Mitsubishi Electric RP-1ADH-S15 Series User manual

Mitsubishi Industrial Robot
CR1DA-7A1-S15 Controller
RP-1ADH/3ADH/5ADH-S15 Series
Standard Specifications Manual
BFP-A8921-B

All teaching work must be carried out by an operator who has received special
training. (This also applies to maintenance work with the power source turned
ON.)
Enforcement of safety training
For teaching work, prepare a work plan related to the methods and procedures
of operating the robot, and to the measures to be taken when an error occurs
or when restarting. Carry out work following this plan. (This also applies to
maintenance work with the power source turned ON.)
Preparation of work plan
Prepare a device that allows operation to be stopped immediately during
teaching work. (This also applies to maintenance work with the power source
turned ON.)
Setting of emergency stop switch
During teaching work, place a sign indicating that teaching work is in progress
on the start switch, etc. (This also applies to maintenance work with the power
source turned ON.)
Indication of teaching work in progress
Provide a fence or enclosure during operation to prevent contact of the
operator and robot.
Installation of safety fence
Establish a set signaling method to the related operators for starting work, and
follow this method.
Signaling of operation start
As a principle turn the power OFF during maintenance work. Place a sign
indicating that maintenance work is in progress on the start switch, etc.
Indication of maintenance work in progress
Before starting work, inspect the robot, emergency stop switch and other
related devices, etc., and confirm that there are no errors.
Inspection before starting work
Always read the following precautions and the separate "Safety
Manual" before starting use of the robot to learn the required
measures to be taken.
Safety Precautions
CAUTION
CAUTION
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION

The points of the precautions given in the separate "Safety Manual" are given below.
Refer to the actual "Safety Manual" for details.
Use the robot within the environment given in the specifications. Failure to do
so could lead to a drop or reliability or faults. (Temperature, humidity,
atmosphere, noise environment, etc.)
Transport the robot with the designated transportation posture. Transporting
the robot in a non-designated posture could lead to personal injuries or faults
from dropping.
Always use the robot installed on a secure table. Use in an instable posture
could lead to positional deviation and vibration.
Wire the cable as far away from noise sources as possible. If placed near a noise
source, positional deviation or malfunction could occur.
Do not apply excessive force on the connector or excessively bend the cable.
Failure to observe this could lead to contact defects or wire breakage.
Make sure that the workpiece weight, including the hand, does not exceed the
rated load or tolerable torque. Exceeding these values could lead to alarms or
faults.
Securely install the hand and tool, and securely grasp the workpiece. Failure to
observe this could lead to personal injuries or damage if the object comes off or
flies off during operation.
Securely ground the robot and controller. Failure to observe this could lead to
malfunctioning by noise or to electric shock accidents.
Indicate the operation state during robot operation. Failure to indicate the state
could lead to operators approaching the robot or to incorrect operation.
When carrying out teaching work in the robot's movement range, always secure
the priority right for the robot control. Failure to observe this could lead to
personal injuries or damage if the robot is started with external commands.
Keep the jog speed as low as possible, and always watch the robot. Failure to do
so could lead to interference with the workpiece or peripheral devices.
After editing the program, always confirm the operation with step operation
before starting automatic operation. Failure to do so could lead to interference
with peripheral devices because of programming mistakes, etc.
Make sure that if the safety fence entrance door is opened during automatic
operation, the door is locked or that the robot will automatically stop. Failure to
do so could lead to personal injuries.
Never carry out modifications based on personal judgments, or use non-
designated maintenance parts.
Failure to observe this could lead to faults or failures.
When the robot arm has to be moved by hand from an external area, do not
place hands or fingers in the openings. Failure to observe this could lead to
hands or fingers catching depending on the posture.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
WARNING
WARNING
CAUTION
WARNING
CAUTION
CAUTION
CAUTION
CAUTION
WARNING

