n ROBOTS FR Series Robots

Controller Options for RVFR and RHFRH Series

CR800
Name Type Functional Specification
R Type D Type
Basic Teach Pendant R32TB / R32TB-15 X X
Cable length = 7m; 15m for models with -15 suffix
Enhanced Function Teach Pendant R56TB / R56TB-15 X X
Teach Pendant Safety Signal Safety IO signal box for R32TB/R56TB. Allows access to teach pendant
2F-TBSTS-01 X X
Interface safety signals.
2A-RZ361 (Sink) - X 32 input/output points (12/24VDC: 0.1A/1 point)
Remote Parallel I/O Interface Unit
2A-RZ371 (Source) - X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Device side connection cable for 2A-RZ361/371. (Flying leads on device side)
Remote Parallel I/O Cable 2A-CBL_ _ - X
5m and 15m lengths. __ indicates cable length (05, 15)
Communication cable to connect from 2A-RZ361/371 to additional remote
Remote Parallel I/O Net Link
FCUA-R211-_M - X parallel I/O units. 0.5m, 1m, 3m, 5m, 10m, 15m, 20m lengths.
Cable
__ indicates cable length (0.5, 1.0, 3.0, 5.0, 10.0, 15.0, 20.0)
DC power cable to connect from robot controller to 2A-RZ361/371.
Remote Parallel I/O DC Cable F070-_ _M - X
5m, 15m lengths. __ indicates cable length (05, 15)
On-Board Parallel I/O Interface 2D-TZ368 (Sink) - X 32 input/output points (12/24VDC: 0.1A/1 point)
(Installed Internally) 2D-TZ378 (Source) - X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Device side connection cable for 2D-TZ368/378. (Flying leads on device side)
On-Board Parallel I/O Cable 2D-CBL_ _ - X
5m and 15m lengths. __ indicates cable length (05, 15)
CC-Link Interface Card 2D-TZ576 - X CC-Link interface card for D Series controllers. Version 2.0, 1 to 4 stations
CC-Link IE Field Interface Card 2F-DQ600CIEF - X CC-Link IE Field interface card for D Series controllers
DeviceNet Interface Card 2D-TZ571 - X DeviceNet interface card for D Series controllers
EtherNet/IP Interface Card 2D-TZ600EIP - X Ethernet IP interface card for D Series controllers
PROFINET Interface Card 2D-TZ600PN - X PROFINET interface card for D Series controllers
PROFIBUS Interface Card 2D-TZ577 - X Profibus interface card for D Series controllers
iQ-R interface card to connect CR800 controller to iQ-R platform and provides
iQ-R Robot CPU Interface Kit 4F-R16RTCPU X X
CR800-R functionality (Includes 10m SSCNET III Cable)
4F-FS002H-W200 X X Force sensor, interface module, power supply and connection cables
Force Sensor Set 4F-FS002H-W200: 200N working range
4F-FS002H-W1000 X X 4F-FS002H-W1000: 1000N working range
Encoder Multiplexer Unit 2F-YZ581 X X Allows the input of a single encoder to be sent to a maximum of 4 devices
Safety monitoring system for CR800 controllers. Supports SS1 (STO), SS2 (SOS),
SLS, SLP modes. Safety rated connections available for 8 inputs and 4 outputs.
MELFA Safe Plus 4F-SF002-01 X X
(Requires RT-Toolbox3 for programming and setup. Customer supplied external
safety devices may be required for some modes.)
Option card to enable: Calibration assistance, temperature compensation, and
MELFA Smart Plus Card Pack 2F-DQ510 X X
coordinated control of additional axes. (Enables all listed functions)
Option card to enable: Calibration assistance, temperature compensation, and
MELFA Smart Plus Card 2F-DQ511 X X coordinated control of additional axes. (Enables ONLY 1 function that is user
selectable)
SSCNET to Amp cable for iQ-R. (Replacement/custom length) 5m, 20m lengths.
MR-J3BUS_M-A X -
SSCNET Cable __ indicates cable length (05, 20)
MR-J3BUS30M-B X - SSCNET to Amp cable for iQ-R 30m (Replacement)
Replacement AC power cable for CR800 controllers. (single phase, connector on
AC Power Cable CR800-PWR-CBL-_ _M X X
controller side, flying leads on source side ) __ indicates cable length (05, 10, 15)
Controls solution for CR800-R robot controllers. Includes iQ-R backplane,
power supply, PLC, discrete input/output cards, Gig-E Ethernet switch,
iQube RBT-CONT-ENC-R1 X X 24V power, and power distribution components. (Supports up to 3 CR800
controllers. Accepts optional VFDs, servo amplifiers, force sensor interface and
safety monitoring systems)
iQube Wheels RBT-CONT-ENC-WH - - Locking caster wheels for iQube
PC Programming and Simulation Software that facilitates the programming and 3D simulation of Mitsubishi robots.
RT-TOOLBOX3-C1 X X
Software Legacy support for all versions of MELFA Basic and Movemaster languages.
Add-in software for Solidworks® (*1) that enables the programming and
3D Simulation Software for
RT-TOOLBOX3PRO-C1 X X simulation of Mitsubishi robots within Solidworks®. (Includes full version of
Solidworks (MELFA-Works)
RT-Toolbox3)
3D vision system to locate trained parts in 3D space and guide a robot to
pick them. Provides bin collision avoidance and part interference checking.
Canon 3D Vision System RV-_00-3DVS X X (Requires 3D CAD model of part and robot tooling. Calibration jigs and PC not
included) __ corresponds to field of view: 3=340x340x100 / 5=540x540x200 /
10=1160x1160X600.
Software option to provide additional functionality to Canon 3DVS
1 = Enables system to accommodate slide mounting
2 = Dictionary creation and transfer via 2nd PC
Canon 3D Vision Software Option RV-OPU0_ X X 3 = Batch recognition and multi-pallet handling
4 = Consecutive recognition checking
5 = Partial work piece recognition
__corresponds to option selected
Note 1: SolidWorks® is a registered trademark of SolidWorks Corporation (USA)

