F Series Robots
Vertically
Articulated (RV)
Model Number
RV2F
RV2FL
RV4F
RV4FL
RV7F
RV7FL
RV7FLL
RV13F
RV13FL
RV20F
RV35F
RV50F
RV70F
Maximum Load Capacity (kg)
2
2
4
4
7
7
7
13
13
20
35
50
70
Maximum Reach Radius (mm)
504
649
515
649
713
908
1,503
1,094
1,388
1,094
2050
Environmental
Specifications
Standard
Oil Mist
Cleanroom
Chemical
Resistant
Food Grade
Controller
IP30
–
–
IP40
IP67
ISO class3
IP65 Resistant to hydrogen peroxide gas/water (120ppm/concentration 6%) H1 Grease,
–
Stainless steel used for flange and exterior bolts, hex head bolts, chemical resistant
bellows, seals and exterior coating.
–
IP65 NSF H1 Certified Grease, stainless steel used for flange.
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
(J1 to J4:IP40, J5 to J6:IP67)
–
–
–
CR760-D/Q
Horizontally
Articulated
SCARA (RH)
Model Number
RH1FHR
RH3FHR
RH3FH35
RH3FH45
RH3FH55
RH3CH40
RH6CH60
RH6CH70
Maximum Load Capacity (kg)
Maximum Reach Radius (mm)
Standard
Oil Mist
Environmental Cleanroom
Specifications Chemical
Resistant
Food Grade
Controller
1
550
IP20/IP67 (*1)
–
–
3
350
IP20
IP65
ISOclass5
3
350
3
450
3
550
3/5 (*2)
400
6
600
6
700
–
–
RH20FH85
RH20FH100
–
ISOclass3
-
–
–
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
CR751-D
Model Number
RH6FH35
RH12FH85
Maximum Load Capacity (kg)
Maximum Reach Radius (mm)
Standard
Oil Mist
Environmental Cleanroom
Specifications Chemical
Resistant
Food Grade
Controller
6
6
6
12
12
12
20
20
350
450
550
550
700
850
850
1000
IP20
IP65
ISOclass3
IP65 Resistant to hydrogen peroxide gas/water (120ppm/concentration 6%). H1 Grease, Stainless steel used for flange and exterior bolts, hex
head bolts, chemical resistant bellows, seals and exterior coating.
IP65 NSF H1 Certified Grease, stainless steel used for flange.
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Notes:
1. with optional bellows
2. S52 model required for 5kg payload
RH6FH45
RH6FH55
RH12FH55
RH12FH70
Mitsubishi Electric Automation
|
Robots 1
n ROBOTS
F Series Robots
Internal Wiring Options (RVF Series)
RV4F/RV7F/RV13F/RV20F Series Tooling Device Configuration
Hand Configuration
Wiring Format
Robot
Specifications
Interior equipment
Remarks
External Wiring Set for
the Forearm
External Wiring Set for
the Base
SHxx01
- (*1)
-
Air hoses: Up to 2 systems
(4 mm diameter x 4 mm); 8 input signals
Exterior equipment
Standard
- (*2)
-
Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible
Hand Input Signal + Ethernet
+ Force Sensor OR Electric
Hand (*3, *4)
Interior equipment
-SHxx02
- (*1)
1F-HA01S-01 (Included)
Exterior equipment
Standard
1F-HB01S-01 (*2)
1F-HA01S-01
Electric Hand + Ethernet
+ Force Sensor
Interior equipment
-SHxx03
- (*1)
1F-HA02S-01 (Included)
Exterior equipment
Standard
1F-HB02S-01
1F-HA02S-01
Interior equipment
-SHxx04
- (*1)
1F-HA01S-01 (Included)
Air hoses: Up to 1 system
(4 mm diameter x 2 mm); 8 input signals
Exterior equipment
Standard
1F-HB01S-01 (*2)
1F-HA01S-01
Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible
Interior equipment
-SHxx05
- (*1)
1F-HA01S-01 (Included)
Air hoses: Up to 1 system
(4 mm diameter x 2 mm); 8 input signals
Exterior equipment
Standard
1F-HB01S-01 (*2)
1F-HA01S-01
Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible
Air-Hand + Hand Input Signal
Air-Hand + Hand Input Signal
+ Force Sensor
Air-Hand + Hand Input Signal
+ Ethernet
Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible
Notes:
1. For internal routing. (Pneumatics sold separately)
2. For external routing. (Hoses, input cables and solenoid valves sold separately)
3. For SHxx02 configuration, the Air hand and Electric hand cannot be used simultaneously.
4. For SHxx02 configuration, the Force sensor and Electric hand cannot be used simultaneously.
RV series tooling (air-hand): Internal wiring
RV series tooling (air-hand): External wiring
Solenoid valve
For models with inte
Solenoid valve
1 to 4 lines
Hand curl tube
1 to 4 lines
(Can be provided by the user.)
External wiring BOX
(Standard supplied)
Air hoses
φ6×2
Air hoses
Hand input signal
For external wiring
Air hoses
φ6×2
Hand input signal
8 points
Signal cable for the
multi-function hand
Hand input signal
8 points
Signal cable for the
multi-function hand
Ethernet cable
External wiring set for
Ethernet cable
For models with internal wiring and hoses
Solenoid valve
1 to 4 lines
On models with interior equipment,
the length of each externally
connected air tube and cable is 150
mm, and cables have connectors.
External wiring BOX
(Standard supplied)
Robot
For external wiring
Air hoses
φ6×2
External wiring set
for the base
Hand input signal
8 points
ble for the
tion hand
External wiring set for the forearm
Ethernet cable
2
On models with interior
the length of each exter
connected air tube and
mm, and cables have c
External wiring BOX
Internal wiring models
(Standard supplied)
(models ending in ‘-SH01’)
Hand input cable
hand): Internal wiring
01’)
Required Device
Machine cable
F Series Robots
RVF Series
Part Number Configuration
RV
1
LL
B
2
3
4
5
Maximum Load Capacity
2kg
4kg
7kg
13kg
20kg
35kg
50kg
70kg
Arm Length
Symbol
Blank
L
F
Max Load Capacity
Symbol
2
4
7
13
20
35
50
70
2
1
Arm Length/Option
Standard specifications
Long arm: Applies to RV2, RV4,
RV7, RV13
Extended long arm: RV7 only
Brakes on all axes for RV2 only
(Standard for all other models)
3
Environment
Symbol
Blank
M
C
4
Controller
Symbol
D
Q
D1
Q1
1D1
1Q1
1D
1Q
Environment Protection
Standard specification (No J2
cover for RV35, RV50 and RV70)
Oil mist specification
(Excludes RV2. Must use for
SE01/02 specification)
Cleanroom specification
(Excludes RV2, RV35, RV50,
RV70)
Controller Type
CR760-D (For Non-CE) For RV35
RV50 and RV70 only
CR760-Q (For Non-CE) For RV35
RV50 and RV70 only
CR750-D (For CE)
CR750-Q (For CE)
CR751-D (For CE)
CR751-Q (For CE)
CR751-D (For Non-CE)
CR751-Q (For Non-CE)
5
Select from only one table below:
Compliance Specification, Internal Wiring Specification,
or Special Environmental Protection
S1 _
5
1
Compliance Specification
CE specification for CR750 and CR751
controllers
Non-CE specification for CR751 and CR760
controllers
OR
SH1 _ _ _
RV Tooling
Config (*1)
1_ _
01, 02, 03,
04, or 05
01, 02, 03,
04, or 05
5_ _
Internal Wiring Specification
(Optional, Excludes RV2,
RV35, RV50, RV70)
for non-CE
for CE
Note 1: See RV Tooling Device Configurations table for definitions
OR
X5_
1
2
Special Environmental Protection for CE only
(Optional, Excludes RV2, RV35, RV50, RV70)
Chemical specification
Food grade grease for NSF H1 specification
Note: Oil mist specification required.
