Epson G3 Series Setting the Mechanical Stops of Joints #1 and #2, Views from the bottom of Arm #1

Page 62

Setup & Operation 5. Motion Range

5.2.1Setting the Mechanical Stops of Joints #1 and #2

Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.

Joint #1 Mechanical Stops

R

L

Views from the bottom of Arm #1

Model

Arm

a

b

c

G3-**1S/C

250

±140°

-110°

+110°

300

±140°

°

°

-110

+110

350

±140°

-110°

+110°

G3-**1S/C-R

300

-125° ~ +150°

-105°

+130°

350

-110° ~ +165°

-90°

+145°

G3-**1S/C-L

300

-150° ~ +125°

-130°

+105°

350

-165° ~ +110°

-145°

＋90°

G3-**1SM/CM

300

±115°

-85°

+85°

350

±120°

-90°

+90°

G3-**1SM/CM-R

300

-130° ~ +105°

-100°

+75°

350

-105° ~ +130°

-75°

+100°

Setting Angle

+75°

+85°

+90°

+100°

+105°

+110°

Pulse Value

2184533

2475805

2621440

2912711

3058347

3203982

Setting Angle

+140°

+145°

+150°

+165°

Pulse Value

4077796

4223431

4369067

4805973

Setting Angle

-75°

-85°

-90°

-100°

-105°

-110°

Pulse Value

-2184533

-2475805

-2621440

-2912711

-3058347

-3203982

Setting Angle

-140°

-145°

-150°

+165°

Pulse Value

-4077796

-4223431

-4369067

-4805973

(°: degree)

52

G3 Rev.1

Image 62

Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Europe Japan & OthersNorth & South America Epson AMERICA, INC 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 Conventions SafetySetup & Operation 1. Safety Design and Installation Safety Unexpectedly Operation SafetyAll necessary safety precautions 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 Standard-model G3-***S Part Names and Outer DimensionsTable Top Mounting 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 ManipulatorSpace for cables Mounting DimensionsSpace for teaching Space for maintenance and inspection 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 EffectorUnit mm Common Dimensions Table Top MountingAttaching Cameras and Valves Equivalent Weight Formula Weight and Inertia SettingsWeight Setting Load on the Shaft100 Automatic speed setting by Weight 140Automatic acceleration/deceleration setting by Weight 120 Moment of inertia of load on the shaft Inertia SettingMoment of Inertia and the Inertia Setting 100 005100 150 Eccentric QuantityEccentric quantity of load on the shaft 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 Point Inspection While the Power is on Manipulator is operatingMaintenance 2. General Maintenance Greasing Bolt Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Set Screw Tightening TorqueG3-**1S Standard-model Layout of Maintenance PartsG3-**1C Cleanroom-model with bellows G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-modelR13B031226 Maintenance 3. CoversCovers R13B031227Removal Arm Top CoverTable Top Mounting Multiple Mounting 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 CoverCommon Parts Maintenance Parts ListMaintenance 4. Maintenance Parts List Parts by Environment Model Standard-model