Mitsubishi, MELFA RV-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	RV-2FR(B)	RV-2FRL(B)
Outside dimensions			RV-2FR	RV-2FRL
Environmental specifications Protection degree			IP30(Standard)
Installation			Floor type, ceiling type, (wall-mounted type *2)
Structure			Vertical multiple-joint type
Drive system *1			AC servo motor (J2, J3 and J5: with brake)
Position detection method			Absolute encoder
Maximum load capacity		kg	maximum 3 (Rated 2) *5
Maximum reach radius		mm	504	649
Operating range	J1	deg	480 (-240 to +240)
	J2		240 (-120 to +120)	237 (-117 to +120)
	J3		160 (-0 to +160)
	J4		400 (-200 to +200)
	J5		240 (-120 to +120)
	J6		720 (-360 to +360)
Maximum speed	J1	deg/sec	300	225
	J2		150	105
	J3		300	165
	J4		450	412
	J5		450
	J6		720
Maximum composite speed *3		sec	4955	4200
Cycle time *4		sec	0.6	0.7
Position repeatability		mm	-0.02 to +0.02
Ambient temperature		℃	0 to 40
Mass		kg	19	21
Tolerable moment	J4	Nm	4.17
	J5		4.17
	J6		2.45
Tolerable amount of inertia	J4	kgm²	0.18
	J5		0.18
	J6		0.04
Tool wiring			Gripper: 4 input points/4 output points Signal cable for the multi-function gripper
Tool pneumatic pipes			ø4 x 4
Machine cable			5m (connector on both ends)
Connected controller *4			CR800-D, CR800-R

Type		Unit	RV-4FR(M)(C)	RV-4FRL(M)(C)
Outside dimensions			RV-4FR	RV-4FRL
Environmental specifications Protection degree			IP40 (standard)/ IP67 (oil mist) 1/ ISO class3(Clean) 7
Installation			Floor type, ceiling type, (wall-mounted type *2)
Structure			Vertical multiple-joint type
Degrees of freedom			6 *9
Drive system			AC servo motor
Position detection method			Absolute encoder
Maximum load capacity		kg	maximum 4 (Rated 4) *8
Maximum reach radius		mm	515	649
Operating range	J1	deg	480 (-240 to +240)
	J2		240 (-120 to +120)
	J3		161 (-0 to +161)	164 (-0 to +164)
	J4		400 (-200 to +200)
	J5		240 (-120 to +120)
	J6		720 (-360 to +360)
Maximum speed	J1	deg/sec	450	420
	J2		450	336
	J3		300	250
	J4		540
	J5		623
	J6		720
Maximum composite speed *3		sec	9027	9048
Cycle time *4		sec	0.36	0.36
Position repeatability		mm	-0.02 to +0.02
Ambient temperature		℃	0 to 40
Mass		kg	39	41
Tolerable moment	J4	Nm	6.66
	J5		6.66
	J6		3.96
Tolerable amount of inertia	J4	kgm²	0.2
	J5		0.2
	J6		0.1
Tool wiring			Gripper: 8 input points/8 output points Signal cable for the multi-function gripper and sensors LAN x 1 [100 BASE-TX] *5
Tool pneumatic pipes			Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm)
Machine cable			5m (connector on both ends)
Connected controller *6			CR800-D, CR800-R

Type		Unit	RV-7FR(M)(C)	RV-7FRL(M)(C)	RV-7FRLL(M)(C)
Outside dimensions			RV-7FR	RV-7FRL	RV-7FRLL
Environmental specifications Protection degree			IP40 (standard)/ IP67 (oil mist) 1/ ISO class3(Clean) 2
Installation			Floor type, ceiling type, (wall-mounted type *3)
Structure			Vertical multiple-joint type
Drive system			AC servo motor
Position detection method			Absolute encoder
Maximum load capacity		kg	maximum 7 (Rated 7) *8
Maximum reach radius		mm	713	908	1503
Operating range	J1	deg	480 (-240 to +240)		380 (-190 to +190)
	J2		240 (-115 to +125)	240 (-110 to +130)	240 (-90 to +150)
	J3		156 (-0 to +156)	162 (-0 to +162)	167.5 (-10 to +157.5)
	J4		400 (-200 to +200)
	J5		240 (-120 to +120)
	J6		720 (-360 to +360)
Maximum speed	J1	deg/sec	360	288	234
	J2		401	321	164
	J3		450	360	219
	J4		337		375
	J5		450
	J6		720
Maximum composite speed *3		sec	11064	10977	15300
Cycle time *4		sec	0.32	0.35	0.63
Position repeatability		mm	-0.02 to +0.02		-0.06 to +0.06
Ambient temperature		℃	0 to 40
Mass		kg	65	67	130
Tolerable moment	J4	Nm	16.2
	J5		16.2
	J6		6.86
Tolerable amount of inertia	J4	kgm²	0.45
	J5		0.45
	J6		0.10
Tool wiring			Gripper: 8 input points, Signal cable for the multi-function gripper, LAN x 1 [100 BASE-TX] *5
Tool pneumatic pipes			Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm)		Primary: ø6 x 2 Secondary: ø4 x 8, ø4 x 4 (from base portion to forearm)
Machine cable			5m (connector on both ends)
Connected controller *6			CR800-D, CR800-R

TITLE	DOCUMENT TYPE	SIZE
MELFA RV FR series	Catalog	12,925 KB