Do not stop the robot or apply emergency stop by turning the robot controller's
main power OFF. If the robot controller main power is turned OFF during
automatic operation, the robot accuracy could be adversely affected. Moreover,
it may interfere with the peripheral device by drop or move by inertia of the arm.
Do not turn off the main power to the robot controller while rewriting the
internal information of the robot controller such as the program or parameters.
If the main power to the robot controller is turned off while in automatic
operation or rewriting the program or parameters, the internal information of the
robot controller may be damaged.
Use the network equipments (personal computer, USB hub, LAN hub, etc)
confirmed by manufacturer. The thing unsuitable for the FA environment
(related with conformity, temperature or noise) exists in the equipments
connected to USB, RS-232 or LAN. When using network equipment, measures
against the noise, such as measures against EMI and the addition of the ferrite
core, may be necessary. Please fully confirm the operation by customer.
Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.
To maintain the safety of the robot system against unauthorized access from
external devices via the network, take appropriate measures.
To maintain the safety against unauthorized access via the Internet, take
measures such as installing a firewall.
C.Notes of the basic component are shown.
*SD series: CR1DA-700 series
Please install the earth leakage breaker in the primary side supply power supply
of the controller because of leakage protection.
CAUTION
CAUTION
CAUTION
CAUTION
CAUTION
保護アース端子
(PE)
電源端子台
漏電遮断器
(NV)
端子カバー
端子カバー
アース接続ネジ
コントローラ
Controller
Cover
Cover
earth leakage
breaker
Terminal
Earth screw
CR1DA series

■ Revision history
Date of print Specifications No. Details of revisions
2012-06-01 BFP-A8921 ・ First print.
2014-11-06 BFP-A8921-A ・ The note about the connection of the emergency stop was added.
・ The cover and corporate logo mark of this manual was changed.
2018-10-15 BFP-A8921-B ・ Environmental conditions of electromagnetic noise was modified.
・ Referenced Standard (Requirement of Chinese standardized law) was added.
・ Description of countermeasures against unauthorized access was added.

Contents
i
Page
1 General configuration .................................................................................................................................................................... 1-1
1.1 Structural equipment ............................................................................................................................................................. 1-1
1.1.1 Standard structural equipment .................................................................................................................................. 1-1
1.1.2 Special specifications .................................................................................................................................................... 1-1
1.1.3 Options ................................................................................................................................................................................. 1-1
1.1.4 Maintenance parts ........................................................................................................................................................... 1-1
1.2 Instruction manuals ................................................................................................................................................................ 1-1
1.3 Contents of the structural equipment ............................................................................................................................ 1-2
1.3.1 Robot arm ........................................................................................................................................................................... 1-2
1.3.2 Controller ............................................................................................................................................................................ 1-3
1.4 Contents of the Option equipment and special specification .............................................................................. 1-4
2 Robot arm ........................................................................................................................................................................................... 2-6
2.1 Standard specifications ........................................................................................................................................................ 2-6
2.2 Definition of specifications .................................................................................................................................................. 2-7
2.2.1 Pose repeatability ............................................................................................................................................................ 2-7
2.2.2 Rated load (mass capacity) ......................................................................................................................................... 2-8
2.3 Names of each part of the robot ...................................................................................................................................... 2-9
2.4 Outside dimensions ・ Operating range diagram ........................................................................................................ 2-10
(1) RP-1ADH ...................................................................................................................................................................... 2-10
(2) RP-3ADH ...................................................................................................................................................................... 2-12
(3) RP-5ADH ...................................................................................................................................................................... 2-14
2.5 Tooling ........................................................................................................................................................................................ 2-16
2.5.1 Wiring and piping for hand .......................................................................................................................................... 2-16
(1) Control with pneumatic hand interface (2A-RZ365/2A-RZ375: Option) .......................................... 2-16
(2) Control with parallel I/O unit (2A-RZ361/2A-RZ371: Standard, or expansion) ............................ 2-17
2.5.2 Pneumatic piping in robot ........................................................................................................................................... 2-18
2.5.3 Wiring of pneumatic hand output cable in robot ............................................................................................... 2-18
2.5.4 Wiring of hand check input cable in robot ........................................................................................................... 2-18
2.5.5 Wiring and piping system diagram for hand ......................................................................................................... 2-19
2.5.6 Electrical specifications of hand input/output .................................................................................................. 2-20
2.5.7 Air supply circuit example for the hand ............................................................................................................... 2-21
2.6 Shipping special specifications, options, and maintenance parts ...................................................................... 2-22
2.6.1 Shipping special specifications ................................................................................................................................. 2-22
(1) Machine cable extension ........................................................................................................................................ 2-23
2.7 Options ....................................................................................................................................................................................... 2-25
(1) Solenoid valve set ..................................................................................................................................................... 2-26
(2) Hand input cable ........................................................................................................................................................ 2-28
(3) Hand output cable ..................................................................................................................................................... 2-29
2.8 About Overhaul ...................................................................................................................................................................... 2-30
2.9 Maintenance parts ................................................................................................................................................................. 2-30
3 Controller .......................................................................................................................................................................................... 3-31
3.1 Standard specifications ...................................................................................................................................................... 3-31
3.1.1 Standard specifications ............................................................................................................................................... 3-31
3.1.2 Protection specifications and operating supply ................................................................................................ 3-32
3.2 Names of each part .............................................................................................................................................................. 3-33
(1) Padlock specification ............................................................................................................................................... 3-35
3.3 Outside dimensions/Installation dimensions .............................................................................................................. 3-38
3.3.1 Outside dimensions ....................................................................................................................................................... 3-38
3.3.2 Installation dimensions ................................................................................................................................................. 3-39
3.3.3 Cable lead-in and dimension ..................................................................................................................................... 3-40
3.4 External input/output .......................................................................................................................................................... 3-41
3.4.1 Types .................................................................................................................................................................................. 3-41
3.5 Dedicated input/output ...................................................................................................................................................... 3-42

