Precise Control...Articulated-arm robots / SCARA robots / High-performance Controllers / Programming software / Simulation / MELFA Family Industrial Robots Consistent Quality – Precise

Articulated-arm robots / SCARA robots / High-performance

Controllers / Programming software / Simulation /

MELFA FamilyIndustrial Robots

Consistent Quality – Precise Control

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Features in detail

The World’s first twin-arm SCARA robot with parallel structure for maximum precision.

Internally-routed cables and hoses prevent snagging on peripheral equipment.

Robots from € 1.65/hrCalculated on the basis of their average service life, around 6–7 years in typical applications, Mitsubishi Electric robots have a surprisingly low total cost of ownership at around € 1.65/h per hour for both purchasing and operation.

Suitable for high-precision com ponent placement with repeatability performance of ±0.005 mm and a cycle period of just 0.28 s.

Enclosed housing and IP54 for maximum protection and hygiene

Mitsubishi Electric servo motors for ultimate performance and speed

MELFA Industrial Robots

VersatilitySmall robots have been used in more than 30,000 applications in widely differing fields since 1978 – and what is more they work around the clock, 24 hours a day, 7 days a week.

Innovative designMitsubishi Electric’s high-performance robots are the result of market-leading technology combined with carefully planned design. For example, locating pneumatic hoses and signal cables in the robot body reduces the complexity and cost of connecting grippers and sensors and increases operational reliability.

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The high-precision Harmonic Drive transmission helps to provide exceptional repeatability performance.

Intelligent metal construction and twin-arm structure give the robots particularly high rigidity and precision.

All the gripper hands of the articulated-arm robots conform to the ISO 9409-1 standard.

A very compact design takes up minimum space for applications in cramped quarters.

Simple programmingA powerful range of robots needs an equally powerful and user-friendly programming interface. Mitsubishi Electric’s RT ToolBox2 and MELFA WORKS packages are powerful programming and simulation software tools tailored precisely for the needs of your robots.

MELFA Industrial Robots

Compact and economicalCompact mounting and an availability of 99.9 % with the highest quality are the most important factors for any application.

Network capabilitiesNetwork connections like Ethernet, ProfiBus, ProfiNet, DeviceNet and CC-Link make it easy to integrate Mitsubishi Electric robot controllers in to larger systems, providing users with access to every step of the process.

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Precision and Flexibility

Food and drinkIncreasing hygiene demands, a variety of products and the traceability of production processes are ensured with MELFA robots – now and in the future.

Innovative details and stringent guidelines for MELFA robots guarantee assured quality even in ultra-clean applications.

Automotive industryHighly accurate and extremely flexible MELFA robots are used whenever every lit-tle detail matters – haptic measurement, quality assurance and assembly of complex components. MELFA robots carry out their tasks around the clock and at full speed.

Pharmaceutical industryModular control concepts and pharma-ceutical industry certification make MELFA robots the ideal partner in the life sciences sector. Integral database connection and an all-embracing control concept facilitate modular and flexible applications in any field where quality and production data have to be backed up in a comprehensible manner.

Precision

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Flexibility

PackagingHigh-performance and flexibility are a matter of course for MELFA robots. It goes equally without saying that all Mitsubishi Electric automation components can be incorporated. These include additional axes, PLC controllers and operating terminals. Furthermore, cameras can be connected and robots synchronised with conveyor belts. These functions enable packaging tasks to be carried out reliably, quickly and continuously.

Electronics and mechanical engineeringMitsubishi Electric provides a wide range of products from parallel-arm robots for the micro assembly of miniature components to fully sealed articulated arm robots. There are no applications which are not suitable for MELFA robots. Whether cleanroom or dirty, oily and dusty environments, the product range always includes the right robot for your application.

TrainingLearning from practical experience – a goal which can be achieved in a training environ-ment with the compact, lightweight MELFA robots. Simple programming, simulation options and experienced teachers make entry into the field of robotics easy.

No limits – thanks to standard real-time interfaces and simple programming, MELFA robots provide all sorts of options for using the robots as manipulators, even for com-plex university research projects.

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Technical features

The technology in detail

More safetyThe DIN ISO-10218 safety standard is com-mon to all robots and therefore guarantees safe operation in all applications. Mitsubishi Electric’s supplementary product range including safety controllers enables the robots to be integrated into a common safety concept. Ready-made example pro-jects make it possible for anyone to put together even complex systems quickly and effectively.

Sensor-controlled robots with image processingMitsubishi Electric’s industrial robots can be connected to any object recognition camera system via the ethernet port or the robot controller’s RS232 interface. This enables static and moving parts to be detected with the correct positional information.

The possible uses of sensor-controlled robots in factory automation are manifold. They range from component assembly via quality control and the reworking of workpieces to the location and removal of objects from a conveyor belt.

F-Q Series – full PLC functionality in the robotAs robots are never installed on a stand-alone basis, the system must be easy to integrate into its working environment to enable it to communicate with PLC and motion systems as well as operating panels and other systems. Together with the modu-lar robot CPU, the Mitsubishi Electric iQ Plat-form provides the ideal basis for integrating the full functionality of a PLC into the robot controller – once again demonstrating the company’s role as a pioneer in automation technology.

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Technical features

Ethernet

Simple integration into complex applicationsUp to eight additional axes can be con-nected directly to the robot controller with just one cable. Of these, two axes can be used as additional interpolating axes, e.g. as the seventh and eighth robot axis. The spe-cial feature compared with other systems is that all additionally connected axes can be programmed in exactly the same way as the robot, using the same Teach-Box or the standard RT ToolBox2 software. This avoids the additional expense of software, training and programming.

More efficient monitoring and maintenance functionsDirect connection of the company’s infra-structure GOT operating terminal via Ethernet opens up a number of monitor-ing, control and maintenance functions for the robot. The correction of taught points, the backup and restore function, the entry of production data, and the selection and control of processes are just some of the options provided by the Mitsubishi Electric operating terminal in conjunction with MELFA robots.

Open communication for PC connectionThe robot controller can be connected to an MES system, for example for easily and quickly changing manufacturing sequences without stopping production.

Furthermore, the robot can be initiated for any kind of movement in real time. Flexible and complex movements, which are gener-ated graphically on the PC, for example, can be realised in this way.

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High-performance industrial robots also require high-performance software. For this reason, more and more automation engineers are opting for the versatile and convenient Mitsubishi Electric software. All tasks, such as the creation of projects, pro-gramming and simulation, are implemented intuitively and mesh perfectly with one another. This results in optimum movement sequences in the shortest possible installa-tion and commissioning time.

Programming

Offline and online programming with simulation

Simulation

3D-CAD import and up to 16 robots can be simulated in one project; additional axes can be connected and positions taught directly in the simulation.

Parameters

Parameter structure for the simple param-eterisation of functions; complete overview of all parameters with display of modified values only.

Maintenance

Full backup and restore function and moni-toring of service intervals, production runt-imes and product cycles.

Monitoring

Display of load currents, position values, variables and variable positions. Monitor-ing of switching signals, program execution and fault history.

Documentation

Full project documentation with output of modified parameters, program code and positions.

3D-simulation with MELFA-WorksThe MELFA-Works add-in tool for SolidWorks enables a robot in a production system to be simulated on a PC, and converts the work-piece paths into robot position data.

Supplementing the SolidWorks platform by the addition of MELFA-Works extends the simulation functions and opens up new simulation possibilities.

The CAD data of the system can be directly imported

Grippers can be connected directly to the robot

Handling of workpieces

Offline teaching in a 3D environment

Creation of robot programs

Collision-checking between robot and system environment

The convenient operating terminal for mobile teachingThe R56TB is a powerful operating panel for carrying out all tasks directly at the robot, from controlling the robot and display-ing the loads by means of the input/out-put display to complete program creation and parameterisation. The comprehensive functions ensure optimum utilisation of the robot system and thus reduce setup times.

The integral USB port enables data to be exchanged conveniently, and complete controller backups can be uploaded and downloaded through a memory stick.

Programming and SimulationSoftware for industrial robots

Simulation of a Mitsubishi Electric industrial robot directly in an application

Technical Information Section

Robots Productrange

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Further Publications within the Industrial Automation Range

HMI Family

Product catalogue for operator terminals, supervision software and accessories

MR Family

Product catalogue for servo amplifiers and servo motors as well as motion controller and accessories

FX Family

Product catalogue for programmable logic controllers and accessories for the MELSEC FX family

Q/L Family

Product catalogues for programmable logic controllers and accessories for the further MELSEC PLC series

FR Family

Product catalogue for frequency inverters and accessories

LVS Family

Product catalogue for low voltage switchgears,magnetic contactors and circuit breakers

Automation Book

Overview on all Mitsubishi Electric automation products, like frequency inverters, servo/motion, robots etc.

Further service supplies

This product catalogue is designed to give an overview of the extensive range of Mitsubishi Electric MELFA RV-F-, RV-FH- and RP-ADH series. If you cannot find the information you require in this catalogue, there are a number of ways you can get further details on config-uration and technical issues, pricing and availability.

For technical issues visit the https://eu3a.mitsubishielectric.com website.

Our website provides a simple and fast way of accessing further technical data and up to the minute details on our products and 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 Electric partners and distributors are only too happy to help answer your technical questions or help with configuration build-ing. For a list of Mitsubishi Electric partners please see the back of this catalogue or alternatively take a look at the „contact us“ section of our website.

About this product catalogue

This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and config-uration the associated product manuals must be read. You must satisfy yourself that any system you design with the products in this catalogue is fit for purpose, meets your requires and conforms to the product configuration rules as defined in the product manuals.

Specifications are subject to change without notice. All trademarks acknowledged.

© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group

The products of Mitsubishi Electric Europe B.V., that are listed and described in this document, are neither subject to approval for export nor subject to the Dual-Use List.

