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MIT
SU
BIS
HI I
ND
US
TR
IAL
RO
BO
T
F
Ser
ies
MIT
SU
BIS
HI I
ND
US
TR
IAL
RO
BO
T
F
Ser
ies
This
cata
log is
an
intro
ducti
on to
only
par
t of w
hat M
itsub
ishi E
lectri
c has
to o
ffer.
Mits
ubish
i Elec
tric o
ffers
indiv
iduali
zed
solut
ions f
or th
e ch
allen
ges i
n yo
ur fa
ctory.
HE
AD
OF
FIC
E: T
OK
YO B
UIL
DIN
G, 2
-7-3
, MA
RU
NO
UC
HI,
CH
IYO
DA
-KU
, TO
KYO
100
-831
0, J
APA
NN
AG
OYA
WO
RK
S: 1
-14,
YA
DA
-MIN
AM
I 5, H
IGA
SH
I-K
U, N
AG
OYA
, JA
PAN
L(N
A)-
0906
7EN
G-D
New
pub
licat
ion,
effe
ctiv
e S
ep. 2
014
Spe
cific
atio
ns a
re s
ubje
ct to
cha
nge
with
out n
otic
e.
Mits
ubis
hi E
lect
ric A
utom
atio
n K
orea
Co.
, Ltd
.7F～
9F, G
angs
eo H
anga
ng X
i-tow
er A
, 401
, Yan
gche
on-r
o, G
angs
eo-G
u,S
eoul
157
-801
, Kor
eaM
itsub
ishi
Ele
ctric
Asi
a P
te, L
td.
307
Ale
xand
ra R
oad
#05-
01/0
2, M
itsub
ishi
Ele
ctric
Bui
ldin
g, S
inga
pore
Mits
ubis
hi E
lect
ric A
utom
atio
n (T
haila
nad)
Co.
, Ltd
. B
ang-
Cha
n In
dust
rial E
stat
e N
o.11
1 S
oi S
erith
ai 5
4,
T.K
anna
yao,
A.K
anna
yao,
Ban
gkok
102
30 T
haila
nd
Kor
ea
Sin
gapo
re
Tha
iland
Tel
: +82
-2-3
660-
9550
Fax
: +82
-2-3
664-
8372
Tel
: +65
-647
0-24
80F
ax: +
65-6
476-
7439
Tel
: +66
-251
7-13
26F
ax: +
66-2
906-
3239
Chi
naM
itsub
ishi
Ele
ctric
Tai
wan
Co.
,Ltd
.10
F,N
o.88
,Sec
.6,C
hung
-Sha
n N
.Rd.
,Tai
pei,T
aiw
anT
aiw
anT
el: +
886-
02-2
833-
5430
Fax
: +88
6-02
-283
3-54
33
Mits
ubis
hi E
lect
ric A
utom
atio
n (C
HIN
A)
Ltd.
No.
1386
Hon
gqia
o R
oad,
Mits
ubis
hi E
lect
ric A
utom
atio
n C
ente
r 3F
Sha
ngha
i,C
hina
Rus
sia
Tel
: +86
-21-
2322
-303
0F
ax: +
86-2
1-23
22-3
000
Mits
ubis
hi E
lect
ric E
urop
e B
.V. R
ussi
an B
ranc
h M
osco
w O
ffice
52, b
ld. 3
, Kos
mod
amia
nska
ya n
ab.,
RU
-115
054,
Mos
cow
, Rus
sia
Tel
: +7-
495-
721-
2070
Fax
: +7-
495-
721-
2071
Sal
es O
ffice
Cou
ntry
/Reg
ion
Tel
/Fax
Mits
ubis
hi E
lect
ric A
utom
atio
n ln
c.50
0 C
orpo
rate
Woo
ds P
arkw
ay V
erno
n H
ills,
IL 6
0061
, US
AM
ITS
UB
ISH
I ELE
CT
RIC
DO
BR
AS
IL C
OM
ER
CIO
E S
ER
VIC
OS
LT
DA
.R
ua J
ussa
ra, 1
750
- B
loco
B-
Sal
a 01
, Jar
dim
San
ta C
ecili
a -
CE
P 0
6465
-070
,B
arue
ri -
SP
, Bra
sil
Mits
ubis
hi E
lect
ric E
urop
e B
.V. G
erm
an B
ranc
hG
otha
er S
tras
se 8
D-4
0880
Rat
inge
n, G
erna
nyM
itsub
ishi
Ele
ctric
Eur
ope
B.V
. UK
Bra
nch
Tra
velle
rs L
ane,
Hat
field
, Her
tford
shire
., A
L10
8XB
, UK
Mits
ubis
hi E
lect
ric E
urop
e B
.V. I
talia
n B
ranc
hV
IALE
CO
LLE
ON
I 7-2
0041
Agr
ate
Bria
nza(
Mila
no),
Italy
Mits
ubis
hi E
lect
ric E
urop
e B
.V. S
pani
sh B
ranc
hC
arre
tera
de
Rub
i 76-
80-A
C.4
20,
E-0
8190
San
t Cug
at d
el V
alle
s(B
arce
lona
), S
pain
Mits
ubis
hi E
lect
ric E
urop
e B
.V. F
renc
h B
ranc
h25
,Bou
leva
rd d
es B
ouve
ts, F
-927
41 N
ante
rre
Ced
ex, F
ranc
eM
itsub
ishi
Ele
ctric
Eur
ope
B.V
. Cze
ch B
ranc
hA
veni
r B
usin
ess
Par
k, R
adic
ka 7
14/1
13a,
158
00
Pra
ha5,
Cze
ch R
epub
licM
itsub
ishi
Ele
ctric
Eur
ope
B.V
. Pol
ish
Bra
nch
ul. K
rako
wsk
a 50
32-
083
Bal
ice,
Pol
and
U.S
.A
Bra
zil
Ger
man
y
U.K
Italy
Spa
in
Fra
nce
Cze
ch R
epub
lic
Pol
and
Tel
: +1-
847-
478-
2100
Fax
: +1-
847-
478-
2253
Tel
: +55
-11-
4689
-300
0F
ax: +
55-1
1-46
89-3
016
Tel
: +49
-210
2-48
6-0
Fax
: +49
-210
2-48
6-11
20T
el: +
44-1
707-
27-6
100
Fax
: +44
-170
7-27
-869
5T
el: +
39-0
39-6
0531
Fax
: +39
-039
-605
3-31
2T
el: +
34-9
35-6
5-31
31F
ax: +
34-9
35-8
9-29
48
Tel
: +33
-1-5
568-
5568
Fax
: +33
-1-5
568-
5757
Irel
and
Tel
: +42
0-25
1-55
1-47
0F
ax: +
420-
251-
551-
471
Tel
: +48
-12-
630-
47-0
0F
ax: +
48-1
2-63
0-47
-01
Mits
ubis
hi E
lect
ric E
urop
e B
.V. I
rish
Bra
nch
Wes
tgat
e B
usin
ess
Par
k, B
ally
mou
nt. I
RL-
Dub
lin 2
4T
el: +
353-
1419
8800
Fax
: +35
3-14
1988
90
Mits
ubis
hi E
lect
ric In
dia
Pvt
. Ltd
. E
mer
ald
Hou
se, E
L-3,
J B
lock
, M.I.
D.C
., B
hosa
ri, P
une,
411
026,
Mah
aras
htra
Sta
te, I
ndia
Indi
aT
el: +
91-2
710-
2000
Fax
: +91
-271
0-21
00
Vert
ical
type
Th
e fa
ste
st h
ig
h-sp
ee
d o
pe
ra
tio
n in
its cla
ss
Co
ntrib
ute
s to
im
pro
ve
d p
ro
du
ctivity w
ith
hig
h-fre
qu
en
cy o
pe
ra
tio
ns
Pre
ve
ntio
n o
f in
te
rfe
re
nce
w
ith
ca
ble
s
A com
pact 6-axis jointed robot w
ith an optim
al arm
length and w
ider range of
movem
ent suited for com
plex assem
bly and processing tasks.
Com
pact body and slim
arm
design, allow
ing operating area to be expanded and
load capacity increased.
Layout accom
modates a w
ide range of applications from
transport of m
echanical
parts to assem
bly of electrical parts.
Environm
ental resistance specifications enable application to a w
ide range of uses
without needing to consider the installation environm
ent.
Hor
izon
tal t
ype
Th
e fa
ste
st h
ig
h-sp
ee
d o
pe
ra
tio
n in
its cla
ss
Im
pro
ve
d sp
ee
d fo
r ve
rtica
l m
ove
me
nts
Co
mp
atib
ility w
ith
in
te
rn
al
Eth
ern
et ca
ble
to
ols
Fu
ll u
se
o
f in
sta
lla
tio
n sp
ace
Ma
tch
es p
erfe
ctly to
a
va
rie
ty o
f a
pp
lica
tio
ns w
ith
a
w
id
e ra
ng
e o
f o
pe
ra
tin
g
are
as a
nd
va
ria
tio
ns.
Hig
h sp
ee
d a
nd
h
ig
h a
ccu
ra
cy a
ch
ie
ve
d w
ith
th
e h
ig
hly rig
id
a
rm
a
nd
la
te
st
se
rvo
co
ntro
l te
ch
no
lo
gy.
Su
ita
ble
fo
r a
w
id
e ra
ng
e o
f fie
ld
s fro
m m
ass p
ro
du
ctio
n o
f fo
od
a
nd
p
ha
r-
ma
ce
utica
l p
ro
du
cts re
qu
irin
g h
ig
h-sp
ee
d o
pe
ra
tio
n to
a
sse
mb
ly o
pe
ra
tio
ns
re
qu
irin
g h
ig
h p
re
cisio
n.
Feat
ures
De
sig
ne
d fo
r fle
xib
le
a
uto
ma
tio
n
Co
mp
act a
nd
p
ow
erfu
l
Hig
h re
lia
bility
Mitsu
bish
i E
le
ctric's F
-S
erie
s in
du
stria
l ro
bo
ts a
re
e
qu
ip
pe
d w
ith
te
ch
no
lo
gy d
eve
lo
pe
d a
nd
te
ste
d a
t its o
wn
p
ro
du
ctio
n p
la
nts. E
qu
ip
pe
d w
ith
a
dva
nce
d te
ch
no
lo
gy a
nd
e
asy-to
-u
se
fe
atu
re
s, th
ese
ro
bo
ts a
re
d
esig
ne
d to
fa
cilita
te
a
uto
ma
tio
n o
f a
ny p
ro
du
ctio
n p
la
nt.
Co
mp
atib
ility w
ith
in
te
rn
al E
th
ern
et ca
ble
to
ols
Exp
an
de
d J4
a
xis o
pe
ra
tin
g ra
ng
e
Co
mp
act in
sta
lla
tio
n w
ith
o
pe
ra
tio
n p
erfo
rm
ed
n
ea
r th
e ro
bo
t
ba
se
Ch
an
ge
s in
o
pe
ra
tin
g p
ostu
re
m
ad
e e
ve
n m
ore
q
uickly
Fu
ll u
se
o
f in
sta
lla
tio
n sp
ace
Im
pro
ve
d co
ntin
uo
us o
pe
ra
bility
En
ha
nce
d w
rist a
xis
In
te
rn
al ro
utin
g o
f ca
ble
s re
su
lts in
sim
plifie
d ca
ble
m
an
ag
em
en
t
With
a wi
de ra
nge o
f var
iatio
ns fr
om M
itsub
ishi
Elec
tric,
com
mitt
ed to
ease
in se
lectio
n.Li
neup
Ver
tica
l, m
ult
iple
-jo
int
typ
e (R
V)
Ho
rizo
nta
l, m
ult
iple
-jo
int
typ
e (R
H)
The M
itsubis
hi E
lectr
ic r
obot pro
duct lin
e is e
quip
ped w
ith a
ll of th
e b
asic
perf
orm
ance featu
res d
esired in a
robot, s
uch a
s
bein
g p
ow
erf
ul, s
peedy,
and c
om
pact.
The v
ariations that M
itsubis
hi E
lectr
ic is c
onfident m
eet th
e n
eeds o
f th
e c
urr
ent era
and h
ave p
ushed F
acto
ry A
uto
mation
forw
ard
in a
dra
matic w
ay.
RH
-3F
H4
5
450
ż(IP
20)
—
RH
-3F
H5
5
550
RH
-6F
H3
5
350
RH
-6F
H4
5
450
ż(IP
20)
ż(IP
65)
RH
-6F
H5
5
550
RH
-12
FH
55
550
RH
-12
FH
70
700
ż(IP
20)
ż(IP
65)
RH
-12
FH
85
1000
ż(IP
20)
ż(IP
65)
RH
-3F
H3
5
350
RV
-4F
Type
Environm
enta
l
specific
ations
Maxim
um
load c
apacity
(kg)
Maxim
um
reach radiu
s (m
m)
504
ż(IP
30)
—
RV
-4F
L
515
RV
-7F
649
RV
-7F
L
713
908
Contr
oller
RV
-2F
RV
- 4
F L
C -
D 1
- S
xxS
xx:
Co
mp
lia
nt
wit
h s
pe
cia
l m
od
els
su
ch
as C
E s
pe
cif
ica
tio
n a
nd
KC
sp
ecif
ica
tio
n e
tc (
se
pa
rate
ly)
SH
xx:
Inte
rnal w
irin
g s
pecific
ations
Envi
ronm
ent s
peci
ficat
ion
Bla
nk:
Sta
ndard
specific
ations
M :
Oilm
ist specific
ations
C
: C
lean s
pecific
ations
Con
trol
ler t
ype
D
: C
R750-D
Q
: C
R750-Q
1D
: C
R751-D
1Q
: C
R751-Q
Arm
leng
th B
lank:
Sta
ndard
arm
L :
Long a
rm
LL :
Super
long a
rm
Serie
s F
: F
series
Max
imum
load
cap
acity
2 : 2kg 4
: 4kg 7
: 7kg 1
3: 13kg 2
0: 20kg
Rob
ot s
truc
ture
RV
: V
ert
ical, m
ultip
le-join
t ty
pe
Max
imum
load
cap
acity
3: 3kg 6
: 6kg 1
2: 12kg 2
0: 20kg
Rob
ot s
truc
ture
RH
: H
orizonta
l, m
ultip
le-join
t ty
pe
RH -
6 F
H 5
5 20
M -
D 1
- Sx
xS
xx:
Co
mp
lia
nt
wit
h s
pe
cia
l m
od
els
su
ch
as C
E s
pe
cif
ica
tio
n a
nd
KC
sp
ecif
ica
tio
n e
tc (
se
pa
rate
ly)
SM
: S
pecific
ation w
ith p
rote
ction
specific
ation c
ontr
oller
(w
ith the p
rote
ction b
ox)
Envi
ronm
ent s
peci
ficat
ion
Bla
nk:
Sta
ndard
specific
ations
M :
Oilm
ist specific
ations
C
: C
lean s
pecific
ations
Con
trol
ler t
ype
D
: C
R750-D
Q
: C
R750-Q
1D
: C
R751-D
1Q
: C
R751-Q
Vert
ical
str
oke
12 : 1
20m
m
15 : 1
50m
m
20 : 2
00m
m
34 : 3
40m
m
35 : 3
50m
m
45 : 4
50m
m
35 : 3
50m
m
45 : 4
50m
m
55 : 5
50m
m
70 : 7
00m
m
85 : 8
50m
m
100 : 1
000m
m
Arm
leng
th
Serie
s F
H:
F s
eri
es
FH
R:
F s
eri
es
Sta
ndard
Oil m
ist
Cle
an
34
47
7
—ż(
ISO
clas
s3)ż(
ISO
clas
s3)ż(
ISO
clas
s3)ż(
ISO
clas
s3)
ż(IP
40)
ż(IP
67)
ż(IP
40)
ż(IP
67)
ż(IP
40)
ż(IP
67)
ż(IP
40)
ż(IP
67)
Maxim
um
load c
apacity
(kg)
Maxim
um
reach radiu
s (m
m)
Sta
ndard
Oil m
ist
Cle
an
Contr
oller
Type
RH
-20
FH
85
RH
-20
FH
10
0
850
850
33
66
612
1220
320
12
ż(IS
Ocl
ass3
)ż(
ISO
clas
s3)
ż(IS
Ocl
ass3
)ż(
ISO
clas
s3)
Med
ical
, foo
dż(
IP65
)—
ż(IP
65)
ż(IP
65)
350
ż(IP
20)
Wat
er p
roof
: ż(IP
65)
RH
-3F
HR
3
ż(IS
Ocl
ass5
)
—
Contr
ollers
with p
rote
ctive s
pecific
ations
(Equip
ped w
ith c
ontr
oller
pro
tection b
oxes)
Contr
ollers
with p
rote
ctive s
pecific
ations
(Equip
ped w
ith c
ontr
oller
pro
tection b
oxes)
Environm
enta
l
specific
ations
CR
75
0C
R7
51
CR
75
0C
R7
51
1: C
E/K
C s
pecific
ation
1:
CE
/KC
sp
ecif
ica
tio
n
RV
-7F
LL
15037
ż(IS
Ocl
ass3
)
ż(IP
40)
ż(IP
67)
RV
-13
F
109413
ż(IS
Ocl
ass3
)
ż(IP
40)
ż(IP
67)
RV
-13
FL
138813
ż(IS
Ocl
ass3
)
ż(IP
40)
ż(IP
67)
RV
-20
F
109420
ż(IS
Ocl
ass3
)M
edic
al, f
ood
—ż(
IP65
)ż(
IP65
)ż(
IP65
)ż(
IP65
)ż(
IP65
)ż(
IP65
)ż(
IP65
)ż(
IP65
)
ż(IP
40)
ż(IP
67)
Spec
ifica
tions
Stru
ctur
e
J3 J4 J5
Cyc
le ti
me
*4
Max
imum
spe
ed
Pos
ition
repe
atab
ility
Am
bien
t tem
pera
ture
Mac
hine
cab
leC
onne
cted
con
trolle
r
sec
Ope
ratin
g ra
nge
mm °C
300
450
450
0.6
CR
750,
CR
751
Ver
tical
, mul
tiple
-join
t typ
eD
egre
es o
f fre
edom
6D
rive
syst
em *
1A
C s
ervo
mot
or (J
2, J
3 an
d J5
: with
bra
ke)
Pos
ition
det
ectio
n m
etho
dA
bsol
ute
enco
der
±0.0
20
to 4
0
Tool
pne
umat
ic p
ipes
䃥4
x 4
5m (c
onne
ctor
on
both
end
s)
Type
Uni
tR
V-2
F(B
)
230
+ 27
0m
mA
rm le
ngth
504
mm
Max
imum
reac
h ra
dius
J148
0 (±
240)
J224
0 (-
120
to +
120)
J440
0 (±
200)
J524
0 (-
120
to +
120)
J672
0 (-
360
to +
360)
J130
0J2
150
J672
0M
axim
um c
ompo
site
spe
ed *
3m
m/s
ec49
55
Mas
skg
19
Env
ironm
enta
l spe
cific
atio
nsS
tand
ard
Pro
tect
ion
degr
eeIP
30In
stal
latio
nFl
oor t
ype,
cei
ling
type
, (w
all-m
ount
ed ty
pe *
2)
Tool
wiri
ngH
and:
4 in
put p
oint
s/4
outp
ut p
oint
sS
igna
l cab
le fo
r the
mul
ti-fu
nctio
n ha
nd
Max
imum
load
cap
acity
kg
max
imum
3 (R
ated
2) *
5
J316
0 (-
0 to
+16
0)de
g
deg/
sec
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
RV-
2F
NO
1 ar
m
J4 J5 J6 J4 J5 J6
Nm
kgm
2
Tole
rabl
e m
omen
t
Tole
rabl
e am
ount
of i
nerti
a
4.17
4.17
2.45
0.18
0.18
0.04
RV-
4FR
V-4F
L
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
Spec
ifica
tions
Stru
ctur
e
J3 J4 J5
Cyc
le ti
me
*4
Max
imum
spe
ed
Pos
ition
repe
atab
ility
Am
bien
t tem
pera
ture
Mac
hine
cab
leC
onne
cted
con
trolle
r *6
sec
Ope
ratin
g ra
nge
mm °C
300
540
623
0.36
CR
750,
CR
751
Ver
tical
, mul
tiple
-join
t typ
eD
egre
es o
f fre
edom
6D
rive
syst
em *
1A
C s
ervo
mot
orP
ositi
on d
etec
tion
met
hod
Abs
olut
e en
code
r
±0.0
20
to 4
0
Tool
pne
umat
ic p
ipes
Prim
ary:
䃥6
x 2
S
econ
dary
: 䃥4
x 8,
䃥4
x 4
(from
bas
e po
rtion
to
fore
arm
)5m
(con
nect
or o
n bo
th e
nds)
240
+ 27
0m
mA
rm le
ngth
515
mm
Max
imum
reac
h ra
dius
J148
0 (±
240)
J224
0 (-
120
to +
120)
J440
0 (±
200)
J524
0 (-
120
to +
120)
J6 J145
0J2
450
J672
0M
axim
um c
ompo
site
spe
ed *
3m
m/s
ec90
27
Mas
skg
39
Env
ironm
enta
l spe
cific
atio
nsS
tand
ard/
Oil
mis
t/ C
lean
Pro
tect
ion
degr
eeIP
40 (s
tand
ard)
/ IP
67 (o
il m
ist)
*1/ I
SO
clas
s3 *
7In
stal
latio
nFl
oor t
ype,
cei
ling
type
, (w
all-m
ount
ed ty
pe *
2)
Tool
wiri
ngH
and:
8 in
put p
oint
s/8
outp
ut p
oint
sS
igna
l cab
le fo
r the
mul
ti-fu
nctio
n ha
nd a
nd s
enso
rsLA
N X
1 <
100
BA
SE
-TX
> (8
-pin
)) *
5
Max
imum
load
cap
acity
kg
4
J316
1 (-
0 to
+16
1)de
g
deg/
sec
NO
1 ar
m
J4 J5 J6 J4 J5 J6
Nm
kgm
2
Tole
rabl
e m
omen
t
Tole
rabl
e am
ount
of i
nerti
a
6.66
6.66
3.96 0.2
0.2
0.1
245
+ 30
064
9
250
540
623
0.36
420
336
720
9048
41
*1: T
he s
tand
ard
mod
el d
oes
not h
ave
a br
ake
on th
e J1
, J4,
or J
6 ax
is. T
here
are
mod
els
avai
labl
e w
ith b
rake
s in
clud
ed fo
r all
axes
. (R
V-2F
B)
*2: T
he w
all-m
ount
ed s
peci
ficat
ion
is a
cus
tom
spe
cific
atio
n w
here
the
oper
atin
g ra
nge
of th
e J1
-axi
s is
lim
ited.
*3: T
his
is th
e va
lue
at th
e su
rface
of t
he m
echa
nica
l int
erfa
ce w
hen
all a
xes
are
com
posi
ted.
*4
: The
cyc
le ti
me
is b
ased
on
back
-and
-forth
mov
emen
t ove
r a v
ertic
al d
ista
nce
of 2
5 m
m a
nd h
oriz
onta
l dis
tanc
e of
300
mm
whe
n th
e lo
ad is
1 k
g.*5
: The
max
imum
load
cap
acity
indi
cate
s th
e m
axim
um p
aylo
ad w
hen
the
mec
hani
cal i
nter
face
is fa
cing
dow
nwar
d (±
10°
to th
e pe
rpen
dicu
lar)
.
*1: P
leas
e co
ntac
t Mits
ubis
hi E
lect
ric d
eale
r sin
ce th
e en
viro
nmen
tal r
esis
tanc
e m
ay n
ot b
e se
cure
d de
pend
ing
on th
e ch
arac
teris
tics
of o
il yo
u us
e. A
ir w
ill ne
ed to
be
purg
ed fr
om th
e lin
es. F
or d
etai
ls, r
efer
to th
e sp
ecifi
catio
ns s
heet
. *2
: The
wal
l-mou
nted
spe
cific
atio
n is
a c
usto
m s
peci
ficat
ion
whe
re th
e op
erat
ing
rang
e of
the
J1-a
xis
is li
mite
d.*3
: Thi
s is
the
valu
e at
the
surfa
ce o
f the
mec
hani
cal i
nter
face
whe
n al
l axe
s ar
e co
mpo
site
d.
*4: T
he c
ycle
tim
e is
bas
ed o
n ba
ck-a
nd-fo
rth m
ovem
ent o
ver a
ver
tical
dis
tanc
e of
25
mm
and
hor
izon
tal d
ista
nce
of 3
00 m
m w
hen
the
load
is 1
kg.
*5
: Can
als
o be
use
d as
a s
pare
line
(0.2
sq.
mm
, 4-p
air c
able
) for
con
vent
iona
l mod
els.
*6: S
elec
t eith
er c
ontro
ller a
ccor
ding
to y
our a
pplic
atio
n. C
R75
1-D
: Sta
ndal
one
type
, CR
751-
Q: i
Q P
latfo
rm c
ompa
tible
type
.*7
: Pre
serv
atio
n of
cle
anlin
ess
leve
ls d
epen
ds o
n co
nditi
ons
of a
dow
nstre
am fl
ow o
f 0.3
m/s
in th
e cl
ean
room
and
inte
rnal
robo
t suc
tioni
ng. A
䃥8-
mm
cou
pler
for s
uctio
ning
is p
rovi
ded
at th
e ba
ck o
f the
bas
e.
Vert
ical
type4k
gVe
rtic
al
type2k
g
Type
Uni
tR
V-4
F(M
)(C
)R
V-4
FL(M
)(C
)
Mot
ion
spac
eat
poi
nt P
Wris
t's d
ownw
ard
limit
Con
trol p
oint
(R
poi
nt)
Wris
t's d
ownw
ard
limit
R139.5
+240
°
-240
°
Top
view
R504
.6
Poi
nt P
Mot
ion
spac
eat
poi
nt P
280+1
20°
389.6
-120°
1.7799.6 94.6
Wris
t's d
ownw
ard
sing
ular
ity b
ound
ary
Sid
e vi
ew
504.
6
-120
°
70
504.
6
504.6R
504.
6
R13
9.5
+120°
Poi
ntP
270
221
528
757
270
R23
0
R23
0
R250
209
408
45°
4-M
5 sc
rew
, dep
th 8
䃥5H
7, d
epth
8
䃥31
.5䃥
40h8
, dep
th 6
䃥20
H7,
dep
th 6
View
AM
echa
nica
l Int
erfa
ce D
etai
l
(Installation reference surface)
4-䃥
9 in
stal
latio
n ho
le
Rea
r Sur
face
Dia
gram
(Ins
talla
tion
Dim
ensi
on D
etai
l)
View
B
(160
)
(160)
82
(Inst
alla
tion
refe
renc
e
(135
)
67.5
67.5
(40)
Rz 25
Rz 2
5
(120)
A
B
RV
-4F
RV
-4F
L
Inte
rsec
tio
n
Top
view
Mot
ion
spac
eat
poi
nt P
Poi
nt P
Mot
ion
spac
eat
poi
nt P
Wris
t's d
ownw
ard
limit
Wris
t's d
ownw
ard
sing
ular
ity b
ound
ary
Sid
e vi
ew
164
(-0
to +
164)
720
(±36
0)
(241
)17
0
690
App
roxi
mat
ely
100
Mai
nten
ance
spac
e (*
2)
Mai
nten
ance
spac
e (*
2)
App
roxi
mat
ely
100
14.7
Mot
ion
spac
eat
poi
nt P
Poi
nt P
Top
view
Mot
ion
spac
eat
poi
nt P
Wris
t's d
ownw
ard
limit
For i
nter
nal h
and
wiri
ngan
d pi
ping
spe
cific
atio
ns (-
SH
**)
Con
trol p
oint
(R p
oint
)
Con
trol p
oint
(R p
oint
)
For i
nter
nal h
and
wiri
ngan
d pi
ping
spe
cific
atio
ns (-
SH
**)
Cont
rol p
oint (
R po
int)
for -
SH**
spec
ificat
ions
Cont
rol p
oint (
R po
int)
for -
SH**
spec
ificat
ions
Wris
t's d
ownw
ard
sing
ular
ity b
ound
ary
Sid
e vi
ew
R13
6.8
R51
4.5
397514.5
47864.5
514.
