Technical information

109
MITSUBISHI ELECTRIC
MELFA ROBOT SYSTEMS
MELFA ROBOT SYSTEMS ///
RH-SH SCARA Robots – Specialists for Palletising www.aspect-online.de
No reference point travel
Travel and position are measured with absolute
encoders, so that the robot can start work as soon
as it is powered up without wasting time with ref
-
erence point traverses. In fact, the robot can even
resume at the point where it left off after power
failures and emergency shutdowns in the middle
of a movement sequence. In most cases, this
eliminates the need to reset the entire system.
Optimum gripper connections
Pneumatic hoses and signal connec tion lines
are routed inside the robot, mak ing it easy to
connect grip p ers and sensors .
Unpack, calibrate, start work
You can start work almost as soon as you h ave
unpacked the robot and installed the arm
assembly. You only have to enter the reference
point data recorded at the fac tory, then the
robot is ready to execute the first movements.
SCARA robots are ideal for sorting, palletising
and component installation. They have a short
cycle period of less than 0.5 seconds for a move
-
ment sequence of 25 mm vertical lift, 300 mm
horizontal traverse and 25 mm ver tical lower
and return (the 12” test).
R
H
-6S
H
J1
J2
J3
J4
Model RH-6SH RH-12SH
Degrees of freedom 4 4
Maximum payload 6 kg 12 kg
Controller type CR2B CR2B
Gripper flange reach 550 mm 850 mm
Operatingrange
J1 (deg.) 254 (±127) 280 (±140)
J2 (deg.) 290 (±145) 306 (±153)
J3 (Z) (mm) 200 (97–297) 350 (-10–340)
J4 (0 Axes)
(deg.)
720 (±360) 720 (±360)
Repeatability X-Y direct ion ±0.02 mm ±0.025 mm
Z-axes travel in mm 200 350
Max. speed (mm/s)
7782 (J1, J2, J4)
6003 (J1, J2)
11221 (J1, J2, J4)
6612 (J1, J2)
Robot weight 21 kg 45 kg
Protection IP 20
Order information Art. no.
166053 166054
Characteristics/Functions CR1-571 CR2B-574 CR3-535M
Shipped with robot
RV-1A, RV-2AJ,
RP-1AH/3AH/5AH
RV-3SB/SJB, RV-6S/6SL,
RH-6SH/12SH
RV-12S/12SL
Number of controllabl eaxes 6 robot axes+ 2interpolation axes +6 independent axes
Processor type (CPU) Main CPU: 64 Bit RISC; servo CPU: DSP
Memory
capacity
no. of teaching points Max. 2500 position teaching points
no. program steps max. 5000 steps
no. of programs 88
External
inputs/outputs
generalpurpose I/Os 16 inputs and 16outputs 32 inputs and 32 outputs 32 inputsand 32 outputs
dedicated I/Os User assigned User assigned User assigned
hand open/close 8 inputs and 0 outputs 8 inputs und 0outputs 8 inputs und 0 outputs
emergency stop I/Os 1 2 terminal blocks 2 terminal blocks
door switch input 1 1 1
Power supply
1~ 90–132 V AC; 50/60 Hz
1~ 180–253 V AC;50/60 Hz
1~ 90–132 V AC; 50/60 Hz 3~ 400 V AC; 50/60 Hz
Dimensions (W x Hx D) mm 212 x 166 x 290 460 x 200 x 400 450 x 975 x380
Which controller is used depends on the spe-
cific robot model. But the CR1, CR2B and CR3
areallprogrammedwithexactlythesamelan-
guage, no matter which robot is connected to
them. You can add special application func -
tions by inserting expansion option cards in the
slots in the controllers. For example, there are
option cards for connec ting the controllers to
different networks and for controlling
additional robot axes.
A teaching box for defining the robots’working
positions can be connected to the controller ’s
RS-422 port. The teaching box can also be used
for testing the entire program sequence.
There is also an RS-232C port for connecting a
personal computer. This makes it possible to
developprogramswithapowerfulPCsoftware
package with a user-friendly interface, and to
per form 3D simulations of complete work cells.
Powerful Controllers CR1, CR2B and CR3
UP
DOWN
MITSUBISHI
CR1
START
CHANG DISPSTATUSNUMBER
RESETSVO.ONMODE
STOP END
EMG.STOP
REMOVE T/B
SVO.OFF
8.8.8.8.8.
UP
DOWN
MITSUBISHI
START
CHANG DISP
STATUS NUMBER
RESET
SVO.ONMODE
STOP END
EMG.STOP
REMOVE T/B
SVO.OFF
CR2B
8.8.8.8.8.
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