RV2F • RV2FL
Model Number
Environmental Specifications
Protection Degree
Installation
Structure
Degrees of Freedom
Drive System (*1)
Position Detection Method
Maximum Load Capacity (Rating) kg
Arm Length (mm)
Maximum Reach Radius (mm)
J1
J2
J3
Operating Range (deg)
J4
J5
J6
J1
J2
J3
Maximum Speed (deg/sec)
J4
J5
J6
Maximum Composite Speed (mm/sec) (*3)
Cycle Time (sec) (*4)
Position Repeatability (mm)
Ambient Temperature (°C)
Weight (kg)
J4
Tolerable Moment (Nm)
J5
J6
J4
Tolerable Amount of Inertia (kgm²) J5
J6
Tool Wiring
Tool Pneumatic Pipes
Machine Cable
RV2F(B)
RV2FL(B)
Standard
IP30
Floor type, ceiling type, (wall-mounted type) (*2)
Vertical, multiple-joint type
6
AC servo motor (RV-2F/2FL: J2, J3, J5 axes have the brake) (RV-2FB/2FLB: All axes have the brake)
Absolute encoder
2
230 + 270
310 + 335
504
649
480 (±240)
240 (±120)
237 (-117 to +120)
160 (-0 to +160)
400 (±200)
240 (±120)
720 (±360)
300
225
150
105
300
165
450
412
450
720
4950
4,206
0.6
±0.02
0 to 40
19
21
4.17
4.17
2.45
0.18
0.18
0.04
Hand: 4 input points/4 output points; Signal cable for the multi-function hand
ø4 x 4 (Base to forearm section)
5m (connector on both ends)
Connected Controller
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Notes:
1. The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. (RV2FB)
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
Mitsubishi Electric Automation
|
Robots 3
n ROBOTS
F Series Robots
RV4F • RV4FL
Model Number
Environmental Specifications
Protection Degree
Installation
Structure
Degrees of Freedom
Drive System (*1)
Position Detection Method
Maximum Load Capacity (Rating) kg
Arm Length (mm)
Maximum Reach Radius (mm)
J1
J2
J3
Operating Range (deg)
J4
J5
J6
J1
J2
J3
Maximum Speed (deg/sec)
J4
J5
J6
Maximum Composite Speed (mm/sec) (*3)
Cycle Time (sec) (*4)
Position Repeatability (mm)
Ambient Temperature (°C)
Weight (kg)
J4
Tolerable Moment (Nm)
J5
J6
J4
Tolerable Amount of Inertia (kgm²) J5
J6
Tool Pneumatic Pipes
Machine Cable
RV4FM/C
RV4FLM/C
Standard / Oil Mist / Cleanroom
IP40 (standard) / IP67 (oil mist) (*1) / ISOclass3 (*6)
Floor type, ceiling type, (wall-mounted type) (*2)
Vertical, multiple-joint type
6
AC servo motor
Absolute encoder
4
240 + 270
245 + 300
515
649
480 (±240)
240 (±120)
161 (-0 to +161)
164 (-0 to +164)
400 (±200)
240 (±120)
720 (±360)
450
420
450
336
300
250
540
540
623
623
720
720
9027
9048
0.36
0.36
±0.02
0 to 40
39
41
6.66
6.66
3.96
0.2
0.2
0.1
Hand: 8 input points/8 output points; Signal cable for the multi-function hand and sensors; LAN X 1 <100 BASE-TX> (8-pin)
(*5)
Primary: Ø6 x 2; Secondary: Ø4 x 8, Ø4 x 4 (from base portion to forearm)
5m (connector on both ends)
Connected Controller
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Tool Wiring
Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines.
For details, refer to the specifications sheet.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Ø8-mm coupler for suctioning is provided at the back of the base.
4
F Series Robots
RV7F • RV7FL • RV7FLL
Model Number
Environmental Specifications
Protection Degree
Installation
Structure
Degrees of Freedom
Drive System (*1)
Position Detection Method
Maximum Load Capacity (Rating) kg
Arm Length (NO1 am)
Maximum Reach Radius (mm)
J1
J2
J3
Operating Range (deg)
J4
J5
J6
J1
J2
J3
Maximum Speed (deg/sec)
J4
J5
J6
Maximum Composite Speed (mm/sec) (*3)
Cycle Time (sec) (*4)
Position Repeatability (mm)
Ambient Temperature (°C)
Weight (kg)
J4
Tolerable Moment (Nm)
J5
J6
J4
Tolerable Amount of Inertia (kgm²) J5
J6
Tool Pneumatic Pipes
Machine Cable
RV7FM/C
RV7FLM/C
RV7FLLM/C
Standard / Oil Mist / Cleanroom
IP40 (standard) / IP67 (oil mist) (*1) / ISO class3 (*6)
Floor type, ceiling type, (wall-mounted type) (*2)
Vertical, multiple-joint type
6
AC servo motor
Absolute encoder
7
340 + 360
430 + 465
565 + 805
713
908
1503
480 (±240)
240 (-115 to +125)
240 (-110 to +130)
240 (-90 to +150)
156 (-0 to +156)
162 (-0 to +162)
167.5 (-10 to +157)
400 (±200)
240 (±120)
720 (±360)
360
288
254
401
321
164
450
360
219
337
337
375
450
450
450
720
720
720
11064
10977
15,300
0.32
0.35
0.63
±0.02
±0.06
0 to 40
65
67
130
16.2
16.2
6.86
0.45
0.45
0.10
Hand: 8 input points/8 output points (20 pins total); Serial signal cable for parallel I/O (2-pin + 2-pin power line);
LAN X 1 <100 BASE-TX> (8-pin)) (*5)
Primary: Ø6 x 2; Secondary: Ø4 x 8, Ø4 x 4 (from base portion to forearm)
5m (connector on both ends)
Connected Controller
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Tool Wiring
Notes
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines.
For details, refer to the specifications sheet.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Ø8-mm coupler for suctioning is provided at the back of the base.
Mitsubishi Electric Automation
|
Robots 5
n ROBOTS
F Series Robots
RV13F • RV13FL • RV20F
Model Number
Environment
Protection Degree
Mounting Position
Structure
Degree of Freedom
Drive System
Position Detection Method
Maximum Payload (Rated) kg
Arm Length (mm)
Maximum Reach Radius (mm)
J1
J2
J3
Operating Range (deg)
J4
J5
J6
J1
J2
J3
Maximum Speed (deg/sec)
J4
J5
J6
Synthetic Maximum Speed (mm/sec) (*4)
Cycle Time (sec) (*5)
Position Repeatability (mm)
Ambient Temperature (°C)
Weight (kg)
J4
Allowable Movement (Nm)
J5
J6
J4
Allowable Inertia (KGM2)
J5
J6
Tool Wiring
Tool Pneumatic Pipes
Machine Cable
RV13FM/C
RV13FLM/C
RV20FM/C
Standard / Oil Mist / Cleanroom
IP40 (standard), IP67 (oil mist) (*1), ISO Class 3 (*2)
The floor, the ceiling suspension (hanging wall) (*3)
Vertical articulated
6 axis
AC servo motor
Absolute encoder
13
20
400 + 550
565 + 960
410 + 550
1,094
1,388
1,094
380 (±190)
240 (-90 to +150)
167.5 (-10 to +157.5)
400 (±200)
240 (±120)
720 (±360)
290
234
110
234
164
110
312
219
110
375
375
124
375
375
125
720
720
360
10,450
9,700
4,200
0.53
0.68
0.70
±0.05
0 to 40
Approx. 120
Approx. 125
Approx. 120
19.3
49.0
19.3
49.0
11
11
0.47
1.40
0.47
1.40
0.14
0.14
Hand: 8 input points / 8 output points, multifunction hand dedicated signal line LAN x 1 (100BASE-TX)
Primary: ø6 x 2 Secondary: 8 ø 6 x 4 this ø 4 x (wrist interior at the time)
5m (connector on both ends)
Connection Controller
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Notes:
1. Depending on the nature of the oil to be used by the customer, please contact your dealer because there is a case to withstand environment performance can not be ensured.
2. Robot internal suction and low down 0.3m/s of cleanroom condition becomes the protection of cleanliness. I am prepared to back the base joint of Ø8 to suction.
3. Wall specification is a special specification that limits the J1 axis operating range.
4. This is the value on the mechanical interface of the surface when all axes are combined.
5. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5kg
6
F Series Robots
RV35F • RV50F • RV70F
Model Number
Environment
Protection Degree
Mounting Position
Structure
Degree of Freedom
Drive System
Position Detection Method
Maximum Payload (Rated) kg
Arm Length, NO1 arm (mm)
Maximum Reach Radius (mm)
J1
J2
J3
Operating Range (deg)
J4
J5
J6
J1
J2
J3
Maximum Speed (deg/sec)
J4
J5
J6
Maximum Composite Speed (mm/sec) (*2)
Position Repeatability (mm)
Ambient Temperature (°C)
Weight (kg)
J4
Allowable Movement (Nm)
J5
J6
J4
Allowable Inertia (KGM2)
J5
J6
Tool Wiring
Tool Pneumatic Pipes
RV35FM
RV50FM
Standard / Oil Mist
J1 to J4:IP40, J5 to J6:IP67 (standard)/ IP67 (oil mist) (*1)
Floor type
Vertical, multiple-joint type
6 axis
AC servo motor
Absolute encoder
30
50
900 + 990
2050
330 (±165)
215 (-80 to +135)
261 (-90 to +171)
720 (±360)
250 (±125)
900 (±450)
