Robots.pdf

Mitsubishi Electric Automation | Robots 467

Robots

REACH

PAYLOAD

RH Series4 Axis ModelsPayload: 6 - 20 KGReach: 350 - 1000 mm

RV Series5 & 6 Axis ModelsPayload: 1 - 12 KGReach: 410 - 1385 mm

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 Robotics Overview .........................................................................................................468

RV Series .........................................................................................................................................469

RH Series .........................................................................................................................................472

Controllers .......................................................................................................................................476

System Configuration ......................................................................................................................478

Configuration Options ......................................................................................................................479

Software ...........................................................................................................................................480

Robots

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Mitsubishi Electric’s 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 Robotics Overview

Vertically Articulated (RV)

Model Number RV-2SQRV-2SD

RV-3SQJRV-3SDJ

RV-3SQRV-3SD

RV-6SQRV-6SD

RV-6SQLRV-6SDL

RV-12SQRV-12SD

RV-12SQLRV-12SDL

Number of Axes 6 5 6 6 6 6 6

Maximum Load Capacity (kg) 3 3.5 3.5 6 6 12 12

Maximum Reach Radius (mm) 504 641 642 695 901 1086 1385

Controller (*1) 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 RH-3SQHRRH-3SDHR

RH-6SQH35RH-6SDH35

RH-6SQH45RH-6SDH45

RH-6SQH55RH-6SDH55

RH-12SQH55RH-12SDH55





Number of Axes 4 4 4 4 4 4 4 4 4

Maximum Load Capacity (kg) 3 6 6 6 12 12 12 20 20

Maximum Reach Radius (mm) 350 350 450 550 550 700 850 850 1000

Controller (*1) CR2QA-7_ _, CR2DA-7_ _

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.

• 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

Mitsubishi Robots Feature:


RV-2SQ • RV-2SD Vertical 2kg typeModel Number RV-2SQ-S_ / RV-2SD-S_Stocked Item RV-2SD-S15 is stock. All other models are non-stock.Machine Class StandardProtection Degree IP30Installation Floor type, ceiling type, (wall-mounted type)Structure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motor (J2, J3 and J5: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 3 (2)Arm Length (mm) 230 + 270Maximum Reach Radius (mm) 504

Operating Range (deg)

J1 480 (-240 to +240)J2 240 (-120 to +120)J3 160 (-0 to +160)J4 400 (-200 to +200)J5 240 (-120 to +120)J6 720 (-360 to +360)

Maximum Speed (deg/sec)

J1 225J2 150J3 275J4 412J5 450J6 720

Maximum Composite Speed (mm/sec) Approx. 4400Cycle Time (sec) 0.6-0.7Position Repeatability (mm) ±0.02Ambient Temperature (°C) 0 to 40Weight (kg) 19Tool Wiring Hand: 4 input points / 0 output pointsTool Pneumatic Pipes Primary piping: ø4 x 4 (from base portion to forearm)Machine Cable 5m (connector on both ends)Connected Controller CR1QA-772 / CR1DA-771

RV-3SQJ • RV-3SDJ Vertical 3kg typeModel Number RV-3SQJ-S_ / RV-3SDJ-S_ RV-3SQJ-SM-S_ / RV-3SDJ-SM-S_ RV-3SQJC-S_ / RV-3SDJC-S_Stocked Item - - -Machine Class Standard (oil mist) CleanProtection Degree IP65 Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 5Drive System AC servo motorPosition Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 3.5 (3)Arm Length (mm) 245 + 300Maximum Reach Radius (mm) 641


J1 340 (±170)J2 225 (-90 to +135)J3 237 (-100 to +137)J4 -J5 240 (±120)J6 720 (±360)


J1 250J2 187J3 250J4 -J5 412J6 660

Maximum Composite Speed Approx. 5300Position Repeatability (mm) ±0.02Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 33Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)

Connected Controller CR1QA-731 / CR1DA-731 CR1QA-731 + CR1D-MB / CR1DA-731 + CR1D-MB CR1QA-731 / CR1DA-731

