MITSUBISHI INDUSTRIAL ROBOT

F Series

MITSUBISHI INDUSTRIAL ROBOT

F Series

Country/Region Sales Office Tel/Fax

U.S.A Mitsubishi Electric Automation lnc. Tel: +1-847-478-2100
500 Corporate Woods Parkway Vernon Hills, IL 60061, USA Fax: +1-847-478-2253
Brazil MITSUBISHI ELECTRIC DO BRASIL COMERCIO E SERVICOS LTDA. Tel: +55-11-4689-3000
Rua Jussara, 1750 - Bloco B- Sala 01, Jardim Santa Cecilia - CEP 06465-070, Fax: +55-11-4689-3016
Barueri - SP, Brasil
Germany Mitsubishi Electric Europe B.V. German Branch Tel: +49-2102-486-0
Gothaer Strasse 8 D-40880 Ratingen, Gernany Fax: +49-2102-486-1120
U.K Mitsubishi Electric Europe B.V. UK Branch Tel: +44-1707-27-6100
Travellers Lane, Hatfield, Hertfordshire., AL10 8XB, UK Fax: +44-1707-27-8695
Italy Mitsubishi Electric Europe B.V. Italian Branch Tel: +39-039-60531
VIALE COLLEONI 7-20041 Agrate Brianza(Milano),Italy Fax: +39-039-6053-312
Spain Mitsubishi Electric Europe B.V. Spanish Branch Tel: +34-935-65-3131
Carretera de Rubi 76-80-AC.420, Fax: +34-935-89-2948
E-08190 Sant Cugat del Valles(Barcelona), Spain
France Mitsubishi Electric Europe B.V. French Branch Tel: +33-1-5568-5568
25,Boulevard des Bouvets, F-92741 Nanterre Cedex, France Fax: +33-1-5568-5757
Czech Republic Mitsubishi Electric Europe B.V. Czech Branch Tel: +420-251-551-470
Avenir Business Park, Radicka 714/113a, 158 00 Praha5, Czech Republic Fax: +420-251-551-471
Poland Mitsubishi Electric Europe B.V. Polish Branch Tel: +48-12-630-47-00
ul. Krakowska 50 32-083 Balice, Poland Fax: +48-12-630-47-01
Ireland Mitsubishi Electric Europe B.V. Irish Branch Tel: +353-14198800
Westgate Business Park, Ballymount. IRL-Dublin 24 Fax: +353-14198890
Russia Mitsubishi Electric Europe B.V. Russian Branch Moscow Office Tel: +7-495-721-2070
52, bld. 3, Kosmodamianskaya nab., RU-115054, Moscow, Russia Fax: +7-495-721-2071
China Mitsubishi Electric Automation (CHINA) Ltd. Tel: +86-21-2322-3030
No.1386 Hongqiao Road, Mitsubishi Electric Automation Center 3F Shanghai, Fax: +86-21-2322-3000
China
Taiwan Mitsubishi Electric Taiwan Co.,Ltd. Tel: +886-02-2833-5430
10F,No.88,Sec.6,Chung-Shan N.Rd.,Taipei,Taiwan Fax: +886-02-2833-5433
Korea Mitsubishi Electric Automation Korea Co., Ltd. Tel: +82-2-3660-9550
7F∼9F, Gangseo Hangang Xi-tower A, 401, Yangcheon-ro, Gangseo-Gu, Fax: +82-2-3664-8372
Seoul 157-801, Korea
Singapore Mitsubishi Electric Asia Pte, Ltd. Tel: +65-6470-2480
307 Alexandra Road #05-01/02, Mitsubishi Electric Building, Singapore Fax: +65-6476-7439
Thailand Mitsubishi Electric Automation (Thailanad) Co., Ltd. Tel: +66-2517-1326
Bang-Chan Industrial Estate No.111 Soi Serithai 54, Fax: +66-2906-3239
T.Kannayao, A.Kannayao, Bangkok 10230 Thailand
India Mitsubishi Electric India Pvt. Ltd. Tel: +91-2710-2000
Emerald House, EL-3, J Block, M.I.D.C., Bhosari, Pune, 411026, Fax: +91-2710-2100
Maharashtra State, India

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
NAGOYA WORKS: 1-14, YADA-MINAMI 5, HIGASHI-KU, NAGOYA, JAPAN

This catalog is an introduction to only part of what Mitsubishi Electric has to offer.
Mitsubishi Electric offers individualized solutions for the challenges in your factory.

New publication, effective Sep. 2014

L(NA)-09067ENG-D Specifications are subject to change without notice.
 Features

Product Lineup
Mitsubishi Electric's F-Series industrial robots are equipped with technology developed and
tested at its own production plants. Equipped with advanced technology and easy-to-use

Robot Specifications
features, these robots are designed to facilitate automation of any production plant.

Designed for flexible automation

Compact and powerful
High reliability

Controller Specifications
Vertical type
A compact 6-axis jointed robot with an optimal arm length and wider range of
movement suited for complex assembly and processing tasks.
Compact body and slim arm design, allowing operating area to be expanded and
load capacity increased.

Functions
Layout accommodates a wide range of applications from transport of mechanical
parts to assembly of electrical parts.
Environmental resistance specifications enable application to a wide range of uses
without needing to consider the installation environment.

System Configuration
The fastest high-speed operation in its class Compact installation with operation performed near the robot
Contributes to improved productivity with base
high-frequency operations Changes in operating posture made even more quickly
Prevention of interference with cables Full use of installation space
Compatibility with internal Ethernet cable tools
Expanded J4 axis operating range

Configurations Options
Horizontal type
Matches perfectly to a variety of applications with a wide range of operating
areas and variations.
High speed and high accuracy achieved with the highly rigid arm and latest
servo control technology.
Suitable for a wide range of fields from mass production of food and phar-

Options
maceutical products requiring high-speed operation to assembly operations
requiring high precision.

The fastest high-speed operation in its class Compatibility with internal

Improved speed for vertical movements Ethernet cable tools
Full use of installation space
Improved continuous operability
Enhanced wrist axis
Internal routing of cables results in simplified cable management

1 2
 Lineup
With a wide range of variations from Mitsubishi Electric, committed to ease in selection.

Product Lineup
The Mitsubishi Electric robot product line is equipped with all of the basic performance features desired in a robot, such as RV - 4 F L C - D 1 - Sxx
being powerful, speedy, and compact. Sxx: Compliant with special models
such as CE specification and
The variations that Mitsubishi Electric is confident meet the needs of the current era and have pushed Factory Automation KC specification etc (separately)
SHxx: Internal wiring specifications
forward in a dramatic way. 1: CE/KC specification

Controller type

Robot Specifications
D: CR750-D Q: CR750-Q
1D: CR751-D 1Q: CR751-Q

Vert i cal , mu l tip le -jo in t ty p e (RV) Environment specification

Blank: Standard specifications
M : Oilmist specifications
C : Clean specifications
Arm length
Blank: Standard arm
L : Long arm
LL : Super long arm
Series
F: F series

Controller Specifications
Maximum load capacity
2: 2kg 4: 4kg 7: 7kg 13: 13kg 20: 20kg
Robot structure
RV : Vertical, multiple-joint type

RH - 6 FH 55 20 M - D 1 - Sxx
Sxx: Compliant with special models
such as CE specification and
KC specification etc (separately)
Type RV-2F RV-4F RV-4FL RV-7F RV-7FL RV-7FLL RV-13F RV-13FL RV-20F SM : Specification with protection
specification controller
(with the protection box)
Maximum load capacity (kg) 3 4 4 7 7 7 13 13 20
1: CE/KC specification
Maximum reach radius (mm) 504 515 649 713 908 1503 1094 1388 1094 Controller type

○(IP30) ○(IP40) ○(IP40) ○(IP40) ○(IP40) ○(IP40) ○(IP40) ○(IP40) ○(IP40)

D: CR750-D Q: CR750-Q
Standard 1D: CR751-D 1Q: CR751-Q

Functions
Environmental Oil mist — ○(IP67) ○(IP67) ○(IP67) ○(IP67) ○(IP67) ○(IP67) ○(IP67) ○(IP67) Environment specification
Blank: Standard specifications

○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3)

M : Oilmist specifications
specifications Clean — C : Clean specifications

Medical, food — ○(IP65) ○(IP65) ○(IP65) ○(IP65) ○(IP65) ○(IP65) ○(IP65) ○(IP65) Vertical stroke
12 : 120mm
15 : 150mm
34 : 340mm
35 : 350mm
20 : 200mm 45 : 450mm
Arm length
35 : 350mm 70 : 700mm

System Configuration
45 : 450mm 85 : 850mm
Controller 55 : 550mm 100 : 1000mm

Series
Controllers with protective specifications FH: F series FHR: F series
CR750 CR751 (Equipped with controller protection boxes)
Maximum load capacity
3: 3kg 6: 6kg 12: 12kg 20: 20kg
Robot structure
RH: Horizontal, multiple-joint type

Horizontal, multiple-joint type (RH)

Configurations Options
Type RH-3FH35 RH-3FH45 RH-3FH55 RH-6FH35 RH-6FH45 RH-6FH55 RH-12FH55 RH-12FH70 RH-12FH85 RH-20FH85 RH-20FH100 RH-3FHR
Maximum load capacity (kg) 3 3 3 6 6 6 12 12 12 20 20 3

Options
Maximum reach radius (mm) 350 450 550 350 450 550 550 700 850 850 1000 350
Standard ○ (IP20) ○ (IP20) ○ (IP20) ○(IP20) ○(IP20)
○(IP65) ○(IP65) ○(IP65) Water proof:○ (IP65)
Environmental
Oil mist —
specifications
Clean ○ (ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass3) ○(ISOclass5)
Medical, food — ○(IP65) ○(IP65) ○(IP65) —

Controller

Controllers with protective specifications

CR750 CR751 (Equipped with controller protection boxes)

3 4
 Vertical
RV-2F Vertical
RV-4F
2 kg 4 kg
type type RV-4FL

Product Lineup
External Dimensions/Operating Range Diagram External Dimensions/Operating Range Diagram
RV- 4 F Motion space
For internal hand wiring
at point P
-240 and piping specifications (-SH**)
°

R5
Wrist's downward limit

14
Limits on operating range

.
514.5 514.5

5
for the rear (*5)
Control point (R point)

Robot Specifications
125

*5)
Control point (R point)

-35°(
(241) for -SH** specifications 85 275
Motion space

50
170
at point P Wrist's downward limit

514.5
Motion space A
at point P 504.6 504.6 Point P

864.5
-24 Motion space °

-11
0° Control point 20

-11

235
at point P +1

-12

3° (*
3° (N
(R point) R136.8
Point 70 270 Operating range

0°

ote
Point P

5)
for each axis:

690
P R514.
5

1)
Wrist's downward J1: ±240°
209
In t e r s e c t io n J2: ±120°

350
R5 limit

397
04 J3: 0° to 161°

.8
.6 J4: ±200°

35

14.7
°

R1
J5: ±120°
° φ5H7, depth 8 40

50
φ5H7, depth 8 20 45° +2 J6: ±360°
-1

R2
°
45 4-M5 screw, depth 8 (*3) +1 Approximately 100

47
15 Wrist's downward
4-M5 screw, depth 8 °(*
5) Maintenance singularity boundary Side view
space (*2)

Controller Specifications
A
φ20H7, φ20
depth 6

504.6
H7, d Top view
φ4 .5 φ epth
.5 0h8 31 40 6
1
φ3
, de D.φ
h8
RV- 4 F L

408
pth . ,d For internal hand wiring

+1
ep Motion space
6 P.C th and piping specifications (-SH**)
0°

20
6( at point P Limits on operating range
2 *4)
View A +1

°
-24 for the rear (*6)
0°

799.6

R6
View A Wrist's downward limit 648.7 648.7

(Installation reference
(Installation reference

Mechanical Interface Detail

-12

48
Mechanical Interface Detail

.
R504.6

7
0°
Control point (R point) 125
(241)

*6)
Control point (R point) 85 335

757
170
82 R139.5 for -SH** specifications

-35°(
surface)
R230
surface)

(135)

50
102

Rz25

648.7
Rz 25

528
4-φ9 installation hole (160)
67.5 67.5

270
4-φ9 installation hole Motion space
(40) Point P (Installation reference 80 80 Point P °
at point P 20

998.7
(Installation reference
389.6 +1 Operating range

310
surface) Rz25

-114°(*6)
surface)

-12
for each axis:

764.9
Rz 25 R230 R140.4

.4
J1: ±240°

0°
1.7

40
J2: ±120°

R1
7

102
67.5 67.5
82

R648.
221

80
J3: 0° to 164°
(160)

(200)

14.7

350
J4: ±200°
(135)

94.6
(120)

J5: ±120°

490
(160)
J6: ±360°

80
.5

128
40° Point P J6 when -SH
39

+2

Functions
Approximately 100 specifications

140
+1
R1

10 are used: ±200°

(160) 280 °(*
Wrist's downward 6) +240° Maintenance Wrist's downward
(200) space (*2) singularity boundary
View B singularity boundary Side view
B Note
Rear Surface Diagram (Installation Dimension Detail) View B *1. Make sure to leave enough space open for cable connections between devices.
Top view Side view Rear Surface Diagram (Installation Dimension Detail)
Top view *2. Make sure to leave enough space open for removing and attaching covers during maintenance work.
*3. Specify a thread engagement length of 7.5 to 8 mm.
*4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.

