Vertical

RV-2FR 2kg RV-2FR

RV-2FRL
RV-2FRL type

Compact body and slender arms cover large work areas.

An ideal robot for compact cell construction.
Perfect for transporting, assembling and inspecting small
components.
3 Among the fastest moving robots in its class
[Max. composite speed: 5.0 m/s] (RV-2FR)
Robot Specifications

Standard cycle time

[0.6 second range] (RV-2FR)
Pivotal operating range: ±240°
Environmental specifications [standard: IP30]
Standards compliance
Compliant with European Machinery Directives (CE) as standard.
Compliance with other standards is available in specialized machines.
Contact Mitsubishi Electric for details. 300mm

25mm
0.6 sec
(RV-2FR)

Specifications

Item Unit RV-2FR (B) RV-2FRL (B)

Environmental specifications Standard

Protection degree IP30
Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical articulated robot
Degrees of freedom 6
AC servo motor
Drive system *1 (J2, J3 and J5: with brake)

Position detection method Absolute encoder

Maximum load capacity kg Maximum 3 (Rated 2) *5
Arm length mm 230+270 310+335
Maximum reach radius mm 504 649
J1 480 (±240)
J2 240 (±120) 237 (-117 to +120)
J3 deg 160 (-0 to +160)
Operating range
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 300 225
J2 150 105
J3 300 165
Maximum speed deg/sec
J4 450 412
J5 450
J6 720
Maximum composite speed *3 mm/sec 4950 4200
Cycle time *4 sec 0.6 0.7
Position repeatability mm ±0.02
Ambient temperature °C 0 to 40
Mass kg 19 21
J4 4.17
Tolerable moment J5 Nm 4.17
J6 2.45
J4 0.18
Tolerable amount
J5 kgm2 0.18
of inertia
J6 0.04
Gripper: 4 input points/4 output points
Tool wiring
Signal cable for the multi-function gripper
37
Tool pneumatic pipes Φ4 × 4
Machine cable 5m (connector on both ends)
Connected controller *6 CR800-D, CR800-R, CR800-Q
 External Dimensions/Operating Range Diagram

RV-2FR

Motion space -240

at point P ° Wrist’s downward limit
Point P
R5 504.6 504.6
05 Control point (R point)
Operating range
70 270 for each axis:
Wrist's upward limit
J1:±240°
160 J2:±120°
(80) (80)
J3:0° to 160°
(185)

J4:±200°

50
100

Solenoid valve (option) A J5:±120°

504.6
Installation space ° J6:±360°
20

64
+1

-120

799.6
230
R139.5

°
623
3
.6
R504
Point P

85

295
389.6
Motion space
5
9.

at point P
3

80 140
R1

Robot Specifications
75 Solenoid valve (option) Minimum: 300
° Installation space Wrist’s downward
40

94.6
+2 singularity boundary
Top view B Side view

RV-2FRL Point P Wrist’s downward limit Operating range

for each axis:
Motion space 649 649
J1:±240°
at point P -240 70 335 J2:+120° to -117°
°
Control point (R point) J3:0° to 160°
R6 J4:±200°
49 160 Wrist's upward limit J5:±120°
(80) (80) J6:±360°

50
A
649

Solenoid valve (option) °

20
185

+1
64

Installation space

944
-11

310
7°
703

R162

R649
85

295
100

494

Motion space
Point P
140 at point P
5

11
199
Minimum: 300
Solenoid valve (option)
Installation space Wrist’s downward
° singularity boundary B
40
80 +2 Side view
62

75
R1

Top view
(Installation reference
surface)
Rz25

82
Shared parts (135) Φ5H7, depth 8
67.5 67.5
4-Φ9 installation hole 45°
(Installation reference (40)
surface) 4-M5 screw, depth 8
67.5

Rz25
th 6
7 , dep
Φ20H
82

(160)

Φ40h
(120)

8, de
67.5
(135)

1.5 pth 6
.D .Φ3
P.C
(160)
View B View A
Rear Surface Diagram (Installation Dimension Detail) Mechanical Interface Detail

*Operating range limit

When the J1-axis angle is inside the range of -75°<J1<70° and the J2-axis angle is J2<-110°, operating rage of the J3-axis is limited to 80°<J3.

RV-2FR RV-2FRL

Robot structure Controller type Robot structure Controller type

RV: Vertical articulated robot D: CR800-D RV: Vertical articulated robot D: CR800-D
R: CR800-R R: CR800-R
Maximum load capacity Maximum load capacity
Q: CR800-Q Q: CR800-Q
2: 2kg 2: 2kg
Series Brake specification Series Brake specification
FR: FR series Blank: No brake for J1, FR: FR series Blank: No brake for J1,
J4 and J6 axis J4 and J6 axis
B: All axis with brake B: All axis with brake
Arm length
Blank: Standard arm
*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.
L: Long arm
*2: The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited. 38
*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).
*6: Select a controller according to the application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type, CR800-Q: MELSEC Q compatible type.
 Vertical
RV-4FR 4kg RV-4FR
RV-4FRL
RV-4FRL type

Cutting-edge servo control and optimized arm construction

provide extremely fast and precise heavy-duty operation.
Flap-style arms provide a range of movement ideally suited to
compact areas. The use of space is highly efficient. Perfect for
3 transporting, assembling and inspecting small components.

