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RV-RH Robot Arm Options

(12/12/2017)

Robot Arm Options for RVF and RHF Series

Name

Model Number

RV

RH

Functional Specification

2F
2FL

4F
4FL

7F
7FL

7FLL

13F
13FL

20F

35FM
50FM
70FM

3FH

6FH

12FH

20FH

1FHR

3FHR

3CH

6CH

Solenoid Valve Set

1E-VD0_ _

X

-

-

-

-

-

-

-

-

-

-

-

-

1, 2 valves

With solenoid valve output cable.

First _ = the number of solenoid valves

Second _= Polarity
Blank = Sink
E = Source

1F-VD0_ _-02

-

X

X

X

-

-

-

-

-

-

-

-

-

1, 2, 3, 4 valves

1F-VD0_ _-03

-

-

-

-

X

-

-

-

-

-

-

-

-

1F-VD0_ _-01

-

-

-

-

-

-

X

X

-

X

-

-

-

1S-VD0_ _-01

-

-

-

-

-

-

-

-

X

-

-

-

-

1S-VD0_ _-05

-

-

-

-

-

-

-

-

-

-

X

-

-

4 valves

1S-VD0_W_-05

-

-

-

-

-

-

-

-

-

-

X

-

-

4 valves, cleanroom/waterproof specification

Vacuum
Valve Set

1F-VV0_E-01 (Source)

-

-

-

-

-

-

-

-

-

X

-

-

-

(1, 2 valves) hand input cable included

Bellows Set

1F-JS-21

-

-

-

-

-

-

-

-

-

X

-

-

-

Protective bellows for J3 spline shaft

J3 I/O Cable Access Plate

1F-UT01-21

-

-

-

-

-

X

-

-

-

-

-

-

-

Replacement J3 cover plate with access holes for
I/O cables

J2 Motor Cover

BU230D345G01

-

-

-

-

-

X

-

-

-

-

-

-

-

J2 motor cover for non-oil/mist version arms

Hand Output Cable

1E-GR35S

X

-

-

-

-

-

-

-

-

-

-

-

-

Outputs x4, 300mm length

Cable to connect to robot 24v hand outputs. Connector on robot side, flying leads on device side.

1F-GR35S-02

-

X

X

X

X

-

-

-

-

-

-

-

-

Outputs x8, 300mm length

1F-GR60S-01

-

-

-

-

-

-

X

X

X

X

-

-

-

Outputs x8, 1050mm length With splash proof grommet

1S-GR35S-02

-

-

-

-

-

-

-

-

-

-

X

-

-

Outputs x8, 450mm length

1F-GR2000-21

-

-

-

-

-

X

-

-

-

-

-

-

-

Outputs x8, Robot side

1F-GR2000-22

-

-

-

-

-

X

-

-

-

-

-

-

-

Outputs x8, Hand side

Hand Input Cable

1S-HC30C-11

X

-

-

-

-

-

-

-

-

-

-

-

-

Inputs x4, 300mm length (curled)

Cable to connect to robot 24v hand inputs, connector on robot side, flying leads on device side.

1F-HC35S-02

-

X

X

X

X

-

-

-

-

-

-

-

-

Inputs x8, 1000mm length

1F-HC35C-01

-

-

-

-

-

-

X

X

-

X

-

-

-

Inputs x8, 1650mm total length with 350mm curled section and splash proof grommet

1F-HC35C-02

-

-

-

-

-

-

-

-

X

-

-

-

-

Inputs x8, 1800mm total length with 350mm curled section and splash proof grommet

1S-HC00S-01

-

-

-

-

-

-

-

-

-

-

X

-

-

Inputs x8, 1210mm total length (400mm usable)

1F-HC2000-21

-

-

-

-

-

X

-

-

-

-

-

-

-

Inputs x8, Robot side

1F-HC2000-22

-

-

-

-

-

X

-

-

-

-

-

-

-

Intputs x8, Hand side

Hand (Curl) Tube

1E-ST040_C

X

X

X

X

-

-

-

-

-

-

-

-

-

2, 4, 6, or 8 channels (RV2F is only 2, 4) ø4 tube size,
L = 300mm. _ indicates the number of channels

1E-ST0408C-300

-

-

-

-

-

-

X

X

-

X

-

-

-

8 channels, ø4 tube size, L = 300 mm.