RV Series

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RV-3SQ • RV-3SD Vertical 3kg typeModel Number RV-3SQ-S_ / RV-3SD-S_ RV-3SQ-SM-S_ / RV-3SD-SM-S_ RV-3SQC-S_ / RV-3SDC-S_Stocked Item RV-3SDB-S15 is stock. All other models are non-stock.Machine Class Standard (oil mist) CleanProtection Degree IP65 Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motorPosition Detection Method Absolute encoderMaximum Load Capacity (rating) kg 3.5 (3)Arm Length (mm) 245 + 270Maximum Reach Radius (mm) 642


J1 340 (±170)J2 225 (-90 to +135)J3 191 (-20 to +171)J4 320 (±160)J5 240 (±120)J6 720 (±360)


J1 250J2 187J3 250J4 412J5 412J6 660

Maximum Composite Speed Approx. 5500Position Repeatability (mm) ±0.02Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 37Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)

Connected Controller CR1QA-721 / CR1DA-721 CR1QA-721 + CR1D-MB / CR1DA-721 + CR1D-MB CR1QA-721 / CR1DA-721

RV-6SQ • RV-6SD Vertical 6kg typeModel Number RV-6SQ-S_ / RV-6SD-S_ RV-6SQ-SM6-S_ / RV-6SD-SM6-S_ RV-6SQC-S_ / RV-6SDC-S_Stocked Item RV-6SD-S15 is stock. All other models are non-stock.Machine Class Standard (oil mist) CleanProtection Degree IP65 (J4 to J6), IP54 (J1 to J3) Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motor (with brake on all axes)Position Detection Method Absolute encoderMaximum Load Capacity (rating) kg) 6 (5)Arm Length (mm) 280 + 315Maximum Reach Radius (mm) 695


J1 340 (±170)J2 227 (-92 to +135)J3 273 (-107 to +166)J4 320 (±160)J5 240 (±120)J6 720 (±360)


J1 401J2 321J3 401J4 352J5 450J6 660

Maximum Composite Speed Approx. 9300Cycle Time 0.47Position Repeatability (mm) ±0.02Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 58Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M CR2QA-711 / CR2DA-711


RV-6SQL • RV-6SDL Vertical 6kg typeModel Number RV-6SQL-S_ / RV-6SDL-S_ RV-6SQL-SM6-S_ / RV-6SDL-SM6-S_ RV-6SQLC-S_ / RV-6SDLC-S_Stocked Item RV-6SDL-S15 is stock. All other models are non-stock.Machine Class Standard (oil mist) CleanProtection Degree IP65 (J4 to J6), IP54 (J1 to J3) Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motor (with brake on all axes)Position Detection Method Absolute encoderMaximum Load Capacity (rating) kg 6 (5)Arm Length (mm) 380 + 425Maximum Reach Radius (mm) 902


J1 340 (±170)J2 227 (-92 to +135)J3 295 (-129 to +166)J4 320 (±160)J5 240 (±120)J6 720 (±360)


J1 250J2 267J3 267J4 352J5 450J6 660

Maximum Composite Speed Approx. 8500Cycle Time 0.50Position Repeatability (mm) ±0.02Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 60Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M CR2QA-711 / CR2DA-711

RV-12SQ • RV-12SD Vertical 12kg typeModel Number RV-12SQ-S_ / RV-12SD-S_ RV-12SQ-S300-S_ / RV-12SD-S300-S_ RV-12SQC-S_ / RV-12SDC-S_Stocked Item RV-12SD-S315 is stock. All other models are non-stock.Machine Class Standard (oil mist) CleanProtection Degree IP65 (J4 to J6), IP54 (J1 to J3) Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motor (with brake on all axes)Position Detection Method Absolute encoderMaximum Load Capacity (rating) kg 12 (10)Arm Length (mm) 400 + 530Maximum Reach Radius (mm) 1086


J1 340 (±170)J2 230 (-100 to +130)J3 290 (-130 to +160)J4 320 (±160)J5 240 (±120)J6 720 (±360)


J1 276J2 230J3 267J4 352J5 375J6 660

Maximum Composite Speed Approx. 9600Cycle Time 0.66Position Repeatability (mm) ±0.05Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 93Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø6 x 8Machine Cable 7m (connector on both ends)

