G3 series | Epson G3 Series instruction

SCARA ROBOT

G3 series

MANIPULATOR MANUAL

Rev.1EM08ZR1795F

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Epson G3 Series manual G3 series

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 Manual G3 Rev.1 Table of Contents Maintenance Parts List Safety Maintenance General MaintenanceMotion Range Covers Setup & Operation Page Setup & Operation 1. Safety SafetyConventions Design and Installation Safety All necessary safety precautions Operation SafetyUnexpectedly Free running distance in emergency Emergency Stop Joint #4 Emergency Movement Without Drive Power Be careful not to burn yourself Manipulator Labels Common Multiple Mounting Table Top Mounting Features of G3 series Manipulators SpecificationsSetup & Operation 2. Specifications Space productivity Model 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 Mounting G3-301SM 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 Conditions Do not remove the M/C cables from the Manipulator Base Table Space 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 Cables Cable Connections Electrical Wires User Wires and Pneumatic TubesPneumatic Tubes Malfunction of the robot system Multiple Mounting Relocation and Storage Precautions for Relocation and Storage Table Top Mounting Example of Arm Retaining Posture Wire tie Sheet Attaching an End Effector Setting of End Effectors Attaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Weight Setting Weight and Inertia SettingsEquivalent Weight Formula Load on the Shaft Automatic 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 100 005 Eccentric quantity of load on the shaft Eccentric Quantity100 150 Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepiped Automatic acceleration/deceleration vs. Joint #3 position Precautions for Auto Acceleration/Deceleration of Joint #3100 120 150 Mm Shaft height G3 Rev.1 Motion Range Setup & Operation 5. Motion Range Motion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 ±142 / ±142 2 Max. Pulse Range of Joint #2 4 Max. Pulse Range of Joint #4 3 Max. Pulse Range of Joint #3 Motion Range Setting by Mechanical Stops Views from the bottom of Arm #1 Setting the Mechanical Stops of Joints #1 and #2 G3-**1SM/CM-R Views from the top of Arm #1 Recommended Joint Setting 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 Stopped Schedule for Maintenance Inspection General Maintenance Maintenance 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 Torque G3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellows Covers Maintenance 3. CoversR13B031226 R13B031227 Table Top Mounting Multiple Mounting Arm Top CoverRemoval Installation Arm Cap Arm Bottom CoverG3-**1S* Standard-model G3-**1 Table Top Mounting G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector Plate G3-**1S* Standard-model G3-**1C* Cleanroom-model Connector Sub PlateUser Plate G3-**1* Table Top Mounting Base Bottom Cover Heatsink Plate Maintenance 4. Maintenance Parts List Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model