1N-ST060_C-01

-

-

-

-

X

-

-

-

X

-

-

-

-

2, 4, 6, or 8 channels, ø6 tube size, L = 600mm.

_ indicates the number of channels

Hand Tube

1S-ST0304S

-

-

-

-

-

-

-

-

-

-

X

-

-

4 channels, ø4 tube size, L = 400mm.

External Wiring Set 1 (Forearm)

1F-HB01S-01

-

X

X

X

X

-

-

-

-

-

-

-

-

HI + ETH + (EH or FS)

External wiring box used for connecting:
Ethernet = ETH
Electric Hand = EH
Force Sensor = FS
Hand Input = HI

Hand Input/Output = HIO.

External Wiring Set 2 (Forearm)

1F-HB02S-01

-

X

X

X

X

-

-

-

-

-

-

-

-

ETH + (EH or FS) +
(EH or FS)

External Wiring Set 1 (Base)

1F-HA01S-01

-

X

X

X

X

-

-

-

-

-

-

-

-

HIO + (EH or FS) + ETH

External Wiring Set 2 (Base)

1F-HA02S-01

-

X

X

X

X

-

-

-

-

-

-

-

-

ETH + (EH or FS) +
(EH or FS) + HIO

Internal Wiring and Piping Set for Hand

1F-HS604S-01

-

-

-

-

-

-

-

-

X

-

-

-

-

Inputs x8 + 4 channels, ø6 tube size. (For 350mm Z-axis)

1F-HS604S-02

-

-

-

-

-

-

-

-

X

-

-

-

-

Inputs x8 + 4 channels, ø6 tube size. (For 450mm Z-axis)

1F-HS408S-01

-

-

-

-

-

-

-

X

-

-

-

-

-

Inputs x8 + 8 channels, ø4 tube size. (For 200mm Z-axis)

1F-HS408S-02

-

-

-

-

-

-

-

X

-

-

-

-

-

Inputs x8 + 8 channels, ø4 tube size. (For 340mm Z-axis)

1F-HS304S-01

-

-

-

-

-

-

X

-

-

X

-

-

-

Inputs x4 + 4 channels, ø3 tube size.

External User Wiring and Piping Box

1F-UT-BOX

-

-

-

-

-

-

X

X

-

X

-

-

-

Box for external routing of user wiring and pneumatics. Includes tubing for 8 channels. (Mounts on rear of J2 axis)

1F-UT-BOX-01

-

-

-

-

-

-

-

-

X

-

-

-

-


Robot Arm Options for RVF and RHF Series (continued)

Name

Model Number

RV

RH

Functional Specification

2F
2FL

4F
4FL

7F
7FL

7FLL

13F
13FL

20F

35F
50F
70F

3FH

6FH

12FH

20FH

1FHR

3FHR

3CH

6CH

Connection Cables

Standard Flex

Replacement (CR-750)

1F-02UCBL-02

-

X

X

X

X

-

X

X

X

X

X

-

-

2m long cables
(2-cable set with power supply and signal cables)

Replacement (CR-751)

1S-02UCBL-03

-

X

X

X

X

-

X

X

X

X

X

-

-

Replacement (CR-751)

1F-_ _UCBL-11

X

-

-

-

-

-

-

-

-

-

-

-

-

10m, 15m

(2 cable set with power and signal cables)

_ _ indicates the length of cables (03, 05, 10, 15, 20)

1F-_ _UCBL-02

-

X

X

X

X

-

X

X

X

X

X

-

-

10m, 15m, 20m

1F-_ _UCBL-04

-

-

-

-

-

-

-

-

-

-

-

X

X

3m, 10m, 15m, 20m

Extension
(CR-760)

1F-_ _CBL-21

-

-

-

-

-

X

-

-

-

-

-

-

-

5m, 10m, 15m

Hi- Flex

Replacement (CR-750)

1S-_ _LUCBL-01

-

-

-

-

-

-

X

X

X

X

X

-

-

5m, 10m, 15m

1S-_ _LUCBL-03

-

-

-

-

-

-

X

-

-

-

-

-

-

10m, 15m, 20m

Replacement (CR-751)

1F-_ _LUCBL-11

X

-

-

-

-

-

-

-

-

-

-

-

-

Direct type, 5m, 10m, 15m

1F-_ _LUCBL-02

-

X

X

X

X

-

X

X

X

X

X

-

-

Direct type, 10m, 15m, 20m

1F-_ _LUCBL-04

-

-

-

-

-

-

-

-

-

-

-

X

X

10m, 15m, 20m

Extension
(CR-750)

