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MELFA
Industrial Robots
Consistent Quality –
Precise Control
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 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-D /// 10.2010
All trademarks and copyrights acknowledged.
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
Laser machines
More than
30,000 applications CNC
controllers HMI and GOTs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
2
MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELFA
More than
30,000 applications
Modern automation technology from Mitsubishi Elec-
tric is helping to power technological progress and
business success all over the world. Since 1978,
Intelligent design
The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA Network capabilities
result of market-leading technology combined with robot with parallel structure for
intelligent, carefully-planned design. For example, maximum precision. Network connections like Ethernet and CC-Link make
A very compact design takes up
locating pneumatic and wiring extensions directly in it easy to integrate Mitsubishi robot controllers in to
minimum space for applica-
the robot body reduces wiring complexity and costs. larger systems, providing users with access to every
tions in cramped quarters.
step of the process.
2 3
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
Max. payload (nom.):
SCARA-Roboter
PAYLOAD 3 kg
Gripper flange reach:
574 mm
Handling critical liquids in a laboratory application Repeatability:
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
4 5
The RV-2SDB at work in typically cramped quarters
The robot range /// The robot range /// The robot range /// The robot range /// The robot range /// Articulated-arm RV-A /// Articulated-arm RV-A /// Articulated-arm RV-A ///
configuration.
RV-2SDB
Facts and Figures
Degrees of freedom (axes):
6
Max. payload (nom.):
SCARA-Roboter
PAYLOAD 3 kg
Gripper flange reach:
574 mm
Handling critical liquids in a laboratory application Repeatability:
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
±0.02 mm
4 5
The RV-2SDB at work in typically cramped quarters
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
6 7
Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S /// Articulated-arm RV-S ///
6 7
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
8 9
SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RH-SH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH /// SCARA RP-AH ///
8 9
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
10 11
Programming made easy /// Programming made easy /// Programming made easy /// Fast and easy simulation /// Fast and easy simulation /// Fast and easy simulation ///
10 11
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Strength and
accuracy Machining/providing
12 13
Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation /// Precision /// Flexibility /// Innovation ///
Strength and
accuracy Machining/providing
12 13
Compact and high functional /// Robot controller /// Compact and high functional Automation solutions /// Automation solutions /// Automation solutions /// Automation
The compact, modular robot controller is This transparent compatibility pays off Control functions: Micro PLCs
an integral part of the robot system. It con- when you need to use different robot types Axial, linear and 3-D circular interpolation; Modular PLCs
tains the CPU and the power electronics for or models when the needs of your applica- palletising functions, interrupt control
and multitasking Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
powering and controlling the robot. tion change.
Max. number of programs:
쐽 Numbercrunching power
Small and compact A 64-bit RISC processor with DSP provides
256 for CR1D/CR2D/CR3D
88 for CR1
ample power for 3-D circular and linear Max. number of program steps: This is why you can rely on a Mitsubishi
At Mitsubishi Electric "switchgear cabinets"
are relics of the past – everything is now
interpolation, and for multi-tasking with up
26,000 for CR1D/CR2D/CR3D
A name to trust automation solution – because we know
to 32 programs running in parallel. 5,000 for CR1 first hand about the need for reliable, effi-
packed into a single compact controller. Since its beginnings in 1870, some 45 com-
Depending on the robot model either the Max. number of teaching points: cient, easy-to-use automation and control.
쐽 Gentle joining panies use the Mitsubishi name, covering a
CR1 controller with a footprint no larger 13,000 for CR1D/CR2D/CR3D spectrum of finance, commerce and industry.
The standard "compliance control" func- As one of the world’s leading companies
than an A4 sheet of paper or the 2,500 for CR1
tion guarantees gentle positioning. This with a global turnover of 3.4 trillion Yen
CR2D/CR3D controller is used. The powerful Internal I/Os: The Mitsubishi brand name is recognized
function can be activated and deactivated (approximately $30.8 billion), employing
control performance is the same in both the around the world as a symbol of premium
as required, making it possible to optimise CR1 16 E/16 A, max. 240 E/240 A over 100,000 people, Mitsubishi Electric
smaller and larger versions; the only differ- CR1D, CR2D, 32 E/32 A optional, quality.
demanding joining and assembly pro- has the resource and the commitment to
ence between the two is in the power out- CR3D max. 256 E/256 A
cesses, saving wear and tear on both com- Mitsubishi Electric Corporation represents deliver the ultimate in service and support
put stages. No matter which controller you
ponents and robots. Safety functions: space development, transportation, semi- as well as the best products.
use you always work with the same pro-
gramming language – MELFA BASIC IV/V – EMERGENCY OFF and door contact switch conductors, energy systems, communica-
쐽 Sensorless collision monitoring (CR1D, CR2D, CR3D)
and have the same options at your disposal. tions and information processing, audio
Potential collision situations are identified visual equipment, home electronics, build-
reliably without an additional sensor, pre- ing and energy management and automa-
venting damage to both workpieces and tion systems, and has 237 factories and
peripherals. laboratories worldwide in over 121 countries.
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HMI Family
Product catalogue for operator terminals, supervision software
and accessories
Inverter Family
Product catalogue for frequency inverters and accessories
MR Family
Product catalogue for servo amplifiers and servo motors as well as
motion controller and accessories
Networks
Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open and MELSEC networks
Automation Book
Overview on all Mitsubishi automation products, like frequency
inverters, servo/motion, robots etc.
2 MITSUBISHI ELECTRIC
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CONTENTS ///
1 Robots
웇 Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
웇 SCARA robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
웇 Industrial robots RV-2SDB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
웇 Industrial robots RV-3SDJB and RV-3SDB. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
웇 Industrial robots RV-6SD, RV-6SDL, RV-12SD and RV-12SDL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
웇 Industrial robots RH-6SDH, RH-12SDH and RH-20SDH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
웇 Industrial robots RP-1AH, RP-3AH and RP-5AH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2 Controller
웇 Controller CR1, CR1D, CR2D and CR3D. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
웇 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
3 Accessories
웇 Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
웇 Gripper sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
웇 Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
웇 Expansion option cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
웇 Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
웇 Tubes and machine cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
웇 Expansion cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
웇 PC and I/O connection cables, calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
웇 General overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
4 Programming Language
웇 MELFA-BASIC IV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
웇 MELFA-BASIC V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
5 Software
웇 RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
웇 PC support software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
웇 MELFA-Vision/MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
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8.8.8.8.8. DOWN
START RESET
SSCNET
MODE SVO.ON
REMOVE T/B
STOP END
SVO.OFF
CR1
MITSUBISHI
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Ethernet PC
Programm load/save,
The Ethernet expansion card uses the standard TCP/IP protocol for PDA production data
high-speed communications between the robot controller and PCs or acquisition,monitoring,control
sensors. You can configure the card in master or slave mode as required
Ethernet (TCP/IP)
by your application. One of the most attractive features of this communi- PLC
cations option is the ability to control the robot in real time, so that the CC-Link
robot’s movements can respond instantaneously to sensor data.