1 Selection Guide Edition 19 • Revised April 1, 2019

 FR Series Robots
Multifunctional Electric Hand Option
Cam Type
Model Number 4F-MEHGR-01 4F-MEHGR-02 4F-MEHGR-03
Max. Continuous Rating (N) 5 6 22
Gripping
Force 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
Max (Rating) [mm/sec] 100 100 100
Min. Setting [%] (mm/sec) 20 (20) 20 (20) 20 (20)
Speed
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
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
Finger 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
Max. Continuous Rating (N) 150
Gripping
Force Minimum Setting [%] (N) 30 (45)
Resolution [%] (N) 1 (1.5)
Open/Close Stroke (mm) 38
Max (Rating) [mm/sec] 50
Min. Setting [%] (mm/sec) 20 (10)
Speed
Resolution [%] (mm/sec) 1 (0.5)
Constant-Speed Move and Grip (max) [%] 50
Positioning Repeatability (mm) ±0.01
Max. Mass (1 Pair) [g] 80
Allowable Load [N] 1300
Allowable Pitching Moment (N•m) 5
Finger 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
Max. Continuous Rating (N) 2
Gripping
Force Minimum Setting [%] (N) 30 (0.6)
Resolution [%] (N) 1 (0.02)
Open/Close Stroke [mm] 13
Max (Rating) [mm/sec] 100
Min. Setting [%] (mm/sec) 20 (20)
Speed
Resolution [%] (mm/sec) 1 (1)
Constant-Speed Move and Grip (max) [%] 50
Positioning Repeatability (mm) ±0.03
Max. Mass (1 Pair) [g] 20
Allowable Load (N) 20
Finger
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

Selection Guide Edition 19 • Revised April 1, 2019 Mitsubishi Electric Automation | Robots 2
n ROBOTS FR Series Robots

