous generation of motor zz Continuous operability improved Speed increased Rotational speed (rpm) Improved tooling performance Internal routing of hand wiring and signal cable zz Internal routing of cables and air hoses zz No interference with cables around devices Internal routing of wiring and wiring channels enabled within the arm up to the J6 axis tip. Internally embedded valves zz Reduced risk of wiring disconnection To hand Flexibility with internal Ethernet cable tools Internal installation of wiring and piping for connecting to vision sensors enabled. zz Hand: 8 input points/8 output points zz Ethernet cable for the vision sensor Ethernet connected on the back of the base zz Attachment of the vision sensor to the wrist facilitates wiring. zz Additional cables to control vision systems or other sensors Vision sensor Full use of installation space Expanded pivotal operating range Expanded J1 axis pivotal operating range to allow access to rear of machine zz Improved flexibility for robot layout design 24 zz More effective use of access space around the entire perimeter 0° zz Shortened movement distances, enabling takt times to be shortened Delivery 0° 24 Removal Diversity through flexibility 6 Rear access on RV-4F Special functions Improved user friendliness Simple automatic operation from the teaching box 1 zz Same functions as on the operating panel of the robot controller Special functions zz Monitoring screens can be set up individually to match the needs of user debugging conditions zz Enabled for R32TB and R56TB Robot control screen (R56TB) Enables automatic operation of servo motor on/off, startup and shutdown, reset, program selection, and other operations. GOT backup/restore functions (Supported on GT14, GT15 and GT16) Backup Robot data on the GOT can be backed up to and restored from a CF card or USB memory stick. Due to the direct Ethernet connection a PC is not required zz This helps prevent data from being lost due to the empty battery / battery or robot malfunction. CF card Restore zz Data can be saved after periodic maintenance tasks are performed or when unexpected errors occur. Dramatically improves serviceability Improved accuracy Deflection compensation function kθ zz Compensates for deflection in the robot arm occurring due to gravity compensation zz Improved palletization accuracy zz Improved trajectory accuracy Deflection 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. zz Eliminates errors introduced when the tool was made. zz Higher precision zz Saving time, since measuring the tool is not necessary. Tool length Set using three to eight teaching points 7 Special functions Adaptation to operation Orthogonal compliance control Special functions 1 Insertion direction or normal control direction This function reduces the rigidity of the robot arm and tracks external forces. Copy plane Tool coordinate system zz Special hands and sensors are unnecessary zz Reduced tooling costs Robot hand zz Shortened line stop times +Y +Z Positioning device Collision avoidance (Q type controllers only) The robot is stopped, even before collisions can occur. This is possible due to the fast position control, that ist implemented in the iQ Platform as a standard feature. zz Robots can operate together in a confine space without interfereing with each other zz Reduces the number of recovery man-hours required after a collision zz Already represented in the simulation of the RT Toolbox2 Possible collisions with other robots are avoided. Coordinated control (Q type controllers only) Enables coordinated control between multiple robots through CPU connection between the robots. zz Easy to operate by predefined default function zz Enables transport of lengthy or heavy objects using smallsized robots zz Programming as already known by using standard commands Enables installation work to be completed while gripper positions between robots are maintained. 8 +X Special functions Connection to peripheral devices Network vision sensor 1 Special functions The robot and camera can be easily simultaneously calibrated through a simple process using vision sensor setting tools. zz Simple connection between the robot and camera using Ethernet zz Simple control using vision control commands in the robot programs zz Shortened takt times zz Reduced system costs Tracking Transport, alignment, and installation work, etc. can be performed while robots are tracked with the workpiece on the conveyor without stopping the conveyor. zz Higher throughput of components Vision sensor zz Easy programm creation (MELFA BASIC IV/V) zz No need for an additional positioning device Encoder Conveyor Processing capability increased by 15% Can be used with multiple conveyors at the same time (Up to 2 conveyors). 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. Robot Up to 8 additional axes zz Up to 8 additional axes can be controlled by the controller zz No additional motion control hardware necessary zz Plug-and-play compatibility with the MELSERVO (MR-J4-B, MR-J3-BS) servos zz Two axes can be contolled simultaneous with the robot zz No need of special programming knowledge, because standard instructions are used Additional axis User machine User machine Up to 2 axes Up to 3 axes Up to 3 axes Machine 1 Machine 2 Machine 3 Additional axis Simultaneous control Compatible with MR-J4-B and MR-J3-BS 9 Special functions Safety features Special functions 1 Safety circuits (emergency stop circuits) can easily be installed for the customer‘s entire system, not just for the robot itself. zz Complies with the latest ISO-10218-1 (2011) standards for Robots and robotic devices - Safety requirements zz Meets the requirements for PL d of ISO13849-1 Category 3 Applicable standards zz CE: European Conformity (European safety standards) Compliant with the EMC Directive, 2004/108/EC Compliant with the Machinery Directive, 2006/42/EC zz KCC: Korean Communications Commission (Korean safety certification) Complies with the revised Korea Radio Act (Article 58 Section 2) Sustained tracking during emergency stop The robot trajectory can be sustained even when the machine is shut down using an emergency stop. Shutdown with trajectory sustained zz Reduction of interference with peripheral devices Note: 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. Target position Starting position 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. zz Protection of workpiece from becoming damaged Collision detection zz Shortened line stop times zz Reduced maintenance costs Password and safety functions Read/write protection prevents parameters from being overwritten and programs from being changed inadvertently. Sensitive data can be protected using password protection. zz Passwords can be set to protect created programs zz The viewing and copying of data from the teaching pendant and RT Toolbox2 can be disabled Program-related Parameter-related RT Toolbox2 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 zz Writing operations for parameters can be disabled Mitsubishi Electric offers even more products with security features such as modular and compact PLCs, inverters or servo amplifiers. Refer to the Automation Book for detailed information. 