Brochures

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Contents

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1 Robots Overview robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4 Special functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 Industrial robots RV-2F(B) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12 Industrial robots RV-4FLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 Industrial robots RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16 Industrial robots RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 Industrial robots RP-1ADH, RP-3ADH und RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 Industrial robots RH-3FHR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22 Industrial robots RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24 System overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

2 Controller Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28 Dimensions of the control units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

3 Accessories Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30 Wiring set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 Pneumatic valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 Interface boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33 Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Tubes and extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35 PC and I/O connection cables, controller protection box and buffer batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 General overview of options. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

4 Programming Language MELFA-BASIC IV/V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

5 Software RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41

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Overview robots

Large range of robot models makes selection easy

Mitsubishi Electric produces a compre-hensive range of robot models to cater to the full spectrum of modern needs. All Mitsubishi Electric robots are power-ful, fast and compact – that goes almost without saying.

The product range includes the almost universal articulated-arm robots with 6 degrees of freedom and payloads of 2 kg to 20 kg and SCARA robots with 4 degrees of freedom and payloads of 3 kg to 20 kg for assembly and palletising tasks.

Two special models are the unique high-precision robots with their parallel arm structure for very fast micro handling tasks with payloads of 1 kg to 5 kg as well as the flexible high-speed SCARA robot for ceiling mounting.

A complete lineup

Type RV-2F(B) RV-4FLM RV-7FM RV-7FLM RV-7FLLM RV-13FM RV-13FLM RV-20FMNumber of axis 6 6 6 6 6 6 6 6Payload kg 2 4 7 7 7 13 13 20Maximum reach radius mm 504 649 713 908 1503 1094 1388 1094

Environmental specifications

Standard IP30 IP67 IP67 IP67 IP67 IP67 IP67 IP67Clean — (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional)

Controller CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU

Vertical, multiple-joint type (RV)

Type RP-1ADH RP-3ADH RP-5ADH RH-3FHR RH-3FH5515 RH-6FH5520 RH-12FH8535 RH-20FH10035Number of axis 4 4 4 4 4 4 4 4Payload kg 1 3 5 3 3 6 12 20Maximum reach radius mm 150x105 (corresponds to DIN A6) 210x148 (corresponds to DIN A5) 297x210 (corresponds to DIN A4) 350 550 550 850 1000


Standard IP30 IP30 IP30 IP20 (IP65 optinal) IP20 IP54 (IP65 optional) IP54 (IP65 optional) IP54 (IP65 optional)Clean — — — (ISOclass5 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional)

Controller CR1DA CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU

Horizontal, multiple-joint type (RH/RP)

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Type RV-2F(B) RV-4FLM RV-7FM RV-7FLM RV-7FLLM RV-13FM RV-13FLM RV-20FMNumber of axis 6 6 6 6 6 6 6 6Payload kg 2 4 7 7 7 13 13 20Maximum reach radius mm 504 649 713 908 1503 1094 1388 1094


Standard IP30 IP67 IP67 IP67 IP67 IP67 IP67 IP67Clean — (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional)

Controller CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU

Type RP-1ADH RP-3ADH RP-5ADH RH-3FHR RH-3FH5515 RH-6FH5520 RH-12FH8535 RH-20FH10035Number of axis 4 4 4 4 4 4 4 4Payload kg 1 3 5 3 3 6 12 20Maximum reach radius mm 150x105 (corresponds to DIN A6) 210x148 (corresponds to DIN A5) 297x210 (corresponds to DIN A4) 350 550 550 850 1000


Standard IP30 IP30 IP30 IP20 (IP65 optinal) IP20 IP54 (IP65 optional) IP54 (IP65 optional) IP54 (IP65 optional)Clean — — — (ISOclass5 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional) (ISOclass3 optional)

Controller CR1DA CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU

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Torque Torque increased

Previous generation of motor

Rotational speed (rpm)

New generation of motor

Speed increased

Shortened takt times

Improved control performance

Produced the fastest operating performance in its class using high-performance motors and unique driver control technology developed by Mitsubishi Electric.

z Enabled high torque output at high rotational speed, shortening acceleration/deceleration time

z Shortened positioning time for improved device throughput

z Continuous operability improved

Internal routing of hand wiring and signal cable

z Internal routing of cables and air hoses

z No interference with cables around devices

z Reduced risk of wiring disconnection

Internal routing of wiring and wiring channels enabled within the arm up to the J6 axis tip.

To hand

Internally embed-ded valves

Improved tooling performance

Expanded pivotal operating range

z Improved flexibility for robot layout design

z More effective use of access space around the entire perimeter

z Shortened movement distances, enabling takt times to be shortened

Full use of installation space

Removal

Delivery

Diversity through flexibility Rear access on RV-4F

240°

240°

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

Flexibility with internal Ethernet cable tools

Internal installation of wiring and piping for connecting to vision sensors enabled.

z Hand: 8 input points/8 output points

z Ethernet cable for the vision sensor

z Attachment of the vision sensor to the wrist facilitates wiring.

z Additional cables to control vision systems or other sensors Vision sensor

Ethernet connected on the back of the base

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GOT backup/restore functions (Supported on GT14, GT15 and GT16)

Robot data on the GOT can be backed up to and restored from a CF card or USB memory stick. Due to the direct Ethernet connection a PC is not required

z This helps prevent data from being lost due to the empty battery / battery or robot malfunction.

z Data can be saved after periodic maintenance tasks are performed or when unexpected errors occur. Dramatically improves serviceability

Restore

Backup

CF card

Improved user friendliness

Simple automatic operation from the teaching box

z Same functions as on the operating panel of the robot controller

z Monitoring screens can be set up individually to match the needs of user debugging conditions

z Enabled for R32TB and R56TB

Robot control screen (R56TB)

Enables automatic operation of servo motor on/off, startup and shutdown, reset, program selection, and other operations.

kθ

Deflectioncompensation

compensation

Improved accuracy

Tool length Set using three to eight teaching points

Simplified tool length setting

Tool settings for the tool coordinate system can be set by attaching the tool and using three to eight of the same teaching points.

z Eliminates errors introduced when the tool was made.

z Higher precision

z Saving time, since measuring the tool is not necessary.

Deflection compensation function

z Compensates for deflection in the robot arm occurring due to gravity

z Improved palletization accuracy

z Improved trajectory accuracy

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Robot hand

Positioning device

Copy plane

Tool coordinate system

Adaptation to operation

Orthogonal compliance control

This function reduces the rigidity of the robot arm and tracks external forces.

z Special hands and sensors are unnecessary

z Reduced tooling costs

z Shortened line stop times

Insertion direction or normal control direction

Collision avoidance (Q type controllers only)

The robot is stopped, even before collisions can occur. This is possible due to the fast position control, that ist implemented in the iQ Platform as a standard feature.

z Robots can operate together in a confine space without interfereing with each other

z Reduces the number of recovery man-hours required after a collision

z Already represented in the simulation of the RT Toolbox2

Possible collisions with other robots are avoided.

Coordinated control (Q type controllers only)

Enables coordinated control between multiple robots through CPU connection between the robots.

z Easy to operate by predefined default function

z Enables transport of lengthy or heavy objects using small-sized robots

z Programming as already known by using standard com-mands

Enables installation work to be completed while gripper positions between robots are maintained.

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Connection to peripheral devices

Network vision sensor

The robot and camera can be easily simultaneously calibrated through a simple process using vision sensor setting tools.

z Simple connection between the robot and camera using Ethernet

z Simple control using vision control commands in the robot programs

z Shortened takt times

z Reduced system costs

Tracking

Transport, alignment, and installation work, etc. can be performed while robots are tracked with the workpiece on the conveyor without stopping the conveyor.

z Higher throughput of components

z Easy programm creation (MELFA BASIC IV/V)

z No need for an additional positioning device

Additional axis function

The layout can be set up to include the robot traveling axis and turntable as well as user machines separate from the robot such as loaders and positioning devices.

z Up to 8 additional axes can be controlled by the controller

z No additional motion control hardware necessary

z Plug-and-play compatibility with the MELSERVO (MR-J4-B, MR-J3-BS) servos

z Two axes can be contolled simultaneous with the robot

z No need of special programming knowledge, because standard instructions are used

Vision sensor

Encoder

Conveyor

Can be used with multiple conveyors at the same time (Up to 2 conveyors).

Processing capability increased by 15%

Additional axis Simultaneous control

Compatible with MR-J4-B and MR-J3-BS

Robot Up to 8 additional axes

Additional axis

User machine

User machine

Up to 2 axes

Machine 1 Machine 2 Machine 3

Up to 3 axes Up to 3 axes

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Emergency stop

Target position

Starting position

Safety features

Collision detection

Collision detection function

This function detects if the arm collides with an obstacle while teaching or operating, and helps reduce damage to the robot arm and tools.

z Protection of workpiece from becoming damaged

z Shortened line stop times

z Reduced maintenance costs

Password and safety functions

Read/write protection prevents parameters from being overwritten and programs from being changed inadvertently. Sensitive data can be protected using password protection.

z Passwords can be set to protect created programs

z The viewing and copying of data from the teaching pendant and RT Toolbox2 can be disabled

z Writing operations for parameters can be disabled

Sustained tracking during emergency stop

The robot trajectory can be sustained even when the machine is shut down using an emergency stop.

z Reduction of interference with peripheral devices

Note: Use of this function does not guarantee that the trajectory will be sustained. The trajectory may be shifted out of line depending on the timing at which the emergency stop is activated.

Protected and restricted functions

Program-relatedReading and writing of programsProgram deletion and copyingRenaming and initialization of programs

Parameter-related Writing of parametersRT Toolbox2 Data backup and restore

Shutdown withtrajectory sustained

Safety circuits (emergency stop circuits) can easily be installed for the customer‘s entire system, not just for the robot itself.

z Complies with the latest ISO-10218-1 (2011) standards for Robots and robotic devices - Safety requirements

z Meets the requirements for PL d of ISO13849-1 Category 3

Applicable standards

z CE: European Conformity (European safety standards) Compliant with the EMC Directive, 2004/108/EC Compliant with the Machinery Directive, 2006/42/EC

z KCC: Korean Communications Commission (Korean safety certification) Complies with the revised Korea Radio Act (Article 58 Section 2)

Mitsubishi Electric offers even more products with security features such as modular and compact PLCs, inverters or servo amplifiers. Refer to the Automation Book for detailed information.

