MELFA RV-6S/6SL Series RV-12S/12SL Series Palletizing precision is improved. Trajectory precision is improved.

Transcription

1 Mitsubishi Electric Industrial s -Highly Capable s MELF RV-/L Series and RV-/L Series [1] Optimal cceleration/deceleration Control / Optimal Override Function [2] Correction rograing this kind of application is (MELF SIC IV). absorption by the ir hand MELF RV-/L Series RV-/L Series alletizing precision is improved. MITSUISHI ELECTRIC INDUSTRIL ROOT Up to 2 Up to 3 Up to 3 R28T Must be prepared by LC axis support software support software, mini rogram 2 rogram 3 rogram 4 operation Counication processing RV-L RV- RV-L teaching if gaps occurred in the hand/arm movement, the motor or The optional personal support software is required. rogram 1 [8] osition Restoration Support Function Note 1: Select an appropriate according to the I/O on the peripheral device side or network function. Note 2: For RV-/L series robots, either of the s can be For RV-/L series robots, only can be Note 3: The device configuration is specified at shipment. It will be a built-to-order product. lease confirm the delivery date and specification. ody depending on the volume s. 2-HR575 ase ( variables) Up to 8 additional External I/O 2-CL05 2-CL15 (15m) Can be controlled by robot's ming. Up to 32 s several user s in -- Several created s, including counication with external devices such as vision s and personal s, and various calculation rocesses can be given different Up to 32 s can be run in RV- RV-L RV-C RV-LC The optional tracking card is required. The running and turn table of the Up to 8, in addition to those of RV- RV-L RV-C RV-LC ositioning devices are not required. [5] xis Control The optional personal support software is required. RV- extension fixing extension bending ir hand (sink type) (10SE-T) axis support software support software, mini version ackup battery 1SCL-01 1SLCL-01 R28T(-) 2-CL 2-HR577 4-RZ point support, with drip-proof groet I65, Standard: 7 m, Special: 15 m 8 output (sink), for hand 32 output /32 input (sink) CL05: 5 m, CL15: 15 m, one end is not processed 10SE-T, 10 Mbps maximum 8 (standard equipment for CR3M) User area after expansion: 2 M For IM C/T compatible machines, 3 m Note 1: : for RV-/L series and RV-/L series, : For RV-/L series, : For RV-/ series Note 2: < with conventional machines> : Special option for this model, : Can use conventional (CR, model) options, : Upgrade of conventional options Nagoya works, Mitsubishi Electric Corporation, has acquired certification for systems of environmental management under ISO 101, HED OFFICE: MITSUISHI DENKI LDG., 2-2-3, MOUCHI, CHIYOD-KU, TOKYO -8310, JN L(N) (MEE) This catalog has been issued in ug The contents of this catalog are subject to change Date of issue:ug. 2003

2 Even more Compact and Light, with Higher, Load Capacity and Rigidity With the employment of Mitsubishi Electric's own motor, amplifier and 64-bit RISC chip dedicated for robot applications, various new features, such as a compact and light design, high speed and high load capacity, have been achieved. MELF RV-S series robots provide solutions for high-value-added systems. y Strong Fastest in the class High load capacity and rigidity Specialist ccoodates complex operations through a variety of functions RV- RV-L RV- RV-L Features Improved roductivity The fastest operation in the class [maximum composite speed 9.6 m/s (RV-)] It is possible to improve the tact time and perform multiple complex work operations with one station. High load capacity [up to 12 ] high load capacity was achieved using hollow-structure motors specifically designed for robot applications. More complex hand work operations are supported as well. High precision motion [highly rigid arm, feed-forward control/optimal trajectory control] Improved environmental resistance [arm: I65/body: I54] The rotation joints are completely sealed in the hollow-structure joint motors and reduction gears. MELF RV-S series robots can be placed almost anywhere and can be applied for a wide range of purposes. Space saving The joints are made smaller by directly connecting the hollow-structure motor with reduction gears and bearings. The robots can be applied to a wider range of systems due to their sophisticated functions, such as multi-tasking operation and additional axis control Reduction of Maintenance Cost Damages to are minimized. [ function: impact detection function] Less time is required for startup, adjustment and maintenance tasks. [ function: position restoration support function] It is notified when maintenance is due. [ function: maintenance forecast function] roviding Safety Since the motors are equipped with brakes for all the, the safety when the robot stops is secured. The safety is improved by the use of redundant emergency stop breakers. Effective use of Conventional System ssets s and operation environment are provided for the entire range of robots, from small models (load capacity of 1 ) to large-scale models (load capacity of 1 ). Model Structure Maximum load weight Reach Environment specification Standard classification Connected RV- RV-L RV-C RV-LC RV- RV-L RV-C RV-LC I65(J4 to J6) I54(J1 to J3) Standard model Clean class 10 (0.3 µ) Special specification model I65(J4 to J6) I54(J1 to J3) Standard model Clean class 10 (0.3 µ) Special specification model (vertical type, dust-proof specification I54), (horizontal installation type, open structure I20) 1 (vertical type, dust-proof specification I54) 1: Select either one of the types according to the purpose.