10 Special functions Special functions with GOT terminals and the iQ Platform Shared memory expansion zz Enables the robot to be controlled from the GOT even without a teaching box zz Current robot position data, error information, and other items can be displayed easily on the GOT Operation panel screen Jog/hand operation screen Current position monitor screen Current value and load factor monitor screen Maintenance forecast screen Manual/video display menu zz Connection with a single Ethernet cable and direct access to the control unit zz 8192 input an output points can be exchanged via ­Ethernet connection No need to use any robot programs!! Direct execution function for programmable ­controllers Command number Robots can be controlled easily using programmable controller language. Programmable controller + Robot CPU Destination number Designated option zz Control of system operation using an single programmable controller zz Direct changing of system specifications via programmable controller Sequence program Robot zz Direct handling of troubleshhooting zz Simple movement to teached positions by PLC program zz No need to use any robot programs Operation Motion control Details Joint-interpolated motion Linear-interpolated motion Designated override Designated acceleration/deceleration settings Designated speed Tool settings Designated auxiliary motion Opening/closing of hand 11 Special functions 1 Enhanced efficiency of monitoring and maintenance operations onsite using a single GOT (display device) as the Human Machine Interface (HMI). Specifications Industrial robots RV-2F(B) The articulated arm robots RV-2F(B) 1 Robots The compact and light RV-2F(B) can be seamless integrated into different automation systems. Flexibility and the wide range of motion permits acting in applications with limited space, like mounting, assembling, palletising, sorting or bonding. Even the basic model is available with a fully equipped standard controller or as PLC robot with integration onto the iQ Platform. Highlights: zzOnly 19 kg weight and extremely compact zzHighest flexibility zzFloor, wall and ceiling installation possible zzPosition repeatability of ±0.02 mm RV-2F(B) Characteristics/Functions Degrees of freedom (no. of axes) Installation posture Structure Drive system Position detection method Operating range Maximum speed waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) Maximum composite speed Payload capacity wrist twist (J4) wrist pitch (J5) wrist roll (J6) wrist twist (J4) Tolerable inertia wrist pitch (J5) wrist roll (J6) Arm reachable radius (to the center point of the J5 axis) Tool wiring Tool pneumatic pipes Supply pneumatic pressure Gripper flange Protection rating Robot controller Order information 12 degree/s mm/s rated maximum Position repeatability Ambient temperature Weight Tolerable moment degree kg mm °C kg Nm kgm² mm MPa (bar) Specifications RV-2F-D1-S16 RV-2F-Q1-S16 6 Floor, ceiling or wall mounting possible Vertical multiple-joint type AC servo axes J1, J4, J6: no brake Absolute encoder 480 (-240–+240) 240 (-120–+120) 160 (0–+160) 400 (-200–+200) 240 (-120–+120) 720 (-360–+360) 300 150 300 450 450 720 4955 2 3 ±0.02 0 to 40 19 4.17 4.17 2.45 0.18 (0.27) 0.18 (0.27) 0.04 (0.1) 504 Hand input 4 points / hand output 4 points Ø4x4 (from the base level to the gripper hand area) 0.5 ±10 % (5 ±10 %) ISO 9409-1-31.5 IP30 CR750-D Art. no. 255212 RV-2FB-D1-S15 RV-2FB-Q1-S15 AC servo (brakes on all axes) CR750-Q + Q172DRCPU CR750-D CR750-Q + Q172DRCPU 255214 255211 255213 Dimensions and movement ranges Robot arms RV-2F(B) RV-2F(B) 1 -24 R5 Robots 0° 04 .6 Motion space at point P 504.6 504.6 70 270 209 50 ° R2 20 -1 20 0° .5 39 0° 757 799.6 -12 R230 40° +2 Top view R139.5 9 ° 389.6 270 45 R230 1.5 䃥3 䃥5H7 4-M5 䃥20H7 䃥4 0h8 94.6 221 1.7 504.6 ° 2 +1 R504.6 528 Motion space at point P R1 +1 408 A 280 Side view View x Dimensions: mm 13 Specifications Industrial robots RV-4FLM The articulated arm robots RV-4FLM 1 Robots The robots of the RV-4 F series are designed for easy integration into existing work cells or innovative and compact applications. Features such as the direct control over local I/Os allows the robot to interact directly with sensors and actuators, speeding up and simplifying system building. A new innovative design allows a maximum of flexibility, so that the robot can expand his workspace to work faster and more flexible. Highlights: zzSlim arm design zzIP67 protection zzInternal routed cables and air hoses zzExtended maintenance intervals zz4 kg rated and maximal payload RV-4FLM Characteristics/Functions Degrees of freedom (no. of axes) Installation posture Structure Drive system Position detection method Operating range Maximum speed Maximum composite speed Payload capacity Position repeatability Ambient temperature Weight waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) maximum wrist twist (J4) wrist pitch (J5) wrist roll (J6) wrist twist (J4) Tolerable inertia wrist pitch (J5) wrist roll (J6) Arm reachable radius (to the center point of the J5 axis) Tool wiring Tool pneumatic pipes Supply pneumatic pressure Gripper flange Protection rating Tolerable moment Robot controller Order information 14 degree degree/s mm/s kg mm °C kg Nm kgm² mm MPa (bar) Specifications RV-4FLM-D1-S15 RV-4FLM-Q1-S15 6 Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) Vertical multiple-joint type AC servo (brakes on all axes) Absolute encoder 480 (±240) 240 (-120–+120) 164 (-0 to +164) 400 (±200) 240 (-120–+120) 720 (±360) 420 336 250 540 623 720 9048 4 ±0.02 0–40 41 6.66 6.66 3.96 0.20 0.20 0.10 649 Hand input 8 points / hand output 8 points Ø6x2 for robot connection (Ø4x8 from base portion to forearm) 0.54 (as overpressure if required) ISO 9409-1-31.5 IP67 (Optional cleanroom model available) CR750-D Art. no. 255268 CR750-Q + Q172DRCPU 255272 Dimensions and movement ranges Robot arms RV-4FLM RV-4FL 1 -24 R6 0° 48 .7 Robots R1 40 .4 -35° (*6) Motion space at point P 648.7 648.7 125 Rz25 50 310 102 80 +240° 6) (160) 80 4-䃥9 45° 䃥5H7 (200) 80 (160) 80 102 Rz25 128 R648.7 490 ° 20 +1 °(* 998.7 point P R140.4 +1 10 350 Motion space at point P ) -114°(*6 0° 14.7 point P 335 -12 764.9 648.7 85 140 230 170 .5 1 䃥3 .D. P.C (200) 4-M5 䃥20 H7 䃥 40 h8 Gripper flange ISO 9409-1-31,5 Dimensions: mm 15 Specifications Industrial robots RV-7FM/7FLM/7FLLM The articulated arm robots RV-7FM/7FLM/7FLLM 1 Robots The RV-7FM with a nominal and maximum payload of 7 kg sets new benchmark standards for speed, flexibility, ease of integration and simplicity of programming. For an optimum work radius the robot is available in three versions with ranges from 713 mm to 1503 mm. Ethernet, USB, tracking, camera connection and additional axis connections are standard in all MELFA Robot Series. Highlights: zzCycle time of only 0.32 s (RV-7FM) for a 12-inch cycle zzDrastically increased working range for J1 and J4 axis for a maximum working area zzInternal wiring zzIP67 protection zzWorkspace radius of up to 1503 mm (RV-7FLLM) RV-7FLM Characteristics/Functions Degrees of freedom (no. of axes) Installation posture Structure Drive system Position detection method Operating range Maximum speed Maximum composite speed Payload capacity Position repeatability Ambient temperature Weight waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) maximum wrist twist (J4) Tolerable moment wrist pitch (J5) wrist roll (J6) wrist twist (J4) Tolerable inertia wrist pitch (J5) wrist roll (J6) Arm reachable radius (to the center point of the J5 axis) Tool wiring Tool pneumatic pipes Supply pneumatic pressure Gripper flange Protection rating Robot controller Order information 16 degree degree/s mm/s kg mm °C kg Nm kgm² mm MPa (bar) Specifications RV-7FM-D1-S15/ RV-7FLM-D1-S15/ RV-7FM-Q1-S15 RV-7FLM-Q1-S15 6 Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) Vertical multiple-joint type AC servo (brakes on all axes) Absolute encoder 480 (±240) 240 (-115–+125) 240 (-110–+130) 156 (-0–+156) 162 (-0–+162) 400 (±200) 240 (-120–+120) 720 (±360) 360 288 401 321 450 360 337 450 720 11064 10977 7 ±0.02 0–40 65 67 16.2 16.2 6.86 0.45 0.45 0.10 713 908 Hand input 8 points / hand output 8 points Ø6x2 for robot connection (Ø4x8 from base portion to forearm) 0.54 (as overpressure if required) ISO 9409-1-31.5 IP67 (Optional cleanroom model available) CR750-D/CR750-Q + Q172DRCPU Art. no. 255275/ 255279 RV-7FLLM-D1-S15 RV-7FLLM-Q1-S15 6 (super long arm) 380 (±190) 240 (-90–+150) 167.5 (-10–+157.5) 234 164 219 375 15300 ±0.06 130 1503 CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU 255276/ 255280 268460/ 268462 Dimensions and movement ranges Robot arms RV-7FM/7FLM/7FLLM 713.4 125 85 R -240 ° 71 370 4 270 200 4-M5 245 .