MITSUBISHI Changes for the Better Title Mitsubishi Electric Applicable models Industrial Precautions for Replacing RH20SDH/20SQH with RH20FHD/Q RH20SDH,RH20SQH RH20FHD, RH20FHQ Robots MELFA Technical News BFPA60790049EA Date of Issue: Feb. 203 Thank you for your continued patronage of Mitsubishi MELFA industrial robots. This document provides the details of precautions for replacing the RH20SDH/20SQH horizontal articulated robot with the RH20FHD/Q. CONTENTS. Model Configuration (Replacement Models).. 2 2. Comparison.. 2 2. Robot Arm.. 2 2.2 Robot Arm Dimensions, Operating Range Diagrams 3 2.3 Controller 4 2.4 Controller Dimensions 4 2.5 Options. 5 3. Compatibility... 5 3. Robot Arm Compatibility 5 3.2 Controller Compatibility. 5 Mitsubishi Electric Corp., Nagoya Works 54, Yadaminami, Higashiku, Nagoya, Japan 468670 (/5)
Precautions for Replacing RH20SDH/20SQH with RH20FHD/Q. Model Configuration (Replacement Models) The following tables show the replacement models and controllers for replacing the RH6SDH/6SQH with the RH6FHD/Q. Model RH20SDH RH20SQH Controller CR2DA75 CR2QA75 Model RH20FHD RH20FHQ Controller CR750D CR750Q 2. Comparison 2. Robot Arm The following table compares the robot arm specifications between old and new models. The CR750D controller is for the 20FHD. The CR750Q controller is for the 20FHQ. iq Platform compatible. 2.2 Robot Arm Dimensions, Operating Range Diagrams ) Robot arm installation and mechanical interface The installation and mechanical interface have changed. See the diagrams below. Robot arm installation Robot arm installation (RH20SDH/20SQH) Mechanical interface for standard, oil mist, and clean specifications (RH20FHD/Q) Mechanical interface for standard specification (2/5)
2) Robot arm, operating range diagrams See below for robot arm and operating range diagrams. Old model (RH20SDH/20SQH), operating range New model (RH20FHD/Q ), operating range (3/5)
2.3 Controller Please note that the controller model is new, and the and others have changed. See below for details. Unit RH20SDH RH20SQH RH20FHD RH20FHQ Controller model CR2DA75 CR2QA75 CR750D CR750Q Routing control method PTP control, CP control No. of control axes 4 axes simultaneously Programming language MELFABASIC V MELFABASIC V Memory capacity External inputs/outputs (standard) Interface No. of programmed positions Point 3,000 39,000 3,000 No. of steps Step 26,000 78,000 26,000 No. of programs 256 52 256 Generalpurpose inputs/outputs Point (Max. 256/256: option) (Max. 256/256: option) (892/892 (max.) with shared devices between multiple CPUs) (892/892 (max.) with shared devices between multiple CPUs) Dedicated inputs/outputs Assigned to generalpurpose inputs/outputs. Assigned to shared devices between multiple CPUs. Assigned to generalpurpose inputs/outputs. Assigned to shared devices between multiple CPUs. Dedicated stop inputs Hand open/close Emergency stop inputs Inputs 8/outputs 8 (when using pneumatic hand interface: 8/8) Inputs 8/outputs 8 Door switch inputs Enabling device inputs Emergency stop outputs Mode outputs Robot error outputs Additional axis sy nchronization RS232 Port RS422 Port (for T/B) Ethernet Port (for T/B)/ (for customer) 0BASET/00BASETX 0 (*) 0BASET/00BASETX (for T/B) USB Port 0 (*) 0 (*) Memory expansion slots Slot Expansion slots Slot 0 (*) 2 0 (*) Robot input/output link ch 0 (*) 0 (*) Additional axis function ch (SSCNET III) Encoder input ch 2 0 (*) 2 0 (*) Input power Voltage range V Single phase, 80 to 253 V AC Single phase, 207to 253V AC / 3phase 80242V AC supply Power supply capacity kva 2 2 Dimensions mm 470(W)400(D)200(H) 430(W)425(D)74(H) Mass kg Approx. 2 Approx. 6 Structure [protection specification] Independent installation, open type [IP20] Grounding Ω 00 or less *: iq function expansion Supported with PLC function expansion unit. 2.4 Controller Dimensions The controller have changed. (Left drawing: RH6SDH/6SQH controller, right drawing: RH6FHD/Q controller) CR2DA75 CR2QA75 CR750D CR750Q (4/5)
