Epson G3 Series manual G3-301S-R

Page 70

Setup & Operation 5. Motion Range

Table Top Mounting - Right-Curved Arm

Center of Joint#3

Maximum space

Motion range

Area limited

by mechanical stop

Base mounting face

 

 

a

b

c

d

e

f

g

h

j

k

m

 

 

 

G3-301S-R

125°

6°

150°

3°

135°

3.3°

150°

79.5

86.8

113.2

120.7

 

 

 

 

G3-301C-R

150°

3°

125°

6°

145°

8.3°

145°

 

 

 

 

 

 

 

 

 

 

 

 

G3-351S-R

110°

4°

165°

5°

120°

3.8°

165°

96.9

100.3

183.0

191.6

 

 

 

 

G3-351C-R

160°

107.5

184.2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

n

p

q

r

s

t

u

v

w

x

y

 

z

 

G3-301S-R

170

300

227.5

241.5

277.2

281.4

150

9.6

6.7

138.3°

153.3°

 

－

 

 

G3-301C-R

201.8

227.5

288.7

120

4.1

10.7

 

8.3°

 

 

 

 

 

 

 

 

 

 

G3-351S-R

220

350

205.2

219.4

342.5

346.6

150

9.6

6.7

123.8°

167.8°

 

2.8°

 

 

G3-351C-R

222.9

120

4.1

10.7

 

7.8°

 

 

 

 

 

 

 

 

 

 

 

(°: degree)

60

G3 Rev.1

Page 69 Page 71
Image 70
Page 69 Page 71
Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center North & South America Epson AMERICA, INC Japan & OthersEurope 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 Setup & Operation 1. Safety SafetyConventions Design and Installation Safety All necessary safety precautions Operation SafetyUnexpectedly 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 Table Top Mounting Part Names and Outer DimensionsStandard-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 ManipulatorSpace for teaching Space for maintenance and inspection Mounting DimensionsSpace 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 EffectorAttaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Equivalent Weight Formula Weight and Inertia SettingsWeight Setting Load on the ShaftAutomatic acceleration/deceleration setting by Weight 120 Automatic speed setting by Weight 140100 Moment of inertia of load on the shaft Inertia SettingMoment of Inertia and the Inertia Setting 100 005Eccentric quantity of load on the shaft Eccentric Quantity100 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 InspectionMaintenance 2. General Maintenance Inspection While the Power is on Manipulator is operatingInspection Point Greasing Bolt Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Set Screw Tightening TorqueG3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-modelR13B031226 Maintenance 3. CoversCovers R13B031227Table Top Mounting Multiple Mounting Arm Top CoverRemoval 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 4. Maintenance Parts List Maintenance Parts ListCommon Parts Parts by Environment Model Standard-model
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