Among the fastest moving robots in its class

Robot Specifications

[Max. composite speed: 9.0 m/s]

Standard cycle time
[0.36 s]
Pivotal operating range: ±240°
Environmental specifications
[standard: IP40; oil mist: IP67; cleanroom: ISO class 3]
Standards compliance
Compliant with European Machinery Directives (CE) as standard. 300mm
Compliance with other standards is available in specialized machines.
Contact Mitsubishi Electric for details. 25mm
0.36 sec
(RV-4FR)

Specifications

Item Unit RV-4FR (M) (C) RV-4FRL (M) (C)

Environmental specifications Standard/ Oil mist/ Cleanroom

Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISO class3 *7
Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical articulated robot
Degrees of freedom 6

Drive system AC servo motor

Position detection method Absolute encoder

Maximum load capacity kg Maximum 4 (Rated 4) *8
Arm length mm 235+275 310+335
Maximum reach radius mm 514.5 648.7
J1 480 (±240)
J2 240 (±120)
J3 161 (-0 to +161) 164 (-0 to +164)
Operating range deg
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 450 420
J2 450 336
J3 300 250
Maximum speed deg/sec
J4 540 540
J5 623 623
J6 720 720
Maximum composite speed *3 mm/sec 9000
Cycle time *4 sec 0.36 0.36
Position repeatability mm ±0.02
Ambient temperature °C 0 to 40
Mass kg 39 41
J4 6.66
Tolerable moment J5 Nm 6.66
J6 3.90
J4 0.2
Tolerable amount
J5 kgm2 0.2
of inertia
J6 0.1
Gripper: 8 input points/8 output points
Tool wiring Signal cable for the multi-function gripper and sensors
LAN × 1 <100 BASE-TX> *5
39
Tool pneumatic pipes Primary: Φ6 × 2 Secondary: Φ4 × 8, Φ4 × 4 (from base portion to forearm)
Machine cable 5m (connector on both ends)
Connected controller *6 CR800-D, CR800-R, CR800-Q
 External Dimensions/Operating Range Diagram
Operating range
Motion space for each axis:
RV-4FR at point P
For internal gripper wiring J1: ±240°
and piping specifications (-SH**) J2: ±120°
-24 Limits on operating range J3: 0° to 161°
0°
for the rear (*1) J4: ±200°
R5

Wrist's downward limit

1

J5: ±120°
4.

514.5 514.5
1)

Control point (R point) J6: ±360°

° (*

125
J6 when -SH
-60

(241) 85 275
Control point (R point) specifications
R131

for -SH** specifications

166 (*2)
115 126 are used: ±200°
170 Φ5H7, depth 8
114

50
A 45° 4-M5 screw,

514.5
depth 8 (*4)

66
76

864.5
Point P

°
20

235
-12

-113°
+1
R136.8

0°
Φ20H

690
Point P
Motion space 7, de
R514.5

(*1)
1.5 Φ4 pth 6
at point P
.D .Φ3 0h
8(
P.C

350
*4)

397
.8
35

3
Approximately

120
15
R1

100 Note) The depth for the Φ40 part is 3.5 mm

°
40 (Oil mist/Cleanroom), 6 mm (Standard),
+2 Minimum: 300 or 6.5 mm (-SH** models).

47
Maintenance Wrist's downward B
+14 space (*3) singularity boundary 183 250 Space for the cable View A
0° (
*1) connection (*2) Mechanical Interface Detail
Top view

Robot Specifications
Side view

(Installation
Notes

reference
surface)
*1: Limits on the operating range for the back and side parts: When the J1-axis angle is inside the range of -60°<J1<+140°, the operating range of the J2-axis is limited to -113°<J2<+120°.

Rz25
*2: Make sure to leave enough space open for cable connections between devices.
*3: Make sure to leave enough space open for removing and attaching covers during maintenance work.
102 4-Φ9
*4: Specify a thread engagement length of 7.5 to 8 mm. (160) installation
(Installation reference hole
80 80
surface)
For internal gripper wiring Limits on Rz25
RV-4FRL Motion space and piping specifications (-SH**) operating range
at point P for the rear (*1)

102
-24

80
0°

(200)
R6

Wrist's downward limit 648.7 648.7

4

(160)
8.