Specifications Specifications
*5. The operating range for the J2 axis when -35°≤ J1 ≤ +115° is limited to -113° ≤ J2 ≤ +120°.
*6. The operating range for the J2 axis when -35°≤ J1 ≤ +110° is limited to -114° ≤ J2 ≤ +120°.
*7. The posture shown in the diagram results from when the robot axis angles are set as listed.
J1 = 0°, J2 = 0°, J3 = 90°, J4 = 0°, J5 = 0°, J6 = 0°

Type Unit RV-2F(B) Type Unit RV-4F(M)(C) RV-4FL(M)(C)

Environmental specifications Standard Environmental specifications Standard/ Oil mist/ Clean

System Configuration
Protection degree IP30 Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Installation Floor type, ceiling type, (wall-mounted type *2) Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical, multiple-joint type Structure Vertical, multiple-joint type
Degrees of freedom 6 Degrees of freedom 6
Drive system *1 AC servo motor (J2, J3 and J5: with brake) Drive system *1 AC servo motor
Position detection method Absolute encoder Position detection method Absolute encoder
Maximum load capacity kg maximum 3 (Rated 2) *5 Maximum load capacity kg 4
Arm length NO1 arm mm 230 + 270 Arm length NO1 arm mm 240 + 270 245 + 300
Maximum reach radius mm 504 Maximum reach radius mm 515 649
J1 480 (±240) J1 480 (±240)

Configurations Options
J2 240 (-120 to +120) J2 240 (-120 to +120)
J3 160 (-0 to +160) J3 161 (-0 to +161) 164 (-0 to +164)
Operating range deg Operating range deg
J4 400 (±200) J4 400 (±200)
J5 240 (-120 to +120) J5 240 (-120 to +120)
J6 720 (-360 to +360) J6 720 (±360)
J1 300 J1 450 420
J2 150 J2 450 336
J3 300 J3 300 250
Maximum speed deg/sec Maximum speed deg/sec
J4 450 J4 540 540
J5 450 J5 623 623
J6 720 J6 720 720
Maximum composite speed *3 mm/sec 4955 Maximum composite speed *3 mm/sec 9027 9048
Cycle time *4 sec 0.6 Cycle time *4 sec 0.36 0.36
Position repeatability mm ±0.02 Position repeatability mm ±0.02
Ambient temperature °C 0 to 40 Ambient temperature °C 0 to 40

Options
Mass kg 19 Mass kg 39 41
J4 4.17 J4 6.66
Tolerable moment J5 Nm 4.17 Tolerable moment J5 Nm 6.66
J6 2.45 J6 3.96
J4 0.18 J4 0.2
2 2
Tolerable amount of inertia J5 kgm 0.18 Tolerable amount of inertia J5 kgm 0.2
J6 0.04 J6 0.1
Hand: 4 input points/4 output points Hand: 8 input points/8 output points
Tool wiring
Signal cable for the multi-function hand Tool wiring Signal cable for the multi-function hand and sensors
Tool pneumatic pipes φ4 x 4 LAN X 1 <100 BASE-TX> (8-pin)) *5

Machine cable 5m (connector on both ends) Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm)
Connected controller CR750, CR751 Machine cable 5m (connector on both ends)
*1: The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. (RV-2FB) Connected controller *6 CR750, CR751
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.
*3: This is the value at the surface of the mechanical interface when all axes are composited.
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
*3: This is the value at the surface of the mechanical interface when all axes are composited.
*5: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
1
5 *5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*6: Select either controller according to your application. CR751-D: Standalone type, CR751-Q: iQ Platform compatible type.
2
6
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
 Vertical
RV-7F Vertical
RV-7FLL
7 kg 7 kg
type RV-7FL type

Product Lineup
External Dimensions/Operating Range Diagram External Dimensions/Operating Range Diagram
RV-7F For internal hand wiring
and piping specifications (-SH**)
-240
°
Same for RV-7F/7FL/7FLL
R
71 713.4 713.4 φ5H7, depth 8
3.
4
Wrist's downward limit 45°
Motion space 125 4-M5 screw, depth 8 (*3)
Control point (R point)

Robot Specifications
at point P 85 370
(278) Control point (R point)
for -SH** specifications φ20
200 .5 H7, d
31 φ
40 epth
6
.D.φ h8

50
P.C Note)

713.4
Motion
space RV-7FLL -190°
For internal hand wiring and piping Note) The depth for the φ40 part is 3.5 mm (Oil mist/clean),
6 mm (Standard), or 6.5 mm (-SH** models).

°
at point P specifications (-SH**)

1113.4
25
Operating range

-11

340
+1
View A

844.4
.4 Point P for each axis:

R1
5°
7 125 Mechanical Interface Detail
19 J1: ±240°

5
Wrist's downward singularity boundary

02
R 4
R197. J2: -115° to 125° 85 805

.6
Intersection Point P J3: 0° to 156°

400
13.4 J4: ±200°
R7

568.4
15.9
J5: ±120° Control point (R point)
Motion space at point P
φ5H7, depth 8 J6: ±360°
45° Approximately 100
J6 when -SH Control point (R point)
4-M5 screw, depth 8 (*3) 0°
4
+2 Top view Maintenance
specifications
are used: ±200°
Dedicated for RV-7FLL for -SH** specifications
space (*2) Point P

65
Wrist's downward 347

168.4

1371.5

Controller Specifications
(Installation reference
singularity boundary Side view
300 A

185 (*1)
RV-7FL

1821.5
φ20H
7, de For internal hand wiring R2

114

)
pth 6 -240°

(*1
φ4

66
.5 77.6

90
and piping specifications (-SH**)
31 0h

°
R9

8( Motion space 157.5°

0°
0°

565
.D.
φ Point P
*4)
07

13
15
P.C

surface)
Motion space Wrist's downward limit 907.7 907.7 at point P
.7

1152
250

Rz25
at point P
Control point (R point) 125 2-φ8H7
155 160
View A 4- φ14
Control point (R point) Reamer .6
85 470 102 installation hole R1372
(Installation reference

Mechanical Interface Detail for -SH** specifications 100

450
(278) (Installation reference 50
surface) Rz25 99
200 R3

29
R5
50

1296.9
907.7

155
135

130
120
surface)

124.5

250

300
Rz25

(205) Motion 300

846.9
1307.7
250
space

135
435
°
at point P Point P

-11
30
(Installation reference 102.5 102.5 4- φ9 installation hole 242.5 Minimum: 430

+1

0°
939.4
surface) Rz25
.8

Operating range 300

92

R192.8
124.5

R1

for each axis:

102.5 102.5

400
Point P View C Space for the cable
J1: ±240°
J2: -110° to 130° 973.7 399 1242.6 connection (*1)
+190°
245

.7 Rear Surface Diagram (Installation Dimension Detail)

907
15.9

J3: 0° to 162° 529

(205)

752.3
R 130 Operating range
J4: ±200° Operating range limitation
162

Top view for each axis:

J5: ±120° for the front/side faces (*5)
Approximately 100

Functions
J6: ±360° C Side view J1: ±190°

352.3
Maintenance J6 when -SH *1. Make sure to leave enough space open for cable connections between devices. J2: -90° to 150°
° space (*2) specifications *2. Make sure to leave enough space open for removing and attaching covers during maintenance work. J3: -10° to 157.5°
245.7 40 J4: ±200°
+2 are used: ±200° *3. Specify a thread engagement length of 7.5 to 8 mm.
Top view *4. Limits on the operating range for the front part: When the J1-axis angle is inside the range of +145° ≤ J1 ≤ +215° or -145° ≤ J1 ≤ -215°, the operating range of the J2-axis is limited to -110° ≤ J2 ≤ +120°. J5: ±120°
View B Note Wrist's downward J6: ±360°
singularity boundary Side view *5. Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -120°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°. J6 when -SH
Rear Surface Diagram (Installation Dimension Detail) *1. Make sure to leave enough space open for cable connections between devices.
*2. Make sure to leave enough space open for removing and attaching covers during maintenance work. specifications
*3. Specify a thread engagement length of 7.5 to 8 mm. are used: ±200°

Specifications *4. The depth of the φ40-mm section is 3.5 mm for Clean/Mist models and 6 mm for Standard.
*5. The posture shown in the diagram results from when the robot axis angles are set as listed.
J1 = 0°, J2 = 0°, J3 = 90°, J4 = 0°, J5 = 0°, J6 = 0° Specifications
Type Unit RV-7F(M)(C) RV-7FL(M)(C) Type Unit RV-7FLL(M)(C)
Machine class Standard/ Oil mist/ Clean Machine class Standard/ Oil mist/ Clean

System Configuration
Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7 Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Installation Floor type, ceiling type, (wall-mounted type *2) Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical, multiple-joint type Structure Vertical, multiple-joint type
Degrees of freedom 6 Degrees of freedom 6
Drive system AC servo motor Drive system AC servo motor
Position detection method Absolute encoder Position detection method Absolute encoder
Maximum load capacity kg 7 Maximum load capacity kg Maximum: 7 (Rated: 7)
Arm length NO1 arm mm 340 + 370 435 + 470 Arm length NO1 arm mm 565 + 805
Maximum reach radius mm 713 908 Maximum reach radius mm 1503
J1 480 (±240) J1 380 (±190)
J2 240 (-115 to +125) 240 (-110 to +130) J2 240 (-90 to +150)

Configurations Options
J3 156 (-0 to +156) 162 (-0 to +162) J3 167.5 (-10 to +157.5)
Operating range deg Operating range deg
J4 400 (±200) J4 400 (±200)
J5 240 (-120 to +120) J5 240 (-120 to +120)
J6 720 (±360) J6 720 (±360)
J1 360 288 J1 234
J2 401 321 J2 164
J3 450 360 J3 219
Maximum speed deg/sec Maximum speed deg/sec
J4 337 337 J4 375
J5 450 450 J5 450
J6 720 720 J6 720
Maximum composite speed *3 mm/sec 11064 10977 Maximum composite speed *3 mm/sec 15300
Cycle time *4 sec 0.32 0.35 Cycle time *4 sec 0.63
Position repeatability mm ±0.02 Position repeatability mm ±0.06
Ambient temperature °C 0 to 40 Ambient temperature °C 0 to 40

Options
Mass kg 65 67 Mass kg 130
J4 16.2 J4 16.2
Tolerable moment J5 Nm 16.2 Tolerable moment J5 Nm 16.2
J6 6.86 J6 6.86
J4 0.45 J4 0.45
2 2
Tolerable amount of inertia J5 kgm 0.45 Tolerable amount of inertia J5 kgm 0.45
J6 0.10 J6 0.10

Hand: 8 input points/8 output points (20 pins total) Hand: 8 input points/8 output points (20 pins total)
Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line) Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *5 LAN X 1 <100 BASE-TX> (8-pin)) *5
Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (from base portion to forearm) Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (With wrist attached)
Machine cable 5m (connector on both ends) Machine cable 7m (connector on both ends)
Connected controller CR750, CR751 Connected controller CR750, CR751
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet. *1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. *2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*3: This is at the hand flange surface when all axes are composited. *3: This is the value at the surface of the mechanical interface when all axes are composited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg. *4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
*5: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models. *5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
*6: Select either controller according to your application. *6: Select either controller according to your application.
1
7 *7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base. *7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
2
8
 Vertical
RV-13F Vertical
RV-20F
13 kg 20 kg
type RV-13FL type

Product Lineup
External Dimensions/Operating Range Diagram External Dimensions/Operating Range Diagram
For internal hand wiring and piping specifications (-SH**)

R1
RV- 1 3 F -190°
Wrist's downward singularity boundary 150
For internal hand wiring and piping specifications (-SH**)

R1
93
97 550 -190°

0
.8
Control point (R point) Wrist's downward singularity boundary 150

93
.8
Motion space at point P Control point (R point) 97 550
Control point (R point)

Robot Specifications
for -SH** specifications

65
Motion space

963.8
Point P 347 A at point P Control point (R point)
300 Operating range

185 (*3)
90

1413.8
R4 ° for -SH** specifications
157

)
for each axis:

°(*1
10 Point P

0°

410
.5°

65
.3 J1: ±190°
166

15
130
J2: -90° to 150° 347

997

963.8
Motion space J3: -10° to 157.5° Point P A
160 .3 300
at point P R280 J4: ±200° 90

450
3.8 J5: ±120° °

185 (*2)
R4 157

1413.8
6 10

1)
R9 J6: ±360° Point P .5°

908.9
.3

0°

410
° (*
J6 when -SH

15
166
7.6
specifications

130
458.9
130

997
Shared parts R2
7
are used: ±200°
160 Motion space
300 .3
φ6H7, depth 8 250
at point P R280
Space for the cable
45°

450
4-M6 screw, depth 8 (*4) Operating range limitation 242.5 connection (*3) 3.8
Minimum: 430
for the front/side faces (*1) 6
683.6 280.3 833.8 R9

908.9
φ25H7, depth 10 +190° 130
φ25H7, depth 6 B

Controller Specifications
Top view

7.6
P.C.D φ40 (SH specifications)

458.9
130
Side view

7
φ50H8, depth 6.5
RV- 1 3 F L

R2
φ50H8, depth 8 -190° For internal hand wiring and piping specifications (-SH**)
(SH specifications) 300
R1

View A Wrist's downward singularity boundary 150 250

38

97 690
7.9

Mechanical Interface Detail Space for the cable

Control point (R point) Operating range limitation 242.5 Minimum: 430
connection (*2)
Control point (R point) for the front/side faces (*1)
(Installation reference

Motion space at point P 683.6 280.3 833.8

(Installation reference
for -SH** specifications
Operating range
+190° 130 for each axis:

65
1258.1
Point P 347 B J1: ±190°
300 A 12 J2: -90° to 150°

1708.1
° J3: -10° to 157.5°
R2
185 (*3)

Top view
surface)

Side view

15 )
77 Point P J4: ±200°

*3

surface)
.6

565
0°
Motion space 157

90
0°(
J5: ±120°
Rz25

250
166

.5° φ6H7, depth 8

Rz25
2-φ8H7

1152
at point P 45°

13
250 J6: ±360°
2-φ8H7 Reamer 155 4-M6 screw, depth 10 (*3) Reamer J6 when -SH
Operating range 155
100 4- φ14 installation hole 160 specifications
(Installation reference .1 for each axis: 100 4- φ14 installation hole
50 R1258 pth 10
φ25H7, de th 6 (SH specifications) (Installation reference are used: ±200°

450
J1: ±190° 50
surface) Rz25 27.6 φ25H7, dep surface)
R3 J2: -90° to 150° Rz25
J3: -10° to 157.5° φ50
.6 40 H8,

1182.4
57 J4: ±200° .D ∅ φ 50H depth
P.C
135

R4
155

135
8, de 6

155
130
250 J5: ±120° pth 8 .5
120

120
732.4
J6: ±360° (SH
250

242.5

250

300
Minimum: 430 spec
300 J6 when -SH ifica
tions
135

specifications View A )

135
are used: ±200°
Mechanical Interface Detail

Functions
930.5 327.6 1128.1 Space for the cable
300 Top view 300 *1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°,
connection (*3)
Operating range limitation 130 the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
View B View B
+190° for the front/side faces (*2) B *2: Make sure to leave enough space open for cable connections between devices.
Rear Surface Diagram Side view RV-13FL Rear Surface Diagram (Installation Dimension Detail) *3: Specify a thread engagement length of 10 to 9 mm.
(Installation Dimension Detail)
*1: Limits on the operating range for the front and side parts: When the J1-axis angle is inside the range of J1 ≥ +120° or J1 ≤ -130°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.

