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Vertical type robot

Vertical type robot MELFA

Specifications of RV-FR series

Please refer to the "Catalogs" or the "Manuals" for a robot and the details of the robot arm options.

RV-2FR/2FRL series

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

*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).

RV-4FR/4FRL series

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

*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) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.
*7) 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.
*8) The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).
*9) Please contact our sales offices if you request a five axes long arm model.

RV-7FR/7FRL/7FRLL series

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

*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) Select either controller according to your application. CR800-D: Standalone type, CR800-R: MELSEC iQ-R compatible type.
*7) 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.
*8) The maximum load capacity indicates the maximum payload when the mechanical interface is facing downward (±10° to the perpendicular).