Connected Controller CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701 CR3Q-701 / CR2QA-701CR3D-701 / CR2DA-701

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RV-12SQL • RV-12SDL Vertical 12kg typeModel Number RV-12SQL-S_ / RV-12SDL-S_ RV-12SQL-S300-S_ / RV-12SDL-S300-S_ RV-12SQLC-S_ / RV-12SDLC-S_Stocked Item RV-12SDL-S315 is stock. All other models are non-stock.Machine Class Standard (oil mist) CleanProtection Degree IP65 (J4 to J6), IP54 (J1 to J3) Class 10 (0.3μm)Installation Floor type, ceiling type, (wall-mounted type) Floor typeStructure Vertical, multiple-joint typeDegrees of Freedom 6Drive System AC servo motor (with brake on all axes)Position Detection Method Absolute encoderMaximum Load Capacity (rating) kg 12 (10)Arm Length (mm) 560 + 670Maximum Reach Radius (mm) 1385


J1 340 (±170)J2 230 (-100 to +130)J3 290 (-130 to +160)J4 320 (±160)J5 240 (±120)J6 720 (±360)


J1 230J2 172J3 200J4 352J5 375J6 660

Maximum Composite Speed Approx. 9500Cycle Time 0.74Position Repeatability (mm) ±0.05Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 98Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø6 x 8Machine Cable 7m (connector on both ends)

Connected Controller CR3Q-701M / CR3D-701M CR2QA-701 / CR2DA-701 CR3Q-701 / CR2QA-701CR3D-701 / CR2DA-701

RH-3SQHR • RH-3SDHR Horizontal 3kg typeModel Number RH-3SQHR-S_ • RH-3SDHR-S_Stocked Item -Machine Class StandardProtection Degree IP20Installation Ceiling typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (rating) kg 3 (1)

Arm Length (mm)No. 1 Arm 175No. 2 Arm 175

Maximum Reach Radius (No. 1 + No. 2) (mm) 350


J1 Deg. 450 (±225)J2 Deg. 450 (±225)J3 (Z) mm 150 (0 to 150)J4 (ø) Deg 1440 (±720)


J1 Deg/sec 672J2 Deg/sec 708J3 mm/sec 1500J4 Deg/sec 3146

Maximum Composite Speed 6267Cycle Time 0.32

Position Repeatability (mm)X-Y composite mm ±0.01J3 (Z) mm ±0.01J4 (ø) Deg ±0.01

Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 24Tool Wiring Hand: 8 input points / 0 output points, 8 spare lines (8 output points by options)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-781 / CR2DA-781

RH Series


RH-6SQH • RH-6SDH Horizontal 6kg type

Model Number RH-6SQH35_ _-S_RH-6SDH35_ _-S_

RH-6SQH45_ _-S_RH-6SDH45_ _-S_

RH-6SQH55_ _-S_RH-6SDH55_ _-S_

RH-6SQH35_ _M-S_RH-6SDH35_ _M-S_



Stocked Item RH-6SDH3520-S15 and RH-6SDH5520-S15 are stock. All other models are non-stock.Machine Class Standard Oil mist proofProtection Degree IP20 IP54Installation Floor typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 6

Arm Length (mm)No. 1 Arm 125 225 325 125 225 325No. 2 Arm 225

Maximum Reach Radius (No. 1 + No. 2) (mm) 350 450 550 350 450 550


J1 Deg. 254 (±127)J2 Deg. 274 (±137) 290 (±145) 274 (±137) 290 (±145)J3 (Z) mm 200 (97 to 297)/320 (-23 to 297) 170 (97 to 267)/270 (-23 to 247)J4 (ø) Deg 720 (±360)



Maximum Composite Speed mm/sec 6473 (4694) 7128 (5349) 7782 (6003) 6473 (4694) 7128 (5349) 7782 (6003)Cycle Time 0.42 0.43 0.42 0.43

Position Repeatability (mm)X-Y Composite mm ±0.02J3 (Z) mm ±0.01J4 (ø) Deg ±0.02

Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 20 Approx. 21 Approx. 20 Approx. 21Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)