5Li
mits
on
oper
atin
g ra
nge
for t
he re
ar (*
5)
Lim
its o
n op
erat
ing
rang
efo
r the
rear
(*6)
514.
5
+240
°
-240
°
85125
R135.8
R514.5
350
275
23550
Not
e*1
. Mak
e su
re to
leav
e en
ough
spa
ce o
pen
for c
able
con
nect
ions
bet
wee
n de
vice
s.
*2. M
ake
sure
to le
ave
enou
gh s
pace
ope
n fo
r rem
ovin
g an
d at
tach
ing
cove
rs d
urin
g m
aint
enan
ce w
ork.
*3
. Spe
cify
a th
read
eng
agem
ent l
engt
h of
7.5
to 8
mm
. *4
. The
dep
th o
f the
䃥40
-mm
sec
tion
is 3
.5 m
m fo
r Cle
an/M
ist m
odel
s an
d 6
mm
for S
tand
ard.
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*7. T
he p
ostu
re s
how
n in
the
diag
ram
resu
lts fr
om w
hen
the
robo
t axi
s an
gles
are
set
as
liste
d.
J1 =
0°,
J2
= 0°
, J3
= 90
°, J
4 =
0°, J
5 =
0°, J
6 =
0°
Ope
ratin
g ra
nge
for e
ach
axis
:J1
: ±24
0°J2
: ±12
0°J3
: 0°
to 1
64°
J4: ±
200°
J5: ±
120°
J6: ±
360°
J6 w
hen
-SH
spec
ifica
tions
are
used
: ±20
0°
Ope
ratin
g ra
nge
for e
ach
axis
:J1
: ±24
0°J2
: ±12
0°J3
: 0°
to 1
61°
J4: ±
200°
J5: ±
120°
J6: ±
360°
+115
°(*5)
-35°(*5)
-113° (*5)
-120°
+120
°Po
int P Po
int P R
140.
4
R64
8.7
490648.7
648.
764
8.7
140998.7
85125
310 35050
335
+240
°-240
°
R140.4
R648.7
-114°(*6)
+110
°(*6)
-35°(*6)
-120°
+120
°
(241
)17
0
764.914.7
A
Rz25
䃥40
h8, d
epth
6 (*
4)P.
C.D.䃥
31.5
䃥20
H7,
dep
th 6
45°
䃥5H
7, d
epth
8
4-M
5 sc
rew
, dep
th 8
(*3)
(200)
102
8080
102
(160)
(160
)
(200
)
80 80
128
Rz2
5
View
AM
echa
nica
l Int
erfa
ce D
etai
l
View
BR
ear S
urfa
ce D
iagr
am (I
nsta
llatio
n D
imen
sion
Det
ail)
(Inst
alla
tion
refe
renc
esu
rface
)
(Installation reference surface)
4-䃥
9 in
stal
latio
n ho
le
-113° (Note 1)
RV-
7FR
V-7F
LVe
rtic
al
type
7kg
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
Spec
ifica
tions
Str
uctu
re
J3
J4
J5
Cycle
tim
e *
4
Maxim
um
speed
Positio
n r
epeata
bili
ty
Am
bie
nt te
mpera
ture
Machin
e c
able
Connecte
d c
ontr
olle
r
sec
Opera
ting r
ange
mm
°C
450
337
450
0.3
2
CR
750, C
R751
Vert
ical, m
ultip
le-join
t ty
pe
Degre
es o
f fr
eedom
6
Drive s
yste
mA
C s
erv
o m
oto
r
Positio
n d
ete
ction m
eth
od
Absolu
te e
ncoder
±0.0
2
0 to 4
0
Tool pneum
atic p
ipes
Prim
ary
: 䃥
6 x
2 S
econdary
: 䃥
4 x
8, 䃥
4 x
4 (
from
base p
ort
ion to
fore
arm
)
5m
(connecto
r on b
oth
ends)
Type
Unit
RV
-7F
(M)(
C)
340 +
370
mm
Arm
length
713
mm
Maxim
um
reach r
adiu
s
J1
480 (
±240)
J2
240 (
-115 to +
125)
J4
400 (
±200)
J5
240 (
-120 to +
120)
J6
J1
360
J2
401
J6
720
Maxim
um
com
posite s
peed *
3m
m/s
ec
11064
Mass
kg
65
Machin
e c
lass
Sta
ndard
/ O
il m
ist/ C
lean
Pro
tection d
egre
eIP
40 (
sta
ndard
)/ IP
67 (
oil
mis
t) *
1/ IS
Ocla
ss3 *
7
Insta
llation
Flo
or
type, ceili
ng type, (w
all-
mounte
d type *
2)
Tool w
irin
gH
and: 8 input poin
ts/8
outp
ut poin
ts (
20 p
ins tota
l)S
erial sig
nal cable
for
para
llel I/O
(2-p
in +
2-p
in p
ow
er
line)
LA
N X
1 <
100 B
AS
E-T
X>
(8-p
in))
*5
Maxim
um
load c
apacity
kg
7
J3
156 (
-0 to +
156)
deg
deg/s
ec
NO
1 a
rm
J4
J5
J6
J4
J5
J6
Tole
rable
mom
ent
Tole
rable
am
ount of in
ert
ia
16.2
16.2
6.8
6
0.4
5
0.4
5
0.1
0
RV
-7F
L(M
)(C
)
435 +
470
908
360
337
450
0.3
5
288
321
720
10977
67
*1: P
lease c
onta
ct M
itsubis
hi E
lectr
ic d
eale
r sin
ce the e
nvironm
enta
l resis
tance m
ay n
ot be s
ecure
d d
ependin
g o
n the c
hara
cte
ristic
s o
f oil
you u
se. A
ir w
ill n
eed to b
e p
urg
ed fro
m the li
nes. F
or
deta
ils, re
fer
to the s
pecifi
catio
ns s
heet.
*2: T
he w
all-
mounte
d s
pecific
ation is a
custo
m s
pecific
ation w
here
the o
pera
ting r
ange o
f th
e J
1-a
xis
is lim
ited.
*3: T
his
is a
t th
e h
and fla
nge s
urf
ace w
hen a
ll axes a
re c
om
posited.
*4: T
he c
ycle
tim
e is b
ased o
n b
ack-a
nd-f
ort
h m
ovem
ent over
a v
ert
ical dis
tance o
f 25 m
m a
nd h
orizonta
l dis
tance o
f 300 m
m w
hen the load is 1
kg.
*5: C
an a
lso b
e u
sed a
s a
spare
lin
e (
0.2
sq. m
m, 4-p
air c
able
) fo
r conventional m
odels
.*6
: S
ele
ct either
contr
olle
r accord
ing to y
our
applic
ation.
*7: P
reserv
ation o
f cle
anlin
ess levels
depends o
n c
onditio
ns o
f a d
ow
nstr
eam
flo
w o
f 0.3
m/s
in the c
lean r
oom
and inte
rnal ro
bot suctionin
g. A
ij8-m
m c
ouple
r fo
r suctionin
g is p
rovid
ed a
t th
e b
ack o
f th
e b
ase.
Nm
kgm
2
Inte
rsec
tio
n
RV
-7F
RV
-7F
LS
ide v
iew
Sid
e v
iew
Top v
iew
Top v
iew
240 (
-110 to +
130)
162 (
-0 to +
162)
720 (
±360)
Rz25
Rz2
5
102.5 102.5
(205)
124.5
124.5
102.5
102.5
(205)
245
162
245.7
P.C
.D.䃥
31.5
45° V
iew
A
Mechanic
al In
terf
ace D
eta
il
Vie
w B
Rear
Surf
ace D
iagra
m (
Insta
llation D
imensio
n D
eta
il)
(Insta
llation r
efe
rence
surf
ace)
(Installation reference surface)
4-M
5 s
cre
w, depth
8 (
*3)
䃥5H
7, depth
8
䃥40
h8 (*4
)
䃥20H
7, depth
6
4- 䃥
9 insta
llation h
ole
200
(278)
844.4
15.9
713.4
713.4
1113.4
713.4 568.4
R197.4
R713.4
168.4
+24
0°
-240°
R71
3.4
40034050
370
85
125
R19
7.4
+125°
-115°
752.3
352.3
R192.8
R907.7
1307.7
+24
0°
-240°
40043550
470
85
125
R907.7
907.7
907.7
907.7
R192.8
-110°
+130°
102
(278)
200
939.4
15.9
Opera
ting r
ange
for
each a
xis
:J1: ±240°
J2: -1
15°
to 1
25°
J3: 0°
to 1
56°
J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
Opera
ting r
ange
for
each a
xis
:J1: ±240°
J2: -1
10°
to 1
30°
J3: 0°
to 1
62°
J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
Main
tenance
space (
*2)
Main
tenance
space (
*2)
Appro
xim
ate
ly 1
00
App
roxi
mat
ely
100
For
inte
rnal hand w
irin
gand p
ipin
g s
pecific
ations (
-SH
**)
For
inte
rnal hand w
irin
gand p
ipin
g s
pecific
ations (
-SH
**)
Wrist's
dow
nw
ard
lim
it
Wrist's
dow
nw
ard
lim
it
Poi
nt P
Poi
nt P
Contr
ol poin
t (R
poin
t)
Contr
ol poin
t (R
poin
t)
Wrist's
dow
nw
ard
sin
gula
rity
boundary
Wrist's
dow
nw
ard
sin
gula
rity
boundary
Motio
nsp
ace
at poin
t P
Motio
nsp
ace
at poin
t P
Con
trol p
oint
(R p
oint
)fo
r -S
H**
spe
cific
atio
ns
Con
trol p
oint
(R p
oint
)fo
r -S
H**
spe
cific
atio
ns
Motion s
pace
at poin
t P
Motion s
pace
at poin
t P
Note
*1. M
ake s
ure
to leave e
nough s
pace o
pen for
cable
connections b
etw
een d
evic
es.
*2. M
ake s
ure
to leave e
nough s
pace o
pen for
rem
ovin
g a
nd a
ttachin
g c
overs
during m
ain
tenance w
ork
. *3
. S
pecify a
thre
ad e
ngagem
ent le
ngth
of 7.5
to 8
mm
. *4
. T
he d
epth
of th
e 䃥
40-m
m s
ection is 3
.5 m
m for
Cle
an/M
ist m
odels
and 6
mm
for
Sta
ndard
. *5
. T
he p
ostu
re s
how
n in the d
iagra
m r
esults fro
m w
hen the r
obot axis
angle
s a
re s
et as lis
ted.
J1 =
0°,
J2 =
0°,
J3 =
90°,
J4 =
0°,
J5 =
0°,
J6 =
0°
Poin
t P
Poin
t P
RV-
7FLL
Vert
ical
type
7kg
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
Spec
ifica
tions
Str
uctu
re
J3
J4
J5
Cycle
tim
e *
4
Maxim
um
speed
Positio
n r
epeata
bili
ty
Am
bie
nt te
mpera
ture
Machin
e c
able
Connecte
d c
ontr
olle
r
sec
Opera
ting r
ange
mm
°C
219
375
450
0.6
3
CR
750, C
R751
Vert
ical, m
ultip
le-join
t ty
pe
Degre
es o
f fr
eedom
6
Drive s
yste
mA
C s
erv
o m
oto
r
Positio
n d
ete
ction m
eth
od
Absolu
te e
ncoder
±0.0
6
0 to 4
0
Tool pneum
atic p
ipes
Prim
ary
: 䃥
6 x
2 S
econdary
: 䃥
4 x
8, 䃥
4 x
4 (
With w
rist attached)
7m
(connecto
r on b
oth
ends)
Type
Unit
RV
-7F
LL(M
)(C
)
565 +
805
mm
Arm
length
1503
mm
Maxim
um
reach r
adiu
s
J1
380 (
±190)
J2
240 (
-90 to +
150)
J4
400 (
±200)
J5
240 (
-120 to +
120)
J6
J1
234
J2
164
J6
720
Maxim
um
com
posite s
peed *
3m
m/s
ec
15300
Mass
kg
130
Machin
e c
lass
Sta
ndard
/ O
il m
ist/ C
lean
Pro
tection d
egre
eIP
40 (
sta
ndard
)/ IP
67 (
oil
mis
t) *
1/ IS
Ocla
ss3 *
7
Insta
llation
Flo
or
type, ceili
ng type, (w
all-
mounte
d type *
2)
Tool w
irin
gH
and: 8 input poin
ts/8
outp
ut poin
ts (
20 p
ins tota
l)S
erial sig
nal cable
for
para
llel I/O
(2-p
in +
2-p
in p
ow
er
line)
LA
N X
1 <
100 B
AS
E-T
X>
(8-p
in))
*5
Maxim
um
load c
apacity
kg
Maxim
um
: 7 (
Rate
d: 7)
J3
167.5
(-1
0 to +
157.5
)deg
deg/s
ec
NO
1 a
rm
J4
J5
J6
J4
J5
J6
Tole
rable
mom
ent
Tole
rable
am
ount of in
ert
ia
16.2
16.2
6.8
6
0.4
5
0.4
5
0.1
0
*1: P
lease c
onta
ct M
itsubis
hi E
lectr
ic d
eale
r sin
ce the e
nvironm
enta
l re
sis
tance m
ay n
ot be s
ecure
d d
ependin
g o
n the c
hara
cte
ristics o
f oil
you u
se.
*2: T
he w
all-
mounte
d s
pecific
ation is a
custo
m s
pecific
ation w
here
the o
pera
ting r
ange o
f th
e J
1-a
xis
is lim
ited.
*3: T
his
is the v
alu
e a
t th
e s
urf
ace o
f th
e m
echanic
al in
terf
ace w
hen a
ll axes a
re c
om
posited.
*4: T
he c
ycle
tim
e is b
ased o
n b
ack-a
nd-f
ort
h m
ovem
ent over
a v
ert
ical dis
tance o
f 25 m
m a
nd h
orizonta
l dis
tance o
f 300 m
m w
hen the load is 1
kg.
*5: C
an a
lso b
e u
sed a
s a
spare
lin
e (
0.1
3 s
q. m
m, 4-p
air c
able
) fo
r conventional m
odels
. P
rovid
ed u
p to the insid
e o
f th
e fore
arm
. *6
: S
ele
ct either
contr
olle
r accord
ing to y
our
applic
ation.
*7: P
reserv
ation o
f cle
anlin
ess levels
depends o
n c
onditio
ns o
f a d
ow
nstr
eam
flo
w o
f 0.3
m/s
in the c
lean r
oom
and inte
rnal ro
bot suctionin
g. A
ij8-m
m c
ouple
r fo
r suctionin
g is p
rovid
ed a
t th
e b
ack o
f th
e b
ase.
Nm
kgm
2
720 (
±360)
Sam
e fo
r RV-
7F/7
FL/7
FLL
Vie
w A
Me
ch
an
ica
l In
terf
ace
De
tail
䃥40
h8P.
C.D
.䃥31
.5䃥
20H
7, depth
6
45°
䃥5
H7
, d
ep
th 8
4-M
5 s
cre
w,
de
pth
8 (
*3)
Note
)
Note
) T
he d
epth
for
the 䃥
40 p
art
is 3
.5 m
m (
Oil
mis
t/cle
an),
6 m
m (
Sta
ndard
), o
r 6.5
mm
(-S
H**
models
).
(*1)
Contr
ol poin
t (R
poin
t)
Wrist's
dow
nw
ard
sin
gula
rity
boundary
RV
-7F
LL
Sid
e v
iew
Contr
ol poin
t (R
poin
t)
for
-SH
** s
pecific
ations
A
Vie
w C
Rear
Surf
ace D
iagra
m (
Insta
llation D
imensio
n D
eta
il)
Motion s
pace a
t poin
t P
Poin
t P
Top v
iew
For
inte
rnal hand w
irin
g a
nd p
ipin
g
specific
ations (
-SH
**)
1296.91371.5
Motion s
pace
at poin
t P
Sp
ace
fo
r th
e c
ab
le
co
nn
ectio
n (
*1)
185
114
R277.6
-190°
+190°
399
150°
1821.5
973.7
90°
R39
9
846.9
157.5
°
1242.6
R1372.6
130
130° (*1
)
Op
era
tin
g r
an
ge
lim
ita
tio
n
for
the
fro
nt/
sid
e f
ace
s (
*5)
R1502.6
Poin
t P
R52
9
529
85
805
1152
65 565 450
242.5
160
300
347
300
Min
imu
m:
43
0
125 66
130
250
4- 䃥
14
insta
llation h
ole
2-䃥
8H
7R
eam
er
(Insta
llation r
efe
rence
surf
ace)
(Installation reference surface)
Rz25
Rz25
300
50
155
250
100
135 135
250
155
120
300
C
Ded
icat
ed fo
r RV-
7FLL
Opera
ting r
ange
for
each a
xis
:J1: ±190°
J2: -9
0°
to 1
50°
J3: -1
0°
to 1
57.5
°J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
*1. M
ake s
ure
to leave e
nough s
pace o
pen for
cable
connections b
etw
een d
evic
es.
*2. M
ake s
ure
to leave e
nough s
pace o
pen for
rem
ovin
g a
nd a
ttachin
g c
overs
during m
ain
tenance w
ork
. *3
. S
pecify a
thre
ad e
ngagem
ent le
ngth
of 7.5
to 8
mm
. *4
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RV-
13F
RV-
13FL
Vert
ical
type
13
kg
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
Spec
ifica
tions
Str
uctu
re
J3
J4
J5
Cycle
tim
e *
4
Maxim
um
speed
Positio
n r
epeata
bili
ty
Am
bie
nt te
mpera
ture
Machin
e c
able
Connecte
d c
ontr
olle
r
sec
Opera
ting r
ange
mm
°C
312
375
375
0.5
3
CR
750, C
R751
Vert
ical, m
ultip
le-join
t ty
pe
Degre
es o
f fr
eedom
6
Drive s
yste
mA
C s
erv
o m
oto
r
Positio
n d
ete
ction m
eth
od
Absolu
te e
ncoder
±0.0
5
0 to 4
0
Tool pneum
atic p
ipes
Prim
ary
: 䃥
6 x
2 S
econdary
: 䃥
4 x
8, 䃥
4 x
4 (
With w
rist attached)
7m
(connecto
r on b
oth
ends)
Type
Unit
RV
-13F
(M)(
C)
410 +
550
mm
Arm
length
1094
mm
Maxim
um
reach r
adiu
s
J1
380(±
190)
J2
240 (
-90 to +
150)
J4
400 (
±200)
J5
240 (
-120 to +
120)
J6
J1
290
J2
234
J6
720
Maxim
um
com
posite s
peed *
3m
m/s
ec
10450
Mass
kg
120
Machin
e c
lass
Sta
ndard
/ O
il m
ist/ C
lean
Pro
tection d
egre
eIP
40 (
sta
ndard
)/ IP
67 (
oil
mis
t) *
1/ IS
Ocla
ss3 *
7
Insta
llation
Flo
or
type, ceili
ng type, (w
all-
mounte
d type *
2)
Tool w
irin
gH
and: 8 input poin
ts/8
outp
ut poin
ts (
20 p
ins tota
l)S
erial sig
nal cable
for
para
llel I/O
(2-p
in +
2-p
in p
ow
er
line)
LA
N X
1 <
100 B
AS
E-T
X>
(8-p
in))
*5
Maxim
um
load c
apacity
kg
Maxim
um
: 13 (
Rate
d: 12)
*8
J3
167.5
(-1
0 to +
157.5
)deg
deg/s
ec
NO
1 a
rm
J4
J5
J6
J4
J5
J6
Tole
rable
mom
ent
Tole
rable
am
ount of in
ert
ia
19.3
19.3
11
0.4
7
0.4
7
0.1
4
RV
-13F
L(M
)(C
)
565 +
690
1388
219
375
375
0.6
8
234
164
720
9700
130
*1: P
lease c
onta
ct M
itsubis
hi E
lectr
ic d
eale
r sin
ce the e
nvironm
enta
l re
sis
tance m
ay n
ot be s
ecure
d d
ependin
g o
n the c
hara
cte
ristics o
f oil
you u
se.
*2: T
he w
all-
mounte
d s
pecific
ation is a
custo
m s
pecific
ation w
here
the o
pera
ting r
ange o
f th
e J
1-a
xis
is lim
ited.
*3: T
his
is the v
alu
e a
t th
e s
urf
ace o
f th
e m
echanic
al in
terf
ace w
hen a
ll axes a
re c
om
posited.
*4: T
he c
ycle
tim
e is b
ased o
n b
ack-a
nd-f
ort
h m
ovem
ent over
a v
ert
ical dis
tance o
f 25 m
m a
nd h
orizonta
l dis
tance o
f 300 m
m w
hen the load is 5
kg.
*5: C
an a
lso b
e u
sed a
s a
spare
lin
e (
0.1
3 s
q. m
m, 4-p
air c
able
) fo
r conventional m
odels
. P
rovid
ed u
p to the insid
e o
f th
e fore
arm
. *6
: S
ele
ct either
contr
olle
r accord
ing to y
our
applic
ation.
*7: P
reserv
ation o
f cle
anlin
ess levels
depends o
n c
onditio
ns o
f a d
ow
nstr
eam
flo
w o
f 0.3
m/s
in the c
lean r
oom
and inte
rnal ro
bot suctionin
g. A
ij8-m
m c
ouple
r fo
r suctionin
g is p
rovid
ed a
t th
e b
ack o
f th
e b
ase.
*8: T
he m
axim
um
load c
apacity indic
ate
s the m
axim
um
paylo
ad w
hen the m
echanic
al in
terf
ace is facin
g d
ow
nw
ard
(±10°
to the p
erp
endic
ula
r).
Nm
kgm
2
720 (
±360)
RV-
20F
Vert
ical
type
20
kg
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
Spec
ifica
tions
Str
uctu
re
J3
J4
J5
Cycle
tim
e *
4
Maxim
um
speed
Positio
n r
epeata
bili
ty
Am
bie
nt te
mpera
ture
Machin
e c
able
Connecte
d c
ontr
olle
r
sec
Opera
ting r
ange
mm
°C
CR
750, C
R751
Vert
ical, m
ultip
le-join
t ty
pe
Degre
es o
f fr
eedom
6
Drive s
yste
mA
C s
erv
o m
oto
r
Positio
n d
ete
ction m
eth
od
Absolu
te e
ncoder
±0.0
5
0 to 4
0
Tool pneum
atic p
ipes
Prim
ary
: 䃥
6 x
2 S
econdary
: 䃥
4 x
8, 䃥
4 x
4 (
With w
rist attached)
7m
(connecto
r on b
oth
ends)
Type
Unit
RV
-20F
(M)(
C)
mm
Arm
length
mm
Maxim
um
reach r
adiu
s
J1
380 (
±190)
J2
J4
400 (
±200)
J5
240 (
-120 to +
120)
J6
J1
J2
J6
Maxim
um
com
posite s
peed *
3m
m/s
ec
Mass
kg
Machin
e c
lass
Sta
ndard
/ O
il m
ist/ C
lean
Pro
tection d
egre
eIP
40 (
sta
ndard
)/ IP
67 (
oil
mis
t) *
1/ IS
Ocla
ss3 *
7
Insta
llation
Flo
or
type, ceili
ng type, (w
all-
mounte
d type *
2)
Tool w
irin
gH
and: 8 input poin
ts/8
outp
ut poin
ts (
20 p
ins tota
l)S
erial sig
nal cable
for
para
llel I/O
(2-p
in +
2-p
in p
ow
er
line)
LA
N X
1 <
100 B
AS
E-T
X>
(8-p
in))
*5
Maxim
um
load c
apacity
kg
Maxim
um
: 20 (
Rate
d: 15)
*8
J3
deg
deg/s
ec
NO
1 a
rm
J4
J5
J6
J4
J5
J6
Tole
rable
mom
ent
Tole
rable
am
ount of in
ert
ia
49.0
49.0
11
1.4
0
1.4
0
0.1
4
410 +
550
1094
110
124
125
0.7
0
110
110
360
4200
120
*1: P
lease c
onta
ct M
itsubis
hi E
lectr
ic d
eale
r sin
ce the e
nvironm
enta
l re
sis
tance m
ay n
ot be s
ecure
d d
ependin
g o
n the c
hara
cte
ristics o
f oil
you u
se.
*2: T
he w
all-
mounte
d s
pecific
ation is a
custo
m s
pecific
ation w
here
the o
pera
ting r
ange o
f th
e J
1-a
xis
is lim
ited.
*3: T
his
is the v
alu
e a
t th
e s
urf
ace o
f th
e m
echanic
al in
terf
ace w
hen a
ll axes a
re c
om
posited.
*4: T
he c
ycle
tim
e is b
ased o
n b
ack-a
nd-f
ort
h m
ovem
ent over
a v
ert
ical dis
tance o
f 25 m
m a
nd h
orizonta
l dis
tance o
f 300 m
m w
hen the load is 5
kg.
*5: C
an a
lso b
e u
sed a
s a
spare
lin
e (
0.1
3 s
q. m
m, 4-p
air c
able
) fo
r conventional m
odels
. P
rovid
ed u
p to the insid
e o
f th
e fore
arm
. *6
: S
ele
ct either
contr
olle
r accord
ing to y
our
applic
ation.
*7: P
reserv
ation o
f cle
anlin
ess levels
depends o
n c
onditio
ns o
f a d
ow
nstr
eam
flo
w o
f 0.3
m/s
in the c
lean r
oom
and inte
rnal ro
bot suctionin
g. A
ij8-m
m c
ouple
r fo
r suctionin
g is p
rovid
ed a
t th
e b
ack o
f th
e b
ase.
*8: T
he m
axim
um
load c
apacity indic
ate
s the m
axim
um
paylo
ad w
hen the m
echanic
al in
terf
ace is facin
g d
ow
nw
ard
(±10°
to the p
erp
endic
ula
r).
Nm
kgm
2
240 (
-90 to +
150)
167.5
(-1
0 to +
157.5
)
720 (
±360)
45041065
242.5
997
250
130
Min
imum
: 430
300
250
135
155
155
135120
250
100
50
300
347
166
160
300
P.C
.D 䃥
40
2-䃥
8H
7 R
ea
me
r
4- 䃥
14 insta
llation h
ole
45°
185(*3)
683.6
150° 280.3
1413.8 458.9
157.5
°
550
Poin
t P
97
130
833.8
R1093.8
-190°
+190°
R41
0.3
R280.3
Contr
ol poin
t (R
poin
t)
Wrist's
dow
nw
ard
sin
gula
rity
boundary
R96
3.8
90°
130°(*1)
Opera
ting r
ange lim
itation
for
the fro
nt/sid
e faces (
*1)
Sid
e v
iew
150
Contr
ol poin
t (R
poin
t)
for
-SH
** s
pecific
ations A
Vie
w A
Mechanic
al In
terf
ace D
eta
il
Vie
w B
Rear
Surf
ace D
iagra
m
(Insta
llation D
imensio
n D
eta
il)
R277.6
Motion s
pace a
t poin
t P
Poin
t P
Top v
iew
For
inte
rnal hand w
irin
g a
nd p
ipin
g s
pecific
ations (
-SH
**)
908.9963.8
Motion s
pace
at poin
t P
Space for
the c
able
connection (
*3)
Rz25
Rz2
5
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*3: M
ake s
ure
to leave e
nough s
pace o
pen for
cable
connections b
etw
een d
evic
es.
*4: S
pecify a
thre
ad e
ngagem
ent le
ngth
of 10 to 9
mm
.
