MELFA Family Industrial Robots General overview ENG

MELFA Family Industrial Robots General overview ENG
Global Partner. Local Friend.
MELFA
Industrial Robots
Consistent Quality –
Precise Control
EUROPEAN BRANCHES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
GERMANY
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102/486-0
MITSUBISHIELECTRICEUROPEB.V. CZECH REPUBLIC
Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1/55 68 55 68
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039/60 53 1
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12/630 47 00
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
MITSUBISHI ELECTRIC EUROPE B.V.
UK
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707/27 61 00
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252/85 55 20
Koning & Hartman b.v. BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2/257 02 40
INEA BH d.o.o. BOSNIA AND HERZEG.
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33/921 164
AKHNATON
BULGARIA
4 Andrej Ljapchev Blvd. Pb 21
BG-1756 Sofia
Phone: +359 (0)2/817 6004
AutoCont C.S. s.r.o. CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
B:ELECTRIC, s.r.o. CZECH REPUBLIC
Mladoboleslavská 812
CZ-197 00 Praha 19 - Kbely
Phone: +420 286 850 848
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Beijer Electronics OY
FINLAND
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207/463 540
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211/1206 900
AXICONT AUTOMATIKA KFT. HUNGARY
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1/412-0882
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta-Paola PLA 1702
Phone: +356 (0)21/697 816
HIFLEXAUTOM.B.V. NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Koning&Hartmanb.v. NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20/587 76 00
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32/24 30 00
SIRIUS T & S SRL
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21/430 40 06
INEA SR d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26/617 163
CS MTrade Slovensko, s.r.o SLOVAKIA
Vajanskeho 58
SK-92101 Piestany
Phone: +421 (0)33/7742 760
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1/513 8100
Beijer Electronics AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40/35 86 00
Robotronic AG
SWITZERLAND
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (0 52) 26 70 200
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı İSTANBUL
Phone: +90 (0)216 526 39 90
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44/494 33 55
ILAN & GAVISH Ltd.
ISRAEL
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3/922 18 24
CBI Ltd.
SOUTH AFRICA
Private Bag 2016
ZA-1600 Isando
Phone: 27 (0)11/977 0770
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-D /// 10.2010
All trademarks and copyrights acknowledged.
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
MELFA Industrial Robots
A world of
automation solutions
Robots from € 1.65/hr
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi
robots have a surprisingly low total cost of ownership
at around 1.65/h per hour for both purchasing and
operation.
The robots have hollow shaft
motors and transmissions for
maximum rigidity.
Robots
Motion control and servos
Inverters
LV circuit protection
Laser machines
The high-precision Harmonic
Drive transmission helps to
provide exceptional
repeatability performance.
More than
30,000 applications
CNC
controllers
Modern automation technology from Mitsubishi Electric is helping to power technological progress and
business success all over the world. Since 1978,
Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diversity of fields.
HMI and GOTs
EDM machines
Micro PLCs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
A name to trust
Since its beginnings in 1870, some 45 companies use the Mitsubishi name, covering
a spectrum of finance, commerce and
industry.
Suitable for high-precision component placement with repeatability performance of ±0.005 mm
and a cycle period of just 0.28 s.
The Mitsubishi brand name is recognized
around the world as a symbol of premium
quality.
Intelligent design
The high performance of Mitsubishi’s robots is the
result of market-leading technology combined with
intelligent, carefully-planned design. For example,
locating pneumatic and wiring extensions directly in
the robot body reduces wiring complexity and costs.
2
The World’s first twin-arm SCARA
robot with parallel structure for
maximum precision.
Mitsubishi Electric Corporation is active in
space development, transportation, semiconductors, energy systems, communications and information processing, audio
visual equipment, home electronics, building and energy management and automation systems, and has 237 factories and
laboratories worldwide in over 121 countries.
This is why you can rely on a Mitsubishi
automation solution – because we know
first hand about the need for reliable, efficient, easy-to-use automation and control
in our own factories.
As one of the world’s leading companies
with a global turnover of over 4 trillion
Yen (over $40 billion), employing over
100,000 people, Mitsubishi Electric has the
resource and the commitment to deliver
the ultimate in service and support as well
as the best products.
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA
MELFA Industrial Robots
Robots from € 1.65/hr
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi
robots have a surprisingly low total cost of ownership
at around € 1.65/h per hour for both purchasing and
operation.
The robots have hollow shaft
motors and transmissions for
maximum rigidity.
All the gripper hands of the articulated-arm robots conform to the
ISO 9409-1 standard.
Internally-routed cables and
hoses prevent snagging on
peripheral equipment.
Simple programming
The high-precision Harmonic
Drive transmission helps to
provide exceptional
repeatability performance.
The sensorless crash detection
feature reliably detects and
prevents unexpected
collisions.
Seite Aus Umschlag
A powerful range of robots needs an equally powerful
and user-friendly programming interface. Mitsubishi’s
RT ToolBox2 and MELFA WORKS packages are powerful programming and simulation software tools tailored precisely for the needs of your robots.
More than
30,000 applications
Modern automation technology from Mitsubishi Electric is helping to power technological progress and
business success all over the world. Since 1978,
Compact and economical
A small installation footprint and outstanding reliability
are all key factors for many applications.
Suitable for high-precision component placement with repeatability performance of ±0.005 mm
and a cycle period of just 0.28 s.
Soft compliance control mode
improves the quality of assembly and joining processes.
Intelligent design
The high performance of Mitsubishi’s robots is the
result of market-leading technology combined with
intelligent, carefully-planned design. For example,
locating pneumatic and wiring extensions directly in
the robot body reduces wiring complexity and costs.
2
The World’s first twin-arm SCARA
robot with parallel structure for
maximum precision.
Network capabilities
A very compact design takes up
minimum space for applications in cramped quarters.
Network connections like Ethernet and CC-Link make
it easy to integrate Mitsubishi robot controllers in to
larger systems, providing users with access to every
step of the process.
3
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
A Complete Range
The Powerful Compact Class
Trouble-free
handling
Up to two pneumatic grippers can be
installed for handling workpieces. Pneumatic hoses are pre-installed in the robot
arm to facilitate connection of the grippers.
REACH
If you need to enlarge the robot workspace,
whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
Controller support for the grippers or up to
a total of 8 axes is included in the standard
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
Max. payload (nom.):
3 kg
Gripper flange reach:
SCARA-Roboter
PAYLOAD
Small, compact and
powerful
For high-precision positioning tasks
Mitsubishi offers the RP-AH and RH-SDH
ranges of SCARA robots with cycle periods
of less than 1s and positioning accuracy as
precise as 5 μm.
The compact dimensions and corresponding reach of around 500 mm make this
6-DOF robot the ideal choice for a multitude of applications where only a really
small, compact unit can be installed
directly on or even in the system it is servicing. The RV-2SDB robots are particularly
good at handling, placing and removing
small parts. Other applications include
quality control and handling samples in
medical and other laboratories.
The right solution for
every application
Powerful robots for different applications.
The MELFA robots are designed from the
ground up to cater to the needs of virtually
all industrial applications, providing the
flexibility you need to reconfigure your
production facilities fast.
Comprehensive
range
MELFA robots have models which have
capabilities such as:
The MELFA range of robots includes a great
diversity of types, models and versions. The
articulated-arm RV-A and RV-SD lines
include everything from high-performance
compact models with 1kg payloads to powerful models that can handle up to 12 kg.
574 mm
Repeatability:
Handling critical liquids in a laboratory application
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
Max. speed:
4,400 mm/s
Controller:
CR1D
The movement axes of the RV-2SDB robot
쐽 SCARA or articulated-arm construction
쐽 4 to 6 degrees of freedom (axes)
쐽 Handling payloads from 1 kg to 12 kg
쐽 Working reaches from 150 mm to
1,385 mm
4
5
The RV-2SDB at work in typically cramped quarters
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
A Complete Range
The Powerful Compact Class
Trouble-free
handling
Up to two pneumatic grippers can be
installed for handling workpieces. Pneumatic hoses are pre-installed in the robot
arm to facilitate connection of the grippers.
REACH
If you need to enlarge the robot workspace,
whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
Controller support for the grippers or up to
a total of 8 axes is included in the standard
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
Max. payload (nom.):
3 kg
Gripper flange reach:
SCARA-Roboter
PAYLOAD
Small, compact and
powerful
For high-precision positioning tasks
Mitsubishi offers the RP-AH and RH-SDH
ranges of SCARA robots with cycle periods
of less than 1s and positioning accuracy as
precise as 5 μm.
The compact dimensions and corresponding reach of around 500 mm make this
6-DOF robot the ideal choice for a multitude of applications where only a really
small, compact unit can be installed
directly on or even in the system it is servicing. The RV-2SDB robots are particularly
good at handling, placing and removing
small parts. Other applications include
quality control and handling samples in
medical and other laboratories.
The right solution for
every application
Powerful robots for different applications.
The MELFA robots are designed from the
ground up to cater to the needs of virtually
all industrial applications, providing the
flexibility you need to reconfigure your
production facilities fast.
Comprehensive
range
MELFA robots have models which have
capabilities such as:
The MELFA range of robots includes a great
diversity of types, models and versions. The
articulated-arm RV-A and RV-SD lines
include everything from high-performance
compact models with 1kg payloads to powerful models that can handle up to 12 kg.
574 mm
Repeatability:
Handling critical liquids in a laboratory application
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
Max. speed:
4,400 mm/s
Controller:
CR1D
The movement axes of the RV-2SDB robot
쐽 SCARA or articulated-arm construction
쐽 4 to 6 degrees of freedom (axes)
쐽 Handling payloads from 1 kg to 12 kg
쐽 Working reaches from 150 mm to
1,385 mm
4
5
The RV-2SDB at work in typically cramped quarters
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
Fast and Economical
More Power and Reach
Multi-functional
controllers
The RV-3SD can also control up to 8 additional axes for easy integration in to work
cells where movement is restricted or
where the processing points are far apart.
Additionally two of these axes can be interpolated, providing greater flexibility to program the robots movement to avoid
obstacles. The other six axes can be used
for other purposes – for example to install
the robot on a linear axis so that it can traverse between two processing points.
The RV-SD robots are controlled by the
CR2D controller with multitasking support.
The ability to connect to any image processing system, options for controlling up
to 8 additional axes and high-speed
Ethernet connections are just a few of the
impressive highlights of these powerful
robot controllers. Other features include
conveyor belt tracking, sensorless crash
detection and many other functions for
optimising cycle times.
High protection
rating
Ideal for operation in tough environments like metal-cutting tools
Easy
integration
The RV-3SD series robots are designed for
easy integration in existing work cells. For
example, 32 integrated inputs and outputs
permit direct interaction with sensors and
actuators, reducing cycle periods and making system configuration simpler and easier.
The movement axes of the RV-3SDB
Good communication with other automation components is naturally essential for
full work cell integration. The RV-3SD series
supports connection via the three main
industry standard networks: Ethernet,
Profibus/DP and CC-Link.
The RV-3SD gives users more flexibility for
planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
not just next to the machine or workstation
but actually within the machine itself. This
is particularly useful in metal-cutting applications where the robot may be exposed to
fluids and cutting oils.
RV-6SD/-6SDL/
-12SD/-12SDL
Facts and Figures
Heavy payloads of up to 12 kg can be handled with ease
Degrees of freedom (axes):
6
RV-3SDB/-3SDJB
Facts and Figures
Degrees of freedom (axes):
RV-3SDB
6
RV-3SDJB
5
Max. payload:
RV-3SDB
3.5 (3) kg
RV-3SDJB
3.5 (3) kg
Gripper flange reach:
RV-3SDB
727 mm
RV-3SDJB
726 mm
Repeatability:
RV-3SDB
±0.02 mm
RV-3SDBJ
±0.02 mm
Max. speed:
RV-3SDB
5,500 mm/s
RV-3SDJB
5,300 mm/s
Controller:
RV-3SDB
CR1D
RV-3SDJB
CR1D
An RV-SD robot in action
The movement axes of the RV-12SDL
Engineered for
performance
The payload handling capacity of up to
12kg, maximum working radius of
1,385mm and high precision (repeatability
±0.05mm) of the RV-SD series make these
robots ideal for handling workpieces in
industrial
manufacturing
and
for
daisy-chaining production installations.
Equipped with the latest technology that
drastically reduces cycle periods: These
new robots can complete the "12 inch test"
in less than a second!
Max. payload (nom.):
RV-6SD/-6SDL
6 (5) kg
RV-12SD/12SDL 12 (10) kg
Gripper flange reach:
RV-6SD
781 mm
RV-6SDL
987 mm
RV-12SD
1,183 mm
RV-12SDL
1,482 mm
Repeatability:
RV-6SD/-6SDL
±0.02 mm
RV-12SD/12SDL ±0.05 mm
Max. speed:
RV-6SD
9,300 mm/s
RV-6SDL
8,500 mm/s
RV-12SD
9,600 mm/s
RV-12SDL
9,500 mm/s
Controller:
RV-6SD/-6SDL
CR2D
RV-12SD/-12SDL CR2D
The RV-3SDB at work in an EDM machine
6
7
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
Fast and Economical
More Power and Reach
Multi-functional
controllers
The RV-3SD can also control up to 8 additional axes for easy integration in to work
cells where movement is restricted or
where the processing points are far apart.
Additionally two of these axes can be interpolated, providing greater flexibility to program the robots movement to avoid
obstacles. The other six axes can be used
for other purposes – for example to install
the robot on a linear axis so that it can traverse between two processing points.
The RV-SD robots are controlled by the
CR2D controller with multitasking support.
The ability to connect to any image processing system, options for controlling up
to 8 additional axes and high-speed
Ethernet connections are just a few of the
impressive highlights of these powerful
robot controllers. Other features include
conveyor belt tracking, sensorless crash
detection and many other functions for
optimising cycle times.
High protection
rating
Ideal for operation in tough environments like metal-cutting tools
Easy
integration
The RV-3SD series robots are designed for
easy integration in existing work cells. For
example, 32 integrated inputs and outputs
permit direct interaction with sensors and
actuators, reducing cycle periods and making system configuration simpler and easier.
The movement axes of the RV-3SDB
Good communication with other automation components is naturally essential for
full work cell integration. The RV-3SD series
supports connection via the three main
industry standard networks: Ethernet,
Profibus/DP and CC-Link.
The RV-3SD gives users more flexibility for
planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
not just next to the machine or workstation
but actually within the machine itself. This
is particularly useful in metal-cutting applications where the robot may be exposed to
fluids and cutting oils.
RV-6SD/-6SDL/
-12SD/-12SDL
Facts and Figures
Heavy payloads of up to 12 kg can be handled with ease
Degrees of freedom (axes):
6
RV-3SDB/-3SDJB
Facts and Figures
Degrees of freedom (axes):
RV-3SDB
6
RV-3SDJB
5
Max. payload:
RV-3SDB
3.5 (3) kg
RV-3SDJB
3.5 (3) kg
Gripper flange reach:
RV-3SDB
727 mm
RV-3SDJB
726 mm
Repeatability:
RV-3SDB
±0.02 mm
RV-3SDBJ
±0.02 mm
Max. speed:
RV-3SDB
5,500 mm/s
RV-3SDJB
5,300 mm/s
Controller:
RV-3SDB
CR1D
RV-3SDJB
CR1D
An RV-SD robot in action
The movement axes of the RV-12SDL
Engineered for
performance
The payload handling capacity of up to
12kg, maximum working radius of
1,385mm and high precision (repeatability
±0.05mm) of the RV-SD series make these
robots ideal for handling workpieces in
industrial
manufacturing
and
for
daisy-chaining production installations.
