MELFA- Robots: RV-A RH-AH RP-AH - Sirius...
Transcript of MELFA- Robots: RV-A RH-AH RP-AH - Sirius...
MITSUBISHI ELECTRIC
Industrial RobotSystems
MELFA-Robots:RV-ARH-AHRP-AH
Unfailing Qualityand Precision Handling
MELFA Robots –Unfailing Qualityand PrecisionHandling
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MELFA Industrial RobotSystems – High-precisionAutomation Solutions
Modern automationtechnology from MitsubishiElectric is one of the drivingforces behind technicalprogress and commercialsuccess all over the world.Since 1978 small-scaleMitsubishi robots have beeninstalled in over 30,000industrial applications inmany different fields.
Mitsubishi is now one of theleading manufacturers of smallrobots. In Europe the companymarkets SCARA robots withhandling payloads of up to10kg, and articulated-armrobots with 5 and 6 degrees offreedom (DOF) and handlingpayloads of up to 5kg.
Example of a SCARArobot application forplacing, soldering andassembly in amanufacturing plant formobile phones
Our customers include topcompanies in all branches ofindustry. Maximum reliabilityis always the top priority forour robots, no matter whetherthey are used in simplehandling operations or thehighly-complex applicationsof car manufacturers and theirhigh-tech suppliers. Whateverthe job, you can alwaysdepend on the reliability ofMitsubishi robots.
Other typical applications forthese robots includemanipulation of componentsand tools, quality control,placement and installation ofsmall and miniature parts andhandling tasks in medical andlaboratory environments.
The robot programminglanguage MELFA BASIC IV ispowerful yet easy to learn,ensuring that users can startproducing their own powerfuland efficient robot programsin a very short time. Thosewho prefer systems that areready to run can have aturnkey solution made forthem by one of ourautomation partners, whohave many years of experience
in the development of tailor-made production systemsgeared to clients’ preciseneeds and wishes.
When you choose a robotfrom Mitsubishi you get atried and tested product that
One possible networkconnectionconfiguration forMELFA robots
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Although MELFA robotscan be used in individualmachines and ”islandsolutions” they onlydevelop their fullversatility ascomponents inintegrated systems.
has proved itself over andover again in demandingindustrial environments. Aproduct that you can depend
The robot’s work spacecan be expanded byinstalling it on a lineartravel axes. This adds alinear degree offreedom, radicallyenlarging the robot’sreach and the scale ofthe system it can serve.
on to deliver outstandingperformance in yourapplication.
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The MELFA Concept–Innovation in Movement
For years, Mitsubishi robotshave been demonstrating thepower and productivity oftheir innovative technologyin thousands of demandingapplications.
These robots are now inservice in virtually allbranches of the motorindustry and its suppliers, andalso in medical, education andtraining applications. Withtheir powerful controllersthey provide cost-effective,reliable and easily-installable
solutions for everything fromsimple tool and componenthandling tasks to complexapplications in which theentire system is controlled bythe robot.
Mitsubishi’s compact, 5-Jointclosed link robot is the onlyone of its kind in the world,and it shines with aninstallation footprint no largerthan an A5 sheet of paper andrepeatability of ±0.005mm.This accuracy, combined witha cycle period of just 0.28s,predestines it for use inprecise componentplacement applications.
The individual joints and axesof the robots are powered byhigh-precision AC servomotors coupled with play-freeHarmonic Drive gears.Absolute position encodersare fitted to every motor,saving time by enabling therobot to start work as soon asit is powered up.
The robot controllers areequally small and compact.With dimensions close tothose of a standard PC theycan be installed in the mostcramped environmentswithout taking up valuableproduction space. Theirmultitasking operatingsystem and the powerfulMELFA BASIC programminglanguage make it easy to use
them to control other systemcomponents. For example, thelanguage instruction set alsoincludes simple commandsfor the integration of camerasfor object identification.
