MITSUBISHI

ELECTRIC
FACTORY AUTOMATION

Industrial Robots

EUROPEAN SERVICE GROUP FRANCE UNITED KINGDOM IRELAND SPAIN

MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V.
Gothaer Str.8 25, Boulevard des Bouvets Travellers Lane Irish branch,Westgate Business Carretera de Rubí 76-80
D-40880 RATINGEN F-92741 NANTERRE CEDEX UK-HATFIELD HERTS. AL10 8 XB Park,Ballymount E-08190 SANT CUGAT DEL
Training Hotline: Phone:+ 33 1 55 68 55 68 Phone:+44 (0) 17 07 27 61 00 IRL-DUBLIN 24 VALLÉS
+49 (0) 2102 486 1880 Training: Phone:+ 353 1 41 98 80 0 Phone:+34 93 56 53 13 1
GERMANY +44 (0) 17 07 27 89 16
EUROPEAN MITSUBISHI ELECTRIC EUROPE B.V. ITALY
DEVELOPMENT CENTER Gothaer Str.8 MITSUBISHI ELECTRIC EUROPE B.V.
MITSUBISHI ELECTRIC EUROPE B.V. D-40880 RATINGEN C.D.Colleoni - P.Perseo Ing.2,
Gothaer Str.8 Phone:+49 (0) 1805 000 765 Via Paracelso 12
D-40880 RATINGEN Training:+49 (0) 2102 486 1880 I-20041 AGRATE BRIANZA (MI)
Phone:+ 39 (0)39 / 60 53 1

For more information about our partners across Europe, please visit the contacts page of our internet site at www.mitsubishi-automation.com

MITSUBISHI
ELECTRIC Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
FACTORY AUTOMATION Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-486112 /// [email protected] /// www.mitsubishi-automation.de
Specifications subject to change without notice. /// Art. no. 203684-A /// 01.2007
All tradmarks acknowledged.
 €
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi The robots have hollow shaft
robots have a surprisingly low total cost of ownership motors and transmissions for All the gripper hands of the articu-
at around 1.65/h per hour for both purchasing and maximum rigidity. lated-arm robots conform to the
operation. ISO 9409-1 standard.

Internally-routed cables and

hoses prevent snagging on
peripheral equipment.
The high-precision Harmonic
Drive transmission helps to A powerful range of robots needs an equally powerful
provide exceptional and user-friendly programming interface. Mitsubishi’s
repeatability performance. COSIROP and COSIMIR packages are powerful program-
ming and simulation software tools tailored precisely
for the needs of your robots.
The sensorless crash detection
feature reliably detects and
prevents unexpected
collisions.

Modern automation technology from Mitsubishi Elec-

tric is helping to power technological progress and
business success all over the world. Since 1978,
Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diver-
sity of fields.

A small installation footprint and outstanding reliability

are all key factors for many applications.

Suitable for high-precision com-

ponent placement with repeata-
bility performance of ±0.005 mm
and a cycle period of just 0.28 s. Soft compliance control mode
improves the quality of assem-
bly and joining processes.

The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA
result of market-leading technology combined with robot with parallel structure for
intelligent, carefully-planned design. For example, maximum precision. Network connections like Ethernet and CC-Link make
A very compact design takes up
locating pneumatic and wiring extensions directly in it easy to integrate Mitsubishi robot controllers in to
minimum space for applica-
the robot body reduces wiring complexity and costs. larger systems, providing users with access to every
tions in cramped quarters.
step of the process.

2 3
 €
Calculated on the basis of their average service life,
around 6–7 years in typical applications, Mitsubishi The robots have hollow shaft
robots have a surprisingly low total cost of ownership motors and transmissions for All the gripper hands of the articu-
at around 1.65/h per hour for both purchasing and maximum rigidity. lated-arm robots conform to the
operation. ISO 9409-1 standard.

Internally-routed cables and

hoses prevent snagging on
peripheral equipment.
The high-precision Harmonic
Drive transmission helps to A powerful range of robots needs an equally powerful
provide exceptional and user-friendly programming interface. Mitsubishi’s
repeatability performance. COSIROP and COSIMIR packages are powerful program-
ming and simulation software tools tailored precisely
for the needs of your robots.
The sensorless crash detection
feature reliably detects and
prevents unexpected
collisions.

Modern automation technology from Mitsubishi Elec-

tric is helping to power technological progress and
business success all over the world. Since 1978,
Mitsubishi’s small industrial robots have been
installed in over 30,000 applications in a huge diver-
sity of fields.

A small installation footprint and outstanding reliability

are all key factors for many applications.

Suitable for high-precision com-

ponent placement with repeata-
bility performance of ±0.005 mm
and a cycle period of just 0.28 s. Soft compliance control mode
improves the quality of assem-
bly and joining processes.

The high performance of Mitsubishi’s robots is the The World’s first twin-arm SCARA
result of market-leading technology combined with robot with parallel structure for
intelligent, carefully-planned design. For example, maximum precision. Network connections like Ethernet and CC-Link make
A very compact design takes up
locating pneumatic and wiring extensions directly in it easy to integrate Mitsubishi robot controllers in to
minimum space for applica-
the robot body reduces wiring complexity and costs. larger systems, providing users with access to every
tions in cramped quarters.
step of the process.

2 3
 An electrical gripper or up to two pneu-
matic grippers can be installed to handle
components and workpieces. Pneumatic
hoses are pre-installed in the RV-As robot
arm to facilitate connection of the grippers.

If you need to enlarge the robot workspace,

whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
REACH

Degrees of freedom (axes):

RV-2AJ 5
RV-1A 6
SCARA-Roboter Max. payload:
PAYLOAD RV-2AJ 2 kg
RV-1A 1 kg
Gripper flange reach:
Handling critical liquids in a laboratory application
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
RV-2AJ 482 mm
RV-1A 490 mm
For high-precision positioning tasks Repeatability:
Mitsubishi offers the RP-AH and RH-SH RV-2AJ ±0.02 mm
ranges of SCARA robots with cycle periods RV-1A ±0.02 mm
of less than 1s and positioning accuracy as Max. speed:
precise as 5 µm. The compact design and flexible reach of
RV-2AJ 2,100 mm/s
these 5 and 6 DOF (degrees of freedom) RV-1A 2,200 mm/s
robots makes them a popular choice. They
are ideal for applications where a small, Controller:
compact robot needs to be installed RV-2AJ CR1
directly next to or even in the system it is RV-1A CR1
serving. The RV-A robots are particularly
The MELFA robots are designed from the good at handling, placing and removing
ground up to cater to the needs of virtually small parts. Other applications include
Powerful robots for different applications. all industrial applications, providing the quality control and handling samples in
flexibility you need to reconfigure your medical and other laboratories.
production facilities fast.

MELFA robots have models which have

capabilities such as: The movement axes of the RV-1A robot

쐽 SCARA or articulated-arm construction

The MELFA range of robots includes a great
diversity of types, models and versions. The 쐽 4 to 6 degrees of freedom (axes)
articulated-arm RV-A and RV-S lines include 쐽 Handling payloads from 1 kg to 12 kg
everything from high-performance com-
쐽 Working reaches from 150 mm to
pact models with 1kg payloads to powerful
1,385 mm
models that can handle up to 12 kg

4 5
The RV-2AJ at work in typically cramped quarters
 An electrical gripper or up to two pneu-
matic grippers can be installed to handle
components and workpieces. Pneumatic
hoses are pre-installed in the RV-As robot
arm to facilitate connection of the grippers.

If you need to enlarge the robot workspace,

whilst maintaining compact dimensions,
you can also install these robots on a linear
axis, just like many of the other models.
REACH

Degrees of freedom (axes):

RV-2AJ 5
RV-1A 6
SCARA-Roboter Max. payload:
PAYLOAD RV-2AJ 2 kg
RV-1A 1 kg
Gripper flange reach:
Handling critical liquids in a laboratory application
The MELFA range includes a robot for every application, with a wide selection of versions and power ratings.
RV-2AJ 482 mm
RV-1A 490 mm
For high-precision positioning tasks Repeatability:
Mitsubishi offers the RP-AH and RH-SH RV-2AJ ±0.02 mm
ranges of SCARA robots with cycle periods RV-1A ±0.02 mm
of less than 1s and positioning accuracy as Max. speed:
precise as 5 µm. The compact design and flexible reach of
RV-2AJ 2,100 mm/s
these 5 and 6 DOF (degrees of freedom) RV-1A 2,200 mm/s
robots makes them a popular choice. They
are ideal for applications where a small, Controller:
compact robot needs to be installed RV-2AJ CR1
directly next to or even in the system it is RV-1A CR1
serving. The RV-A robots are particularly
The MELFA robots are designed from the good at handling, placing and removing
ground up to cater to the needs of virtually small parts. Other applications include
Powerful robots for different applications. all industrial applications, providing the quality control and handling samples in
flexibility you need to reconfigure your medical and other laboratories.
production facilities fast.

MELFA robots have models which have

capabilities such as: The movement axes of the RV-1A robot

쐽 SCARA or articulated-arm construction

The MELFA range of robots includes a great
diversity of types, models and versions. The 쐽 4 to 6 degrees of freedom (axes)
articulated-arm RV-A and RV-S lines include 쐽 Handling payloads from 1 kg to 12 kg
everything from high-performance com-
쐽 Working reaches from 150 mm to
pact models with 1kg payloads to powerful
1,385 mm
models that can handle up to 12 kg

4 5
The RV-2AJ at work in typically cramped quarters
 The RV-3S can also control up to 8 addi-
tional axes for easy integration in to work
cells where movement is restricted or
where the processing points are far apart.
Additionally two of these axes can be inter- RV-S robots are driven by the CR2B or CR3
polated, providing greater flexibility to pro- multi-tasking controllers. The ability to
gram the robots movement to avoid connect to any image processing system,
obstacles. The other six axes can be used options for controlling up to 8 additional
for other purposes – for example to install axes and high-speed Ethernet connections
the robot on a linear axis so that it can tra- are just a few of the impressive highlights
verse between two processing points. of these powerful robot controllers. Other
features include conveyor belt tracking,
sensorless crash detection and many other
functions for optimising cycle times.

The RV-3S gives users more flexibility for

planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
not just next to the machine or workstation Heavy payloads of up to 12 kg can be handled with ease
Ideal for operation in tough environments like metal-cutting tools but actually within the machine itself. This
is particularly useful in metal-cutting appli- Degrees of freedom (axes):
cations where the robot may be exposed to 6
fluids and cutting oils. Max. payload:
RV-6S/RV-6SL 6 (5) kg
RV-12SL 12 (10) kg
The RV-3S series robots are designed for Gripper flange reach:
easy integration in existing work cells. For RV-6S 781 mm
example, 32 integrated inputs and outputs RV-6SL 987 mm
permit direct interaction with sensors and RV-12SL 1,482 mm
actuators, reducing cycle periods and mak- Repeatability:
ing system configuration simpler and RV-6S/RV-6SL ±0.02 mm
An RV-S robot in action
easier. RV-12SL ±0.05 mm
Degrees of freedom (axes):
Good communication with other automa- RV-3SB 6 Max. speed:
tion components is naturally essential for RV-3SJB 5 RV-6S 9,300 mm/s
full work cell integration. The RV-3S series Max. payload: RV-6SL 8,500 mm/s
The movement axes of the RV-3SB RV-12SL 9,500 mm/s
supports connection via the three main RV-3SB 3.5 (3) kg The movement axes of the RV-12SL
industry standard networks: Ethernet, RV-3SJB 3.5 (3) kg Controller:
Profibus/DP and CC-Link. Handling payloads of up to 12 kg, over a RV-6S/RV-6SL CR2B
Gripper flange reach: maximum working reach of 1,385 mm the RV-12SL CR3
RV-3SB 727 mm RV-S series provides outstanding precision
RV-3SJB 726 mm and repeatability (±0.05 mm). It is the
Repeatability: ideal choice for handling workpieces in
RV-3SB ±0.02 mm industrial manufacturing applications
RV-3SBJ ±0.02 mm and for daisy-chaining plant compo-
Max. speed: nents. Equipped with the latest technol-
ogy that drastically reduces cycle periods:
RV-3SB 5,500 mm/s
RV-3SJB 5,300 mm/s These new robots can complete the
"12 inch test" in less than a second!
Controller:
RV-3SB CR2B
RV-3SJB CR2B

The RV-3SB at work in an EDM machine

6 7
 The RV-3S can also control up to 8 addi-
tional axes for easy integration in to work
cells where movement is restricted or
where the processing points are far apart.
Additionally two of these axes can be inter- RV-S robots are driven by the CR2B or CR3
polated, providing greater flexibility to pro- multi-tasking controllers. The ability to
gram the robots movement to avoid connect to any image processing system,
obstacles. The other six axes can be used options for controlling up to 8 additional
for other purposes – for example to install axes and high-speed Ethernet connections
the robot on a linear axis so that it can tra- are just a few of the impressive highlights
verse between two processing points. of these powerful robot controllers. Other
features include conveyor belt tracking,
sensorless crash detection and many other
functions for optimising cycle times.

