Robots

Robots

RV Series

5 & 6 Axis Models Payload: 1 - 12 KG Reach: 410 - 1385 mm

REACH

RH Series

4 Axis Models Payload: 6 - 20 KG Reach: 350 - 1000 mm

P A Y L O AD

Mitsubishi Robotics Overview..........................................................................................................468 RV Series..........................................................................................................................................469 RH Series..........................................................................................................................................472 Controllers........................................................................................................................................476 System Configuration.......................................................................................................................478 Configuration Options.......................................................................................................................479 Software............................................................................................................................................480

Stock Product: Stock product is product MEAU makes every effort to have on hand for immediate shipment. There may be instances when we are out of stock due to unexpected large requirements. All stock product will be indicated in this book by an S in the Stocked Item columns/rows. Non-Stock Product: Non-stock product is product supplied on an as-needed basis. Standard lead times of 12 - 16 weeks apply, product is non-returnable and non-cancelable. Product listed as non-stock may change to stock product subject to increases in sales and usage. All non-stock product will be indicated in this book by a dash - in the Stocked Item columns/rows.

Mitsubishi Electric Automation

Robots 467

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Mitsubishi Robotics Overview

Mitsubishi Electrics line of robots covers a wide spectrum of configurations and capacities that are ideal for small to medium robot applications. As part of the Mitsubishi Electric family of world class automation products, Mitsubishi robots integrate directly to complete a single-source automation solution. Quality and reliability have proven to be the standard for Mitsubishi robots which have been globally accepted and performing with maximum up-time since 1980. Mitsubishi robots are built to the meticulous standards that have become synonymous with Mitsubishi Electric. Available in 4, 5, or 6 axis configurations, all units come standard with an impressive list of features and utilities that simplify design and commissioning. MELFA 64 bit RISC processor controllers are compact but robust with great flexibility and communication options. The programming software is very comprehensive in its abilities including, simulation, CAD to program conversion, diagnosis and monitoring.

Mitsubishi Robots Feature:

Payload capacities up to 20 kg General environment ratings to IP65. Oil-mist and clean room models available. AC servo motors with absolute encoders and brakes Internal accessory wiring and piping Superior repeatability and cycle time Conveyor tracking function Simplified vision interface tools Additional axis control Sensorless collision detection Individual axis torque monitoring Load-based acceleration optimization Singularity point control routines Compliance control Multi-tasking program environment Position restoration tool Maintenance forecast function

Vertically Articulated (RV)

Model Number Number of Axes Maximum Load Capacity (kg) Maximum Reach Radius (mm) Controller (*1) RV-2SQ RV-2SD 6 3 504 RV-3SQJ RV-3SDJ 5 3.5 641 RV-3SQ RV-3SD 6 3.5 642 RV-6SQ RV-6SD 6 6 695 RV-6SQL RV-6SDL 6 6 901 RV-12SQ RV-12SD 6 12 1086 RV-12SQL RV-12SDL 6 12 1385

CR1QA-7_ _, CR1DA-7_ _. Protection box included for mist specification (Option specification)

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/ CR3D-7_ _ type for mist specification

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/ CR3D-7_ _ type for mist specification.

Note: 1. 7_ _ in controller type names differ according to the robot arm.

Horizontally Articulated SCARA (RH)

Model Number Number of Axes Maximum Load Capacity (kg) Maximum Reach Radius (mm) Controller (*1) RH-3SQHR RH-3SDHR 4 3 350 CR2QA-7_ _, CR2DA-7_ _ RH-6SQH35 RH-6SDH35 4 6 350 RH-6SQH45 RH-6SDH45 4 6 450 RH-6SQH55 RH-6SDH55 4 6 550 RH-12SQH55 RH-12SDH55 4 12 550 RH-12SQH70 RH-12SDH70 4 12 700 RH-12SQH85 RH-12SDH85 4 12 850 RH-20SQH85 RH-20SDH85 4 20 850 RH-20SQH100 RH-20SDH100 4 20 1000

CR1QA-7_ _, CR1DA-7_ _. Protection box included for mist specification (Option specification)

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/CR3D-7_ _ type for mist specification

Note: 1. 7_ _ in controller type names differ according to the robot arm.