Configuration of the Multi-Function Electric Hand

Electric hand Adapter cab

RV2FR Series
Electric hand
Item Quantity Source Specifications control unit External wiring
set for the forearm
1 Electric Hand 1 Electric hand used by customers
Control Unit for the Electric Hand: Mitsubishi Electric In-machine cable outlet
2 1 Control unit to operate electric hand
4F-MEHCU-01
Fabricated by For attachment of the electric hand to the Electric hand
3 Electric Hand Installation Flange 1
customers robot flange
Base part
4 Robot 1 Mitsubishi Electric Standard specifications
As Fabricated by
5 Cable Securing Hardware For securing a cable
required customers RV-2FR attachment diagram RV-4FR/7FR/3FR/20FR

RV4FR/7FR/13FR/20FR Series (External Wiring)

Electric hand Adapter cable
Item Quantity Source Remarks
1 Electric Hand 1 Electric hand used by customers
Control Unit for the Electric Hand: Electric hand
2 1 Control unit to operate electric hand
control unit External wiring
4F-MEHCU-02 Mitsubishi Electric set for the forearm
Interface cable to connect the electric
3 Adapter Cable: 4F-MEHCBL-01 1 In-machine cable outlet Electric hand
hand with the control unit/robot control unit
For attachment of the electric hand to the
4 Electric Hand Installation Flange 1 Fabricated by robot flange Electric hand
customers Electric hand
5 Electric Hand Control Unit Installation Stand 1 For wiring to the forearm Base part
Standard specifications
Robot, Standard (External Wiring)
6 1 External wiring sets (option) connections
Specifications RV-2FR
at both the forearm and attachment
base diagram RV-4FR/7FR/3FR/20FR attachment diagram RH-F
1F-HA01S-01: When the hand input signal
and Ethernet signal are used together
7 External Wiring Unit for the Base 1
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
Robot

Mitsubishi Electric 1F-HA01S-01: When the hand input signal

and Ethernet signal are used together
8 External Wiring Unit for the Forearm 1
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
Wrist wiring custom specifications
SH02: When the hand input signal and
Wrist Wiring Internal-Wiring
9 1 vision sensor signal are used together
Specifications: RV_FRSH02/SH03
SH03: When the force sensor signal and
vision sensor signal are used together

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

Accessory
Specifications Possible Hand Configuration External Wiring Set External Wiring Set Remarks
for the Forearm for the Base
Electric Hand + Hand Input Signal An external wiring
-SH02 - 1F-HA01S-01
Vision Sensor set for the base is
included with the
Electric Hand; Vision Sensor internal wiring type
-SH03 - 1F-HA02S-01
Force Sensor robot

RH3FRH/6FRH/12FRH/20FRH Series Electric hand Adapter cable

Hand cable
Item Quantity Source Remarks Electric hand
Electric Electric hand used by control unit
1 Electric Hand 1 hand
control unit External wiring customers
set for the forearm Control unit
Control unit to attachment plate
2 Control Unit for the Electric Hand: 4F-MEHCU-02 1 Electric
operate electric
In-machine cable outlet hand hand
control unit
Interface cable to
connect the electric
3 Adapter Cable: Select 1 from Table Below 1 Electric hand
hand with the control Electric hand
Base part
unit/robot
RH3FRH35/45/5515 Mitsubishi Electric
4F-MEHCBL-02
& C Specifications
(Length: 1300 + 150mm)
RV-2FR attachment diagram RV-4FR/7FR/3FR/20FR attachment diagram RH-FRH hand attachment diagram
Z=120 RH6FRH(M)(C)35/45/5520
4F-MEHCBL-03
RH6FRH(M)(C) 35/45/5534
(Length: 1600 + 150mm)
RH12FRH(M)(C) 55/70/8535 4F-MEHCBL-04
RH20FRH(M)(C)8535 (Length: 1800 + 150mm)
4F-MEHCBL-05
RH12FRH(M)(C) 55/70/854
(Length: 2100 + 150mm)
4 Cable Securing Hardware 1 For securing a cable
Fabricated by For attachment of the
5 Electric Hand Installation Flange 1 customers electric hand to the
robot flange

3 Selection Guide Edition 19 • Revised April 1, 2019