Robots(Mitsubishi)

Robots

Robots

RV Series 5 & 6 Axis Models Payload: 1 - 12 KG Reach: 410 - 1385 mm

H C A E R

RH Series 4 Axis Models Payload: 6 - 18 KG Reach: 350 - 850 mm

PAYLOAD

MELFA Robots Overview ........................... .......................................... ............................. ............................ ............................. ............................. ............................428 ..............428 RV Series ............................ .......................................... ............................ ............................ ............................. ............................. ............................ ............................. ........................429 .........429 RH Series............................ .......................................... ............................ ............................ ............................. ............................. ............................ ............................. ........................432 .........432 Controllers ............................ .......................................... ............................. ............................. ............................ ............................ ............................. ............................. .....................436 .......436 System Configuration ............................ .......................................... ............................ ............................. ............................. ............................ ............................. ...................438 ....438 Configuration Options ............................ .......................................... ............................ ............................. ............................. ............................ ............................. ...................439 ....439 Software............. Software........................... ............................ ............................. ............................. ............................ ............................. ............................. ............................ ..........................440 ............440

Stock Product: Stock product is product MEAU makes every effort to have on hand for immediate shipment. There may be instances when we are out of stock due to unexpected large requirements. All stock product will be indicated in this book by an “S” in the Stocked Item columns/rows. Non-Stock Product: Non-stock product is product supplied on an “as-needed” basis. Standard lead times of 12 - 16 weeks apply, product is non-returnable and non-cancelable. Product listed as non-stock may change to stock product subject to increases in sales and usage. All non-stock product will be indicated in this book by a dash “-” in the Stocked Item columns/rows.

Mitsubishi Electric Automation

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Robots 427

S T O B O R

MELFA Robots Overview

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Mitsubishi Electric’s line of MELFA robots covers a wide spectrum of configurations and capacities that are ideal for small to medium robot applications. As part of the Mitsubishi Electric family of world class automation products, MELFA robots integrate directly to complete a single-source automation solution. Quality and reliability have proven to be the standard for MELFA robots which have been globally accepted and performing with maximum up-time since 1980. MELFA robots are built to the meticulous standards that have become synonymous with Mitsubishi Electric. Available in 4, 5, or 6 axis configurations, all units come standard with an impressive list of features and utilities that simplify design and commissioning. MELFA 64 bit RISC processor controllers are compact but robust with great flexibility and communication options. The prog ramming software is very comprehensive in its abilities including, simulation, CAD to program conversion, diagnosis and monitoring.

MELFA System Features Include: • Payload capacities capacities up to 18 Kg • General environment environment ratings ratings to IP65. Oil-mist and clean room models available. • AC servo motors with absolute encoders and brakes • Internal accessory accessory wiring and piping • Superior repeatability repeatability and cycle time time • Conveyor tracking function • Simplified vision interface tools

• • • • • • • • •

Additional axis control Sensorless collision detection Individual axis torque monitoring monitoring Load-based acceleration optimization Singularity point control routines routines Compliance control Multi-tasking program environment Position restoration tool Maintenance forecast function

Vertical, multiple-joint type (RV) Model Number

RV-2SQ RV-2SD

RV-3SQJ RV-3SDJ

RV-3SQ RV-3SD

RV-6SQ RV-6SD

RV-6SQL RV-6SDL

RV-12SQ RV-12SD

RV-12SQL RV-12SDL

Number of Axes

6

5

6

6

6

6

6

Maximum Load Capacity (kg)

3

3.5

3.5

6

6

12

12

Maximum Reach Radius (mm)

504

641

642

695

901

10 8 6

1385

Controller (*1)

CR1QA-7_ _, CR1DA-7_ _. Protection box included for mist specification (Option specification)

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/ CR3D-7_ _ type for mist specification

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/ CR3D-7_ _ type for mist specification.

Notes: 1. 7_ _ in controller type names names differ according to the robot arm. arm.

Horizontal, multiple-joint type (RH) Model Number

RH-3SQHR RH-3SDHR

RH-6SQH35 RH-6SDH35

RH-6SQH45 RH-6SDH45

RH-6SQH55 RH-6SDH55

RH-12SQH55 RH-12SDH55





Number of Axes

4

4

4

4

4

4

4

4

4

Maximum Load Capacity (kg)

3

6

6

6

12

12

12

20

20

Maximum Reach Radius (mm)

35 0

3 50

4 50

550

550

700

850

850

100 0

Controller (*1)

CR2QA-7_ _, CR2DA-7_ _

CR1QA-7_ _, CR1DA-7_ _. Protection box included for mist specification (Option specification)

Notes: 1. 7_ _ in controller type names names differ according to the robot arm. arm.