Shar
ed p
arts
RV
-13F
RV
-13F
L䃥
50H
8, depth
8(S
H s
pecific
ations)
䃥25H
7, depth
6(S
H s
pecific
ations)
Poin
t P
Contr
ol poin
t (R
poin
t)
Wrist's
dow
nw
ard
sin
gula
rity
boundary
Opera
ting r
ange lim
itation
for
the fro
nt/sid
e faces (
*2)
RV
-13F
LS
ide v
iew
Contr
ol poin
t (R
poin
t)
for
-SH
** s
pecific
ations
A
Motion s
pace a
t poin
t P
Poin
t P
Top v
iew
For
inte
rnal hand w
irin
g a
nd p
ipin
g s
pecific
ations (
-SH
**)
1182.41258.1
Motion s
pace
at poin
t P
Space for
the c
able
connection (
*3)
90°
157.5
°
732.41708.1
930.5
150°
R1258.1
R327.6
R45
7.6
130
327.6
1128.1
130°(*3)
R1387.9
-190°
+190°
1152
65 565 450
347
160
300
242.5
690
97
166
R27
7.6
Min
imum
: 430
150
300
130
12°
185
250
B
B
(Insta
llation r
efe
rence
surf
ace)
(Installation reference surface)
4-M
6 s
cre
w, depth
8 (
*4)
䃥6H
7, depth
8
䃥25H
7, depth
10
䃥50H
8, depth
6.5
(*3)
Opera
ting r
ange
for
each a
xis
:J1: ±190°
J2: -9
0°
to 1
50°
J3: -1
0°
to 1
57.5
°J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
Opera
ting r
ange
for
each a
xis
:J1: ±190°
J2: -9
0°
to 1
50°
J3: -1
0°
to 1
57.5
°J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
45041065
242.5
997
250
130
Min
imum
: 430
300
250
135
155
155
135
120
300
250
100
50
300
347
166
160
300
P.C
.D 䌙
40
䃥50H
8, depth
6.5
䃥25H
7, depth
10
2-䃥
8H
7
Ream
er
4- 䃥
14 insta
llation h
ole
䃥6H
7, depth
845°
4-M
6 s
cre
w, depth
10 (
*3)
185
䃥25H
7, depth
6 (
SH
speci
ficatio
ns)
䃥50H
8, depth
8 (
SH
speci
ficatio
ns)
(*2)
683.6
150° 280.3
1413.8 458.9
157.5
°
550
Poin
t P
97
130
833.8
R1093.8
-190°
+190°
R41
0.3
R280.3
Contr
ol poin
t (R
poin
t)
Wrist's
dow
nw
ard
sin
gula
rity
boundary
R96
3.8
90°
130° (*1)
Opera
ting r
ange lim
itation
for
the fro
nt/sid
e faces (
*1)
Sid
e v
iew
150
Contr
ol poin
t (R
poin
t)
for
-SH
** s
pecific
ations
A
Vie
w A
Mechanic
al In
terf
ace D
eta
il
Vie
w B
Rear
Surf
ace D
iagra
m (
Insta
llation D
imensio
n D
eta
il)
R277.6
Motion s
pace
at poin
t P
Poin
t P
Top v
iew
For
inte
rnal hand w
irin
g a
nd p
ipin
g s
pecific
ations (
-SH
**)
908.9963.8
Motion s
pace
at poin
t P
B
Space for
the c
able
connection (
*2)
Rz25
Rz25
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*2: M
ake s
ure
to leave e
nough s
pace o
pen for
cable
connections b
etw
een d
evic
es.
*3: S
pecify a
thre
ad e
ngagem
ent le
ngth
of 10 to 9
mm
.
(Insta
llation r
efe
rence
surf
ace)
(Installation reference surface)
Opera
ting r
ange
for
each a
xis
:J1: ±190°
J2: -9
0°
to 1
50°
J3: -1
0°
to 1
57.5
°J4: ±200°
J5: ±120°
J6: ±360°
J6 w
hen -
SH
specific
ations
are
used: ±200°
Horiz
onta
l
type6k
g
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
RH
-6FH
35R
H-6
FH45
RH
-6FH
55
Spec
ifica
tions
Stru
ctur
e
J3 (Z
)J4
(䃗)
Cyc
le ti
me
*3
Max
imum
spe
ed
Pos
ition
repe
atab
ility
Am
bien
t tem
pera
ture
Mac
hine
cab
leC
onne
cted
con
trolle
r *5
Ope
ratin
g ra
nge
6900
CR
750,
CR
751
Deg
rees
of f
reed
om4
Driv
e sy
stem
AC
ser
vo m
otor
Pos
ition
det
ectio
n m
etho
dA
bsol
ute
enco
der
±0.0
10
0 to
40
Tool
pne
umat
ic p
ipes
Prim
ary:
䃥6
x 2
S
econ
dary
: 䃥4
x 8
5m (c
onne
ctor
on
both
end
s)
Type
Uni
tR
H-6
FH35
XX
/M/C
Arm
leng
th
350
mm
Max
imum
reac
h ra
dius
J134
0 (±
170)
J229
0 (±
145)
720
(±36
0)40
067
0
J1
2400
J2
2500
Max
imum
com
posi
te s
peed
*2
mm
/sec
Mas
skg
36
Mac
hine
cla
ssS
tand
ard/
oil
mis
t/ C
lean
Pro
tect
ion
degr
ee *
1
IP20
*6/
IP65
*7/
ISO
3 *8
Inst
alla
tion
Floo
r typ
e
Tool
wiri
ngH
and:
8 in
put p
oint
s/8
outp
ut p
oint
s (2
0 pi
ns to
tal)
Ser
ial s
igna
l cab
le fo
r par
alle
l I/O
(2-p
in +
2-p
in p
ower
line
)LA
N X
1 <
100
BA
SE
-TX
> (8
-pin
)) *
4
Max
imum
load
cap
acity
kg
Max
imum
6 (r
atin
g 3)
xx =
20
: 200
/ xx
= 34
: 34
0
NO
1 ar
m
Rat
ing
Max
imum
Tole
rabl
e am
ount
of i
nerti
a0.
010.
12
RH
-6FH
55X
X/M
/C
325
550
8300 37
*1: T
he ra
nge
of v
ertic
al m
ovem
ent l
iste
d in
the
envi
ronm
enta
l res
ista
nce
spec
ifica
tions
(M: O
il m
ist s
peci
ficat
ions
, C: C
lean
room
spe
cific
atio
ns) f
or th
e R
H-6
FH is
fact
ory-
set c
usto
m s
peci
ficat
ions
.*2
: The
val
ue a
ssum
es c
ompo
sitio
n of
J1,
J2,
and
J4.
*3: V
alue
for
a m
axim
um lo
ad c
apac
ity o
f 2 k
g. T
he c
ycle
tim
e m
ay in
crea
se if
spe
cific
req
uire
men
ts a
pply
suc
h as
hig
h w
ork
posi
tioni
ng a
ccur
acy,
or
depe
ndin
g on
the
oper
atin
g po
sitio
n. (
The
cycl
e tim
e is
bas
ed o
n ba
ck-a
nd-fo
rth
mov
emen
t ove
r a v
ertic
al d
ista
nce
of 2
5 m
m a
nd h
oriz
onta
l dis
tanc
e of
300
mm
.)*4
: Can
als
o be
use
d as
a s
pare
line
(0.2
sq.
mm
, 4-p
air c
able
) for
con
vent
iona
l mod
els.
*5: S
elec
t eith
er c
ontro
ller a
ccor
ding
to y
our a
pplic
atio
n. N
ote
that
con
trolle
rs w
ith o
il m
ist s
peci
ficat
ions
com
e eq
uipp
ed w
ith a
con
trolle
r pro
tect
ion
box
(CR
750-
MB
) and
"-S
M"
is a
ppen
ded
at th
e en
d of
the
robo
t mod
el n
ame.
If y
ou
requ
ire it
, con
sult
with
the
Mits
ubis
hi E
lect
ric d
eale
r.*6
: IP
54 ra
ting
for E
urop
ean
mod
els.
*7: P
leas
e co
ntac
t Mits
ubis
hi E
lect
ric d
eale
r sin
ce th
e en
viro
nmen
tal r
esis
tanc
e m
ay n
ot b
e se
cure
d de
pend
ing
on th
e ch
arac
teris
tics
of o
il yo
u us
e. D
irect
jet t
o th
e be
llow
s is
exc
lude
d.
*8: P
rese
rvat
ion
of c
lean
lines
s le
vels
dep
ends
on
cond
ition
s of
a d
owns
tream
flow
of 0
.3 m
/s in
the
clea
n ro
om a
nd in
tern
al ro
bot s
uctio
ning
. A 䃥
8-m
m c
oupl
er fo
r suc
tioni
ng is
pro
vide
d at
the
back
of t
he b
ase.
deg
deg/
sec
kgm
2
RH
-6FH
45X
X/M
/C
Hor
izon
tal,
mul
tiple
-join
t typ
e
NO
2 ar
mm
m
mm
deg
deg/
sec
mm
/sec
J3 (Z
)J4
(䃗)
Y-X
com
posi
te
J3 (Z
)J4
(䃗)
deg
mm
125
225
225
450
7600
0.29
±0.0
12
±0.0
04
±0.0
1
Rob
ot s
erie
sA
BC
DE
FG
HJ
KL
MR
H-6
FH35
2012
5R
350
R14
221
0R
253
220
R17
434
220
013
379
838
6R
H-6
FH35
20M
/C12
5R
350
R14
222
4R
253
268
R19
634
220
013
379
838
6R
H-6
FH35
3412
5R
350
R14
221
0R
253
220
R17
434
234
0-7
938
526
RH
-6FH
3534
M/C
125
R35
0R
142
224
R25
326
8R
196
342
340
-43
938
526
RH
-6FH
4520
225
R45
0R
135
210
R25
322
0R
174
337
200
133
798
386
RH
-6FH
4520
M/C
225
R45
0R
135
224
R25
326
8R
197
337
200
133
798
386
RH
-6FH
4534
225
R45
0R
135
210
R25
322
0R
174
337
340
-793
852
6R
H-6
FH45
34M
/C22
5R
450
R13
522
4R
253
268
R19
733
734
0-4
393
852
6R
H-6
FH55
2032
5R
550
R19
116
0R
244
172
R19
733
720
013
379
838
6R
H-6
FH55
20C
325
R55
0R
191
160
R25
325
9R
222
337
200
133
798
386
RH
-6FH
5520
M32
5R
550
R19
116
0R
244
259
R22
233
720
013
379
838
6R
H-6
FH55
3432
5R
550
R19
116
0R
244
172
R19
733
734
0-7
938
526
RH
-6FH
5534
C32
5R
550
R19
116
0R
253
259
R22
233
734
0-4
393
852
6R
H-6
FH55
34M
325
R55
0R
191
160
R24
425
9R
222
337
340
-43
938
526
Varia
ble
dim
ensi
ons
2213.225
M
J136
L412
K
1010
30
(*3)
55 4
H
164
10
65
2082
200(
*2)
160(
*1)
XX
(*3)
110
A60
100
225
174
130
165
145°
DF
B C
E
170°
G
58
Z
Z
27.5
60.5
Z
15
1010 1030
10
24
24Z
1010
ZZ
Z
30
Z
Y
150
120
9092
180
150
92
60
174
Rz25
Rz2
5
10
(Inst
alla
tion
Dim
ensi
on D
etai
l)C
ross
-sec
tion
X-X
4-䃥
9ins
talla
tion
hole
(Inst
alla
tion
stan
dard
s)
2-䃥
6 ho
le(䃥
8 pr
epar
ed h
ole
for p
ositi
onin
g pi
ns)
(Installation standards)
Y s
ectio
n de
tails
(Han
d m
ount
ing)
[Mis
t spe
cific
atio
ns]
䃥90
[Cle
an s
peci
ficat
ions
]
[Sta
ndar
d sp
ecifi
catio
ns]
䃥18
thro
ugh
hole
Cro
ss-s
ectio
n Z-
Z
䃥25
h7
䃥90
䃥39
.5
Onl
y cl
ean
spec
±0.0
10
36
*1: S
pace
requ
ired
for t
he b
atte
ry re
plac
emen
t*2
: Spa
ce re
quire
d fo
r the
inte
rcon
nect
ion
cabl
e*3
: Scr
ew h
oles
(M4,
6 m
m lo
ng) f
or a
ffixi
ng u
ser w
iring
and
pip
ing.
(6 lo
catio
ns o
n bo
th s
ides
and
2 lo
catio
ns o
n th
e fro
nt o
f the
No.
2 a
rm.)
Horiz
onta
l
type3k
g
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
RH
-3FH
35R
H-3
FH45
RH
-3FH
55
Spec
ifica
tions
Stru
ctur
e
J3 (Z
)J4
(䃗)
Cyc
le ti
me
*3
Max
imum
spe
ed
Pos
ition
repe
atab
ility
Am
bien
t tem
pera
ture
Mac
hine
cab
leC
onne
cted
con
trolle
r *5
Ope
ratin
g ra
nge
6800
0.41
CR
750,
CR
751
Deg
rees
of f
reed
om4
Driv
e sy
stem
AC
ser
vo m
otor
Pos
ition
det
ectio
n m
etho
dA
bsol
ute
enco
der
±0.0
10
0 to
40
Tool
pne
umat
ic p
ipes
Prim
ary:
䃥6
x 2
S
econ
dary
: 䃥4
x 8
5m (c
onne
ctor
on
both
end
s)
Type
Uni
tR
H-3
FH35
15/1
2C
Arm
leng
th
350
mm
Max
imum
reac
h ra
dius
J134
0 (±
170)
J229
0 (±
145)
720
(±36
0)42
072
0
J1
1100
J2
3000
Max
imum
com
posi
te s
peed
*2
mm
/sec
Mas
skg
29
Mac
hine
cla
ssS
tand
ard/
Cle
anP
rote
ctio
n de
gree
*1
IP
20/ I
SO
clas
s3 *
6In
stal
latio
nFl
oor t
ype
Tool
wiri
ngH
and:
8 in
put p
oint
s/8
outp
ut p
oint
s (2
0 pi
ns to
tal)
Ser
ial s
igna
l cab
le fo
r par
alle
l I/O
(2-p
in +
2-p
in p
ower
line
)LA
N X
1 <
100
BA
SE
-TX
> (8
-pin
)) *
4
Max
imum
load
cap
acity
kg
Max
imum
3 (r
atin
g 1)
150
(Cle
an s
peci
ficat
ion
: 120
) *1
NO
1 ar
m
Rat
ing
Max
imum
Tole
rabl
e am
ount
of i
nerti
a0.
005
0.06
RH
-3FH
5515
/12C
325
550
8300
0.51 32
*1: T
he r
ange
for
ver
tical
mov
emen
t lis
ted
in t
he e
nviro
nmen
tal r
esis
tanc
e sp
ecifi
catio
ns (
C:
Cle
an s
peci
ficat
ions
) fo
r th
e R
H-3
FH is
nar
row
er t
han
for
the
stan
dard
mod
el.
Kee
p th
is in
min
d w
hen
wor
king
with
the
RH
-3FH
. The
en
viro
nmen
t-res
ista
nt s
peci
ficat
ions
are
fact
ory-
set c
usto
m s
peci
ficat
ions
.*2
: The
val
ue a
ssum
es c
ompo
sitio
n of
J1,
J2,
and
J4.
*3: V
alue
for
a m
axim
um lo
ad c
apac
ity o
f 2 k
g. T
he c
ycle
tim
e m
ay in
crea
se if
spe
cific
req
uire
men
ts a
pply
suc
h as
hig
h w
ork
posi
tioni
ng a
ccur
acy,
or
depe
ndin
g on
the
oper
atin
g po
sitio
n. (
The
cycl
e tim
e is
bas
ed o
n ba
ck-a
nd-fo
rth
mov
emen
t ove
r a v
ertic
al d
ista
nce
of 2
5 m
m a
nd h
oriz
onta
l dis
tanc
e of
300
mm
.)*4
: Can
als
o be
use
d as
a s
pare
line
(0.2
sq.
mm
, 4-p
air c
able
) for
con
vent
iona
l mod
els.
*5: S
elec
t eith
er c
ontro
ller a
ccor
ding
to y
our a
pplic
atio
n.*6
: Pre
serv
atio
n of
cle
anlin
ess
leve
ls d
epen
ds o
n co
nditi
ons
of a
dow
nstre
am fl
ow o
f 0.3
m/s
in th
e cl
ean
room
and
inte
rnal
robo
t suc
tioni
ng. A
ø8-
mm
cou
pler
for s
uctio
ning
is p
rovi
ded
at th
e ba
ck o
f the
bas
e.
deg
deg/
sec
kgm
2
RH
-3FH
4515
/12C
Hor
izon
tal,
mul
tiple
-join
t typ
e
NO
2 ar
mm
m
mm
deg
deg/
sec
mm
/sec
J3 (Z
)J4
(䃗)
Y-X
com
posi
te
J3 (Z
)J4
(䃗)
deg
mm
125
225
225
450
7500
0.46
±0.0
12
±0.0
04
±0.0
1
*1: S
pace
requ
ired
for t
he b
atte
ry re
plac
emen
t*2
: Spa
ce re
quire
d fo
r the
inte
rcon
nect
ion
cabl
e*3
: S
crew
hol
es (
M4,
6 m
m lo
ng)
for
affix
ing
user
wiri
ng a
nd p
ipin
g. (
6 lo
catio
ns o
n bo
th s
ides
an
d 2
loca
tions
on
the
front
of t
he N
o. 2
arm
.)
Varia
ble
dim
ensi
ons
Rob
ot s
erie
sA
BC
DE
FG
HJ
RH
-3FH
3515
125
R35
0R
142
210
R25
322
0R
174
342
150
RH
-3FH
3512
C12
5R
350
R14
222
4R
253
268
R19
634
212
0R
H-3
FH45
1522
5R
450
R13
521
0R
253
220
R17
433
715
0R
H-3
FH45
12C
225
R45
0R
135
224
R25
326
8R
197
337
120
RH
-3FH
5515
325
R55
0R
191
160
R24
417
2R
197
337
150
RH
-3FH
5512
C32
5R
550
R19
116
0R
253
259
R22
233
712
0
773
416
10
220
H
10
15
15
160
X (*1)
200
(*2)
X
174
Z
10
30Z
Z
3010
Z
136
100
5016
5
110 22
10
40
357
10
26
10(*
3)
J
8218
8
65
55(*3)
130
225
A
145°
EG
170°
F
D
B
C
150
120
9092
180
150
92
60
174
Y
Rz25
Rz2
5
Cro
ss-s
ectio
n Z-
Z
10
䃥11
thro
ugh
hole
[cle
an s
peci
ficat
ions
]䃥
16h7
䃥37
.5
(Han
d m
ount
ing)
Y s
ectio
n de
tails
䃥90
(Inst
alla
tion
Dim
ensi
on D
etai
l)C
ross
-sec
tion
X-X
4-䃥
9ins
talla
tion
hole
(Inst
alla
tion
stan
dard
s)
2-䃥
6 ho
le(䃥
8 pr
epar
ed h
ole
for p
ositi
onin
g pi
ns)
(Installation standards)
䃥90
Onl
y cl
ean
spec
±0.0
10
29
Horiz
onta
l
type
12/2
0kg
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
RH
-12F
H55
RH
-12F
H70
RH
-12F
H85
Spec
ifica
tions
Stru
ctur
e
J3 (Z
)J4
(䃗)
Cyc
le ti
me
*3
Max
imum
spe
ed
Pos
ition
repe
atab
ility
Am
bien
t tem
pera
ture
Mac
hine
cab
leC
onne
cted
con
trolle
r *5
Ope
ratin
g ra
nge
1143
5
Deg
rees
of f
reed
om4
Driv
e sy
stem
AC
ser
vo m
otor
Pos
ition
det
ectio
n m
etho
dA
bsol
ute
enco
der
±0.0
12
0 to
40
Tool
pne
umat
ic p
ipes
Prim
ary:
䃥6
x 2
S
econ
dary
: 䃥6
x 8
5m (c
onne
ctor
on
both
end
s)
Type
Uni
tR
H-1
2FH
55X
X/M
/C
Arm
leng
th
550
mm
Max
imum
reac
h ra
dius
J134
0 (±
170)
J229
0 (±
145)
720
(±36
0)42
045
0J1
2400
J2
1700
Max
imum
com
posi
te s
peed
*2
mm
/sec
Mas
skg
65
Mac
hine
cla
ssS
tand
ard/
oil
mis
t/ C
lean
Pro
tect
ion
degr
ee *
1
IP20
/ IP
65 *
6/ IS
O3
*7In
stal
latio
nFl
oor t
ype
Tool
wiri
ngH
and:
8 in
put p
oint
s/8
outp
ut p
oint
s (2
0 pi
ns to
tal)
Ser
ial s
igna
l cab
le fo
r par
alle
l I/O
(2-p
in +
2-p
in p
ower
line
)LA
N X
1 <
100
BA
SE
-TX
> (8
-pin
)) *
4
Max
imum
load
cap
acity
kg
Max
imum
12
(rat
ing
3)
xx =
35
: 350
/ xx
= 45
: 45
0
NO
1 ar
m
Rat
ing
Max
imum
Tole
rabl
e am
ount
of i
nerti
a0.
025
0.3
RH
-20F
H10
0XX
/M/C
525
850
1328
3
77
*1: T
he e
nviro
nmen
t-res
ista
nt s
peci
ficat
ions
(C: C
lean
spe
cific
atio
n, M
: Mis
t spe
cific
atio
n) a
re fa
ctor
y-se
t cus
tom
spe
cific
atio
ns.
*2: T
he v
alue
ass
umes
com
posi
tion
of J
1, J
2, a
nd J
4.*3
: Val
ue fo
r a m
axim
um lo
ad c
apac
ity o
f 2 k
g. T
he c
ycle
tim
e m
ay in
crea
se if
spe
cific
requ
irem
ents
app
ly s
uch
as h
igh
wor
k po
sitio
ning
acc
urac
y, o
r dep
endi
ng o
n th
e op
erat
ing
posi
tion.
(The
cyc
le ti
me
is b
ased
on
back
-and
-forth
m
ovem
ent o
ver a
ver
tical
dis
tanc
e of
25
mm
and
hor
izon
tal d
ista
nce
of 3
00 m
m.)
*4: C
an a
lso
be u
sed
as a
spa
re li
ne (0
.2 s
q. m
m, 4
-pai
r cab
le) f
or c
onve
ntio
nal m
odel
s.*5
: Sel
ect e
ither
con
trolle
r acc
ordi
ng to
you
r app
licat
ion.
Not
e th
at c
ontro
llers
with
oil
mis
t spe
cific
atio
ns c
ome
equi
pped
with
a c
ontro
ller p
rote
ctio
n bo
x (C
R75
0-M
B) a
nd "-
SM
" is
appe
nded
at t
he e
nd o
f the
robo
t mod
el n
ame.
If y
ou
requ
ire it
, con
sult
with
the
Mits
ubis
hi E
lect
ric d
eale
r.*6
: Ple
ase
cont
act M
itsub
ishi
Ele
ctric
dea
ler s
ince
the
envi
ronm
enta
l res
ista
nce
may
not
be
secu
red
depe
ndin
g on
the
char
acte
ristic
s of
oil
you
use.
Dire
ct je
t to
the
bello
ws
is e
xclu
ded.
*7
: Pre
serv
atio
n of
cle
anlin
ess
leve
ls d
epen
ds o
n co
nditi
ons
of a
dow
nstre
am fl
ow o
f 0.3
m/s
in th
e cl
ean
room
and
inte
rnal
robo
t suc
tioni
ng. A
䃥8-
mm
cou
pler
for s
uctio
ning
is p
rovi
ded
at th
e ba
ck o
f the
bas
e.
deg
deg/
sec
kgm
2
RH
-12F
H70
XX
/M/C
Hor
izon
tal,
mul
tiple
-join
t typ
e
NO
2 ar
mm
m
mm
deg
deg/
sec
mm
/sec
J3 (Z
)J4
(䃗)
Y-X
com
posi
te
J3 (Z
)J4
(䃗)
deg
mm
225
525
325
850
1135
00.
30±0
.02
±0.0
05±0
.01
RH
-20F
H85
RH
-20F
H10
0
RH
-12F
H85
XX
/M/C
RH
-20F
H85
XX
/M/C
700
375
525
1000
475
306
(±15
3)
280
2800
2400
1253
511
372
0.36
±0.0
15
6769
750.
065
1.05
Rob
ot s
erie
sA
1R
H-1
2FH
55xx
225
RH
-12F
H55
xxM
/C22
5R
H-1
2FH
70xx
375
RH
-12F
H70
xxM
/C37
5R
H-1
2FH
/20F
H85
xx52
5R
H-1
2FH
/20F
H85
xxM
/C52
5R
H-2
0FH
100x
x52
5R
H-2
0FH
100x
xM/C
525
A2
325
325
325
325
325
325
475
475
BR
550
R55
0R
700
R70
0R
850
R85
0R
1000
R10
00
CR
191
R19
1R
216
R21
6R
278
R27
8R
238
R23
8
D 145°
145°
145°
145°
153°
153°
153°
153°
E 240
320
240
320 ņ 240
240
320
F10
80/1
180
1080
/118
010
80/1
180
1080
/118
010
80/1
180
1080
/118
010
80/1
180
1080
/118
0
G35
0/45
035
0/45
035
0/45
035
0/45
035
0/45
035
0/45
035
0/45
035
0/45
0
HR
295
R38
2R
295
R38
2ņ
R36
7R
295
R38
2
Varia
ble
dim
ensi
ons
F340
40080
80
200 240
75
A1
A2
140
120
B
R80
C
170°
D
E
H
G st
120
122
240
122
200
200
4-䃥
16 in
stal
latio
n ho
les
Inst
alla
tion
refe
renc
e su
rface
Installation reference surface
28
29
)( -0
.030
04N
9
24
24
1010
10
ZZ
Sta
ndar
d
RH
-12F
H
10
8 11
10
10
ZZ
RH
-20F
H
2-䃥
6 pr
epar
ed h
oles
for p
ositi
onin
g
10
8 11
10
44
10
10
52
ZZ
ZZ
Onl
y cl
ean
spec
䃥25
h7䃥
30h7
䃥11
0䃥
110
䃥30
h7䃥
25h7
䃥21
thro
ugh
hole
Mis
t, C
lear
n
Cro
ss-s
ectio
n Z-
ZC
ross
-sec
tion
Z-Z
Stan
dard
spe
c
Mis
t, C
lear
n
䃥18
thro
ugh
hole
Sta
ndar
d
Sta
ndar
d/ o
il m
ist/
Cle
anIP
20/ I
P65
*6/
ISO
3 *7
Floo
r typ
e
Max
imum
20
(rat
ing
5)
325
340
(±17
0)30
6 (±
153)
xx =
35
: 350
/ xx
= 45
: 45
072
0 (±
360)
280
450
0.30
0.30
0.30
±0.0
15±0
.015
±0.0
05±0
.01
CR
750,
CR
751
Horiz
onta
l
type3k
g
Exte
rnal
Dim
ensi
ons/
Ope
ratin
g R
ange
Dia
gram
RH
-3FH
R
Spec
ifica
tions
*1: T
he e
nviro
nmen
tal r
esis
tanc
e sp
ecifi
catio
ns o
f RH
-3FH
R (C
: Cle
an s
peci
ficat
ion,
W: W
ater
proo
f spe
cific
atio
n) a
re fa
ctor
y-se
t cus
tom
spe
cific
atio
ns.
*2: T
he v
alue
ass
umes
com
posi
tion
of J
1, J
2, a
nd J
4.*3
: Bas
ed o
n a
load
cap
acity
of 1
kg.
