FR Series Robots

Vertically
Articulated (RV)
Model Number RV2FR RV2FL RV4FR RV4FRL RV7FR RV7FRL RV7FRLL RV13FR RV13FRL RV20FR
Maximum Load Capacity (kg) 2 2 4 4 7 7 7 13 13 20
Maximum Reach Radius (mm) 504 649 515 649 713 908 1,503 1,094 1,388 1,094
Standard IP30 IP40
Environmental
Oil Mist – IP67
Specifications
Cleanroom – ISO class3
Controller CR800-R, CR800-D

Horizontally
Articulated SCARA
(RH)
Model Number RH1FRHR RH3FRHR RH3FRH35 RH3FRH45 RH3FRH55 RH6FRH35 RH6FRH45 RH6FRH55
Maximum Load Capacity (kg) 1 3 3 3 3 6 6 6
Maximum Reach Radius (mm) 550 350 350 450 550 350 450 550
Standard IP20/IP67 IP20
Environmental
Oil Mist – IP65 – IP65
Specifications
Cleanroom – ISOclass5 ISOclass3
Controller CR800-R, CR800-D

Model Number RH12FRH55 RH12RFH70 RH12FRH85 RH20FRH85 RH20FRH100

Maximum Load Capacity (kg) 12 12 12 20 20
Maximum Reach Radius (mm) 550 700 850 850 1000
Standard IP20
Environmental
Oil Mist IP65
Specifications
Cleanroom ISOclass3
Controller CR800-R, CR800-D

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 n ROBOTS FR Series Robots

Through Wrist Wiring/Piping Options (RVFR Series)

Tooling Device Configuration (4kg – 20kg)
Required Device
Robot
Hand Configuration Wiring Format External Wiring Set for External Wiring Set for Remarks
Specifications
the Forearm the Base
Air hoses: Up to 2 systems
Interior equipment SHxx01 - (*1) -
(4 mm diameter x 4 mm); 8 input signals
Air-Hand + Hand Input Signal
Air hoses: Up to 4 systems
Exterior equipment Standard - (*2) -
(4 mm diameter x 8 mm) are possible
Hand Input Signal + Ethernet Interior equipment -SHxx02 - (*1) 1F-HA01S-01 (Included)
+ Force Sensor OR Electric Air hoses: Up to 4 systems
Hand (*3, *4) Exterior equipment Standard 1F-HB01S-01 (*2) 1F-HA01S-01
(4 mm diameter x 8 mm) are possible
Electric Hand + Ethernet Interior equipment -SHxx03 - (*1) 1F-HA02S-01 (Included)
+ Force Sensor Exterior equipment Standard 1F-HB02S-01 1F-HA02S-01
Air hoses: Up to 1 system
Interior equipment -SHxx04 - (*1) 1F-HA01S-01 (Included)
Air-Hand + Hand Input Signal (4 mm diameter x 2 mm); 8 input signals
+ Force Sensor Air hoses: Up to 4 systems
Exterior equipment Standard 1F-HB01S-01 (*2) 1F-HA01S-01
(4 mm diameter x 8 mm) are possible
Air hoses: Up to 1 system
Interior equipment -SHxx05 - (*1) 1F-HA01S-01 (Included)
Air-Hand + Hand Input Signal (4 mm diameter x 2 mm); 8 input signals
+ Ethernet Air hoses: Up to 4 systems
Exterior equipment Standard 1F-HB01S-01 (*2) 1F-HA01S-01
(4 mm diameter x 8 mm) are possible
Notes:
1. For internal routing. (Pneumatics sold separately)
2. For external routing. (Hoses, input cables and solenoid valves sold separately)
3. For SHxx02 configuration, the Air hand and Electric hand cannot be used simultaneously.
4. For SHxx02 configuration, the Force sensor and Electric hand cannot be used simultaneously.

RV series tooling (air-hand): External wiring RV series tooling (air-hand): Internal wiring For models with inter
Solenoid valve
Solenoid valve
1 to 4 lines
Hand curl tube 1 to 4 lines
(Can be provided by the user.)

On models with interior e

the length of each externa
External wiring BOX External wiring BOX
Internal wiring models connected air tube and ca
(Standard supplied) (Standard supplied)
(models ending in ‘-SH01’) mm, and cables have con
Hand input cable Air hoses
Hand input signal For external wiring
Air hoses
Air hoses
φ6×2
φ6×2

Hand input signal

Hand input signal
8 points
8 points

Signal cable for the Signal cable for the

multi-function hand multi-function hand External wiring set for th
Ethernet cable Ethernet cable

ernal wiring For models with internal wiring and hoses

Solenoid valve
1 to 4 lines

On models with interior equipment,

the length of each externally
nal wiring BOX connected air tube and cable is 150 Robot
dard supplied) mm, and cables have connectors.

For external wiring

Air hoses
φ6×2

External wiring set

Hand input signal for the base
8 points

External wiring set for the forearm Machine cable

ble

2
FR Series Robots

RVFR Series
Part Number Configuration

RV 1 FR 2 3 4
D 5

Must select items 1–4.

1 Max Load Capacity 2 Arm Length 3 Brake 4 Environment

Symbol Maximum Load Symbol Arm Length Symbol Brake Specification Symbol Environment Protection
Capacity All axis with brakes Blank Standard specification
Standard Blank
2 2kg Blank (Excludes RV2)
specifications M Oil mist specification (Excludes RV2)
4 4kg Long arm All axis with brakes C Cleanroom specification (Excludes RV2)
L B
7 7kg (excludes RV20) (RV2 only)
13 13kg Extended long arm:
LL 5 Options Select one from table below:
20 20kg RV7 only
RV Tooling
Symbol Internal Wiring Specification
Config (*1)
01, 02, 03,
SH_ _ Optional (Excludes RV2)
04, or 05
Note 1: See RV Tooling Device Configurations table for definitions

