Mitsubishi, MELFA RH-FRHR/FHR Series

RH-FRH series

• The function expansion option named "MELFA Smart Plus" is available with MELFA FR series.
"MELFA Smart Plus" further broaden the range of possibilities of the MELFA FR series, offering performance beyond your expectations.
• Collaboration with MELSEC Q series/MELSEC iQ-R server series realize more advanced work.
• Maximum load capacity:3kg to 20kg
• Controller Types

R Type: Compatible with the "iQ Platform". MELSEC iQ-R series-dedicated. (CR800-R controller)
Q Type: Compatible with the "iQ Platform". MELSEC Q series-dedicated. (CR800-Q controller)
D Type: Standalone controller (CR800-D controller)

Next-generation intelligence, FA-IT integration, Safe, collaborative work applications

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

Please refer to the "Catalogs" or the "Manuals" for RH-FR series.

FR series concept
FR series concept2

MELFA Smart Plus Features

MELFA Smart Plus is an option that brings next-generation intelligence to MELFA FR series robots.
This provides leading-edge functions for all phases of customer's operations, from design and startup through to operation and maintenance. *Activated with the insertion of a Smart Plus card into CR800 controller.

Details of MELFA Smart Plus

Outline of functions

Controller features

Improved controller performance

Control cycles on FR series controllers take just half the current time, improving robot control performance.
The faster calculation speed gives better robot processing capacity and shorter cycle times for improved productivity.
Integration with the various sensors also makes precision operation possible.

CR800 Control cycle

R/Q type controller

This controller is compatible with the "iQ Platform", which seamlessly integrates the various controllers used in a production site with HMIs, the engineering environment and the network.
It uses a multi-CPU configuration that dramatically improves its interaction with FA equipment and also offers highly precise control and fast yet simple information management.

R type controller
MELSEC iQ-R series-dedicated

CR800-R type controller

The R Type controllers supported by the MELSEC iQ-R series dramatically improve compatibility with FA equipment, allowing information to be shared mutually and data to be collected and processed. Improved system bus performance has also reduced communication cycles to 1/4 of current levels, allowing shorter cycle times for production facilities.

CR800 Communication cycle

Q type controller
MELSEC Q series-dedicated

CR800-Q type controller

D type controller

Standalone type

A standalone controller similar to existing models.
Enables the construction of cells using robot controllers as the control nucleus.
Comes with various interfaces as standard, allowing customers to build a system optimized for their applications.

CR800-D type controller

RH-3FRHR35 series

Type		Unit	RH-3FRHR3515	RH-3FRHR3512C *1	RH-3FRHR3512W *1
Outside dimensions			RH-3FRHR3515
Environmental specifications Protection degree *1			IP20(Standard)	ISO class 5(Clean) *5	IP65(Waterproof) *6
Installation			Ceiling 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
Operating range	J1	deg	450(-225 to +225)
	J2	deg	450(-225 to +225)
	J3(Z)	mm	150	120
	J4	deg	1440(-720 to +720)
Maximum speed	J1	deg/sec	672
	J2	deg/sec	708
	J3(Z)	mm/sec	1500
	J4	deg	3146
Maximum composite speed *2		mm/sec	6267
Cycle time *3		sec	0.32
Position repeatability	Y-X composite	mm	-0.01 to +0.01
	J3(Z)	mm	-0.01 to +0.01
	J4	deg	-0.01 to +0.01
Ambient temperature		℃	0 to 40
Mass			24	28
Tolerable amount of inertia	Rating	kgm²	0.005
Tolerable amount of inertia	Maximum	kgm²	0.05
Tool wiring			Gripper: 8 input points (up to 4 points for shaft) / 8 output points, 8 spare lines
Tool pneumatic pipes			Primary: ø6 x 2 Secondary: ø4 x 8
Machine cable			5m (connector on both ends)
Connected controller *4			CR800-D/CR800-R

*1) The environmental resistance specifications (C: Cleanroom specifications, W:Waterproof specifications) for the RH-3FRHR is factory-set custom specifications.

*2) The value assumes composition of J1, J2, and J4.

*3) Value for a maximum load capacity of 1 kg. The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (Th e cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)

*4) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.

*5) Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the clean room and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.

*6) Direct jet to the bellows is excluded.

TITLE	DOCUMENT TYPE	SIZE
MELFA RH-3FRHR35 series	Catalog	19583 KB
Mitsubishi Industrial Robot MELFA-FR series	Catalog	10581 KB
RH-FRH Series Standard Specifications Manual	Manual	10530 KB