Contents
ii
Page
3.6 Emergency stop input and output etc. ......................................................................................................................... 3-44
3.6.1 Connection of the external emergency stop ...................................................................................................... 3-44
3.6.2 Special stop input(SKIP) ............................................................................................................................................. 3-47
3.6.3 Door switch function .................................................................................................................................................... 3-49
3.6.4 Enabling device function ............................................................................................................................................. 3-49
(1) When door is opening ............................................................................................................................................... 3-49
(2) When door is closing ................................................................................................................................................ 3-49
(3) Automatic Operation/Jog Operation/Brake Release and Necessary Switch Settings .............. 3-50
3.7 Additional Axis Function ..................................................................................................................................................... 3-51
3.7.1 Wiring of the Additional Axis Interface ................................................................................................................. 3-51
3.8 Magnet contactor control connector output (AXMC) for addition axes ........................................................ 3-55
3.9 Options ....................................................................................................................................................................................... 3-57
(1) Teaching pendant (T/B) ......................................................................................................................................... 3-58
(2) Pneumatic hand interface ...................................................................................................................................... 3-61
(3) Parallel I/O interface ............................................................................................................................................... 3-63
(4) External I/O cable ..................................................................................................................................................... 3-68
(5) Parallel I/O unit ......................................................................................................................................................... 3-70
(6) External I/O cable ..................................................................................................................................................... 3-79
(7) Personal computer cable ....................................................................................................................................... 3-81
(8) CC-Link interface ..................................................................................................................................................... 3-82
(9) Extension memory cassette ................................................................................................................................. 3-85
(10) RT ToolBox2/RT ToolBox2 mini ...................................................................................................................... 3-86
(11) Instruction Manual(bound edition) ................................................................................................................... 3-88
3.10 Maintenance parts .............................................................................................................................................................. 3-89
4 Software ............................................................................................................................................................................................ 4-90
4.1 List of commands .................................................................................................................................................................. 4-90
4.2 List of parameters ................................................................................................................................................................. 4-93
5 Instruction Manual ........................................................................................................................................................................ 5-95
5.1 The details of each instruction manuals ...................................................................................................................... 5-95
6 Safety ................................................................................................................................................................................................. 6-96
6.1 Safety ......................................................................................................................................................................................... 6-96
6.1.1 Self-diagnosis stop functions ................................................................................................................................... 6-96
6.1.2 External input/output signals that can be used for safety protection measures .............................. 6-97
6.1.3 Precautions for using robot ....................................................................................................................................... 6-97
6.1.4 Safety measures for automatic operation ........................................................................................................... 6-98
6.1.5 Safety measures for teaching .................................................................................................................................. 6-98
6.1.6 Safety measures for maintenance and inspections, etc. .............................................................................. 6-98
6.1.7 Examples of safety measures ................................................................................................................................... 6-99
(1) External emergency stop connection [supplementary explanation] ................................................. 6-104
6.2 Working environment ......................................................................................................................................................... 6-106
6.3 Precautions for handling .................................................................................................................................................. 6-106
7Appendix ........................................................................................................................................................................... Appendix-108
Appendix 1 ： Specifications discussion material ........................................................................................ Appendix-108