185
180
180
180
190
180
305
255
305
255
420
370
13450
13000
±0.07
0 to 40
640
160
210
160
210
90
130
16
30
16
30
5
12
Hand: 16 input points/16 output points LAN X 1
ø10 x 2
Connection Controller
CR760-D/Q
RV70FM
70
175
145
165
235
235
350
11500
300
300
150
Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
2. This is the value at the surface of the mechanical interface when all axes are composited.
Mitsubishi Electric Automation
|
Robots 7
n ROBOTS
F Series Robots
RHCH Series
Part Number Configuration
RH
1
1
CH
2
3
1D1
Max Load Capacity
Symbol
3
6
4
2
Maximum Load Capacity
3kg
6kg
Arm Length
Symbol
40
60
70
Arm Length/Option
400mm (3kg only)
600mm (6kg only)
700mm (6kg only)
3
Vertical Stroke
Symbol
18
20
Vertical Stroke
180 mm stroke (3kg only)
200 mm stroke (6kg only)
4 Select only one from table below:
S_ _
15
24
52
Compliance Specification
CE
CE with J3 bellows
CE with 5kg payload (3kg only)
RH3CH
Model Number
Environment
Protection Degree (*7)
Mounting Position
Structure
Degree of Freedom
Drive System
Position Detection Method
Load Rating (kg) N
Maximum Payload (Rated) kg (N)
Motor Capacity (W)
J1
J2
J3
J4
RH3CH4018S15
Standard specification
IP20
Floor type
Horizontal, multiple-joint type
4 axis
AC servo motor
Absolute encoder
1
3
200
100
100
100
RH3CH4018S24
RH3CH4018S52
3
5
Brake
J1, J2, J4 axes: no brake; J3 axis: with brake
NO1 Arm
NO2 Arm
Maximum Reach Radius (NO1+ NO2) (mm)
J1
J2
Operating Range (deg)
J3
J4
J1
J2
Maximum Speed (deg/sec) (*1)
J3 mm/sec
J4
J1+J2 mm/sec
Cycle Time (*3)
X-Y Direction
Position Repeatability (mm) (*2) J3 (Z)
J4 (Ø) Deg
Ambient Temperature (°C) (*8)
Weight (kg)
Rating
Allowable Inertia (kg • m2) (*4)
Maximum
J3(Z) Axis Pressing Force (N) (*5)
Maximum Eccentricity
(During the Large Inertia Mode (mm) (*6)
Tool Wiring
Tool Pneumatic Pipes
Supply Pressure (MPa)
Machine Cable
225
175
400
264(±132)
282(±141)
180
720(±360)
720
720
1100
2600
7200
0.44
±0.01
±0.01
±0.01
0 to 40
14
0.005
0.05; (0.075)
100
Connection Controller
CR751-D
Arm Length (mm)
130
J1, J2 axes: no brake;
J3, J4 axes: with brake
180
150 (10)
15 points, D-SUB
ø6 × 2, ø4 × 1
0.5 ±10%
5
Notes:
1. The maximum speed is the value which applied MvTune2 (high-speed movement mode).
2. Pose repeatability details can be found in the product manual.
3. The value with the movements and conditions below when the MvTune2 (high-speed movement mode) is applied.
4. The values in parentheses are the values when the large inertia mode is enabled.
5. When the maximum load is installed, the downward pushing force generated at the tip of the load is obtained with J1, J2, and J4 axes stopped. The force shown above is the maximum value. When the force
is applied for a long time, an overload error will be generated.
6. The values in parentheses are the values when the large inertia mode is enabled.
7. The protection specification details can be found in the product manual.
8. Sets the robot’s operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized.
(Refers to “product manual for details.)
8
F Series Robots
RH6CH
Model Number
Environment
Protection Degree (*7)
Mounting Position
Structure
Degree of Freedom
Drive System
Position Detection Method
Load Rating kg (N)
Maximum Payload (Rated) kg (N)
Motor Capacity (W)
J1
J2
J3
J4
Brake
NO1 Arm
NO2 Arm
Maximum Reach Radius (NO1+ NO2) (mm)
J1
J2
Operating Range (deg)
J3
J4
J1
J2
Maximum Speed (deg/sec) (*1)
J3 mm/sec
J4
J1+J2 mm/sec
Cycle Time (*3)
X-Y Direction
Position Repeatability (mm) (*2) J3 (Z)
J4 (Ø) Deg
Ambient Temperature (°C) (*8)
Weight (kg)
Rating
Allowable Inertia (kg • m2) (*4)
Maximum
J3(Z) Axis Pressing Force (N) (*5)
Maximum Eccentricity (During the Large Inertia
Mode (mm) (*6)
Tool Wiring
Tool Pneumatic Pipes
Supply Pressure (MPa)
Machine Cable
Arm Length (mm)
Connection Controller
RH6CH6020S15
RH6CH6020S24
Standard specification
IP20
Floor type
Horizontal, multiple-joint type
4
AC servo motor
Absolute encoder
2
6
200
200
100
100
J1, J2 axes: no brake; J3, J4 axes: with brake
325
275
600
264 (±132)
300 (±150)
200
172
720 (±360)
420
720
1100
2500
7800
0.41
±0.02
±0.01
±0.01
0 to 40
17
0.01
0.12 (0.18)
100
RH6CH7020S15
RH6CH7020S24
425
700
200
172
360
0.43
18
150 (10)
15 points, D-SUB
ø6 × 2, ø4 × 1
0.5 ±10%
5
CR751-D
Notes:
1. The maximum speed is the value which applied MvTune2 (high-speed movement mode).
2. Pose repeatability details can be found in the product manual.
3. The value with the movements and conditions below when the MvTune2 (high-speed movement mode) is applied.
4. The values in parentheses are the values when the large inertia mode is enabled.
5. When the maximum load is installed, the downward pushing force generated at the tip of the load is obtained with J1, J2, and J4 axes stopped. The force shown above is the maximum value. When the force
is applied for a long time, an overload error will be generated.
6. The values in parentheses are the values when the large inertia mode is enabled.
7. The protection specification details can be found in the product manual.
8. Sets the robot’s operating environmental temperature as parameter OLTMX. Corresponding to the environment, the continuous control action performance and the overload-protection function are optimized.
(Refers to “product manual for details.)
Mitsubishi Electric Automation
|
Robots 9
n ROBOTS
F Series Robots
RHFHR Series (Ceiling Mount)
Part Number Configurations
RH
1
1
FHR
2
3
4
5
3
Max Load Capacity
Symbol Vertical Stroke Length
120mm (Waterproof and
12
cleanroom 3kg only)
15
150mm
Symbol Maximum Load Capacity
1
1kg
3
3kg
2
Arm Length
4
Symbol Arm Length
35
350mm (3kg only)
55
Vertical Stroke Length
Environment
Symbol
Blank
C
W
550mm (1kg only)
RH1FHR5515
Environmental Specifications
Standard
Protection Degree (*1)
IP20 With an optional bellows
set: IP65 (*5), ISO class 5 (*6)
Installation
Ceiling type
Structure
Horizontal multiple-joint type
Degrees of Freedom
4
Drive System
AC servo motor
Position Detection Method
Absolute encoder
Maximum Load (kg)
Maximum 3 (Rated 1)
Operating Range
Maximum Speed
Controller Type
CR750-D
CR750-Q
CR751-D
CR751-Q
IP20
325
175
No. 2
225
175
550
350
J1 Degree
±170
450 (±225)
J2 Degree
±145
450 (±225)
J3 (Z) mm
150 (120 with optional bellows)
150
J4 (ø Axis)
±360
1440 (±720)
J1 Degree/s
337.5
672
J2 Degree/s
720
708
J3 (Z) mm/s
765
1500
J4 (ø Axis) Degree/s 3000
6
Compliance
S_ _
15
60
Compliance Specification
(Non-Optional)
CE specification (3kg only)
CE specification (1kg ony)
RH3FHR3512C
RH3FHR3512W
Cleanroom
Waterproof
ISOclass5 (*4)
IP65 *(6)
120
3146
Maximum Horizontal Composite Speed
mm/s (*2)
6,000
6267
Cycle Time (Load Capacity) Sec. (*3)
0.28 (1kg)
0.32 (1kg)
X-Y Direction mm
±0.012
±0.01
J3 (Z) mm
±0.010
±0.01
J4 (ø Axis) Degree
±0.004
±0.01
Position
Repeatability
Symbol
D1
Q1
1D1
1Q1
RH3FHR3515
No. 1
Max. Reach Radius (No. 1 + No. 2) mm
Controller Type
Compliance Specification
Standard environment specifications
Cleanroom specifications (3 kg only)
Waterproof specifications (3 kg only)
Model Number
Arm Length (mm)
5
Ambient Temperature °C
0 to 40
Weight (kg)
49
24
Tool Wiring
Input 8 points/Output 8 points,
(total 20 cores) Dedicated
signal cable for multifunctional
hand (2 cores + Power cable 2
cores) Ethernet cable, 1 cable
(100BASE-TX, 8 cores) (*7)
Gripper: 8 input points (up to 4 points for shaft) / 8 output points, 8 spare lines
Tool Pneumatic Pipes
Primary: ø6 x 2 hoses,
Secondary: ø4 x 8 hoses (*8)
Primary: ø6 x 2 Secondary: ø4 x 8
Machine Cable
5m (connector on both ends)
28
Notes:
1. The environmental resistance specifications (C: Cleanroom specifications, W: Waterproof specifications) for the RH-3FHR is factory-set custom specifications.
