2A-RZ365 (Sink) / 2A-RZ375 (Source) MELFA RP-1AH/3AH/5AH · Telephone 886-4-359-0688/Fax...

MITSUBISHI ELECTRIC Europe B.V.UK Branch

MITSUBISHI ELECTRIC Europe B.V.German Branch

GANGLING ELECTRONIC TECHNOLOGYDEVELOPMENT CO., LTD.

KELING ELECTRIC (SHANGHAI) CO., LTD.

MITSUBISHI ELECTRIC TAIWAN CO., LTD.

HAN NEUNG TECHNO CO., LTD.

MITSUBISHI ELECTRICAUTOMATION, INC.

: MITSUBISHI SERVICE CENTER: PARTS DELIVERY CENTER

MITSUBISHI ELECTRIC CORPORATIONNAGOYA WORKS (abbr.MELCO NAGOYA)

MANILA

KUALA LUMPUR

JAKARTA

MITSUBISHI ELECTRIC ASIA PTE, LTD.

OVERSEAS SERVICE NETWORK & GLOBAL SERVICE NETWORK

MITSUBISHI ELECTRIC CORPORATION NAGOYA WORKS(MELCO NAGOYA)1-14 Yada-minami 5-chome, Higashi-ku, Nagoya,Aichi prefecture, JapanTelephone 81-52-712-2212/Fax 81-52-712-3692

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. German BranchGothaer Strasse 10, 40880 Ratingen, GermanyTelephone 49-2102-486-334/Fax 49-2102-486-717

MITSUBISHI ELECTRIC Europe B.V. UK BranchTravellers Lane, Hatfield, Hertfordshire, AL10 8XB, UKIndustrial Automation Systems DivisionTelephone 44-1707-276100/Fax 44-1707-278695

MITSUBISHI ELECTRIC Europe B.V. Spanish BranchPol. Ind. “Can Magí ” - C/. Joan Buscallà, 2-4 - A.C. 42008190 Sant Cugat del Vallès (Barcelona)Telephone 34-935-653-168/Fax 34-935-891-579

HAN NEUNG TECHNO CO., LTD.Dongseo Game Channel Bldg. 2F. 660-11,Deungchon-Dong Kangseo-KuSeoul, 157-030, KoreaTelephone 82-3663-0493/Fax 82-2-3663-0475

MITSUBISHI ELECTRIC TAIWAN CO., LTD.(Taipei FA Center)3th Fl., No.122, WU KUNG 2nd Road, WU-KU Hsiang,Taipei Hsien, TaiwanTelephone 886-2-2299-3060/Fax 886-2-2298-1909

(Taichung FA Center)No. 8-1, Gong Yeh 16th Road, Taichung Industrial Park,Taichung City, TaiwanTelephone 886-4-359-0688/Fax 886-4-359-0689

MITSUBISHI ELECTRIC ASIA PTE, LTD.307 Alexandra Road #05-01/02Mitsubishi Electric Building Singapore 159943Telephone 65-473-2308/Fax 65-476-7439

GANGLING ELECTRONIC TECHNOLOGY DEVELOPMENT(BEIJING) CO., LTD.Room 954, Office Building, New Century HotelNo. 6 Southern Road, Capital Gym., Beijing, 100044 ChinaTelephone 86-10-6849-2077/Fax 86-10-6849-2087

KELING ELECTRIC (SHANGHAI) CO., LTD.2F Block 5 Building Automation Instrumentation Plaza 103Cao Bao Rd. Shanghai 200233 ChinaTelephone 86-21-6484-9360/Fax 86-21-6484-9361

New publication, effective Sep. 2000Specifications subject to change without notice.L-174-0-C5005-A NA-0009 Printed in Japan (OKA)