The compressed air andsignal inputs areconveniently locatednear to the ISO 9409-1gripper mountingflange.
Signal, power andcompressed airconnection of the SCARArobots
� Compressed air andsignal inputs of the RV-1A/2AJ
��Gripper mountingflange (ISO 9409-1-31.5standard)
���Gripper mountingflange of the SCARArobots
Gripper signal cable
Pneumaticgripper
Electric gripper
Pneumatic valve
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Quality requirements arebecoming more exactingevery day, and as a resultMitsubishi robots in qualitycontrol applications are oftenin operation round the clock,seven days a week – yetanother demonstration of thequality and reliability ofMitsubishi robots under themost demanding conditions.
Festo Didactic, one of theworld’s leading suppliers oftraining applications, has
already been using Mitsubishirobots in its training systemsfor years. Thousands ofstudents and trainees havealready learned to appreciatethe capabilities of Mitsubishirobots on these systems.
Mitsubishi is committed tothe ongoing developmentand improvement of itsrobots, to ensure that theycontinue to earn theconfidence of our customersin the future.
Robot SystemComponents
Signal, power andcompressed airconnection of thearticulated-arm robots
CR2A
CR1Option
Box
PC
TeachingBox
SoftwareCOSIROP,COSIMIR
Electric grippercontrol card
Pneumatic grippercontrol card
Expansion I/Os
Ethernet
CC-Link
RS232RS422
Additional DOFcontroller
NC
AC-Servos
PLC
Vision
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MELFA Robots –Unfailing Qualityand PrecisionHandling
MELFA Industrial Robot Systems –A Model Range for All Needs
A comprehensive range ofproducts
The MELFA line includes abroad selection of robotmodels and versions. This
family of products is designedto meet all the needs of mostindustrial applications, andthey also provide the extremeflexibility required for quick
reconfiguration of productionsystems.Do you need the speed andhigh precision of the robots ofthe RP series? The assemblyand product placementcapabilities of the RH series ofSCARA robots? Or the greatversatility of the 5 and 6 DOFrobots of the RH series?Whichever product youchoose, you always get asystem designed from theground up for continuousoperation, that will perform itswork reliably 24 hours a day,7 days a week.
Or does your applicationimpose extreme precision,speed and reachrequirements? Robots fromMitsubishi Electric are thesolution to all these problems,and more.
The MELFA range ofrobots has everythingyou need. They areavailable in a widevariety of configurationsand performanceclasses:
● From SCARA toarticulated-armrobots
● From 4 to 6 degrees offreedom
● From 1kg to 10kghandling payloads
● From 150mm to843mm action radius
Articulated-armRobots
SCARA Robots
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MITSUBISHI ELECTRIC
Industrial RobotSystems
RV-2AJ/RV-1A Articulated-arm Robots –The Powerful Compact Class
The combination of smalldimensions and a reach ofaround 400 mm make thesetwo 5 and 6 DOF robots verypopular in applications callingfor compact robots that canbe installed right next to oreven in the system they areserving. They are predestinedfor handling tasks involvingthe removal and/orplacement of smallcomponents. Otherapplications include qualitycontrol and sample handlingin laboratories and medicalfacilities.
Component handling canbe performed with a singleelectric gripper or up to twopneumatic grippers. Pre-installed pneumatic hosesin the robot arm makeconnection of thecompressed air for thegrippers quick and easy.