Equipped with the latest technology that
drastically reduces cycle periods: These
new robots can complete the "12 inch test"
in less than a second!
Max. payload (nom.):
RV-6SD/-6SDL
6 (5) kg
RV-12SD/12SDL 12 (10) kg
Gripper flange reach:
RV-6SD
781 mm
RV-6SDL
987 mm
RV-12SD
1,183 mm
RV-12SDL
1,482 mm
Repeatability:
RV-6SD/-6SDL
±0.02 mm
RV-12SD/12SDL ±0.05 mm
Max. speed:
RV-6SD
9,300 mm/s
RV-6SDL
8,500 mm/s
RV-12SD
9,600 mm/s
RV-12SDL
9,500 mm/s
Controller:
RV-6SD/-6SDL
CR2D
RV-12SD/-12SDL CR2D
The RV-3SDB at work in an EDM machine
6
7
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
Intelligent Design
Superfast, Superprecise
For applications requiring larger payloads
or reaches users can select the RP-3AH and
RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
453 mm, respectively.
Intelligent
self-monitoring
The sensorless crash detection system
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals during teaching operations. When the function is activated any contact immediately
stops the robot motion automatically.
Boosting efficiency
in production
The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
placement and soldering of SMD components on to circuit boards for many of
today’s electronic consumer good, such as
mobile phones. These robots are much
more versatile than traditional inflexible
automated assembly machines, providing
a significant boost to production efficiency.
Optimised design
The solenoid valves for controlling the gripper hands are installed on the back of arm
2. This optimised design minimises tangling
and catching of the gripper supply lines
and the surrounding components.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
The powerful SCARA robots of the RH-SDH
series are a great choice for palletising and
assembly tasks.
The robots are fitted with newly-developed
servo motors and step-down transmissions
that enable operation at high speeds with
optimum acceleration and braking performance. For example, the RH-12SDH achieves
speeds that are 18 % faster than comparable
robots, giving users an easy, flexible, high
speed solution.
The movement axes of an RH-SDH robot
An RH-6SDH in a palletising application
Fast "pick & place" applications – are a major application area for Mitsubishi robots
RH-6SDH/-12SDH/
-20SDH
Facts and Figures
Degrees of freedom (axes):
4
Max. payload (nom.):
RH-6SDH
6 (2) kg
RH-12SDH
12 (4) kg
RH-20SDH
20 (5) kg
Gripper flange reach:
RH-6SDH
550 mm
RH-20SDH
850/1000 mm
Repeatability:
RH-6SDH
±0.02 mm
RH-12SDH/-20SDH ±0.025 mm
Max. speed:
RH-6SDH
7,782 mm/s
RH-12SDH/-20SDH 11,221 mm/s
Controller:
CR2D
RP-1AH/-3AH/-5AH
Facts and Figures
Degrees of freedom (axes):
4
Precise operation in restricted space
Precision in cramped
quarters
The movement axes of the RP-AH series
Max. payload:
RP-1AH
RP-3AH
RP-5AH
Repeatability:
RP-1AH
RP-3AH
RP-5AH
Max. speed:
RP-1AH
RP-3AH
RP-5AH
Controller:
CR1
1 kg
3 kg
5 kg
±0.005 mm
±0.008 mm
±0.01 mm
800 mm/s
960 mm/s
960 mm/s
The RP-1AH is in its element in all applications where components need to be handled quickly and with precision. With an
installation footprint of just 200 x 160 mm it
has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.
This makes it one of the ultimate "pick &
place" solutions available.
8
9
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
Intelligent Design
Superfast, Superprecise
For applications requiring larger payloads
or reaches users can select the RP-3AH and
RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
453 mm, respectively.
Intelligent
self-monitoring
The sensorless crash detection system
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals during teaching operations. When the function is activated any contact immediately
stops the robot motion automatically.
Boosting efficiency
in production
The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
placement and soldering of SMD components on to circuit boards for many of
today’s electronic consumer good, such as
mobile phones. These robots are much
more versatile than traditional inflexible
automated assembly machines, providing
a significant boost to production efficiency.
Optimised design
The solenoid valves for controlling the gripper hands are installed on the back of arm
2. This optimised design minimises tangling
and catching of the gripper supply lines
and the surrounding components.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
The powerful SCARA robots of the RH-SDH
series are a great choice for palletising and
assembly tasks.
The robots are fitted with newly-developed
servo motors and step-down transmissions
that enable operation at high speeds with
optimum acceleration and braking performance. For example, the RH-12SDH achieves
speeds that are 18 % faster than comparable
robots, giving users an easy, flexible, high
speed solution.
The movement axes of an RH-SDH robot
An RH-6SDH in a palletising application
Fast "pick & place" applications – are a major application area for Mitsubishi robots
RH-6SDH/-12SDH/
-20SDH
Facts and Figures
Degrees of freedom (axes):
4
Max. payload (nom.):
RH-6SDH
6 (2) kg
RH-12SDH
12 (4) kg
RH-20SDH
20 (5) kg
Gripper flange reach:
RH-6SDH
550 mm
RH-20SDH
850/1000 mm
Repeatability:
RH-6SDH
±0.02 mm
RH-12SDH/-20SDH ±0.025 mm
Max. speed:
RH-6SDH
7,782 mm/s
RH-12SDH/-20SDH 11,221 mm/s
Controller:
CR2D
RP-1AH/-3AH/-5AH
Facts and Figures
Degrees of freedom (axes):
4
Precise operation in restricted space
Precision in cramped
quarters
The movement axes of the RP-AH series
Max. payload:
RP-1AH
RP-3AH
RP-5AH
Repeatability:
RP-1AH
RP-3AH
RP-5AH
Max. speed:
RP-1AH
RP-3AH
RP-5AH
Controller:
CR1
1 kg
3 kg
5 kg
±0.005 mm
±0.008 mm
±0.01 mm
800 mm/s
960 mm/s
960 mm/s
The RP-1AH is in its element in all applications where components need to be handled quickly and with precision. With an
installation footprint of just 200 x 160 mm it
has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.
This makes it one of the ultimate "pick &
place" solutions available.
8
9
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
Programming made Easy
Fast and Easy Simulation
Using Mitsubishi
robots is easy
RT ToolBox2 also provides tools for program archiving and for backing up the
robot’s parameters and settings.
Programming a Mitsubishi robot arm is a
lot easier than most people imagine. The
programming language of the teach pendent is a simple sentence like structure with
commands such a MOV being used to program the robot to move.
Many functions –
for your benefit
MELFA WORKS is a 3D robot simulation
software package. It can simulate entire
work cells, i.e. both the robot itself and its
interaction with its environment.
MELFA WORKS is an add-on for SolidWorks
and is able to use all the advanced functions
of this modern 3D CAD package. You can
select grippers, sensors and other components from a large range of libraries and
integrate them directly in MELFA WORKS.
In addition to this the advanced RT
ToolBox2 und MELFA WORKS software
packages provide enhanced programming
and simulation capabilities, making it possible to design and simulate your robot
applications before you actually purchase
the hardware.
쐽 Online "teach-in" function for robot
positions
Parameter lists
쐽 Position display on a 3-D representation of the robot
쐽 Syntax checking
Monitoring and
visualisation
While the programs are being executed
you can monitor and visualise the robots
movement with the help of RT ToolBox2
comprehensive control and diagnostics
functions. The real-time axis speeds and
motor currents are clearly displayed,
together with the statuses of all the inputs
and outputs of the robot. Live monitoring
fully supports all the programs executed by
the controller enabling you to track down
program errors quickly and reliably.
쐽 I/O monitor
쐽 Variable monitor
쐽 Online command execution
쐽 Error diagnostics
쐽 Position editor
쐽 Project management
Powerful tools
This set of powerful software tools helps
you throughout the planning, programming and test phases of your project.
"Reachability" checks in the early planning
stages help you to select the most suitable
robot systems for the task. You can move
the robots and other work cell components
around in the simulation at will, making it
easy to optimise the layout of your system.
MELFA WORKS industrial simulation software
Authentic simulation
environment
Easy programming on the spot
RT ToolBox2 –
from professionals
for experts
Saving costs
A powerful robot programming language
needs an equally powerful programming
environment.
RT ToolBox2 is the programming environment for all Mitsubishi Electric robots. It
enables you to create programs in minutes
using the MELFA BASIC V or MELFA BASIC IV
robot languages. After testing and optimisation it then just takes a couple of mouse
clicks to transfer them to the actual robots,
using an efficient direct link between the
PC and the robot via a network, USB or a
serial connection.
10
when you need support, for example, with
the formulation of the necessary programming syntax. After creating your robot programs you can test them directly in the
simulation environment, eliminating the
need to remove the actual work cell from
the production process for testing.
The Model Explorer simplifies object management
Groups of windows for parameter entry
RT ToolBox2 uses the native robot languages (MELFA BASIC V or MELFA BASIC IV)
to program the robots within the simulation environment. This means that no additional conversion or processing steps are
required when you transfer the resulting
programs to real robots. In addition, this
enables you to use familiar robot programming languages and all your existing
know-how and skills when you are working
with the simulation. The comprehensive
online help system is always available
The RT ToolBox2 and MELFA WORKS packages are powerful tools for achieving maximum efficiency and cost-effectiveness in
the configuration and operation of
robot-supported automation solutions.
They allow you to plan and operate your
systems with a very high degree of confidence, even before any hardware is purchased.
Program execution monitoring in the simulation
11
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
Programming made Easy
Fast and Easy Simulation
Using Mitsubishi
robots is easy
RT ToolBox2 also provides tools for program archiving and for backing up the
robot’s parameters and settings.
Programming a Mitsubishi robot arm is a
lot easier than most people imagine. The
programming language of the teach pendent is a simple sentence like structure with
commands such a MOV being used to program the robot to move.
Many functions –
for your benefit
MELFA WORKS is a 3D robot simulation
software package. It can simulate entire
work cells, i.e. both the robot itself and its
interaction with its environment.
MELFA WORKS is an add-on for SolidWorks
and is able to use all the advanced functions
of this modern 3D CAD package. You can
select grippers, sensors and other components from a large range of libraries and
integrate them directly in MELFA WORKS.
In addition to this the advanced RT
ToolBox2 und MELFA WORKS software
packages provide enhanced programming
and simulation capabilities, making it possible to design and simulate your robot
applications before you actually purchase
the hardware.
쐽 Online "teach-in" function for robot
positions
Parameter lists
쐽 Position display on a 3-D representation of the robot
쐽 Syntax checking
Monitoring and
visualisation
While the programs are being executed
you can monitor and visualise the robots
movement with the help of RT ToolBox2
comprehensive control and diagnostics
functions. The real-time axis speeds and
motor currents are clearly displayed,
together with the statuses of all the inputs
and outputs of the robot. Live monitoring
fully supports all the programs executed by
the controller enabling you to track down
program errors quickly and reliably.
쐽 I/O monitor
쐽 Variable monitor
쐽 Online command execution
쐽 Error diagnostics
쐽 Position editor
쐽 Project management
Powerful tools
This set of powerful software tools helps
you throughout the planning, programming and test phases of your project.
"Reachability" checks in the early planning
stages help you to select the most suitable
robot systems for the task. You can move
the robots and other work cell components
around in the simulation at will, making it
easy to optimise the layout of your system.
MELFA WORKS industrial simulation software
Authentic simulation
environment
Easy programming on the spot
RT ToolBox2 –
from professionals
for experts
Saving costs
A powerful robot programming language
needs an equally powerful programming
environment.
RT ToolBox2 is the programming environment for all Mitsubishi Electric robots. It
enables you to create programs in minutes
using the MELFA BASIC V or MELFA BASIC IV
robot languages. After testing and optimisation it then just takes a couple of mouse
clicks to transfer them to the actual robots,
using an efficient direct link between the
PC and the robot via a network, USB or a
serial connection.
10
when you need support, for example, with
the formulation of the necessary programming syntax. After creating your robot programs you can test them directly in the
simulation environment, eliminating the
need to remove the actual work cell from
the production process for testing.
The Model Explorer simplifies object management
Groups of windows for parameter entry
RT ToolBox2 uses the native robot languages (MELFA BASIC V or MELFA BASIC IV)
to program the robots within the simulation environment. This means that no additional conversion or processing steps are
required when you transfer the resulting
programs to real robots. In addition, this
enables you to use familiar robot programming languages and all your existing
know-how and skills when you are working
with the simulation. The comprehensive
online help system is always available
The RT ToolBox2 and MELFA WORKS packages are powerful tools for achieving maximum efficiency and cost-effectiveness in
the configuration and operation of
robot-supported automation solutions.
They allow you to plan and operate your
systems with a very high degree of confidence, even before any hardware is purchased.
Program execution monitoring in the simulation
11
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Innovation in Movement
Precision and Flexibility
Small and compact
MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments without taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to control other system components. For example, the language instruction set also
includes simple commands for the integration of cameras for object identification.
Strength and
accuracy
Sealing a workpiece
For years, Mitsubishi robots have been
demonstrating the power and productivity
of their innovative technology in thousands of demanding applications.
The individual joints and axes of the robots
are powered by high-precision AC servo
motors coupled with play-free Harmonic
Drive gears. Absolute position encoders are
fitted to every motor, saving time by
enabling the robot to start work as soon as
it is powered up.
These robots are now in service in virtually
all branches of the motor industry and its
suppliers, and also in medical, education
and training applications. With their powerful controllers they provide cost-effective, reliable and easily-installable solutions
for everything from simple tool and component handling tasks to complex applications in which the entire system is
controlled by the robot.
Precise operation in
restricted space
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the
world. It has an installation footprint no
larger than an A5 sheet of paper and
repeatability of ±0.005 mm. This accuracy,
combined with a cycle period of just 0.28 s,
makes it suitable for use in precise component placement applications.
12
Machining/providing
Versatility
The ideal trainer
Mitsubishi robots are fitted with a standard
robot gripper flange so you can attach any
ISO 9404-1 compatible grippers. Cables
and hoses are routed internally where they
cannot snag on peripherals. The sensorless
collision detection system enables the robot
to respond to unforeseen collisions. The
robots also feature Compliance Control for
gentle and responsive handling to improve
performance in assembly processes.
Festo Didactic, one of the world’s leading
suppliers of training applications, has
already been using Mitsubishi robots in its
training systems for years. Thousands of
students and trainees have already learned
to appreciate the capabilities of Mitsubishi
robots on these systems.
The initial setup of a new Mitsubishi robot
system only takes around 5 minutes. The
easy-to-understand programming language
and powerful, user-friendly software tools
make programming and operation child’s
play.
