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G3 Series manual
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92 pages, 3.51 Mb
SCARA ROBOT
G3 series
MANIPULATOR MANUAL
Rev.1 EM08ZR1795F
Contents
Main
SCARA ROBOT
G3 series
Rev.1 EM08ZR1795F
MANIPULATOR MANUAL
Page
SCARA ROBOT
G3 series Manipulator Manual
FOREWORD
WARRANTY
TRADEMARKS
NOTICE
INQUIRIES
SERVICE CENTER
MANUFACTURER & SUPPLIER
SUPPLIERS
Before Reading This Manual
Structure of Control System
Turning ON/OFF Controller
Shape of Motors
Setting by Using Software
Page
TABLE OF CONTENTS
Setup & Operation
1. Safety 3
2. Specifications 10
3. Environments and Installation 23
Maintenance
1. Safety Maintenance 67
2. General Maintenance 68
3. Covers 74
4. Maintenance Parts List 81
Setup & Operation
Page
1. Safety
1.1 Conventions
1.2 Design and Installation Safety
1.3 Operation Safety
1.4 Emergency Stop
1.5 Emergency Movement Without Drive Power
1.6 Manipulator Labels
Page
2. Specifications
2.1 Features of G3 series Manipulators
2.2 Model Number and Model Differences
Setup & Operation 2. Specifications
12 G3 Rev.1
2.3 Part Names and Outer Dimensions
2.3.1 Table Top Mounting
Standard-model G3-***S
+
Page
Page
Setup & Operation 2. Specifications
G3 Rev.1 15
2.3.2 Multiple Mounting
Page
Page
Page
Setup & Operation 2. Specifications
20 G3 Rev.1
2.4 Specifications
Page
2.5 How to Set the Model
3. Environments and Installation
3.1 Environmental Conditions
3.2 Base Table
3.3 Mounting Dimensions
Setup & Operation 3. Environments and Installation
26 G3 Rev.1
Setup & Operation 3. Environments and Installation
G3 Rev.1 27
3.4 Unpacking and Transportation
3.5 Installation Procedure
3.5.1 Table Top Mounting
3.5.2 Multiple Mounting
3.5.3 Cleanroom-model
3.6 Connecting the Cables
Cable Connections
3.7 User Wires and Pneumatic Tubes
Electrical Wires
Pneumatic Tubes
Page
3.8 Relocation and Storage
3.8.1 Precautions for Relocation and Storage
3.8.2 Table Top Mounting
3.8.3 Multiple Mounting
4. Setting of End Effectors
4.1 Attaching an End Effector
4.2 Attaching Cameras and Valves
4.3 Weight and Inertia Settings
4.3.1 Weight Setting
140 120 100 80 60 40 20 0 1 1.5 2 2.5 3 (kg) Weight setting
(%)
Automatic acceleration/deceleration setting by Weight
4.3.2 Inertia Setting
Moment of Inertia and the Inertia Setting
CAUTION
Moment of inertia of load on the shaft
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
120 100 80 60 40 20 0 50 100 150 (mm)
(%)
Setup & Operation 4. Setting of End Effectors
Calculating the Moment of Inertia
(a) Moment of inertia of a rectangular parallelepiped
(b) Moment of inertia of a cylinder
Setup & Operation 4. Setting of End Effectors
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3
Automatic acceleration/deceleration vs. Joint #3 position
5. Motion Range
5.1 Motion Range Setting by Pulse Range (for All Joints)
5.1.1 Max. Pulse Range of Joint #1
5.1.2 Max. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4
5.2 Motion Range Setting by Mechanical Stops
5.2.1 Setting the Mechanical Stops of Joints #1 and #2
Page
Page
5.2.2 Setting the Mechanical Stop of Joint #3
Page
5.4 Standard Motion Range
Page
Page
Page
Page
Page
Page
Page
1. Safety Maintenance
2. General Maintenance
2.1 Schedule for Maintenance Inspection
Maintenance 2. General Maintenance
G3 Rev.1 69
2.2 Inspection Point
2.2.1 Inspection While the Power is OFF (Manipulator is not operating)
2.2.2 Inspection While the Power is ON (Manipulator is operating)
2.3 Greasing
2.4 Tightening Hexagon Socket Head Cap Bolts
2.5 Matching Origins
2.6 Layout of Maintenance Parts
2.6.1 Table Top Mounting
2.6.2 Multiple Mounting
3. Covers
3.1 Arm Top Cover
Page
3.2 Arm Bottom Cover
3.3 Arm Cap
3.4 Connector Plate
3.5 Connector Sub Plate
3.6 User Plate
3.7 Heatsink Plate
3.8 Base Bottom Cover
Maintenance 4. Maintenance Parts List
G3 Rev.1 81
4. Maintenance Parts List
4.1 Common Parts
4.2 Parts by Environment Model
4.2.1 S: Standard-model
4.2.2 C: Cleanroom-model