1S-_ _CBL-11

X

-

-

-

-

-

-

-

-

-

-

-

-

Non CE Extension type, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (10, 15)

1S-_ _CBL-01

-

X

X

X

X

-

-

X

X

X

X

-

-

Extension type, 5m, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (05, 10, 15)

1S-_ _CBL-03

X

-

-

-

-

-

X

-

-

-

-

-

-

CE Extension type, 5m, 10m, 15m options
(2 wires set with power and signal wires)
_ _indicates the length of cables (05, 10, 15)

Extension
(CR-750)

1S-_ _LCBL-11

X

-

-

-

-

-

-

-

-

-

-

-

-

Non CE Extension type, 5m, 10m, 15m options (2 wires set with power and signal wires) _ _ indicates the length of cables (05, 10, 15)

1S-_ _LCBL-01

-

X

X

X

X

-

-

X

X

X

X

-

-

1S-_ _LCBL-03

X

-

-

-

-

-

X

-

-

-

-

-

-

CE Extension type, 5m, 10m, 15m (2 wires set with power and signal wires)
_ _ indicates the length of cables (05, 10, 15)

Extension
(CR-760)

1F-_ _LCBL-21

-

-

-

-

-

X

-

-

-

-

-

-

-

Extension type, 5m, 10m, 15m options (2 wires set with power and signal wires)
_ _ indicates the length of cables (05, 10, 15)

Hard Stops

J1-Axis

1S-DH-11J1

X

-

-

-

-

-

-

-

-

-

-

-

-

Hard stop to restrict axis movement.
(Install per customer specification)

1F-DH-05J1

-

-

-

X

X

-

-

-

-

-

-

-

-

1F-DH-04

-

-

X

-

-

-

-

-

-

-

-

-

-

1F-DH-03

-

X

-

-

-

-

-

-

-

-

-

-

-

1F-DH-02

-

-

-

-

-

-

-

-

X

-

-

-

-

1F-DH-01

-

-

-

-

-

-

X

X

-

X

-

-

-

1S-DH-05J1

-

-

-

-

-

-

-

-

-

-

X

-

-

1F-DH-21J1

-

-

-

-

-

X

-

-

-

-

-

-

-

J2-Axis

1S-DH-11J2

X

-

-

-

-

-

-

-

-

-

-

-

-

1S-DH-05J2

-

-

-

-

-

-

-

-

-

-

X

-

-

1F-DH-21J2

-

-

-

-

-

X

-

-

-

-

-

-

-

J3-Axis

1S-DH-11J3

X

-

-

-

-

-

-

-

-

-

-

-

-

1F-DH-21J3

-

-

-

-

-

X

-

-

-

-

-

-

-


Robot Options for X51 Series (Chemical Resistant)

Name

Model Number

RV

RH

Description

4F
4FL

7F
7FL

7FLL

13F
13FL
20F

6FH

12FH
20FH

X51

X51

X51

X51

X51

X51

Solenoid Valve

1F-VD0_-04 (Sink)

X

X

X

-

-

-

The 1-4 series solenoid valve with cable
_= electromagnetic valve station number ( 1, 2, 3, 4) output ø4

1F-VD0_E-04 (Source)

1F-VD0_-05 (Sink)

-

-

-

X

-

-

The 1-4 series solenoid valve with cable
_ = electromagnetic valve station number ( 1, 2, 3, 4) output ø6

1F-VD0_E-05 (Source)

External Wiring Set 1 (Forearm)

1F-HB01S-02

X

X

X

-

-

-

HI + ETH + (EH or FS)

External wiring box used for connecting:
Ethernet = ETH
Electric Hand = EH
Force Sensor = FS
Hand Input = HI

Hand Input/Output = HIO

External Wiring Set 2 (Forearm)

1F-HB02S-02

X

X

X

-

-

-

ETH + (EH or FS) + (EH or FS)

External Wiring Set 1 (Base)

1F-HA01S-02

X

X

X

-

-

-

HIO + (EH or FS) + ETH

External Wiring Set 2 (Base)

1F-HA02S-02

X

X

X

-

-

-

ETH + (EH or FS) +
(EH or FS) + HIO

External User Wiring
and Piping Box

1F-UT-BOX-04

-

-

-

-

X

-

Box for external routing of user wiring and pneumatics.
(Mounts on rear of J2 axis)

