Epson G3 Series manuale d’uso

SCARA ROBOT G3 series MANIPULA TOR MANUAL Rev .1 EM08ZR1795F[...]

M A N I P U L A T O R M A N U A L G 3 s e r i e s R e v . 1[...]

G3 Rev .1 i SCARA ROBOT G3 series Manipulator Manual Rev .1 Copyright © 2008 SEIKO EPSON CORPORA TION. All rights reserved.[...]

ii G3 Rev .1 FOREWORD Thank you for p urchasing our ro bot products. This manual contai ns the information ne cessary for the correct use of the manipulato r . Please carefully read this manual and o ther related m anuals before installing t he robot system. Keep this manual ha ndy for easy access at all times. W ARRANTY The Manipulator and i ts op[...]

G3 Rev .1 iii TRADEMARKS Microsoft, W indows, and W indows logo are eit h er registered tradem ar ks or trademarks of Microsoft Corporation in t h e United S tates and/or other countries. Other brand an d product names are tra demarks or register ed trademarks of the respect ive holders. NOTICE No part of this m anual may be copied or reproduc ed w[...]

iv G3 Rev .1 MANUF ACTURER & SUPPLIER SEIKO EPSON CORPORA TION Japan & Others Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujim i, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAP AN TEL : +81-(0)266-61-1802 F AX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC. Factory Automation/Ro botics 18300 Central A[...]

G3 Rev .1 v Before Reading This Manual This section describes what you should know before reading this manual. S tructure of Control System The G3 series Manipulators can be used with the following combinations of Controllers and software. The operating m ethods and descriptions are dif ferent depending on whic h software you are using. The followi[...]

vi G3 Rev .1[...]

G3 Rev .1 vii T ABLE OF CONTENTS Before Reading Th is Manual ................................................................................... v Setup & Operation 1. Safety 3 1.1 Conv entions ............................................................................................. 3 1.2 Design and Inst allation Sa fety ...................[...]

T ABLE OF CONTENTS viii G3 Rev .1 5. Motion Range 46 5.1 Motion Range Setting by Pu lse Range (for A ll Joints) ........................... 47 5.1.1 Max. Pulse R ange of Jo int #1 .................................................... 48 5.1.2 Max. Pulse R ange of Jo int #2 .................................................... 49 5.1.3 Max. Pulse R an[...]

Setup & Operation This volume contains informati on for setup and operation of the G3 series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.[...]

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Setup & Operation 1. Safety G3 Rev .1 3 1. Safety Installation and transportation of robots and robot ic equipm ent shall be perfor med by qualified person nel and sh ould conf orm to all na tional and local codes. Please read this manual and ot her related manuals b efore installing th e robot system or before connecting cables. Keep this manu[...]

Setup & Operation 1. Safety 1.2 Design and Installation Safety Only trained personnel should design and install the robot system. T rained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer , dealer , or local representative company , or those wh o understand the manuals[...]

Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precaut ions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User ’s Guide before operating the ro bot system. Operating the robot system without understanding t he safety requireme[...]

Setup & Operation 1. Safety 1.4 Emergency S top If the Manipu lator moves a bnormally during opera tion, imm ediately press the Emer gency Stop swit ch. Stops the power supply to the m otor , and the arm stops in the shortest distance with the dynam ic brake and mechanical brake. However , avoid pressi ng the Em ergency S top switch unnecessari[...]

Setup & Operation 1. Safety G3 Rev .1 7 1.5 Emergency Movement Without Drive Power When the system is placed in em ergency mode, push the arm or joi n t of the Manipulat or by hand as shown b elow: Arm #1 ............. Push the arm by hand. Arm #2 ............. Push the arm by hand. Joint #3 ............ The joint cannot be moved up/down by han[...]

Setup & Operation 1. Safety 1.6 Manipulator Labels The following labels are attac hed near the locations of the Mani pulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to opera te and maintain the Manipulator safely . Do not tear , damage, or remove the l abels. Use meticulous care w hen handlin[...]