The RV-3S gives users more flexibility for

planning their automation solutions. For
example, the high IP65 ingress protection
rating makes it possible to install the robot
not just next to the machine or workstation Heavy payloads of up to 12 kg can be handled with ease
Ideal for operation in tough environments like metal-cutting tools but actually within the machine itself. This
is particularly useful in metal-cutting appli- Degrees of freedom (axes):
cations where the robot may be exposed to 6
fluids and cutting oils. Max. payload:
RV-6S/RV-6SL 6 (5) kg
RV-12SL 12 (10) kg
The RV-3S series robots are designed for Gripper flange reach:
easy integration in existing work cells. For RV-6S 781 mm
example, 32 integrated inputs and outputs RV-6SL 987 mm
permit direct interaction with sensors and RV-12SL 1,482 mm
actuators, reducing cycle periods and mak- Repeatability:
ing system configuration simpler and RV-6S/RV-6SL ±0.02 mm
An RV-S robot in action
easier. RV-12SL ±0.05 mm
Degrees of freedom (axes):
Good communication with other automa- RV-3SB 6 Max. speed:
tion components is naturally essential for RV-3SJB 5 RV-6S 9,300 mm/s
full work cell integration. The RV-3S series Max. payload: RV-6SL 8,500 mm/s
The movement axes of the RV-3SB RV-12SL 9,500 mm/s
supports connection via the three main RV-3SB 3.5 (3) kg The movement axes of the RV-12SL
industry standard networks: Ethernet, RV-3SJB 3.5 (3) kg Controller:
Profibus/DP and CC-Link. Handling payloads of up to 12 kg, over a RV-6S/RV-6SL CR2B
Gripper flange reach: maximum working reach of 1,385 mm the RV-12SL CR3
RV-3SB 727 mm RV-S series provides outstanding precision
RV-3SJB 726 mm and repeatability (±0.05 mm). It is the
Repeatability: ideal choice for handling workpieces in
RV-3SB ±0.02 mm industrial manufacturing applications
RV-3SBJ ±0.02 mm and for daisy-chaining plant compo-
Max. speed: nents. Equipped with the latest technol-
ogy that drastically reduces cycle periods:
RV-3SB 5,500 mm/s
RV-3SJB 5,300 mm/s These new robots can complete the
"12 inch test" in less than a second!
Controller:
RV-3SB CR2B
RV-3SJB CR2B

The RV-3SB at work in an EDM machine

6 7
 For applications requiring larger payloads
or reaches users can select the RP-3AH and
RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
The sensorless crash detection system 453 mm, respectively.
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals dur-
ing teaching operations. When the func-
tion is activated any contact immediately
stops the robot motion automatically.
The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
placement and soldering of SMD compo-
The solenoid valves for controlling the grip- nents on to circuit boards for many of
per hands are installed on the back of arm today’s electronic consumer good, such as
2. This optimised design minimises tangling mobile phones. These robots are much
and catching of the gripper supply lines more versatile than traditional inflexible
and the surrounding components. automated assembly machines, providing
a significant boost to production efficiency.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
These two SCARA models of the RH-SH
series are powerful robots designed spe-
cially for palletising and assembly tasks. Fast "pick & place" applications – are a major application area for Mitsubishi robots

The robots are fitted with newly-developed

servo motors and step-down transmissions Degrees of freedom (axes):
that enable operation at high speeds with
optimum acceleration and braking perfor- 4
mance. For example, the RH-12SH achieves Max. payload:
speeds that are 18 % faster than compara- RP-1AH 1 kg
ble robots, giving users an easy, flexible, RP-3AH 3 kg
high speed solution. Degrees of freedom (axes): RP-5AH 5 kg
4 Gripper flange reach:
Max. payload: RP-1AH ±0.005 mm
RP-3AH ±0.008 mm
RH-6SH 6 (2) kg RP-5AH ±0.01 mm
RH-12SH 12 (4) kg
Max. speed:
Reichweite Arm: Precise operation in restricted space
RP-1AH 800 mm/s
The movement axes of an RH-SH robot RH-6SH 550 mm RP-3AH 960 mm/s
RH-12SH 850 mm RP-5AH 960 mm/s
Gripper flange reach: Controller:
RH-6SH ±0.02 mm CR1
RH-12SH ±0,025 mm
The movement axes of the RP-AH series
Max. speed:
The RP-1AH is in its element in all applica-
RH-6SH 7,782 mm/s tions where components need to be han-
RH-12SH 11,221 mm/s dled quickly and with precision. With an
Controller: installation footprint of just 200 x 160 mm it
An RH-6SH in a palletising application CR2B has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.

This makes it one of the ultimate “pick &

place” solutions available.

8 9
 For applications requiring larger payloads
or reaches users can select the RP-3AH and
RP-5AH models, which can handle up to
3 kg and 5 kg and have reaches of 335 and
The sensorless crash detection system 453 mm, respectively.
helps to preventing accidental damage, for
example caused by contact between the
vertical ball screw axis and peripherals dur-
ing teaching operations. When the func-
tion is activated any contact immediately
stops the robot motion automatically.
The RP robots’ small size and high precision
make them perfect for micro-handling
applications – for example micro-assembly,
placement and soldering of SMD compo-
The solenoid valves for controlling the grip- nents on to circuit boards for many of
per hands are installed on the back of arm today’s electronic consumer good, such as
2. This optimised design minimises tangling mobile phones. These robots are much
and catching of the gripper supply lines more versatile than traditional inflexible
and the surrounding components. automated assembly machines, providing
a significant boost to production efficiency.
Mass production of similar products like CD-ROMs on a production line
In addition, pneumatic hoses and sensor
cables are routed inside the robot arm for
easier connection of grippers and sensors.
These two SCARA models of the RH-SH
series are powerful robots designed spe-
cially for palletising and assembly tasks. Fast "pick & place" applications – are a major application area for Mitsubishi robots

The robots are fitted with newly-developed

servo motors and step-down transmissions Degrees of freedom (axes):
that enable operation at high speeds with
optimum acceleration and braking perfor- 4
mance. For example, the RH-12SH achieves Max. payload:
speeds that are 18 % faster than compara- RP-1AH 1 kg
ble robots, giving users an easy, flexible, RP-3AH 3 kg
high speed solution. Degrees of freedom (axes): RP-5AH 5 kg
4 Gripper flange reach:
Max. payload: RP-1AH ±0.005 mm
RP-3AH ±0.008 mm
RH-6SH 6 (2) kg RP-5AH ±0.01 mm
RH-12SH 12 (4) kg
Max. speed:
Reichweite Arm: Precise operation in restricted space
RP-1AH 800 mm/s
The movement axes of an RH-SH robot RH-6SH 550 mm RP-3AH 960 mm/s
RH-12SH 850 mm RP-5AH 960 mm/s
Gripper flange reach: Controller:
RH-6SH ±0.02 mm CR1
RH-12SH ±0,025 mm
The movement axes of the RP-AH series
Max. speed:
The RP-1AH is in its element in all applica-
RH-6SH 7,782 mm/s tions where components need to be han-
RH-12SH 11,221 mm/s dled quickly and with precision. With an
Controller: installation footprint of just 200 x 160 mm it
An RH-6SH in a palletising application CR2B has a reach of 236 mm and can place parts,
at speed, with a precision of ±0.005 mm.

This makes it one of the ultimate “pick &

place” solutions available.

8 9
 COSIROP also provides tools for program The COSIMIR® 3-D robot simulation system
archiving and for backing up the robot’s can simulate entire work cells, i.e. systems
parameters and settings. including both the robot itself and its inter-
action with its environment.
Programming a Mitsubishi robot arm is a
lot easier than most people imagine. The In addition to the entire range of Mitsubishi
programming language of the teach pen- robots COSIMIR® also supports a broad
dent is a simple sentence like structure spectrum of automation equipment includ-
with commands such a MOV being used to ing material flow control systems, and a
쐽 Online ”teach-in” function for robot variety of sensors and actuators and so on –
program the robot to move.
positions these are typical automation components
Alternatively, users can also benefit from 쐽 Position display on a 3-D representa- you would use to create production sys-
our advanced programming and simula- Display of a working range tion of the robot tems to meet the needs of your application.
tion software packages Cosirop and 쐽 Syntax checking
Cosimir. These two packages can allow a
robot application to be built and simulated 쐽 I/O monitor
even before any hardware has been pur- 쐽 Variable monitor
chased. 쐽 Online command execution
쐽 Error diagnostics This set of powerful software tools helps
While the programs are being executed you throughout the planning, program-
쐽 Position editor
you can monitor and visualise the robots ming and test phases of your project.
movement with the help of COSIROP’s 쐽 Project management “Reachability” checks in the early planning
comprehensive control and diagnostics stages help you to select the most suitable
functions. The real-time axis speeds and robot systems for the task. You can move
motor currents are clearly displayed, the robots and other work cell components
together with the statuses of all the inputs around in the simulation at will, making it
COSIMIR® industrial simulation software
and outputs of the robot. Live monitoring easy to optimise the layout of your system.
fully supports all the programs executed by
the controller enabling you to track down robot programming languages and all your
program errors quickly and reliably. existing know-how and skills when you are
working with the simulation. The compre-
hensive online help system is always avail-
Easy programming on the spot able when you need support, for example,
with the formulation of the necessary pro-
gramming syntax. After creating your
robot programs you can test them directly
in the simulation environment, eliminating
the need to remove the actual work cell
from the production process for testing.

Program execution monitoring in the simulation

A powerful robot programming language
needs an equally powerful programming
The Model Explorer simplifies object management
environment. The COSIMIR® and COSIROP packages are
powerful tools for achieving maximum effi-
COSIROP is the programming environment Online position definition and motor current monitoring ciency and cost-effectiveness in the config-
for all Mitsubishi robots. It allows you to uration and operation of robot-supported
create robot programs in minutes using the automation solutions. They allow you to
MELFA BASIC IV or MOVEMASTER plan and operate your systems with a very
COMMAND robot programming lan- high degree of confidence, even before any
COSIMIR® uses the native robot languages
guages. After testing and optimising your hardware is purchased.
(MELFA BASIC IV or MOVEMASTER
program you can then transfer the pro-
COMMAND) to program the robots within
gram to the actual robot with a couple of
the simulation environment. This means
mouse clicks, via an efficient direct network
that no additional conversion or process-
or serial link between the PC and the robot.
ing steps are required when you transfer
the resulting programs to real robots. In
addition, this enables you to use familiar

10 11
 COSIROP also provides tools for program The COSIMIR® 3-D robot simulation system
archiving and for backing up the robot’s can simulate entire work cells, i.e. systems
parameters and settings. including both the robot itself and its inter-
action with its environment.
Programming a Mitsubishi robot arm is a
lot easier than most people imagine. The In addition to the entire range of Mitsubishi
programming language of the teach pen- robots COSIMIR® also supports a broad
dent is a simple sentence like structure spectrum of automation equipment includ-
with commands such a MOV being used to ing material flow control systems, and a
쐽 Online ”teach-in” function for robot variety of sensors and actuators and so on –
program the robot to move.
positions these are typical automation components
Alternatively, users can also benefit from 쐽 Position display on a 3-D representa- you would use to create production sys-
our advanced programming and simula- Display of a working range tion of the robot tems to meet the needs of your application.
tion software packages Cosirop and 쐽 Syntax checking
Cosimir. These two packages can allow a
robot application to be built and simulated 쐽 I/O monitor
even before any hardware has been pur- 쐽 Variable monitor
chased. 쐽 Online command execution
쐽 Error diagnostics This set of powerful software tools helps
While the programs are being executed you throughout the planning, program-
쐽 Position editor
you can monitor and visualise the robots ming and test phases of your project.
movement with the help of COSIROP’s 쐽 Project management “Reachability” checks in the early planning
comprehensive control and diagnostics stages help you to select the most suitable
functions. The real-time axis speeds and robot systems for the task. You can move
motor currents are clearly displayed, the robots and other work cell components
together with the statuses of all the inputs around in the simulation at will, making it
COSIMIR® industrial simulation software
and outputs of the robot. Live monitoring easy to optimise the layout of your system.
fully supports all the programs executed by
the controller enabling you to track down robot programming languages and all your
program errors quickly and reliably. existing know-how and skills when you are
working with the simulation. The compre-
hensive online help system is always avail-
Easy programming on the spot able when you need support, for example,
with the formulation of the necessary pro-
gramming syntax. After creating your
robot programs you can test them directly
in the simulation environment, eliminating
the need to remove the actual work cell
from the production process for testing.

Program execution monitoring in the simulation

A powerful robot programming language
needs an equally powerful programming
The Model Explorer simplifies object management
environment. The COSIMIR® and COSIROP packages are
powerful tools for achieving maximum effi-
COSIROP is the programming environment Online position definition and motor current monitoring ciency and cost-effectiveness in the config-
for all Mitsubishi robots. It allows you to uration and operation of robot-supported
create robot programs in minutes using the automation solutions. They allow you to
MELFA BASIC IV or MOVEMASTER plan and operate your systems with a very
COMMAND robot programming lan- high degree of confidence, even before any
COSIMIR® uses the native robot languages
guages. After testing and optimising your hardware is purchased.
(MELFA BASIC IV or MOVEMASTER
program you can then transfer the pro-
COMMAND) to program the robots within
gram to the actual robot with a couple of
the simulation environment. This means
mouse clicks, via an efficient direct network
that no additional conversion or process-
or serial link between the PC and the robot.
ing steps are required when you transfer
the resulting programs to real robots. In
addition, this enables you to use familiar

10 11
 MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments with-
out taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to con-
trol other system components. For exam-
ple, the language instruction set also
includes simple commands for the integra-
tion of cameras for object identification.

