Mitsubishi Industrial Robot / MELFA RV-2SDB/RV-2SQB Series

Product Configuration
RV-2SDB RV-2SQB
MR-J3 <Must be prepared by the customer> MITSUBISHI INDUSTRIAL ROBOT
Ethernet

Robot arm
Vision system
Robot arm iQ Platform-compliant
RV-2SDB/RV-2SQB Series
RV-2SD RV-2SQ programmable controller GOT
GOT
SSCNET III
(Optical Vision system
communications)

Additional axis function Robot CPU (RCPU)

Pulse encoder
SSCNET III
USB communications
<Optional> Additional axis function
<Optional>
CR1DA-771

Encoder input function

Drive unit
(DU1A)
Pulse encoder MR-J3
Standard High-functionality Equipped with various Standard High-functionality
version version interfaces as standard <Must be prepared version version <Must be prepared
Teaching pendant by the customer> Teaching pendant by the customer>

Configurations Options
Classification Name Type Specification overview RV-2SDB RV-2SQB
1E-VD01/VD01E Solenoid valve (with an output cable, 1 valve) (sink/source)
Solenoid valve set
1E-VD02/VD02E Solenoid valve (with an output cable, 2 valves) (sink/source)
Hand output cable 1E-GR35S With a robot-side connector, not terminated at another end
Hand input cable 1S-HC30C-11 With a robot-side connector, not terminated at another end
1E-ST0402C 4 tube, number of sets - 2
Robot arm

Hand curl tube

1E-ST0404C 4 tube, number of sets - 4
1S-DH-11J1 For limiting J1 axis rotation (±210 deg., ±150 deg., ±90 deg.)
Stopper for changing operating range 1S-DH-11J2 For limiting J2 axis rotation (±30 deg.)
1S-DH-11J3 For limiting J3 axis rotation (+70 deg.)
1S-05CBL-03 Extension type: 5m
Machine cable, for extension/fixed 1S-10CBL-03 Extension type: 10m
1S-15CBL-03 Extension type: 15m
1S-05LCBL-03 Extension type: 5m
Machine cable, for extension/flexible 1S-10LCBL-03 Extension type: 10m
1S-15LCBL-03 Extension type: 15m
Teaching pendant, standard version R32TB 7m: Standard / 15m: Custom
High-function teaching pendant R56TB 7m: Standard / 15m: Custom
Air hand interface 2A-RZ365/375 8 output points, used exclusively for hand (sink/source)
Parallel I/O unit (remote) 2A-RZ361/371 32 output points / 32 input points (sink/source)
External I/O cable 2A-CBL05/2A-CBL15 Cable length: 5m / 15m, not terminated at one end (for 2A-RZ361/371)
Parallel I/O interface (on-board) 2D-TZ368/378 32 output points / 32 input points (sink/source)
Controller

External I/O cable 2D-CBL05/2D-CBL15 Cable length: 5m / 15m, not terminated at one end (for 2D-TZ368/378)
CC-Link interface 2D-TZ576 CC-Link intelligent device station, Version 2.0, 1 to 4 stations
PROFIBUS interface 2A-RZ577 Slave station, combined total number of input and output data: 192 words
DeviceNet Slave interface 2D-TZ571 Slave station, Release 2.0 is supported
Additional memory 2D-TZ454 User program area with additional memory: 2MB
Personal computer support softwware RT-Toolbox2 With simulation function (CD-ROM)
Personal computer support softwware-mini RT-Toolbox2 Lt Lite Version (CD-ROM) RV-2SDB / RV-2SQB
Personal computer cable 2D-232CBL03M For PC-AT compatible machine, 3m
MELFA-Vision MELFA-Vision COGNEX Vision System-compliant
3D simulator (MELFA-Works) MELFA-Works Add-in to Solidworks software
ER6 Installed in the robot arm (Quantity: 4pcs)
Service part Backup battery
Q6BAT Installed in the controller (Quantity: 1pc)
RV-2SDB/RV-2SQB

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
[Link]

This brochure has been issued in May 2010. The contents of this brochure are subject to change
L(NA)-09044ENG-B 1005(MEE) for improvements without notice. Contact with Mitsubishi when referring to this brochure. Date of issue:May 2010
 MELFA RV-2SDB / RV-2SQB Series Vertically Articulated Robot. A New Design that is Streamlined, Compact, High-Speed, with High Functionality and 2kg Payload