125

80
7

128
(241) Control point (R point) 85 335
115 126 Control point
(*1)

(R point)for -SH**
170 specifications (200)
166 (*2)
R13
-35°

50
1

View B
648.7

A
114

Operating range Rear Surface Diagram

66
76

°
20 (Installation Dimension Detail)

998.7
Motion space for each axis:
+1

310
Point P
at point P J1: ±240°
-12

-114°

R140.4
764.9
.4

J2: ±120°
0°
+35

40

7 J3: 0° to 164°
R1

R648.
(*1)

Point P
° (*1

J4: ±200°

350
J5: ±120°
)

J6: ±360°
490
15

120

Approximately J6 when -SH

100 Minimum: 300 specifications
140
are used: ±200°
+240° Wrist's downward
Top view Space for the cable
Maintenance singularity boundary B 183 250
space (*3) connection (*2)
Side view
Notes
*1: Limits on the operating range for the back and side parts: When the J1-axis angle is inside the range of -35°<J1<+35°, the operating range of the J2-axis is limited to -114°<J2<+120°.
*2: Make sure to leave enough space open for cable connections between devices.
*3: Make sure to leave enough space open for removing and attaching covers during maintenance work.
*4: Specify a thread engagement length of 7.5 to 8 mm.

Mounting cable specifications (*1)

Devices that Model (machine no.) Interior cable
can be mounted -SH01 -SH02 -SH03 -SH04 -SH05
Air Φ4 (×4) (×2) (×2) Force sensor
Gripper input 8 points
Vision sensor
Force sensor (may be
used for
Electric gripper either device) Multiple grippers

*1) The J6 axis range of motion is ±200deg. Protection level is IP40.

Vision sensor Adapter cable

Robot structure Special device No.

RV: Vertical articulated robot SHxx: Internal wiring specifications

Maximum load capacity Controller type

4: 4kg D: CR800-D
R: CR800-R
Series Q: CR800-Q
FR: FR series
Environment specification
Arm length Blank: Standard specifications
Blank: Standard arm M: Oil mist specifications
L: Long arm C: Cleanroom specifications

*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: Value for a 25mm up/down and 300mm horizontal reciprocal movement with 1kg load. The cycle time is the value for RV-4FR-R and RV-4FRL-R.
*5: This can also be used as a spare wire (0.13sq 4-pair wire.) The wire is prepared up to inside the forearm. 40
*6: Select one of the following controllers according to the application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type, CR800-Q: MELSEC Q Series compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Φ8-mm coupler for suctioning is provided at the back of the base.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
 Vertical
RV-7FR 7kg RV-7FR
RV-7FRL type
RV-7FRL
RV-7FRLL RV-7FRLL

Cutting-edge servo control and optimized arm construction

provide extremely fast and precise heavy-duty operation.
Increased range of movement along each axis and slender
arms to cover large work areas. An ideal robot for compact
3 cell construction. The product line includes a model with a
maximum reach radius of 1503 mm for a larger operating
range.
Robot Specifications

Among the fastest moving robots in its class

[Max. composite speed: 11.0 m/s (RV-7FR)]
Standard cycle time [0.32 s (RV-7FR)]
Pivotal operating range: ±240° (RV-7FR/7FRL)
Environmental specifications 300mm
[standard: IP40; oil mist: IP67; cleanroom: ISO class 3]
Standards compliance
Compliant with European Machinery Directives (CE) as standard. 25mm
Compliance with other standards is available in specialized machines. 0.32 sec
Contact Mitsubishi Electric for details. (RV-7FR)

Specifications

Item Unit RV-7FR (M) (C) RV-7FRL (M) (C) RV-7FRLL (M) (C)

Environmental specifications Standard/ Oil mist/ Cleanroom

Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISO class3 *7
Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical articulated robot
Degrees of freedom 6
Drive system AC servo motor
Position detection method Absolute encoder
Maximum load capacity kg Maximum 7 (Rated 7) *8
Arm length mm 340+370 435+470 565+805
Maximum reach radius mm 713.4 907.7 1503
J1 480 (±240) 380 (±190)
J2 240 (-115 to +125) 240 (-110 to +130) 240 (-90 to +150)
Operating range J3 156 (-0 to +156) 162 (-0 to +162) 167.5 (-10 to +157.5)
deg
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 360 288 234
J2 401 321 164
J3 450 360 219
Maximum speed deg/sec
J4 337 375
J5 450
J6 720
Maximum composite speed *3 mm/sec 11000 15300
Cycle time *4 sec 0.32 0.35 0.63
Position repeatability mm ±0.02 ±0.06
Ambient temperature °C 0 to 40
Mass kg 65 67 130
J4 16.2
Tolerable moment J5 Nm 16.2
J6 6.86
J4 0.45
Tolerable amount 2
J5 kgm 0.45
of inertia
J6 0.10
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: Φ6 × 2 Secondary: Φ4 × 8, Φ4 × 4 (from base portion to forearm)
Machine cable 5m (connector on both ends)
Connected controller *6 CR800-D, CR800-R, CR800-Q

