Precise Control...Articulated-arm robots / SCARA robots / High-performance Controllers / Programming...
Transcript of Precise Control...Articulated-arm robots / SCARA robots / High-performance Controllers / Programming...
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
Environmental specifications
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
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
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
Environmental specifications
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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+X+Y+Z
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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Robo
ts
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
Motion space at point P
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
Tolerable momentwrist twist (J4)
Nm6.66
wrist pitch (J5) 6.66wrist roll (J6) 3.96
Tolerable inertiawrist twist (J4)
kgm²0.20
wrist pitch (J5) 0.20wrist roll (J6) 0.10
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
Dimensions and movement ranges
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
Motion space at point P
Dimensions: mm
Motion space at point P
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
Tolerable momentwrist twist (J4)
Nm16.2
wrist pitch (J5) 16.2wrist roll (J6) 6.86
Tolerable inertiawrist twist (J4)
kgm²0.45
wrist pitch (J5) 0.45wrist roll (J6) 0.10
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
Dimensions and movement ranges
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
Motion space at point P
Motion space at point P
Dimensions: mm
Motion space at point P
Motion space at point P
Gripper flangeISO 9409-1-31,5
Gripper flangeISO 9409-1-31,5
Gripper flangeISO 9409-1-31,5
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
Payload capacityrated
kg12 15
maximum 13 20Position repeatability mm ±0.05
Ambient temperature °C 0–40
Weight kg 120 130 120
Tolerable momentwrist twist (J4)
Nm19.3 49.0
wrist pitch (J5) 19.3 49.0wrist roll (J6) 11
Tolerable inertiawrist twist (J4)
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
Order information Art. no. 268488/ 268492
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
Dimensions and movement ranges
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
Payload capacityrated
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
Dimensions and movement ranges
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
Payload capacityrated
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
Order information Art. no. 275483 275484
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
Robo
ts
Dimensions and movement ranges
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
Payload capacityrated
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
Order information Art. no. 250377/ 250380
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
Dimensions and movement ranges
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
Dimensions and movement ranges
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
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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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1
2
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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
30
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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
Order information Art. no. 218854 214968
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
Order information Art. no. 250468 250469 254396
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
Order information Art. no. 251104 254398
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
Order information Art. no. 257936 257935
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
Order information Art. no. 218861
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
Order information Art. no. 124657
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
Order information Art. no. 124658 218862
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
Order information Art. no. 269546
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
Order information Art. no. 132112 132113 164814 164815 268039 273182
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
Monitoring of the gripper condition
Monitoring of the gripper condition
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
Order information Art. no. 129779 250474 254395 255286 238376 257063
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
Order information Art. no. 47389 270236 269556 238377
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
Order information Art. no. 155827 155830 155665
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
Order information Art. no. 157582 157583 157594 167304
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
Order information Art. no. 251455
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
39
1
2
3
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5
Prog
ram
ming
lang
uage
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
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
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
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3
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6
Softw
are
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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2
3
4
5
6
Softw
are
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
RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .21
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
RP-1ADH, RP-3ADH and RP-5ADH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .20
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
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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
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Art. no. 203684-H / 05.2014 / Specifications subject to change / All trademarks and copyrights acknowledged.
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HungaryAxiCont Automatika Kft. (Robot Center) Rokolya utca 1-13HU-1131 BudapestPhone: +36 (0)1 / 412-0882
MaltaALFATRADE Ltd.99, Paola HillMalta-Paola PLA 1702Phone: +356 (0)21 / 697 816
NetherlandsHIFLEX AUTOM. B.V.Wolweverstraat 22NL-2984 CD RidderkerkPhone: +31 (0)180 / 46 60 04
NetherlandsKONING & HARTMAN B.V.Haarlerbergweg 21-23NL-1101 CH AmsterdamPhone: +31 (0)20 / 587 76 00
NorwayBeijer Electronics ASPostboks 487NO-3002 DrammenPhone: +47 (0)32 / 24 30 00
PortugalFonseca S.A.R. João Francisco do Casal 87/89PT-3801-997 Aveiro, Esgueira Phone: +351 (0)234 / 303 900
RomaniaSirius Trading & ServicesAleea Lacul Morii Nr. 3RO-060841 Bucuresti, Sector 6Phone: +40 (0)21 / 430 40 06
SerbiaINEA SR d.o.o.Ul. Karadjordjeva 12/217SER-11300 SmederevoPhone: +386 (026) 461 54 01
SlovakiaSIMAP SKJána Derku 1671SK-911 01 TrenčínPhone: +421 (0)32 743 04 72
SloveniaINEA RBT d.o.o.Stegne 11SI-1000 LjubljanaPhone: +386 (0)1 / 513 8116
SwedenBeijer Electronics Automation ABBox 426SE-20124 MalmöPhone: +46 (0)40 / 35 86 00
UkraineOOO “CSC-AUTOMATION”4-B, M. Raskovoyi St.UA-02660 KievPhone: +380 (0)44 / 494 33 44
EgyptI.C. SYSTEMS Ltd.23 Al-Saad-Al-Alee St.EG-Sarayat, Maadi, CairoPhone: +20 (0) 2 / 235 98 548
IsraelILAN & GAVISH Ltd.24 Shenkar St., Kiryat ArieIL-49001 Petah-TikvaPhone: +972 (0)3 / 922 18 24
South AfricaADROIT TECHNOLOGIES20 Waterford Office Park 189 Witkoppen RoadZA-FourwaysPhone: + 27 (0)11 / 658 8100
GermanyMitsubishi Electric Europe B.V.Gothaer Straße 8D-40880 RatingenPhone: +49 (0)2102 / 486-0
Czech Rep.Mitsubishi Electric Europe B.V.Radlická 751/113e Avenir Business ParkCZ-158 00 Praha 5Phone: +420 251 551 470
FranceMitsubishi Electric Europe B.V.25, Boulevard des BouvetsF-92741 Nanterre CedexPhone: +33 (0)1 / 55 68 55 68
ItalyMitsubishi Electric Europe B.V.Viale Colleoni 7 Palazzo SirioI-20864 Agrate Brianza (MB)Phone: +39 039 / 60 53 1
IrelandMitsubishi Electric Europe B.V.Westgate Business Park, BallymountIRL-Dublin 24Phone: +353 (0)1 4198800
NetherlandsMitsubishi Electric Europe B.V.Nijverheidsweg 23aNL-3641RP MijdrechtPhone: +31 (0) 297250350
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