Machining/providing

The individual joints and axes of the robots

Sealing a workpiece are powered by high-precision AC servo
motors coupled with play-free Harmonic
For years, Mitsubishi robots have been Drive gears. Absolute position encoders are
fitted to every motor, saving time by Mitsubishi robots are fitted with a standard Festo Didactic, one of the world’s leading
demonstrating the power and productivity
enabling the robot to start work as soon as robot gripper flange so you can attach any suppliers of training applications, has
of their innovative technology in thou- Modern automation technology from
it is powered up. ISO 9404-1 compatible grippers. Cables already been using Mitsubishi robots in its
sands of demanding applications. Mitsubishi Electric is one of the driving
and hoses are routed internally where they training systems for years. Thousands of
cannot snag on peripherals. The sensorless students and trainees have already learned forces behind technical progress and com-
These robots are now in service in virtually
collision detection system enables the robot to appreciate the capabilities of Mitsubishi mercial success all over the world.
all branches of the motor industry and its
to respond to unforeseen collisions. The robots on these systems. Although MELFA robots can be used in
suppliers, and also in medical, education
robots also feature Compliance Control for individual machines and ”island solutions”
and training applications. With their pow-
gentle and responsive handling to improve they really develop their full versatility as
erful controllers they provide cost-effec-
performance in assembly processes. components in integrated systems.
tive, reliable and easily-installable solutions
for everything from simple tool and com- Maximum reliability is always the top prior-
ponent handling tasks to complex applica- 쐽 Fast Configuration
ity for our robots, no matter whether they
tions in which the entire system is The initial setup of a new Mitsubishi robot are used in simple handling operations or
controlled by the robot. system only takes around 5 minutes. The the highly-complex applications of car
easy-to-understand programming language manufacturers and their high-tech suppli-
and powerful, user-friendly software tools ers. Whatever the job, you can always
Applications in limited space make programming and operation child’s depend on the reliability of Mitsubishi
play. robots.
쐽 Universal Expansion Options Other typical applications for these robots
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the A comprehensive range of options and include manipulation of components and
world. It has an installation footprint no expansion cards can be added to adapt your tools, quality control, placement and instal-
larger than an A5 sheet of paper and robot to the precise requirements of your lation of small and miniature parts and
repeatability of ±0.005 mm. This accuracy, environment and application. These include handling tasks in medical and laboratory
combined with a cycle period of just 0.28 s, robot grippers, interface cards for connection Mitsubishi robot in a training application environments.
makes it suitable for use in precise compo- to a wide range of networks, I/O expansion
nent placement applications. modules and much more besides.

12 13
 MELFA robot controllers are equally small
and compact. With dimensions close to
those of a standard PC they can be installed
in the most cramped environments with-
out taking up valuable production space.
Their multitasking operating system and
the powerful MELFA BASIC programming
language make it easy to use them to con-
trol other system components. For exam-
ple, the language instruction set also
includes simple commands for the integra-
tion of cameras for object identification.

Machining/providing

The individual joints and axes of the robots

Sealing a workpiece are powered by high-precision AC servo
motors coupled with play-free Harmonic
For years, Mitsubishi robots have been Drive gears. Absolute position encoders are
fitted to every motor, saving time by Mitsubishi robots are fitted with a standard Festo Didactic, one of the world’s leading
demonstrating the power and productivity
enabling the robot to start work as soon as robot gripper flange so you can attach any suppliers of training applications, has
of their innovative technology in thou- Modern automation technology from
it is powered up. ISO 9404-1 compatible grippers. Cables already been using Mitsubishi robots in its
sands of demanding applications. Mitsubishi Electric is one of the driving
and hoses are routed internally where they training systems for years. Thousands of
cannot snag on peripherals. The sensorless students and trainees have already learned forces behind technical progress and com-
These robots are now in service in virtually
collision detection system enables the robot to appreciate the capabilities of Mitsubishi mercial success all over the world.
all branches of the motor industry and its
to respond to unforeseen collisions. The robots on these systems. Although MELFA robots can be used in
suppliers, and also in medical, education
robots also feature Compliance Control for individual machines and ”island solutions”
and training applications. With their pow-
gentle and responsive handling to improve they really develop their full versatility as
erful controllers they provide cost-effec-
performance in assembly processes. components in integrated systems.
tive, reliable and easily-installable solutions
for everything from simple tool and com- Maximum reliability is always the top prior-
ponent handling tasks to complex applica- 쐽 Fast Configuration
ity for our robots, no matter whether they
tions in which the entire system is The initial setup of a new Mitsubishi robot are used in simple handling operations or
controlled by the robot. system only takes around 5 minutes. The the highly-complex applications of car
easy-to-understand programming language manufacturers and their high-tech suppli-
and powerful, user-friendly software tools ers. Whatever the job, you can always
Applications in limited space make programming and operation child’s depend on the reliability of Mitsubishi
play. robots.
쐽 Universal Expansion Options Other typical applications for these robots
Mitsubishi’s compact, 5-Joint closed link
robot is the only one of its kind in the A comprehensive range of options and include manipulation of components and
world. It has an installation footprint no expansion cards can be added to adapt your tools, quality control, placement and instal-
larger than an A5 sheet of paper and robot to the precise requirements of your lation of small and miniature parts and
repeatability of ±0.005 mm. This accuracy, environment and application. These include handling tasks in medical and laboratory
combined with a cycle period of just 0.28 s, robot grippers, interface cards for connection Mitsubishi robot in a training application environments.
makes it suitable for use in precise compo- to a wide range of networks, I/O expansion
nent placement applications. modules and much more besides.

12 13
 쐽 Digital inputs and outputs
In their standard configurations the CR1 Robots
has 16 digital inputs and 16 digital outputs,
the CR2/CR3 32 digital inputs and 32 digital Motion control and servos
outputs. Optional remote I/O boxes make it
Inverters
possible to increase this to up to 256 inputs LV circuit protection
and 256 outputs for complex applications.

쐽 Large program memory

The controller can store up to 88 independ-
ent programs, all of which can call each Laser machines
other, for example when different program
sequences are needed for different products.

Bildunterschrift

CNC
controllers
Control mode: HMI and GOTs
PTP and CP
Processor:
64 Bit RISC + DSP
Control functions:
EDM machines
Axial, linear and 3-D circular interpolation;
The compact, modular robot controller is This transparent compatibility pays off palletising functions, interrupt control Micro PLCs
an integral part of the robot system. It con- when you need to use different robot types and multitasking Modular PLCs
tains the CPU and the power electronics for or models when the needs of your applica- Max. number of programs: Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
powering and controlling the robot. tion change.
88
쐽 Numbercrunching power Max. number of program steps:
A 64-bit RISC processor with DSP provides 5,000 per programm
ample power for 3-D circular and linear Max. number of teaching points: This is why you can rely on a Mitsubishi
At Mitsubishi Electric ”switchgear cabinets” interpolation, and for multi-tasking with up
are relics of the past – everything is now 2,500 per programm automation solution – because we know
to 32 programs running in parallel. first hand about the need for reliable, effi-
packed into a single compact controller. Internal I/Os: Since its beginnings in 1870, some 45 com-
Depending on the robot model either the cient, easy-to-use automation and control.
쐽 Gentle joining CR1 16 I/16 O, max. 240 I / 240 O panies use the Mitsubishi name, covering a
CR1 controller with a footprint no larger CR2B, CR3 32 I/32 O, max. 256 I / 256 O spectrum of finance, commerce and industry.
The standard ”compliance control” func- As one of the world’s leading companies
than an A4 sheet of paper or the CR2/CR3 Safety functions:
tion guarantees gentle positioning. This with a global turnover of 3.4 trillion Yen
controller is used. The powerful control The Mitsubishi brand name is recognized
function can be activated and deactivated EMERGENCY OFF and door contact switch (approximately $30.8 billion), employing
performance is the same in both the around the world as a symbol of premium
as required, making it possible to optimise (CR2B, CR3) over 100,000 people, Mitsubishi Electric
smaller and larger versions; the only differ- quality.
demanding joining and assembly pro- has the resource and the commitment to
ence between the two is in the power out-
cesses, saving wear and tear on both com- Mitsubishi Electric Corporation represents deliver the ultimate in service and support
put stages. No matter which controller you
ponents and robots. space development, transportation, semi- as well as the best products.
use you always work with the same pro-
gramming language – MELFA BASIC IV – conductors, energy systems, communica-
쐽 Sensorless collision monitoring
and have the same options at your dis- tions and information processing, audio
posal. Potential collision situations are identified visual equipment, home electronics, build-
reliably without an additional sensor, pre- ing and energy management and automa-
venting damage to both workpieces and tion systems, and has 237 factories and
peripherals. laboratories worldwide in over 121 countries.

14
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/// RV-A /// RV-S /// RH-SH /// RP-AH

Technical Information Section

MELFA-2006_GB_Titel.prn
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Further Publications within the Industrial Automation Range

MELSERVO and Motion Controller Technical Catalogue

Product catalogue for servo motors and servo amplifiers of the
MR-J series and Motion Controller with SSCNET connection

Technical PLC and HMI Technical Catalogue

Catalogues Product catalogues for programmable logic controllers, operator

terminals and accessories for the MELSEC PLC series

Networks Technical Catalogue

Product catalogue for Master and Slave modules as well as
accessories for the use of programmable logic controllers in
open and MELSEC networks

Further service supplies

This technical catalogue is designed to give an overview of the extensive range of FX Family of MELSEC PLCs. If you cannot find the
information you require in this catalogue, there are a number of ways you can get further details on configuration and technical issues,
pricing and availability.
For technical issues visit the www.mitsubishi-automation.com website.
Our website provides a simple and fast way of accessing further technical data and up to the minute details on our products and
services. Manuals and catalogues are available in several different languages and can be downloaded for free.
For technical, configuration, pricing and availability issues contact our distributors and partners.
Mitsubishi partners and distributors are only too happy to help answer your technical questions or help with configuration building.
For a list of Mitsubishi partners please see the back of this catalogue or alternatively take a look at the "contact us" section of our website.

About this technical catalogue

This catalogue is a guide to the range of products available. For detailed configuration rules, system building, installation and configuration
the associated product manuals must be read. You must satisfy yourself that any system you design with the products in this catalogue
is fit for purpose, meets your requires and conforms to the product configuration rules as defined in the product manuals.
Specifications are subject to change without notice. All trademarks acknowledged.

© Mitsubishi Electric Europe B.V., Factory Automation - European Business Group, 01/2007

2 MITSUBISHI ELECTRIC

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/// CONTENTS

MELFA Industrial Robot Systems

1 Robots
웇 Articulated arm robots . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
웇 SCARA robots. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
웇 Industrial robots RV-2AJ and RV-1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
웇 Industrial robots RV-SJB and RV-3SB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
웇 Industrial robots RV-6S, RV-6SL, RV-12S and RV-12SL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
웇 Industrial robots RH-6SH and RH12SH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
웇 Industrial robots RP-1AH, RP-3AH and RP-5AH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

2 Controller
웇 Controller CR1, CR2B and CR3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
웇 Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20

3 Accessories
웇 Teaching box . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
웇 Gripper sets . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
웇 Pneumatic valve sets. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
웇 Expansion option cards . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
웇 Adaptor cables and connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
웇 Tubes and machine cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
웇 Expansion cables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
웇 PC and I/O connection cables, calibration device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29
웇 General overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

4 Programming Language
웇 MELFA-BASIC IV . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31

5 Software
웇 COSIROP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
웇 COSIMIR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32
웇 PC support software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

MITSUBISHI ELECTRIC 3

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MELFA INDUSTRIAL ROBOTS ///

MELFA - Industrial Robot Systems

For many years Mitsubishi Electric’s inno-

PC
vative and powerful robots have been de-
livering reliable performance in thousands
of applications. These robots are now used
throughout the motor industry by both car
manufacturers and their suppliers, and in a Robot
PLC
wide variety of medical and training appli- RS232 or controller
cations. Ethernet CC-Link
SSCNET
EMG.STOP

Broad Range of Products

CHANG DISP
STATUS NUMBER UP

8.8.8.8.8. DOWN

START RESET
MODE SVO.ON

REMOVE T/B
STOP END
SVO.OFF

CR1
MITSUBISHI

The MELFA family includes a wide selec-

tion of models in many different versions. CNC RS-232C or
Ethernet
The articulated-arm robots of the RV-A and Tracking
RV-S series range from the high-perfor- Vision
mance compact class with a 1kg payload sensor
capacity to powerful models that can han-
MITSUBISHI MELSERVO

dle up to 12 kg. Mitsubishi’s line of SCARA MITSUBISHI

robots in the RP-AH and RH-SH series are RV-6S

Remote
designed for high-precision positioning inputs/outputs
tasks and feature cycle periods of less than
Servo amplifier Additional axis (linear)
1 s with positioning accuracy up to 5 µm

Small and Compact Example of a robot system configuration

Mitsubishi’s robot controllers are small and
compact. With a footprint no larger than a Versatility for Countless Universal Expansion Options
PC they can be installed even in the most Applications A comprehensive range of options and
cramped quarters without taking up valu- The robots are fitted with a standard robot expansion cards can be added to adapt
able production space. Their multitasking gripper flange so you can attach any ISO your robot to the precise requirements of
operating system and powerful MELFA 9404-1 compatible grippers. Cables and your environment and application. These
BASIC programming language make it hoses are routed internally where they include robot grippers, interface cards for
easy to develop programs to control your cannot snag on peripherals. The sensorless connection to a wide range of networks,
production systems. For example, MELFA collision detection system enables the I/O expansion modules and much more
BASIC includes instructions that make it robot to respond to unforeseen collisions. besides.
easy to integrate a camera in the system The robots also feature Compliance Con-
for object identification. trol for gentle and responsive handling
Power and Precision to improve performance in assembly
processes.
The robots are fitted with modern hollow
shaft motors and transmissions designed Fast Configuration
for maximum drive train rigidity. The initial setup of a new Mitsubishi robot
High-precision AC servo motors and system only takes around 5 minutes.
play-free harmonic drive transmissions The easy-to-understand programming lan-
ensure outstanding precision. guage and powerful, user-friendly software
tools make programming and operation
child’s play.

