Setup & Operation 2. Specifications

 

2.4

 

Specifications

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Item

 

 

 

 

G3 series Manipulator

 

Arm length

 

Arm #1, #2

250 mm

 

 

300 mm

 

350 mm

 

 

Arm #1

 

120 mm

 

 

170 mm

 

220 mm

 

 

 

 

 

Arm #2

 

130 mm

 

 

130 mm

 

130 mm

 

Max. operating

 

Joints #1, #2

3550 mm/s

 

3950 mm/s

 

4350 mm/s

 

 

Joint #3

 

1100 mm/s

 

 

 

 

 

 

speed

*1

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Joint #4

 

3000 deg/s

 

 

 

 

 

 

 

 

 

 

Joints #1, #2

± 0.008 mm

 

± 0.01 mm

 

± 0.01 mm

 

Repeatability

 

Joint #3

 

± 0.001 mm

 

 

 

 

 

 

 

 

 

 

Joint #4

 

± 0.005 deg

 

 

 

 

 

 

Payload (Load)

 

Rated

 

1 kg

 

 

 

 

 

 

 

Max.

 

3 kg

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Joint #4 allowable

 

Rated

 

0.005 kg·m2

 

 

 

 

 

 

moment of inertia

 

Max.

 

0.05 kg·m2

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

*2

 

 

 

 

 

 

 

 

 

Straight

 

Joint #1

 

± 140

 

 

 

 

 

 

 

 

Joint #2

 

± 141

 

 

 

± 142

 

 

 

 

 

 

 

 

 

 

Max.

 

 

 

Joint #1

Right hand

-

 

 

− 115 to 150

 

− 105 to 160

 

Curved

 

Left hand

-

 

 

− 150 to 115

 

− 160 to 105

 

motion

 

 

 

 

 

 

 

 

Right hand

-

 

 

− 135 to 150

 

− 120 to 165

 

range

 

 

 

Joint #2

 

 

 

 

 

 

 

Left hand

-

 

 

− 150 to 135

 

− 165 to 120

 

 

 

 

 

 

 

 

 

 

 

Common

 

Joint #3

 

150

 

 

 

 

 

 

 

 

Joint #4

 

± 360

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Straight

 

Joint #1

 

− 9786710 to 51729750

 

 

 

 

 

Joint #2

 

± 20534614

 

± 20680249

 

 

 

 

 

 

 

 

Max.

 

 

 

Joint #1

Right hand

-

− 5825423 to 55924054

− 3495254 to 58254223

 

Curved

 

Left hand

-

− 13981014 to 47768463

− 16311183 to 45438294

 

pulse

 

 

 

 

 

Right hand

-

− 19660800 to 21845334

− 17476267 to 24029867

 

range

 

 

 

Joint #2

 

 

 

 

Left hand

-

− 21845334 to 19660800

− 24029867 to 17476267

 

 

 

 

 

 

 

 

Common

 

Joint #3

 

−13653338 to 0

 

 

 

 

 

 

 

Joint #4

 

± 23907534

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Joints #1

 

0.00000377134 deg/pulse

 

 

 

Resolution

 

Joint #2

 

0.00000686645 deg/pulse

 

 

 

 

Joint #3

 

0.00001098632 mm/pulse

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Joint #4

 

0.0001560107deg/pulse

 

 

 

Hand

 

 

 

Shaft diameter

ø 16 mm

 

 

 

 

 

 

 

 

 

Through hole

ø 11mm

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Mounting hole

 

 

 

120 ⋅ 120 mm (4-M8)

 

 

 

Weight (cables not included)

 

14 kg : 31 lb.

 

 

 

 

 

 

Driving method

 

All joints

 

AC servo motor

 

 

 

 

 

Motor

 

 

 

Joint #1

 

200 W

 

 

 

 

 

 

 

 

 

Joint #2

 

150 W

 

 

 

 

 

 

energy

 

 

 

 

 

 

 

 

 

 

 

 

 

Joint #3

 

150 W

 

 

 

 

 

 

consumption

 

 

 

 

 

 

 

 

 

Joint #4

 

150 W

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Option

 

Installation method

 

-

 

 

Multiple Mounting

 

 

Installation environment

Cleanroom *3 & ESD

 

 

 

 

 

 

 

 

Joint #3 down force

 

 

 

150 N

 

 

 

 

 

 

Installed wire for customer use

 

15 (15 pin: D-sub)

15 cores

 

 

 

Installed pneumatic

 

 

 

2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)

 

tube for customer use

 

1 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)

20

G3 Rev.1

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Epson G3 Series manual Specifications