*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.
41 *3: This is the value at the surface of the mechanical interface when all axes are composited.
*4: Value for a 25mm up/down and 300mm horizontal reciprocal movement with [Link] cycle time is the value for RV-7FR-R, RV-7FRL-R, RV-7FRLL-R.
*5: Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models.
*6: Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type, CR800-Q: MELSEC Q Series compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Φ8-mm coupler for suctioning is provided at the back of the base.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
 Operating range
External Dimensions/Operating Range Diagram For internal gripper for each axis:
wiring and piping J1: ±240°
specifications (-SH**) J2: -115° to 125°
-240 J3: 0° to 156°
RV-7FR R
71
°
Wrist's downward limit 713.4 713.4 J4: ±200°
3. J5: ±120°
Motion space 4 Control point (R point) 125 J6: ±360°
at point P 85 370
(278) Control point (R point) J6 when -SH specifications
for -SH** specifications are used: ±200° Φ5H7, depth 8
135 143

166 (*1)
R15

200 45° 4-M5 screw,

depth 8 (*3)

50
9
114

713.4
A
66

66
76
Motion Φ20H

1113.4
340
°
space .5 7, de

25
31 Φ4

-11
Point P 0h pth 6
D.Φ

844.4
.4

+1
at point P . 8(

5°
7
19 P.C *4)
R .4
R197
Point P Note) The depth for the Φ40 part is 3.5 mm
13.4

120
400
R7 (Oil mist/Cleanroom), 6 mm (Standard),

568.4
15.9
or 6.5 mm (-SH** models).
Approximately
View A
100
Minimum: 324 Mechanical Interface Detail
°
40 Maintenance

3
+2 207.6 250
space (*2) Wrist's downward
Top view

168.4
singularity boundary B
Notes Side view

(Installation
*1: Make sure to leave enough space open for cable connections between devices. Space for the cable

reference
surface)
*2: Make sure to leave enough space open for removing and attaching covers during maintenance work. connection (*1)
*3: Specify a thread engagement length of 7.5 to 8 mm.

Rz25

Robot Specifications
124.5
Operating range (205) 4-Φ9
-240° for each axis: (Installation
reference installation
RV-7FRL -215
° (*1)
J1: ±240°
J2: -110° to 130° surface)
102.5 102.5 hole
Motion space J3: 0° to 162° Rz25
) J4: ±200°
at point P ° (*1

124.5
-145

102.5 102.5
For internal gripper J5: ±120°
wiring and piping J6: ±360°
J6 when -SH specifications

245
(205)
specifications (-SH**)
are used: ±200°

162
Wrist's downward limit 907.7 907.7
R

Control point (R point) 125

90
7.
7

(278) Control point 85 470 102 245.7

166 (*2)

135 143 (R point) for -SH** View B

200 specifications Rear Surface Diagram
(Installation Dimension Detail)

50
907.7

A
Motion
)

1307.7
Dedicated for RV-7FRLL
+13 ° (*1

space
.8

435
-11
at point P Point P
0°
92

20
939.4

(Installation
Point P
R1

0°
+1

reference
surface)
R192.8 250

400

Rz25
Approxi- 7 4-Φ14
07.
15.9

2-Φ8H7 reamer 155 installation

mately R9
752.3

100 hole
100 (Installation
) 50
+215° (*1 B Minimum: 324 reference

352.3
Maintenance Rz25
207.6 250 surface)
+145° (*1) space (*3)
P entry
4 0°
+2

155
prohibited area

135
Wrist's downward
Top view

120
singularity boundary Side view Space for the cable

300
250
connection (*2)
Operating range limitation

135
for the front/side faces

RV-7FRLL -190°
For internal gripper wiring and 300
piping specifications (-SH**)
View C
R1

125 Rear Surface Diagram

50

Wrist's downward limit (Installation Dimension Detail)

2.

85 805
6

Motion space
at point P Control point (R point)
Control point
(R point) for -SH**
347 specifications
Point P 300
65
1371.5

A
1821.5
185 (*1)

66

R2
77.
15 *1)

90

6 Motion space
°

157.5°
(

Point P
114

0°

565
0°

160 at point P
13

1152

2.6
R137
450

99
R3
29
R5

1296.9

130

300
846.9

250

242.5 Minimum: 430

Space for the cable

973.7 399 1242.6 connection (*1)
+190°
Top view 529 130 Operating range
Operating range limitation for each axis:
for the front/side faces (*5) J1: ±190°
*1. Make sure to leave enough space open for cable connections between devices. C Side view J2: -90° to 150°
*2. Make sure to leave enough space open for removing and attaching covers during maintenance work. J3: -10° to 157.5°
*3. Specify a thread engagement length of 7.5 to 8 mm. J4: ±200°
*4. Limits on the operating range for the front part: When the J1-axis angle is inside the range of +145°<J1<+215° or -145°<J1<-215°, the operating range of the J2-axis is limited to -110°<J2<+120°.
J5: ±120°
J6: ±360°
*5. Limits on the operating range for the front part: When the J1-axis angle is inside the range of J1>+120° or J1<-120°, the operating range of the J2-axis is limited to -90°<J2<+130°. J6 when -SH
*6. Refer to the standard specification manual for detailed specification of -SH. specifications
are used: ±200°