Model RV-2AJ RV-1A
Degrees of freedom 5 6
Maximum payload 2 kg 1 kg
Gripper flange reach 410 mm 418 mm
Repeatability ±0.02 mm ±0.02 mm
Max. speed 2,100 mm/s 2,200 mm/s
Controller type CR1 CR1
Pick and place(cycle period in mm)
1.1 s 1.2 s
Reach (from Q/mm) A 410, B 285 A 418, B 308
Reach (from Q/mm) C 190, D 300 C 211, D 300
Reach (from Q/deg.) E 150 E 150
Reach (from Q/mm) R1 220, R2 410 R1 207, R2 418
Robot weight 17 kg 19 kg
The degrees of freedomof the RV-2AJ and RV-1Arobots
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MELFA Robots –Unfailing Qualityand PrecisionHandling
RV-3AJ/RV-2A Articulated-arm Robots –The Reliable Mid-range Solution
Typical applications for thesetwo robots include handlingsamples for analysisinstruments and similarmanipulations in other qualitycontrol applications. Their slimdesign and exceptionalmobility make it easy tointegrate them in test setupsand other systems.
Free choice of grippers
The robot can be fitted withone electric gripper or up totwo pneumatic grippers,depending on the task athand. Gripper force iscontinuously adjustable,making it possible to handleeven fragile items safely andsecurely.
Pneumatic hoses and signalcables are pre-installed in therobot, making gripperconnection quick and simple.
Model RV-3AJ RV-2A
Degrees of freedom 5 6
Maximum payload 3 kg 2 kg
Gripper flange reach 630 mm 621 mm
Repeatability ±0.04 mm ±0.04 mm
Max. speed 3,500 mm/s 3,500 mm/s
Controller type CR1 CR1
Pick and place(cycle period in mm)
1.25 s 1.3 s
Reach (from Q) in mm A 530, B 457 A 521, B 459
Reach (from Q) in mm C 308, D 350 C 348, D 350
Reach (from Q) in deg. E 160 E 160
Reach (from Q) in mm R1 322, R2 630 R1 273, R2 621
Robot weight 33 kg 37 kg
The degrees of freedomof the RV-3AJ and RV-2Arobots
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Industrial RobotSystems
Thanks to their spherical workspace and up to 6 degrees offreedom these robots can place,
RV-5AJ/RV-4A/RV-3AL Articulated-arm Robots –The Universal High-performance Class
Model RV-5AJ RV-4A RV-3AL
Degrees of freedom 5 6 6
Maximum payload 5 kg 4 kg 3 kg
Gripper flange reach 630 mm 634 mm 843 mm
Repeatability ±0.03 mm ±0.03 mm ±0.04 mm
Max. speed 5,700 mm/s 5,800 mm/s 6,000 mm/s
Controller type CR2A CR2A CR2A
Pick and place(cycle period in mm)
0.6 s 0.65 s 0.72 s
Reach (from Q/mm) A 530, B 472 A 534, B 476 A 743, B 662
Reach (from Q/mm) C 334, D 321 C 351, D 350 C 540, D 350
Reach (from Q/deg.) E 160 E 160 E 160
Reach (from Q/mm) R1300, R2 634 R1283, R2 634 R1303, R2 843
Robot weight 46 kg 50 kg 58 kg
check or process componentsin virtually any required orien-tation.A few simple operations
The degrees of freedomof the RV-5AJ and RV-4Arobots
is all it takes to get a new robotsystem installed and ready togo.Calibrating the robot takes amatter of minutes,without anyof the time-consuming me-chanical calibration operationsthat used to be necessary beforefirst operation;you just have toenter the reference point datarecorded for the robot at thefactory.The versatile installationoptions – the robot can bemounted on a floor,ceiling orwall as required (wall mountinglimits the J1 axis range) – en-ables optimum configurationof your system.You can placethe robot wherever you wantinside,next to or above thesystem it is serving,withoutwasting valuable space.
Optimum gripperconnections
The pneumatic hoses andsensor signal lines are routedthrough the robot,with theends directly next to the grip-per mounting flange for easyconnection.These lines cansupply up to three pneumaticgrippers with compressed air.
Special versions
Special clean room class 100 and10 and long-arm versions ofthese robots are also available.