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Special functions with GOT terminals and the iQ Platform

Shared memory expansion

Enhanced efficiency of monitoring and maintenance operations onsite using a single GOT (display device) as the Human Machine Interface (HMI).

z Enables the robot to be controlled from the GOT even without a teaching box

z Current robot position data, error information, and other items can be displayed easily on the GOT

z Connection with a single Ethernet cable and direct access to the control unit

z 8192 input an output points can be exchanged via Ethernet connection

Operation panel screen Jog/hand operation screen Current position monitor screen

Current value and load factor monitor screen

Maintenance forecast screen Manual/video display menu

Details

Operation Joint-interpolated motionLinear-interpolated motion

Motion control

Designated overrideDesignated acceleration/deceleration settingsDesignated speedTool settingsDesignated auxiliary motionOpening/closing of hand

Direct execution function for programmable controllers

Robots can be controlled easily using programmable controller language.

z Control of system operation using an single program-mable controller

z Direct changing of system specifications via program-mable controller

z Direct handling of troubleshhooting

z Simple movement to teached positions by PLC program

z No need to use any robot programs

Sequence program

Robot

Programmable controller + Robot CPU

No need to use any robot programs!!

Command number

Destination number

Designated option

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Specifications

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Industrial robots RV-2F(B)

Characteristics/FunctionsSpecificationsRV-2F-D1-S16 RV-2F-Q1-S16 RV-2FB-D1-S15 RV-2FB-Q1-S15

Degrees of freedom (no. of axes) 6Installation posture Floor, ceiling or wall mounting possibleStructure Vertical multiple-joint typeDrive system AC servo axes J1, J4, J6: no brake AC servo (brakes on all axes)Position detection method Absolute encoder

Operating range

waist (J1)

degree

480 (-240–+240)shoulder (J2) 240 (-120–+120)elbow (J3) 160 (0–+160)wrist twist (J4) 400 (-200–+200)wrist pitch (J5) 240 (-120–+120)wrist roll (J6) 720 (-360–+360)

Maximum speed

waist (J1)

degree/s

300shoulder (J2) 150elbow (J3) 300wrist twist (J4) 450wrist pitch (J5) 450wrist roll (J6) 720

Maximum composite speed mm/s 4955

Payload capacityrated

kg2

maximum 3Position repeatability mm ±0.02Ambient temperature °C 0 to 40Weight kg 19

Tolerable momentwrist twist (J4)

Nm4.17

wrist pitch (J5) 4.17wrist roll (J6) 2.45

Tolerable inertiawrist twist (J4)

kgm²0.18 (0.27)

wrist pitch (J5) 0.18 (0.27)wrist roll (J6) 0.04 (0.1)

Arm reachable radius (to the center point of the J5 axis) mm 504Tool wiring Hand input 4 points / hand output 4 pointsTool 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 9409-1-31.5Protection rating IP30

Robot controller CR750-D CR750-Q + Q172DRCPU CR750-D CR750-Q + Q172DRCPU

Order information Art. no. 255212 255214 255211 255213

RV-2F(B)

The articulated arm robots RV-2F(B)

The compact and light RV-2F(B) can be seamless integrated into different automation systems. Flexibility and the wide range of motion permits acting in applications with limited space, like mounting, assembling, palletising, sorting or bonding. Even the basic model is available with a fully equipped standard controller or as PLC robot with integration onto the iQ Platform.

Highlights:

zOnly 19 kg weight and extremely compact

z Highest flexibility

z Floor, wall and ceiling installation possible

z Position repeatability of ±0.02 mm

13

Dimensions and movement ranges

1

Robo

ts

RV-2F(B)

Motion space at point P

Dimensions: mm

View x

Top view

Side view

45°4-M5

5H7

31.5 40h8

20H7

280

+120°

389.

6

-120°

1.7

799.

694

.6

504.6

-120°

70

504.6

504.

6

R504.6

R139.5

+120°

270

221

528

757

270

R230

R230

R250

209

408

A

R139.5

+240°

-240°

R504.6

9


Robot arms RV-2F(B)

14

Specifications

1

Robo

ts

Characteristics/FunctionsSpecificationsRV-4FLM-D1-S15 RV-4FLM-Q1-S15

Degrees of freedom (no. of axes) 6Installation posture Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)Structure Vertical multiple-joint typeDrive system AC servo (brakes on all axes)Position detection method Absolute encoder

Operating range

waist (J1)

degree

480 (±240)shoulder (J2) 240 (-120–+120)elbow (J3) 164 (-0 to +164)wrist twist (J4) 400 (±200)wrist pitch (J5) 240 (-120–+120)wrist roll (J6) 720 (±360)

Maximum speed

waist (J1)

degree/s

420shoulder (J2) 336elbow (J3) 250wrist twist (J4) 540wrist pitch (J5) 623wrist roll (J6) 720

Maximum composite speed mm/s 9048Payload capacity maximum kg 4Position repeatability mm ±0.02Ambient temperature °C 0–40Weight kg 41


Nm6.66



kgm²0.20


Arm reachable radius (to the center point of the J5 axis) mm 649Tool wiring Hand input 8 points / hand output 8 pointsTool pneumatic pipes Ø6x2 for robot connection (Ø4x8 from base portion to forearm)Supply pneumatic pressure MPa (bar) 0.54 (as overpressure if required)Gripper flange ISO 9409-1-31.5Protection rating IP67 (Optional cleanroom model available)

Robot controller CR750-D CR750-Q + Q172DRCPU

Order information Art. no. 255268 255272

RV-4FLM

Industrial robots RV-4FLM

The articulated arm robots RV-4FLM

The robots of the RV-4 F series are designed for easy integration into existing work cells or innovative and compact applications. Features such as the direct control over local I/Os allows the robot to interact directly with sensors and actuators, speeding up and simplifying system building. A new innovative design allows a maximum of flexibility, so that the robot can expand his work-space to work faster and more flexible.

Highlights:

z Slim arm design

z IP67 protection

z Internal routed cables and air hoses

z Extended maintenance intervals

z 4 kg rated and maximal payload

15


1

Robo

ts

RV-4FL

40h8 P.C.D. 31.5

20H7

45° 5H7

4-M5 R

z25

(200

)102

80 80

102(1

60)

(160)

(200)

8080

128

Rz25

4- 9

+240°

-240°

R140.4

R648.7

+110°(*6)

-35°

(*6)

R140.4

R648.7

490

648.

7

648.7 648.7

140

998.

7

85

125

310

350

50335

-114°(*6)

-120°

+120°

230170

764.

914

.7


Dimensions: mm


Gripper flangeISO 9409-1-31,5

Robot arms RV-4FLM

point P

point P

16

Specifications

1

Robo

ts

Industrial robots RV-7FM/7FLM/7FLLM

Characteristics/FunctionsSpecificationsRV-7FM-D1-S15/ RV-7FM-Q1-S15

RV-7FLM-D1-S15/ RV-7FLM-Q1-S15

RV-7FLLM-D1-S15RV-7FLLM-Q1-S15

Degrees of freedom (no. of axes) 6 6 (super long arm)Installation posture Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)Structure Vertical multiple-joint typeDrive system AC servo (brakes on all axes)Position detection method Absolute encoder

Operating range

waist (J1)

degree

480 (±240) 380 (±190)shoulder (J2) 240 (-115–+125) 240 (-110–+130) 240 (-90–+150)elbow (J3) 156 (-0–+156) 162 (-0–+162) 167.5 (-10–+157.5)wrist twist (J4) 400 (±200)wrist pitch (J5) 240 (-120–+120)wrist roll (J6) 720 (±360)

Maximum speed

waist (J1)

degree/s

360 288 234shoulder (J2) 401 321 164elbow (J3) 450 360 219wrist twist (J4) 337 375wrist pitch (J5) 450wrist roll (J6) 720

Maximum composite speed mm/s 11064 10977 15300Payload capacity maximum kg 7Position repeatability mm ±0.02 ±0.06Ambient temperature °C 0–40Weight kg 65 67 130


Nm16.2



kgm²0.45


Arm reachable radius (to the center point of the J5 axis) mm 713 908 1503Tool wiring Hand input 8 points / hand output 8 pointsTool pneumatic pipes Ø6x2 for robot connection (Ø4x8 from base portion to forearm)Supply pneumatic pressure MPa (bar) 0.54 (as overpressure if required)Gripper flange ISO 9409-1-31.5Protection rating IP67 (Optional cleanroom model available)

Robot controller CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU CR750-D/CR750-Q + Q172DRCPU

Order information Art. no. 255275/ 255279

255276/ 255280

268460/268462

RV-7FLM

The articulated arm robots RV-7FM/7FLM/7FLLM

The RV-7FM with a nominal and maximum payload of 7 kg sets new benchmark standards for speed, flexibility, ease of integration and simplicity of programming. For an optimum work radius the robot is available in three versions with ranges from 713 mm to 1503 mm. Ethernet, USB, tracking, camera connection and addi-tional axis connections are standard in all MELFA Robot Series.

Highlights:

z Cycle time of only 0.32 s (RV-7FM) for a 12-inch cycle

zDrastically increased working range for J1 and J4 axis for a maximum working area

z Internal wiring

z IP67 protection

zWorkspace radius of up to 1503 mm (RV-7FLLM)

17


1

Robo

ts

RV-7FM

RV-7FLM

RV-7FLLM

P.C.D. 31.5

45°4-M5

5H7

40h8

20H7

Rz2

5

Rz25

102.