Machining / providing Sealing Conveyor tracking

Production of electric devices Wafer transfer Deburring

4 MITSUBISHI ELECTRIC

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/// AUTOMATION SOLUTIONS WITH PRECISION

Optional Network Capabilities

Ethernet
PC
The Ethernet expansion card uses the standard TCP/IP protocol for Programm load/save,
PDA production data
high-speed communications between the robot controller and PCs or acquisition, monitoring, control
sensors. You can configure the card in master or slave mode as required
by your application. One of the most attractive features of this communi- Ethernet (TCP/IP)
SPS
cations option is the ability to control the robot in real time, so that the
CC-Link
robot’s movements can respond instantaneously to sensor data. ED

TRIPP
MITSUBISHI

RESET
ON

OFF
STATUS NUMBER

8.8.8.8.8.
MODE SVO.ON

SVO.OFF
CHANG DISP

START

STOP
UP
DOWN

RESET

END
CR3-535M

EMG.STOP

REMOVE T/B

EMG.STOP
CHANG DISP
EMG.STOP STATUS NUMBER UP
MITSUBISHI

8.8.8.8.8.
CR2B CHANG DISP
STATUS NUMBER UP DOWN
8.8.8.8.8. DOWN

RESET

CC-Link Signal
RESET SVO.ON START
SVO.ON START MODE
MODE

REMOVE T/B REMOVE T/B

STOP END
SVO.OFF
STOP END
SVO.OFF
CR3-TR52

MITSUBISHI
CR1
MITSUBISHI

transmission,
synchronisation,
This option provides a large number of virtual I/Os, for example for com- read/write Variables
munication between several robots or connection of a PLC via a simple
twisted-pair line. MITSUBISHI
RP-1AH

Profibus/DP MITSUBISHI

RV -3SB

Roboter
The Profibus/DP network is particularly well suited for time-critical appli-
cations. A wealth of distributed I/O solutions are also available for this
network. Possible network connection configuration

Practical Functions for all Applications

Optimum accelleration/deceleration
control, optimum override control

Linear path B
Normal control Constant path
regardless of
override
Speed

Linear path A Stack

compemsation
Time

Automatic acceleration and braking ramp Continous path function for faster cycle Gravity compensation for greater positio-
optimisation for faster cycle times times ning and palletising precision

Lathe chuck etc. Error

Robot Robot Up to 8 additional axes
Vision sensor
controller

MITSUBISHI

RV-6S

Additional Additional Additional

axis axis axis
Max. 2 axes Max. 3 axes Max. 3 axes
Conveyor
Absorption of error using Encoder
orthogonal compliance function Mechanism 1 Mechanism 2 Mechanism 3
Workpiece such as foodstuff, cosmetic or medicine

Orthogonal compliance control function Object tracking function for faster cycle Control functions for up to 8 additional
for interactive response to opposing forces times axes

Parallel executions processing Multitasking function for parallel

Robot
Program 1
Robot movement execution of multiple tasks
program
Base
program
Max. 32 programs

Parallel execution

Program 2
I/O process program
Conveyor
Vision
Program 3 sensor Communications
program
(common
variables)
Constant execution
Program 4 Personal program (starts at
computer power ON)

MITSUBISHI ELECTRIC 5

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ARTICULATED ARM ROBOTS ///

왎 Overview Articulated Arm Robots

Large Range of Robot Models Makes Selection Easy

Mitsubishi produces a comprehensive and palletising tasks. There is also a line of
range of robot models to cater to the full special high-precision robots for very fast
spectrum of modern needs. All Mitsubishi and exact handling tasks.
robots are powerful, fast and compact –
ROBOTS

that goes almost without saying. The prod-

uct range includes the almost universal ar-
ticulated-arm robots with 5 or 6 degrees of
freedom and SCARA robots for assembly

RV-2AJ, RV-1A RV-3SJB, RV-3SB RV-6S, RV-6SL, RV-12S, RV-12SL

The powerful robots of the compact class The RV-3S deliver robots outstanding per- The RV-6S and RV-12S are the high-perfor-
are ideal for handling and component formance at or even in machines. The en- mance robots in Mitsubishi’s S series.
placement applications in cramped quar- tire robot has an IP 65 protection rating Available in both 6 kg and 12 kg payload
ters. These robots are also well suited for for reliable operation even under the most versions and with standard or long-reach
handling tasks at machines, for example extreme conditions. arms, the robots of this series are ideal for
automated laboratory equipment etc. handling workpieces in industrial manufac-
turing processes and for daisy-chaining
production stations.

MITSUBISHI

MITSUBISHI
RV-1A

RV -3SB RV-6S

Model RV-2AJ RV-1A RV-3SJB RV-3SB RV-6S RV-6SL RV-12S RV-12SL

Degrees of freedom 5 6 5 6 6
Type Standard
Installation posture Installation on floor or ceiling possible Installation on floor, wall or ceiling possible Installation on floor, wall or ceiling possible
Max. composite speed 2100 2200 5300 5500 9300 8500 9600 9500
[mm/s]
Payload maximum 2.0 1.5 3.5 6 12
[kg] nominal 1.5 1.0 3 5 10
Position repeatability ±0.02 ±0.02 ±0.02 ±0.05
[mm]
Weight [kg] 17 19 33 37 58 60 93 98
Reach without hand 410 418 641 642 696 902 1086 1385
[mm]
Catalogue reference page 8 10 12

6 MITSUBISHI ELECTRIC

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/// SCARA ROBOTS

왎 Overview SCARA Robots

The robots described in this section are The kinematic advantages of this design
SCARA robots, which have 4 degrees of enable the robot to perform positioning
freedom. Whilst the RH-SH series has the tasks with precision of up to 5 µm.
typical SCARA design, the closed-loop arm
of the RP-AH series puts it in a special class

ROBOTS
of its own.

RH-6SH, RH-12SH RP-1AH, RP-3AH, RP-5AH

SCARA robots are designed for tasks like Their compact dimensions and high
sorting, palletising and workpiece place- precision predestine the RP robots for
ment. Depending on the application micro-handling applications like micro-
they can achieve cycle times of less than assembly, component placement and
1 second. soldering SMD circuit boards.

MITSUBISHI
RP-1AH

RH-6SH

Model RH-6SH RH-12SH Model RP-1AH RP-3AH RP-5AH

Degrees of freedom 4 Degrees of freedom 4
Installation posture Floor mounting Installation posture Floor mounting
Payload maximum 6 12 Payload maximum 1.0 3.0 5.0
[kg] nominal 2 2 [kg] nominal 0.5 1.0 2.0
Max. reach 550 850 Rectangular operating 150 × 105 210 × 148 207 × 210
(arm 1 + 2) [mm] range (DIN A6) (DIN A5) (DIN A4)
(width x depth) [mm]
Max. composite speed 7782 (J1, J2, J4) 11221 (J1, J2, J4)
[mm/s] 6003 (J1, J2) 6612 (J1, J2) X, Y
direction ±0.005 ±0.008 ±0.01
X, Y [mm]
direction ±0.02 ±0.025
[mm] Repeata- Zdirection ±0.01
J3 (Z) bility [mm]
Repeata- direction ±0.01
bility [mm] wrist roll
direction ±0.02
J4 [degree]
direction ±0.02 ±0.03
(θ axis) Weight [kg] 12 24 25
[degree]
Reference page 17
Weight [kg] 21 45
Reference page 15

MITSUBISHI ELECTRIC 7

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SPECIFICATIONS ///

왎 Industrial Robots RV-2AJ and RV-1A

J4
The Articulated Arm Robots RV-2AJ, RV-1A
High-tech arms and robot controllers are among the outstanding
J5
J3 J5 features of the RV-2AJ and RV-1A, which have 5 and 6 degrees of
J3
freedom, respectively. High-precision AC servo motors make the
drive system almost completely maintenance-free.
ROBOTS

J6
J6
J2
J2
J1 Highlights:
앬 Slim design allows operation in cramped quarters
RV-2AJ

J1
RV-1A

앬 Additional axes can be added

앬 Multitasking operating system
RV-2AJ RV-1A

Specification
Characteristics/Functions
RV-2AJ RV-1A
Degrees of freedom (no. of axes) 5 6
Installation posture Floor or ceiling mounting possible
Structure Vertical multiple-joint type
Drive system AC servo (J1, J2, J3 and J5-axies: with brake; J4 and J6 axes: without brake)
Position detection method Absolute encoder
waist (J1) 300 (-150 to +150)
shoulder (J2) 180 (-60 to +120)
elbow (J3) 230 (-110 to +120) 95 (+60 to +155)
Operating range degree
wrist twist (J4) — 320 (-160 to +160)
wrist pitch (J5) 180 (-90 to +90)
wrist roll (J6) 400 (-200 to +200)
waist (J1) 180
shoulder (J2) 90
elbow (J3) 135
Maximum speed degree/s
wrist twist (J4) — 180
wrist pitch (J5) 180
wrist roll (J6) 210
Maximum composite speed mm/s 2200 2100
rated 1.5 1
Payload capacity kg
maximum 2 1.5
Position repeatability mm ± 0.02
Ambient temperature °C 0 to 40
Weight kg 17 19
wrist twist (J4) — 1.44
Tolerable moment wrist pitch (J5) Nm 2.16 1.44
wrist roll (J6) 1.10 0.73
wrist twist (J4) — 2.16 × 10−2
Tolerable inertia wrist pitch (J5) kgm² 3.24 × 10−2 2.16 × 10−2
wrist roll (J6) 8.43 × 10−3 5.62 × 10−3
Arm reachable radius (to the center point of the J5 axis) mm 410 418

Tool wiring 4 input signal lines (connections in robot gripper area), 4 output signal lines (connections in base area),
power line for motor-powered robot grippers (connection in robot gripper area)
Tool pneumatic pipes Ø4 × 4 (from the base level to the gripper hand area)
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange ISO 9409-1-31.5
Protection rating IP 30
Robot controller CR1

Order information Art. no. 129861 134211

8 MITSUBISHI ELECTRIC

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/// DIMENSIONS AND MOVEMENT RANGES

왎 Robot Arms RV-2AJ and RV-1A

RV-2AJ

150°

ROBOTS
110
80

40

R220
R4
10
72 160

0
176

R16
116

120°
410

2
R4

R 96
25
250

0 60
°
0°

0°
12

R247 11 150
°
0°

R160
11

45°
R6
285

300

4 × Ø9 ø5H7x8

ø155 120
° hole 4 M5x8

17,5

45°
,5
ø31
168
160
188

> 150
15

95
190 220 376 4 M3x6

60
2
15

82

0
ø7
205
250
Gripper flange
ISO 9409-1-31,5

Dimensions: mm
RV-1A
°
150
R207
R4
110
80

40

18

72 160 160

43
R183

176
116
R25

65
°
418

30°

60
°
°0

150°
12
90

45°

R2 4 × Ø9 ø5H7x8
50
hole 4 M5x8
308

30°

45°

,5
ø31
R1

65
83

°
168
160
188

ø155
17,5
95

4 M3x6

60
2
15
15

82
211 207 414
0
ø7

205
250

Gripper flange
ISO 9409-1-31,5

MITSUBISHI ELECTRIC 9

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SPECIFICATIONS ///

왎 Industrial Robots RV-3SJB and RV-3SB

J4 The Articulated Arm Robots RV-3SJB, RV-3SB

The RV-3S robots are specially designed for handling tasks with
J3 J5 J5 payloads of up to 3.5kg. They are encapsulated with an IP 65 in-
J3 gress protection rating for operation in extreme environments.
ROBOTS

J6 J6

J2
Highlights:
J2
앬 Compliance Control function to compensate for workpiece
MITSUB ISHI
J1 tolerances
MITSUBISHI
J1
RV-3SJ B
앬 Conveyor belt tracking
RV -3SB

앬 Sensorless collision detection

RV-3SJB RV-3SB 앬 Encapsulated design with IP65 rating
앬 Adaptive speed optimisation

Specifiactions
Characteristics/Functions
RV-3SJB RV-3SB
Degrees of freedom (no. of axes) 5 6
Machine class Standard (oil mist)
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure Vertical multiple-joint type
Drive system AC servo (all axes with brakes)
Position detection method Absolute encoder
waist (J1) 340 (-170 to +170)
shoulder (J2) 225 (-90 to +135)
Operating elbow (J3) 237 (-100 to +137) 191 (-20 to +171)
range degree
wrist twist (J4) — 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360)
waist (J1) 250
shoulder (J2) 187
Maximum elbow (J3) 250
speed degree/s
wrist twist (J4) — 412
wrist pitch (J5) 412
wrist roll (J6) 660
Maximum composite speed mm/s 5300 5500
rated 3
Payload capacity kg
maximum 3.5
Position repeatability mm ± 0.02
Ambient temperature °C 0 to 40
Weight kg 33 37
wrist twist (J4) — 5.83
Tolerable moment wrist pitch (J5) Nm 5.83
wrist roll (J6) 3.9
wrist twist (J4) — 0.137
Tolerable inertiat wrist pitch (J5) kgm² 0.137
wrist roll (J6) 0.047
Arm reachable radius (to the center point of the J5 axis) mm 641 642

Tool wiring 8 inputs/8 outputs

8 spare wires 0.2 mm² (shielded)
Tool pneumatic pipes Primary: Ø6 × 2 (base to forearm section)
Secondary: Ø4 × 8 (optional)
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Gripper flange ISO 9409-1-31,5
Protection rating IP 65
Robot controller CR2B

Order information Art. no. 163527 163526

10 MITSUBISHI ELECTRIC

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/// DIMENSIONS AND MOVEMENT RANGES