RV2FR • RV2FRL
Model Number RV2FR(B) RV2FRL(B)
Environmental Specifications Standard
Protection Degree IP30
Installation Floor type, ceiling type, (wall-mounted type) (*2)
Structure Vertical, multiple-joint type
Degrees of Freedom 6
Drive System (*1) AC servo motor (J2, J3 and J5: with brake)
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 3 (Rated 2) (*5)
Arm Length (mm) 230 + 270 310 + 335
Maximum Reach Radius (mm) 504 649
J1 480 (±240)
J2 240 (±120) 237 (-117 to +120)
J3 160 (-0 to +160)
Operating Range (deg)
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 300 225
J2 150 105
J3 300 165
Maximum Speed (deg/sec)
J4 450 412
J5 450
J6 720
Maximum Composite Speed (mm/sec) (*3) 4955 4200
Cycle Time (sec) (*4) 0.6 0.7
Position Repeatability (mm) ±0.02
Ambient Temperature (°C) 0 to 40
Weight (kg) 19 21
J4 4.17
Tolerable Moment (Nm) J5 4.17
J6 2.45
J4 0.18
Tolerable Amount of Inertia (kgm²) 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 (Base to forearm section)
Machine Cable 5m (connector on both ends)
Connected Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
1. The standard model does not have a brake on the J1, J4, or J6 axis. There are models available with brakes included for all axes.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

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n ROBOTS FR Series Robots

RV4FR • RV4FRL
Model Number RV4FRM/C RV4FRLM/C
Environmental Specifications Standard / Oil Mist / Cleanroom
Protection Degree IP40 (standard) / IP67 (oil mist) (*1) / ISOclass3 (*6)
Installation Floor type, ceiling type, (wall-mounted type) (*2)
Structure Vertical, multiple-joint type
Degrees of Freedom 6 (*8)
Drive System (*1) AC servo motor
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 4 (Rated 4) (*7)
Arm Length (mm) 235+275 310+335
Maximum Reach Radius (mm) 515 649
J1 480 (±240)
J2 240 (±120)
J3 161 (-0 to +161) 164 (-0 to +164)
Operating Range (deg)
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 450 420
J2 450 336
J3 300 250
Maximum Speed (deg/sec)
J4 540 540
J5 623 623
J6 720 720
Maximum Composite Speed (mm/sec) (*3) 9027 9048
Cycle Time (sec) (*4) 0.36 0.36
Position Repeatability (mm) ±0.02
Ambient Temperature (°C) 0 to 40
Weight (kg) 39 41
J4 6.66
Tolerable Moment (Nm) J5 6.66
J6 3.96
J4 0.2
Tolerable Amount of Inertia (kgm²) 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 × 1 <100 BASE-TX> (*5)
Tool Pneumatic Pipes Primary: ø6 × 2 Secondary: ø4 × 8, ø4 × 4 (from base portion to forearm)
Machine Cable 5m (connector on both ends)
Connected Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Air will need to be purged from the lines. For details, refer to the
specifications sheet.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
8. Please contact our sales offices if you request a five axes long arm model.

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FR Series Robots

RV7FR • RV7FRL • RV7FRLL

Model Number RV7FRM/C RV7FRLM/C RV7FRLLM/C
Environmental Specifications Standard / Oil Mist / Cleanroom
Protection Degree IP40 (standard) / IP67 (oil mist) (*1) / ISO class3 (*6)
Installation Floor type, ceiling type, (wall-mounted type) (*2)
Structure Vertical, multiple-joint type
Degrees of Freedom 6
Drive System (*1) AC servo motor
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 7 (Rated 7) (*7)
Arm Length (NO1 am) 340 + 370 435+470 565+805
Maximum Reach Radius (mm) 713 908 1503
J1 480 (±240) 380 (±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)
Operating Range (deg)
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 360 288 234
J2 401 321 164
J3 450 360 219
Maximum Speed (deg/sec)
J4 337 337 375
J5 450 450 450
J6 720 720 720
Maximum Composite Speed (mm/sec) (*3) 11064 10977 15,300
Cycle Time (sec) (*4) 0.32 0.35 0.63
Position Repeatability (mm) ±0.02 ±0.06
Ambient Temperature (°C) 0 to 40
Weight (kg) 65 67 130
J4 16.2
Tolerable Moment (Nm) J5 16.2
J6 6.86
J4 0.45
Tolerable Amount of Inertia (kgm²) J5 0.45
J6 0.10
Tool Wiring Gripper: 8 input points, Signal cable for the multi-function gripper, LAN × 1 <100 BASE-TX> (*5)
Primary: ø6 × 2 Secondary: ø6 × 8,
Tool Pneumatic Pipes Primary: ø6 × 2 Secondary: ø4 × 8, ø4 × 4 (from base portion to forearm)
ø4 × 4 (from base portion to forearm)
Machine Cable 5m (connector on both ends)
Connected Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 1 kg.
5. Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