CR3-535M
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER UP
ON
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
ED
REMOVE T/B
END
TRIPP SVO.OFF STOP
OFF
RESET
EMG.STOP
CHANG DISP
STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
REMOVE T/B
Signal transmission,
CC-Link
STOP END
SVO.OFF
CR3-TR52
MITSUBISHI
CR1
MITSUBISHI
synchronisation,
read/writeVariables
This option provides a large number of virtual I/Os, for example for
communication between several robots or connection of a PLC via a MITSUBISHI
Profibus/DP MITSUBISHI
Robot
RV -3SB
Optimum accelleration/deceleration
control, optimum override control
Linear path B
Normal control Constant path
regardless of
override
Speed
Automatic acceleration and braking ramp Continous path function for faster cycle Gravity compensation for greater positio-
optimisation for faster cycle times times ning and palletising precision
MITSUBISHI
RV-6S
Orthogonal compliance control function Object tracking function for faster cycle Control functions for up to 8 additional
for interactive response to opposing forces times axes
Program 2
I/O process program
Allowable range + side
Conveyor (detection level+ side)
Vision Allowable range - side Estimated torque
Program 3 sensor Communications (detection level- side)
program
(common
variables) Interference occurs
Constant execution
Program 4 Personal program (starts at power ON)
computer
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MITSUBISHI
MITSUBISHI
RV -3SDB RV-6SD
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The robots described in this section are The kinematic advantages of this design
SCARA robots, which have 4 degrees of enable the robot to perform positioning
freedom. Whilst the RH-SDH series has the
typical SCARA design, the closed-loop arm
tasks with precision of up to 5 µm. 1
of the RP-AH series puts it in a special class
ROBOTS
of its own.
MITSUBISHI
RP-1AH
RH-6SDH
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/// SPECIFICATIONS
J4
The Articulated Arm Robots RV-2SDB
High-tech arms and robot controllers are among the outstanding
1 J3
J5 features of the RV-2SDB, who has 6 degrees of freedom, respec-
tively. The compact controller is easy to install, even in systems
where space is at a premium.
ROBOTS
J2 J6
Highlights:
앬 Slim design allows operation in cramped quarters
J1
앬 Additional axes can be added
앬 Multitasking operating system
RV-2SDB
Specification
Characteristics/Functions
RV-2SDB
Degrees of freedom (no. of axes) 6
Installation posture Floor or ceiling mounting possible
Structure Vertical multiple-joint type
Drive system AC servo (Brakes on all axes)
Position detection method Absolute encoder
waist (J1) 480 (-240 to +240)
shoulder (J2) 240 (-120 to +120)
elbow (J3) 160 (0 to +160)
Operating range degree
wrist twist (J4) 400 (-200 to +200)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360)
waist (J1) 225
shoulder (J2) 150
elbow (J3) 275
Maximum speed degree/s
wrist twist (J4) 412
wrist pitch (J5) 450
wrist roll (J6) 720
Maximum composite speed mm/s 4,400
rated 3
Payload capacity kg
maximum 2
Position repeatability mm ± 0.02
Ambient temperature °C 0 to 40
Weight kg 19
wrist twist (J4) 4.17
Tolerable moment wrist pitch (J5) Nm 4.17
wrist roll (J6) 2.45
wrist twist (J4) 0.18 (0,27)
Tolerable inertia wrist pitch (J5) kgm² 0.18 (0,27)
wrist roll (J6) 0.04 (0,1)
Arm reachable radius (to the center point of the J5 axis) mm 504
Tool wiring 4 input signal lines (connections in robot gripper area), 4 output signal lines (connections in base area)
Tool pneumatic pipes Ø4x4 (from the base level to the gripper hand area)
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange ISO 9409-1-31.5
Protection rating IP30
Robot controller CR1D
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RV-2S DB
1
ROBOTS
4xØ9
hole Gripper flange
ISO 9409-1-31,5
Dimensions: mm
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/// SPECIFICATIONS
J6 J6 Highlights:
J2 앬 Compliance Control function to compensate for workpiece
J2
tolerances
MITSUB ISHI
J1 앬 Conveyor belt tracking
MITSUBISHI
J1
RV-3SDJB
RV-3SDB
앬 Sensorless collision detection
앬 Encapsulated design with IP65 rating
RV-3SDJB RV-3SDB 앬 Adaptive speed optimisation
Specifiactions
Characteristics/Functions
RV-3SDJB RV-3SDB
Degrees of freedom (no. of axes) 5 6
Machine class Standard
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure Vertical multiple-joint type
Drive system AC servo (all axes with brakes)
Position detection method Absolute encoder
waist (J1) 340 (-170 to +170)
shoulder (J2) 225 (-90 to +135)
Operating elbow (J3) 237 (-100 to +137) 191 (-20 to +171)
range degree
wrist twist (J4) — 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360)
waist (J1) 250
shoulder (J2) 187
Maximum elbow (J3) 250
speed degree/s
wrist twist (J4) — 412
wrist pitch (J5) 412
wrist roll (J6) 660
Maximum composite speed mm/s 5300 5500
rated 3
Payload capacity kg
maximum 3.5
Position repeatability mm ± 0.02
Ambient temperature °C 0 to 40
Weight kg 33 37
wrist twist (J4) — 5.83
Tolerable moment wrist pitch (J5) Nm 5.83
wrist roll (J6) 3.9
wrist twist (J4) — 0.137
Tolerable inertia wrist pitch (J5) kgm² 0.137
wrist roll (J6) 0.047
Arm reachable radius (to the center point of the J5 axis) mm 641 642
Tool wiring 8 inputs/8 outputs
8 spare wires 0.2 mm² (shielded)
Tool pneumatic pipes Primary: Ø6x2 (base to forearm section)
Secondary: Ø4x8 (optional)
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange ISO 9409-1-31,5
Protection rating IP65
Robot controller CR1D
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RV-3SDJB 170°
ROBOTS
R319
R2
03
R6
41
65
∅70
109
102
72
322
85 300 95
R245
109 104
105
81
R30
1
20
120
9
R54 R33
6 90
245
R223 5° °
13
122 120
∅5H7
R301
160 45° 4-M5
100°
350
312
∅94
115
°
137
205
50
∅20
H7
1 ,5 ∅4
113
∅3 0H
01
318 232 8
R3
330
641 450 4xØ9 Gripper flange
hole ISO 9409-1-31,5
Dimensions: mm
RV-3SDB
170°
R271
42
R2
R6
03
109
65
∅70
102
72
322
85 270 120
95
130 120
105
81
109 104
135
R1 170°
R302
76
245
R547 90
245
°
122 120
∅5H7
160 45°
135
4-M5
°
20
°
350
312
17
∅94
115
1°
205
R302
50
∅20
H7
1,5 ∅4
113
∅3 0H
8
271 330
4xØ9 Gripper flange
642 150 hole ISO 9409-1-31,5
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/// SPECIFICATIONS
J4 J4
The Articulated Arm Robots RV-6SD(L) and RV- 12SD(L)
Combining high speeds with maximum handling payloads of
1 J3
J5
J3
J5
6 kg and 12 kg, these robots are an ideal choice for virtually any
application.
