Robot Mitsubishi kiểu đứng RV- Vertical type robot The RV-series
Just fit for futurist variable product and variable production.
Capable of top class high speed high precision operation with dedicated motor and amplifier. It has applicability to diverse works by easy connectivity with Mitsubishi’s PLCs and servo motors.
MELFA Robots – RV Series
A firm grip on continuously outstanding quality
The RV-series offers a highly-dynamic 6-axle articulated robot for a high degree of quality. Cycle times of only 0.32 seconds increase their productivity and thus enable their use in systems at very high speeds. The double-arm structure not only provides a plus in terms of freedom of movement, but also more stability and versatility. Depending on the model, the robots are fitted with two to 70 kilograms load at ranges from 504 to 2055 millimeters. Work in very confined spaces,even with wall or ceiling installation, is no problem for the RV-series. All systems up to 20 kg have the same compact robot controller .
In addition, all systems are fitted from the factory with built-in Ethernet, USB, tracking, camera and additional axle connections, as well as manual inputs/outputs, and therefore run with an availability of over 99.9 %.
Highlights
- Increase your productivity:Cycle times of up to 0.32 seconds with accuracy of up to ± 0.02 mm
- Flexible workspace:Range 504 to 2055 mm with spherical workspace – also behind the robot.
- Your protection for harsh environments:IP67 as standard
- Hygiene:Internal cable routing of all cables and pneumatic lines, clean-room model (ISO-level III) available
- Connectors:Pneumatic and electrical grippers, Ethernet, USB, camera interface and two encoder connections and up to 8 additional external axles as standard, optional I/O and field bus expansion cards. Direct Connection via Ethernet to GOT HMI and teaching box.
- Configuration:As a complete system with robot and controller or PLC module for full PLC-functionality of the robot on the iQ Platform
- Teaching box :Full graphic R56TB with touch screen or R32TB
The RV-FR series offers 3 additional features: “Next-generation intelligent functions”, “Safe, collaborative work applications”, and “FA-IT integration functions”.
Mã sản phẩm robot mitsubishi rv Product range
| Loại robot Mitsubishi RV-Type | RV-2F(B) RV-2FR(B) |
RV-2FL(B) RV-2FRL(B) |
RV-4FLM RV-4FRLM |
|
| Số trục điều khiển Number of axis | 6 | 6 | 6 | |
| Khả năng mang tải Payload | kg | 2 | 2 | 4 |
| Tầm với lớn nhất
Maximum reach radius |
mm | 504 | 649 | 649 |
| Môi trường làm việc
Environmental specifications |
Standard | IP30 | IP30 | IP67 |
| Clean | — | — | ISOclass3 (optional) | |
| Bộ điều khiển
Controller |
CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
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| Loại robot Mitsubishi RV Type | RV-7FM RV-7FRM |
RV-7FLM RV-7FRLM |
RV-7FLLM RV-7FRLLM |
|
| Số trục điều khiển Number of axis | 6 | 6 | 6 | |
| Khả năng mang tải Payload | kg | 7 | 7 | 7 |
| Tầm với lớn nhất
Maximum reach radius |
mm | 713 | 908 | 1503 |
| Môi trường làm việc
Environmental specifications |
Standard | IP67 | IP67 | IP67 |
| Clean | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | |
| Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
|||
| Type | RV-13FM RV-13FRM |
RV-13FLM RV-13FRLM |
RV-20FM RV-20FRM |
|
| Number of axis | 6 | 6 | 6 | |
| Payload | kg | 13 | 13 | 13 |
| Maximum reach radius | mm | 1094 | 1388 | 1094 |
| Environmental specifications | Standard | IP67 | IP67 | IP67 |
| Clean | ISOclass3 (optional) | ISOclass3 (optional) | ISOclass3 (optional) | |
| Controller | CR750-D/CR750-Q + Q172DRCPU CR800-D/CR800-R + R16RTCPU |
|||
| Type | RV-35FM | RV-50FM | RV-70FM | |
| Number of axis | 6 | 6 | 6 | |
| Payload | kg | 35 | 50 | 70 |
| Maximum reach radius | mm | 2050 | 2050 | 2050 |
| Environmental specifications | Standard | IP67 | IP67 | IP67 |
| Clean | – | – | – | |
| Controller | CR760-D/CR760-Q + Q172DRCPU | |||
RV-FR series
The RV-FR series offers a highly-dynamic 6-axis articulated robot for a high degree of quality.