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n ROBOTS FR Series Robots

RV13FR • RV13FRL
Model Number RV13FRM/C RV13FRLM/C RV20FRM/C
Environment Standard / Oil Mist / Cleanroom
Protection Degree IP40 (standard), IP67 (oil mist) (*1), ISO Class 3 (*6)
Mounting Position Floor type, ceiling type, (wall-mounted type) (*2)
Structure Vertical, multiple-joint type
Degree of Freedom 6 axis
Drive System AC servo motor
Position Detection Method Absolute encoder
Maximum Payload (Rated) kg Maximum 13 (Rated 12) (*7) Maximum 20 (Rated 15)
Arm Length (mm) 410 + 550 565 + 690 410 + 550
Maximum Reach Radius (mm) 1,094 1,388 1,094
J1 380 (±190)
J2 240 (-90 to +150)
J3 167.5 (-10 to +157.5)
Operating Range (deg)
J4 400 (±200)
J5 240 (±120)
J6 720 (±360)
J1 290 234 110
J2 234 164 110
J3 312 219 110
Maximum Speed (deg/sec)
J4 375 375 124
J5 375 375 125
J6 720 720 360
Synthetic Maximum Speed (mm/sec) (*3) 10,450 9,700 4200
Cycle Time (sec) (*4) 0.53 0.68 0.70
Position Repeatability (mm) ±0.05
Ambient Temperature (°C) 0 to 40
Weight (kg) 120 130 120
J4 19.3 49.0
Allowable Movement (Nm) J5 19.3 49.0
J6 11 11
J4 0.47 1.40
Allowable Inertia (KGM2) J5 0.47 1.40
J6 0.14 0.14
Tool Wiring Gripper: 8 input points/8 output points; Signal cable for the multi-function gripper; LAN × 1 <100 BASE-TX> (*5)
Tool Pneumatic Pipes Primary: ø6 × 2 Secondary: ø6 × 8, ø4 × 4 (from base portion to forearm)
Machine Cable 5m (connector on both ends)
Connection Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
1. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use.
2. The wall-mounted specification is a custom specification where the operating range of the J1-axis is limited.
3. This is the value at the surface of the mechanical interface when all axes are composited.
4. The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm when the load is 5 kg.
5. Can also be used as a spare line (0.13 sq. mm, 4-pair cable) for conventional models. Provided up to the inside of the forearm.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
7. The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).

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FR Series Robots

RHFRHR Series (Ceiling Mount)

Part Number Configuration

RH 1
FRHR 2 3 4
D
Must select items 1–4.

1 Max Load Capacity 2 Arm Length 3 Vertical Stroke Length 4 Environment

Symbol Maximum Load Capacity Symbol Arm Length Symbol Vertical Stroke Length Symbol Compliance Specification
1 1kg 35 350mm (3kg only) 120mm (Waterproof and cleanroom Blank Standard environment specifications
12 3kg only) C Cleanroom specifications (3kg only)
3 3kg 55 550mm (1kg only)
15 150mm (Standard environment only) W Waterproof specifications (3kg only)

RH1FRHR • RH3FRHR
Model Number RH1FRHR5515 RH3FRHR3515 RH3FRHR3512C RH3FRHR3512W
Environmental Specifications Standard Cleanroom Waterproof
IP20 With an optional bellows
Protection Degree (*1) IP20 ISOclass5 (*4) IP65 *(6)
set: IP65 (*5), ISO class 5 (*6)
Installation Ceiling type
Structure Horizontal multiple-joint type
Degrees of Freedom 4
Drive System AC servo motor
Position Detection Method Absolute encoder
Maximum Load (kg) Maximum 3 (Rated 1)
No. 1 325 175
Arm Length (mm)
No. 2 225 175
Max. Reach Radius (No. 1 + No. 2) mm 550 350
J1 Degree ±170 450 (±225)
J2 Degree ±145 450 (±225)
Operating Range
J3 (Z) mm 150 (120 with optional bellows) 150 120
J4 (ø Axis) ±360 1440 (±720)
J1 Degree/s 337.5 672
J2 Degree/s 720 708
Maximum Speed
J3 (Z) mm/s 765 1500
J4 (ø Axis) Degree/s 3000 3146
Maximum Horizontal Composite Speed
6,000 6267
mm/s (*2)
Cycle Time (Load Capacity) Sec. (*3) 0.28 (1kg) 0.32 (1kg)
X-Y Direction mm ±0.012 ±0.01
Position
J3 (Z) mm ±0.010 ±0.01
Repeatability
J4 (ø Axis) Degree ±0.004 ±0.01
Ambient Temperature °C 0 to 40
Weight (kg) 49 24 28
Input 8 points/Output 8 points,
(total 20 cores) Dedicated
signal cable for multifunctional
Tool Wiring Gripper: 8 input points (up to 4 points for shaft) / 8 output points, 8 spare lines
hand (2 cores + Power cable 2
cores) Ethernet cable, 1 cable
(100BASE-TX, 8 cores) (*7)
Primary: ø6 x 2 hoses,
Tool Pneumatic Pipes Primary: ø6 x 2 Secondary: ø4 x 8
Secondary: ø4 x 8 hoses (*8)
Machine Cable 5m (connector on both ends)
Connected Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
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 rated load capacity (kg). The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position.
(The cycle time is based on back-and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.
5. Direct jet to the bellows is excluded.
6. The conditions necessary to guarantee cleanliness are as follows: cleanroom down flow 0.3 m/s or greater.
7. The 8-wire cable designated for LAN wiring can also be used for backup wiring.
8. The ø4 secondary piping can be obtained with the electromagnetic valve (option). Details regarding the electromagnetic valve (optional) are shown in the Specifications Manual.

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n ROBOTS FR Series Robots

RHFRH Series
Part Number Configuration

RH 1
FRH 2 3 4
D
Must select items 1–4.

1 Max Load Capacity 2 Arm Length 3 Vertical Stroke Length 4 Environment

Maximum Load Symbol Arm Length Symbol Vertical Stroke Symbol Environment
Symbol Capacity 35 350mm (3kg/6kg only) 120mm Blank Standard specifications
12
3 3kg 45 450mm (3kg/6kg only) (3kg Cleanroom spec only) Oil mist specifications (IP65)
M
6 6kg 55 550mm (3kg/6kg/12kg only) 15 150mm (3kg only) (Excludes 3kg)
12 12kg 20 200mm (6kg only) Oil mist specifications (IP54)
70 700mm (12kg only) N
20 20kg 34 340mm (6kg only) (Excludes 3kg)
85 850mm (12kg/20kg only)
35 350mm (12kg/20kg only) C Cleanroom specifications
100 1000mm (20kg only)
45 450mm (12kg/20kg only)