Connected Controller CR1QA-761 / CR1DA-761 CR1QA-761 (Protection box (CR1D-MB) included for -SM specification)CR1DA-761 (Protection box (CR1D-MB) included for -SM specification)

RH-6SQH • RH-6SDH continued

Model Number RH-6SQH35_ _C-S_ RH-6SDH35_ _C-S_

RH-6SQH45_ _C-S_ RH-6SDH45_ _C-S_


Stocked Item -Machine Class CleanProtection Degree Class 10 (0.3μm)Installation Floor typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 6

Arm Length (mm)No. 1 Arm 125 225 325No. 2 Arm 225

Maximum Reach Radius (No. 1 + No. 2) (mm) 350 450 550


J1 Deg. 254 (±127)J2 Deg. 274 (±137) 290 (±145)J3 (Z) mm 170 (97 to 267)/270 (-23 to 247)J4 (ø) Deg 720 (±360)



Maximum Composite Speed 6473 (4694) 7128 (5349) 7782 (6003)Cycle Time 0.42 0.43


Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 20 Approx. 21Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8Machine Cable 5m (connector on both ends)Connected Controller CR1QA-761 / CR1DA-761

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Model Number RH-12SQH55_ _-S_ RH-12SDH55_ _-S_

RH-12SQH70_ _-S_ RH-12SDH70_ _-S_

RH-12SQH85_ _-S_ RH-12SDH85_ _-S_

RH-12SQH55_ _M-S_ RH-12SDH55_ _M-S_



Stocked Item - - - - - -Machine Class Standard Oil mist proofProtection Degree IP20 IP54Installation Floor typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 12

Arm Length (mm)No. 1 Arm 225 375 525 225 375 525No. 2 Arm 325



J1 Deg. 280 (±140)J2 Deg. 290 (±145) 306 (±153) 290 (±145) 306 (±153)J3 (Z) mm 350 (-10 to + 340)/450 (-110 to +340) 300 (-10 to + 290)/400 (-110 to +290)J4 (ø) Deg 720 (±360)


J1 Deg/sec 360 288 360 288J2 Deg/sec 412.5J3 mm/sec 1300J4 Deg/sec 1500

Maximum Composite Speed mm/sec 10555 (5796) 11498 (6738) 11221 (6612) 10555 (5796) 11498 (6738) 11221 (6612)Cycle Time 0.43 0.44 0.45 0.43 0.44 0.45

Position Repeatability (mm)X-Y Composite mm ±0.02 ±0.025 ±0.02 ±0.025J3 (Z) mm ±0.01J4 (ø) Deg ±0.03

Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 41 Approx. 43 Approx. 45 Approx. 41 Approx. 43 Approx. 45Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø6 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-741 / CR2DA-741

RH-12SQH • RH-12SDH continuedModel Number RH-12SQH55_ _C-S_

RH-12SDH55_ _C-S_RH-12SQH70_ _C-S_ RH-12SDH70_ _C-S_


Stocked Item - - -Machine Class CleanProtection Degree Class 10 (0.3μm)Installation Floor typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 12

Arm Length (mm)No. 1 Arm 225 375 525No. 2 Arm 325

Maximum Reach Radius (No. 1 + No. 2) (mm) 550 700 850


J1 Deg. 280 (±140)J2 Deg. 290 (±145) 306 (±153)J3 (Z) mm 300 (-10 to + 290)/400 (-110 to +290)J4 (ø) Deg 720 (±360)


J1 Deg/sec 360 288J2 Deg/sec 412.5J3 mm/sec 1300J4 Deg/sec 1500

Maximum Composite Speed 10555 (5796) 11498 (6738) 11221 (6612)Cycle Time 0.42 0.44 0.45

Position Repeatability (mm)X-Y Composite mm ±0.02 ±0.025J3 (Z) mm ±0.01J4 (ø) Deg ±0.03

Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 41 Approx. 43 Approx. 45Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø6 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-741 / CR2DA-741