Setup & Operation 1. Safety G3 Rev .1 9 A B D C Common T able T op Mounting Multiple Mounting C E C A B E Manipulators with bel lows do not have label D. Because they have no risk of catch ing your hand or fingers. ) NOTE[...]

Setup & Operation 2. S pecifications 10 G3 Rev .1 2. S pecifications 2.1 Features of G3 series Manipulators The G3 series Manipula tors are high-perform ance manipulators pursuing high sp eed, high accuracy , space saving, and high c o st-performance. The features of the G3 series Manipulators are as follows: S pace productivity T op level of c[...]

Setup & Operation 2. S pecifications G3 Rev .1 11 2.2 Model Number and Model Differences G3- 25 1 S □ -R- UL Fire resistant □ : No fire resistant UL : UL compl iance T ype □ : S tandard R : Right-Curved L : Left-Curved Environment S : S tandard C : Cleanroom & ESD (Anti-S tatic) Joint #3 stroke : 150 mm 1 : 120 mm (Cleanroom-model) Ar[...]

Setup & Operation 2. S pecifications 12 G3 Rev .1 2.3 Part Names and Outer Dimensions 2.3.1 T able T op Mounting S tandard-model G3-***S CE label + − + − + − + − UR label Joint #3 / #4 Brake release s witch Joint #1 (rotating) Joint #2 (rotating) Joint #3 (Up/Down) Joint #4 (rotating) Arm #1 Arm #2 Base Shaft MT label (only for special [...]

Setup & Operation 2. S pecifications G3 Rev .1 13 sh aft di amet er G3- 251* S G3-30 1* S G3- 35 1* S a 120 17 0 22 0 b Max .545 Ma x.575 Ma x.595 Max. ø11 t hroug h h ol e mech an ic al st op di am et er Co nica l ho le Ø3, 90° 1 m m f l at c ut Det ail of “A” ( Cal ib rat ion p oi nt p os it ion of J oi nts #3 an d # 4 ) or m ore Sp ac[...]

Setup & Operation 2. S pecifications 14 G3 Rev .1 Cleanroom-model: G3-***C The following figures show the additional parts and sp ec ifications for Cleanroom-model (T able T op m ounting) when compared with the Standard-m odel in appearance. Upper bellows Plate cover (For Anti-static) Cover for T able T op mounting surface Exhaust port Lower be[...]

Setup & Operation 2. S pecifications G3 Rev .1 15 G3- 251* S G3- 301* S G3- 35 1* S a 120 17 0 22 0 b Max .545 Ma x.575 Max .595 sh aft diam et e r Max. ø1 1 t hr ough h ol e mech an ic al st op di am et er Co ni ca l h ole Ø3, 90° 1 mm f l at cut Det ail of “A” ( Cal ib r ati on p oint p osi ti on of J oint s #3 an d #4 ) S p ace f or c[...]

Setup & Operation 2. S pecifications 16 G3 Rev .1 2.3.2 Multiple Mounting S tandard-model: G3-***1SM + − + − + − + − CE label UR label Joint #3 / #4 Brake release switch Joint #1 (rotating) Joint #2 (rotating) Joint #3 (Up/Down) Arm #1 Arm #2 Base Shaft MT label (only for speci al order) Face plate (Manipulator serial No.) Signal cable [...]

Setup & Operation 2. S pecifications G3 Rev .1 17 G3- 30 1SM G3- 351SM a 70 220 b M ax.4 1 0 M ax. 4 50 sh aft diam et er Max. ø1 1 t hr ough h ol e mech anic al st op di amet er Co nica l ho le Ø3, 9 0° 1 m m f l at cut Det ail of “A” ( Cal ibr ation p oi nt p ositi on of J oints #3 and #4 ) (* ) in dic at es t h e s tr ok e m argi n by[...]

Setup & Operation 2. S pecifications 18 G3 Rev .1 Cleanroom-model: G3-***1CM The following figures show the additional parts and specifications for Clea nroo m-model (Mul tiple Mounti ng) when compared with the Standard-m odel in appearance. Upper bellow s Plate cover (For Anti-static) Exhaust port Lower bello ws[...]