The
cyc
le ti
me
may
incr
ease
if s
peci
fic re
quire
men
ts a
pply
suc
h as
hig
h w
ork
posi
tioni
ng a
ccur
acy,
or d
epen
ding
on
the
oper
atin
g po
sitio
n.(T
he c
ycle
tim
e is
bas
ed o
n ba
ck-a
nd-fo
rth m
ovem
ent o
ver a
ver
tical
dis
tanc
e of
25
mm
and
hor
izon
tal d
ista
nce
of 3
00 m
m.)
*4: S
elec
t eith
er c
ontro
ller a
ccor
ding
to y
our a
pplic
atio
n.C
R75
0-D
/CR
-751
-Q: S
tand
alon
e ty
pe, C
R75
0-Q
/CR
751-
Q: i
Q P
latfo
rm c
ompa
tible
type
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edom
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ition
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ility
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Arm
leng
th
Max
imum
reac
h ra
dius
(No.
1 +
No.
2)
mm
/sec
sec
Ope
ratin
gra
nge
kg kg°Cdeg
Sta
ndar
dIS
Ocl
ass5
*5
Sta
ndar
dIP
20S
tand
ard
IP65
*6
0 to
40
±0.0
1±0
.01
±0.0
1
App
rox.
24
RH
-3FH
R35
12C
*1
RH
-3FH
R35
15R
H-3
FHR
3512
W *
1
4 175
350
175
450
(±22
5)
150
(0 to
150
)14
40 (±
720)
672
708
1500
3146
6267
Hor
izon
tal,
mul
tiple
-join
t typ
eC
eilin
g ty
pe
AC
ser
vo m
otor
(J1,
J2
and
J4: w
ith n
o br
ake,
J3:
with
bra
ke)
Abs
olut
e en
code
r3
(1)
450
(±22
5)
0.32
Prim
ary:
䃥6
x 2
(Sec
onda
ry: 䃥
4 x
8)5m
(con
nect
or o
n bo
th e
nds)
CR
751
/ CR
750
*4
Han
d: 8
inpu
t poi
nts
/ 0 o
utpu
t poi
nts,
8 s
pare
line
s (8
out
put p
oint
s by
opt
ions
)
mm
deg
mm
deg
deg/
sec
mm
/s
deg/
sec
mm
(Installationreference surface)
(Inst
alla
tion
refe
renc
e su
rface
)
J4-a
xis-
cent
ered
locu
s
4-M
8 ja
ck-u
p ho
le
2-M
12 s
uspe
nsio
n ho
le
Rob
ot o
rigin
Inst
alla
tion
surfa
ce
Ope
ratin
g ra
nge
of th
e J1
-axi
s
Ope
ratin
g ra
nge
of th
e J2
-axi
sVi
ew A
J1-a
xis
J2-a
xis
J3-a
xis
Ope
ratin
g ra
nge
0 to
150
mm
Ope
ratin
g ra
nge:
±72
0°J4
-axi
s
4-䃥
9 in
stal
latio
n ho
le
Mod
els
Spec
ifica
tions
RV
-20F
ser
ies
RV
-20F
M
Ver
tical
, mul
tiple
-join
t typ
eTy
peC
hem
ical
-res
ista
ntH
1 gr
ease
for f
ood
mac
hine
ry
RV
-4F
serie
sR
V-4
FMR
V-4
FLM
RV
-7F
serie
sR
V-7
FMR
V-7
FLM
RV
-7FL
LM
RV
-13F
ser
ies
RV
-13F
MR
V-1
3FLM
-SE
01-S
E02
Cor
resp
onde
nce
tabl
e fo
r env
ironm
enta
l res
ista
nce
spec
ifica
tions
(fo
r med
icin
al p
rodu
cts
and
food
s)S
peci
ficat
ions
Item
Che
mic
al-r
esis
tant
-SE
01 *
3H
1 gr
ease
for f
ood
mac
hine
ry-S
E02
Aż ż
ż żż ż ż ż
----
H1
grea
se is
app
lied
to th
e se
als
expo
sed
to th
e ex
tern
al a
irB
Sta
inle
ss m
ater
ials
are
use
d fo
r rob
ot ti
psC
Spe
cial
hex
agon
flan
ge b
olts
are
use
dD
Che
mic
al-r
esis
tant
coa
ting
to c
hass
isE
Che
mic
al-r
esis
tant
sea
lsF
The
chem
ical
resi
stan
ce o
f bel
low
s is
impr
oved
Hor
izon
tal,
mul
tiple
-join
t typ
eTy
peC
hem
ical
-res
ista
ntH
1 gr
ease
for f
ood
mac
hine
ry
RH
-6FH
ser
ies
RH
-6FH
35X
XM
RH
-6FH
45X
XM
RH
-6FH
55X
XM
RH
-12F
H s
erie
sR
H-1
2FH
55X
XM
RH
-12F
H70
XX
MR
H-1
2FH
85X
XM
RH
-20F
H s
erie
sR
H-2
0FH
85X
XM
RH
-20F
H10
0XX
M
-SE
01-S
E02
The e
nviro
nmen
t-re
sista
nt sp
ecifi
catio
ns(F
or m
edici
nal p
rodu
cts a
nd fo
ods)
The
resi
stan
ce to
cor
rosi
on d
ue to
che
mic
al c
lean
ing
is e
nhan
ced,
an
d th
is im
prov
es d
eter
genc
y an
d cl
eanl
ines
s.Th
ese
type
s of
robo
ts a
re a
pplic
able
to th
e pr
oduc
tion
envi
ronm
ents
in
clud
ing
conv
eyin
g or
pro
cess
ing
med
icin
al p
rodu
cts
and
food
s.
For t
he s
peci
ficat
ions
of e
ach
mod
el, r
efer
to th
e sp
ecifi
catio
ns o
f eac
h st
anda
rd m
odel
. Not
e th
at th
ese
mod
els
have
the
follo
win
g di
ffere
nces
from
the
stan
dard
mod
els.
The
prot
ectio
n de
gree
of a
ll th
e m
odel
s is
IP65
.Th
ese
mod
els
are
2-3
kg h
eavi
er th
an th
e st
anda
rd m
odel
s. F
or d
etai
ls, r
efer
to e
ach
spec
ifica
tion
shee
t.
*3: T
his
mod
el c
an b
e us
ed in
an
envi
ronm
ent s
teril
ized
with
hyd
roge
n pe
roxi
de g
as (C
once
ntra
tion:
120
ppm
) and
with
stan
d w
ipe
clea
ning
with
hyd
roge
n pe
roxi
de w
ater
(Con
cent
ratio
n: 6
%).
*1: F
ood
and
Dru
g A
dmin
istra
tion
*2: S
anita
tion
guid
elin
e of
NS
F (N
atio
nal S
anita
tion
Foun
datio
n) in
the
Uni
ted
Sta
tes
*4: F
or th
e no
tatio
ns, r
efer
to th
e st
anda
rd m
odel
s. (R
efer
pag
e 4)
Vert
ical
type
4/7/
12/2
0kg
Horiz
onta
l
type
6/12
/20
kg
Enha
nced
resi
stan
ce to
aci
d an
d al
kalin
e cl
eani
ng li
quid
s•
Sin
ce s
peci
al c
oatin
g (c
ompl
iant
to F
DA
*1) a
nd s
peci
al s
ealin
g ar
e ap
plie
d to
thes
e ty
pes
of ro
bots
, the
y ca
n be
use
d in
an
envi
ronm
ent s
teril
ized
with
hyd
roge
n pe
roxi
de g
as a
nd w
ithst
and
wip
e cl
eani
ng w
ith h
ydro
gen
pero
xide
wat
er.
• S
tain
less
mat
eria
ls a
re u
sed
to e
nhan
ce th
e co
rros
ion
resi
stan
ce.
NSF
H1
*2 -c
ertif
ied
grea
se fo
r foo
d m
achi
nery
The
grea
se fo
r foo
d m
achi
nery
is u
sed
to im
prov
e cl
eanl
ines
s.
Surf
ace
shap
e th
at p
reve
nts
fore
ign
mat
ter f
rom
get
ting
into
and
rem
aini
ng in
side
Spe
cial
ly-s
hape
d bo
lts a
nd th
e sm
ooth
sur
face
faci
litat
e da
ily c
lean
ing.
NSF
H1-
cert
ified
gre
ase
is a
pplie
d(C
ompl
iant
to F
DA
)A
Stai
nles
s m
ater
ials
are
use
d fo
r rob
ot ti
psB
Spec
ial he
xago
n flan
ge bo
lts ar
e use
d(C
over-
fixing
bolts
)C
Chem
ical-r
esist
ant c
oatin
g to c
hass
is(Co
mplian
t to FD
A and
the F
ood S
anitat
ion Ac
t)D
Seal
s ex
pose
d to
the
exte
rnal
air
are
resi
stan
t to
chem
ical
sE
The c
hemi
cal r
esist
ance
of be
llows
is
impr
oved
(RH-
F ser
ies on
ly)F
H1
grea
se fo
r foo
d m
achi
nery
is a
pplie
d to
join
t oil
seal
s.(O
il se
als
expo
sed
to th
e ex
tern
al a
ir)
Hig
hly
chem
ical
-res
ista
nt r
ubbe
rs a
re u
sed
for
oil
seal
s an
d pa
ckin
g,
the
seal
s ex
pose
d to
the
ext
erna
l env
ironm
ent,
and
this
impr
oves
the
de
terg
ency
at f
ood
and
phar
mac
eutic
al fa
ctor
ies.
Che
mic
al-r
esis
tant
sp
ecia
l co
atin
g is
ap
plie
d to
the
arm
.
Fluo
rine
resi
n is
use
d fo
r be
llow
s, a
nd
this
enh
ance
s th
e ch
emic
al r
esis
tanc
e an
d im
prov
es t
he d
eter
genc
y at
foo
d an
d ph
arm
aceu
tical
fact
orie
s.
Liqu
id d
oes
not
rem
ain
in t
he
spec
ial
bolts
tha
t ar
e m
ade
of
stai
nles
s-st
eel,
and
this
impr
oves
de
terg
ency
. G
roov
ing
is
perf
orm
ed
to
the
bolts
to e
nabl
e ea
sy c
lean
ing
the
area
ar
ound
th
e co
ver-
fixin
g bo
lts.
Spec
ial h
exag
on
flang
e bo
lts
RV
- 1
3 F
L M
- 1
D 1
- S
E01
Spec
ial d
evic
e N
o.
S
E01
: Che
mic
al-r
esis
tant
SE
02: H
1 gr
ease
for f
ood
mac
hine
ry
Envi
ronm
ent s
peci
ficat
ion
M: O
ilmis
t spe
cific
atio
ns
1: C
E/K
C s
peci
ficat
ion
1: C
E/K
C s
peci
ficat
ion
Con
trol
ler t
ype
*4
Spec
ial d
evic
e N
o.
S
E01
: Che
mic
al-r
esis
tant
SE
02: H
1 gr
ease
for f
ood
mac
hine
ry
Envi
ronm
ent s
peci
ficat
ion
M: O
ilmis
t spe
cific
atio
ns
Con
trol
ler t
ype
*4A
rm le
ngth
*4
Serie
s *4
Max
imum
load
cap
acity
*4
Rob
ot s
truc
ture
(Hor
izon
tal,
mul
tiple
-join
t typ
e)
Arm
leng
th *4
Serie
s *4
Max
imum
load
cap
acity
*4
Rob
ot s
truc
ture
(Hor
izon
tal,
mul
tiple
-join
t typ
e)
RH
- 2
0 FH
100
45
M -
1D
1 -
SE
01
Vert
ical
str
oke
*4
The
tool
flan
ge o
f a r
obot
tip
is c
hang
ed
from
a p
late
d on
e to
the
one
usi
ng
stai
nles
s m
ater
ials
, an
d th
is e
nhan
ces
the
corr
osio
n re
sist
ance
.
Stai
nles
s m
ater
ials
Spec
ial c
oatin
g(C
ompl
iant
to F
DA
)
Fluo
rine
resi
n be
llow
s
12
1718
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
Con
trol
ler
Spec
ifica
tions
Con
trol
ler
conf
igur
atio
n
Type
Pat
h co
ntro
l met
hod
Rob
ot C
PU
Num
ber o
f axe
s co
ntro
lled
Rob
ot la
ngua
ge
Pos
ition
teac
hing
met
hod
Mem
ory
capa
city
Ext
erna
lin
put/o
utpu
t*5 In
terfa
ce
Num
ber o
f tea
chin
g po
ints
Num
ber o
f ste
ps
Num
ber o
f pro
gram
s
Gen
eral
-pur
pose
I/O
Ded
icat
ed I/
OH
and
open
/clo
se
Em
erge
ncy
stop
inpu
t
Doo
r sw
itch
inpu
t
Ena
blin
g de
vice
inpu
t
Gro
undi
ng *
4S
truct
ure
[pro
tect
ive
spec
ifica
tion]
Wei
ght
Ext
erna
l dim
ensi
ons
(incl
udin
g le
gs)
Pow
er s
uppl
y *5
Rel
ativ
e hu
mid
ity
Am
bien
t tem
pera
ture
PTP
con
trol a
nd C
P c
ontro
l
Max
imum
6 a
xes
ME
LFA
-BA
SIC
IV/V
Teac
hing
met
hod,
MD
I met
hod
100
or le
ss (c
lass
D g
roun
ding
)S
elf-c
onta
ined
floo
r typ
e/op
en s
truct
ure
(Ver
tical
and
hor
izon
tal p
ositi
on c
an b
e pl
aced
) [IP
20]
45 to
85
Uni
t
poin
tsst
ep
Uni
t
poin
ts
slot
s
ports
chan
nels
chan
nels
V°C %R
H
ȍkgmm
KV
A
Em
erge
ncy
stop
out
put
Mod
e ou
tput
Rob
ot e
rror
out
put
Sync
hron
izatio
n of
add
itiona
l axe
s
RS
-422
Eth
erne
t
US
B
Inpu
t vol
tage
rang
e *2
Pow
er c
apac
ity *
3
Add
ition
al-a
xis
inte
rface
FQ s
erie
sFD
ser
ies
Con
trol
ler
conf
igur
atio
n
CR
750-
QC
R75
0-D
CR
751-
QC
R75
1-D
Enc
oder
inpu
t
8 in
put /
8 o
utpu
t
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (r
edun
dant
)
1 (T
each
ing
pend
ant:
dedi
cate
d T/
B)
RV
-2F/
4F, R
H-3
FH/6
FH: S
ingl
e-ph
ase
AC
180
V to
253
VR
V-7
, 7FL
L/13
F/20
F, R
H-1
2FH
/20F
H: T
hree
-pha
se A
C 1
80 V
to 2
53 V
or S
ingl
e-ph
ase
AC
207
V to
253
V
RV
-2F,
RH
-3FH
: 0.
5R
V-4
F, R
H-6
FH :
1.0
RH
-12F
H/2
0FH
: 1.
5R
V-7
F : 2
.0R
V-7
FLL/
13F/
20F
: 3.0
1 (S
SC
NE
T III
)
*1: F
or in
stal
ling
optio
n in
terfa
ce.
*2: T
he ra
te o
f pow
er-s
uppl
y vo
ltage
fluc
tuat
ion
is w
ithin
10%
.*3
: The
pow
er c
apac
ity in
dica
tes
the
ratin
g fo
r no
rmal
ope
ratio
n. T
ake
note
that
the
pow
er c
apac
ity d
oes
not i
nclu
de t
he c
urre
ntbe
ing
inpu
t whe
n th
e po
wer
is tu
rned
on.
The
pow
er c
apac
ity is
onl
y a
roug
h gu
ide
and
whe
ther
or n
ot
oper
atio
n ca
n be
gua
rant
eed
depe
nds
on th
e in
put p
ower
-sup
ply
volta
ge.
*4: G
roun
ding
wor
ks a
re th
e cu
stom
er’s
resp
onsi
bilit
y.*5
: For
CR
751,
crim
p or
sol
der w
iring
for c
onne
ctio
n to
use
r wiri
ng c
onne
ctor
s fo
r em
erge
ncy
stop
inpu
t/out
put,
door
sw
itch
inpu
t, et
c. a
nd p
ower
sup
ply
conn
ecto
rs.
The
optio
nal t
erm
inal
blo
ck re
plac
emen
t too
l ava
ilabl
e se
para
tely
can
als
o be
use
d to
con
nect
wiri
ng.
*6: F
or R
V-7F
LL/1
3F/2
0F
/ 81
92 in
put p
oint
s/81
92 o
utpu
t poi
nts
with
the
mul
tiple
CP
U c
omm
on d
evic
eFQ
0 in
put/0
out
put (
Up
to 2
56/2
56 w
hen
optio
ns a
re u
sed)
FD
/ A
ssig
ned
to m
ultip
le C
PU
com
mon
dev
ice.
FQA
ssig
ned
to g
ener
al-p
urpo
se I/
O.
FD
1 (d
edic
ated
teac
hing
pen
dant
por
t) 10
BA
SE
-TFQ
1 (d
edic
ated
teac
hing
pen
dant
por
t), 1
(for
cus
tom
er) 1
0BA
SE
-T/1
00B
AS
E-T
XFD
/
/1
(US
B p
ort o
f pro
gram
mab
le c
ontro
ller C
PU
uni
t can
be
used
.)FQ
1 (V
er. 2
.0 d
evic
e fu
nctio
ns o
nly,
min
i B te
rmin
al)
FD
430
(W) x
425
(D) x
174
(H)
430
(W) x
425
(D) x
98
(H)
/ 43
0 (W
) x 4
25 (D
) x 1
74 (H
) *6
App
rox.
18
App
rox.
12
/ A
ppro
x. 1
8 *6
Q17
2DR
CP
UFQ
/Q
173D
PX
(Sol
d se
para
tely
)FQ
2FD
/ʊ
FQ2
FD
/0
to 4
0 (d
rive
unit)
/0 to
55
(Rob
ot C
PU
)FQ
0 to
40
FD
Eth
erne
t
Rob
ot C
PU
Q17
2DR
CP
U
Con
trolle
r
Rob
ot C
PU
Driv
e un
itU
SB
com
mun
icat
ion
Add
ition
al a
xis
func
tion
MR-J4-B
MR-J3-BS
MR-J4-B
MR-J3-BS
SS
CN
ET
III(o
ptic
al c
omm
unic
atio
ns)
SS
CN
ET
III(o
ptic
al
com
mun
icat
ions
)
Eth
erne
t
Pul
se e
ncod
er
CR
nD-7
xxC
ontro
ller
US
Bco
mm
unic
atio
n
Add
ition
al a
xis
func
tion
MEL
FACo
ntro
ller
D Ty
pe(S
tand
alone
)C
R75
0-D
CR
751-
D
MEL
FAC
ontr
olle
rQ
Typ
e(iQ
Plat
form
com
patib
le)C
R75
0-Q
CR
751-
Q
Enc
oder
inpu
t fun
ctio
n
Ext
ensi
on s
lot *
1
/13
,000
FQ39
,000
FD
/26
,000
FQ78
,000
FD
/25
6FQ
512
FD
Driv
e un
it C
R75
0-Q
Driv
e un
it C
R75
1-Q
(RH
, RV-
2F/4
F/7F
)
CR
750-
MB
CR
751-
MB
(RV-
7FLL
/13F
/20F
)
CR
750-
MB
/CR
751-
MB
Con
trolle
r CR
750-
DC
ontro
ller C
R75
1-D
Multip
le CP
U en
viron
ment
Uni
t
Bas
e
Pow
ersu
pply
Pro
gram
mab
leco
ntro
ller
CP
U
Type
Hig
h-sp
eed
stan
dard
bas
e be
twee
n m
ultip
le C
PU
• Q
35D
B: 5
slo
ts•
Q38
DB
: 8 s
lots
• Q
312D
B: 1
2 sl
ots
Uni
vers
al m
odel
• Q
03U
D (E
/V) C
PU
• Q
04U
D (E
/V) H
CP
U•
Q06
UD
(E/V
) HC
PU
• Q
10U
D (E
) HC
PU
• Q
13U
D (E
/V) H
CP
U•
Q20
UD
(E) H
CP
U•
Q26
UD
(E/V
) HC
PU
• Q
100U
D (E
) HC
PU
• Q
61P
• Q
62P
• Q
63P
• Q
64P
N
425
260 85(80)(70.3)(40)
(21.7)
158174
370
430
(30)
(30)
Not
e) T
he o
pera
ting
pane
l is
not a
ttach
ed to
the
CR
-751
. Set
up
the
robo
t ope
ratin
g en
viro
nmen
t to
acco
mm
odat
e op
erat
ion
by a
cus
tom
er g
raph
ical
opt
ical
term
inal
(G
OT)
or o
pera
ting
pane
l.
Aut
omat
ic a
nd o
ther
ope
ratio
n m
odes
can
be
ena
bled
from
the
teac
hing
pen
dant
.
Cab
le c
over
Dra
in h
ole
Rub
ber f
eet f
or v
ertic
al
mou
ntin
g sc
rew
s(F
our)
Rub
ber f
eet f
or
verti
cal m
ount
ing
scre
ws
(Fou
r)
Con
trolle
r ins
talla
tion
loca
tion
(92.5) (122.5) (45)
160
(10)
(10)
505
365
72.5
330
500
(85)
(85)
(25)250164 55
(45)
510
520100 100
725
Con
trolle
r pro
tect
ion
box
(IP54
)
The
cont
rolle
r pro
tect
ion
box
is u
sed
to p
rote
ct th
e co
ntro
ller f
rom
oi
l mis
t and
oth
er u
sage
env
ironm
ents
. (Fo
r CR
751)
The
cont
rolle
r pro
tect
ion
box
is u
sed
to p
rote
ct th
e co
ntro
ller f
rom
oi
l mis
t and
oth
er u
sage
env
ironm
ents
. (Fo
r CR
750)
The
front
pan
el o
f the
pro
tect
ion
box
has
a m
ode
switc
h an
d te
achi
ng b
ox c
onne
ctor
. It a
lso
cont
ains
a d
ispl
ay w
indo
w fo
r vi
ewin
g th
e co
ntro
ller o
pera
tion
pane
l.
425
180
370
(30)
430
195
260 80 119
158174
(85)
Cab
le fi
xatio
n pl
ate
(Atta
chm
ent)
This
pla
te m
ust b
e in
stal
led
by c
usto
mer
s.
Cab
le fi
xatio
n pl
ate
(Atta
chm
ent)
This
pla
te m
ust b
e in
stal
led
by c
usto
mer
s.
4-M
5
425
180
370
4-䃥
1830
(30)
430
195
370 25 119
974 (0.6)98
(30)(5.2)
(10)
(10)
505
330
500
(85)
(85)
250 (25)
Cab
le c
over
100 100
(45)
(45)
160
520
520102.5 102.5
725
Ove
rload
det
ectio
n le
vels
opt
imiz
ed b
ased
on
the
ambi
ent t
empe
ratu
re s
ettin
gs
for
the
robo
t (se
t in
the
para
met
ers)
. Thi
s he
lps
impr
ove
cont
inuo
us o
pera
bilit
y us
ing
load
leve
ls c
alcu
late
d ba
sed
on a
ctua
l env
ironm
enta
l con
ditio
ns f
or t
he
robo
t axe
s.
The
enco
der t
empe
ratu
re is
mon
itore
d su
ch th
at th
e m
achi
ne is
shu
t dow
n du
e to
err
or if
the
tem
pera
ture
exc
eeds
the
tole
rabl
e lim
it.
Ɣ Ɣ Ɣ Ɣ
Opt
imal
acc
eler
atio
n/de
cele
ratio
n tim
es a
nd s
peed
s se
t au
tom
atic
ally
bas
ed
on ro
bot o
pera
ting
posi
tion,
pos
ture
, and
load
con
ditio
ns.
Load
con
ditio
ns a
re s
et, e
nabl
ing
acce
lera
tion/
dece
lera
tion
times
and
spe
eds
to b
e ch
ange
d au
tom
atic
ally
acc
ordi
ng t
o w
heth
er a
wor
kpie
ce is
pre
sent
or
not.
This
ena
bles
the
max
imum
ope
ratin
g sp
eed
to b
e pr
oduc
ed fo
r eac
h ta
skTi
me
need
ed to
sho
rten
cycl
e tim
es re
duce
d.
Inc
rea
se
th
rou
gh
pu
t
Pro
duce
d th
e fa
stes
t ope
ratin
g pe
rform
ance
in it
s cl
ass
usin
g hi
gh-p
erfo
rman
ce
mot
ors
and
uniq
ue d
river
con
trol t
echn
olog
y de
velo
ped
by M
itsub
ishi
Ele
ctric
.
Ena
bles
exe
cutio
n up
to 1
.2 ti
mes
fast
er th
an w
ith th
e S
Q/S
D s
erie
s.
Num
eric
al o
pera
tion
and
cond
ition
al b
ranc
h pr
oces
sing
spe
eds
incr
ease
d by
up
to tw
ice
as fa
st, l
eadi
ng to
sho
rtene
d ta
kt ti
mes
.
Rob
ot p
rogr
ams
can
be e
xecu
ted
1.2
times
fast
er th
an b
efor
e if
com
pile
d in
adv
ance
and
pro
cess
ed u
sing
an
inte
rmed
iate
lang
uage
. Ta
kt ti
mes
can
be
shor
tene
d by
up
to 3
tim
es a
s m
uch
for l
onge
r lin
es. (
Com
pare
d to
pre
viou
s m
odel
s)
Ena
bled
hi
gh
torq
ue
outp
ut
at
high
ro
tatio
nal
spee
d,
shor
teni
ng
acce
lera
tion/
dece
lera
tion
time.
S
horte
ned
posi
tioni
ng ti
me
for i
mpr
oved
dev
ice
thro
ughp
ut.
Con
tinuo
us o
pera
bilit
y im
prov
edIm
prov
ed s
peed
for t
he v
ertic
al m
ovem
ents
that
are
so
esse
ntia
l to
horiz
onta
l m
ulti-
join
t rob
ot o
pera
tion.
240
0 m
m/s
, [R
H-6
FH: T
wic
e as
fast
as
the
conv
entio
nal s
peed
]
Ɣ Ɣ Ɣ Ɣ
Imp
rov
ed
co
ntr
ol
pe
rfo
rma
nc
e
Hig
h-s
pe
ed
ex
ec
uti
on
of
pro
gra
ms
Op
tim
al
ac
ce
lera
tio
n/d
ec
ele
rati
on
co
ntr
ol
an
d o
pti
ma
l o
ve
rrid
e c
on
tro
l
Imp
rov
ed
co
nti
nu
ou
s o
pe
rata
bil
ity
Fu
nc
tio
ns
Rot
atio
nal s
peed
(rpm
)
Torq
ue
Pre
viou
s m
odel
mot
or
Torq
ue in
crea
sed
Spe
ed in
crea
sed S
horte
ned
by
arou
nd 2
0%
Pro
ce
ss
ing
sp
ee
d
inc
rea
se
d b
y 2
0%
1
0 J
OVR
D 1
00
20
MO
V P1
00
30
M1=
M_I
N (1
0)
40
IF M
1=1
THEN
GO
TO 1
000
5
0 IF
M1=
2 TH
EN G
OTO
200
0
60
IF M
1=3
THEN
GO
TO 3
000
7
0 M
OV
P999
8
0 E
RR
OR
900
0
90
EN
D
1000
PL
=P1*
POFF
*PSH
IFT
1010
PU
P=PL
1020
PU
P.Z=
PUP.
Z+M
Z10
30
MO
V PU
P
·
·
·R
H-F
Se
rie
s
SQ
/SD
Se
rie
s
Pro
gram
pro
cess
ing
time
10
20
30
40
50
60
70
80
90
10
00
10
10
10
20
10
30
10
20
30
40
50
60
1000
1010
1020
70
80
90
10
30
All
ow
s n
um
eri
ca
l o
pe
rati
on
an
d
co
nd
itio
na
l b
ran
ch
pro
ce
ss
ing
tim
es
to
be
sh
ort
en
ed
dra
ma
tic
all
y.