RH3FRH
Model Number RH3FRH3515/12C RH3FRH4515/12C RH3FRH5515/12C
Machine Class Standard / Cleanroom
Protection Degree (*1) IP20 / ISO class3 (*5)
Installation Floor type
Structure Horizontal, multiple-joint type
Degrees of Freedom 4
Drive System AC servo motor
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 3 (Rated 1)
NO1 Arm 125 225 325
Arm Length (mm)
NO2 Arm 225
Maximum Reach Radius (NO1 + NO2) (mm) 350 450 550
J1 Deg. 340 (±170)
J2 Deg. 290 (±145)
Operating Range (deg)
J3 (Z) mm 150 (Cleanroom specification : 120) (*1)
J4 (ø) Deg 720 (±360)
J1 Deg/sec 420
J2 Deg/sec 720
Maximum Speed (deg/sec)
J3 mm/sec 1100
J4 Deg/sec 3000
Maximum Composite Speed (*2) 6800 7500 8300
Cycle Time (*3) 0.41 0.46 0.51
X-Y Composite mm ±0.010 ±0.010 ±0.012
Position Repeatability (mm) J3 (Z) mm ±0.01
J4 (ø) Deg ±0.004
Ambient Temperature (°C) 0 to 40
Weight (kg) 29 29 32
Rating (kg) 0.005
Tolerable Amount of Inertia
Maximum (kgm²) 0.06
Gripper: 8 input points/8 output points (20 pins total); Signal cable for the multi-function gripper (2-pin + 2-pin power line)
Tool Wiring
LAN × 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 CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
1. The range for vertical movement listed in the environmental resistance specifications (C: Clean specifications) for the RH-3FRH is narrower than for the standard model. Keep this in mind when working with the
RH-3FRH. The environment-resistant specifications are factory-set custom specifications.
2. The value assumes composition of J1, J2, and J4.
3. Value for rated load capacity (kg). The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-
and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
5. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.

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FR Series Robots

RH6FRH
Model Number RH6FRH35XX/M/C RH6FRH45XX/M/C RH6FRH55XX/M/C
Machine Class Standard / Oil Mist / Cleanroom
Protection Degree (*1) IP20 / IP65 (*5) / ISO3 (*6)
Installation Floor type
Structure Horizontal, multiple-joint type
Degrees of Freedom 4
Drive System AC servo motor
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 6 (Rated 3)
NO1 Arm 125 225 325
Arm Length (mm)
NO2 Arm 225
Maximum Reach Radius (NO1 + NO2) (mm) 350 450 550
J1 Deg. 340 (±170)
J2 Deg. 290 (±145)
Operating Range (deg)
J3 (Z) mm xx = 20 : 200/ xx = 34 : 340
J4 (ø) Deg 720 (±360)
J1 Deg/sec 400
J2 Deg/sec 670
Maximum Speed (deg/sec)
J3 mm/sec 2400
J4 Deg/sec 2500
Maximum Composite Speed (*2) 6900 7600 8300
Cycle Time (*3) 0.29
X-Y Composite mm ±0.010 ±0.010 ±0.012
Position Repeatability (mm) J3 (Z) mm ±0.01
J4 (ø) Deg ±0.004
Ambient Temperature (°C) 0 to 40
Weight (kg) 36 36 37
Rating (kg) 0.01
Tolerable Amount of Inertia
Maximum (kgm²) 0.12
Gripper: 8 input points/8 output points (20 pins total); Signal cable for the multi-function gripper (2-pin + 2-pin power line)
Tool Wiring
LAN × 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 CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
See notes below.

RH12FRH / 20FRH
Model Number RH12FRH55XX/M/C RH12FRH70XX/M/C RH12FRH85XX/M/C RH20FRH85XX/M/C RH20FRH100XX/M/C
Machine Class Standard / Oil Mist / Cleanroom
Protection Degree (*1) IP20 / IP65 (*5) / ISO3 (*6)
Installation Floor type
Structure Horizontal, multiple-joint type
Degrees of Freedom 4
Drive System AC servo motor
Position Detection Method Absolute encoder
Maximum Load Capacity (Rating) kg Maximum 12 (Rated 3) Maximum 20 (Rated 5)
NO1 Arm 225 375 525 525 525
Arm Length (mm)
NO2 Arm 325 325 475
Maximum Reach Radius (NO1 + NO2) (mm) 550 700 850 850 1000
J1 Deg. 340 (±170)
J2 Deg. 290 (±145) 306 (±153) 306 (±153)
Operating Range (deg)
J3 (Z) mm xx = 35 : 350/ xx = 45 : 450
J4 (ø) Deg 720 (±360)
J1 Deg/sec 420 280 280
J2 Deg/sec 450
Maximum Speed (deg/sec)
J3 mm/sec 2800 2400
J4 Deg/sec 2400 1700
Maximum Composite Speed (*2) 11435 12535 11350 11372 13283
Cycle Time (*3) 0.30 0.30 0.36
X-Y Composite mm ±0.012 ±0.015 ±0.015 ±0.015 ±0.02
Position Repeatability (mm) J3 (Z) mm ±0.01
J4 (ø) Deg ±0.005
Ambient Temperature (°C) 0 to 40
Weight (kg) 65 67 69 75 77
Rating (kg) 0.025 0.065
Tolerable Amount of Inertia
Maximum (kgm²) 0.3 1.05
Gripper: 8 input points/8 output points (20 pins total); Signal cable for the multi-function gripper (2-pin + 2-pin power line)
Tool Wiring
LAN × 1 <100 BASE-TX> (8-pin) (*4)
Tool Pneumatic Pipes Primary: ø6 x 2; Secondary: ø6 x 8
Machine Cable 5m (connector on both ends)
Connected Controller CR800-D (iQ-R functionality supported via optional 4F-R16RTCPU and software setting change)
Notes:
1. The environmental resistance specifications (M: Oil mist specifications, C: Cleanroom specifications) is factory-set custom specifications.
2. The value assumes composition of J1, J2, and J4.
3. Value for rated load capacity (kg). The cycle time may increase if specific requirements apply such as high work positioning accuracy, or depending on the operating position. (The cycle time is based on back-
and-forth movement over a vertical distance of 25 mm and horizontal distance of 300 mm.)
4. Can also be used as a spare line (0.2 sq. mm, 4-pair cable) for conventional models.
5. Please contact Mitsubishi Electric dealer since the environmental resistance may not be secured depending on the characteristics of oil you use. Direct jet to the bellows is excluded.
6. Preservation of cleanliness levels depends on conditions of a downstream flow of 0.3 m/s in the cleanroom and internal robot suctioning. A ø8-mm coupler for suctioning is provided at the back of the base.