J6
ROBOTS
J6
Highlights:
앬 Sensorless collision detection
J2 J2
앬 Conveyor belt tracking
MITSUBISHI
J1 MITSUB ISHI J1 앬 Compliance Control function to compensate for workpiece
tolerances
RV-6SD RV-6SDL
RV-6SD RV-6SDL
Specifiactions
Characteristics/Functions
RV-6SD RV-6SDL RV-12SD RV-12SDL
Degrees of freedom (no. of axes) 6 6 (long arm) 6 6 (long arm)
Machine class Standard
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure Vertical multiple-joint type
Drive system AC servo (all axes with brakes)
Position detection method Absolute encoder
waist (J1) 340 (-170 to +170)
shoulder (J2) 227 (-92 to +135) 230 (-100 to +130)
elbow (J3) 273 (-107 to +166) 295 (-129 to +166) 290 (-130 to +160)
Operating range degree
wrist twist (J4) 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360) (expandable)
waist (J1) 401 250 276 230
shoulder (J2) 321 267 230 172
elbow (J3) 401 267 267 200
Maximum speed degree/s
wrist twist (J4) 352
wrist pitch (J5) 450 375
wrist roll (J6) 660
Maximum composite speed mm/s 9300 8500 9600 9500
rated 5 10
Payload capacity kg
maximum 6 12
Position repeatability mm ±0.02 ±0.05
Ambient temperature °C 0 to 40
Weight kg 58 60 93 98
wrist twist (J4) 12 19.3
Tolerable moment wrist pitch (J5) Nm 12 19.3
wrist roll (J6) 4,5 11
wrist twist (J4) 0.29 0.4
Tolerable inertia wrist pitch (J5) kgm² 0.29 0.4
wrist roll (J6) 0.46 0.14
Arm reachable radius (to the center point of the J5 axis) mm 696 902 1086 1385
Tool wiring 8 inputs/8 outputs, 6 spare wires 0.1 mm² (shielded)
Tool pneumatic pipes Primary: Ø 6x2 (base to fore arm section) Primary: Ø 6x2 (base to fore arm section)
secondary: Ø 4x8 secondary: Ø 4x8
Supply pneumatic pressure MPa (bar) 0.49 ± 10 % (4.9 ± 10 %)
Gripper flange ISO 9409-1-31,5 ISO 9409-1-40
Protection rating IP54 (J1 to J3), IP65 (J4 to J6)
Robot controller CR2D CR2D
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RV-6SD
170°
R2
170°
11
77 84
85
51,5
54
70
78 73
200
110
ROBOTS
58,5
61
R5
02
26
R2
85 315 85
308 238
R2
85
R280
96
162 165
R6
80
R2
87
R2
100
280
961
R3
5°
3
92°
1
13
170°
170°
594
R173
421
350
294
R 611
45°
ø5H7
R331
179
17
°
204 4–M5
115
76°
ø31,5
204
160
444
122
437 258 474
ø20h7
4xØ9 96 ø40h8
hole
102,5
Dimensions: mm
RV-6SDL
170°
R2
170°
11
77 84
85
51,5
54
70
78 73
200
110
58,5
61
R7
32
85
R1
85 425 85
403 333 R2
85
162 165
02
R9
R3
80
88
R3
100
1167
70
R4 R2
380
170°
92 37
° 170°
°
649
135
476
R437
R81
7 98
350
R1 45°
ø5H7
100
4–M5
39°
R4
115
37
76°
355
ø31,5
204
160
204
122
205
Gripper flange
115 140
ISO 9409-1-31,5
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RV-12SD
R3
170°
03
1 50
88 93 170°
89
ø88
130
140
214
ROBOTS
R7
86
05
R2
89
97 530 150
130
569 349 R4
16
086
R1
215 164
161
00
R4
80
170°
R4
00
170°
55
R3
1386
R2
400
66
R936
0° R5
13 36
10
784
45°
0°
ø6H7
646
4 - M6
150
450
40°
ø40
270
250
R53
155
230
R5
70°
6
156
36
343
ø25h7
≥ 200
100 ø50h8
125
4xØ14 250
670 416 205 581
hole Gripper flange
155 150
ISO 9409-1-40
Dimensions: mm
RV-12SDL
R3
170°
03
88 93 170°
50
89
ø88
130
140
214
R1
08
5
17
R3
89
130
97 670 150
R4
690 470 57
385
R1
215 164
161
60
R5
80
170°
R5
170°
60
67
R4
1685
R3
560
07
R123
5 0° R6
13 73
10
854
45°
0°
ø6H7
716
4 - M6
150
450
40°
ø40
270
250
R67
155
R6
230 70°
322
5
75
585
ø25h7
≥ 200 100 ø50h8
125
4xØ14
250
928 457 317 768
hole Gripper flange
155 150
ISO 9409-1-40
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/// SPECIFICATIONS
ROBOTS
every payload.