“Next-generation intelligent functions”, “Safe, collaborative work applications”, and “FA-IT integration functions”. With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Product Specification:
| RV-2FR-D
RV-2FR-R |
RV-2FRB-D-S25
RV-2FRB-R-S25 |
RV-2FRL-D-S25
RV-2FRL-R-S25 |
RV-2FRLB-D-S25
RV-2FRLB-R-S25 |
||||
| Degrees of freedom (no. of axes) | 6 | ||||||
| Installation posture | Floor, ceiling or wall mounting possible | ||||||
| Structure | Vertical multiple-joint type | ||||||
| Drive system | AC servo axes J1, J4, J6: no brake | AC servo (brakes on all axes) | AC servo axes J1, J4, J6: no brake | AC servo (brakes on all axes) | |||
| Position detection method | Absolute encoder | ||||||
| Payload capacity | rated | kg | 2 | ||||
| maximum | 3 | ||||||
| Arm reachable radius (to the center point of the J5 axis) | mm | 504 | 649 | ||||
| Operating range | waist (J1) | degree | 480 (-240–240) | 480 (-240–240) | |||
| shoulder (J2) | 240 (-120–120) | 237 (-117–120) | |||||
| elbow (J3) | 160 (0–160) | 160 (0–160) | |||||
| wrist twist (J4) | 400 (-200–200) | 400 (-200–200) | |||||
| wrist pitch (J5) | 240 (-120–120) | 240 (-120–120) | |||||
| wrist roll (J6) | 720 (-360–360) | 720 (-360–360) | |||||
| Maximum speed | waist (J1) | degree/s | 300 | 225 | |||
| shoulder (J2) | 150 | 105 | |||||
| elbow (J3) | 300 | 165 | |||||
| wrist twist (J4) | 450 | 412 | |||||
| wrist pitch (J5) | 450 | 450 | |||||
| wrist roll (J6) | 720 | 720 | |||||
| Maximum composite speed | mm/s | 4955 | 4200 | ||||
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.6 | 0.7 | ||||
| Position repeatability | mm | ±0.02 | |||||
| Ambient temperature | °C | 0–40 | |||||
| Weight | kg | 19 | 21 | ||||
| Tolerable moment | wrist twist (J4) | Nm | 4.17 | ||||
| wrist pitch (J5) | 4.17 | ||||||
| wrist roll (J6) | 2.45 | ||||||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.18 (0.27) | ||||
| wrist pitch (J5) | 0.18 (0.27) | ||||||
| wrist roll (J6) | 0.04 (0.1) | ||||||
| Tool wiring | Hand input 4 points/hand output 4 points | ||||||
| Tool pneumatic pipes | Ø 4×4 (from the base level to the gripper hand area) | ||||||
| Supply pneumatic pressure | MPa | 0.5 ±10 % | |||||
| Gripper flange | ISO 9409-1-31.5 | ||||||
| Protection rating | IP30 | ||||||
| Robot controller | CR800-D/CR800-R + R16RTCPU | ||||||
| Order information | Art. no. | 313052 /
314029 |
313053 /
314030 |
313054 /
314031 |
313085 /
314032 |
||
| RV-4FRLM-D | RV-4FRLM-R | |||
| Degrees of freedom (no. of axes) | 6 | |||
| Installation posture | Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||
| Structure | Vertical multiple-joint type | |||
| Drive system | AC servo (brakes on all axes) | |||
| Position detection method | Absolute encoder | |||
| Payload capacity | maximum | kg | 4 | |
| Arm reachable radius (to the center point of the J5 axis) | mm | 649 | ||
| Operating range | waist (J1) | degree | 480 (±240) | |
| shoulder (J2) | 240 (-120–120) | |||
| elbow (J3) | 164 (0–164) | |||
| wrist twist (J4) | 400 (±200) | |||
| wrist pitch (J5) | 240 (-120–120) | |||
| wrist roll (J6) | 720 (±360) | |||
| Maximum speed | waist (J1) | degree/s | 420 | |
| shoulder (J2) | 336 | |||
| elbow (J3) | 250 | |||
| wrist twist (J4) | 540 | |||
| wrist pitch (J5) | 623 | |||
