MITSUBISHI INDUSTRIAL ROBOT
RH-3SQHR/RH-3SDHR New Products News Space-saving ceiling mounted installation, high-speed/high-precision operation!
Ceiling mounted, high-speed, 3kg load capacity horizontally articulated robot (SCARA robot)
Introducing the RH-3SQHR/3SDHR Diverse applications include assembly of electric and electronic parts, precision assembly of small parts, inspections, high speed transfer, and packing. Realizing high-speed operations with dedicated motor, high rigidity mechanical structure The highly rigid arm section and Mitsubishi low-inertia motor enable operations at high acceleration/deceleration speeds with high accuracy. An inverted SCARA design that is arranged such that the No.2 arm can completely pass by the No.1 arm. This allows high-speed operation between points following the optimum path. High-speed movement with a cycle time of 0.32 seconds. (30% increase from Mitsubishi conventional models) (*Cycle time: 0.32 sec ... Load: 1kg, Operation: 25mm vertical - 300mm horizontal reciprocal operation)
Space-saving layout realized with ceiling mounted installation The ceiling mounted installation allows previously unusable robot installation spaces to be used effectively. A wide operating range encompasses the entire cylindrical area ( 700 x 150) under the arm. The cylindrical operating range simplifies the layout setting by eliminating restrictions resulting from the layout orientation of pallets and conveyors, etc.
Improved robot system start up and serviceability The iQ Platform is supported allowing the robot to be operated, monitored and controlled easily from the Mitsubishi programmable controller and GOT. The robot’s internal information (error status, maintenance information, etc.) can be displayed on the GOT, and control can be realized without a robot program. Piping work is simplified by providing a hand piping path in the Z axis shaft.
An Extended Range of Applications!
RH-SQ/SD series
RH-3SQHR/3SDHR Robot's Outer Dimensions and Operating Range Diagram
Robot specifications Item
Unit
Model
Specified value RH-3SQHR3515/3SDHR3515
Installation style
Ceiling mount
Degree of freedom
(Installation reference )
J4 axis center path
(Installation reference )
4-axis
Structure
Horizontal articulated type
4-M8 jack-up hole
Drive method
4- 9 installation hole
Position detection method
AC servomotor Absolute encoder J1, J2, J4 axis: No brakes
Brakes
J3 axis: Provided with brakes
Arm length
J2 axis operating range 2-M12 suspension hole
J1 axis operating range
No. 1 arm
mm
175
No. 2 arm
mm
175
mm
150
Z stroke
Maximum reach radius (No.1 + No.2) mm J1-axis deg/s Installation surface
Robot origin
J2-axis
deg/s
708
speed
J3(Z)-axis
mm/s
1500
deg/s
3146
J4( )-axis
mm/s
6267
(J1, J2 composite) Cycle time (at load weight 1kg) sec kg Rated Load capacity kg Maximum
J1 axis
Position repeatability J2 axis
672
Maximum
Maximum composite speed View A
350
0.32(*) 1 3
X-Y composite mm
±0.01
J3(Z)-axis
mm
±0.01
J4( )-axis
deg
±0.01
Ambient temperature
0 to 40 kg
Mass J4 axis operating range : J3 axis operating range : 0 to 150mm
24 8 input points (hand section)/
Tool wiring
0 output points, 8 spare wires (8 output points available as option) Primary:
Tool pneumatic piping
6x2
(option secondary:
Protection specifications
4 x 8)
IP20
Compatible controller
CR2QA/CR2DA
* Load: 1kg, Operation: 25mm vertical - 300mm horizontal reciprocal operation
Features [Saving work-cell space]
[Easy installation and start up]
Installing the robot on the ceiling eliminates wasted space.
(1) The robot can be mounted and installed onto the top of a ceiling beam making it easy to install the system. Base section
No.1 arm
Mount onto top of beam
No.2 arm
J1
(3) When starting up a compact system which fits into the robot’s maximum operating range, if the cylindrical operating range limit function is used, the robot will move without protruding from the set cylindrical range. This allows the system to be started up and adjusted without worrying about interference.
Ceiling beam J2
Arm and column interfere within normal operating range
J3 J1 J4
Entire surface can be accessed
J2
No interference
J3 J4
A
(2) An interior path for piping the hand is provided at the end axis allowing tools to be piped easily. This eliminates problems with external piping.
A
Inaccessible area
B
B
3SQHR/3SDHR operating range
Operating range of traditional SCARA
(Plan view: Cylindrical shape)
(Plan view)
Operating range limited with cylindrical limit
Column
Column
No. 2 arm Piping path provided inside shaft core.
No. 1 arm Base surface
Column
Column
HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
http://Global.MitsubishiElectric.com/
L(NA)-09049ENG 1011(MEE)
This brochure has been issued in Nov. 2010. The contents of this brochure are subject to change for improvements without notice. Contact with Mitsubishi when referring to this brochure.
Date of issue:Nov. 2010