428

CR2QA-7_ _, CR2DA-7_ _. CR3Q-7_ _/CR3D-7_ _ type for mist specification

RV Series RV-2SQ • RV-2SD

Vertical 2kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 Operating Range (deg) J4 J5 J6 J1 J2 J3 Maximum Speed (deg/sec) J4 J5 J6 Maximum Composite Speed (mm/sec) Cycle Time (sec) Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RV-3SQJ • RV-3SDJ

Vertical 3kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 Operating Range (deg) J4 J5 J6 J1 J2 J3 Maximum Speed (deg/sec) J4 J5 J6 Maximum Composite Speed Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RV-2SQ-S_ / RV-2SD-S_ RV-2SD-S15 is stock. All other models are non-stock. Standard IP30 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (J2, J3 and J5: with brake) Absolute encoder 3 (2) 230 + 270 504 480 (-240 to +240) 240 (-120 to +120) 160 (-0 to +160) 400 (-200 to +200) 240 (-120 to +120) 720 (-360 to +360) 225 150 275 412 450 720 Approx. 4400 0.6-0.7 ±0.02 0 to 40 19 Hand: 4 input points / 0 output points Primary piping: ø4 x 4 (from base portion to forearm) 5m (connector on both ends) CR1QA-772 / CR1DA-771

RV-3SQJ-S_ / RV-3SDJ-S_ RV-3SQJ-SM-S_ / RV-3SDJ-SM-S_ Standard (oil mist) IP65 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 5 AC servo motor Absolute encoder 3.5 (3) 245 + 300 641 340 (±170) 225 (-90 to +135) 237 (-100 to +137) 240 (±120) 720 (±360) 250 187 250 412 660 Approx. 5300 ±0.02 0 to 40 Approx. 33 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR1QA-731 + CR1D-MB / CR1QA-731 / CR1DA-731 CR1DA-731 + CR1D-MB

RV-3SQJC-S_ / RV-3SDJC-S_ Clean Class 10 (0.3μm) Floor type

CR1QA-731 / CR1DA-731


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Robots 429

S T O B O R

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RV-3SQ • RV-3SD

Vertical 3kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm)

Operating Range (deg)

Maximum Speed (deg/sec)

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

Maximum Composite Speed Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RV-6SQ • RV-6SD

RV-3SQC-S_ / RV-3SDC-S_

Clean Class 10 (0.3μm) Floor type

CR1QA-721 / CR1DA-721

Vertical 6kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg) Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 Operating Range (deg) J4 J5 J6 J1 J2 J3 Maximum Speed (deg/sec) J4 J5 J6 Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

430

RV-3SQ-S_ / RV-3SD-S_ RV-3SQ-SM-S_ / RV-3SD-SM-S_ RV-3SDB-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor Absolute encoder 3.5 (3) 245 + 270 642 340 (±170) 225 (-90 to +135) 191 (-20 to +171) 320 (±160) 240 (±120) 720 (±360) 250 187 250 412 412 660 Approx. 5500 ±0.02 0 to 40 Approx. 37 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR1QA-721 + CR1D-MB / CR1QA-721 / CR1DA-721 CR1DA-721 + CR1D-MB

RV-6SQ-S_ / RV-6SD-S_ RV-6SQ-SM6-S_ / RV-6SD-SM6-S_ RV-6SD-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 6 (5) 280 + 315 695 340 (±170) 227 (-92 to +135) 273 (-107 to +166) 320 (±160) 240 (±120) 720 (±360) 401 321 401 352 450 660 Approx. 9300 0.47 ±0.02 0 to 40 Approx. 58 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M



CR2QA-711 / CR2DA-711

RV-6SQL • RV-6SDL

Vertical 6kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg Arm Length (mm) Maximum Reach Radius (mm) J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6



Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RV-12SQ • RV-12SD

RV-6SQL-S_ / RV-6SDL-S_ RV-6SQL-SM6-S_ / RV-6SDL-SM6-S_ RV-6SDL-S15 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 6 (5) 380 + 425 902 340 (±170) 227 (-92 to +135) 295 (-129 to +166) 320 (±160) 240 (±120) 720 (±360) 250 267 267 352 450 660 Approx. 8500 0.50 ±0.02 0 to 40 Approx. 60 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR2QA-711 / CR2DA-711 CR3Q-711M / CR3D-711M

Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable

RV-12SQ-S_ / RV-12SD-S_ RV-12SQ-S300-S_ / RV-12SD-S300-S_ RV-12SD-S315 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 12 (10) 400 + 530 1086 340 (±170) 230 (-100 to +130) 290 (-130 to +160) 320 (±160) 240 (±120) 720 (±360) 276 230 267 352 375 660 Approx. 9600 0.66 ±0.05 0 to 40 Approx. 93 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø6 x 8 7m (connector on both ends)

Connected Controller

CR3Q-701M / CR3D-701M



CR2QA-711 / CR2DA-711

Vertical 12kg type



RV-6SQLC-S_ / RV-6SDLC-S_

J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

CR2QA-701 / CR2DA-701



CR3Q-701 / CR2QA-701 CR3D-701 / CR2DA-701


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Robots 431

S T O B O R

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RV-12SQL • RV-12SDL

Vertical 12kg type


Maximum Composite Speed Cycle Time Position Repeatability (mm) Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable

RV-12SQL-S_ / RV-12SDL-S_ RV-12SQL-S300-S_ / RV-12SDL-S300-S_ RV-12SDL-S315 is stock. All other models are non-stock. Standard (oil mist) IP65 (J4 to J6), IP54 (J1 to J3) Floor type, ceiling type, (wall-mounted type) Vertical, multiple-joint type 6 AC servo motor (with brake on all axes) Absolute encoder 12 (10) 560 + 670 1385 340 (±170) 230 (-100 to +130) 290 (-130 to +160) 320 (±160) 240 (±120) 720 (±360) 230 172 200 352 375 660 Approx. 9500 0.74 ±0.05 0 to 40 Approx. 98 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#27 (0.1mm²) Primary: ø6 x 2 Secondary: ø6 x 8 7m (connector on both ends)


CR3Q-701M / CR3D-701M



J1 J2 J3 J4 J5 J6 J1 J2 J3 J4 J5 J6

CR2QA-701 / CR2DA-701

RH Series RH-3SQHR • RH-3SDHR

Horizontal 3kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 (ø) Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed Cycle Time X-Y composite mm Position Repeatability (mm) J3 (Z) mm J4 (ø) Deg Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