2. The value assumes composition of J1, J2, and J4.
3. Value for rated load capacity (kg). The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.
(The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
5. Direct jet to the bellows is excluded.
6. The conditions necessary to guarantee cleanliness are as follows: cleanroom down flow 0.3 m/s or greater.
7. The 8-wire cable designated for LAN wiring can also be used for backup wiring.
8. The ø4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown in the Specifications Manual.
10
F Series Robots
RHF Series
Part Number Configuration
RH
1
FH
1
3
Load Capacity
Maximum Load
Capacity
3kg
6kg
12kg
20kg
Symbol
3
6
12
20
2
2
4
5
6
3
12
15
20
34
35
45
Arm Length
Symbol
35
45
55
70
85
100
Arm Length
350mm
(3kg/6kg only)
450mm
(3kg/6kg only)
550mm
(3kg/ 6kg/12kg only)
700mm
(12kg only)
850mm
(12kg/ 20kg only)
1000mm
(20kg only)
Vertical Stroke
Symbol
4
Environment
Symbol
Blank
M
N
C
Vertical Stroke
120mm
(3kg Cleanroom spec only)
150mm (3kg only)
200mm (6kg only)
340mm (6kg only)
350mm (12kg/20kg only)
450mm (12kg/20kg only)
Environment
Standard specifications
Oil mist specifications (IP65)
(Excludes 3kg. Must use for
SE01/02 specification)
Oil mist specifications (IP54). (Excludes
3kg, 6kg. For 6kg IP54 select S15 in
Compliance Specifications)
Cleanroom specifications
5
6
5
3
1
Tool Wiring
Tool Pneumatic Pipes
Machine Cable
Connected Controller (*5)
Compliance Specification
CE specification for CR750, CR751
controllers and IP54 6kg
CE specification for CR-750
(6kg IP40 only)
Non-CE specification for
CR751 controller
OR
X5_
2
Model Number
Machine Class
Protection Degree (*1)
Installation
Structure
Degrees of Freedom
Drive System
Position Detection Method
Maximum Load Capacity (Rating) kg
NO1 Arm
Arm Length (mm)
NO2 Arm
Maximum Reach Radius (NO1 + NO2) (mm)
J1 Deg.
J2 Deg.
Operating Range (deg)
J3 (Z) mm
J4 (ø) Deg
J1 Deg/sec
J2 Deg/sec
Maximum Speed (deg/sec)
J3 mm/sec
J4 Deg/sec
Maximum Composite Speed (*2)
Cycle Time (*3)
X-Y Composite mm
Position Repeatability (mm) J3 (Z) mm
J4 (ø) Deg
Ambient Temperature (°C)
Weight (kg)
Rating (kg)
Tolerable Amount of Inertia
Maximum (kgm²)
Controller Type
CR750-D (For CE)
CR750-Q (For CE)
CR751-D (For CE)
CR751-Q (For CE)
CR751-D (For Non-CE)
CR751-Q (For Non-CE)
Select only one from table below:
Compliance Specification or
Special Environmental Protection
S1 _
1
RH3FH
Controller
Symbol
D1
Q1
1D1
1Q1
1D
1Q
Special Environmental
Protection for CE only
(Optional, excludes RH3)
Chemical specification
Food grade grease for NSF H1
specification
Note: Special Environmental Protection selection requires
the “M” oil mist Environment specification.
RH3FH3515 • RH3FH3512C
RH3FH4515 • RH3FH4512C
RH3FH5515 • RH3FH5512C
Standard / Cleanroom
IP20 / ISO class3 (*5)
Floor type
Horizontal, multiple-joint type
4
AC servo motor
Absolute encoder
Maximum 3 (rating 1)
125
225
325
225
350
450
550
340 (±170)
290 (±145)
150 (Cleanroom specification : 120) (*1)
720 (±360)
420
720
1100
3000
6800
7500
8300
0.41
0.46
0.51
±0.010
±0.010
±0.012
±0.01
±0.004
0 to 40
29
29
32
0.005
0.06
Hand: 8 input points/8 output points (20 pins total); Serial signal cable for parallel I/O (2-pin + 2-pin power line);
LAN X 1 <100 BASE-TX> (8-pin)) (*4)
Primary: ø6 x 2 Secondary: ø4 x 8
5m (connector on both ends)
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Notes:
1. The range for vertical movement listed in the environmental resistance specifications (C: Cleanroom specifications) for the RH3FH is narrower than for the standard model. Keep this in mind when working with
the RH3FH. The environment-resistant specifications are factory-set custom specifications.
2. The value assumes composition of J1, J2, and J4.
3. Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on
back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
5. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
Mitsubishi Electric Automation
|
Robots 11
n ROBOTS
F Series Robots
RH6FH
Model Number
Machine Class
Protection Degree (*1)
Installation
Structure
Degrees of Freedom
Drive System
Position Detection Method
Maximum Load Capacity (Rating) kg
NO1 Arm
Arm Length (mm)
NO2 Arm
Maximum Reach Radius (NO1 + NO2) (mm)
J1 Deg.
J2 Deg.
Operating Range (deg)
J3 (Z) mm
J4 (ø) Deg
J1 Deg/sec
J2 Deg/sec
Maximum Speed (deg/sec)
J3 mm/sec
J4 Deg/sec
Maximum Composite Speed (*2)
Cycle Time (*3)
X-Y Composite mm
Position Repeatability (mm) J3 (Z) mm
J4 (ø) Deg
Ambient Temperature (°C)
Weight (kg)
Rating (kg)
Tolerable Amount of Inertia
Maximum (kgm²)
Tool Wiring
Tool Pneumatic Pipes
Machine Cable
Connected Controller
RH6FH35XX/M/C
RH6FH45XX/M/C
RH6FH55XX/M/C
Standard / Oil Mist / Cleanroom
IP20 / IP65 (*5) / ISO3 (*6)
Floor type
Horizontal, multiple-joint type
4
AC servo motor
Absolute encoder
Maximum 6 (rating 3)
125
225
325
225
350
450
550
340 (±170)
290 (±145)
xx = 20 : 200/ xx = 34 : 340
720 (±360)
400
670
2400
2500
6900
7600
8300
0.29
±0.010
±0.010
±0.012
±0.01
±0.004
0 to 40
36
36
37
0.01
0.12
Hand: 8 input points/8 output points (20 pins total); Serial signal cable for parallel I/O (2-pin + 2-pin power line);
LAN X 1 <100 BASE-TX> (8-pin)) (*4)
Primary: ø6 x 2 Secondary: ø4 x 8
5m (connector on both ends)
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
See notes below.
RH12FH / 20FH
Model Number
Machine Class
Protection Degree (*1)
Installation
Structure
Degrees of Freedom
Drive System
Position Detection Method
Maximum Load Capacity (Rating) kg
NO1 Arm
Arm Length (mm)
NO2 Arm
Maximum Reach Radius (NO1 + NO2) (mm)
J1 Deg.
J2 Deg.
Operating Range (deg)
J3 (Z) mm
J4 (ø) Deg
J1 Deg/sec
J2 Deg/sec
Maximum Speed (deg/sec)
J3 mm/sec
J4 Deg/sec
Maximum Composite Speed (*2)
Cycle Time (*3)
X-Y Composite mm
Position Repeatability (mm) J3 (Z) mm
J4 (ø) Deg
Ambient Temperature (°C)
Weight (kg)
Rating (kg)
Tolerable Amount of Inertia
Maximum (kgm²)
Tool Wiring
Tool Pneumatic Pipes
Machine Cable
Connected Controller
RH12FH55XX/M/C
RH12FH70XX/M/C
RH12FH85XX/M/C
RH20FH85XX/M/C
RH20FH100XX/M/C
Standard / Oil Mist / Cleanroom
IP20 / IP65 (*5) / ISO3 (*6)
Floor type
Horizontal, multiple-joint type
4
AC servo motor
Absolute encoder
Maximum 12 (rating 3)
Maximum 20 (rating 5)
225
375
525
525
525
325
325
475
550
700
850
850
1000
340 (±170)
290 (±145)
306 (±153)
306 (±153)
xx = 35 : 350/ xx = 45 : 450
720 (±360)
420
280
280
450
2800
2400
2400
1700
11435
12535
11350
11372
13283
0.30
0.30
0.36
±0.012
±0.015
±0.015
±0.015
±0.02
±0.01
±0.005
0 to 40
65
67
69
75
77
0.025
0.065
0.3
1.05
Hand: 8 input points/8 output points (20 pins total); Serial signal cable for parallel I/O (2-pin + 2-pin power line);
LAN X 1 <100 BASE-TX> (8-pin)) (*4)
Primary: ø6 x 2; Secondary: ø6 x 8
5m (connector on both ends)
CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available
Notes:
1. The environment-resistant specifications (C: Cleanroom specification, M: Mist specification) are factory-set custom specifications.
2. The value assumes composition of J1, J2, and J4.
3. Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based
on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
5. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Ø-mm coupler for suctioning is provided at the back of the base.