468

RV Series
RV-2SQ RV-2SD
Vertical 2kg type
RV-2SQ-S_ / RV-2SD-S_ RV-2SD-S15 is stock. All other models are non-stock. Standard IP30 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (J2, J3 and J5: with brake) Absolute encoder 3 (2) 230 + 270 504 480 (-240 to +240) 240 (-120 to +120) 160 (-0 to +160) 400 (-200 to +200) 240 (-120 to +120) 720 (-360 to +360) 225 150 275 412 450 720 Approx. 4400 0.6-0.7 0.02 0 to 40 19 Hand: 4 input points / 0 output points Primary piping: 4 x 4 (from base portion to forearm) 5m (connector on both ends) CR1QA-772 / CR1DA-771

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System 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) Cycle Time (sec) Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RV-3SQJ RV-3SDJ

Vertical 3kg type

RV-3SQJ-S_ / RV-3SDJ-S_ RV-3SQJ-SM-S_ / RV-3SDJ-SM-S_ Standard (oil mist) IP65 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 5 AC servo motor Absolute encoder 3.5 (3) 245 + 300 641 340 (170) 225 (-90 to +135) 237 (-100 to +137) 240 (120) 720 (360) 250 187 250 412 660 Approx. 5300 0.02 0 to 40 Approx. 33 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR1QA-731 + CR1D-MB / CR1QA-731 / CR1DA-731 CR1DA-731 + CR1D-MB RV-3SQJC-S_ / RV-3SDJC-S_ Clean Class 10 (0.3m) Floor type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System 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 Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR1QA-731 / CR1DA-731

Mitsubishi Electric Automation

Robots 469

n ROBOTS

RV-3SQ RV-3SD

Vertical 3kg type

RV-3SQ-S_ / RV-3SD-S_ RV-3SQ-SM-S_ / RV-3SD-SM-S_ RV-3SDB-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor Absolute encoder 3.5 (3) 245 + 270 642 340 (170) 225 (-90 to +135) 191 (-20 to +171) 320 (160) 240 (120) 720 (360) 250 187 250 412 412 660 Approx. 5500 0.02 0 to 40 Approx. 37 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR1QA-721 + CR1D-MB / CR1QA-721 / CR1DA-721 CR1DA-721 + CR1D-MB RV-3SQC-S_ / RV-3SDC-S_ Clean Class 10 (0.3m) Floor type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

Operating Range (deg)

Maximum Speed (deg/sec)

Maximum Composite Speed Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR1QA-721 / CR1DA-721

RV-6SQ RV-6SD

Vertical 6kg type

RV-6SQ-S_ / RV-6SD-S_ RV-6SQ-SM6-S_ / RV-6SD-SM6-S_ RV-6SD-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 6 (5) 280 + 315 695 340 (170) 227 (-92 to +135) 273 (-107 to +166) 320 (160) 240 (120) 720 (360) 401 321 401 352 450 660 Approx. 9300 0.47 0.02 0 to 40 Approx. 58 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M RV-6SQC-S_ / RV-6SDC-S_ Clean Class 10 (0.3m) Floor type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System 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 Cycle Time Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR2QA-711 / CR2DA-711

470

RV-6SQL RV-6SDL

Vertical 6kg type

RV-6SQL-S_ / RV-6SDL-S_ RV-6SQL-SM6-S_ / RV-6SDL-SM6-S_ RV-6SDL-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 6 (5) 380 + 425 902 340 (170) 227 (-92 to +135) 295 (-129 to +166) 320 (160) 240 (120) 720 (360) 250 267 267 352 450 660 Approx. 8500 0.50 0.02 0 to 40 Approx. 60 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M RV-6SQLC-S_ / RV-6SDLC-S_ Clean Class 10 (0.3m) Floor type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

Operating Range (deg)

Maximum Speed (deg/sec)

Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR2QA-711 / CR2DA-711

RV-12SQ RV-12SD

Vertical 12kg type

RV-12SQ-S_ / RV-12SD-S_ RV-12SQ-S300-S_ / RV-12SD-S300-S_ RV-12SD-S315 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 12 (10) 400 + 530 1086 340 (170) 230 (-100 to +130) 290 (-130 to +160) 320 (160) 240 (120) 720 (360) 276 230 267 352 375 660 Approx. 9600 0.66 0.05 0 to 40 Approx. 93 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 6 x 8 7m (connector on both ends) CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701 RV-12SQC-S_ / RV-12SDC-S_ Clean Class 10 (0.3m) Floor type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

Operating Range (deg)

Maximum Speed (deg/sec)

Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR3Q-701 / CR2QA-701 CR3D-701 / CR2DA-701

Mitsubishi Electric Automation

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n ROBOTS

RV-12SQL RV-12SDL
Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

Vertical 12kg type

RV-12SQL-S_ / RV-12SDL-S_ RV-12SQL-S300-S_ / RV-12SDL-S300-S_ RV-12SDL-S315 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 12 (10) 560 + 670 1385 340 (170) 230 (-100 to +130) 290 (-130 to +160) 320 (160) 240 (120) 720 (360) 230 172 200 352 375 660 Approx. 9500 0.74 0.05 0 to 40 Approx. 98 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm) Primary: 6 x 2 Secondary: 6 x 8 7m (connector on both ends) CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701 RV-12SQLC-S_ / RV-12SDLC-S_ Clean Class 10 (0.3m) Floor type

Operating Range (deg)

Maximum Speed (deg/sec)

Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

CR3Q-701 / CR2QA-701 CR3D-701 / CR2DA-701

RH Series
RH-3SQHR RH-3SDHR
Horizontal 3kg type
RH-3SQHR-S_ RH-3SDHR-S_ Standard IP20 Ceiling type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 3 (1) 175 175 350 450 (225) 450 (225) 150 (0 to 150) 1440 (720) 672 708 1500 3146 6267 0.32 0.01 0.01 0.01 0 to 40 Approx. 24 Hand: 8 input points / 0 output points, 8 spare lines (8 output points by options) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR2QA-781 / CR2DA-781 Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 () Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed Cycle Time X-Y composite mm Position Repeatability (mm) J3 (Z) mm J4 () Deg Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

472

RH-6SQH RH-6SDH
Model Number

Horizontal 6kg type

RH-6SQH35_ _-S_ RH-6SDH35_ _-S_ RH-6SQH45_ _-S_ RH-6SDH45_ _-S_ RH-6SQH55_ _-S_ RH-6SDH55_ _-S_ RH-6SQH35_ _M-S_ RH-6SQH45_ _M-S_ RH-6SQH55_ _M-S_ RH-6SDH35_ _M-S_ RH-6SDH45_ _M-S_ RH-6SDH55_ _M-S_

Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 () Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 () Deg Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RH-6SDH3520-S15 and RH-6SDH5520-S15 are stock. All other models are non-stock. Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 6 125 225 325 125 225 325 225 350 450 550 350 450 550 254 (127) 274 (137) 290 (145) 274 (137) 290 (145) 200 (97 to 297)/320 (-23 to 297) 170 (97 to 267)/270 (-23 to 247) 720 (360) 375 612 1177 2411 6473 (4694) 7128 (5349) 7782 (6003) 6473 (4694) 7128 (5349) 7782 (6003) 0.42 0.43 0.42 0.43 0.02 0.01 0.02 0 to 40 Approx. 20 Approx. 21 Approx. 20 Approx. 21 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm) Primary: 6 x 2 Secondary: 4 x 8 5m (connector on both ends) CR1QA-761 (Protection box (CR1D-MB) included for -SM specification) CR1QA-761 / CR1DA-761 CR1DA-761 (Protection box (CR1D-MB) included for -SM specification)

RH-6SQH RH-6SDH continued

RH-6SQH35_ _C-S_ RH-6SQH45_ _C-S_ RH-6SDH35_ _C-S_ RH-6SDH45_ _C-S_ Stocked Item Machine Class Clean Protection Degree Class 10 (0.3m) Installation Floor type Structure Horizontal, multiple-joint type Degrees of Freedom 4 Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Position Detection Method Absolute encoder Maximum Load Capacity (Rating) kg 6 No. 1 Arm 125 225 Arm Length (mm) No. 2 Arm 225 Maximum Reach Radius (No. 1 + No. 2) (mm) 350 450 J1 Deg. 254 (127) J2 Deg. 274 (137) 290 (145) Operating Range (deg) J3 (Z) mm 170 (97 to 267)/270 (-23 to 247) J4 () Deg 720 (360) J1 Deg/sec 375 J2 Deg/sec 612 Maximum Speed (deg/sec) J3 mm/sec 1177 J4 Deg/sec 2411 Maximum Composite Speed 6473 (4694) 7128 (5349) Cycle Time 0.42 X-Y Composite mm 0.02 Position Repeatability (mm) J3 (Z) mm 0.01 J4 () Deg 0.02 Ambient Temperature (C) 0 to 40 Weight (kg) Approx. 20 Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm) Tool Pneumatic Pipes Primary: 6 x 2 Secondary: 4 x 8 Machine Cable 5m (connector on both ends) Connected Controller CR1QA-761 / CR1DA-761 Model Number RH-6SQH55_ _C-S_ RH-6SDH55_ _C-S_

325 550

7782 (6003) 0.43

Approx. 21

Mitsubishi Electric Automation

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n ROBOTS

RH-12SQH RH-12SDH
Model Number

Horizontal 12kg type

RH-12SQH55_ _-S_ RH-12SDH55_ _-S_ RH-12SQH70_ _-S_ RH-12SDH70_ _-S_ RH-12SQH85_ _-S_ RH-12SDH85_ _-S_ RH-12SQH55_ _M-S_ RH-12SQH70_ _M-S_ RH-12SQH85_ _M-S_ RH-12SDH55_ _M-S_ RH-12SDH70_ _M-S_ RH-12SDH85_ _M-S_

Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 () Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 () Deg Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 12 225 375 525 225 375 325 550 700 850 550 700 280 (140) 290 (145) 306 (153) 290 (145) 350 (-10 to + 340)/450 (-110 to +340) 300 (-10 to + 290)/400 (-110 to +290) 720 (360) 360 288 360 412.5 1300 1500 10555 (5796) 11498 (6738) 11221 (6612) 10555 (5796) 11498 (6738) 0.43 0.44 0.45 0.43 0.44 0.02 0.025 0.02 0.025 0.01 0.03 0 to 40 Approx. 41 Approx. 43 Approx. 45 Approx. 41 Approx. 43 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm) Primary: 6 x 2 Secondary: 6 x 8 5m (connector on both ends) CR2QA-741 / CR2DA-741

525 850 306 (153)

288

11221 (6612) 0.45

Approx. 45

RH-12SQH RH-12SDH continued

RH-12SQH55_ _C-S_ RH-12SQH70_ _C-S_ RH-12SDH55_ _C-S_ RH-12SDH70_ _C-S_ Stocked Item Machine Class Clean Protection Degree Class 10 (0.3m) Installation Floor type Structure Horizontal, multiple-joint type Degrees of Freedom 4 Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Position Detection Method Absolute encoder Maximum Load Capacity (Rating) kg 12 No. 1 Arm 225 375 Arm Length (mm) No. 2 Arm 325 Maximum Reach Radius (No. 1 + No. 2) (mm) 550 700 J1 Deg. 280 (140) J2 Deg. 290 (145) Operating Range (deg) J3 (Z) mm 300 (-10 to + 290)/400 (-110 to +290) J4 () Deg 720 (360) J1 Deg/sec 360 J2 Deg/sec 412.5 Maximum Speed (deg/sec) J3 mm/sec 1300 J4 Deg/sec 1500 Maximum Composite Speed 10555 (5796) 11498 (6738) Cycle Time 0.42 0.44 X-Y Composite mm 0.02 0.025 Position Repeatability (mm) J3 (Z) mm 0.01 J4 () Deg 0.03 Ambient Temperature (C) 0 to 40 Weight (kg) Approx. 41 Approx. 43 Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm) Tool Pneumatic Pipes Primary: 6 x 2 Secondary: 6 x 8 Machine Cable 5m (connector on both ends) Connected Controller CR2QA-741 / CR2DA-741 Model Number RH-12SQH85_ _C-S_ RH-12SDH85_ _C-S_ -

525 850 306 (153)

288

11221 (6612) 0.45

Approx. 45

474

RH-20SQH RH-20SDH
Model Number

Horizontal 20kg type

RH-20SQH85_ _-S_ RH-20SDH85_ _-S_ RH-20SQH100_ _-S_ RH-20SQH85_ _M-S_ RH-20SQH100_ _M-S_ RH-20SQH85_ _C-S_ RH-20SQH100_ _C-S_ RH-20SDH100_ _-S_ RH-20SDH85_ _M-S_ RH-20SDH100_ _M-S_ RH-20SDH85_ _C-S_ RH-20SDH100_ _C-S_

Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 () Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 () Deg Ambient Temperature (C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 20 525 325 475 325 475 850 1000 850 1000 280 (140) 306 (153) 350 (-10 to +340)/450 (-110 to +340) 300 (-10 to +290)/380 (-110 to +270) 720 (360) 288 412.5 1200 1500 11221 (6612) 13055 (8446) 11221 (6612) 13055 (8446) 0.46 0.57 0.46 0.57 0.025 0.01 0.03 0 to 40 Approx. 47 Approx. 51 Approx. 47 Approx. 51 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm) Primary: 6 x 2 Secondary: 6 x 8 5m (connector on both ends) CR2QA-751 / CR2DA-751

Clean Class 10 (0.3m)

325 850

475 1000

11221 (6612) 0.46

13055 (8446) 0.57

Approx. 47

Approx. 51

Mitsubishi Electric Automation

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Controllers
SQ Series
Controller configuration
Ethernet

SD Series
A variety of interfaces are available as standard.

Robot CPU Q172DRCPU

SSCNET III (optical communications)

MR-J3 Additional axis function

Ethernet

Controller

Robot CPU USB communication Drive unit Encoder input function

CRnD-7xx Controller

USB communication

SSCNET III (optical communications) Additional axis function MR-J3 Pulse encoder

Model Number Stocked Item Robot CPU Drive Unit 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 Special Stop Input Hand Open/Close Emergency Stop Input Door Switch Input Enabling Device Input Emergency Stop Output Mode Output Robot Error Output Sync.of Additional Axes RS-232 RS-422 Ethernet USB Interface Hand Dedicated Slot Key Switch Interface (Points) Additional-Axis Interface Tracking Interface Memory Slot Extension Slot Ambient Temperature (C) Relative Humidity (%RH) Input Voltage Range (V) Power Supply Power Capacity kVA External Dimensions (including legs) mm (W x D x H) Weight (kg) Structure (Protective Specification) Grounding