432

RH-3SQHR-S_ • RH-3SDHR-S_ Standard IP20 Ceiling type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 3 (1) 175 175 350 450 (±225) 450 (±225) 150 (0 to 150) 1440 (±720) 672 708 1500 3146 6267 0.32 ±0.01 ±0.01 ±0.01 0 to 40 Approx. 24 Hand: 8 input points / 0 output points, 8 spare lines (8 output points by options) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR2QA-781 / CR2DA-781

RV-12SQLC-S_ / RV-12SDLC-S_


CR3Q-701 / CR2QA-701 CR3D-701 / CR2DA-701

RH-6SQH • RH-6SDH

Horizontal 6kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 (ø) Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 (ø) Deg Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RH-6SQH35_ _-S_ RH-6SDH35_ _-S_

RH-6SQH45_ _-S_ RH-6SDH45_ _-S_

RH-6SQH55_ _-S_ RH-6SDH55_ _-S_

RH-6SQH35_ _M-S_ RH-6SQH45_ _M-S_ RH-6SQH55_ _M-S_ RH-6SDH35_ _M-S_ RH-6SDH45_ _M-S_ RH-6SDH55_ _M-S_

RH-6SDH3520-S15 and RH-6SDH5520-S15 are stock. All other models are non-stock. Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 6 125 2 25 325 125 225 32 5 225 350 4 50 550 350 450 55 0 254 (±127) 274 (±137) 290 (±145) 274 (±137) 290 (±145) 200 (97 to 297)/320 (-23 to 297) 170 (97 to 267)/270 (-23 to 247) 720 (±360) 375 612 1177 2411 6473 (4694) 7 1 2 8 (5 3 4 9 ) 7782 (6003) 6473 (4694) 7128 (5349) 7782 (6003) 0.42 0.43 0.42 0.43 ±0.02 ±0.01 ±0.02 0 to 40 Approx. 20 Approx. 21 Approx. 20 Approx. 21 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR1QA-761 (Protection box (CR1D-MB) included for -SM specication) CR1QA-761 / CR1DA-761 CR1DA-761 (Protection box (CR1D-MB) included for -SM specication)

RH-6SQH • RH-6SDH continued Model Number

RH-6SQH35_ _C-S_ RH-6SDH35_ _C-S_



Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 (ø) Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 (ø) Deg Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

Clean Class 10 (0.3μm) Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 6 125 225 225 350 450 254 (±127) 274 (±137) 290 (±145) 170 (97 to 267)/270 (-23 to 247) 720 (±360) 375 612 1177 2411 6473 (4694) 7128 (5349) 0.42 ±0.02 ±0.01 ±0.02 0 to 40 Approx. 20 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²) Primary: ø6 x 2 Secondary: ø4 x 8 5m (connector on both ends) CR1QA-761 / CR1DA-761

3 25 5 50

7782 (6003) 0.43

Approx. 21


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Robots 433

S T O B O R

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RH-12SQH • RH-12SDH

Horizontal 12kg type

Model Number

RH-12SQH55_ _-S_ RH-12SDH55_ _-S_

RH-12SQH70_ _-S_ RH-12SDH70_ _-S_

RH-12SQH85_ _-S_ RH-12SDH85_ _-S_

RH-12SQH55_ _M-S_ RH-12SQH70_ _M-S_ RH-12SQH85_ _M-S_ RH-12SDH55_ _M-S_ RH-12SDH70_ _M-S_ RH-12SDH85_ _M-S_

Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 (ø) Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 (ø) Deg Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable

Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 12 225 375 525 2 25 375 325 550 700 850 550 700 280 (±140) 290 (±145) 306 (±153) 290 (±145) 350 (-10 to + 340)/450 (-110 to +340) 300 (-10 to + 290)/400 (-110 to +290) 720 (±360) 360 288 360 412.5 1300 1500 10555 (5796) 1 1 4 98 (6 7 3 8 ) 11221 (6612) 10555 (5796) 11498 (6738) 0.43 0.44 0.45 0.43 0.44 ±0.02 ±0.025 ±0.02 ±0.025 ±0.01 ±0.03 0 to 40 Approx. 41 Approx. 43 Approx. 45 Approx. 41 Approx. 43 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²) Primary: ø6 x 2 Secondary: ø6 x 8 5m (connector on both ends)


CR2QA-741 / CR2DA-741

RH-12SQH • RH-12SDH continued RH-12SQH55_ _C-S_ RH-12SQH70_ _C-S_ RH-12SDH55_ _C-S_ RH-12SDH70_ _C-S_ Stocked Item Clean Machine Class Class 10 (0.3μm) Protection Degree Floor type Installation Structure Horizontal, multiple-joint type 4 Degrees of Freedom AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Drive System Absolute encoder Position Detection Method 12 Maximum Load Capacity (Rating) kg 225 375 No. 1 Arm Arm Length (mm) 325 No. 2 Arm 550 700 Maximum Reach Radius (No. 1 + No. 2) (mm) 280 (±140) J1 Deg. 290 (±145) J2 Deg. Operating Range (deg) 300 (-10 to + 290)/400 (-110 to +290) J3 (Z) mm 720 (±360) J4 (ø) Deg 360 J1 Deg/sec 412.5 J2 Deg/sec Maximum Speed (deg/sec) 1300 J3 mm/sec J4 Deg/sec 1500 10555 (5796) 11498 (6738) Maximum Composite Speed 0.42 0.44 Cycle Time ±0.025 X-Y Composite mm ±0.02 ±0.01 Position Repeatability (mm) J3 (Z) mm ±0.03 J4 (ø) Deg 0 to 40 Ambient Temperature (°C) Approx. 41 Approx. 43 Weight (kg) Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²) Tool Wiring Primary: ø6 x 2 Secondary: ø6 x 8 Tool Pneumatic Pipes 5m (connector on both ends) Machine Cable CR2QA-741 / CR2DA-741 Connected Controller Model Number