쐽 Universal Expansion Options
A comprehensive range of options and
expansion cards can be added to adapt your
robot to the precise requirements of your
environment and application. These include
robot grippers, interface cards for connection
to a wide range of networks, I/O expansion
modules and much more besides.
Modern automation technology from
Mitsubishi Electric is one of the driving
forces behind technical progress and commercial success all over the world.
Although MELFA robots can be used in
individual machines and "island solutions"
they really develop their full versatility as
components in integrated systems.
Maximum reliability is always the top priority for our robots, no matter whether they
are used in simple handling operations or
the highly-complex applications of car
manufacturers and their high-tech suppliers. Whatever the job, you can always
depend on the reliability of Mitsubishi
robots.
쐽 Fast Configuration
Applications in limited space
Small robots.
Big solutions.
Mitsubishi Robots in Quality Control
Other typical applications for these robots
include manipulation of components and
tools, quality control, placement and installation of small and miniature parts and
handling tasks in medical and laboratory
environments.
13
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Innovation in Movement
Precision and Flexibility
Small and compact
MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments without taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to control other system components. For example, the language instruction set also
includes simple commands for the integration of cameras for object identification.
Strength and
accuracy
Sealing a workpiece
For years, Mitsubishi robots have been
demonstrating the power and productivity
of their innovative technology in thousands of demanding applications.
The individual joints and axes of the robots
are powered by high-precision AC servo
motors coupled with play-free Harmonic
Drive gears. Absolute position encoders are
fitted to every motor, saving time by
enabling the robot to start work as soon as
it is powered up.
These robots are now in service in virtually
all branches of the motor industry and its
suppliers, and also in medical, education
and training applications. With their powerful controllers they provide cost-effective, reliable and easily-installable solutions
for everything from simple tool and component handling tasks to complex applications in which the entire system is
controlled by the robot.
Precise operation in
restricted space
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the
world. It has an installation footprint no
larger than an A5 sheet of paper and
repeatability of ±0.005 mm. This accuracy,
combined with a cycle period of just 0.28 s,
makes it suitable for use in precise component placement applications.
12
Machining/providing
Versatility
The ideal trainer
Mitsubishi robots are fitted with a standard
robot gripper flange so you can attach any
ISO 9404-1 compatible grippers. Cables
and hoses are routed internally where they
cannot snag on peripherals. The sensorless
collision detection system enables the robot
to respond to unforeseen collisions. The
robots also feature Compliance Control for
gentle and responsive handling to improve
performance in assembly processes.
Festo Didactic, one of the world’s leading
suppliers of training applications, has
already been using Mitsubishi robots in its
training systems for years. Thousands of
students and trainees have already learned
to appreciate the capabilities of Mitsubishi
robots on these systems.
The initial setup of a new Mitsubishi robot
system only takes around 5 minutes. The
easy-to-understand programming language
and powerful, user-friendly software tools
make programming and operation child’s
play.
쐽 Universal Expansion Options
A comprehensive range of options and
expansion cards can be added to adapt your
robot to the precise requirements of your
environment and application. These include
robot grippers, interface cards for connection
to a wide range of networks, I/O expansion
modules and much more besides.
Modern automation technology from
Mitsubishi Electric is one of the driving
forces behind technical progress and commercial success all over the world.
Although MELFA robots can be used in
individual machines and "island solutions"
they really develop their full versatility as
components in integrated systems.
Maximum reliability is always the top priority for our robots, no matter whether they
are used in simple handling operations or
the highly-complex applications of car
manufacturers and their high-tech suppliers. Whatever the job, you can always
depend on the reliability of Mitsubishi
robots.
쐽 Fast Configuration
Applications in limited space
Small robots.
Big solutions.
Mitsubishi Robots in Quality Control
Other typical applications for these robots
include manipulation of components and
tools, quality control, placement and installation of small and miniature parts and
handling tasks in medical and laboratory
environments.
13
Compact and high functional /// Robot controller /// Compact and high functional
Compact and High Functional
Automation solutions /// Automation solutions /// Automation solutions /// Automation
A World of
Automation Solutions
쐽 Digital inputs and outputs
System connectability is excellent: A full 16
digital inputs and 16 digital outputs are
included as standard equipment with the
CR1 controller and 32 inputs and 32 outputs are available as an option with the
CR2D/CR3D controllers. Optional remote
I/O boxes make it possible to increase this
to up to 256 inputs and 256 outputs for
complex applications.
쐽 Large program memory
Robots
Motion control and servos
Inverters
LV circuit protection
Laser machines
The controller can store up to 88 independent programs, all of which can call each
other, for example when different program
sequences are needed for different products.
CR1, CR1D, CR2D
and CR3D
Facts and Figures
Control mode:
PTP and CP
The compact, modular robot controller is
an integral part of the robot system. It contains the CPU and the power electronics for
powering and controlling the robot.
Small and compact
At Mitsubishi Electric "switchgear cabinets"
are relics of the past – everything is now
packed into a single compact controller.
Depending on the robot model either the
CR1 controller with a footprint no larger
than an A4 sheet of paper or the
CR2D/CR3D controller is used. The powerful
control performance is the same in both the
smaller and larger versions; the only difference between the two is in the power output stages. No matter which controller you
use you always work with the same programming language – MELFA BASIC IV/V –
and have the same options at your disposal.
14
This transparent compatibility pays off
when you need to use different robot types
or models when the needs of your application change.
쐽 Numbercrunching power
A 64-bit RISC processor with DSP provides
ample power for 3-D circular and linear
interpolation, and for multi-tasking with up
to 32 programs running in parallel.
쐽 Gentle joining
The standard "compliance control" function guarantees gentle positioning. This
function can be activated and deactivated
as required, making it possible to optimise
demanding joining and assembly processes, saving wear and tear on both components and robots.
쐽 Sensorless collision monitoring
Potential collision situations are identified
reliably without an additional sensor, preventing damage to both workpieces and
peripherals.
Processor:
64 Bit RISC + DSP
Control functions:
Axial, linear and 3-D circular interpolation;
palletising functions, interrupt control
and multitasking
Max. number of programs:
256 for CR1D/CR2D/CR3D
88 for CR1
Max. number of program steps:
26,000 for CR1D/CR2D/CR3D
5,000 for CR1
Max. number of teaching points:
13,000 for CR1D/CR2D/CR3D
2,500 for CR1
Internal I/Os:
CR1
16 E/16 A, max. 240 E/240 A
CR1D, CR2D, 32 E/32 A optional,
CR3D
max. 256 E/256 A
Safety functions:
EMERGENCY OFF and door contact switch
(CR1D, CR2D, CR3D)
Seite Aus Umschlag
EDM machines
Micro PLCs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
A name to trust
Since its beginnings in 1870, some 45 companies use the Mitsubishi name, covering a
spectrum of finance, commerce and industry.
The Mitsubishi brand name is recognized
around the world as a symbol of premium
quality.
Mitsubishi Electric Corporation represents
space development, transportation, semiconductors, energy systems, communications and information processing, audio
visual equipment, home electronics, building and energy management and automation systems, and has 237 factories and
laboratories worldwide in over 121 countries.
This is why you can rely on a Mitsubishi
automation solution – because we know
first hand about the need for reliable, efficient, easy-to-use automation and control.
As one of the world’s leading companies
with a global turnover of 3.4 trillion Yen
(approximately $30.8 billion), employing
over 100,000 people, Mitsubishi Electric
has the resource and the commitment to
deliver the ultimate in service and support
as well as the best products.
15
Farbprofil: Deaktiviert
Komposit Standardbildschirm
/// RV-SD /// RH-SDH /// RP-AH
Technical Information Section
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Montag, 11. Oktober 2010 13:41:45
1
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Komposit Standardbildschirm
Further Publications within the Industrial Automation Range
System Q Family and FX Family
Product catalogues for programmable logic controllers, operator
terminals and accessories for the MELSEC PLC series
HMI Family
Product catalogue for operator terminals, supervision software
and accessories
Inverter Family
Product catalogue for frequency inverters and accessories
MR Family
Product catalogue for servo amplifiers and servo motors as well as
motion controller and accessories
Networks
Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open and MELSEC networks
Low Voltage Switchgears
Product catalogue for low voltage switchgears, magnetic
contactors and circuit breakers
Automation Book
Overview on all Mitsubishi 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 Mitsubisi MELFA RV-SD, RH-SDH and RP-AH robots 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 www.mitsubishi-automation.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
services. 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 partners and distributors are only too happy to help answer your technical questions or help with configuration building.
For a list of Mitsubishi 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
2
C_MELFA-Roboter_F_UK.prn
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Montag, 11. Oktober 2010 13:41:49
MITSUBISHI ELECTRIC
2
Farbprofil: Deaktiviert
Komposit Standardbildschirm
CONTENTS ///
MELFA Industrial Robot Systems
1
웇
웇
웇
웇
웇
웇
웇
Robots
Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
SCARA robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Industrial robots RV-2SDB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Industrial robots RV-3SDJB and RV-3SDB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
Industrial robots RV-6SD, RV-6SDL, RV-12SD and RV-12SDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
Industrial robots RH-6SDH, RH-12SDH and RH-20SDH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
Industrial robots RP-1AH, RP-3AH and RP-5AH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 Controller
웇 Controller CR1, CR1D, CR2D and CR3D. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
웇 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Accessories
웇
웇
웇
웇
웇
웇
웇
웇
웇
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Gripper sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Expansion option cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Tubes and machine cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Expansion cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
PC and I/O connection cables, calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
General overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4 Programming Language
웇 MELFA-BASIC IV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
웇 MELFA-BASIC V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5
Software
웇 RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
웇 PC support software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
웇 MELFA-Vision/MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
3
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/// MELFA INDUSTRIAL ROBOTS
MELFA - Industrial Robot Systems
For many years Mitsubishi Electric’s innovative and powerful robots have been delivering reliable performance in thousands
of applications. These robots are now used
throughout the motor industry by both car
manufacturers and their suppliers, and in a
wide variety of medical, training and many
other different applications.
PC
Ethernet
PLC
Robot
controller
RS232 or
Ethernet
CC-Link
EMG.STOP
Broad Range of Products
CHANG DISP
STATUS NUMBER
8.8.8.8.8.
SSCNET
MODE
SVO.ON
START
RESET
STOP
END
REMOVE T/B
SVO.OFF
MITSUBISHI
The MELFA family includes a wide selection of models in many different versions.
The articulated-arm robots of the RV-SD
serie range from the high-performance
compact class with a 2 kg payload capacity
to powerful models that can handle up to
12 kg. Mitsubishi’s line of SCARA robots in
the RP-AH and RH-SDH series are designed
for high-precision positioning tasks and
feature cycle periods of less than 1 s with
positioning accuracy up to 5 µm.
UP
DOWN
CNC
Tracking
CR1
RS-232C or
Ethernet
Vision
sensor
MITSUBISHI MELSERVO
MITSUBISHI
RV-6S
Remote
inputs/outputs
Additional axis (linear)
Servo amplifier
Example of a robot system configuration
Small and Compact
Mitsubishi’s robot controllers are small and
compact. With a footprint no larger than a
PC they can be installed even in the most
cramped quarters without taking up valuable production space. Their multitasking
operating system and powerful MELFA
BASIC programming language make it
easy to develop programs to control your
production systems. For example, MELFA
BASIC includes instructions that make it
easy to integrate a camera in the system
for object identification.
Power and Precision
The robots are fitted with modern hollow
shaft motors and transmissions designed
for maximum drive train rigidity.
High-precision AC servo motors and
play-free harmonic drive transmissions
ensure outstanding precision.
Versatility for Countless
Applications
Universal Expansion Options
The robots are fitted with a standard robot
gripper flange so you can attach any ISO
9404-1 compatible grippers. Cables and
hoses are routed internally where they
cannot snag on peripherals. The sensorless
collision detection system enables the
robot to respond to unforeseen collisions.
The robots also feature Compliance Control for gentle and responsive handling
to improve performance in assembly
processes.
Fast Configuration
The initial setup of a new Mitsubishi robot
system only takes around 5 minutes.
The easy-to-understand programming language and powerful, user-friendly software
tools make programming and operation
child’s play.
A comprehensive range of options and
expansion cards can be added to adapt
your robot to the precise requirements of
your environment and application. These
include robot grippers, interface cards for
connection to a wide range of networks,
I/O expansion modules and much more
besides.
New Robot Controller
With the D-Controller several connectors and
features are implemented as a standard.
Besides the Ethernet- and R232-Connection
for connecting other communicating devices
a USB-Port for programming is a standard
feature. Up to 8 additional Axes can be directly connected to the D-Controller
Machining/providing
Sealing
Conveyor tracking
Production of electric devices
Wafer transfer
Deburring
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AUTOMATION SOLUTIONS WITH PRECISION ///
Optional Network Capabilities
Ethernet
PC
Programm load/save,
PDA production data
acquisition,monitoring,control
The Ethernet expansion card uses the standard TCP/IP protocol for
high-speed communications between the robot controller and PCs or
sensors. You can configure the card in master or slave mode as required
by your application. One of the most attractive features of this communications option is the ability to control the robot in real time, so that the
robot’s movements can respond instantaneously to sensor data.
Ethernet (TCP/IP)
PLC
CC-Link
CR3-535M
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER
ON
8.8.8.8.8.
MODE
UP
DOWN
SVO.ON
START
RESET
SVO.OFF
STOP
END
ED
REMOVE T/B
TRIPP
OFF
RESET
EMG.STOP
CHANG DISP
STATUS NUMBER
8.8.8.8.8.
MODE
SVO.ON
UP
DOWN
START
RESET
STOP
END
Signal transmission,
synchronisation,
read/writeVariables
REMOVE T/B
CC-Link
SVO.OFF
CR3-TR52
MITSUBISHI
MITSUBISHI
This option provides a large number of virtual I/Os, for example for
communication between several robots or connection of a PLC via a
simple twisted-pair line.
CR1
MITSUBISHI
RP-1AH
Profibus/DP
MITSUBISHI
Robot
RV -3SB
The Profibus/DP network is particularly well suited for time-critical applications. A wealth of distributed I/O solutions are also available for this
network.
Possible network connection configuration
Practical Functions for all Applications
Optimum accelleration/deceleration
control, optimum override control
Linear path B
Constant path
regardless of
override
Speed
Normal control
Stack
compemsation
Linear path A
Time
Automatic acceleration and braking ramp
optimisation for faster cycle times
Continous path function for faster cycle
times
Error
Lathe chuck etc.