3 -RV-S Series. rm External Dimension/Movement Range Diagrams RV-/C RV-L/LC RV-/C RV-L/LC Reverse range Reverse range Reverse range Reverse range R R202 R732 R185 R786 R205 R1085 R R R R416 R457 R696 R902 R1086 R point trajectory R280 R R R (1) R (2) Opening angle limit of the rear area If J1 75 and J2 < -55, then J2 + J3 8 (1) If J1 > 75 and J2 < -55, then J2 + J3 - (2) point trajectory R R817 R R R380 (1) 476 Opening angle limit of the rear area If J1 70 and J2-80, then J2 + J3 47 (1) -point trajectory R266 R R0 130 R0 R R307 R1235 R560 -point trajectory R R673 R467 R560 R indicates service screw holes for tooling (M4 6 places). indicates service screw holes for tooling (M4 6 places). indicates service screw holes for tooling (M4 6 places). indicates service screw holes for tooling (M4 6 places) (1) Opening angle limit of the rear area If J1 60 and J2-95, then J3 (1) Specification Structure Degrees of freedom of operation Drive method osition detection method Maximum load capacity (rated) 2 rm length Maximum reach radius Movement range Maximum speed ody Waist Shoulder Elbow Wrist twist Wrist pitch Wrist roll Waist Shoulder Elbow Wrist twist Wrist pitch J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 Wrist roll J6 Maximum composite speed 3 Cycle time 4 osition repeatability accuracy mbient temperature ody weight Tool wiring 5 Tool air piping posture rotection specification Unit RV-/C RV-L/LC RV-/C RV-L/LC Vertical multiple-joint type 6 C servo motor (brakes for all ) bsolute encoder 6 (5) 12 (10) ( 170), can be limited after shipment (in 45 intervals) 227 (-92 to +135) degrees 285 (-107 to +166) 295 (-129 to +166) (- to +130) 290 (+160 to -130) degrees/s /sec ( 160) 2 ( 120) 720 ( 360) pprox pprox. 80 pprox pprox. 90 Order of 0.4 seconds Order of 0.6 seconds Order of 0.7 seconds Order of 0.7 seconds to pprox. 49 pprox. 54 pprox. 93 pprox input /8 output (No.2 arm) rimary: 6 2, Secondary: 4 8 rimary: 6 2, Secondary: 6 8 on floor, hanging from ceiling, (hanging on wall 6) 5 m (connector at both ends) 7 m (fixed on the side) I65 (J4 to J6) I54 (J1 to J3) 2: The maximum load capacity is the maximum weight capacity when the wrist flange is pointing downward ( 10 ). 3: Value at the hand flange when all the are combined 4: Value at a load of 1 for RV- and at a load of 5 for RV- when the robot reciprocates 25 vertically and 300 horizontally 5: To use the tool (hand) output, the (optional) air hand is required. 6: The movement range of the J1 axis is limited in the special specification that allows the robot to hang on a wall ath control method Number of controlled CU rograing language osition teaching method Memory capacity External I/O Numbers of teaching and steps Number of s General-purpose I/O Dedicated I/O Hand I/O Emergency stop input Emergency stop output Door switch input C RS-422 Slot dedicated to hand Extension slot Interface Memory expansion slot I/O link Operating temperature range Relative humidity ower Input voltage range supply ower capacity 7 External dimensions Weight Structure (protection specification) Grounding 8 Unit steps steps channels C %RH V KV T control, C control Up to 6 simultaneously, and up to 8 for additional axis control 64bit RISC/DS MELF-SIC IV method, MDI method 2,0 5, /32 (up to 256/256 when using the optional, additional I/O module) ssigned from general-purpose I/O (one point, "STO," is fixed) 8 inputs/0 output (8/8 when the air hand is used) 1 (for connecting a personal, vision etc.) 1 (for connecting a teaching ) 1 (for connecting an air hand ) 2 (for connecting optional extensions) 1 (for connecting additional ) 3 (for connecting optional extensions) 0 (the optional additional axis is used for connection) 1 (for connecting an optional module) 1 (for connecting a parallel I/O module) 0 to 45 to 85 3-phase, C 180 to (excluding inrush current) 4(W) 380(D) 625(H) pprox. 