J3
Highlights:
RH-6SDH
앬 Slim design
J2
앬 6/12/20 kg payload capacity
앬 Speeds up to 11200 mm/s with axis interpolation
J4 앬 High Repeatability from 0.02–0.025 mm (x/y)
앬 Palletizing Function
Specifications
Characteristics/Functions
RH-6SDH5520 RH-12SDH8535 RH-20SDH8535
Degrees of freedom (no. of axes) 4
Machine class Standard
Structure SCARA
Installation posture Floor mounting
Drive system AC servo
Position detection method Absolute encoder
Brake attachment J1, J2, J4 axes: without brake, J3 axis: with brake J1, J2 axes: without brake,
J3, J4 axes: without brake
Payload capacity rated 2 2 5
(hand gripper included) kg
maximum 6 12 18
Maximum reach arm 1 + arm 2 mm 550 (350/450) 햲 850 (550/700) 햲 850 (1000)
Leadscrew travel mm 200 햴 350 햳 350 햳
J1 degree 254 (±127) 280 (±140) 280 (±140)
J2 degree 290 (±145) 306 (±153) 306 (±153)
Operating range
J3 (Z) mm 200 (97–297) 350 (-10–340) 350 (-10–340)
J4 (θ axis) degree 720 (±360) 720 (±360)
J1 degree/s 375 288 288
J2 degree/s 612 412.5 412.5
Maximum speed
J3 (Z) mm/s 1177 1300 1200
J4 (θ axis) degree/s 2411 1500 1500
Maximum composite speed mm/s 7782 (J1, J2 and J4) 11221 (J1, J2 and J4) 11221
6003 (J1 and J2) 6612 (J1 and J2)
Allowable wrist moment rated 2 0.01 0.02 0.02
of inertia kgm
maximum 0.04 0.1 0.1
X, Y direction mm ±0.02 ±0.025 ±0.025
Position repeatability J3 (Z direction) mm ±0.01 ±0.01 ±0.01
J4 (θ axis) degree ±0.02 ±0.03 ±0.03
Ambient temperature °C 0 to 40
Weight kg 21 45 47
Tool wiring 8 inputs/8 outputs/8 spare wires
Tool pneumatic pipes Ø 6x2
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Protection rating IP20
Robot controller CR1D CR2D CR2D
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RH-6SDH
1
ROBOTS
Z Z
160
(10)
30
10 (10)
∅20H7
∅39.5
19
∅14 19
Z
92
180
150
92
150
180
A 4xØ9
hole
Dimensions: mm
RH-12SDH
Z Z
(10)
30
10
(10)
∅25H7
∅50
24
∅18 24
122
240
200
A
122
240
200
4xØ16
hole
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RH-20SDH85xxM
ROBOTS
Z Z
10
8
10
30
10
11
?Ó32h7
?Ó60
31
30
?Ó23
4N9
122
240
200
122
240
200
4- ?Ó16
RH-20SDH100xxM
Z Z
10
8
10
30
10
11
?Ó32h7
?Ó60
31
30
?Ó23
4N9
122
240
200
122
240
200
4- ?Ó16
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/// SPECIFICATIONS
Specifications
Characteristics/Function
RP-1AH RP-3AH RP-5AH
Degrees of freedom (no. of axes) 4
Installation posture Floor mounting
Drive system AC servo
Position detection method Absolute encoder
Brake attachment All axes
rated 0.5 1.0 2.0
Max. load capacity kg
maximum 1.0 3.0 5.0
width × depth mm 150x105 (DIN-A6) 210x148 (DIN-A5) 297x210 (DIN-A4)
Operating vertical mm 30 50
range
twist degree ±200
J1/J2 degree/s 480 432
Maximum J3 mm/s 800 960
speed
J4 degree/s 3000 1330
kgm2 3.10x10-4 1.60x10-3 3.20x10-3
2
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R3
24
R3
6
,5
95
0,5
6)
0,5
0 (5
14 8
4
2
12
10
56
5
5.5
233,9 ø6h7
ROBOTS
M6
140
155
165
ø8
105 100
133
150
162
56
ø18
95 5,5 0,5
R3
38
5,5
140
61
56
100
28 76
110° (5 120
,5
6) 180 24,2
R30
4xØ7
,5
24
A 224,9
32 hole
80
160°
100
150
M5
8
B
ø18
110 ø8
36,5 °
R2
31
95
0
230
180
R14
177
0
R14
31
B
77 6
85
A
24
30
21
50 (213)
RP-3AH 31 31 85
36 141
12
8 125
6)
(8 82,5 100
5,5
0
20
5
28
(38)
30
11 8
332 86
148 20 130 ø14h7
140
165
ø15h7
155
170
200
216
(ø23)
85
50
200 R42
13,5
84
120
105°
13,5
86 180
224,9
28
160° A 20
0
4xØ9
(8 0 hole
6) 14
210
36
13,5
B
110 Dimensions: mm
13,5
35 °
R3
42
0
R20
118
(ø23)
0
R20
280
ø15h7
267
180
261
42
ø14h7
ø11
3,5
103,5
77 6
15
(23)
50
40
A
(12)
263
50 (213)
RP-5AH 31 31 85
36 141
) 8 125
16
12
(1 82,5 100
260
5,5
28
5
(38)
450,9
30
11 8
210 190 6
11
170
50 ø14h7
140
165
155
ø15h7
260
170
200
216
85
(ø23)
105° R42
13,5 84
120
11
13,5
160°
6 180
297
224,9
28
A 26
0
4xØ9
(1 0 hole
16 20
)
36
110
°
13,5
53,2
R4
B
13,5
0
R26
42
(ø23)
118
ø15h7
280
267
180
261
ø14h7
42
ø11
3,5
103,5
77 6
15
(23)
50
40
(12)
MITSUBISHI ELECTRIC 19
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Montag, 11. Oktober 2010 13:55:55
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왎 Controller Overview
cards for connecting the controllers to dif- can also be used for testing the entire pro-
ferent networks and for controlling addi-
CONTROLLER
gram sequence.
tional robot axes.
