MELFA Robots

Get a grip on consistent quality

MELFA Robots

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.

Large range of robot models makes selection easy

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.

Next-generation, high performance robots

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.

MELFA Robots

 

Product range

Robots

Precision Robots
RP Series

SCARA Robots
RH Series

Degree Of Freedom (DOF)

4

4

Max. Payload

kg

1...5

3...20

 

Repeatability x/y
...± 0.005 mm

Gripper flange reach
...1000 mm

 

Robots Articulated Arm
RV Series
Degree Of Freedom (DOF) 6
Max. Payload kg 2...70
  Gripper flange reach
...2050 mm

Vertical type robot

MITSUBISHI INDUSTRIAL ROBOT Vertical type

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.

MELFA Robots – RV Series

A firm grip on continuously outstanding quality

MELFA Robots – RV Series

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 %.

Highlights

  • Increase your productivity: Cycle times of up to 0.32 seconds with accuracy of up to ± 0.02 mm
  • Flexible workspace: Range 504 to 2055 mm with spherical workspace - also behind the robot.
  • Your protection for harsh environments: IP67 as standard
  • Hygiene: Internal cable routing of all cables and pneumatic lines, clean-room model (ISO-level III) available
  • Connectors: Pneumatic and electrical grippers, Ethernet, USB, camera interface and two encoder connections and up to 8 additional external axles as standard, optional I/O and field bus expansion cards. Direct Connection via Ethernet to GOT HMI and teaching box.
  • Configuration: As a complete system with robot and controller or PLC module for full PLC-functionality of the robot on the iQ Platform
  • Teaching box : Full graphic R56TB with touch screen or R32TB

The RV-FR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".

Product range

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

RV-FR series


MELFA RV-FR series

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

 


RV-F Series


RV-F Series

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

Horizontal type robot

MITSUBISHI INDUSTRIAL ROBOT Horizontal type

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.

MELFA Robots – RH Series

The palletising specialists

MELFA Robots – RH Series

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.

Highlights

  • We increase your productivity: Cycle times of up to 0.29 seconds with accuracy of up to 0.01 mm
  • Maximize your reach: 350 up to 1000 mm range, 150 to 340 mm spindle length
  • optimum protection: IP54 as standard, optional IP65 sealed enclosure
  • Hygiene: Food grade grease as standard (from RH-6FH) or clean-room model (ISO-level III) available. To this end, all signal and pneumatic cables are already inboard
  • Connectors: Pneumatic and electrical grippers, Ethernet, USB, camera interface and two encoder connections as well as up to 8 additional external axles, optional I/O and field bus expansion cards. Direct Connection: via Ethernet to the ASAT-operating terminals.
  • Configuration: As a complete system with robot and controller or PLC module for full PLC-functionality of the robot on the iQ Platform
  • Teaching box: Full graphic R56TB with touch screen or R32TB

The RH-FR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".

Product range

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

 


RH-FR series


MELFA RH-FR series

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

 

 


RH-F series


Horizontal type RH-F series

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

Ceiling mounted, horizontal type robot

Ceiling mounted, horizontal type robot

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

MELFA Robots – RH-F(R)HR Series

Maximum Speed and Precision

MELFA Robots – RH-F(R)HR Series

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.

Highlights RH-1F(R)HR

  • Highest productivity: Up to 150 picks/min. with conveyor tracking including hand open/close
  • Flexible installation: Cell, wall and floor mounting for easy integration into any working cell
  • Increased operation area: Peripheral equipment can be set up below the robot
  • Wide range of applications: IP protection from IP20 to IP65 / ISO Class 5 can be increased by adding a bellow
  • Closed arm housing: Internal vacuum valve and internally routed cables present any snagging with peripheral equipment.

Highlights RH-3F(R)HR

  • Space saving: Overhead installation for minimum spare requirement
  • Compact and cost effective: Compact design by only 24kg weight for simple mounting system
  • Increase your productivity: Cycle times of up to 0.32 seconds with accuracy of up to 0.01 mm
  • Flexible workspace: 700 mm circular diameter, 150 mm spindle extension movement
  • Protection for harsh environments: IP20, optional IP65 and Clean-room model (ISO-Level III) is available

The RH-FRHR series offers 3 additional features: "Next-generation intelligent functions", "Safe, collaborative work applications", and "FA-IT integration functions".

Product range:

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

 


RH-FRHR series


MELFA RH-FRHR series

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

 

 


RH-FHR Series


RH-FHR Series

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

 

Micro working robot

Micro working robot

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.

MELFA Robots – RP Series

Super-fast exceptionally precise

MELFA Robots – RP Series

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.

Highlights

  • Highest precision: repetition accuracy of ± 0.005 mm
  • Compact and lightweight: 12 kg light and a footprint smaller than DIN A4 (FP-1ADH)
  • Weight: 1 kg to 5 kg handling weight for many different applications.
  • Protection: Clean-room model (ISO-level III) available
  • Connectors: Pneumatic grippers, Ethernet, USB, camera interface and two encoder connections as well as up to 8 additional external axles as standard, optional I/O and field bus expansion cards. Direct Connection via Ethernet to GOT HMI and teaching box.
  • Double arm SCARA robot: unrivalled in the market - unique in the Technology
  • Teaching box : Full Graphic R56TB with touch screen or R32TB

Product range

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

 


RP-ADH Series


RP-ADH Series

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

Supply pneumatic pressure

MPa

0.5 ±10 %

Robot controller

CR1DA

Order information

Art. no.

252843

252844

252885