RP-1AH_3AH_5AH_BROCHURE__JAPAN_

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