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Model RP-1AH RP-3AH RP-5AH
Degrees of freedom 4 4 4
Maximum payload 1 kg 3 kg 5 kg
Controller type CR1 CR1 CR1
Repeatability x/y ±0.005 mm ±0.008 mm ±0.01 mm
Pick and place(cycle period in mm)
0.28 s 0.33 s 0.38 s
A x B (in mm) 105 x 150(DIN A6)
150 x 210(DIN A5)
210 x 300(DIN A4)
C (in mm) 234 332 451
D (in mm) 95 130 170
E-axes travel (in mm) 30 50 50
Robot weight 12 kg 24 kg 25 kg
RP-AH SCARA Robots –Outstanding Speed Plus High Precision
The RP-1AH is in its element inall applications where partshave to be processed quicklyand precisely in crampedquarters. It has an installationfootprint of just 200 x 160mmand a reach of 236mm, and itcan place components with aprecision of ±0.005mm. Thiscombination of compactdimensions and greatprecision predestine the RProbots for micro-handlingtasks like micro-assembly andthe population and solderingof SMD circuit boards formobile phones. The robots ofthis series are incomparablymore flexible than traditionalautomated machines, and thispays off in greatly enhancedefficiency and higherproductivity.
The degrees of freedomof the RP-1AH, RP-3AHand RP-5AH robots
The RP-3AH and RP-5AHmodels have handlingpayloads of 3kg and 5kg and areach of 335mm and 453mm,
making them ideal forapplications requiring morelifting capacity and longerreaches.
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RH-AH SCARA Robots –Specialists for Palletising
SCARA robots are ideal forsorting, palletising andcomponent installation. Theyhave a short cycle period ofless than 0.5 seconds for a
movement sequence of25 mm vertical lift, 300 mmhorizontal traverse and 25 mmvertical lower and return (the12” test).
Model RH-5AH55 RH-10AH85
Degrees of freedom 4 4
Maximum payload 5 kg 10 kg
Controller type CR2A CR2A
Gripper flange reach von 198 bis 550 mm von 278 bis 850 mm
Axis range in degrees J1 ±127, J2 ±137 J1 ±140, J2 ±145
Repeatability ±0.02 mm ±0.025 mm
Z-axes travel in mm 200 350
Pick and place(cycle period in mm)
0.48 s 0.52 s
Max. speed 5,360 mm/s 5,650 mm/s
Robot weight 19 kg 40 kg
The degrees of freedomof the RH-5AH and RH-10AH robots
No reference point travel
Travel and position aremeasured with absoluteencoders, so that the robotcan start work as soon as it ispowered up without wastingtime with reference pointtraverses. In fact, the robot caneven resume at the pointwhere it left off after powerfailures and emergencyshutdowns in the middle of amovement sequence. In mostcases, this eliminates the needto reset the entire system.
Optimum gripperconnections
Pneumatic hoses and signalconnection lines are routedinside the robot, making iteasy to connect grippers andsensors.
Unpack, calibrate, start work
You can start work almost assoon as you have unpackedthe robot and installed thearm assembly. You only haveto enter the reference pointdata recorded at the factory,then the robot is ready toexecute the first movements.
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The Robot Controller –A Compact Switching & Control Packge
At Mitsubishi Electric”switchgear cabinets”are relicsof the past – everything is nowpacked into a single compactcontroller.Depending on therobot model either the CR1controller with a footprint nolarger than an A4 sheet of pa-per or the CR2A controller isused.The powerful control per-formance is the same in boththe smaller and larger versions;the only difference betweenthe two is in the power outputstages.No matter which con-troller you use you always workwith the same programming
language – MELFA BASIC IV –and have the same options atyour disposal.This transparentcompatibility pays off whenyou need to use different robottypes or models when theneeds of your applicationchange.The impressive perfor-mance specifications of thesecontrollers speak for them-selves.
Number-crunching power
A 64-bit RISC processor withDSP provides ample power for3-D circular and linearinterpolation, and for multi-tasking with up to 32programs running in parallel.