12
F Series Robots
Controllers for RVF and RHF Series
CR750-D
CR750-Q
CR751-D
CR751-Q
CR760-Q
CR760-D
Controller Specifications
Model Number
Hand Open/Close
Emergency Stop Input
Door Switch Input
Enabling Device Input
Emergency Stop Output
Mode Output
Robot Error Output
Sync.of Additional Axes
CR750-Q • CR750-D
CR751-Q • CR751-D
FQ Series: Q172DRCPU (Included with FQ Series robots)
FD Series: Built-in
PTP control and CP control
Maximum 6 axes
MELFA-BASIC IV/V
Teaching method, MDI method
FQ Series: 13,000; FD Series: 39,000
FQ Series: 26,000; FD Series: 78,000
FQ Series: 256; FD Series: 512
FQ Series: 8192 input points/8192
FQ Series: 8192 input points/8192
output points with the multiple CPU
output points with the multiple CPU
common device. FD Series: 0 input/0
common device. FD Series: 0 input/0
output (Up to 256/256 when options are
output (Up to 256/256 when options
used) RHCH Series: 32/32 (2D-TZ368
are used)
included)
FQ Series: Assigned to multiple CPU
FQ Series: Assigned to multiple CPU
common device; FD Series: Assigned to common device; SD Series: Assigned to
general-purpose I/O
general-purpose I/O.
8 Input / 8 Output (Excludes RHCH models)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
1 (redundant)
RS-232
–
RS-422
1 (Teaching pendant: dedicated T/B)
FQ Series: 1 (dedicated teaching pendant port) 10BASE-T
FD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX
FQ Series: 1 (USB port of programmable controller CPU unit can be used)
FQ Series: Use the function of the
FD Series: (Ver. 2.0 device functions only, mini B terminal)
programmable controller; FD Series: 1
1 (dedicated for pneumatic hand interface)
–
1 (SSCNET III)
FQ Series: Use the option of the
FQ Series: N/A (Expansion located on iQ backplane) ; FD Series: 2
programmable controller; FD Series: 3
FQ Series: Use the option of the
FQ Series: Q173DPX (sold separately); FD Series: 2
programmable controller; FD Series: 2
FQ Series: – ; FD Series: 1
FQ Series: 0 to 40 (drive unit) / 0 to 55 (Robot CPU); FD Series: 0 to 40
0 to 40
45 to 85
RV: 2F/4F/7F/13F/20F,
RV35F/50F/70F:
RH:1FHR/3CH/3FH/3FHR/6CH/6FH/12FH/20FH Single-Phase AC 200V to 230V
Three-phase AC 180V to 253V
RV2F, RH3FH/RH3CH/RH6CH: 0.5; RV4F, RH6FH: 1.0; RH1FHR/RH12FH/20FH:
RV-35F/50F/70F: Maximum : 20
1.5; RV7F: 2.0; RV7FLL/13F/20F: 3.0
Robot CPU
Path Control Method
Number of Axes Controlled
Robot Language
Position Teaching Method
Number of Teaching Points
Memory Capacity Number of Steps
Number of Programs (Unit)
General-Purpose I/O
Dedicated I/O
External Input/
Output (Points)
Ethernet
USB
Interface
Hand Dedicated Slot
Additional-Axis Interface
Extension Slot (*1)
Encoder Input (Chanels)
Memory Extension Slot
Ambient Temperature (°C)
Relative Humidity (%RH)
Power Supply (*5)
Input Voltage Range (V) (*2)
Power Capacity kVA (*3)
External Dimensions (Including Legs)
(W x D x H) mm
Weight (kg)
Structure (Protective Specification)
Grounding Ω (*4)
430 x 425 x 174
CR760-Q • CR760-D
6 axes + additional 8 axes available
13,000
26,000
256
0 input/0 output
Assigned to general-purpose I/O
16 input / 16 output
FQ Series: 1; FD Series: Use the function
of the programmable controller
430 x 425 x 98; 430 x 425 x 174 (*6)
Approx. 18
Approx. 12 / Approx. 18 (*6)
Self-contained floor type/open structure (Vertical and horizontal position can be
placed) (IP20)
670 x 415 x 700
Approx. 120
Self-contained floor type/sealed
structure (IP54)
100 or less (class D grounding)
Notes:
1. For installing option interface.
2. The rate of power-supply voltage fluctuation is within 10%.
3. The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the current being input when the power is turned on. The power capacity is only a rough guide
and whether or not operation can be guaranteed depends on the input power-supply voltage.
4. Grounding works are the customer’s responsibility.
5. For CR751, crimp or solder wiring for connection to user wiring connectors for emergency stop input/output, door switch input, etc. and power supply connectors. The optional terminal block replacement tool
available separately can also be used to connect wiring.
6. For RV7FLL/13F/20F
Mitsubishi Electric Automation
|
Robots 13
n ROBOTS
F Series Robots
Controllers RVF and RHFH Series
CR751-Q
CR751-D
RV7Fl/13F/20F
㼀㼔㼕㼟㻌㼜㼘㼍㼠㼑㻌㼙㼡㼟㼠㻌㼎㼑㻌㼕㼚㼟㼠㼍㼘㼘㼑㼐㻌㼎㼥㻌㼏㼡㼟㼠㼛㼙㼑㼞㼟㻚
㻯㼍㼎㼘㼑㻌㼒㼕㼤㼍㼠㼕㼛㼚㻌㼜㼘㼍㼠㼑㻌㻔㻭㼠㼠㼍㼏㼔㼙㼑㼚㼠㻕
(180)
㼀㼔㼕㼟㻌㼜㼘㼍㼠㼑㻌㼙㼡㼟㼠㻌㼎㼑㻌㼕㼚㼟㼠㼍㼘㼘㼑㼐㻌㼎㼥㻌㼏㼡㼟㼠㼛㼙㼑㼞㼟㻚
180
(253)
(253)
(3.5)
(638)
A
700
Cable inlet
φ34
A
92
362
640
670
(73)
75
362
A
640
670
Q61P, Q62P, Q63P, Q64PN
Programmable
Controller CPU
Universal model (CPU that can transmit
by multiple CPU high speed transmission)
• Q03UD(E)CPU
• Q04UD(E)HCPU
• Q06UD(E)HCPU
• Q10UD(E)HCPU
• Q13UD(E)HCPU
• Q20UD(E)HCPU
• Q26UD(E)HCPU
• Q100UD(E)HCPU
A
Power Supply
(59)
4-φ15 hole
Cable inlet
φ34
(73)
75
92
4-φ15 hole
(59)
700
Base
High-speed standard base between
multiple CPU
• Q35DB: 5 slots
• Q38DB: 8 slots
• Q312DB: 12 slots
14
(638)
Type
385
345
(45)
(20)
415
Arrow A
Cable inlet/outlet
(square hole)
120
(59)
(105)
(291)
Unit
385
345
40
Multiple CPU Environment
(30)
(4-M5)
(370)
(430)
(30)
174
(98)
415
(45)
(20)
Cable inlet/outlet
(square hole)
CR760-Q
CR760-D
Arrow A
120
(59)
(30)
(3.5)
(105)
(30)
(430)
158
40
370
430
(4 - ø18)
195
(291)
(30)
(370)
(0.6) (97.4)
158
174
(21.7)
(195)
(30)
260
119
80
(119) (25)
㻯㼍㼎㼘㼑㻌㼒㼕㼤㼍㼠㼕㼛㼚㻌㼜㼘㼍㼠㼑㻌㻔㻭㼠㼠㼍㼏㼔㼙㼑㼚㼠㻕
85
425
260
425
(370)
(425)
(80)
(85)
(40)
(70.3)
(30) (5.2)
CR750-Q
CR750-D
F Series Robots
Robot Arm Options for RVF and RHF Series
RV
Name
Solenoid Valve
Set
Vacuum
Valve Set
Bellows Set
J3 I/O Cable
Access Plate
J2 Motor Cover
Hand Output
Cable
RH
1E-VD0_ _
1F-VD0_ _-02
1F-VD0_ _-03
1F-VD0_ _-01
1S-VD0_ _-01
1S-VD0_ _-05
13F
2F 4F 7F
7FLL 13FL
2FL 4FL 7FL
20F
X
X
X
X
X
-
35FM
50FM
70FM
-
1S-VD0_W_-05
-
-
-
-
-
1F-VV0_E-01 (Source)
-
-
-
-
1F-JS-21
-
-
-
-
1F-UT01-21
-
-
-
BU230D345G01
-
-
1E-GR35S
X
-
1F-GR35S-02
-
1F-GR60S-01
Model Number
3FH 6FH
Functional Specification
12FH
1FHR 3FHR 3CH 6CH
20FH
X
-
X
-
X
-
X
-
X
-
-
-
-
-
-
-
X
-
-
-
-
-
-
-
X
-
-
-
-
-
-
-
-
X
-
-
-
-
-
X
-
-
-
-
-
-
-
-
-
-
X
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
X
X
X
X
-
-
-
-
-
-
-
-
-
-
-
-
-
-
X
X
X
X
-
-
-
1S-GR35S-02
-
-
-
-
-
-
-
-
-
-
X
-
-
Hand Tube
External Wiring
Set 1 (Forearm)
External Wiring
Set 2 (Forearm)
External Wiring
Set 1 (Base)
External Wiring
Set 2 (Base)
Internal Wiring
and Piping Set
for Hand
External User
Wiring and
Piping Box
1, 2, 3, 4 valves
With solenoid valve output
cable.