| wrist roll (J6) | 720 | |||
| Maximum composite speed | mm/s | 9048 | ||
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.36 | ||
| Position repeatability | mm | ±0.02 | ||
| Ambient temperature | °C | 0–40 | ||
| Weight | kg | 41 | ||
| Tolerable moment | wrist twist (J4) | Nm | 6.66 | |
| wrist pitch (J5) | 6.66 | |||
| wrist roll (J6) | 3.96 | |||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.20 | |
| wrist pitch (J5) | 0.20 | |||
| wrist roll (J6) | 0.10 | |||
| Tool wiring | Hand input 8 points/hand output 8 points | |||
| Tool pneumatic pipes | Ø 6×2 for robot connection (Ø4×8 from base portion to forearm) | |||
| Supply pneumatic pressure | MPa | 0.54 (as overpressure if required) | ||
| Gripper flange | ISO 9409-1-31.5 | |||
| Protection rating | IP67 (Optional clean room model available) | |||
| Robot controller | CR800-D | CR800-R + R16RTCPU | ||
| Order information | Art. no. | 313089 | 314056 | |
| RV-7FRM-D /
RV-7FRM-R |
RV-7FRLM-D /
RV-7FRLM-R |
RV-7FRLLM-D
RV-7FRLLM-R |
|||
| Degrees of freedom (no. of axes) | 6 | 6 (super long arm) | |||
| Installation posture | Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | ||||
| Structure | Vertical multiple-joint type | ||||
| Drive system | AC servo (brakes on all axes) | ||||
| Position detection method | Absolute encoder | ||||
| Payload capacity | maximum | kg | 7 | ||
| Arm reachable radius (to the center point of the J5 axis) | mm | 713 | 908 | 1503 | |
| Operating range | waist (J1) | degree | 480 (±240) | 380 (±190) | |
| shoulder (J2) | 240 (-115–125) | 240 (-110–130) | 240 (-90–150) | ||
| elbow (J3) | 156 (0–156) | 162 (0–162) | 167.5 (-10–157.5) | ||
| wrist twist (J4) | 400 (±200) | ||||
| wrist pitch (J5) | 240 (-120–120) | ||||
| wrist roll (J6) | 720 (±360) | ||||
| Maximum speed | waist (J1) | degree/s | 360 | 288 | 234 |
| shoulder (J2) | 401 | 321 | 164 | ||
| elbow (J3) | 450 | 360 | 219 | ||
| wrist twist (J4) | 337 | 375 | |||
| wrist pitch (J5) | 450 | ||||
| wrist roll (J6) | 720 | ||||
| Maximum composite speed | mm/s | 11,064 | 10,977 | 15,300 | |
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.32 | 0.35 | 0.63 | |
| Position repeatability | mm | ±0.02 | ±0.06 | ||
| Ambient temperature | °C | 0–40 | |||
| Weight | kg | 65 | 67 | 130 | |
| Tolerable moment | wrist twist (J4) | Nm | 16.2 | ||
| wrist pitch (J5) | 16.2 | ||||
| wrist roll (J6) | 6.86 | ||||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.45 | ||
| wrist pitch (J5) | 0.45 | ||||
| wrist roll (J6) | 0.10 | ||||
| Tool wiring | Hand input 8 points/hand output 8 points | ||||
| Tool pneumatic pipes | Ø 6×2 for robot connection (Ø4×8 from base portion to forearm) | ||||
| Supply pneumatic pressure | MPa | 0.54 (as overpressure if required) | |||
| Gripper flange | ISO 9409-1-31.5 | ||||
| Protection rating | IP67 (Optional clean room model available) | ||||
| Robot controller | CR800-D/CR800-R + R16RTCPU | ||||
| Order information | Art. no. | 313091 / 314058 | 313093 / 314060 | 313095 /
314062 |
|
Robot mitsubishi RV-F Series
The RV-F series is the latest generation of MELFA robots. It features advanced technology and easy-to-use handling. The series comprises the iQ Platform types RV-F-Q and the standalone types RV-F-D.