CR1QA-771 CR1DA-771

CR1QA-721 CR1DA-721

CR1QA-731 CR1DA-731

CR2QA-711 CR2DA-711

CR2QA-701 CR2DA-701

CR3Q-701M CR3Q-711M CR3D-701M CR3D-711M

Included with Robot part numbers Q172DRCPU DU1A-771 DU1A-721 DU1A-731 DU2A-711 DU2A-701 DU3-701M DU3-711M

External Input/ Output (Points)

PTP control and CP control 6 axes 5 axes 6 axes MELFA-BASIC V or MELFA-BASIC IV Teaching method, MDI method 13,000 26,000 256 SQ Series: 8192 input points/8192 output points with the multiple CPU common device SD Series: 0 input/0 output (Up to 256/256 when options are used) SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/O 1 4 input/0 output 8 input / 0 output 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) SQ Series: -; SD Series: 1 (for the extension of a personal computer, vision sensor, etc.) 1 (Teaching pendant: dedicated T/B) SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX SQ Series: 1 (USB port of programmable controller CPU unit (mini B terminal) can be used.); SD Series: 1 (device functions only, mini B terminal) 1 (dedicated for pneumatic hand interface) SQ: 1; SD: 1 (SSCNET III) SQ Series: Q173DPX (sold separately); SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SD Series: 3 0 to 40 SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85 3-phase AC180 to 253 0.5 1.0 2.0 3.0 240 x 290 x 200 (ex240 x 290 x 200 470 x 400 x 200 450 x 440 x 625 cluding protrusions) Approx. 9 Approx. 21 Approx. 60 Self-contained Self-contained floor type/open structure [IP20] floor type/sealed structure [IP54] 100 or less (class D grounding)

476

Model Number Stocked Item Robot CPU Drive Unit 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 Special Stop Input Hand Open/Close Emergency Stop Input Door Switch Input Enabling Device Input Emergency Stop Output Mode Output Robot Error Output Sync.of Additional Axes RS-232 RS-422 Ethernet USB Interface Hand Dedicated Slot Key Switch Interface (Points) Additional-Axis Interface Tracking Interface Memory Slot Extension Slot Ambient Temperature (C) Relative Humidity (%RH) Input Voltage Range (V) Power Supply Power Capacity kVA External Dimensions (including legs) mm (W x D x H) Weight (kg) Structure (Protective Specification) Grounding

CR3Q-701 CR3D-701

CR1QA-761 CR1DA-761

CR2QA-781 CR2DA-781

CR2QA-741 CR2QA-751 CR2DA-741 CR2DA-751

CR3Q-741M CR3Q-751M CR3D-741M CR3D-751M

Included with Robot part numbers Q172DRCPU DU3-701 DU1A-761 DU2A-781 DU2A-741 DU2A-751 DU3-741M DU3-751M

External Input/Output (Points)

PTP control and CP control 6 axes 4 axes MELFA-BASIC V or MELFA-BASIC IV Teaching method, MDI method 13,000 26,000 256 SQ Series: 8192 input points/8192 output points with the multiple CPU common device SD Series: 0 input/0 output (Up to 256/256 when options are used) SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/O 1 8 input / 0 output 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (for the extension of a personal computer, vision sensor, etc.) 1 (Teaching pendant: dedicated T/B) SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX SQ Series: 1 (USB port of programmable controller CPU unit (mini B terminal) can be used.); SD Series: 1 (device functions only, mini B terminal) 1 (dedicated for pneumatic hand interface) 1 (SSCNET III) SQ Series: Q173DPX (sold separately); SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SQ Series: -; SQ Series: -; SD Series: 3 SD Series: 1 SD Series: 3 0 to 40 SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85 3-phase AC180 to 253 3.0 1.0 2.0 450 x 380 x 625 Approx. 60 240 x 290 x 200 Approx. 9 470 x 400 x 200 Approx. 21

3.0 450 x 440 x 625 Approx. 60 Self-contained floor type/sealed structure [IP54]

Self-contained floor type/open structure [IP20] 100 or less (class D grounding)

Multiple CPU Environment

Unit Base Power Supply Type High-speed standard base between multiple CPU Q38DB: 8 slots Q312DB: 12 slots Q61P, Q62P, Q63P, Q64PN 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 Q100UDEHCPU

Programmable Controller CPU

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System Configuration
SQ Series (Example of RV-6SQL)
Pneumatic hand interface Pulse encoder (Optional)

Hand curl tube (Optional)

Hand input cable (Optional)

Connection with peripheral devices

Note 2)

Tracking function Hand output cable (Optional)

Note 5)

Robot CPU Q173DPX Robot Controller Connection cable between robot CPU and DU iQ Platform Programmable controller Note 1) NC

Solenoid valve set (Optional) Machine cable <Equipment of standard configuration> Drive unit

Servo amplifier Vision camera Note 4) (Optional) USB cable

<Shipping special specifications> Note 3)

Some machines have special specifications. For details, refer to specification manuals. Robot arm (oil mist proof) Robot arm (clean) Machine cable extension Connection cable extension between robot CPU and DU RT ToolBox2 PC support software (Optional)

GOT

Teaching pendant (Optional)

Personal computer

Notes: 1. The customer will select each programmable controller unit. For details, refer to the programmable controller manuals, MELFANSweb, etc. 2. Select an appropriate interface according to the I/Os or network function of the peripheral. 3. The equipment configuration is changed prior to shipment from the factory. Since the product is produced by order, check the timeframe for delivery and applicable specifications. 4. A HUB is required for the camera connection. It must be prepared by the customer. 5. A motion unit Q173DPX is required for the pulse encoder connection. It must be prepared by the customer.