왎 Robot Arms RV-3SJB and RV-3SB

RV-3SJB 170°

ROBOTS
R319
R2
03
R6
41
65

∅70

109
102
72

322
85 300 95
R245

130 120 170°

109 104
105
81

R30
1
20

120

9
R54 R33
6 90
245

R223 5° °
13
122 120
∅5H7
R301
160 45° 4-M5
100°
350

312

∅90

115
°
137

205
50

∅20
H7
1 ,5 ∅4
∅3

113
0H
01

318 232 8
R3

330
641 450 4 × Ø9 Gripper flange
hole ISO 9409-1-31,5

Dimensions: mm
RV-3SB
170°
R271

42
R2

R6
03
109
65

∅70

102
72

322

85 270 120
95
130 120
105
81

109 104
135

R1 170°
R302

76
R547 90
245

245

°
122 120
∅5H7
160 45°
135

4-M5
°
20

°
350

312
17

∅90
115
1°

205
R302

50

∅20
H7
1,5 ∅4
∅3
113

0H
8
271 330
4 × Ø9 Gripper flange
642 150 hole ISO 9409-1-31,5

MITSUBISHI ELECTRIC 11

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SPECIFICATIONS ///

왎 Industrial Robots RV-6S, RV-6SL, RV-12S and RV-12SL

J4 J4
The Articulated Arm Robots RV-6S(L) and RV- 12S(L)
Combining high speeds with maximum handling payloads of
J5
J5
J3
6 kg and 12 kg, these robots are an ideal choice for virtually any
J3
application.
J6
ROBOTS

J6

Highlights:
J2 J2
앬 Sensorless collision detection
J1
앬 Conveyor belt tracking
MITSUBISHI
J1 MITSUB ISHI

앬 Compliance Control function to compensate for workpiece

RV-6S RV-6SL
tolerances

RV-6S RV-6SL

Specifiactions
Characteristics/Functions
RV-6S RV-6SL RV-12S RV-12SL
Degrees of freedom (no. of axes) 6 6 (long arm) 6 6 (long arm)
Machine class Standard
Installation posture Floor, wall or ceiling mounting possible (wall mounting with limitations in the J1 axis)
Structure Vertical multiple-joint type
Drive system AC servo (all axes with brakes)
Position detection method Absolute encoder
waist (J1) 340 (-1170 to +170)
shoulder (J2) 227 (-92 to +135) 230 (-100 to +130)
elbow (J3) 285 (-107 to +166) 295 (-129 to +166) 290 (-130 to +160)
Operating range degree
wrist twist (J4) 320 (-160 to +160)
wrist pitch (J5) 240 (-120 to +120)
wrist roll (J6) 720 (-360 to +360) (expandable)
waist (J1) 401 250 276 230
shoulder (J2) 321 267 230 172
elbow (J3) 401 267 267 200
Maximum speed degree/s
wrist twist (J4) 352
wrist pitch (J5) 450 375
wrist roll (J6) 660
Maximum composite speed mm/s 9300 8500 9600 9500
rated 5 10
Payload capacity kg
maximum 6 12
Position repeatability mm ±0.02 ±0.05
Ambient temperature °C 0 to 40
Weight kg 58 60 93 98
wrist twist (J4) 12 19.3
Tolerable moment wrist pitch (J5) Nm 12 19.3
wrist roll (J6) 4,5 11
wrist twist (J4) 0.29 0,4
Tolerable inertia wrist pitch (J5) kgm² 0.29 0.4
wrist roll (J6) 0.46 0.14
Arm reachable radius (to the center point of the J5 axis) mm 696 902 1086 1385
Tool wiring 8 inputs/8 outputs, 6 spare wires 0.1 mm² (shielded)

Tool pneumatic pipes Primary: Ø6 × 2 (base to fore arm section) Primary: Ø6 × 2 (base to fore arm section)
secondary: Ø4 × 8 secondary: Ø4 × 8
Supply pneumatic pressure MPa (bar) 0.49 ± 10 % (4.9 ± 10 %)
Gripper flange ISO 9409-1-31,5 ISO 9409-1-40
Protection rating IP 54 (J1 to J3), IP 65 (J4 to J6)
Robot controller CR2B CR3

Order information Art. no. 152466 152465 156734 152467

12 MITSUBISHI ELECTRIC

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/// DIMENSIONS AND MOVEMENT RANGES

왎 Robot Arms RV-6S and RV-6SL

RV-6S
170°

R2
170°

11
77 84

85
51,5

54
70

78 73

200
110

ROBOTS
58,5

61

R5

02
26

R2
85 315 85
308 238
R2
85

R280

96
162 165

R6
80
R2
87
R2
100
280
961

R3
5°

3
92°

1
13

170°
170°
594

R173

421
350

294
R 611
45°
ø5H7
R331
179

17
°

204 4–M5

115
76°
ø31,5

204
160
444

122
437 258 474

ø20h7
4 × Ø9 96 ø40h8
hole
102,5

205 Gripper flange

115 140 ISO 9409-1-31,5

Dimensions: mm
RV-6SL
170°
R2

170°
11

77 84
85
51,5

54
70

78 73

200
110

58,5

61

R7
32

85
R1

85 425 85
403 333 R2
85

162 165
02
R9

R3
80

88
R3
100
1167

70
R4 R2
380

170°
92 37
° 170°
°
649

135

476

R437
R81
7 98
350

R1 45°
ø5H7
100

4–M5
39°

R4

115
37

76°
355

ø31,5
204
160

204
122

617 285 185 547

ø20h7
4 × Ø9 96 ø40h8
hole 102,5

205
Gripper flange
115 140
ISO 9409-1-31,5

MITSUBISHI ELECTRIC 13

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DIMENSIONS AND MOVEMENT RANGES ///

왎 Robot Arms RV-12S and RV-12SL

RV-12S

R3
170°

03
88 93 170°
50

89
ø88
130

140
214
ROBOTS

R7
68

05
R2
89
97 530 150

130
569 349 R4
16

6
08
R1
215 164
161
00
R4
80

170°

R4
00
170°

55
R3
1386

R2
400

66
R936
0° R5
13 36
10
784

45°
0°

ø6H7

646
4 - M6

150
450

40°
ø40

270
250
R53

155
230
R5

70°
6

156
36
343

ø25h7
≥ 200
100 ø50h8
125
4 × Ø14 250
670 416 205 581
hole Gripper flange
155 150
ISO 9409-1-40

Dimensions: mm

RV-12SL
R3

170°
03

88 93 170°
50
89
ø88
130

140
214

R1
08
5

17
R3
89
130

97 670 150
R4
690 470 57
385
R1

215 164
161
60
R5
80

170°
R5

170°
60
67
R4
1685

R3
560

07
R123
5 0° R6
13 73
10
854

45°
0°

ø6H7
716

4 - M6
150
450

40°
ø40
270
250
R67

155
R6

230 70°
322
5
75
585

ø25h7
≥ 200 100 ø50h8
125
4 × Ø14
250
928 457 317 768
hole Gripper flange
155 150
ISO 9409-1-40

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/// SPECIFICATIONS

왎 Industrial Robots RH-6SH and RH-12SH

The SCARA Robots RH-6SH and RH-12SH

Assembly, handling and palletising are the strengths of these 6 kg
J1
and 12 kg SCARA robots. A version with an 18 kg payload capacity
is available for handling particularly heavy loads.

ROBOTS
Highlights:
J3
RH-6SH
앬 Slim design
앬 6/12 kg payload capacity
J2
앬 Speeds up to 11,200mm/s with axis interpolation

J4

Specifications
Characteristics/Functions
RH-6SH5520 RH-12SH8535
Degrees of freedom (no. of axes) 4
Machine class Standard
Structure SCARA
Installation posture Floor mounting
Drive system AC servo
Position detection method Absolute encoder
Brake attachment J1-, J2-, J4 axes: without brake, J3 axis: with brake

Payload capacity rated 2 2

(hand gripper included) kg
maximum 6 12
Maximum reach arm 1 + arm 2 mm 550 850
J1 degree 254 (±127) 280 (±140)
J2 degree 290 (±145) 306 (±153)
Operating range
J3 (Z) mm 200 (97–297) 350 (-10–340)
J4 (θ axis) degree 720 (±360)
J1 degree/s 375 288
J2 degree/s 612 412,5
Maximum speed
J3 (Z) mm/s 1177 1300
J4 (θ axis) degree/s 2411 1500

Maximum composite speed 7782 (J1, J2 and J4) 11221 (J1, J2 and J4)
mm/s 6003 (J1 and J2) 6612 (J1 and J2)

Allowable wrist moment rated 0.01 0.02

of inertia kgm2
maximum 0.04 0.1
X, Y direction mm ±0.02 ±0.025
Position repeatability J3 (Z direction) mm ±0.01
J4 (θ axis) degree ±0.02 ±0.03
Ambient temperature °C 0 to 40
Weight kg 21 45

Tool wiring 8 inputs/8 outputs

8 spare wires
Tool pneumatic pipes Ø6 × 2
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Protection rating IP 20
Robot controller CR2B

Order information Art. no. 166053 166054

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DIMENSIONS AND MOVEMENT RANGES ///

왎 Robot Arms RH-6SH and RH-12SH

RH-6SH
ROBOTS

Z Z

160

(10)
30
10 (10)
∅20H7
∅39.5

19
∅14 19
Z

92

180

150

92

150
180
A 4 × Ø9
hole

Dimensions: mm

RH-12SH

Z Z
(10)
30
10
(10)

∅25H7
∅50
24

∅18 24

122

240

200

A
122

240

200

4 × Ø16
hole

16 MITSUBISHI ELECTRIC

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/// SPECIFICATIONS

왎 Industrial Robots RP-1AH, RP-3AH and RP-5AH

The SCARA Robots RP-1AH, RP-3AH and RP-5AH

J2 J1
The RP-1AH, RP-3AH and RP-5AH SCARA robots are in their
element in all applications calling for fast and precise placement
MITSUBISHI
of components in limited space. The unique mechanical design
RP-1AH
of these robots gives them a significant edge for improved

ROBOTS
productivity and micro-handling quality.
J4

Highlights:
앬 Repeatability ±0.005 mm (RP-1AH)
J3
앬 Footprint just 200 x 160 mm (RP-1AH)
앬 Pick & Place cycle time < 0.5 s

Specifications
Characteristics/Function
RP-1AH RP-3AH RP-5AH
Degrees of freedom (no. of axes) 4
Installation posture Floor mounting
Drive system AC servo
Position detection method Absolute encoder
Brake attachment All axes
rated 0.5 1.0 2.0
Max. load capacity kg
maximum 1.0 3.0 5.0
width × depth mm 150 × 105 (DIN-A6) 210 × 148 (DIN-A5) 297 × 210 (DIN-A4)
Operating vertical 30 50
range mm
twist degree ±200
J1/J2 degree/s 480 432
Maximum J3 800 960
speed mm/s
J4 degree/s 3000 1330
−4
Inertial moment wrist kgm2 3.10 × 10 1.60 × 10−3 3.20 × 10−3
X, Y direction mm ±0.005 ±0.008 ±0.01
Position repeatability Z direction mm ±0.01
direction of the wrist twist degree ±0.02 ±0.03
Ambient temperature °C 0 to 40
Weight kg 12 24 25
Tool wiring 8 inputs/8 outputs
Supply pneumatic pressure MPa (bar) 0.5 ± 10 % (5 ± 10 %)
Tool pneumatic pipes —
Robot controller CR1

Order information Art. no. 134183 131626 131628

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DIMENSIONS AND MOVEMENT RANGES ///

왎 Robot Arms RP-1AH, RP-3AH and RP-5AH

198
RP-1AH 22
36
34
(162)
120
107

R3
24
R3
6

,5
95

0,5
6)

0,5
0 (5
14 8

4
2

12
10
56

5
5.5
233,9 ø6h7
ROBOTS

M6

140
155
165
ø8
105 100

133
150
162
56
ø18
95 5,5 0,5
R3
38

5,5
140

61
56
100
28 76
110° (5 120

,5
6) 180 24,2

R30
4 × Ø7

,5
24
A 224,9
32 hole
80
160°
100
150

M5

8
B
ø18
110 ø8
36,5 °
R2

31
95
0

180

230
R14

177
0
R14

31
B

77 6
85
A
24

30
21
50 (213)
RP-3AH 31 31 85
36 141
12

8 125
6)
(8 82,5 100
5,5

0
20
5

28
(38)
30

11 8

332 86
148 20 130 ø14h7

140

165
ø15h7

155
170
200
216
(ø23)

85
50
200 R42
13,5
84
120
105°
13,5

86 180
224,9
28
160° A 20
0
4 × Ø9
(8 0 hole
6) 14
210

36

13,5

B
110 Dimensions: mm
13,5

35 °
R3
42
0
R20

118

(ø23)
0
R20
280

ø15h7
267

180
261

42

ø14h7
ø11
3,5

103,5

77 6
15
(23)

50
40

A
(12)

263
50 (213)
RP-5AH 31 31 85
36 141
) 8 125
16
12

(1 82,5 100
260
5,5

28
5
(38)

450,9
30

11 8

210 190 6
11
170

50 ø14h7
140

165
155

ø15h7
260
170
200
216
85

(ø23)
105° R42
13,5 84
120
11
13,5

160°
6 180
297

224,9
28
A 26
0
4 × Ø9
(1 0 hole
16 20
)
36

110
°

13,5
53,2
R4
B
13,5
0
R26

42

(ø23)
118

ø15h7
280
267

180
261

ø14h7
42

ø11
3,5

103,5

77 6
15
(23)

50
40
(12)

18 MITSUBISHI ELECTRIC

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/// ROBOT CONTROLLER

왎 Controller Overview

Powerful Controllers CR1, CR2B and CR3

Which controller is used depends on the A teaching box for defining the robots’
specific robot model. But the CR1, CR2B working positions can be connected to the
and CR3 are all programmed with exactly controller’s RS-422 port. The teaching box
the same language, no matter which robot can also be used for testing the entire pro-
is connected to them. You can add special gram sequence.
application functions by inserting There is also an RS-232C port for connect-
expansion option cards in the slots in the ing a personal computer. This makes it pos-
controllers. For example, there are option sible to develop programs with a powerful
cards for connecting the controllers to PC software package with a user-friendly
different networks and for controlling

CONTROLLER
interface, and to perform 3D simulations of
additional robot axes. complete work cells.
CR3-535M

MITSUBISHI
EMG.STOP
CHANG DISP
STATUS NUMBER UP

ON
8.8.8.8.8. DOWN

ED SVO.ON START RESET

P
MODE

IP
TR
REMOVE T/B
STOP END
SVO.OFF

OFF T
SE
RE

EMG.STOP
MITSUBISHI CR3-TR52
CR2B CHANG DISP
EMG.STOP STATUS NUMBER UP MITSUBISHI
STATUS NUMBER
CHANG DISP
UP
8.8.8.8.8. DOWN

8.8.8.8.8. DOWN
MODE SVO.ON START RESET

START RESET
MODE SVO.ON REMOVE T/B
STOP END
SVO.OFF
REMOVE T/B
STOP END
SVO.OFF

CR1
MITSUBISHI

CR1-571 CR2B-574 CR3-535M

With a footprint no larger than a DIN A4 The CR2B controller is used with the The CR3-535M controller as special power
sheet of paper the CR1-571 can be used following robots: stages with higher output capacity for use
to control the following robots: 앬 RV-3SB/SJB with the following robot:
앬 RV-1A 앬 RV-6S/6SL 앬 RV-12S/12SL
앬 RV-2AJ 앬 RH-6SH/12SH The programming language and options
앬 RP-1AH/3AH/5AH This controller comes with 32 general are the same as for the CR1 and CR2B
The controller comes with 16 general inputs and outputs that can be expanded controllers. The controller comes with
inputs and outputs that can be expanded up to a maximum of 256. It uses a single- 32 general inputs and outputs that can be
up to a maximum of 240. It uses a single- phase, 180–253 V AC power supply. expanded up to a maximum of 256. It uses
phase, 180–253 V AC power supply. a three-phase, 400 V AC power supply.

