Mitsubishi's range of advanced MELFA robots offer speed, accuracy and compact design as well as long life. MELFA Robots deliver class leading benefits for small-medium robot applications.
Mitsubishi Electric produces a comprehensive range of robot models to cater to the full spectrum of modern needs. All Mitsubishi Electric robots are powerful, 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 70 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.
With consumer needs rapidly evolving towards increased diversification and reduced time to market, today’s manufacturers face a time of considerable change. It is no longer enough for industrial robots to simply perform a single task. Industry now demands robots with the capacity and flexibility to readily take on more sophisticated tasks. The MELFA FR-Series provides new, more intelligent solutions that underpin “Next-Generation Manufacturing”, offering a simpler approach to advanced and flexible production.
“Next-Generation Intelligent Functions” make it simple to carry out work that has always defied automation. MELFA SafePlus features “safe, collaborative work applications” and allows robots and people to work together with high levels of safety while still providing the high-speed and high-performance. “FA-IT Integration Functions” with the full line of Mitsubishi Electric automation products provide a level of performance, functionality and ease of use and thus support next-generation manufacturing.
Robots |
Precision Robots |
SCARA Robots |
|
---|---|---|---|
Degree Of Freedom (DOF) |
4 |
4 |
|
Max. Payload |
kg |
1...5 |
3...20 |
Repeatability x/y |
Gripper flange reach |
Robots | Articulated Arm RV Series |
|
---|---|---|
Degree Of Freedom (DOF) | 6 | |
Max. Payload | kg | 2...70 |
Gripper flange reach ...2050 mm |
Just fit for futurist variable product and variable production.
Capable of top class high speed high precision operation with dedicated motor and amplifier. It has applicability to diverse works by easy connectivity with Mitsubishi's PLCs and servo motors.
The RV-series offers a highly-dynamic 6-axle articulated robot for a high degree of quality. Cycle times of only 0.32 seconds increase their productivity and thus enable their use in systems at very high speeds. The double-arm structure not only provides a plus in terms of freedom of movement, but also more stability and versatility. Depending on the model, the robots are fitted with two to 70 kilograms load at ranges from 504 to 2055 millimeters. Work in very confined spaces,even with wall or ceiling installation, is no problem for the RV-series. All systems up to 20 kg have the same compact robot controller .
In addition, all systems are fitted from the factory with built-in Ethernet, USB, tracking, camera and additional axle connections, as well as manual inputs/outputs, and therefore run with an availability of over 99.9 %.
The RV-FR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".
Type | RV-2F(B) RV-2FR(B) |
RV-2FL(B) RV-2FRL(B) |
RV-4FLM RV-4FRLM |
|
---|---|---|---|---|
Number of axis | 6 | 6 | 6 | |
Payload | kg | 2 | 2 | 4 |
Maximum reach radius | mm | 504 | 649 | 649 |
Environmental specifications | Standard | IP30 | IP30 | IP67 |
Clean | — | — | ISOclass3 (optional) | |
Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
Type | RV-7FM RV-7FRM |
RV-7FLM RV-7FRLM |
RV-7FLLM RV-7FRLLM |
|
---|---|---|---|---|
Number of axis | 6 | 6 | 6 | |
Payload | kg | 7 | 7 | 7 |
Maximum reach radius | mm | 713 | 908 | 1503 |
Environmental specifications | Standard | IP67 | IP67 | IP67 |
Clean | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | |
Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
Type | RV-13FM RV-13FRM |
RV-13FLM RV-13FRLM |
RV-20FM RV-20FRM |
|||
---|---|---|---|---|---|---|
Number of axis | 6 | 6 | 6 | |||
Payload | kg | 13 | 13 | 13 | ||
Maximum reach radius | mm | 1094 | 1388 | 1094 | ||
Environmental specifications | Standard | IP67 | IP67 | IP67 | ||
Clean | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | |||
Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
Type | RV-35FM | RV-50FM | RV-70FM | |||
---|---|---|---|---|---|---|
Number of axis | 6 | 6 | 6 | |||
Payload | kg | 35 | 50 | 70 | ||
Maximum reach radius | mm | 2050 | 2050 | 2050 | ||
Environmental specifications | Standard | IP67 | IP67 | IP67 | ||
Clean | – | – | – | |||
Controller | CR760-D/CR760-Q + Q172DRCPU |
The RV-FR series offers a highly-dynamic 6-axis articulated robot for a high degree of quality.
"Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions". With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Product Specification:
RV-2FR-D / RV-2FR-R |
RV-2FRB-D-S25 / RV-2FRB-R-S25 |
RV-2FRL-D-S25 / RV-2FRL-R-S25 |
RV-2FRLB-D-S25 / RV-2FRLB-R-S25 |
||||
---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
||||||
Installation posture |
Floor, ceiling or wall mounting possible |
||||||
Structure |
Vertical multiple-joint type |
||||||
Drive system |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
|||
Position detection method |
Absolute encoder |
||||||
Payload capacity |
rated |
kg |
2 |
||||
maximum |
3 |
||||||
Arm reachable radius (to the center point of the J5 axis) |
mm |
504 |
649 |
||||
Operating range |
waist (J1) |
degree |
480 (-240–240) |
480 (-240–240) |
|||
shoulder (J2) |
240 (-120–120) |
237 (-117–120) |
|||||
elbow (J3) |
160 (0–160) |
160 (0–160) |
|||||
wrist twist (J4) |
400 (-200–200) |
400 (-200–200) |
|||||
wrist pitch (J5) |
240 (-120–120) |
240 (-120–120) |
|||||
wrist roll (J6) |
720 (-360–360) |
720 (-360–360) |
|||||
Maximum speed |
waist (J1) |
degree/s |
300 |
225 |
|||
shoulder (J2) |
150 |
105 |
|||||
elbow (J3) |
300 |
165 |
|||||
wrist twist (J4) |
450 |
412 |
|||||
wrist pitch (J5) |
450 |
450 |
|||||
wrist roll (J6) |
720 |
720 |
|||||
Maximum composite speed |
mm/s |
4955 |
4200 |
||||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.6 |
0.7 |
||||
Position repeatability |
mm |
±0.02 |
|||||
Ambient temperature |
°C |
0–40 |
|||||
Weight |
kg |
19 |
21 |
||||
Tolerable moment |
wrist twist (J4) |
Nm |
4.17 |
||||
wrist pitch (J5) |
4.17 |
||||||
wrist roll (J6) |
2.45 |
||||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.18 (0.27) |
||||
wrist pitch (J5) |
0.18 (0.27) |
||||||
wrist roll (J6) |
0.04 (0.1) |
||||||
Tool wiring |
Hand input 4 points/hand output 4 points |
||||||
Tool pneumatic pipes |
Ø 4x4 (from the base level to the gripper hand area) |
||||||
Supply pneumatic pressure |
MPa |
0.5 ±10 % |
|||||
Gripper flange |
ISO 9409-1-31.5 |
||||||
Protection rating |
IP30 |
||||||
Robot controller |
CR800-D/CR800-R + R16RTCPU |
||||||
Order information |
Art. no. |
313052 / 314029 |
313053 / 314030 |
313054 / 314031 |
313085 / 314032 |
RV-4FRLM-D |
RV-4FRLM-R |
||||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
||||
Structure |
Vertical multiple-joint type |
||||
Drive system |
AC servo (brakes on all axes) |
||||
Position detection method |
Absolute encoder |
||||
Payload capacity |
maximum |
kg |
4 |
||
Arm reachable radius (to the center point of the J5 axis) |
mm |
649 |
|||
Operating range |
waist (J1) |
degree |
480 (±240) |
||
shoulder (J2) |
240 (-120–120) |
||||
elbow (J3) |
164 (0–164) |
||||
wrist twist (J4) |
400 (±200) |
||||
wrist pitch (J5) |
240 (-120–120) |
||||
wrist roll (J6) |
720 (±360) |
||||
Maximum speed |
waist (J1) |
degree/s |
420 |
||
shoulder (J2) |
336 |
||||
elbow (J3) |
250 |
||||
wrist twist (J4) |
540 |
||||
wrist pitch (J5) |
623 |
||||
wrist roll (J6) |
720 |
||||
Maximum composite speed |
mm/s |
9048 |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.36 |
|||
Position repeatability |
mm |
±0.02 |
|||
Ambient temperature |
°C |
0–40 |
|||
Weight |
kg |
41 |
|||
Tolerable moment |
wrist twist (J4) |
Nm |
6.66 |
||
wrist pitch (J5) |
6.66 |
||||
wrist roll (J6) |
3.96 |
||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.20 |
||
wrist pitch (J5) |
0.20 |
||||
wrist roll (J6) |
0.10 |
||||
Tool wiring |
Hand input 8 points/hand output 8 points |
||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
|||
Gripper flange |
ISO 9409-1-31.5 |
||||
Protection rating |
IP67 (Optional clean room model available) |
||||
Robot controller |
CR800-D |
CR800-R + R16RTCPU |
|||
Order information |
Art. no. |
313089 |
314056 |
RV-7FRM-D / RV-7FRM-R |
RV-7FRLM-D / RV-7FRLM-R |
RV-7FRLLM-D RV-7FRLLM-R |
||||
---|---|---|---|---|---|---|
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 type |
|||||
Drive system |
AC servo (brakes on all axes) |
|||||
Position detection method |
Absolute encoder |
|||||
Payload capacity |
maximum |
kg |
7 |
|||
Arm reachable radius (to the center point of the J5 axis) |