Model Number RH-20SQH85_ _-S_ RH-20SDH85_ _-S_

RH-20SQH100_ _-S_ RH-20SDH100_ _-S_


RH-20SQH100_ _M-S_ RH-20SDH100_ _M-S_


RH-20SQH100_ _C-S_ RH-20SDH100_ _C-S_

Stocked Item - - - - - -Machine Class Standard Oil mist proof CleanProtection Degree IP20 IP54 Class 10 (0.3μm)Installation Floor typeStructure Horizontal, multiple-joint typeDegrees of Freedom 4Drive System AC servo motor (J1, J2 and J4: with no brake, J3: with brake)Position Detection Method Absolute encoderMaximum Load Capacity (Rating) kg 20

Arm Length (mm)No. 1 Arm 525No. 2 Arm 325 475 325 475 325 475



J1 Deg. 280 (±140)J2 Deg. 306 (±153)J3 (Z) mm 350 (-10 to +340)/450 (-110 to +340) 300 (-10 to +290)/380 (-110 to +270)J4 (ø) Deg 720 (±360)


J1 Deg/sec 288J2 Deg/sec 412.5J3 mm/sec 1200J4 Deg/sec 1500

Maximum Composite Speed mm/sec 11221 (6612) 13055 (8446) 11221 (6612) 13055 (8446) 11221 (6612) 13055 (8446)Cycle Time 0.46 0.57 0.46 0.57 0.46 0.57


Ambient Temperature (°C) 0 to 40Weight (kg) Approx. 47 Approx. 51 Approx. 47 Approx. 51 Approx. 47 Approx. 51Tool Wiring Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²)Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø6 x 8Machine Cable 5m (connector on both ends)Connected Controller CR2QA-751 / CR2DA-751

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Model Number 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

Stocked Item Included with Robot part numbersRobot CPU Q172DRCPU

Drive Unit DU1A-771 DU1A-721 DU1A-731 DU2A-711 DU2A-701 DU3-701M DU3-711M

Path Control Method PTP control and CP controlNumber of Axes Controlled 6 axes 5 axes 6 axesRobot Language MELFA-BASIC V or MELFA-BASIC IVPosition Teaching Method Teaching method, MDI method

Memory CapacityNumber of Teaching Points 13,000Number of Steps 26,000Number of Programs (Unit) 256

External Input/Output (Points)

General-Purpose I/O 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)

Dedicated I/O SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/OSpecial Stop Input 1Hand Open/Close 4 input/0 output 8 input / 0 output Emergency Stop Input 1 (redundant)Door Switch Input 1 (redundant)Enabling Device Input 1 (redundant)Emergency Stop Output 1 (redundant)Mode Output 1 (redundant)Robot Error Output 1 (redundant)Sync.of Additional Axes 1 (redundant)

Interface

RS-232 SQ Series: -; SD Series: 1 (for the extension of a personal computer, vision sensor, etc.)RS-422 1 (Teaching pendant: dedicated T/B)

Ethernet SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX

USB 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)

Hand Dedicated Slot 1 (dedicated for pneumatic hand interface)Key Switch Interface (Points) SQ: 1; SD: - -Additional-Axis Interface 1 (SSCNET III)Tracking Interface SQ Series: Q173DPX (sold separately); SD Series: 1Memory Slot SQ Series: -; SD Series: 1Extension Slot SQ Series: -; SD Series: 1 SQ Series: -; SD Series: 3

Ambient Temperature (°C) 0 to 40Relative Humidity (%RH) SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85

Power SupplyInput Voltage Range (V) 3-phase AC180 to 253Power Capacity kVA 0.5 1.0 2.0 3.0

External Dimensions (including legs) mm (W x D x H)

240 x 290 x 200 (ex-cluding protrusions) 240 x 290 x 200 470 x 400 x 200 450 x 440 x 625

Weight (kg) Approx. 9 Approx. 21 Approx. 60

Structure (Protective Specification) Self-contained floor type/open structure [IP20]Self-contained floor type/sealed structure [IP54]

Grounding Ω 100 or less (class D grounding)

Controller configuration

Robot CPUQ172DRCPU

MR-J3

Controller

+USB

communication

Ethernet

Robot CPU

Drive unit

Additional axis function

SSCNET III (optical communications)

CRnD-7xxController

Encoder input function USB communication

Ethernet

Additional axis function

SSCNET III (optical communications)

Pulse encoder

MR-J3

A variety of interfaces are available as standard.