왎 System Configuration

The illustration on the left shows the basic

configuration of a robot system with the
following components:
Robot arm 앬 RV-6S robot arm
앬 CR2B controller
앬 5 m controller connection cable set
Cable set 앬 R28TB teaching box
Mitsubishi Electric offers a wide range of
optional accessories with which you can
Controller configure your robot system for the indi-
vidual requirements of your application.
EMG.STOP
MITSUBISHI
CR2B CHANG DISP
STATUS NUMBER

8.8.8.8.8.
UP
DOWN

START RESET
MODE SVO.ON

SVO.OFF STOP END

REMOVE T/B

MITSUBISHI An overview of the available options

can be found on page 21 and there is a
R28TB
R28TB
DISABLE ENABLE
RV-6S
detailed list on page 30.
JOINT XYZ MENU
MENU
TOOL

Teaching box
% !!
STOP
STOP
( )? $": #
#%
=*/

SVO ON
SVO ON
−- XX ++ XX
STEP
STEP (J1)
(J1) (J1)
(J1)
PQR
PQR .. ‘;^
‘;^
MOVE SPACE
SPACE
MOVE ADD
ADD
−- YY ++ YY ↑
+
−
+ (J2)
(J2) (J2)
(J2)
44 MNO
MNO 99 &<>
&<>
FORWD
FORWD RPL
RPL
−- ZZ ++ ZZ ¯↓
−
- (J3)
(J3) (J3)
(J3)
JKL
JKL 88 ,@¥
,@¥
BACKWD
BACKWD 33
DEL
DEL
−- AA ++ AA ←
¬
COND (J4)
(J4) (J4)
(J4)
COND 77 YZ_
YZ_
22 GHI
GHI
HAND
HAND
−- BB ++ BB →
®
POS
POS (J5)
(J5)
(J5)
(J5)
CHAR
CHAR 11 DEF
DEF 66 VWX
VWX

INP
−- CC ++ CC INP
ERROR
ERROR (J6)
(J6) (J6)
(J6)
EXE
EXE
RESET 55 STU
STU
RESET 00 ABC
ABC

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ROBOT CONTROLLER ///

왎 Controller Specifications

Characteristics/Functions CR1-571 CR2B-574 CR3-535M

Number of controllable axes 6 robot axes + 2 interpolation axes + 6 independent axes
Processor type (CPU) Main CPU: 64 Bit RISC; servo CPU: DSP
number of teaching points Max. 2500 position teaching points, max. 5000 steps
Memory capacity and program steps
number of programs 88
Programming languag MELFA-BASIC IV or MELFA-BASIC IV MELFA-BASIC IV
MOVEMASTER COMMAND
general purpose I/Os 16 inputs and 16 outputs 32 inputs and 32 outputs 32 inputs and 32 outputs
dedicated I/Os User assigned from general purpose I/O User assigned from general purpose I/O User assigned from general purpose I/O
8 inputs and 0 outputs 8 inputs und 0 outputs 8 inputs und 0 outputs
CONTROLLER

hand open/close (up to 4 output points can be added (up to 8 output points can be added (up to 8 output points can be added
External inputs/outputs as an option) as an option) as an option)
2 terminal blocks with screw terminals for the 2 terminal blocks with screw terminals for the
emergency stop I/Os 1 connection of a redundant EMERGENCY STOP connection of a redundant EMERGENCY STOP
switch switch
door switch input 1 1 1
RS232C 1 interface for PC 1 interface for PC 1 interface for PC
RS422 1 interface for teaching box 1 interface for teaching box 1 interface for teaching box
slot dedicated for hand 1 interfacenkarte for pneumatic hand 1 interfacenkarte for pneumatic hand 1 interfacenkarte for pneumatic hand
Interface extension slot For 3 expansion options (optional) For 3 expansion options For 3 expansion options
memory expansion slot — 1 memory option 1 memory option
robot I/O link 1 channel (expansion to up to 240 inputs and 1 channel (expansion to up to 256 inputs and 1 channel (expansion to up to 256 inputs and
240 outputs possible) 256 outputs possible) 256 outputs possible)
Power supply 1-phase 90–132 V AC; 50/60 Hz; 0.7 kVA 1-phase 90–132 V AC; 50/60 Hz; 1.0 kVA 3-phase 400 V AC; 50/60 Hz; 3.0 kVA;
1-phase 180–253 V AC; 50/60 Hz; 0.7 kVA
Ambient temperature 0 to 40 °C
Ambient humidity 45 to 85 % without condensation
Grounding Via seperate terminal; earth resistance ≤ 100 Ω
Mounting Self-contained floor type/closed structure Self-contained floor type/closed structure, vertical Self-contained floor type/closed structure
Dimensions (W x H x D) 212 mm x 166 mm x 290 mm 460 mm x 200 mm x 400 mm 450 mm x 975 mm x 380 mm
Weight 8 kg 20 kg 60 kg

왎 Controller Dimensions

35 450

EMG.STOP
CR3-535M
STATUS NUMBER CHANG DISP MITSUBISHI
8.8.8.8.8.
UP
DOWN
45

ON

MODE SVO.ON START RESET ED

P
185

IP
TR
200

OFF
151

ET
ES

REMOVE T/B R

SVO.OFF STOP END

MITSUBISHI CR1

4 - M5
15
7

45 310 45
15

31 150 31
(24) 400 (36)
975

2,5 212 2,5

460

CR3-TR52
MITSUBISHI

212 400
75

380
15 420 15
290

401
333

380
38
20

67

CR1-571
450
CR2B-574

All dimensions in mm CR3-535M

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/// SYSTEM OVERVIEW

왎 System Components and Options

Software:
COSIROP,
COSIMIR,
NC AC servos PLC Vision sensors PC support SW

ACCESSORIES
Control cards
Expansion option cards PC
Electric for:
gripper Ethernet,
hand
CC-Link,
Profibus,
Pneumatic serial expansion,
gripper additional axis,
hand
conveyor belt
monitoring
Expansion I/Os

Teaching
box

Adaptor cables

Pneumatic Electric Gripper curl

gripper gripper tubes

Gripper
signal cable
Pneumatic valves

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TEACHING BOX AND HANDSETS ///

왎 Teaching Box

Operation and Programming

The teaching box is used for moving (JOG feed) the robot and for teaching (storing) posi-
tions. You can then switch the robot to test mode, step through the stored positions and
modify them as required. This compact teaching box can also monitor I/O signals and
variables. Safe teaching is ensured by a three-stage confirm button.
DISABLE ENABLE

R28TB
R28TB

JOINT XYZ MENU

MENU
TOOL
% !!
STOP
STOP
( )? $": #
#%
=*/

SVO ON
SVO ON

STEP
STEP
- X
X
(J1)
(J1)
+
+ XX
(J1)
(J1)
Specifications R28TB
PQR
PQR .. ‘;^
‘;^
MOVE SPACE
SPACE
MOVE ADD
ADD

+
+
FORWD
FORWD 44
- Y
Y
(J2)
(J2)
MNO
MNO 99
+
+ YY
(J2)
(J2)
&<>
&<>
−
−

RPL
RPL
Application range Position teaching, JOG feed, program control and editing
- ZZ +
+ ZZ ¯¯
- (J3)
(J3) (J3)
(J3)
BACKWD
BACKWD 33

- AA
(J4)
(J4)
JKL
JKL 88

+
,@¥
,@¥

+ AA
(J4)
(J4)
DEL
DEL
¬
¬
Dimensions (W x H x D) 153 mm x 203 mm x 70 mm
COND
COND
22 GHI
GHI 77 YZ_
YZ_
HAND
HAND

POS
POS

CHAR
CHAR 11
- B
B
(J5)
(J5)
DEF
DEF 66
+
+ BB
(J5)
(J5)
VWX
VWX
®
®
Body color Light gray
INP
INP
- C
C +
+ CC
(J6)

Weight Approx. 0.5 kg (without cable)

ERROR
ERROR (J6)
(J6) (J6)
EXE
EXE
RESET
RESET 00 ABC
ABC 55 STU
STU

Connection cable length 7m

ACCESSORIES

Interface RS422
Display method LCD with 4 lines x 16 characters (with backlight illumination)
Operation section 28 keys
Protection rating IP 65

Order information Art. no. 124656

왎 Hand Sets

Tools
The motor-powered gripper is ideal for laboratory tasks because it does not need a com-
pressed air supply. The griping force is adjustable. This gripper has a service life of around
10 million gripping cycles at 50% gripping force.
The electric gripper set consists of the gripper, a spiral cable and the control card.
The pneumatic gripper is available in a set consisting of the gripper, spiral pneumatic
hose, interface, one-way valve and adapter. It has a service life of 10 million gripping
cycles. The gripper is fitted with sensors that provide feedback information on the current
gripper position.

Specifications 4A-HM01 4A-HP01E

Drive DC servo motor Oil-free compressed air
Grip force 4.9–68.6 N —
Operating preassure range — 0.4–7.0 bar
Operating temperatur range 0–40 °C 0–40 °C
Ambient humidity 45–85 % —
Life 1 mio. gripper cycles (at 100 % load) 10 mio. gripper cycles
10 mio. gripper cycles (at 50 % load)
Operation confirmation sensors None Open edge and close edge
Weight 0.59 kg (includes the adapter) 0.45 kg (includes the adapter)

Order information Art. no. 129874 129873

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/// VALVE SETS

왎 Solenoid Valve Sets

Solenoid Gripper Control Valve Sets

This option is used to control the gripper tool installed on the robot arm. The valve set
comes with all the components required for installation, including the branch manifold,
couplings and dampers. The valves are fitted with plug-in control cables for quick and
easy wiring.
The solenoid valve sets are for use with oil-free compressed air.

1A-VD0 E-RP RV-E-1E-VD0 E

Specifications
1 2 3 4 1 2

ACCESSORIES
No. of valves 1 2 3 4 1 2
Range of use (robot type) AH A
Valve function Double solenoid Double solenoid
Operating method Internal pilot method Internal pilot method
Effective sectional area 1.5 mm 1.5 mm
(CV value)
Operating preassure range 2–7 bar 2–7 bar
Maximum preassure 10 bar 10 bar
Response time < 12 ms at 24 V DC <12msat24VDC
Max. operating frequency 5 Hz 5 Hz
Ambient temperature -5 to +50 °C -5 to +50 °C
Coil rated voltage 24 V DC ± 10 % 24 V DC ± 10 %

Order information Art. no. 129780 129781 129792 129793 47397 47398

1S-VD0 E-01 1S-VD0 E-02 1S-VD0 ME-03 1S-VD0 ME-04

Specifications
1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
No. of valves 1 2 3 4 1 2 3 4 1 2 3 4 1 2 3 4
Range of use (see page 30) 12S / 12SL 3S / 6S 12SH 6SH
Valve function Double solenoid Double solenoid Double solenoid Double solenoid
Operating method Internal pilot method Internal pilot method Internal pilot method Internal pilot method
Effective sectional area 0.64 mm 0.64 mm 0.64 mm 0.64 mm
(CV value)
Operating preassure range 1–7 bar 1–7 bar 1–7 bar 1–7 bar
Maximum preassure 10 bar 10 bar 10 bar 10 bar
Response time < 22 ms at 5 bar < 22 ms at 5 bar < 22 ms at 5 bar < 22 ms at 5 bar
Max. operating frequency 5 Hz 5 Hz 5 Hz 5 Hz
Ambient temperature -5 to +50 °C -5 to +50 °C -5 to +50 °C -5 to +50 °C
Coil rated voltage 24 V DC ± 10 % 24 V DC ± 10 % 24 V DC ± 10 % 24 V DC ± 10 %

Order information Art. no. 153057 153058 153059 153062 153074 153075 153076 153077 166278 166279 166280 166281 166274 166275 166276 166277

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EXPANSION OPTION CARDS ///

왎 Interface Boards for Robot Controllers

Ethernet Interface
The Ethernet interface is used for high-speed network communications with other control-
lers and TCP/IP-enabled peripherals. It can also be used for programming the robot con-
troller and for external, real-time control of the robot itself.