1F-UT-BOX-03

-

-

-

-

-

X

Connection Cable Longer Length Replacement

Standard Flex
(CR-751)

1F-_ _UCBL-03

X

X

X

X

X

X

Replacement type 10m, 15m, 20m options (2 set of power and signal)

_ _ = cable length (10, 15, 20)

Hi-Flex
(CR-751)

1F-_ _LUCBL-03

X

X

X

X

X

X

Hard Stops (J1)

1F-DH-06

X

-

-

-

-

-

Hard stop to restrict axis movement.
(Install per customer specification)

1F-DH-07

-

X

-

-

-

-

1F-DH-08

-

-

X

X

-

-

1F-DH-09

-

-

-

-

X

-

1F-DH-10

-

-

-

-

-

X


Multifunctional Electric Hand Option

Cam Type

Model Number

4F-MEHGR-02

4F-MEHGR-03

4F-MEHGR-01

Gripping Force

Max. Continuous Rating [N]

6

22

5

Minimum Setting [%] (N)

30 (1.8)

30 (6.6)

1.5

Resolution [%] (N)

1 (0.06)

1 (0.22)

1 (0.05)

Open/Close Stroke [mm]

7.6

14.3

3.2

Speed

Max (Rating) [mm/sec]

100

100

100

Min. Setting [%] (mm/sec)

20 (20)

20 (20)

20 (20)

Resolution [%] (mm/sec)

1 (1)

1 (1)

1 (1)

Constant-Speed Move and Grip (max) [%]

50

50

50

Position

Repeatability [mm]

±0.02

±0.02

±0.02

Finger

Max. Mass (1 Pair)) [g]

15

30

10

Allowable Load [N]

450

350

12

Allowable Pitching Moment [N•m]

0.7

0.5

0.04

Allowable Yawing Moment [N•m]

0.8

0.6

0.04

Allowable Rolling Moment [N•m]

2.3

2.8

0.08

Max. Gripping Point [mm]

20

20

20

Max. Overhang [mm]

20

25

20

Guide Structure

Linear guide

Max. Overhang (kg)

0.06

0.22

0.05

Operating Temperature Range [°C]

0 to 40

Operating Humidity Range [%]

RH35 to 90

Operating Storage Temperature [°C]

-10 to +60

Weight [g]

160

300

90


Screw Type

Model Number

4F-MEHGR-02

Gripping Force

Max. Continuous Rating [N]

150

Minimum Setting [%] (N)

30 (45)

Resolution [%] (N)

1 (1.5)

Open/Close Stroke [mm]

38

Speed

Max (Rating) [mm/sec]

50

Min. Setting [%] (mm/sec)

20 (10)

Resolution [%] (mm/sec)

1 (0.5)

Constant-Speed Move and Grip (max) [%]

50

Position

Repeatability [mm]

±0.01

Finger

Max. Mass (1 pair) [g]

80

Allowable Load [N]

1300

Allowable Pitching Moment [N•m]

5

Allowable Yawing Moment [N•m]

6

Allowable Rolling Moment [N•m]

12.7

Max. Gripping Point [mm]

30

Max. Overhang [mm]

20

Guide Structure

Linear guide

Max. Overhang (kg)

1.5

Operating Temperature Range [°C]

0 to 40

Operating Humidity Range [%]

RH35 to 90

Operating Storage Temperature [°C]

-10 to +60

Weight [g]

890


3-Finger Single Cam Type

Model Number

4F-MEHGR-05

Gripping Force

Max. Continuous Rating [N]

2

Minimum Setting [%] (N)

30 (0.6)

Resolution [%] (N)

1 (0.02)

Open/Close Stroke [mm]

13

Speed

Max (Rating) [mm/sec]

100

Min. Setting [%] (mm/sec)

20 (20)

Resolution [%] (mm/sec)

1 (1)

Constant-Speed Move and Grip (max) [%]

50

Position

Repeatability [mm]

±0.03

Finger

Max. Mass (1 pair) [g]

20

Allowable Load [N]

20

Allowable Moment [N•m]

0.1

Max. Gripping Point [mm]

20

Guide Structure

Linear guide

Max. Gripping Mass (kg)

0.02

Operating Temperature Range [°C]

0 to 40

Operating Humidity Range [%]

RH35 to 90

Operating Storage Temperature [°C]

-10 to +60

Weight [g]

190


No.