434

RH-12SQH85_ _C-S_ RH-12SDH85_ _C-S_ -

525 850 306 (±153)

288

11221 (6612) 0.45

Approx. 45

-

5 25 8 50 306 (±153)

2 88

11221 (6612) 0.45

Approx. 45

RH-20SQH • RH-20SDH

Horizontal 20kg type

Model Number Stocked Item Machine Class Protection Degree Installation Structure Degrees of Freedom Drive System Position Detection Method Maximum Load Capacity (Rating) kg No. 1 Arm Arm Length (mm) No. 2 Arm Maximum Reach Radius (No. 1 + No. 2) (mm) J1 Deg. J2 Deg. Operating Range (deg) J3 (Z) mm J4 (ø) Deg J1 Deg/sec J2 Deg/sec Maximum Speed (deg/sec) J3 mm/sec J4 Deg/sec Maximum Composite Speed mm/sec Cycle Time X-Y Composite mm Position Repeatability (mm) J3 (Z) mm J4 (ø) Deg Ambient Temperature (°C) Weight (kg) Tool Wiring Tool Pneumatic Pipes Machine Cable Connected Controller

RH-20SQH85_ _-S_ RH-20SDH85_ _-S_

RH-20SQH100_ _-S_ RH-20SQH85_ _M-S_ RH-20SQH100_ _M-S_ RH-20SQH85_ _C-S_ RH-20SDH100_ _-S_ RH-20SDH85_ _M-S_ RH-20SDH100_ _M-S_ RH-20SDH85_ _C-S_

Standard Oil mist proof IP20 IP54 Floor type Horizontal, multiple-joint type 4 AC servo motor (J1, J2 and J4: with no brake, J3: with brake) Absolute encoder 20 525 325 4 75 325 475 850 1 000 850 1000 280 (±140) 306 (±153) 350 (-10 to +340) +340)/45 /4500 (-110 (-110 to +340) +340) 300 (-10 (-10 to to +290) +290)/38 /3800 (-110 (-110 to +270) +270) 720 (±360) 288 412.5 1200 1500 11221 (6612) 13055 (8446) 11221 (6612) 13055 (8446) 0.46 0.57 0.46 0.57 ±0.025 ±0.01 ±0.03 0 to 40 Approx. 47 Approx. 51 Approx. 47 Approx. 51 Hand: 8 input points / 8 output points (forearm), 8 spare lines: AWG#24 (0.2mm²) Primary: ø6 x 2 Secondary: ø6 x 8 5m (connector on both ends) CR2QA-751 / CR2DA-751

RH-20SQH100_ _C-S_ RH-20SDH100_ _C-S_

Clean Class 10 (0.3μm)

-

32 5 8 50

475 100 0

11221 (6612) 0.46

13055 (8446) 0.57

Approx. 47

Approx. 51


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Robots 435

S T O B O R

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Controllers SD Series

SQ Series Controller configuration

A variety of interfac es are ava ilable as standard. Ethernet

SSCNET III (optical communications)

Robot CPU Q172DRCPU

Ethernet

MR-J3 Additiona l axis f unction

Controller

Robot CPU CRnD-7xx Controller

+ Drive unit

USB communication

Encoder input function

USB communication

SSCNET III (optical communications) communications) Additional axis funct ion

Pulse encoder MR-J3

CR2QA-711 CR2DA-711

CR2QA-701 CR2DA-701

CR3Q-701M CR3Q-711M CR3D-701M CR3D-711M

DU1A-731

DU2A-711

DU2A-701

DU3-701M DU3-711M

Model Number Stocked Item Robot CPU

Included with Robot part numbers Q172DRCPU

Drive Unit

DU1A-771

Path Control Method Number of Axes Controlled Robot Language Position Teaching Method Number of Teaching Points Memory Capacity Number of Steps Number of Programs (Unit)

PTP control and CP control 6 axes 5 axes 6 axes MELFA-BASIC V or MELFA-BASIC IV Teaching method, MDI method 13,000 26,000 256 SQ Series: 8192 input points/8192 output points with the multiple CPU common device SD Series: 0 input/0 output (Up to 256/256 when options are used) SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/O 1 4 input/0 output 8 input / 0 output 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) SQ Series: -; SD Series: 1 (for the extension of a personal computer, vision sensor, etc.) 1 (Teaching pendant: dedicated T/B) SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port), 1 (for customer) 10BASE-T/100BASE-TX SQ Series: 1 (USB port of programmable controller CPU unit (mini B ter minal) can be used.); SD Series: 1 (device functions only, mini B terminal) 1 (dedicated for pneumatic hand interface) SQ: 1; SD: 1 (SSCNET III) SQ Series: Q173DPX (sold separately); SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SD Series: 3 0 to 40 SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85 3-phase AC180 to 253 0.5 1.0 2.0 3.0 240 x 290 x 200 (ex240 x 290 x 200 4 7 0 x 4 00 x 2 0 0 4 50 x 4 40 x 62 5 cluding protrusions) Approx. 9 Approx. 21 Approx. 60 Self-contained Self-contained oor type/open structure [IP20] oor type/sealed structure [IP54] 100 or less (class D grounding)

