Manipulator Manual | Epson G3 Series specification

MANIPULATOR MANUAL

G3 series Rev.1

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Epson G3 Series manual Manipulator Manual

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Europe Japan & OthersNorth & South America Epson AMERICA, INC Before Reading This Manual Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater G3 Rev.1 Table of Contents Motion Range Safety Maintenance General MaintenanceMaintenance Parts List Covers Setup & Operation Page Conventions SafetySetup & Operation 1. Safety Design and Installation Safety Unexpectedly Operation SafetyAll necessary safety precautions Emergency Stop Free running distance in emergency Emergency Movement Without Drive Power Joint #4 Manipulator Labels Be careful not to burn yourself Common Multiple Mounting Table Top Mounting Setup & Operation 2. Specifications SpecificationsFeatures of G3 series Manipulators Space productivity Model Number and Model Differences Standard-model G3-***S Part Names and Outer DimensionsTable Top Mounting 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-***1SM 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 Environmental Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Conditions Base Table Do not remove the M/C cables from the Manipulator Space for cables Mounting DimensionsSpace for teaching Space for maintenance and inspection G3-251S/C Standard G3-301S/C G3-301SM/CM Unpacking and Transportation Installation Procedure Multiple Mounting Connecting the Cables Cleanroom-model Cable Connections Pneumatic Tubes User Wires and Pneumatic TubesElectrical Wires Malfunction of the robot system Multiple Mounting Precautions for Relocation and Storage Relocation and Storage Table Top Mounting Example of Arm Retaining Posture Wire tie Sheet Setting of End Effectors Attaching an End Effector Unit mm Common Dimensions Table Top MountingAttaching Cameras and Valves Equivalent Weight Formula Weight and Inertia SettingsWeight Setting Load on the Shaft 100 Automatic speed setting by Weight 140Automatic acceleration/deceleration setting by Weight 120 Moment of inertia of load on the shaft Inertia SettingMoment of Inertia and the Inertia Setting 100 005 100 150 Eccentric QuantityEccentric quantity of load on the shaft Moment of inertia of a rectangular parallelepiped Moment of inertia of a cylinder 100 120 150 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position Mm Shaft height G3 Rev.1 Setup & Operation 5. Motion Range Motion Range Motion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 2 Max. Pulse Range of Joint #2 ±142 / ±142 3 Max. Pulse Range of Joint #3 4 Max. Pulse Range of Joint #4 Motion Range Setting by Mechanical Stops Setting the Mechanical Stops of Joints #1 and #2 Views from the bottom of Arm #1 Views from the top of Arm #1 G3-**1SM/CM-R Joint Recommended 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 Not connect it directly to a factory power source Safety MaintenanceMaintenance 1. Safety Maintenance Stopped General Maintenance Schedule for Maintenance Inspection Inspection Point Inspection While the Power is on Manipulator is operatingMaintenance 2. General Maintenance Greasing Bolt Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Set Screw Tightening Torque G3-**1S Standard-model Layout of Maintenance PartsG3-**1C Cleanroom-model with bellows G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-model R13B031226 Maintenance 3. CoversCovers R13B031227 Removal Arm Top CoverTable Top Mounting Multiple Mounting Installation G3-**1S* Standard-model Arm Bottom CoverArm Cap G3-**1 Table Top Mounting Connector Plate G3-**1* Table Top Mounting G3-**1*W Multiple Mounting User Plate Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model G3-**1* Table Top Mounting Heatsink Plate Base Bottom Cover Common Parts Maintenance Parts ListMaintenance 4. Maintenance Parts List Parts by Environment Model Standard-model