SQ Series SD SeriesControllers


Unit Type

Base

High-speed standard base between multiple CPU •Q38DB:8slots •Q312DB:12slots

Power Supply 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 •Q100UDEHCPU

Multiple CPU Environment

Model Number 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

Stocked Item Included with Robot part numbersRobot CPU Q172DRCPU

Drive Unit DU3-701 DU1A-761 DU2A-781 DU2A-741 DU2A-751

DU3-741M DU3-751M

Path Control Method PTP control and CP controlNumber of Axes Controlled 6 axes 4 axesRobot Language MELFA-BASIC V or MELFA-BASIC IVPosition Teaching Method Teaching method, MDI method

Memory CapacityNumber of Teaching Points 13,000Number of Steps 26,000Number of Programs (Unit) 256

External Input/Output (Points)

General-Purpose I/O 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)

Dedicated I/O SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/OSpecial Stop Input 1Hand Open/Close 8 input / 0 output Emergency Stop Input 1 (redundant)Door Switch Input 1 (redundant)Enabling Device Input 1 (redundant)Emergency Stop Output 1 (redundant)Mode Output 1 (redundant)Robot Error Output 1 (redundant)Sync.of Additional Axes 1 (redundant)

Interface

RS-232 1 (for the extension of a personal computer, vision sensor, etc.)RS-422 1 (Teaching pendant: dedicated T/B)

Ethernet SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX

USB 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)

Hand Dedicated Slot 1 (dedicated for pneumatic hand interface)Key Switch Interface (Points) -

Additional-Axis Interface 1 (SSCNET III)Tracking Interface SQ Series: Q173DPX (sold separately); SD Series: 1Memory Slot SQ Series: -; SD Series: 1

Extension Slot SQ Series: -; SD Series: 3

SQ Series: -; SD Series: 1

SQ Series: -; SD Series: 3

Ambient Temperature (°C) 0 to 40Relative Humidity (%RH) SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85

Power SupplyInput Voltage Range (V) 3-phase AC180 to 253Power Capacity kVA 3.0 1.0 2.0 3.0

External Dimensions (including legs) mm (W x D x H) 450 x 380 x 625 240 x 290 x 200 470 x 400 x 200 450 x 440 x 625

Weight (kg) Approx. 60 Approx. 9 Approx. 21 Approx. 60

Structure (Protective Specification) Self-contained floor type/open structure [IP20]Self-contained floor type/sealed structure [IP54]

Grounding Ω 100 or less (class D grounding)

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Hand curl tube(Optional)

Hand input cable(Optional)

Robot

<Equipment of standard configuration>USB cable

Tracking function

Q173DPX

Pulse encoder

Robot CPU

Connection cable between robotCPU and DU

Drive unit

Controller

Hand output cable(Optional)

Solenoid valve set(Optional)

Pneumatic handinterface(Optional)

iQ Platform Programmablecontroller Note 1)

Vision camera Note 4)

(Optional)

■ Connection withperipheral devices

Note 2)

Note 5)

Note 3)

RT ToolBox2PC support software(Optional)

GOT

Servo amplifier

NC

Machine cable

Teaching pendant(Optional)

Personal computer

<Shipping special specifications>

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

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Robot arm (oil mist proof)Robot arm (clean)Machine cable extensionConnection cable extensionbetween robot CPU and DU

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.

SQ Series (Example of RV-6SQL)

System Configuration

Hand curl tube(Optional)

Hand input cable(Optional)

Robot

Equipment of standard configuration

Tracking function

Personal computer cable(Optional)

Controller

Controller protection box(Optional)

Hand output cable(Optional)

Solenoid valve set(Optional)

Parallel I/O unit

Parallel I/O interface

Pneumatic handinterface

Ethernet

Vision camera

■ Connection withperipheral devices

(*1)

External I/Ointerface

CC-Link interface

RT ToolBox2PC support software

(Optional)

External I/O cable

GOT

Programmablecontroller

Servo amplifier

NC

Machine cable

Teaching pendant(Optional) Personal computer

(*2)Shipping special specifications

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

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●

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

)

P l t

Ethernet I/Pinterface

Additionalmemory

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

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.


