Epson G3 Series manual Cable Connections

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Setup & Operation 3. Environments and Installation

When the Manipulator is a Cleanroom-model, be aware of the followings.

For the Manipulator of Cleanroom-model, use it with an exhaust system. For details, refer to Setup & Operation: 2.4 Specifications.

	■ When operating the Manipulator under special environmental conditions (adverse
	conditions with dust and oily smoke), do not place the controller in the same
CAUTION	condition since the controller does not comply with IP54 / IP65.	Doing so may
CAUTION	cause equipment damage to and/or malfunction of the controller.

Cable Connections

Connect the power connector and signal connector of the M/C cables to the Controller.

Power Connector

Signal Connector

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G3 Rev.1

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Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Japan & Others North & South America Epson AMERICA, INCEurope Before Reading This Manual Controller RC180 Software Epson RC+ 5.0 Ver .3 or greaterG3 Rev.1 Table of Contents Motion Range Safety Maintenance General MaintenanceMaintenance Parts List CoversSetup & Operation Page Safety Setup & Operation 1. SafetyConventions Design and Installation Safety Operation Safety All necessary safety precautionsUnexpectedly Emergency Stop Free running distance in emergencyEmergency Movement Without Drive Power Joint #4Manipulator Labels Be careful not to burn yourselfCommon Multiple Mounting Table Top Mounting Setup & Operation 2. Specifications SpecificationsFeatures of G3 series Manipulators Space productivityModel 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 Multiple Mounting Standard-model G3-***1SMG3-301SM 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 Environmental Conditions Environments and InstallationSetup & Operation 3. Environments and Installation ConditionsBase Table Do not remove the M/C cables from the ManipulatorMounting 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 Connecting the Cables Cleanroom-modelCable Connections Pneumatic Tubes User Wires and Pneumatic TubesElectrical Wires Malfunction of the robot systemMultiple Mounting Precautions for Relocation and Storage Relocation and StorageTable Top Mounting Example of Arm Retaining Posture Wire tie Sheet Setting of End Effectors Attaching an End EffectorCommon Dimensions Table Top Mounting Attaching Cameras and ValvesUnit mm Equivalent Weight Formula Weight and Inertia SettingsWeight Setting Load on the ShaftAutomatic speed setting by Weight 140 Automatic acceleration/deceleration setting by Weight 120100 Moment of inertia of load on the shaft Inertia SettingMoment of Inertia and the Inertia Setting 100 005Eccentric Quantity Eccentric quantity of load on the shaft100 150 Moment of inertia of a rectangular parallelepiped Moment of inertia of a cylinder100 120 150 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position Mm Shaft height G3 Rev.1Setup & Operation 5. Motion Range Motion RangeMotion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 2 Max. Pulse Range of Joint #2 ±142 / ±1423 Max. Pulse Range of Joint #3 4 Max. Pulse Range of Joint #4Motion Range Setting by Mechanical Stops Setting the Mechanical Stops of Joints #1 and #2 Views from the bottom of Arm #1Views from the top of Arm #1 G3-**1SM/CM-RJoint RecommendedSetting 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 Not connect it directly to a factory power source Safety MaintenanceMaintenance 1. Safety Maintenance StoppedGeneral Maintenance Schedule for Maintenance InspectionInspection While the Power is on Manipulator is operating Maintenance 2. General MaintenanceInspection Point Greasing Bolt Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Set Screw Tightening TorqueLayout of Maintenance Parts G3-**1C Cleanroom-model with bellowsG3-**1S Standard-model G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-modelR13B031226 Maintenance 3. CoversCovers R13B031227Arm Top Cover Table Top Mounting Multiple MountingRemoval Installation G3-**1S* Standard-model Arm Bottom CoverArm Cap G3-**1 Table Top MountingConnector Plate G3-**1* Table Top Mounting G3-**1*W Multiple MountingUser Plate Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model G3-**1* Table Top MountingHeatsink Plate Base Bottom CoverMaintenance Parts List Maintenance 4. Maintenance Parts ListCommon Parts Parts by Environment Model Standard-model