(Th
e s
ho
rte
nin
g r
ate
ma
y v
ary
de
pe
nd
ing
on
op
era
tin
g c
on
dit
ion
s.)
Sa
mp
le p
rog
ram
Not
e) S
horte
ning
effe
ct d
epen
ds o
n th
e co
nten
ts o
f pro
gram
in
stru
ctio
ns a
nd p
roce
ssin
g.
Sho
rtene
d cy
cle
times
Opt
imal
acc
eler
atio
n/de
cele
ratio
n co
ntro
l an
d op
timal
ove
rrid
e co
ntro
l Nor
mal
con
trol
Tim
e
Spe
ed
New
mod
el m
otor
En
co
de
r te
mp
era
ture
m
on
ito
r
Op
tim
ize
the
ov
erl
oa
d d
ete
cti
on
le
ve
lE
nc
od
er
tem
pe
ratu
re m
on
ito
rin
g s
cre
enA
mb
ien
t te
mp
era
ture
Sp
ac
e s
av
ing
Imp
rov
ed
to
oli
ng
pe
rfo
rma
nc
e
Inte
rnal
inst
alla
tion
of w
iring
and
pip
ing
for c
onne
ctin
g to
vis
ion
sens
ors
enab
led.
Ɣ ƔH
and:
8 in
put p
oint
s/8
outp
ut p
oint
sE
ther
net c
able
for t
he v
isio
n se
nsor
Co
mp
atu
ab
ilit
y w
ith
in
tern
al
Eth
ern
et
ca
ble
to
ols
Inte
rna
l ro
uti
ng
of
ha
nd
wir
ing
an
d w
irin
g c
ha
nn
els
Ex
pa
nd
ed
piv
ota
l o
pe
rati
ng
ra
ng
e
To h
and
Inte
rnal
ly e
mbe
dded
val
ves
Vis
ion
se
ns
or
RV
-2F
Q/2
FD
piv
ot
op
era
tio
n
Pic
kP
lace
Mov
able
sto
pper
for t
he J
1 ax
is
Ex
pa
nd
ed
J1
ax
is p
ivo
tal
op
era
tin
g
ran
ge
to
all
ow
ac
ce
ss
to
ba
ck
of
rob
ot
Re
ar
ac
ce
ss
of
RH
-FQ
/FD
· A
tta
ch
me
nt
of
the
vis
ion
se
ns
or
to t
he
wri
st
fac
ilit
ate
s
wir
ing
.
Co
nn
ec
tab
le
Inte
rna
l ro
uti
ng
of
wir
ing
an
d w
irin
g
ch
an
ne
ls e
na
ble
d w
ith
in t
he
arm
up
to t
he
J6
ax
is t
ip.
No
te)
Th
e s
ec
tio
ns
of
wir
ing
th
at
ca
n b
e r
ou
ted
in
tern
all
y
ma
y d
iffe
r d
ep
en
din
g o
n t
he
mo
de
l.
Inte
rnal
rout
ing
of c
able
s an
d ai
r hos
es is
ena
bled
thro
ugh
the
inte
rnal
cha
nnel
s th
at le
ad u
p to
the
end
of th
e ro
bot a
rm.
Suc
h in
tern
al r
outin
g in
crea
ses
the
area
s of
the
wor
k en
velo
pe t
hat
the
robo
t ca
n re
ach
with
out t
wis
ting
and
enta
nglin
g ca
bles
and
hos
es.
This
pre
vent
s in
terfe
renc
e w
ith c
able
s ar
ound
dev
ices
and
red
uces
the
ris
k of
w
iring
dis
conn
ectio
n.
Impr
oved
flex
ibili
ty fo
r rob
ot la
yout
des
ign
cons
ider
atio
ns.
Ena
blin
g m
ore
effe
ctiv
e us
e of
acc
ess
spac
e ar
ound
the
ent
ire p
erim
eter
in
clud
ing
to th
e re
ar.
Sho
rtene
d m
ovem
ent d
ista
nces
, ena
blin
g ta
kt ti
mes
to b
e sh
orte
ned.
Mac
hine
2
Mac
hine
3
Mac
hine
1
Inpu
t
Out
put
Not
e: S
peci
fy a
mod
el w
ith In
tern
al w
iring
(a m
odel
end
ing
in ‘-
SH
xx’).
Th
e su
ppor
ted
Inte
rnal
wiri
ng ty
pes
may
var
y by
mod
el.
Impr
oved
acc
urac
y
Opt
imal
mot
or c
ontr
ol t
unin
g se
t au
tom
atic
ally
bas
ed o
n ro
bot
oper
atin
g po
sitio
n, p
ostu
re, a
nd lo
ad c
ondi
tions
.Im
prov
es tr
acki
ng a
ccur
acy
for t
he ta
rget
traj
ecto
ry.
Ɣ Ɣ
Mon
itor t
he ro
bot p
ostu
re a
nd lo
ad c
ondi
tions
Aut
omat
ic tu
ning
Load
Targ
et tr
ack
With
act
ive
gain
con
trol
With
out a
ctiv
e ga
in c
ontro
l
Ɣ Ɣ Ɣ
Traj
ecto
ry p
riorit
y m
ode/
spee
d pr
iorit
y op
erat
ion
can
be s
et i
n pr
ogra
ms
to
mat
ch c
usto
mer
sys
tem
requ
irem
ents
. O
ptim
al m
otor
con
trol
tun
ing
set
auto
mat
ical
ly b
ased
on
robo
t op
erat
ing
posi
tion,
pos
ture
, and
load
con
ditio
ns.
Impr
oves
trac
king
acc
urac
y fo
r the
targ
et tr
ajec
tory
.
Ɣ Ɣ Ɣ
Com
pens
ates
for d
efle
ctio
n in
the
robo
t arm
occ
urrin
g du
e to
gra
vity
. C
alcu
late
s th
e am
ount
of
com
pens
atio
n ne
eded
bas
ed o
n th
e op
erat
ing
posi
tion,
pos
ture
, an
d lo
ad c
ondi
tions
of
the
robo
t an
d co
mpe
nsat
es f
or a
ny
defle
ctio
n au
tom
atic
ally
.C
ompe
nsat
es n
ot o
nly
for
stat
ic d
efle
ctio
n du
e to
gra
vita
tiona
l pul
l but
als
o fo
r dy
nam
ic d
efle
ctio
n du
e to
the
iner
tial f
orce
pre
sent
dur
ing
oper
atio
n.
Act
ive
gain
con
trol
Def
lect
ion
com
pens
atio
n fu
nctio
n
Ope
ratin
g m
ode
setti
ng fu
nctio
n
Hig
h sp
eed
High accuracy
Stan
dard
set
tings
high
-spe
ed p
ositi
onin
g m
ode
Hig
h-ac
cura
cy tr
ajec
tory
mod
e
MvT
une
1
MvT
une
2
MvT
une
3
Def
lect
ion
com
pens
atio
n
kș
· Effe
ctiv
e fo
r wor
k tra
nspo
rting
wor
kpie
ces
to c
asse
ttes
with
low
pitc
h an
d pa
lletiz
ing
wor
k.
Impr
ove
palle
tizat
ion
accu
racy
Impr
ove
traj
ecto
ry a
ccur
acy
com
pens
atio
n
Impr
ove
traj
ecto
ry a
ccur
acy
Impr
ove
vibr
atio
n-da
mpi
ng p
erfo
rman
ce
· Act
ive
gain
con
trol
is a
con
trol
met
hod
that
al
low
s th
e po
sitio
n ga
in to
be
chan
ged
in
real
tim
e.
· Thi
s is
effe
ctiv
e fo
r sta
ndar
d op
erat
ions
an
d to
olin
g w
ork
requ
iring
hig
h ac
cura
cy.
· Thi
s is
effe
ctiv
e fo
r sta
ndar
d op
erat
ions
and
tool
ing
wor
k re
quiri
ng
high
acc
urac
y.
Ada
ptat
ion
to o
pera
tion
The
robo
t can
be
mad
e to
pas
s th
roug
h th
e si
ngul
ar p
oint
, unl
ike
with
pre
viou
s ro
bot
mod
els.
Thi
s al
low
s fo
r gr
eate
r fle
xibi
lity
in t
he l
ayou
t of
rob
ots
and
surr
ound
ing
area
s.
Teac
hing
ope
ratio
ns c
an b
e pe
rform
ed m
ore
easi
ly a
s th
ere
is n
o lo
nger
any
ne
ed to
can
cel o
pera
tions
due
to th
e pr
esen
ce o
f the
sin
gula
r poi
nt.
Ɣ Ɣ
This
fun
ctio
n re
duce
s th
e rig
idity
of
the
robo
t ar
m a
nd t
rack
s ex
tern
al f
orce
s.
The
robo
t its
elf
is e
quip
ped
with
a c
ompl
ianc
e fu
nctio
n, w
hich
mak
es s
peci
al
hand
s an
d se
nsor
s un
nece
ssar
y.
This
allo
ws
the
amou
nt o
f fo
rce
gene
rate
d th
roug
h in
terf
eren
ce d
urin
g ch
ucki
ng a
nd w
orkp
iece
ins
ertio
n to
be
redu
ced
and
exte
rnal
mov
emen
t co
pyin
g fo
rces
to b
e co
ntro
lled.
Ɣ ƔTool
set
tings
for t
he to
ol c
oord
inat
e sy
stem
can
be
set b
y at
tach
ing
the
tool
and
us
ing
thre
e to
eig
ht o
f the
sam
e te
achi
ng p
oint
s.
Ena
bles
set
tings
to
be m
ade
for
the
actu
al t
ool
incl
udin
g er
rors
int
rodu
ced
whe
n th
e to
ol w
as m
ade
and
othe
r da
ta w
ithou
t ne
edin
g to
cal
cula
te v
alue
s fro
m th
e to
ol d
iagr
am.
Sim
plifi
ed to
ol le
ngth
set
ting
Func
tion
for p
assi
ng th
roug
h th
e si
ngul
ar p
oint
Ort
hogo
nal c
ompl
ianc
e co
ntro
l
Set u
sing
thre
e to
eig
ht
teac
hing
poi
nts
P2
P1
Mov
emen
t dire
ctio
n
P2
J4 a
xis
rota
tion
Post
ure
at s
tart
poi
nt
Post
ure
at ta
rget
pos
ition
Inse
rtio
n di
rect
ion
or n
orm
al
cont
rol d
irect
ion
Cop
y pl
ane
Tool
coo
rdin
ate
syst
em
Rob
ot h
and
Pos
ition
ing
devi
ce
+ X+ Y
+ Z
· The
com
plia
nce
dire
ctio
n ca
n be
set
arb
itrar
ily u
sing
the
robo
t co
ordi
nate
sys
tem
, the
tool
coo
rdin
ate
syst
em, e
tc.
· Thi
s is
use
ful i
n pr
otec
ting
agai
nst w
orkp
iece
inte
rfere
nce
and
cutti
ng
dow
n on
sto
ppag
e.
Red
uce
tool
ing
cost
sSh
orte
n lin
e st
op ti
mes
Shor
ten
star
tup
times
,Q�PRYLQJ�IURP�3�ĺ
3���LI�WKH�
robo
t is
pass
ing
the
sing
ular
po
int (
J5 a
xis
= 0°
) or a
loca
tion
in th
e vi
cini
ty a
t a c
onst
ant
post
ure,
the
J4 a
xis
on th
e ro
bot
will
rota
te a
t hig
h sp
eed
and
be
unab
le to
pas
s th
roug
h it.
Wha
t a s
ingu
lar p
oint
is:
Ther
e is
an
unlim
ited
num
ber o
f ang
les
at w
hich
th
e J4
and
J6
axes
can
be
set s
uch
that
the
angl
e of
the
J5 a
xis
is 0
° whe
n lin
ear i
nter
pola
tion
oper
atio
ns a
re p
erfo
rmed
usi
ng p
ositi
on d
ata
from
a
join
t coo
rdin
ate
syst
em. T
his
poin
t is
the
sing
ular
po
int a
nd is
the
poin
t at w
hich
the
robo
t can
not b
e op
erat
ed a
t an
assi
gned
pos
ition
and
pos
ture
un
der n
orm
al c
ondi
tions
. The
pos
ition
at w
hich
this
oc
curs
is re
ferr
ed to
as
a si
ngul
ar p
oint
.
Tool
leng
th
En
ha
nce
d R
T To
olB
ox2
(P
C so
ftw
are
) g
ra
ph
ic d
isp
lay fu
nctio
n
allo
win
g
se
ttin
g
pa
ra
me
ters
to
be
d
isp
laye
d
vis
ua
lly.
Vis
ua
l
co
nfirm
atio
n
usin
g
this
fu
nctio
n
he
lps
to
pro
active
ly
pre
ve
nt
se
ttin
g e
rro
rs.
Dis
pla
y o
f te
ach
ing
po
sitio
ns a
nd
tra
jecto
rie
s o
f e
nd
po
ints
he
lps t
o
facilita
te c
on
firm
atio
n t
asks d
urin
g p
ro
gra
mm
ing
or s
imu
latio
ns.
Impr
oved
use
r frie
ndlin
ess
En
ab
les th
e ro
bo
t to
b
e co
ntr
olle
d fr
om
th
e ro
bo
t co
ntr
ol
scre
en
u
sin
g th
e
sa
me
fu
nctio
ns a
s o
n t
he
op
era
tin
g p
an
el o
f th
e r
ob
ot
co
ntr
olle
r.
Mo
nito
rin
g scre
en
s ca
n b
e se
t u
p in
div
idu
ally to
m
atc
h th
e n
ee
ds o
f u
se
r
de
bu
gg
ing
co
nd
itio
ns.
Ɣ Ɣ
Ha
nd
s c
an
be
cre
ate
d a
s c
om
bin
atio
ns o
f b
asic
dia
gra
ms o
n t
he
Ha
nd
E
ditin
g scre
en
a
nd
th
en
a
tta
ch
ed
to
th
e ro
bo
t. S
tan
da
rd
3D
p
oly
go
na
l m
od
els
(a
pp
lica
ble
3
D
da
ta
file
fo
rm
ats
: S
TL
,
OB
J) ca
n b
e im
po
rte
d in
to th
e p
ro
gra
m,
allo
win
g o
pe
ra
tors to
co
nfirm
th
e
re
latio
nsh
ip
am
on
g
the
h
an
ds,
wo
rkp
iece
s,
an
d
pe
rip
he
ra
l d
evic
es d
urin
g s
imu
latio
n.
Up
to
8
00
00
re
co
rd
s o
f d
ata
in
clu
din
g cu
rre
nt
po
sitio
n,
sp
ee
d,
axia
l
loa
din
g,
an
d se
nso
r in
form
atio
n ca
n b
e o
bta
ine
d in
e
ve
ry o
pe
ra
tin
g
cycle
o
f th
e ro
bo
t a
nd
d
isp
laye
d in
a
g
ra
ph
. E
xe
cu
tio
n ro
ws a
nd
I/
O
sig
na
ls a
re
re
co
rd
ed
a
nd
u
se
d fo
r a
na
lyzin
g th
e ro
bo
t sta
tus,
an
d
this
im
pro
ve
s t
he
de
bu
g e
ffic
ien
cy.
Th
e o
bta
ine
d d
ata
ca
n b
e sa
ve
d a
s a
n im
ag
e (B
itm
ap
) o
r in
th
e
CS
V f
orm
at.
Sim
ple
auto
mat
ic o
pera
tion
from
the
teac
hing
box
Enha
nced
RT
Tool
Box
2 v
isua
l fun
ctio
ns
Robot contr
ol screen (
R56T
B)
Enable
s a
uto
matic o
peration o
f servo p
ow
er o
n/o
ff, sta
rtu
p,
shutd
ow
n, reset, p
rogram
sele
ction, and o
ther o
perations.
Dis
pla
y o
f tr
aje
cto
rie
s
Dis
pla
y o
f user-defined r
egio
ns/freedom
-lim
ited p
lanes
Dis
play
of s
elec
ted
posi
tions
Dis
pla
y o
f sele
cte
d p
ositio
n d
ata
Attachm
ent of a h
and c
reate
d in R
T T
oolB
ox2
Oscillo
gra
ph function (
an e
xam
ple
of th
e r
eal-tim
e m
onitoring o
f positio
ns a
nd c
urr
ent)
Exam
ple
of a s
yste
m e
nvironm
ent
screen from
an im
porte
d m
odel
· E
na
ble
d f
or R
32
B/R
33
TB
an
d R
56
TB
/R5
7T
B.
Pro
gra
m m
an
ag
em
en
t sim
plifie
d
En
ab
les
ba
tch
m
an
ag
em
en
t o
f p
ro
gra
ms
an
d
da
ta
in
blo
cks
fro
m
the
pro
gra
mm
ab
le c
on
tro
lle
r t
o t
he
se
rvo
, d
isp
lay d
evic
e,
an
d r
ob
ot.
De
vic
e m
od
el se
lectio
n s
imp
lifie
d
All M
itsu
bis
hi d
evic
e m
od
els
are
lis
ted
in
th
e N
avig
ato
r, e
na
blin
g its
use
as a
de
vic
e m
od
el se
lectio
n t
oo
l.
Ve
r. 1
.24
A a
nd
la
ter is
e
qu
ipp
ed
w
ith
ro
bo
t C
PU
se
lectio
n ca
pa
bility a
nd
co
me
s p
acka
ge
d w
ith
RT
To
olB
ox2
(m
ini ve
r.).
Ɣ Ɣ Ɣ Ɣ Ɣ
Th
e r
ob
ot
ca
n b
e c
on
tro
lle
d d
ire
ctly f
ro
m a
Mitsu
bis
hi G
OT
10
00
.
En
ab
les
ro
bo
t co
ntr
olle
r
sta
tuse
s
to
be
u
plo
ad
ed
a
nd
o
pe
ra
tio
ns
to
be
co
ntr
olle
d d
ire
ctly fr
om
th
e G
OT.
Allo
ws ro
bo
t sta
rtu
p/s
hu
tdo
wn
, sta
tus/a
larm
mo
nito
rin
g,
an
d o
the
r t
asks t
o b
e c
om
ple
ted
fro
m t
he
GO
T e
asily a
nd
qu
ickly
.
Use
o
f th
e tr
an
sp
are
nt
fun
ctio
n e
na
ble
s e
ditin
g o
f p
ro
gra
ms a
nd
p
ara
me
ters
fro
m t
he
US
B in
terfa
ce
on
th
e f
ro
nt
GO
T s
cre
en
, im
pro
vin
g u
se
r f
rie
nd
lin
ess.
Scre
en
s
ca
n
be
cre
ate
d
an
ew
, im
po
rte
d,
or
exp
orte
d
fro
m
"U
se
r-d
efin
ed
Scre
en
E
ditin
g" in
th
e p
ro
ject
tre
e.
Bu
tto
ns,
lam
ps,
ro
bo
t in
form
atio
n,
lab
els
,
an
d r
ule
d lin
es c
an
be
arra
ng
ed
in
to la
yo
uts
an
d a
ssig
ne
d t
o r
ob
ot
va
ria
ble
s.
Da
ta c
re
ate
d h
ere
is e
xp
orte
d a
nd
lo
ad
ed
in
to t
he
R5
6/5
7T
B.
Ca
n b
e u
se
d a
s a
use
r s
cre
en
.
Use
r-de
fined
scr
een
crea
tion
tool
s
Link
ed to
iQ W
orks
GO
T co
nnec
tion
func
tion
ME
LS
OF
T N
avig
ato
r
[For
Q ty
pe /D
type
con
trol
lers
]
The p
ersonal
com
pute
r a
nd the
GO
T a
re c
onnecte
d
with a
US
B c
able
or
RS
232 c
able
Operation o
f engin
eerin
g
tools
from
the U
SB
inte
rfa
ce o
n the front G
OT
screen.
· E
the
rn
et
· S
eria
l sig
nals
etc
.
Exam
ple
GO
T s
creen
[For
Q ty
pe /D
type
con
trol
lers
]
* Y
ou
ca
n d
ow
nlo
ad
a s
am
ple
im
ag
e f
ro
m t
he
Mitsu
bis
hi
FA
site
.
(S
am
ple
da
ta c
orre
sp
on
ds t
o t
he
GT
16
, 6
40
×4
80
or m
ore
)
Program
mable
contr
oller
program
desig
ner
Sim
plifi
ed c
ontr
ol p
anel
cre
ated
usi
ng a
GO
TN
o ne
ed fo
r lad
der c
ircui
ts w
ith th
e G
OT
conn
ectio
n
New
Ɣ Ɣ Ɣ Ɣ Ɣ
The
layo
ut c
an b
e se
t up
to in
clud
e th
e ro
bot t
rave
ling
axis
and
turn
tabl
e as
wel
l as
user
mac
hine
s se
para
te f
rom
the
rob
ot s
uch
as lo
ader
s an
d po
sitio
ning
dev
ices
. U
p to
8 a
dditi
onal
axe
s ca
n be
con
trolle
d by
the
cont
rolle
r.A
dditi
onal
axe
s an
d us
er m
achi
nes
can
be o
pera
ted
from
the
rob
ot
prog
ram
and
tea
chin
g pe
ndan
t w
ithou
t an
y ad
ditio
nal
mot
ion
cont
rol
hard
war
e. T
he s
ame
JOG
ope
ratio
n as
for
the
robo
t can
be
used
. Rob
ot
lang
uage
can
be
used
for c
ontro
l ope
ratio
ns.
The
robo
t con
trolle
r ha
s pl
ug-a
nd-p
lay
com
patib
ility
with
the
ME
LSE
RV
O
(MR
-J4-
B, M
R-J
3-B
S) s
ervo
s.
Sta
ndar
d in
terfa
ce f
unct
ion
(Sep
arat
e se
rvo
ampl
ifier
and
ser
vo m
otor
re
quire
d.)
The
vario
us n
etw
ork
optio
ns a
vaila
ble
allo
w c
onne
ctio
n to
a v
arie
ty o
f dev
ices
us
ed th
roug
hout
the
wor
ld.
Ɣ Ɣ Ɣ Ɣ
Tran
spor
t, al
ignm
ent,
and
inst
alla
tion
wor
k, e
tc. c
an b
e pe
rform
ed w
hile
robo
ts
are
track
ed w
ith th
e w
orkp
iece
on
the
conv
eyor
with
out s
topp
ing
the
conv
eyor
. P
roce
ssin
g ca
pabi
lity
impr
oved
by
up t
o 15
% c
ompa
red
to t
hat
for
SQ
/SD
se
ries
robo
ts.
Diff
eren
t va
riatio
ns c
an b
e se
lect
ed,
incl
udin
g vi
sion
tra
ckin
g in
com
bina
tion
with
a v
isio
n se
nsor
, tra
ckin
g in
com
bina
tion
with
an
opto
-ele
ctric
sen
sor,
etc.
P
rogr
ams
can
be c
reat
ed e
asily
in ro
bot l
angu
age
(ME
LFA
BA
SIC
IV, V
).S
tand
ard
inte
rface
fun
ctio
n. (
D t
ype
only
.) (S
epar
ate
enco
der
and
visi
on
sens
or re
quire
d.)
Co
nn
ec
tio
n t
o p
eri
ph
era
l d
ev
ice
s
Sim
ple
setti
ngs
The
robo
t an
d ca
mer
a ca
n be
cal
ibra
ted
thro
ugh
a si
mpl
e pr
oces
s us
ing
visi
on
sens
or s
ettin
g to
ols.
S
impl
e co
nnec
tion
Sim
ple
conn
ectio
n be
twee
n th
e ro
bot a
nd c
amer
a us
ing
Eth
erne
t. S
impl
e co
ntro
lS
impl
e co
ntro
l usi
ng v
isio
n co
ntro
l com
man
ds in
the
robo
t pro
gram
s.
Thre
e ro
bots
con
nect
ed to
a s
ingl
e vi
sion
sen
sor/S
even
vis
ion
sens
ors
conn
ecte
d to
a s
ingl
e ro
bot
ĺ�(QDEOHV�FRVWV�WR�EH�UHGXFHG�HYHQ�IRU�FRP
SOLFDWHG�V\VWHP�FRQILJXUDWLRQV��
Ɣ Ɣ Ɣ Ɣ
Vis
ion
se
ns
or
Tra
ck
ing
Ad
dit
ion
al
ax
is f
un
cti
on
Us
er
inte
rfa
ce
s
··S
even
··
Thre
e co
ntro
llers
In-S
igh
t M
icro
Ne
two
rk v
isio
n
se
ns
or
(In
-Sig
ht
54
00
)
Visi
on s
enso
r
Enc
oder
Con
veyo
r
Can
be
used
with
mul
tiple
con
veyo
rs a
t the
sam
e tim
e (U
p to
8 m
ax.).
Pro
ce
ss
ing
ca
pa
bil
ity
in
cre
as
ed
by
15
%
Add
ition
al a
xis
Sim
ulta
neou
s co
ntro
l
Add
ition
alax
isU
p to
2 a
xes
User
mach
ineU
p to
3 a
xes
Mac
hine
1M
achi
ne 2
Mac
hine
3
Rob
otU
p to
8 a
dditi
onal
axe
s
(Up
to 3
gro
ups)
Co
mp
ati
ble
wit
h M
R-J
4-B
(J
3-c
om
pa
tib
le m
od
e)*
Sta
nd
ard
eq
uip
me
nt:
Eth
ern
et
US
B
S
SC
NE
T I
II
Op
tio
n:
CC
-Lin
k
Pro
fib
us
D
ev
ice
Ne
t
Ne
two
rk b
as
e c
ard
(E
the
rNe
t/IP，P
RO
FIN
ET
IO
)
User
mach
ineU
p to
3 a
xes
No
nee
d fo
r a
ded
icat
ed c
on
tro
l dev
ice
Red
uce
sys
tem
co
sts
Red
uce
sys
tem
co
sts
Red
uce
cyc
le ti
me
No
nee
d fo
r a
po
sitio
nin
g d
evic
eR
edu
ce c
ycle
tim
e
*App
licab
le s
oftw
are:
Ver
. R3g
/S3g
or l
ater
.
The
robo
t tra
ject
ory
can
be s
usta
ined
eve
n w
hen
the
mac
hine
is
shut
dow
n us
ing
an e
mer
genc
y st
op. T
his
allo
ws
inte
rfere
nce
with
per
iphe
ral d
evic
es a
nd
othe
r obj
ects
to b
e re
duce
d or
eve
n fu
lly p
reve
nted
usi
ng th
e in
ertia
of t
he ro
bot
arm
to le
t it c
oast
to a
sto
p.
Com
plie
s w
ith th
e la
test
ISO
-102
18-1
(20
11)
stan
dard
s fo
r R
obot
s an
d ro
botic
de
vice
s - S
afet
y re
quire
men
ts.
Mee
ts th
e re
quire
men
ts fo
r PL
d of
ISO
1384
9-1
Cat
egor
y 3.
Saf
ety
circ
uits
(em
erge
ncy
stop
circ
uits
) ca
n ea
sily
be
inst
alle
d fo
r th
e cu
stom
er's
ent
ire s
yste
m, n
ot ju
st fo
r the
robo
t its
elf.
Ther
e ar
e ro
bots
with
spe
cial
spe
cific
atio
ns t
hat
com
ply
with
var
ious
saf
ety
stan
dard
s. C
onta
ct a
Mits
ubis
hi E
lect
ric d
eale
r or s
ales
age
nt fo
r fur
ther
det
ails
if
inte
rest
ed.
Ɣ Ɣ Ɣ Ɣ
This
fun
ctio
n de
tect
s if
the
arm
col
lides
with
an
obst
acle
whi
le t
each
ing
or
oper
atin
g, a
nd h
elps
redu
ce d
amag
e to
the
robo
t arm
and
tool
s.
