Head to head
Doosan Robotics A0509 vs Mitsubishi MELFA ASSISTA
A specification duel across payload, reach, precision, and footprint, with a plain read on which arm suits which job.
Entry level cobot for light assembly and machine tending
Collaborative arm for shared assembly workspaces
Specification duel
Green marks the stronger figure. Unconfirmed specs are shown but not scored.
The verdict
On paper these two are close, both carry 5 kg and 900 mm against 910 mm of reach, near enough that the spec sheet alone will not decide it. They run different controllers, the Doosan Robotics A0509 on the CS-04 (DC Controller) and the Mitsubishi MELFA ASSISTA on the CR800-05VD, so whichever platform your team already programs and stocks parts for is a real tiebreaker. Mounting options differ: the Doosan Robotics A0509 lists Any, and the Mitsubishi MELFA ASSISTA lists Floor and Ceiling. Both are aimed at machine tending, with the Doosan Robotics A0509 stretching to collaborative assembly and small parts handling and the Mitsubishi MELFA ASSISTA to assembly and packaging.
Choose this one when
Job fit first, then the controller and cell constraints that decide which arm you can actually install.
Choose the Doosan Robotics A0509 when
- Joint torque sensing on every axis
- Compact size fits small cells
- Straightforward hand guided programming
- Good reach for its payload class
Watch for
- Light payload limits heavier tooling
- Collaborative speed limits reduce raw cycle time
Choose the Mitsubishi MELFA ASSISTA when
- Power and force limiting on every joint
- Simple hand-guided teaching
- Compact footprint for benchtop cells
- Integrates with Mitsubishi's factory automation stack
Watch for
- Reduced speed near operators limits raw throughput
- Payload modest compared to caged industrial arms
Controller ecosystem
Programming habits, spare parts, and pendant familiarity often decide the pick when payloads are close.
- Brand
- Doosan
- Controller
- CS-04 (DC Controller)
- Class
- collaborative
Service, spares, and pendant training for the Doosan Robotics A0509 run through Doosan's CS-04 (DC Controller) stack.
- Brand
- Mitsubishi
- Controller
- CR800-05VD
- Class
- collaborative
Service, spares, and pendant training for the Mitsubishi MELFA ASSISTA run through Mitsubishi's CR800-05VD stack.
These arms run different controllers (CS-04 (DC Controller) vs CR800-05VD). If your team already programs one of them, retraining programmers and stocking a second set of spares usually costs more than a small payload or reach advantage on paper.
Mounting, footprint, and mass
How the arm can be oriented in the cell, and how much mass you have to mount.
| Field | Doosan Robotics A0509 | Mitsubishi MELFA ASSISTA |
|---|---|---|
| Mounting | Any | Floor and Ceiling |
| Robot mass | 21 kg | 32 kg |
| Protection (IP) | IP54 | IP54 |
Heavier arms want stiffer bases and more clearance around the swept volume, and they push freight and rigging costs up on the install. IP ratings only cover the section they name, so a wrist-only rating protects the wrist and nothing else; check the body rating separately before you commit the arm to a washdown or dusty cell.
Application fit
Where each arm is aimed, based on the applications listed on its robot page.
Both pages list machine tending, with the differences below.
Speed and cycle-time planning
Speed is rarely a single datasheet number across brands. Use payload, reach, and class as the planning frame, then confirm cycle time in a path study.
The Doosan Robotics A0509 is a collaborative arm rated 5 kg at 900 mm with ±0.03 mm repeatability. The Mitsubishi MELFA ASSISTA is a collaborative arm rated 5 kg at 910 mm with ±0.03 mm. Class changes how speed shows up in a cell: collaborative arms slow down near people and can speed up in a guarded mode, while industrial arms run at rated speed inside a fence or scanner field. Which arm cycles faster on your part depends on the path, the payload, and the safeguarding, so confirm the takt with a path study before you quote it.
Common questions
- Which has more payload, the Doosan Robotics A0509 or the Mitsubishi MELFA ASSISTA?
- The Doosan Robotics A0509 and Mitsubishi MELFA ASSISTA match at 5 kg.
- Which reaches farther?
- The Mitsubishi MELFA ASSISTA has more reach at 910 mm versus 900 mm.
- Which is more precise?
- Both are rated at ±0.03 mm repeatability.
- Should I choose the Doosan Robotics A0509 or the Mitsubishi MELFA ASSISTA?
- Match the pick to the job. The Doosan Robotics A0509 is a collaborative arm at 5 kg and 900 mm. The Mitsubishi MELFA ASSISTA is a collaborative arm at 5 kg and 910 mm.
- Do the Doosan Robotics A0509 and Mitsubishi MELFA ASSISTA use the same controller?
- No. The Doosan Robotics A0509 uses CS-04 (DC Controller) and the Mitsubishi MELFA ASSISTA uses CR800-05VD.
- How do the IP ratings compare?
- The Doosan Robotics A0509 is rated IP54. The Mitsubishi MELFA ASSISTA is rated IP54. Check wrist versus body coverage before washdown or dusty cells.