Mitsubishi Electric Automation | Robots 9

n ROBOTS FR Series Robots

Controllers for FR-Series (Included with Robot Arm)

CR800-D/R 4F-R16RTCPU (optional)

Required for CR800-R Functionality

Controller Specifications
Model Number CR800-R (With optional 4F-R16RTCPU) CR800-D
Robot CPU 4F-R16RTCPU Built-in
Path Control Method PTP control and CP control
Number of Axes Controlled Maximum 6 axes + additional 8 axes available
Robot Language MELFA-BASIC V/VI
Position Teaching Method Teaching method, MDI method
Number of Teaching Points 39000
Memory Capacity Number of Steps 78000
Number of Programs (Unit) 512
0 input/0 output (8192 input points/8192 output points with
General-Purpose I/O 0 input/0 output (Up to 256/256 when options are used)
the multiple CPU common device)
Dedicated I/O Assigned to multiple CPU common device Assigned to general-purpose I/O
Gripper Open/Close 8 input / 8 output (*6)
Emergency Stop Input 1 (redundant)
External Input/ Door Switch Input 1 (redundant)
Output (Points) Enabling Device Input (*7) 1 (redundant)
Emergency Stop Output 1 (redundant)
Mode Output 1 (redundant)
Robot Error Output 1 (redundant)
Sync. of Additional Axes 1 (redundant)
Encoder Input 1 (dedicated T/B)
RS-422 2
Ethernet 1 (dedicated T/B); 1 (for customer) 10BASE-T/100BASE-TX/1000BASE-T
USB (*5) 1 (USB port of programmable controller CPU unit) 1 (Ver. 2.0 device functions only, mini B terminal)
Additional-Axis Interface 1 (SSCNET III/H)
Interface
Extension Slot (*1) - 2
R/C Communication Interface 2 (daisy chain)
Remote I/O 1 (Ver.2)
Memory Extension Slot 1
Ambient Temperature (°C) 0 to 40 (controller) / 0 to 55 (robot CPU) 0 to 40
Relative Humidity (%RH) 45 to 85
Input Voltage Range (V) (*2) RV: 2FR/4FR/7FR/13FR/20FR, RH:1FRHR/3FRH/3FRHR/6FRH/12FRH/20FRH Single-Phase AC 200V to 230V
Power Supply RV2FR, RH3FRH: 0.5; RH3FRHR, RV4FR, RH6FRH: 1.0; RH1FRHR/RH12FRH/20FRH: 1.5; RV7FR (except RV7FRLL): 2.0
Power Capacity kVA (*3)
RV7RLL, RV13FR/RV20FR: 3.0
External Dimensions (Including Legs) mm (W x D x H) 430 x 425 x 99.5
Weight (kg) Approx. 12.5
Structure (Protective Specification) Self-contained floor type/open structure (Vertical and horizontal mounting) [IP20]
Grounding Ω (*4) 100 or less (class D grounding)
Notes:
1. For installing option interface.
2. The rate of power-supply voltage fluctuation is within 10%.
3. The power capacity indicates the rating for normal operation. Note the power capacity does not include in-rush current. The power capacity is only a rough guide and whether or not operation can be guaranteed
depends on the input power-supply voltage.
4. Electrical grounding is the customer’s responsibility.
5. Recommended USB cable (USB A-to-USB mini B): MR-J3USBCBL3M (Mitsubishi Electric), GT09-C30USB-5P (Mitsubishi Electric System & Service Co., Ltd.)
6. I/O connections on robot arm. RV-2FR Series has 4 inputs and 4 outputs.
7. Mode selection switch provided by the customer.

10
FR Series Robots

CR800-R 4F-R16RTCPU
CR800-D

4
(45)
(40)

106
98
340
425

45 110 27.8
99.5
96
(3.5)

(30) 370 30
430

Multiple CPU Environment (*1)

Unit Type
R35B - 5 Slot
Base R38B - 8 slot
R312B - 12 slot
R61P
R62P
Power Supply
R63P
R64P
R04CPU
R08CPU
PLC CPU R16CPU
R32CPU
R120CPU
Note: For details of the PLC units, refer to the PLC manual or the
Mitsubishi Electric FA website, etc.
1. Not included with robot part numbers.