䃥 .D P.C 䃥20H 7 䃥4 0h 8 .5 31 1113.4 -240° 0 R9 907.7 907.7 7.7 125 85 ° 40 +2 Gripper flange ISO 9409-1-31,5 245.7 RV-7FLM point P 168.4 䃥5H7 45° R 4 7. 19 400 568.4 4- 䃥9 102.5 102.5 470 102 Motion space at point P 1307.7 30 +1 .8 400 R192.8 92 939.4 0° 7 07. R9 point P Rz25 352.3 752.3 15.9 -11 ° point P 435 907.7 50 270 200 R1 124.5 340 844.4 15.9 Rz25 (205) 102.5 102.5 (205) +1 2 5° 713.4 50 Motion space at point P .4 R197 4 13. R7 Rz25 162 5° 124.5 -11 point P 1 3. Robots 713.4 RV-7FM 124.5 (205) 102.5 102.5 4- 䃥9 45° 245 102.5 102.5 (205) 162 124.5 Rz25 4-M5 䃥20H 7 䃥4 0h 8 .5 31 .䃥 .D P.C ° 40 +2 䃥5H7 Gripper flange ISO 9409-1-31,5 245.7 RV-7FLLM point P Motion space at point P Motion space at point P 4- 䃥9 45° .5 31 .䃥 .D P.C 䃥5H7 4-M5 䃥20 H7 䃥 40 h8 Gripper flange ISO 9409-1-31,5 Dimensions: mm 17 Specifications Industrial robots RV-13FM/RV-13FLM/RV-20FM The articulated arm robots RV-13FM/RV-13FLM/RV-20FM 1 Robots The high-performance robots RV-13 and RV-20 are specially suited for handling heavy loads. Due to the compact body and slim arm design, the robots can operate in a large work area. The anti-collision function of the iQ Platform models prevents collisions between robots which are working close together. Highlights: zzinternal routing of cables and air hoses through the robot arm zzNew gears for quiet, precise positioning and movement zzmaximum payload of 20 kg (RV-20FM) zzProtection rating IP67 standard RV-20FM Characteristics/Functions Degrees of freedom (no. of axes) Installation posture Structure Drive system Position detection method Operating range Maximum speed waist (J1) shoulder (J2) elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) waist (J1) shoulder (J2) 234 164 110 elbow (J3) wrist twist (J4) wrist pitch (J5) wrist roll (J6) 312 375 375 720 10450 12 13 ±0.05 0–40 120 19.3 19.3 11 0.47 0.47 0.14 1094 Hand input 8 points / hand output 8 points Primary: Ø 6x2, secondary: Ø 6x8 0.54 (as overpressure if required) ISO 9409-1-40 IP67 (Optional cleanroom model available) CR750-D/CR750-Q + Q172DRCPU 219 110 124 125 360 4200 15 20 Maximum composite speed Payload capacity wrist twist (J4) Tolerable moment wrist pitch (J5) wrist roll (J6) wrist twist (J4) Tolerable inertia wrist pitch (J5) wrist roll (J6) Arm reachable radius (to the center point of the J5 axis) Tool wiring Tool pneumatic pipes Supply pneumatic pressure Gripper flange Protection rating Robot controller 18 degree/s mm/s rated maximum Position repeatability Ambient temperature Weight Order information Specifications RV-13FM-D1-S15 RV-13FLM-D1-S15 RV-20FM-D1-S15 RV-13FM-Q1-S15 RV-13FLM-Q1-S15 RV-20FM-Q1-S15 6 Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) Vertical multiple-joint type AC servo (all axes with brakes) Absolute encoder 380(±190) 240 (-90–+150) 167.5 (-10–+157.5) degree 400 (±200) 240 (-120–+120) 720 (±360) 290 234 110 kg mm °C kg Nm kgm² mm MPa (bar) Art. no. 268488/ 268492 9700 130 120 49.0 49.0 1.40 1.40 1388 1094 268490/ 268494 268504/ 268506 Dimensions and movement ranges Robot arms RV-13FM/RV-13FLM/RV-20FM RV-13FM/20FM/13FLM Punkt P movement area K (minus side) 1 Robots A point P F G B H D J point P C E Punkt P movement area (plus side) 㻠㻙䃥㻝㻠㻌 㻌 㻠㻙㻹㻢㻌 Dimensions: mm Variable dimensions Robot series RV-13FM/20FM RV-13FLM A 550 690 B R964 R1258 C R280 R328 D 410 565 E R554 R693 F 1004 1143 G 1191 1416 H 1414 1708 J R410 R458 K R1094 R1388 Dimensions: mm 19 Specifications Industrial robots RP-1ADH, RP-3ADH and RP-5ADH The SCARA robots RP-1ADH, RP-3ADH and RP-5ADH 1 Robots The RP-1ADH, RP-3ADH and RP-5ADH SCARA robots are in their element in all applications calling for fast and precise placement of components in limited space. The unique mechanical design of these robots gives them a significant edge for improved productivity and micro-handling quality. Highlights: zzRepeatability ±0.005 mm (RP-1ADH) zzFootprint just 200x160 mm (RP-1ADH) zzPick & Place cycle time <0.5 s zzunique concept RP-5ADH Characteristics/Functions Degrees of freedom (no. of axes) Installation posture Drive system Position detection method Brake attachment Payload capacity Operating range Maximum speed Inertial moment Position repeatability Ambient temperature Weight Tool wiring Supply pneumatic pressure Robot controller Order information 20 rated maximum width depth vertical twist J1/J2 J3 J4 wrist X, Y direction Z direction direction of the wrist twist kg mm mm degree degree/s mm/s degree/s 2 kgm mm mm degree °C kg MPa (bar) Specifications RP-1ADH 4 Floor mounting AC servo Absolute encoder All axes 0.5 1.0 150x105 (DIN-A6) 30 ±200 480 800 3000 3.10x10-4 ±0.005 ±0.01 ±0.02 0–40 12 8 inputs/8 outputs 0.5 ±10 % (5 ±10 %) CR1DA Art. no. 252843 RP-3ADH RP-5ADH 1.0 3.0 210x148 (DIN-A5) 50 2.0 5.0 297x210 (DIN-A4) 432 960 1330 1.60x10-3 ±0.008 1230 3.20x10-3 ±0.01 ±0.03 24 25 252844 252885 Dimensions and movement ranges Robot arms RP-1ADH, RP-3ADH and RP-5ADH RP-1AH RP-1ADH 1 198 (162) 120 34 107 95 6 Robots 4 36 56 5.5 5 12 10 0,5 0 14 8 2 R3 ) (56 0,5 R3 ,5 24 5 22 ø6h7 M6 ø8 ø18 0,5 5,5 R3 100 61 5,5 38 140 56 28 110° (5 6 76 ) A R30,5 24 ,5 95 140 155 165 100 56 133 150 162 233,9 105 32 160° 120 180 224,9 4xØ9 hole 80 24,2 150 100 B ø 18 ø8 110 6,5 ° 180 230 177 77 6 B 31 R140 85 R14 0 95 31 R23 8 M5 21 30 24 A RP-3AH/RP-5AH RP-3ADH/RP-5ADH 50 31 31 36 12 5,5 5 8 30 28 11 E 85 170 200 216 (ø23) R42 13,5 140 155 165 ø14h7 ø15h7 84 120 180 224,9 13,5 E D A 28 (E ) 4xØ9 hole 36 C 13,5 267 42 261 180 40 50 77 6 103,5 8 15 3,5 ø15h7 ø14h7 ø11 (12) (23) 118 (ø23) 280 42 13,5 B A B RP-3ADH RP-3AH Variable dimensions RP-5ADH RP-5AH 332 148 450,9 20 130 210 190 170 50 200 50 260 105° Robot series RP-3ADH RP-5ADH C 140 200 D 200 260 E 86 116 105° 160° 160° 297 210 110 ° 110 5 ° R33 3,2 R26 R200 0 0 R45 R20 (38) 8 82,5 ) (E D 263 (213) 85 141 125 100 Dimensions: mm 21 Specifications Industrial robots RH-3FHR The SCARA robots RH-3FHR 1 Robots With its special compact design and support for overhead installation above the application, the robot RH-3FHR doesn’t take up any valuable space in the work area next to the installation location, enabling even smaller work cell dimensions. The robot’s perfectly circular cylindrical work space is 150 mm high with a diameter of 700 mm. It can access any point in this space with a repeatability of just ±0.01 mm while manipulating a payload of up to 3 kg. Highlights: zzOverhead installation for minimum space requirements zzOnly 24 kg weight zzCycle times of only 0.32 s zzHigh stability due to compact design zzPneumatic hoses and signal wires are routed inside the robot RH-3FHR Characteristics/Functions Degrees of freedom (no. of axes) Machine class Installation posture Structure Drive system Position detection method Brake attachment Payload capacity Maximum reach Operating range Maximum speed rated maximum arm 1 + arm 2 J1 J2 J3 (Z) J4 (Θ axis) J1 J2 J3 (Z) J4 (Θ axis) Maximum composite speed Allowable wrist moment of inertia Position repeatability Ambient temperature Weight Tool wiring Tool pneumatic pipes Supply pneumatic pressure Protection rating Robot controller Order information 22 rated maximum X, Y direction J3 (Z direction) J4 (Θ axis) kg mm degree degree mm degree degree/s degree/s mm/s degree/s mm/s kgm2 mm mm degree °C kg MPa (bar) Specifications RH-3FHR3515-D1-S15 RH-3FHR3515-Q1-S15 4 4 Standard Overhead Horizontal multiple-joint type AC servo Absolute encoder Axes J1, J2, J4: no brake; axis J3: with brake 1 3 350 450 (±225) 450 (±225) 150 1440 (±720) 672 708 1500 3146 6267 (J1, J2) 0.005 0.05 ±0.01 ±0.01 ±0.01 0–40 24 Input 8 points/output 8 points (option: output 8 points), 8 spare wires Primary: Ø 6x2 (secondary: Ø 4x8 by option) 5 ±10 % for the pneumatic gripper IP20 (Optional IP65 and cleanroom model available) CR750-D CR750-Q + Q172DRCPU Art. no. 275483 275484 Dimensions and movement ranges Robot arms RH-3FHR RH-3FHR Robot origin Robots 1 J4 axis center path Installation surface 4-M8 jack-up hole 4- Ø 9 installation hole J1 2-M12 suspension hole J2 J4 operating range : J3 operating range : 0 –150mm J2 axis operating range J1 axis operating range Dimensions: mm 23 Specifications Industrial robots RH-FH The SCARA robots RH-FH 1 Robots SCARA robots are ideal for sorting, palletising and component installation due their short cycle time. 