A compact 6 axis robot ideally suited for assembly, material handling, [Robot's Outer Dimensions and Operating Range]
45
5H7, depth 8

inspection, and a wide variety of other tasks. Motion space at Point P

-240
Motion space at Point P
504
Wrist's downward limit
504
4-M5 screw, depth 8

20H7, dept
70 270 75 h6
5 40h
Features R50
160
31. 8, d
epth
6
4 100 View A

50
Detail of mechanical interface section
Reduced profile while maintaining a large operating range A

reference surface)
504
82

(Installation
• The length and shape of the arm are designed for optimum performance and maximum Motion space
+12
0
(135)

185
at Point P

-12

230

799

Rz 25
reach while providing the ability to reach positions close to the robot base. 67.5 67.5 4- 9

0
R140

623
(40) instration hole
(Installation
• A greater range of motion is insured in applications requiring ceiling or wall mount. R504
reference surface)
Rz 25

• J1 operation range is expanded to 480 (±240 ). This eliminates any rear side dead zone.

295

67.5 67.5
82
Point P

(160)
389

(120)
(135)
40
Advanced servo control provides high-speed R1

94
(160)
0
and high-accuracy operation +24 Wrist's downward
singularity boundary
280 Side View View B
B Rear view/details of installation dimensions
Top view
• Maximum composite speed is 4,400 mm/s. Additionally, the speeds of axes J4-J6 have
been optimized to satisfy high-speed assembly applications.
• Positioning repeatability of ±0.02mm combined with active-gain control and highly rigid Specifications
arm design provide for high accuracy positioning at high speed. RV-2SDB/RV-2SQB Robot Arm Controller
Item Unit Specification Item Unit Specification Remark
Unique arm design allows greater range of Type RV-2SDB / RV-2SQB Type designation CR1DA-771 (RV-2SDB) CR1QA-771 (RV-2SQB)
Protection class IP30 Robot language MELFA-BASIC V
motion and accessibility Installation
Floorstanding, ceiling-hung, Position teaching method Teaching method, MDI method
and wall-mounted *1 0 input / 0 output 8192 / 8192
Input/output Point
• Offset arm design greatly reduces the robots minimum operating radius allowing work Structure Vertical articulated arm robot (maximum 256/256, available as option) (between sequencer and robot)
Degrees of freedom 6 Dedicated input/output Point Assigned according to general-purpose I/O.
close to the robot base.
Arm length mm 230+270 Input for shutdown purpose only Point 1
• Reduced elbow protrusion lessens rear interference points. CR1DA-771 CR1QA-771 Maximum reach radius mm 504 External Hand open/close input/output Point 4 inputs / 0 output 4 additional outputs are available as option.
J1 480 (-240 to +240) input/ External emergency shutdown input Point 1 Double-redundant
• A compact wrist design enables the robot to reach into smaller spaces at many angles.
J2 240 (-120 to +120) output Door switch input Point 1 Double-redundant
Operating J3 160 (0 to +160) Enabling device input Point 1 Double-redundant
deg
Multiple interfaces assure convenience and flexibility in integration range J4
J5
400 (-200 to +200)
240 (-120 to +120)
Synchronization of additional axes Point
Mode output Point
1
1
Double-redundant
Double-redundant
J6 720 (-360 to +360) Error output Point 1 Double-redundant
• The robot comes standard with additional axis control, Ethernet and encoder (for line tracking) interfaces. Profibus and DeviceNet are available options.
J1 225 RS-232 ports 1 - Extensions for computer, vision sensor, etc.
* SQ needs manual pulser input unit (Q173DPX) for line tracking. J2 150 RS-422 ports 1 I/F dedicated to TB
• Direct communication to GOT is available without the use of a programmable controller. Maximum J3 275 Ethernet ports 1 1 (dual-use, user and TB) 10BASE-T / 100BASE-TX
deg/s
speed J4 412 USB ports 1 - Device function only, mini-B terminal
Interface
J5 450 Additional-axis I/F channels 1 SSCNET III
Software tools are powerful and user-friendly allowing simplified design, J6
Maximum composite speed mm/s
720
4400
Tracking I/F
Slot for hand
channels
slots
1
1
- For connecting encoder cable
Slot dedicated to air hand I/F
programming, monitoring and diagnostics Cycle time *3
Load Rated
s
kg
0.68
2.0
Extension slot
Input voltage range
slots
V
1
Single phase, AC200 to 230±10% (180 to 253)
- For installing optional I/F