Setup & Operation 2. S pecifications G3 Rev .1 19 G3- 301 CM G3- 35 1 CM a 70 22 0 b M ax.4 1 0 M ax. 4 5 0 sh aft di am et er Max. ø11 t hr ough h ol e mech an ic al st op di am et er Co nica l hole Ø3, 90° 1 m m f l at c ut Detail of “ A” ( Cali bration p oint p osi ti on of Joi nts #3 an d #4 ) (*) indi c ate s the stroke m arg in b y[...]

Setup & Operation 2. S pecifications 20 G3 Rev .1 2.4 S pecifications Item G3 series Manipulator Arm #1, #2 250 mm 300 mm 350 mm Arm #1 120 mm 170 mm 220 mm Arm lengt h Arm #2 130 mm 130 mm 130 mm Joints #1, #2 3550 mm/s 3950 mm/s 4350 mm/s Joint #3 1 100 mm/s Max. operating speed *1 Joint #4 3000 deg/s Joints #1, #2 ± 0.008 mm ± 0.01 mm ± 0[...]

Setup & Operation 2. S pecifications G3 Rev .1 21 Item G3 series Manipulator Ambient T emperature 5 to 40 ° C (wit h minimum tem perature variation) Environm ental requirements Ambient relati ve humidity 10 to 80 % (no condensation ) Noise level *4 L Aeq = 70 dB (A) Applicable Co ntroller RC180 SPEED 1 to (5) to100 ACCEL *5 1 to (10) t o 120 S[...]

Setup & Operation 2. S pecifications 22 G3 Rev .1 2.5 How to Set the Model The Manipula tor model for y our system has been set before shi pment from the fact ory . It is normally not required to c hange the m odel when you receive your system . CAUTION ■ When you need to change the setting of the Manipulator model, be sure to set the Manipul[...]

Setup & Operation 3. Environments a nd Installation G3 Rev .1 23 3. Environment s and Inst allation 3.1 Environmental Conditions A suitable environment is necess ary for the robo t system to func tion properly and safe ly . Be sure to install the robot sy stem in an environm ent that meets the following con ditions: Item Conditions Ambient tem [...]

Setup & Operation 3. Environments a nd Installation 24 G3 Rev .1 3.2 Base T able A base table for anchoring the Manipulator is not suppli ed. Please make or obtain the base table for your Ma nipulator . The shape an d size of the b ase table dif fers depending on the use of the robot system . For your reference, we list some Manipulator table r[...]

Setup & Operation 3. Environments a nd Installation G3 Rev .1 25 3.3 Mounting Dimensions The maximum space described in figure s shows th at the radi us of the end effect or is 60 mm or less. If the radius of the end ef fector exceeds 60 m m, define the radius as the distance to the out er edge of maximum spa ce. If a camera or electrom agnetic[...]

Setup & Operation 3. Environments a nd Installation 26 G3 Rev .1 A A B A B B B A T able Top Mounti ng C en t er of J oin t # 3 Max imum s p ace G3-301S/C G3-251S/C S tandard -R -L a Length of Ar m #1 (mm) 120 170 b Length of Arm #2 (mm) 130 84 / 92 104.8 / 1 07.1 120.7 c (Motion range) Z : 150/120 d Moti on range of Joint #1 (degree ) 140 140 ?[...]

Setup & Operation 3. Environments a nd Installation G3 Rev .1 27 A B B A M ultip le M oun ting C en t er of J oin t # 3 Max imum s pac e G3-301SM/CM G3-351SM/CM S tandard S tandard -R -L a Length of Ar m #1 (mm) 170 220 220 220 b Length of Arm #2 (mm) 130 120.7 142. 3 125.6 / 140.5 125.6 / 140.5 c (Motion range) Z : 150 / 120 d Moti on range of[...]

Setup & Operation 3. Environments a nd Installation 3.4 Unp acking and T ransportation THE INST ALLA TION SHALL BE PREFORMED BY QUALIF IED INST ALLA TION PERSONNEL AND SHOULD CON FORM TO ALL NA TIONAL AND LOCAL CODES. W ARNING ■ Only authorized personnel should perfo rm sling work and operate a crane and a forklift. When these operations are [...]