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. Highlights: zzConnections for pneumatic grippers, Ethernet, USB, tracking functions, camera interface, hand I/O, additional axis controller and an interface for GOT HMIs zzFully enclosed cabling to end of spindle for protection and safety RH-12FH zzRH-6/12/20FH has the tried-and-tested protection class IP54 (IP65 optional) RH-6FH zzFoodgrade H1 grease as standard – ideal for food and beverage industry Characteristics/Functions Degrees of freedom (no. of axes) Machine class Installation posture Structure Drive system Position detection method Brake attachment Payload capacity Maximum reach Operating range Maximum speed rated maximum arm 1 + arm 2 J1 J2 J3 (Z) J4 (Θ axis) J1 J2 J3 (Z) J4 (Θ axis) Maximum composite speed Allowable wrist moment of inertia Position repeatability Ambient temperature Weight Tool wiring Tool pneumatic pipes Supply pneumatic pressure Protection rating Robot controller Order information 24 rated maximum X, Y direction J3 (Z direction) J4 (Θ axis) kg mm degree degree mm degree degree/s degree/s mm/s degree/s mm/s kgm2 mm mm degree °C kg MPa (bar) Specifications RH-3FH5515-D1-S15 RH-6FH5520-D1-S15 RH-12FH8535N-D1-S15 RH-20FH10035N-D1-S15 RH-3FH5515-Q1-S15 RH-6FH5520-Q1-S15 RH-12FH8535N-Q1-S15 RH-20FH10035N-Q1-S15 4 4 4 4 Standard Floor mounting Horizontal multiple-joint type AC servo Absolute encoder Axes J1, J2, J4: no brake; axis J3: with brake 1 3 3 5 3 6 12 20 550 550 850 1000 340 (±170) 290 (±145) 306 (±153) 150 200 350 350 720 (±360) 400 400 280 280 720 670 450 450 1100 2400 2800 2400 3000 2500 2400 1700 8300 8300 11350 13283 0.005 0.01 0.025 0.065 0.06 0.12 0.3 1.05 ±0.012 ±0.012 ±0.015 ±0.015 ±0.010 ±0.004 ±0.005 0–40 32 37 69 77 Input 8 points/output 8 points (total 20 scores) Primary: Ø 6x2, secondary: Ø 4x8 5 ±10 % for the pneumatic gripper IP20 IP54 (IP65 with additional bellow, optional cleanroom model available) CR750-D/CR750-Q + Q172DRCPU Art. no. 250377/ 250380 250383/ 250389 254377/ 254383 254388/ 254392 Dimensions and movement ranges Robot arms RH-FH RH-3FH Robots 1 A M4 F D E M4 G J B H C (Ø 8 prepared hole for positioning pins) 92 Rz25 2-䃥6 䃥90 䃥37.5 90 10 92 174 180 10 䃥16h7 60 Rz25 Z 30 10 30 Z 150 10 Z 10 Z 120 150 4-䃥9 䃥90 15 15 1 䃥1 Dimensions: mm Variable dimensions Robot series RH-3FH5515 A 125 B R350 C R142 D 210 E R253 F 220 G R174 H 342 J 150 RH-6FH 165 25 A 4 55 100 82 20 H 412 E 160(*1) 200(*2) 䃥90 60.5 Z Z Z 10 92 90 120 150 4-䃥9 60 Rz25 䃥90 174 150 Z 30 Z 10 24 8 䃥1 10 24 180 92 䃥25h7 2-䃥6 (Ø 8 prepared hole for positioning pins) 30 27.5 10 Z 10 10 Z 10 Z 15 䃥39.5 58 5° 14 174 X Rz25 K X F 164 136 10 J Y G 110 65 D 22 13.2 L 170° C 30 225 130 M (*3) 60 10 B (*3) 10 Dimensions: mm Variable dimensions Robot series RH-6FH5520 A 325 B R550 C R191 D 160 E R244 F 172 G R197 H 337 J 200 K 133 L 798 M 386 25 174 Z 30 24 10 Dimensions and movement ranges Z 150 hole 180 gh rou 8th 䃥1 10 24 RH-12FH/20FH 1 80 H C D E 140 F 0 80 B R8 Robots 170° 400 340 G st 75 120 A2 A1 200 240 RH-20F H RH-12F H 8 10 200 120 122 11 䃥25h7 24 Z 10 Z 10 10 10 Z Z Installation reference surface 䃥110 䃥110 10 122 11 䃥30h7 䃥25h7 4-䃥16 240 200 Z 8 Z 10 Z 44 10 52 Z 10 10 2-䃥6 prepared holes for positioning Installation reference surface 䃥30h7 29 18 21 䃥 24 28 䃥 Dimensions: mm 4N9 ( -0.030) 0 Variable dimensions Robot series RH-12FH/20FH85m RH-20FH100m 26 A1 525 525 A2 325 475 B R850 R1000 C R278 R238 D 153° 153° E — 240 F 1080/1180 1080/1180 G 350/340 350/340 H — R295 System overview F-D series system configuration <Robot arm options> Scope of delivery 1 Pulse encoder GOT <Equipment used for standard configuration> Robots Hand curl tube Vision system <Controller options> Hand output cable Encoder interface NC controller Hand input cable Ethernet External I/O cable Remote parallel I/O unit Controller Servo Solenoid valve set Machine cable Internal wiring and piping set for hand Additional axis interface External user wiring and piping box POWER On-board parallel I/O interface MODE Teaching pendant (option) QY42P QY42P RUN ERR USER QJ71LP21-25 BAT BOOT USB communication Robot Q25HCPU PULL External I/O cable PULL USB RS-232 Programmable controller CC-Link interface GOT <Software options> Network interface card (EtherNet/IP/ Profinet) USB cable MELFA Works Servo (MR-J3-BS/MR-J4-B) SSCNETIII RT Toolbox2 F-Q series system configuration (iQ Platform) <Robot arm options> Scope of delivery Ethernet Hand curl tube Vision system GOT Hand output cable <Standard devices> Encoder interface Insert Robot CPU M EL SEC Q6xP Q173DPX POWER Q01CPU RUN ERR Q172DRCPU Q41X SW CN1 PULL ▼ MITSUBISHI ▼ RS-232 CN2 PULL Cable for robot CPU-to-DU connection TU I/F Hand input cable DISPLAY I/F STOP RUN EMI iQ Platform compatible programmable controller NC controller Drive unit Solenoid valve set Internal wiring and piping set for hand Machine cable External user wiring and piping box Servo Controller Robot GOT Teaching pendant (option) Pulse encoder <Software options> USB cable USB communication MELFA Works RT Toolbox2 SSCNETIII Additional axis function Servo (MR-J3-BS/MR-J4-B) 27 Robot controller Controller specifications Powerful controller 1 Every robot system has its own compact, modular robot controller, which contains the CPU and the power electronics for controlling the robot. 2 Mitsubishi Electric’s robot controllers have a particularly slim, compact design. No matter which Mitsubishi robot you use the programming language and options are always the same. You can add special application functions by inserting expansion option cards in the slots in the controllers. Therefore it is possible, to integrate the controller into different types of networks. Controller CR1DA All controllers have already implemented functions like Ethernet and USB connection, additional axes control over SSCNETIII and tracking encoder interface as a standard. Controller CR750-D Drive unit CR750-Q The control unit CR750 also includes the input and output card for the connection of a pneumatic or electric gripper. Characteristics/Functions CR1DA dedicated I/Os CR750-D CR750-Q RV-2F/4F/4FL/7F/7FL/13F/13FL/20F RH-3FHR/RH-3FH/6FH/12FH/20FH — Q172DRCPU PTP control and CP control 6 robot axes + 2 interpolation axes + 6 independent axes MELFA-BASIC IV/V Teaching method, MDI method 39000 13000 78000 26000 512 256 up to 256 optinal up to 8192 shared with PLC CPU Assigned to generalAssigned to multiple CPU common device purpose I/O hand open/close 8 Inputs/8 Outputs 8 Inputs/0 Outputs emergency stop I/Os door switch input enabling device input mode output robot error output synchronization of additional axes Ethernet 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (10BASE-T/ 