Gentle joining
The standard ”compliancecontrol” function guaranteesgentle positioning. Thisfunction can be activated anddeactivated as required,making it possible to optimisedemanding joining andassembly processes, savingwear and tear on bothcomponents and robots.
Torque limitation
The torque limitation functionfor the individual robot axesprevents damage to yourdelicate products.
Work space limitation
You can define multiple ”no-go” areas within the robot’swork space that the robot isnot permitted to enter, evenin teaching mode. This makesit possible to protect theproduct being manipulatedand the robot from dangerouscollisions.
Digital inputs and outputs
In their standardconfigurations the CR1 has 16digital inputs and 16 digitaloutputs, the CR2A 32 digitalinputs and 32 digital outputs.Optional remote I/O boxesmake it possible to increasethis to up to 256 inputs and256 outputs for complexapplications.
Large program memory
The controller can store up to88 independent programs, allof which can call each other,for example when differentprogram sequences areneeded for different products.
The convenientTeaching Box is used formanual entry of theworking positions of theMELFA robot. It also hasfunctions for testing theentire programmedmovement sequenceafter it has beenentered.
The compact, modularrobot controller is anintegral part of therobot system. It containsthe CPU and the powerelectronics for poweringand controlling therobot.
Controller type CR1, CR2A
Control mode PTP and CP
Processor 64-bit RISC + DSP
Control functions Axial, linear and 3-D circularinterpolation; palletising functions,interrupt control and multitasking
Max. position points 88
Max. Anzahl der Positionspunkte 2,500 per program
Max. program lines 5,000 per program
Internal I/Os CR1: 16 I/16 O, max. 240 I/240 OCR2A: 32 I/32 O, max. 256 I/256 O
Safety functions EMERGENCY OFF and door contact switch
Power supply 207-253V AC, single-phase
Max./normal power consumption 3.5kVA/0.9kVA
Outside dimensions (W/H/D in mm) CR1: 212/166/290, CR2A: 430/200/400
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Enhanced path precision
Applications like laser cuttingand welding require extremepath precision. An enhancedpath precision function forapplications like this can beswitched on and off asrequired.
Expansion options for yourapplications
You can expand the robot andadd features required by yourapplications with expansioncards that plug into slots inthe controller, similar to theexpansion cards in a personalcomputer.
Control for additional axes
The controller can handle upto 8 additional axes, inaddition to the robot’s ownaxes, and up to 2 of theadditional axes can beinterpolated with the robot.
Ethernet link
The Ethernet link with thestandard TCP/IP protocolprovides for fastcommunication between therobot controller and a PC orsensors. You can also connecta camera with an Ethernet
Master function directly to therobot controller for therealisation of guided actions.
One of the highlights of thiscommunication facility is theability to implement real-timerobot control with immediaterobot movements in responseto the data from the sensors.
RS232, RS422/485, tracking
This expansion card providesseveral serial communicationsoptions for the connection ofperipherals and two encoderinputs for the registration ofconveyor belt speeds. Incombination with thecorresponding integrated
system functions theseencoder inputs allow theimplementation of a”tracking” function, withwhich the robot cansynchronise with theconveyor belt and processproducts while they are inmotion.
CC-Link and high-speed I/Onetwork
This option provides a largenumber of virtual I/Os, forexample for communicationbetween several robots orconnection of a PLC via asimple twisted-pair line.
Example of a robotsystem configuration
Example of a networkconnectionconfiguration
SPSPC
Robot controllerCC-Link
RS-232C or Ethernet
RemoteI/Os
RemoteI/Os
Tracking
CNC
Additional axis (linear) Servo amplifier Servo
RS232 orEthernet Vision
sensor
SSC-NET
PRG load/savePDA production data acquisitionMonitoringControl
SignaltransmissionSynchronisationRead/writevariables
Ethernet(TCP/IP)
PC
CC-Link
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COSIROP –Programming Software for the Real World
Variable monitor forprogram checking
A powerful robotprogramming languageneeds an equally powerfulprogramming environment.COSIROP is the programmingenvironment for all Mitsubishirobots. It allows you to createrobot programs in minutesusing the MELFA BASIC IV orMOVEMASTER COMMANDrobot programminglanguages. After testing andoptimising your program youcan then transfer the programto the actual robot with acouple of mouse clicks, via anefficient direct network orserial link between the PC andthe robot.