Specifications Specifications
*2: Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1 ≥ +130° or J1 ≤ -140°, the operating range of the J2-axis is limited to -90° ≤ J2 ≤ +130°.
*3: Make sure to leave enough space open for cable connections between devices.
*4: Specify a thread engagement length of 10 to 9 mm.

Type Unit RV-13F(M)(C) RV-13FL(M)(C) Type Unit RV-20F(M)(C)

Machine class Standard/ Oil mist/ Clean Machine class Standard/ Oil mist/ Clean

System Configuration
Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7 Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISOclass3 *7
Installation Floor type, ceiling type, (wall-mounted type *2) Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical, multiple-joint type Structure Vertical, multiple-joint type
Degrees of freedom 6 Degrees of freedom 6
Drive system AC servo motor Drive system AC servo motor
Position detection method Absolute encoder Position detection method Absolute encoder
Maximum load capacity kg Maximum: 13 (Rated: 12) *8 Maximum load capacity kg Maximum: 20 (Rated: 15) *8
Arm length NO1 arm mm 410 + 550 565 + 690 Arm length NO1 arm mm 410 + 550
Maximum reach radius mm 1094 1388 Maximum reach radius mm 1094
J1 380(±190) J1 380 (±190)
J2 240 (-90 to +150) J2 240 (-90 to +150)

Configurations Options
J3 167.5 (-10 to +157.5) J3 167.5 (-10 to +157.5)
Operating range deg Operating range deg
J4 400 (±200) J4 400 (±200)
J5 240 (-120 to +120) J5 240 (-120 to +120)
J6 720 (±360) J6 720 (±360)
J1 290 234 J1 110
J2 234 164 J2 110
J3 312 219 J3 110
Maximum speed deg/sec Maximum speed deg/sec
J4 375 375 J4 124
J5 375 375 J5 125
J6 720 720 J6 360
Maximum composite speed *3 mm/sec 10450 9700 Maximum composite speed *3 mm/sec 4200
Cycle time *4 sec 0.53 0.68 Cycle time *4 sec 0.70
Position repeatability mm ±0.05 Position repeatability mm ±0.05
Ambient temperature °C 0 to 40 Ambient temperature °C 0 to 40

Options
Mass kg 120 130 Mass kg 120
J4 19.3 J4 49.0
Tolerable moment J5 Nm 19.3 Tolerable moment J5 Nm 49.0
J6 11 J6 11
J4 0.47 J4 1.40
2 2
Tolerable amount of inertia J5 kgm 0.47 Tolerable amount of inertia J5 kgm 1.40
J6 0.14 J6 0.14

Hand: 8 input points/8 output points (20 pins total) Hand: 8 input points/8 output points (20 pins total)
Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line) Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *5 LAN X 1 <100 BASE-TX> (8-pin)) *5

Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (With wrist attached) Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8, φ4 x 4 (With wrist attached)
Machine cable 7m (connector on both ends) Machine cable 7m (connector on both ends)
Connected controller CR750, CR751 Connected controller CR750, CR751
*1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. *1: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. *2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
*3: This is the value at the surface of the mechanical interface when all axes are composited. *3: This is the value at the surface of the mechanical interface when all axes are composited.
*4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5 kg. *4: The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5 kg.
*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm. *5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
*6: Select either controller according to your application. *6: Select either controller according to your application.
1
9 *7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base. *7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base. 2
10
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular). *8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
 Horizontal
RH-3FH35 Horizontal
RH-6FH35
3 kg 6 kg
type RH-3FH45 type RH-6FH45
RH-3FH55 RH-6FH55

Product Lineup
External Dimensions/Operating Range Diagram External Dimensions/Operating Range Diagram
170° Y section details
Y section details (Hand mounting)
(Hand mounting) φ39.5 φ90
φ90 60.5

Robot Specifications
φ37.5
Z

15
Z

Z Z Z Z
(Installation standards)

10
B

58
(Installation standards)

10 10
10
Z Z Z Z

27.5
10

30
Cross-section X-X
(Installation Dimension Detail) 50 225 A 165

10
30

30
100 Cross-section X-X [Mist specifications]

10

10
C
G E (Installation Dimension Detail) φ25h7
φ90

136

B
10
60 225 A 165

10
2-φ6 hole 92 φ16h7 [clean specifications]
Rz25

(φ8 prepared hole for positioning pins) [Standard specifications]

90 120 170°
15 2-φ6 hole 92
hole

Rz25
gh

C
150 rou (φ8 prepared hole for positioning pins) 24 hole

15
4-φ9installation hole 1th 90 120 gh Z Z
φ1 rou

130
174
110

10
F
60 8th 100
4-φ9installation hole 150 φ1 G

110
Rz25

30
24
(Installation standards) 60

Cross-section Z-Z Rz25

(Installation standards)

10

136

130
D
F
Cross-section Z-Z [Clean specifications]
92

Controller Specifications
5° E
14
180

150

174

92
5°
Only clean spec 14

174
φ90

180

150

174
Variable dimensions
(*3)

Only clean spec

357
Robot series A B C D E F G H J Variable dimensions
RH-3FH3515 125 R350 R142 210 R253 220 R174 342 150 (*3)

M
10 10 Robot series A B C D E F G H J K L M

40
(*3) RH-6FH3520 125 R350 R142 210 R253 220 R174 342 200 133 798 386
RH-3FH3512C 125 R350 R142 224 R253 268 R196 342 120 10 10
RH-6FH3520M/C 125 R350 R142 224 R253 268 R196 342 200 133 798 386

55

25
(*3)
RH-3FH4515 225 R450 R135 210 R253 220 R174 337 150 RH-6FH3534 125 R350 R142 210 R253 220 R174 342 340 -7 938 526

4 55
22 13.2
RH-6FH3534M/C 125 R350 R142 224 R253 268 R196 342 340 -43 938 526
RH-3FH4512C 225 R450 R135 224 R253 268 R197 337 120

773
26

22
RH-6FH4520 225 R450 R135 210 R253 220 R174 337 200 133 798 386

L
30
RH-3FH5515 325 R550 R191 160 R244 172 R197 337 150 65 RH-6FH4520M/C 225 R450 R135 224 R253 268 R197 337 200 133 798 386
Y RH-6FH4534 225 R450 R135 210 R253 220 R174 337 340 -7 938 526 65
RH-3FH5512C 325 R550 R191 160 R253 259 R222 337 120 188 82

J
RH-6FH4534M/C 225 R450 R135 224 R253 268 R197 337 340 -43 938 526 Y 10 164 82
10
*1: Space required for the battery replacement RH-6FH5520 325 R550 R191 160 R244 172 R197 337 200 133 798 386 20

J
412
416

RH-6FH5520C 325 R550 R191 160 R253 259 R222 337 200 133 798 386
*2: Space required for the interconnection cable

H
RH-6FH5520M 325 R550 R191 160 R244 259 R222 337 200 133 798 386

H
*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides RH-6FH5534 325 R550 R191 160 R244 172 R197 337 340 -7 938 526

Functions
X X
and 2 locations on the front of the No. 2 arm.)
220

RH-6FH5534C 325 R550 R191 160 R253 259 R222 337 340 -43 938 526

K
X X
RH-6FH5534M 325 R550 R191 160 R244 259 R222 337 340 -43 938 526
*1: Space required for the battery replacement
*2: Space required for the interconnection cable 160(*1) 200(*2)
*3: Screw holes (M4, 6 mm long) for affixing user wiring and piping. (6 locations on both sides and 2 locations on the front of the No. 2 arm.)
(*1) 160 200 (*2)

Specifications Specifications
Type Unit RH-3FH3515/12C RH-3FH4515/12C RH-3FH5515/12C Type Unit RH-6FH35XX/M/C RH-6FH45XX/M/C RH-6FH55XX/M/C
Machine class Standard/ Clean Machine class Standard/ oil mist/ Clean

System Configuration
Protection degree *1 IP20/ ISOclass3 *6 Protection degree *1 IP20 *6/ IP65 *7/ ISO3 *8
Installation Floor type Installation Floor type
Structure Horizontal, multiple-joint type Structure Horizontal, multiple-joint type
Degrees of freedom 4 Degrees of freedom 4
Drive system AC servo motor Drive system AC servo motor
Position detection method Absolute encoder Position detection method Absolute encoder
Maximum load capacity kg Maximum 3 (rating 1) Maximum load capacity kg Maximum 6 (rating 3)
NO1 arm 125 225 325 NO1 arm 125 225 325
Arm length mm Arm length mm
NO2 arm 225 NO2 arm 225
Maximum reach radius mm 350 450 550 Maximum reach radius mm 350 450 550

Configurations Options
J1 340 (±170) J1 340 (±170)
deg deg
J2 290 (±145) J2 290 (±145)
Operating range Operating range
J3 (Z) mm 150 (Clean specification : 120) *1 J3 (Z) mm xx = 20 : 200/ xx = 34 : 340
J4 (θ) deg 720 (±360) J4 (θ) deg 720 (±360)
J1 420 J1 400
deg/sec deg/sec
J2 720 J2 670
Maximum speed Maximum speed
J3 (Z) mm/sec 1100 J3 (Z) mm/sec 2400
J4 (θ) deg/sec 3000 J4 (θ) deg/sec 2500
Maximum composite speed *2 mm/sec 6800 7500 8300 Maximum composite speed *2 mm/sec 6900 7600 8300
Cycle time *3 0.41 0.46 0.51 Cycle time *3 0.29
Y-X composite ±0.010 ±0.010 ±0.012 Y-X composite ±0.010 ±0.010 ±0.012
mm mm
Position repeatability J3 (Z) ±0.01 Position repeatability J3 (Z) ±0.01
J4 (θ) deg ±0.004 J4 (θ) deg ±0.004
Ambient temperature 0 to 40 Ambient temperature 0 to 40
Mass kg 29 29 32 Mass kg 36 36 37

Options
Rating 0.005 Rating 0.01
Tolerable amount of inertia kgm
2 Tolerable amount of inertia kgm
2
Maximum 0.06 Maximum 0.12

Hand: 8 input points/8 output points (20 pins total) Hand: 8 input points/8 output points (20 pins total)
Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line) Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line)
LAN X 1 <100 BASE-TX> (8-pin)) *4 LAN X 1 <100 BASE-TX> (8-pin)) *4
Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8 Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ4 x 8
Machine cable 5m (connector on both ends) Machine cable 5m (connector on both ends)
Connected controller *5 CR750, CR751 Connected controller *5 CR750, CR751
*1: The range for vertical movement listed in the environmental resistance specifications (C: Clean specifications) for the RH-3FH is narrower than for the standard model. Keep this in mind when working with the RH-3FH. The *1: The range of vertical movement listed in the environmental resistance specifications (M: Oil mist specifications, C: Cleanroom specifications) for the RH-6FH is factory-set custom specifications.
environment-resistant specifications are factory-set custom specifications. *2: The value assumes composition of J1, J2, and J4.
*2: The value assumes composition of J1, J2, and J4. *3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth
*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
movement over a vertical distance of 25 mm and horizontal distance of 300 mm.) *4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models. *5: Select either controller according to your application. Note that controllers with oil mist specifications come equipped with a controller protection box (CR750-MB) and "-SM" is appended at the end of the robot model name. If you
*5: Select either controller according to your application. require it, consult with the Mitsubishi Electric dealer.
*6: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base. *6: IP54 rating for European models.
*7: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
*8: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

1
11 2
12
 Horizontal RH-12FH55 RH-20FH85 Horizontal
RH-3FHR
12/20 kg
RH-12FH70 RH-20FH100
3 kg
type type

RH-12FH85

Product Lineup
External Dimensions/Operating Range Diagram
External Dimensions/Operating Range Diagram

reference surface)
J4-axis-centered locus

(Installation
170°
4-M8 jack-up hole
R H -1 2 FH R H -2 0 FH

Robot Specifications
(Installation
reference surface) 4-φ9 installation hole

Z Z

44
10
52
B

8
R8

10
Z Z
0

C H

10

11
10
φ25h7 φ30h7
140

E
2-M12 suspension hole
Standard Standard

D
2-φ6 prepared holes for positioning

Installation reference 4-φ16 installation holes φ110 φ110

surface
120

Controller Specifications
122
A2 A1

200
240
Z Z Z Z

10
10
Robot origin

8
10
10
Installation
surface

10

11
Installation reference

10
φ25h7
φ30h7
200 View A
Mist, Clearn Mist, Clearn Operating range
120 of the J2-axis
le ole
ho hh

surface
122 h g
ug ou
24 thr
o 29 thr Operating range of the J1-axis
18 21
φ φ

28
24
J1-axis
4N9 ( -0.030)
0
80
Only clean spec
Cross-section Z-Z Cross-section Z-Z
80
F

J2-axis
Variable dimensions

Functions
Robot series A1 A2 B C D E F G H
75 RH-12FH55xx 225 325 R550 R191 145° 240 1080/1180 350/450 R295
400
G st
340

RH-12FH55xxM/C 225 325 R550 R191 145° 320 1080/1180 350/450 R382
J4-axis
RH-12FH70xx 375 325 R700 R216 145° 240 1080/1180 350/450 R295
Operating range: ±720°
RH-12FH70xxM/C 375 325 R700 R216 145° 320 1080/1180 350/450 R382
RH-12FH/20FH85xx 525 325 R850 R278 153° ─ 1080/1180 350/450 ─
200 RH-12FH/20FH85xxM/C 525 325 R850 R278 153° 240 1080/1180 350/450 R367