SD Series (Example of RV-3SDJ-SM)

Connection with peripheral devices Hand curl tube (Optional) Hand input cable (Optional)
(*1)

Tracking function

Ethernet Pneumatic hand interface Vision camera

Hand output cable (Optional) Controller Robot Machine cable Solenoid valve set (Optional) Additional memory

Parallel I/O unit NC External I/O cable Parallel I/O interface Servo amplifier Equipment of standard configuration Controller protection box (Optional) Personal computer cable (Optional) )
(*2)

External I/O interface CC-Link interface Ethernet I/P interface RT ToolBox2 PC support software GOT Programmable controller

Shipping special specifications

Some machines have special specifications. For details, refer to specification manuals.

Robot arm (oil mist proof) Robot arm (clean) Machine cable extension

Teaching pendant (Optional)

P l computer t Personal

(Optional)

Notes: 1. Select an appropriate interface according to the I/Os or network function of the peripheral. 2. The equipment configuration is changed prior to shipment from the factory. Since the product is produced by order, check the timeframe for delivery and applicable specifications.

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Configuration Options
RV Classification Name Model Number 2SQ 2SD X X X X X X X X X 3SQ 3SQJ 3SD 3SDJ X X X X X X X X 6SQ 6SQL 6SD 6SDL X X X X X X X X 12SQ 12SQL 12SD 12SDL X X X X X X X RH 3SQHR 3SDHR X X X X X X X X X 6SQH 6SDH X X X X X X X 12SQH 20SQH 12SDH 20SDH X X X X X X X X Extension type/Extended length: 5m, 10m, 15m_ indicates the cable length. (5, 10, 15m). Replace type for 2SQ/2SD: 10m, 15m 4 valves connected type with one end not treated. 2 valves connected type with one end not treated for RV-2SQ/2SD 8-point type with splash-proof grommet 4 valves connected type with one end not treated for RV-2SQ/2SD 4 tube for RV-3SQ/SD, RV-6SQ/SD, RH-6SQ/SD 6 tube for RV-12SQ/SD, RH-12SQH/ SDH_ indicates the number of sets. (4, 2, 6, 8 sets) 4 tube for RV-2SQ/2SD, the number of sets is 2 or 4 Change angle of 3SQ/SD (30, 60, 90, 120). Change angle of 6, 12SQ/SD (45, 90, 135). Change angle of 2SQ/SD (90, 150, 210). Installation is the customers responsibility Change angle of 2SQ/SD (30) Installation is the customers responsibility Change angle of 2SQ/SD (+70) Installation is the customers responsibility 2m (A 2m cable is supplied instead of the 5m cable that is supplied as standard) Special Specification Functional Specification

1S-VD0_-01 (sink) 1S-VD0_E-01 (source) 1S-VD0_-02 (sink) 1S-VD0_E-02 (source) Solenoid Valve Set 1S-VD0_M-03 (sink) 1S-VD0_ME-03 (source) 1S-VD0_M-04 (sink) 1S-VD0_ME-04 (source) 1S-VD0_-05 (sink) 1S-VD0_E-05 (source) 1E-VD0_ (sink) 1S-GR35S-01 Hand Output Cable 1S-GR35S-02 1E-GR35S 1S-HC25C-01 Hand Input Cable 1S-HC35C-02 1S-HC30C-11 1S-HC00S-01 1N-ST060_C 1E-ST040_C Hand (Curl) Tube Robot Arm 1E-ST0408C-300 1N-ST0608C 1S-ST0304S 1S-DH-01 Stopper for Changing J1-Axis Operating Range 1S-DH-02 1S-DH-03 1S-DH-11J1 1S-DH-05J1 Stopper for Changing J2-Axis Operating Range Stopper for Changing J3-Axis Operating Range Machine Cable (Replaced with Shorter Cable) Machine Cable, For Extension/Fixed Machine Cable, For Extension/Flexible 1S-DH-11J2 1S-DH-05J2 1S-DH-11J3 1S-02UCBL-03 1S-02CBL-1 1S-02UCBL-01 1S-_ _CBL-01 1S-_ _CBL-03 1S-_ _CBL-11 1S-_ _LCBL-01 1S-_ _LCBL-03 1S-_ _LCBL-11

