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RV-F Series

(12/12/2017)

Vertically Articulated (RV)

Model Number

RV2F

RV2FL

RV4F

RV4FL

RV7F

RV7FL

RV7FLL

RV13F

RV13FL

RV20F

RV35F

RV50F

RV70F

Maximum Load Capacity (kg)

2

2

4

4

7

7

7

13

13

20

35

50

70

Maximum Reach Radius (mm)

504

649

515

649

713

908

1,503

1,094

1,388

1,094

2050

Environmental Specifications

Standard

IP30

IP40

(J1 to J4:IP40, J5 to J6:IP67)

Oil Mist

IP67

Cleanroom

ISO class3

Chemical Resistant

IP65 Resistant to hydrogen peroxide gas/water (120ppm/concentration 6%) H1 Grease, Stainless steel used for flange and exterior bolts, hex head bolts, chemical resistant bellows, seals and exterior coating.

Food Grade

IP65 NSF H1 Certified Grease, stainless steel used for flange.

Controller

CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available

CR760-D/Q


Internal Wiring Options (RVF Series)

RV4F/RV7F/RV13F/RV20F Series Tooling Device Configuration

Hand Configuration

Wiring Format

Robot Specifications

Required Device

Remarks

External Wiring Set for the Forearm

External Wiring Set for the Base

Air-Hand + Hand Input Signal

Interior equipment

SHxx01

- (*1)

-

Air hoses: Up to 2 systems
(4 mm diameter x 4 mm); 8 input signals

Exterior equipment

Standard

- (*2)

-

Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible

Hand Input Signal + Ethernet + Force Sensor
OR Electric Hand (*3, *4)

Interior equipment

-SHxx02

- (*1)

1F-HA01S-01 (Included)

Exterior equipment

Standard

1F-HB01S-01 (*2)

1F-HA01S-01

Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible

Electric Hand + Ethernet + Force Sensor

Interior equipment

-SHxx03

- (*1)

1F-HA02S-01 (Included)

Exterior equipment

Standard

1F-HB02S-01

1F-HA02S-01

Air-Hand + Hand Input Signal + Force Sensor

Interior equipment

-SHxx04

- (*1)

1F-HA01S-01 (Included)

Air hoses: Up to 1 system
(4 mm diameter x 2 mm); 8 input signals

Exterior equipment

Standard

1F-HB01S-01 (*2)

1F-HA01S-01

Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible

Air-Hand + Hand Input Signal + Ethernet

Interior equipment

-SHxx05

- (*1)

1F-HA01S-01 (Included)

Air hoses: Up to 1 system
(4 mm diameter x 2 mm); 8 input signals

Exterior equipment

Standard

1F-HB01S-01 (*2)

1F-HA01S-01

Air hoses: Up to 4 systems
(4 mm diameter x 8 mm) are possible

Notes:
1. For internal routing. (Pneumatics sold separately)
2. For external routing. (Hoses, input cables and solenoid valves sold separately)
3. For SHxx02 configuration, the Air hand and Electric hand cannot be used simultaneously.
4. For SHxx02 configuration, the Force sensor and Electric hand cannot be used simultaneously.

WIRING_DIAGRAM2017

FRV_Part_No

RV2F • RV2FL

Model Number

RV2F(B)

RV2FL(B)

Environmental Specifications

Standard

Protection Degree

IP30

Installation

Floor type, ceiling type, (wall-mounted type) (*2)

Structure

Vertical, multiple-joint type

Degrees of Freedom

6

Drive System (*1)

AC servo motor (RV-2F/2FL: J2, J3, J5 axes have the brake) (RV-2FB/2FLB: All axes have the brake)

Position Detection Method

Absolute encoder

Maximum Load Capacity (Rating) kg

2

Arm Length (mm)

230 + 270

310 + 335

Maximum Reach Radius (mm)

504

649

Operating Range (deg)

J1

480 (±240)

J2

240 (±120)

237 (-117 to +120)

J3

160 (-0 to +160)

J4

400 (±200)

J5

240 (±120)

J6

720 (±360)

Maximum Speed (deg/sec)

J1

300

225

J2

150

105

J3

300

165

J4

450

412

J5

450

J6

720

Maximum Composite Speed (mm/sec) (*3)

4950

4,206

Cycle Time (sec) (*4)

0.6

Position Repeatability (mm)

±0.02

Ambient Temperature (°C)

0 to 40

Weight (kg)

19

21

Tolerable Moment (Nm)

J4

4.17

J5

4.17

J6

2.45

Tolerable Amount of Inertia (kgm²)

J4

0.18

J5

0.18

J6

0.04

Tool Wiring

Hand: 4 input points/4 output points; Signal cable for the multi-function hand

Tool Pneumatic Pipes

ø4 x 4 (Base to forearm section)

Machine Cable

5m (connector on both ends)

Connected Controller

CR751-D/Q; CR750-D/Q; CR750-MB IP54 controller protection box available

Notes:
1. The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes. (RV2FB)
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.

