OVERSEAS SERVICE NETWORK & GLOBAL SERVICE NETWORK
Proposing the 21st Century’s Statue of Robot
INDUSTRIAL ROBOTS
System Configuration
MITSUBISHI ELECTRIC Europe B.V. UK Branch
GANGLING ELECTRONIC TECHNOLOGY DEVELOPMENT CO., LTD.
MITSUBISHI ELECTRIC Europe B.V. Spanish Branch
KELING ELECTRIC (SHANGHAI) CO., LTD.
MITSUBISHI ELECTRIC Europe B.V. German Branch
MITSUBISHI ELECTRIC AUTOMATION, INC.
MITSUBISHI ELECTRIC TAIWAN CO., LTD. HAN NEUNG TECHNO CO., LTD.
2A-RZ365 (Sink) / 2A-RZ375 (Source) Pneumatic hand interface
2A-RZ361 (Sink) / 2A-RZ371 (Source) Parallel input/output unit
(External)
Hand output cable 1A-GR200-RP
Peripheral device connections (Note 2)
Robot RP-1AH RP-3AH RP-5AH Electromagnetic valve set 1A-VD01-RP 1A-VD02-RP Sink 1A-VD03-RP type 1A-VD04-RP 1A-VD01E-RP 1A-VD02E-RP Source 1A-VD03E-RP type 1A-VD04E-RP
MELFA RP-1AH/3AH/5AH MITSUBISHI ELECTRIC CORPORATION NAGOYA WORKS (abbr.MELCO NAGOYA)
(Note 1) CR1-571 Controller
NC
External input/output cable 2A-CBL05 (5m) 2A-CBL15 (15m)
CR1-EB3 Extension option box
Servomotor
MANILA
2A-HR533E Ethernet interface Machine cable
Standard Device Composition
KUALA LUMPUR
JAKARTA
2A-RZ575E CC-Link interface PLC
2A-RZ581E Extension serial interface
RS-MAXY-CBL Personal computer cable
RP-5AH
2A-RZ541E Additional axis interface
Hand input cable 1A-HC200-RP
Teaching box R28TB
Specification when shipping from works ∗1) Special Specifications as follows Please refer specification manual for the details ● Clean Specifications [Robot Main Unit] (Class 100) ● Pier to Pier Extension Cable (For fixed use and bend use)
Vision sensor
MITSUBISHI ELECTRIC ASIA PTE, LTD.
3A-01C-WINE Personal computer support software 3A-02C-WINE Personal computer support software mini
Personal computer (supplied by customer)
Notes: 1. A maximum of 3 cards can be attached to the Extension Option Box. 2. Please select the proper interface using the input/output on the peripheral device side or network function.
RP-3AH
∗1) Pier structure will be changed when shipping. Please confirm delivery date and specifications since order made system.
Model No.
Description/Specification
1A-VD01-RP
1 set
1A-VD02-RP
2 sets
1A-VD03-RP
3 sets
1A-VD04-RP
4 sets
1A-VD01E-RP
1 set
1A-VD02E-RP
2 sets
1A-VD03E-RP
3 sets
1A-VD04E-RP
4 sets
Hand output cable
1A-GR200-RP
Utilizing 1~4 set, 2m length
Hand input cable
1A-HC200-RP
Utilizing 1~4 set, 2m length
Electromagnetic valve set
R28TB
Teaching box
MITSUBISHI ELECTRIC TAIWAN CO., LTD. (Taipei FA Center) 3th Fl., No.122, WU KUNG 2nd Road, WU-KU Hsiang, Taipei Hsien, Taiwan Telephone 886-2-2299-3060/Fax 886-2-2298-1909 (Taichung FA Center) No. 8-1, Gong Yeh 16th Road, Taichung Industrial Park, Taichung City, Taiwan Telephone 886-4-359-0688/Fax 886-4-359-0689
One side connector, one side cable across
IP65, cable length 7m Output: 8 points (sink) / (source)
2A-RZ361 / 2A-RZ371
Output: 32 points, Input: 32 points (sink) / (source)
2A-CBL05
One terminal untreated, 5m length
2A-CBL15
One terminal untreated, 15m length
Ethernet interface
2A-HR533E
10base-T 10Mbps
CC-Link interface
2A-RZ575E
CC-Link intelligent device station (1 or 4 stations)
Extension serial interface
2A-RZ581E
RS-232C/422, 1 channel each
Additional axis interface
2A-RZ541E
for SSC NET (Max. 8 axes) ∗1
Personal computer support software (Windows )
3A-01C-WINE
Personal computer support software mini (Windows®)
3A-02C-WINE
Simplified version of Windows® compatible support software, CD-ROM
Personal computer cable Backup battery
∗ Connect with only MR-J2 and MR-J2 super
RS-MAXY-CBL A6BAT ER6
∗1: attached to extension option box Note 1