General-Purpose I/O

External Input/ Output (Points)

Dedicated I/O Special Stop Input Hand Open/Close Emergency Stop Input Door Switch Input Enabling Device Input Emergency Stop Output Mode Output Robot Error Output Sync.of Additional Axes RS-232 RS-422 Ethernet USB

Interface

Hand Dedicated Slot Key Switch Interface (Points) Additional-Axis Interface Tracking Interface Memory Slot Extension Slot Ambient Temperature (°C) Relative Humidity (%RH) Input Voltage Range (V) Power Supply Power Capacity kVA External Dimensions (including legs) mm (W x D x H) Weight (kg) Structure (Protective Specication) Grounding Ω

436

CR1QA-721 CR1DA-721

CR1QA-731 CR1DA-731

CR1QA-771 CR1DA-771

DU1A-721

CR2QA-741 CR2QA-751 CR2DA-741 CR2DA-751

CR3Q-741M CR3Q-751M CR3D-741M CR3D-751M

DU2A-781

DU2A-741 DU2A-751

DU3-741M DU3-751M

Model Number Stocked Item Robot CPU

Included with Robot part numbers Q172DRCPU

Drive Unit

DU3-701

Path Control Method Number of Axes Controlled Robot Language Position Teaching Method Number of Teaching Points Memory Capacity Number of Steps Number of Programs (Unit)

PTP control and CP control 6 axes 4 axes MELFA-BASIC V or MELFA-BASIC IV Teaching method, MDI method 13,000 26,000 256 SQ Series: 8192 input points/8192 output points with the multiple CPU common device SD Series: 0 input/0 output (Up to 256/256 when options are used) SQ Series: Assigned to multiple CPU common device; SD Series: Assigned to general-purpose I/O 1 8 input / 0 output 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (redundant) 1 (for the extension of a personal computer, vision sensor, etc.) 1 (Teaching pendant: dedicated T/B) SQ Series: 1 (dedicated teaching pendant port) 10BASE-T; SD Series: 1 (dedicated teaching pendant port) , 1 (for customer) 10BASE-T/100BASE-TX SQ Series: 1 (USB port of programmable controller CPU unit (mini B t erminal) can be used.); SD Series: 1 (device functions only, mini B terminal) 1 (dedicated for pneumatic hand interface)

General-Purpose I/O

External Input/Output (Points)

Dedicated I/O Special Stop Input Hand Open/Close Emergency Stop Input Door Switch Input Enabling Device Input Emergency Stop Output Mode Output Robot Error Output Sync.of Additional Axes RS-232 RS-422 Ethernet USB

Interface

Hand Dedicated Slot Key Switch Interface (Points) Additional-Axis Interface Tracking Interface Memory Slot Extension Slot

Ambient Temperature (°C) Relative Humidity (%RH) Input Voltage Range (V) Power Supply Power Capacity kVA External Dimensions (including legs) mm (W x D x H) Weight (kg)

CR1QA-761 CR1DA-761

CR2QA-781 CR2DA-781

CR3Q-701 CR3D-701

DU1A-761

1 (SSCNET III) SQ Series: Q173DPX (sold separately); SD Series: 1 SQ Series: -; SD Series: 1 SQ Series: -; SQ Series: -; SQ Series: -; SD Series: 3 SD Series: 1 SD Series: 3 0 to 40 SQ Series: 0 to 40 (drive unit)/0 to 55 (Robot CPU); SD Series: 45 to 85 3-phase AC180 to 253 3.0 1.0 2.0

3.0

450 x 380 x 625

240 x 290 x 200

470 x 400 x 200

4 50 x 4 4 0 x 6 2 5

Approx. 60

Approx. 9

Approx. 21

Approx. 60 Self-contained oor type/sealed structure [IP54]

Structure (Protective Specication)

Self-contained oor type/open structure [IP20]

Grounding Ω

100 or less (class D grounding)

Multiple CPU Environment Unit Base Power Supply

Programmable Controller CPU

Type High-speed standard base between multiple CPU • Q38DB: 8 slots • Q312DB: 12 slots Q61P, Q62P, Q63P, Q64PN

Universal model (CPU that can transmit by multiple CPU high speed transmission) • Q03UD(E)CPU • Q04UD(E)HCPU • Q06UD(E)HCPU • Q10UD(E)HCPU • Q13UD(E)HCPU • Q20UD(E)HCPU • Q26UD(E)HCPU • Q100UDEHCPU


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Robots 437

S T O B O R

n

System Confguration SQ Series (Example of RV-6SQL)

Hand curl tube (Optional)

Pneumatic hand interface Pulse encoder (Optional)

Hand input cable (Optional)

■ Connection with peripheral devices Note 2)

Tracking function Note 5)

Hand output cable (Optional)

Robot CPU Q173DPX Robot

Connection cable between robot CPU and DU

Controller

Solenoid valve set (Optional) Machine cable

NC

iQ Platform Programmable controller Note 1)

Servo amplifier

Drive unit Vision sensor Note 4) (Optional)

USB cable

GOT

Note 3) Some machines have special specifications. For details, refer to specification manuals. ● ● ● ●

Robot arm (oil mist proof) Robot arm (clean) Machine cable extension Connection cable extension between robot CPU and DU

Teaching pendant (Optional)

Personal computer

RT ToolBox2 PC support software (Optional)

Notes: 1. The customer will select each programmable controller unit. For details, refer to the programmable controller manual manuals, s, MELFANSweb, etc. 2. Select an appropriate interface interface according to the I/Os or network function of the peripheral. 3. The equipment configuration is changed prior to shipment from the factory. Since the product is produced by order, check the timeframe for delivery and applicable specifications. specifications. 4. A HUB is required for the vision sensor connection. It must be prepared by the customer. 5. A motion unit Q173DPX is required for the pulse encoder connection. connection. It must be prepared by the customer.