510

2.5

(205

)12

4.5

124.5

102.5 102.5

(205)

245

162

245.7

4- 9

P.C.D. 31.5

45°4-M5

5H7

40h8

20H7

Rz2

5

Rz25

102.

510

2.5

(205

)12

4.5

124.5

102.5 102.5

(205)

245

162

245.7

4- 9

200270

844.

415

.9

+240°

-240°R713.4

R197.4

713.4 713.4

1113

.4

713.

456

8.4

R197.4

R713.4

168.

4

400

340

50

37085125

+125

°

-115°

270200

939.

415

.9

+240°

-240°R907.7

R192.8

752.

3

352.

3

R192.8

R907.7

1307

.7

400

435

50

47085

125

907.

7

907.7 907.7

-110°+130

°

102

P.C.D. 31.5

45°4-M5

5H7

40h8

20H7

4- 9



Dimensions: mm






Robot arms RV-7FM/7FLM/7FLLM

point P

point P

point P

point P

point P

18

Specifications

1

Robo

ts

Characteristics/FunctionsSpecificationsRV-13FM-D1-S15RV-13FM-Q1-S15

RV-13FLM-D1-S15 RV-13FLM-Q1-S15

RV-20FM-D1-S15 RV-20FM-Q1-S15

Degrees of freedom (no. of axes) 6Installation posture Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis)Structure Vertical multiple-joint typeDrive system AC servo (all axes with brakes)Position detection method Absolute encoder

Operating range

waist (J1)

degree

380(±190)shoulder (J2) 240 (-90–+150)elbow (J3) 167.5 (-10–+157.5)wrist twist (J4) 400 (±200)wrist pitch (J5) 240 (-120–+120)wrist roll (J6) 720 (±360)

Maximum speed

waist (J1)

degree/s

290 234 110

shoulder (J2) 234 164 110

elbow (J3) 312 219 110wrist twist (J4) 375 124wrist pitch (J5) 375 125wrist roll (J6) 720 360

Maximum composite speed mm/s 10450 9700 4200


kg12 15

maximum 13 20Position repeatability mm ±0.05

Ambient temperature °C 0–40

Weight kg 120 130 120


Nm19.3 49.0

wrist pitch (J5) 19.3 49.0wrist roll (J6) 11


kgm²0.47 1.40

wrist pitch (J5) 0.47 1.40wrist roll (J6) 0.14

Arm reachable radius (to the center point of the J5 axis) mm 1094 1388 1094Tool wiring Hand input 8 points / hand output 8 pointsTool pneumatic pipes Primary: Ø 6x2, secondary: Ø 6x8Supply pneumatic pressure MPa (bar) 0.54 (as overpressure if required)Gripper flange ISO 9409-1-40Protection rating IP67 (Optional cleanroom model available)Robot controller CR750-D/CR750-Q + Q172DRCPU


268490/ 268494

268504/ 268506

Industrial robots RV-13FM/RV-13FLM/RV-20FM

RV-20FM

The articulated arm robots RV-13FM/RV-13FLM/RV-20FM

The high-performance robots RV-13 and RV-20 are specially suited for handling heavy loads. Due to the compact body and slim arm design, the robots can operate in a large work area. The anti-collision function of the iQ Platform models prevents colli-sions between robots which are working close together.

Highlights:

z internal routing of cables and air hoses through the robot arm

z New gears for quiet, precise positioning and movement

zmaximum payload of 20 kg (RV-20FM)

z Protection rating IP67 standard

19


1

Robo

ts

RV-13FM/20FM/13FLM

Dimensions: mm

Robot arms RV-13FM/RV-13FLM/RV-20FM

K

J

HG

E

D

A

C

F

B

Robot series A B C D E F G H J KRV-13FM/20FM 550 R964 R280 410 R554 1004 1191 1414 R410 R1094RV-13FLM 690 R1258 R328 565 R693 1143 1416 1708 R458 R1388

Variable dimensions

Dimensions: mm

point P

point P

Punkt P movement area

(minus side)

Punkt P movement area

(plus side)

20

Specifications

1

Robo

ts

Industrial robots RP-1ADH, RP-3ADH and RP-5ADH

Characteristics/FunctionsSpecificationsRP-1ADH RP-3ADH RP-5ADH

Degrees of freedom (no. of axes) 4Installation posture Floor mountingDrive system AC servoPosition detection method Absolute encoderBrake attachment All axes


kg0.5 1.0 2.0

maximum 1.0 3.0 5.0

Operating rangewidth depth mm 150x105 (DIN-A6) 210x148 (DIN-A5) 297x210 (DIN-A4)vertical mm 30 50twist degree ±200

Maximum speedJ1/J2 degree/s 480 432J3 mm/s 800 960J4 degree/s 3000 1330 1230

Inertial moment wrist kgm2 3.10x10-4 1.60x10-3 3.20x10-3

Position repeatabilityX, Y direction mm ±0.005 ±0.008 ±0.01Z direction mm ±0.01direction of the wrist twist degree ±0.02 ±0.03

Ambient temperature °C 0–40Weight kg 12 24 25Tool wiring 8 inputs/8 outputsSupply pneumatic pressure MPa (bar) 0.5 ±10 % (5 ±10 %)Robot controller CR1DA

Order information Art. no. 252843 252844 252885

RP-5ADH

The SCARA robots RP-1ADH, RP-3ADH and RP-5ADH

The RP-1ADH, RP-3ADH and RP-5ADH SCARA robots are in their element in all applications calling for fast and precise placement of components in limited space. The unique mechanical design of these robots gives them a significant edge for improved pro-ductivity and micro-handling quality.

Highlights:

z Repeatability ±0.005 mm (RP-1ADH)

z Footprint just 200x160 mm (RP-1ADH)

z Pick & Place cycle time <0.5 s

z unique concept

21


1

Robo

ts

RP-1AH

RP-3AH/RP-5AH

RP-3AH RP-5AH

95

100

R236,5

233,9

100

R140

110°

110°

38

140

105

R140

150

160°

R200

R200

110°R33

5

160°

200

210

105°

50

332

130148 20

3195

177

24

31

2130

A

B

823

0

85180

776

5.5

512

45

ø18

ø8

5,5

5,5

ø6h7

10

M6

A

81ø 81øø8

M5

B

R260

110°

R453,2

260

297

105°

50

450,9

190

170

210

160°

95107

34 1202236 (162)

6

198

61

28

32

56 133

150

162

120

140

180 24,2224,9

155

165

R30,5

R30,5

R30,5

R30,5

24,5

140

5628

(56)

24,5

56

(56)

80

100

76

E

84

R42

28

36

36

D

C(E)

E

D28

(E)

85

120

10012514185

(213)263

82,58

13 1350

180224,9

170

200

216 14

015

516

5

13,5

ø14h7ø15h7

(ø23)

13,5

11

30(38)

12

855,5

A

13,5

13,5

3,5

815

(23)

(12)

ø11ø14h7ø15h7

(ø23)

B

4242

118

103,5

4050

261

267

280

B

A

180

776

Dimensions: mm

4xØ9 hole

4xØ9 hole

RP-1ADH

RP-3ADH/RP-5ADH

RP-3ADH RP-5ADHRobot series C D ERP-3ADH 140 200 86RP-5ADH 200 260 116

Variable dimensions

Robot arms RP-1ADH, RP-3ADH and RP-5ADH

22

1

Robo

ts

Specifications

Industrial robots RH-3FHR

RH-3FHR

Characteristics/FunctionsSpecificationsRH-3FHR3515-D1-S15 RH-3FHR3515-Q1-S15

Degrees of freedom (no. of axes) 4 4Machine class StandardInstallation posture OverheadStructure Horizontal multiple-joint typeDrive system AC servo Position detection method Absolute encoderBrake attachment Axes J1, J2, J4: no brake; axis J3: with brake


kg1

maximum 3Maximum reach arm 1 + arm 2 mm 350

Operating range

J1 degree 450 (±225)J2 degree 450 (±225)J3 (Z) mm 150J4 (Θ axis) degree 1440 (±720)

Maximum speed

J1 degree/s 672J2 degree/s 708J3 (Z) mm/s 1500J4 (Θ axis) degree/s 3146

Maximum composite speed mm/s 6267 (J1, J2)

Allowable wrist moment of inertiarated

kgm2 0.005maximum 0.05

Position repeatabilityX, Y direction mm ±0.01J3 (Z direction) mm ±0.01J4 (Θ axis) degree ±0.01

Ambient temperature °C 0–40Weight kg 24Tool wiring Input 8 points/output 8 points (option: output 8 points), 8 spare wiresTool pneumatic pipes Primary: Ø 6x2 (secondary: Ø 4x8 by option)Supply pneumatic pressure MPa (bar) 5 ±10 % for the pneumatic gripperProtection rating IP20 (Optional IP65 and cleanroom model available)Robot controller CR750-D CR750-Q + Q172DRCPU


The SCARA robots RH-3FHR

With its special compact design and support for overhead installa-tion above the application, the robot RH-3FHR doesn’t take up any valuable space in the work area next to the installation location, enabling even smaller work cell dimensions. The robot’s perfectly circular cylindrical work space is 150 mm high with a diameter of 700 mm. It can access any point in this space with a repeatability of just ±0.01 mm while manipulating a payload of up to 3 kg.

