Horizontal type robot
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
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
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
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 |
||