Setup & Operation 3. Environments a nd Installation G3 Rev .1 29 3.5 Installation Procedure The following sections descr ibe the install ation of th e St andard Mani pulator . 3.5.1 T able T op Mounting 3.5.2 Multiple Mounting For Cleanroom-m odel manipulator , refer to this section; 3.5.3 Cleanroom -model 3.5.1 T able T op Mounting CAUTION ■[...]

Setup & Operation 3. Environments a nd Installation 30 G3 Rev .1 3.5.2 Multiple Mounting ■ Install the Multiple Mounting Manipul ator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment da maged by a fall of the Manipulator . G3-301*M : approx. 29 kg: 64 l[...]

Setup & Operation 3. Environments a nd Installation 3.5.3 Cleanroom-model (1) Unpack it outside of the clea n room. (2) Secure the Manipulat or to delivery equipm ent such as a pallet wit h bolts so that the Manipulato r does not fall. (3) W ipe off the dust on the Manipulator with a little alco hol or distilled water on a lint-free cloth. (4) [...]

Setup & Operation 3. Environments a nd Installation 32 G3 Rev .1 When the Manipulator is a Cleanro om-model, be aware of the followings. For the Manipula tor of Cleanroom -model, use it with an ex haust system. For details, refer to Setup & O peration: 2.4 S p ecificatio ns. CAUTION ■ When operating the Manipulator unde r spec ial environ[...]

Setup & Operation 3. Environments a nd Installation 3.7 User Wires and Pneumatic T ubes CAUTION ■ Only authorized or certified personnel should be allowed to perform wiring . Wiring by unauthorized or uncer tified personnel may result in bodily injur y and/or malfunction of the robot system. User electrical wires and pne umatic tubes ar e con[...]

Setup & Operation 3. Environments a nd Installation 34 G3 Rev .1 T able T op Mounting Fitting (blac k) for ø4 mm pneumatic tube Fitting (bla ck) for ø6 mm pneumatic tube Fitting (white) for ø6 mm pneumatic tube User connector (15-pin D-sub connector) Multiple Mounting Fitting (bla ck) for ø6 mm pneumatic tube User connector (15-pin D-sub co[...]

Setup & Operation 3. Environments a nd Installation 3.8 Relocation and S torage 3.8.1 Precautions for Relocation and S torage Observe the following whe n relocating, s toring, and transporting the Manipulators. THE INST ALLA TION SHALL BE PREFORMED BY QUALIF IED INST ALLA TION PERSONNEL AND SHOULD CON FORM TO ALL NA TIONAL AND LOCAL CODES. W AR[...]

Setup & Operation 3. Environments a nd Installation 36 G3 Rev .1 3.8.2 T able T op Mounting CAUTION ■ Install or relocate the T able T op Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment da maged by a fall of the Manipulator . G3-25[...]

Setup & Operation 3. Environments a nd Installation G3 Rev .1 37 3.8.3 Multiple Mounting ■ Install or relocate the Multiple Mountin g Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment da maged by a fall of the Manipulator . G3-301*M : approx.[...]

Setup & Operation 4. Setting of End Ef fectors 4. Setting of End Effectors 4.1 Attaching an End Ef fector Users are responsible for making t heir own en d effector(s). Befo re attach ing an end effector , observe these guidelines. CAUTION ■ If you use an end effector equipped with a gripper or chuck, connect wires a nd/or pneumatic tubes prop[...]

Setup & Operation 4. Setting of End Ef fectors 4.2 Attaching Cameras and V alves Arm #2 has thread ed holes as show n in the fi gure below . Use these holes for attaching cameras, valves, a nd other equipm ent. [Unit: mm] Com m on Dim ensions M ultiple M ounting T able T op M ounting Fro m the base moun tin g face m th e re fer ence hol e Fr om[...]