RV4F • RV4FL

Model Number

RV4FM/C

RV4FLM/C

Environmental Specifications

Standard / Oil Mist / Cleanroom

Protection Degree

IP40 (standard) / IP67 (oil mist) (*1) / ISOclass3 (*6)

Installation

Floor type, ceiling type, (wall-mounted type) (*2)

Structure

Vertical, multiple-joint type

Degrees of Freedom

6

Drive System (*1)

AC servo motor

Position Detection Method

Absolute encoder

Maximum Load Capacity (Rating) kg

4

Arm Length (mm)

240 + 270

245 + 300

Maximum Reach Radius (mm)

515

649

Operating Range (deg)

J1

480 (±240)

J2

240 (±120)

J3

161 (-0 to +161)

164 (-0 to +164)

J4

400 (±200)

J5

240 (±120)

J6

720 (±360)

Maximum Speed (deg/sec)

J1

450

420

J2

450

336

J3

300

250

J4

540

540

J5

623

623

J6

720

720

Maximum Composite Speed (mm/sec) (*3)

9027

9048

Cycle Time (sec) (*4)

0.36

0.36

Position Repeatability (mm)

±0.02

Ambient Temperature (°C)

0 to 40

Weight (kg)

39

41

Tolerable Moment (Nm)

J4

6.66

J5

6.66

J6

3.96

Tolerable Amount of Inertia (kgm²)

J4

0.2

J5

0.2

J6

0.1

Tool Wiring

Hand: 8 input points/8 output points; Signal cable for the multi-function hand and sensors; LAN X 1 <100 BASE-TX> (8-pin) (*5)

Tool Pneumatic Pipes

Primary: Ø6 x 2; Secondary: Ø4 x 8, Ø4 x 4 (from base portion to forearm)

Machine Cable

5m (connector on both ends)

Connected Controller

CR751-D/Q; CR750-D/Q;
CR750-MB IP54 controller protection box available

Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Ø8-mm coupler for suctioning is provided at the back of the base.

RV7F • RV7FL • RV7FLL

Model Number

RV7FM/C

RV7FLM/C

RV7FLLM/C

Environmental Specifications

Standard / Oil Mist / Cleanroom

Protection Degree

IP40 (standard) / IP67 (oil mist) (*1) / ISO class3 (*6)

Installation

Floor type, ceiling type, (wall-mounted type) (*2)

Structure

Vertical, multiple-joint type

Degrees of Freedom

6

Drive System (*1)

AC servo motor

Position Detection Method

Absolute encoder

Maximum Load Capacity (Rating) kg

7

Arm Length (NO1 am)

340 + 360

430 + 465

565 + 805

Maximum Reach Radius (mm)

713

908

1503

Operating Range (deg)

J1

480 (±240)

J2

240 (-115 to +125)

240 (-110 to +130)

240 (-90 to +150)

J3

156 (-0 to +156)

162 (-0 to +162)

167.5 (-10 to +157)

J4

400 (±200)

J5

240 (±120)

J6

720 (±360)

Maximum Speed (deg/sec)

J1

360

288

254

J2

401

321

164

J3

450

360

219

J4

337

337

375

J5

450

450

450

J6

720

720

720

Maximum Composite Speed (mm/sec) (*3)

11064

10977

15,300

Cycle Time (sec) (*4)

0.32

0.35

0.63

Position Repeatability (mm)

±0.02

±0.06

Ambient Temperature (°C)

0 to 40

Weight (kg)

65

67

130

Tolerable Moment (Nm)

J4

16.2

J5

16.2

J6

6.86

Tolerable Amount of Inertia (kgm²)

J4

0.45

J5

0.45

J6

0.10

Tool Wiring

Hand: 8 input points/8 output points (20 pins total); Serial signal cable for parallel I/O (2-pin + 2-pin power line);
LAN X 1 <100 BASE-TX> (8-pin)) (*5)

Tool Pneumatic Pipes

Primary: Ø6 x 2; Secondary: Ø4 x 8, Ø4 x 4 (from base portion to forearm)

Machine Cable

5m (connector on both ends)

Connected Controller

CR751-D/Q; CR750-D/Q;
CR750-MB IP54 controller protection box available

Notes:
1. Please contact a Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the specifications sheet.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Ø8-mm coupler for suctioning is provided at the back of the base.