Mounting cable specifications (*1)

Devices that Model (machine no.) Interior cable
can be mounted -SH01 -SH02 -SH03 -SH04 -SH05 Force sensor
Robot structure Special device No.
Air Φ4 (×4) (×2) (×2) RV: Vertical SHxx: Internal wiring
Gripper input 8 points articulated robot specifications
Vision sensor Maximum load capacity Controller type Multiple grippers
7: 7kg D: CR800-D
Force sensor R: CR800-R
42
(may be used Series
Q: CR800-Q
Electric gripper for either device) FR: FR series
Vision sensor Adapter cable
Environment specification
*1) The J6 axis range of motion is ±200deg. Protection level is IP40. Arm length Blank: Standard specifications
Blank: Standard arm M: Oil mist specifications
L or LL: Long arm C: Cleanroom specifications
 Vertical
RV-13FR 13kg RV-13FR
RV-13FRL
RV-13FRL type

Cutting-edge servo control and optimized arm construction

provide extremely fast and precise heavy-duty operation.
Optimized arm length and 6 joints for a broader range of
movement support a wide range of layouts. Designed to
3 withstand environmental conditions, it can be used in a
wide range of applications without having to worry about
the installation environment. Suitable for various types of
Robot Specifications

work, such as transporting mechanical parts, assembling

electrical components and even packaging products such as
pharmaceuticals and foodstuffs.
Among the fastest moving robots in its class
[Max. composite speed: 10.5 m/s (RV-13FR)]
Standard cycle time [0.53 s (RV-13FR)]
Pivotal operating range: ±190° 300mm
Environmental specifications
[standard: IP40; oil mist: IP67; cleanroom: ISO class 3]
25mm
Standards compliance 0.53 sec
Compliant with European Machinery Directives (CE) as standard.
(RV-13FR)
Compliance with other standards is available in specialized machines.
Contact Mitsubishi Electric for details.

Specifications

Item Unit RV-13FR (M) (C) RV-13FRL (M) (C)

Environmental specifications Standard/ Oil mist/ Cleanroom
Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISO class3 *7
Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical articulated robot
Degrees of freedom 6
Drive system AC servo motor
Position detection method Absolute encoder
Maximum load capacity kg Maximum 13 (Rated 12) *8
Arm length mm 410+550 565+690
Maximum reach radius mm 1094 1388
J1 380 (±190)
J2 240 (-90 to +150)
J3 167.5 (-10 to +157.5)
Operating range deg
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 290 234
J2 234 164
J3 312 219
Maximum speed deg/sec
J4 375 375
J5 375 375
J6 720 720
Maximum composite speed *3 mm/sec 10450 9700
Cycle time *4 sec 0.53 0.68
Position repeatability mm ±0.05
Ambient temperature °C 0 to 40
Mass kg 120 130
J4 19.3
Tolerable moment J5 Nm 19.3
J6 11
J4 0.47
Tolerable amount
J5 kgm2 0.47
of inertia
J6 0.14
Gripper: 8 input points/8 output points
Tool wiring Signal cable for the multi-function gripper and sensors
43 LAN × 1 <100 BASE-TX> *5

Tool pneumatic pipes Primary: Φ6 × 2 Secondary: Φ6 × 8, Φ4 × 4 (from base portion to forearm)

Machine cable 5m (connector on both ends)
Connected controller *6 CR800-D, CR800-R, CR800-Q
 Operating range for each axis:
External Dimensions/Operating Range Diagram J1: ±190°
J2: -90° to 150°
RV-13FR For internal gripper wiring and
piping specifications (-SH**)
J3: -10° to 157.5°
J4: ±200° Shared parts Φ6H7, depth 8
J5: ±120°
R1

-190° J6: ±360° 4-M6 screw,

Wrist's downward limit 150
09

J6 when -SH specifications 45° depth 10 (*4)

3.8

Motion Control point (R point) 97 550 are used: ±200°

space
Φ20H7, depth 10
at point P Control point (R point)
347 Φ25H7, depth 6
for -SH** specifications P.C.D.Φ40 (-SH** models)
300
Φ50H8, depth 6.5

65
963.8
Point P A Φ50H8, depth 8
(-SH** models)
90 View A

185 (*3)

1413.8
R4 ° 157

1)
10 Point P .5° Mechanical Interface Detail (*5)

0°
.3

410
° (*
160
166

15
130

(Installation
997
Motion space

reference
surface)
at point P .3
R280

450
.8

Rz25
63 250 4-Φ14
R9

908.9
2-Φ8H7 reamer 155 installation
(Installation 100 hole
.6

300

458.9
50

130
77

reference
Rz25
R2

surface)
250
Space for the cable 3

135
155
Minimum: 430

120
Operating range limitation 242.5 connection (*3)

250

300
for the front/side faces (*1)
683.6 280.3 833.8

135
+190°

Robot Specifications
130
B
Top view
Side view 300
RV-13FRL -190° For internal gripper wiring and View B
piping specifications (-SH**) Rear Surface Diagram
R1
3

