Maintenance Parts List for Robotics R13ZA00600300

Maintenance 4. Maintenance Parts List

4.Maintenance Parts List

4.1 Common Parts

	Part Name			Code	Note
			250 mm	R13B020023
		S/C	300 mm	R13B020024
Cable Unit			350 mm	R13B020025
		SM/CM	300 mm	R13B020026
		SM/CM	350 mm	R13B020027
			350 mm	R13B020027
		Cable Length 3 m		R12B020431
M/C Cable		Cable Length 5 m		R12B020432
		Cable Length 10 m		R12B020433
AC Servo Motor		Joint #1		R13B000614	200 W
AC Servo Motor		Joint #2 / #3 / #4		R13B000615	150 W
		Joint #2 / #3 / #4		R13B000615	150 W
Reduction Gear		Joint #1		R13B010016	SHG20-80
Unit		Joint #2		R13B010017	SHG17-50
Solenoid Brake		Z axis		R13B030501
		Joint #3		R13B030213	Z :
Timing Belt		Joint #4		R13B030214	U1 :
		Joint #4		R13B030215	U2 :
				R13B030215	U2 :
		Joint #1		R13A030700200	For SHG-20
O-ring		Joint #2		R13A030700100	For SHG-17
O-ring		Joint #1		R13A030700700	O-ring20
		Joint #1		R13A030700700	O-ring20
		Joint #2		R13A030700600	O-ring17
Brake Release Switch				R13Z702640100
Oil seal unit				R13B031233
Battery Board					With lithium battery
Battery Board				R13B041202	Installed in Arm #2
				R13B041202	Installed in Arm #2
Battery Unit				R13ZA00600300	Lithium battery for replacement
LED Lamp				R13A030000200
		Ball Screw Spline		R13ZA00330200	AFB grease (400 g)
Grease		Reduction Gear Unit		R13ZA00330100	SK-1A (500 g)
		Cable		R13B030304	Tube of GPL-224 (227 g)

G3 Rev.1

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Epson G3 Series manual Common Parts, Maintenance 4. Maintenance Parts List

Contents

G3 series Manipulator Manual G3 series Manipulator Manual Foreword Service Center North & South America Epson AMERICA, INC Japan & OthersEurope Controller RC180 Software Epson RC+ 5.0 Ver .3 or greater Before Reading This Manual G3 Rev.1 Table of Contents Covers Safety Maintenance General MaintenanceMaintenance Parts List Motion Range Setup & Operation Page Setup & Operation 1. Safety SafetyConventions Design and Installation Safety All necessary safety precautions Operation SafetyUnexpectedly 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 Space productivity SpecificationsFeatures of G3 series Manipulators Setup & Operation 2. Specifications 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 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 Conditions Environments and InstallationSetup & Operation 3. Environments and Installation Environmental Conditions Do not remove the M/C cables from the Manipulator Base Table 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 Cleanroom-model Connecting the Cables Cable Connections Malfunction of the robot system User Wires and Pneumatic TubesElectrical Wires Pneumatic Tubes 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 Attaching Cameras and Valves Common Dimensions Table Top MountingUnit mm Load on the Shaft Weight and Inertia SettingsWeight Setting Equivalent Weight Formula Automatic acceleration/deceleration setting by Weight 120 Automatic speed setting by Weight 140100 100 005 Inertia SettingMoment of Inertia and the Inertia Setting Moment of inertia of load on the shaft Eccentric quantity of load on the shaft Eccentric Quantity100 150 Moment of inertia of a cylinder Moment of inertia of a rectangular parallelepiped Mm Shaft height G3 Rev.1 Precautions for Auto Acceleration/Deceleration of Joint #3Automatic acceleration/deceleration vs. Joint #3 position 100 120 150 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 Stopped Safety MaintenanceMaintenance 1. Safety Maintenance Not connect it directly to a factory power source Schedule for Maintenance Inspection General Maintenance Maintenance 2. General Maintenance Inspection While the Power is on Manipulator is operatingInspection Point Greasing Set Screw Tightening Torque Tightening Hexagon Socket Head Cap BoltsMatching Origins Bolt Tightening Torque G3-**1C Cleanroom-model with bellows Layout of Maintenance PartsG3-**1S Standard-model G3-**1SM Standard-model G3-**1CM Cleanroom-model with bellows R13B031227 Maintenance 3. CoversCovers R13B031226 Table Top Mounting Multiple Mounting Arm Top CoverRemoval Installation G3-**1 Table Top Mounting Arm Bottom CoverArm Cap G3-**1S* Standard-model G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Connector Plate G3-**1* Table Top Mounting Connector Sub PlateG3-**1S* Standard-model G3-**1C* Cleanroom-model User Plate Base Bottom Cover Heatsink Plate Maintenance 4. Maintenance Parts List Maintenance Parts ListCommon Parts Standard-model Parts by Environment Model