First _ = the number of
solenoid valves
1F-GR2000-21
-
-
-
-
-
X
-
-
-
-
-
-
-
4 valves
Second _= Polarity
4 valves, cleanroom/
Blank = Sink
waterproof specification E = Source
(1, 2 valves) hand input
cable included
Protective bellows for J3 spline shaft
Replacement J3 cover plate with access holes f
or I/O cables
J2 motor cover for non-oil/mist version arms
Outputs x4, 300mm
length
Outputs x8, 300mm
length
Outputs x8, 1050mm
Cable to connect to robot 24v
length With splash proof hand outputs. Connector on
grommet
robot side, flying leads on
device side.
Outputs x8, 450mm
length
Outputs x8, Robot side
1F-GR2000-22
-
-
-
-
-
X
-
-
-
-
-
-
-
Outputs x8, Hand side
1S-HC30C-11
X
-
-
-
-
-
-
-
-
-
-
-
-
1F-HC35S-02
-
X
X
X
X
-
-
-
-
-
-
-
-
1F-HC35C-01
-
-
-
-
-
-
X
X
-
X
-
-
-
1F-HC35C-02
-
-
-
-
-
-
-
-
X
-
-
-
-
1S-HC00S-01
-
-
-
-
-
-
-
-
-
-
X
-
-
1F-HC2000-21
1F-HC2000-22
-
-
-
-
-
X
X
-
-
-
-
-
-
-
1E-ST040_C
X
X
X
X
-
-
-
-
-
-
-
-
-
1E-ST0408C-300
-
-
-
-
-
-
X
X
-
X
-
-
-
1N-ST060_C-01
-
-
-
-
X
-
-
-
X
-
-
-
-
1S-ST0304S
-
-
-
-
-
-
-
-
-
-
X
-
-
4 channels, ø4 tube size, L = 400mm.
1F-HB01S-01
-
X
X
X
X
-
-
-
-
-
-
-
-
HI + ETH + (EH or FS)
Hand Input
Cable
Hand (Curl)
Tube
1, 2 valves
Inputs x4, 300mm
length (curled)
Inputs x8, 1000mm
length
Inputs x8, 1650mm
total length with 350mm
curled section and
Cable to connect to robot
splash proof grommet
24v hand inputs, connector
Inputs x8, 1800mm
on robot side, flying leads on
total length with 350mm device side.
curled section and
splash proof grommet
Inputs x8, 1210mm total
length (400mm usable)
Inputs x8, Robot side
Intputs x8, Hand side
2, 4, 6, or 8 channels (RV2F is only 2, 4) ø4 tube size,
L = 300mm. _ indicates the number of channels
8 channels, ø4 tube size, L = 300 mm.
2, 4, 6, or 8 channels, ø6 tube size, L = 600mm.
_ indicates the number of channels
External wiring box used for
connecting:
Ethernet = ETH
Electric Hand = EH
Force Sensor = FS
Hand Input = HI
Hand Input/Output = HIO.
1F-HB02S-01
-
X
X
X
X
-
-
-
-
-
-
-
-
ETH + (EH or FS) +
(EH or FS)
1F-HA01S-01
-
X
X
X
X
-
-
-
-
-
-
-
-
HIO + (EH or FS) + ETH
1F-HA02S-01
-
X
X
X
X
-
-
-
-
-
-
-
-
ETH + (EH or FS) +
(EH or FS) + HIO
1F-HS604S-01
-
-
-
-
-
-
-
-
X
-
-
-
-
Inputs x8 + 4 channels, ø6 tube size. (For 350mm Z-axis)
1F-HS604S-02
-
-
-
-
-
-
-
-
X
-
-
-
-
Inputs x8 + 4 channels, ø6 tube size. (For 450mm Z-axis)
1F-HS408S-01
-
-
-
-
-
-
-
X
-
-
-
-
-
Inputs x8 + 8 channels, ø4 tube size. (For 200mm Z-axis)
1F-HS408S-02
-
-
-
-
-
-
-
X
-
-
-
-
-
Inputs x8 + 8 channels, ø4 tube size. (For 340mm Z-axis)
1F-HS304S-01
-
-
-
-
-
-
X
-
-
X
-
-
-
Inputs x4 + 4 channels, ø3 tube size.
1F-UT-BOX
-
-
-
-
-
-
X
X
-
X
-
-
-
1F-UT-BOX-01
-
-
-
-
-
-
-
-
X
-
-
-
-
Box for external routing of user wiring and pneumatics.
Includes tubing for 8 channels. (Mounts on rear of J2
axis)
Mitsubishi Electric Automation
|
Robots 15
Robot Arm Options for RVF and RHF Series (continued)
RV
Standard Flex
Name
Model Number
Replacement
1F-02UCBL-02
(CR-750)
Replacement
1S-02UCBL-03
(CR-751)
X
X
X
X
-
X
X
X
X
X
-
-
-
X
X
X
X
-
X
X
X
X
X
-
-
1F-_ _UCBL-11
X
-
-
-
-
-
-
-
-
-
-
-
-
10m, 15m
Replacement
1F-_ _UCBL-02
(CR-751)
-
X
X
X
X
-
X
X
X
X
X
-
-
10m, 15m, 20m
1F-_ _ UCBL-04
-
-
-
-
-
-
-
-
-
-
-
X
X
3m, 10m, 15m, 20m
1F-_ _CBL-21
-
-
-
-
-
X
-
-
-
-
-
-
-
5m, 10m, 15m
-
-
-
-
-
-
X
X
X
X
X
-
-
5m, 10m, 15m
X
-
X
-
X
-
X
-
X
-
-
X
X
-
X
-
X
-
X
-
X
-
X
X
1S-_ _CBL-11
X
-
-
-
-
-
-
-
-
-
-
-
-
1S-_ _CBL-01
-
X
X
X
X
-
-
X
X
X
X
-
-
1S-_ _CBL-03
X
-
-
-
-
-
X
-
-
-
-
-
-
1S-_ _LCBL-11
X
-
-
-
-
-
-
-
-
-
-
-
-
1S-_ _LCBL-01
-
X
X
X
X
-
-
X
X
X
X
-
-
1S-_ _LCBL-03
X
-
-
-
-
-
X
-
-
-
-
-
-
1F-_ _ LCBL-21
-
-
-
-
-
X
-
-
-
-
-
-
-
10m, 15m, 20m
Direct type, 5m, 10m, 15m
Direct type, 10m, 15m, 20m
10m, 15m, 20m
Non CE Extension type, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (10, 15)
Extension type, 5m, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (05, 10, 15)
CE Extension type, 5m, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (05, 10, 15)
Non CE Extension type, 5m, 10m, 15m options (2 wires
set with power and signal wires) _ _ indicates the length of
cables (05, 10, 15)
CE Extension type, 5m, 10m, 15m (2 wires set with power
and signal wires)
_ _ indicates the length of cables (05, 10, 15)
Extension type, 5m, 10m, 15m options (2 wires set with
power and signal wires)
_ _ indicates the length of cables (05, 10, 15)
1S-DH-11J1
1F-DH-05J1
1F-DH-04
1F-DH-03
1F-DH-02
1F-DH-01
1S-DH-05J1
1F-DH-21J1
1S-DH-11J2
1S-DH-05J2
1F-DH-21J2
1S-DH-11J3
X
X
X
X
-
X
-
X
-
X
-
X
X
-
X
-
X
-
X
-
X
-
X
X
-
-
-
1F-DH-21J3
-
-
-
-
-
X
-
-
-
-
-
-
-
Connection Cables
Replacement 1S-_ _LUCBL-01
(CR-750)
1S-_ _LUCBL-03
1F-_ _LUCBL-11
Replacement
1F-_ _LUCBL-02
(CR-751)
1F-_ _ LUCBL-04
Extension
(CR-750)
Extension
(CR-750)
Extension
(CR-760)
J1-Axis
Hard
Stops
J2-Axis
J3-Axis
16
RH
13F 35F
Functional Specification
2F 4F 7F
12FH
7FLL 13FL 50F 3FH 6FH
1FHR 3FHR 3CH 6CH
2FL 4FL 7FL
20FH
20F 70F
-
Extension
(CR-760)
Hi- Flex
n ROBOTS
F Series Robots
2m long cables
(2-cable set with power supply and signal cables)
(2 cable set with power and
signal cables)
_ _ indicates the length of
cables (03, 05, 10, 15, 20)
Hard stop to restrict axis movement.
(Install per customer specification)
F Series Robots
Robot Options for X51 Series (Chemical Resistant)
RV
Name
Model Number
RH
4F
4FL
7F
7FL
7FLL
X51
X51
X51
13F
13FL
20F
X51
X
X
X
-
-
-
-
X
X
6FH
12FH Description
20FH
X51
X51
-
-
The 1-4 series solenoid valve with cable
_= electromagnetic valve station number ( 1, 2, 3, 4) output ø4
X
-
-
The 1-4 series solenoid valve with cable
_ = electromagnetic valve station number ( 1, 2, 3, 4) output ø6
X
-
-
-
External wiring box used for
connecting:
ETH + (EH or FS) + (EH or FS)
Ethernet = ETH
Electric Hand = EH
HIO + (EH or FS) + ETH
Force Sensor = FS
ETH + (EH or FS) +
Hand Input = HI
(EH or FS) + HIO
Hand Input/Output = HIO
Box for external routing of user wiring and pneumatics.
