User manual | RV-F Series Industrial robots Compact and powerful for flexible automation and high reliability

Product Information
EBG 241-EN
RV-F Series
Industrial robots
Compact and powerful
for flexible automation and high reliability
Highly dynamic 6 axis robots for fastest Pick&Place cycles in their class (0.32 s for 12” cycle)
Increased load capacity and extended operating range thanks to compact body and slim arm
design
Outstanding IP67 protection for full integration possibilities (Food & Beverage, packaging)
Ethernet, USB, tracking, camera connection, hand I/Os and additional axis connection as standard
MELFA RV-F Series
Advanced technology
for flexible automation
The 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.
Performance combined
with accuracy
The RV-F series offers many features as
standard, which are usually available as
optional extras. Every model has connections for pneumatic grippers, Ethernet, USB,
tracking functions, camera interface, hand
I/O, additional axis controller and an interface for up to 8 additional axes.
The F series – designed for flexible automation
Setting new benchmark
standards
Vision sensor
Encoder
Conveyor
Processing capability
increased by 15 %
Tracking can be used with multiple conveyors at the
same time
With the RV-F series of the MELFA robots,
Mitsubishi Electric is setting new benchmark standards for speed, flexibility, ease
of integration and simplicity of programming. Combining a wide area of coverage
with the industry’s fastest cycle times, the
F series provides a cost-effective means to
boost productivity on critical production
lines. In addition, with the inclusion of an
entry-level model - the RV-2F - Mitsubishi
Electric is making it possible for many users
to reap the benefits of robotic lifting, positioning and assembling, perhaps for the first
time. The robots of the F series are suitable
for a wide range of industrial applications
and can be deployed in many industries.
Short cycle times
The robots of the RV-F series achieve the
highest speeds in their class thanks to the
high-perfomance Mitsubishi Electric servo
motors and unique driver control technology developed by Mitsubishi Electric. The
resulting reduced cycle time of only 0.32
seconds for a 12“ cycle makes for significantly increased productivity and improved
continuous operation. This enables high
torque output at high rational speed with
shortened acceleration/deceleration time.
Internal routing of cables and air hoses is
enabled through internal channels that
lead up to the end of the robot arm. This
increases the areas of the work envelope
and prevents interferences with cables.
Improved trajectory accuracy and optimal
motor control tuning is achieved by an
operation mode setting function which
matches all customer system requirements.
This is effective for standard operations and
tooling work requiring high accuracy.
The F series naturally fulfils the requirements of the latest safety standards ISO
10218-1 (2011) for robots. UL versions and
Korean safety certification are also available.
MELFA RV-F Series
Safety features
Two encoder interfaces enable the robot
to track two conveyors freely in space and
move with them in absolute synchronism.
This saves additional costs for positioning
units and, above all, time, as the robot is able
to fetch, position and machine workpieces
while the process is running.
Many safety features are added to protect
staff, hardware and programs.
The accuracy of the robot trajectory can
be maintained even when the machine is
shut down using an emergency stop. This
enables the risk of collisions with peripheral devices and other components to be
reduced or even completely avoided.
In addition, up to 8 additional axes can be
connected directly to the controller. Two of
these can be used as additional interpolating axes of the robot. 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.
Intuitive programming
and operation
The robots of the RV-F series allow simple
automatic operation from the teaching box
or direct control via a Mitsubishi GOT. This
enables the robot controller status to be
uploaded and operations to be controlled
directly. Monitoring screens can be set up
individually to match the needs of user
debugging conditions.
Attachment of a hand created in RT ToolBox2
Teach-Box R56TB
Controller
CR750-D
Versatile connection
possibilities
Controlling the robot
The RV-F series includes a number of user
interfaces straight from the factory. These
enable image processing systems to be
connected directly to the controller and
initiated via the standard programming
language. Simple parameter structures
even enable known systems to be set up in
advance with a single mouse click.
