Epson
G3 Series
manual
G3 series
Specs
Install
Parts list
Connecting the Cables
Dimension
Maintenance
Setup & Operation
Connector Plate
Setting of End Effectors
Weight
Page 1
SCARA ROBOT
G3 series
MANIPULATOR MANUAL
Rev.1
EM08ZR1795F
Page 1
Page 2
Image 1
Page 1
Page 2
Contents
G3 series
Manipulator Manual
G3 series Manipulator Manual
Foreword
Service Center
North & South America Epson AMERICA, INC
Japan & Others
Europe
Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater
Before Reading This Manual
G3 Rev.1
Table of Contents
Maintenance Parts List
Safety Maintenance General Maintenance
Motion Range
Covers
Setup & Operation
Page
Setup & Operation 1. Safety
Safety
Conventions
Design and Installation Safety
All necessary safety precautions
Operation Safety
Unexpectedly
Free running distance in emergency
Emergency Stop
Joint #4
Emergency Movement Without Drive Power
Be careful not to burn yourself
Manipulator Labels
Common Multiple Mounting Table Top Mounting
Features of G3 series Manipulators
Specifications
Setup & Operation 2. Specifications
Space productivity
Model Number and Model Differences
Table Top Mounting
Part Names and Outer Dimensions
Standard-model G3-***S
Or more
Setup & Operation 2. Specifications Cleanroom-model G3-***C
Reference through hole View from the bottom of the base
Standard-model G3-***1SM
Multiple Mounting
G3-301SM G3-351SM 220 Max.410 Max.450
Upper bellows Exhaust port Plate cover Lower bellows
Reference through hole View from the bottom of the base
Specifications
Assignable Value
How to Set the Model
Setup & Operation 3. Environments and Installation
Environments and Installation
Environmental Conditions
Conditions
Do not remove the M/C cables from the Manipulator
Base Table
Space for teaching Space for maintenance and inspection
Mounting Dimensions
Space for cables
G3-251S/C Standard G3-301S/C
G3-301SM/CM
Unpacking and Transportation
Installation Procedure
Multiple Mounting
Cleanroom-model
Connecting the Cables
Cable Connections
Electrical Wires
User Wires and Pneumatic Tubes
Pneumatic Tubes
Malfunction of the robot system
Multiple Mounting
Relocation and Storage
Precautions for Relocation and Storage
Table Top Mounting
Example of Arm Retaining Posture Wire tie Sheet
Attaching an End Effector
Setting of End Effectors
Attaching Cameras and Valves
Common Dimensions Table Top Mounting
Unit mm
Weight Setting
Weight and Inertia Settings
Equivalent Weight Formula
Load on the Shaft
Automatic acceleration/deceleration setting by Weight 120
Automatic speed setting by Weight 140
100
Moment of Inertia and the Inertia Setting
Inertia Setting
Moment of inertia of load on the shaft
100 005
Eccentric quantity of load on the shaft
Eccentric Quantity
100 150
Moment of inertia of a cylinder
Moment of inertia of a rectangular parallelepiped
Automatic acceleration/deceleration vs. Joint #3 position
Precautions for Auto Acceleration/Deceleration of Joint #3
100 120 150
Mm Shaft height G3 Rev.1
Motion Range
Setup & Operation 5. Motion Range
Motion Range Setting by Pulse Range for All Joints
1 Max. Pulse Range of Joint #1
±142 / ±142
2 Max. Pulse Range of Joint #2
4 Max. Pulse Range of Joint #4
3 Max. Pulse Range of Joint #3
Motion Range Setting by Mechanical Stops
Views from the bottom of Arm #1
Setting the Mechanical Stops of Joints #1 and #2
G3-**1SM/CM-R
Views from the top of Arm #1
Recommended
Joint
Setting the Mechanical Stop of Joint #3
Sets low speed
Standard Motion Range
G3-251S 141 79.3 84.0 120 250 221.9 224.5
G3-301S-L 150
G3-301S-R
G3-301SM/CM 115
G3-351SM-L
G3-351SM-R 105 130 120
Setup & Operation 5. Motion Range
Maintenance
Page
Maintenance 1. Safety Maintenance
Safety Maintenance
Not connect it directly to a factory power source
Stopped
Schedule for Maintenance Inspection
General Maintenance
Maintenance 2. General Maintenance
Inspection While the Power is on Manipulator is operating
Inspection Point
Greasing
Matching Origins
Tightening Hexagon Socket Head Cap Bolts
Bolt Tightening Torque
Set Screw Tightening Torque
G3-**1C Cleanroom-model with bellows
Layout of Maintenance Parts
G3-**1S Standard-model
G3-**1SM Standard-model
G3-**1CM Cleanroom-model with bellows
Covers
Maintenance 3. Covers
R13B031226
R13B031227
Table Top Mounting Multiple Mounting
Arm Top Cover
Removal
Installation
Arm Cap
Arm Bottom Cover
G3-**1S* Standard-model
G3-**1 Table Top Mounting
G3-**1* Table Top Mounting G3-**1*W Multiple Mounting
Connector Plate
G3-**1S* Standard-model G3-**1C* Cleanroom-model
Connector Sub Plate
User Plate
G3-**1* Table Top Mounting
Base Bottom Cover
Heatsink Plate
Maintenance 4. Maintenance Parts List
Maintenance Parts List
Common Parts
Standard-model
Parts by Environment Model
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