Specifications
240

Standard spec
RH-20FH100xx 525 475 R1000 R238 153° 240 1080/1180 350/450 R295 J3-axis
RH-20FH100xxM/C 525 475 R1000 R238 153° 320 1080/1180 350/450 R382 Operating range 0 to 150mm

Machine class
Type Unit RH-12FH55XX/M/C RH-12FH70XX/M/C
Standard/ oil mist/ Clean
RH-12FH85XX/M/C RH-20FH85XX/M/C
Standard/ oil mist/ Clean
RH-20FH100XX/M/C
Specifications

System Configuration
Protection degree *1 IP20/ IP65 *6/ ISO3 *7 IP20/ IP65 *6/ ISO3 *7 Type Unit RH-3FHR3515 RH-3FHR3512C *1 RH-3FHR3512W *1
Installation Floor type Floor type
Machine class Standard Standard Standard
Structure Horizontal, multiple-joint type
Protection degree IP20 ISOclass5 *5 IP65 *6
Degrees of freedom 4
Installation Ceiling type
Drive system AC servo motor
Structure Horizontal, multiple-joint type
Position detection method Absolute encoder
Degrees of freedom 4
Maximum load capacity kg Maximum 12 (rating 3) Maximum 20 (rating 5)
Drive system AC servo motor (J1, J2 and J4: with no brake, J3: with brake)
NO1 arm 225 375 525 525 525
Arm length mm Position detection method Absolute encoder
NO2 arm 325 325 475
Maximum load capacity (rating) kg 3 (1)
Maximum reach radius mm 550 700 850 850 1000
No. 1 arm 175

Configurations Options
J1 340 (±170) 340 (±170) Arm length mm
deg No. 2 arm 175
J2 290 (±145) 306 (±153) 306 (±153)
Operating range Maximum reach radius
J3 (Z) mm xx = 35 : 350/ xx = 45 : 450 xx = 35 : 350/ xx = 45 : 450 mm 350
(No. 1 + No. 2)
J4 (θ) deg 720 (±360) 720 (±360) J1 450 (±225)
J1 deg
420 280 280 Operating J2 450 (±225)
deg/sec
J2 450 450 range J3 (Z) mm 150 (0 to 150)
Maximum speed
J3 (Z) mm/sec 2800 2400 J4 (θ) deg 1440 (±720)
J4 (θ) deg/sec 2400 1700 J1 672
deg/sec
Maximum composite speed *2 mm/sec 11435 12535 11350 11372 13283 Maximum J2 708
Cycle time *3 0.30 0.30 0.30 0.30 0.36 speed J3 (Z) mm/s 1500
Y-X composite ±0.012 ±0.015 ±0.015 ±0.015 ±0.02 J4 (θ) deg/sec 3146
mm
Position repeatability J3 (Z) ±0.01 ±0.01 Maximum composite speed *2 mm/sec 6267
J4 (θ) deg ±0.005 ±0.005 Cycle time *3 sec 0.32
Ambient temperature 0 to 40 X-Y composite ±0.01
Position mm
Mass kg 65 67 69 75 77

Options
J3 (Z) ±0.01
repeatability
Rating 0.025 0.065 J4 (θ) deg ±0.01
Tolerable amount of inertia kgm
2
Maximum 0.3 1.05 Ambient temperature °C 0 to 40
Hand: 8 input points/8 output points (20 pins total) Mass kg Approx. 24
Tool wiring Serial signal cable for parallel I/O (2-pin + 2-pin power line) Tool wiring Hand: 8 input points / 0 output points, 8 spare lines (8 output points by options)
LAN X 1 <100 BASE-TX> (8-pin)) *4 Tool pneumatic pipes Primary: φ6 x 2 (Secondary: φ4 x 8)
Tool pneumatic pipes Primary: φ6 x 2 Secondary: φ6 x 8 Machine cable 5m (connector on both ends)
Machine cable 5m (connector on both ends) Connected controller CR751 / CR750 *4
Connected controller *5 CR750, CR751 *1: The environmental resistance specifications of RH-3FHR (C: Clean specification, W: Waterproof specification) are factory-set custom specifications.
*1: The environment-resistant specifications (C: Clean specification, M: Mist specification) are factory-set custom specifications. *2: The value assumes composition of J1, J2, and J4.
*2: The value assumes composition of J1, J2, and J4. *3: Based on a load capacity of 1 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.
*3: Value for a maximum load capacity of 2 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-and-forth (The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
movement over a vertical distance of 25 mm and horizontal distance of 300 mm.) *4: Select either controller according to your application.
*4: Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models. CR750-D/CR-751-Q: Standalone type, CR750-Q/CR751-Q: iQ Platform compatible type.
*5: Select either controller according to your application. Note that controllers with oil mist specifications come equipped with a controller protection box (CR750-MB) and "-SM" is appended at the end of the robot model name. If you *5: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.
require it, consult with the Mitsubishi Electric dealer. *6: Direct jet to the bellows is excluded.
*6: Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A φ8-mm coupler for suctioning is provided at the back of the base.

1
13 2
14
 Vertical
4/7/12/20
kg
type
The environment- Specifications
A B

Product Lineup
NSF H1-certified grease is applied Stainless materials are used
resistant specifications (Compliant to FDA) for robot tips

(For medicinal products and foods)

H1 grease for food machinery is applied to joint oil seals. The tool flange of a robot tip is changed
(Oil seals exposed to the external air) from a plated one to the one using
stainless materials, and this enhances
Horizontal the corrosion resistance.

Robot Specifications
6/12/20
Stainless materials
kg
type
C Special hexagon flange bolts are used D Chemical-resistant coating to chassis
(Cover-fixing bolts) (Compliant to FDA and the Food Sanitation Act)
Liquid does not remain in the Chemical-resistant special coating is

Controller Specifications
The resistance to corrosion due to chemical cleaning is enhanced, special bolts that are made of
stainless-steel, and this improves
applied to the arm.

and this improves detergency and cleanliness. detergency.

Grooving is performed to the Special hexagon Special coating
These types of robots are applicable to the production environments bolts to enable easy cleaning the
area around the cover-fixing
flange bolts (Compliant to FDA)

including conveying or processing medicinal products and foods. bolts.

E Seals exposed to the external air are F The chemical resistance of bellows
Enhanced resistance to acid and alkaline cleaning liquids resistant to chemicals is improved (RH-F series only)
• Since special coating (compliant to FDA *1) and special sealing are applied to these types of robots, they can

Functions
be used in an environment sterilized with hydrogen peroxide gas and withstand wipe cleaning with hydrogen Highly chemical-resistant rubbers are used for oil seals and packing, Fluorine resin is used for bellows, and
peroxide water. the seals exposed to the external environment, and this improves the this enhances the chemical resistance
• Stainless materials are used to enhance the corrosion resistance. detergency at food and pharmaceutical factories. and improves the detergency at food
and pharmaceutical factories.
NSF H1 *2 -certified grease for food machinery
The grease for food machinery is used to improve cleanliness. Fluorine resin bellows

System Configuration
Surface shape that prevents foreign matter from getting into and remaining inside
Specially-shaped bolts and the smooth surface facilitate daily cleaning. Correspondence table for environmental resistance specifications
*1: Food and Drug Administration
(for medicinal products and foods)
*2: Sanitation guideline of NSF (National Sanitation Foundation) in the United States
Chemical-resistant H1 grease for food machinery
Specifications Item
-SE01 *3 -SE02
A H1 grease is applied to the seals exposed to the external air ○ ○
Models B Stainless materials are used for robot tips ○ ○

Configurations Options
C Special hexagon flange bolts are used ○ -
Vertical, multiple-joint type Type Chemical-resistant H1 grease for food machinery D Chemical-resistant coating to chassis ○ -
RV-4F series RV-4FM E Chemical-resistant seals ○ -
RV-4FLM F The chemical resistance of bellows is improved ○ -
RV-7FM *3: This model can be used in an environment sterilized with hydrogen peroxide gas (Concentration: 120ppm) and withstand wipe cleaning with hydrogen peroxide water (Concentration: 6%).
RV-7F series RV-7FLM
RV-7FLLM -SE01 -SE02
RV-13FM RV - 13 F L M - 1D 1 - SE01
RV-13F series
RV-13FLM Robot structure (Horizontal, multiple-joint type) Special device No.
RV-20F series RV-20FM SE01: Chemical-resistant
Maximum load capacity *4
SE02: H1 grease for food machinery
Series *4 1: CE/KC specification

Options
Horizontal, multiple-joint type Type Chemical-resistant H1 grease for food machinery Arm length *4 Controller type *4
RH-6FH35XXM Environment specification
RH-6FH series RH-6FH45XXM M: Oilmist specifications
RH-6FH55XXM
RH-12FH55XXM -SE01 -SE02
RH - 20 FH 100 45 M - 1D 1 - SE01
RH-12FH series RH-12FH70XXM
Robot structure (Horizontal, multiple-joint type) Special device No.
RH-12FH85XXM SE01: Chemical-resistant
Maximum load capacity *4
RH-20FH85XXM SE02: H1 grease for food machinery
RH-20FH series Series *4 1: CE/KC specification
RH-20FH100XXM
Arm length *4 Controller type *4
For the specifications of each model, refer to the specifications of each standard model. Note that these models have the following differences from the standard models.
The protection degree of all the models is IP65. Vertical stroke *4 Environment specification
These models are 2-3 kg heavier than the standard models. For details, refer to each specification sheet. M: Oilmist specifications
*4: For the notations, refer to the standard models. (Refer page 4)

1
15 2
16
 Controller
FQ series FD series Drive unit CR750-Q
Controller CR750-D
Drive unit CR751-Q
Controller CR751-D
MELFA MELFA (RH, RV-2F/4F/7F)
Controller configuration Controller configuration

Product Lineup
Controller Controller
Q Type D Type

(5.2)
(iQ Platform compatible) (Standalone)

(30)
(70.3)
CR750-Q CR750-D

(40)
CR751-Q CR751-D

(80)
Robot CPU
Q172DRCPU MR-J4-B

425
MR-J3-BS

370

Robot Specifications
Ethernet Ethernet

260
425

25
85

119
SSCNET III Cable fixation plate (Attachment)
(optical This plate must be installed by customers.

(21.7)
communications) 180

Controller 195

158
Additional axis function

174
Robot CPU

Controller Specifications
97 4
98
CRnD-7xx
Controller
Drive unit

(0.6)
USB (30) 370 (30) (30) 370
4-φ18
30
communication Pulse encoder 430 430

SSCNET III
(optical communications)
(RV-7FLL/13F/20F)
Additional axis function MR-J4-B
MR-J3-BS Encoder input function USB
communication Controller protection box (IP54)
CR750-MB/CR751-MB
CR750-MB

(85)
The controller protection box is used to protect the controller from

Specifications

Functions
oil mist and other usage environments. (For CR750)
The front panel of the protection box has a mode switch and
teaching box connector. It also contains a display window for

425

260
CR750-Q CR751-Q viewing the controller operation panel.
Type Unit CR750-D CR751-D Cable cover

Robot CPU FQ Q172DRCPU

(92.5)
Path control method PTP control and CP control

100

80
Number of axes controlled Maximum 6 axes
Robot language MELFA-BASIC IV/V

System Configuration
Drain hole

Position teaching method Teaching method, MDI method

119
Cable fixation plate (Attachment)
FQ 13,000 / FD 39,000

510
Number of teaching points points

725
This plate must be installed by customers.

520
Memory
Number of steps step FQ 26,000 / FD 78,000 Controller installation location 180
capacity 195

Number of programs Unit FQ 256 / FD 512

General-purpose I/O FQ 8192 input points/8192 output points with the multiple CPU common device / FD 0 input/0 output (Up to 256/256 when options are used)
FQ Assigned to multiple CPU common device. / FD Assigned to general-purpose I/O. Note) The operating panel is not attached to the

(122.5)
Dedicated I/O

158
174
100
Hand open/close 8 input / 8 output CR-751. Set up the robot operating
Rubber feet for vertical
Emergency stop input 1 (redundant) (10) 505 (10)
(45) 160 (45) mounting screws environment to accommodate operation
72.5 365
External (Four)
Door switch input 1 (redundant) 4-M5 370 (30)
by a customer graphical optical terminal
input/output points 430
*5 Enabling device input 1 (redundant) (GOT) or operating panel.

