Epson G3 Series manual Setting the Mechanical Stop of Joint #3

Setup & Operation 5. Motion Range

5.2.2Setting the Mechanical Stop of Joint #3

NOTE

)

This method applies only to the Standard-model Manipulator (G3-**1S*) / Multiple Mounting Manipulator (G3-**1SM).

For the Cleanroom-model (G3-**1C*),the motion range set with the Joint #3 mechanical stop cannot be changed.

(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.

(2)Push up the shaft while pressing the brake release button.

Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be removed. Push the shaft up to a position where the Joint #3 mechanical stop can be changed.

Brake release button

Lower limit mechanical stop

2-M5×6

Shaft

NOTE	When you press the brake release button, the shaft may lower due to the weight of the
) end effector. Be sure to hold the shaft by hand while pressing the button.
(3)	Turn OFF the Controller.
(4)	Loosen the lower limit mechanical stop screw (M4⋅15).

NOTE

)

A mechanical stop is mounted on both the top and bottom of Joint #3. However, only the position of the lower limit mechanical stop on the top can be changed. Do not remove the upper limit mechanical stop on the bottom because the calibration point of Joint #3 is specified using the stop.

(5)The upper end of the shaft defines the maximum stroke. Move the lower limit mechanical stop down by the length you want to limit the stroke. For example, when the lower limit mechanical stop is set at “150 mm” stroke, the lower limit Z coordinate value is “-150”. To change the value to “-130”, move the lower limit mechanical stop down “20 mm”. Use calipers to measure the distance when adjusting the mechanical stop.

Measure this distance.

(6)Firmly tighten two lower limit mechanical stop screws (M4 ⋅ 15) so that they do not enter the shaft groove.

Recommended tightening torque: 490 N⋅cm (50 kgf⋅cm)

(7)Turn ON the Controller.

G3 Rev.1 55