Mitsubishi, MELFA RH-FR Series

Next-generation intelligent functions make it simple to carry out work that has always defied automation.
FA-IT integration functions support nextgeneration manufacturing.
Safe, collaborative work applications allow robots and people to work together with high levels of safety. With these 3 key features, the FR Series is capable of handling virtually all your automation needs.
Serial, USB or Ethernet communication

ME96SS has multifunction

Type		Unit	RH-3FRH3515/12C	RH-3FRH4515/12C	RH-3FRH5515/12C
Outside dimensions			RH-3FRH
Environmental specifications Protection degree *1			IP20(Standard)/ ISO class3(Clean)*6
Installation			Floor type
Structure			Horizontal multiple-joint type
Drive system			AC servo motor
Position detection method			Absolute encoder
Maximum load capacity		kg	Maximum 3 (Rated 1)
Maximum reach radius		mm	350	450	550
Operating range	J1	deg	340(-170 to +170)
	J2	deg	290(-145 to +145)
	J3(Z)	mm	150(Clean specification:120) *1
	J4	deg	720(-360 to +360)
Maximum speed	J1	deg	420
	J2	deg	720
	J3(Z)	mm	1100
	J4	deg	3000
Maximum composite speed *2		mm/sec	6800	6500	8300
Cycle time *3		sec	0.41	0.46	0.51
Position repeatability	Y-X composite	mm	-0.010 to +0.010	-0.010 to +0.010	-0.012 to +0.012
	J3(Z)	mm	-0.01 to +0.01
	J4	deg	-0.004 to +0.004
Ambient temperature		℃	0 to 40
Mass		kg	29	29	32
Tolerable amount of inertia	Rating	kgm²	0.005
Tolerable amount of inertia	Maximum	kgm²	0.06
Tool wiring			Gripper:8 input points/8 output points (20 pins total) Signal cable for the multi-function gripper (2-pin + 2-pin power line) LAN x 1 [100 BASE-TX] (8-pin) *4
Tool pneumatic pipes			Primary:ø6 x 2 Secondary:ø4 x 8
Machine cable			5m (connector on both ends)
Connected controller *5			CR800-D, CR800-R

Type		Unit	RH-6FRH35XX/M/C	RH-6FRH45XX/M/C	RH-6FRH55XX/M/C
Outside dimensions			RH-6FRH
Environmental specifications Protection degree *1			IP20(standard) / IP65(oil mist)6 / ISO class3(Clean)7
Installation			Floor type
Structure			Horizontal multiple-joint type
Drive system			AC servo motor
Position detection method			Absolute encoder
Maximum load capacity		kg	Maximum 6 (Rated 3)
Maximum reach radius		mm	350	450	550
Operating range	J1	deg	340(-170 to +170)
	J2	deg	290(-145 to +145)
	J3(Z)	mm	xx=20:200/ xx=34:340
	J4	deg	720(-360 to +360)
Maximum speed	J1	deg	400
	J2	deg	670
	J3(Z)	mm	2400
	J4	deg	2500
Maximum composite speed *2		mm/sec	6900	7600	8300
Cycle time *3		sec	0.29
Position repeatability	Y-X composite	mm	-0.010 to +0.010	-0.010 to +0.010	-0.012 to +0.012
	J3(Z)	mm	-0.01 to +0.01
	J4	deg	-0.004 to +0.004
Ambient temperature		℃	0 to 40
Mass		kg	36	36	37
Tolerable amount of inertia	Rating	kgm²	0.01
Tolerable amount of inertia	Maximum	kgm²	0.12
Tool wiring			Gripper: 8 input points/8 output points (20 pins total) Signal cable for the multi-function gripper (2-pin + 2-pin power line) LAN x 1 [100 BASE-TX] (8-pin) *4
Tool pneumatic pipes			Primary: ø6 x 2 Secondary: ø4 x 8
Machine cable			5m (connector on both ends)
Connected controller *5			CR800-D/CR800-R

TITLE	DOCUMENT TYPE	SIZE
MELFA-RH-FR series	Catalog	1543 KB