Option card extension unit, 3 slots Windows® compatible support software with simulation function, CD-ROM
®
RP-1AH
Source type
Parallel Input/Output interface (sink type) / (source type)
CR1-EB3
GANGLING ELECTRONIC TECHNOLOGY DEVELOPMENT (BEIJING) CO., LTD. Room 954, Office Building, New Century Hotel No. 6 Southern Road, Capital Gym., Beijing, 100044 China Telephone 86-10-6849-2077/Fax 86-10-6849-2087 KELING ELECTRIC (SHANGHAI) CO., LTD. 2F Block 5 Building Automation Instrumentation Plaza 103 Cao Bao Rd. Shanghai 200233 China Telephone 86-21-6484-9360/Fax 86-21-6484-9361
Sink type
2A-RZ365 / 2A-RZ375
Extension option box
MITSUBISHI ELECTRIC ASIA PTE, LTD. 307 Alexandra Road #05-01/02 Mitsubishi Electric Building Singapore 159943 Telephone 65-473-2308/Fax 65-476-7439
MITSUBISHI ELECTRIC Europe B.V. Spanish Branch Pol. Ind. “Can Magí ” - C/. Joan Buscallà, 2-4 - A.C. 420 08190 Sant Cugat del Vallès (Barcelona) Telephone 34-935-653-168/Fax 34-935-891-579
Remarks
Pneumatic hand interface (sink type) / (source type)
External Input/Output cable
Maintenance
MITSUBISHI ELECTRIC AUTOMATION, INC. (Chicago Headquaters) 500 Corporate Woods Parkway, Vernon Hills, IL 60061, U.S.A. Telephone 1-847-478-2311/Fax 1-847-478-2253
MITSUBISHI ELECTRIC Europe B.V. UK Branch Travellers Lane, Hatfield, Hertfordshire, AL10 8XB, UK Industrial Automation Systems Division Telephone 44-1707-276100/Fax 44-1707-278695 Name
Controller options
HAN NEUNG TECHNO CO., LTD. Dongseo Game Channel Bldg. 2F. 660-11, Deungchon-Dong Kangseo-Ku Seoul, 157-030, Korea Telephone 82-3663-0493/Fax 82-2-3663-0475
MITSUBISHI ELECTRIC Europe B.V. German Branch Gothaer Strasse 10, 40880 Ratingen, Germany Telephone 49-2102-486-334/Fax 49-2102-486-717
Options
Main body options
MITSUBISHI ELECTRIC CORPORATION NAGOYA WORKS (MELCO NAGOYA) 1-14 Yada-minami 5-chome, Higashi-ku, Nagoya, Aichi prefecture, Japan Telephone 81-52-712-2212/Fax 81-52-712-3692
: MITSUBISHI SERVICE CENTER : PARTS DELIVERY CENTER
Mitsubishi Electric Industrial Robots are manufactured at a factory certified for ISO14001 (standards for environmental management systems) and ISO9001 (standards for quality assurance management systems).
for PC-AT (DOS/V) compatible systems, 3m length for internal mechanisms for internal controller Note 1: Required when ∗1 option is used. • Windows® is a registered trademark of Microsoft Corporation. EC97J1113
L-174-0-C5005-A NA-0009 Printed in Japan (OKA)
New publication, effective Sep. 2000 Specifications subject to change without notice.
Efficient Micro-assembly Robots Using New Robot with 5-Joint Closed Link Construction
RP-1AH RP-1AH motion limit
2-M4 screw depth 6 (from backside of arm)
Features
105
0° 11
Small Large variety lot
Process-dedicated machine
56
Left elbow axis
End-effecter axis motion
Right elbow axis
Motor rotation
Motor rotation
82 *1
Low
Section C detail
0.28 sec.
RP-3AH
(ø18) ø6H7
M6 screw
RP-5AH
0.38 sec.
A
5.5 Section A details *3
Connector box
Section B details *3
Only 1.2m even with 3 units side-by-side
35 *2
∗1 Connector box section
150 130 5°
10
L3
160°
5
R33
Deg.
°C kg
960 1330 0.33 ±0.008
0.38 ±0.01
±0.01 ±0.02
±0.03
0.3 ×10 −3
1.6 ×10 −3
Approx. 12
Approx. 24
3.2 ×10 −3
0~40
Approx. 25
Input: 8 points Output: 8 points (for each base)
— Floor-standing IP30
<Special Specifications> The following work environment safety specifications apply. Cleaning Class 100 (0.3µm) RP-1AHC-SB RP-3AHC-SB RP-5AHC-SB Note: Cleaning specifications is determined when an order is received, so please confirm the delivery term. Note: Regarding cleaning specifications, there is a difference between specifications and external dimensions.