Configurations Options
164
Emergency stop output 1 (redundant)

250
Automatic and other operation modes can
Mode output 1 (redundant)
be enabled from the teaching pendant.

55
Robot error output 1 (redundant)

(25)
(85) 330 (85)
Synchronization of additional axes 1 (redundant) 500

RS-422 1 (Teaching pendant: dedicated T/B)

Multiple CPU environment

Ethernet ports FQ 1 (dedicated teaching pendant port) 10BASE-T / FD 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX
Interface
USB FQ 1 (USB port of programmable controller CPU unit can be used.) / FD 1 (Ver. 2.0 device functions only, mini B terminal) CR751-MB
Additional-axis interface channels 1 (SSCNET III) The controller protection box is used to protect the controller from
Extension slot *1 slots FQ ― / FD 2 oil mist and other usage environments. (For CR751)
Encoder input channels FQ Q173DPX (Sold separately) / FD 2
Ambient temperature °C FQ 0 to 40 (drive unit)/0 to 55 (Robot CPU) / FD 0 to 40

102.5
100
Relative humidity %RH 45 to 85
RV-2F/4F, RH-3FH/6FH: Single-phase AC 180 V to 253 V
Input voltage range *2 V
RV-7, 7FLL/13F/20F, RH-12FH/20FH: Three-phase AC 180 V to 253 V or Single-phase AC 207 V to 253 V Unit Type

Options
RV-2F, RH-3FH : 0.5 High-speed standard base between multiple CPU
Power supply *5

520
520

725
RV-4F, RH-6FH : 1.0 • Q35DB: 5 slots
Power capacity *3 KVA RH-12FH/20FH : 1.5 Base • Q38DB: 8 slots
RV-7F : 2.0 • Q312DB: 12 slots
RV-7FLL/13F/20F : 3.0
External dimensions (including legs) mm 430 (W) x 425 (D) x 174 (H) 430 (W) x 425 (D) x 98 (H) / 430 (W) x 425 (D) x 174 (H) *6 • Q61P
102.5
100

Weight kg Approx. 18 Approx. 12 / Approx. 18 *6 Power • Q62P

supply • Q63P
Structure [protective specification] Self-contained floor type/open structure (Vertical and horizontal position can be placed) [IP20] Rubber feet for
vertical mounting Cable cover
• Q64PN
Grounding *4 Ω 100 or less (class D grounding) (45) 160 (45)
screws (Four)
(10) 505 (10) Universal model
*1: For installing option interface. • Q03UD (E/V) CPU
*2: The rate of power-supply voltage fluctuation is within 10%. • Q04UD (E/V) HCPU
*3: The power capacity indicates the rating for normal operation. Take note that the power capacity does not include the currentbeing input when the power is turned on. The power capacity is only a rough guide and whether or not Programmable • Q06UD (E/V) HCPU

250
operation can be guaranteed depends on the input power-supply voltage. controller • Q10UD (E) HCPU
*4: Grounding works are the customer’s responsibility. CPU • Q13UD (E/V) HCPU
*5: For CR751, crimp or solder wiring for connection to user wiring connectors for emergency stop input/output, door switch input, etc. and power supply connectors. • Q20UD (E) HCPU
The optional terminal block replacement tool available separately can also be used to connect wiring. • Q26UD (E/V) HCPU

(25)
(85) 330 (85)
*6: For RV-7FLL/13F/20F 500 • Q100UD (E) HCPU

1
17 2
18
 Functions
Increase through put Improved tooling performance

Product Lineup
Improved control performance Compatuability with internal Ethernet cable tools

Produced the fastest operating performance in its class using high-performance Internal installation of wiring and piping for connecting to vision sensors enabled.
motors and unique driver control technology developed by Mitsubishi Electric. ● Hand: 8 input points/8 output points Connectable
● Ethernet cable for the vision sensor
● Enabled high torque output at high rotational speed, shortening
Torque Torque increased
acceleration/deceleration time.
● Shortened positioning time for improved device throughput.

Robot Specifications
New model motor
● Continuous operability improved
● Improved speed for the vertical movements that are so essential to horizontal · Attachment of the vision sensor to the wrist facilitates
multi-joint robot operation. 2400 mm/s, [RH-6FH: Twice as fast as the wiring. Vision sensor
conventional speed] Previous model motor Speed increased

Rotational speed (rpm)

Controller Specifications
High-speed execution of programs Internal routing of hand wiring and wiring channels

Enables execution up to 1.2 times faster than with the SQ/SD series. Internal routing of cables and air hoses is enabled through the internal channels
Numerical operation and conditional branch processing speeds increased by up that lead up to the end of the robot arm.
to twice as fast, leading to shortened takt times. Such internal routing increases the areas of the work envelope that the robot
can reach without twisting and entangling cables and hoses.
Sample program This prevents interference with cables around devices and reduces the risk of
Allows numerical operation and Processing speed wiring disconnection.
10 JOVRD 100 1000 PL=P1*POFF*PSHIFT conditional branch processing
increased by 20%
20 MOV P100 1010 PUP=PL times to be shortened dramatically.
Note) Shortening effect depends on
Note) The sections of wiring that can be routed internally
(The shortening rate may vary may differ depending on the model.
30 M1=M_IN (10) 1020 PUP.Z=PUP.Z+MZ the contents of program
depending on operating conditions.) instructions and processing.
40 IF M1=1 THEN GOTO 1000 1030 MOV PUP Internal routing of wiring and wiring
50 IF M1=2 THEN GOTO 2000 · channels enabled within the arm up

Functions
Shortened by
60 IF M1=3 THEN GOTO 3000 · RH-F Series 10 20 30 40 50 60 70 80 90 1000 1010 1020 1030 to the J6 axis tip. Internally embedded valves
around 20%
70 MOV P999 ·
80 ERROR 9000 SQ/SD Series 10 20 30 40 50 60 70 80 90 1000 1010 1020 1030
90 END Program processing time

Robot programs can be executed 1.2 times faster than before if compiled in advance and processed using an intermediate language.
Takt times can be shortened by up to 3 times as much for longer lines. (Compared to previous models)

System Configuration
To hand
Note: Specify a model with Internal wiring (a model ending in ‘-SHxx’).
The supported Internal wiring types may vary by model.
Optimal acceleration/deceleration control and optimal override control
Optimal acceleration/deceleration control
● Optimal acceleration/deceleration times and speeds set automatically based and optimal override control
Speed
on robot operating position, posture, and load conditions.
● Load conditions are set, enabling acceleration/deceleration times and speeds
to be changed automatically according to whether a workpiece is present or
Normal control
Space saving

Configurations Options
not.
● This enables the maximum operating speed to be produced for each task
● Time needed to shorten cycle times reduced. Expanded pivotal operating range
Time
Improved flexibility for robot layout design considerations.
Enabling more effective use of access space around the entire perimeter
Shortened cycle times including to the rear.
Shortened movement distances, enabling takt times to be shortened.
Improved continuous operatability Expanded J1 axis pivotal operating
Machine 2
range to allow access to back of robot
Overload detection levels optimized based on the ambient temperature settings
for the robot (set in the parameters). This helps improve continuous operability Ambient Encoder temperature
temperature

Options
using load levels calculated based on actual environmental conditions for the monitor
Machine 1
robot axes.
The encoder temperature is monitored such that the machine is shut down due
to error if the temperature exceeds the tolerable limit.
Machine 3
Input

Output Pick Place

Optimize
Movable stopper for the J1 axis
the Rear access of RH-FQ/FD
overload detection level
RV-2FQ/2FD pivot operation
Encoder temperature monitoring screen

1
19 2
20
 Simplified tool length setting
Improved accuracy Tool settings for the tool coordinate system can be set by attaching the tool and
using three to eight of the same teaching points.

Product Lineup
Enables settings to be made for the actual tool including errors introduced
when the tool was made and other data without needing to calculate values
Active gain control
from the tool diagram.
● Optimal motor control tuning set automatically based on robot operating
position, posture, and load conditions.
● Improves tracking accuracy for the target trajectory.
Load

· Active gain control is a control method that Target track

Robot Specifications
allows the position gain to be changed in With active
real time. gain control
· This is effective for standard operations Tool length
and tooling work requiring high accuracy. Without active
gain control Monitor the robot posture and load conditions Set using three to eight
Automatic tuning teaching points

Adaptation to operation

Controller Specifications
Operating mode setting function Function for passing through the singular point
Posture at start point
● The robot can be made to pass through the singular point, unlike with previous
● Trajectory priority mode/speed priority operation can be set in programs to High accuracy
robot models. This allows for greater flexibility in the layout of robots and
match customer system requirements. surrounding areas.
● Optimal motor control tuning set automatically based on robot operating ● Teaching operations can be performed more easily as there is no longer any
position, posture, and load conditions. need to cancel operations due to the presence of the singular point.
● Improves tracking accuracy for the target trajectory.
High-accuracy trajectory mode

Functions
· This is effective for standard operations and tooling work requiring What a singular point is:
MvTune 3 There is an unlimited number of angles at which P1 Posture at target position
high accuracy. high-speed positioning the J4 and J6 axes can be set such that the angle
mode of the J5 axis is 0° when linear interpolation
operations are performed using position data from Movement direction
MvTune 2
a joint coordinate system. This point is the singular
Improve trajectory accuracy point and is the point at which the robot cannot be
P2

Improve vibration-damping performance Standard settings MvTune 1 operated at an assigned position and posture

System Configuration
under normal conditions. The position at which this
occurs is referred to as a singular point.
J4 axis rotation
High speed
In moving from P1→P2, if the
robot is passing the singular
point (J5 axis = 0°) or a location
in the vicinity at a constant P2
posture, the J4 axis on the robot
will rotate at high speed and be
unable to pass through it.

Configurations Options
Deflection compensation function Orthogonal compliance control
Insertion direction or normal
● Compensates for deflection in the robot arm occurring due to gravity. kθ ● This function reduces the rigidity of the robot arm and tracks external forces. control direction
● Calculates the amount of compensation needed based on the operating
The robot itself is equipped with a compliance function, which makes special
position, posture, and load conditions of the robot and compensates for any compensation Copy plane
hands and sensors unnecessary.
deflection automatically. ● This allows the amount of force generated through interference during Tool coordinate system
● Compensates not only for static deflection due to gravitational pull but also for
chucking and workpiece insertion to be reduced and external movement
dynamic deflection due to the inertial force present during operation. copying forces to be controlled. Robot hand
· Effective for work transporting workpieces to cassettes with low pitch and · The compliance direction can be set arbitrarily using the robot
palletizing work. coordinate system, the tool coordinate system, etc. +Y

Options
+Z +X
· This is useful in protecting against workpiece interference and cutting
down on stoppage.
Improve palletization accuracy
Improve trajectory accuracy
Deflection Reduce tooling costs
compensation
Shorten line stop times Positioning device

Shorten startup times

1
21 2
22
 User-defined screen creation tools
Improved user friendliness
Screens can be created anew, imported, or exported from "User-defined
Screen Editing" in the project tree. Buttons, lamps, robot information, labels,

Product Lineup
and ruled lines can be arranged into layouts and assigned to robot variables.
Simple automatic operation from the teaching box
Data created here is exported and loaded into the R56/57TB.
● Enables the robot to be controlled from the robot control screen using the Can be used as a user screen.
same functions as on the operating panel of the robot controller.
● Monitoring screens can be set up individually to match the needs of user
debugging conditions.

Robot Specifications
· Enabled for R32B/R33TB and R56TB/R57TB.

Linked to iQ Works

Controller Specifications
● Program management simplified
Enables batch management of programs and data in blocks from the
programmable controller to the servo, display device, and robot.
Robot control screen (R56TB) ● Device model selection simplified
Enables automatic operation of servo power on/off, startup,
All Mitsubishi device models are listed in the Navigator, enabling its use as a
shutdown, reset, program selection, and other operations. device model selection tool.
Ver. 1.24A and later is equipped with robot CPU selection capability and
comes packaged with RT ToolBox2 (mini ver.).
Enhanced RT ToolBox 2 visual functions
Programmable controller
Enhanced RT ToolBox2 (PC software) graphic display function Display of teaching positions and trajectories of end points helps to program designer
allowing setting parameters to be displayed visually. Visual facilitate confirmation tasks during programming or simulations.

Functions
confirmation using this function helps to proactively prevent
setting errors.

System Configuration
MELSOFT Navigator

Display of selected positions GOT connection function

● The robot can be controlled directly from a Mitsubishi GOT 1000.

Display of selected position data
● Enables robot controller statuses to be uploaded and operations to be
controlled directly from the GOT. Allows robot startup/shutdown, status/alarm
monitoring, and other tasks to be completed from the GOT easily and quickly.
Display of user-defined regions/freedom-limited planes ● Use of the transparent function enables editing of programs and parameters

Configurations Options
from the USB interface on the front GOT screen, improving user friendliness.
Display of trajectories

Hands can be created as combinations of basic diagrams on the Up to 80000 records of data including current position, speed, axial Operation of engineering
Hand Editing screen and then attached to the robot. Standard loading, and sensor information can be obtained in every operating tools from the USB
3D polygonal models (applicable 3D data file formats: STL, cycle of the robot and displayed in a graph. Execution rows and I/O interface on the front GOT
OBJ) can be imported into the program, allowing operators to signals are recorded and used for analyzing the robot status, and screen.
confirm the relationship among the hands, workpieces, and this improves the debug efficiency.
peripheral devices during simulation. The obtained data can be saved as an image (Bitmap) or in the
CSV format.
The personal
New computer and the
GOT are connected

Options
with a USB cable or · Ethernet Example GOT screen
RS232 cable · Serial signals
etc.
[For Q type /D type controllers]
[For Q type /D type controllers]

Example of a system environment

screen from an imported model Simplified control panel created using a GOT * You can download a sample image from the Mitsubishi
FA site.
No need for ladder circuits with the GOT (Sample data corresponds to the GT16, 640×480 or more)

Oscillograph function (an example of the real-time monitoring of positions and current)
connection
Attachment of a hand created in RT ToolBox2

1
23 2
24
 Connection to peripheral devices Safety features

Product Lineup
Vision sensor Security features

● Simple settings Security features were added to protect programs and parameters. Read/write Protected and restricted functions
The robot and camera can be calibrated through a simple process using vision protection prevents parameters from being overwritten and programs from
sensor setting tools. being changed inadvertently. Sensitive data can be protected using password
● Simple connection Reading and writing of programs
protection. Program-related Program deletion and copying
Simple connection between the robot and camera using Ethernet. Renaming and initialization of programs
● Simple control ● Passwords can be set to protect created programs.

Robot Specifications
Simple control using vision control commands in the robot programs. Network vision ● The viewing and copying of data from the teaching pendant and RT
● Three robots connected to a single vision sensor/Seven vision sensors connected sensor ToolBox2 can be disabled. Parameter-related Writing of parameters
(In-Sight 5400) ● Writing operations for parameters can be disabled.
to a single robot In-Sight Micro
RT Tool Box2 Data backup and restore
→ Enables costs to be reduced even for complicated system configurations.

Reduce cycle time

Reduce system costs

Controller Specifications
··Seven·· Sustained tracking during emergency stop
Three controllers
The robot trajectory can be sustained even when the machine is shut down
Shutdown with
using an emergency stop. This allows interference with peripheral devices and trajectory sustained
Tracking
other objects to be reduced or even fully prevented using the inertia of the robot
● Transport, alignment, and installation work, etc. can be performed while robots arm to let it coast to a stop.
are tracked with the workpiece on the conveyor without stopping the conveyor. Target position
Processing capability improved by up to 15% compared to that for SQ/SD Emergency
series robots. Vision sensor * Use of this function does not guarantee that the trajectory will be sustained. stop
● Different variations can be selected, including vision tracking in combination
The trajectory may be shifted out of line depending on the timing at which the
with a vision sensor, tracking in combination with an opto-electric sensor, etc. Encoder
emergency stop is activated.