Thông số kỹ thuật Product Specification:
| Characteristics/Functions | RV-2F-D1-S16/ RV-2F-Q1-S16 | RV-2FB-D1-S15/
RV-2FB-Q1-S15 |
RV-2FL-D1-S16/
RV-2FL-Q1-S16 |
RV-2FLB-D1-S15/
RV-2FLB-Q1-S15 |
|||
| Degrees of freedom (no. of axes) | 6 | ||||||
| Installation posture | Floor, ceiling or wall mounting possible | ||||||
| Structure | Vertical multiple-joint type | ||||||
| Drive system | AC servo axes J1, J4, J6: no brake | AC servo (brakes on all axes) | AC servo axes J1, J4, J6: no brake | AC servo (brakes on all axes) | |||
| Position detection method | Absolute encoder | ||||||
| Payload capacity | rated | kg | 2 | ||||
| maximum | 3 | ||||||
| Arm reachable radius (to the center point of the J5 axis) | mm | 504 | 649 | ||||
| Operating range | waist (J1) | degree | 480 (-240–+240) | 480 (-240-+240) | |||
| shoulder (J2) | 240 (-120–+120) | 237 (-117-+120) | |||||
| elbow (J3) | 160 (0–+160) | 160 (0-+160) | |||||
| wrist twist (J4) | 400 (-200–+200) | 400 (-200-+200) | |||||
| wrist pitch (J5) | 240 (-120–+120) | 240 (-120+120) | |||||
| wrist roll (J6) | 720 (-360–+360) | 720 (-360-+360) | |||||
| Maximum speed | waist (J1) | degree/s | 300 | 225 | |||
| shoulder (J2) | 150 | 105 | |||||
| elbow (J3) | 300 | 165 | |||||
| wrist twist (J4) | 450 | 412 | |||||
| wrist pitch (J5) | 450 | 450 | |||||
| wrist roll (J6) | 720 | 720 | |||||
| Maximum composite speed | mm/s | 4955 | 4206 | ||||
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.6 | 0.7 | ||||
| Position repeatability | mm | ±0.02 | |||||
| Ambient temperature | °C | 0 to 40 | |||||
| Weight | kg | 19 | 21 | ||||
| Tolerable moment | wrist twist (J4) | Nm | 4.17 | ||||
| wrist pitch (J5) | 4.17 | ||||||
| wrist roll (J6) | 2.45 | ||||||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.18 (0.27) | ||||
| wrist pitch (J5) | 0.18 (0.27) | ||||||
| wrist roll (J6) | 0.04 (0.1) | ||||||
| Tool wiring | Hand input 4 points/hand output 4 points | ||||||
| Tool pneumatic pipes | Ø 4×4 (from the base level to the gripper hand area) | ||||||
| Supply pneumatic pressure | MPa | 0.5 ±10 % | |||||
| Gripper flange | ISO 9409-1-31.5 | ||||||
| Protection rating | IP30 | ||||||
| Robot controller | CR750-D/CR750-Q + Q172DRCPU | ||||||
| Order information | Art. no. | 255212/
255214 |
255211/
255213 |
286641/
286642 |
286655/
286656 |
||
Robot mitsubishi RV-4
| Characteristics/Functions | RV-4FLM-D1-S15 | RV-4FLM-Q1-S15 | ||
| Degrees of freedom (no. of axes) | 6 | |||
| Installation posture | Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | |||
| Structure | Vertical multiple-joint type | |||
| Drive system | AC servo (brakes on all axes) | |||
| Position detection method | Absolute encoder | |||
| Payload capacity | maximum | kg | 4 | |
| Arm reachable radius (to the center point of the J5 axis) | mm | 649 | ||
| Operating range | waist (J1) | degree | 480 (±240) | |
