Connector Sub Plate, User Plate | Epson G3 Series guide

Maintenance 3. Covers

3.5 Connector Sub Plate

CAUTION

■Do not remove the connector sub plate forcibly. Removing the connector sub plate forcibly may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

■When installing the connector sub plate, be careful not to allow the cables to interfere with the plate mounting and do not bend these cables forcibly to push them into the cover.

Unnecessary strain on cables may result in damage to the cables, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.

When routing the cables, observe the cable locations after removing the connector sub plate. Be sure to place the cables back to their original locations.

Unscrew the connector sub plate mounting bolts and remove the plate.

G3-**1* Table Top Mounting

Truss:

4-M4⋅8

G3-**1*W Multiple Mounting

Truss: 4-M4⋅8

Connector sub plate

Connector sub plate

3.6 User Plate

Unscrew the user plate mounting bolts and remove the plate.

G3-**1S* Standard-model

G3-**1C* Cleanroom-model

Truss: 4-M4⋅8

User plate

3-M4⋅12

Truss: 4-M4⋅8

Gasket

User plate

3-M4⋅12

A gasket is installed to G3-**1C* (Cleanroom-model).

G3 Rev.1

79

Image 89

Epson G3 Series manual Connector Sub Plate, User Plate, G3-**1* Table Top Mounting

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center Europe Japan & OthersNorth & South America Epson AMERICA, INC Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This Manual G3 Rev.1 Table of Contents Maintenance Parts List Safety Maintenance General MaintenanceMotion Range Covers Setup & Operation Page Conventions SafetySetup & Operation 1. Safety Design and Installation Safety Unexpectedly Operation SafetyAll necessary safety precautions Free running distance in emergency Emergency Stop Joint #4 Emergency Movement Without Drive Power Be careful not to burn yourself Manipulator Labels Common Multiple Mounting Table Top Mounting Features of G3 series Manipulators SpecificationsSetup & Operation 2. Specifications Space productivity Model Number and Model Differences Standard-model G3-***S Part Names and Outer DimensionsTable Top Mounting Or more Setup & Operation 2. Specifications Cleanroom-model G3-***C Reference through hole View from the bottom of the base Standard-model G3-***1SM Multiple Mounting 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 Setup & Operation 3. Environments and Installation Environments and InstallationEnvironmental Conditions Conditions Do not remove the M/C cables from the Manipulator Base Table Space for cables Mounting DimensionsSpace for teaching Space for maintenance and inspection G3-251S/C Standard G3-301S/C G3-301SM/CM Unpacking and Transportation Installation Procedure Multiple Mounting Cleanroom-model Connecting the Cables Cable Connections Electrical Wires User Wires and Pneumatic TubesPneumatic Tubes Malfunction of the robot system Multiple Mounting Relocation and Storage Precautions for Relocation and Storage Table Top Mounting Example of Arm Retaining Posture Wire tie Sheet Attaching an End Effector Setting of End Effectors Unit mm Common Dimensions Table Top MountingAttaching Cameras and Valves Weight Setting Weight and Inertia SettingsEquivalent Weight Formula Load on the Shaft 100 Automatic speed setting by Weight 140Automatic acceleration/deceleration setting by Weight 120 Moment of Inertia and the Inertia Setting Inertia SettingMoment of inertia of load on the shaft 100 005 100 150 Eccentric QuantityEccentric quantity of load on the shaft Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepiped Automatic acceleration/deceleration vs. Joint #3 position Precautions for Auto Acceleration/Deceleration of Joint #3100 120 150 Mm Shaft height G3 Rev.1 Motion Range Setup & Operation 5. Motion Range Motion Range Setting by Pulse Range for All Joints 1 Max. Pulse Range of Joint #1 ±142 / ±142 2 Max. Pulse Range of Joint #2 4 Max. Pulse Range of Joint #4 3 Max. Pulse Range of Joint #3 Motion Range Setting by Mechanical Stops Views from the bottom of Arm #1 Setting the Mechanical Stops of Joints #1 and #2 G3-**1SM/CM-R Views from the top of Arm #1 Recommended Joint 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 Maintenance 1. Safety Maintenance Safety MaintenanceNot connect it directly to a factory power source Stopped Schedule for Maintenance Inspection General Maintenance Inspection Point Inspection While the Power is on Manipulator is operatingMaintenance 2. General Maintenance Greasing Matching Origins Tightening Hexagon Socket Head Cap BoltsBolt Tightening Torque Set Screw Tightening Torque G3-**1S Standard-model Layout of Maintenance PartsG3-**1C Cleanroom-model with bellows G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellows Covers Maintenance 3. CoversR13B031226 R13B031227 Removal Arm Top CoverTable Top Mounting Multiple Mounting Installation Arm Cap Arm Bottom CoverG3-**1S* Standard-model G3-**1 Table Top Mounting G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector Plate G3-**1S* Standard-model G3-**1C* Cleanroom-model Connector Sub PlateUser Plate G3-**1* Table Top Mounting Base Bottom Cover Heatsink Plate Common Parts Maintenance Parts ListMaintenance 4. Maintenance Parts List Standard-model Parts by Environment Model