Specifications 2A-HR533E
Application Ethernet interface; TCP/IP
Type Built-in board
Range of use All MELFA robots
LAN interface 10BASE-5, 10BASE-T (selectable)
Connector RJ-45
Transmission speed 10 MBit/s

Order information Art. no. 129809

ACCESSORIES

CC-Link Interface Specifications 2A-HR575E

The 2A-HR575E interface makes it possible Application CC-Link interface
to integrate the CR첸-R robot controller in a Type Built-in board
CC-Link network.
Range of use All MELFA robots (already integrated in CR3 controllers)
The CC-Link interface is a high-speed bit (
Communications cable Shielded 3-core twisted cable
for I/Os) and word ( for data registers) net-
work card. Max. number of I/O points and 126 I/Os / 16 data register
data registers
Refresh rate 7.2 ms
Max. transmission length 100 m at 10 MBit/s, 150 m at 5 MBit/s, 250 m at 2.5 MBit/s,
600 m at 0.62 MBit/s, 1500 m at 0.15 MBit/s

Order information Art. no. 129808

PROFIBUS Interface Specifications 2A-RZ577A

The 2A-RZ577A interface card makes it pos- Application PROFIBUS/DP interface
sible to integrate the robot controller in a Type Built-in board
PROFIBUS network.
Range of use All MELFA robots
Communications cable Twisted pair cable
1200 m at 9.6/19.2/93.75 kBit/s,
Communications 1000 m at 187.5 kBit/s,
distances 400 m at 500 kBit/s,
200 m at 1500 kBit/s
Max. no. of communications words 122
No. of mountable interface cards 1

Order information Art. no. 155317

Serial Expansion Interface Specifications 2A-RZ581E

The 2A-RZ581E interface card adds addi- Application Serial extension
tional serial inputs to the controller. Type Built-in board
In addition to this the card also provides
two encoder signal inputs for registering Range of use All MELFA robots
the speed of conveyor belts for the tracking Connections 1 x RS232, 1 x RS422, 2 encoder inputs
function. No. of mountable interface cards 2

Order information Art. no. 129807

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/// EXPANSION OPTION CARDS

왎 Interface Boards for Robot Controllers

I/O Interface Specifications 2A-RZ371

All the robot controllers have an I/O inter- Application Interface for additional inputs/outputs
face with at least 16 inputs and outputs Type Decentralized I/O box with 32 inputs and 32 outputs
as standard equipment. You can increase Range of use All MELFA robots
the number of I/Os to a maximum of 256
(depends on controller model) by adding Rated load voltage Inputs: 12 V / 24 V; outputs: 12 V / 24 V, max. 0.1 A / per output
2A-RZ371 interface modules. Max. no. of usable I/O boxes 7

Order information Art. no. 124658

Additional Axis Interface Specifications 2A-RZ541E

The 2A-RZ541E interface card enables the Application Controller board for additional axes

ACCESSORIES
controller to control additional axes. It can Type Built-in board
then control up to two additional axes, in-
Range of use All MELFA robots
terpolating them with the robot’s own axes.
The additional axes can be connected to Connections SSCNET x 1 channel
configure two 3-axis systems. Max. no. of control axes 8
No. of mountable interface cards 1
Encoder type Absolute

Order information Art. no. 129801

Pneumatic Hand Interface Specifications 2A-RZ375

The 2A-RZ375 interface card is used to op- Application Interface for pneumatic hand (pneumatic valves)
erate the robot’s pneumatic gripper. It con- Type Built-in board
trols the solenoid valve set (see page 30). Range of use All MELFA robots
Connections Up tu 4 pneumatic valves

Order information Art. no. 124657

Electric Hand Interface Specifications 2A-RZ364

The 2A-RZ364 interface card is for control- Application Interface for electric hand
ling Mitsubishi’s own electric gripper. Type Built-in board
Range of use All MELFA robots

Order information Art. no. 129875

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ADAPTOR CABLES AND CONNECTORS ///

왎 Gripper Signal Cables

Connection Cables
A variety of different cables are available for connecting the control and status monitoring
signals of the gripper tools.
When the pneumatic gripper is used you need to monitor the position of the gripper.
You should thus always connect a gripper signal input cable when you use the pneumatic
gripper.
One end of the cable set is fitted with a plug for the gripper’s sensor signals. The other end
is without connectors and can be wired as required for your system.

Specifications 1A-GHCD 1A-GR200-RP 1A-HC20 1A-HC200-RP 1S-GR35S-01 1S-GR35S-02 1S-HC35C-02 1S-HC25C-01

Type Curled connection Hand signal Hand signal Hand signal Hand signal Hand signal Hand signal Hand signal
cable output cable input cable input cable output cable output cable input cable input cable
Range of use (robot type) A AH A AH S SH S / SH S / SH
ACCESSORIES

Design Both sides with Custom-made Custom-made Custom-made Single sided with Single sided with Single sided with Single sided with
connectors connector connector connector connector
Application Electric and pneu- Custom-made Monitoring of the Monitoring of the Pneumatic gripper Pneumatic gripper Monitoring of the Monitoring of the
matic gripper magnetic valve set gripper condition gripper condition gripper condition gripper condition
No. of cores 6 9 8 10 12 12 12 12
Length 350 mm 2000 mm 370 mm 2000 mm 400 mm 350 mm 1200 mm 800 mm

Order information Art. no. 132101 129778 129877 129779 153078 166272 166273 153079

왎 Connectors and Valve Signal Cables

The Connection to Your System

Choose additional components to configure the optimal interface between the robot
system and your application.
The wide range of options makes it possible to configure the robot precisely for the
individual requirements of your application.
The connectors listed in the following table can be used for making your own cables
for the gripper input and output signals (see also the table above).

Specifications R-SMR-09V-B R-SMR-10V-N R-SMR-02V-B S series Hand S series Hand

OUTPUT INPUT
Type Gripper Gripper Valve Hand signal Hand signal
output connector output connector connector output connector input connector
Range of use (robot type) A / AH AH A S / SH S / SH
Design Black, 9 pins White, 10 pins 2 pins 8 pins 6 pins
Shipping contents Plug Plug Plug Plug Plug
and contacts and contacts and contacts and contacts and contacts

Order information Art. no. 132112 132113 143798 164814 164815

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/// TUBES AND MACHINE CABLES

왎 Hand Curl Tube

Replacement Gripper Hoses

These spiral hoses are for use with the pneumatic gripper. They are also suitable for use
with clean room robots.

Specifications RV-E-1E-ST0402C RV-E-1E-ST0404C

Type Spiral hose Spiral hose
Range of use (robot type) A / 3S / 6S / AH A / 3S / 6S / AH
Application For single pneumatic gripper For double pneumatic gripper
Dimensions 2 x Ø4 mm 4 x Ø4 mm

Order information Art. no. 47390 47389

ACCESSORIES
왎 Drag Chain Cable

Cables for Flexible Robot Deployment

The standard cable for connecting the robot arm to the controller is 5m long and can only
be used for fixed installation. You must use the special cable sets listed in the table below
if you need flexible power and signal cables for installation in a drag chain installation.
You can also replace the standard connection cables with longer ones if necessary.

Specifications Cable Flex 5 m Cable Flex 7 m Cable Flex 9 m Cable Flex 11 m Cable Flex 15 m
Type Flexible drag chain cable
Range of use (robot type) A / AH A / AH A / AH A / AH A / AH
Minimum bending radius More than 100 mm
Cable bear isovolumetric ration ≤ 50 %
Max. movement speed 2000 mm/s
Protection rating Oil-proof specification sheath
No. of cores power cable 10
No. of cores signal cable 6/1 (7 total)
Length m 5 7 9 11 15

Order information Art. no. 149006 149007 149008 149009 149010

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EXTENSION CABLES ///

왎 Extension Cables for Robots and Controllers

Extension Cables for Power and Signal Connections

These power and signal extension cables make it possible to increase the distance be-
tween the controller and the robot arm. Versions are available for either flexible and fixed
routing of the cables between the controller and the robot arm. Use the flexible versions
for installation of the cables in drag chains and similar configurations. You can also use
these cables to extend the length of the standard cables supplied with the robot.

Specifications 1S-05CBL-01 1S-10CBL-01 1S-15CBL-01 1S-05CBL-03 1S-10CBL-03 1S-15CBL-03

Type Extension cable for a fixed installation in a drag chain
Range of use (robot type) 6S / 6SL / 12S / 12SL / 12SH 3S / 6SH
Minimum bending radius More than 100 mm
ACCESSORIES

Max. movement speed 2000 mm/s

Guidance of life count —
Protection rating Oil-proof specification sheath
No. of cores power cable 1 1
No. of cores signal cable 1 1
Length m 5 10 15 5 10 15

Order information Art. no. 155827 155830 155665 165967 165968 165969

Specifications 1S-05LCBL-01 1S-10LCBL-01 1S-15LCBL-01 1S-05LCBL-03 1S-10LCBL-03 1S-15LCBL-03

Type Extension cable for a flexible installation in a drag chain
Range of use (robot type) 6S / 6SL / 12S / 12SL / 12SH 3S / 6SH
Minimum bending radius More than 100 mm
Cable bear isovolumetric ration ≤ 50 %
Max. movement speed 2000 mm/s
Guidance of life count 7.5 × 106
Protection rating Oil-proof specification sheath
No. of cores power cable 3/6 (9 total) 10
No. of cores signal cable 6/1 (7 total) 5/1/1 (7 total)
Length m 5 10 15 5 10 15

Order information Art. no. 157582 157583 157594 165970 165971 165972

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/// EXPANSION AND CALIBRATION

왎 Connection Cables for PCs and Inputs/Outputs

Connection Cables, Connectors

The RV-CAB첸 cable is for establishing an RS-232C serial connection between the robot
controller and a personal computer.
The RV-E I/O connection cable is for connecting peripherals to the parallel I/O interface.
One end of the cable is fitted with a connector for the controller’s parallel I/O port. The
other end is supplied without a connector so that you can connect the appropriate con-
nectors for your equipment.

Specifications RV-CAB4 RV-E-E/A-Kabel 5 RV-E-E/A-Kabel 15

Type Connection cable Connection cable Connection cable
Application Serial (RS232C) I/O port I/O port
connection PC–Controller
Range of use All MELFA robots All MELFA robots All MELFA robots
Design 9/25-pin plug Plug on one side Plug on one side

ACCESSORIES
Length m 3 5 15

Order information Art. no. 55653 47387 59947

왎 Expansion Option Box

Expansion for Additional Interface Cards

This expansion box is required for the installation of additional interface cards in the CR1
controller (CC-Link, Ethernet, Profibus and serial interface cards and interface cards for
additional robot axes). You can install up to 3 additional interface cards in the box.

Specifications CR1-EB3
Type Expansion box for interface boardsx
Application Controller CR1
Range of use (robot type) A / AH
Power supply From the controller by the RT bus coupling
Ambient temperature 0–40 °C
Ambient humidity 45–85 %
Grounding Class 3 grounding earth (via external terminal; earth resistance ≤ 100 Ω)
Structure Floor mounting
Dimensions (W x H x D) 87.5 mm x 166 mm x 290 mm
Weight Approx. 3 kg

Order information Art. no. 129878

왎 Calibration Device

Zero Point Calibration Jig

This calibration jig is used for setting the robot arm’s zero point. Zero point calibration is
used to maximise the robot’s positioning accuracy.

Specifications RV-E-1E-INST RH-CAL

Type Calibration device Calibration pin
Application Zero point setting with high accuracy
Range of use (robot type) A S / SH

Order information Art. no. 47388 145715

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GENERAL OVERVIEW ///

왎 Options Assignment

Option Marking RV-2AJ/1A RV-3SJB/3SB RV-6S/6SL RV-12S/12SL RH-6SH RH-12SH RP-1/3/5AH Art. no. See page
Robot model name in catalogue — A S S S SH SH AH — —
Teaching Box R28TB 앬 앬 앬 앬 앬 앬 앬 124656 22
Electrical hand set 4A-HM01 앬 129874 22
Pneumatic hand set 4A-HP01E 앬 129873 22
Single valve set 1A-VD01E-RP 앬 129780 23
Double valve set 1A-VD02E-RP 앬 129781 23
Triple valve set 1A-VD03E-RP 앬 129792 23
Quadruple valve set 1A-VD04E-RP 앬 129793 23
Single valve set RV-E-1E-VD01E 앬 47397 23
Double valve set RV-E-1E-VD02E 앬 47398 23
Single valve set 1S-VD01E-01 앬 153057 23
Double valve set 1S-VD02E-01 앬 153058 23
Triple valve set 1S-VD03E-01 앬 153059 23
Quadruple valve set 1S-VD04E-01 앬 153062 23
Single valve set 1S-VD01E-02 앬 앬 153074 23
Double valve set 1S-VD02E-02 앬 앬 153075 23
Triple valve set 1S-VD03E-02 앬 앬 153076 23
ACCESSORIES