Robot
controller
Vision sensor
Gravity compensation for greater positioning and palletising precision
Up to 8 additional axes
Robot
MITSUBISHI
RV-6S
Conveyor
Additional
axis
Additional
axis
Max. 2 axes
Max. 3 axes
Max. 3 axes
Mechanism 1
Mechanism 2
Mechanism 3
Encoder
Absorption of error using
orthogonal compliance function
Workpiece such as foodstuff, cosmetic or medicine
Orthogonal compliance control function
for interactive response to opposing forces
Object tracking function for faster cycle
times
Control functions for up to 8 additional
axes
Sensorless crash detection
Parallel executions processing
Robot
Torque
Robot movement
program
Program 2
Conveyor
Program 3
Program 4
Vision
sensor
Personal
computer
Parallel execution
Program 1
Max. 32 programs
Additional
axis
Actual torque
Detect interference
Base program
I/O process program
Allowable range + side
(detection level+ side)
Allowable range - side
(detection level- side)
Communications
program
(common
variables)
Constant execution
program (starts at power ON)
Estimated torque
Interference occurs
Multitasking function for parallel execution of multiple tasks
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/// ARTICULATED ARM ROBOTS
왎 Overview Articulated Arm Robots
Large Range of Robot Models Makes Selection Easy
ROBOTS
1
Mitsubishi produces a comprehensive
range of robot models to cater to the full
spectrum of modern needs. All Mitsubishi
robots are powerful, fast and compact –
that goes almost without saying.
The product range includes the almost
universal articulated-arm robots with 5 or
6 degrees of freedom and SCARA robots
for assembly and palletising tasks.
There is also a line of special high-precision
robots for very fast and exact handling
tasks.
RV-2SDB
RV-3SDJB, RV-3SDB
RV-6SD, RV-6SDL, RV-12SD, RV-12SDL
The powerful robots of the compact class
are ideal for handling and component
placement applications in cramped quarters. These robots are also well suited for
handling tasks at machines, for example
automated laboratory equipment etc.
The RV-3SD deliver robots outstanding
performance at or even in machines. The
entire robot has an IP65 protection rating
for reliable operation even under the most
extreme conditions.
The RV-6SD and RV-12SD are the high-performance robots in Mitsubishi’s SD series.
Available in both 6 kg and 12 kg payload
versions and with standard or long-reach
arms, the robots of this series are ideal for
handling workpieces in industrial manufacturing processes and for daisy-chaining
production stations.
MITSUBISHI
MITSUBISHI
RV-6SD
RV -3SDB
Model
RV-2SDB
RV-3SDJB
RV-3SDB
RV-6SD
RV-6SDL
RV-12SD
RV-12SDL
Degrees of freedom
6
5
6
6
6
6
6
Type
Standard
Installation posture
Installation on floor or ceiling possible Installation on floor, wall or ceiling possible
Installation on floor, wall or ceiling possible
Installation on floor, wall or ceiling possible
Max. composite speed
[mm/s]
4400
9300
9600
5300
5500
8500
9500
maximum
3
3.5
3.5
6
6
12
12
nominal
2
3
3
5
5
10
10
Position repeatability
[mm]
±0.02
±0.02
±0.02
±0.02
±0.02
±0.05
±0.05
Weight [kg]
19
33
37
58
60
93
98
Reach without hand
[mm]
504
641
642
696
902
1086
1385
Catalogue reference page
8
10
10
12
12
12
12
Payload
[kg]
6
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SCARA ROBOTS ///
왎 Overview SCARA Robots
The kinematic advantages of this design
enable the robot to perform positioning
tasks with precision of up to 5 µm.
RH-6SDH, RH-12SDH, RH-20SDH
RP-1AH, RP-3AH, RP-5AH
SCARA robots are designed for tasks like
sorting, palletising and workpiece placement. Depending on the application
they can achieve cycle times of less than
1 second.
Their compact dimensions and high
precision predestine the RP robots for
micro-handling applications like microassembly, component placement and
soldering SMD circuit boards.
1
ROBOTS
The robots described in this section are
SCARA robots, which have 4 degrees of
freedom. Whilst the RH-SDH series has the
typical SCARA design, the closed-loop arm
of the RP-AH series puts it in a special class
of its own.
MITSUBISHI
RP-1AH
RH-6SDH
Model
RH-6SDH RH-12SDH RH-20SDH
Model
RP-1AH
Degrees of freedom
4
Degrees of freedom
4
Installation posture
Floor mounting
Installation posture
Floor mounting
maximum 6
12
20
nominal
2
2
5
Max. reach
(arm 1 + 2) [mm]
550
850
850
Max. composite speed
[mm/s]
7782
(J1, J2, J4)
6003
(J1, J2)
11221
(J1, J2, J4) 11221
6612
(J1, J2)
X, Y
direction
[mm]
±0.02
±0.025
±0.025
J3 (Z)
Repeata- direction
bility
[mm]
±0.01
±0.01
±0.01
J4
direction
(θ axis)
[degree]
±0.02
±0.03
±0.03
Weight [kg]
21
45
47
Reference page
15
Payload
[kg]
RP-5AH
maximum 1.0
3.0
5.0
nominal
1.0
2.0
Rectangular operating 150x105
range (width x depth) (DIN A6)
[mm]
210x148
(DIN A5)
207x210
(DIN A4)
X, Y
direction
[mm]
±0.005
±0.008
±0.01
Repeata- Zdirection
bility
[mm]
±0.01
±0.01
±0.01
wrist roll
direction
[degree]
±0.02
±0.02
±0.02
Weight [kg]
12
24
25
Reference page
18
Payload
[kg]
0.5
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/// SPECIFICATIONS
왎 Industrial Robots RV-2SDB
J4
1
The Articulated Arm Robots RV-2SDB
ROBOTS
J3
High-tech arms and robot controllers are among the outstanding
features of the RV-2SDB, who has 6 degrees of freedom, respectively. The compact controller is easy to install, even in systems
where space is at a premium.
J5
J6
J2
Highlights:
앬 Slim design allows operation in cramped quarters
앬 Additional axes can be added
앬 Multitasking operating system
J1
RV-2SDB
Specification
Characteristics/Functions
RV-2SDB
Degrees of freedom (no. of axes)
6
Installation posture
Floor or ceiling mounting possible
Structure
Vertical multiple-joint type
Drive system
AC servo (Brakes on all axes)
Position detection method
Operating range
Absolute encoder
waist (J1)
480 (-240 to +240)
shoulder (J2)
240 (-120 to +120)
elbow (J3)
wrist twist (J4)
degree
wrist pitch (J5)
Maximum speed
400 (-200 to +200)
240 (-120 to +120)
wrist roll (J6)
720 (-360 to +360)
waist (J1)
225
shoulder (J2)
150
elbow (J3)
wrist twist (J4)
degree/s
wrist pitch (J5)
maximum
412
720
mm/s
rated
275
450
wrist roll (J6)
Maximum composite speed
Payload capacity
160 (0 to +160)
kg
4,400
3
2
mm ± 0.02
Position repeatability
Ambient temperature
°C 0 to 40
Weight
kg 19
Tolerable moment
Tolerable inertia
wrist twist (J4)
4.17
wrist pitch (J5)
Nm 4.17
wrist roll (J6)
2.45
wrist twist (J4)
0.18 (0,27)
wrist pitch (J5)
kgm² 0.18 (0,27)
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
0.04 (0,1)
mm 504
Tool wiring
4 input signal lines (connections in robot gripper area), 4 output signal lines (connections in base area)
Tool pneumatic pipes
Ø4x4 (from the base level to the gripper hand area)
Supply pneumatic pressure
MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange
ISO 9409-1-31.5
Protection rating
IP30
Robot controller
CR1D
Order information
Art. no. 231174
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DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RV-2SDB
RV-2S DB
ROBOTS
1
4xØ9
hole
Gripper flange
ISO 9409-1-31,5
Dimensions: mm
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/// SPECIFICATIONS
왎 Industrial Robots RV-3SDJB and RV-3SDB
The Articulated Arm Robots RV-3SDJB, RV-3SDB
J4
1
J3
The RV-3SD robots are specially designed for handling tasks with
payloads of up to 3.5 kg. They are encapsulated with an IP65 ingress protection rating for operation in extreme environments.
J5
J5
ROBOTS
J3
J2
Highlights:
J6
J6
앬 Compliance Control function to compensate for workpiece
J2
앬
앬
앬
앬
J1
MITSUB ISHI
MITSUBISHI
RV-3SDJB
J1
RV-3SDB
RV-3SDJB
RV-3SDB
tolerances
Conveyor belt tracking
Sensorless collision detection
Encapsulated design with IP65 rating
Adaptive speed optimisation
Specifiactions
Characteristics/Functions
RV-3SDJB
RV-3SDB
Degrees of freedom (no. of axes)
5
6
Machine class
Standard
Installation posture
Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure
Vertical multiple-joint type
Drive system
AC servo (all axes with brakes)
Position detection method
Operating
range
Maximum
speed
Absolute encoder
waist (J1)
340 (-170 to +170)
shoulder (J2)
225 (-90 to +135)
elbow (J3)
wrist twist (J4)
degree
191 (-20 to +171)
—
320 (-160 to +160)
wrist pitch (J5)
240 (-120 to +120)
wrist roll (J6)
720 (-360 to +360)
waist (J1)
250
shoulder (J2)
187
elbow (J3)
wrist twist (J4)
degree/s
wrist pitch (J5)
maximum
kg
mm
Position repeatability
—
412
660
mm/s
rated
250
412
wrist roll (J6)
Maximum composite speed
Payload capacity
237 (-100 to +137)
5300
5500
3
3.5
± 0.02
Ambient temperature
°C
0 to 40
Weight
kg
33
37
—
5.83
wrist twist (J4)
Tolerable moment
Tolerable inertia
wrist pitch (J5)
Nm
5.83
wrist roll (J6)
3.9
wrist twist (J4)
—
wrist pitch (J5)
kgm²
0.137
mm
641
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
0.137
0.047
642
Tool wiring
8 inputs/8 outputs
8 spare wires 0.2 mm² (shielded)
Tool pneumatic pipes
Primary: Ø6x2 (base to forearm section)
Secondary: Ø4x8 (optional)
Supply pneumatic pressure
MPa (bar)
0.5 ± 10 % (5 ± 10 %)
Gripper flange
ISO 9409-1-31,5
Protection rating
IP65
Robot controller
CR1D
Order information
Art. no.
218850
218849
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DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RV-3SDJB and RV-3SDB
RV-3SDJB
170°
109
322
72
102
65
∅70
03
R2
R319
41
R6
ROBOTS
1
85
R245
170°
1
R30
105
104
81
120
109
95
120
20
130
300
245
R54
6
R223
13
5°
90
9
R33
°
120
122
R301
205
°
R3
01
113
50
137
232
318
1
∅3
330
641
∅20
H7
∅4
0H
8
,5
Gripper flange
ISO 9409-1-31,5
4xØ9
hole
450
4-M5
115
312
100°
350
∅94
∅5H7
45°
160
Dimensions: mm
RV-3SDB
R6
42
109
322
72
102
∅70
65
03
R2
R271
170°
85
120
270
104
105
120
109
R1
76
90
°
170°
245
120
122
115
350
312
1°
113
50
R302
271
642
330
4xØ9
hole
150
1,5
∅3
∅20
H7
∅4
0H
8
Gripper flange
ISO 9409-1-31,5
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4-M5
°
20
°
135
17
∅94
∅5H7
45°
160
205
R547
R302
245
135
130
81
95
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/// SPECIFICATIONS
왎 Industrial Robots RV-6SD, RV-6SDL, RV-12SD and RV-12SDL
J4
J4
1
Combining high speeds with maximum handling payloads of
6 kg and 12 kg, these robots are an ideal choice for virtually any
application.
J5
J5
J3
J3
ROBOTS
The Articulated Arm Robots RV-6SD(L) and RV- 12SD(L)
J6
J6
Highlights:
앬 Sensorless collision detection
앬 Conveyor belt tracking
앬 Compliance Control function to compensate for workpiece
J2
J2
J1
MITSUBISHI
RV-6SD
J1
MITSUB ISHI
tolerances
RV-6SDL
RV-6SD
RV-6SDL
Specifiactions
Characteristics/Functions
RV-6SD
RV-6SDL
RV-12SD
RV-12SDL
Degrees of freedom (no. of axes)
6
6 (long arm)
6
6 (long arm)
Machine class
Standard
Installation posture
Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure
Vertical multiple-joint type
Drive system
AC servo (all axes with brakes)
Position detection method
Operating range
Maximum speed
Absolute encoder
waist (J1)
340 (-170 to +170)
shoulder (J2)
227 (-92 to +135)
elbow (J3)
273 (-107 to +166)
wrist twist (J4)
240 (-120 to +120)
wrist roll (J6)
720 (-360 to +360) (expandable)
waist (J1)
401
250
276
shoulder (J2)
321
267
230
172
elbow (J3)
401
267
267
200
wrist twist (J4)
degree/s
450
wrist roll (J6)
660
mm/s
rated
maximum
kg
mm
12
±0.05
0 to 40
58
60
93
12
19.3
12
19.3
wrist roll (J6)
4,5
11
wrist twist (J4)
0.29
0.4
0.29
0.4
wrist pitch (J5)
kgm²
wrist roll (J6)
Arm reachable radius (to the center point of the J5 axis)
0.46
mm
902
8 inputs/8 outputs, 6 spare wires 0.1 mm² (shielded)
Tool pneumatic pipes
Primary: Ø 6x2 (base to fore arm section)
secondary: Ø 4x8
MPa (bar)
ISO 9409-1-31,5
Protection rating
IP54 (J1 to J3), IP65 (J4 to J6)
Robot controller
CR2D
Art. no.
