Mitsubishi Electric RP-1ADH-S15 Series Standard Specifications Manual page 9

■ 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
"2 Robot arm", the specifications related to the
and a command list
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.
Page 90, "4 Software"
Copyright(C) 2012-2018 MITSUBISHI ELECTRIC CORPORATION
controllerPage 31, "3
separately.
Controller", and software functions
Page 6,