■ Introduction
The RP-1ADH is an ultra-compact robot with an arm mass of approx. 12kg and installation area equiva-
lent to A5 size. Highly accurate layout and assembly into devices are possible. With the world's first 5-
joint closed link structure, the arm section has been downsized and made highly rigid, allowing productivity
to be increased greatly with high-speed operations equivalent to a dedicated machine.
Furthermore, a positioning repeatability (0.005mm) one digit higher than the conventional robot has been
realized allowing accurate and detailed work to be carried out.
The RP-3ADH with an extended movement range maximum mass capacity of 3kg, and the RP-5ADH with
a maximum mass capacity of 5kg are also available.
However, to comply with the target application, a work system having a well-balanced robot arm, periph-
eral devices or robot and hand section must be structured.
When creating these standard specifications, we have edited them so that the Mitsubishi robot's charac-
teristics and specifications can be easily understood by users considering the implementation of robots.
However, if there are any unclear points, please contact your nearest Mitsubishi branch or dealer.
Mitsubishi hopes that you will consider these standard specifications and use our robots.
Note that in this specification document the specifications related to the robot arm is described Page 6,
"2 Robot arm", the specifications related to the controllerPage 31, "3 Controller", and software functions
and a command list Page 90, "4 Software" separately.
This document has indicated the specification of the following types robot.
* RP-1ADH-S15
* RP-3ADH-S15
* RP-5ADH-S15
[Note] About the restricted function
This robot is special specification. Some functions are restricted and cannot be used. The
restricted functions are shown below.
･ Compliance control (Cmp Jnt, Cmp Pos, Cmp Tool, Cmp Off, CmpG)
･ High accuracy mode control (Prec)
･ Collision detection function (ColChk, ColLvl)
・ No part of this manual may be reproduced by any means or in any form, without prior consent from
Mitsubishi.
・ The contents of this manual are subject to change without notice.
・ The specifications values are based on Mitsubishi standard testing methods.
・ The information contained in this document has been written to be accurate as much as possible.
Please interpret that items not described in this document "cannot be performed." or "alarm
may occur".
Please contact your nearest dealer if you find any doubtful, wrong or skipped point.
・ This specifications is original.
・ Microsoft, Windows, Windows XP, Windows Vista, Windows 7, Windows 8, Windows 8.1, Windows 10
are either registered trademarks or trademarks of Microsoft Corporation in the United States and/
or other countries.
・ The official name of Windows® is Microsoft®Windows®Operating System.
・ Windows®XP, Windows Vista®, Windows® 7, Windows® 8, Windows® 8.1, Windows® 10 are either
product names of Microsoft Corporation in the United States.
・ Ethernet is registered trademarks or trademarks of Xerox Corporation in the United States.
・ All other company names and production names in this document are the trademarks or registered
trademarks of their respective owners.
・ Referenced Standard (Requirement of Chinese standardized law): This Product is designed and
manufactured accordance with GB 11291.1.
Copyright(C) 2012-2018 MITSUBISHI ELECTRIC CORPORATION