2.5 Options () Robot arm options comparison Old Models New Models and Supplementary Explanation RH20SDH/20DQH RH20FHD/Q Solenoid valve set SVD0 M03(Sink type) SVD0 ME03(Source type) : to 4 SVD0 0(Sink type) SVD0 E0(Source type) : to 4 Solenoid valve set for the pneumatic hand ( to 4 sets, sink type) Solenoid valve set for the pneumatic hand ( to 4 sets, source type) The robot side has a connector, and the other side has output wires for Hand output cable SGR35S02 FGR60S0 solenoid valve connection. The robot side has a connector, and the other side has input wires for hand Hand input cable SHC35C02 SHC35C0 sensor connection or others. Hand curl tube NST0408C300 NST0608C300 φ4 x 8 pics, curl pneumatic tube for 4set solenoid valve connection Internal w iring/piping set for 8 hand inputs, φ4 x 8 tip axis builtin wiring piping set (with fixed plate), for hand FHS604S0 Z stroke of 200 mm 8 hand inputs, φ4 x 8 tip axis builtin wiring piping set (with fixed plate), for FHS604S02 Z stroke of 340 mm Box for hand I/O wiring of 4set solenoid valves and for external pullout of φ4 User external wiring/piping box FUTBOX0 (8 pics) hand pipes Jaxis operating range change SDH02 Stopper part for Jaxis operating range change 2 m machine cable (replacement type) Machine cable extension (Fixed type) Machine cable extension (Flexed type) S02UCBL03 S CBL03 S LCBL03 S02UCBL04 S CBL0 S LCBL0 Fixed type (Set of 2 cables for power supply and signals), 2 m (Provided as substitute for standard 5 m cables.) Fixed type (Set of 2 cables for power supply and signals), 5 m, 0 m, 5 m (Used for adding to standard 5 m cables.) Flexed type (Set of 2 cables for power supply and signals),5 m, 0 m, 5 m (Used for adding to standard 5 m cables.) Compatibility Meaning of symbols in table: : Same product : Incompatible : Not supported (2) Robot controller option comparison CRDA76 CRQA76 Old Models New Models /CR750D /CR750Q Remarks CR2DA74 CR2QA74 CR750D CR750Q compatibility compatibility 2ARZ365 (Sink) Pneumatic hand interface /2ARZ375 (Source) 2ARZ36(Sink) 2ARZ36(Sink) Expansion I/O unit /2ARZ37(Source) /2ARZ37(Source) External I/O cable 2ACBL 2ACBL For expansion I/O unit Builtin I/O interface 2DTZ368 (Sink) /2DTZ378 (Source) 2DTZ368 (Sink) /2DTZ378 (Source) External I/O cable 2DCBL 2DCBL For builtin I/O interface CCLink interface 2DTZ576 2DTZ576 Ver. 2 compatible Additional axis interface Ethernet interface SQ: MELFAVISION can be connected without a PLC option. Tracking function Expansion memory 2DTZ454 Controller protection box CRDMB CR750MB Teaching pendant R32TB Highfunctionality teaching pendant R56TB RS232 cable (for PC support) 2D232CBL03M Force sensor interface unit 2FTZ56 PC support softw are 3D CWINJ Meaning of symbols in table : Compatible, : Standard equipment, : Mitsubishi PLC used, : Incompatible, : Not supported 3. Compatibility The following table provides compatibility between old and new models. 3. Robot Arm Compatibility Category Old Models New Models Compatibility Remarks RH2SDH/2SQH RH2FHD/Q Installation Changed Only the base length (depth) is incompatible. Outside Mechanical interface Changed Incompatible (different shaft diameter) Operating range Changed Compatible (expanded operating area) Hand w iring Changed Tooling Hand piping No change Backup w iring Changed Builtin LAN cable, also available as backup w iring. Maintenance Backup battery A6BAT ER6 : Fully compatible, : Incompatible, : Only the base length (external depth dimension + 30 mm) is incompatible. 3.2 Controller Compatibility Category Old Models New Models Compatibility Remarks CR2DA74 CR2QA74 CR750D CR750Q TB R32TB Highfunctionality TB R56TB Operation I/O map 09999 000089 09999 000089 3 Programming language MELFABASICⅤ PC support software RT ToolBox2 Maintenance Backup battery Q6BAT : Fully compatible, : Incompatible, 3: CR2DA74 and CR750D are compatible, CR2QA74 and CR750Q are compatible. (5/5)