The
colli
sion
det
ectio
n fu
nctio
n ca
n be
use
d to
pro
tect
the
wor
kpie
ce f
rom
be
com
ing
dam
aged
due
to
inte
rfere
nce
betw
een
the
wor
kpie
ce a
nd a
ffect
ed
obje
cts.
Th
e de
tect
ion
leve
l can
be
chan
ged
acco
rdin
g to
the
prot
ectio
n ta
rget
s.
The
colli
sion
det
ectio
n fu
nctio
n ca
n be
pro
gram
med
to g
ener
ate
an a
larm
or
perfo
rm a
spe
cific
esc
ape
mov
e or
bot
h.
Ex.
) An
erro
r is
out
put d
ue to
the
robo
t sto
ppin
g su
dden
ly, a
n er
ror
is o
utpu
t af
ter e
scap
e m
ovem
ents
are
mad
e, e
tc.
Sa
fety
fe
atu
res
Ɣ Ɣ Ɣ
Sec
urity
feat
ures
wer
e ad
ded
to p
rote
ct p
rogr
ams
and
para
met
ers.
Rea
d/w
rite
prot
ectio
n pr
even
ts p
aram
eter
s fro
m b
eing
ove
rwrit
ten
and
prog
ram
s fro
m
bein
g ch
ange
d in
adve
rtent
ly. S
ensi
tive
data
can
be
prot
ecte
d us
ing
pass
wor
d pr
otec
tion.
Pas
swor
ds c
an b
e se
t to
prot
ect c
reat
ed p
rogr
ams.
Th
e vi
ewin
g an
d co
pyin
g of
dat
a fro
m t
he t
each
ing
pend
ant
and
RT
Tool
Box
2 ca
n be
dis
able
d.
Writ
ing
oper
atio
ns fo
r par
amet
ers
can
be d
isab
led.
Se
cu
rity
fe
atu
res
Su
sta
ine
d t
rac
kin
g d
uri
ng
em
erg
en
cy
sto
p
Co
llis
ion
de
tec
tio
n f
un
cti
on
Co
mp
lie
s w
ith
sa
fety
sta
nd
ard
s
Pro
tec
ted
an
d r
es
tric
ted
fu
nc
tio
ns
Pro
gra
m-r
ela
ted
Re
ad
ing
an
d w
riti
ng
of
pro
gra
ms
Pro
gra
m d
ele
tio
n a
nd
co
py
ing
R
en
am
ing
an
d i
nit
iali
zati
on
of
pro
gra
ms
Pa
ram
ete
r-re
late
dW
riti
ng
of
pa
ram
ete
rs
RT
To
ol
Bo
x2
Da
ta b
ac
ku
p a
nd
re
sto
re
* U
se o
f thi
s fu
nctio
n do
es n
ot g
uara
ntee
that
the
traje
ctor
y w
ill b
e su
stai
ned.
Th
e tra
ject
ory
may
be
shift
ed o
ut o
f lin
e de
pend
ing
on th
e tim
ing
at w
hich
the
emer
genc
y st
op is
act
ivat
ed.
Err
or
Ap
pli
ca
ble
sta
nd
ard
s
ƔCE
: E
uro
pe
an
Co
nfo
rmit
y
(Eu
rop
ea
n s
afe
ty s
tan
da
rds
)
· Com
plia
nt w
ith th
e E
MC
Dire
ctiv
e, 2
004/
108/
EC
· C
ompl
iant
with
the
Mac
hine
ry D
irect
ive,
200
6/42
/EC
ƔKC
C:
Ko
rea
n C
om
mu
nic
ati
on
s C
om
mis
sio
n
(Ko
rea
n s
afe
ty c
ert
ific
ati
on
)
· Com
plie
s w
ith th
e re
vise
d K
orea
Rad
io A
ct
(Arti
cle
58 S
ectio
n 2)
Co
llis
ion
Re
du
ce
to
oli
ng
co
sts
Sh
ort
en
lin
e s
top
tim
es
Re
du
ce
ma
inte
na
nc
e c
os
ts
Em
erg
en
cy
sto
p
Sh
utd
ow
n w
ith
traje
cto
ry s
usta
ined
Targ
et p
ositi
on
Sh
utd
ow
n w
ith
tra
jecto
ry s
hif
ted
Expa
nded
J4
axis
ope
ratin
g ra
nge
Exp
andi
ng th
e J4
axi
s op
erat
ing
rang
e en
able
s th
e po
stur
e to
be
chan
ged
cont
inuo
usly
dur
ing
asse
mbl
y an
d tra
nspo
rt op
erat
ions
. It a
lso
elim
inat
es th
e ne
ed fo
r the
robo
t to
mov
e in
the
oppo
site
dire
ctio
n pa
rtway
thro
ugh
an o
pera
tion.
Use
of a
flap
-sty
le a
rm c
ontri
bute
s to
a s
limm
ing
of c
usto
mer
equ
ipm
ent,
enab
ling
oper
atio
ns to
be
com
plet
ed in
eve
n cl
oser
pro
xim
ity to
the
robo
t.
Cha
nges
in o
pera
ting
post
ure,
whi
ch o
ccur
freq
uent
ly d
urin
g as
sem
bly,
can
be
com
plet
ed a
t rap
id s
peed
, inc
reas
ing
the
spee
d of
the
axis
cl
ose
at h
and
as w
ell a
s th
at o
f the
bas
e ax
is. E
nabl
es c
hang
es to
be
mad
e to
the
oper
atin
g po
stur
e at
hig
h sp
eed.
Enha
nced
wris
t axi
s
Tole
rabl
e J4
axi
s in
ertia
dra
mat
ical
ly in
crea
sed.
App
lies
easi
ly to
mul
tiple
han
ds, o
ffset
han
ds, e
tc.
[5 ti
mes
that
of p
revi
ous
mod
els
(RH
-20F
H)]
Com
pact
inst
alla
tion
with
ope
ratio
n pe
rfor
med
nea
r the
robo
t bas
e
Cha
nges
in o
pera
ting
post
ure
can
be m
ade
even
mor
e qu
ickl
y!!
SQ
/SD
Ser
ies
F S
erie
s
Com
patib
le w
ith w
orkp
iece
s th
at a
re 2
.2 ti
mes
larg
er
5 tim
es th
e ca
pabi
lity
of p
revi
ous
mod
els
Enh
ance
d w
rist (
RH
-20F
H)
Bef
ore
Afte
r
SQ/S
D
Serie
s±1
60°
SQ/S
D
Serie
s±1
60°
RV-
F Se
ries
±200
°R
V-F
Serie
s±2
00°
Ena
bles
acc
ess
to r
obot
s in
the
prog
ram
mab
le c
ontro
ller
netw
ork
from
a P
C
conn
ecte
d to
the
mai
n C
PU
. Lea
ds to
a s
horte
ning
of r
ise
times
and
impr
oved
m
aint
aina
bilit
y fo
r rob
ots
on th
e pr
oduc
tion
line.
Feat
ures
of I
Q P
latfo
rm C
ontr
olle
rs
Sys
tem
cos
ts c
an b
e re
duce
d w
ith th
e us
e of
wire
less
sys
tem
s an
d de
letio
n of
I/O
uni
ts a
nd n
etw
ork
units
.
Ena
bles
sha
red
mem
ory
to b
e re
ad f
rom
and
writ
ten
to b
etw
een
mul
tiple
robo
t CP
Us.
S
peed
s fo
r da
ta c
omm
unic
atio
ns b
etw
een
robo
ts in
crea
se, e
nabl
ing
mor
e de
taile
d co
ntro
l, su
ch a
s w
ith a
n in
terfe
renc
e pr
even
tion
func
tion
or c
oord
inat
ed c
ontro
l, an
d cu
tting
dow
n on
was
ted
time.
Ena
bles
dat
a to
be
read
and
writ
ten
dire
ctly
bet
wee
n th
e C
PU
uni
t an
d I/O
uni
t. R
espo
nsiv
ity
impr
oved
an
d in
terlo
ck
times
an
d cy
cle
times
sh
orte
ned
usin
g hi
gh-s
peed
I/O
co
mm
unic
atio
ns
to
perip
hera
l de
vice
s.
Incr
ease
s th
e sp
eed
of d
ata
com
mun
icat
ions
bet
wee
n C
PU
s an
d dr
amat
ical
ly r
educ
es I
/O p
roce
ssin
g tim
es u
sing
a h
igh-
spee
d st
anda
rd b
ase
betw
een
mul
tiple
CP
Us.
The
num
ber
of d
evic
e po
ints
bet
wee
n th
e pr
ogra
mm
able
con
trolle
r an
d ro
bot
was
inc
reas
ed t
o 81
92 i
nput
poi
nts
and
8192
out
put
poin
ts.
Thi
s al
low
s th
e sy
stem
to
hand
le l
arge
r pr
ogra
ms,
mor
e co
mpl
icat
ed c
ontro
l, an
d ot
her o
bjec
ts th
at re
quire
a lo
t of I
/O p
oint
s.
Impr
oved
resp
onsi
vity
thro
ugh
high
-spe
ed c
omm
unic
atio
nsLa
rge
amou
nts
of d
ata
Dire
ct c
omm
unic
atio
n be
twee
n C
PU u
nits
Dire
ct c
ontr
ol b
etw
een
I/O u
nits
Red
uced
wiri
ng a
nd n
umbe
r of u
nits
use
d
Bat
ch m
anag
emen
t of m
ultip
le ro
bots
Prog
ram
mab
le c
ontr
olle
r
I/O u
nit
Per
sona
l com
pute
r R
T To
olB
ox2
iQ P
latfo
rmP
rogr
amm
able
con
trolle
r
US
B/R
S-2
32/E
ther
net
iQ P
latfo
rmPr
ogra
mm
able
con
trolle
riQ
Pla
tform
Prog
ram
mab
le c
ontro
ller
iQ P
latfo
rmPr
ogra
mm
able
con
trolle
r
Sha
red
mem
ory
PIO
cab
leR
emot
e un
itW
irele
ss
Hig
h-sp
eed
com
mun
icat
ions
CC
-Lin
k-IE
/CC
-Lin
k
Acc
ess
to o
ther
sta
tions
by
Eth
erne
t or
ser
ial
com
mun
icat
ions
ena
bled
Enab
les
Rob
ot 1
, Rob
ot 2
, an
d R
obot
3 to
be
mon
itore
d fr
om a
sin
gle
loca
tion.
Q ty
pe ro
bot 1
Q ty
pe ro
bot 2
Q ty
pe ro
bot 3
Dire
ct c
omm
unic
atio
n be
twee
n C
PU
s
No
need
for s
peci
al
prog
ram
mab
le c
ontro
ller
prog
ram
s as
sha
red
mem
ory
is u
sed.
Dire
ct c
ontro
l bet
wee
n C
PU
s an
d I/O
uni
ts
No
need
for
prog
ram
mab
le
cont
rolle
r pro
gram
s fo
r si
gnal
inpu
t/out
put
Impr
oved
resp
onsi
vity
w
ithou
t any
del
ay d
ue
to s
cann
ing
time
Mea
sure
men
t exa
mpl
e: T
rans
fer
of 1
6-w
ord
data
(With
dat
a m
atch
ing
chec
k)C
C-L
ink:
262
ms
Bet
wee
n m
ultip
le C
PU
s: 6
3 m
s (A
ppro
x. 4
×)
Num
ber o
f I/O
poi
nts:
819
2/81
92R
emot
e I/O
: 256
/256
CC
-Lin
k (4
sta
tions
, 1×)
: 126
/126
CC
-Lin
k (4
sta
tions
, 8×)
: 894
/894
12
2930
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
Pro
gram
s an
d pa
ram
eter
s ca
n be
edi
ted
from
the
US
B in
terfa
ce o
n th
e fro
nt o
f th
e G
OT
usin
g a
trans
pare
nt fu
nctio
n fo
r im
prov
ed o
pera
bilit
y.
Rob
ot d
ata
on th
e G
OT
can
be b
acke
d up
to a
nd r
esto
red
from
a C
F ca
rd o
r U
SB
mem
ory
stic
k. W
ith n
o ne
ed fo
r a P
C.
This
hel
ps p
reve
nt d
ata
from
bei
ng lo
st d
ue t
o th
e em
pty
batte
ry /
bat
tery
or
robo
t mal
func
tion.
D
ata
can
be s
aved
afte
r pe
riodi
c m
aint
enan
ce t
asks
are
per
form
ed o
r w
hen
unex
pect
ed e
rror
s oc
cur.
Dra
mat
ical
ly im
prov
es s
ervi
ceab
ility
.
Rob
ots
can
be c
ontro
lled
easi
ly u
sing
pro
gram
mab
le c
ontro
ller
lang
uage
. S
yste
m o
pera
tion
can
be c
ontro
lled
usin
g a
sing
le p
rogr
amm
able
con
trolle
r. Th
is e
nabl
es t
he o
pera
tion
of t
he p
rogr
amm
able
con
trolle
r to
han
dle
mak
ing
chan
ges
to s
yste
m s
peci
ficat
ions
and
trou
bles
hoot
ing
dire
ctly.
Enh
ance
d ef
ficie
ncy
of m
onito
ring
and
mai
nten
ance
ope
ratio
ns o
nsite
usi
ng a
si
ngle
GO
T (d
ispl
ay d
evic
e) a
s th
e H
uman
Mac
hine
Inte
rface
(HM
I).
Ena
bles
the
robo
t to
be c
ontro
lled
from
the
GO
T ev
en w
ithou
t a
teac
hing
box
. C
urre
nt ro
bot p
ositi
on d
ata,
err
or in
form
atio
n, a
nd o
ther
item
s ca
n be
dis
play
ed e
asily
on
the
GO
T.
Inte
rnal
robo
t inf
orm
atio
nƔ Ɣ Ɣ Ɣ
Err
or, v
aria
ble,
and
pro
gram
info
rmat
ion
Rob
ot s
tatu
s (C
urre
nt s
peed
, cur
rent
pos
ition
, etc
.)M
aint
enan
ce in
form
atio
n (R
emai
ning
bat
tery
cap
acity
, gre
ase
life,
etc
.)S
ervo
dat
a (L
oad
fact
or, c
urre
nt v
alue
s, e
tc.)
Shar
ed m
emor
y ex
pans
ion
GO
T co
nnec
tion
(tran
spar
ent f
unct
ion)
(For
GO
T100
0 Se
ries)
GO
T ba
ckup
/rest
ore
func
tions
(Sup
port
ed o
n G
T14,
GT1
5 an
d G
T16)
Dire
ct e
xecu
tion
func
tion
for p
rogr
amm
able
con
trol
lers
Bac
kup
Res
tore
Mai
nten
ance
fore
cast
scr
een
Cur
rent
pos
ition
mon
itor s
cree
n J
og/h
and
oper
atio
n sc
reen
Ope
ratio
n pa
nel s
cree
n
Eng
inee
ring
tool
op
erat
ions
per
form
ed
from
the
US
B in
terfa
ce o
n th
e fro
nt o
f the
GO
T
Eng
inee
ring
envi
ronm
ent
[Det
ails
of s
uppo
rted
con
trol
op
erat
ions
]D
etai
ls
Ope
ratio
n
Mot
ion
cont
rol
· Joi
nt-in
terp
olat
ed m
otio
n· L
inea
r-in
terp
olat
ed m
otio
n
· Des
igna
ted
over
ride
· Des
igna
ted
acce
lera
tion/
dec
eler
atio
n se
tting
s· D
esig
nate
d sp
eed
· Too
l set
tings
· Des
igna
ted
auxi
liary
mot
ion
· Ope
ning
/clo
sing
of h
and
No
need
to u
se a
ny
robo
t pro
gram
s!!
Com
man
d nu
mbe
r
Des
tinat
ion
num
ber
Des
igna
ted
optio
n
Sha
red
mem
ory
Rob
ot
Pro
gram
mab
le c
ontro
ller
+R
obot
CP
U
sequ
ence
pro
gram
Cur
rent
val
ue a
nd lo
ad fa
ctor
m
onito
r scr
een
Man
ual/v
ideo
dis
play
men
u
CF
card
The
pers
onal
co
mpu
ter a
nd th
e G
OT
are
conn
ecte
d w
ith a
US
B c
able
or
RS
232
cabl
e
Coo
rdin
ated
con
trol
Red
uces
the
num
ber
of r
ecov
ery
man
-hou
rs r
equi
red
afte
r co
llisi
ons
due
to
teac
hing
ope
ratio
n er
rors
or f
ailu
re to
set
inte
rlock
s
Ena
bles
coo
rdin
ated
con
trol b
etw
een
mul
tiple
rob
ots
thro
ugh
CP
U c
onne
ctio
n be
twee
n th
e ro
bots
. E
asy
to o
pera
te a
nd u
se u
nder
nor
mal
ope
ratio
n th
roug
h in
divi
dual
robo
t ope
ratio
n.
Ena
bles
tran
spor
t of l
engt
hy o
r he
avy
obje
cts
usin
g m
ultip
le s
mal
l-siz
ed r
obot
s in
stea
d of
larg
er o
nes.
Col
lisio
n A
void
ance
For a
utom
atic
pre
vent
ion
of c
ollis
ions
bet
wee
n ro
bots
Dec
reas
es d
ownt
ime
durin
g st
artu
p op
erat
ion
Coo
rdin
ated
con
trol
bet
wee
n m
ultip
le ro
bots
Coo
rdin
ated
tran
spor
t
The
softw
are
cons
tant
ly m
onito
rs r
obot
s m
otio
n, p
redi
cts
colli
sion
s be
fore
they
oc
cur,
and
imm
edia
tely
sto
ps t
he r
obot
s. T
his
avoi
ds d
amag
e to
the
rob
ot
durin
g bo
th t
he J
OG
ope
ratio
ns a
nd a
utom
atic
mod
e op
erat
ions
. A
lso,
thi
s en
able
s th
e nu
mbe
r of i
nter
lock
s ne
eded
to p
reve
nt c
ollis
ions
bet
wee
n ro
bots
to
be re
duce
d. (A
larm
shu
tdow
n)
[Q ty
pe c
ontro
llers
onl
y]
[Q ty
pe c
ontro
llers
onl
y]
Che
ckin
g in
terfe
renc
e us
ing
the
robo
t w
ith a
def
ined
sol
id m
odel
Ena
bles
inst
alla
tion
wor
k to
be
com
plet
ed w
hile
grip
per
posi
tions
bet
wee
n ro
bots
are
mai
ntai
ned.
12
3132
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
1S-G
R35
S-0
2-
--
--
Stra
ight
cab
le fo
r 4-s
olen
oid
valv
e sy
stem
s, to
tal l
engt
h of
450
mm
, with
a ro
bot
conn
ecto
r on
one
side
and
unt
erm
inat
ed o
n th
e ot
her s
ide
--
-ż
Inte
rnal
wiri
ng a
nd
pipi
ng s
et fo
r han
d
Ext
erna
l use
r wiri
ng
and
pipi
ng b
ox
Inte
rnal
wiri
ng a
nd
pipi
ng s
et fo
r han
d
Ext
erna
l use
r wiri
ng
and
pipi
ng b
ox
PULL
MIT
SU
BIS
HI
ME
LS
EC
Q6x
PPO
WE
RQ
01C
PU RUN
ERR
PUL
Lź ź
RS-
232
Q41
X
RUN
STO
P
Q17
2DR
CPU SW
EM
I
DISPLAY I/F TU I/F
CN1 CN2
Syst
em C
onfig
urat
ion
Syst
em C
onfig
urat
ion
Syst
em C
onfig
urat
ion
iQ P
latfo
rm
FQ
se
rie
s
FD
se
rie
s
Driv
e un
it
Rob
ot C
PU
Con
trolle
r
Rob
ot
Pul
se e
ncod
er
Ser
vo(M
R-J
4-B
/MR
-J3-
BS
)
Ser
voM
achi
ne c
able
US
B c
able
Eth
erne
t
US
Bco
mm
unic
atio
nA
dditi
onal
ax
is fu
nctio
n
SS
CN
ETI
II
GO
T
Teac
hing
pen
dant
(opt
ion) R
obot
Con
trolle
r
Mac
hine
cab
le
Eth
erne
t
USB
com
mun
icat
ion
Teac
hing
pen
dant
(opt
ion)
Ser
vo
Ser
vo(M
R-J
4-B
/MR
-J3-
BS
)
Pul
se e
ncod
er
GO
T
GO
T
Pro
gram
mab
le
cont
rolle
r
CN
C
Cab
le fo
r rob
ot
CP
U-to
-DU
con
nect
ion
GO
T
CN
C
Han
d cu
rl tu
be
Han
d in
put c
able
Sol
enoi
d va
lve
set
Han
d ou
tput
cab
le
Han
d cu
rl tu
be
Han
d in
put c
able
Sol
enoi
d va
lve
set
Han
d ou
tput
cab
le
ME
LFA
-Wor
ksR
T To
olB
ox2
ME
LFA
-Wor
ksR
T To
olB
ox2
<Sta
ndar
d de
vice
s>
<Equ
ipm
ent u
sed
for s
tand
ard
conf
igur
atio
n>
Ext
erna
l I/O
ca
ble
Rem
ote
para
llel
I/O u
nit
On-
boar
d pa
ralle
l I/O
inte
rface
CC
-Lin
k in
terfa
ce
Ext
erna
l I/O
ca
ble
<Rob
ot a
rm o
ptio
ns>
Forc
e se
nsor
set
<Fea
ture
opt
ions
>
Inse
rt
IQ P
latfo
rm-c
ompa
tible
pr
ogra
mm
able
con
trolle
r
<Sof
twar
e op
tions
>
Enco
der
inte
rface
Q17
3DPX
Visi
on s
yste
m
Enco
der
inte
rface
Addi
tiona
l-axi
s in
terfa
ce
Visi
on s
yste
m
Net
wor
k ba
se c
ard
(Eth
erN
et/IP
)
<Con
trolle
r opt
ions
>
<Rob
ot a
rm o
ptio
ns>
<Sof
twar
e op
tions
>
US
B c
able
SS
CN
ETI
II
Con
figur
atio
ns O
ptio
nsC
onfig
urat
ions
opt
ions
Cla
ssifi
catio
nN
ame
Type
RV
RH
Func
tiona
l spe
cific
atio
ns
1E-V
D0Ƒ
(Sin
k)1E
-VD
0ƑE
(Sou
rce)
6FH
3FH
R3F
H2F
12FH
20FH
7F 7FL
4F 4FL
1 to
2 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1 o
r 2 v
alve
s) O
utpu
t: 䃥
4
Wiri
ng a
nd p
ipin
g se
t for
inte
rnal
mou
ntin
g in
the
tip a
xis
(Com
patib
le w
ith 8
inpu
t poi
nts
for h
and
syst
ems
+ 䃥
6-2
sole
noid
val
ve s
yste
ms)
For
350
mm
Z-a
xis
stro
keW
iring
and
pip
ing
set f
or in
tern
al m
ount
ing
in th
e tip
axi
s (C
ompa
tible
with
8 in
put p
oint
s fo
r han
d sy
stem
s + 䃥
6-2
sole
noid
val
ve s
yste
ms)
For
450
mm
Z-a
xis
stro
keW
iring
and
pip
ing
set f
or in
tern
al m
ount
ing
in th
e tip
axi
s (C
ompa
tible
with
8 in
put p
oint
s fo
r han
d sy
stem
s + 䃥
4-4
sole
noid
val
ve s
yste
ms)
For
200
mm
Z-a
xis
stro
keW
iring
and
pip
ing
set f
or in
tern
al m
ount
ing
in th
e tip
axi
s (C
ompa
tible
with
8 in
put p
oint
s fo
r han
d sy
stem
s + 䃥
4-4
sole
noid
val
ve s
yste
ms)
For
340
mm
Z-a
xis
stro
ke
Box
for e
xter
nal w
iring
of u
ser w
iring
(han
d I/O
, han
d tu
be)
Box
for e
xter
nal w
iring
of u
ser w
iring
(han
d I/O
, han
d tu
be)
2m lo
ng c
able
s fo
r sec
urem
ent p
urpo
ses
(2-w
ire s
et w
ith p
ower
sup
ply
and
sign
al)
2m lo
ng c
able
s fo
r sec
urem
ent p
urpo
ses
(2-w
ire s
et w
ith p
ower
sup
ply
and
sign
al)
Exch
ange ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)Ex
tent
ion
type
, ext
ende
d le
ngth
5m
, 10m
, 15m
(2w
ires
set w
ith p
ower
and
sig
nal w
ires)
ƑƑ in
dica
tes
the
leng
th o
f cab
les
(5, 1
0, 1
5m)
Exte
ntio
n ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)
Exte
ntio
n ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)Ex
chan
ge ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)Ex
chan
ge ty
pe, e
xten
ded
leng
th 1
0m, 1
5m, 2
0m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (1
0, 1
5, 2
0m)
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
Han
d ou
tput
cab
le
Han
d in
put c
able
Han
d (c
url)
tube
Han
d tu
be
For d
etai
ls, r
efer
to th
e sp
ecifi
catio
ns s
heet
s.
--
1F-V
D0Ƒ
-02
(Sin
k)1F
-VD
0ƑE
-02
(Sou
rce)
--
1F-G
R60
S-0
1ż
ż-
-
1S-H
C30
C-1
1-
-1F
-HC
35S
-02
--
1F-H
S60
4S-0
1
Inte
rnal
wiri
ng a
nd p
ipin
g se
t fo
r han
d
ż-
1F-H
S60
4S-0
2ż
-1F
-HS
408S
-01
-ż
1F-H
S40
8S-0
2-
ż1F
-HS
304S
-01
Ext
erna
l use
r wiri
ng a
nd
pipi
ng b
ox
Mac
hine
cab
le (r
epla
cem
ent
for s
horte
r 2m
type
) (*1
)
--
1F-U
T-B
OX
-ż
1F-U
T-B
OX
-01
ż-
1S-0
2UC
BL-
01ż
ż1F
-02U
CB
L-01
-1S
-ƑƑC
BL-
11M
achi
ne c
able
,fo
r ext
ensi
on/fi
xed
CR
-750
Mac
hine
cab
le,
for e
xten
sion
/flex
ible
CR
-750
--
1S-ƑƑC
BL-
01ż
ż1S
-ƑƑC
BL-
03-
-
1S-ƑƑL
CB
L-03
--
1F-ƑƑL
UC
BL-
11-
-1F
-ƑƑL
UC
BL-
02ż
ż
1F-D
H-0
2
Sto
pper
for c
hang
ing
the
J1-a
xis
oper
atin
g ra
nge
ż-
1S-D
H-0
1-
ż
- - ż - - -
ż-
- - - - ż ż - - ż - - ż ż - ż - ż
Rob
ot a
rm
Not
e 1)
Thi
s is
a s
peci
al s
peci
ficat
ion
for s
hipp
ing.
Inqu
ire fo
r del
iver
y an
d pr
ices
.
1E-S
T040
8C-3
00
1N-S
T060ƑC
-01
-ż
ż
Sol
enoi
d va
lve
set
Stra
ight
cab
le fo
r 4-s
olen
oid
valv
e sy
stem
s, to
tal l
engt
h of
105
0 m
m, w
ith a
robo
t con
nect
oron
one
sid
e an
d un
term
inat
ed o
n th
e ot
her s
ide,
equ
ippe
d w
ith a
spl
ash-
proo
f gro
mm
et
Com
patib
ility
with
䃥4-
4 so
leno
id v
alve
sys
tem
s (L
= 3
00 m
m)
Wiri
ng a
nd p
ipin
g se
t for
inte
rnal
mou
ntin
g in
the
tip a
xis
(Com
patib
le w
ith 4
inpu
t poi
nts
for h
and
syst
ems
+䃥3-
2sol
enoi
d va
lve
syst
ems)
䃥6:
1 to
4 v
alve
s (L
= 6
00 m
m) Ƒ
indi
cate
s th
e nu
mbe
r of s
olen
oid
valv
es (2
, 4, 6
, 8).