(Mounts on rear of J2 axis)
External Wiring Set 1 (Forearm)
1F-VD0_-04 (Sink)
1F-VD0_E-04 (Source)
1F-VD0_-05 (Sink)
1F-VD0_E-05 (Source)
1F-HB01S-02
External Wiring Set 2 (Forearm)
1F-HB02S-02
X
X
X
-
-
-
External Wiring Set 1 (Base)
1F-HA01S-02
X
X
X
-
-
-
External Wiring Set 2 (Base)
1F-HA02S-02
X
X
X
-
-
-
External User Wiring
and Piping Box
Standard Flex
Connection Cable (CR-751)
Longer Length
Hi-Flex
Replacement
(CR-751)
1F-UT-BOX-04
1F-UT-BOX-03
-
-
-
-
X
-
X
1F-_ _UCBL-03
X
X
X
X
X
X
1F-_ _LUCBL-03
X
X
X
X
X
X
1F-DH-06
1F-DH-07
1F-DH-08
1F-DH-09
1F-DH-10
X
-
X
-
X
-
X
-
X
-
X
Solenoid Valve
Hard Stops (J1)
HI + ETH + (EH or FS)
Replacement type 10m, 15m, 20m options (2 set of power and signal)
_ _ = cable length (10, 15, 20)
Hard stop to restrict axis movement.
(Install per customer specification)
Mitsubishi Electric Automation
|
Robots 17
n ROBOTS
F Series Robots
Controller Options for RVF and RHF Series
CR750
Q Type
Basic Teach Pendant
R32TB
X
Enhanced Function Teach Pendant R56TB
X
Basic Teach Pendant
R33TB
Enhanced Function Teach Pendant R57TB
2A-RZ361 (Sink)
Remote Parallel I/O Interface
2A-RZ371 (Source) Name
Type
D Type
X
X
X
X
CR751
Q Type
X
X
-
D Type
X
X
X
X
CR760
Q Type
X
X
-
D Type
X
X
X
X
Remote Parallel I/O Cable
(5M, 15M)
2A-CBL_ _
-
X
-
X
-
X
Remote Parallel I/O NET Cable
NET-CAB-1-_ _
-
X
-
X
-
X
Remote Parallel I/O DC Cable
F070-_ _M
-
X
-
X
-
X
On-Board Parallel I/O Interface
(Installed Internally)
On-Board Parallel I/O Cable
(5M, 15M)
Additional Memory PCB 2MB
2D-TZ368 (Sink)
2D-TZ378 (Source)
-
X
X
-
X
X
-
X
X
2D-CBL_ _
-
X
-
X
-
X
2D-TZ454
-
-
-
-
-
X
CC-Link Interface
2D-TZ576
-
X
-
X
-
X
DeviceNet Interface
Ethernet IP Card
PROFINET Interface Card
Profibus Interface
2D-TZ571
2D-TZ600EIP
2D-TZ600PN
2D-TZ577
-
X
X
X
X
-
X
X
X
X
-
X
X
X
X
Force Sensor Set
4F-FS001-W200
X
X
X
X
-
-
Terminal Block Kit for CNUSR
Connection
2F-CNUSR01M
X
X
X
X
-
-
2F-CNUSR-TB- _ M X
X
X
X
-
-
2F-CNUSR-FL- _ M X
X
X
X
-
-
Terminal Block for
2F-CNUSR-TB Cables
MR-TB50MIN
X
X
X
X
-
-
AC Power Supply Connection Cable
CR751-PWR-CBL10M
-
-
X
X
-
-
Encoder Multiplexer Unit
2F-YZ581
X
X
X
X
X
X
Teach Pendant Conversion Cable
2F-32CON03M
-
-
X
X
-
-
Teach Pendant Conversion Adapter
2F-32CON0R1M
-
-
X
X
-
-
MELFA Safe Plus
4F-SF001-01
X
X
X
X
-
-
Teach Pendant Safety Signal
Interface
2F-TBSTS-01
X
X
-
-
X
X
Robot CPU Unit Connection Cable
Set
2Q-RC-CBL_ _M
X
-
X
-
X
-
Robot Dedicated TU Cable (M)
2Q-TUCBL_ _M
X
-
X
-
X
-
Robot Dedicated DISP Cable
2Q-DISPCBL_ _M
X
-
X
-
X
-
Robot-Only EMI Cable
2Q-EMICBL_ _M
X
-
X
-
X
-
MR-J3BUS_M-A
X
-
X
-
X
-
MR-J3BUS30M-B
X
-
X
-
X
-
Connection Cable for CNUSR
SSCNET Cable
Note 1: SolidWorks® is a registered trademark of SolidWorks Corporation (USA)
18
Functional Specification
Controller CR-750 part number as shown is 7m.
Add -15 for 15m length option
Controller CR-751 Part number as shown is 7m.
Add -15 for 15m length option
32 input/output points (12/24VDC: 0.1A/1 point)
32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Device side connection cable for 2A-RZ361/371. (Flying leads
on device side) 5m and 15m lengths (2A-CBL05 / 2A-CBL15)
Communication cable to connect from robot controller to
2A-RZ361/371. Available in 5m and 15m lengths
DC power cable to connect from robot controller to
2A-RZ361/371. Available in 05m and 15m lengths
32 input/output points (12/24VDC: 0.1A/1 point)
32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Device side connection cable for 2D-TZ368/378. (Flying leads on
device side) 5m and 15m lengths (2D-CBL05 / 2D-CBL15)
Memory expansion for D Series controllers
CC-Link interface card for D Series controllers
Version 2.0, 1 to 4 stations
DeviceNet interface card for D Series controllers
Ethernet interface card for D Series controllers
PROFINET interface card for D Series controllers
Profibus interface card for D Series controllers
Force sensor, interface module, power supply and
connection cables
MELFA terminal block and connection cable for the CNUSR
connections on CR750/751 controllers
Connection cable for the CNUSR port on CR750/751 controllers
with an end prepared for connection to terminal block
MR-TB50MIN. Available in 1m, 3m, 5m lengths
_ refers to cable length
Connection cable for the CNUSR port on CR750/751 controllers
with flying leads on device side. Available in 1m, 3m, 5m lengths
_ refers to cable length
50 point, 3 level, din rail mountable terminal block
Replacement AC power cable for CR751 controllers. 10m length
Connector prepared on controller side with flying leads on the
other end.
Allows the input of a single encoder to be sent to a maximum of
4 devices
Conversion adapter to connect the CR-751 controller to R32TB/
R56TB (3M cable length)
Conversion adapter to connect the CR-751 controller to R32TB/
R56TB
Safety monitoring system for CR-750/CR-751 controllers.
Supports STO, SS1, SLS, SLP, STR modes. Connections
available for safety rated inputs and outputs (Requires
RT-Toolbox 2 for programming and setup. Customer supplied
external safety devices may be required for some modes.)
Safety IO signal box for R32TB/R56TB. Allows access to teach
pendant safety signals.
iQ CPU to amplifier connection cable set. (Replacement/Custom
length) Includes: TU, DISP, EMI, and SSCNET;
_ _ = 02, 05, 20, 30 meter cable length
Robot CPU-TU communication cable for iQ
_ _ = 05, 20, 30 meter length (Replacement/Custom length)
Robot CPU-DISP communication cable for iQ
_ _ = 05, 20, 30 meter length (Replacement/Custom length)
CPU to Amp emergency stop input cable for iQ
_ _ = 05, 20, 30 meter cable length (Replacement/Custom length)
SSCNET to Amp cable for iQ; _ = 05, 20 meter cable length.
(Replacement/Custom length)
SSCNET to Amp cable for iQ 30m (Replacement)
F Series Robots
Controller Options for RVF and RHF Series (continued)
Name
Type
CR750
Q Type
D Type
CR751
Q Type
D Type
CR760
Q Type
D Type
PC Programming and Simulation
Software
RT-TOOLBOX3-C1
X
X
X
X
X
X
3D Simulation Software for
Solidworks (MELFA-Works)
RT-TOOLBOX3PRO-C1
X
X
X
X
X
X
Canon 3D Vision System
RV-_00-3DVS
X
X
X
X
X
X
Canon 3D Vision Software Option
RV-OPU0_
X
X
X
X
X
X
Functional Specification
Software that facilitates the programming and 3D
simulation of Mitsubishi robots. Legacy support for all
versions of MELFA Basic and Movemaster languages.
Add-in software for Solidworks® (*1) that enables the
programming and simulation of Mitsubishi robots within
Solidworks®. (Includes full version of RT-Toolbox3)
3D vision system to locate trained parts in 3D space and
guide a robot to pick them. Provides bin collision avoidance
and part interference checking. (Requires 3D CAD model
of part and robot tooling.) _ corresponds to field of view:
3=340x340x100 / 5=540x540x200 / 10=1160x1160X600.