(Installation Dimension Detail)

87

Wrist's downward limit 150

.9

97 690
Motion Control point (R point)
space
at point P Control point (R point)
347 for -SH** specifications
300

65
Point P
1258.1

A 12
R2 °

1708.1
77
185 (*3)

.6 Point P

)
(*3

565
157

90
0°
Motion space
166

0° .5°

1143.1
15

°
160 at point P
13
Operating range
for each axis:
J1: ±190°
8.1
R125 J2: -90° to 150°
27.6 J3: -10° to 157.5°

330
R3 J4: ±200°
.6 J5: ±120°
57 J6: ±360°
R4
1182.4

300 J6 when -SH

250

130
specifications

732.4
242.5 Minimum: 430 are used: ±200°

930.5 327.6 1128.1 Space for the cable

Top view connection (*3)
Operating range limitation 130
+190° for the front/side faces (*2)
B
Side view

*1: Operating range for the front and side parts: When the J1-axis angle is inside the range of J1>+120° or J1<-130°, the operating range of the J2-axis is limited to -90°<J2<+130°.
*2: Make sure to leave enough space open for cable connections between devices.
*3: Specify a thread engagement length of 10 to 9mm.
*4: Refer to the standard specification manual for detailed specification of -SH.
*5: Please refer to the standard specification for detailed specifications of the -SH models.

Mounting cable specifications (*1)

Interior cable
Devices that Model (machine no.)
can be mounted -SH01 -SH02 -SH03 -SH04 -SH05 Force sensor
Air Φ4 (×4) (×2) (×2)
Gripper input 8 points
Vision sensor
Force sensor Multiple grippers
(may be used
Electric gripper for either device)
*1) The J6 axis range of motion is ±200deg. Protection level is IP40.

Vision sensor Adapter cable

Robot structure Special device No.

RV: Vertical articulated robot SHxx: Internal wiring specifications
Maximum load capacity
Controller type
13: 13kg
D: CR800-D
R: CR800-R
Series
Q: CR800-Q
FR: FR series
Environment specification
Arm length Blank: Standard specifications
Blank: Standard arm M: Oil mist specifications
L: Long arm C: Cleanroom specifications

*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: Value for a 25mm up/down and 300mm horizontal reciprocal movement with 5kg load. The cycle time is the value for RV-13FR-R and RV-13FRL-R. 44
*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: Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type, CR800-Q: MELSEC Q Series compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A Φ8-mm coupler for suctioning is provided at the back of the base.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
 Vertical
20kg RV-20FR
RV-20FR
type

Cutting-edge servo control and optimized arm construction pro-

vide extremely portable and precise heavy-duty operation. Opti-
mized arm length and 6 joints for a broader range of movement
support a wide range of layouts. Designed to withstand environ-
3 mental conditions, it can be used in a wide range of applications
without having to worry about the installation environment.
Plenty of scope for using multiple grippers or multi-function
Robot Specifications

grippers and capable of handling work such as transporting

high-load mechanical parts, assembling electrical components
and packaging pharmaceutical products.

Standard cycle time [0.7 s]

Pivotal operating range: ±190°
Environmental specifications 300mm
[standard: IP40; oil mist: IP67; cleanroom: ISO class 3]
Standards compliance 25mm
Compliant with European Machinery Directives (CE) as standard. 0.70 sec
Compliance with other standards is available in specialized machines.
(RV-20FR)
Contact Mitsubishi Electric for details.

Specifications

Item Unit RV-20FR (M) (C)

Environmental specifications Standard/ Oil mist/ Cleanroom
Protection degree IP40 (standard)/ IP67 (oil mist) *1/ ISO class3 *7
Installation Floor type, ceiling type, (wall-mounted type *2)
Structure Vertical articulated robot
Degrees of freedom 6
Drive system AC servo motor
Position detection method Absolute encoder
Maximum load capacity kg Maximum 20 (Rated 15) *8
Arm length mm 410+550
Maximum reach radius mm 1094
J1 380 (±190)
J2 240 (-90 to +150)
J3 167.5 (-10 to +157.5)
Operating range deg
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 110
J2 110
J3 110
Maximum speed deg/sec
J4 124
J5 125
J6 360
Maximum composite speed *3 mm/sec 4200
Cycle time *4 sec 0.70
Position repeatability mm ±0.05
Ambient temperature °C 0 to 40
Mass kg 120
J4 49.0
Tolerable moment J5 Nm 49.0
J6 11
J4 1.40
Tolerable amount
J5 kgm2 1.40
of inertia
J6 0.14