| shoulder (J2) | 240 (-120–+120) | |||
| elbow (J3) | 164 (-0 to +164) | |||
| wrist twist (J4) | 400 (±200) | |||
| wrist pitch (J5) | 240 (-120–+120) | |||
| wrist roll (J6) | 720 (±360) | |||
| Maximum speed | waist (J1) | degree/s | 420 | |
| shoulder (J2) | 336 | |||
| elbow (J3) | 250 | |||
| wrist twist (J4) | 540 | |||
| wrist pitch (J5) | 623 | |||
| wrist roll (J6) | 720 | |||
| Maximum composite speed | mm/s | 9048 | ||
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.36 | ||
| Position repeatability | mm | ±0.02 | ||
| Ambient temperature | °C | 0–40 | ||
| Weight | kg | 41 | ||
| Tolerable moment | wrist twist (J4) | Nm | 6.66 | |
| wrist pitch (J5) | 6.66 | |||
| wrist roll (J6) | 3.96 | |||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.20 | |
| wrist pitch (J5) | 0.20 | |||
| wrist roll (J6) | 0.10 | |||
| Tool wiring | Hand input 8 points/hand output 8 points | |||
| Tool pneumatic pipes | Ø 6×2 for robot connection (Ø4×8 from base portion to forearm) | |||
| Supply pneumatic pressure | MPa | 0.54 (as overpressure if required) | ||
| Gripper flange | ISO 9409-1-31.5 | |||
| Protection rating | IP67 (Optional clean room model available) | |||
| Robot controller | CR750-D | CR750-Q + Q172DRCPU | ||
| Order information | Art. no. | 255268 | 255272 | |
Robot mitsubishi RV-7
| Characteristics/Functions | RV-7FM-D1-S15/ RV-7FM-Q1-S15 | RV-7FLM-D1-S15/ RV-7FLM-Q1-S15 | RV-7FLLM-D1-S15
RV-7FLLM-Q1-S15 |
||
| Degrees of freedom (no. of axes) | 6 | 6 (super long arm) | |||
| Installation posture | Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | ||||
| Structure | Vertical multiple-joint type | ||||
| Drive system | AC servo (brakes on all axes) | ||||
| Position detection method | Absolute encoder | ||||
| Payload capacity | maximum | kg | 7 | ||
| Arm reachable radius (to the center point of the J5 axis) | mm | 713 | 908 | 1503 | |
| Operating range | waist (J1) | degree | 480 (±240) | 380 (±190) | |
| shoulder (J2) | 240 (-115–+125) | 240 (-110–+130) | 240 (-90–+150) | ||
| elbow (J3) | 156 (-0–+156) | 162 (-0–+162) | 167.5 (-10–+157.5) | ||
| wrist twist (J4) | 400 (±200) | ||||
| wrist pitch (J5) | 240 (-120–+120) | ||||
| wrist roll (J6) | 720 (±360) | ||||
| Maximum speed | waist (J1) | degree/s | 360 | 288 | 234 |
| shoulder (J2) | 401 | 321 | 164 | ||
| elbow (J3) | 450 | 360 | 219 | ||
| wrist twist (J4) | 337 | 375 | |||
| wrist pitch (J5) | 450 | ||||
| wrist roll (J6) | 720 | ||||
| Maximum composite speed | mm/s | 11064 | 10977 | 15300 | |
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.32 | 0.35 | 0.63 | |
| Position repeatability | mm | ±0.02 | ±0.06 | ||
| Ambient temperature | °C | 0–40 | |||
| Weight | kg | 65 | 67 | 130 | |
| Tolerable moment | wrist twist (J4) | Nm | 16.2 | ||
| wrist pitch (J5) | 16.2 | ||||
