Epson G3 Series manual Assignable Value

		Setup & Operation 2. Specifications
Item		G3 series Manipulator
Environmental	Ambient	5 to 40°C (with minimum temperature variation)
	Temperature
requirements	Ambient relative	10 to 80% (no condensation)
	humidity
Noise level *4		LAeq = 70 dB (A)
Applicable Controller		RC180
	SPEED	1 to (5) to100
Assignable Value	ACCEL *5	1 to (10) to 120
	SPEEDS	1 to (50) to 2000
( ) Default values	ACCELS	1 to (200) to 25000
	FINE	0 to (10000) to 65000
	WEIGHT	0,130 to (1,130) 3,130
MTBF		3 years
Safety standard		ANSI/RIA R15.06 compliant
		CE compliant

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command.

*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover interior together.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base.

Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.

If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level : Class ISO 3 (ISO14644-1)

In previous criteria; Clean Class: 10 or its equivalent

Amount of Dust (0.1 µm diameter or larger) in 28317 cm3 (1cft) sample-air around the center of the motion rang: 10 particles or less.

Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm Exhaust tube : Polyurethane tube

Outer diameter: ø12 mm (Inner diameter:ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate : approx. 1000 cm3/s (Normal)

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning.

However, you may require an operation with high acceleration to shorten the cycle time by decreasing the vibration at positioning. In this case, set Accel to larger than 100.

If you specify a larger Accel value, the frequency of the overload error and over heat may rise during continuous operation. The use of large Accel setting is recommended only for necessary motions.

G3 Rev.1 21