1-1 Structural equipment
1General configuration
1 General configuration
1.1 Structural equipment
Structural equipment consists of the following types.
1.1.1 Standard structural equipment
The following items are enclosed as a standard.
(1) Robot arm
(2) Controller
(3) Machine cable
(4) Robot arm installation bolts
(5) Earth leakage breaker
(6) Safety manual, Instruction manual, CD-ROM (Instruction manual)
(7) Guarantee card
1.1.2 Special specifications
For the special specifications, some standard configuration equipment and specifications have to be changed
before factory shipping. Confirm the delivery date and specify the special specifications at the order.
1.1.3 Options
User can install options after their delivery.
1.1.4 Maintenance parts
Materials and parts for the maintenance use.
1.2 Instruction manuals
The instruction manuals supplied in CD-ROM, except for the Safety Manual. This CD-ROM (electronic manual)
includes instruction manuals in both Japanese and English version.

1General configuration
Contents of the structural equipment 1-2
1.3 Contents of the structural equipment
1.3.1 Robot arm
The list of structural equipment is shown in Fig. 1-1.
Fig.1-1 ： Structural equipment (Robot arm)
RP-1ADH, RP-3ADH or RP-5ADH
Robot arm
Connector box
Machine cable fixed type 5m
･ 1A-5CBL-1
Machine cable extension
・For fixing: 1A-□□CBL-1
・ For flexed: 1A- □□ LCBL-1
Note) □□ refer the length.
Refer to section Page 4, "Table 1-1"
for details.
Hand. Prepared by customer
Hand input cable
・ 1A-HC200-RP
Solenoid valve set
four sets:1A-VD04-RP (Sink type)
1A-VD04E-RP (Source type)
［Caution］ Standard configuration
Special shipping
Option
equipment
specifications
Prepared by customer
Hand output cable
・ 1A-GR200-RP

1-3
1 General configuration
1.3.2 Controller
The devices shown below can be installed on the controller.
The controllers that can be connected differ depending on the specification of the robot.
Fig.1-2 ： Structural equipment
Pneumatic hand interface
2A-RZ365(Sink)/
2A-RZ375(Source)
*1)
Personal computer
Prepared by customer
Standard configuration Options
Prepared by customer
［Caution］
The photograph is the image figure.
equipment
Special specifications
Instruction Manua l(printed)
・ 5S-AJ01-PE01
CC-Link
interface
2D-TZ576
Extension
memory
cassette
2D-TZ454
Parallel I/O unit
2A-RZ361(Sink)/
2A-RZ371(Source)
External I/O cable
・ 2D-CBL05 (5m)
・ 2D-CBL15 (15m)
PLC(Programmable
Logic Controller)
External device
Prepared by customer
Teaching pendant
（T/B）
R32TB
R56TB
Parallel I/O interface
2D-TZ368(Sink)/
2D-TZ378(Source)
External I/O cable
・ 2A-CBL05 (5m)
・ 2A-CBL15 (15m)
Personal computer
cable: 2D-232CBL03M
(RS-232)
*) Refer to Page 5, "Table
1-2" for USB cable
Controller
CR1DA-700
series
RT Tool Box2
(MS-Windows2000/XP/Vista)
・ 3D-11C-WINJ(CD-ROM)
RT Tool Box2 mini
(MS-Windows2000/XP/Vista)
・ 3D-12C-WINJ(CD-ROM)
*1) Corresponding to the sink or
source to be used, setting of the
controller is necessary.