Power
• RT ToolBox2 : Windows based software for robot programming, debugging, parameters, simulation and diagnostics. Capacity Maximum kg 3.0 (wrist, downward) Power capacity KVA 0.5 Not including in-rush current
supply
Position repeatability mm ±0.02 Frequency Hz 50 / 60
• MELFA-Vision: Machine vision software configuration tool for Cognex In-sight vision sensors. Mass kg 19 External dimensions mm 240(W) x 290(D) x 200(H) Protrusions excluded
• MELFA-Works: Advanced 3-D simulation and design software that works as an add-on to SolidWorks. *1 There are limits to J1 motion when wall-mounted. Weight kg Approx. 9
*2 All axes are equipped with a brake. Structure Self-contained floor type / open structure (IP20)
*3 Value at a load of 1kg when the robot reciprocates
25mm vertically and 300mm horizontally. CPU Type designation - Q172DRCPU iQ Platform-compliant

Robot Arm
Quicker posture changes- ideal Ability to layout the work cell Large work area can be reached The J1 operation range SQ Series Controller - New Capabilities
for assembly applications with points near the robot base without rotating the arm designed +/- 240 degree
iQ platform compatibility-High speed Robot data can be easily accessed
Assembly work typically requires Range of motion is now closer to Extended back reaching access is Cycle time can be short if it is communication and ease of integration Direct sequencer control is possible
and displayed on GOT
many postures compared to pick the base of the robot. This allows effective for ceiling mount possible to take a short cut path.
With the robot CPU mounted in an iQ system, Programming can be Essential data from the
and place work. more flexibility and smaller applications. Not necessary to Convenient monitoring and
Unlike its communications between the sequencer or other accomplished directly robot can be displayed
system footprint. program in within the sequencer
retrieval of information from
conventional available CPU’s are much faster and at greater volumes. robot and other machine
without referring to the
varieties, the robot Apparatus 1 Apparatus 2 dedicated robot language. No need to use robot program, editing
Total machine integration is simplified and performance components at a single point
Close proximity Offset arm can even extend back language a second language/ program software, or teach
is permitted!! design into its rear space.
is enhanced. to control the robot. pendant.
700 mm GOT display panels
Robot's No robot
forward
GOT interface provides easy access programs are Sample graphics data
needed.
Work direction Delivery to robot data and status • Robot operation window
Apparatus 3 • Current values display window
Shared memory across the iQ platform allows multiple • Maintenance forecast window
• User Manual window
Removal sets of machine data to be easily accessed and displayed Operation commands • Error indication
Assembly cell Layout is made Position/posture at Hand
via GOT. This serves as a user-friendly system interface are issued to the robot
more compact. minimum operating radius
at a single point. in sequencer
380 mm 380 mm Examples of
The minimum radius becomes language.
moving paths Conveyor GOT1000
Increasing the speed of posture CL
smaller by the offset arm design Work
change has a significant affect on (139 mm compared to 319 for RV-
Robot can be directly controlled from the
overall cycle time. By optimizing 3SD) However the overall Expanded J2 operation range for J1 operation range expanded to sequence program
the performance of axes J4-J6, operating range (R max-R min) is extended back reach. 480 (±240 ). The ability to command the robot directly from
posture change time is improved. greater than RV-3SD at 365 mm
RV-2SQB programming flexibility comes with the ability the sequencer program.
• Wide work area can be secured • Minimize path, Minimize cycle to command the robot directly from the sequencer Various data is stored in a memory shared by
vs.323 mm.
The speed of J4, J5, and J6 have without turning around the arm. time. program. This method allows complete machine control Programming time can be reduced and integration sequencer multi-CPUs.
improved by 10% compared to Increase space efficiency and the • Decrease extra motion, reduce • Increase flexibility of machine can be simplified by using a sequencer language
with a single language. Traditional programming via
RV-3SD/SQ. compact layout is possible. the cycle time. layout. that you are already familiar with. Sample GOT programs are available.
MELFA-Basic V is also available.
Mitsubishi Industrial Robot / MELFA RV-2SDB/RV-2SQB Series
Product Configuration
RV-2SDB RV-2SQB
MR-J3 <Must be prepared by the customer>