Highlights:

zOverhead installation for minimum space requirements

zOnly 24 kg weight

z Cycle times of only 0.32 s

z High stability due to compact design

z Pneumatic hoses and signal wires are routed inside the robot

23

1

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ts


Dimensions: mm

RH-3FHR

J2

J4

J1

: 0 –150mm

J3

:

Robot arms RH-3FHR

Robot originInstallation surface

operating range

operating range

J4 axis center path

4-M8 jack-up hole

4- Ø 9 installation hole

2-M12 suspension hole

J2 axis operating range

J1 axis operating range

24

Specifications

1

Robo

ts

Industrial robots RH-FH

RH-12FH

Characteristics/FunctionsSpecificationsRH-3FH5515-D1-S15RH-3FH5515-Q1-S15

RH-6FH5520-D1-S15RH-6FH5520-Q1-S15

RH-12FH8535N-D1-S15RH-12FH8535N-Q1-S15

RH-20FH10035N-D1-S15RH-20FH10035N-Q1-S15

Degrees of freedom (no. of axes) 4 4 4 4Machine class StandardInstallation posture Floor mountingStructure Horizontal multiple-joint typeDrive system AC servo Position detection method Absolute encoderBrake attachment Axes J1, J2, J4: no brake; axis J3: with brake


kg1 3 3 5

maximum 3 6 12 20Maximum reach arm 1 + arm 2 mm 550 550 850 1000

Operating range

J1 degree 340 (±170)J2 degree 290 (±145) 306 (±153)J3 (Z) mm 150 200 350 350J4 (Θ axis) degree 720 (±360)

Maximum speed

J1 degree/s 400 400 280 280J2 degree/s 720 670 450 450J3 (Z) mm/s 1100 2400 2800 2400J4 (Θ axis) degree/s 3000 2500 2400 1700

Maximum composite speed mm/s 8300 8300 11350 13283

Allowable wrist moment of inertiarated

kgm2 0.005 0.01 0.025 0.065maximum 0.06 0.12 0.3 1.05

Position repeatabilityX, Y direction mm ±0.012 ±0.012 ±0.015 ±0.015J3 (Z direction) mm ±0.010J4 (Θ axis) degree ±0.004 ±0.005

Ambient temperature °C 0–40Weight kg 32 37 69 77Tool wiring Input 8 points/output 8 points (total 20 scores)Tool pneumatic pipes Primary: Ø 6x2, secondary: Ø 4x8Supply pneumatic pressure MPa (bar) 5 ±10 % for the pneumatic gripperProtection rating IP20 IP54 (IP65 with additional bellow, optional cleanroom model available)Robot controller CR750-D/CR750-Q + Q172DRCPU


250383/ 250389

254377/ 254383

254388/ 254392

The SCARA robots RH-FH

SCARA robots are ideal for sorting, palletising and component installation due their short cycle time. The robots of the RH-F series achieve the highest speeds in their class thanks to the new motors developed by Mitsubishi Electric, high arm rigidity and unique control technology.

The resulting reduced cycle time of only 0.29 seconds for a 12" cycle make for significantly increased productivity and improved continuous operation.

Highlights:

z Connections for pneumatic grippers, Ethernet, USB, tracking functions, camera interface, hand I/O, additional axis controller and an interface for GOT HMIs

z Fully enclosed cabling to end of spindle for protection and safety

z RH-6/12/20FH has the tried-and-tested protection class IP54 (IP65 optional)

z Foodgrade H1 grease as standard – ideal for food and beverage industry

RH-6FH

25


1

Robo

ts

150

12090

92

180

150

9260

174

Rz2

5

Rz25

90

4- 9

2- 6

1010

15

15

Z10

30

Z Z

3010 Z

10

11

16h7

37.590

136

110

A60

100

225

174

130

165

145°

D F

BC

E

170°

G2213

.225

MJ

L41

2K

1010

30

(*3)

554

H

1641065

2082

200(*2)160(*1)

X X

(*3)

Y

150

12090

92

180

150

92

60

174

Rz2

5

Rz25

4- 9

2- 6

58

Z

Z

27.5

60.5

Z15

1010

1030

10

24

24Z

1010

Z Z

Z

30

Z

10

90

18

25h7

9039.5

M4

M4

A

H

J

D E

B

C

F

G

Dimensions: mm

Robot series A B C D E F G H JRH-3FH5515 125 R350 R142 210 R253 220 R174 342 150

Variable dimensions

RH-3FH

Robot arms RH-FH

RH-6FH

Robot series A B C D E F G H J K L MRH-6FH5520 325 R550 R191 160 R244 172 R197 337 200 133 798 386

Variable dimensions

Dimensions: mm

150

12090

92

180

150

9260

174

Rz2

5

Rz25

90

4- 9

2- 6

1010

15

15

Z10

30

Z Z

3010 Z

10

11

16h7

37.590

136

110

A60

100

225

174

130

165

145°

D F

BC

E

170°

G2213

.225

MJ

L41

2K

1010

30

(*3)

554

H

1641065

2082

200(*2)160(*1)

X X

(*3)

Y

150

12090

92

180

150

92

60

174

Rz2

5

Rz25

4- 9

2- 6

58

Z

Z

27.5

60.5

Z15

1010

1030

10

24

24Z

1010

Z Z

Z

30

Z

10

90

18

25h7

9039.5

M4

M4

A

H

J

D E

B

C

F

G

(Ø 8 prepared hole for positioning pins)

(Ø 8 prepared hole for positioning pins)

26

1

Robo

ts


RH-12FH/20FH

136

110

A60

100

225

174

130

165

145°

D F

BC

E

170°

G2213

.225

MJ

L41

2K

1010

30

(*3)

554

H

1641065

2082

200(*2)160(*1)

X X

(*3)

Y

150

12090

92

180

150

92

60

174

Rz2

5

Rz25

4- 9installation hole

2- 6 hole( 8 prepared hole for positioning pins)

58

Z

Z

27.5

60.5

Z15

1010

1030

10

24

24Z

1010

Z Z

Z

30

Z

10

90

18through hole

25h7

9039.5

A1A2

140

120

BR80

C

170°

D

E

H

120122

24012

2

200

200

4- 16

2- 6

F34

0

400

80

80

200240

75

G s

t

28

29

)( -0.030 04N9

10

811

10

10

Z Z

RH-20FH10

811

10 44 Z Z

30h7

110

30h7

21

24

24

1010

10

Z Z

RH-12FH

10

10 52 Z Z

25h7

110

25h7

18

Robot series A1 A2 B C D E F G HRH-12FH/20FH85m 525 325 R850 R278 153° — 1080/1180 350/340 —RH-20FH100m 525 475 R1000 R238 153° 240 1080/1180 350/340 R295

Variable dimensions

Dimensions: mm

Installation reference surface

prepared holes for positioning

Inst

alla

tion

refe

renc

e su

rfac

e

27

1

Robo

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System overview

F-Q series system configuration (iQ Platform)

F-D series system configuration

QY42P

PULL

POWERQ25HCPU

USB

QY42P

PULL

MODERUNERR

USERBAT

BOOT

RS-232

QJ71LP21-25

Hand curl tube

Hand output cable

Hand input cable

Solenoid valve set

Internal wiring and piping set for hand

External user wiring and piping box

Pulse encoder

GOT Vision system

NC controller

Servo

GOT

Programmable controller

SSCNETIII

USB cable

MELFA Works RT Toolbox2Servo (MR-J3-BS/MR-J4-B)

Encoder interface

Ethernet

Additional axis interface

USB communication

Robot

<Equipment used for standard configuration>

Machine cable

Controller

Teaching pendant (option)

Remote parallel I/O unit

External I/O cable

On-board parallel I/O interface External I/O

cable

CC-Link interface

Network interface card (EtherNet/IP/

Profinet)

<Controller options>

Scope of delivery

<Robot arm options>

<Software options>

PULL

MITSUBISHI

M EL SECQ6xP POWER Q01CPU

RUNERR

PULL

RS-232

Q41X

RUNSTOP

Q172DRCPU

SW

EMI

DIS

PLA

Y I/

FT U

I/FC

N1

CN

2

Hand curl tube

Hand output cable

Hand input cable

Solenoid valve set

Internal wiring and piping set for hand

External user wiring and piping box

<Robot arm options>

Robot

<Standard devices>

Machine cableController

Drive unit

Cable for robot CPU-to-DU connection

Robot CPU

GOT

Ethernet

Vision system

iQ Platform compatible programmable controller

InsertQ173DPX

NC controller

Servo

GOT

Pulse encoder

SSCNETIII

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

USB communication

Additional axis function

Encoder interface

Ethernet

USB cable

Teaching pendant (option)

MELFA Works

<Software options>

RT Toolbox2

Scope of delivery

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Robot controller

Characteristics/Functions CR750-D CR750-Q CR1DA

Shipped with robot RV-2F/4F/4FL/7F/7FL/13F/13FL/20FRH-3FHR/RH-3FH/6FH/12FH/20FH RP-1ADH/3ADH/5ADH

Robot CPU — Q172DRCPU —Path control method PTP control and CP controlNumber of controllable axes 6 robot axes + 2 interpolation axes + 6 independent axesProgramming language MELFA-BASIC IV/VPosition teaching method Teaching method, MDI method

Memory capacityno. of teaching points 39000 13000 13000 no. program steps 78000 26000 26000 no. of programs 512 256 256

External inputs/outputs

general purpose I/Os up to 256 optinal up to 8192 shared with PLC CPU up to 256

dedicated I/Os Assigned to general- purpose I/O Assigned to multiple CPU common device Assigned to general-

purpose I/O

hand open/close 8 Inputs/8 Outputs 8 Inputs/0 Outputs

emergency stop I/Os 1 (redundant)door switch input 1 (redundant)enabling device input 1 (redundant)mode output 1 (redundant)robot error output 1 (redundant)synchronization of additional axes 1 (redundant)Ethernet 1 (10BASE-T/ 100BASE-TX)

USB 1 (Ver. 2.0 device functions only, mini B terminal) 1 (USB port of programmable controller CPU unit can be used.) 1 (Ver. 2.0 device functions only, mini B terminal)

Ambient temperature ° C 0–40 0–40 (drive unit)/0–55 (Robot CPU) 0–40Relative humidity % RH 45–85

Power supplyinput voltage range V RV-2F/4F, RH-3FH/6FH: 1-phase 180–253 V AC

RV-7F, RH-12FH/20FH: 3-phase 180–253 V AC or 1-phase 207–253 V AC RP-1/3/5ADH, RH-3SDHR: 1-phase 180–253 V AC

power capacity kVA RV-2F, RH-3FH: 0.5; RV-4F, RH-6FH: 1.0; RH-12FH/20FH: 1.5; RV-7F: 2.0; RV-13F/20F: 3,0 1.0Dimensions (WxHxD) including legs mm 430x174x425 430x174x425 270x290x200Weight kg 16 16 9Structure (protective specification) Self-contained floor type/open structure (Vertical and horizontal position can be placed) (IP20) + IP54 protection box available as an optionGrounding Ω 100 or less (class D grounding)

Controller specifications

Powerful controller

Every robot system has its own compact, modular robot controller, which contains the CPU and the power electronics for controlling the robot.

