G3 series Manipulator Manual | Epson G3 Series specs

SCARA ROBOT

G3 series Manipulator Manual

Rev.1

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G3 Rev.1

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Epson G3 Series manual G3 series Manipulator Manual

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Japan & Others North & South America Epson AMERICA, INCEurope Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This Manual G3 Rev.1 Table of Contents Covers Safety Maintenance General MaintenanceMaintenance Parts List Motion Range Setup & Operation Page Safety Setup & Operation 1. SafetyConventions Design and Installation Safety Operation Safety All necessary safety precautionsUnexpectedly 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 Space productivity SpecificationsFeatures of G3 series Manipulators Setup & Operation 2. Specifications Model Number and Model Differences Part Names and Outer Dimensions Table Top MountingStandard-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 Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Environmental Conditions Do not remove the M/C cables from the Manipulator Base Table Mounting Dimensions Space for teaching Space for maintenance and inspectionSpace 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 Malfunction of the robot system User Wires and Pneumatic TubesElectrical Wires Pneumatic Tubes 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 Common Dimensions Table Top Mounting Attaching Cameras and ValvesUnit mm Load on the Shaft Weight and Inertia SettingsWeight Setting Equivalent Weight Formula Automatic speed setting by Weight 140 Automatic acceleration/deceleration setting by Weight 120100 100 005 Inertia SettingMoment of Inertia and the Inertia Setting Moment of inertia of load on the shaft Eccentric Quantity Eccentric quantity of load on the shaft100 150 Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepiped Mm Shaft height G3 Rev.1 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position 100 120 150 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 Stopped Safety MaintenanceMaintenance 1. Safety Maintenance Not connect it directly to a factory power source Schedule for Maintenance Inspection General Maintenance Inspection While the Power is on Manipulator is operating Maintenance 2. General MaintenanceInspection Point Greasing Set Screw Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Bolt Tightening Torque Layout of Maintenance Parts G3-**1C Cleanroom-model with bellowsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellows R13B031227 Maintenance 3. CoversCovers R13B031226 Arm Top Cover Table Top Mounting Multiple MountingRemoval Installation G3-**1 Table Top Mounting Arm Bottom CoverArm Cap G3-**1S* Standard-model G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector Plate G3-**1* Table Top Mounting Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model User Plate Base Bottom Cover Heatsink Plate Maintenance Parts List Maintenance 4. Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model