Setup & Operation 4. Setting of End Ef fectors 4.3 We ight and Inertia Settings T o ensure optimum Manipu lator performance, it is important to m ake sure that the load (weight of the end ef fector and work piece) an d moment of inerti a of the load are within the maximum rating for the Manipulator , and that Joint #4 does not become eccentric.[...]

Setup & Operation 4. Setting of End Ef fectors G3 Rev .1 41 <Example> A “1 kg” camera is attached to th e end of the G3 series a rm (180 mm away from the rot ation center of Joint #2) with a load weight of “1 kg”. M = 1 L 2 = 130 L M = 180 W M = 1 × 180 2 /130 2 = 1.53 8 → 1.6 (round up) W + W M = 1 + 1.6 = 2.6 Enter “2.6” [...]

Setup & Operation 4. Setting of End Ef fectors 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting The moment of inertia is d efined as “the ratio of t he torque a pplied to a rigid body and its resistance to motion” . This value is ty pically referred to as “ the moment of in ertia”, “inertia”, or “GD 2 ”. When the [...]

Setup & Operation 4. Setting of End Ef fectors Eccentric Quantity and the Inertia Setting CAUTION ■ The eccentric quantity of load (weight of the end effector and work piece) must be 150 mm or less. The G3 series Manipul ators ar e not designed to work with eccentric quantity exceeding 150 mm. Always set the eccentric quantity paramete r acco[...]

Setup & Operation 4. Setting of End Ef fectors Calculating the Mo ment of Inertia Refer to the f ollowing ex amples of form ulas to calculate the mom ent of inertia of load (end effect or with work piece). The moment of inertia of the entire load is calculated by the sum of e ach part (a), (b), a nd (c). W ork piece (b) W ork piece (c) End effe[...]

Setup & Operation 4. Setting of End Ef fectors G3 Rev .1 45 (c) Moment of inertia of a sphere m r 2 + m × L 2 2 5 Sphere’s center of gravity r Mass (m) Rotation center L 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator in hor izontal PTP motion with Joint #3 (Z) at a hi gh position, the m otion tim[...]

Setup & Operation 5. Motion Range 5. Motion Range CAUTION ■ When setting up the motion range for safety , both the pulse range and mechanical stops must always be set at the same time. The motion range is preset at the factory as explained in Setup & Operation: 5.4 S tandard Motion Range . That is the maxim u m motion range of the Manipul[...]

Setup & Operation 5. Motion Range G3 Rev .1 47 5.1 Motion Range Setting by Pulse Range (for All Joint s ) Pulses are the basic uni t of Manipulator motion. The motion range of the Manipulator is controlled by the pulse range betwe en the pulse lower limit and upper limit of each joint. Pulse values are read from the encoder output of the servo [...]

Setup & Operation 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward t he positive (+) direction on the X-coordi nate axis. When the 0 pulse is a starting poi nt, the counterclockwise pulse va lue is defined as the positive (+) and t he clockwise p u lse value i s[...]

Setup & Operation 5. Motion Range 5.1.2 Max. Pulse Range of Joint #2 The 0 (zero) pulse pos ition of Joint #2 is the position where Arm #2 is in-line with Arm #1. W ith the 0 pulse as a starting po int, the cou nterclockwise pulse va lue is defined as the positive (+) and t he clockwise p u lse value i s defined as the ne gative ( - ). B B 0 pu[...]

Setup & Operation 5. Motion Range 50 G3 Rev .1 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the p osition where the sh aft is at its upper lim it. The pulse value is always nega tive because Joint #3 al ways moves lower than the 0 puls e position. Up pe r lim it: 0 pulse Model Joint #3 S troke Lower Limit Pulse [...]

Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical S tops Mechanical stops physically limit the abs olute area that the Manipula tor can move. Both Joints #1 a nd #2 have threaded hole s in the posit ions correspondin g to the angle f or the mechan ical stop se ttings. In stall th e bolts in th e holes corresp onding to th[...]

Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical S t ops of Joint s #1 and #2 Both Joints #1 a nd #2 have threaded hole s in the posit ions corresponding to the angle f or the mechan ical stop se ttings. In stall th e bolts in th e holes corresp onding to th e angle tha t you want to set. R L Join t #1 Mechanic al St ops Views fro[...]

Setup & Operation 5. Motion Range G3 Rev .1 53 Ｒ Ｌ Join t #2 Mechanical Sto ps Views from the top of Arm #1 Model Arm a b c d 250 +141 ° - 141 ° +120 ° - 120 ° 300 +142 ° - 142 ° +122 ° - 122 ° G3-**1S/C 350 +142 ° - 142 ° +122 ° - 122 ° 300 +150 ° - 135 ° +135 ° - 120 ° G3-**1S/C-R 350 +165 ° - 120 ° +150 ° - 105 ° 300 [...]

Setup & Operation 5. Motion Range 54 G3 Rev .1 (1) T urn OFF the Controller . (2) Install a he xagon socket head cap bolt int o the hol e correspond ing to t he setting an gle, and tighten i t. Joint Hexagon socket head cap bolt (fully threaded) The number of bolts Recommended tightening torque 1 M8 × 10 1 bolt / one side 3720 N ⋅ cm (380 kg[...]

Setup & Operation 5. Motion Range G3 Rev .1 55 5.2.2 Setting the Mechanical S t op of Joint #3 ) NOTE This method app lies only to the S tandard-model Ma nipulator (G3-**1S*) / Multiple Mounting Manipul ator (G3-**1SM). For the Cleanr oom-m odel ( G3-**1C*), the motion range set with the Joint #3 mechanical stop cannot be changed. (1) Turn ON t[...]

Setup & Operation 5. Motion Range 56 G3 Rev .1 (8) Move Joint #3 to its lower lim it while pressing the brake release button, and the n chec k the lower lim i t position. Do not lower the mechanical stop too far . Otherwise, the j oint may not reach a tar get position. (9) Calculate the lower lim it pulse value of th e pulse range using the for[...]

Setup & Operation 5. Motion Range 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Jo ints #1 and #2) Use this method to set the u pper and lower lim its of the X and Y coordinates. This setting is only enforc ed by software. Therefore, it does not change the physical range. The m aximum physical[...]

Setup & Operation 5. Motion Range 58 G3 Rev .1 T able T op Mounting - S trait Arm Ce nt er of Joint#3 Maxim um s pace Motion range Area l im ited by m echan i cal stop Base m ount i ng f ace a b c d e f g h j k q m n p G3-251S 141° 2.3° 84.0 150 9.6 6.7 G3-251C 137° 6.3° 79.3 92.0 120 250 22 1.9 224.5 14 3. 3 ° 120 4.1 10.7 G3-301S 1 42 °[...]

Setup & Operation 5. Motion Range T able T op Mounting - Left-Curved Arm Ce nt er of Joint#3 Maxim um space Motion range Ar ea limit ed by m echa nical stop Base m oun ti ng face a b c d e f g h j k m n p q G3-301S-L 1 5 0° 3 . 3° 1 7 0 30 0 2 77 .2 G3-301C-L 150° 3° 125° 6° 145° 8.3° 135° 79.5 86.8 1 13.2 120.7 277.2 G3-351S-L 1 6 5°[...]

Setup & Operation 5. Motion Range 60 G3 Rev .1 T able T op Mounting - Right-Curved Arm Ce nt er of Joint#3 Maxim um s pace Motion range Area lim it ed by m echa nical stop Base m oun ti ng face a b c d e f g h j k m G3-301S-R 12 5° 6° 15 0° 3° 13 5 ° 3 . 3° 15 0 ° G 3 - 3 0 1 C - R 150° 3° 125° 6° 145° 8.3° 145° 79.5 86.8 1 13.2 1[...]

