Contents

1 General configuration
- 1.1 Structural equipment
  - 1.1.1 Standard structural equipment
  - 1.1.2 Special specifications
  - 1.1.3 Options
  - 1.1.4 Maintenance parts
- 1.2 Model type name of robot
  - 1.2.1 How to identify the robot model
  - 1.2.2 Combination of the robot arm and the controller
- 1.3 CE marking specifications
- 1.4 Indirect export
- 1.5 Instruction manuals
- 1.6 Contents of the structural equipment
  - 1.6.1 Robot arm
  - 1.6.2 Controller
- 1.7 Contents of the Option equipment and special specification
2 Robot arm
- 2.1 Standard specifications
  - 2.1.1 Basic specifications
    - (1) Standard specification
    - (2) Clean specification
  - 2.1.2 The counter-force applied to the installation surface
- 2.2 Definition of specifications
  - 2.2.1 Pose repeatability
  - 2.2.2 Mass capacity
  - 2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
    - (1) Setting Load Capacity and Size (Hand Conditions)
  - 2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
  - 2.2.5 Vibration of shaft (J3 axis) position and arm end
    - (1) Relationship Between Mass Capacity and Speed
    - (2) Relationship Between Height of Shaft (J3 Axis) and Acceleration/Deceleration Speed
    - (3) Relation between offset length and the maximum speed
    - (4) Time to reach the position repeatability
  - 2.2.6 Collision detection
  - 2.2.7 Protection specifications
    - (1) Types of protection specifications
  - 2.2.8 Clean specifications
    - (1) Types of clean specifications
- 2.3 Names of each part of the robot
- 2.4 Outside dimensionsOperating range diagram
  - 2.4.1 Outside dimensionsOperating range diagram
    - (1) Standard Specification
    - (2) Clean Specification
  - 2.4.2 Mechanical interface and Installation surface
  - 2.4.3 Outside dimensions of machine cables
    - (1) Connection with the CR750 controller
    - (2) Connection with the CR751 controller
- 2.5 Tooling
  - 2.5.1 Wiring and piping for hand
  - 2.5.2 Internal air piping
    - (1) Standard type
    - (2) Clean type
  - 2.5.3 Internal wiring for the hand output cable
  - 2.5.4 Internal wiring for the hand input cable
  - 2.5.5 Ethernet cable
  - 2.5.6 About the Installation of Tooling Wiring and Piping (Examples of Wiring and Piping)
    - (1) Example of wiring and piping <1>
    - (2) Wiring and piping example <2>
    - (3) Precautions for the clean specification
  - 2.5.7 Wiring and piping system diagram for hand
  - 2.5.8 Electrical specifications of hand input/output
  - 2.5.9 Air supply circuit example for the hand
- 2.6 Shipping special specifications, options, and maintenance parts
  - 2.6.1 Shipping special specifications
    - (1) Machine cable
- 2.7 Options
  - (1) Machine cable extension
  - (2) Changes J1 axis operating range
  - (3) Solenoid valve set
  - (4) Hand input cable
  - (5) Hand output cable
  - (6) Hand curl tube
  - (7) Internal Wiring/Piping set for hand
  - (8) External Wiring/Piping box
- 2.8 About Overhaul
- 2.9 Maintenance parts
3 Controller
- 3.1 Standard specifications
  - 3.1.1 Basic specifications
  - 3.1.2 Protection specifications and operating supply
- 3.2 Names of each part
  - 3.2.1 Controller
    - (1) CR750 controller
    - (2) CR751 controller
- 3.3 Outside dimensions/Installation dimensions
  - 3.3.1 Outside dimensions
    - (1) CR750 controller
    - (2) CR751 controller
  - 3.3.2 Installation dimensions
    - (1) CR750 controller
    - (2) CR751 controller
- 3.4 External input/output
  - 3.4.1 Types
- 3.5 Dedicated input/output
- 3.6 Emergency stop input and output etc.
  - 3.6.1 Connection of the external emergency stop
    - (1) CR750 controller
    - (2) CR751 controller
  - 3.6.2 Special stop input (SKIP)
    - (1) CR750 controller
    - (2) CR751 controller
  - 3.6.3 Door switch function
  - 3.6.4 Enabling device function
    - (1) When door is opening
    - (2) When door is closing
    - (3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings
- 3.7 Mode changeover switch input
  - (1) Specification of the key switch interface
  - (2) Connection of the mode changeover switch input
- 3.8 Additional Axis Function
  - 3.8.1 Wiring of the Additional Axis Interface
    - (1) CR750 controller
    - (2) CR751 controller
    - (3) Example of the installation of the noise filter
- 3.9 Magnet contactor control connector output (AXMC) for addition axes
  - (1) Example circuit
  - (2) Image of how to connect the controller connector
- 3.10 Options
  - (1) Teaching pendant (T/B)
  - (2) Parallel I/O interface
  - (3) External I/O cable
  - (4) Parallel I/O unit
  - (5) External I/O cable
  - (6) CC-Link interface
  - (7) MELSOFT RT ToolBox2/RT ToolBox2 mini
  - (8) Instruction Manual (bookbinding)
- 3.11 Maintenance parts
4 Software
- 4.1 List of commands
- 4.2 List of parameters
5 Instruction Manual
- 5.1 The details of each instruction manuals
6 Safety
- 6.1 Safety
  - 6.1.1 Self-diagnosis stop functions
  - 6.1.2 External input/output signals that can be used for safety protection measures
  - 6.1.3 Precautions for using robot
    - (1) Robot installation
    - (2) Prevention of contact with operator
    - (3) Work procedures
    - (4) Training
    - (5) Daily inspection and periodic inspection
  - 6.1.4 Safety measures for automatic operation
  - 6.1.5 Safety measures for teaching
  - 6.1.6 Safety measures for maintenance and inspections, etc.
  - 6.1.7 Examples of safety measures
    - (1) CR750 controller
    - (2) CR751 controller
    - (3) External emergency stop connection [supplementary explanation]
- 6.2 Working environment
  - (1) Power supply
  - (2) Noise
  - (3) Temperature and humidity
  - (4) Vibration
  - (5) Installation environment
- 6.3 Precautions for handling
- 6.4 EMC installation guideline
  - 6.4.1 Outlines
  - 6.4.2 EMC
  - 6.4.3 EMC measures
  - 6.4.4 Component parts for EMC measures
    - (1) Ferrite core
    - (2) Line noise filter
7 Appendix
- Appendix 1 Classification of functions using external input/output signals
- Appendix 2 Origin position adjustment of J2 axis
- Appendix 3 Specifications discussion material