Functions
● Programs can be created easily in robot language (MELFA BASIC IV, V).
Conveyor
● Standard interface function. (D type only.) (Separate encoder and vision Shutdown with trajectory shifted
sensor required.)

Collision detection function

No need for a positioning device Processing capability
Reduce cycle time increased by 15% ● This function detects if the arm collides with an obstacle while teaching or
operating, and helps reduce damage to the robot arm and tools.
Reduce system costs

System Configuration
Can be used with multiple conveyors at the same time ● The collision detection function can be used to protect the workpiece from
(Up to 8 max.).
becoming damaged due to interference between the workpiece and affected
objects.
Additional axis function ● The detection level can be changed according to the protection targets.
● The collision detection function can be programmed to generate an alarm or
● The layout can be set up to include the robot traveling axis and turntable perform a specific escape move or both.
Robot Up to 8 additional axes
as well as user machines separate from the robot such as loaders and Ex.) An error is output due to the robot stopping suddenly, an error is output
(Up to 3 groups)
positioning devices. after escape movements are made, etc.
● Up to 8 additional axes can be controlled by the controller.

Configurations Options
● Additional axes and user machines can be operated from the robot
program and teaching pendant without any additional motion control
hardware. The same JOG operation as for the robot can be used. Robot Reduce tooling costs
language can be used for control operations. Additional
axis User machine User machine Additional axis Shorten line stop times Error
● The robot controller has plug-and-play compatibility with the MELSERVO Collision
(MR-J4-B, MR-J3-BS) servos.
Up to 2 axes Up to 3 axes Up to 3 axes
Simultaneous control Reduce maintenance costs
Machine 1 Machine 2 Machine 3
● Standard interface function (Separate servo amplifier and servo motor
required.)
Compatible with MR-J4-B (J3-compatible mode)* Complies with safety standards
*Applicable software: Ver. R3g/S3g or later.
No need for a dedicated control device
Complies with the latest ISO-10218-1 (2011) standards for Robots and robotic

Options
devices - Safety requirements. Applicable standards
Meets the requirements for PL d of ISO13849-1 Category 3. ●CE: European Conformity
User interfaces
(European safety standards)
Safety circuits (emergency stop circuits) can easily be installed for the
The various network options available allow connection to a variety of devices customer's entire system, not just for the robot itself. · Compliant with the EMC Directive, 2004/108/EC
used throughout the world. There are robots with special specifications that comply with various safety · Compliant with the Machinery Directive, 2006/42/EC
standards. Contact a Mitsubishi Electric dealer or sales agent for further details ●KCC: Korean Communications Commission
Standard equipment: Ethernet Option: CC-Link if interested.
USB Profibus (Korean safety certification)
SSCNET III DeviceNet · Complies with the revised Korea Radio Act
Network base card (EtherNet/IP，PROFINET IO) (Article 58 Section 2)

1
25 2
26
 Expanded J4 axis operating range Features of IQ Platform Controllers

Product Lineup
Expanding the J4 axis operating range enables the posture to be changed continuously during assembly and transport operations. It also Improved responsivity through high-speed communications Large amounts of data
eliminates the need for the robot to move in the opposite direction partway through an operation.
Increases the speed of data communications between CPUs and The number of device points between the programmable controller
RV-F Series dramatically reduces I/O processing times using a high-speed and robot was increased to 8192 input points and 8192 output
±200° standard base between multiple CPUs. points. This allows the system to handle larger programs, more
SQ/SD complicated control, and other objects that require a lot of I/O points.
Series High-speed communications
±160°

Robot Specifications
Number of I/O points: 8192/8192
Measurement example: Transfer Remote I/O: 256/256
of 16-word data (With data matching CC-Link (4 stations, 1×): 126/126
check) CC-Link (4 stations, 8×): 894/894
CC-Link: 262ms Shared memory
Between multiple CPUs: 63 ms
(Approx. 4×)

Reduced wiring and number of units used

Compact installation with operation performed near the robot base

Controller Specifications
System costs can be reduced with the use of wireless systems and deletion of
I/O units and network units.
Use of a flap-style arm contributes to a slimming of customer equipment, enabling operations to be completed in even closer proximity to the Programmable controller
robot.

PIO cable
Remote unit
Wireless

Functions
Before After
I/O unit

Changes in operating posture can be made even more quickly!!

Direct communication between CPU units Direct control between I/O units

System Configuration
Changes in operating posture, which occur frequently during assembly, can be completed at rapid speed, increasing the speed of the axis Enables shared memory to be read from and written to between Enables data to be read and written directly between the CPU unit
close at hand as well as that of the base axis. Enables changes to be made to the operating posture at high speed. multiple robot CPUs. and I/O unit.
Speeds for data communications between robots increase, enabling Responsivity improved and interlock times and cycle times
more detailed control, such as with an interference prevention shortened using high-speed I/O communications to peripheral
function or coordinated control, and cutting down on wasted time. devices.

No need for
No need for special programmable
programmable controller controller programs for

Configurations Options
programs as shared signal input/output
memory is used. Improved responsivity
without any delay due
Direct communication between CPUs to scanning time
Direct control between CPUs and I/O units

Enhanced wrist axis Batch management of multiple robots

Enables access to robots in the programmable controller network from a PC

Tolerable J4 axis inertia dramatically increased. Applies easily to multiple hands, offset hands, etc. connected to the main CPU. Leads to a shortening of rise times and improved
[5 times that of previous models (RH-20FH)] maintainability for robots on the production line.
iQ Platform
Programmable controller

Options
Access to other stations by Ethernet or serial
Personal computer USB/RS-232/Ethernet communications enabled
RT ToolBox2
CC-Link-IE/CC-Link
Compatible with workpieces Enables Robot 1, Robot 2, iQ Platform iQ Platform iQ Platform
that are 2.2 times larger and Robot 3 to be monitored Programmable controller Programmable controller Programmable controller

SQ/SD Series from a single location.

5 times the capability
F Series of previous models

Q type robot 1 Q type robot 2 Q type robot 3

Enhanced wrist (RH-20FH)

1
27 2
28
 Shared memory expansion

Enhanced efficiency of monitoring and maintenance operations onsite using a

single GOT (display device) as the Human Machine Interface (HMI). Collision Avoidance

Product Lineup
Enables the robot to be controlled from the GOT even without a
teaching box.
Current robot position data, error information, and other items For automatic prevention of collisions between robots
can be displayed easily on the GOT. The software constantly monitors robots motion, predicts collisions before they
occur, and immediately stops the robots. This avoids damage to the robot [Q type controllers only]
Internal robot information during both the JOG operations and automatic mode operations. Also, this
● Error, variable, and program information enables the number of interlocks needed to prevent collisions between robots to
● Robot status (Current speed, current position, etc.)

Robot Specifications
be reduced. (Alarm shutdown)
● Maintenance information (Remaining battery capacity, grease Operation panel screen Jog/hand operation screen Current position monitor screen
life, etc.)
● Servo data (Load factor, current values, etc.)

Controller Specifications
Current value and load factor Maintenance forecast screen Manual/video display menu Checking interference using the robot
monitor screen with a defined solid model
GOT connection (transparent function) (For GOT1000 Series)

Programs and parameters can be edited from the USB interface on the front of Decreases downtime during startup operation
the GOT using a transparent function for improved operability.
Engineering tool
operations performed Reduces the number of recovery man-hours required after collisions due to
from the USB interface on teaching operation errors or failure to set interlocks
the front of the GOT

Functions
The personal
computer and the Coordinated control
GOT are connected
Engineering environment with a USB cable or
RS232 cable Coordinated control between multiple robots
GOT backup/restore functions (Supported on GT14, GT15 and GT16) [Q type controllers only]
Enables coordinated control between multiple robots through CPU connection
Robot data on the GOT can be backed up to and restored from a CF card or between the robots. Easy to operate and use under normal operation through

System Configuration
USB memory stick. With no need for a PC. individual robot operation.
This helps prevent data from being lost due to the empty battery / battery or
robot malfunction.
Data can be saved after periodic maintenance tasks are performed or when
unexpected errors occur. Dramatically improves serviceability.
Coordinated transport
Backup
Enables transport of lengthy or heavy objects using multiple small-sized robots
instead of larger ones.

Configurations Options
Enables installation work to be completed while gripper
CF card positions between robots are maintained.
Restore

Direct execution function for programmable controllers

Robots can be controlled easily using programmable controller language. [Details of supported control
System operation can be controlled using a single programmable controller. operations]
This enables the operation of the programmable controller to handle making
changes to system specifications and troubleshooting directly. Details

Options
No need to use any Operation · Joint-interpolated motion
robot programs!! · Linear-interpolated motion
Programmable controller
Command number +
Robot CPU Motion · Designated override
Destination number
control · Designated acceleration/
Designated option
deceleration settings
Shared memory
· Designated speed
· Tool settings
sequence program
· Designated auxiliary motion
· Opening/closing of hand
Robot

1
29 2
30
 System Configuration Configurations Options
FQseries Configurations options For details, refer to the specifications sheets.
RV RH

Product Lineup
13F
System Configuration iQ Platform Classification Name Type
2F
4F 7F 12FH Functional specifications
4FL 7FL 7FLL 13FL 3FH 6FH 20FH 3FHR
20F
1E-VD0□ (Sink) 1 to 2 valves, with solenoid valve output cable.
1E-VD0□E (Source) ○ - - - - - - - - □ indicates the number of solenoid valves (1 or 2 valves) Output: φ4
1F-VD0□-02 (Sink)
1F-VD0□E-02 (Source) - ○ ○ ○ - - - - - 1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4
1F-VD0□-03 (Sink)
1F-VD0□E-03 (Source) - - - - ○ - - - - 1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6
Ethernet
Hand curl tube 1F-VD0□-01 (Sink)
Solenoid valve set
1F-VD0□E-01 (Source) - - - - - ○ ○ - - 1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4
GOT Vision system
1S-VD0□-01 (Sink)
1S-VD0□E-01 (Source) - - - - - - - ○ - 1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6

Robot Specifications
Encoder
Hand output cable
interface
1S-VD04-05 (Sink)
1S-VD04E-05 (Source) - - - - - - - - ○ 4 valves, with solenoid valve output cable. Output: φ4 (Standard)
Insert

Q172DRCPU
Q173DPX
1S-VD04W-05 (Sink)
1S-VD04WE-05 (Source) - - - - - - - - ○ 4 valves, with solenoid valve output cable. Output: φ4 (water proof/clean)

○ - - - - - - - -
M EL SEC
POWER Q01CPU Q41X

Straight cable for 2-solenoid valve systems, total length of 300 mm, with a robot
Q6xP
RUN
ERR SW

1E-GR35S
STOP RUN

Hand input cable

DISPLAY I/F
EMI

Robot CPU connector on one side and unterminated on the other side

- ○ ○ ○ ○ - - - -
PULL

Straight cable for 4-solenoid valve systems, total length of 300 mm, with a robot

CN1
▼

TU I/F
PULL

1F-GR35S-02
connector on one side and unterminated on the other side

CN2
RS-232
▼

Hand output cable

MITSUBISHI

CNC
Cable for robot
CPU-to-DU connection
IQ Platform-compatible
programmable controller
1F-GR60S-01 - - - - - ○ ○ ○ - Straight cable for 4-solenoid valve systems, total length of 1050 mm, with a robot connector
on one side and unterminated on the other side, equipped with a splash-proof grommet

Solenoid valve set

Drive unit 1S-GR35S-02 - - - - - - - - ○ Straight cable for 4-solenoid valve systems, total length of 450 mm, with a robot
connector on one side and unterminated on the other side
○ - - - - - - - -

Controller Specifications
1S-HC30C-11 4-point type, with a robot connector on one side and unterminated on the other side
Internal wiring and
piping set for hand
Machine cable Controller Servo
1F-HC35S-02 - ○ ○ ○ ○ - - - - 8-point type, total length of 1000 mm , with a robot connector on one side and
unterminated on the other side
External user wiring
and piping box
Hand input cable 1F-HC35C-01 - - - - - ○ ○ - - 8-point type, total length of 1650 mm (includes a 350-mm-long curled section), with a robot
connector on one side and unterminated on the other side, equipped with a splash-proof grommet
Robot
<Robot arm options> <Standard devices>
1F-HC35C-02 - - - - - - - ○ - 8-point type, total length of 1800 mm (includes a 350-mm-long curled section), with a robot
connector on one side and unterminated on the other side, equipped with a splash-proof grommet

1S-HC00S-01 - - - - - - - - ○ 4-point type, total length of 1210 mm , with a robot connector on one side and
unterminated on the other side
φ4: 1 to 4 valves (L = 300 mm) □ indicates the number of solenoid valves (2, 4, 6, 8).
Teaching pendant Pulse encoder
GOT
1E-ST040□C ○ ○ ○ ○ - - - - - 2 or 4 valves for RV-2F.
(option) Hand (curl) tube 1E-ST0408C-300 - - - - - ○ ○ - - Compatibility with φ4-4 solenoid valve systems (L = 300 mm)

1N-ST060□C-01 - - - - ○ - - ○ - φ6: 1 to 4 valves (L = 600 mm) □ indicates the number of solenoid valves (2, 4, 6, 8).
Hand tube 1S-ST0304S - - - - - - - - ○ φ3: 2 valves (Maximum usable length: 400mm)

USB cable SSCNETIII

External wiring set 1
for the forearm
1F-HB01S-01 - ○ ○ ○ ○ - - - - Used for the forearm. External wiring box used for connecting the hand input cable,
the Ethernet cable, and the electrical hand and force sensor cable.