Mitsubishi Electric’s robot controllers have a particularly slim, compact design. No matter which Mitsubishi robot you use the programming language and options are always the same. You can add special application functions by inserting expansion option cards in the slots in the controllers. Therefore it is possible, to integ-rate the controller into different types of networks.

All controllers have already implemented functions like Ethernet and USB connection, additional axes control over SSCNETIII and tracking encoder interface as a standard.

The control unit CR750 also includes the input and output card for the connection of a pneumatic or electric gripper.

Controller CR750-D Drive unit CR750-Q

CR1DA

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425

260

85(80)

(70.3)

(40)

(21.7)

158

174

370430

(30) (30)

Controller dimensions

CR750-D/CR750-Q

CR1DA

Dimensions: mm

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Teaching box and handsets

Teaching box for F series, SD/SQ series and ADH series robots

R32TB

R56TB

Specifications R56TB R32TBCompatibility All Mitsubishi Electric F series, SD/SQ series and ADH series robots Functions Operation, programming and monitoring of all robot functions

Programming and monitoring

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

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

Software Integrated operating system software with menu-based user interfaceMenu navigation (language) German, English, French, Italian English, Japanese

Displaytype/dimensions 6.5" TFT display (640x480 pixels) Monochrome LCD graphic display

(24 characters x 8 linestechnology Touchscreen with backlight LCD with backlight

Interfaces USB, Ethernet for connection to the robot controller RS422 for connection to the robot controllerConnection Direct connection to the robot controller, cable length 7mProtection rating IP65 IP65Weight kg 1.25 0.9


Operation and programming

The R56TB teach panel is a multifunctional control and programming terminal for all Mitsubishi Electric F series, SD/SQ series and ADH series robots. Its intuitive user interface makes it easy to control robot movements and perform extensive dia-gnostics 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 eas-ily via the bright 6.5" touchscreen display.

In addition to controlling robot move-ments the terminal has many other func-tions: For example, writing programs with a virtual on-screen keyboard and monit-oring all system status parameters, inputs and outputs, including those accessed via the network.

A complete backup of the robot can simply be loaded or stored on an USB stick via the R56TB.

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Wiring

Internal/external wiring

Specifications 1F-HS304S-01 1F-HS408S-01 1F-HS604S-01Robots RH-3FH RH-6FH RH-12FH/20FHStroke mm — 200 350Length from the shaft end mm 300 300 400

Attachment4 air hoses (Ø3),8 hand input cables (0.2 mm²)2 power cables (0.3 mm²)

4 air hoses (Ø4),8 hand input cables (0.2 mm²)2 power cables (0.3 mm²)

4 air hoses (Ø6),8 hand input cables (0.2 mm²)2 power cables (0.3 mm²)

Remarks

Both ends are free.Eight reducers (Ø3 to Ø4) are attached.The robot arm side is connector (HC1, HC2), and one side is free.

Both ends are free.The robot arm side is connector (HC1, HC2), and one side is free.

Both ends are free.The robot arm side is connector (HC1, HC2), and one side is free.

Weight kg 0.4


External wiring/piping box

With this option hand output and input cables and pneumatic hoses can be routed from the back of arm 2 to the spindle end outside the robot casing. Connections for connecting the external hoses and brack-ets for attaching the cables and hoses are

included. The option can also be used for oil mist and clean room models. A bracket to fix the set on the arm 2 is included. The set can be used with an optional solenoid valve.

Specifications 1F-UT-BOX 1F-UT-BOX-01Robots RH-3FH/6FH RH-12FH/20FH

Attachment Eight air hoses (connect to solenoid valve)Installation screws (conical spring washer, plain washer)

Weight kg 0.5


Internal wiring/piping set for hand

This set consists of hand input cables and hoses that can be routed through the spindle until the end of the arm 2.

A bracket to fix the set on the arm 2 is included. The set can be used with an optional solenoid valve.

Forearm external wiring set/Base external wiring set

With these options the hand input signal cables and the communication cables etc. can be led out of the bottom of the fore-arm and from the side of the base.

Use the recommended pairing in the table to led out the same cables on the arm side and at the base.

Specifications 1F-HB01S-01 1F-HA01S-01Robots RV-4FLM/7FM/7FLM/7FLLM/13FM/13FLM/20FMPart name Forearm external wiring set Base external wiring setHand input signal cable 8 —

Vision sensor camera cable 1 1

Editional cable 4 4

Recommended pairing V V


Pulled out from robot arm

Forearm

Base

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Valve sets

Solenoid valve sets

Specifications1A-VD0mE-RP 1E-VD0mE1 2 3 4 1 2

No. of valves 1 2 3 4 1Range of use (robot type) RP-1/3/5ADH RV-2F(B)Valve function Double solenoid Double solenoidOperating method Internal pilot method Internal pilot methodEffective sectional area (CV value) 1.5 mm 1.5 mm

Operating preassure range 2–7 bar 2–7 barMaximum preassure 10 bar 10 barResponse time <12 ms at 24 V DC <12 ms at 24 V DCMax. operating frequency 5 Hz 5 HzAmbient temperature -10–+50 °C -10–+50 °CCoil rated voltage 24 V DC ±10 % 24 V DC ±10 %

Order information Art. no. 129780 129781 129792 129793 47397 47398

Specifications1S-VD0mE-05 1F-VD0mE-01 1S-VD0mE-01 1F-VD0mE-02 1F-VD0mE-034 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4

No. of valves 4 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4Range of use (see page ) RH-3FHR RH-3FH, RH-6FH RH-12/RH-20FH RV-4FL, RV-7F, RV-7FL RV-13F, RV-20FValve function Double solenoid Double solenoid Double solenoid Double solenoid Double solenoid

Operating method Internal pilot 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 0.64 mm

Operating preassure range 1–7 bar 1–7 bar 1–7 bar 1–7 bar 1–7 barMaximum preassure 10 bar 10 bar 10 bar 10 bar 10 barResponse time <22 ms at 5 bar <22 ms at 5 bar <22 ms at 5 bar <22 ms at 5 bar <22 ms at 5 barMax. operating frequency 5 Hz 5 Hz 5 Hz 5 Hz 5 HzAmbient temperature -10–+50 °C -10–+50 °C -10–+50 °C -10–+50 °C -10–+50 °CCoil rated voltage 24 V DC ±10 % 24 V DC ±10 % 24 V DC ±10 % 24 V DC ±10 % 24 V DC ±10 %

Order information Art. no. 238375 250470 250471 250472 250473 153057 153058 153059 153062 255281 255282 255283 255284 268829 268830 268831 268832

Solenoid gripper control valve sets

This option is used to control the grip-per 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.

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Expansion option cards

Interface boards for robot controllers

Specifications 2D-TZ576Application CC-Link interfaceType Built-in boardRange of use All MELFA robots except Q seriesCommunications cable Shielded 3-core twisted cableMax. number of I/O points and data registers 126 I/Os/16 data registerRefresh rate 7.2 msCommunications distances 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. 219063

Specifications 2D-TZ577Application Profibus DP interfaceType Built-in boardRange of use All MELFA robots except Q seriesCommunications cable Twisted pair cableCommunications 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 KbpsMax. no. of communications words 122No. of mountable interface cards 1


Profibus interface

These interface cards make it possible to integrate the robot controller in a Profibus network.

I/O interface

You can increase the number of I/Os to a maximum of 64 by adding 2D-TZ378 interface modules.

By adding 2A-RZ371 slot-in cards you can increase the number of remote I/Os to 256 (depends on the controller model).

Specifications 2A-RZ375Application Interface for pneumatic hand (pneumatic valves)Type Built-in boardRange of use All MELFA robots except F seriesConnections Up to 4 pneumatic valves


Pneumatic hand interface

The 2A-RZ375 interface card is used to operate the robot’s pneumatic gripper. It controls the solenoid valve set (see page 32).

Specifications 2A-RZ371 2D-TZ378Application 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 All MELFA robots except Q seriesRated load voltage Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per outputMax. no. of usable I/O boxes 7 2


CC-Link interface

The 2D-TZ576 interface makes it possible to integrate the CRm-D robot controller in a CC-Link network.

The CC-Link interface is a high-speed bit (for I/Os) and word (for data registers) network card.

2A-RZ371

Specifications 2D-TZ535-PN-SETApplication Profinet I/ORange of use All MELFA robots except Q seriesCommunications cable Industrial Ethernet twisted pair cableTransmission speed 100 Mbit/sNumber of I/O Data Max. 256 bytes send and max. 256 bytes receive


Profinet I/O interface

These interface cards make it possible to integrate the robot controller in a Profinet I/O network.

