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RV-FR Series

(11/27/2017)

Model Number

RV2FR

RV2FRL

RV4FR

RV4FRL

RV7FR

RV7FRL

RV7FRLL

RV13FR

RV13FRL

RV20FR

Maximum Load Capacity (kg)

2

2

4

4

7

7

7

13

13

20

Maximum Reach Radius (mm)

504

649

515

649

713

908

1,503

1,094

1,388

1,094

Environmental Specifications

Standard

IP30

IP40

Oil Mist

IP67

Cleanroom

ISO class3

Controller

CR800-R, CR800-D


Through Wrist Wiring/Piping Options (RVFR Series)

Tooling Device Configuration (4kg – 20kg)

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.


RVFR Series Part Number Configuration

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RV2FR • RV2FRL

Model Number

RV2FR(B)

RV2FRL(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 (J2, J3 and J5: with brake)

Position Detection Method

Absolute encoder

Maximum Load Capacity (Rating) kg

Maximum 3 (Rated 2) (*5)

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)

4955

4200

Cycle Time (sec) (*4)

0.6

0.7

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

Gripper: 4 input points/4 output points; Signal cable for the multi-function gripper

Tool Pneumatic Pipes

ø4 x 4 (Base to forearm section)

Machine Cable

5m (connector on both ends)

Connected Controller

CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)

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.
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. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

RV4FR • RV4FRL

Model Number

RV4FRM/C

RV4FRLM/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 (*8)

Drive System (*1)

AC servo motor

Position Detection Method

Absolute encoder

Maximum Load Capacity (Rating) kg

Maximum 4 (Rated 4) (*7)

Arm Length (mm)

235+275

310+335

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

Gripper: 8 input points/8 output points; Signal cable for the multi-function gripper and sensors; LAN × 1 <100 BASE-TX> (*5)

Tool Pneumatic Pipes

Primary: ø6 × 2 Secondary: ø4 × 8, ø4 × 4 (from base portion to forearm)

Machine Cable

5m (connector on both ends)

Connected Controller

CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)

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 (0.13 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.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
8. Please contact our sales offices if you need a five axes long arm model.

RV7FR • RV7FRL • RV7FRLL

Model Number

RV7FRM/C

RV7FRLM/C

RV7FRLLM/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

Maximum 7 (Rated 7) (*7)

Arm Length (NO1 am)

340 + 370

435+470

565+805

Maximum Reach Radius (mm)

713

908

1503

Operating Range (deg)

J1

480 (±240)

380 (±190)

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 +157.5)

J4

400 (±200)

J5

240 (±120)

J6

720 (±360)

Maximum Speed (deg/sec)

J1

360

288

234

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

Gripper: 8 input points, Signal cable for the multi-function gripper, LAN × 1 <100 BASE-TX> (*5)

Tool Pneumatic Pipes

Primary: ø6 × 2 Secondary: ø4 × 8, ø4 × 4 (from base portion to forearm)

Primary: ø6 × 2 Secondary: ø6 × 8, ø4 × 4 (from base portion to forearm)

Machine Cable

5m (connector on both ends)

Connected Controller

CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)

Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
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 (0.13 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.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

RV13FR • RV13FRL

Model Number

RV13FRM/C

RV13FRLM/C

RV20FRM/C

Environment

Standard / Oil Mist / Cleanroom

Protection Degree

IP40 (standard), IP67 (oil mist) (*1), ISO Class 3 (*6)

Mounting Position

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

Structure

Vertical, multiple-joint type

Degree of Freedom

6 axis

Drive System

AC servo motor

Position Detection Method

Absolute encoder

Maximum Payload (Rated) kg

Maximum 13 (Rated 12) (*7)

Maximum 20 (Rated 15)

Arm Length (mm)

410 + 550

565 + 690

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) (*3)

10,450

9,700

4200

Cycle Time (sec) (*4)

0.53

0.68

0.70

Position Repeatability (mm)

±0.05

Ambient Temperature (°C)

0 to 40

Weight (kg)

120

130

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

Gripper: 8 input points/8 output points; Signal cable for the multi-function gripper; LAN × 1 <100 BASE-TX> (*5)

Tool Pneumatic Pipes

Primary: ø6 × 2 Secondary: ø6 × 8, ø4 × 4 (from base portion to forearm)

Machine Cable

5m (connector on both ends)

Connection Controller

CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)

Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
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 5 kg.
5. Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
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 8-mm coupler for suctioning is provided at the back of the base.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).