1385
Primary: Ø 6x2 (base to fore arm section)
secondary: Ø 4x8
ISO 9409-1-40
CR2D
214965
218866
12
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1086
0.49 ± 10 % (4.9 ± 10 %)
Gripper flange
Order information
98
0.14
696
Tool wiring
Supply pneumatic pressure
9500
10
6
°C
Tolerable inertia
9600
±0.02
kg
Nm
8500
5
Weight
wrist pitch (J5)
375
9300
Ambient temperature
wrist twist (J4)
230
352
wrist pitch (J5)
Position repeatability
Tolerable moment
290 (-130 to +160)
320 (-160 to +160)
wrist pitch (J5)
Maximum composite speed
Payload capacity
degree
230 (-100 to +130)
295 (-129 to +166)
218852
218853
MITSUBISHI ELECTRIC
12
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DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RV-6SD and RV-6SDL
RV-6SD
170°
R2
1
54
85
ROBOTS
200
61
58,5
110
78 73
70
51,5
170°
11
77 84
315
R2
02
26
R5
85
85
308
238
R2
R6
5°
280
13
594
1
92°
3
R3
170°
170°
294
350
R173
611
ø5H7
R331
°
17
179
R
421
961
100
R2
87
R2
80
165
96
R280
85
162
45°
4–M5
115
204
ø31,5
160
204
76°
258
122
444
437
474
4xØ9
hole
ø20h7
96
ø40h8
102,5
Gripper flange
ISO 9409-1-31,5
205
140
115
Dimensions: mm
RV-6SDL
170°
R2
78 73
110
R1
85
32
R7
61
58,5
200
54
85
70
51,5
170°
11
77 84
85
425
85
403
85
165
R9
02
162
R2
333
80
R3
170°
170°
R437
98
R1
45°
4–M5
160
ø31,5
122
204
37
115
100
ø5H7
R4
76°
355
70
R2
476
°
135
649
350
7
R81
39°
204
R4
92 37
°
380
1167
100
R3
88
617
285
185
547
ø20h7
4xØ9
hole
96
ø40h8
102,5
205
115
Gripper flange
ISO 9409-1-31,5
13
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140
13
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/// DIMENSIONS AND MOVEMENT RANGES
왎 Robot Arms RV-12SD and RV-12SDL
RV-12SD
R3
170°
03
1
170°
140
89
R2
05
86
R7
ROBOTS
214
89
130
ø88
88 93
50
530
569
150
130
349
R4
16
R1
086
97
80
R4
00
215 164
161
1386
400
R3
55
00
R4
170°
170°
R2
66
R936
0°
R5
36
ø6H7
45°
4 - M6
150
450
646
784
0°
10
13
40°
343
270
155
36
70°
156
6
R53
R5
230
250
ø40
ø25h7
≥ 200
100
ø50h8
125
670
205
416
4xØ14
581
hole
250
155
Gripper flange
ISO 9409-1-40
150
Dimensions: mm
RV-12SDL
R3
03
170°
170°
140
214
89
130
ø88
88 93
50
08
R1
670
690
130
89
R3
17
5
150
R4
470
57
R1
385
97
80
R5
60
215 164
161
170°
1685
560
R4
60
67
R5
170°
R3
07
R123
0°
5
73
0°
854
R6
10
13
40°
4 - M6
270
155
322
5
75
585
R67
R6
70°
250
ø40
230
ø25h7
≥ 200
100
4xØ14
928
457
317
768
14
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45°
150
450
716
ø6H7
hole
ø50h8
125
250
155
150
Gripper flange
ISO 9409-1-40
MITSUBISHI ELECTRIC
14
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/// SPECIFICATIONS
왎 Industrial Robots RH-6SDH, RH-12SDH and RH-20SDH
The SCARA Robots RH-6SDH, RH-12SDH and RH-20SDH
J3
Highlights:
RH-6SDH
앬
앬
앬
앬
앬
J2
J4
Slim design
6/12/20 kg payload capacity
Speeds up to 11200 mm/s with axis interpolation
High Repeatability from 0.02–0.025 mm (x/y)
Palletizing Function
Degrees of freedom (no. of axes)
Machine class
Structure
Installation posture
Drive system
Position detection method
Specifications
RH-6SDH5520
4
Standard
SCARA
Floor mounting
AC servo
Absolute encoder
Brake attachment
J1, J2, J4 axes: without brake, J3 axis: with brake
Characteristics/Functions
Payload capacity
(hand gripper included)
Maximum reach
Leadscrew travel
Operating range
Maximum speed
rated
maximum
arm 1 + arm 2
J1
J2
J3 (Z)
J4 (θ axis)
J1
J2
J3 (Z)
J4 (θ axis)
Position repeatability
rated
maximum
X, Y direction
J3 (Z direction)
J4 (θ axis)
Ambient temperature
Weight
Tool wiring
Tool pneumatic pipes
Supply pneumatic pressure
Protection rating
Robot controller
Order information
햲
햳
햴
mm
mm
degree
degree
mm
degree
degree/s
degree/s
mm/s
degree/s
mm/s
Maximum composite speed
Allowable wrist moment
of inertia
kg
2
kgm
mm
mm
degree
°C
kg
MPa (bar)
Art. no.
RH-12SDH8535
2
6
550 (350/450) 햲
200 햴
254 (±127)
290 (±145)
200 (97–297)
720 (±360)
375
612
1177
2411
7782 (J1, J2 and J4)
6003 (J1 and J2)
0.01
0.04
±0.02
±0.01
±0.02
0 to 40
21
8 inputs/8 outputs/8 spare wires
Ø 6x2
0.5 ± 10 % (5 ± 10 %)
IP20
CR1D
219008
2
12
850 (550/700) 햲
350 햳
280 (±140)
306 (±153)
350 (-10–340)
RH-20SDH8535
J1, J2 axes: without brake,
J3, J4 axes: without brake
5
18
850 (1000)
350 햳
280 (±140)
306 (±153)
350 (-10–340)
720 (±360)
288
412.5
1200
1500
288
412.5
1300
1500
11221 (J1, J2 and J4)
6612 (J1 and J2)
0.02
0.1
±0.025
±0.01
±0.03
0.02
0.1
±0.025
±0.01
±0.03
45
47
CR2D
CR2D
219009
219010
11221
Other available units
Available with 350 or 450 mm leadscrew travel
Available with 200 or 320 mm leadscrew travel
15
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15
1
ROBOTS
Assembly, handling and palletising are the strengths of these 6 kg
and 12 kg SCARA robots. A version with an 20 kg payload capacity
is available for handling particulary heavy loads and for special applications Cleanroom- and Moisture Models are also available for
every payload.
J1
Farbprofil: Deaktiviert
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DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RH-6SDH, RH-12SDH
RH-6SDH
ROBOTS
1
Z
(10)
30
10
(10)
160
Z
∅20H7
19
∅39.5
∅14
19
Z
92
180
150
180
92
150
4xØ9
hole
A
Dimensions: mm
RH-12SDH
Z
30
(10)
10
(10)
Z
∅25H7
24
∅50
∅18
24
Z
122
240
200
200
240
122
A
A
4xØ16
hole
16
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MITSUBISHI ELECTRIC
16
Farbprofil: Deaktiviert
Komposit Standardbildschirm
/// DIMENSIONS AND MOVEMENT RANGES
왎 Robot Arms RH-20SDH
RH-20SDH85xxM
Z
10
8
10
Z
11
10
30
ROBOTS
1
?Ó32h7
?Ó60
30
31
?Ó23
4N9
122
240
200
240
122
200
4- ?Ó16
RH-20SDH100xxM
Z
8
10
11
10
30
10
Z
?Ó32h7
?Ó60
30
31
?Ó23
4N9
122
240
200
240
122
200
4- ?Ó16
17
MITSUBISHI ELECTRIC
017-018.prn
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17
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/// SPECIFICATIONS
왎 Industrial Robots RP-1AH, RP-3AH and RP-5AH
The SCARA Robots RP-1AH, RP-3AH and RP-5AH
J1
J2
1
The RP-1AH, RP-3AH and RP-5AH 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.
ROBOTS
MITSUBISHI
RP-1AH
J4
Highlights:
앬 Repeatability ±0.005 mm (RP-1AH)
앬 Footprint just 200 x 160 mm (RP-1AH)
앬 Pick & Place cycle time < 0.5 s
J3
Specifications
Characteristics/Function
RP-1AH
RP-3AH
RP-5AH
0.5
1.0
2.0
1.0
3.0
5.0
297x210 (DIN-A4)
Degrees of freedom (no. of axes)
4
Installation posture
Floor mounting
Drive system
AC servo
Position detection method
Absolute encoder
Brake attachment
Max. load capacity
Operating
range
All axes
rated
maximum
kg
width × depth
mm
150x105 (DIN-A6)
210x148 (DIN-A5)
vertical
mm
30
50
twist
degree
±200
J1/J2
degree/s
480
432
800
960
Maximum
speed
J3
mm/s
J4
degree/s
Inertial moment
wrist
kgm2
2
3000
1330
3.10x10-4
1.60x10-3
3.20x10-3
±0.008
±0.01
X, Y direction
mm
±0.005
Z direction
mm
±0.01
degree
±0.02
Ambient temperature
°C
0 to 40
Weight
kg
12
Position repeatability
direction of the wrist twist
Tool wiring
Supply pneumatic pressure
25
131626
131628
0.5 ± 10 % (5 ± 10 %)
—
Robot controller
CR1
Art. no.
134183
18
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24
8 inputs/8 outputs
MPa (bar)
Tool pneumatic pipes
Order information
±0.03
MITSUBISHI ELECTRIC
18
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DIMENSIONS AND MOVEMENT RANGES ///
왎 Robot Arms RP-1AH, RP-3AH and RP-5AH
RP-1AH
198
(162)
120
107
95
36
22
5
4
6
1
56
5.5
5
12
10
0,5
R3
,5
0,5
R3
24
6)
0
(5
14 8
2
34
ø18
95
0,5
5,5
R3
61
5,5
38
140
100
56
28
76
R30
,5
24
,5
(5
6)
110°
A
120
180
224,9
4xØ7
hole
32
24,2
80
160°
150
100
B
ø18
ø8
110
36,5
8
M5
°
180
230
95
177
77 6
B
31
0
R14
85
R14
0
31
R2
21
30
24
A
50
31 31
RP-3AH
12
36
5,5
5
11 8
(38)
30
332
86
130
ø14h7
ø15h7
(ø23)
50
R42
200
13,5
84
13,5
105°
120
180
224,9
86
28
20
A
160°
140
155
165
20
28
85
170
200
216
148
8
82,5
6)
(8
0
20
(213)
85
141
125
100
0
14
36
6)
210
4xØ9
hole
0
(8
13,5
B
Dimensions: mm
13,5
110
35
°
50
40
77 6
280
267
118
103,5
8
15
180
A
(12)
(23)
42
ø15h7
ø14h7
ø11
261
(ø23)
0
R20
3,5
R20
0
42
R3
B
50
31 31
RP-5AH
36
12
5,5
5
2
11 8
50
ø14h7
ø15h7
260
(ø23)
R42
105°
13,5
84
120
180
224,9
11
13,5
297
160°
140
155
165
170
28
6
11
85
170
200
216
(38)
190
30
450,9
210
8
82,5
)
16
(1
60
263
(213)
85
141
125
100
6
28
26
A
0
0
(1
20
16
4xØ9
hole
36
)
110
°
13,5
53,2
R4
267
42
261
180
50
40
77 6
103,5
8
15
(12)
(23)
3,5
ø15h7
ø14h7
ø11
118
(ø23)
280
42
R26
0
13,5
B
A
B
19
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19
ROBOTS
ø8
56
133
150
162
M6
100
140
155
165
ø6h7
233,9
105
Farbprofil: Deaktiviert
Komposit Standardbildschirm
/// ROBOT CONTROLLER
왎 Controller Overview
Powerful Controllers CR1, CR1D, CR2D and CR3D
There is also an RS-232C port beside the
USB- and Ethernet-Port in the D-Controller
for connecting a personal computer. This
makes it possible to develop programs
with a powerful PC software package with
a user-friendly interface, and to perform 3D
simulations of complete work cells.
MITSUBISHI
CR3D-700
ED
OFF
TR
IP
P
ON
T
SE
CONTROLLER
The D-Controller has already implemented
some functions like Ethernet- and
USB-Connection, Additional Axes Control
over SSCNET III and Tracking Encoder interface as a standard.
A teaching box for defining the robots’
working positions can be connected to the
controller’s RS-422 port. The teaching box
can also be used for testing the entire program sequence.
RE
2
Which controller is used depends on the
specific robot model. But the CR1, CR1D,
CR2D and CR3D are all programmed with
exactly the same language, no matter which
robot is connected to them. You can add
special application functions by inserting
expansion option cards in the slots in the
controllers. For example, there are option
cards for connecting the controllers to different networks and for controlling additional robot axes.
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER
MODE
CR3D-700
UP
8.8.8.8.8.
DOWN
SVO.ON
START
RESET
SVO.OFF
STOP
END
REMOVE T/B
CR1
MITSUBISHI
CR1-571
CR1D-700/CR2D-700
CR3D-700M
With a footprint not larger than a DIN A4
sheet of paper the CR1-571 can be used
to control the following robots:
앬 RV-1A
앬 RV-2AJ
앬 RP-1AH/3AH/5AH
The controller comes with 16 general
inputs and outputs that can be expanded
up to a maximum of 240. It uses a singlephase, 180–253 V AC power supply.
The controller units control the robots
movements:
CR1D
CR2D
앬 RV-2SDB
RV-6SD/6SDL
앬 RV-3SDB/3SDJB
RV-12SD/12SDL
앬 RH-6SDH
RH-20SDH
The controllers have slots for system
expansion options. It uses a singlephase, 180–253 V AC power supply.
The IP54 controller is for the RV-12SD/
12SDL robots and like them it is designed
for use in heavy-duty conditions.
The programming language and options
are the same for the CR2D controller.
It uses a three-phase, 400 V AC power supply.
왎 System Configuration
The illustration on the left shows the basic
configuration of a robot system with the
following components:
앬 RV-6SD robot arm
앬 CR2D controller
앬 5 m controller connection cable set
앬 R32TB teaching box
Mitsubishi Electric offers a wide range of
optional accessories with which you can
configure your robot system for the individual requirements of your application. An
overview of the available options
can be found on page 21 and there is a
detailed list on page 32.
Robot arm
Cable set
Controller
EMG.STOP
MITSUBISHI
CR2B
CHANG DISP
STATUS NUMBER
8.8.8.8.8.