100BASE-TX) USB (USB port of programmable controller CPU unit 1 (Ver. 2.0 device functions only, mini B terminal) 1 (Ver. 2.0 device functions only, mini B terminal) 1can be used.) 0–40 0–40 (drive unit)/0–55 (Robot CPU) 0–40 45–85 RV-2F/4F, RH-3FH/6FH: 1-phase 180–253 V AC RP-1/3/5ADH, RH-3SDHR: 1-phase 180–253 V AC RV-7F, RH-12FH/20FH: 3-phase 180–253 V AC or 1-phase 207–253 V AC RV-2F, RH-3FH: 0.5; RV-4F, RH-6FH: 1.0; RH-12FH/20FH: 1.5; RV-7F: 2.0; RV-13F/20F: 3,0 1.0 430x174x425 430x174x425 270x290x200 16 16 9 Self-contained floor type/open structure (Vertical and horizontal position can be placed) (IP20) + IP54 protection box available as an option 100 or less (class D grounding) Shipped with robot Robot CPU Path control method Number of controllable axes Programming language Position teaching method Memory capacity External inputs/outputs no. of teaching points no. program steps no. of programs general purpose I/Os Ambient temperature Relative humidity Power supply °C % RH input voltage range V power capacity kVA Dimensions (WxHxD) including legs mm Weightkg Structure (protective specification) GroundingΩ 28 RP-1ADH/3ADH/5ADH — 13000 26000 256 up to 256 Assigned to generalpurpose I/O Robot controller Controller dimensions CR750-D/CR750-Q (40) (70.3) 1 370 430 Controller 260 (30) (30) (21.7) 85 425 158 174 (80) 2 CR1DA Dimensions: mm 29 Teaching box and handsets Teaching box for F series, SD/SQ series and ADH series robots Operation and programming 1 The R56TB teach panel is a multifunctional control and programming terminal for all Mitsubishi Electric F series, SD/SQ series and ADH series robots. Its intuitive user interface makes it easy to control robot movements and perform extensive diagnostics and monitoring functions for users of all levels. All safety-critical functions such as robot movements are assigned to keys. 2 3 Accessories R56TB Programming and monitoring functions are accessed and adjusted quickly and easily via the bright 6.5" touchscreen display. In addition to controlling robot movements the terminal has many other functions: For example, writing programs with a virtual on-screen keyboard and monitoring all system status parameters, inputs and outputs, including those accessed via the network. A complete backup of the robot can simply be loaded or stored on an USB stick via the R56TB. Specifications Compatibility Functions R32TB R56TB R32TB All Mitsubishi Electric F series, SD/SQ series and ADH series robots Operation, programming and monitoring of all robot functions Read out information, also during operation; program editing with virtual keyboard; display up Read out information, also during operation, to 14 lines of program code; I/O monitoring for up program editing with T9-Key standard, supervising Programming and monitoring to 256 inputs and 256 outputs; service display with of I/Os, display of error alarms, Right-/Left-Hand information on maintenance intervals; error display usage, 36 keys for operation selection with details of the last 128 alarms Software Integrated operating system software with menu-based user interface Menu navigation (language) German, English, French, Italian English, Japanese Monochrome LCD graphic display type/dimensions 6.5" TFT display (640x480 pixels) (24 characters x 8 lines Display technology Touchscreen with backlight LCD with backlight Interfaces USB, Ethernet for connection to the robot controller RS422 for connection to the robot controller Connection Direct connection to the robot controller, cable length 7m Protection rating IP65 IP65 Weight kg 1.25 0.9 Order information 30 Art. no. 218854 214968 Wiring Internal/external wiring Internal wiring/piping set for hand Specifications Robots Strokemm Length from the shaft end mm Attachment Remarks Weight Order information 1F-HS304S-01 RH-3FH — 300 4 air hoses (Ø3), 8 hand input cables (0.2 mm²) 2 power cables (0.3 mm²) Both ends are free. Eight reducers (Ø3 to Ø4) are attached. The robot arm side is connector (HC1, HC2), and one side is free. kg 0.4 Art. no. 250468 1 A bracket to fix the set on the arm 2 is included. The set can be used with an optional solenoid valve. 2 1F-HS408S-01 RH-6FH 200 300 4 air hoses (Ø4), 8 hand input cables (0.2 mm²) 2 power cables (0.3 mm²) 1F-HS604S-01 RH-12FH/20FH 350 400 4 air hoses (Ø6), 8 hand input cables (0.2 mm²) 2 power cables (0.3 mm²) Both ends are free. The robot arm side is connector (HC1, HC2), and one side is free. Both ends are free. The robot arm side is connector (HC1, HC2), and one side is free. 250469 254396 3 External wiring/piping box With this option hand output and input cables and pneumatic hoses can be routed from the back of arm 2 to the spindle end outside the robot casing. Connections for connecting the external hoses and brackets for attaching the cables and hoses are Specifications Robots Attachment Weight Order information Pulled out from robot arm Forearm Base included. The option can also be used for oil mist and clean room models. A bracket to fix the set on the arm 2 is included. The set can be used with an optional solenoid valve. 1F-UT-BOX 1F-UT-BOX-01 RH-3FH/6FH RH-12FH/20FH Eight air hoses (connect to solenoid valve) Installation screws (conical spring washer, plain washer) kg 0.5 Art. no. 251104 254398 Forearm external wiring set/Base external wiring set With these options the hand input signal cables and the communication cables etc. can be led out of the bottom of the forearm and from the side of the base. Use the recommended pairing in the table to led out the same cables on the arm side and at the base. Specifications Robots Part name Hand input signal cable 1F-HB01S-01 RV-4FLM/7FM/7FLM/7FLLM/13FM/13FLM/20FM Forearm external wiring set 8 1F-HA01S-01 Vision sensor camera cable 1 1 Editional cable 4 4 Recommended pairing V V Order information Art. no. 257936 Base external wiring set — 257935 31 Accessories This set consists of hand input cables and hoses that can be routed through the spindle until the end of the arm 2. Valve sets Solenoid valve sets Solenoid gripper control valve sets 1 This option is used to control the gripper tool installed on the robot arm. The valve set comes with all the components required for installation, including the branch manifold, couplings and dampers. 2 The valves are fitted with plug-in control cables for quick and easy wiring. The solenoid valve sets are for use with oilfree compressed air. Accessories 3 Specifications No. of valves Range of use (robot type) Valve function Operating method Effective sectional area (CV value) Operating preassure range Maximum preassure Response time Max. operating frequency Ambient temperature Coil rated voltage Order information 1A-VD0mE-RP 1 1 RP-1/3/5ADH Double solenoid Internal pilot method 2 2 3 3 1E-VD0mE 1 1 RV-2F(B) Double solenoid Internal pilot method 4 4 1.5 mm 1.5 mm 2–7 bar 10 bar <12 ms at 24 V DC 5 Hz -10–+50 °C 24 V DC ±10 % 2–7 bar 10 bar <12 ms at 24 V DC 5 Hz -10–+50 °C 24 V DC ±10 % Art. no. 129780 129781 129792 47397 No. of valves Range of use (see page ) Valve function 1F-VD0mE-01 1 2 1 2 RH-3FH, RH-6FH Double solenoid Operating method Internal pilot method Internal pilot method Internal pilot method Internal pilot method Internal pilot method Effective sectional area (CV value) Operating preassure range Maximum preassure Response time Max. operating frequency Ambient temperature Coil rated voltage 0.64 mm 0.64 mm 0.64 mm 0.64 mm 0.64 mm 1–7 bar 10 bar <22 ms at 5 bar 5 Hz -10–+50 °C 24 V DC ±10 % 1–7 bar 10 bar <22 ms at 5 bar 5 Hz -10–+50 °C 24 V DC ±10 % 1–7 bar 10 bar <22 ms at 5 bar 5 Hz -10–+50 °C 24 V DC ±10 % 1–7 bar 10 bar <22 ms at 5 bar 5 Hz -10–+50 °C 24 V DC ±10 % 1–7 bar 10 bar <22 ms at 5 bar 5 Hz -10–+50 °C 24 V DC ±10 % Order information 32 Art. no. 238375 3 3 4 4 3 3 4 4 1F-VD0mE-02 1 2 3 1 2 3 RV-4FL, RV-7F, RV-7FL Double solenoid 47398 1S-VD0mE-05 4 4 RH-3FHR Double solenoid Specifications 1S-VD0mE-01 1 2 1 2 RH-12/RH-20FH Double solenoid 129793 2 4 4 1F-VD0mE-03 1 2 1 2 RV-13F, RV-20F Double solenoid 3 3 4 4 250470 250471 250472 250473 153057 153058 153059 153062 255281 255282 255283 255284 268829 268830 268831 268832 Expansion option cards Interface boards for robot controllers CC-Link interface Specifications Application Type Range of use Communications cable Max. number of I/O points and data registers Refresh rate Communications distances Order information 1 The CC-Link interface is a high-speed bit (for I/Os) and word (for data registers) network card. 2D-TZ576 CC-Link interface Built-in board All MELFA robots except Q series Shielded 3-core twisted cable 126 I/Os/16 data register 7.2 ms 100 m at 10 Mbps, 150 m at 5 Mbps, 250 m at 2.5 Mbps, 600 m at 0.62 Mbps, 1500 m at 0.15 Mbps Art. no. 219063 I/O interface You can increase the number of I/Os to a maximum of 64 by adding 2D-TZ378 interface modules. 