Epson G3 Series manual G3 series Manipulator Manual

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SCARA ROBOT

G3 series Manipulator Manual

Rev.1

Copyright ♥ 2008 SEIKO EPSON CORPORATION. All rights reserved.

G3 Rev.1

i

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Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Japan & Others North & South America Epson AMERICA, INCEurope Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This ManualG3 Rev.1 Table of Contents Covers Safety Maintenance General MaintenanceMaintenance Parts List Motion RangeSetup & Operation Page Safety Setup & Operation 1. SafetyConventions Design and Installation Safety Operation Safety All necessary safety precautionsUnexpectedly Free running distance in emergency Emergency StopJoint #4 Emergency Movement Without Drive PowerBe careful not to burn yourself Manipulator LabelsCommon Multiple Mounting Table Top Mounting Space productivity SpecificationsFeatures of G3 series Manipulators Setup & Operation 2. SpecificationsModel Number and Model Differences Part Names and Outer Dimensions Table Top MountingStandard-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 MountingG3-301SM 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 Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Environmental ConditionsDo not remove the M/C cables from the Manipulator Base TableMounting Dimensions Space for teaching Space for maintenance and inspectionSpace for cables G3-251S/C Standard G3-301S/C G3-301SM/CM Unpacking and Transportation Installation Procedure Multiple Mounting Cleanroom-model Connecting the CablesCable Connections Malfunction of the robot system User Wires and Pneumatic TubesElectrical Wires Pneumatic TubesMultiple Mounting Relocation and Storage Precautions for Relocation and StorageTable Top Mounting Example of Arm Retaining Posture Wire tie Sheet Attaching an End Effector Setting of End EffectorsCommon Dimensions Table Top Mounting Attaching Cameras and ValvesUnit mm Load on the Shaft Weight and Inertia SettingsWeight Setting Equivalent Weight FormulaAutomatic speed setting by Weight 140 Automatic acceleration/deceleration setting by Weight 120100 100 005 Inertia SettingMoment of Inertia and the Inertia Setting Moment of inertia of load on the shaftEccentric Quantity Eccentric quantity of load on the shaft100 150 Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepipedMm Shaft height G3 Rev.1 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position 100 120 150Motion Range Setup & Operation 5. Motion RangeMotion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 ±142 / ±142 2 Max. Pulse Range of Joint #24 Max. Pulse Range of Joint #4 3 Max. Pulse Range of Joint #3Motion Range Setting by Mechanical Stops Views from the bottom of Arm #1 Setting the Mechanical Stops of Joints #1 and #2G3-**1SM/CM-R Views from the top of Arm #1Recommended JointSetting 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 Stopped Safety MaintenanceMaintenance 1. Safety Maintenance Not connect it directly to a factory power sourceSchedule for Maintenance Inspection General MaintenanceInspection While the Power is on Manipulator is operating Maintenance 2. General MaintenanceInspection Point Greasing Set Screw Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Bolt Tightening TorqueLayout of Maintenance Parts G3-**1C Cleanroom-model with bellowsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellowsR13B031227 Maintenance 3. CoversCovers R13B031226Arm Top Cover Table Top Mounting Multiple MountingRemoval Installation G3-**1 Table Top Mounting Arm Bottom CoverArm Cap G3-**1S* Standard-modelG3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector PlateG3-**1* Table Top Mounting Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model User PlateBase Bottom Cover Heatsink PlateMaintenance Parts List Maintenance 4. Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model