Movement range and dimensions
RV-4FLM/7FM/7FLM
RV-2FB
Motion space at
point P
°
Motion space at point P
F
C
P
F
B
F
-240
-240
Motion space at
point P
°
F
F
C
0°
2
-1
D
D
A
A
°
20
+1
P
°
X
I
X
Top view
+2
H
E
H
G
+240
°
40
G
P
I
B
P
RV-4F(M)(C)
View x
F
View x
Side view
E
Motion space at point P
Side view
Top view
All dimensions in mm
Dimensions for type
A
B
C
D
E
F
G
H
I
RV-2FB
623
270
70
799.6
94.6
504.6
139.5
160
160
RV-4FLM
764.9
335
85
998.7
140
648.7
140.4
200
200
RV-7FM
844.4
370
85
1113.4
168.4
713.4
197.4
245
245.7
RV-7FLM
939.4
470
85
1307.7
352.3
907.7
192.8
245.7
245.7
MELFA RV-F Series
Specifications
Robot
RV-2FB
RV-4FLM
Installation
RV-7FM
Position determination
Teaching, manual data input (MDI)
Max. reach radius
Maximum
speed
General-purpose I/O
Dedicated I/O
Absolute encoder
NO1mm
230 + 270
245 + 300
340 + 360
mm
504
649
713
908
300
420
360
288
J2-axisdeg/s
150
336
401
321
J3-axisdeg/s
300
250
450
360
J4-axisdeg/s
450
540
337
337
J5-axisdeg/s
450
623
450
450
J6-axisdeg/s
750
720
720
720
mm/s
4955
9048
11064
10977
s
0.6
0.36
0.32
0.35
Payloadkg
2
4
Cycle time (with 1 kg load)
Position repeatability
Operating temperature
Door closed contact
1 (redundant)
Enabling switch
1 (redundant)
Interfaces
USB
46
1 (Teaching Box)
1 (Teaching Box)
1 (spare)
10BASE-T/100BASE-TX
1 (USB port
for PLC CPU)
1 (Mini-B connector,
Ver. 2.0)
up to 8 (SSCNETIII)
Expansion slot
36
1 (redundant)
1 (Teaching Box)
Conveyor belt tracking encoder
Power
supply
48
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 pneumatic pipes
Ø4x4
Primary: Ø6x2, Secondary: Ø4x8,
Ø4x4 (from base portion to forearm)
Protection class
IP30
IP67 (oil mist), ISO class 3
Compatible robot controller *
1 (redundant)
Additional axis
Hand: 4 I/O
points Signal
cable for the
multi-function hand
Tool wiring
8 inputs
External emergency stop
Ethernet
0–40
19
User-defined
RS422
±0.02
°C
Weightkg
up to 256
Emergency stop additional axes
7
mm
up to 8192
Common I/O for multiple
CPU
Gripper status signal inputs
External
I/O
430 + 465
J1-axisdeg/s
Maximum composite speed CR750-D
6
AC servo motor
Position detection method
CR750-Q
MELFA-BASIC V
Vertical, mutiple-joint type
Drive system
Arm length
Robot controller
Programming language
Degrees of freedom
Design
RV-7FLM
Floor, wall, ceiling
Input voltage
Q173DPX (optional)
2
—
2
Single phase 180 V to 253 V AC a
0.5 – 2.0
Power consumption kVA b
Ambient temperature
°C
Dimensions (WxHxD) mm
0-40 (drive unit)/
0–55 (robot CPU)
0–40
430x425x174
Weightkg
approx. 16
Housing/protection class
Floor mounting/IP20
The supply voltage should not vary by more than 10 %.
Without switch-on current. The power consumption depends on the robot arm model.
1
2
CR750-F-D/Q
* Select the control unit suitable for your application.
European Branches
Representatives
Germany
Mitsubishi Electric Europe B.V.
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102 / 486-0
Czech Rep.
Mitsubishi Electric Europe B.V.-org.sl.
Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
GEVA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252 / 85 55 20
Koning & Hartman b.v.
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2 / 257 02 40
Austria
Belgium
UTECO
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211 / 1206 900
AXICONT AUTOMATIKA Kft.
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1 / 412-0882
Greece
Portugal
Fonseca S.A.
R. João Francisco do Casal 87/89
PT - 3801-997 Aveiro, Esgueira
Phone: +351 (0)234 / 303 900
PROCONT, spol. s r.o. Prešov
Kúpeľná 1/A
SK-080 01 Prešov
Phone: +421 (0)51 7580 611
Slovakia
Switzerland
Robotronic AG
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (052) / 267 02 00
I.C. SYSTEMS LTD.
23 Al-Saad-Al-Alee St.
EG - Sarayat, Maadi, Cairo
Phone: +20 (0) 2 / 235 98 548
Egypt
Hungary
Romania
SIRIUS T & S SRL
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
GTS
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı İSTANBUL
Phone: +90 (0)216 526 39 90
Turkey
ILAN & GAVISH Ltd.
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3 / 922 18 24
Israel
Beijer Electronics AB
Box 426
SE-20124 Malmö
Phone: +46 (0)40 / 35 86 00
Sweden
CSC Automation Ltd.
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44 / 494 33 55
Ukraine
Mitsubishi Electric Europe B.V.
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1 / 55 68 55 68
France
Bosnia and Herzeg.
INEA RBT d.o.o.
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33 / 921 164
ALFATRADE Ltd.
99, Paola Hill
Malta-Paola PLA 1702
Phone: +356 (0)21 / 697 816
Malta
INEA RBT d.o.o.
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26 / 615 401
Serbia
Mitsubishi Electric Europe B.V.
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039 / 60 53 1
Italy
Bulgaria
AKHNATON
4, Andrei Ljapchev Blvd., PO Box 21
BG-1756 Sofia
Phone: +359 (0)2 / 817 6000
Netherlands
HIFLEX AUTOM. B.V.
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
SIMAP s.r.o.
Jána Derku 1671
SK-911 01 Trenčín
Phone: +421 (0)32 743 04 72
Slovakia
Mitsubishi Electric Europe B.V.
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12 / 630 47 00
Poland
Czech Republic
AutoCont C.S. s.r.o.
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
Netherlands
Koning & Hartman b.v.
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20 / 587 76 00
Mitsubishi Electric Europe B.V.
52, bld. 3 Kosmodamianskaya nab 8 floor
RU-115054 Moscow
Phone: +7 495 721-2070
Russia
Beijer Electronics A/S
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Mitsubishi Electric Europe B.V.
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
Spain
Beijer Electronics OY
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207 / 463 540
Version check
Mitsubishi Electric Europe B.V.
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707 / 27 61 00
Denmark
Beijer Electronics AS
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32 / 24 30 00
Norway
Finland
UK
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].com / www.mitsubishi-automation.com
Art. no. 260575-A / 02.2013 / Specifications subject to change / All trademarks and copyrights acknowledged.
CBI Ltd.
Private Bag 2016
ZA-1600 Isando
Phone: 27 (0)11 / 977 0770
South Africa

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