Mitsubishi Electric Melfa RH3FHD Series Specifications Manual

Mitsubishi Electric Melfa RH3FHD Series manual cover

Pages 186

Year 2022

Language(s)

of 186

Mitsubishi Electric Melfa RH3FHD Series Specification

The Mitsubishi Electric Melfa RH3FHD Series is a high-performance line of SCARA robots designed for precision and speed in various industrial applications. These robots are characterized by their compact design, allowing for efficient use of space in production environments. The RH3FHD Series boasts a maximum payload capacity of 3 kg, making it suitable for handling lightweight components with ease. The series features a maximum reach of 400 mm, enabling it to perform tasks within a confined operational area, which is ideal for small to medium-sized assembly processes.

Equipped with advanced servo motor technology, the RH3FHD Series offers exceptional speed and accuracy, achieving cycle times as low as 0.29 seconds. This efficiency is further enhanced by the robots' high repeatability of ±0.01 mm, ensuring consistent performance in precision tasks. The series is integrated with Mitsubishi Electric's sophisticated control technology, providing seamless connectivity and integration into existing automation systems via Ethernet, CC-Link, and other industrial networks.

The RH3FHD Series supports a wide range of applications, including pick-and-place, assembly, and material handling, thanks to its versatile end-of-arm tooling options and customizable configurations. Additionally, these robots are equipped with intuitive programming interfaces, such as MELFA BASIC V and RT ToolBox3, allowing for simplified setup and operation. The RH3FHD Series is designed to meet the rigorous demands of modern manufacturing environments, delivering reliability, speed, and precision, and is an ideal choice for industries looking to optimize their automation processes.

Mitsubishi Electric Melfa RH3FHD Series F.A.Q.

What is the maximum payload capacity of the Mitsubishi Electric Melfa RH-3FHD Series?

The Mitsubishi Electric Melfa RH-3FHD Series has a maximum payload capacity of 3 kg.

How can I perform a factory reset on the Melfa RH-3FHD Series?

To perform a factory reset, access the robot's control panel, navigate to the 'System Settings', and select 'Factory Reset'. Ensure to backup all important data before proceeding.

What maintenance steps should be regularly performed on the RH-3FHD Series robot?

Regular maintenance includes checking and lubricating joints, inspecting cables and connections for wear, and verifying calibration settings. It is also recommended to perform a full system diagnostic quarterly.

How do I troubleshoot communication errors with the RH-3FHD Series?

Start by checking all physical connections and cables. Ensure that the communication settings match between devices, and inspect the network configuration for any IP conflicts.

Can the RH-3FHD Series be integrated with a PLC system?

Yes, the RH-3FHD Series can be integrated with a PLC system using standard communication protocols such as Ethernet/IP or CC-Link.

What is the typical cycle time for the RH-3FHD Series in a standard pick-and-place operation?

The typical cycle time for the RH-3FHD Series in a standard pick-and-place operation is approximately 0.29 seconds, depending on the specific application and configuration.

How can I update the firmware on my RH-3FHD Series robot?

To update the firmware, download the latest firmware version from the Mitsubishi Electric website, connect your robot to a computer, and use the provided software tool to upload the firmware to the robot.

What safety features are included in the RH-3FHD Series?

The RH-3FHD Series includes safety features such as emergency stop functions, collision detection, and restricted work zones to ensure safe operation.

How do I calibrate the RH-3FHD Series robot's sensors?

To calibrate the sensors, access the robot's control software, navigate to the calibration settings, and follow the on-screen instructions to complete the calibration process.

What is the recommended operating temperature range for the RH-3FHD Series?

The recommended operating temperature range for the RH-3FHD Series is 0°C to 40°C (32°F to 104°F). Operating outside this range may affect performance and longevity.