2A-RZ371 Specifications Application Type Range of use Rated load voltage Max. no. of usable I/O boxes Order information Profibus interface These interface cards make it possible to integrate the robot controller in a Profibus network. Specifications Application Type Range of use Communications cable Communications distances Max. no. of communications words No. of mountable interface cards Order information Profinet I/O interface These interface cards make it possible to integrate the robot controller in a Profinet I/O network. Specifications Application Range of use Communications cable Transmission speed Number of I/O Data Order information Pneumatic hand interface The 2A-RZ375 interface card is used to operate the robot’s pneumatic gripper. It controls the solenoid valve set (see page 32). Specifications Application Type Range of use Connections Order information By adding 2A-RZ371 slot-in cards you can increase the number of remote I/Os to 256 (depends on the controller model). 2A-RZ371 2D-TZ378 Interface for additional inputs/outputs Decentralized I/O box with 32 inputs and Slot-in card with 32 inputs and 32 outputs 32 outputs All MELFA robots except Q series Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per output 7 2 Art. no. 124658 218862 2D-TZ577 Profibus DP interface Built-in board All MELFA robots except Q series Twisted pair cable 1200 m at 9.6/19.2/93.75 Kbps, 1000 m at 187.5 Kbps, 400 m at 500 Kbps, 200 m at 1500 Kbps 122 1 Art. no. 218861 2D-TZ535-PN-SET Profinet I/O All MELFA robots except Q series Industrial Ethernet twisted pair cable 100 Mbit/s Max. 256 bytes send and max. 256 bytes receive Art. no. 269546 2A-RZ375 Interface for pneumatic hand (pneumatic valves) Built-in board All MELFA robots except F series Up to 4 pneumatic valves Art. no. 124657 33 2 3 Accessories The 2D-TZ576 interface makes it possible to integrate the CRm-D robot controller in a CC-Link network. Adaptor cables and connectors Gripper signal cables Connection cables 1 A variety of different cables are available for connecting the control and status monitoring signals of the gripper tools. When the pneumatic gripper is used you need to monitor the position of the gripper. 2 Accessories 3 You should thus always connect a gripper signal input cable when you use the pneumatic gripper. One end of the cable set is fitted with a plug for the gripper’s sensor signals. The other end is without connectors and can be wired as required for your system. Specifications Type 1A-GR200-RP Hand signal output cable 1E-GR35S 1F-GR35S-02 1F-GR60S-01 1S-GR35S-02 Range of use (robot type) RP-1/3/5ADH RV-2F(B) RH-3FH/RH-6FH/RH-12FH/ RH-20FH Single sided with connector Custom-made magnetic valve set 1050 RH-3FHR Single sided with connector Custom-made magnetic valve set 450 250467 166272 Design Single sided with connector Application Custom-made magnetic valve set Lengthmm 2000 Single sided with connector Custom-made magnetic valve set 350 RV-4FLM, RV-7FM/RV-7FLM/ 7FLLM,RV-13FM/13FLM,RV-20FM Single sided with connector Custom-made magnetic valve set 500 Order information 47391 255285 Specifications Type Art. no. 129778 1A-HC200-RP Hand signal input cable 1F-HC35C-01 1F-HC35C-02 1F-HC35S-02 RV-4FL, RV-7F, RV-7FLM/7FLL, RV-13F/13FL,RV-20F Design Single sided with connector Single sided with connector Single sided with connector Single sided with connector Monitoring of the gripper Monitoring of the gripper Monitoring of the gripper Monitoring of the gripper Application condition condition condition condition No. of cores 10 12 12 10 Lengthmm 2000 1650 1800 1000 Range of use (robot type) Order information RP-1/3/5ADH Art. no. 129779 RH-3FH, RH-6FH 250474 RH-12FH/RH-20FH 254395 255286 1S-HC00S-01 1S-HC30C-11 RH-3FHR RV-2FB Single sided with connector Monitoring of the gripper condition 6 1210 Single sided with connector Monitoring of the gripper condition 11 300 238376 257063 Connectors and valve signal cables The connection to your system Choose additional components to configure the optimal interface between the robot system and your application. The wide range of options makes it possible to configure the robot precisely for the individual requirements of your application. Specifications R-SMR-09V-B R-SMR-10V-N Type Gripper output connector Gripper output connector Range of use (robot type) RP-1/3/5ADH RP-1/3/5ADH Design Shipping contents Black, 9 pins Plug and contacts Order information 34 Art. no. 132112 The connectors listed in the following table can be used for making your own cables for the gripper input and output signals (see also the table above). S-series Hand INPUT Hand signal input connector All MELFA robots except RP-ADH and RV-F series 6 pins Plug and contacts RV-F connection set Connector set for input and LAN RH-FH connector set All MELFA RV-F robots All MELFA RH-F robots White, 10 pins Plug and contacts S-series Hand OUTPUT Hand signal output connector All MELFA robots except RP-ADH and RV-F series 8 pins Plug and contacts Complete set Plug and contacts Complete set Plug and contacts 132113 164814 164815 268039 273182 Hand connector set Tubes and extension cables Hand curl tube Replacement gripper hoses 1 These spiral hoses are for use with the pneumatic gripper. They are also suitable for use with clean room robots. 2 Order information 1E-ST0404C Spiral hose RV-2F(B), RV-4FL, RV-7F/7FL/7FLL For double pneumatic gripper 4xØ 4 Art. no. 47389 1E-ST0408C-300 1N-ST0608C-01 1S-ST0304S RH-3FH/6FH For quadruple pneumatic gripper 8xØ 4 RH-12FH/20FH, RV-13F/20F For quadruple pneumatic gripper 8xØ 6 RH-3FHR For double pneumatic gripper 4xØ 3 270236 269556 238377 3 Accessories Specifications Type Range of use (robot type) Application Dimensionsmm Extension cables for robots and controllers Extension cables for power and signal connections These power and signal extension cables make it possible to increase the distance between the controller and the robot arm. Versions are available for either flexible and fixed routing of the cables between the controller and the robot arm. Specifications Type Range of use (robot type) Minimum bending radius Max. movement speed Guidance of life count Protection rating No. of cores power cable No. of cores signal cable Length Order information 1S-05CBL-01 1S-10CBL-01 Extension cable for a fixed installation in a drag chain RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-3FHR, RH-6FH, RH-12FH, RH-20FH More than 100 mm 2000 mm/s — Oil-proof specification sheath 1 1 m 5 10 Art. no. 155827 Specifications Type Range of use (robot type) Minimum bending radius Cable bear isovolumetric ration Max. movement speed Guidance of life count Protection rating No. of cores power cable No. of cores signal cable Length Order information Art. no. 157582 1S-15CBL-01 15 155830 1S-05LCBL-01 1S-10LCBL-01 Extension cable for a flexible installation in a drag chain RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-3FHR, RH-6FH, RH-12FH, RH-20FH More than 100 mm ≤50 % 2000 mm/s 6 7.5x10 Oil-proof specification sheath 2/8 (10 total) 5/1/1 (7 total) m 5 10 157583 Use the flexible versions for installation of the cables in drag chains and similar configurations. You can also use these cables to extend the length of the standard cables supplied with the robot. 