Epson G3 Series manual G3-301SM/CM 115

Page 71

Setup & Operation 5. Motion Range

Multiple Mounting : Strait 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

q

G3-301SM/CM

115°

4°

135°

3.8°

112.0

120.7

170

300

201.8

212.4

138.8°

G3-351SM/CM

120°

142°

134.2

142.3

220

350

240.0

253.0

145.8°

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

m

n

p

 

 

 

 

 

 

 

 

G3-301SM

150

9.6

6.7

 

 

 

 

 

 

 

 

G3-301CM

120

4.1

10.7

 

 

 

 

 

 

 

 

G3-351SM

150

9.6

6.7

 

 

 

 

 

 

 

 

G3-351CM

120

4.1

10.7

 

 

 

 

 

 

 

 

(°: degree)

G3 Rev.1

61

Page 70 Page 72
Image 71
Page 70 Page 72
Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Europe Japan & OthersNorth & South America Epson AMERICA, INC Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This ManualG3 Rev.1 Table of Contents Covers Safety Maintenance General MaintenanceMaintenance Parts List Motion RangeSetup & Operation Page Conventions SafetySetup & Operation 1. Safety Design and Installation Safety Unexpectedly Operation SafetyAll necessary safety precautions Free running distance in emergency Emergency StopJoint #4 Emergency Movement Without Drive PowerBe careful not to burn yourself Manipulator LabelsCommon Multiple Mounting Table Top Mounting Space productivity SpecificationsFeatures of G3 series Manipulators Setup & Operation 2. SpecificationsModel 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 Standard-model G3-***1SM Multiple MountingG3-301SM 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 Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Environmental ConditionsDo not remove the M/C cables from the Manipulator Base TableSpace 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 Cleanroom-model Connecting the CablesCable Connections Malfunction of the robot system User Wires and Pneumatic TubesElectrical Wires Pneumatic TubesMultiple Mounting Relocation and Storage Precautions for Relocation and StorageTable Top Mounting Example of Arm Retaining Posture Wire tie Sheet Attaching an End Effector Setting of End EffectorsUnit mm Common Dimensions Table Top MountingAttaching Cameras and Valves Load on the Shaft Weight and Inertia SettingsWeight Setting Equivalent Weight Formula100 Automatic speed setting by Weight 140Automatic acceleration/deceleration setting by Weight 120 100 005 Inertia SettingMoment of Inertia and the Inertia Setting Moment of inertia of load on the shaft100 150 Eccentric QuantityEccentric quantity of load on the shaft Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepipedMm Shaft height G3 Rev.1 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position 100 120 150Motion Range Setup & Operation 5. Motion RangeMotion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 ±142 / ±142 2 Max. Pulse Range of Joint #24 Max. Pulse Range of Joint #4 3 Max. Pulse Range of Joint #3Motion Range Setting by Mechanical Stops Views from the bottom of Arm #1 Setting the Mechanical Stops of Joints #1 and #2G3-**1SM/CM-R Views from the top of Arm #1Recommended JointSetting 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 Stopped Safety MaintenanceMaintenance 1. Safety Maintenance Not connect it directly to a factory power sourceSchedule for Maintenance Inspection General MaintenanceInspection Point Inspection While the Power is on Manipulator is operatingMaintenance 2. General Maintenance Greasing Set Screw Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Bolt Tightening TorqueG3-**1S Standard-model Layout of Maintenance PartsG3-**1C Cleanroom-model with bellows G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellowsR13B031227 Maintenance 3. CoversCovers R13B031226Removal Arm Top CoverTable Top Mounting Multiple Mounting Installation G3-**1 Table Top Mounting Arm Bottom CoverArm Cap G3-**1S* Standard-modelG3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector PlateG3-**1* Table Top Mounting Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model User PlateBase Bottom Cover Heatsink PlateCommon Parts Maintenance Parts ListMaintenance 4. Maintenance Parts List Standard-model Parts by Environment Model
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