Epson G3 Series

Setup & Operation 5. Motion Range

G3 Rev.1 63

Multiple Mounting : Right-Curved Arm

Center of Joint#3

Maximum space

Motion range

Area limited

by mechanical stop

Base mounting face

a b c d e f g h j k

G3-351SM-R 3.3° 160° 103.3 125.6

G3-351CM-R 105° 5° 130° 2° 120° 3.8° 150° 125.6 140.5 183.0 191.6

N p q r s t x y z

G3-351SM-R 280.8 2.8°

G3-351CM-R 220 350 186.9 205.2 271.4 277.2 123.8° 162.8° 12.8°

u v w

G3-351SM-R 150 9.6 6.7

G3-351CM-R 120 4.1 10.7

(°: degree)

Contents

Main SCARA ROBOT G3 series Rev.1 EM08ZR1795F MANIPULATOR MANUAL Page SCARA ROBOT G3 series Manipulator Manual FOREWORD WARRANTY TRADEMARKS NOTICE INQUIRIES SERVICE CENTER MANUFACTURER & SUPPLIER SUPPLIERS Before Reading This Manual Structure of Control System Turning ON/OFF Controller Shape of Motors Setting by Using Software Page TABLE OF CONTENTS Setup & Operation 1. Safety 3 2. Specifications 10 3. Environments and Installation 23 Maintenance 1. Safety Maintenance 67 2. General Maintenance 68 3. Covers 74 4. Maintenance Parts List 81 Setup & Operation Page 1. Safety 1.1 Conventions 1.2 Design and Installation Safety 1.3 Operation Safety 1.4 Emergency Stop 1.5 Emergency Movement Without Drive Power 1.6 Manipulator Labels Page 2. Specifications 2.1 Features of G3 series Manipulators 2.2 Model Number and Model Differences Setup & Operation 2. Specifications 12 G3 Rev.1 2.3 Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model G3-***S + Page Page Setup & Operation 2. Specifications G3 Rev.1 15 2.3.2 Multiple Mounting Page Page Page Setup & Operation 2. Specifications 20 G3 Rev.1 2.4 Specifications Page 2.5 How to Set the Model 3. Environments and Installation 3.1 Environmental Conditions 3.2 Base Table 3.3 Mounting Dimensions Setup & Operation 3. Environments and Installation 26 G3 Rev.1 Setup & Operation 3. Environments and Installation G3 Rev.1 27 3.4 Unpacking and Transportation 3.5 Installation Procedure 3.5.1 Table Top Mounting 3.5.2 Multiple Mounting 3.5.3 Cleanroom-model 3.6 Connecting the Cables Cable Connections 3.7 User Wires and Pneumatic Tubes Electrical Wires Pneumatic Tubes Page 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage 3.8.2 Table Top Mounting 3.8.3 Multiple Mounting 4. Setting of End Effectors 4.1 Attaching an End Effector 4.2 Attaching Cameras and Valves 4.3 Weight and Inertia Settings 4.3.1 Weight Setting 140 120 100 80 60 40 20 0 1 1.5 2 2.5 3 (kg) Weight setting (%) Automatic acceleration/deceleration setting by Weight 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting CAUTION Moment of inertia of load on the shaft Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia) 120 100 80 60 40 20 0 50 100 150 (mm) (%) Setup & Operation 4. Setting of End Effectors Calculating the Moment of Inertia (a) Moment of inertia of a rectangular parallelepiped (b) Moment of inertia of a cylinder Setup & Operation 4. Setting of End Effectors 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 Automatic acceleration/deceleration vs. Joint #3 position 5. Motion Range 5.1 Motion Range Setting by Pulse Range (for All Joints) 5.1.1 Max. Pulse Range of Joint #1 5.1.2 Max. Pulse Range of Joint #2 5.1.3 Max. Pulse Range of Joint #3 5.1.4 Max. Pulse Range of Joint #4 5.2 Motion Range Setting by Mechanical Stops 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Page Page 5.2.2 Setting the Mechanical Stop of Joint #3 Page 5.4 Standard Motion Range Page Page Page Page Page Page Page 1. Safety Maintenance 2. General Maintenance 2.1 Schedule for Maintenance Inspection Maintenance 2. General Maintenance G3 Rev.1 69 2.2 Inspection Point 2.2.1 Inspection While the Power is OFF (Manipulator is not operating) 2.2.2 Inspection While the Power is ON (Manipulator is operating) 2.3 Greasing 2.4 Tightening Hexagon Socket Head Cap Bolts 2.5 Matching Origins 2.6 Layout of Maintenance Parts 2.6.1 Table Top Mounting 2.6.2 Multiple Mounting 3. Covers 3.1 Arm Top Cover Page 3.2 Arm Bottom Cover 3.3 Arm Cap 3.4 Connector Plate 3.5 Connector Sub Plate 3.6 User Plate 3.7 Heatsink Plate 3.8 Base Bottom Cover Maintenance 4. Maintenance Parts List G3 Rev.1 81 4. Maintenance Parts List 4.1 Common Parts 4.2 Parts by Environment Model 4.2.1 S: Standard-model 4.2.2 C: Cleanroom-model