Calibration jigs and PC not included
Software option to provide additional functionality to Canon
3DVS
1: Enables system to accommodate slide mounting
2: Dictionary creation and transfer via 2nd PC
3: Batch recognition & multi-pallet handling
4: Consecutive recognition checking
5: Partial work piece recognition
_corresponds to option selected
Multifunctional Electric Hand Option
Cam Type
Model Number
Gripping
Force
4F-MEHGR-02
4F-MEHGR-03
4F-MEHGR-01
Max. Continuous Rating [N]
6
22
5
Minimum Setting [%] (N)
30 (1.8)
30 (6.6)
1.5
Resolution [%] (N)
1 (0.06)
1 (0.22)
1 (0.05)
7.6
14.3
3.2
Max (Rating) [mm/sec]
100
100
100
Min. Setting [%] (mm/sec)
20 (20)
20 (20)
20 (20)
Resolution [%] (mm/sec)
1 (1)
1 (1)
1 (1)
Constant-Speed Move and Grip (max) [%]
50
50
50
Repeatability [mm]
±0.02
±0.02
±0.02
Max. Mass (1 Pair)) [g]
15
30
10
Allowable Load [N]
450
350
12
Allowable Pitching Moment [N•m]
0.7
0.5
0.04
Allowable Yawing Moment [N•m]
0.8
0.6
0.04
Allowable Rolling Moment [N•m]
2.3
2.8
0.08
Max. Gripping Point [mm]
20
20
20
Max. Overhang [mm]
20
25
20
0.22
0.05
300
90
Open/Close Stroke [mm]
Speed
Position
Finger
Guide Structure
Linear guide
Max. Overhang (kg)
0.06
Operating Temperature Range [°C]
0 to 40
Operating Humidity Range [%]
RH35 to 90
Operating Storage Temperature [°C]
-10 to +60
Weight [g]
160
Mitsubishi Electric Automation
|
Robots 19
n ROBOTS
F Series Robots
Multifunctional Electric Hand Option (continued)
Screw Type
Model Number
Gripping
Force
4F-MEHGR-02
Max. Continuous Rating [N]
150
Minimum Setting [%] (N)
30 (45)
Resolution [%] (N)
1 (1.5)
Open/Close Stroke [mm]
Speed
Position
Finger
38
Max (Rating) [mm/sec]
50
Min. Setting [%] (mm/sec)
20 (10)
Resolution [%] (mm/sec)
1 (0.5)
Constant-Speed Move and Grip (max) [%]
50
Repeatability [mm]
±0.01
Max. Mass (1 pair) [g]
80
Allowable Load [N]
1300
Allowable Pitching Moment [N•m]
5
Allowable Yawing Moment [N•m]
6
Allowable Rolling Moment [N•m]
12.7
Max. Gripping Point [mm]
30
Max. Overhang [mm]
20
Guide Structure
Linear guide
Max. Overhang (kg)
1.5
Operating Temperature Range [°C]
0 to 40
Operating Humidity Range [%]
RH35 to 90
Operating Storage Temperature [°C]
-10 to +60
Weight [g]
890
3-Finger Single Cam Type
Model Number
Gripping
Force
4F-MEHGR-05
Max. Continuous Rating [N]
2
Minimum Setting [%] (N)
30 (0.6)
Resolution [%] (N)
1 (0.02)
Open/Close Stroke [mm]
Speed
Position
Finger
13
Max (Rating) [mm/sec]
100
Min. Setting [%] (mm/sec)
20 (20)
Resolution [%] (mm/sec)
1 (1)
Constant-Speed Move and Grip (max) [%]
50
Repeatability [mm]
±0.03
Max. Mass (1 pair) [g]
20
Allowable Load [N]
20
Allowable Moment [N•m]
0.1
Max. Gripping Point [mm]
20
Guide Structure
Linear guide
Max. Gripping Mass (kg)
0.02
Operating Temperature Range [°C]
0 to 40
Operating Humidity Range [%]
RH35 to 90
Operating Storage Temperature [°C]
-10 to +60
Weight [g]
190
No.
Hand Cable
Model Name in TAIYO
Model Name as our Products
1
Hand cable (RV-4F/7F/13F/20F Series)
ESA-C03-12XW113
4F-MEHCBL-01
2
Hand cable (RH-3FH35/45/5515 & clean specification
Z=120, RH-6FH(M)(C)35/45/5520)
ESA-C13-12XW112
4F-MEHCBL-02
3
Hand cable (RH-6FH(M)(C)35/45/5534)
ESA-C16-12XW112
4F-MEHCBL-03
4
Hand cable (RH-12FH(M)(C)55/70/8535, RH-20FH(M)(C)8535)
ESA-C18-12XW112
4F-MEHCBL-04
5
Hand cable (RH-12FH(M)(C)55/70/8545, RH-20FH(M)(C)10035/45)
ESA-C21-12XW112
4F-MEHCBL-05
20
F Series Robots
Configuration Requirement of the Multi-Function Electric Hand
Electric hand Adapter
RV2F Series
Item
Electric hand
control unit
Quantity Source
Specifications
1
Electric Hand
1
Electric hand used by customers
2
Control Unit for the Electric Hand:
4F-MEHCU-01
1
3
Electric Hand Installation Flange
1
Fabricated by
customers
For attachment of the electric hand to the
robot flange
4
Robot
1
Mitsubishi Electric
Standard specifications
5
Cable Securing Hardware
As
Fabricated by
required customers
Mitsubishi Electric
External wiring
set for the forearm
In-machine cable outlet
Control unit to operate electric hand
Electric hand
Base pa
For securing a cable
RV-2FR attachment diagram
RV-4FR/7FR/3FR/2
RV4F/7F/13F/20F Series (External Wiring)
Item
Remarks
Electric hand used by customers
1
Electric Hand
1
2
Control Unit for the Electric Hand:
4F-MEHCU-02
1
3
Adapter Cable: 4F-MEHCBL-01
1
4
Electric Hand Installation Flange
1
5
Electric Hand Control Unit Installation Stand 1
8
Robot
7
Electric hand
Control unit to operate electric
handunit
control
External wiring
set for the forearm
Interface cable to connect the electric
hand with the control unit/robot
Fabricated by
customers
Electric hand
control unit
Electric hand
Base part
For wiring to the forearm
External Wiring Unit for the Base
1
1F-HA01S-01: When the hand input signal
and Ethernet signal are used together
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
External Wiring Unit for the Forearm
1
1F-HA01S-01: When the hand input signal
and Ethernet signal are used together
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
1
Wrist wiring custom specifications
SH02: When the hand input signal and
vision sensor signal are used together
SH03: When the force sensor signal and
vision sensor signal are used together
Mitsubishi Electric
In-machine cable outlet
For attachment of the electric hand to the
Electric hand
robot flange
Standard specifications
External wiring sets (option) connections
RV-2FR
attachment diagram
at both the forearm
and base
Wrist Wiring Internal-Wiring
Specifications: RV_FRSH02/SH03
9
Mitsubishi Electric
1
Robot, Standard (External Wiring)
Specifications
6
Electric hand Adapter cable
Quantity Source
RV-4FR/7FR/3FR/20FR attachment diagram
RV4F/7F/13F/20F Series (Piping Internal Wiring)
Accessory
Specifications
Possible Hand Configuration
-SH02
-SH03
External Wiring Set
for the Forearm
External Wiring Set
for the Base
Electric Hand + Hand Input Signal
Vision Sensor
-
1F-HA01S-01
Electric Hand; Vision Sensor
Force Sensor
-
1F-HA02S-01
Item
RH3FRH/6FRH/12FRH/20FRH
Series
1
2
Quantity Source
Electric Hand
An external wiring
set for the base is
included with the
internal wiring type
robot
Remarks
Electric hand Adapter cable
Electric hand used by
customers
1
Control Unit for the Electric Hand: 4F-MEHCU-02
Remarks
Hand cable
Electric hand
control unit
Control unit to
External wiring operate electric hand
Electric
1 hand
control unit
Control unit
attachment plate
set for the forearm
Interface cable to
3
4
5
Adapter Cable: Select 1 from Table Below
Electric hand
In-machine cable connect
outlet the electric
control unit
hand with the control
1
4F-MEHCBL-02
(Length: 1300 + 150mm)
RH6FRH(M)(C) 35/45/5534
4F-MEHCBL-03
RV-2FR attachment diagram
(Length: 1600 + 150mm)
RH12FRH(M)(C) 55/70/8535
RH20FRH(M)(C)8535
4F-MEHCBL-04
(Length: 1800 + 150mm)
RH12FRH(M)(C) 55/70/854
4F-MEHCBL-05
(Length: 2100 + 150mm)
Cable Securing Hardware
Electric Hand Installation Flange
unit/robot
Electric hand
RH3FRH35/45/5515
& C Specifications
Z=120 RH6FRH(M)(C)35/45/5520
Mitsubishi Electric
RV-4FR/7FR/3FR/20FR attachment diagram
1
1
Electric hand
Base part
RH-FRH hand attachment diagram
For securing a cable
Fabricated by
customers
For attachment of the
electric hand to the
robot flange
Mitsubishi Electric Automation
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Robots 21
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