60 Self-contained floor type/closed structure [I54] Single phase, C (excluding inrush current) 460(W) 0(D) 200(H) pprox. 35 Self-contained floor type/closed structure [I20] or less (D-class grounding) 7: The power capacity is the rated value at normal operation. lease be aware that the power capacity does not take inrush current applied when the power supply is turned on into consideration. The power capacity should be considered a guideline, and the guaranteed operation depends on the input power supply voltage. 8: Grounding is conducted at 's own risk. RV-/L Series arts H7 0 depth H7 0 depth H depth 7.5 View Mechanical Interface art External Dimension Diagram (67) (45) 45 (35) 4-M5 screw depth installation hole 2-6 hole ( 8 prepared hole for positioning pin) Eyebolt 2-M (75) (15) 420 (15) (.5) 5 (65) 615 () hole 320 (19.5) 380 Dimensions at Castor Wheel Specification (Special Specification at Shipment) View Rear Surface Diagram; Dimension Detail RV-/L Series arts H7 0 depth H7 0 depth H depth View Mechanical Interface art M5 screw 4-M6 screw depth 9 4-M4 screw (24) installation hole View Rear Surface Diagram; Dimension Detail (36) hole ( 8 prepared hole for positioning pin)

4 Mitsubishi Electric Industrial s -Highly Capable s MELF RV-/L Series and RV-/L Series [1] Optimal cceleration/deceleration Control / Optimal Override Function [2] Correction rograing this kind of application is (MELF SIC IV). absorption by the ir hand MELF RV-/L Series RV-/L Series alletizing precision is improved. MITSUISHI ELECTRIC INDUSTRIL ROOT Up to 2 Up to 3 Up to 3 R28T Must be prepared by LC axis support software support software, mini rogram 2 rogram 3 rogram 4 operation Counication processing RV-L RV- RV-L teaching if gaps occurred in the hand/arm movement, the motor or The optional personal support software is required. rogram 1 [8] osition Restoration Support Function Note 1: Select an appropriate according to the I/O on the peripheral device side or network function. Note 2: For RV-/L series robots, either of the s can be For RV-/L series robots, only can be Note 3: The device configuration is specified at shipment. It will be a built-to-order product. lease confirm the delivery date and specification. ody depending on the volume s. 2-HR575 ase ( variables) Up to 8 additional External I/O 2-CL05 2-CL15 (15m) Can be controlled by robot's ming. Up to 32 s several user s in -- Several created s, including counication with external devices such as vision s and personal s, and various calculation rocesses can be given different Up to 32 s can be run in RV- RV-L RV-C RV-LC The optional tracking card is required. The running and turn table of the Up to 8, in addition to those of RV- RV-L RV-C RV-LC ositioning devices are not required. [5] xis Control The optional personal support software is required. RV- extension fixing extension bending ir hand (sink type) (10SE-T) axis support software support software, mini version ackup battery 1SCL-01 1SLCL-01 R28T(-) 2-CL 2-HR577 4-RZ point support, with drip-proof groet I65, Standard: 