mm |
713 |
908 |
1503 |
||
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 |
234 |
|
shoulder (J2) |
401 |
321 |
164 |
|||
elbow (J3) |
450 |
360 |
219 |
|||
wrist twist (J4) |
337 |
375 |
||||
wrist pitch (J5) |
450 |
|||||
wrist roll (J6) |
720 |
|||||
Maximum composite speed |
mm/s |
11,064 |
10,977 |
15,300 |
||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
0.35 |
0.63 |
||
Position repeatability |
mm |
±0.02 |
±0.06 |
|||
Ambient temperature |
°C |
0–40 |
||||
Weight |
kg |
65 |
67 |
130 |
||
Tolerable moment |
wrist twist (J4) |
Nm |
16.2 |
|||
wrist pitch (J5) |
16.2 |
|||||
wrist roll (J6) |
6.86 |
|||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.45 |
|||
wrist pitch (J5) |
0.45 |
|||||
wrist roll (J6) |
0.10 |
|||||
Tool wiring |
Hand input 8 points/hand output 8 points |
|||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
|||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
||||
Gripper flange |
ISO 9409-1-31.5 |
|||||
Protection rating |
IP67 (Optional clean room model available) |
|||||
Robot controller |
CR800-D/CR800-R + R16RTCPU |
|||||
Order information |
Art. no. |
313091 / 314058 |
313093 / 314060 |
313095 / 314062 |
The RV-F series is the latest generation of MELFA robots. It features advanced technology and easy-to-use handling. The series comprises the iQ Platform types RV-F-Q and the standalone types RV-F-D.
Product Specification:
Characteristics/Functions |
RV-2F-D1-S16/ RV-2F-Q1-S16 |
RV-2FB-D1-S15/ RV-2FB-Q1-S15 |
RV-2FL-D1-S16/ RV-2FL-Q1-S16 |
RV-2FLB-D1-S15/ RV-2FLB-Q1-S15 |
|||
---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
||||||
Installation posture |
Floor, ceiling or wall mounting possible |
||||||
Structure |
Vertical multiple-joint type |
||||||
Drive system |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
AC servo axes J1, J4, J6: no brake |
AC servo (brakes on all axes) |
|||
Position detection method |
Absolute encoder |
||||||
Payload capacity |
rated |
kg |
2 |
||||
maximum |
3 |
||||||
Arm reachable radius (to the center point of the J5 axis) |
mm |
504 |
649 |
||||
Operating range |
waist (J1) |
degree |
480 (-240–+240) |
480 (-240-+240) |
|||
shoulder (J2) |
240 (-120–+120) |
237 (-117-+120) |
|||||
elbow (J3) |
160 (0–+160) |
160 (0-+160) |
|||||
wrist twist (J4) |
400 (-200–+200) |
400 (-200-+200) |
|||||
wrist pitch (J5) |
240 (-120–+120) |
240 (-120+120) |
|||||
wrist roll (J6) |
720 (-360–+360) |
720 (-360-+360) |
|||||
Maximum speed |
waist (J1) |
degree/s |
300 |
225 |
|||
shoulder (J2) |
150 |
105 |
|||||
elbow (J3) |
300 |
165 |
|||||
wrist twist (J4) |
450 |
412 |
|||||
wrist pitch (J5) |
450 |
450 |
|||||
wrist roll (J6) |
720 |
720 |
|||||
Maximum composite speed |
mm/s |
4955 |
4206 |
||||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.6 |
0.7 |
||||
Position repeatability |
mm |
±0.02 |
|||||
Ambient temperature |
°C |
0 to 40 |
|||||
Weight |
kg |
19 |
21 |
||||
Tolerable moment |
wrist twist (J4) |
Nm |
4.17 |
||||
wrist pitch (J5) |
4.17 |
||||||
wrist roll (J6) |
2.45 |
||||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.18 (0.27) |
||||
wrist pitch (J5) |
0.18 (0.27) |
||||||
wrist roll (J6) |
0.04 (0.1) |
||||||
Tool wiring |
Hand input 4 points/hand output 4 points |
||||||
Tool pneumatic pipes |
Ø 4x4 (from the base level to the gripper hand area) |
||||||
Supply pneumatic pressure |
MPa |
0.5 ±10 % |
|||||
Gripper flange |
ISO 9409-1-31.5 |
||||||
Protection rating |
IP30 |
||||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
||||||
Order information |
Art. no. |
255212/ 255214 |
255211/ 255213 |
286641/ 286642 |
286655/ 286656 |
Characteristics/Functions |
RV-4FLM-D1-S15 |
RV-4FLM-Q1-S15 |
|||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
6 |
||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
||||
Structure |
Vertical multiple-joint type |
||||
Drive system |
AC servo (brakes on all axes) |
||||
Position detection method |
Absolute encoder |
||||
Payload capacity |
maximum |
kg |
4 |
||
Arm reachable radius (to the center point of the J5 axis) |
mm |
649 |
|||
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 |