155665 1S-15LCBL-01 1A-05LCBL-1 RP-ADH serie 15 total 10 6/1 (total 7) 5 157594 167304 35 Expansion and calibration Connection cables for PCs and inputs/outputs Connection cables, connectors 1 The RV-CABm cable is for establishing an RS232C serial connection between the robot controller and a personal computer. fitted with a connector for the controller’s parallel I/O port. The other end is supplied without a connector so that you can connect the appropriate connectors for your equipment. The I/O connection cable is for connecting peripherals to the parallel I/O interface. One end of the cable is 2 3 Specifications Type Accessories Application Range of use Design Length Order information RV-CAB4 2A-CBL05 I/O connection cable Serial (RS232C) I/O cable for connection 2A-RZ371 PC–controller RP-ADH and SD series 9/25-pin plug m 3 Art. no. 55653 2A-CBL15 2D-CBL05 2D-CBL15 I/O cable for 2D-TZ378 All MELFA robots except Q series Plug on one side 5 15 5 15 47387 59947 218857 218858 Controller protection box (IP54) The controller protection box for the control unit CR750 prevents the penetration of oil mist or other influences from the operating environment. The front of the Specifications Type Application Dimensions (WxHxD) Order information housing is equipped with a mode switch and a connector for the teaching box. It also contains a display window for viewing the controller operation panel. CR750-MB Controller protection box Controller CR750 mm 525x275x725 Art. no. 251455 Buffer batteries Batteries The backup batteries are used to maintain the encoder and memory power supply. One battery supplies the control unit and up to five batteries are installed in the robot arm. Specifications A6BAT ER6BAT Q6BAT Battery-Set 36 RP-ADH serie Number 3 Number — Number 1 RH-FH serie — 3 1 RV-F serie — 3 1 Art. no. 4077 131168 130376 for RH-F series and RV-F series consits of 3pcs. ER6BAT and 1pcs. Q6BAT 271948 Configurations options Options overview for all robots Marking Teaching Box RV-7FM/ RV-13FM/ RV-7FLM RV-13FLM/ RV-7FLLM RV-20FM RH-3FH RH-6FH RH-12FH/ RH-20FH RH-3FHR RP1/3/5ADH Art. no. See Page V V V V V V 214968 30 V V V V V V 218854 30 V 129780 32 V 129781 32 V 129792 32 V 129793 32 47397 32 47398 32 V 250470 32 V 250471 32 V V 250472 32 V V 250473 32 V 255281 32 V 255282 32 V V 255283 32 V V 255284 32 V 268829 32 V 268830 32 RV-2F(B) RV-4FLM R32TB V V V Teaching Box R56TB V V V Single valve set 1A-VD01E-RP Double valve set 1A-VD02E-RP Triple valve set 1A-VD03E-RP Quadruple valve set 1A-VD04E-RP Single valve set 1E-VD01E V Double valve set 1E-VD02E V Single valve set 1F-VD01E-01 V Double valve set 1F-VD02E-01 V Triple valve set 1F-VD03E-01 Quadruple valve set 1F-VD04E-01 Single valve set 1F-VD01E-02 V Double valve set 1F-VD02E-02 V Triple valve set 1F-VD03E-02 Quadruple valve set 1F-VD04E-02 Single valve set 1F-VD01E-03 Double valve set 1F-VD02E-03 Quadruple valve set 1S-VD04E-01 CC-Link interface 1 2D-TZ576 V V V V V V V V Profibus interface 1 2D-TZ577 V V V V V V V Profinet interface 2D-TZ535-PN-SET V V V V V V V 2D-TZ378 V V V V V V V 2A-RZ371 V V V V V V V I/O interface 1 Pneumatic hand interface 153062 32 V 219063 33 V V 218861 33 V V 269546 33 V V 218862 33 V V 124658 33 V V 124657 33 V 129778 34 47391 34 V 2A-RZ375 1A-GR200-RP 1E-GR35S Hand signal output cable V 1F-GR35S-02 V V V 1F-GR60S-01 V V V 1S-GR35S-02 V 1A-HC200-RP V 1F-HC35C-01 Hand signal input cable V V 1F-HC35C-02 V 1F-HC35S-02 V V V 1S-HC00S-01 1S-HC30C-11 Gripper output connector V 34 250467 34 166272 34 129779 34 250474 34 254395 34 255286 34 238376 34 257063 34 V 132112 34 V V R-SMR-09V-B 255285 Gripper input connector R-SMR-10V-N 132113 34 Hand signal output connector S-series Hand OUTPUT V V V V V V V V 164814 34 Hand signal input connector S-series Hand INPUT V V V V V V V V 164815 34 V V V V 273182 34 Connector Sets RH-FH Hand connector set RV-4/7F connector set 1E-ST0404C Hand curl tube 1 268039 34 V V 47389 35 270236 35 238377 35 V V 1S-ST0304S 1F-HS304S-01 External wiring/piping box V 1E-ST0408C-300 1N-ST0608C-01 Internal wiring and piping set V V V V V V 269556 35 250468 31 1F-HS408S-01 V 250469 31 1F-HS408S-02 V 251454 31 1F-HS604S-01 V 254396 31 1F-HS604S-02 1F-UT-BOX 1F-UT-BOX-01 V 254397 251104 254398 31 31 31 V V V 1 2 3 4 System configuration Option 37 Configurations options Options overview for all robots 1 See Page V 257936 31 V V V V V V V V V V V V V V V V V V V V V V V 257935 155827 155830 155665 167304 157582 157583 31 35 35 35 35 35 35 V V V V V 157594 35 55653 47387 59947 218857 218858 251455 274317 36 36 36 36 36 36 30 Forearm external wiring set 1F-HB01S-01 V V Base external wiring set 1F-HA01S-01 1S-05CBL-01 1S-10CBL-01 1S-15CBL-01 1A-05LCBL-1 1S-05LCBL-01 1S-10LCBL-01 V V V V V V V V V V 1S-15LCBL-01 V Extension cable for fixed installation 3 Extension cable for flexible installation in a drag chain RH-3FH RH-6FH RH-12FH/ RH-20FH System configuration 1 except Q series 2 only for D series 38 RH-3FHR RP1/3/5ADH V PC connection cable 4 RV-CAB4 2A-CBL05 2A-CBL15 Connection cable for I/O interface 1 2D-CBL05 2D-CBL15 Controller protection box (IP54) CR750 -MB Wall mount R32TB wall mount RV-4FLM Art. no. Marking 2 RV-2F(B) RV-7FM/ RV-13FM/ RV-7FLM RV-13FLM/ RV-7FLLM RV-20FM Option V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V V MELFA-BASIC IV MELFA-BASIC IV/V programming Mitsubishi Electric robots are controlled with programs written in the powerful MELFA BASIC IV/V programming language. In addition to the familiar standard BASIC instructions and constructs like FOR … NEXT and GOTO, MELFA BASIC IV/V also has some extensions required for robots, including additional data types, instructions for movement and gripper control and I/O instructions. The familiarity of standard BASIC makes it easy for beginners Programming Programs are written using the RT Toolbox2 programming and project managing software or the CIROS programming software for industrial robots. You can find more information about the programming software on the following pages.. Robot programs are written with the MELFA BASIC IV/V instructions with the help of a PC and the teaching box. The positions are defined with the teaching box and the actual program is written on the PC. 1 2 3 4 Sample program 50 mm P_SAFE 50 mm R : Robot movement V v : Movement position to get started with robot programming. Despite its simplicity and short learning curve, MELFA BASIC IV/V is a powerful language that can be used to create very complex robot programs. P1 P2 Pick workpiece The sample program below is for a pickand-place operation. The input signal M_IN(8) tells the program that there is a workpiece in position P1. When a workpiece is present the input signal is set to 1 and the pick-and-place operation is performed. The workpiece is picked up from position P1 and deposited in position P2. If no workpiece is present the robot remains in the retracted position P_SAFE. Place workpiece M_IN(8) Pick-and-Place Program 10 MVS P_SAFE Move to safe position 20 IF M_IN(8) = 0 THEN 20 ELSE 30 Wait until input bit 8 