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Adaptor cables and connectors

Gripper signal cables

Specifications 1A-GR200-RP 1E-GR35S 1F-GR35S-02 1F-GR60S-01 1S-GR35S-02Type Hand signal output cable

Range of use (robot type) RP-1/3/5ADH RV-2F(B) RV-4FLM, RV-7FM/RV-7FLM/ 7FLLM,RV-13FM/13FLM,RV-20FM

RH-3FH/RH-6FH/RH-12FH/RH-20FH RH-3FHR

Design Single sided with connector Single sided with connector Single sided with connector Single sided with connector Single sided with connectorApplication Custom-made magnetic valve set Custom-made magnetic valve set Custom-made magnetic valve set Custom-made magnetic valve set Custom-made magnetic valve setLength mm 2000 350 500 1050 450

Order information Art. no. 129778 47391 255285 250467 166272

Connectors and valve signal cables

Specifications R-SMR-09V-B R-SMR-10V-N S-series Hand OUTPUT S-series Hand INPUT RV-F connection set RH-FH connector set

Type Gripper output connector Gripper output connector Hand signal output connector

Hand signal input connector

Connector set for input and LAN Hand connector set

Range of use (robot type) RP-1/3/5ADH RP-1/3/5ADH All MELFA robots except RP-ADH and RV-F series

All MELFA robots except RP-ADH and RV-F series All MELFA RV-F robots All MELFA RH-F robots

Design Black, 9 pins White, 10 pins 8 pins 6 pins Complete set Complete setShipping contents Plug and contacts Plug and contacts Plug and contacts Plug and contacts Plug and contacts Plug and contacts


Specifications 1A-HC200-RP 1F-HC35C-01 1F-HC35C-02 1F-HC35S-02 1S-HC00S-01 1S-HC30C-11Type Hand signal input cable

Range of use (robot type) RP-1/3/5ADH RH-3FH, RH-6FH RH-12FH/RH-20FHRV-4FL, RV-7F, RV-7FLM/7FLL, RV-13F/13FL,RV-20F

RH-3FHR RV-2FB

Design Single sided with connector Single sided with connector Single sided with connector Single sided with connector Single sided with connector Single sided with connector

Application Monitoring of the gripper condition

Monitoring of the gripper condition





No. of cores 10 12 12 10 6 11Length mm 2000 1650 1800 1000 1210 300


Connection cables

A variety of different cables are available for connecting the control and status monitor-ing 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 pneu-matic gripper. One end of the cable set is fitted with a plug for the gripper’s sensor signals. The other end is without connect-ors and can be wired as required for your system.

The connection to your system

Choose additional components to config-ure 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).

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Tubes and extension cables

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.

Specifications 1E-ST0404C 1E-ST0408C-300 1N-ST0608C-01 1S-ST0304SType Spiral hoseRange of use (robot type) RV-2F(B), RV-4FL, RV-7F/7FL/7FLL RH-3FH/6FH RH-12FH/20FH, RV-13F/20F RH-3FHRApplication For double pneumatic gripper For quadruple pneumatic gripper For quadruple pneumatic gripper For double pneumatic gripperDimensions mm 4xØ 4 8xØ 4 8xØ 6 4xØ 3


Extension cables for robots and controllers

Specifications 1S-05CBL-01 1S-10CBL-01 1S-15CBL-01Type Extension cable for a fixed installation in a drag chainRange of use (robot type) RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-3FHR, RH-6FH, RH-12FH, RH-20FHMinimum bending radius More than 100 mmMax. movement speed 2000 mm/sGuidance of life count —Protection rating Oil-proof specification sheathNo. of cores power cable 1No. of cores signal cable 1Length m 5 10 15


Specifications 1S-05LCBL-01 1S-10LCBL-01 1S-15LCBL-01 1A-05LCBL-1Type Extension cable for a flexible installation in a drag chainRange of use (robot type) RV-4FL, RV-7F/7FL/7FLL, RV-13F/13FL, RV-20F, RH-3FHR, RH-6FH, RH-12FH, RH-20FH RP-ADH serieMinimum bending radius More than 100 mmCable bear isovolumetric ration ≤50 %Max. movement speed 2000 mm/sGuidance of life count 7.5x106

Protection rating Oil-proof specification sheathNo. of cores power cable 2/8 (10 total) total 10No. of cores signal cable 5/1/1 (7 total) 6/1 (total 7)Length m 5 10 15 5


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.

Use the flexible versions for installation of the cables in drag chains and similar con-figurations. 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

Connection cables for PCs and inputs/outputs

Specifications RV-CAB4 2A-CBL05 2A-CBL15 2D-CBL05 2D-CBL15Type I/O connection cable

ApplicationSerial (RS232C) connection PC–controller

I/O cable for 2A-RZ371

I/O cable for 2D-TZ378

Range of use RP-ADH and SD series All MELFA robots except Q series

Design 9/25-pin plug Plug on one sideLength m 3 5 15 5 15

Order information Art. no. 55653 47387 59947 218857 218858

Controller protection box (IP54)

Specifications CR750-MBType Controller protection boxApplication Controller CR750Dimensions (WxHxD) mm 525x275x725


Connection cables, connectors

The RV-CABm cable is for establishing an RS232C serial connection between the robot controller and a personal computer.

The I/O connection cable is for connecting peripherals to the parallel I/O interface. One end of the cable is

fitted with a connector for the controller’s parallel I/O port. The other end is supplied without a connector so that you can con-nect the appropriate connectors for your equipment.

The controller protection box for the control unit CR750 prevents the penetra-tion of oil mist or other influences from the operating environment. The front of the

housing is equipped with a mode switch and a connector for the teaching box. It also contains a display window for viewing the controller operation panel.

Buffer batteries

Specifications RP-ADH serie RH-FH serie RV-F serie Art. no.A6BAT Number 3 — — 4077ER6BAT Number — 3 3 131168Q6BAT Number 1 1 1 130376

Battery-Set for RH-F series and RV-F series consits of 3pcs. ER6BAT and 1pcs. Q6BAT 271948

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.

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Configurations options

Options overview for all robots

Option Marking RV-2F(B) RV-4FLMRV-7FM/ RV-7FLM

RV-7FLLM

RV-13FM/RV-13FLM/

RV-20FMRH-3FH RH-6FH RH-12FH/

RH-20FH RH-3FHR RP- 1/3/5ADH Art. no. See

Page

Teaching Box R32TB V V V V V V V V V 214968 30

Teaching Box R56TB V V V V V V V V V 218854 30

Single valve set 1A-VD01E-RP V 129780 32

Double valve set 1A-VD02E-RP V 129781 32

Triple valve set 1A-VD03E-RP V 129792 32

Quadruple valve set 1A-VD04E-RP V 129793 32

Single valve set 1E-VD01E V 47397 32

Double valve set 1E-VD02E V 47398 32

Single valve set 1F-VD01E-01 V V 250470 32

Double valve set 1F-VD02E-01 V V 250471 32

Triple valve set 1F-VD03E-01 V V 250472 32

Quadruple valve set 1F-VD04E-01 V V 250473 32

Single valve set 1F-VD01E-02 V V 255281 32

Double valve set 1F-VD02E-02 V V 255282 32

Triple valve set 1F-VD03E-02 V V 255283 32

Quadruple valve set 1F-VD04E-02 V V 255284 32

Single valve set 1F-VD01E-03 V 268829 32

Double valve set 1F-VD02E-03 V 268830 32

Quadruple valve set 1S-VD04E-01 V 153062 32

CC-Link interface 1 2D-TZ576 V V V V V V V V V 219063 33

Profibus interface 1 2D-TZ577 V V V V V V V V V 218861 33

Profinet interface 2D-TZ535-PN-SET V V V V V V V V V 269546 33

I/O interface 12D-TZ378 V V V V V V V V V 218862 33

2A-RZ371 V V V V V V V V V 124658 33

Pneumatic hand interface 2A-RZ375 V V 124657 33

Hand signal output cable

1A-GR200-RP V 129778 34

1E-GR35S V 47391 34

1F-GR35S-02 V V V 255285 34

1F-GR60S-01 V V V 250467 34

1S-GR35S-02 V 166272 34

Hand signal input cable

1A-HC200-RP V 129779 34

1F-HC35C-01 V V 250474 34

1F-HC35C-02 V 254395 34

1F-HC35S-02 V V V 255286 34

1S-HC00S-01 V 238376 34

1S-HC30C-11 V 257063 34

Gripper output connector R-SMR-09V-B V 132112 34

Gripper input connector R-SMR-10V-N V 132113 34

Hand signal output connector S-series Hand OUTPUT V V V V V V V V 164814 34

Hand signal input connector S-series Hand INPUT V V V V V V V V 164815 34

Connector SetsRH-FH Hand connector set V V V V 273182 34

RV-4/7F connector set V V 268039 34

Hand curl tube 1

1E-ST0404C V V V 47389 35

1E-ST0408C-300 V V 270236 35

1S-ST0304S V 238377 35

1N-ST0608C-01 V V 269556 35

Internal wiring and piping set

1F-HS304S-01 V 250468 31

1F-HS408S-01 V 250469 31

1F-HS408S-02 V 251454 31

1F-HS604S-01 V 254396 31

1F-HS604S-02 V 254397 31

External wiring/piping box1F-UT-BOX V V 251104 311F-UT-BOX-01 V 254398 31

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Option Marking RV-2F(B) RV-4FLMRV-7FM/ RV-7FLM

RV-7FLLM

RV-13FM/RV-13FLM/

RV-20FMRH-3FH RH-6FH RH-12FH/

RH-20FH RH-3FHR RP- 1/3/5ADH Art. no. See

Page

Forearm external wiring set 1F-HB01S-01 V V V 257936 31

Base external wiring set 1F-HA01S-01 V V V 257935 31

Extension cable for fixed installation

1S-05CBL-01 V V V V V V 155827 351S-10CBL-01 V V V V V V 155830 351S-15CBL-01 V V V V V V 155665 35

Extension cable for flexible installation in a drag chain

1A-05LCBL-1 V 167304 351S-05LCBL-01 V V V V V V 157582 351S-10LCBL-01 V V V V V V 157583 35

1S-15LCBL-01 V V V V V V 157594 35

PC connection cable RV-CAB4 V V 55653 36

Connection cable for I/O interface 1

2A-CBL05 V V V V V V V V V 47387 362A-CBL15 V V V V V V V V V 59947 362D-CBL05 V V V V V V V V V 218857 362D-CBL15 V V V V V V V V V 218858 36

Controller protection box (IP54) CR750 -MB V V V V V V V 251455 36Wall mount R32TB wall mount V V V V V V V V V 274317 30

1 except Q series

2 only for D series

Configurations options

Options overview for all robots

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MELFA-BASIC IV

MELFA-BASIC IV/V programming

Sample program

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 work-piece is present the input signal is set to 1 and the pick-and-place operation is per-formed. 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.