CR3D-700
MITSUBISHI
ON
ED
P
IP
TR
OFF
T
SE
RE
CR3D-700
MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER UP
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
REMOVE T/B
STOP END
SVO.OFF
CR1
MITSUBISHI
왎 System Configuration
8.8.8.8.8. DOWN
START RESET
MODE SVO.ON
–X +X
Teaching box –Y
–Z
–A
–B
–C
+Y
+Z
+A
+B
+C
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왎 Controller Specifications
CONTROLLER
External inputs/outputs as an option) as an option) as an option)
Terminal block with screw terminals for the con- Terminal block with screw terminals for the con-
emergency stop I/Os 1 nection of a redundant EMERGENCY STOP switch nection of a redundant EMERGENCY STOP switch
compliance DIN ISO 10218 (2066) compliance DIN ISO 10218 (2066)
door switch input 1 1 1
RS232C/USB 1 interface for PC 1 interface for PC/USB 1 interface for PC/USB
RS422 + Ethernet 1 interface for teaching box 1 interface for Teaching Box 1 interface for Teaching Box
slot dedicated for hand 1 interface card for pneumatic hand 1 interface card for pneumatic hand 1 interface card for pneumatic hand
extension slot For 3 expansion options (optional) CR1D: 1, CR2D: 3 For 2 expansion options
Interface memory expansion slot — 1 memory option 1 memory option
Ethernet — 1 for communication device (PC, Camera) 1 for communication device (PC, Camera)
Additional Axes — 1 for optical SSCNET 3 1 for optical SSCNET 3
Tracking Encoder — 2 for encoder input 2 for encoder input
robot I/O link 1 channel (expansion to up to 240 inputs and 1 channel (expansion to up to 256 inputs and 1 channel (expansion to up to 256 inputs and
240 outputs possible) 256 outputs possible) 256 outputs possible)
Power supply 1-phase 90–132 V AC; 50/60 Hz; 0.7 kVA 1-phase 90–132 V AC; 50/60 Hz; 3-phase 400 V AC; 50/60 Hz; 3.0 kVA;
1-phase 180–253 V AC; 50/60 Hz; 0.7 kVA 0.5 kVA CR1D; 2.0 kVA CR2D
Ambient temperature 0 to 40 °C
Ambient humidity 45 to 85 % without condensation
Grounding Via seperate terminal; earth resistance ≤ 100 Ω
Mounting Self-contained floor type/closed structure Self-contained floor type/closed structure, vertical Self-contained floor type/closed structure
Dimensions (W x H x D) mm 212 x 166 x 290 CR2D: 468x200x408; CR1D: 270x290x200 450x975x380
Weight kg 8 CR2D: 20; CR1D: 9 60
왎 Controller Dimensions
30 210 30 35 450
EMG.S TOP
STATUS NUMBER CHANG DISP MITSUBISHI CR3D-700
UP
DOWN
45
MODE SVO.ON RT
A STRESET
185
200
151
REMOVE T/B
200
MITSUBISHI CR1
CR2D-700
4 - M5
15
7
45 310 45
31
31 150
15
468
8
212 408
66
75
380
15 420 15
290
290
401
333
380
22
67
32
20
All dimensions in mm
CR3D-700M
MITSUBISHI ELECTRIC 21
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MITSUBISHI
Software:
MELFA-Vision/Works
NC AC-Servos PLC Sensors RT Toolbox2
3
Control cards
ACCESSORIES
Teaching
box
UP
8.8.8.8.8 DOWN
P E
TO
-S
TO P
E-S
TEACH
E-STOP
CR1
MITSUBISHI POWER
TB ENABLE
HAND JOG
STOP
SERVO
RESET
CAUTION
HOME
EXE
OVRD
OK CANCEL
MITSUBISHI
MITSUBISHI
RP-1AH
RP-AH
Gripper
signal cable
Pneumatic valves
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Montag, 11. Oktober 2010 13:59:29
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Software:
MELFA-Vision/Works
RT Toolbox2
GOT NC AC-Servos PLC Sensors
ACCESSORIES
Control cards Expansion option cards PC
for:
CC-Link,
Profibus
Inputs and outputs
Pneumatic gripper
hand
Expansion I/Os
Teaching
box
Adaptor cables
Gripper
signal cable Pneumatic valves
MITSUBISHI ELECTRIC 23
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Montag, 11. Oktober 2010 13:59:32
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R28TB
R28TB
and monitoring functions are accessed and adjusted quickly and easily via the bright 6.5"
( )? $": #
#%% !!
=*/
SVO ON
SVO ON
- X
X +
+ XX
STEP
STEP (J1)
(J1) (J1)
(J1)
PQR
PQR .. ‘;^
‘;^
MOVE
SPACE
MOVE SPACE
ADD
ADD
- Y +
+ YY
touchscreen display.
Y −
−
+ (J2)
(J2) (J2)
(J2)
44 MNO
MNO 99 &<>
&<>
FORWD
FORWD RPL
RPL
- ZZ +
+ ZZ ¯¯
- (J3)
(J3) (J3)
(J3)
JKL
JKL 88 ,@¥
,@¥
BACKWD
BACKWD 33
DEL
DEL
- AA +
+ AA ¬
¬
COND (J4)
(J4) (J4)
(J4)
In addition to controlling robot movements the terminal has many other functions: For ex-
COND 77 YZ_
YZ_
22 GHI
GHI
HAND
HAND
- B
B +
+ BB ®
®
POS
POS (J5)
(J5)
(J5)
(J5)
CHAR
CHAR 11 DEF
DEF 66 VWX
VWX
INP
INP
- C
C +
+ CC
ERROR (J6)
(J6)
ample, writing programs with a virtual on-screen keyboard and monitoring all system status
ERROR (J6)
(J6) EXE
EXE
RESET 55 STU
STU
RESET 00 ABC
ABC
parameters, inputs and outputs, including those accessed via the network.
P E
The R46TB’s flexible monitoring function enables the display of all important system parame-
TO
-S
TO P
E-S
TEACH
ters. Access to production data like the number of work cycles, the average cycle time and
R28TB
3
E-STOP
many other parameters make it easy to get a quick overview of the production situation.
POWER
TB ENABLE
HAND JOG
STOP
SERVO Extensive analysis functions for checking robot workload also make it easy to optimise
RESET
CAUTION
your robot applications and minimise cycle times.
ACCESSORIES
HOME
OVRD
EXE
Screen input templates make it easy to enter the parameters for grippers and workpieces for
MENU
OK CANCEL quick system optimisation. Entering the reference points data when you install the system
MITSUBISHI
just takes a few minutes, then the robot is ready for programming.
R46TB
24 MITSUBISHI ELECTRIC
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Montag, 11. Oktober 2010 14:00:38
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TO
P E
Operation and Programming
-S
TO P
E-S
TEACH
E-STOP
The R56TB teach panel is a multifunctional control and programming terminal for all
Mitsubishi SD serie robots. Its intuitive user interface makes it easy to control robot move-
POWER
TB ENABLE
HAND JOG
STOP
SERVO
ments and perform extensive diagnostics and monitoring functions for users of all levels.