420 |
||
shoulder (J2) |
336 |
||||
elbow (J3) |
250 |
||||
wrist twist (J4) |
540 |
||||
wrist pitch (J5) |
623 |
||||
wrist roll (J6) |
720 |
||||
Maximum composite speed |
mm/s |
9048 |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.36 |
|||
Position repeatability |
mm |
±0.02 |
|||
Ambient temperature |
°C |
0–40 |
|||
Weight |
kg |
41 |
|||
Tolerable moment |
wrist twist (J4) |
Nm |
6.66 |
||
wrist pitch (J5) |
6.66 |
||||
wrist roll (J6) |
3.96 |
||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.20 |
||
wrist pitch (J5) |
0.20 |
||||
wrist roll (J6) |
0.10 |
||||
Tool wiring |
Hand input 8 points/hand output 8 points |
||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
|||
Gripper flange |
ISO 9409-1-31.5 |
||||
Protection rating |
IP67 (Optional clean room model available) |
||||
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
|||
Order information |
Art. no. |
255268 |
255272 |
Characteristics/Functions |
RV-7FM-D1-S15/ RV-7FM-Q1-S15 |
RV-7FLM-D1-S15/ RV-7FLM-Q1-S15 |
RV-7FLLM-D1-S15 RV-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 type |
|||||
Drive system |
AC servo (brakes on all axes) |
|||||
Position detection method |
Absolute encoder |
|||||
Payload capacity |
maximum |
kg |
7 |
|||
Arm reachable radius (to the center point of the J5 axis) |
mm |
713 |
908 |
1503 |
||
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 |
234 |
|
shoulder (J2) |
401 |
321 |
164 |
|||
elbow (J3) |
450 |
360 |
219 |
|||
wrist twist (J4) |
337 |
375 |
||||
wrist pitch (J5) |
450 |
|||||
wrist roll (J6) |
720 |
|||||
Maximum composite speed |
mm/s |
11064 |
10977 |
15300 |
||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
0.35 |
0.63 |
||
Position repeatability |
mm |
±0.02 |
±0.06 |
|||
Ambient temperature |
°C |
0–40 |
||||
Weight |
kg |
65 |
67 |
130 |
||
Tolerable moment |
wrist twist (J4) |
Nm |
16.2 |
|||
wrist pitch (J5) |
16.2 |
|||||
wrist roll (J6) |
6.86 |
|||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.45 |
|||
wrist pitch (J5) |
0.45 |
|||||
wrist roll (J6) |
0.10 |
|||||
Tool wiring |
Hand input 8 points/hand output 8 points |
|||||
Tool pneumatic pipes |
Ø 6x2 for robot connection (Ø4x8 from base portion to forearm) |
|||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
||||
Gripper flange |
ISO 9409-1-31.5 |
|||||
Protection rating |
IP67 (Optional clean room 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 |
Characteristics/Functions |
RV-13FM-D1-S15 RV-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) |
6 |
|||||
Installation posture |
Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) |
|||||
Structure |
Vertical multiple-joint type |
|||||
Drive system |
AC servo (all axes with brakes) |
|||||
Position detection method |
Absolute encoder |
|||||
Payload capacity |
rated |
kg |
12 |
15 |
||
maximum |
13 |
20 |
||||
Arm reachable radius (to the center point of the J5 axis) |
mm |
1094 |
1388 |
1094 |
||
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 |
110 |
|||
wrist twist (J4) |
375 |
124 |
||||
wrist pitch (J5) |
375 |
125 |
||||
wrist roll (J6) |
720 |
360 |
||||
Maximum composite speed |
mm/s |
10450 |
9700 |
4200 |
||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.53 |
0.68 |
0.70 |
||
Position repeatability |
mm |
±0.05 |
||||
Ambient temperature |
°C |
0–40 |
||||
Weight |
kg |
120 |
130 |
120 |
||
Tolerable moment |
wrist twist (J4) |
Nm |
19.3 |
49.0 |
||
wrist pitch (J5) |
19.3 |
49.0 |
||||
wrist roll (J6) |
11 |
|||||
Tolerable inertia |
wrist twist (J4) |
kgm² |
0.47 |
1.40 |
||
wrist pitch (J5) |
0.47 |
1.40 |
||||
wrist roll (J6) |
0.14 |
|||||
Tool wiring |
Hand input 8 points / hand output 8 points |
|||||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 6x8 |
|||||
Supply pneumatic pressure |
MPa |
0.54 (as overpressure if required) |
||||
Gripper flange |
ISO 9409-1-40 |
|||||
Protection rating |
IP67 (Optional clean room model available) |
|||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
|||||
Order information |
Art. no. |
268488/ 268492 |
268490/ 268494 |
268504/ 268506 |
Capable of wide range applications assembly of small parts, heavy load handling and packing.