R : Robot movementV v : Movement position

P_SAFE

Pick workpiece Place workpiece

M_IN(8)

P1 P2

50 m

m

50 m

m

Pick-and-Place Program

10 MVS P_SAFE Move to safe position

20 IF M_IN(8) = 0 THEN 20 ELSE 30 Wait until input bit 8 is set

30 HOPEN 1 Open gripper 1

40 MVS P1, -50 Move longitudinally to a position 50 mm from P1 relative to the tool

50 MVS P1 Move to position P1

60 HCLOSE 1 Close gripper 1

70 DLY 0.2 Wait for 0.2 s to ensure proper closing of gripper



100 MVS P2 Move to position P2

110 HOPEN 1 Open gripper 1 and deposit workpiece

120 DLY 0.2 Wait for 0.2 s to ensure proper opening of gripper


140 IF M_IN(8) = 1 THEN 40 ELSE 150 If another workpiece is present repeat the pick-and-place operation

150 MVS P_SAFE If no workpiece is present return to safe position and end program

160 END Program end

Easy-to-Learn MELFA-BASIC IV/V Programming language

Mitsubishi Electric robots are controlled with programs written in the powerful MELFA BASIC IV/V programming language. In addition to the familiar standard BASIC instructions and constructs like FOR … NEXT and GOTO, MELFA BASIC IV/V also has some extensions required for robots, including additional data types, instruc-tions 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.

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 the following pages..

40

1

2

3

4

5

6

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Software

RT Toolbox2

RT Toolbox2 is a software for program creation and total engineering support. This PC software supports everything from system startup to debugging, simulation, maintenance and operation. This includes programming and editing, operational checking before robots are installed, measureing process tact time, debugging

during robot startup, monitoring robot operation after startup, and trouble shooting.

z Compatible with Windows® 2000, Windows® XP, Windows® Vista, Windows® 7 and Windows 8 (2.50C or later)

z Support for all processes, from programming and startup to maintenance

z Enhanced simulation functions

z Advanced maintenance functions

Enhanced RT Toolbox2 visual functions

z Set parameters can be displayed visually to prevent setting errors.

zDisplay of teaching positions and trajectories of end points.

z Hands can be created and then attached to the robot.

z 3D polygonal models can be imported into the program.(Applicable 3D data file formats: STL, OBJ)

Linked to iQ Works

z Program management simplified Enables batch management of programs and data in blocks from the programmable controller to the servo, display device, and robot.

zDevice model selection simplified All Mitsubishi Electric device models are listed in the Navigator, enabling its use as a device model selection tool. Ver. 1.24A and later is equipped with robot CPU selection capability and comes packaged with RT Toolbox2.

Program editing and debugging functions

Creation of programs in MELFA-BASIC IV/V and the Movemaster languages.* Improvement of work operations by a multi-window format and the various editing functions. This is helpful for use in checking operations such as the execution of program steps, setting of breakpoint settings, and other tasks.* MELFA-BASIC is a programming language that further expands upon and develops the commands needed for

robot control. In MELFA-BASIC IV/V, the expansion of the command as well as parallel processing or structuring that were difficult to realize in BASIC language can make it possible to operate MELFA easily.

Simulation functions

Offline robot motion and tact time check for designated parts of a program.

3D viewer

Graphical representation of a work along with the dimensions, color and other specified details of the work area to be gripped.

Display of selected position data

Display of trajectories

MELSOFT Navigator

41

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3

4

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Software

A 3D robot simulator offers powerful support for system design and preliminary layout.

MELFA Works is an add-in tool 1 for SolidWorks 2 used for robot simulation in production systems on PC’s convert-ing processing paths of workpieces into robot position data. Adding MELFA Works into the SolidWorks platform adds to and expands on the robot simulation functions.

z Loading of part data from peripheral created in Solidworks® devices and rearrangement

z Installation of hands by CAD files

z Handling of work pieces

z Creating operation data from 3D CAD source data

zOffline teaching in 3D CAD surrounding

z Creation of robot programs (template) Workflow processes can be created using a combination of the offline teaching and CAD link functions and then conver-ted into robot programs. (MELFA-BASIC IV, V format)

z Simulation of robot operations zDisplay of the robot movement path in the application / the workspace z Interference checks between the robot and peripheral devices z Saving simulated movements to video files (AVI format)

zMeasurement of cycle times z Robot program debugging functions z Jog function – teaching the robot z Installation of a travelling axis to verify the operation of the system equipped with this.

z Calibration of point sequence data of CAD coordinates and robot coordinate data

1 An add-in tool is a software program that adds certain functions to application software packages.

2SolidWorks® is a registered trademark of SolidWorks Corp, (USA).

Automatic robot program creation function

The teaching position data and robot operation programs necessary for operating robots can be generated automatically by simple loading of 3D CAD data3 for the applicable works into SolidWorks® and then setting of processing conditions and areas using MELFA Works.3 Formats that can be loaded into SolidWorks®

• IGES• STEP• ParasolidR• SAT (ACISR)• Pro/ENGINEERR• CGR (CATIARgraphics)• Unigraphics

• PAR (Solid Edge TM)• IPT (Autodesk Inventor)• DWG• DXFTM• STL• VRML• VDA-FS

• Machanical Desktop• CADKEYR• Viewpoint• RealityWave• HOOPS• HCG (Highly com-

pressed graphics)

Note: Check the SolidWorks website and other published documents for the latest specifications.

Example screens for MELFA Works

MELFA Works SolidWorks®RT Toolbox2 (mini)

Calibration tool

MELFA Works

Monitor functions

This is used to monitor program execution status and variables, input signals, etc.)

Maintenance functions

These functions include maintenance forecast, position recovery support, parameter management, etc.

42

Index

IndexA

Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34

Batteries. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

Hand curl tube. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

Interface boards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .33

Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .32

Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .30

Wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .31

Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

RV-2F(B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .12

RV-4FLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .14

RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .16

RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .18

B

Buffer batteries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

C

Cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

Connection cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .36

Connector cables. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .35

Gripper signal cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .34

Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Controller protection box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36

D

Dimensions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

Controller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .29

RH-3FHR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25

RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21

RV-4FLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

M

Movement ranges . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23

RH-3FHR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .23

RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .25


RV-2F(B). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .13

RV-4FLM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .15

RV-7FM/7FLM/7FLLM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .17

RV-13FM/RV-13FLM/RV-20FM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .19

O

Options overview for all robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Overview robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Horizontal, multiple-joint type (RH/RP) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

Vertical, multiple-joint type (RV) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

P

Programming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

S

SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

RH-3FHR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .22

RH-FH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .24


Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40, 41

MELFA-Works. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .41

Special Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Adaptation to operation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Additional axis function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Collision avoidance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Connection to peripheral devices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

Coordinated control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8

Full use of installation space . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

GOT terminals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Improved accuracy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

Improved tooling performance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Improved user friendliness . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7

iQ Platform. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .11

Safety features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .10

Shortened takt times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

Tracking . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9

System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

T

Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

W

Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

A name to trustSince its beginnings in 1870, some 45 com-panies 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 is active in space development, transportation, semi-conductors, energy systems, communica-tions and information processing, audio vis-ual equipment, home electronics, building and energy management and automation systems, and has 237 factories and laborato-ries worldwide in over 121 countries.

This is why you can rely on a Mitsubishi Electric automation solution – because we know first hand about the need for reliable, efficient, easy-to-use automation and con-trol 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.

Mitsubishi Electric offers a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines.

A world of automation solutions

Motion control and servos

Inverters

HMI and GOTs

Micro PLCs

EDM machines

CNC controllers

Laser machines

LV circuit protection

Robots

Modular PLCs

Automation solutions

Global partner. Local friend.

Mitsubishi Electric Europe B.V. / FA - European Business Group / Gothaer Straße 8 / D-40880 Ratingen / Germany / Tel.: +49(0)2102-4860 / Fax: +49(0)2102-4861120 / [email protected] / https://eu3a.mitsubishielectric.com

Vers

ion

chec

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Art. no. 203684-H / 05.2014 / Specifications subject to change / All trademarks and copyrights acknowledged.

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PolandMitsubishi Electric Europe B.V.ul. Krakowska 50PL-32-083 BalicePhone: +48 (0) 12 630 47 00

RussiaMitsubishi Electric Europe B.V.52, bld. 3 Kosmodamianskaya nab 8 floor RU-115054 MoscowPhone: +7 495 / 721 2070

SpainMitsubishi Electric Europe B.V.Carretera de Rubí 76-80 Apdo. 420E-08190 Sant Cugat del Vallés (Barcelona)Phone: +34 (0) 93 / 5653131

SwedenMitsubishi Electric Europe B.V. (Scandinavia) Fjelievägen 8SE-22736 LundPhone: +46 (0) 8 625 10 00

TurkeyMitsubishi Electric Turkey Elektrik Ürünleri A.Ş.Şerifali Mahallesi Nutuk Sokak No:5 TR-34775 Ümraniye-İSTANBUL Phone: +90 (0)216 / 526 39 90

UKMitsubishi Electric Europe B.V.Travellers LaneUK-Hatfield, Herts. AL10 8XBPhone: +44 (0)1707 / 28 87 80

UAEMitsubishi Electric Europe B.V.Dubai Silicon OasisUnited Arab Emirates - DubaiPhone: +971 4 3724716

European Offices Representatives

Documents

Precise Control...Articulated-arm robots / SCARA robots / High-performance Controllers / Programming software / Simulation / MELFA Family Industrial Robots Consistent Quality – Precise