RESET
CAUTION
All safety-critical functions such as robot movements are assigned to keys. Programming
OVRD
HOME
EXE
and monitoring functions are accessed and adjusted quickly and easily via the bright 6.5"
touchscreen display.In addition to controlling robot movements the terminal has many
OK CANCEL
MENU
MITSUBISHI
other functions: For example, writing programs with a virtual on-screen keyboard and
monitoring all system status parameters, inputs and outputs, including those accessed via
R56TB
MITSUBISHI
the network.
Specifications
Compatibility
R56TB
All Mitsubishi SD serie robots
R32TB
3
Functions Operation, programming and monitoring of all Operating, programming and monitoring of
robot functions robot functions
ACCESSORIES
Read out information, also during operation; pro- Read out information, also during operation,
gram editing with virtual keyboard; display up to program editing with T9-Key standard, super-
R32TB Programming and monitoring 14 lines of program code; I/O monitoring for up to vising of I/Os, display of error alarms,
256 inputs and 256 outputs; service display with Right-/Left-Hand usage, 36 keys for operation
information on maintenance intervals; error dis- selection
play with details of the last 128 alarms
Software Integrated operating system software with
menu-based user interface
Menu navigation (language) German, English, French, Italian English, Japanese
type/dimensions 6.5" TFT display (640 x 480 pixels) Monochrome LCD graphic display
Display (24 characters x 8 lines
technology Touchscreen with backlight LCD with backlight
Interfaces USB, RS-422 for connection to the robot controller RS-422 for connection to the robot controller
Connection Direct connection to the robot controller, Direct connection to the robot controller,
cable length 7m cable length 7 m
Protection rating IP54 IP65
Weight [kg] 1.25 0.9
Order information Art. no. 218854 214968
왎 Hand Sets
Tools
The pneumatic gripper is available in a set
consisting of the gripper, spiral pneumatic
hose, interface, one-way valve and
adapter. It has a service life of 10 million
gripping cycles. The gripper is fitted with
sensors that provide feedback information
on the current gripper position.
MITSUBISHI ELECTRIC 25
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3 1A-VD0첸E-RP RV-E-1E-VD0첸E
Specifications
1 2 3 4 1 2
ACCESSORIES
No. of valves 1 2 3 4 1 2
Range of use (robot type) AH A
Valve function Double solenoid Double solenoid
Operating method Internal pilot method Internal pilot method
Effective sectional area 1.5 mm 1.5 mm
(CV value)
Operating preassure range 2–7 bar 2–7 bar
Maximum preassure 10 bar 10 bar
Response time < 12 ms at 24 V DC <12msat24VDC
Max. operating frequency 5 Hz 5 Hz
Ambient temperature -5 to +50 °C -5 to +50 °C
Coil rated voltage 24 V DC ± 10 % 24 V DC ± 10 %
Order information Art. no. 129780 129781 129792 129793 47397 47398
Order information Art. no. 153057 153058 153059 153062 153074 153075 153076 153077 166278 166279 166280 166281 166274 166275 166276 166277
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Ethernet Interface
The Ethernet interface is used for ming the robot controller and for external,
high-speed network communications with real-time control of the robot itself.
other controllers and TCP/IP-enabled pe-
ripherals. It can also be used for program-
Specifications 2A-HR533E
Application Ethernet interface; TCP/IP
Type Built-in board
Range of use RP-Series
LAN interface 10BASE-5, 10BASE-T (selectable)
2A-HR575E
Connector RJ-45
Transmission speed 10 Mbps 3
2D-TZ576
Order information Art. no. 129809
ACCESSORIES
CC-Link Interface Specifications 2A-HR575E 2D-TZ576
The 2A-HR575E interface makes it pos- Application CC-Link interface
sible to integrate the CR첸-R robot con- Type Built-in board
troller in
Range of use RP-Series RV-SD and RH-SDH
a CC-Link network.
Communications cable Shielded 3-core twisted cable
The 2D-TZ576 interface makes it possi-
ble to integrate the CR첸-D robot con- Max. number of I/O points and 126 I/Os/16 data register
data registers
troller in
Refresh rate 7.2 ms
a CC-Link network.
Max. transmission length 100 m at 10 Mbps, 150 m at 5 Mbps, 250 m at 2.5 Mbps,
600 m at 0.62 Mbps, 1500 m at 0.15 Mbps
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All the robot controllers have an I/O in- Application Interface for additional inputs/outputs
terface with at least 16 inputs and out- Type Decentralized I/O box with 32 inputs and Slot-In Card with 32 Inputs and 32 Outputs
32 outputs
puts as standard equipment. You can
increase the number of I/Os to a maxi- Range of use RP-Series RV-SD and RH-SDH
mum of 256 (depends on controller Rated load voltage Inputs: 12 V/24 V; outputs: 12 V/24 V, max. 0.1 A/per output
model) by adding 2A-RZ371 interface Max. no. of usable I/O boxes 7 2
modules.
Order information Art. no. 124658 218862
The D-Controller has 32 inputs and
outputs as standard equipment. You
can increase the number of I/Os inter-
nally to 96 by adding 2D-TZ378 slot-in
cards.
3 Specifications 2A-RZ541E
Additional Axis Interface
Application Controller board for additional axes
The 2A-RZ541E interface card enables
ACCESSORIES
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Connection Cables
A variety of different cables are available One end of the cable set is fitted with a plug
for connecting the control and status for the gripper’s sensor signals. The other
monitoring signals of the gripper tools. end is without connectors and can be wired
When the pneumatic gripper is used you as required for your system.
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.
ACCESSORIES
Design Custom-made Custom-made Single sided with Single sided with Single sided with Single sided with
connector connector connector connector
Application Custom-made Monitoring of the gripper Pneumatic gripper Pneumatic gripper Monitoring of the gripper Monitoring of the gripper
magnetic valve set condition condition condition
No. of cores 9 10 12 12 12 12
Length 2000 mm 2000 mm 400 mm 350 mm 1200 mm 800 mm
Order information Art. no. 129778 129779 153078 166272 166273 153079
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ACCESSORIES
Max. movement speed 2000 mm/s
Guidance of life count —
Protection rating Oil-proof specification sheath
No. of cores power cable 1 1
No. of cores signal cable 1 1
Length m 5 10 15 5 10 15
Order information Art. no. 155827 155830 155665 165967 165968 165969
Order information Art. no. 157582 157583 157594 165970 165971 165972
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Specifications CR1-EB3
Type Expansion box for interface cards
Application Controller CR1
Range of use (robot type) AH
Power supply From the controller by the RT bus coupling
Ambient temperature 0–40 °C
Ambient humidity 45–85 %
Grounding Class 3 grounding earth (via external terminal; earth resistance ≤ 100 Ω)
Structure Floor mounting
Dimensions (W x H x D) 87.5 mm x 166 mm x 290 mm
Weight Approx. 3 kg
왎 Calibration Device
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BATTERIEN ///
왎 Buffer batteries
Batteries
The backup batteries are used to maintain the encoder and memory power supply. One
battery supplies the control unit and up to five batteries are installed in the robot arm.