is set 30 HOPEN 1 Open gripper 1 40 MVS P1, -50 Move longitudinally to a position 50 mm from P1 relative to the tool 50 MVS P1 Move to position P1 60 HCLOSE 1 Close gripper 1 70 DLY 0.2 Wait for 0.2 s to ensure proper closing of gripper 80 MVS P1, -50 Move longitudinally to a position 50 mm from P1 relative to the tool 90 MVS P2, -50 Move longitudinally to a position 50 mm from P2 relative to the tool 100 MVS P2 Move to position P2 110 HOPEN 1 Open gripper 1 and deposit workpiece 120 DLY 0.2 Wait for 0.2 s to ensure proper opening of gripper 130 MVS P2, -50 Move longitudinally to a position 50 mm from P2 relative to the tool 140 IF M_IN(8) = 1 THEN 40 ELSE 150 If another workpiece is present repeat the pick-and-place operation 150 MVS P_SAFE If no workpiece is present return to safe position and end program 160 ENDProgram end 39 5 Programming language Easy-to-Learn MELFA-BASIC IV/V Programming language Software RT Toolbox2 1 2 RT Toolbox2 is a 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. zzSupport for all processes, from programming and startup to maintenance zzCompatible with Windows® 2000, Windows® XP, Windows® Vista, Windows® 7 and Windows 8 (2.50C or later) zzEnhanced simulation functions zzAdvanced maintenance functions 3 4 Enhanced RT Toolbox2 visual ­functions Program editing and debugging functions zzSet parameters can be displayed visually to prevent setting errors. Creation of programs in MELFA-BASIC IV/V and the Movemaster languages.* 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. zzDisplay of teaching positions and trajectories of end points. zzHands can be created and then attached to the robot. zz3D polygonal models can be imported into the program. (Applicable 3D data file formats: STL, OBJ) 6 Display of trajectories * 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. Software 5 Display of selected position data Linked to iQ Works Simulation functions zzProgram management simplified Enables batch management of programs and data in blocks from the programmable controller to the servo, display device, and robot. Offline robot motion and tact time check for designated parts of a program. zzDevice model selection simplified All Mitsubishi Electric 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. MELSOFT Navigator 3D viewer Graphical representation of a work along with the dimensions, color and other specified details of the work area to be gripped. 40 Software Monitor functions Maintenance functions This is used to monitor program execution status and variables, input signals, etc.) These functions include maintenance forecast, position recovery support, parameter management, etc. 1 2 3 4 MELFA Works 5 A 3D robot simulator offers powerful support for system design and preliminary layout. zzOffline teaching in 3D CAD surrounding zzLoading of part data from peripheral created in Solidworks® devices and rearrangement zzSimulation of robot operations zzDisplay of the robot movement path in the application / the workspace zzInterference checks between the robot and peripheral devices zzSaving simulated movements to video files (AVI format) zzInstallation of hands by CAD files zzHandling of work pieces zzCreating operation data from 3D CAD source data zzCreation 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) Automatic robot program creation function 6 zzCalibration of point sequence data of CAD coordinates and robot coordinate data 1 2 A n add-in tool is a software program that adds certain functions to application software packages. SolidWorks® is a registered trademark of SolidWorks Corp, (USA). Example screens for MELFA Works The teaching position data and robot operation programs necessary for operating robots can be generated automatically by simple loading of 3D CAD data3 for the applicable works into SolidWorks® and then setting of processing conditions and areas using MELFA Works. 3 zzMeasurement of cycle times zzRobot program debugging functions zzJog function – teaching the robot zzInstallation of a travelling axis to verify the operation of the system equipped with this. MELFA Works SolidWorks® RT Toolbox2 (mini) Formats that can be loaded into SolidWorks® • • • • • • • 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 41 Software 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 the SolidWorks platform adds to and expands on the robot simulation functions. Index Index A O Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Options overview for all robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Overview robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Horizontal, multiple-joint type (RH/RP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Vertical, multiple-joint type (RV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Hand curl tube . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Interface boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 RV-2F(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 P Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39 S RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 RH-3FHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18 RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 B RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40, 41 MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41 Buffer batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 C Special Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Adaptation to operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Additional axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Collision avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Connection cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Connection to peripheral devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 Connector cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Coordinated control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 Extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 Full use of installation space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Gripper signal cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 GOT terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 Improved accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Improved tooling performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Improved user friendliness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7 iQ Platform . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 D Safety features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 Shortened takt times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 RH-3FHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 M Movement ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 RH-3FHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25 RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21 RV-2F(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19 42 Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 T Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 W Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Automation solutions A world of automation solutions Robots Motion control and servos Inverters LV circuit protection Laser machines CNC controllers HMI and GOTs EDM machines Micro PLCs Modular PLCs Mitsubishi Electric offers a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines. 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Stegne 11 SI-1000 Ljubljana Phone: +386 (0)1 / 513 8116 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] / https://eu3a.mitsubishielectric.com Art. no. 203684-H / 05.2014 / 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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