1 General configuration
Contents of the Option equipment and special specification 1-4
1.4 Contents of the Option equipment and special specification
A list of all Optional equipment and special specifications are shown below.
Table 1-1 ： The list of Option equipment and special specification
Item Type Specifications Classification
Note1)
Note1) ○ : option, □ : special specifications.
Description
Extended machine cables 1A- □□ CBL-1 For fixing
(Two sets for power and signal) □ 10、 15ｍ
1A- □□ LCBL-1 For bending
(Two sets for power and signal) □ 5、 10、 15ｍ
Solenoid valve set 1A-VD04-RP Four sets (Sink type) ○ Consult with Mitsubishi for the delivery
schedule and price when requesting a 1, 2
or 3-row type.
1A-VD04E-RP Four sets (Source type) ○
Hand input cable 1A-HC200-RP ○
Hand output cable 1A-GR200-RP ○
Teaching pendant R32TB Cable length 7m ○ With 3-position deadman switch IP65
R32TB-15 Cable length 15m ○
Highly efficient teaching
pendant
R56TB Cable length 7m ○
R56TB-15 Cable length 15m ○
Pneumatic hand interface 2A-RZ365 DO: 8 point(Sink type)○ It is necessary when the hand output signal
of the robot arm is used.
2A-RZ375 DO: 8 point(Source type)○
Parallel I/O Interface 2D-TZ368 DO: 32 point (Sink type)/
DI : 32 point (Sink type)
Insulated type output signal
(100mA/point)
○
The card type external input-and-output.
Interface.Install to the slot of controller.
2D-TZ378 DO: 32 point (Source type)/
DI : 32 point (Source type)
Insulated type output signal
(100mA/point)
○
External I/O cable
(For Parallel I/O Inter-
face)
2D-CBL05 5m ○Use to connect the external peripheral
device to the parallel input/output inter-
face.
2D-CBL15 15m ○
Parallel I/O Unit 2A-RZ361 DO: 32 point (Sink type)/
DI : 32 point (Sink type) ○The unit for expansion the external input/
output.
Electrical isolated Type
(100mA/Point)
2A-RZ371 DO: 32 point (Source type)/
DI : 32 point (Source type) ○
External I/O cable
(For Parallel I/O Unit)
2A-CBL05 5m ○ Use to connect the external peripheral
device to the parallel input/output unit
2A-CBL15 15m ○
CC-Link interface 2D-TZ576 Local station ○ for MELSEC PLC with CC-Link connection.
Extended memory cas-
sette
2D-TZ454 Teaching point number: 50,800
Steps number: 50,800
Program number: 512
○
The battery backup function is provided.
The value combined with the standard
RT ToolBox2
(Personal computer Sup-
port software)
3D-11C-WINE CD-ROM
○
MS-Windows2000/XP/Vista
(With the simulation function)
RT ToolBox2 mini
(Personal computer Sup-
port software mini)
3D-12C-WINE CD-ROM
○
MS-Windows2000/XP/Vista
Personal computer
cableNote2)
Note2) The recommendation products of the USB cable are shown in Table 1-2.
2D-232CBL03M RS-232C cable 3m for PC-AT
compatible model ○
Instruction Manual 5S-AJ01-PE01 RP-1ADH/3ADH/5ADH-S15 ○A set of the instructions manual bookbind-
ing editions

1-5 Contents of the Option equipment and special specification
1 General configuration
[Reference]:The recommendation products of the USB cable are shown below.
Table 1-2 ： Recommendation article of the USB cable
Be careful to the USB cable to apply neither the static electricity nor the noise.
Otherwise, it becomes the cause of malfunction.
Use the network equipments (personal computer, USB hub, LAN hub, etc) confirmed by
manufacturer. The thing unsuitable for the FA environment (related with conformity,
temperature or noise) exists in the equipments connected to USB, RS-232 or LAN. When
using network equipment, measures against the noise, such as measures against EMI and
the addition of the ferrite core, may be necessary. Please fully confirm the operation by
customer. Guarantee and maintenance of the equipment on the market (usual office
automation equipment) cannot be performed.
Name Type name Supplier
USB cable
(USB A type-USB mini B type)
KU-AMB530 SANWA SUPPLY INC.
USB-M53 ELECOM CO., LTD.
GT09-C30USB-5P MITSUBISHI ELECTRIC SYSTEM & SERVICE CO., LTD.
MR-J3USBCBL3M MITSUBISHI ELECTRIC CO., LTD.
USB adapter
(USB B type-USB mini B type) AD-USBBFTM5M ELECOM CO., LTD.
Caution
Caution