7 m, Special: 15 m 8 output (sink), for hand 32 output /32 input (sink) CL05: 5 m, CL15: 15 m, one end is not processed 10SE-T, 10 Mbps maximum 8 (standard equipment for CR3M) User area after expansion: 2 M For IM C/T compatible machines, 3 m Note 1: : for RV-/L series and RV-/L series, : For RV-/L series, : For RV-/ series Note 2: < with conventional machines> : Special option for this model, : Can use conventional (CR, model) options, : Upgrade of conventional options Nagoya works, Mitsubishi Electric Corporation, has acquired certification for systems of environmental management under ISO 101, HED OFFICE: MITSUISHI DENKI LDG., 2-2-3, MOUCHI, CHIYOD-KU, TOKYO -8310, JN L(N) (MEE) This catalog has been issued in ug The contents of this catalog are subject to change Date of issue:ug. 2003

5 Mitsubishi Electric Industrial s -Highly Capable s MELF RV-/L Series and RV-/L Series [1] Optimal cceleration/deceleration Control / Optimal Override Function [2] Correction rograing this kind of application is (MELF SIC IV). absorption by the ir hand MELF RV-/L Series RV-/L Series alletizing precision is improved. MITSUISHI ELECTRIC INDUSTRIL ROOT Up to 2 Up to 3 Up to 3 R28T Must be prepared by LC axis support software support software, mini rogram 2 rogram 3 rogram 4 operation Counication processing RV-L RV- RV-L teaching if gaps occurred in the hand/arm movement, the motor or The optional personal support software is required. rogram 1 [8] osition Restoration Support Function Note 1: Select an appropriate according to the I/O on the peripheral device side or network function. Note 2: For RV-/L series robots, either of the s can be For RV-/L series robots, only can be Note 3: The device configuration is specified at shipment. It will be a built-to-order product. lease confirm the delivery date and specification. ody depending on the volume s. 2-HR575 ase ( variables) Up to 8 additional External I/O 2-CL05 2-CL15 (15m) Can be controlled by robot's ming. Up to 32 s several user s in -- Several created s, including counication with external devices such as vision s and personal s, and various calculation rocesses can be given different Up to 32 s can be run in RV- RV-L RV-C RV-LC The optional tracking card is required. The running and turn table of the Up to 8, in addition to those of RV- RV-L RV-C RV-LC ositioning devices are not required. [5] xis Control The optional personal support software is required. RV- extension fixing extension bending ir hand (sink type) (10SE-T) axis support software support software, mini version ackup battery 1SCL-01 1SLCL-01 R28T(-) 2-CL 2-HR577 4-RZ point support, with drip-proof groet I65, Standard: 7 m, Special: 15 m 8 output (sink), for hand 32 output /32 input (sink) CL05: 5 m, CL15: 15 m, one end is not processed 10SE-T, 10 Mbps maximum 8 (standard equipment for CR3M) User area after expansion: 2 M For IM C/T compatible machines, 3 m Note 1: : for RV-/L series and RV-/L series, : For RV-/L series, : For RV-/ series Note 2: < with conventional machines> : Special option for this model, : Can use conventional (CR, model) options, : Upgrade of conventional options Nagoya works, Mitsubishi Electric Corporation, has acquired certification for systems of environmental management under ISO 101, HED OFFICE: MITSUISHI DENKI LDG., 2-2-3, MOUCHI, CHIYOD-KU, TOKYO -8310, JN L(N) (MEE) This catalog has been issued in ug The contents of this catalog are subject to change Date of issue:ug. 2003