Epson G3 Series manual Specifications

Setup & Operation 2. Specifications

2.4		Specifications
			Item						G3 series Manipulator
Arm length				Arm #1, #2		250 mm			300 mm		350 mm
				Arm #1		120 mm			170 mm		220 mm
				Arm #2		130 mm			130 mm		130 mm
Max. operating				Joints #1, #2		3550 mm/s			3950 mm/s		4350 mm/s
				Joint #3		1100 mm/s
speed	*1
				Joint #4		3000 deg/s
				Joints #1, #2		± 0.008 mm			± 0.01 mm		± 0.01 mm
Repeatability				Joint #3		± 0.001 mm
				Joint #4		± 0.005 deg
Payload (Load)				Rated		1 kg
				Max.		3 kg
Joint #4 allowable				Rated		0.005 kg·m2
moment of inertia				Max.		0.05 kg·m2
	*2
	Straight			Joint #1		± 140
				Joint #2		± 141				± 142
Max.				Joint #1	Right hand	-			− 115 to 150		− 105 to 160
	Curved				Left hand	-			− 150 to 115		− 160 to 105
motion
					Right hand	-			− 135 to 150		− 120 to 165
range				Joint #2
					Left hand	-			− 150 to 135		− 165 to 120
	Common			Joint #3		150
				Joint #4		± 360
	Straight			Joint #1		− 9786710 to 51729750
				Joint #2		± 20534614		± 20680249
Max.				Joint #1	Right hand	-	− 5825423 to 55924054			− 3495254 to 58254223
	Curved				Left hand	-	− 13981014 to 47768463			− 16311183 to 45438294
pulse
					Right hand	-	− 19660800 to 21845334			− 17476267 to 24029867
range				Joint #2
					Left hand	-	− 21845334 to 19660800			− 24029867 to 17476267
	Common			Joint #3		−13653338 to 0
				Joint #4		± 23907534
				Joints #1		0.00000377134 deg/pulse
Resolution				Joint #2		0.00000686645 deg/pulse
				Joint #3		0.00001098632 mm/pulse
				Joint #4		0.0001560107deg/pulse
Hand				Shaft diameter		ø 16 mm
				Through hole		ø 11mm
Mounting hole						120 ⋅ 120 mm (4-M8)
Weight (cables not included)						14 kg : 31 lb.
Driving method				All joints		AC servo motor
Motor				Joint #1		200 W
				Joint #2		150 W
energy
				Joint #3		150 W
consumption
				Joint #4		150 W
Option		Installation method				-			Multiple Mounting
		Installation environment				Cleanroom *3 & ESD
Joint #3 down force						150 N
Installed wire for customer use						15 (15 pin: D-sub)		15 cores
Installed pneumatic						2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)
tube for customer use						1 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)

20 G3 Rev.1