MODE
UP
DOWN
SVO.ON
START
RESET
SVO.OFF
STOP
END
REMOVE T/B
MITSUBISHI
F1
Teaching box
F3
F1
–X
F4
+X
–Y
+Y
–Z
+Z
–A
+A
–B
+B
–C
+C
20
020-021.prn
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MITSUBISHI ELECTRIC
20
Farbprofil: Deaktiviert
Komposit Standardbildschirm
ROBOT CONTROLLER ///
왎 Controller Specifications
CR1-571
CR1D, CR2D
6 robot axes + 2 interpolation axes + 6 independent axes
Main CPU: 64 Bit RISC; servo CPU: DSP
number of teaching points
and program steps
number of programs
Memory capacity
Programming languag
general purpose I/Os
dedicated I/Os
hand open/close
External inputs/outputs
Interface
CR3D-700M
Max. 2500 position teaching points, max. 5000 steps
88
MELFA-BASIC IV or
MOVEMASTER COMMAND
16 inputs and 16 outputs
User assigned from general purpose I/O
8 inputs and 0 outputs
(up to 4 output points can be added
as an option)
MELFA-BASIC IV or MELFA BASIC V
MELFA-BASIC IV or MELFA BASIC V
32 inputs and 32 outputs
User assigned from general purpose I/O
8 inputs und 0 outputs
(up to 8 output points can be added
as an option)
Terminal block with screw terminals for the connection of a redundant EMERGENCY STOP switch
compliance DIN ISO 10218 (2066)
1
1 interface for PC/USB
1 interface for Teaching Box
1 interface card for pneumatic hand
CR1D: 1, CR2D: 3
1 memory option
1 for communication device (PC, Camera)
1 for optical SSCNET 3
2 for encoder input
1 channel (expansion to up to 256 inputs and
256 outputs possible)
1-phase 90–132 V AC; 50/60 Hz;
0.5 kVA CR1D; 2.0 kVA CR2D
32 inputs and 32 outputs
User assigned from general purpose I/O
8 inputs und 0 outputs
(up to 8 output points can be added
as an option)
Terminal block with screw terminals for the connection of a redundant EMERGENCY STOP switch
compliance DIN ISO 10218 (2066)
1
1 interface for PC/USB
1 interface for Teaching Box
1 interface card for pneumatic hand
For 2 expansion options
1 memory option
1 for communication device (PC, Camera)
1 for optical SSCNET 3
2 for encoder input
1 channel (expansion to up to 256 inputs and
256 outputs possible)
emergency stop I/Os
1
door switch input
RS232C/USB
RS422 + Ethernet
slot dedicated for hand
extension slot
memory expansion slot
Ethernet
Additional Axes
Tracking Encoder
1
1 interface for PC
1 interface for teaching box
1 interface card for pneumatic hand
For 3 expansion options (optional)
—
—
—
—
1 channel (expansion to up to 240 inputs and
240 outputs possible)
1-phase 90–132 V AC; 50/60 Hz; 0.7 kVA
1-phase 180–253 V AC; 50/60 Hz; 0.7 kVA
0 to 40 °C
45 to 85 % without condensation
Via seperate terminal; earth resistance ≤ 100 Ω
Self-contained floor type/closed structure
Self-contained floor type/closed structure, vertical
212 x 166 x 290
CR2D: 468x200x408; CR1D: 270x290x200
8
CR2D: 20; CR1D: 9
robot I/O link
Power supply
Ambient temperature
Ambient humidity
Grounding
Mounting
Dimensions (W x H x D)
Weight
mm
kg
3-phase 400 V AC; 50/60 Hz; 3.0 kVA;
Self-contained floor type/closed structure
450x975x380
60
왎 Controller Dimensions
30
210
30
450
35
EMG.S TOP
STATUS NUMBER
CHANG DISP
UP
END
MITSUBISHI
REMOVE T/B
185
STOP
STRESET
MITSUBISHI
CR3D-700
MITSUBISHI
CR3D-700
200
SVO.OFF
RT
A
200
SVO.ON
151
MODE
45
DOWN
CR1
8,5
45
(36)
468
8,5
408
75
66
212
193
310
408
7
45
(24)
2,5
8
212
975
150
31
15
31
2,5
15
CR2D-700
4 - M5
380
420
15
CR1-571
CR2D-700
CR1DA-700
All dimensions in mm
450
CR3D-700M
21
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020-021.prn
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Montag, 11. Oktober 2010 17:52:36
67
32
20
22
380
333
401
290
290
15
21
2
CONTROLLER
Characteristics/Functions
Number of controllable axes
Processor type (CPU)
Farbprofil: Deaktiviert
Komposit Standardbildschirm
/// SYSTEM OVERVIEW
왎 System Components and Options for RP-Series
MITSUBISHI
NC
AC-Servos
PLC
Software:
MELFA-Vision/Works
RT Toolbox2
Sensors
3
ACCESSORIES
Control cards
PC
Expansion option cards
for:
Ethernet,
CC-Link,
Profibus
serial expansion,
additional axis,
conveyor belt
monitoring
Electric
gripper
hand
Pneumatic
gripper
hand
Expansion I/Os
Teaching
box
UP
8.8.8.8.8
P
E
E-S
TO P
TEACH
E-STOP
MITSUBISHI
-S
TO
DOWN
CR1
POWER
TB ENABLE
HAND
JOG
STOP
SERVO
RESET
CAUTION
HOME
EXE
OVRD
OK
CR1
Adaptor cables
CANCEL
MENU
MITSUBISHI
MITSUBISHI
RP-1AH
RP-AH
Electric
gripper
Pneumatic
gripper
Gripper
signal cable
Pneumatic valves
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MITSUBISHI ELECTRIC
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SYSTEM OVERVIEW ///
왎 System Components and Options for RV-6SD/6SDL/12SD/12SDL and RH-12SDH/6SDH/18SDH
GOT
NC
AC-Servos
PLC
Sensors
Software:
MELFA-Vision/Works
RT Toolbox2
Control cards
ACCESSORIES
3
PC
Expansion option cards
for:
CC-Link,
Profibus
Inputs and outputs
Pneumatic gripper
hand
Expansion I/Os
Teaching
box
Adaptor cables
Pneumatic
gripper
Gripper
signal cable
Pneumatic valves
23
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23
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/// TEACHING BOX AND HANDSETS
왎 Teaching Box for RP Series
Operation and Programming
DISABLE
ENABLE
R28TB
R28TB
TOOL
JOINT
=*/
( )?
ON
SVO ON
SVO
PQR
PQR
Y
Y
(J2)
(J2)
MNO
MNO
44
(J1)
(J1)
(J2)
(J2)
99
Z
Z
(J3)
(J3)
JKL
JKL
A
A
(J4)
(J4)
GHI
GHI
22
88
B
B
(J5)
(J5)
CHAR
CHAR
11
ERROR
ERROR
RESET
RESET
00
DEF
DEF
(J4)
(J4)
77
YZ_
YZ_
+
+ BB
(J5)
(J5)
66
C
C
(J6)
(J6)
(J6)
(J6)
RPL
RPL
¯¯
DEL
DEL
¬
¬
HAND
HAND
STU
STU
®
®
INP
INP
EXE
EXE
E-S
R28TB
E
TO P
TEACH
E-STOP
3
P
-S
TO
55
ADD
ADD
−
−
VWX
VWX
+
+ CC
-
ABC
ABC
,@¥
,@¥
+
+ AA
-
POS
POS
&<>
&<>
+
+ ZZ
(J3)
(J3)
33
‘;^
‘;^
+
+ YY
COND
COND
STOP
STOP
+
+ XX
..
-
BACKWD
BACKWD
#%
% !!
#
$":
X
X
(J1)
(J1)
SPACE
SPACE
+
FORWD
FORWD
MENU
MENU
XYZ
-
STEP
STEP
MOVE
MOVE
POWER
TB ENABLE
HAND
STOP
SERVO
RESET
ACCESSORIES
CAUTION
HOME
EXE
OVRD
OK
MENU
MITSUBISHI
CANCEL
JOG
The R46TB teach panel is a multifunctional control and programming terminal for all
Mitsubishi A and S 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. 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.
The R46TB’s flexible monitoring function enables the display of all important system parameters. Access to production data like the number of work cycles, the average cycle time and
many other parameters make it easy to get a quick overview of the production situation.
Extensive analysis functions for checking robot workload also make it easy to optimise
your robot applications and minimise cycle times.
Screen input templates make it easy to enter the parameters for grippers and workpieces for
quick system optimisation. Entering the reference points data when you install the system
just takes a few minutes, then the robot is ready for programming.
R46TB
Specifications
Compatibility
Functions
Programming and monitoring
Software
Menu navigation (language)
type/dimensions
Display
technology
Interfaces
Connection
Protection rating
Weight [kg]
Order information
Art. no. 193409
24
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R46TB
All Mitsubishi A and S series robots
Operation, programming and monitoring
of all robot functions
Read out information, also during operation; program editing with virtual keyboard; display up to 14 lines of program
code; I/O monitoring for up to 256 inputs and 256 outputs;
service display with information on maintenance intervals;
error display with details of the last 128 alarms
Integrated operating system software with
menu-based user interface
German, English, French, Italian
6.5" TFT display (640 x 480 pixels)
Touchscreen with backlight
USB, RS-422 for connection to the robot controller
Direct connection to the robot controller, cable length 7m
IP54
1.25
R28TB
Position teaching, JOG feed,
program control and editing
Program and parameter editing.
Maintenance functions and monitoring.
Integrated system OS
Japanese, English
LCD with 4 lines x 16 characters
(with backlight illumination)
RS422
7m
IP65
Approx. 0.5 kg (without cable)
124656
MITSUBISHI ELECTRIC
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TEACHING BOX AND HANDSETS ///
왎 Teaching Box for RV-SD and RH-SDH Series
P
E
-S
E-STOP
POWER
TB ENABLE
HAND
JOG
STOP
SERVO
RESET
CAUTION
HOME
EXE
OVRD
OK
CANCEL
MENU
MITSUBISHI
R56TB
MITSUBISHI
The R56TB teach panel is a multifunctional control and programming terminal for all
Mitsubishi SD serie 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. 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.
Specifications
Compatibility
R56TB
All Mitsubishi SD serie robots
Operation, programming and monitoring of all
robot functions
Read out information, also during operation; program editing with virtual keyboard; display up to
14 lines of program code; I/O monitoring for up to
256 inputs and 256 outputs; service display with
information on maintenance intervals; error display with details of the last 128 alarms
Integrated operating system software with
menu-based user interface
German, English, French, Italian
Functions
R32TB
Programming and monitoring
Software
Menu navigation (language)
Display
type/dimensions
technology
Interfaces
Connection
Protection rating
Weight [kg]
Order information
3
R32TB
Operating, programming and monitoring of
robot functions
Read out information, also during operation,
program editing with T9-Key standard, supervising of I/Os, display of error alarms,
Right-/Left-Hand usage, 36 keys for operation
selection
English, Japanese
Monochrome
LCD graphic display
6.5" TFT display (640 x 480 pixels)
(24 characters x 8 lines
Touchscreen with backlight
LCD with backlight
USB, RS-422 for connection to the robot controller RS-422 for connection to the robot controller
Direct connection to the robot controller,
Direct connection to the robot controller,
cable length 7m
cable length 7 m
IP54
IP65
1.25
0.9
Art. no. 218854
214968
왎 Hand Sets
Tools
The pneumatic gripper is available in a set
consisting of the gripper, spiral pneumatic
hose, interface, one-way valve and
adapter. It has a service life of 10 million
gripping cycles. The gripper is fitted with
sensors that provide feedback information
on the current gripper position.
Specifications
4A-HM01
4A-HP01E
Drive
DC servo motor
Oil-free compressed air
Grip force
4.9–68.6 N
—
Operating preassure range
—
0.4–7.0 bar
Operating temperatur range
0–40 °C
0–40 °C
Ambient humidity
45–85 %
—
Life
1 mio. gripper cycles (at 100 % load)
10 mio. gripper cycles (at 50 % load)
10 mio. gripper cycles
Operation confirmation sensors
None
Open edge and close edge
Weight [kg]
0.59 (includes the adapter)
0.45 (includes the adapter)
Order information
Art. no. 129874
25
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129873
25
ACCESSORIES
TO P
E-S
TO
Operation and Programming
TEACH
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/// VALVE SETS
왎 Solenoid Valve Sets
Solenoid Gripper Control Valve Sets
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. The valves are fitted with plug-in control cables for quick and easy
wiring.
The solenoid valve sets are for use with oil-free compressed air.
3
1A-VD0첸E-RP
ACCESSORIES
Specifications
RV-E-1E-VD0첸E
1
2
3
4
1
2
No. of valves
1
2
3
4
1
2
Range of use (robot type)
AH
A
Valve function
Double solenoid
Double solenoid
Operating method
Internal pilot method
Internal pilot method
Effective sectional area
(CV value)
1.5 mm
1.5 mm
Operating preassure range
2–7 bar
2–7 bar
Maximum preassure
10 bar
10 bar
Response time
< 12 ms at 24 V DC
<12msat24VDC
Max. operating frequency
5 Hz
5 Hz
Ambient temperature
-5 to +50 °C
-5 to +50 °C
Coil rated voltage
24 V DC ± 10 %
24 V DC ± 10 %
Order information
Art. no. 129780
129781
1S-VD0첸E-01
Specifications
No. of valves
129792
129793
1S-VD0첸E-02
47397
47398
1S-VD0첸ME-03
1S-VD0첸ME-04
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
1
2
3
4
166276
166277
Range of use (see page 38)
12SD/12SDL
3SD/6SD
12SDH
6SDH
Valve function
Double solenoid
Double solenoid
Double solenoid
Double solenoid
Operating method
Internal pilot method
Internal pilot method
Internal pilot method
Internal pilot method
Effective sectional area
(CV value)
0.64 mm
0.64 mm
0.64 mm
0.64 mm
Operating preassure range
1–7 bar
1–7 bar
1–7 bar
1–7 bar
Maximum preassure
10 bar
10 bar
10 bar
10 bar
Response time
< 22 ms at 5 bar
< 22 ms at 5 bar
< 22 ms at 5 bar
< 22 ms at 5 bar
Max. operating frequency
5 Hz
5 Hz
5 Hz
5 Hz
Ambient temperature
-5 to +50 °C
-5 to +50 °C
-5 to +50 °C
-5 to +50 °C
Coil rated voltage
24 V DC ± 10 %
24 V DC ± 10 %
24 V DC ± 10 %
24 V DC ± 10 %
Order information
Art. no. 153057
153058
153059
153062
153074
153075
153076
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153077
166278
166279
166280
166281
166274
166275
MITSUBISHI ELECTRIC
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EXPANSION OPTION CARDS ///
왎 Interface Boards for Robot Controllers
Ethernet Interface
The Ethernet interface is used for
high-speed network communications with
other controllers and TCP/IP-enabled peripherals. It can also be used for program-
2A-HR575E
Specifications
2A-HR533E
Application
Ethernet interface; TCP/IP
Type
Built-in board
Range of use
RP-Series
LAN interface
10BASE-5, 10BASE-T (selectable)
Connector
RJ-45
Transmission speed
10 Mbps
ming the robot controller and for external,
real-time control of the robot itself.
3
2D-TZ576
CC-Link Interface
The 2A-HR575E interface makes it possible to integrate the CR첸-R robot controller in
a CC-Link network.
The 2D-TZ576 interface makes it possible to integrate the CR첸-D robot controller in
a CC-Link network.
Art. no. 129809
Specifications
2A-HR575E
Application
CC-Link interface
Type
Built-in board
Range of use
RP-Series
Communications cable
Shielded 3-core twisted cable
Max. number of I/O points and
data registers
126 I/Os/16 data register
2D-TZ576
RV-SD and RH-SDH
Refresh rate
7.2 ms
Max. transmission length
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
Order information
Art. no. 129808
PROFIBUS Interface
Specifications
2A-RZ577A)
These interface cards make it possible
to integrate the robot controller in a
PROFIBUS network.
Application
PROFIBUS/DP interface
Type
Built-in board
Range of use
RP-Series
Communications cable
Twisted pair cable
Communications
distances
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
ACCESSORIES
Order information
219063
2D-TZ577
RV-SD and RH-SDH
Max. no. of communications words 122
No. of mountable interface cards
Order information
Serial Expansion Interface
The 2A-RZ581E interface card adds additional serial inputs to the controller.
In addition to this the card also provides two encoder signal inputs for registering the speed of conveyor belts for
the tracking function.
1
Art. no. 155317
Specifications
2A-RZ581E
Application
Serial extension
Type
Built-in board
Range of use
RP-Series
Connections
1 x RS232, 1 x RS422, 2 encoder inputs
No. of mountable interface cards
2
Order information
Art. no. 129807
27
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218861
27
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/// EXPANSION OPTION CARDS
왎 Interface Boards for Robot Controllers
ACCESSORIES
3
I/O Interface
Specifications
2A-RZ371
All the robot controllers have an I/O interface with at least 16 inputs and outputs as standard equipment. You can
increase the number of I/Os to a maximum of 256 (depends on controller
model) by adding 2A-RZ371 interface
modules.
The D-Controller has 32 inputs and
outputs as standard equipment. You
can increase the number of I/Os internally to 96 by adding 2D-TZ378 slot-in
cards.
