Epson G3 Series manual Inspection Point, Inspection While the Power is on Manipulator is operating

Page 79

Maintenance 2. General Maintenance

2.2Inspection Point

2.2.1Inspection While the Power is OFF (Manipulator is not operating)

Inspection Point

Inspection Place

Daily

Monthly

Quarterly

Biannual

Annual

Check looseness or backlash of

End effector mounting bolts

bolts/screws.

Manipulator mounting bolts

Tighten them if necessary.

Each arm locking bolts

(For the tightening torque, refer to

Bolts/screws around shaft

 

 

 

 

Maintenance: 2.4 Tightening

Bolts/screws securing motors,

 

 

 

 

Hexagon Socket Head Cap Bolts.)

 

 

 

 

reduction gear units, etc.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Check looseness of connectors.

External connectors on

 

 

 

 

 

Manipulator (on the connector

If the connectors are loosen, push it

plates etc.)

 

 

 

 

 

securely or tighten.

 

 

 

 

 

Manipulator cable unit

 

 

 

Visually check for external defects.

External appearance of

Manipulator

Clean up if necessary.

 

 

 

 

 

External cables

 

 

 

Check for bends or improper

 

 

 

 

 

 

location. Repair or place it properly

Safeguard etc.

if necessary.

 

 

 

 

 

 

Check tension of timing belts.

Inside of Arm #2

 

 

 

Tighten it if necessary.

 

 

 

 

 

 

 

 

 

Grease conditions

Refer to Maintenance: 2.3 Greasing.

 

 

 

 

2.2.2Inspection While the Power is ON (Manipulator is operating)

Inspection Point

Inspection Place

Daily

Monthly

Quarterly

Biannual

Annual

Check motion range

Each joint

 

 

 

 

Move the cables back and forth

External cables

 

 

 

 

 

lightly to check whether the cables

(including cable unit of the

 

 

 

are disconnected.

Manipulator)

 

 

 

 

 

Push each arm in MOTOR ON

 

 

 

 

 

 

status to check whether backlash

Each arm

 

 

 

 

exists.

 

 

 

 

 

 

Check whether unusual sound or

Whole

vibration occurs.

 

 

 

 

 

 

Measure the accuracy repeatedly by

Whole

 

 

 

 

a gauge.

 

 

 

 

 

 

G3 Rev.1

69

Image 79
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 Covers Safety Maintenance General MaintenanceMaintenance Parts List Motion RangeSetup & 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 Space productivity SpecificationsFeatures of G3 series Manipulators Setup & Operation 2. SpecificationsModel 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 Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Environmental 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 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 EffectorsAttaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Load on the Shaft Weight and Inertia SettingsWeight Setting Equivalent Weight FormulaAutomatic acceleration/deceleration setting by Weight 120 Automatic speed setting by Weight 140100 100 005 Inertia SettingMoment of Inertia and the Inertia Setting Moment of inertia of load on the shaftEccentric quantity of load on the shaft Eccentric Quantity100 150 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 MaintenanceMaintenance 2. General Maintenance Inspection While the Power is on Manipulator is operatingInspection Point Greasing Set Screw Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Bolt Tightening TorqueG3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellowsR13B031227 Maintenance 3. CoversCovers R13B031226Table Top Mounting Multiple Mounting Arm Top CoverRemoval 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 PlateMaintenance 4. Maintenance Parts List Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model