Setup & Operation 2. Specifications

 

 

 

 

 

 

 

Item

 

G3 series Manipulator

 

 

Environmental

 

Ambient

5 to 40°C (with minimum temperature variation)

 

 

 

Temperature

 

 

 

 

 

 

requirements

 

Ambient relative

10 to 80% (no condensation)

 

 

 

 

 

 

humidity

 

 

 

 

 

 

 

Noise level *4

 

 

LAeq = 70 dB (A)

 

 

Applicable Controller

 

RC180

 

 

 

 

SPEED

1 to (5) to100

 

 

Assignable Value

 

ACCEL *5

1 to (10) to 120

 

 

 

SPEEDS

1 to (50) to 2000

 

 

( ) Default values

 

ACCELS

1 to (200) to 25000

 

 

 

 

FINE

0 to (10000) to 65000

 

 

 

 

WEIGHT

0,130 to (1,130) 3,130

 

 

MTBF

 

 

3 years

 

 

Safety standard

 

ANSI/RIA R15.06 compliant

 

 

 

CE compliant

 

 

 

 

 

 

*1: In the case of PTP command.

Maximum operating speed for CP command is 2000 mm/s on horizontal plane.

*2: In the case where the center of gravity is at the center of Joint #4.

If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command.

*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover interior together.

A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the arm, which can cause increased dust emission.

Do not remove the maintenance cover on the front of the base.

Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.

If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

Cleanliness level : Class ISO 3 (ISO14644-1)

In previous criteria; Clean Class: 10 or its equivalent

Amount of Dust (0.1 µm diameter or larger) in 28317 cm3 (1cft) sample-air around the center of the motion rang: 10 particles or less.

Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm Exhaust tube : Polyurethane tube

Outer diameter: ø12 mm (Inner diameter:ø8 mm) or Inner diameter ø16mm or larger

Recommended exhaust flow rate : approx. 1000 cm3/s (Normal)

*4: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum acceleration, and duty 50%.

Measurement point : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above the base-installed surface.

*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and vibration when positioning.

However, you may require an operation with high acceleration to shorten the cycle time by decreasing the vibration at positioning. In this case, set Accel to larger than 100.

If you specify a larger Accel value, the frequency of the overload error and over heat may rise during continuous operation. The use of large Accel setting is recommended only for necessary motions.

G3 Rev.1

21

Page 31
Image 31
Epson G3 Series manual Assignable Value