ACCESSORIES
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왎 Options Assignment
Option Marking RV-2SD RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
Robot model name in catalogue — SD SD SD SD SDH SDH AH — —
Teaching Box R28TB 앬 124656 25
Teaching Box R46TB 앬 193409 25
Teaching Box R32TB 앬 앬 앬 앬 앬 앬 214968 25
Teaching Box R56TB 앬 앬 앬 앬 앬 앬 218854 25
Electrical hand set 4A-HM01 129874 25
Pneumatic hand set 4A-HP01E 129873 25
Single valve set 1A-VD01E-RP 앬 129780 26
Double valve set 1A-VD02E-RP 앬 129781 26
3 Triple valve set 1A-VD03E-RP 앬 129792 26
Quadruple valve set 1A-VD04E-RP 앬 129793 26
ACCESSORIES
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Option Marking RV-2SD RV-3SDJB/3SDB RV-6SD/6SDL RV-12SD/12SDL RH-6SDH RH-12SDH/18SDH RP-1/3/5AH Art. no. See page
Robot model name in catalogue — SD SD SD SD SDH SDH AH — —
Valve input connect R-SMR-02V-B 앬 143798 29
Hand signal output connector S-series Hand OUTPUT 앬 앬 앬 앬 앬 164814 29
Hand signal input connector S-series Hand INPUT 앬 앬 앬 앬 앬 164815 29
Valve connection cable RV-E-1E-GR35S 앬 47391 29
RV-E-1E-ST0402C 앬 앬 앬 앬 47390 30
Hand curl tube
RV-E-1E-ST0404C 앬 앬 앬 앬 47389 30
Cable Flex 5 m 앬 149006 30
Flexible drag chain cable
Cable Flex 15 m 앬 149010 30
1S-05CBL-01 앬 앬 앬 155827 31 3
1S-10CBL-01 앬 앬 앬 155830 31
앬 앬 앬
ACCESSORIES
Extension cable for fixed installation 1S-15CBL-01 155665 31
in a drag chain 1S-05CBL-03 앬 앬 앬 165967 31
1S-10CBL-03 앬 앬 앬 165968 31
1S-15CBL-03 앬 앬 앬 165969 31
1S-05LCBL-01 앬 앬 앬 157582 31
1S-10LCBL-01 앬 앬 앬 157583 31
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/// MELFA-BASIC IV
Easy-to-Learn MELFA-BASIC IV/V Despite its simplicity and short learning Programming
Programming Language curve, MELFA BASIC IV/V is a powerful
Robot programs are written with the
language that can be used to create very
Mitsubishi robots are controlled with MELFA BASIC IV/V instructions with the
complex robot programs.
programs written in the powerful MELFA help of a PC and the teaching box.
BASIC IV/V programming language. This In addition to controlling simple move- The positions are defined with the
language is based on standard BASIC, ment sequences this high-level language teaching box and the actual program
which makes it very easy to learn. In addi- can also perform complex calculations is written on the PC.
tion to the familiar standard BASIC instruc- without having to access a connected PC.
Programs are written using the RT Toolbox2
tions and constructs like FOR … NEXT and This is made possible by a comprehensive
programming and project managing soft-
GOTO, MELFA BASIC IV/V also has some library of integrated functions, including
ware or the CIROS programming software
extensions required for robots, including trigonometry functions.
for industrial robots. You can find more
additional data types, instructions for You can store up to 88 programs in the con- information about the programming
movement and gripper control and I/O troller, in the D-Controller even 256, and software on page 36 and 37.
instructions. The familiarity of standard manage up to 256 inputs and outputs.
BASIC makes it easy for beginners to get Another powerful feature is 3D circular in-
started with robot programming. terpolation, which makes it possible to pro-
gram highly-complex processing sequences
in 3D space.
4
PROGRAMMIERSPRACHE
P1 P2
M_IN(8)
Pick-and-Place Program
10 MVS P_SAFE Move to safe position
20 IF M_IN(8) = 0 THEN 20 ELSE 30 Wait until input bit 8 is set
30 HOPEN 1 Open gripper 1
40 MVS P1, −50 Move longitudinally to a position 50 mm from P1 relative to the tool
50 MVS P1 Move to position P1
60 HCLOSE 1 Close gripper 1
70 DLY 0.2 Wait for 0.2 s to ensure proper closing of gripper
80 MVS P1, −50 Move longitudinally to a position 50 mm from P1 relative to the tool
90 MVS P2, −50 Move longitudinally to a position 50 mm from P2 relative to the tool
100 MVS P2 Move to position P2
110 HOPEN 1 Open gripper 1 and deposit workpiece
120 DLY 0.2 Wait for 0.2 s to ensure proper opening of gripper
130 MVS P2, −50 Move longitudinally to a position 50 mm from P2 relative to the tool
140 IF M_IN(8) = 1 THEN 40 ELSE 150 If another workpiece is present repeat the pick-and-place operation
150 MVS P_SAFE If no workpiece is present return to safe position and end program
160 END Program end
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SOFTWARE ///
왎 RT Toolbox2
RT Toolbox2:
The RT Toolbox2 is the standard programming tool for every MELFA Robot. Besides Syntax
Highlighting, 3-D Robot View and a Program Manager the software offers structured Pa-
rameter settings, Monitor and Backup functions and a Position repair function. This helps
to recalculate the positions after displacing the robot or changing the gripper.
The Workspace structure allows connecting up to 12 robots simultaneously via
Ethernet-Network and displaying them in real time on just one PC.
Among the standard softwareversion 3D-12C-WINE there is also the software
3D-11C-WINE availible. This software has the additional ability to simulate the movement
of the robot in a 3-dimensional graphical display. Furthermore a special feature of this soft-
ware is, to display the cycle time of the movement at the end of the simulation. So you can
already optimize the program at your PC instead of optimizing at the real equipment.