Capable of top class high speed high precision operation with dedicated motor and amplifier. It has applicability to diverse works by easy connectivity with Mitsubishi's PLCs and servo motors.
Fast palletizing, targeted re-sort, perfect fit: and all of this in record time. This is the RH-series of Mitsubishi Electric, which in the SCARA class provides excellence in 0.29 seconds. The product range includes the entry-level model RH-3F(R)H to work with up to 3 kg, the power pack RH-6F(R)H with a maximum of 6 kg load capacity, the RH-12F(R)H with 12 kg load capacity and the top model RH-20F(R)H with 20 kilograms load capacity and a range of up to 1000 mm. All variants are available as a complete system or as an easy to integrate module for full PLC-functionality of the robot on the Mitsubishi Electric iQ platform.
In addition, the extremely low cycle times of the RH-series also provide exceptional flexibility: Due to the drastic extension of its swivelling range, the robot easily achieves any position within its workspace.
The RH-FR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".
Model | RH-3FH RH-3FRH |
RH-6FH RH-6FRH |
RH-12FH RH-12FRH |
RH-20FH RH-20FRH |
|
---|---|---|---|---|---|
Degrees of freedom | 4 | 4 | 4 | 4 | |
Payload nominal | kg | 3 | 6 | 12 | 20 |
Maximum reach radius | mm | 350 / 450 / 550 | 350 / 450 / 550 | 550 / 700 / 850 | 850 / 1000 |
Z-Stroke | mm | 150 | 200 / 340 | 350 / 450 | 350 / 450 |
Environmental specifications | Standard | IP20 | IP54 (IP65 optional) | IP54 (IP65 optional) | IP54 (IP65 optional) |
Clean | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | |
Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
The RH-FR series allows for fast palletizing, targeted re-sort, perfect fit: and all of this in record time.
"Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions". With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Product Specification:
RH-3FRH5515-D/ RH-3FRH5515-R |
RH-6FRH5520N-D/ RH-6FRH5520N-R |
RH-12FRH8535N-D/ RH-12FRH8535N-R |
RH-20FRH10035N-D/ RH-20FRH10035N-R |
||||
---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
4 |
4 |
|||
Installation posture |
Floor mounting |
||||||
Structure |
Horizontal multiple-joint type |
||||||
Drive system |
AC servo |
||||||
Position detection method |
Absolute encoder |
||||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||||
Payload capacity |
rated |
kg |
1 |
3 |
3 |
5 |
|
maximum |
3 |
6 |
12 |
20 |
|||
Maximum 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 |
350 |
||
J4 (Θ axis) |
degree |
720 (±360) |
|||||
Maximum speed |
J1 |
degree/s |
400 |
400 |
280 |
280 |
|
J2 |
degree/s |
720 |
670 |
450 |
450 |
||
J3 (Z) |
mm/s |
1100 |
2400 |
2800 |
2400 |
||
J4 (Θ axis) |
degree/s |
3000 |
2500 |
2400 |
1700 |
||
Maximum composite speed |
mm/s |
8300 |
8300 |
11350 |
13283 |
||
Cycle time (25x300x25 mm with max. 2 kg load) |
sec |
0.51 |
0.29 |
0.30 |
0.36 |
||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
0.01 |
0.025 |
0.065 |
|
maximum |
0.06 |
0.12 |
0.3 |
1.05 |
|||
Position repeatability |
X, Y direction |
mm |
±0.012 |
±0.012 |
±0.015 |
±0.015 |
|
J3 (Z direction) |
mm |
±0.010 |
|||||
J4 (Θ axis) |
degree |
±0.004 |
±0.005 |
||||
Ambient temperature |
°C |
0–40 |
|||||
Weight |
kg |
32 |
37 |
69 |
77 |
||
Tool wiring |
Input 8 points/output 8 points (total 20 scores) |
||||||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 4x8 |
||||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||||
Protection rating |
IP20 |
IP54 (IP65 with additional bellow, optional clean room model available) |
|||||
Robot controller |
CR800-D/CR800-R + R16RTCPU |
||||||
Order information |
Art. no. |
312930 / 313651 |
312985 / 313666 |
312991 / 313672 |
312995 / 313676 |
The f-series robots, RH-FH-Q series (for iQ platform) and RH-FH-D series (stand-alone), use the next generation controller that incorporates many intelligent features and significantly improves the performance of the robots.