Mitsubishi Electric Automation | Robots 11

n ROBOTS FR Series Robots
Robot Arm Options for RVFR and RHFRH Series
RVFR RHFRH
Name Model Number 13FR Functional Specification
2FR 4FR 7FR 12FRH
7FRLL 13FRL 3FRH 6FRH 1FRHR 3FRHR
2FRL 4FRL 7FRL 20FRH
20FR
1E-VD0_ _ X - - - - - - - - - 1, 2 valves
1F-VD0_ _-02 - X X X - - - - - -
1F-VD0_ _-03 - - - - X - - - - - With solenoid valve
1, 2, 3, 4 valves
1F-VD0_ _-01 - - - - - X X - X - output cable.
Solenoid Valve Set 1S-VD0_ _-01 - - - - - - - X - - First _ = the number of
1S-VD0_ _-05 - - - - - - - - - X 4 valves solenoid valves
4 valves, cleanroom/ Second _= Polarity
1S-VD0_W_-05 - - - - - - - - - X waterproof Blank = Sink
specification E = Source
1, 2 valves with hand
Vacuum
1F-VV0_ _-01 - - - - - - - - X - input cable (source
Valve Set
only)
Bellows Set 1F-JS-21 - - - - - - - - X - Protective bellows for J3 spline shaft
2, 4, 6, or 8 channels (RV2F is only 2, 4) ø4 tube
1E-ST040_C X X X X - - - - - - size, L = 300 mm. __ indicates the number of
channels
Hand (Curl) Tube
1E-ST0408C-300 - - - - - X X - X - 8 channels, ø4 tube size, L = 300 mm.
2, 4, 6, or 8 channels, ø6 tube size, L = 600 mm.
1N-ST060_C-01 - - - - X - - X - -
_ indicates the number of channels
4 channels, ø4 tube size, L = 400 mm.
Hand Tube 1S-ST0304S - - - - - - - - - X
__ indicates the number of channels
External Wiring Set 1
1F-HB01S-01 - X X X X - - - - - HI + ETH + (EH or FS)
(Forearm) External wiring box used
External Wiring Set 2 ETH + (EH or FS) + for connecting:
1F-HB02S-01 - X X X X - - - - - Ethernet = ETH
(Forearm) (EH or FS)
Electric Hand = EH
External Wiring Set 1
1F-HA01S-01 - X X X X - - - - - HIO + (EH or FS) + ETH Force Sensor = FS
(Base) Hand Input = HI
External Wiring Set 2 ETH + (EH or FS) + Hand Input/Output = HIO
1F-HA02S-01 - X X X X - - - - -
(Base) (EH or FS) + HIO
Inputs x8 + 4 channels, ø6 tube size
1F-HS604S-01 - - - - - - - X - -
(For 350mm Z-axis)
Inputs x8 + 4 channels, ø6 tube size
1F-HS604S-02 - - - - - - - X - -
(For 450mm Z-axis)
Internal Wiring and
Inputs x8 + 8 channels, ø4 tube size
Piping Set for Hand 1F-HS408S-01 - - - - - - X - - -
(For 200mm Z-axis)
Inputs x8 + 8 channels, ø4 tube size
1F-HS408S-02 - - - - - - X - - -
(For 340mm Z-axis)
1F-HS304S-01 - - - - - X - - X - Inputs x4 + 4 channels, ø3 tube size
1F-UT-BOX - - - - - X X - X - Box for external routing of user wiring and
External User Wiring
pneumatics. Includes tubing for 8 channels.
and Piping Box 1F-UT-BOX-01 - - - - - - - X - - (Mounts on rear of J2 axis)
1E-GR35S X - - - - - - - - - Outputs x4, 300mm length
1F-GR35S-02 - X X X X - - - - - Outputs x8, 300mm length Cable to connect
to robot 24v hand
Hand Output Cable Outputs x8, 1050mm length outputs. Connector
1F-GR60S-01 - - - - - X X X X -
With splash proof grommet on robot side, flying
leads on device side.
1S-GR35S-02 - - - - - - - - - X Outputs x8, 450mm length
Inputs x4, 300mm length
1S-HC30C-11 X - - - - - - - - -
(curled)
1F-HC35S-02 - X X X X - - - - - Inputs x8, 1000mm length
Inputs x8, 1650mm total
length with 350mm curled Cable to connect
1F-HC35C-01 - - - - - X X - X - to robot 24v hand
section and splash proof
grommet inputs, connector
Hand Input Cable
on robot side, flying
Inputs x8, 1800mm total leads on device
length with 350mm curled side.
1F-HC35C-02 - - - - - - - X - -
section and splash proof
grommet
Inputs x8, 1210mm total
1S-HC00S-01 - - - - - - - - - X
length (400mm usable)
Connection Cable
1F-_UCBL-41 X X X X X X X X X X Cable used to connect robot arm to controller
(Standard Flex)
(Replacement type) 2m, 10m, 15m and 20m
Connection Cable options. __ indicates cable length (2, 10, 15, 20)
1F-_LUCBL-41 X X X X X X X X X X
(Hi-Flex)
1S-DH-11J1 X - - - - - - - - -
1F-DH-05J1 - - - X X - - - - -
1F-DH-04 - - X - - - - - - -
J1-Axis 1F-DH-03 - X - - - - - - - -
1F-DH-02 - - - - - - - X - - Hard stop to restrict axis movement.
Hard Stops
1F-DH-01 - - - - - X X - X - (Install per customer specification)
1S-DH-05J1 - - - - - - - - - X
1S-DH-11J2 X - - - - - - - - -
J2-Axis
1S-DH-05J2 - - - - - - - - - X
J3-Axis 1S-DH-11J3 X - - - - - - - - -