While the programs are beingexecuted you can monitorand visualise the robot withthe help of COSIROP’scomprehensive control anddiagnostics functions. Thereal-time axis speeds andmotor currents are displayedclearly, together with thestatuses of all the robot’sinputs and outputs. Livemonitoring facilities for all theprograms executed by thecontroller enable you to trackdown program errors quicklyand reliably.
COSIROP also provides toolsfor program archival and forbacking up the robot’sparameters and settings.
Other useful functionsinclude:
● Online ”teach-in” functionfor robot positions
● Position display on a 3-Drepresentation of the robot
● Syntax checking
● I/O monitor
● Variable monitor
● Online command execution
● Error diagnostics
● Position editor
● Project management
Online positiondefinition and motorcurrent monitoring
Online-Teach-Infunction with single-axismode
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COSIMIR® Industrial –Integrated Simulation and Programming Software
The COSIMIR® 3-D robotsimulation system cansimulate entire work cells, i.e.systems including both therobot itself and its interactionwith its environment. Inaddition to the entireprogram of Mitsubishi robotsCOSIMIR® also supports abroad spectrum of automationequipment including materialflow control systems, a varietyof sensors and actuators andso on – the automationcomponents you use to createproduction systems to meetthe needs of your application.
The powerful tools of theCOSIMIR® package help youthroughout the planning,programming and test phases.Reachability checks in theearly planning stages helpyou to select the mostsuitable robot systems for thetask. You can move the robotsand other work cellcomponents around in thesimulation at will, making iteasy to optimise the layout ofyour system.
COSIMIR® uses the nativerobot languages (MELFA-BASIC or MovemasterCommand) to program therobots within the simulationenvironment. This means thatno additional conversion orprocessing steps are requiredwhen you transfer theresulting programs to realrobots. In addition, thisenables you to use thefamiliar robot languages andall your existing know-howand skills when you areworking with the simulation.The comprehensive online
help system is alwaysavailable when you needsupport with the formulationof the necessary syntax. Aftercreating your robot programsyou can test them directly inthe simulation environment,eliminating the need toremove the actual work cellfrom the production processfor testing.
The COSIMIR® and COSIROPpackages are powerful toolsfor achieving maximumefficiency and cost-effectiveness in theconfiguration and operationof robot-supportedautomation solutions, andthey allow you to plan andoperate your systems with avery high degree ofconfidence.
The Model Explorersimplifies objectmanagement
You can open anynumber of viewwindows
Program executionmonitoring in thesimulation
COSIMIR is a registered trademark of EF-Robotertechnik GmbH, Schwerte, Germany
Specifications subject to change without notice.Order-No.132282-D,Printed in Germany 9/02-RH
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MELFA Robot Systems –Practical Functions for all Applications
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Phone +49 (0) 2102 486-780Hotline +49 (0) 1805 000-765
Fax +49 (0) 2102 486-4069 [email protected]
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Automatic acceleration andbraking ramp optimisation forfaster cycle times
Continuous Path function forfaster cycle times
Gravity compensation forgreater positioning andpalletising precision
Orthogonal ”compliance con-trol” function for interactiveresponse to opposing forces
Object tracking function forfaster cycle times
Multitasking function forparallel execution of multipletasks
Control functions for up to 8additional axes
All MELFA robots featurea large number ofadvanced integratedsystem functions thatenable you to adapt andoptimise theirperformance for thespecific needs of yourapplications.
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