SD Series (Example of RV-3SDJ-SM) ■ Connection with peripheral devices Hand curl tube (Optional)

(*1)

Hand input cable (Optional)

Ethernet

Tracking function

Pneumatic hand interface Hand output cable (Optional)

Vision sensor

Parallel I/O unit NC Controller Robot

Additional memory

Machine cable

External I/O cable Parallel I/O interface

Solenoid valve set (Optional)

Servo amplifier External I/O interface

Equipment of standard configuration Controller protection box (Optional)

Shipping special specifications

Robot arm (oil mist proof) Robot arm (clean) Machine cable extension

Programmable controller

Personal computer cable (Optional) (*2)

Some machines have special specifications. For details, refer to specification manuals. ● ● ●

CC-Link interface

RT ToolBox2 PC support software Teaching pendant (Optional)

Personall computer

(Optional)

Notes: 1. Select an appropriate interface according to the I/Os or network function of the peripheral. 2. The equipment configuration is changed prior to shipment from the factory. Since the product is produced by order, check the timeframe for delivery and applica applicable ble specifications.

438

GOT

Confguration Options RV Classification Name

Solenoid Valve Set

2SQ 2SD

6SQ 6SQL 6SD 6SDL

12SQ 12SQL 12SD 12SDL

3SQHR 6SQH 3SDHR 6SDH

12SQH 20SQH 12SDH 20SDH

1S-VD0_-01 (sink) 1S-VD0_E-01 (source)

-

-

-

X

-

-

-


-

X

X

-

-

-

-

1S-VD0_M-03 (sink) 1S-VD0_ME-03 (source)

-

-

-

-

-

-

X

1S-VD0_M-04 (sink) 1S-VD0_ME-04 (source)

-

-

-

-

-

X

-


-

-

-

-

X

-

-

X -

X

X

X

-

-

-

X

-

-

-

X -

X -

X X

-

X -

X -

X -

-

X

X

1S-HC00S-01

X -

-

-

-

X

-

-

1N-ST060_C

-

-

-

X

-

-

-

1E-ST040_C

X

X

X

-

-

-

-

1E-ST0408C-300

-

-

-

-

-

X

-

1N-ST0608C

-

-

-

-

-

-

X

1S-ST0304S

-

-

-

-

X

-

-

1S-DH-01

-

-

X

X -

-

-

-

1S-DH-11J1

X

X -

-

-

-

-

-

1S-DH-05J1

-

-

-

-

X

-

-

1S-DH-11J2

X

-

-

-

-

-

-

1S-DH-05J2

-

-

-

-

X

-

-

1S-DH-11J3

X

-

-

-

-

-

-

1S-02UCBL-03

-

X

-

-

-

X

-

1S-02CBL-1

-

-

X -

-

X

-

X

-

X

X -

X -

X -

X

X -

X -

-

X

X

X

-

X

X

X -

-

-

-

X -

-

Model Number

1E-VD0_ (sink) 1S-GR35S-01 Hand Output Cable

1S-GR35S-02 1E-GR35S 1S-HC25C-01

Hand Input Cable

Hand (Curl) Tube Robot Arm

Stopper for Changing J1-Axis Operating Range

Stopper for Changing J2-Axis Operating Range Stopper for Changing J3-Axis Operating Range Machine Cable (Replaced with Shorter Cable) Machine Cable, For Extension/Fixed Machine Cable, For Extension/Flexible

RH 3SQ 3SQJ 3SD 3SDJ

1S-HC35C-02 1S-HC30C-11

1S-DH-02 1S-DH-03

1S-02UCBL-01 1S-_ _CBL-01 1S-_ _CBL-03 1S-_ _CBL-11 1S-_ _LCBL-01 1S-_ _LCBL-03 1S-_ _LCBL-11

Functional Specification

1 to 4 valves connected: With solenoid valve cable _ indicates the number of solenoid valves connected. (1, 2, 3, 4 valves) Only 1 or 2 valves for RV-2SQ/2SD

4 valves connected type with one end not treated. 2 valves connected type with one end not treated for RV-2SQ/2SD 8-point type with splash-proof grommet 4 valves connected type with one end not treated for RV-2SQ/2SD ø4 tube for RV-3SQ/SD, RV-6SQ/SD, RH-6SQ/SD ø6 tube for RV-12SQ/SD, RH-12SQH/ SDH_ indicates the number of sets. (4, 2, 6, 8 sets) ø4 tube for RV-2SQ/2SD, the number of sets is 2 or 4 Change angle of 3SQ/SD (±30, 60, 90, 120). Change angle of 6, 12SQ/SD (±45, 90, 135). Change angle of 2SQ/SD (±90, 150, 210). Installation is the customer’s responsibility Change angle of 2SQ/SD (±30) Installation is the customer’s responsibility Change angle of 2SQ/SD (+70) Installation is the customer’s responsibility 2m (A 2m cable is supplied instead of the 5m cable that is supplied as standard) Special Specification