RV13F • RV13FL • RV20F

Model Number

RV13FM/C

RV13FLM/C

RV20FM/C

Environment

Standard / Oil Mist / Cleanroom

Protection Degree

IP40 (standard), IP67 (oil mist) (*1), ISO Class 3 (*2)

Mounting Position

The floor, the ceiling suspension (hanging wall) (*3)

Structure

Vertical articulated

Degree of Freedom

6 axis

Drive System

AC servo motor

Position Detection Method

Absolute encoder

Maximum Payload (Rated) kg

13

20

Arm Length (mm)

400 + 550

565 + 960

410 + 550

Maximum Reach Radius (mm)

1,094

1,388

1,094

Operating Range (deg)

J1

380 (±190)

J2

240 (-90 to +150)

J3

167.5 (-10 to +157.5)

J4

400 (±200)

J5

240 (±120)

J6

720 (±360)

Maximum Speed (deg/sec)

J1

290

234

110

J2

234

164

110

J3

312

219

110

J4

375

375

124

J5

375

375

125

J6

720

720

360

Synthetic Maximum Speed (mm/sec) (*4)

10,450

9,700

4,200

Cycle Time (sec) (*5)

0.53

0.68

0.70

Position Repeatability (mm)

±0.05

Ambient Temperature (°C)

0 to 40

Weight (kg)

Approx. 120

Approx. 125

Approx. 120

Allowable Movement (Nm)

J4

19.3

49.0

J5

19.3

49.0

J6

11

11

Allowable Inertia (KGM2)

J4

0.47

1.40

J5

0.47

1.40

J6

0.14

0.14

Tool Wiring

Hand: 8 input points / 8 output points, multifunction hand dedicated signal line LAN x 1 (100BASE-TX)

Tool Pneumatic Pipes

Primary: ø6 x 2 Secondary: 8 ø 6 x 4 this ø 4 x (wrist interior at the time)

Machine Cable

5m (connector on both ends)

Connection Controller

CR751-D/Q; CR750-D/Q;
CR750-MB IP54 controller protection box available

Notes:
1. Depending on the nature of the oil to be used by the customer, please contact your dealer because there is a case to withstand environment performance can not be ensured.
2. Robot internal suction and low down 0.3m/s of cleanroom condition becomes the protection of cleanliness. I am prepared to back the base joint of Ø8 to suction.
3. Wall specification is a special specification that limits the J1 axis operating range.
4. This is the value on the mechanical interface of the surface when all axes are combined.
5. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5kg.

RV35F • RV50F • RV70F

Model Number

RV35FM

RV50FM

RV70FM

Environment

Standard / Oil Mist

Protection Degree

J1 to J4:IP40, J5 to J6:IP67 (standard)/ IP67 (oil mist) (*1)

Mounting Position

Floor type

Structure

Vertical, multiple-joint type

Degree of Freedom

6 axis

Drive System

AC servo motor

Position Detection Method

Absolute encoder

Maximum Payload (Rated) kg

30

50

70

Arm Length, NO1 arm (mm)

900 + 990

Maximum Reach Radius (mm)

2050

Operating Range (deg)

J1

330 (±165)

J2

215 (-80 to +135)

J3

261 (-90 to +171)

J4

720 (±360)

J5

250 (±125)

J6

900 (±450)

Maximum Speed (deg/sec)

J1

185

180

175

J2

180

180

145

J3

190

180

165

J4

305

255

235

J5

305

255

235

J6

420

370

350

Maximum Composite Speed (mm/sec) (*2)

13450

13000

11500

Position Repeatability (mm)

±0.07

Ambient Temperature (°C)

0 to 40

Weight (kg)

640

Allowable Movement (Nm)

J4

160

210

300

J5

160

210

300

J6

90

130

150

Allowable Inertia (KGM2)

J4

16

30

J5

16

30

J6

5

12

Tool Wiring

Hand: 16 input points/16 output points LAN X 1

Tool Pneumatic Pipes

ø10 x 2

Connection Controller

CR760-D/Q

Notes:
1. Please contact a Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
2. This is the value at the surface of the mechanical interface when all axes are composited.