Product Specification:
Characteristics/Functions |
RH-3FH5515-D1-S15 RH-3FH5515-Q1-S15 |
RH-6FH5520-D1-S15 RH-6FH5520-Q1-S15 |
RH-12FH8535N-D1-S15 RH-12FH8535N-Q1-S15 |
RH-20FH10035N-D1-S15 RH-20FH10035N-Q1-S15 |
|||
---|---|---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
4 |
4 |
|||
Installation posture |
Floor mounting |
||||||
Structure |
Horizontal multiple-joint type |
||||||
Drive system |
AC servo |
||||||
Position detection method |
Absolute encoder |
||||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||||
Payload capacity |
rated |
kg |
1 |
3 |
3 |
5 |
|
maximum |
3 |
6 |
12 |
20 |
|||
Maximum reach |
arm 1 + arm 2mm |
550 |
550 |
850 |
1000 |
||
Operating range |
J1 |
degree |
340 (±170) |
||||
J2 |
degree |
290 (±145) |
306 (±153) |
||||
J3 (Z) |
mm |
150 |
200 |
350 |
350 |
||
J4 (Θ axis) |
degree |
720 (±360) |
|||||
Maximum speed |
J1 |
degree/s |
400 |
400 |
280 |
280 |
|
J2 |
degree/s |
720 |
670 |
450 |
450 |
||
J3 (Z) |
mm/s |
1100 |
2400 |
2800 |
2400 |
||
J4 (Θ axis) |
degree/s |
3000 |
2500 |
2400 |
1700 |
||
Maximum composite speed |
mm/s |
8300 |
8300 |
11350 |
13283 |
||
Cycle time (25x300x25 mm with max. 2 kg load) |
sec |
0.51 |
0.29 |
0.30 |
0.36 |
||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
0.01 |
0.025 |
0.065 |
|
maximum |
0.06 |
0.12 |
0.3 |
1.05 |
|||
Position repeatability |
X, Y direction |
mm |
±0.012 |
±0.012 |
±0.015 |
±0.015 |
|
J3 (Z direction) |
mm |
±0.010 |
|||||
J4 (Θ axis) |
degree |
±0.004 |
±0.005 |
||||
Ambient temperature |
°C |
0–40 |
|||||
Weight |
kg |
32 |
37 |
69 |
77 |
||
Tool wiring |
Input 8 points/output 8 points (total 20 scores) |
||||||
Tool pneumatic pipes |
Primary: Ø 6x2, secondary: Ø 4x8 |
||||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||||
Protection rating |
IP20 |
IP54 (IP65 with additional bellow, optional clean room model available) |
|||||
Robot controller |
CR750-D/CR750-Q + Q172DRCPU |
||||||
Order information |
Art. no. |
250377/ 250380 |
250383/ 250389 |
254377/ 254383 |
254388/ 254392 |
High speed, high precision, space saving inverse mounting robot
Capable of wide range applications electric and electronic parts, precision assembly of small parts inspections, high speed transfer and packing
With its special compact design and support for overhead installation above the application, the robots RH‑1F(R)HR and RH‑3F(R)HR do not take up any valuable space in the work area next to the installation location, enabling even smaller work cell dimensions. For high-speed handling of small parts up to 1kg, the RH‑1F(R)HR is the perfect robot. It allows up to 150picks/min. with conveyer tracking including hand open/close. The RH‑3F(R)HR 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 while manipulating a payload up to 3kg.
The RH-FRHR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".
Model | RH-1FHR RH-1FRHR |
RH-3FHR RH-3FRHR |
|
---|---|---|---|
Degrees of freedom | 4 | 4 | |
Payload nominal | kg | 1 | 3 |
Maximum reach radius | mm | 550 | 350 |
Z-Stroke | mm | 150 | 150 |
Environmental specifications | Standard | IP20 (IP65 optional) | IP20 (IP65 optional) |
Clean | – | ISOclass5 (optional) | |
Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
With their special compact design and support for overhead installation above the application, the robots RH‑1FRHR and RH‑3FRHR enable small work space.
"Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions". With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Product Specification:
RH-1FRHR5515-D |
RH-1FRHR5515-R |
||||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
Installation posture |
On floor, ceiling mounting, wall mounting |
||||
Structure |
Horizontal articulated arm (SCARA) |
||||
Drive system |
AC servo |
||||
Position detection method |
Absolute encoder |
||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
Payload capacity |
rated |
kg |
1 |
||
maximum |
3 |
||||
Maximum reach |
mm |
550 |
|||
Operating range |
J1 |
degree |
±177 |
||
J2 |
degree |
±145 |
|||
J3 (Z) |
mm |
150 |
|||
J4 (Θ axis) |
degree |
±360 |
|||
Maximum speed |
J1 |
degree/s |
337.5 |
||
J2 |
degree/s |
720 |
|||
J3 (Z) |
mm/s |
765 |
|||
J4 (Θ axis) |
degree/s |
3000 |
|||
Maximum composite speed |
mm/s |
6267 |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.28 |
|||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
maximum |
0.005 |
||||
Position repeatability |
X, Y direction |
mm |
±0.012 |
||
J3 (Z direction) |
mm |
±0.01 |
|||
J4 (Θ axis) |
degree |
±0.004 |
|||
Ambient temperature |
°C |
0-40 |
|||
Weight |
kg |
49 |
|||
Tool wiring |
Hand: 8 inputs/8 outputs, 8 signal cables |
||||
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
Protection rating |
IP20 (IP65/ISO class 5 with additional bellow) |
||||
Robot controller |
CR800-D |
CR800-R + R16RTCPU |
|||
Order information |
Art. no. |
312997 |
313661 |
RH-3FRHR3515-D-S25 |
RH-3FRHR3515-R-S25 |
||||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
Installation posture |
Overhead |
||||
Structure |
Horizontal multiple-joint type |
||||
Drive system |
AC servo |
||||
Position detection method |
Absolute encoder |
||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
Payload capacity |
rated |
kg |
1 |
||
maximum |
3 |
||||
Maximum reach |
arm 1 + arm 2mm |
350 |
|||
Operating range |
J1 |
degree |
450 (±225) |
||
J2 |
degree |
450 (±225) |
|||
J3 (Z) |
mm |
150 |
|||
J4 (Θ axis) |
degree |
1440 (±720) |
|||
Maximum speed |
J1 |
degree/s |
672 |
||
J2 |
degree/s |
708 |
|||
J3 (Z) |
mm/s |
1500 |
|||
J4 (Θ axis) |
degree/s |
3146 |
|||
Maximum composite speed |
mm/s |
6267 (J1, J2) |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
|||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
maximum |
0.05 |
||||
Position repeatability |
X, Y direction |
mm |
±0.01 |
||
J3 (Z direction) |
mm |
±0.01 |
|||
J4 (Θ axis) |
degree |
±0.01 |
|||
Ambient temperature |
°C |
0–40 |
|||
Weight |
kg |
24 |
|||
Tool wiring |
Input 8 points/output 8 points (option: output 8 points), 8 spare wires |
||||
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
Protection rating |
IP20 (Optional IP65 and clean room model available) |
||||
Robot controller |
CR800-D |
CR800-R + R16RTCPU |
|||
Order information |
Art. no. |
312998 |
314028 |
The RH-FHR-D series, use the next generation controller that incorporates many intelligent features and significantly improves the performance of the robots.
Product Specification:
Characteristics/Functions |
RH-1FHR5515-D1-S60 |
RH-1FHR5515-Q1-S60 |
|||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
Installation posture |
On floor, ceiling mounting, wall mounting |
||||
Structure |
Horizontal articulated arm (SCARA) |
||||
Drive system |
AC servo |
||||
Position detection method |
Absolute encoder |
||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
Payload capacity |
rated |
kg |
1 |
||
maximum |
3 |
||||
Maximum reach |
mm |
550 |
|||
Operating range |
J1 |
degree |
±177 |
||
J2 |
degree |
±145 |
|||
J3 (Z) |
mm |
150 |
|||
J4 (Θ axis) |
degree |
±360 |
|||
Maximum speed |
J1 |
degree/s |
337.5 |
||
J2 |
degree/s |
720 |
|||
J3 (Z) |
mm/s |
765 |
|||
J4 (Θ axis) |
degree/s |
3000 |
|||
Maximum composite speed |
mm/s |
6267 |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.28 |
|||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
maximum |
0.005 |
||||
Position repeatability |
X, Y direction |
mm |
±0.012 |
||
J3 (Z direction) |
mm |
±0.01 |
|||
J4 (Θ axis) |
degree |
±0.004 |
|||
Ambient temperature |
°C |
0-40 |
|||
Weight |
kg |
49 |
|||
Tool wiring |
Hand: 8 inputs/8 outputs, 8 signal cables |
||||
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
Protection rating |
IP20 (IP65/ISO class 5 with additional bellow) |
||||
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
|||