Ethernet

Robot arm Robot arm iQ Platform-compliant

RV-2SD Vision system RV-2SQ programmable controller GOT
GOT
SSCNET III
(Optical Vision system
Q173DPX
communications)

Additional axis function Robot CPU (RCPU)

Pulse encoder
SSCNET III
USB communications
<Optional> Additional axis function
<Optional>
CR1DA-771

Encoder input function

Drive unit
(DU1A)
Pulse encoder MR-J3
Standard High-functionality Equipped with various Standard High-functionality
version version interfaces as standard <Must be prepared version version <Must be prepared
Teaching pendant by the customer> Teaching pendant by the customer>

Configurations Options
Classification Name Type Specification overview RV-2SDB RV-2SQB
1E-VD01/VD01E Solenoid valve (with an output cable, 1 valve) (sink/source)
Solenoid valve set
1E-VD02/VD02E Solenoid valve (with an output cable, 2 valves) (sink/source)
Hand output cable 1E-GR35S With a robot-side connector, not terminated at another end
Hand input cable 1S-HC30C-11 With a robot-side connector, not terminated at another end
1E-ST0402C 4 tube, number of sets - 2
Hand curl tube
1E-ST0404C 4 tube, number of sets - 4
Robot arm

1S-DH-11J1 For limiting J1 axis rotation (±210 deg., ±150 deg., ±90 deg.)
Stopper for changing operating range 1S-DH-11J2 For limiting J2 axis rotation (±30 deg.)
1S-DH-11J3 For limiting J3 axis rotation (+70 deg.)
1S-05CBL-03 Extension type: 5 m
Machine cable, for extension/fixed 1S-10CBL-03 Extension type: 10 m
1S-15CBL-03 Extension type: 15 m
1S-05LCBL-03 Extension type: 5 m
Machine cable, for extension/flexible 1S-10LCBL-03 Extension type: 10 m
1S-15LCBL-03 Extension type: 15 m
Teaching pendant, standard version R32TB 7 m: Standard / 15 m: Custom
High-function teaching pendant R56TB 7 m: Standard / 15 m: Custom
Air hand interface 2A-RZ365/375 8 output points, used exclusively for hand (sink/source)
Parallel I/O unit (remote) 2A-RZ361/371 32 output points / 32 input points (sink/source)
External I/O cable 2A-CBL05/2A-CBL15 Cable length: 5 m / 15 m, not terminated at one end (for 2A-RZ361/371)
Parallel I/O interface (on-board) 2D-TZ368/378 32 output points / 32 input points (sink/source)
Controller

External I/O cable 2D-CBL05/2D-CBL15 Cable length: 5 m / 15 m, not terminated at one end (for 2D-TZ368/378)
CC-Link interface 2D-TZ576 CC-Link intelligent device station, Version 2.0, 1 to 4 stations
PROFIBUS interface 2A-RZ577 Slave station, combined total number of input and output data: 192 words
DeviceNet Slave interface 2D-TZ571 Slave station, Release 2.0 is supported
Additional memory 2D-TZ454 User program area with additional memory: 2MB
Personal computer support softwware RT-Toolbox2 With simulation function (CD-ROM)
Personal computer support softwware-mini RT-Toolbox2 Lt Lite Version (CD-ROM)
Personal computer cable 2D-232CBL03M For PC-AT compatible machine, 3 m
MELFA-Vision MELFA-Vision COGNEX Vision System-compliant
3D simulator (MELFA-Works) MELFA-Works Add-in to Solidworks software
ER6 Installed in the robot arm (Quantity: 4pcs)
Service part Backup battery
Q6BAT Installed in the controller (Quantity: 1pc)

HEAD OFFICE: TOKYO BUILDING, 2-7-3, MARUNOUCHI, CHIYODA-KU, TOKYO 100-8310, JAPAN
[Link]

This brochure has been issued in Jun. 2010. The contents of this brochure are subject to change
L(NA)-09044ENG-B 1006(MEE) for improvements without notice. Contact with Mitsubishi when referring to this brochure. Date of issue:Jun. 2010