Application
Interface for additional inputs/outputs
Type
Decentralized I/O box with 32 inputs and
32 outputs
Slot-In Card with 32 Inputs and 32 Outputs
Range of use
RP-Series
RV-SD and RH-SDH
Rated load voltage
Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per output
Max. no. of usable I/O boxes
7
Additional Axis Interface
Specifications
2A-RZ541E
The 2A-RZ541E interface card enables
the controller to control additional
axes. It can then control up to two additional axes, interpolating them with
the robot’s own axes. The additional
axes can be connected to configure
two 3-axis systems.
Application
Controller board for additional axes
Type
Built-in board
Range of use
RP-Series
Order information
Art. no. 124658
Connections
SSCNET x 1 channel
Max. no. of control axes
8
No. of mountable interface cards
1
Encoder type
Absolute
Order information
Specifications
2A-RZ375
The 2A-RZ375 interface card is used to
operate the robot’s pneumatic gripper.
It controls the solenoid valve set (see
page 30).
Application
Interface for pneumatic hand (pneumatic valves)
Type
Built-in board
Range of use
All MELFA robots
Connections
Up to 4 pneumatic valves
218862
Art. no. 124657
28
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2
Art. no. 129801
Pneumatic Hand Interface
Order information
2D-TZ378
MITSUBISHI ELECTRIC
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ADAPTOR CABLES AND CONNECTORS ///
왎 Gripper Signal Cables
Connection Cables
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.
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.
1A-GR200-RP
1A-HC200-RP
1S-GR35S-01
1S-GR35S-02
1S-HC35C-02
1S-HC25C-01
Type
Hand signal
output cable
Hand signal
input cable
Hand signal
output cable
Hand signal
output cable
Hand signal
input cable
Hand signal
input cable
Range of use (robot type)
AH
AH
SD
SDH
SD/SDH
SD/SDH
Single sided with
connector
Single sided with
connector
Single sided with
connector
3
Design
Custom-made
Custom-made
Single sided with
connector
Application
Custom-made
magnetic valve set
Monitoring of the gripper
condition
Pneumatic gripper
Pneumatic gripper
Monitoring of the gripper
condition
Monitoring of the gripper
condition
No. of cores
9
10
12
12
12
12
Length
2000 mm
2000 mm
400 mm
350 mm
1200 mm
800 mm
129779
153078
166272
166273
153079
Order information
Art. no. 129778
왎 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.
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).
Specifications
R-SMR-09V-B
R-SMR-10V-N
R-SMR-02V-B
SD series Hand
OUTPUT
SD series Hand
INPUT
Type
Gripper
output connector
Gripper
output connector
Valve
connector
Hand signal
output connector
Hand signal
input connector
Range of use (robot type)
A/AH
AH
2SD
SD/SDH
SD/SDH
Design
Black, 9 pins
White, 10 pins
2 pins
8 pins
6 pins
Shipping contents
Plug
and contacts
Plug
and contacts
Plug
and contacts
Plug
and contacts
Plug
and contacts
132113
143798
164814
164815
Order information
Art. no. 132112
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ACCESSORIES
Specifications
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/// TUBES AND MACHINE CABLES
왎 Hand Curl Tube
Replacement Gripper Hoses
These spiral hoses are for use with the pneumatic gripper. They are also suitable for use
with clean room robots.
RV-E-1E-ST0402C
RV-E-1E-ST0404C
Type
Spiral hose
Spiral hose
Range of use (robot type)
All
All
Application
For single pneumatic gripper
For double pneumatic gripper
Dimensions
2xØ 4 mm
4xØ 4 mm
Order information
3
ACCESSORIES
Specifications
Art. no. 47390
47389
왎 Drag Chain Cable
Cables for Flexible Robot Deployment
The standard cable for connecting the robot arm to the controller is 5m long and
can only be used for fixed installation. You
must use the special cable sets listed in the
table below if you need flexible power and
signal cables for installation in a drag chain
Specifications
Cable Flex 5 m
Type
Flexible drag chain cable
Range of use (robot type)
AH
Minimum bending radius
More than 100 mm
Cable bear isovolumetric ration
≤ 50 %
Max. movement speed
2000 mm/s
Protection rating
Oil-proof specification sheath
No. of cores power cable
10
No. of cores signal cable
Order information
Cable Flex 15 m
6/1 (7 total)
m 5
Length
Art. no. 149006
30
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installation.
You can also replace the standard connection cables with longer ones if necessary.
15
149010
MITSUBISHI ELECTRIC
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EXTENSION CABLES ///
왎 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.
1S-05CBL-01
Type
Extension cable for a fixed installation in a drag chain
Range of use (robot type)
6SD/6SDL/12SD/12SDL/12SDH/18SDH
Minimum bending radius
More than 100 mm
Max. movement speed
2000 mm/s
1S-10CBL-01
Guidance of life count
—
Protection rating
Oil-proof specification sheath
1S-15CBL-01
1S-05CBL-03
1
1
No. of cores signal cable
1
1
Order information
m 5
Art. no. 155827
15
5
10
15
155830
155665
165967
165968
165969
1S-10LCBL-01
1S-15LCBL-01
1S-05LCBL-03
1S-10LCBL-03
1S-15LCBL-03
1S-05LCBL-01
Type
Extension cable for a flexible installation in a drag chain
Range of use (robot type)
6SD/6SDL/12SD/12SDL/12SDH/18SDH
Minimum bending radius
More than 100 mm
Cable bear isovolumetric ration
≤ 50 %
Max. movement speed
2000 mm/s
Guidance of life count
7.5x106
Protection rating
Oil-proof specification sheath
No. of cores power cable
3/6 (9 total)
No. of cores signal cable
6/1 (7 total)
Order information
m 5
Art. no. 157582
2SD/3SD/6SDH
10
5/1/1 (7 total)
10
15
5
10
15
157583
157594
165970
165971
165972
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3
10
Specifications
Length
1S-15CBL-03
2SD/3SD/6SDH
No. of cores power cable
Length
1S-10CBL-03
ACCESSORIES
Specifications
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.
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/// EXPANSION AND CALIBRATION
왎 Connection Cables for PCs and Inputs/Outputs
Connection Cables, Connectors
The RV-CAB첸 cable is for establishing an
RS-232C serial connection between the robot controller and a personal computer.
The RV-E I/O connection cable is for connecting peripherals to the parallel I/O interface. One end of the cable is fitted with a
ACCESSORIES
3
Specifications
RV-CAB4
Type
Connection cable
Application
Serial (RS232C)
connection
PC–Controller
Range of use
RP-Series
Design
9/25-pin plug
Length
Order information
m 3
Art. no. 55653
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.
2A-CBL05
2A-CBL15
2D-CBL05
2D-CBL15
I/O port
SD/SDH
Plug on one side
5
15
5
15
47387
59947
218857
218858
왎 Expansion Option Box
Expansion for Additional Interface Cards
This expansion box is required for the installation of additional interface cards in
the CR1 controller (CC-Link, Ethernet,
Profibus and serial interface cards and in-
terface cards for additional robot axes).
You can install up to 3 additional interface
cards in the box.
Specifications
CR1-EB3
Type
Expansion box for interface cards
Application
Controller CR1
Range of use (robot type)
AH
Power supply
From the controller by the RT bus coupling
Ambient temperature
0–40 °C
Ambient humidity
45–85 %
Grounding
Class 3 grounding earth (via external terminal; earth resistance ≤ 100 Ω)
Structure
Floor mounting
Dimensions (W x H x D)
87.5 mm x 166 mm x 290 mm
Weight
Approx. 3 kg
Order information
Art. no. 129878
왎 Calibration Device
Zero Point Calibration Jig
This calibration jig is used for setting the
robot arm’s zero point. Zero point calibra-
Specifications
RV-E-1E-INST
RH-CAL
Type
Calibration device
Calibration pin
Application
Zero point setting with high accuracy
Range of use (robot type)
A
Order information
Art. no. 47388
32
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tion is used to maximise the robot’s positioning accuracy.
SD/SDH
145715
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BATTERIEN ///
왎 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
RV-3S...
RV-6../12..
RH-6../12..
RP-1/3/5AH
Art. no.
A6BAT
Number —
RV-2SD
4
5
4
3
4077
ER6BAT
Number 4
1
1
1
1
131168
Q6BAT
Number 1
—
—
—
—
130376
ACCESSORIES
3
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/// GENERAL OVERVIEW
왎 Options Assignment
ACCESSORIES
3
Option
Marking
Robot model name in catalogue
—
Teaching Box
Teaching Box
RV-2SD
RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
AH
—
—
R28TB
앬
124656
25
R46TB
앬
193409
25
25
SD
Teaching Box
R32TB
앬
Teaching Box
R56TB
앬
Electrical hand set
4A-HM01
SD
SD
SD
SDH
SDH
앬
앬
앬
앬
앬
214968
앬
앬
앬
앬
앬
218854
25
129874
25
Pneumatic hand set
4A-HP01E
129873
25
Single valve set
1A-VD01E-RP
앬
129780
26
Double valve set
1A-VD02E-RP
앬
129781
26
Triple valve set
1A-VD03E-RP
앬
129792
26
Quadruple valve set
1A-VD04E-RP
앬
129793
26
Single valve set
RV-E-1E-VD01E
앬
47397
26
Double valve set
RV-E-1E-VD02E
앬
47398
26
Single valve set
1S-VD01E-01
앬
153057
26
Double valve set
1S-VD02E-01
앬
153058
26
Triple valve set
1S-VD03E-01
앬
153059
26
Quadruple valve set
1S-VD04E-01
앬
153062
26
Single valve set
1S-VD01E-02
앬
앬
153074
26
Double valve set
1S-VD02E-02
앬
앬
153075
26
Triple valve set
1S-VD03E-02
앬
앬
153076
26
Quadruple valve set
1S-VD04E-02
앬
앬
153077
26
Single valve set
1S-VD01ME-03
앬
166278
26
Double valve set
1S-VD02ME-03
앬
166279
26
Triple valve set
1S-VD03ME-03
앬
166280
26
Quadruple valve set
1S-VD04ME-03
앬
166281
26
Single valve set
1S-VD01ME-04
앬
166274
26
Double valve set
1S-VD02ME-04
앬
166275
26
Triple valve set
1S-VD03ME-04
앬
166276
26
Quadruple valve set
1S-VD04ME-04
앬
Ethernet interface
2A-HR533E
CC-Link interface
2A-HR575E
CC-Link interface
2D-TZ576
PROFIBUS interface
2A-RZ577A
PROFIBUS interface
2D-TZ577
Serial expansion
2A-RZ581E
I/O interface
2A-RZ371
I/O interface
2D-TZ378
Additional axis interface
2A-RZ541E
Pneumatic hand interface
2A-RZ375
Electric hand interface
2A-RZ364
Curled connection cable
1A-GHCD
앬
앬
앬
앬
앬
1S-GR35S-01
26
129809
27
앬
129808
27
219063
27
155317
27
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
앬
218861
27
앬
129807
27
앬
124658
27
218862
27
앬
129801
27
앬
124657
27
129875
29
132101
29
129778
29
153078
29
앬
1A-GR200-RP
Hand signal output cable
166277
앬
앬
앬
앬
앬
1S-GR35S-02
앬
1A-HC20
Hand signal input cable
앬
1A-HC200-RP
1S-HC35C-02
앬
앬
앬
앬
앬
1S-HC25C-01
앬
앬
앬
앬
앬
166272
29
129877
29
129779
29
166273
29
153079
29
Gripper output connector
R-SMR-09V-B
앬
132112
29
Gripper input connector
R-SMR-10V-N
앬
132113
29
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GENERAL OVERVIEW ///
Option
Marking
Robot model name in catalogue
—
SD
Valve input connect
R-SMR-02V-B
앬
Hand signal output connector
S-series Hand OUTPUT
Hand signal input connector
S-series Hand INPUT
Valve connection cable
RV-E-1E-GR35S
앬
RV-E-1E-ST0402C
앬
앬
앬
RV-E-1E-ST0404C
앬
앬
앬
Flexible drag chain cable
Extension cable for fixed installation
in a drag chain
Extension cable for flexible installation
in a drag chain
PC connection cable
Connection cable for I/O interface
RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
SD
SD
SD
SDH
—
143798
29
앬
앬
앬
164814
29
앬
앬
앬
앬
앬
164815
29
47391
29
앬
47390
30
앬
47389
30
앬
149006
30
앬
Cable Flex 5 m
149010
30
1S-05CBL-01
Cable Flex 15 m
앬
앬
앬
155827
31
1S-10CBL-01
앬
앬
앬
155830
31
앬
앬
앬
1S-15CBL-01
155665
31
1S-05CBL-03
앬
앬
앬
165967
31
1S-10CBL-03
앬
앬
앬
165968
31
1S-15CBL-03
앬
앬
앬
165969
31
1S-05LCBL-01
앬
앬
앬
157582
31
1S-10LCBL-01
앬
앬
앬
157583
31
1S-15LCBL-01
앬
앬
앬
157594
31
1S-05LCBL-03
앬
앬
앬
165970
31
1S-10LCBL-03
앬
앬
앬
165971
31
1S-15LCBL-03
앬
앬
앬
165972
31
RV-CAB4
앬
55653
32
2A-CBL05
앬
47387
32
2A-CBL15
앬
59947
32
2D-CBL05
앬
앬
앬
앬
앬
앬
218857
32
2D-CBL15
앬
앬
앬
앬
앬
앬
218858
32
앬
CR1-EB3
RV-E-1E-INST
Adapter cable
TB-2D-28CON05M
앬
앬
앬
앬
Calibration pin
6 mm Tool
앬
앬
앬
앬
8 mm Tool
앬
앬
앬
앬
129878
32
47388
32
앬
218863
32
앬
155831
32
155832
32
A6BAT
앬
앬
앬
앬
앬
앬
앬
4077
33
ER6BAT
앬
앬
앬
앬
앬
앬
앬
131168
33
Q6BAT
앬
130376
33
3
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—
앬
Calibration device
Batteries
AH
앬
Extension box
Calibration pin
SDH
ACCESSORIES
Hand curl tube
RV-2SD
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/// MELFA-BASIC IV
왎 MELFA-BASIC IV/V Programming
Easy-to-Learn MELFA-BASIC IV/V
Programming Language
Mitsubishi robots are controlled with
programs written in the powerful MELFA
BASIC IV/V programming language. This
language is based on standard BASIC,
which makes it very easy to learn. 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 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.
In addition to controlling simple movement sequences this high-level language
can also perform complex calculations
without having to access a connected PC.
This is made possible by a comprehensive
library of integrated functions, including
trigonometry functions.
You can store up to 88 programs in the controller, in the D-Controller even 256, and
manage up to 256 inputs and outputs.
Another powerful feature is 3D circular interpolation, which makes it possible to program highly-complex processing sequences
in 3D space.
Programming
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.
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 page 36 and 37.
Sample Program
P_SAFE
50 mm
➝ : Robot movement
앬 앪 : Movement position
50 mm
PROGRAMMIERSPRACHE
4
The sample program below is for a
pick-and-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.
