Epson G3 Series manual G3-351SM-R 105 130 120

Page 73

Setup & Operation 5. Motion Range

Multiple 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

G3-351SM-R

105°

5°

130°

3.3°

120°

3.8°

160°

103.3

125.6

183.0

191.6

G3-351CM-R

2°

150°

125.6

140.5

N

p

q

r

s

t

x

y

z

G3-351SM-R

220

350

186.9

205.2

271.4

280.8

123.8°

162.8°

2.8°

G3-351CM-R

277.2

12.8°

u

v

w

G3-351SM-R

150

9.6

6.7

G3-351CM-R

120

4.1

10.7

(°: degree)

G3 Rev.1

63

Image 73

Contents G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center North & South America Epson AMERICA, INC Japan & OthersEurope Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This ManualG3 Rev.1 Table of Contents Maintenance Parts List Safety Maintenance General MaintenanceMotion Range CoversSetup & Operation Page Setup & Operation 1. Safety SafetyConventions Design and Installation Safety All necessary safety precautions Operation SafetyUnexpectedly 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 Features of G3 series Manipulators SpecificationsSetup & Operation 2. Specifications 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 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 Setup & Operation 3. Environments and Installation Environments and InstallationEnvironmental Conditions ConditionsDo not remove the M/C cables from the Manipulator Base TableSpace 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 Cleanroom-model Connecting the CablesCable Connections Electrical Wires User Wires and Pneumatic TubesPneumatic Tubes Malfunction of the robot systemMultiple 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 EffectorsAttaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Weight Setting Weight and Inertia SettingsEquivalent Weight Formula Load on the ShaftAutomatic acceleration/deceleration setting by Weight 120 Automatic speed setting by Weight 140100 Moment of Inertia and the Inertia Setting Inertia SettingMoment of inertia of load on the shaft 100 005Eccentric quantity of load on the shaft Eccentric Quantity100 150 Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepipedAutomatic acceleration/deceleration vs. Joint #3 position Precautions for Auto Acceleration/Deceleration of Joint #3100 120 150 Mm Shaft height G3 Rev.1Motion 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 Maintenance 1. Safety Maintenance Safety MaintenanceNot connect it directly to a factory power source StoppedSchedule for Maintenance Inspection General MaintenanceMaintenance 2. General Maintenance Inspection While the Power is on Manipulator is operatingInspection Point Greasing Matching Origins Tightening Hexagon Socket Head Cap BoltsBolt Tightening Torque Set Screw Tightening TorqueG3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellowsCovers Maintenance 3. CoversR13B031226 R13B031227Table Top Mounting Multiple Mounting Arm Top CoverRemoval Installation Arm Cap Arm Bottom CoverG3-**1S* Standard-model G3-**1 Table Top MountingG3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model Connector Sub PlateUser Plate G3-**1* Table Top MountingBase Bottom Cover Heatsink PlateMaintenance 4. Maintenance Parts List Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model