1 to 4 valves connected: With solenoid valve cable _ indicates the number of solenoid valves connected. (1, 2, 3, 4 valves) Only 1 or 2 valves for RV-2SQ/2SD

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Classification

Name Standard Teaching Pendant (7m, 15m) Enhanced Teaching Pendant (7m, 15m) Pneumatic Hand Interface (Sink Type) Remote I/O Unit (Sink Type) Remote I/O Unit (source Type) External I/O Cable (5m, 15m) Remote I/O Interface (Sink Type) Remote I/O Interface (Source Type) External I/O Cable (5m, 15m) CC-Link Interface Ethernet I/P Interface

Type R32TB(-_ _) R56TB(-_ _) 2A-RZ365 2A-RZ361 2A-RZ371 2A-CBL_ _ 2D-TZ368 2D-TZ378 2D-CBL_ _ 2D-TZ576 2D-TZ600EIP 2D-KEY-CBL_ _M 2D-EXTB-CBL_ _M 2D-TZ454 CR1D-MB 3D-11C-WINJ 3D-12C-WINJ 2D-232CBL03M 3D-51C-WINJ 3D-21C-WINJ A6BAT Q6BAT

SQ X X X X X X X X X X X X X X X

SD X X X X X X X X X X X X X X X X X X X X X X

Functional Specification 7m: Standard / 15m: Custom (-15 is specified in the model name) 7m: Standard / 15m: Custom (-15 is specified in the model name) 8 output points, used exclusively for hand 24VDC 0.1A/1 point 8 output points, used exclusively for hand 24VDC 0.1A/1 point 32 input/output points (12/24VDC: 0.1A/1 point) 32 input/output points (12VDC: 3mA, 24VDC: 7mA) CBL05: 5m; CBL15: 15m. One end not treated, for 2A-RZ361/371 32 input/output points (12/24VDC: 0.1A/1 point) 32 input/output points (12VDC: 3mA, 24VDC: 7mA) CBL05: 5m; CBL15: 15m. One end not treated, for 2D-TZ368/378 CC-Link intelligent device station, Version 2.0, 1 to 4 stations Ethernet I/P option to connect SD Series robots to PLCs Key switch which can be connected to the key switch interface. (For CR1QA-772)_ _ indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m Cable is extended by connecting it to the teaching pendant. _ _indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m User program area with additional memory: 2MB (SD series only) Built-in CR1QA-7XX/CR1DA-7XX for improving dust-proof properties. With simulation function (CD-ROM) Lite version (CD-ROM) RS-232 cable for PC-AT compatible machine, 3m Pattern matching/Blob/Edge/Bar code/Text comparison/Histogram/ Color Layout study/Takt time study/Program debug Add-in software for Solidworks (*2) Installed in the robot arm (Quantity: Differs according to the machine) Installed in the controller (Quantity: 1pc)

Pneumatic Hand Interface (Source Type) 2A-RZ375

Controller Key Switch Extension Cable TB Extension Cable Additional Memory Controller Protection Box (*1) PC Support Software Lite Version of PC Support Software Personal Computer Cable Network Vision Sensor (MELFA-Vision) Simulator (MELFA-Works) Service Part Backup Battery

Notes: 1. It is applicable only for CR1QA-7_ _CR1DA-7_ _. Please consult us at the time of purchase. 2. SolidWorks is a registered tarademark of SolidWorks Corporation.

Software
RT ToolBox 2
Software for program creation and total engineering support. Software for personal computer that supports processes from system startup to debugging and operation, including creation and editing of programs, checking of operating range before installation of robots, takt time estimations, debugging during robot startup, monitoring robot status and malfunctions during operation, etc.

Support for all processes from programming and startup to maintenance

Programming editing is compatible with MELFA-BASIC IV and V and MoveMaster languages. (May vary depending on the model) Robot operations and operating status, input signals, and servo status can be monitored.

Windows-compatible
Runs using standard Windows operations, making it easy to use. Compatible with Windows2000, WindowsXP, and WindowsVista.

Full array of maintenance functions

The program is equipped with the remote maintenance function that notifies users of robot greasing periods and battery life cycles, a position recovery support function for when trouble occurs, etc. and is effective for preventative maintenance and shortening of recovery times. Batch backup can be performed for the entire system using data management by project.

Equipped with simulation functions

Compatible with all models connecting to the CR_-500 series and CR_-700 series controllers. Robots can be operated and takt time calculated using a personal computer. (Not supported in the mini version.) Robot operations and operating status, input signals, and servo status can be monitored.

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Program Editing and Debugging Functions

Monitor Functions

Create programs in MELFA BASIC IV, V and MoveMaster languages. The program execution status and variables, input/output signals, etc. Work operations were made more effective and the various editing are monitored. functions more complete through use of a multi-window format. This is useful for checking operations including the execution of program steps, setting of breakpoints, etc.