4-po
int t
ype,
with
a ro
bot c
onne
ctor
on
one
side
and
unt
erm
inat
ed o
n th
e ot
her s
ide
8-po
int t
ype,
tota
l len
gth
of 1
000
mm
, w
ith a
robo
t con
nect
or o
n on
e si
de a
nd
unte
rmin
ated
on
the
othe
r sid
e
1 to
4 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1, 2
, 3, o
r 4 v
alve
s) O
utpu
t: 䃥
4
1F-V
D0Ƒ
-01
(Sin
k)1F
-VD
0ƑE
-01
(Sou
rce)
1S-V
D0Ƒ
-01
(Sin
k)1S
-VD
0ƑE
-01
(Sou
rce)
ż-
--
żż
1 to
4 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1, 2
, 3, o
r 4 v
alve
s) O
utpu
t: 䃥
41
to 4
val
ves,
with
sol
enoi
d va
lve
outp
ut c
able
.Ƒ
indi
cate
s th
e nu
mbe
r of s
olen
oid
valv
es (1
, 2, 3
, or 4
val
ves)
Out
put: 䃥
6
-ż
ż-
--
ż-
--
--
-1F
-GR
35S
-02
--
żż
-S
traig
ht c
able
for 4
-sol
enoi
d va
lve
syst
ems,
tota
l len
gth
of 3
00 m
m, w
ith a
robo
t co
nnec
tor o
n on
e si
de a
nd u
nter
min
ated
on
the
othe
r sid
e-
1E-G
R35
S-
--
--
Stra
ight
cab
le fo
r 2-s
olen
oid
valv
e sy
stem
s, to
tal l
engt
h of
300
mm
, with
a ro
bot
conn
ecto
r on
one
side
and
unt
erm
inat
ed o
n th
e ot
her s
ide
ż
--
żż
ż-
-ż
ż-
--
1F-H
C35
C-0
18-
poin
t typ
e, to
tal l
engt
h of
165
0 m
m (i
nclu
des
a 35
0-m
m-lo
ng c
urle
d se
ctio
n), w
ith a
robo
tco
nnec
tor o
n on
e sid
e an
d un
term
inat
ed o
n th
e ot
her s
ide,
equ
ippe
d wi
th a
spl
ash-
proo
f gro
mm
et
ż-
--
--
1F-H
C35
C-0
28-
poin
t typ
e, to
tal l
engt
h of
180
0 m
m (i
nclu
des
a 35
0-m
m-lo
ng c
urle
d se
ctio
n), w
ith a
robo
tco
nnec
tor o
n on
e sid
e an
d un
term
inat
ed o
n th
e ot
her s
ide,
equ
ippe
d wi
th a
spl
ash-
proo
f gro
mm
et
1E-S
T040ƑC
--
-䃥
4: 1
to 4
val
ves
(L =
300
mm
) Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(2, 4
, 6, 8
). 2
or 4
val
ves
for R
V-2F
. ż
żż
--
--
--
--
--
--
--
--
--
--
--
--
--
-ż
ż-
--
--
-ż
żż
--
--
--
--
-ż
żż
-
--
--
--
--
-ż
ż-
1F-H
B01
S-0
1U
sed
for t
he fo
rear
m. E
xter
nal w
iring
box
use
d fo
r con
nect
ing
the
hand
inpu
t cab
le,
the
Eth
erne
t cab
le, a
nd th
e el
ectri
cal h
and
and
forc
e se
nsor
cab
le.
Ext
erna
l wiri
ng s
et 1
fo
r the
fore
arm
--
-ż
ż-
1F-H
B02
S-0
1U
sed
for t
he fo
rear
m. E
xter
nal w
iring
box
use
d fo
r con
nect
ing
the
forc
e se
nsor
, th
e el
ectri
cal h
and,
and
the
Eth
erne
t cab
le.
Ext
erna
l wiri
ng s
et 2
fo
r the
fore
arm
--
-ż
ż-
1F-H
A01
S-0
1U
sed
for t
he b
ase.
Ext
erna
l wiri
ng b
ox u
sed
for c
onne
ctin
g th
e co
mm
unic
atio
ns o
utpu
t for
th
e el
ectri
cal h
and,
the
elec
trica
l han
d an
d fo
rce
sens
or c
able
, and
the
Ethe
rnet
cab
le.
Ther
e ar
e h
and
inpu
t con
nect
ion
avai
labl
e.
Ext
erna
l wiri
ng s
et 1
fo
r the
bas
e
--
-ż
ż-
1F-H
A02
S-0
1U
sed
for t
he b
ase.
Ext
erna
l wiri
ng b
ox u
sed
for c
onne
ctin
g th
e co
mm
unic
atio
ns o
utpu
t for
th
e el
ectri
cal h
and,
the
elec
trica
l han
d, th
e fo
rce
sens
or c
able
, and
the
Ethe
rnet
cab
le.
No
hand
inpu
t con
nect
ion
avai
labl
e.
Ext
erna
l wiri
ng s
et 2
fo
r the
bas
e
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1S-D
H-1
1J1
--
--
-S
topp
er fo
r mak
ing
chan
ges,
inst
alle
d by
cus
tom
er1F
-DH
-04
--
-ż
--
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1F-D
H-0
3-
--
-ż
-
13F
13FL
20F - - - - ż - - - - - - - ż - ż - - - - -ż-- - ż- - - - ż ż ż ż ż - -
7FLL - ż - - ż - - - - - - - ż - ż - - - ż - ---- - ż- - - ż ż ż ż ż ż - -
1F-V
D0Ƒ
-03
(Sin
k)1F
-VD
0ƑE
-03
(Sou
rce)
1 to
4 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1, 2
, 3, o
r 4 v
alve
s) O
utpu
t: 䃥
6
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
(Com
patib
le w
ith th
e R
V-7F
LL.)
-1F
-DH
-05J
1
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1S-D
H-1
1J2
--
--
-ż
--
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1S-D
H-1
1J3
--
--
-ż
--
Sto
pper
for c
hang
ing
the
J2-a
xis
oper
atin
g ra
nge
Sto
pper
for c
hang
ing
the
J3-a
xis
oper
atin
g ra
nge
--
--
--
ż-
--
-
--
--
-ż
--
Exch
ange ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)1F
-ƑƑU
CB
L-11
--
--
-ż
--
Exch
ange ty
pe, e
xten
ded
leng
th 1
0m, 1
5m, 2
0m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (1
0, 1
5, 2
0m)
1F-ƑƑU
CB
L-02
żż
żż
ż-
żEx
chan
ge ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)1S
-ƑƑL
CB
L-11
--
--
-ż
--
Exte
ntio
n ty
pe, e
xten
ded
leng
th 5
m, 1
0m, 1
5m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (5
, 10,
15m
)1S
-ƑƑL
CB
L-01
ż
- - - - - - - - - - - - ż - ż - - - ż - -S
topp
er fo
r mak
ing
chan
ges,
inst
alle
d by
cus
tom
er1S
-DH
-05J
1-
--
--
--
-ż-
--
-1S
-ST0
304S
䃥3:
2 v
alve
s (M
axim
um u
sabl
e le
ngth
: 400
mm
)-
--
--
ż-- -1S
-VD
04-0
5 (S
ink)
1S-V
D04
E-0
5 (S
ourc
e)1S
-VD
04W
-05
(Sin
k)1S
-VD
04W
E-05
(Sou
rce)
4 va
lves
, with
sol
enoi
d va
lve
outp
ut c
able
. Out
put: 䃥
4 (S
tand
ard)
4 va
lves
, with
sol
enoi
d va
lve
outp
ut c
able
. Out
put: 䃥
4 (w
ater
pro
of/c
lean
)
--
--
--
--
--
--
- -- -
ż ż -- - --
--
--
-1S
-HC
00S
-01
4-po
int t
ype,
tota
l len
gth
of 1
210
mm
, w
ith a
robo
t con
nect
or o
n on
e si
de a
nd
unte
rmin
ated
on
the
othe
r sid
e-
-ż - - - - - - - - -
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1S-D
H-0
5J2
--
--
--
--
ż -- - -- ż - żż
-ż
ż-
żż
Mac
hine
cab
le,
for e
xten
sion
/fixe
d C
R-7
51
Mac
hine
cab
le,
for e
xten
sion
/flex
ible
CR
-751
ż ż
Forc
e se
nsor
set
<Fea
ture
opt
ions
>
12
3334
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
Cla
ssifi
catio
nN
ame
Type
CR
750
CR
751
Fu
nctio
nal s
peci
ficat
ions
R32
TB(-
**)
Sta
ndar
d te
achi
ng p
enda
nt (7
m, 1
5m)
7 m
: Sta
ndar
d, 1
5 m
: Cus
tom
("-1
5" is
incl
uded
in th
e m
odel
nam
e) F
or c
ontro
ller C
R-7
50-*
ż-
R56
TB(-
**)
Hig
h-fu
nctio
n te
achi
ng p
enda
nt (7
m, 1
5 m
)
Hig
h-fu
nctio
n te
achi
ng p
enda
nt (7
m, 1
5 m
)
7 m
: Sta
ndar
d, 1
5 m
: Cus
tom
("-1
5" is
incl
uded
in th
e m
odel
nam
e) F
or c
ontro
ller C
R-7
50-*
ż-
2D-T
Z368
2D-T
Z378
Sta
ndar
d te
achi
ng p
enda
nt (7
m, 1
5m)
-ż
On-b
oard
Par
allel
I/O in
terfac
e (Ins
talled
inter
nally
) (
Sink
type
)(S
ource
type
)-
-R
emot
e P
aral
lel I
/O c
able
(5m
, 15m
)
Rem
ote
Par
alle
l I/O
cab
le (5
m, 1
5m)
2D-C
BL*
*
CC
-Lin
k in
terfa
ceC
C-L
ink
Inte
llige
nt d
evic
e st
atio
n, V
er. 2
.0, 1
to 4
sta
tions
--
2D-T
Z576
32 o
utpu
t poi
nts/
32
inpu
t poi
nts
--
2D-T
Z535
Net
wor
k ba
se c
ard
Com
mun
icat
ions
inte
rface
for a
ttach
ing
to A
nybu
s-C
ompa
ctC
om m
odul
es m
anuf
actu
red
by H
MS
Acce
pts
Ethe
rNet
/IP a
nd P
RO
FIN
ET
IO m
odul
es (*
1)-
-Fo
rce
sens
or s
etż
żTe
rmin
al b
lock
repl
acem
ent t
ool f
or th
e us
er w
iring
Term
inal
blo
ck re
plac
emen
t too
l for
the
wiri
ng fo
r the
ext
erna
l inp
ut/o
utpu
t, su
ch a
s em
erge
ncy
inpu
t/out
put,
door
sw
itch
inpu
t, an
d en
ablin
g de
vice
inpu
tż
ż2F
-CN
US
R01
M
Per
sona
l com
pute
r sup
port
softw
are
With
sim
ulat
ion
func
tion
(CD
-RO
M)
3D-1
1C-W
INE
Per
sona
l com
pute
r sup
port
softw
are
-min
iS
impl
e ve
rsio
n (C
D-R
OM
)
żż
3D-1
2C-W
INE
żż
3F-2
1D-W
INE
Sim
ulat
or (M
ELF
A-W
orks
)La
yout
stu
dy/T
akt t
ime
stud
y/P
rogr
am d
ebug
. Add
-in s
oftw
are
for S
olid
wor
ks®
(*2)
ż
ż
Con
trol
ler
*1: C
usto
mer
nee
d to
pre
pare
the
Eth
erN
et/IP
(HM
S) m
odul
e (A
B63
14-B
) and
PR
OFI
NE
T IO
(AB
6489
-B) t
hem
selv
es.
*2: S
olid
Wor
ks®
is a
regi
ster
ed tr
adem
ark
of S
olid
Wor
ks C
orpo
ratio
n (U
SA
).2A-R
Z361
2A-R
Z371
On-
boar
d P
aral
lel I
/O in
terfa
ce
(
Sin
k ty
pe)
(Sou
rce
type
)-
-2A
-CB
L**
CB
L05:
5 m
, CB
L15:
15
m, n
ot te
rmin
ated
at o
ne e
nd. F
or 2
A-R
Z361
/371
.
CB
L05:
5 m
, CB
L15:
15
m, n
ot te
rmin
ated
at o
ne e
nd. F
or 2
D-T
Z368
/378
.
-
ż ż - ż ż ż ż ż ż ż ż żż ż-
- - ż-
ż-
ż ż ż ż ż ż ż ż
Con
trolle
r pro
tect
ion
box
With
a b
uilt-
in C
R75
1-D
/Q fo
r im
prov
ed d
ust-p
roof
ing
to IP
54 (d
edic
ated
CR
751)
C
R75
1-M
B-
ż-
żW
ith a
bui
lt-in
CR
750-
D/Q
for i
mpr
oved
dus
t-pro
ofin
g to
IP54
(ded
icat
ed C
R75
0)
CR
750-
MB
ż-
ż- ż żż ż
32 o
utpu
t poi
nts/
32
inpu
t poi
nts
Q ty
peD
type
7 m
: Sta
ndar
d, 1
5 m
: Cus
tom
("-1
5" is
incl
uded
in th
e m
odel
nam
e) F
or c
ontro
ller C
R-7
51-*
7 m
: Sta
ndar
d, 1
5 m
: Cus
tom
("-1
5" is
incl
uded
in th
e m
odel
nam
e) F
or c
ontro
ller C
R-7
51-*
R33
TB(-
**)
R57
TB(-
**)
Q ty
peD
type
Set o
f dev
ices
requ
ired
for t
he fo
rce
cont
rol f
unct
ion
incl
udin
g a
forc
e se
nsor
and
inte
rface
uni
t4F
-FS
001-
W20
0
2F32
CO
N03
MC
onve
rsio
n ca
ble
for t
he te
achi
ng b
ox-
ż-
żC
onve
rsio
n ca
ble
used
to c
onne
ct th
e R
32TB
to th
e C
R-7
51 c
ontro
ller.
Cab
le le
ngth
: 3 m
.
Opt
ions
*1: U
sers
mus
t pro
vide
the
sole
noid
val
ves
for I
nter
nal w
iring
mod
el a
ir-ha
nds.
*2: U
sers
mus
t pro
vide
sol
enoi
d va
lves
and
hos
es/in
put c
able
s as
nee
ded
for E
xter
nal w
iring
mod
el a
ir-ha
nds.
*3: T
he e
xter
nal w
iring
set
for t
he b
ase
is p
rovi
ded
for m
odel
s w
ith In
tern
al w
iring
and
hos
es.
Han
d co
nfig
urat
ion
Wiri
ng fo
rmat
• Air-
hand
+
Han
d in
put s
igna
lIn
terio
r equ
ipm
ent
• Air-
hand
+
Han
d in
put s
igna
l• V
isio
n se
nsor
• Air-
hand
+
Han
d in
put s
igna
l• V
isio
n se
nsor
• For
ce s
enso
r
Inte
rior e
quip
men
t(A
ir ho
ses
are
part
of
exte
rior e
quip
men
t)E
nd th
e co
nnec
tion
Rob
ot
spec
ifica
tions
Ext
erna
l wiri
ng s
et
for t
he fo
rear
mE
xter
nal w
iring
set
fo
r the
bas
e (*
3)
Req
uire
d de
vice
Com
men
ts
-SH
01
Sta
ndar
d
1F-H
B01
S-0
1 (*
2)
Air
hose
s: U
p to
2 s
yste
ms
(4 m
m d
iam
eter
x 4
); 8
inpu
t sig
nals
Ext
erio
r equ
ipm
ent
— (*
1)
— (*
2)
— (*
1)
— —A
ir ho
ses:
Up
to 4
sys
tem
s (4
mm
dia
met
er x
8) a
re p
ossi
ble.
Inte
rior e
quip
men
t
Ext
erio
r equ
ipm
ent
-SH
05
Sta
ndar
d
(1F-
HA
01S
-01)
1F-H
A01
S-0
1
• Air-
hand
+
Han
d in
put s
igna
l• F
orce
sen
sor
Inte
rior e
quip
men
t
Ext
erio
r equ
ipm
ent
Air
hose
s: U
p to
1 s
yste
ms
(4 m
m d
iam
eter
x 2
); 8
inpu
t sig
nals
Air
hose
s: U
p to
4 s
yste
ms
(4 m
m d
iam
eter
x 8
) are
pos
sibl
e.
-SH
04
Sta
ndar
d
— (*
1)
1F-H
B01
S-0
1 (*
2)
(1F-
HA
01S
-01)
1F-H
A01
S-0
1
Air
hose
s: U
p to
1 s
yste
ms
(4 m
m d
iam
eter
x 2
); 8
inpu
t sig
nals
Air
hose
s: U
p to
4 s
yste
ms
(4 m
m d
iam
eter
x 8
) are
pos
sibl
e.
-SH
02
Sta
ndar
d
— (*
1)
1F-H
B01
S-0
1
(1F-
HA
01S
-01)
1F-H
A01
S-0
1
Air
hose
s ar
e ex
terio
r equ
ipm
ent:
4 sy
stem
s (4
mm
dia
met
er x
8)
Air
hose
s: U
p to
4 s
yste
ms
(4 m
m d
iam
eter
x 8
) are
pos
sibl
e.
Mod
els
with
Inte
rnal
wiri
ng a
nd h
oses
Dev
ices
sup
porti
ng in
terio
r hos
esM
odel
(spe
cial
dev
ice
num
ber)
Air
4 m
m d
iam
eter
(×4/
×2)
ż (×
4)H
and
inpu
ts (×
8)ż
Eth
erne
t (V
isio
n se
nsor
)—
—
Forc
e se
nsor
-SH
01-S
H02
-SH
04-S
H05
— ż ż ż
żż ż
ż—
—
ż (×
2)ż
(×2)
For m
odel
s w
ith In
tern
al w
iring
and
hos
es
For e
xter
nal w
iring
Mac
hine
cab
le
Ext
erna
l wiri
ng s
et
for t
he b
ase
Rob
ot
Ext
erna
l wiri
ng s
et fo
r the
fore
arm
On
mod
els
with
inte
rior e
quip
men
t, th
e le
ngth
of e
ach
exte
rnal
ly
conn
ecte
d ai
r tub
e an
d ca
ble
is 1
50
mm
, and
cab
les
have
con
nect
ors.
RV-
4F/R
V-7F
/13F
/20F
Ser
ies
Tool
ing
devi
ce c
onfig
urat
ion
Con
figur
atio
ns o
ptio
ns (-
SE01
)
Cla
ssifi
catio
nN
ame
Type
RV
RH
Func
tiona
l spe
cific
atio
ns
1F-V
D0Ƒ
-04(
Sin
k)1F
-VD
0ƑE
-04
(Sou
rce)
6FH
12FH
20FH
7F 7FL
4F 4FL
SE01
SE01
SE01
SE01
SE01
SE01
1 to
4 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1, 2
, 3, o
r 4 v
alve
s) O
utpu
t: 䃥
4
Box
for e
xter
nal w
iring
of u
ser w
iring
(han
d I/O
, han
d tu
be)
Box
for e
xter
nal w
iring
of u
ser w
iring
(han
d I/O
, han
d tu
be)
Exch
ange ty
pe, e
xten
ded
leng
th 1
0m, 1
5m, 2
0m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (1
0, 1
5, 2
0m)
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
The
follo
win
g op
tions
are
ded
icat
ed fo
r the
env
ironm
enta
lly-r
esis
tant
mod
els
(Che
mic
al-r
esis
tant
sp
ecifi
catio
n: -S
E01
). Fo
r oth
er m
odel
s, re
fer t
o th
e op
tions
for t
he s
tand
ard
mod
els.
-1F
-VD
0Ƒ-0
5 (S
ink)
1F-V
D0Ƒ
E-0
5 (S
ourc
e)-
Ext
erna
l use
r wiri
ng a
nd
pipi
ng b
ox1F
-UT-
BO
X-0
4-
ż1F
-UT-
BO
X-0
3ż
-
1F-ƑƑL
UC
BL-
03ż
1F-D
H-0
8S
topp
er fo
r cha
ngin
gth
e J1
-axi
s op
erat
ing
rang
eż
-1F
-DH
-09
-ż- - ż
Rob
ot a
rm
Sol
enoi
d va
lve
set
1 to
4 v
alve
s, w
ith s
olen
oid
valv
e ou
tput
cab
le.
Ƒ in
dica
tes
the
num
ber o
f sol
enoi
d va
lves
(1, 2
, 3, o
r 4 v
alve
s) O
utpu
t: 䃥
6
żż
--
--
--
--
żż
--
--
--
żż
1F-H
B01
S-0
1U
sed
for t
he fo
rear
m. E
xter
nal w
iring
box
use
d fo
r con
nect
ing
the
hand
inpu
t cab
le,
the
Eth
erne
t cab
le, a
nd th
e el
ectri
cal h
and
and
forc
e se
nsor
cab
le.
Ext
erna
l wiri
ng s
et 1
fo
r the
fore
arm
--
żż
1F-H
B02
S-0
1U
sed
for t
he fo
rear
m. E
xter
nal w
iring
box
use
d fo
r con
nect
ing
the
forc
e se
nsor
, th
e el
ectri
cal h
and,
and
the
Eth
erne
t cab
le.
Ext
erna
l wiri
ng s
et 2
fo
r the
fore
arm
--
żż
1F-H
A01
S-0
1U
sed
for t
he b
ase.
Ext
erna
l wiri
ng b
ox u
sed
for c
onne
ctin
g th
e co
mm
unic
atio
ns o
utpu
t for
th
e el
ectri
cal h
and,
the
elec
trica
l han
d an
d fo
rce
sens
or c
able
, and
the
Ethe
rnet
cab
le.
Ther
e ar
e h
and
inpu
t con
nect
ion
avai
labl
e.
Ext
erna
l wiri
ng s
et 1
fo
r the
bas
e
--
żż
1F-H
A02
S-0
1U
sed
for t
he b
ase.
Ext
erna
l wiri
ng b
ox u
sed
for c
onne
ctin
g th
e co
mm
unic
atio
ns o
utpu
t for
th
e el
ectri
cal h
and,
the
elec
trica
l han
d, th
e fo
rce
sens
or c
able
, and
the
Ethe
rnet
cab
le.
No
hand
inpu
t con
nect
ion
avai
labl
e.
Ext
erna
l wiri
ng s
et 2
fo
r the
bas
e
Sto
pper
for m
akin
g ch
ange
s, in
stal
led
by c
usto
mer
1F-D
H-0
6-
-ż
-S
topp
er fo
r mak
ing
chan
ges,
inst
alle
d by
cus
tom
er1F
-DH
-07
--
ż-
13F
13FL
20F - ż
7FLL ż -
- -
żż ż ż ż
Exch
ange ty
pe, e
xten
ded
leng
th 1
0m, 1
5m, 2
0m (2
wire
s se
t with
pow
er a
nd s
igna
l wire
s)ƑƑ
indi
cate
s th
e le
ngth
of c
able
s (1
0, 1
5, 2
0m)
1F-ƑƑU
CB
L-03
żż
żż
ż
- -S
topp
er fo
r mak
ing
chan
ges,
inst
alle
d by
cus
tom
er1F
-DH
-10
-
ż -- - --
--
ż- - - - - -
Mac
hine
cab
le,
for e
xten
sion
/fixe
d C
R-7
51M
achi
ne c
able
,fo
r ext
ensi
on/fl
exib
leC
R-7
51
ż ż
12
3536
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
RV
ser
ies
Tool
ing
(air-
hand
) : E
xter
nal w
iring
RV
ser
ies
Tool
ing
(air-
hand
) : In
tern
al w
iring
Sol
enoi
d va
lve
1 to
4 li
nes
Han
d cu
rl tu
be
(Can
be
prov
ided
by
the
user
.)
Ext
erna
l wiri
ng B
OX
(Sta
ndar
d su
pplie
d)
Han
d in
put c
able
Air
hose
s䃥
6×2
Han
d in
put s
igna
l8
poin
ts
Eth
erne
t cab
le
Sig
nal c
able
for t
he
mul
ti-fu
nctio
n ha
nd
Sol
enoi
d va
lve
1 to
4 li
nes
Inte
rnal
wiri
ng m
odel
s (m
odel
s en
ding
in ‘-
SH
01’)
Ext
erna
l wiri
ng B
OX
(Sta
ndar
d su
pplie
d)
Air
hose
sH
and
inpu
t sig
nal
Air
hose
s䃥
6×2
Han
d in
put s
igna
l8
poin
ts
Eth
erne
t cab
le
Sig
nal c
able
for t
he
mul
ti-fu
nctio
n ha
nd
Opt
ions
Eas
y op
erat
ion
on W
indo
ws®
.C
ompa
tible
with
Win
dow
s® 2
000,
Win
dow
s® X
P, W
indo
ws®
Vis
ta,
and
Win
dow
s® 7
(32-
bit V
er. 1
.8 o
r lat
er, 6
4-bi
t Ver
. 2.0
or l
ater
).
Win
dow
s®-c
ompa
tible
This
fun
ctio
n is
com
patib
le w
ith a
ll m
odel
s th
at c
onne
ct t
o C
Rn-
500
serie
s an
d C
Rn-
700
cont
rolle
rs.
Rob
ots
can
be o
pera
ted
and
tact
tim
e ca
lcul
ated
usi
ng a
per
sona
l com
pute
r. (N
ot a
vaila
ble
for t
he m
ini v
ersi
on.)
Rob
ot m
ovem
ents
, op
erat
ing
stat
us,
inpu
t si
gnal
s, a
nd s
ervo
sta
tus
can
be
mon
itore
d.
Enh
ance
d si
mul
atio
n fu
nctio
ns
Pro
gram
min
g ca
n be
co
mpl
eted
us
ing
the
ME
LFA
-BA
SIC
IV
/V
and
Mov
emas
ter l
angu
ages
(var
y de
pend
ing
on th
e m
odel
).R
obot
mov
emen
t and
ope
ratin
g st
atus
, inp
ut s
igna
ls, a
nd s
ervo
sta
tus
can
be
mon
itore
d.
Sup
port
for a
ll pr
oces
ses,
from
pro
gram
min
g an
d st
artu
p to
mai
nten
ance
The
softw
are
has
a m
aint
enan
ce fu
nctio
n th
at n
otifi
es th
e op
erat
ers
grea
sing
pe
riods
, bat
tery
life
cyc
les
as w
ell a
s po
sitio
n re
cove
ry s
uppo
rt fu
nctio
n w
hen
troub
le o
ccur
s, e
tc. a
nd is
effe
ctiv
e fo
r pr
even
tativ
e m
aint
enan
ce,
shor
teni
ng
of re
cove
ry ti
me.
Adv
ance
d m
aint
enan
ce fu
nctio
ns
ŶPr
ogra
m e
ditin
g an
d de
bugg
ing
func
tions
Ŷ
Softw
are
for p
rogr
am c
reat
ion
and
tota
l eng
inee
ring
supp
ort.
This
PC
sof
twar
e su
ppor
ts e
very
thin
g fr
om s
yste
m s
tart
up to
deb
uggi
ng, s
imul
atio
n, m
aint
enan
ce a
nd o
pera
tion.
This
incl
udes
pro
gram
min
g an
d ed
iting
, ope
ratio
nal c
heck
ing
befo
re ro
bots
are
inst
alle
d, m
easu
rein
g pr
oces
s ta
ct ti
me,
debu
ggin
g du
ring
robo
t sta
rtup
, mon
itorin
g ro
bot o
pera
tion
afte
r sta
rtup
, and
trou
ble
shoo
ting.
RT
To
olB
ox
2
Offl
ine
robo
t mot
ion
and
tact
tim
e ch
eck
for d
esig
nate
d pa
rts o
f a p
rogr
am.