2Robot arm
Standard specifications 2-6
2 Robot arm
2.1 Standard specifications
Table 2-1 ： Standard specifications of robot
Item Unit Specifications
Type RP-1ADH PR-3ADH RP-5ADH
Degree of freedom of motion 4-axis
Installation posture On floor
Encoder/Drive system Absolute encoder/AC servo
Motor capacity W 100 (All axis) 200 (J1,J2,J3 axis), 100(J4 axis)
Brake With brakes (All axes)
Maximum load Note1)
Note1) It is necessary to set the acceleration/deacceleration speed appropriately according to the installing load mass. Refer to Page 7,
"2.2 Definition of specifications" for detail.
kg 1.0 3.0 5.0
Rated load kg 0.5 1.0 2.0
Arm length No.1 Arm mm 100 140 200
No.2 Arm 140 200 260
Motion range Width x depth mm 150 x 105
(A6 size)
210 x 148
(A5 size)
297 x 210
(A4 size)
Vertical mm 30 50
Rotation Degree ±200
Maximum
velocity
J1, J2 Degree/s 480 432
J3 mm/s 800 960
J4 Degree/s 3000 1330 1230
Tolerable wrist
moment of inertia
kg ･ m
2
3.10 x 10-4 1.60 x 10-3 3.20 x 10-3
Position
repeatability
X, Y direction mm ±0.005 ±0.008 ±0.01
Z direction mm ±0.01
Wrist rotation
direction Degree ±0.02 ±0.03
Mass kg Apporox. 12 Apporox. 24 Apporox. 25
Tool wiring Input 8 point/ Output 8 point
Tool pneumatic pipes None
Cleanliness - - -
Paint color color: Light gray (Equivalent to Munsell: 7.65Y7.6/0.73)

2-7 Definition of specifications
2 Robot arm
2.2 Definition of specifications
The accuracy of pose repeatability mentioned in catalogs and in the specification manual is defined as follows.
2.2.1 Pose repeatability
For this robot, the pose repeatability is given in accordance with JIS 8432 (Pose repeatability). Note that the value
is based on 100 measurements (although 30 measurements are required according to JIS).
［Caution］ The specified "pose repeatability" is not guaranteed to be satisfied under the following conditions.
[1] Operation pattern factors
1) When an operation that approaches from different directions and orientations are included in rela-
tion to the teaching position during repeated operations
2) When the speed at teaching and the speed at execution are different
[2] Load fluctuation factor
1) When work is present/absent in repeated operations
[3] Disturbance factor during operation
1) Even if approaching from the same direction and orientation to the teaching position, when the
power is turned OFF or a stop operation is performed halfway
[4] Temperature factors
1) When the operating environment temperature changes
2) When accuracy is required before and after a warm-up operation
[5] Factors due to differences in accuracy definition
1) When accuracy is required between a position set by a numeric value in the robot's internal coor-
dinate system and a position within the actual space
2) When accuracy is required between a position generated by the pallet function *1) and a position
within the actual space
*1)
The pallet function is a function that teaches only the position of the work used as reference (3 to 4 points) and
obtains the remaining positions by calculations, for an operation that arranges works orderly or for an operation
that unloads orderly arranged works. By using this function, for example, in the case of an operation that arranges
works on grid points of 100 x 100, by teaching only three points of four corners, the remaining grid points are
automatically generated; thus, it is not necessary to teach all 10,000 points. For more information about the pallet
function, refer to the separate volume, "Instruction Manual/Detailed Explanation of Functions and Operations."