Hand Cable

Model Name in TAIYO

Model Name as our Products

1

Hand cable (RV-4F/7F/13F/20F Series)

ESA-C03-12XW113

4F-MEHCBL-01

2

Hand cable (RH-3FH35/45/5515 & clean specification
Z=120, RH-6FH(M)(C)35/45/5520)

ESA-C13-12XW112

4F-MEHCBL-02

3

Hand cable (RH-6FH(M)(C)35/45/5534)

ESA-C16-12XW112

4F-MEHCBL-03

4

Hand cable (RH-12FH(M)(C)55/70/8535, RH-20FH(M)(C)8535)

ESA-C18-12XW112

4F-MEHCBL-04

5

Hand cable (RH-12FH(M)(C)55/70/8545, RH-20FH(M)(C)10035/45)

ESA-C21-12XW112

4F-MEHCBL-05


ELECTRIC_HAND2017


RV2F Series

Item

Quantity

Source

Specifications

1

Electric Hand

1

Mitsubishi Electric

Electric hand used by customers

2

Control Unit for the Electric Hand: 4F-MEHCU-01

1

Control unit to operate electric hand

3

Electric Hand Installation Flange

1

Fabricated by
customers

For attachment of the electric hand to the robot flange

4

Robot

1

Mitsubishi Electric

Standard specifications

5

Cable Securing Hardware

As required

Fabricated by
customers

For securing a cable


RV4F/7F/13F/20F Series (External Wiring)

Item

Quantity

Source

Remarks

1

Electric Hand

1

Mitsubishi Electric

Electric hand used by customers

2

Control Unit for the Electric Hand: 4F-MEHCU-02

1

Control unit to operate electric hand

3

Adapter Cable:
4F-MEHCBL-01

1

Interface cable to connect the electric hand with the control unit/robot

4

Electric Hand Installation Flange

1

Fabricated by
customers

For attachment of the electric hand to the robot flange

5

Electric Hand Control Unit Installation Stand

1

For wiring to the forearm

6

Robot

Robot, Standard (External Wiring) Specifications

1

Mitsubishi Electric

Standard specifications

External wiring sets (option) connections at both the forearm and base

7

External Wiring Unit
for the Base

1

1F-HA01S-01: When the hand input signal and Ethernet signal are used together
1F-HA02S-01: When the force sensor signal and Ethernet signal are used together

8

External Wiring Unit
for the Forearm

1

1F-HA01S-01: When the hand input signal and Ethernet signal are used together


1F-HA02S-01: When the force sensor signal and Ethernet signal are used together

9

Wrist Wiring Internal-Wiring Specifications: RV_FRSH02/SH03

1

Wrist wiring custom specifications

SH02: When the hand input signal and vision sensor signal are used together


SH03: When the force sensor signal and vision sensor signal are used together


RV4F/7F/13F/20F Series (Piping Internal Wiring)

Specifications

Possible Hand Configuration

Accessory

Remarks

External Wiring Set

for the Forearm

External Wiring Set

for the Base

-SH02

Electric Hand + Hand Input Signal

Vision Sensor

-

1F-HA01S-01

An external wiring set for the base is included with the internal wiring type robot

-SH03

Electric Hand; Vision Sensor

Force Sensor

-

1F-HA02S-01


RH3FRH/6FRH/12FRH/20FRH Series

Item

Quantity

Source

Remarks

1

Electric Hand

1

Mitsubishi Electric

Electric hand used by customers

2

Control Unit for the Electric Hand:
4F-MEHCU-02

1

Control unit to operate electric hand

3

Adapter Cable:
Select 1 from Table Below

1

Interface cable to connect the electric hand with the control unit/robot

RH3FRH35/45/5515
& C Specifications
Z=120 RH6FRH(M)(C)
35/45/5520

4F-MEHCBL-02 (Length: 1300 + 150mm)

RH6FRH(M)(C)
35/45/5534

4F-MEHCBL-03 (Length: 1600 + 150mm)

RH12FRH(M)(C) 55/70/8535RH20FRH(M)(C)8535

4F-MEHCBL-04 (Length: 1800 + 150mm)

RH12FRH(M)(C)
55/70/854

4F-MEHCBL-05 (Length: 2100 + 150mm)

4

Cable Securing Hardware

1

Fabricated by customers

For securing a cable

5

Electric Hand Installation Flange

1

For attachment of the electric hand to the robot flange