Gripper: 8 input points/8 output points

Tool wiring Signal cable for the multi-function gripper and sensors
LAN × 1 <100 BASE-TX> *5
45
Tool pneumatic pipes Primary: Φ6 × 2 Secondary: Φ6 × 8, Φ4 × 4 (from base portion to forearm)
Machine cable 5m (connector on both ends)
Connected controller *6 CR800-D, CR800-R, CR800-Q
 External Dimensions/Operating Range Diagram
Operating range for each axis:
RV-20FR J1: ±190°
-190° For internal gripper wiring and J2: -90° to 150°
R1

piping specifications (-SH**) J3: -10° to 157.5°

09

J4: ±200°
3.8

J5: ±120°
Wrist's downward limit 150 J6: ±360°
Motion space J6 when -SH specifications
at point P 97 550
Control point (R point) are used: ±200°

Control point (R point)

347 for -SH** specifications
Point P 300

65
R4

963.8
10 A
.3

185 (*2)
90
°
166

157

1413.8
Point P .5°

1)

0°

410
160

° (*

15
130

997
Motion space

3
at point P .3
R280

450
.8
63
R9

908.9
.6
77

Robot Specifications
300
R2

130

458.9
250
Space for the cable
Operating range limitation 242.5 Minimum: 430 connection (*3)
for the front/side faces (*1)
683.6 280.3 833.8
+190°
130
B
Top view
(Installation Side view
reference
surface)
Rz25 250 4-Φ14
2-Φ8H7 reamer 155 installation
(Installation 100 hole
Shared parts Φ6H7, depth 8 reference 50
Rz25
surface)
4-M6 screw,
45° depth 10 (*4)
135
155

120

Φ20H7, depth 10
250

300
Φ25H7, depth 6
135

P.C.D.Φ40 (-SH** models)

Φ50H8, depth 6.5
Φ50H8, depth 8
(-SH** models) 300
View A
View B
Mechanical Interface Detail (*5)
Rear Surface Diagram
(Installation Dimension Detail)

*1: Operating range for the front and side parts: When the J1-axis angle is inside the range of J1>+120° or J1<-130°, the operating range of the J2-axis is limited to -90°<J2<+130°.
*2: Make sure to leave enough space open for cable connections between devices.
*3: Specify a thread engagement length of 10 to 9mm.
*4: Refer to the standard specification manual for detailed specification of -SH.

Mounting cable specifications (*1)

Interior cable
Devices that Model (machine no.)
can be mounted -SH01 -SH02 -SH03 -SH04 -SH05 Force sensor
Air Φ4 (×4) (×2) (×2)
Gripper input 8 points
Vision sensor
Force sensor Multiple grippers
(may be used
Electric gripper for either device)
*1) The J6 axis range of motion is ±200deg. Protection level is IP40.
Vision sensor Adapter cable

Special device No.

SHxx: Internal wiring specifications
Robot structure
RV: Vertical articulated robot Controller type
D: CR800-D
Maximum load capacity
R: CR800-R
20: 20kg
Q: CR800-Q
Series Environment specification
FR: FR series Blank: Standard specifications
M: Oil mist specifications
C: Cleanroom specifications

*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: Value for a 25mm up/down and 300mm horizontal reciprocal movement with 5kg load. The cycle time is the value for RV-20FR-R.
*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. 46
*6: Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type, CR800-Q: MELSEC Q Series compatible type.
*7: Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning.
A Φ8-mm coupler for suctioning is provided at the back of the base.
*8: The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
 Vertical
RV-35FR 35/50/80kg RV-35FR
RV-50FR type RV-50FR
RV-80FR RV-80FR

It is ideal for handling large workpieces and heavy objects such

as processing machine LD/ULD applications, packing processes,
and palletizing processes.

3 FR series maximum reach and maximum payload

Maximum reach :2100mm,payload:35/50/80kg.
Robot Specifications

Manage the entire line with a sequencer

Compatible with the iQ Platform.
Easy linkage with sequencers realizes comprehensive manage-
ment of the entire line and wiring saving.
Improvement of safety for collaborative applications
Functional safety compatible. Realize collaboreative work with
people and eliminate safety fences.
We support safe and highly efficient line construction.

Specifications
Specifications
Item
Item Unit
Unit RV-35FR
RV-35FR RV-50FR
RV-50FR RV-80FR
RV-80FR
Environmental
Environmental specifications
specifications Standard/
Standard/ Oil
Oil mist
mist
Wrist
Wrist equivalent
equivalent to
to IP67,Body
IP67,Body equivalent
equivalent toto IP65(standard)
IP65(standard)
Protection
Protection degree
degree Whole
Whole body
body equivalent
equivalent to
to IP67(oil
IP67(oil mist)
mist)
Installation
Installation Floor
Floor type
type
Structure
Structure Vertical
Verticalmultiple-joint type
articulated robot
Degrees
Degrees of
of freedom
freedom 66
Drive
Drive system
system AC
AC servo
servo motor
motor
Position
Position detection
detection method
method Absolute
Absolute encoder
encoder
Maximum
Maximum load
load capacity
capacity kg
kg 35
35 50
50 80
80
Arm
Arm length
length mm
mm 870+1080
870+1080
Maximum
Maximum reach
reach radius
radius mm
mm 2100
2100