MITSUBISHI ELECTRIC Europe B.V.Spanish Branch

System Configuration

Options

RP-1AH

RP-5AH

Hand output cable1A-GR200-RP

Electromagneticvalve set1A-VD01-RP1A-VD02-RP1A-VD03-RP1A-VD04-RP

Hand input cable1A-HC200-RP

2A-RZ365 (Sink) / 2A-RZ375 (Source)Pneumatic hand interface

2A-RZ361 (Sink) /2A-RZ371 (Source)Parallel input/output unit

External input/output cable2A-CBL05 (5m)2A-CBL15 (15m)

2A-HR533EEthernet interface

2A-RZ575ECC-Link interface

2A-RZ581EExtension serial interface

2A-RZ541EAdditional axis interface

RobotRP-1AHRP-3AHRP-5AH

CR1-571Controller

CR1-EB3Extension option box

RS-MAXY-CBLPersonal computer cable

Teaching boxR28TB

Servomotor

NC

Specification when shippingfrom works ∗1)Special Specifications as followsPlease refer specification manual for the detailsClean Specifications [Robot Main Unit] (Class 100)Pier to Pier Extension Cable

(For fixed use and bend use)

(External)

RP-3AH∗1) Pier structure will be changed when shipping. Please confirm delivery date and specifications since order made system.

(Note 1)

Machine cableStandard DeviceComposition

Personal computer(supplied by customer)

3A-01C-WINEPersonal computer support software3A-02C-WINEPersonal computer support software mini

Peripheral deviceconnections

(Note 2)

PLC

Vision sensor

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.

1 set

2 sets

3 sets

4 sets

1 set

2 sets

3 sets

4 sets

Utilizing 1~4 set, 2m length

Utilizing 1~4 set, 2m length

IP65, cable length 7m

Output: 8 points (sink) / (source)

Output: 32 points, Input: 32 points (sink) / (source)

One terminal untreated, 5m length

One terminal untreated, 15m length

10base-T 10Mbps

CC-Link intelligent device station (1 or 4 stations)

RS-232C/422, 1 channel each

for SSC NET (Max. 8 axes) ∗1

Option card extension unit, 3 slots

Windows® compatible support software with simulation function, CD-ROM

Simplified version of Windows® compatiblesupport software, CD-ROM

for PC-AT (DOS/V) compatible systems, 3m length

for internal mechanisms

for internal controller

Hand output cable

Hand input cable

Teaching box

Pneumatic hand interface (sink type) / (source type)

Parallel Input/Output interface (sink type) / (source type)

External Input/Output cable

Ethernet interface

CC-Link interface

Extension serial interface

Additional axis interface

Extension option box

Personal computer support software (Windows®)

Personal computer support software mini (Windows®)

Personal computer cable

Backup battery

1A-VD01-RP

1A-VD02-RP

1A-VD03-RP

1A-VD04-RP

1A-VD01E-RP

1A-VD02E-RP

1A-VD03E-RP

1A-VD04E-RP

1A-GR200-RP

1A-HC200-RP

R28TB

2A-RZ365 / 2A-RZ375

2A-RZ361 / 2A-RZ371

2A-CBL05

2A-CBL15

2A-HR533E

2A-RZ575E

2A-RZ581E

2A-RZ541E

CR1-EB3

3A-01C-WINE

3A-02C-WINE

RS-MAXY-CBL

A6BAT

ER6

Main bodyoptions

Controlleroptions

Maintenance

∗1: attached toextension option box

Note 1

One side connector,one side cable across

Sink type

Source type

Note 1: Required when ∗1 option is used.∗ Connect with only MR-J2 and MR-J2 super

Sinktype

1A-VD01E-RP1A-VD02E-RP1A-VD03E-RP1A-VD04E-RP

Sourcetype

Description/SpecificationModel No.Name Remarks

Electromagnetic valve set

• Windows® is a registered trademark of Microsoft Corporation.

INDUSTRIAL ROBOTS

MELFA RP-1AH/3AH/5AH

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).

EC97J1113

Proposing the 21st Century’sStatue of Robot

New Options Simplify Operation Ease and Expandability Improved communication interfaces for CC-Link, Ethernet and serial extensions.