Configuration Options

Classification Name Model Number

RV RH

Functional Specification2SQ 2SD

3SQ 3SQJ 3SD 3SDJ

6SQ 6SQL 6SD 6SDL

12SQ 12SQL 12SD 12SDL

3SQHR 3SDHR

6SQH 6SDH

12SQH 20SQH 12SDH 20SDH

Robot Arm

Solenoid Valve Set

1S-VD0_-01 (sink) 1S-VD0_E-01 (source) - - - X - - -

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

1S-VD0_-02 (sink) 1S-VD0_E-02 (source) - X X - - - -

1S-VD0_M-03 (sink) 1S-VD0_ME-03 (source) - - - - - - X

1S-VD0_M-04 (sink) 1S-VD0_ME-04 (source) - - - - - X -

1S-VD0_-05 (sink) 1S-VD0_E-05 (source) - - - - X - -

1E-VD0_ (sink) X - - - - - -

Hand Output Cable1S-GR35S-01 - X X X - - - 4 valves connected type with one end not

treated. 2 valves connected type with one end not treated for RV-2SQ/2SD

1S-GR35S-02 - - - - X X X1E-GR35S X - - - - - X

Hand Input Cable

1S-HC25C-01 - X X X - - -8-point type with splash-proof grommet 4 valves connected type with one end not treated for RV-2SQ/2SD

1S-HC35C-02 - - - - - X X1S-HC30C-11 X - - - - - -1S-HC00S-01 - - - - X - -

Hand (Curl) Tube

1N-ST060_C - - - X - - - ø4 tube for RV-3SQ/SD, RV-6SQ/SD, RH-6SQ/SD ø6 tube for RV-12SQ/SD, RH-12SQH/SDH_ indicates the number of sets. (4, 2, 6, 8 sets) ø4 tube for RV-2SQ/2SD, the number of sets is 2 or 4

1E-ST040_C X X X - - - -

1E-ST0408C-300 - - - - - X -

1N-ST0608C - - - - - - X

1S-ST0304S - - - - X - -

Stopper for Changing J1-Axis Operating Range

1S-DH-01 - - - X - - -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 customer’s responsibility

1S-DH-02 - - X - - - -1S-DH-03 - X - - - - -1S-DH-11J1 X - - - - - -1S-DH-05J1 - - - - X - -


1S-DH-11J2 X - - - - - - Change angle of 2SQ/SD (±30) Installation is the customer’s responsibility1S-DH-05J2 - - - - X - -


1S-DH-11J3 X - - - - - -Change angle of 2SQ/SD (+70) Installation is the customer’s responsibility

Machine Cable (Replaced with Shorter Cable)

1S-02UCBL-03 - X - - - X - 2m (A 2m cable is supplied instead of the 5m cable that is supplied as standard) Special Specification

1S-02CBL-1 - - X - - - -1S-02UCBL-01 - - - - X - X

Machine Cable, For Extension/Fixed

1S-_ _CBL-01 - - 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

1S-_ _CBL-03 - X - - - X -1S-_ _CBL-11 X - - - - - -

Machine Cable, For Extension/Flexible

1S-_ _LCBL-01 - - X X X - X1S-_ _LCBL-03 - X - - - X -1S-_ _LCBL-11 X - - - - - -

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Classification Name Type SQ SD Functional Specification

Controller

Standard Teaching Pendant (7m, 15m) R32TB(-_ _) X X 7m: Standard / 15m: Custom (“-15” is specified in the model name)Enhanced Teaching Pendant (7m, 15m) R56TB(-_ _) X X 7m: Standard / 15m: Custom (“-15” is specified in the model name)Pneumatic Hand Interface (Sink Type) 2A-RZ365 X X 8 output points, used exclusively for hand 24VDC 0.1A/1 point

Pneumatic Hand Interface (Source Type) 2A-RZ375 X X 8 output points, used exclusively for hand 24VDC 0.1A/1 point

