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RV-FR & RH-FH Robot Arm Options

(11/27/2017)

Robot Arm Options for RVFR and RHFRH Series

Name

Model Number

RVFR

RHFRH

Functional Specification

2FR
2FRL

4FR
4FRL

7FR
7FRL

7FRLL

13FR
13FRL

20FR

3FRH

6FRH

12FRH

20FRH

1FRHR

3FRHR

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_ _-01

-

-

-

-

-

-

-

-

X

-

1, 2 valves with hand input cable (source only)

Bellows Set

1F-JS-21

-

-

-

-

-

-

-

-

X

-

Protective bellows for J3 spline shaft

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 = 300 mm. __ 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 = 600 mm.

_ indicates the number of channels

Hand Tube

1S-ST0304S

-

-

-

-

-

-

-

-

-

X

4 channels, ø4 tube size, L = 400 mm.

__ indicates the number of channels

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

-

-

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

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)

Connection Cable (Standard Flex)

1F-_UCBL-41

X

X

X

X

X

X

X

X

X

X

Cable used to connect robot arm to controller (Replacement type) 2m, 10m, 15m and 20m options. __ indicates cable length (2, 10, 15, 20)

Connection Cable (Hi-Flex)

1F-_LUCBL-41

X

X

X

X

X

X

X

X

X

X

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

J2-Axis

1S-DH-11J2

X

-

-

-

-

-

-

-

-

-

1S-DH-05J2

-

-

-

-

-

-

-

-

-

X

J3-Axis

1S-DH-11J3

X

-

-

-

-

-

-

-

-

-


Multifunctional Electric Hand Option

Cam Type

Model Number

4F-MEHGR-01

4F-MEHGR-02

4F-MEHGR-03

Gripping Force

Max. Continuous Rating [N]

5

6

22

Minimum Setting [%] (N)

1.5

30 (1.8)

30 (6.6)

Resolution [%] (N)

1 (0.05)

1 (0.06)

1 (0.22)

Open/Close Stroke [mm]

3.2

7.6

14.3

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

Positioning

Repeatability [mm]

±0.02

±0.02

±0.02

Finger

Max. Mass (1 Pair)) [g]

10

15

30

Allowable Load [N]

12

450

350

Allowable Pitching Moment [N•m]

0.04

0.7

0.5

Allowable Yawing Moment [N•m]

0.04

0.8

0.6

Allowable Rolling Moment [N•m]

0.08

2.3

2.8

Max. Gripping Point [mm]

20

20

20

Max. Overhang [mm]

20

20

25

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]

90

160

300


Screw Type

Model Number

4F-MEHGR-04

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

Positioning

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

Positioning

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 Weight (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


Configuration of the Multi-Function Electric Hand

ELECTRIC_HAND2017

RV2FR 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


RV4FR/7FR/13FR/20FR 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


RV4FR/7FR/13FR/20FR Series (Through Wrist Wiring/Piping Versions)

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) 55/70/8535

RH20FRH(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