Emergency stop input Points
Door switch input Points RS232C Ports RS422 Ports Interface Exclusive hand slot Slots Extension slot Slots Robot I/O link Channels Temperature °C Humidity %RH Power supply
Input voltage limit
V
Power capacity∗5
kVA Ω
Ground Configuration Overall dimensions∗7 Weight∗7
mm kg
0 26 R
L1
L2
L3
RP-3AH
140
200
86
RP-5AH
200
260
116
Mounting of high-precision parts
Sealing work
ø14H7
ø14H7
13.5
Trimming tasks
Tooling equipment, etc.
B
installation point
(ø23)
Section A detail *3
Section B detail *3
(13)
Models
ø11 through hole
(ø15)
280
800 3000 0.28 ±0.005
( C R)
Cable length, approx. 2000
A
30
432 432
13.5
Dimensions
35 *2
∗2
Note: Dimensions of the ∗2 connector box are the same as those for the ∗1 connector box.
Controller External Dimensions
Note: Specifications are subject to change without prior notification.
(2.5)
212
(2.5)
∗1: ∗2: ∗3: ∗4: ∗5:
290
(more than 170)
Controller Main Body Extension Option Box (option) CR1-EB3 CR1-571
151
Maximum load capacity is that when the constant of the adjustable speed is limited. This reference explains that the unit covers the area the size of an A4 sheet of paper. Cycle time is a reference value, and increases in accurate work occasionally. The pneumatic hand interface (option) is required when tool (hand) output is used. Generally, the pattern of electricity consumption during operation is: RP-1AH, approximately 0.5kW; RP-3AH/5AH, approximately 0.7kW. ∗6: Default is set to 180~253 VAC at the time of shipping (CE specifications is set to 230 VAC±10% at the time of shipping). ∗7: Dimensions listed exclude the Extension Option Box.
(38)
151
480 480
Points Steps Points Points Points Points
100 125
(ø23)
13.5
±200
mm
kg • m2
50
Programming language Position learning Teaching position Memory No. of steps capacity No. of programs General I/O Exclusive input External Hand I/O input
6-M4 screw depth 8 for installation of tooling
8 Section C detail
15
30
Main functions
Tooling wiring outlet
263 85
50 *1
20°
R26
8 3.5
200+260 453 297×210 (A4 size)
62.5
20°
(12)
140+200 335 210×148 (A5 size)
0
0
30
100+140 236 150×105 (A6 size)
R20
5.5 11 8 5 (12)
5 (2)
CR1-571 PTP, CP 4 simultaneous (max.) 64 bit RISC/DSP Indirect interpolation, direct interpolation, 3-dimensional radii interpolation, palletizing, condition branching, subroutines, multi-tasking, optimum adjustable speed control, optimum override control, optimum route connection, etc. MELFA-BASIC IV Teaching method, MDI method 2,500 5,000 88 16/16 (max. when using options: 240/240) Allocated by general output (1“STOP” point is fixed) 8/0 (when using options: 8/8) 1 1 1 (for PC, vision sensor, etc. connection) 1 (for teaching box only) 1 (electric hand and pneumatic hand interfaces only) 0 (when option is used: 3 [for extension options]) 1 (for connecting parallel I/O unit) 0–40 45–85 180~253/90~132 VAC, 1 phase (207~253 VAC, 1 phase at CE∗6) 0.7 less than 100 (D-type ground) Independent mounting, open configuration 212 (W)× 290 (D)× 151(H) Approx. 8
50
3 (1)
axis
L1
Installation screw for tooling support
35
X-Y surface Repeat J3 vertical position motion accuracy J4 Allowable wrist inertial moment Temperature Weight Tool wiring∗4 Tool air piping Installation Protective structure
1 (0.5)
Model Path control No. of control axes CPU
R2
00
2-M4 screw depth 6
13.5
Cycle
Deg./s s mm
RP-3AH RP-5AH 4 AC servomotor (all-axis brake attached) Absolute encoder
(31)
Tracking tasks in food processing
Tracking tasks in OA parts processing
Visual parts feeding system
150
(31)
● Dimensions with Extension Option Box (CR1-EB3) attached. * When optional extension card is installed.
212 (15)
J4
RP-1AH
L3
16 65
2 144.5
8
3 R45
28
6
2-ø4H7 rim ∗ for knock pin 4-ø7 for installation
85 176 200 216
533 297
Main Applications Controller
Installation screw for tooling support L2
60 *1
148
2-M4 screw depth 6 (from backside of arm)
110 *1
332
1200mm
Basic Specifications Main Body
190 170
2
210
R4
400mm
2
The ability to add equipment internally offers additional space savings.