Remote I/O Unit (Sink Type) 2A-RZ361 X X 32 input/output points (12/24VDC: 0.1A/1 point)Remote I/O Unit (source Type) 2A-RZ371 X X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)External I/O Cable (5m, 15m) 2A-CBL_ _ - X CBL05: 5m; CBL15: 15m. One end not treated, for 2A-RZ361/371Remote I/O Interface (Sink Type) 2D-TZ368 - X 32 input/output points (12/24VDC: 0.1A/1 point)Remote I/O Interface (Source Type) 2D-TZ378 - X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)External I/O Cable (5m, 15m) 2D-CBL_ _ - X CBL05: 5m; CBL15: 15m. One end not treated, for 2D-TZ368/378CC-Link Interface 2D-TZ576 - X CC-Link intelligent device station, Version 2.0, 1 to 4 stationsEthernet I/P Interface 2D-TZ600EIP - X Ethernet I/P option to connect SD Series robots to PLCs

Key Switch Extension Cable 2D-KEY-CBL_ _M X -Key switch which can be connected to the key switch interface. (For CR1QA-772)_ _ indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m

TB Extension Cable 2D-EXTB-CBL_ _M X X Cable is extended by connecting it to the teaching pendant. _ _indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m

Additional Memory 2D-TZ454 - X User program area with additional memory: 2MB (SD series only)

Controller Protection Box (*1) CR1D-MB X X Built-in CR1QA-7XX/CR1DA-7XX for improving dust-proof properties.PC Support Software 3D-11C-WINJ X X With simulation function (CD-ROM)Lite Version of PC Support Software 3D-12C-WINJ X X Lite version (CD-ROM)Personal Computer Cable 2D-232CBL03M - X RS-232 cable for PC-AT compatible machine, 3m

Network Vision Sensor (MELFA-Vision) 3D-51C-WINJ X X Pattern matching/Blob/Edge/Bar code/Text comparison/Histogram/Color

Simulator (MELFA-Works) 3D-21C-WINJ X X Layout study/Takt time study/Program debug Add-in software for Solidworks® (*2)

Service Part Backup BatteryA6BAT X X Installed in the robot arm (Quantity: Differs according to the machine)Q6BAT X X Installed in the controller (Quantity: 1pc)

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.

RT ToolBox 2

Software

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.

Windows®-compatible• Runs using standard Windows® operations, making it easy to use.• Compatible with Windows®2000, Windows®XP, and

Windows®Vista.

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.

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.

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.


Program Editing and Debugging FunctionsCreate programs in MELFA BASIC IV, V and MoveMaster languages. Work operations were made more effective and the various editing 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.

Monitor FunctionsThe program execution status and variables, input/output signals, etc. are monitored.

3D ViewerThe 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 FunctionsThis function is for maintenance and includes remote maintenance and position recovery support functions, a parameter management function, etc.

Simulation FunctionsCreated 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-WorksA 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.

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 FunctionYou 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.

IGES DXFTMSTEP STLParasolid® VRMLSAT (ACISR) VDA-FSPro/ENGINEERR Mechanical DesktopCGR (CATIARgraphics) CADKEY®

Unigraphics ViewpointPAR (Solid Edge™) RealityWaveIPT (Autodesk Inventor) HOOPSDWG HCG (Highly compressed graphics)

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

RT-ToolBox (mini)SolidWorks®MELFA-Works

Loading of Part Data from Peripheral Devices and RearrangementPart 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.

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

Handling of WorkpiecesYou can simulate hand signal control using a robot program to handle workpieces.

CAD LinkYou 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.

Offline TeachingYou can teach the robot posture on the screen in advance.

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)

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

Simulation of Robot MovementRobot 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.

Display of Robot Movement PathRobot movement paths can be displayed in space as trace lines.

Interference CheckInterference 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.

Saving of Video DataSimulated movements can be saved to video files (AVI format)

Measurement of Cycle TimesThe cycle time of robot movement can be measured using an easy-to-use function resembling a stopwatch. You can also measure the cycle time of a specified part in a program.

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

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

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

CalibrationPoint 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.

Robots.pdf

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Transcript of Robots.pdf