P2
P1
Pick workpiece
Place workpiece
M_IN(8)
Pick-and-Place Program
10
20
30
40
50
60
70
80
90
100
110
120
130
140
150
160
MVS P_SAFE
IF M_IN(8) = 0 THEN 20 ELSE 30
HOPEN 1
MVS P1, −50
MVS P1
HCLOSE 1
DLY 0.2
MVS P1, −50
MVS P2, −50
MVS P2
HOPEN 1
DLY 0.2
MVS P2, −50
IF M_IN(8) = 1 THEN 40 ELSE 150
MVS P_SAFE
END
Move to safe position
Wait until input bit 8 is set
Open gripper 1
Move longitudinally to a position 50 mm from P1 relative to the tool
Move to position P1
Close gripper 1
Wait for 0.2 s to ensure proper closing of gripper
Move longitudinally to a position 50 mm from P1 relative to the tool
Move longitudinally to a position 50 mm from P2 relative to the tool
Move to position P2
Open gripper 1 and deposit workpiece
Wait for 0.2 s to ensure proper opening of gripper
Move longitudinally to a position 50 mm from P2 relative to the tool
If another workpiece is present repeat the pick-and-place operation
If no workpiece is present return to safe position and end program
Program end
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SOFTWARE ///
왎 RT Toolbox2
RT Toolbox2:
The RT Toolbox2 is the standard programming tool for every MELFA Robot. Besides Syntax
Highlighting, 3-D Robot View and a Program Manager the software offers structured Parameter settings, Monitor and Backup functions and a Position repair function. This helps
to recalculate the positions after displacing the robot or changing the gripper.
The Workspace structure allows connecting up to 12 robots simultaneously via
Ethernet-Network and displaying them in real time on just one PC.
Among the standard softwareversion 3D-12C-WINE there is also the software
3D-11C-WINE availible. This software has the additional ability to simulate the movement
of the robot in a 3-dimensional graphical display. Furthermore a special feature of this software is, to display the cycle time of the movement at the end of the simulation. So you can
already optimize the program at your PC instead of optimizing at the real equipment.
SOFTWARE
5
Software
Supported robot models
Language
program editing
monitor function
parameter setting
program backup
Functions
for robot
program conversion
models
remote maintenance
(via modem)
position repair
maintenance forecast
Robot movement simulation
Calculation of the cycle time
Operating system
Order information
3A-11C-WINE
All
SD/SDH
SD/SDH
No
No
Microsoft Windows 98/XP/2000/Vista
Art. no. 218856
Yes
Yes
218855
37
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3D-12C-WINE
All
English, German, Italian, French
All
All
All
All
From M/E/EN to NARC and Post NARC
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/// SOFTWARE
왎 Network Vision Support Software
MELFA-Vision
MELFA-Vision is an easy to use application to set up Cognex-Vision sensors and MELFA
robot controllers. It supports you with a user friendly menu to set up the parameters on
the Vision sensor and the Robot controller within just a few mouse clicks. The easy calibration function that supports various camera installation positions, calibrates the Vision system with the robot by only four positions. The Network vision job library helps the user to
set up a vision program that can detect moving and rotated parts with pattern matching
also at high speeds.
Through its Ethernet® connection interface it is possible to control one vision sensor by up
to three robot controllers. Special Network Vision commands reduces the efforts of robot
programming to a minimum by using just 3 commands to connect the vision sensor, trigger the camera and to read out the detected positions.
Melfa Vision supports the Cognex In-Sight 5000-Series and the new Cognex In-Sight Micro
with the PatMax function.
Software
Supported robot models
Language
Description
Operating system
Order information
MELFA-Vision V1.1.1.0
A/SD series
English
Network vision support software
Microsoft Windows XP/2000
Art. no. 206077
SOFTWARE
5
왎 3D Simulation and Programming Tool
MELFA-Works
The 3D-CAD system SolidWorks® offers a wide range of construction tools. With the
add-on tool MELFA-Works it is possible to implement full functional CAD models of the
robots into your application and to simulate them.
The installation of designed hands or ATCs (Auto Tool Changers) and the use of external
in- and outputs offers the possibility to simulate applications close to reality. With the implemented virtual controller and the use of robot parameters the calculation of tact times
reaches an unrivalled accuracy.
By using the workflow tool, a path can be calculated by only selecting the edge and the
corresponding surface and a complete movement program can be automatically generated. For transforming the virtual created path and positions into reality MELFA-Works
supports with an intelligent calibration tool by using only three positions. This offers also
an implemented interference check as well as a video function that saves moving applications into a video file.
Software
Supported robot models
Language
Description
Operating system
Order information
MELFA-Works V2.2
SD series, RP series
English
3D simulation and programming software
Microsoft Windows XP/2000, SolidWorks® 2004
Art. no. 206076
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NOTES ///
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/// INDEX
A
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
Additional axis controller card . . . . . . . . . . . . . . . . . . . . . . 28
Articulated robot arms . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
I
Interfaces
CC-Link · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
I/O extension · · · · · · · · · · · · · · · · · · · · · · · · · · 28
electrical gripper · · · · · · · · · · · · · · · · · · · · · · · · 28
extension box· · · · · · · · · · · · · · · · · · · · · · · · · · 32
Ethernet · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
pneumatic gripper· · · · · · · · · · · · · · · · · · · · · · · 28
PROFIBUS · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
serial extension · · · · · · · · · · · · · · · · · · · · · · · · · 27
additional axes · · · · · · · · · · · · · · · · · · · · · · · · · 28
IP65 protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
B
Movement range
RV-2SDB · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9
RV-3SDJB, RV-3SDB · · · · · · · · · · · · · · · · · · · · · · 11
RV-6SD, RV-6SDL · · · · · · · · · · · · · · · · · · · · · · · · 13
RV-12SD, RV-12SDL · · · · · · · · · · · · · · · · · · · · · · 14
RH-6SDH, RH-12SDH · · · · · · · · · · · · · · · · · · · · · 17
RH-20SDH · · · · · · · · · · · · · · · · · · · · · · · · · · · · 18
RP-1AH, RP-3AH, RP-5AH· · · · · · · · · · · · · · · · · · · 19
L
Long arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
C
Cable
for drag chains · · · · · · · · ·
for grippers · · · · · · · · · · ·
for power connections · · · ·
for signal connections · · · ·
for PCs and I/Os· · · · · · · · ·
Calibration device . . . . . . . . . . . . .
CC-Link interface . . . . . . . . . . . . . .
Connection cable . . . . . . . . . . . . . .
Connectors. . . . . . . . . . . . . . . . . .
Controllers
CR1, CR1D, CR2D and CR3D ·
specifications · · · · · · · · · ·
·
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M
MELFA-Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
30
29
31
31
32
32
27
29
29
O
Options
Assignment · · · · · · · · · · · · · · · · · · · · · · · · · · · 34
Overview· · · · · · · · · · · · · · · · · · · · · · · · · · · · · 22
P
PC connection cable . . .
Pneumatic gripper
interface · · · ·
specifications ·
PROFIBUS interface. . . .
Programing . . . . . . . .
· · · · · · · · · · · · · · · · 20
· · · · · · · · · · · · · · · · 21
D
Dimensions
robot arms · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9
controller · · · · · · · · · · · · · · · · · · · · · · · · · · · · 21
E
Electric gripper
interface · · · ·
specifications ·
Ethernet interface . . . .
Extension cables . . . . .
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36
R
Robot arms
articulated robots · · · · · · · · · · · · · · · · · · · · · · · · 8
SCARA robots · · · · · · · · · · · · · · · · · · · · · · · · · · 16
RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
28
25
27
31
S
SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
Serial interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Software
MELFA-Vison · · · · · · · · · · · · · · · · · · · · · · · · · · 38
MELFA-Works · · · · · · · · · · · · · · · · · · · · · · · · · · 38
RT Toolbox2 · · · · · · · · · · · · · · · · · · · · · · · · · · · 37
Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
G
Gripper systems
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 26
connection cable· · · · · · · · · · · · · · · · · · · · · · · · 29
H
Hand sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
T
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
V
Valve connection cables . . . . . . . . . . . . . . . . . . . . . . . . . 29
40
C_MELFA-Roboter_F_UK.prn
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Montag, 11. Oktober 2010 14:10:58
MITSUBISHI ELECTRIC
40
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
MELFA Industrial Robots
A world of
automation solutions
Robots from € 1.65/hr
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi
robots have a surprisingly low total cost of ownership
at around 1.65/h per hour for both purchasing and
operation.
The robots have hollow shaft
motors and transmissions for
maximum rigidity.
Robots
Motion control and servos
Inverters
LV circuit protection
Laser machines
The high-precision Harmonic
Drive transmission helps to
provide exceptional
repeatability performance.
More than
30,000 applications
CNC
controllers
Modern automation technology from Mitsubishi Electric is helping to power technological progress and
business success all over the world. Since 1978,
Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diversity of fields.
HMI and GOTs
EDM machines
Micro PLCs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
A name to trust
Since its beginnings in 1870, some 45 companies use the Mitsubishi name, covering
a spectrum of finance, commerce and
industry.
Suitable for high-precision component placement with repeatability performance of ±0.005 mm
and a cycle period of just 0.28 s.
The Mitsubishi brand name is recognized
around the world as a symbol of premium
quality.
Intelligent design
The high performance of Mitsubishi’s robots is the
result of market-leading technology combined with
intelligent, carefully-planned design. For example,
locating pneumatic and wiring extensions directly in
the robot body reduces wiring complexity and costs.
2
The World’s first twin-arm SCARA
robot with parallel structure for
maximum precision.
Mitsubishi Electric Corporation is active in
space development, transportation, semiconductors, energy systems, communications and information processing, audio
visual equipment, home electronics, building and energy management and automation systems, and has 237 factories and
laboratories worldwide in over 121 countries.
This is why you can rely on a Mitsubishi
automation solution – because we know
first hand about the need for reliable, efficient, easy-to-use automation and control
in our own factories.
As one of the world’s leading companies
with a global turnover of over 4 trillion
Yen (over $40 billion), employing over
100,000 people, Mitsubishi Electric has the
resource and the commitment to deliver
the ultimate in service and support as well
as the best products.
Global Partner. Local Friend.
MELFA
Industrial Robots
Consistent Quality –
Precise Control
EUROPEAN BRANCHES
EUROPEAN REPRESENTATIVES
MITSUBISHI ELECTRIC EUROPE B.V.
GERMANY
Gothaer Straße 8
D-40880 Ratingen
Phone: +49 (0)2102/486-0
MITSUBISHIELECTRICEUROPEB.V. CZECH REPUBLIC
Radlická 714/113a
CZ-158 00 Praha 5
Phone: +420 - 251 551 470
MITSUBISHI ELECTRIC EUROPE B.V.
FRANCE
25, Boulevard des Bouvets
F-92741 Nanterre Cedex
Phone: +33 (0)1/55 68 55 68
MITSUBISHI ELECTRIC EUROPE B.V.
ITALY
Viale Colleoni 7
I-20041 Agrate Brianza (MB)
Phone: +39 039/60 53 1
MITSUBISHI ELECTRIC EUROPE B.V.
POLAND
Krakowska 50
PL-32-083 Balice
Phone: +48 (0)12/630 47 00
MITSUBISHI ELECTRIC EUROPE B.V.
SPAIN
Carretera de Rubí 76-80
E-08190 Sant Cugat del Vallés (Barcelona)
Phone: 902 131121 // +34 935653131
MITSUBISHI ELECTRIC EUROPE B.V.
UK
Travellers Lane
UK-Hatfield, Herts. AL10 8XB
Phone: +44 (0)1707/27 61 00
GEVA
AUSTRIA
Wiener Straße 89
AT-2500 Baden
Phone: +43 (0)2252/85 55 20
Koning & Hartman b.v. BELGIUM
Woluwelaan 31
BE-1800 Vilvoorde
Phone: +32 (0)2/257 02 40
INEA BH d.o.o. BOSNIA AND HERZEG.
Aleja Lipa 56
BA-71000 Sarajevo
Phone: +387 (0)33/921 164
AKHNATON
BULGARIA
4 Andrej Ljapchev Blvd. Pb 21
BG-1756 Sofia
Phone: +359 (0)2/817 6004
AutoCont C.S. s.r.o. CZECH REPUBLIC
Technologická 374/6
CZ-708 00 Ostrava-Pustkovec
Phone: +420 595 691 150
B:ELECTRIC, s.r.o. CZECH REPUBLIC
Mladoboleslavská 812
CZ-197 00 Praha 19 - Kbely
Phone: +420 286 850 848
Beijer Electronics A/S
DENMARK
Lykkegårdsvej 17
DK-4000 Roskilde
Phone: +45 (0)46/ 75 76 66
Beijer Electronics OY
FINLAND
Peltoie 37
FIN-28400 Ulvila
Phone: +358 (0)207/463 540
UTECO A.B.E.E.
GREECE
5, Mavrogenous Str.
GR-18542 Piraeus
Phone: +30 211/1206 900
AXICONT AUTOMATIKA KFT. HUNGARY
(ROBOT CENTER) Reitter F. U. 132
HU-1131 Budapest
Phone: +36 1/412-0882
ALFATRADE Ltd.
MALTA
99, Paola Hill
Malta-Paola PLA 1702
Phone: +356 (0)21/697 816
HIFLEXAUTOM.B.V. NETHERLANDS
Wolweverstraat 22
NL-2984 CD Ridderkerk
Phone: +31 (0)180 – 46 60 04
Koning&Hartmanb.v. NETHERLANDS
Haarlerbergweg 21-23
NL-1101 CH Amsterdam
Phone: +31 (0)20/587 76 00
Beijer Electronics AS
NORWAY
Postboks 487
NO-3002 Drammen
Phone: +47 (0)32/24 30 00
SIRIUS T & S SRL
ROMANIA
Aleea Lacul Morii Nr. 3
RO-060841 Bucuresti, Sector 6
Phone: +40 (0)21/430 40 06
INEA SR d.o.o.
SERBIA
Izletnicka 10
SER-113000 Smederevo
Phone: +381 (0)26/617 163
CS MTrade Slovensko, s.r.o SLOVAKIA
Vajanskeho 58
SK-92101 Piestany
Phone: +421 (0)33/7742 760
INEA d.o.o.
SLOVENIA
Stegne 11
SI-1000 Ljubljana
Phone: +386 (0)1/513 8100
Beijer Electronics AB
SWEDEN
Box 426
SE-20124 Malmö
Phone: +46 (0)40/35 86 00
Robotronic AG
SWITZERLAND
Schlachthofstrasse 8
CH-8406 Winterthur
Phone: +41 (0 52) 26 70 200
GTS
TURKEY
Bayraktar Bulvari Nutuk Sok. No:5
TR-34775 Yukarı İSTANBUL
Phone: +90 (0)216 526 39 90
CSC Automation Ltd.
UKRAINE
4-B, M. Raskovoyi St.
UA-02660 Kiev
Phone: +380 (0)44/494 33 55
ILAN & GAVISH Ltd.
ISRAEL
24 Shenkar St., Kiryat Arie
IL-49001 Petah-Tiqva
Phone: +972 (0)3/922 18 24
CBI Ltd.
SOUTH AFRICA
Private Bag 2016
ZA-1600 Isando
Phone: 27 (0)11/977 0770
Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-4861120 /// [email protected] /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-F ///10.2010
All trademarks and copyrights acknowledged.
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