12
FR Series Robots

Controller Options for RVFR and RHFRH Series

CR800
Name Type Functional Specification
R Type D Type
Basic Teach Pendant R32TB / R32TB-15 X X
Cable length = 7m; 15m for models with -15 suffix
Enhanced Function Teach Pendant R56TB / R56TB-15 X X
Conversion cable for connecting the CR800 controller to R33TB/R57TB teach
Teach Pendant Conversion Cable 2F-33CON03M X X
pendants. Cable length: 3m
Teach Pendant Safety Signal Safety IO signal box for R32TB/R56TB. Allows access to teach pendant safety
2F-TBSTS-01 X X
Interface signals.
2A-RZ361 (Sink) - X 32 input/output points (12/24VDC: 0.1A/1 point)
Remote Parallel I/O Interface
2A-RZ371 (Source) - X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Remote Parallel I/O Cable Device side connection cable for 2A-RZ361/371. (Flying leads on device side)
2A-CBL_ _ - X
(5m, 15m) 5m and 15m lengths. __ indicates cable length (05, 15)
Communication cable to connect from 2A-RZ361/371 to additional remote
Remote Parallel I/O Net Link Cable FCUA-R211-_M - X parallel I/O units. 0.5m, 1m, 3m, 5m, 10m, 15m, 20m lengths.
__ indicates cable length (0.5, 1.0, 3.0, 5.0, 10.0, 15.0, 20.0)
DC power cable to connect from robot controller to 2A-RZ361/371.
Remote Parallel I/O DC Cable F070-_ _M - X
5m, 15m lengths. __ indicates cable length (05, 15)
On-Board Parallel I/O Interface 2D-TZ368 (Sink) - X 32 input/output points (12/24VDC: 0.1A/1 point)
(Installed Internally) 2D-TZ378 (Source) - X 32 input/output points (12VDC: 3mA, 24VDC: 7mA)
Device side connection cable for 2D-TZ368/378. (Flying leads on device side)
On-Board Parallel I/O Cable 2D-CBL_ _ - X
5m and 15m lengths. __ indicates cable length (05, 15)
CC-Link Interface Card 2D-TZ576 - X CC-Link interface card for D Series controllers. Version 2.0, 1 to 4 stations
CC-Link IE Field Interface Card 2F-DQ600CIEF - X CC-Link IE Field interface card for D Series controllers
DeviceNet Interface Card 2D-TZ571 - X DeviceNet interface card for D Series controllers
Ethernet IP Interface Card 2D-TZ600EIP - X Ethernet IP interface card for D Series controllers
PROFINET Interface Card 2D-TZ600PN - X PROFINET interface card for D Series controllers
Profibus Interface Card 2D-TZ577 - X Profibus interface card for D Series controllers
iQ-R interface card to connect CR800 controller to iQ-R platform and provides
iQ-R Robot CPU Interface Kit 4F-R16RTCPU X X
CR800-R functionality (Includes 10m SSCNET III Cable)
4F-FS002H-W200 X X Force sensor, interface module, power supply and connection cables
Force Sensor Set 4F-FS002H-W200: 200N working range
4F-FS002H-W1000 X X 4F-FS002H-W1000: 1000N working range
Encoder Multiplexer Unit 2F-YZ581 X X Allows the input of a single encoder to be sent to a maximum of 4 devices
Safety monitoring system for CR800 controllers. Supports SS1 (STO), SS2 (SOS),
SLS, SLP modes. Safety rated connections available for 8 inputs and 4 outputs.
MELFA Safe Plus 4F-SF002-01 X X
(Requires RT-Toolbox3 for programming and setup. Customer supplied external
safety devices may be required for some modes.)
Option card to enable: Calibration assistance, temperature compensation, and
MELFA Smart Plus Card Pack 2F-DQ510 X X
coordinated control of additional axes. (Enables all listed functions)
Option card to enable: Calibration assistance, temperature compensation, and
MELFA Smart Plus Card 2F-DQ511 X X coordinated control of additional axes. (Enables ONLY 1 function that is user
selectable)
SSCNET to Amp cable for iQ-R. (Replacement/custom length) 5m, 20m lengths.
MR-J3BUS_M-A X -
SSCNET Cable __ indicates cable length (05, 20)
MR-J3BUS30M-B X - SSCNET to Amp cable for iQ-R 30m (Replacement)
PC Programming and Simulation Software that facilitates the programming and 3D simulation of Mitsubishi robots.
RT-TOOLBOX3-C1 X X
Software Legacy support for all versions of MELFA Basic and Movemaster languages.
Add-in software for Solidworks® (*1) that enables the programming and
3D Simulation Software for RT-TOOLBOX3-
X X simulation of Mitsubishi robots within Solidworks®. (Includes full version of
Solidworks (MELFA-Works) PRO-C1
RT-Toolbox3)
3D vision system to locate trained parts in 3D space and guide a robot to
pick them. Provides bin collision avoidance and part interference checking.
Canon 3D Vision System RV-_00-3DVS X X (Requires 3D CAD model of part and robot tooling. Calibration jigs and PC not
included) __ corresponds to field of view: 3=340x340x100 / 5=540x540x200 /
10=1160x1160X600.
Software option to provide additional functionality to Canon 3DVS
1 = Enables system to accommodate slide mounting
2 = Dictionary creation and transfer via 2nd PC
Canon 3D Vision Software Option RV-OPU0_ X X 3 = Batch recognition and multi-pallet handling
4 = Consecutive recognition checking
5 = Partial work piece recognition
__corresponds to option selected

Note 1: SolidWorks® is a registered trademark of SolidWorks Corporation (USA)

Mitsubishi Electric Automation | Robots 13

n ROBOTS FR Series Robots
Multifunctional Electric Hand Option
Cam Type
Model Number 4F-MEHGR-01 4F-MEHGR-02 4F-MEHGR-03
Max. Continuous Rating [N] 5 6 22
Gripping
Force Minimum Setting [%] (N) 1.5 30 (1.8) 30 (6.6)
Resolution [%] (N) 1 (0.05) 1 (0.06) 1 (0.22)
Open/Close Stroke [mm] 3.2 7.6 14.3
Max (Rating) [mm/sec] 100 100 100
Min. Setting [%] (mm/sec) 20 (20) 20 (20) 20 (20)
Speed
Resolution [%] (mm/sec) 1 (1) 1 (1) 1 (1)
Constant-Speed Move and Grip (max) [%] 50 50 50
Positioning Repeatability [mm] ±0.02 ±0.02 ±0.02
Max. Mass (1 Pair)) [g] 10 15 30
Allowable Load [N] 12 450 350
Allowable Pitching Moment [N•m] 0.04 0.7 0.5
Finger Allowable Yawing Moment [N•m] 0.04 0.8 0.6
Allowable Rolling Moment [N•m] 0.08 2.3 2.8
Max. Gripping Point [mm] 20 20 20
Max. Overhang [mm] 20 20 25
Guide Structure Linear guide
Max. Overhang (kg) 0.06 0.22 0.05
Operating Temperature Range [°C] 0 to 40
Operating Humidity Range [%] RH35 to 90
Operating Storage Temperature [°C] -10 to +60
Weight [g] 90 160 300