5-Joint Closed Link Configuration In Pursuit of the Ultimate in High-speed, High-accuracy OperationAn 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 process-dedicated 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.

Compact Space-saving DesignTaking up a space the size of an 81/2 ×11 sheet of paper and weighing only

approximately 8kg, the controller smallest in the industry. Installation and trans-portation 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.

Effective Lineup for Diversified NeedsThe 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 specifica-

tions*3)*3 Please confirm delivery terms.

Part size

Manpower+Fixing Tool

Small HighOperationaccuracy

Cycle time 0.28s100mm

RP-1AH

RP-3AH

RP-5AH

Only 1.2m even with 3 units side-by-side

400mm

1200mm

0.28 sec.

0.33 sec.

0.38 sec.

Large Low

Largevariety

Smallvariety

Smalllot

Largelot

Previous robot

Process-dedicatedmachine

Micro-assemblyrobot

25mm

∗1 Connector box section

∗2

RP-1AH motion limit

RP-5AH motion limit RP-3AH motion limit

Note: Dimensions of the ∗2 connector box are the same as those for the ∗1 connector box.

Features

Smallest Controller in the Industry Equipped with Powerful 64 bit CPUNew 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-

nected to the main body of a previous model, the main body of the robot must be modified.

Main Applications

Robot Main Body External Dimensions

Controller External Dimensions

RP-1AHRP-1AH

RP-3AHRP-3AH

RP-5AHRP-5AH

CR1-571CR1-571

200150(31) (31) 49

212 290(38) (more than 170)

(40)

151

(15)

(2.5) (2.5)

Approx. 90212

151

Controller Main BodyCR1-571

Extension Option Box (option)CR1-EB3

85

176

216

26316 65 85

144.5

62.5 100

200

50 *1125

110

*1

C

8

8

(R)

60 *

1

Installation screw for tooling support

2-M4 screw depth 6 (from backside of arm)

2L2

L3 28 L3

R42

R42 L1

6

Common to RP-3AH/5AH

Section C detail

280

(13)

35 *2

30

B

A

4242

118

103.

531

1

20°

105°

170190210

332

297

533 90

R260

R260

160°

ø14H7

30

50

(12)

118

55.

5

(ø23)

(ø15)

13.5

13.5 (ø23)

ø14H7

15

3.5

835

(12)

13.5

13.5

Section A detail *3 Section B detail *3

20°

105°

130150148

332

R200

210

381 90

55

ø6H7

(ø8)

5.5

(ø8)

(ø18)

5.5

(ø18)

(7)

0.5

4

M6 screw

M5 screw depth 6

passes throughø3 hole

Section A details *3 Section B details *3

R14

0

R140

95

233

277

150

R236

70

110°

20°

100105

165

140

150

38 *1

82 *

1

133

162

95

140

56 28 (56)

R30.5

R30.5 100

7648

200

2

12030

180

155

5

6

6

16

50 *

1

56 120

56

122

(R)

6

2-M4 screwdepth 6 (from backsideof arm)

Installation screw for tooling support

2-M4 screwdepth 6

Installation screw for tooling support

C

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°.

6-M4 screwdepth 8

for installation of tooling

Tooling wiring outlet

4-ø7 for installation

Section C detail

2-ø4H7 rim∗ for knock pin

4-ø5 for installation

Rightelbow axis

End-effecter axis

End-effecteraxis motion

Leftelbowaxis

Leftshoulder axis

Rightshoulder axis

5-Joint Closed Link Mechanism

Motorrotation

160160°

160°160°

ModelsDimensions

L1

140

200

L2

200

260

L3

86

116

RP-3AH

RP-5AH

(8)

Tooling equipment, etc.

installation point

231

30 (

z st

roke

)

5485

9531

.531

.5

230

35 *2

21

Cable length, approx. 2000

180 *2

78

(connect to robot controller)

Connector box 2.3

Machine cable

B

A

R335R335

R200

R200

R453R453

Motorrotation

2-M4 screwdepth 6

Installation screw for tooling support

2-ø4H7 rim∗ for knock pin

6-M4 screw depth 8for installation of tooling

Tooling wiring outlet

4-ø7 for installation

Tooling equipment, etc.

installation point

Cable length, approx. 2000

50 (

z st

roke

)

Dimensions with Extension Option Box (CR1-EB3) attached.*When optional extension card is installed.