Order information |
Art. no. |
277708 |
277709 |
Characteristics/Functions |
RH-3FHR3515-D1-S15 |
RH-3FHR3515-Q1-S15 |
|||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
4 |
|||
Installation posture |
Overhead |
||||
Structure |
Horizontal multiple-joint type |
||||
Drive system |
AC servo |
||||
Position detection method |
Absolute encoder |
||||
Brake attachment |
Axes J1, J2, J4: no brake; axis J3: with brake |
||||
Payload capacity |
rated |
kg |
1 |
||
maximum |
3 |
||||
Maximum reach |
arm 1 + arm 2mm |
350 |
|||
Operating range |
J1 |
degree |
450 (±225) |
||
J2 |
degree |
450 (±225) |
|||
J3 (Z) |
mm |
150 |
|||
J4 (Θ axis) |
degree |
1440 (±720) |
|||
Maximum speed |
J1 |
degree/s |
672 |
||
J2 |
degree/s |
708 |
|||
J3 (Z) |
mm/s |
1500 |
|||
J4 (Θ axis) |
degree/s |
3146 |
|||
Maximum composite speed |
mm/s |
6267 (J1, J2) |
|||
Cycle time (25x300x25 mm with 1 kg load) |
sec |
0.32 |
|||
Allowable wrist moment of inertia |
rated |
kgm 2 |
0.005 |
||
maximum |
0.05 |
||||
Position repeatability |
X, Y direction |
mm |
±0.01 |
||
J3 (Z direction) |
mm |
±0.01 |
|||
J4 (Θ axis) |
degree |
±0.01 |
|||
Ambient temperature |
°C |
0–40 |
|||
Weight |
kg |
24 |
|||
Tool wiring |
Input 8 points/output 8 points (option: output 8 points), 8 spare wires |
||||
Tool pneumatic pipes |
Primary: Ø 6x2 (secondary: Ø 4x8 by option) |
||||
Supply pneumatic pressure |
MPa |
5 ±10 % for the pneumatic gripper |
|||
Protection rating |
IP20 (Optional IP65 and clean room model available) |
||||
Robot controller |
CR750-D |
CR750-Q + Q172DRCPU |
|||
Order information |
Art. no. |
275483 |
275484 |
High-performance system developed especially for micro-handling – unbeatable in precision, speed and compactness.
The compact robot units with 4 degrees of freedom are ideal for micro assembling like watches, mobile phones or hearing aids. The RP series robots include three models for handling tasks with payloads from 1 to 5 kg.
The RP-series of Mitsubishi Electric convinces due to its innovative concept, which is required for highly accurate and extremely fast applications. The robots have a unique double-arm structure which significantly increases production and improves quality within micro-handling. Together with the ultra-compact SD-controller, the RP-robot can be manually installed in any application, no matter how small. Like all MELFA-robots, the RP-series is already fitted at the factory with all features such as Ethernet, USB, tracking connection and the additional axle control for up to 8 additional axles.
Type | RP-1ADH | RP-3ADH | RP-5ADH |
---|---|---|---|
Degrees of freedom (no. of axes) | 4 | 4 | 4 |
Maximum speed | <0.5 s/Cycle | >0.5 s/Cycle | >0.5 s/Cycle |
Payload capacity | 1.0 kg | 3.0 kg | 5.0 kg |
Position repeatability (X, Y direction) | ± 0.005 mm | ± 0.008 mm | ± 0.01 mm |
Position repeatability (Z direction) | ± 0,01 mm | ± 0,01 mm | ± 0,01 mm |
Operating range | 234 mm | 332 mm | 451 mm |
The twin-arm SCARA robots of the RP series are high-performance systems developed specially for micro-handling for with payloads from 1 to 5kg.
Product Specification:
Characteristics/Functions |
RP-1ADH |
RP-3ADH |
RP-5ADH |
||
---|---|---|---|---|---|
Degrees of freedom (no. of axes) |
4 |
||||
Installation posture |
Floor mounting |
||||
Drive system |
AC servo |
||||
Position detection method |
Absolute encoder |
||||
Brake attachment |
All axes |
||||
Payload capacity |
rated |
kg |
0.5 |
1.0 |
2.0 |
maximum |
1.0 |
3.0 |
5.0 |
||
Operating range |
width depth |
mm |
150x105 (DIN-A6) |
210x148 (DIN-A5) |
297x210 (DIN-A4) |
vertical |
mm |
30 |
50 |
||
twist |
degree |
±200 |
|||
Maximum speed |
J1/J2 |
degree/s |
480 |
432 |
|
J3 |
mm/s |
800 |
960 |
||
J4 |
degree/s |
3000 |
1330 |
1230 |
|
Cycle time (25 x 100 x 25 mm) |
sec |
0.28 |
0.33 |
0.38 |
|
Inertial moment |
wrist |
kgm 2 |
3.10x10-4 |
1.60x10-3 |
3.20x10-3 |
Position repeatability |
X, Y direction |
mm |
±0.005 |
±0.008 |
±0.01 |
Z direction |
mm |
±0.01 |
|||
direction of the wrist twist |
degree |
±0.02 |
±0.03 |
||
Ambient temperature |
°C |
0–40 |
|||
Weight |
kg |
12 |
24 |
25 |
|
Tool wiring |
8 inputs/8 outputs |
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Supply pneumatic pressure |
MPa |
0.5 ±10 % |
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Robot controller |
CR1DA |
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Order information |
Art. no. |
252843 |
252844 |
252885 |