Screw Type
Model Number 4F-MEHGR-04
Max. Continuous Rating [N] 150
Gripping
Force Minimum Setting [%] (N) 30 (45)
Resolution [%] (N) 1 (1.5)
Open/Close Stroke [mm] 38
Max (Rating) [mm/sec] 50
Min. Setting [%] (mm/sec) 20 (10)
Speed
Resolution [%] (mm/sec) 1 (0.5)
Constant-Speed Move and Grip (max) [%] 50
Positioning Repeatability [mm] ±0.01
Max. Mass (1 Pair) [g] 80
Allowable Load [N] 1300
Allowable Pitching Moment [N•m] 5
Finger Allowable Yawing Moment [N•m] 6
Allowable Rolling Moment [N•m] 12.7
Max. Gripping Point [mm] 30
Max. Overhang [mm] 20
Guide Structure Linear guide
Max. Overhang (kg) 1.5
Operating Temperature Range [°C] 0 to 40
Operating Humidity Range [%] RH35 to 90
Operating Storage Temperature [°C] -10 to +60
Weight [g] 890

3-Finger Single Cam Type

Model Number 4F-MEHGR-05
Max. Continuous Rating [N] 2
Gripping
Force Minimum Setting [%] (N) 30 (0.6)
Resolution [%] (N) 1 (0.02)
Open/Close Stroke [mm] 13
Max (Rating) [mm/sec] 100
Min. Setting [%] (mm/sec) 20 (20)
Speed
Resolution [%] (mm/sec) 1 (1)
Constant-Speed Move and Grip (max) [%] 50
Positioning Repeatability [mm] ±0.03
Max. Mass (1 Pair) [g] 20
Allowable Load [N] 20
Finger
Allowable Moment [N•m] 0.1
Max. Gripping Point [mm] 20
Guide Structure Linear guide
Max. Gripping Weight (kg) 0.02
Operating Temperature Range [°C] 0 to 40
Operating Humidity Range [%] RH35 to 90
Operating Storage Temperature [°C] -10 to +60
Weight [g] 190

14
FR Series Robots

Configuration of the Multi-Function Electric Hand

Electric hand Adapter c

RV2FR Series
Electric hand
Item Quantity Source Specifications control unit External wiring
set for the forearm
1 Electric Hand 1 Electric hand used by customers
Control Unit for the Electric Hand: Mitsubishi Electric In-machine cable outlet
2 1 Control unit to operate electric hand
4F-MEHCU-01
Fabricated by For attachment of the electric hand to the Electric hand
3 Electric Hand Installation Flange 1
customers robot flange Base pa
4 Robot 1 Mitsubishi Electric Standard specifications
As Fabricated by
5 Cable Securing Hardware For securing a cable
required customers RV-2FR attachment diagram RV-4FR/7FR/3FR/2

RV4FR/7FR/13FR/20FR Series (External Wiring)

Electric hand Adapter cable
Item Quantity Source Remarks
1 Electric Hand 1 Electric hand used by customers
Control Unit for the Electric Hand: Electric hand
2 1 Control unit to operate electric hand
control unit External wiring
4F-MEHCU-02 Mitsubishi Electric set for the forearm
Interface cable to connect the electric
3 Adapter Cable: 4F-MEHCBL-01 1 In-machine cable outlet Electric hand
hand with the control unit/robot control unit
For attachment of the electric hand to the
4 Electric Hand Installation Flange 1 Fabricated by robot flange Electric hand
customers Electric hand
5 Electric Hand Control Unit Installation Stand 1 For wiring to the forearm Base part
Standard specifications
Robot, Standard (External Wiring)
6 1 External wiring sets (option) connections
Specifications RV-2FR
at both the forearm and attachment
base diagram RV-4FR/7FR/3FR/20FR attachment diagram RH
1F-HA01S-01: When the hand input signal
and Ethernet signal are used together
7 External Wiring Unit for the Base 1
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
Robot

Mitsubishi Electric 1F-HA01S-01: When the hand input signal

8 External Wiring Unit for the Forearm
Wrist Wiring Internal-Wiring
9 1
Specifications: RV_FRSH02/SH03
and Ethernet signal are used together
1
1F-HA02S-01: When the force sensor signal
and Ethernet signal are used together
Wrist wiring custom specifications
SH02: When the hand input signal and
vision sensor signal are used together
SH03: When the force sensor signal and
vision sensor signal are used together

RV4FR/7FR/13FR/20FR Series (Through Wrist Wiring/Piping Versions)

Accessory
Specifications Possible Hand Configuration External Wiring Set External Wiring Set Remarks
for the Forearm for the Base
Electric Hand + Hand Input Signal An external wiring
-SH02 - 1F-HA01S-01
Vision Sensor set for the base is
included with the
Electric Hand; Vision Sensor internal wiring type
-SH03 - 1F-HA02S-01
Force Sensor robot

RH3FRH/6FRH/12FRH/20FRH Series Electric hand Adapter cable

Hand cable
Item Quantity Source Remarks Electric hand
Electric Electric hand used by control unit
1 Electric Hand 1 hand
control unit External wiring customers
set for the forearm Control unit
Control unit to attachment plate
2 Control Unit for the Electric Hand: 4F-MEHCU-02 1 Electric
operate electric
In-machine cable outlet hand hand
control unit
Interface cable to
connect the electric
3 Adapter Cable: Select 1 from Table Below 1 Electric hand
hand with the control Electric hand
Base part
unit/robot
RH3FRH35/45/5515 Mitsubishi Electric
4F-MEHCBL-02
& C Specifications
(Length: 1300 + 150mm)
RV-2FR attachment diagram RV-4FR/7FR/3FR/20FR attachment diagram RH-FRH hand attachment diagram
Z=120 RH6FRH(M)(C)35/45/5520
4F-MEHCBL-03
RH6FRH(M)(C) 35/45/5534
(Length: 1600 + 150mm)
RH12FRH(M)(C) 55/70/8535 4F-MEHCBL-04
RH20FRH(M)(C)8535 (Length: 1800 + 150mm)
4F-MEHCBL-05
RH12FRH(M)(C) 55/70/854
(Length: 2100 + 150mm)
4 Cable Securing Hardware 1 For securing a cable
Fabricated by For attachment of the
5 Electric Hand Installation Flange 1 customers electric hand to the
robot flange

Mitsubishi Electric Automation | Robots 15