SOFTWARE
Software 3D-12C-WINE 3A-11C-WINE
Supported robot models All
Language English, German, Italian, French
program editing All
monitor function All
parameter setting All
Functions program backup All
for robot program conversion From M/E/EN to NARC and Post NARC
models
remote maintenance All
(via modem)
position repair SD/SDH
maintenance forecast SD/SDH
Robot movement simulation No Yes
Calculation of the cycle time No Yes
Operating system Microsoft Windows 98/XP/2000/Vista
Order information Art. no. 218856 218855
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/// SOFTWARE
MELFA-Vision
MELFA-Vision is an easy to use application to set up Cognex-Vision sensors and MELFA
robot controllers. It supports you with a user friendly menu to set up the parameters on
the Vision sensor and the Robot controller within just a few mouse clicks. The easy calibra-
tion function that supports various camera installation positions, calibrates the Vision sys-
tem with the robot by only four positions. The Network vision job library helps the user to
set up a vision program that can detect moving and rotated parts with pattern matching
also at high speeds.
Through its Ethernet® connection interface it is possible to control one vision sensor by up
to three robot controllers. Special Network Vision commands reduces the efforts of robot
programming to a minimum by using just 3 commands to connect the vision sensor, trig-
ger the camera and to read out the detected positions.
Melfa Vision supports the Cognex In-Sight 5000-Series and the new Cognex In-Sight Micro
with the PatMax function.
5
SOFTWARE
MELFA-Works
The 3D-CAD system SolidWorks® offers a wide range of construction tools. With the
add-on tool MELFA-Works it is possible to implement full functional CAD models of the
robots into your application and to simulate them.
The installation of designed hands or ATCs (Auto Tool Changers) and the use of external
in- and outputs offers the possibility to simulate applications close to reality. With the im-
plemented virtual controller and the use of robot parameters the calculation of tact times
reaches an unrivalled accuracy.
By using the workflow tool, a path can be calculated by only selecting the edge and the
corresponding surface and a complete movement program can be automatically gener-
ated. For transforming the virtual created path and positions into reality MELFA-Works
supports with an intelligent calibration tool by using only three positions. This offers also
an implemented interference check as well as a video function that saves moving applica-
tions into a video file.
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NOTES ///
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/// INDEX
A I
Accessories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 Interfaces
Additional axis controller card . . . . . . . . . . . . . . . . . . . . . . 28 CC-Link · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
Articulated robot arms . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 I/O extension · · · · · · · · · · · · · · · · · · · · · · · · · · 28
electrical gripper · · · · · · · · · · · · · · · · · · · · · · · · 28
extension box· · · · · · · · · · · · · · · · · · · · · · · · · · 32
B Ethernet · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
Movement range pneumatic gripper· · · · · · · · · · · · · · · · · · · · · · · 28
RV-2SDB · · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9 PROFIBUS · · · · · · · · · · · · · · · · · · · · · · · · · · · · 27
RV-3SDJB, RV-3SDB · · · · · · · · · · · · · · · · · · · · · · 11 serial extension · · · · · · · · · · · · · · · · · · · · · · · · · 27
RV-6SD, RV-6SDL · · · · · · · · · · · · · · · · · · · · · · · · 13 additional axes · · · · · · · · · · · · · · · · · · · · · · · · · 28
RV-12SD, RV-12SDL · · · · · · · · · · · · · · · · · · · · · · 14 IP65 protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
RH-6SDH, RH-12SDH · · · · · · · · · · · · · · · · · · · · · 17
RH-20SDH · · · · · · · · · · · · · · · · · · · · · · · · · · · · 18
L
RP-1AH, RP-3AH, RP-5AH· · · · · · · · · · · · · · · · · · · 19
Long arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
C
M
Cable
MELFA-Vision . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
for drag chains · · · · · · · · · · · · · · · · · · · · · · · · · 30
for grippers · · · · · · · · · · · · · · · · · · · · · · · · · · · 29 MELFA-Works . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
for power connections · · · · · · · · · · · · · · · · · · · · 31
for signal connections · · · · · · · · · · · · · · · · · · · · 31 O
for PCs and I/Os· · · · · · · · · · · · · · · · · · · · · · · · · 32
Options
Calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
Assignment · · · · · · · · · · · · · · · · · · · · · · · · · · · 34
CC-Link interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 Overview· · · · · · · · · · · · · · · · · · · · · · · · · · · · · 22
Connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Connectors. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
Controllers P
CR1, CR1D, CR2D and CR3D · · · · · · · · · · · · · · · · · 20 PC connection cable . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 21
Pneumatic gripper
interface · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 28
D specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 23
Dimensions PROFIBUS interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
robot arms · · · · · · · · · · · · · · · · · · · · · · · · · · · · 9 Programing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
controller · · · · · · · · · · · · · · · · · · · · · · · · · · · · 21
R
E
Robot arms
Electric gripper
articulated robots · · · · · · · · · · · · · · · · · · · · · · · · 8
interface · · · · · · · · · · · · · · · · · · · · · · · · · · · · · 28 SCARA robots · · · · · · · · · · · · · · · · · · · · · · · · · · 16
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 25
RT Toolbox2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Ethernet interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Extension cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31
S
SCARA robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
G
Serial interface. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Gripper systems
Software
specifications · · · · · · · · · · · · · · · · · · · · · · · · · · 26
MELFA-Vison · · · · · · · · · · · · · · · · · · · · · · · · · · 38
connection cable· · · · · · · · · · · · · · · · · · · · · · · · 29
MELFA-Works · · · · · · · · · · · · · · · · · · · · · · · · · · 38
RT Toolbox2 · · · · · · · · · · · · · · · · · · · · · · · · · · · 37
H
Solenoid valve sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
Hand sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
T
Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
Tubes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
V
Valve connection cables . . . . . . . . . . . . . . . . . . . . . . . . . 29
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MELFA Industrial robots /// MELFA Industrial robots /// MELFA Industrial robots /// MELF Automation solutions /// Automation solutions /// Automation solutions /// Automation
Laser machines
More than
30,000 applications CNC
controllers HMI and GOTs
Modular PLCs
Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
2
Global Partner. Local Friend.
MELFA
Industrial Robots
Consistent Quality –
Precise Control
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 /// info@mitsubishi-automation.com /// www.mitsubishi-automation.com
Specifications subject to change /// Art. no. 203684-D /// 10.2010
All trademarks and copyrights acknowledged.