Extension type/Extended length: 5m, 10m, 15m_ indicates the cable length. (5, 10, 15m). Replace type for 2SQ/2SD: 10m, 15m


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Robots 439

S T O B O R

Classification

n

Controller

Serv Servic ice e Part Part

Name

Type

SQ

SD

Functional Specification

Standa Standard rd Teach Teaching ing Pend Pendant ant (7m, (7m, 15m) 15m)

R32TB( R32TB(-_ -_ _)

X

X

7m: Standard / 15 15m: Custom (“-15” is specified in the model name)

Enhanc Enhanced ed Teachi Teaching ng Pendan Pendantt (7m, 15m) 15m)

R56TB( R56TB(-_ -_ _)

Pneuma Pneumatic tic Hand Hand Interfa Interface ce (Sink (Sink Type) Type)

2A-RZ3 2A-RZ365 65

X X

X X

7m: Standard / 15 15m: Custom (“-15” is is specified in the mo model name) 8 output points, used exclusively for hand 24VDC 0.1A/1 point

Pneumatic Pneumatic Hand Hand Interface Interface (Source (Source Type) 2A-RZ375 2A-RZ375

X

X

8 output points, used exclusively for hand 24VDC 0.1A/1 point

Parallel I/O Unit (S (Sink Type)

2A-RZ361

X

X

32 output points (12/24VDC: 0.1A/1 point)

Parallel I/O Unit (source Type)

2A-RZ371

External I/O Cable (5m, 15m)

2A-CBL_ _

X -

X X

32 input points (12VDC: 3mA, 24VDC: 7mA) CBL05: 5m 5m; CB CBL15: 15 15m. On One en end no not tr treated, fo for 2A 2A-RZ361/371

-

X X

32 output points (12/24VDC: 0.1A/1 point) 32 input points (12VDC: 3mA, 24VDC: 7mA)

Paral le lel I/ I/O In Interface (S (Sink Ty Type)

2D- TZ TZ368

Para Parall llel el I/O I/O Int Inter erfa face ce (Sou (Sourc rce e Typ Type) e)

2D-T 2D-TZ3 Z378 78

External I/O Cable (5m, 15m)

2D-CBL_ _

CC-Link Interface

2D-TZ576

-

X X

CBL05: 5m 5m; CB CBL15: 15 15m. On One en end no not tr treated, fo for 2D 2D-TZ368/378 CC-Link intelligent device station, Version 2.0, 1 to 4 stations

Key Switch Extension Cable

2D-KEY-CBL_ _M

X

-

Key switch which can be connected to the key switch interface. (For CR1QA-772)_ _ indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m

TB Extension Cable

2D-EXTB-CBL_ _M

X

X

Cable is extended by connecting it to the teaching pendant. _ _indicates the cable length: 05 = 5m, 10 = 10m, 15 = 15m

Additional Memory

2D-TZ454

-

X

User program area with additional memory: 2MB (SD series only)

Controller Protection Box (*1)

CR1D-MB

X

X

Built -i-in CR1QA-7XX/CR1DA- 7X 7XX for improving dust -p -proof properties.

PC Support Software

3D-11C-WINJ

X X

With simulation function (CD-ROM) Lite version (CD-ROM) RS-232 cable for PC-AT compatible machine, 3m Pattern matching/Blob/Edge/Bar code/Text comparison/Histogram/ Color

Lite Lite Ver Versi sion on of of PC Sup Suppo port rt Sof Softw twar are e

3D-1 3D-12C 2C-W -WIN INJJ

X X

Personal Computer Cable

2D-232CBL03M

-

X

Networ Networkk Vision Vision Sensor Sensor (MELFA (MELFA-Vi -Visio sion) n)

3D-51C 3D-51C-WIN -WINJJ

X

X

Simulator (MELFA-Works)

3D-21C-WINJ

X

X

A6BAT

X

X

Layout study/Takt time study/Program debug Add-in software for Solidworks® (*2) Installed in t he he r ob obot ar m (Quant itity: Dif fe fers according to the machine)

Q6BAT

X

X

Installed in the controller (Quantity: 1pc)

Back Backup up Batt Batter eryy

Notes: 1. It is applicable only for CR1QA-7_ _CR1DA-7_ _. Please Please consult us at the time of purchase. 2. SolidWorks® is a registered tarademark tarademark of SolidWorks SolidWorks Corporation.

Sotware RT ToolBox 2 Software for program creation and total engineering support. Software for personal computer that supports p rocesses from system startup to debugging and operation, including creation and editing of programs, checking of operating range before installation of robots, takt time estimations, debugging during robot startup, monitoring robot status and malfunctions during operation, etc.

Windows®-compatible • Runs using standard Windows® Windows® operations, making making it easy to to use. • Compatible with Windows®2000, Windows®2000, Windows®XP, Windows®XP, and and Windows®Vista.

Equipped with simulation functions • Compatible with all all models connecting connecting to the CR_-500 series and CR_-700 series controllers. • Robots can be operated operated and takt time time calculated calculated using a personal computer. (Not supported in the mini version.) • Robot operations and operating operating status, input signals, and servo servo status can be monitored.

440

Support for all processes from programming and startup to maintenance • Programming editing is compatible with MELFA-BASIC IV and V and MoveMaster languages. (May vary depending on the model) • Robot operations and operating operating status, input signals, and servo status can be monitored.

