Japan & Others, Europe | Epson G3 Series instruction

MANUFACTURER & SUPPLIER

Japan & Others	SEIKO EPSON CORPORATION
	Suwa Minami Plant
	Factory Automation Systems Dept.
	1010 Fujimi, Fujimi-machi,
	Suwa-gun, Nagano, 399-0295
	JAPAN
	TEL	: +81-(0)266-61-1802
	FAX	: +81-(0)266-61-1846

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746

USA

TEL : +1-562-290-5900

FAX : +1-562-290-5999

E-MAIL : info@robots.epson.com

Europe	EPSON DEUTSCHLAND GmbH
	Factory Automation Division
	Otto-Hahn-Str.4
	D-40670 Meerbusch
	Germany
	TEL	: +49-(0)-2159-538-1391
	FAX	: +49-(0)-2159-538-3170
	E-MAIL	: robot.infos@epson.de

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G3 Rev.1

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Epson G3 Series manual Japan & Others, North & South America Epson AMERICA, INC, Europe

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Japan & Others North & South America Epson AMERICA, INCEurope 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 Safety Setup & Operation 1. SafetyConventions Design and Installation Safety Operation Safety All necessary safety precautionsUnexpectedly 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 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 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 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 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 Common Dimensions Table Top Mounting Attaching Cameras and ValvesUnit mm Equivalent Weight Formula Weight and Inertia SettingsWeight Setting Load on the Shaft Automatic speed setting by Weight 140 Automatic acceleration/deceleration setting by Weight 120100 Moment of inertia of load on the shaft Inertia SettingMoment of Inertia and the Inertia Setting 100 005 Eccentric Quantity Eccentric quantity of load on the shaft100 150 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 While the Power is on Manipulator is operating Maintenance 2. General MaintenanceInspection Point Greasing Bolt Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Set Screw Tightening Torque Layout of Maintenance Parts G3-**1C Cleanroom-model with bellowsG3-**1S Standard-model G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-model R13B031226 Maintenance 3. CoversCovers R13B031227 Arm Top Cover Table Top Mounting Multiple MountingRemoval 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 Maintenance Parts List Maintenance 4. Maintenance Parts ListCommon Parts Parts by Environment Model Standard-model