Quadruple valve set 1S-VD04E-02 앬 앬 153077 23

Single valve set 1S-VD01ME-03 앬 166278 23
Double valve set 1S-VD02ME-03 앬 166279 23
Triple valve set 1S-VD03ME-03 앬 166280 23
Quadruple valve set 1S-VD04ME-03 앬 166281 23
Single valve set 1S-VD01ME-04 앬 166274 23
Double valve set 1S-VD02ME-04 앬 166275 23
Triple valve set 1S-VD03ME-04 앬 166276 23
Quadruple valve set 1S-VD04ME-04 앬 166277 23
Ethernet interface 2A-HR533E 앬 앬 앬 앬 앬 앬 앬 129809 24
CC-Link interface 2A-HR575E 앬 앬 앬 앬 앬 앬 앬 129808 24
PROFIBUS interface 2A-RZ577A 앬 앬 앬 앬 앬 앬 앬 155317 24
Serial expansion 2A-RZ581E 앬 앬 앬 앬 앬 앬 앬 129807 24
I/O interface 2A-RZ371 앬 앬 앬 앬 앬 앬 앬 124658 24
Additional axis interface 2A-RZ541E 앬 앬 앬 앬 앬 앬 129801 24
Pneumatic hand interface 2A-RZ375 앬 앬 앬 앬 앬 앬 앬 124657 24
Electric hand interface 2A-RZ364 앬 129875 24
Curled connection cable 1A-GHCD 앬 132101 26
1A-GR200-RP 앬 129778 26
Hand signal output cable 1S-GR35S-01 앬 앬 앬 153078 26
1S-GR35S-02 앬 앬 166272 26
1A-HC20 앬 129877 26
1A-HC200-RP 앬 129779 26
Hand signal input cable
1S-HC35C-02 앬 앬 앬 앬 앬 166273 26
1S-HC25C-01 앬 앬 앬 앬 앬 153079 26
Gripper output connector R-SMR-09V-B 앬 앬 132112 26
Gripper input connector R-SMR-10V-N 앬 132113 26
Valve input connect R-SMR-02V-B 앬 143798 26
Hand signal output connector S-series Hand OUTPUT 앬 앬 앬 앬 앬 164814 26
Hand signal input connector S-series Hand INPUT 앬 앬 앬 앬 앬 164815 26
Valve connection cable RV-E-1E-GR35S 앬 47391 26
RV-E-1E-ST0402C 앬 앬 앬 앬 47390 27
Hand curl tube
RV-E-1E-ST0404C 앬 앬 앬 앬 47389 27
Cable Flex 5 m 앬 앬 149006 27
Cable Flex 7 m 앬 앬 149007 27
Flexible drag chain cable Cable Flex 9 m 앬 앬 149008 27
Cable Flex 11 m 앬 앬 149009 27
Cable Flex 15 m 앬 앬 149010 27
1S-05CBL-01 앬 앬 앬 155827 28
1S-10CBL-01 앬 앬 앬 155830 28
Extension cable for fixed installation 1S-15CBL-01 앬 앬 앬 155665 28
in a drag chain 1S-05CBL-03 앬 앬 165967 28
1S-10CBL-03 앬 앬 165968 28
1S-15CBL-03 앬 앬 165969 28
1S-05LCBL-01 앬 앬 앬 157582 28
1S-10LCBL-01 앬 앬 앬 157583 28
Extension cable for flexible installation 1S-15LCBL-01 앬 앬 앬 157594 28
in a drag chain 1S-05LCBL-03 앬 앬 165970 28
1S-10LCBL-03 앬 앬 165971 28
1S-15LCBL-03 앬 앬 165972 28
PC connection cable RV-CAB4 앬 앬 앬 앬 앬 앬 앬 55653 29
RV-E-E/A-Kabel 5 앬 앬 앬 앬 앬 앬 앬 47387 29
Connection cable for I/O interface
RV-E-E/A-Kabel 15 앬 앬 앬 앬 앬 앬 앬 59947 29
Extension box CR1-EB3 앬 앬 129878 29
Calibration device RV-E-1E-INST 앬 47388 29
Calibration pin RH-CAL 앬 앬 앬 앬 앬 145715 29

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/// MELFA-BASIC IV

왎 MELFA-BASIC IV Programming

Easy-to-Learn MELFA-BASIC IV Despite its simplicity and short learning Programming

Programming Language curve, MELFA BASIC IV is a powerful
Robot programs are written with the
language that can be used to create very
Mitsubishi robots are controlled with MELFA BASIC IV instructions with the help
complex robot programs.
programs written in the powerful MELFA of a PC and the teaching box. The positions
BASIC IV programming language. This In addition to controlling simple move- are defined with the teaching box and the
language is based on standard BASIC, ment sequences this high-level language actual program is written on the PC.
which makes it very easy to learn. In additi- can also perform complex calculations
Programs are written using the COSIROP
on to the familiar standard BASIC instruc- without having to access a connected PC.
programming software package for
tions and constructs like FOR … NEXT and This is made possible by a comprehensive
industrial robots. You can find more
GOTO, MELFA BASIC IV also has some library of integrated functions, including
information about the programming
extensions required for robots, including trigonometry functions.
software on page 32.
additional data types, instructions for You can store up to 88 programs in the
movement and gripper control and I/O controller and control up to 256 inputs and
instructions. The familiarity of standard outputs. Another powerful feature is 3D
BASIC makes it easy for beginners to get circular interpolation, which makes it
started with robot programming. possible to program highly-complex
processing sequences in 3D space.

PROGRAMMING LANGUAGE
➝ : Robot movement Sample Program
앬 앪 : Movement position
P_SAFE The sample program below is for a
pick-and-place operation. The input signal
M_IN(8) tells the program that there is a
workpiece in position P1. When a work-
piece is present the input signal is set to 1
and the pick-and-place operation is per-
formed. The workpiece is picked up from
position P1 and deposited in position P2.
If no workpiece is present the robot
50 mm
50 mm

remains in the retracted position P_SAFE.

P1 P2

Pick workpiece Place workpiece

M_IN(8)

Pick-and-Place Program
10 MVS P_SAFE Move to safe position
20 IF M_IN(8) = 0 THEN 20 ELSE 30 Wait until input bit 8 is set
30 HOPEN 1 Open gripper 1
40 MVS P1, −50 Move longitudinally to a position 50mm from P1 relative to the tool
50 MVS P1 Move to position P1
60 HCLOSE 1 Close gripper 1
70 DLY 0.2 Wait for 0.2s to ensure proper closing of gripper
80 MVS P1, −50 Move longitudinally to a position 50mm from P1 relative to the tool
90 MVS P2, −50 Move longitudinally to a position 50mm from P2 relative to the tool
100 MVS P2 Move to position P2
110 HOPEN 1 Open gripper 1 and deposit workpiece
120 DLY 0.2 Wait for 0.2s to ensure proper opening of gripper
130 MVS P2, −50 Move longitudinally to a position 50mm from P2 relative to the tool
140 IF M_IN(8) = 1 THEN 40 ELSE 150 If another workpiece is present repeat the pick-and-place operation
150 MVS P_SAFE If no workpiece is present return to safe position and end program
160 END Program end

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SOFTWARE ///

왎 Programming Software COSIROP

COSIROP
COSIROP is the programming, configuration, online and diagnostics software package for
all Mitsubishi robots. You can use it to develop programs in the MOVEMASTER COMMAND
and MELFA BASIC languages and transfer them between the PC and the robot controller.
The programming software package is distributed on a CD containing versions in both
German and English.
The update license can only be used if you already have a license for 1, 5 or 10 users.

Software Licences 1 user 5 users 10 users Update license

Supported robot models All
Language English / German (on one 1 CD)
Operating system Microsoft Windows 98/XP/2000

Order information Art. no. 170050 170051 170052 170053

왎 Simulation Software COSIMIR

COSIMIR
COSIMIR is the 3D robot simulation package for all Mitsubishi robots. It can be used for
SOFTWARE

planning your work cell, checking the accessibility of all positions and optimising your
layout. You can simulate all movement sequences and handling operations to identify and
prevent potential collisions and optimise your cycle times. After simulating and testing
your programs you can then transfer them directly to the robot controller, either via the
standard RS-232C port or via the optional Ethernet interface (TCP/IP). If you use the
Ethernet interface you can also easily connect to the controller via the Internet and
perform program changes and servicing across very large distances.

Software COSIMIR Industrial

Supported robot models All
Language English / German
Description Programming and simulation software
Operating system Microsoft Windows 98/XP/2000

Order information Art. no. 51681

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/// SOFTWARE

왎 PC Support Software for Robots

PC Support Software
The PC support software package makes an ideal complement to the COSIROP robot pro-
gramming software. Its highlights include a function for restoring position data, for exam-
ple so that you can achieve a quick restart after replacing a robot. The software can also
monitor the robot’s maintenance intervals.
Among the standard softwareversion 3A-02C-WINE there is also the software
3A-01C-WINE availible. This software has the additional ability to simulate the movement
of the robot in a 3-dimensional graphical display. Furthermore a special feature of this
software is, to display the cycle time of the movement at the end of the simulation. So you
can already optimize the program at your PC instead of optimizing at the real equipment.

Software 3A-02C-WINE 3A-01C-WINE

Supported robot models All
Language English
program editing All
monitor function All
parameter setting All
Functions program backup All
for robot program conversion From M / E / EN to NARC
models
remote maintenance All
(via modem)
position repair S / SH
maintenance forecast S / SH

SOFTWARE
Robot movement simulation no yes
Calculation of the cycle time no yes
Operating system Microsoft Windows 98/XP/2000

Order information Art. no. 158015 170064

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SOFTWARE

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 쐽 Digital inputs and outputs
In their standard configurations the CR1 Robots
has 16 digital inputs and 16 digital outputs,
the CR2/CR3 32 digital inputs and 32 digital Motion control and servos
outputs. Optional remote I/O boxes make it
Inverters
possible to increase this to up to 256 inputs LV circuit protection
and 256 outputs for complex applications.

쐽 Large program memory

The controller can store up to 88 independ-
ent programs, all of which can call each Laser machines
other, for example when different program
sequences are needed for different products.

Bildunterschrift

CNC
controllers
Control mode: HMI and GOTs
PTP and CP
Processor:
64 Bit RISC + DSP
Control functions:
EDM machines
Axial, linear and 3-D circular interpolation;
The compact, modular robot controller is This transparent compatibility pays off palletising functions, interrupt control Micro PLCs
an integral part of the robot system. It con- when you need to use different robot types and multitasking Modular PLCs
tains the CPU and the power electronics for or models when the needs of your applica- Max. number of programs: Mitsubishi offer a wide range of automation equipment from PLCs and HMIs to CNC and EDM machines
powering and controlling the robot. tion change.
88
쐽 Numbercrunching power Max. number of program steps:
A 64-bit RISC processor with DSP provides 5,000 per programm
ample power for 3-D circular and linear Max. number of teaching points: This is why you can rely on a Mitsubishi
At Mitsubishi Electric ”switchgear cabinets” interpolation, and for multi-tasking with up
are relics of the past – everything is now 2,500 per programm automation solution – because we know
to 32 programs running in parallel. first hand about the need for reliable, effi-
packed into a single compact controller. Internal I/Os: Since its beginnings in 1870, some 45 com-
Depending on the robot model either the cient, easy-to-use automation and control.
쐽 Gentle joining CR1 16 I/16 O, max. 240 I / 240 O panies use the Mitsubishi name, covering a
CR1 controller with a footprint no larger CR2B, CR3 32 I/32 O, max. 256 I / 256 O spectrum of finance, commerce and industry.
The standard ”compliance control” func- As one of the world’s leading companies
than an A4 sheet of paper or the CR2/CR3 Safety functions:
tion guarantees gentle positioning. This with a global turnover of 3.4 trillion Yen
controller is used. The powerful control The Mitsubishi brand name is recognized
function can be activated and deactivated EMERGENCY OFF and door contact switch (approximately $30.8 billion), employing
performance is the same in both the around the world as a symbol of premium
as required, making it possible to optimise (CR2B, CR3) over 100,000 people, Mitsubishi Electric
smaller and larger versions; the only differ- quality.
demanding joining and assembly pro- has the resource and the commitment to
ence between the two is in the power out-
cesses, saving wear and tear on both com- Mitsubishi Electric Corporation represents deliver the ultimate in service and support
put stages. No matter which controller you
ponents and robots. space development, transportation, semi- as well as the best products.
use you always work with the same pro-
gramming language – MELFA BASIC IV – conductors, energy systems, communica-
쐽 Sensorless collision monitoring
and have the same options at your dis- tions and information processing, audio
posal. Potential collision situations are identified visual equipment, home electronics, build-
reliably without an additional sensor, pre- ing and energy management and automa-
venting damage to both workpieces and tion systems, and has 237 factories and
peripherals. laboratories worldwide in over 121 countries.

14
 MITSUBISHI
ELECTRIC
FACTORY AUTOMATION

Industrial Robots

EUROPEAN SERVICE GROUP FRANCE UNITED KINGDOM IRELAND SPAIN

MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V. MITSUBISHI ELECTRIC EUROPE B.V.
Gothaer Str.8 25, Boulevard des Bouvets Travellers Lane Irish branch,Westgate Business Carretera de Rubí 76-80
D-40880 RATINGEN F-92741 NANTERRE CEDEX UK-HATFIELD HERTS. AL10 8 XB Park,Ballymount E-08190 SANT CUGAT DEL
Training Hotline: Phone:+ 33 1 55 68 55 68 Phone:+44 (0) 17 07 27 61 00 IRL-DUBLIN 24 VALLÉS
+49 (0) 2102 486 1880 Training: Phone:+ 353 1 41 98 80 0 Phone:+34 93 56 53 13 1
GERMANY +44 (0) 17 07 27 89 16
EUROPEAN MITSUBISHI ELECTRIC EUROPE B.V. ITALY
DEVELOPMENT CENTER Gothaer Str.8 MITSUBISHI ELECTRIC EUROPE B.V.
MITSUBISHI ELECTRIC EUROPE B.V. D-40880 RATINGEN C.D.Colleoni - P.Perseo Ing.2,
Gothaer Str.8 Phone:+49 (0) 1805 000 765 Via Paracelso 12
D-40880 RATINGEN Training:+49 (0) 2102 486 1880 I-20041 AGRATE BRIANZA (MI)
Phone:+ 39 (0)39 / 60 53 1

For more information about our partners across Europe, please visit the contacts page of our internet site at www.mitsubishi-automation.com

MITSUBISHI
ELECTRIC Mitsubishi Electric Europe B.V. /// FA - European Business Group /// Gothaer Straße 8 /// D-40880 Ratingen /// Germany
FACTORY AUTOMATION Tel.: +49(0)2102-4860 /// Fax: +49(0)2102-486112 /// [email protected] /// www.mitsubishi-automation.de
Specifications subject to change without notice. /// Art. no. 203684-A /// 01.2007
All tradmarks acknowledged.