ø11 through hole

RP-1AH

Basic Specifications

ControllerMain Body

RP-1AH RP-3AH RP-5AH4

AC servomotor (all-axis brake attached)Absolute encoder

1 (0.5) 3 (1) 5 (2)

100+140 140+200 200+260236 335 453

150×105 (A6 size) 210×148 (A5 size) 297×210 (A4 size)

30 50

±200480 432480 432

800 960

3000 13300.28 0.33 0.38

±0.005 ±0.008 ±0.01

±0.01

±0.02 ±0.03

0.3×10 −3 1.6×10 −3 3.2×10 −3

0~40

Approx. 12 Approx. 24 Approx. 25Input: 8 points Output: 8 points (for each base)

—Floor-standing

IP30

ModelMotion degrees-of-freedomMotor drivePosition detectionMaximum loadcapacity (rated)∗1 kg

Arm length mmMaximum radial reach mm

W×D∗2 mmJ3 vertical

mmmotion

J4 Deg.J1 Deg./sJ2 Deg./s

J3 verticalmm/s

motionJ4 Deg./s

Cycle time∗3 sX-Y surface mmJ3 vertical

mmmotion

J4 Deg.Allowable wrist inertialmoment

kg•m2

Temperature °CWeight kgTool wiring∗4

Tool air pipingInstallationProtective structure

ModelPath controlNo. of control axes axisCPU

Main functions

Programming languagePosition learning Teaching position Points No. of steps Steps No. of programs Points

General I/O PointsExclusive input PointsHand I/O PointsEmergency stop input Points

Door switch input PointsRS232C PortsRS422 PortsExclusive hand slot SlotsExtension slot SlotsRobot I/O link Channels

Temperature °CHumidity %RH

Input voltage limit V

Power capacity∗5 kVAGround ΩConfigurationOverall dimensions∗7 mmWeight∗7 kg

CR1-571PTP, 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 method2,5005,000

8816/16 (max. when using options: 240/240)

Allocated by general output (1“STOP” point is fixed)8/0 (when using options: 8/8)

11

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) 0–4045–85

180~253/90~132VAC, 1 phase(207~253VAC, 1 phase at CE∗6)

0.7less than 100 (D-type ground)

Independent mounting, open configuration212(W)×290(D)×151(H)

Approx. 8

Memorycapacity

Externalinput

Interface

Powersupply

Operatinglimits

Maximumspeed

Repeatpositionaccuracy

Cleaning Class 100 (0.3µm)

<Special Specifications> The following work environment safety specifications apply.

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.

∗1: Maximum load capacity is that when the constant of the adjustable speed is limited.∗2: This reference explains that the unit covers the area the size of an A4 sheet of paper.∗3: Cycle time is a reference value, and increases in accurate work occasionally.∗4: The pneumatic hand interface (option) is required when tool (hand) output is used.∗5: 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.

Note: Specifications are subject to change without prior notification.

RP-1AHC-SB RP-3AHC-SB RP-5AHC-SB

Highly rigid mechanismenables very accuratehigh-speed operation.

Cycle time is 0.28s and repeat position accuracy is ±5µm (RP-1AH).

The controller mechanism is the size of an 81/2×11 sheet of paper and weights approximately 12kg (RP-1AH).

The ability to add equip-ment internally offers additional space savings.

Closed LinkConstruction

Lightweight& Compact

High-Speed &High Accuracy

Internal EquipmentExpansion

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).

Efficient Micro-assembly Robots Using New Robot with 5-Joint Closed Link Construction

Mounting of high-precision parts Sealing work Trimming tasks

Tracking tasks in food processing Tracking tasks in OA parts processing Visual parts feeding system