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Micro working robot

(12/30/2016)

RP Series (Micro Working Robot)

RP Series               

Model Number

RP1ADH

RP3ADH

RP5ADH

Degree of Freedom of Motion

4-axis

Installation

On floor

Encoder/Drive System

Absolute encoder/AC servo

Motor Capacity (W)

100 (All axis)

200 (J1, J2, J3 axis), 100 (J4 axis)

Brake

With brakes (All axes)

Maximum Load (kg)

1.0

3.0

5.0

Rated Load (kg)

0.5

1.0

2.0

Arm Length (mm)

No. 1

100

140

200

No. 2

140

200

260

Motion Range

Width x Depth (mm)

150 x 105 (A6 size)

210 x 148 (A5 size)

297 x 210 (A4 size)

Vertical (mm)

30

50

Rotation (Degree)

±200

Maximum Velocity

J1, J2 Degree/s

480

432

J3 mm/s

800

960

J4 Degree/s

3000

1330

1230

Tolerable Wrist Moment of Inertia
(kg • m2)

3.10 x 10-4

1.60 x 10-3

3.20 x 10-3

Position Repeatability

X, Y Direction

±0.005

±0.008

±0.01

Z Direction

±0.01

Wrist Rotation Direction

±0.02

±0.03

Weight (kg)

Approx. 12

Approx. 24

Approx. 25

Tool Wiring

Input 8 point/ Output 8 point

Tool Pneumatic Pipes

None

Protection

IP20


Controller for RP Series

580

Model Number

CR1DA-7A1

Number of Control Axis

Simultaneously 4

Memory Capacity

Programmed Positions and No. of Steps (Point Step)

13,000
26,000

Number of Programs

256

Robot Language

MELFA-BASIC V or MELFA-BASIC IV (*1)

Teaching Method

Pose teaching method, MDI method (*2)

External Input and Output (Point)

Input and Output

0/0 (Max. 256/256 by option)

Dedicated Input/Output

Assigned with general-purpose input/output (Max. 256/256 by option)

Special Stop Input

1

Hand Open/Close Input/Output

Input 8 point / Output 0 point; Up to 8 output points can be added as an option (*3)

Emergency Stop Input

1 (Dual line, normal close)

Door Switch Input

1 (Dual line, normal close)

Enabling Device Input

1 (Dual line, normal close)

Mode Output

1 (Dual line)

Robot Error Output

1 (Dual line)

Addition Axis Synchronization

1 (Dual line)

Interface

RS-232C (port)

1 for expansion such as the personal computer, Vision sensor

Ethernet (port)

1: for T/B, 1: For customers

USB (port)

1, Ver. 2.0 Only device function

Hand Dedicated Slot

1, dedicated for pneumatic hand interface

Option Slot

1

Additional Axis Interface (Channel)

1, SSCNET III

Serial Encoder Interface (Channel)

1, for encoder cable connection

Power Source

Input Voltage Range (V)

1-phase, AC180 to 253 (*4)

Power Capacity (kVA)

1.0, does not include rush current (*5)

Outline Dimensions (W x D x H) mm (*6)

270 x 290 x 200, excluding protrusions

Weight kg (lb)

Approx. 9 (19.8)

Construction

Self-contained floor type; Opened type (IP20) (*7)

Operating Temperature Range °C

0 to 40

Ambient Humidity %Rh

45 to 85, without dew drops

Grounding (Ω) (*8)

100 or less

Notes:
1. The program of MELFA-BASIC IV can be used by MELFA-BASIC V, if program is converted by RT ToolBox2 (option).
2. Pose teaching method: The method to register the current position of the robot arm. MDI method: The method to register by inputting the numerical value Immediate.
3. It is when an pneumatic hand interface (2A-RZ365/2A-RZ375) is installed.
4. Please use the controller with an input power supply voltage fluctuation rate of 10% or less.
5. The power capacity is the rating value for normal operation. The power capacity does not include the rush current when the power is turned ON. The power capacity is a guideline and the actual operation is affected by the input power voltage. The short circuit breaker should use the following. The power consumption in the specific operation pattern with the RP1ADH is approx. 0.5kw. *Operate by the current leakage under the commercial frequency domain (50-60Hz). If sensitive to the high frequency ingredient, it will become the cause in which below the maximum leak current value carries out the trip.
6. Refer to Specifications Manual for details
7. This controller is a general environment specification.
8. The robot must be grounded by the customer.

Options for RP Series

Name

Model Number

Specifications

Classifications

Description

Extended Machine Cables

1A-_ _CBL-1

For fixing (Two sets for power and signal)

Special Order

10, 15m

1A-_ _ LCBL-1

For bending (Two sets for power and signal)

Special Order

5, 10, 15m

Solenoid Valve Set

1A-VD04-RP

Four sets (Sink)

Option

Consult with Mitsubishi for the delivery schedule and price when requesting a 1, 2 or 3-row type.

1A-VD04E-RP

Four sets (Source)

Option

Hand Input Cable

1A-HC200-RP

Four sets (Source)

Option

8-point type with a robot connector on one side and unterminated on the other side

Hand Output Cable

1A-GR200-RP

Four sets (Source)

Option

4-solenoid valve systems with a robot connector on one side and unterminated on the other side

Basic Teach Pendant

R32TB

Cable length 7m

Option

With 3-position deadman switch IP65

R32TB-15

Cable length 15m

Option

Enhanced Function Teach Pendant

R56TB

Cable length 7m

Option

R56TB-15

Cable length 15m

Option

Pneumatic Hand Interface

2A-RZ365

DO: 8 point (Sink)

Option

Necessary when the hand output signal of the robot arm is used

2A-RZ375

DO: 8 point (Source)

Option

Parallel I/O Interface

2D-TZ368

DO: 32 point (Sink) / DI : 32 point (Sink) Insulated type output signal (100mA/point)

Option

The card type external input-and-output. Interface.
Install to the slot of controller.

2D-TZ378

DO: 32 point (Source) / DI : 32 point (Source)
Insulated type output signal (100mA/point)

Option

External I/O Cable

(For Parallel I/O Interface)

2D-CBL05

5m

Option

Use to connect the external peripheral device to the parallel input/output interface.

2D-CBL15

15m

Option

Parallel I/O Unit

2A-RZ361

DO: 32 point (Sink) / DI: 32 point (Sink)

Option

The unit for expansion the external input/output. Electrical isolated Type (100mA/Point)

2A-RZ371

DO: 32 point (Source) / DI: 32 point (Source)

Option

External I/O Cable

(For Parallel I/O Unit)

2A-CBL05

5m

Option

Use to connect the external peripheral device to the parallel input/output unit

2A-CBL15

15m

Option

CC-Link Interface

2D-TZ576

Local station

Option

For MELSEC PLC with CC-Link connection

Extended Memory Cassette

2D-TZ454

Teaching point number: 50,800
Steps number: 50,800
Program number: 512

Option

The battery backup function is provided. The value combined with the standard

Personal Computer Cable (*1)

2D-232CBL03M

RS-232C cable

Option

3m for PC-AT compatible model

Note: 1. The recommended USB cables are shown in Specifications Manual.


Controller CR1DA-7A1

736
729