２ Robot arm
2-8
2.2.2 Rated load (mass capacity)
(1) The acceleration/deceleration must be set appropriately in the program according to the loaded load mass.
The relation of the optimum acceleration/deceleration in respect to the mass capacity is shown with a
percentage in Fig. 2-1.
Fig.2-1 ： Relation of mass capacity and optimum acceleration/deceleration percentage
Make sure that the acceleration/deceleration percentage satisfies the values in the shaded section shown in
Fig. 2-1. The acceleration/deceleration percentage is set with the ACCEL command in the program. If the per-
centage is not set in the program, the default value 100% will be set as the acceleration/deceleration percentage.
An example of setting in the program is shown below.
Example) When the loaded load mass is 1kg, the appropriate acceleration/deceleration percentage will be 50%,
as shown in Fig. 2-1. Thus, the acceleration/deceleration percentage is set as 50 in the program.
【Program example】
1 Accel 50, 50 ’
2 Mov P1 ’Write the target work program after this.
：
Details on the Accel command are given in section "4.14 Explanation of command words" in the separate man-
ual "Detailed explanations of functions and operations".
When using the optimum acceleration/deceleration function (when using the Oadl command), the optimum
acceleration/deceleration percentage will be set automatically according to the load state, so setting with the
Accel command is not required.
0.5
50% 100%
1.0
Mass capacity
Acceleration/deceleration percentage
(kg)
1.0
3.0
(kg)
(b)RP-3AH/3AHC-SB
2.0
50% 100%
5.0
(kg)
(c)RP-5AH/5AHC-SB
Mass capacity
Acceleration/deceleration percentage
(a)RP-1AH/1AHC-SB
Mass capacity
Acceleration/deceleration percentage
50% 100%
Note) For the RP-1ADH, the acceleration/deceleration
percentage 100% is the acceleration/deceleration
in respect to the min. acceleration/deceleration
time 0.025 sec.
(a) RP-1ADH (b) RP-3ADH
(c) RP-5ADH

2-9 Names of each part of the robot
２ Robot arm
2.3 Names of each part of the robot
Fig.2-2 ： Names of each part of the robot

２ Robot arm
Outside dimensions ・ Operating range diagram 2-10
2.4 Outside dimensions ・ Operating range diagram
(1) RP-1ADH
Fig.2-3 ： Outside dimensions (RP-1ADH)
Mounting place for tooling machine, etc.
Installation reference 82
6-M4 screw, depth 8
(for tooling installation)
4-φ7 installation hole
M5 screw, depth 6, φ3 hole drill
φ6h7
φ8
φ18
95
107
34 120
4-φ5 hole
(installation hole)
22
R30.5
24.5
36 (162)
6
5.5
5
10
12
4
5
198
Tooling wiring lead port
4-M4 screw, depth 6
(Installation screw
for tooling support, etc.)
R30.5
R30.5
5628(56)
140
R30.5
24.5
56(56)
61
28
32
80
Installation reference 38
100
56
133 150 162
2000
120
140
180 24.2
224.9
155 165
31
9585
17724
31
Z stroke 30
21 30
A
B
8
230
180
77.6
Min. 35
(φ8)
(φ18)
5.5
5.5
View from A (L cut)
Ｍ６ screw
Connector box
48 76 Pin hole φ4H7
drill (2 places)
View from B
(Note)
(Note) ・Install the connector box
separately.
・A backup battery is located
inside, so install at an
easy to service place.
The dimensions shown in
parentheses are for the robot arm's
stopper section, and must not be used.
The dimensions are provided for reference.
140
100
6.3a
6.3a

2-11 Outside dimensions ・ Operating range diagram
２ Robot arm
Fig.2-4：Operating range diagram (RP-1ADH)
24
38
100
105
140
233.9
100
150
160
R236.5
R140
R140
110
110
95
Z stroke 30