| wrist roll (J6) | 6.86 | ||||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.45 | ||
| wrist pitch (J5) | 0.45 | ||||
| wrist roll (J6) | 0.10 | ||||
| Tool wiring | Hand input 8 points/hand output 8 points | ||||
| Tool pneumatic pipes | Ø 6×2 for robot connection (Ø4×8 from base portion to forearm) | ||||
| Supply pneumatic pressure | MPa | 0.54 (as overpressure if required) | |||
| Gripper flange | ISO 9409-1-31.5 | ||||
| Protection rating | IP67 (Optional clean room model available) | ||||
| Robot controller | CR750-D/CR750-Q + Q172DRCPU | CR750-D/CR750-Q + Q172DRCPU | CR750-D/CR750-Q + Q172DRCPU | ||
| Order information | Art. no. | 255275/ 255279 | 255276/ 255280 | 268460/
268462 |
|
Robot mitsubishi RV-13 Robot mitsubishi RV-20
| Characteristics/Functions | RV-13FM-D1-S15
RV-13FM-Q1-S15 |
RV-13FLM-D1-S15
RV-13FLM-Q1-S15 |
RV-20FM-D1-S15
RV-20FM-Q1-S15 |
||
| Degrees of freedom (no. of axes) | 6 | ||||
| Installation posture | Floor, ceiling or wall mounting possible (wall mounting with limitations in the J1 axis) | ||||
| Structure | Vertical multiple-joint type | ||||
| Drive system | AC servo (all axes with brakes) | ||||
| Position detection method | Absolute encoder | ||||
| Payload capacity | rated | kg | 12 | 15 | |
| maximum | 13 | 20 | |||
| Arm reachable radius (to the center point of the J5 axis) | mm | 1094 | 1388 | 1094 | |
| Operating range | waist (J1) | degree | 380(±190) | ||
| shoulder (J2) | 240 (-90–+150) | ||||
| elbow (J3) | 167.5 (-10–+157.5) | ||||
| wrist twist (J4) | 400 (±200) | ||||
| wrist pitch (J5) | 240 (-120–+120) | ||||
| wrist roll (J6) | 720 (±360) | ||||
| Maximum speed | waist (J1) | degree/s | 290 | 234 | 110 |
| shoulder (J2) | 234 | 164 | 110 | ||
| elbow (J3) | 312 | 219 | 110 | ||
| wrist twist (J4) | 375 | 124 | |||
| wrist pitch (J5) | 375 | 125 | |||
| wrist roll (J6) | 720 | 360 | |||
| Maximum composite speed | mm/s | 10450 | 9700 | 4200 | |
| Cycle time (25x300x25 mm with 1 kg load) | sec | 0.53 | 0.68 | 0.70 | |
| Position repeatability | mm | ±0.05 | |||
| Ambient temperature | °C | 0–40 | |||
| Weight | kg | 120 | 130 | 120 | |
| Tolerable moment | wrist twist (J4) | Nm | 19.3 | 49.0 | |
| wrist pitch (J5) | 19.3 | 49.0 | |||
| wrist roll (J6) | 11 | ||||
| Tolerable inertia | wrist twist (J4) | kgm² | 0.47 | 1.40 | |
| wrist pitch (J5) | 0.47 | 1.40 | |||
| wrist roll (J6) | 0.14 | ||||
| Tool wiring | Hand input 8 points / hand output 8 points | ||||
| Tool pneumatic pipes | Primary: Ø 6×2, secondary: Ø 6×8 | ||||
| Supply pneumatic pressure | MPa | 0.54 (as overpressure if required) | |||
| Gripper flange | ISO 9409-1-40 | ||||
| Protection rating | IP67 (Optional clean room model available) | ||||
| Robot controller | CR750-D/CR750-Q + Q172DRCPU | ||||
| Order information | Art. no. | 268488/ 268492 | 268490/ 268494 | 268504/ 268506 | |
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