Functions
External wiring set 2
for the forearm
1F-HB02S-01 - ○ ○ ○ ○ - - - - Used for the forearm. External wiring box used for connecting the force sensor,
the electrical hand, and the Ethernet cable.
USB Additional Used for the base. External wiring box used for connecting the communications output for
Force sensor set
MELFA-Works RT ToolBox2
communication axis function Servo
(MR-J4-B/MR-J3-BS)
External wiring set 1
for the base
1F-HA01S-01 - ○ ○ ○ ○ - - - - the electrical hand, the electrical hand and force sensor cable, and the Ethernet cable.
There are hand input connection available.
<Feature options> <Software options> Used for the base. External wiring box used for connecting the communications output for
External wiring set 2
for the base
1F-HA02S-01 - ○ ○ ○ ○ - - - - the electrical hand, the electrical hand, the force sensor cable, and the Ethernet cable.
No hand input connection available.

1F-HS604S-01 - - - - - - - ○ - Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points
for hand systems + φ6-2 solenoid valve systems) For 350mm Z-axis stroke

FDseries Robot arm

1F-HS604S-02 - - - - - - - ○ - Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points

System Configuration
for hand systems + φ6-2 solenoid valve systems) For 450mm Z-axis stroke
Internal wiring and piping set
for hand
1F-HS408S-01 - - - - - - ○ - - Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points
for hand systems + φ4-4 solenoid valve systems) For 200mm Z-axis stroke
System Configuration
1F-HS408S-02 - - - - - - ○ - - Wiring and piping set for internal mounting in the tip axis (Compatible with 8 input points
for hand systems + φ4-4 solenoid valve systems) For 340mm Z-axis stroke

1F-HS304S-01 - - - - - ○ - - - Wiring and piping set for internal mounting in the tip axis (Compatible with 4 input points
for hand systems +φ3-2solenoid valve systems)

External user wiring and 1F-UT-BOX - - - - - ○ ○ - - Box for external wiring of user wiring (hand I/O, hand tube)

Hand curl tube

Pulse encoder piping box 1F-UT-BOX-01 - - - - - - - ○ - Box for external wiring of user wiring (hand I/O, hand tube)

Machine cable (replacement 1S-02UCBL-01 - ○ ○ ○ ○ - ○ ○ ○ 2m long cables for securement purposes (2-wire set with power supply and signal)

GOT Vision system

for shorter 2m type) (*1) 1F-02UCBL-01 - - - - - ○ - - - 2m long cables for securement purposes (2-wire set with power supply and signal)

1S-□□CBL-11 ○ - - - - - - - - Exchange type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)

Configurations Options
Hand output cable
Machine cable,
for extension/fixed
CR-750
1S-□□CBL-01 - ○ ○ ○ ○ - ○ ○ ○ Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)

Encoder CNC
1S-□□CBL-03 - - - - - ○ - - - Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
Hand input cable
interface
Machine cable, 1F-□□UCBL-11 ○ - - - - - - - - Exchange type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
for extension/fixed
Ethernet Remote parallel
I/O unit
External I/O
cable
CR-751 1F-□□UCBL-02 - ○ ○ ○ ○ ○ ○ ○ ○ Exchange type, extended length 10m, 15m, 20m (2wires set with power and signal wires)
□□ indicates the length of cables (10, 15, 20m)
Controller

Solenoid valve set

1S-□□LCBL-11 ○ - - - - - - - - Exchange type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
Machine cable,
Servo for extension/flexible
CR-750
1S-□□LCBL-01 - ○ ○ ○ ○ - ○ ○ ○ Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
Internal wiring and
piping set for hand 1S-□□LCBL-03 - - - - - ○ - - - Extention type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
Machine cable
External user wiring
and piping box
Additional-axis
interface
On-board parallel External I/O
Machine cable, 1F-□□LUCBL-11 ○ - - - - - - - - Exchange type, extended length 5m, 10m, 15m (2wires set with power and signal wires)
□□ indicates the length of cables (5, 10, 15m)
for extension/flexible
Robot I/O interface cable CR-751 1F-□□LUCBL-02 - ○ ○ ○ ○ ○ ○ ○ ○ Exchange type, extended length 10m, 15m, 20m (2wires set with power and signal wires)

Options
USB Programmable □□ indicates the length of cables (10, 15, 20m)
<Robot arm options> <Equipment used for standard configuration> communication controller
1S-DH-11J1 ○ - - - - - - - - Stopper for making changes, installed by customer

1F-DH-05J1 - - - ○ ○ - - - - Stopper for making changes, installed by customer

(Compatible with the RV-7FLL.)
Teaching pendant
(option) Stopper for changing
1F-DH-04 - - ○ - - - - - - Stopper for making changes, installed by customer
CC-Link
interface GOT
the J1-axis operating range 1F-DH-03 - ○ - - - - - - - Stopper for making changes, installed by customer

1F-DH-02 - - - - - - - ○ - Stopper for making changes, installed by customer

1S-DH-01 - - - - - ○ ○ - - Stopper for making changes, installed by customer

Network base card
(EtherNet/IP)
1S-DH-05J1 - - - - - - - - ○ Stopper for making changes, installed by customer

USB cable
<Controller options>
Stopper for changing 1S-DH-11J2 ○ - - - - - - - - Stopper for making changes, installed by customer

Force sensor set

the J2-axis operating range
1S-DH-05J2 - - - - - - - - ○ Stopper for making changes, installed by customer

<Feature options>
MELFA-Works RT ToolBox2
SSCNETIII
Servo
Stopper for changing
the J3-axis operating range
1S-DH-11J3 ○ - - - - - - - - Stopper for making changes, installed by customer
<Software options>
(MR-J4-B/MR-J3-BS) Note 1) This is a special specification for shipping. Inquire for delivery and prices.

1
31 2
32
 Options
Classification Name Type
CR750 CR751
Q type D type Q type D type
Functional specifications RV-4F/RV-7F/13F/20F Series Tooling device configuration
○ ○ - -

Product Lineup
Standard teaching pendant (7m, 15m) R32TB(-**) 7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-750-* Required device
Robot
High-function teaching pendant (7 m, 15 m) R56TB(-**) ○ ○ - - 7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-750-* Hand configuration Wiring format
specifications External wiring set External wiring set Comments
Standard teaching pendant (7m, 15m) R33TB(-**) - - ○ ○ 7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-751-* for the forearm for the base (*3)
High-function teaching pendant (7 m, 15 m) R57TB(-**) - - ○ ○ 7 m: Standard, 15 m: Custom ("-15" is included in the model name) For controller CR-751-* • Air-hand + Interior equipment -SH01 — (*1) — Air hoses: Up to 2 systems (4 mm diameter x 4); 8 input signals
Hand input signal
Conversion cable for the teaching box 2F32CON03M - - ○ ○ Conversion cable used to connect the R32TB to the CR-751 controller. Cable length: 3 m. Exterior equipment Standard — (*2) — Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
• Air-hand + Interior equipment -SH05 — (*1) (1F-HA01S-01) Air hoses: Up to 1 systems (4 mm diameter x 2); 8 input signals
On-board Parallel I/O interface (Sink type)
(Source type)
2A-RZ361
2A-RZ371 - ○ - ○ 32 output points/ 32 input points Hand input signal
• Vision sensor Exterior equipment Standard 1F-HB01S-01 (*2) 1F-HA01S-01 Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
Remote Parallel I/O cable (5m, 15m) 2A-CBL** - ○ - ○ CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2A-RZ361/371.

Robot Specifications
2D-TZ368
• Air-hand + Interior equipment -SH04 — (*1) (1F-HA01S-01) Air hoses: Up to 1 systems (4 mm diameter x 2); 8 input signals
On-board Parallel I/O interface (Installed internally) (Sink type)
(Source type) 2D-TZ378
- ○ - ○ 32 output points/ 32 input points Hand input signal
• Force sensor Exterior equipment Standard 1F-HB01S-01 (*2) 1F-HA01S-01 Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
Controller Remote Parallel I/O cable (5m, 15m) 2D-CBL** - ○ - ○ CBL05: 5 m, CBL15: 15 m, not terminated at one end. For 2D-TZ368/378.
• Air-hand + Interior equipment
CC-Link interface 2D-TZ576 - ○ - ○ CC-Link Intelligent device station, Ver. 2.0, 1 to 4 stations Hand input signal (Air hoses are part of -SH02 — (*1) (1F-HA01S-01) Air hoses are exterior equipment: 4 systems (4 mm diameter x 8)
• Vision sensor exterior equipment)
Network base card 2D-TZ535 - ○ - ○ Communications interface for attaching to Anybus-CompactCom modules manufactured by HMS
Accepts EtherNet/IP and PROFINET IO modules (*1) • Force sensor End the connection Standard 1F-HB01S-01 1F-HA01S-01 Air hoses: Up to 4 systems (4 mm diameter x 8) are possible.
Force sensor set 4F-FS001-W200 ○ ○ ○ ○ Set of devices required for the force control function including a force sensor and interface unit *1: Users must provide the solenoid valves for Internal wiring model air-hands.
*2: Users must provide solenoid valves and hoses/input cables as needed for External wiring model air-hands.
Terminal block replacement tool for the user wiring 2F-CNUSR01M ○ ○ ○ ○ Terminal block replacement tool for the wiring for the external input/output, such as emergency
input/output, door switch input, and enabling device input
*3: The external wiring set for the base is provided for models with Internal wiring and hoses.

○ ○ - -

Controller Specifications
CR750-MB With a built-in CR750-D/Q for improved dust-proofing to IP54 (dedicated CR750)
Controller protection box
CR751-MB - - ○ ○ With a built-in CR751-D/Q for improved dust-proofing to IP54 (dedicated CR751)

Personal computer support software 3D-11C-WINE ○ ○ ○ ○ With simulation function (CD-ROM)

For models with Internal wiring and hoses
Personal computer support software -mini 3D-12C-WINE ○ ○ ○ ○ Simple version (CD-ROM)

Simulator (MELFA-Works) 3F-21D-WINE ○ ○ ○ ○ Layout study/Takt time study/Program debug. Add-in software for Solidworks® (*2)

*1: Customer need to prepare the EtherNet/IP(HMS) module (AB6314-B) and PROFINET IO (AB6489-B) themselves.
*2: SolidWorks® is a registered trademark of SolidWorks Corporation (USA).

On models with interior equipment,

the length of each externally

Functions
connected air tube and cable is 150 Robot
Configurations options (-SE01) The following options are dedicated for the environmentally-resistant models (Chemical-resistant
mm, and cables have connectors.
specification: -SE01). For other models, refer to the options for the standard models.
RV RH For external wiring
4F 7F 13F 12FH
Classification Name Type 7FLL 13FL 6FH Functional specifications
4FL 7FL 20FH
20F
SE01 SE01 SE01 SE01 SE01 SE01

System Configuration
1F-VD0□-04(Sink) 1 to 4 valves, with solenoid valve output cable.
Solenoid valve set
1F-VD0□E-04 (Source) ○ ○ ○ - - - □ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ4
1F-VD0□-05 (Sink)
1F-VD0□E-05 (Source) - - - ○ - - 1 to 4 valves, with solenoid valve output cable.
□ indicates the number of solenoid valves (1, 2, 3, or 4 valves) Output: φ6
External wiring set 1
for the forearm
1F-HB01S-01 ○ ○ ○ - - - Used for the forearm. External wiring box used for connecting the hand input cable,
the Ethernet cable, and the electrical hand and force sensor cable.
External wiring set 2
for the forearm
1F-HB02S-01 ○ ○ ○ - - - Used for the forearm. External wiring box used for connecting the force sensor,
the electrical hand, and the Ethernet cable.
External wiring set for the forearm Machine cable
Used for the base. External wiring box used for connecting the communications output for
External wiring set 1
for the base
1F-HA01S-01 ○ ○ ○ - - - the electrical hand, the electrical hand and force sensor cable, and the Ethernet cable.
There are hand input connection available.
External wiring set
Used for the base. External wiring box used for connecting the communications output for
External wiring set 2
1F-HA02S-01 ○ ○ ○ - - - the electrical hand, the electrical hand, the force sensor cable, and the Ethernet cable. for the base
for the base
No hand input connection available.

Configurations Options
Robot arm External user wiring and 1F-UT-BOX-04 - - - - ○ - Box for external wiring of user wiring (hand I/O, hand tube)
piping box 1F-UT-BOX-03 - - - - - ○ Box for external wiring of user wiring (hand I/O, hand tube)
Machine cable,
for extension/fixed
CR-751
1F-□□UCBL-03 ○ ○ ○ ○ ○ ○ Exchange type, extended length 10m, 15m, 20m (2wires set with power and signal wires)
□□ indicates the length of cables (10, 15, 20m)
Machine cable,
for extension/flexible
CR-751
1F-□□LUCBL-03 ○ ○ ○ ○ ○ ○ Exchange type, extended length 10m, 15m, 20m (2wires set with power and signal wires)
□□ indicates the length of cables (10, 15, 20m) Models with Internal wiring and hoses
1F-DH-06 ○ - - - - - Stopper for making changes, installed by customer

1F-DH-07 - ○ - - - - Stopper for making changes, installed by customer Model (special device number)
Devices supporting interior hoses
Stopper for changing
the J1-axis operating range
1F-DH-08 - - ○ ○ - - Stopper for making changes, installed by customer -SH01 -SH02 -SH04 -SH05

1F-DH-09 - - - - ○ - Stopper for making changes, installed by customer

Air 4 mm diameter (×4/×2) ○ (×4) — ○ (×2) ○ (×2)
1F-DH-10 - - - - - ○ Stopper for making changes, installed by customer Hand inputs (×8) ○ ○ ○ ○
Ethernet (Vision sensor) — ○ — ○

Options
Force sensor — ○ ○ —

1
33 2
34
 Options
RV series Tooling (air-hand) : External wiring
RT ToolBox2 Type: 3D-11C-WINE

Product Lineup
Solenoid valve
Software for program creation and total engineering support.
1 to 4 lines
Hand curl tube
(Can be provided by the user.) This PC software supports everything from system startup to debugging, simulation, maintenance and operation.
This includes programming and editing, operational checking before robots are installed, measureing process tact time,
debugging during robot startup, monitoring robot operation after startup, and trouble shooting.