Full array of maintenance functions • The program is equipped with with the remote maintenance function that notifies users of robot gr easing periods and battery life cycles, a position recovery support function for when trouble occurs, etc. and is effective for preventative maintenance and shortening of recovery times. • Batch backup can can be performed for the entire system using data management by project.

Program Editing and Debugging Functions

Monitor Functions

Create programs in MELFA BASIC IV, V and MoveMaster languages. The program execution status and variables, input/output signals, etc. Work operations were made more effective and the various editing are monitored. functions more complete through use of a multi-window format. This is useful for checking operations including the execution of program steps, setting of breakpoints, etc.

3D Viewer

Maintenance Functions

The 3D viewer enables checking of the posture and movement of the robot, verification of limit values for user-defined areas, the arranging of virtual layouts of peripheral parts based on base objects, and other tasks.

This function is for maintenance and includes remote maintenance and position recovery support functions, a parameter management function, etc.

Simulation Functions Created programs can be executed on a personal computer, enabling operation checks and measurement of tact times for designated parts of a program. This is also effective for preliminary system reviews.


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Robots 441

S T O B O R

MELFA-Works A 3D robot simulator offering powerful support for system design

n and preliminary review. MELFA-Works makes it possible to run robot

simulations on-screen. Programs can be created that match the era of high-mix, low-volume manufacturing, for layout reviews before robots are installed, program debugging on desktop, and production of complex operation pathways.

What is MELFA-Works? MELFA-Works is an add-in tool (*2) for the 3D CAD software “SolidWorks®” (*1) (hereinafter, SolidWorks ®). By adding MELFA-Works to your SolidWorks® platform, you can add new features to, and extend the existing functions of your current robot simulation system.

Automatic Robot Program Generation Function

IGES STEP Parasolid® SAT (ACISR) Pro/ENGINEERR CGR (CATIARgraphics) Unigraphics PAR (Solid Edge™) IPT (Autodesk Inventor) DWG

DXFTM STL VRML VDA-FS Mechanical Desktop CADKEY® Viewpoint RealityWave HOOPS HCG (Highly compressed graphics) RT-ToolBox (mini)

MELFA-Works

SolidWorks®

You can automatically generate teaching position data and robot operation programs, which are required to operate your robot, by simply loading 3D CAD data (*3) for the applicable works into SolidWorks® and then setting processing conditions and areas using MELFA-Works. This function is ideal if you are dealing with workpieces of complex shapes, since you can automate the operations for your system requiring numerous sets of teaching position data. Notes: 1. SolidWorks® is a registered registered trademark of SolidWorks Corporation (USA). 2. “Add-in-tool” is a software program that adds specific functions to application application software. 3. Formats that can be loaded into SolidWorks®

Calibration tool

Loading of Part Data from Peripheral Devices and Rearrangement Part data created in SolidWorks ® can be loaded. The positions of loaded parts can be rearranged relative to the CAD origin and other parts. The positions of parts can also be changed using numerical input.

Installation of Hands Hands designed/created in SolidWorks® can be installed on robots. An Auto Tool Changer (ATC) can also be specified for each hand.

Handling of Workpieces You can simulate hand signal control using a robot program to handle workpieces.

Display of Robot Movement Path Robot movement paths can be displayed d isplayed in space as trace lines.

Interference Check Interference between the robot and peripheral devices can be checked. A target of interference check can be specified simply by clicking it on the screen. You can also save information explaining the condition of interference that occurred (such as the contacted part, program line that was being executed when the interference occurred, and corresponding robot position), to a log.

Saving of Video Data Simulated movements can be saved to video files (AVI format)

CAD Link

Measurement of Cycle Times

You can easily create operation data needed to perform sealing and other operations requiring many teaching steps. All you need is to select the target area to be processed from 3D CAD data. Since operation data is created from 3D CAD source data, complex three-dimensional curves can be recreated with ease. This leads to significant reduction in teaching man-hours.

The cycle time of robot movement can be measured using an easy-touse function resembling a stopwatch. You can also measure the cycle time of a specified part in a program.

Robot Program Debugging Functions

You can teach the robot posture on the screen in advance.

The following functions are provided to help you debug robot programs. Step operation: A specified program can be executed stepby-step. Breakpoint: Breakpoints can be set in the specified program. Direct execution: Desired robot commands can be executed.

Creation of Robot Programs (template)

Jogging

You can create a work flow by combining the offline teaching and CAD link functions, and then convert it into a robot program. (MELFA BASIC IV, V format)

The robot shown in SolidWorks® can be jogged just like you normally jog a robot using a teaching pendant.

Offline Teaching

Specification of Robot Programs You can directly use the programs you are using with actual robots. You can also specify a different robot program for each task slot.

Simulation of Robot Movement Robot programs, including I/O signals, can be simulated. This means that movements of the actual system can be recreated directly and accurately. The following two methods are provided to simulate I/O signals of your robot controller. (1) Create simple definitions of operations associated with I/O signals (2) Link I/O signals with GX Simulator.

442

Traveling Axis A traveling axis can be installed to a robot to verify the operation of your system equipped with a traveling axis.

Calibration Point sequence data of CAD coordinates created by the CAD link function can be corrected to robot coordinate data. Operation programs and point sequence data can also be transferred to robots. To provide greater convenience for operators who perform calibration frequently on site, the calibration tool is provided as an application independent of MELFA-Works. Accordingly, the calibration tool can be operated effectively on a notebook computer in which SolidWorks ® software is not installed.

Robots(Mitsubishi)

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