J1
J1 360
360 (±180)
(±180)

J2
J2 245
245 (-105~140)
(-105~140)
Operating J3
J3 deg
deg 290
290 (-135~155)
(-135~155)
Operating range
range
J4
J4 720
720 (±360)
(±360)
J5
J5 290
290 (±145)
(±145)
J6
J6 900
900 (±450)
(±450)
J1
J1 180
180 180
180 180
180
J2
J2 180
180 180
180 180
180
J3
J3 185
185 185
185 160
160
Maximum
Maximum speed*1
speed*1 deg/sec
deg/sec
J4
J4 260
260 260
260 185
185
J5
J5 260
260 260
260 165
165
J6
J6 360
360 360
360 280
280
Maximum
Maximum composite
composite speed*2
speed*2 mm/sec
mm/sec 13400
13400 13400
13400 12700
12700
Position
Position repeatability
repeatability mm
mm ±0.06
±0.06
Ambient
Ambient temperature
temperature °C
°C 00 to
to 45
45
Mass
Mass kg
kg 560
560
J4
J4 210
210 210
210 336
336
Tolerable
Tolerable moment
moment J5
J5 210
210 210
210 336
336
Nm
Nm
J6
J6 130
130 130
130 194
194
J4
J4 19.6
19.6 28
28 34
34
Tolerable
Tolerable amount
amount of
of inertia
inertia J5
J5 kgm22
kgm 19.6
19.6 28
28 34
34
J6
J6 7.7
7.7 11
11 13.7
13.7
12
12 input
input points/8
points/8 output
output points
points
Tool
Tool wiring
wiring LAN
LAN ×× 11 <Category
<Category 5e-compliant>
5e-compliant>
Tool
Tool pneumatic
pneumatic pipes
pipes Φ10×2
Φ 10×2
47
Connected
Connected controller
controller CR860-D/CR860-R/CR860-Q
CR860-D/CR860-R/CR860-Q

*1
*1 Values
Values in in the
the table
table indicate
indicate the
the maximum
maximum speed,
speed, and
and the
the actual
actual speed
speed of
of each
each axis
axis varies
varies depending
depending on
on factors
factors such
such as
as the
the posture,
posture, load,
load, and
and the
the amount
amount of
of movement.
movement.
*2
*2 This
This is
is the
the value
value at
at the
the center
center point
point of
of the
the mechanical
mechanical interface
interface when
when all
all axes
axes are
are combined.
combined. The
The value
value is
is aa theoretical
theoretical value
value calculated
calculated from
from the
the maximum
maximum speed
speed of
of each
each joint.
joint.
 External Dimensions/Operating Range Diagram Operating range for each axis:
J1:±180°
RV-35FR/50FR/80FR ���������+140°
���������+155°
J4:±360°
J5:±145°
J6:±450°

(*2)
The area which P point
cannot be moved (front part)

5RERW6SHFLðFDWLRQV
Robot Specifications
(*2)
The area which P point
cannot be moved (front part)

2-M5 screw depth 10

6-M8 screw depth 13

Detail of mechanical interfce

1.
1. The
The posture
posture of
of side
side view
view
The
The following
following figure
figure shown
shown aa robot
robot at
at the
the position
position of:J1=
of:J1= °,J2=0°,J3=90°,J4=0°,J5=0°,J6=0°
°,J2=0°,J3=90°,J4=0°,J5=0°,J6=0°
2.
2. *1)Rear
*1)Rear faceface operating
operating limit:When
limit:When the
the JJ axis
axis angle
angle is
is J1<=-137°
J1<=-137° or
or +137°<=J1,
+137°<=J1,
the
the J2
J2 axis
axis operation
operation is
is limited
limited to
to J2<=+127°
J2<=+127°
3.
3. *2)
*2) TheThe area
area which
which P P point
point cannot
cannot bebe moved
moved::P P point
point cannot
cannot move
move to
to this
this [Link]
[Link] limitation
limitation is
is valid
valid at
at factory
factory shipping,
shipping,
but
but itit can
can be
be released
released byby parameter
parameter MELTEXS.
MELTEXS.

Robot
Robot structure
structure
RV:Vertical,multiple-joint type
RV:Vertical articulated robot Controller
Controller type
type
D:CR860-D
D:CR860-D
R:CR860-R
R:CR860-R
35:35kg
35:35kg Q:CR860-Q
Q:CR860-Q
50:50kg
50:50kg
80:80kg Series
Series 46
48
80:80kg
FR:FR
FR:FR Series
Series Environment
Environment specification
specification
Blank:
Blank: Standard
Standard specifications
specifications
M:
M: Oil
Oil mist
mist specifications
specifications