Robot Specifications
Windows®-compatible Support for all processes, from programming and startup to maintenance
Easy operation on Windows®. Programming can be completed using the MELFA-BASIC IV/V and
External wiring BOX Compatible with Windows® 2000, Windows® XP, Windows® Vista, Movemaster languages (vary depending on the model).
and Windows® 7 (32-bit Ver. 1.8 or later, 64-bit Ver. 2.0 or later). Robot movement and operating status, input signals, and servo status can be
(Standard supplied) monitored.
*Windows is registered trademarks of Microsoft Corporation in the United States and other countries.

Hand input cable Enhanced simulation functions Advanced maintenance functions

This function is compatible with all models that connect to CRn-500 series The software has a maintenance function that notifies the operaters greasing

Controller Specifications
Air hoses and CRn-700 controllers.
Robots can be operated and tact time calculated using a personal computer.
periods, battery life cycles as well as position recovery support function when
trouble occurs, etc. and is effective for preventative maintenance, shortening
φ6×2 (Not available for the mini version.) of recovery time.
Robot movements, operating status, input signals, and servo status can be
monitored.

Hand input signal

■ Program editing and debugging functions ■ Simulation functions
8 points Creation of programs in MELFA-BASIC IV/V and the Movemaster languages. *1 Offline robot motion and tact time check for designated parts of a program.
Improvement of work operations by a multi-window format and the various editing functions.
This is helpful for use in checking operations such as the execution of program steps,
setting of breakpoint settings, and other tasks.
Signal cable for the
multi-function hand

Functions
Ethernet cable

RV series Tooling (air-hand) : Internal wiring

System Configuration
Solenoid valve
■ 3D viewer
1 to 4 lines Graphical representation of a work along with the dimensions, color and
other specified details of the work area to be gripped.
■ Monitor functions
This is used to monitor program execution status and variables, input signals, etc.

Configurations Options
External wiring BOX
Internal wiring models (Standard supplied)
(models ending in ‘-SH01’)
Air hoses
*1: MELFA-BASIC is a programming language that further expands upon and
Hand input signal develops the commands needed for robot control. In MELFA-BASIC IV/V, the
expansion of the command as well as parallel processing or structuring that were
Air hoses difficult to realize in BASIC language can make it possible to operate MELFA
easily. Maintenance functions
φ6×2 These functions include maintenance forecast, position recovery support,

Options
<Example of a Pick & Place program> parameter management, etc.
Classification Main functions
Mov Psafe Move the evasion point
Mov Pget,-50 'Move the workpiece Joint, linear, and circular
extraction position up interpolation, optimal acceleration/
Hand input signal Mvs Pget 'Move the workpiece
extraction position
Operation-
related
deceleration control,
compliance control, collision

8 points Dly 0.2

Hclose 1
'Wait 0.2-sec. on standby
'Close the hand
detection, and singular point
passage
Dly 0.2 'Wait 0.2-sec. on standby
Mvs Pget,-50 'Move the workpiece Bit/byte/word signals,
Input/output
extraction position up interrupt control
Wait M_In(12)=1 'Wait for a signal
Signal cable for the Mov Pput,-80 'Move the workpiece
position up
Numerical
operations
Numerical operations, pose (position),
character strings, logic operations
multi-function hand Mvs Pput 'Move the workpiece
position Additional Multi-tasking, tracking,
Dly 0.2 'Wait 0.2-sec. on standby functions and vision sensor functions
Hopen 1 'Close the hand
Ethernet cable ··········

1
35 2
36
 Options
MELFA- Works Type: 3F-21D-WINE Force sensor set Type: 4F-FS001-W200

Product Lineup
3D robot simulator offering powerful support for system design and Allows copy and fitting work to be completed in the same way a person would while the force
preliminary layout. applied to the hand is monitored.
Enables necessary work such as fine force adjustments and force detection to be completed.
MELFA-Works is an add-in tool (*1) for SolidWorks(*2) used for robot simulation in production systems
What is MELFA-Works? on PC's converting processing paths of workpieces into robot position data. Adding MELFA-Works
into...on the robot simulation functions. Improved production stability Allows assembly of more complicated configurations
Enables parts to be inserted or attached without being Force detection during contact allows operating directions and

Robot Specifications
*1) An add-in tool is a software program that adds certain functions to application software packages.
*2) SolidWorks® is a registered trademark of SolidWorks Corp, (USA). damaged while absorbing shifts in position due to part applied force to be changed and interrupts to be executed
Features variations and emulating the slight amounts of external force under trigger conditions combining position and force
applied. Improved operating stability gained through position information.
Automatic robot program creation function ■ Example Screens for MELFA-Works latches and retry processes when work operations fail. Log
The teaching position data and robot operation programs necessary for RT-ToolBox2 (mini) data can be used to manage quality control and analyze
operating robots can be generated automatically by simple loading of 3D CAD MELFA-Works SolidWorks® causes of work errors and other issues.
data (*3) for the applicable works into SolidWorks® and then setting of
processing conditions and areas using MELFA-Works.
Simple control Simple operation

Controller Specifications
*3) Formats that can be loaded into SolidWorks®
Simple programs can be created using specialized robot Work conditions can be checked and adjusted by viewing
language. position and force data from the teaching box and graphs on
RT ToolBox2.
● IGES ● DXFTM
● STEP ● STL
● ParasolidR ● VRML
Product features Product Configuration
● SAT (ACISR) ● VDA-FS Item Features Name Qty.
● Pro/ENGINEERR ● Machanical Desktop Force control Function for controlling robots while applying a specified force Force sensor Qty. 1
● CGR (CATIARgraphics) ● CADKEYR Force
Stiffness control Function for controlling the stiffness of robot appendages Force sensor interface unit Qty. 1
● Unigraphics ● Viewpoint control
● PAR (Solid Edge TM) ● RealityWave Gain changes Function for changing control characteristics while the robot is running Sensor adapter Qty. 1
● IPT (Autodesk Inventor) ● HOOPS Execution of interrupts Interrupts can be executed (MO triggers) under trigger conditions combining position and force information. Adapter cable Qty. 1
● DWG ● HCG (Highly compressed graphics) Force
Data latch Function for acquiring force sensor and robot positions while contact made 24V DC power supply Qty. 1

Functions
detection
Note) Check the SolidWorks website and other published documents for the latest specifications. Data reference Function for display force sensor data and maintaining maximum values 24V DC power supply cable 1m
Calibration tool Synchronous data Function for acquiring force sensor information synchronized to position infromation as log data and displaying it in graph form Serial cable between the unit and sensor 5m
Force
Start/stop trigger Allows logging start/stop commands to be specified in robot programs SSCNET III cable 10m
log
FTP transmission Function for transferring acquired log files to the FTP server
List of functions
Force sense control Enables/disables force sensor control and sets control conditions while jogging.

Loading of part data from peripheral devices and rearrangement Display of the robot movement path Teaching Force sense monitor Displays sensor data and the force sense control setting status.
box Teaching position search Function for searching for the contact position.
Part data created in Solidworks® can be loaded. Robot movement path can be displayed in the application / the workspace as.

System Configuration
The positions of loaded parts can be rearranged relative to the CAD origin and other parts. Parameter setting screen Parameter setting screen dedicated for the force sense function. (For R565B/R57TB)
Part positions can also be changed via numerical input.
Interference checks
Interference between the robot and peripheral devices can be checked. A target of interference
Installation of hands
check can be specified by a simple mouse click it on the screen. Information explaining the System Configuration Force Sensor Specifications
Hands designed/created in SolidWorks® can be installed on robots. An ATC (Auto Tool condition of interference that occurred (such as the contacted part, program line that was being
Item Unit Specification Value
Changer) can also be specified for each hand. executed when the interference occured, and corresponding robot position) can be saved to a
logfile. <Product Configuration> Fx, Fy, Fz N 200
Force sensor interface unit (2F-TZ561) Rated load
Mx, My, Mz Nm 4
Handling of work Saving of video data
RS-422 Max. static Fx, Fy, Fz N 1000
Simulations of hand signal control can be created using a robot program to handle workpieces. Simulated movements can be saved to video files (AVI format). load Mx, My, Mz Nm 6

Configurations Options
Breaking Fx, Fy, Fz N 10000
CAD link Measurement of cycle times load Mx, My, Mz Nm 300
The cycle time of robot movement can be measured using an easy-to-use function resembling a SSCNET III Power supply cable 24-V DC
Operation data needed to perform sealing and other operations requiring many teaching steps are easily Minimum Fx, Fy, Fz N 0.3
created. All you need is to select the target area to be processed from 3D CAD data. Since operation data stopwatch. It realizes the cycle time measurement of a specified part in a program. Adapter cable power supply
Force sensor control force Mx, My, Mz Nm 0.03
is created from 3D CAD source data, complex three-dimensional curves can be recreated with ease.
This leads to significant reduction in teaching time. Robot program debugging functions Consumption current mA 200
The following functions are provided to support the debug of robot programs. Weight (sensor unit) g 200
Offline teaching • Step operation : A specified program can be executed step by step. LAN/USB
External dimensions mm φ80 x 3.25
The robot posture can be set up on the screen in advance. • Breakpoint : Breakpoints can be set in a specified program.
• Direct execution : Desired robot commands can be executed. Protective structure - IP30

Creation of robot programs (template) Jog function Robot controller

Workflow processes can be created using a combination of the offline teaching and CAD link The robot shown in SolidWorks® can be jogged just like a real robot. Force Sense Interface Unit Specifications
functions and then converted into robot programs. (MELFA-BASIC IV, V format)
Item Unit Specification Value
Traveling axis RT ToolBox2

Options
Assignment of robot programs 1
A traveling axis can be installed to a robot to verify the operation of the system equipped with this. RS-422 ch
Robot programs can be used as is without any modifications. (For sensor connection)
A different robot program can also be specified for each task slot.
Calibration 1
Interface
(For robot controller
Simulation of robot operations Point sequence data of CAD coordinates created by the CAD link function can be corrected to SSCNET III ch
and additional axis
robot coordinate data.
Robot programs, including I/O signals, can be simulated.This means that movements of the Operation programs and point sequence data can also be transferred to robots. ampconnection)
actual system can be recreated directly and accurately. The following two methods are To provide greater convenience for operators who perform calibration frequently on site, the
provided to simulate I/O signals of your robot controller. RV-F/RH-F Power Input voltage Vdc 24±5％
calibration tool is provided as an application independent of MELFA-Works. Teaching pendant supply
(1) Create simple definitions of operations associated with I/O signals. Accordingly, the calibration tool can be operated effectively on a notebook computer in which Power consumption W 25
(2) Link I/O signals with GX Simulator. (R56TB/R57TB/R32TB/R33TB)
SolidWorks® software is not installed External dimensions mm 225(W) x 111(D) x 48(H)
Weight kg Approx. 0.8
IP20
Construction - (Panel installation,
opentype)

1
37 2
38
 Options MEMO
In-Sight (Manufactured by COGNEX: For Mitsubishi Electric FA devices)

Product Lineup
The In-Sight software developed exclusively for use with Mitsubishi Electric FA devices with
enhanced linking to In-Sight, the vision system produced by COGNEX Corporation, offers better
compatibility with FA devices, allowing it to be utilized more easily as a more user-friendly vision
system.
Simplified settings using Easy Builder

Robot Specifications
Easy Builder allows connection to vision systems, setting of job (vision programs)
settings, and calibration between the robot and vision system to be completed easily
and quickly.
Simplified connection using Ethernet
Up to three robots and seven vision systems can be connected together to the same
system by Ethernet connection. Vision system information can be shared between
multiple robots.

Controller Specifications
Simplified control using robot language
The included dedicated vision system commands enable vision system startup, job selection, and control of data receiving and
other operations to be completed quickly and easily using a single command without any need for protocols.

Simplified job editing Simplified calibration

Jobs (Vision recognition programs) are created from the job The calibration wizard allows settings used in converting
editing screen. Jobs can be edited using condition settings and workpiece positions recognized by the vision system into robot
other data, eliminating the need for specialized knowledge of coordinate system coordinates easily and quickly.
vision control commands and other programming instructions.

Functions
System Configuration
Robot controller specifications Simplified control using robot language
MELFA BASIC V comes with dedicated vision system
Item Specifications control commands and status variables. These control

Configurations Options
Robot controller:
commands and status variables enable the vision system
CR750 Series to be controlled using simple programs.
Software CRnQ-700 Series: R1 ver. or later
CRnD-700 Series: S1 ver. or later Instruction
RT ToolBox2: Ver. 1.0 or later recommended Details
word
Adapted robot controller CR7xx/ CRnQ-7xx/ CRnD-7xx NVOpen Connect to the vision system and log on.

Connected robot All models Start up the specified vision program and receive the
NVPst
transmitted results.
Number of cameras used per robot controller: Up to 7 max.
Number of robots connected
Number of robots that can be connected to a vision system: NVRun Start up the specified vision program.
to the vision system
Up to 3 max.
Receive the transmitted results of the vision program
Robot program language MELFA-BASIC V comes with dedicated vision sensor commands NVIn
specified by the NVRUN command.

Options
NVClose End the connection to the vision system.
In-Sight Series
Entry High NVLoad Ready the specified vision program to enable it for startup.
Model name -□□□ Standard Color
resolution
Transmit a request to the vision system for the image and
100 110 140 143 110C 140C 143C NVTrg
acquire the encoder values after the specified length of time.
Average performance
Performance
data setting that
and
for the standard
1× 2× 5× 4× 2× 5× 4× Separate MELFA-Vision software is available for customers
magnification using In-Sight5000 series or In-Sight Micro series products.
version to 1 (*2)

640× 640× 640× 1600× 640× 640× 1600×

The use of job programs corresponding to work tasks
Resolution performed regularly enables even customers who are new to
480 480 480 1200 480 480 1200
Camera
CCD sensor size
vision systems to easily understand and use them without
1/3 in. 1/3 in. 1/3 in. 1/1.8 in. 1/3 in. 1/3 in. 1/1.8 in.
problems.
Color × × × × ○ ○ ○

1
39 2
40
 MEMO MEMO

1
41 2
42