Common to RP-3AH/5AH
RP-3AH motion limit
332
R4
Cycle time is 0.28s and repeat position accuracy is ± 5µm (RP-1AH).
RP-5AH motion limit
311 103.5 118 50 (z stroke) 42 42
Internal Equipment Expansion
90
The controller mechanism is the size of an 81/2 ×11 sheet of paper and weights approximately 12kg (RP-1AH).
Highly rigid mechanism enables very accurate high-speed operation.
High-Speed & High Accuracy
●The RP Series of robots is available in type models, from the small RP-1AH to the RP-5AH, which operates at a maximum weight load of 5kg. ●Compliant with cleaning inspection ratings Class 100/0.3µm. (special specifications*3) 3 Please confirm delivery terms. *
381 210
Lightweight & Compact
Right shoulder axis
90
Left shoulder axis
160° 10 5°
RP-3AH
Closed Link Construction
time∗3
180 *2
Effective Lineup for Diversified Needs
CR1-571
Model Motion degrees-of-freedom Motor drive Position detection Maximum load kg capacity (rated)∗1 Arm length mm Maximum radial reach mm mm W×D∗2 Operating J3 vertical mm motion limits J4 Deg. J1 Deg./s J2 Deg./s Maximum J3 vertical speed mm/s motion
5
Cable length, approx. 2000
(ø8)
0.33 sec.
(connect to robot controller)
78
RP-1AH
Machine cable
230
31.5
25mm
installation point
B
passes through ø3 hole
(7)
100mm
Tooling equipment, etc.
M5 screw depth 6
(ø8)
(8)
(ø18)
140 155 165
56 133 150 162 30
6
R1 40
Operation accuracy
2.3
End-effecter axis
6
Large
Cycle time 0.28s
Notes: 1. *1 is standard processing face dimensions for installation. 2. *2 is minimum cable processing dimensions. 3. *3 is under the condition of J4=0°.
21
● Taking up a space the size of an sheet of paper and weighing only approximately 8kg, the controller smallest in the industry. Installation and transportation are simple and easy. ● Lining 3 RP-1AH units up side-by-side, the line is a space-saving 1.2m in length. Introduction of these robots into existing factory line space is no problem at all. ●The robot main body weighs about 12kg and requires an installation space equal to that taken up by a sheet of paper (RP-1AH), thus making it easy to incorporate these robots into your current facilities.
High
30 (z stroke)
81/2 ×11
Part size
231 95
Compact Space-saving Design
180
C
76 95
Small
85 54
5-Joint Closed Link Mechanism
48 38 *1
5.5
RP-1AH
100
2 0°
0 R14
5 4 0.5
RP-5AH
Installation screw for tooling support
5
●An original 5-joint closed link mechanism and 64bit CPU enables the robot to operate at high speeds and with maximum accuracy; equal to that of processdedicated equipment. ●Cycle time of 0.28s*2 and repeat position accuracy of ±5µm achieved (RP-1AH). ●Multi-task function included for parallel processing of vision sensor and peripheral control communications. *2 Cycle time is a reference value, and increases in accurate work occasionally.
.5
2-M4 screw depth 6
)
5-Joint Closed Link Configuration In Pursuit of the Ultimate in High-speed, High-accuracy Operation
for installation of tooling
0.5
6 R23
Previous robot
Manpower + Fixing Tool
Large Small variety lot
4-ø5 for installation
120
30
(R
●Improved communication interfaces for CC-Link, Ethernet and serial extensions.
140 (56) 28
Tooling wiring outlet 6-M4 screw depth 8
200 120 56 122
R3
16 160°0
nected to the main body of a previous model, the main body of the robot must be modified.
New Options Simplify Operation Ease and Expandability
16 2
R
Micro-assembly robot
6
31.5
●New redesigned controller requires a setup area the size of an 81/2 ×11 sheet of paper and weighs only approximately 8kg. ●Controller can operate at 120 or 200VAC. (200VAC only for CE) ●Controller option compatibility guaranteed. *1 The connector is different from that of the CR2-532 controller. If the controller is to be con-
Installation screw for tooling support
70
Smallest Controller in the Industry Equipped with Powerful 64 bit CPU
100 95
4-ø7 for installation
2-ø4H7 rim ∗ for knock pin
50 *1
233
277 150
RP Series Micro-assembly Robots–Smaller, Faster and More Accurate Developed in response to the need for high accuracy and high-density operations like that required by industries that utilize clean rooms. Series enhancements include a new smaller controller (fits on 81/2 ×11 sheets of paper).
Robot Main Body External Dimensions
49
200
(40)
Approx. 90