Epson G3 Series instruction

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Epson G3 Series manual

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center North & South America Epson AMERICA, INC Japan & OthersEurope Before Reading This Manual Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater G3 Rev.1 Table of Contents Safety Maintenance General Maintenance Maintenance Parts ListMotion Range Covers Setup & Operation Page Setup & Operation 1. Safety SafetyConventions Design and Installation Safety All necessary safety precautions Operation SafetyUnexpectedly 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 Specifications Features of G3 series ManipulatorsSetup & Operation 2. Specifications Space productivity Model Number and Model Differences Table Top Mounting Part Names and Outer DimensionsStandard-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 Environments and Installation Setup & Operation 3. Environments and InstallationEnvironmental Conditions Conditions Base Table Do not remove the M/C cables from the Manipulator Space for teaching Space for maintenance and inspection Mounting DimensionsSpace 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 User Wires and Pneumatic Tubes Electrical WiresPneumatic Tubes 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 Attaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Weight and Inertia Settings Weight SettingEquivalent Weight Formula Load on the Shaft Automatic acceleration/deceleration setting by Weight 120 Automatic speed setting by Weight 140100 Inertia Setting Moment of Inertia and the Inertia SettingMoment of inertia of load on the shaft 100 005 Eccentric quantity of load on the shaft Eccentric Quantity100 150 Moment of inertia of a rectangular parallelepiped Moment of inertia of a cylinder Precautions for Auto Acceleration/Deceleration of Joint #3 Automatic acceleration/deceleration vs. Joint #3 position100 120 150 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 Safety Maintenance Maintenance 1. Safety MaintenanceNot connect it directly to a factory power source Stopped General Maintenance Schedule for Maintenance Inspection Maintenance 2. General Maintenance Inspection While the Power is on Manipulator is operatingInspection Point Greasing Tightening Hexagon Socket Head Cap Bolts Matching OriginsBolt Tightening Torque Set Screw Tightening Torque G3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1CM Cleanroom-model with bellows G3-**1SM Standard-model Maintenance 3. Covers CoversR13B031226 R13B031227 Table Top Mounting Multiple Mounting Arm Top CoverRemoval Installation Arm Bottom Cover Arm CapG3-**1S* Standard-model G3-**1 Table Top Mounting Connector Plate G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector Sub Plate G3-**1S* Standard-model G3-**1C* Cleanroom-modelUser Plate G3-**1* Table Top Mounting Heatsink Plate Base Bottom Cover Maintenance 4. Maintenance Parts List Maintenance Parts ListCommon Parts Parts by Environment Model Standard-model