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RV-3S-S11
Mitsubishi RV-3S-S11 User Manual
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２
R
o
b
o
t
a
r
m
Names of each part of the robo
t
2
-
1
4
2.3 Names of each part of the robot
Fig.2-2
：
Names of each part of the robot
＋
－
＋
－
＋
－
＋
－
＋
－
＋
－
Note1)
J5 axis
J6 axis
Fore arm
Mechanical interface
(Hand installation flange surface)
Upper ar
m
J1 axis
J3 axis
J4 axis
Base
Elbow block
Should
er
J2 axis
Elbow
Note1)J
4-axis dos
en't exis
t for 5-ax
is type.
* This part doesn't exist
for the 5-axis typ
e.
Wrist
Waist
22
24
Table of Contents
1 General configuration
10
1.1 Structural equipment
10
1.1.1 Standard structural equipment
10
1.1.2 Shipping special specifications
10
1.1.3 Options
10
1.1.4 Maintenance parts
10
1.2 Robot models
11
1.2.1 How to identify the robot model
11
1.3 CE marking specifications
11
1.4 Indirect export
12
1.5 Instruction manuals
12
1.6 Contents of the structural equipment
13
1.6.1 Robot arm
13
1.6.2 Controller
14
1.7 Contents of the Option equipment and special specification
15
2 Robot arm
16
2.1 Standard specifications
16
2.2 Definition of specifications
17
2.2.1 Pose repeatability
17
2.2.2 Rated load (mass capacity)
18
2.2.3 Relationships Among Mass Capacity, Speed, and Acceleration/Deceleration Speed
19
(1) Setting Load Capacity and Size (Hand Conditions)
19
2.2.4 Vibrations at the Tip of the Arm during Low-Speed Operation of the Robot
19
2.2.5 Protection specifications and working environment
20
(1) Types of protection specifications
20
(2) About the use with the bad environment
21
2.2.6 Clean specifications
22
(1) Types of clean specifications
22
2.3 Names of each part of the robot
23
2.4 Outside dimensions・Operating range diagram
24
(1) RV-3S/3SC (6-axis type)
24
(2) RV-3SJ/3SJC (5-axis type)
26
2.5 Tooling
28
2.5.1 Wiring and piping for hand
28
2.5.2 Internal air piping
29
(1) General-purpose envi-ronment/Oil mist specifications
29
(2) Clean type
29
2.5.3 Internal wiring for the pneumatic hand output cable
29
2.5.4 Internal wiring for the hand check input cable
29
2.5.5 Spare Wiring
29
2.5.6 Wiring and piping system diagram for hand
30
2.5.7 Electrical specifications of hand input/output
31
2.5.8 Air supply circuit example
32
2.6 Shipping special specifications, options, and maintenance parts
33
2.6.1 Shipping special specifications
33
(1) Machine cable
34
2.7 Options
35
(1) Machine cable extension
36
(2) Changing the operating range
38
(3) Solenoid valve set
39
(4) Hand input cable
41
(5) Hand output cable
42
(6) Hand curl tube
43
2.8 Maintenance parts
44
3 Controller
45
3.1 Standard specifications
45
3.1.1 Standard specifications
45
3.1.2 Protection specifications and operating supply
46
3.2 Names of each part
47
3.3 Outside dimensions/Installation dimensions
49
3.3.1 Outside dimensions
49
3.3.2 Installation dimensions
50
3.4 External input/output
51
3.4.1 Types
51
3.4.2 Explanation
51
3.5 Dedicated input/output
52
3.6 Emergency stop input/output
54
3.6.1 Connection of the external emergency stop
54
3.6.2 Door switch function
55
3.7 Parallel input/output unit
56
3.8 Options
59
(1) Teaching pendant (T/B)
60
(2) Pneumatic hand interface
63
(3) Controller protection box
65
(4) Expansion option box
68
(5) Parallel I/O unit
70
(6) External I/O cable
79
(7) Personal computer cable
81
(8) Extended serial interface
83
(9) CC-Link interface
86
(10) Ethernet interface
89
(11) Additional axis interface
91
(12) Personal computer support software/Personal computer support software mini
93
(13) Instruction Manual(bound edition)
95
3.9 Maintenance parts
96
4 Software
97
4.1 List of commands
97
(1) The procedure of robot language selection
97
(2) MELFA-BASIC commands
98
4.2 List of parameters
100
(1) List of parameters
100
(2) Change the display language / 表示言語の切り替え
102
5 Instruction Manual
103
5.1 The details of each instruction manuals
103
6 Safety
105
6.1 Safety
105
6.1.1 Self-diagnosis stop functions
105
6.1.2 External input/output signals that can be used for safety protection measures
105
6.1.3 Precautions for using robot
106
6.1.4 Safety measures for automatic operation
106
6.1.5 Safety measures for teaching
106
6.1.6 Safety measures for maintenance and inspections, etc.
106
6.1.7 Examples of safety measures
107
6.2 Working environment
108
6.3 Precautions for handling
109
7 Appendix
110
Appendix 1 ： Specifications discussion material
110
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Mitsubishi RV-3S-S11 Specifications
General
Brand
Mitsubishi
Model
RV-3S-S11
Category
Robotics
Language
English
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