3D Viewer
The 3D viewer enables checking of the posture and movement of the robot, verification of limit values for user-defined areas, the arranging of virtual layouts of peripheral parts based on base objects, and other tasks.

Maintenance Functions
This function is for maintenance and includes remote maintenance and position recovery support functions, a parameter management function, etc.

Simulation Functions
Created programs can be executed on a personal computer, enabling operation checks and measurement of tact times for designated parts of a program. This is also effective for preliminary system reviews.

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MELFA-Works
A 3D robot simulator offering powerful support for system design and preliminary review. MELFA-Works makes it possible to run robot simulations on-screen. Programs can be created that match the era of high-mix, low-volume manufacturing, for layout reviews before robots are installed, program debugging on desktop, and production of complex operation pathways. IGES DXFTM STEP STL Parasolid VRML SAT (ACISR) VDA-FS Pro/ENGINEERR Mechanical Desktop CGR (CATIARgraphics) CADKEY Unigraphics Viewpoint PAR (Solid Edge) RealityWave IPT (Autodesk Inventor) HOOPS DWG HCG (Highly compressed graphics)
MELFA-Works SolidWorks
RT-ToolBox (mini)

What is MELFA-Works?
MELFA-Works is an add-in tool (*2) for the 3D CAD software SolidWorks (*1) (hereinafter, SolidWorks). By adding MELFA-Works to your SolidWorks platform, you can add new features to, and extend the existing functions of your current robot simulation system.

Automatic Robot Program Generation Function

You can automatically generate teaching position data and robot operation programs, which are required to operate your robot, by simply loading 3D CAD data (*3) for the applicable works into SolidWorks and then setting processing conditions and areas using MELFA-Works. This function is ideal if you are dealing with workpieces of complex shapes, since you can automate the operations for your system requiring numerous sets of teaching position data.
Notes: 1. SolidWorks is a registered trademark of SolidWorks Corporation (USA). 2. Add-in-tool is a software program that adds specific functions to application software. 3. Formats that can be loaded into SolidWorks

Calibration tool

Loading of Part Data from Peripheral Devices and Rearrangement

Display of Robot Movement Path Interference Check

Part data created in SolidWorks can be loaded. The positions of loaded parts can be rearranged relative to the CAD origin and other parts. The positions of parts can also be changed using numerical input.

Robot movement paths can be displayed in space as trace lines. Interference between the robot and peripheral devices can be checked. A target of interference check can be specified simply by clicking it on the screen. You can also save information explaining the condition of interference that occurred (such as the contacted part, program line that was being executed when the interference occurred, and corresponding robot position), to a log.

Installation of Hands

Hands designed/created in SolidWorks can be installed on robots. An Auto Tool Changer (ATC) can also be specified for each hand.

Handling of Workpieces

You can simulate hand signal control using a robot program to handle workpieces.

Saving of Video Data

Simulated movements can be saved to video files (AVI format)

CAD Link

You can easily create operation data needed to perform sealing and other operations requiring many teaching steps. All you need is to select the target area to be processed from 3D CAD data. Since operation data is created from 3D CAD source data, complex three-dimensional curves can be recreated with ease. This leads to significant reduction in teaching man-hours.

Measurement of Cycle Times

The cycle time of robot movement can be measured using an easy-touse function resembling a stopwatch. You can also measure the cycle time of a specified part in a program.

Robot Program Debugging Functions

Offline Teaching

You can teach the robot posture on the screen in advance.

The following functions are provided to help you debug robot programs. Step operation: A specified program can be executed stepby-step. Breakpoint: Breakpoints can be set in the specified program. Direct execution: Desired robot commands can be executed.

Creation of Robot Programs (template)

You can create a work flow by combining the offline teaching and CAD link functions, and then convert it into a robot program. (MELFA BASIC IV, V format)

Jogging

The robot shown in SolidWorks can be jogged just like you normally jog a robot using a teaching pendant.

Specification of Robot Programs

Traveling Axis

You can directly use the programs you are using with actual robots. You can also specify a different robot program for each task slot.

A traveling axis can be installed to a robot to verify the operation of your system equipped with a traveling axis.

Simulation of Robot Movement

Calibration

Robot programs, including I/O signals, can be simulated. This means that movements of the actual system can be recreated directly and accurately. The following two methods are provided to simulate I/O signals of your robot controller. (1) Create simple definitions of operations associated with I/O signals (2) Link I/O signals with GX Simulator.

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Point sequence data of CAD coordinates created by the CAD link function can be corrected to robot coordinate data. Operation programs and point sequence data can also be transferred to robots. To provide greater convenience for operators who perform calibration frequently on site, the calibration tool is provided as an application independent of MELFA-Works. Accordingly, the calibration tool can be operated effectively on a notebook computer in which SolidWorks software is not installed.