Cre
atio
n of
pro
gram
s in
ME
LFA
-BA
SIC
IV/V
and
the
Mov
emas
ter l
angu
ages
. *1
Impr
ovem
ent o
f wor
k op
erat
ions
by
a m
ulti-
win
dow
form
at a
nd th
e va
rious
edi
ting
func
tions
. Th
is is
hel
pful
for u
se in
che
ckin
g op
erat
ions
suc
h as
the
exec
utio
n of
pro
gram
ste
ps,
setti
ng o
f bre
akpo
int s
ettin
gs, a
nd o
ther
task
s.
Ŷ
This
is u
sed
to m
onito
r pro
gram
exe
cutio
n st
atus
and
var
iabl
es, i
nput
sig
nals
, etc
.
Thes
e fu
nctio
ns in
clud
e m
aint
enan
ce fo
reca
st, p
ositi
on re
cove
ry s
uppo
rt,
para
met
er m
anag
emen
t, et
c.
Ŷ�
Sim
ulat
ion
func
tions
3D v
iew
er
Mon
itor f
unct
ions
Gra
phic
al re
pres
enta
tion
of a
wor
k al
ong
with
the
dim
ensi
ons,
col
or a
ndot
her s
peci
fied
deta
ils o
f the
wor
k ar
ea to
be
grip
ped.
Mai
nten
ance
func
tions
*1:
ME
LFA
-BA
SIC
is
a pr
ogra
mm
ing
lang
uage
tha
t fu
rther
exp
ands
upo
n an
d de
velo
ps t
he c
omm
ands
nee
ded
for
robo
t co
ntro
l. In
ME
LFA
-BA
SIC
IV
/V,
the
expa
nsio
n of
the
com
man
d as
wel
l as
para
llel p
roce
ssin
g or
stru
ctur
ing
that
wer
e di
fficu
lt to
rea
lize
in B
AS
IC l
angu
age
can
mak
e it
poss
ible
to
oper
ate
ME
LFA
easi
ly.
Add
ition
alfu
nctio
ns
Inpu
t/out
put
Ope
ratio
n-re
late
d
Cla
ssifi
catio
nM
ain
func
tions
Join
t, lin
ear,
and
circ
ular
inte
rpol
atio
n, o
ptim
al a
ccel
erat
ion/
dece
lera
tion
cont
rol,
com
plia
nce
cont
rol,
colli
sion
dete
ctio
n, a
nd s
ingu
lar p
oint
pass
age
Bit/
byte
/wor
d si
gnal
s,in
terr
upt c
ontro
l
Num
eric
alop
erat
ions
Num
eric
al o
pera
tions
, pos
e (p
ositi
on),
char
acte
r stri
ngs,
logi
c op
erat
ions
Mul
ti-ta
skin
g, tr
acki
ng,
and
visi
on s
enso
r fun
ctio
ns
Mov
e th
e ev
asio
n po
int
'Mov
e th
e w
orkp
iece
ex
tract
ion
posi
tion
up'M
ove
the
wor
kpie
ce
extra
ctio
n po
sitio
n'W
ait 0
.2-s
ec. o
n st
andb
y'C
lose
the
hand
'Wai
t 0.2
-sec
. on
stan
dby
'Mov
e th
e w
orkp
iece
ex
tract
ion
posi
tion
up'W
ait f
or a
sig
nal
'Mov
e th
e w
orkp
iece
po
sitio
n up
'Mov
e th
e w
orkp
iece
po
sitio
n'W
ait 0
.2-s
ec. o
n st
andb
y'C
lose
the
hand
Mov
Psa
feM
ov P
get,-
50
Mvs
Pge
t
Dly
0.2
Hcl
ose
1D
ly 0
.2M
vs P
get,-
50
Wai
t M_I
n(12
)=1
Mov
Ppu
t,-80
Mvs
Ppu
t
Dly
0.2
Hop
en 1
····
····
··
<Exa
mpl
e of
a P
ick
& P
lace
pro
gram
>
Type
: 3D
-11C
-WIN
E
*Win
dow
s is
regi
ster
ed tr
adem
arks
of M
icro
soft
Cor
pora
tion
in th
e U
nite
d S
tate
s an
d ot
her c
ount
ries.
12
3738
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
ME
LFA
-Wo
rks
is
an
ad
d-i
n t
oo
l (*
1)
for
So
lid
Wo
rks
(*2
) u
se
d f
or
rob
ot
sim
ula
tio
n i
n p
rod
uc
tio
n s
ys
tem
s
on
PC
's c
on
ve
rtin
g p
roc
es
sin
g p
ath
s o
f w
ork
pie
ce
s i
nto
ro
bo
t p
os
itio
n d
ata
. A
dd
ing
ME
LFA
-Wo
rks
into
...o
n t
he
ro
bo
t s
imu
lati
on
fu
nc
tio
ns
.
Wh
at
is M
EL
FA
-Wo
rks
?
3D
ro
bo
t s
imu
lato
r o
ffe
rin
g p
ow
erf
ul
su
pp
ort
fo
r sy
ste
m d
es
ign
an
dp
reli
min
ary
la
yo
ut.
The
te
achi
ng
posi
tion
data
an
d ro
bot
oper
atio
n pr
ogra
ms
nece
ssar
y fo
r op
erat
ing
robo
ts c
an b
e ge
nera
ted
auto
mat
ical
ly b
y si
mpl
e lo
adin
g of
3D
CA
D
data
(*
3)
for
the
appl
icab
le
wor
ks
into
S
olid
Wor
ks®
an
d th
en
setti
ng
of
proc
essi
ng c
ondi
tions
and
are
as u
sing
ME
LFA
-Wor
ks.
Feat
ures
Aut
omat
ic ro
bot p
rogr
am c
reat
ion
func
tion
Par
t dat
a cr
eate
d in
Sol
idw
orks
® c
an b
e lo
aded
.Th
e po
sitio
ns o
f loa
ded
parts
can
be
rear
rang
ed re
lativ
e to
the
CA
D o
rigin
and
oth
er p
arts
.P
art p
ositi
ons
can
also
be
chan
ged
via
num
eric
al in
put.
List
of f
unct
ions
Lo
ad
ing
of
part
data
fro
m p
eri
ph
era
l d
evic
es a
nd
rearr
an
gem
en
t
Rob
ot m
ovem
ent p
ath
can
be d
ispl
ayed
in th
e ap
plic
atio
n / t
he w
orks
pace
as.
Dis
pla
y o
f th
e r
ob
ot
mo
vem
en
t p
ath
Han
ds d
esig
ned/
crea
ted
in S
olid
Wor
ks®
can
be
inst
alle
d on
rob
ots.
An
ATC
(A
uto
Tool
C
hang
er) c
an a
lso
be s
peci
fied
for e
ach
hand
.
Sim
ulat
ions
of h
and
sign
al c
ontro
l can
be
crea
ted
usin
g a
robo
t pro
gram
to h
andl
e w
orkp
iece
s.
Inte
rfere
nce
betw
een
the
robo
t and
per
iphe
ral d
evic
es c
an b
e ch
ecke
d. A
targ
et o
f int
erfe
renc
e ch
eck
can
be s
peci
fied
by a
sim
ple
mou
se c
lick
it on
the
scr
een.
Inf
orm
atio
n ex
plai
ning
the
co
nditi
on o
f int
erfe
renc
e th
at o
ccur
red
(suc
h as
the
cont
acte
d pa
rt, p
rogr
am li
ne th
at w
as b
eing
ex
ecut
ed w
hen
the
inte
rfere
nce
occu
red,
and
cor
resp
ondi
ng r
obot
pos
ition
) ca
n be
sav
ed t
o a
logf
ile.
Inte
rfere
nce c
hecks
Han
dlin
g o
f w
ork
Insta
llati
on
of
han
ds
Sim
ulat
ed m
ovem
ents
can
be
save
d to
vid
eo fi
les
(AV
I for
mat
).
Savin
g o
f vid
eo
data
Ope
ratio
n da
ta n
eede
d to
per
form
sea
ling
and
othe
r ope
ratio
ns re
quiri
ng m
any
teac
hing
ste
ps a
re e
asily
cr
eate
d. A
ll yo
u ne
ed is
to s
elec
t the
targ
et a
rea
to b
e pr
oces
sed
from
3D
CAD
dat
a. S
ince
ope
ratio
n da
ta
is c
reat
ed fr
om 3
D C
AD s
ourc
e da
ta, c
ompl
ex th
ree-
dim
ensi
onal
cur
ves
can
be re
crea
ted
with
eas
e.
This
lead
s to
sig
nific
ant r
educ
tion
in te
achi
ng ti
me.CA
D lin
k
The
follo
win
g fu
nctio
ns a
re p
rovi
ded
to s
uppo
rt th
e de
bug
of ro
bot p
rogr
ams.
•
Ste
p op
erat
ion
: A s
peci
fied
prog
ram
can
be
exec
uted
ste
p by
ste
p.
• B
reak
poin
t : B
reak
poin
ts c
an b
e se
t in
a sp
ecifi
ed p
rogr
am.
•
Dire
ct e
xecu
tion
: Des
ired
robo
t com
man
ds c
an b
e ex
ecut
ed.
Ro
bo
t p
rog
ram
deb
ug
gin
g f
un
cti
on
s
The
cycl
e tim
e of
robo
t mov
emen
t can
be
mea
sure
d us
ing
an e
asy-
to-u
se fu
nctio
n re
sem
blin
g a
stop
wat
ch. I
t rea
lizes
the
cycl
e tim
e m
easu
rem
ent o
f a s
peci
fied
part
in a
pro
gram
.
Measu
rem
en
t o
f cycle
tim
es
The
robo
t pos
ture
can
be
set u
p on
the
scre
en in
adv
ance
.
Off
lin
e t
each
ing
The
robo
t sho
wn
in S
olid
Wor
ks®
can
be
jogg
ed ju
st li
ke a
real
robo
t.
Jo
g f
un
cti
on
Poi
nt s
eque
nce
data
of C
AD
coo
rdin
ates
cre
ated
by
the
CA
D li
nk fu
nctio
n ca
n be
cor
rect
ed to
ro
bot c
oord
inat
e da
ta.
Ope
ratio
n pr
ogra
ms
and
poin
t seq
uenc
e da
ta c
an a
lso
be tr
ansf
erre
d to
robo
ts.
To p
rovi
de g
reat
er c
onve
nien
ce f
or o
pera
tors
who
per
form
cal
ibra
tion
frequ
ently
on
site
, th
e ca
libra
tion
tool
is p
rovi
ded
as a
n ap
plic
atio
n in
depe
nden
t of M
ELF
A-W
orks
.A
ccor
ding
ly, t
he c
alib
ratio
n to
ol c
an b
e op
erat
ed e
ffect
ivel
y on
a n
oteb
ook
com
pute
r in
whi
ch
Sol
idW
orks
® s
oftw
are
is n
ot in
stal
led
Calib
rati
on
Wor
kflo
w p
roce
sses
can
be
crea
ted
usin
g a
com
bina
tion
of t
he o
fflin
e te
achi
ng a
nd C
AD
link
fu
nctio
ns a
nd th
en c
onve
rted
into
robo
t pro
gram
s. (
ME
LFA
-BA
SIC
IV, V
form
at)
Cre
ati
on
of
rob
ot
pro
gra
ms (
tem
pla
te)
A tra
velin
g ax
is c
an b
e in
stal
led
to a
robo
t to
verif
y th
e op
erat
ion
of th
e sy
stem
equ
ippe
d w
ith th
is.
Tra
velin
g a
xis
Rob
ot p
rogr
ams
can
be u
sed
as is
with
out a
ny m
odifi
catio
ns.
A di
ffere
nt ro
bot p
rogr
am c
an a
lso
be s
peci
fied
for e
ach
task
slo
t.
Assig
nm
en
t o
f ro
bo
t p
rog
ram
s
Rob
ot p
rogr
ams,
inc
ludi
ng I
/O s
igna
ls,
can
be s
imul
ated
.Thi
s m
eans
tha
t m
ovem
ents
of
the
actu
al s
yste
m c
an b
e re
crea
ted
dire
ctly
and
acc
urat
ely.
The
fol
low
ing
two
met
hods
are
pr
ovid
ed to
sim
ulat
e I/O
sig
nals
of y
our r
obot
con
trolle
r.(1
) Cre
ate
sim
ple
defin
ition
s of
ope
ratio
ns a
ssoc
iate
d w
ith I/
O s
igna
ls.
(2) L
ink
I/O s
igna
ls w
ith G
X S
imul
ator
.
Sim
ula
tio
n o
f ro
bo
t o
pera
tio
ns
*1) A
n ad
d-in
tool
is a
sof
twar
e pr
ogra
m th
at a
dds
certa
in fu
nctio
ns to
app
licat
ion
softw
are
pack
ages
. *2
) Sol
idW
orks
® is
a re
gist
ered
trad
emar
k of
Sol
idW
orks
Cor
p, (U
SA
).
*3) F
orm
ats
that
can
be
load
ed in
to S
olid
Wor
ks®
Not
e) C
heck
the
Sol
idW
orks
web
site
and
oth
er p
ublis
hed
docu
men
ts fo
r the
late
st s
peci
ficat
ions
.C
alib
ratio
n to
ol
RT-
Tool
Box
2 (m
ini)
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Wo
rk
sM
EL
FA
-
Sol
idW
orks
®M
ELF
A-W
orks
Op
tio
ns
Fo
rc
e s
en
so
r s
et
Allo
ws
copy
and
fitti
ng w
ork
to b
e co
mpl
eted
in th
e sa
me
way
a p
erso
n w
ould
whi
le th
e fo
rce
appl
ied
to th
e ha
nd is
mon
itore
d.
Ena
bles
nec
essa
ry w
ork
such
as
fine
forc
e ad
just
men
ts a
nd fo
rce
dete
ctio
n to
be
com
plet
ed.
Ena
bles
pa
rts
to
be
inse
rted
or
at
tach
ed
with
out
bein
g da
mag
ed
whi
le
abso
rbin
g sh
ifts
in
posi
tion
due
to
part
va
riatio
ns a
nd e
mul
atin
g th
e sl
ight
am
ount
s of
ext
erna
l fo
rce
appl
ied.
Im
prov
ed o
pera
ting
stab
ility
gai
ned
thro
ugh
posi
tion
latc
hes
and
retry
pro
cess
es w
hen
wor
k op
erat
ions
fai
l. Lo
g da
ta c
an b
e us
ed t
o m
anag
e qu
ality
con
trol
and
ana
lyze
ca
uses
of w
ork
erro
rs a
nd o
ther
issu
es.
Impr
oved
pro
duct
ion
stab
ility
Sim
ple
prog
ram
s ca
n be
cr
eate
d us
ing
spec
ializ
ed
robo
t la
ngua
ge.
Sim
ple
cont
rol
Forc
e de
tect
ion
durin
g co
ntac
t al
low
s op
erat
ing
dire
ctio
ns a
nd
appl
ied
forc
e to
be
chan
ged
and
inte
rrup
ts t
o be
exe
cute
d un
der
trig
ger
cond
ition
s co
mbi
ning
po
sitio
n an
d fo
rce
info
rmat
ion.
Allo
ws
asse
mbl
y of
mor
e co
mpl
icat
ed c
onfig
urat
ions
Wor
k co
nditi
ons
can
be c
heck
ed a
nd a
djus
ted
by v
iew
ing
posi
tion
and
forc
e da
ta f
rom
the
tea
chin
g bo
x an
d gr
aphs
on
RT
Tool
Box
2.
Sim
ple
oper
atio
n Nam
eQ
ty.
Qty
. 1
Qty
. 1
Qty
. 1
Qty
. 1
Qty
. 1
1m 5m 10m
Forc
e se
nsor
Forc
e se
nsor
inte
rface
uni
t
Sen
sor a
dapt
er
Ada
pter
cab
le
24V
DC
pow
er s
uppl
y
24V
DC
pow
er s
uppl
y ca
ble
Ser
ial c
able
bet
wee
n th
e un
it an
d se
nsor
SS
CN
ET
III c
able
Feat
ures
Item
For
ceco
ntro
l
Forc
e co
ntro
l
Stiffn
ess c
ontro
l
Gain
chan
ges
Exec
ution
of in
terru
pts
Data
latch
Data
refe
renc
e
Sync
hron
ous d
ata
Star
t/sto
p tri
gger
FTP
trans
miss
ion
Forc
e se
nse
cont
rol
Forc
e se
nse
mon
itor
Teac
hing
posit
ion se
arch
Para
meter
settin
g scre
en
Func
tion
for c
ontro
lling
robo
ts wh
ile a
pplyi
ng a
spec
ified
forc
e
Func
tion
for c
ontro
lling
the
stiffn
ess o
f rob
ot a
ppen
dage
s
Func
tion
for c
hang
ing co
ntro
l cha
racte
ristic
s whil
e th
e ro
bot is
runn
ing
Inte
rrupt
s can
be
exec
uted
(MO
trigg
ers)
und
er tr
igger
cond
itions
com
bining
pos
ition
and
forc
e inf
orm
ation
.
Func
tion
for a
cquir
ing fo
rce
sens
or a
nd ro
bot p
ositio
ns w
hile
cont
act m
ade
Func
tion
for d
isplay
forc
e se
nsor
dat
a an
d m
ainta
ining
max
imum
value
s
Func
tion
for a
cquir
ing fo
rce
sens
or in
form
ation
sync
hron
ized
to p
ositio
n inf
rom
ation
as l
og d
ata
and
displa
ying
it in
grap
h fo
rm
Allow
s log
ging
start/
stop
com
man
ds to
be
spec
ified
in ro
bot p
rogr
ams
Func
tion
for t
rans
ferri
ng a
cquir
ed lo
g file
s to
the
FTP
serv
er
Enab
les/d
isable
s for
ce se
nsor
cont
rol a
nd se
ts co
ntro
l con
dition
s whil
e jog
ging.
Disp
lays s
enso
r dat
a an
d th
e fo
rce
sens
e co
ntro
l set
ting
statu
s.
Func
tion
for s
earc
hing
for t
he co
ntac
t pos
ition.
Para
met
er se
tting
scre
en d
edica
ted
for t
he fo
rce
sens
e fu
nctio
n. (F
or R
565B
/R57
TB)
For
cede
tect
ion
For
celo
g
Teac
hing
box
Pro
du
ct
Co
nfi
gu
rati
on
Pro
du
ct
fea
ture
s
Teac
hing
pen
dant
(R56
TB/R
57TB
/R32
TB/R
33TB
)
RV-
F/R
H-F
RT
Tool
Box
2
Pow
er s
uppl
y ca
ble
Sy
ste
m C
on
fig
ura
tio
n
Rob
ot c
ontro
ller
SS
CN
ET
III
RS
-422
Forc
e se
nsor
Ada
pter
cab
le
LAN
/US
B
<Pro
duct
Con
figur
atio
n>
Item
Uni
tS
peci
ficat
ion
Valu
e
200 4
1000 6
1000
0
300
0.3
0.03
200
200
䃥80
x 3
.25
IP30
N Nm N Nm N Nm N Nm
mA g mm -
Con
sum
ptio
n cu
rren
t
Wei
ght (
sens
or u
nit)
Ext
erna
l dim
ensi
ons
Pro
tect
ive
stru
ctur
e
Rat
ed lo
ad
Max
. sta
tic
load
Bre
akin
g lo
ad
Min
imum
co
ntro
l for
ce
Fx, F
y, F
z
Mx,
My,
Mz
Fx, F
y, F
z
Mx,
My,
Mz
Fx, F
y, F
z
Mx,
My,
Mz
Fx, F
y, F
z
Mx,
My,
Mz
Fo
rce
Se
ns
or
Sp
ec
ific
ati
on
s
Item
Uni
tS
peci
ficat
ion
Valu
e
1
(For
sen
sor c
onne
ctio
n)
1(F
or ro
bot c
ontro
ller
and
addi
tiona
l axi
s am
pcon
nect
ion)
24±
5䠂
25
225(
W) x
111(
D) x
48(
H)
App
rox.
0.8
IP20
(Pan
el in
stal
latio
n, o
pent
ype)
ch ch Vdc W mm kg -
Ext
erna
l dim
ensi
ons
Wei
ght
Con
stru
ctio
n
Inte
rface
Pow
ersu
pply
RS
-422
SS
CN
ET
III
Inpu
t vol
tage
Powe
r con
sum
ption
Fo
rce S
en
se In
terf
ace U
nit
Sp
ecif
icati
on
s
24-V
DC
pow
er s
uppl
y
Forc
e se
nsor
inte
rface
uni
t (2F
-TZ5
61)
Type
: 3F-
21D
-WIN
ETy
pe: 4
F-FS
001-
W20
0
12
3940
Product Lineup Robot Specifications Functions OptionsSystem Configuration Configurations OptionsController Specifications
Options
Sim
plifi
ed s
ettin
gs u
sing
Eas
y B
uild
er
Sim
plifi
ed c
onne
ctio
n us
ing
Eth
erne
t
Sim
plifi
ed c
ontro
l usi
ng ro
bot l
angu
age
Sim
plifi
ed c
alib
ratio
n
Sim
plifi
ed c
ontro
l usi
ng ro
bot l
angu
age
Sim
plifi
ed jo
b ed
iting
Sep
arat
e M
ELF
A-V
isio
n so
ftwar
e is
ava
ilabl
e fo
r cus
tom
ers
usin
g In
-Sig
ht50
00 s
erie
s or
In-S
ight
Mic
ro s
erie
s pr
oduc
ts.
The
use
of jo
b pr
ogra
ms
corr
espo
ndin
g to
wor
k ta
sks
perfo
rmed
regu
larly
ena
bles
eve
n cu
stom
ers
who
are
new
to
visi
on s
yste
ms
to e
asily
und
erst
and
and
use
them
with
out
prob
lem
s.
Inst
ruct
ion
wor
dD
etai
ls
NV
Ope
nC
onne
ct to
the
visi
on s
yste
m a
nd lo
g on
.
NV
Pst
Sta
rt up
the
spec
ified
vis
ion
prog
ram
and
rece
ive
the
trans
mitt
ed re
sults
.
NV
Run
Sta
rt up
the
spec
ified
vis
ion
prog
ram
.
NV
InR
ecei
ve th
e tra
nsm
itted
resu
lts o
f the
vis
ion
prog
ram
sp
ecifi
ed b
y th
e N
VR
UN
com
man
d.
NV
Clo
seE
nd th
e co
nnec
tion
to th
e vi
sion
sys
tem
.
NV
Load
Rea
dy th
e sp
ecifi
ed v
isio
n pr
ogra
m to
ena
ble
it fo
r sta
rtup.
NV
Trg
Tran
smit
a re
ques
t to
the
visi
on s
yste
m fo
r the
imag
e an
d ac
quire
the
enco
der v
alue
s af
ter t
he s
peci
fied
leng
th o
f tim
e.
Item
Spe
cific
atio
ns
Sof
twar
e
Rob
ot c
ontro
ller:
CR
750
Ser
ies
CR
nQ-7
00 S
erie
s: R
1 ve
r. or
late
rC
RnD
-700
Ser
ies:
S1
ver.
or la
ter
RT
Tool
Box
2: V
er. 1
.0 o
r lat
er re
com
men
ded
Ada
pted
robo
t con
trolle
r
Con
nect
ed ro
bot
All
mod
els
Num
ber o
f rob
ots
conn
ecte
d to
the
visi
on s
yste
m
Num
ber o
f cam
eras
use
d pe
r rob
ot c
ontro
ller:
Up
to 7
max
.N
umbe
r of r
obot
s th
at c
an b
e co
nnec
ted
to a
vis
ion
syst
em:
Up
to 3
max
.
Rob
ot p
rogr
am la
ngua
geM
ELF
A-B
AS
IC V
com
es w
ith d
edic
ated
vis
ion
sens
or c
omm
ands
Mod
el n
ame
-ƑƑƑ
Ent
ryS
tand
ard
Hig
h re
solu
tion
143
Col
or
110C
140C
143C
100
110
140
Per
form
ance
an
d m
agni
ficat
ion
Ave
rage
per
form
ance
da
ta s
ettin
g th
at
for t
he s
tand
ard
vers
ion
to 1
(*2)
1×2×
5×4×
2×5×
4×
Cam
era
Res
olut
ion
CC
D s
enso
r siz
e1/
3 in
.1/
3 in
.1/
3 in
.1/
1.8
in.
1/3
in.
1/3
in.
1/1.
8 in
.
Col
or×
××
׿
żż
In-Sight
The
In-S
ight
sof
twar
e de
velo
ped
excl
usiv
ely
for u
se w
ith M
itsub
ishi
Ele
ctric
FA
dev
ices
with
en
hanc
ed li
nkin
g to
In-S
ight
, the
vis
ion
syst
em p
rodu
ced
by C
OG
NE
X C
orpo
ratio
n, o
ffers
bet
ter
com
patib
ility
with
FA
dev
ices
, allo
win
g it
to b
e ut
ilize
d m
ore
easi
ly a
s a
mor
e us
er-fr
iend
ly v
isio
n sy
stem
.
(Man
ufac
ture
d by
CO
GN
EX
: For
Mits
ubis
hi E
lect
ric F
A d
evic
es)
Rob
ot c
ontro
ller s
peci
ficat
ions
CR
7xx/
CR
nQ-7
xx/ C
RnD
-7xx
In-S
ight
Ser
ies
640×
480
640×
480
640×
480
1600
×12
0064
0×48
064
0×48
016
00×
1200
Jobs
(Vis
ion
reco
gniti
on p
rogr
ams)
are
cre
ated
from
the
job
editi
ng s
cree
n. J
obs
can
be e
dite
d us
ing
cond
ition
set
tings
and
ot
her d
ata,
elim
inat
ing
the
need
for s
peci
aliz
ed k
now
ledg
e of
vi
sion
con
trol c
omm
ands
and
oth
er p
rogr
amm
ing
inst
ruct
ions
.
The
calib
ratio
n w
izar
d al
low
s se
tting
s us
ed in
con
verti
ng
wor
kpie
ce p
ositi
ons
reco
gniz
ed b
y th
e vi
sion
sys
tem
into
robo
t co
ordi
nate
sys
tem
coo
rdin
ates
eas
ily a
nd q
uick
ly.
ME
LFA
BA
SIC
V c
omes
with
ded
icat
ed v
isio
n sy
stem
co
ntro
l com
man
ds a
nd s
tatu
s va
riabl
es. T
hese
con
trol
com
man
ds a
nd s
tatu
s va
riabl
es e
nabl
e th
e vi
sion
sys
tem
to
be
cont
rolle
d us
ing
sim
ple
prog
ram
s.
The
incl
uded
ded
icat
ed v
isio
n sy
stem
com
man
ds e
nabl
e vi
sion
sys
tem
sta
rtup,
job
sele
ctio
n, a
nd c
ontro
l of d
ata
rece
ivin
g an
d ot
her o
pera
tions
to b
e co
mpl
eted
qui
ckly
and
eas
ily u
sing
a s
ingl
e co
mm
and
with
out a
ny n
eed
for p
roto
cols
.
Up
to th
ree
robo
ts a
nd s
even
vis
ion
syst
ems
can
be c
onne
cted
toge
ther
to th
e sa
me
syst
em b
y E
ther
net c
onne
ctio
n. V
isio
n sy
stem
info
rmat
ion
can
be s
hare
d be
twee
n m
ultip
le ro
bots
.
Eas
y B
uild
er a
llow
s co
nnec
tion
to v
isio
n sy
stem
s, s
ettin
g of
job
(vis
ion
prog
ram
s)
setti
ngs,
and
cal
ibra
tion
betw
een
the
robo
t and
vis
ion
syst
em to
be
com
plet
ed e
asily
an
d qu
ickl
y.
MEM
O
12
4142
MEM
OMEM
O
