Epson G3 Series manual G3-351SM-L

Page 72

Setup & Operation 5. Motion Range

Multiple Mounting : Left-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

G3-351SM-L

130°

3.3°

105°

5°

160°

2.8°

120°

103.3

125.6

183.0

191.6

G3-351CM-L

2°

150°

12.8°

125.6

140.5

n

p

q

r

s

t

x

y

z

G3-351SM-L

220

350

271.4

280.8

186.9

205.2

162.8°

123.8°

3.8°

G3-351CM-L

277.2

u

v

w

G3-351SM-L

150

9.6

6.7

G3-351CM-L

120

4.1

10.7

(°: degree)

62

G3 Rev.1

Image 72

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 Safety Maintenance General Maintenance Maintenance Parts ListMotion Range 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 Specifications Features of G3 series ManipulatorsSetup & Operation 2. Specifications 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 Environments and Installation Setup & Operation 3. Environments and InstallationEnvironmental Conditions 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 User Wires and Pneumatic Tubes Electrical WiresPneumatic Tubes 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 Weight and Inertia Settings Weight SettingEquivalent Weight Formula Load on the ShaftAutomatic speed setting by Weight 140 Automatic acceleration/deceleration setting by Weight 120100 Inertia Setting Moment of Inertia and the Inertia SettingMoment of inertia of load on the shaft 100 005Eccentric Quantity Eccentric quantity of load on the shaft100 150 Moment of inertia of a rectangular parallelepiped Moment of inertia of a cylinderPrecautions for Auto Acceleration/Deceleration of Joint #3 Automatic acceleration/deceleration vs. Joint #3 position100 120 150 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 Safety Maintenance Maintenance 1. Safety MaintenanceNot connect it directly to a factory power source StoppedGeneral Maintenance Schedule for Maintenance InspectionInspection While the Power is on Manipulator is operating Maintenance 2. General MaintenanceInspection Point Greasing Tightening Hexagon Socket Head Cap Bolts Matching OriginsBolt Tightening Torque 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-modelMaintenance 3. Covers CoversR13B031226 R13B031227Arm Top Cover Table Top Mounting Multiple MountingRemoval Installation Arm Bottom Cover Arm CapG3-**1S* Standard-model G3-**1 Table Top MountingConnector Plate G3-**1* Table Top Mounting G3-**1*W Multiple MountingConnector Sub Plate G3-**1S* Standard-model G3-**1C* Cleanroom-modelUser Plate G3-**1* Table Top MountingHeatsink Plate Base Bottom CoverMaintenance Parts List Maintenance 4. Maintenance Parts ListCommon Parts Parts by Environment Model Standard-model