Setup & Operation 5. Motion Range G3 Rev .1 61 Multiple Mounting : S trait Arm Ce nt er of Joint#3 Maxim um s pace Motion range Area lim ited by m echa nical stop Base m oun ti ng f ace a b c d e f g h j k q G3-301SM/CM 1 1 5 ° 1 3 5° 1 12 . 0 1 2 0 .7 1 7 0 3 0 0 2 01 .8 2 12 .4 1 38 .8 ° G3-351SM/CM 1 20 ° 4° 142° 3.8° 134.2 142.3 220 [...]

Setup & Operation 5. Motion Range 62 G3 Rev .1 Multiple Mounting : Left-Curved Arm Ce nter of Joint#3 Maxim um spac e Motion range Area lim ited by m echa nical stop Base mounting face a b c d e f g h j k m G3-351SM-L 3 .3 ° 1 6 0° 2. 8° 10 3. 3 12 5. 6 G3-351CM-L 130° 2° 105° 5° 150° 12. 8° 120° 125.6 140.5 183.0 191.6 n p q r s t x [...]

Setup & Operation 5. Motion Range G3 Rev .1 63 Multiple Mounting : Right-Curved Arm Ce n ter of Joint#3 Maxim um s pace Motion range Area lim ited by m echa nical stop Base m oun ting f ace a b c d e f g h j k m G3-351SM-R 3 .3 ° 1 6 0° 10 3. 3 12 5 . 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[...]

Setup & Operation 5. Motion Range 64 G3 Rev .1[...]

Maintenance This volume contains maint enance procedures with safety precautions for G3 se ries Manipulators.[...]

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Maintenance 1. Safety Maintenance 1. Safety Maintenance Please read this chapter , this manual, a nd other relevant m anuals carefully to understand safe maintenance procedures before performing any routine m aintenance. Only authorized personnel who have taken safety training should be allowed to maintain the robot system. Safety training is the p[...]

Maintenance 1. Safety Maintenance 68 G3 Rev .1 CAUTION ■ Be sure to connect the cables properly . Do not allow unnecessary strain on the cables. (Do not put heavy objects on the cables. Do not bend or pull the cables forcibly .) The unnecessary strain on t he cables may result in damage to the cables, disconnection, and/or contact failure. Dam ag[...]

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) Inspection Point Inspection Place Daily Monthly Quarterly Biannual A nnual End effector mounting bolts √ √ √ √ √ Manipulator mounting bolts √ √ √ √ √ Each arm locking bolts √ √ √ √ ?[...]

Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gea r units need greasing regularly . Only use the grease specified in the following table. CAUTION ■ Keep enough grease in the Manipulator . Op erating the Manipulator with insufficient grease will damage sliding p arts and/ or result in insufficient function of [...]

Maintenance 2. General Maintenance 2.4 T ightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in pla ces where mechanical strength is required. (A hexagon socket head cap bolt will be call ed a “bolt” in this manual.) These bolts are fastened with the tightening torques s hown in the following table. When it is necessa[...]

Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts 2.6.1 T able T op Mounting G3-**1S : S tandard-model Joint #3 mo to r Lithiu m batte ry & Battery boar d Join t #1 motor Joint #2 reduction gear uni t Joi nt #1 reduction gear unit Brake re l ease but ton swit ch Ba ll scre w sp line unit Join t #4 motor Cable unit Z be lt U1 be[...]

Maintenance 2. General Maintenance 2.6.2 Multiple Mounting G3-**1SM : S tandard-model Po w er c a bl e Cable un i t Joi nt #3 br ake Lithi um ba t ter y & Batt ery board Si gn al c abl e Brake re l ease switch LED lamp Bal l screw spline unit Arm co ver Joint #4 mot or Z belt U1 belt U2 belt Join t #2 mot or Joint #2 reduction gear Joint #1 red[...]

Maintenance 3. Covers 3. Covers All procedures for removing and installing cove rs in maintenance are described in this chapter . ■ Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out t he motor connectors with the power ON is extremely hazardous and may result in se rious bodi[...]

Maintenance 3. Covers G3 Rev .1 75 T able T op Mounting Multiple Mounting Arm bottom cover Arm cap Connector plate Connector sub plate Base bottom cover Arm top cover Connector plate Connector sub plate Arm top cover Arm bottom cover Heatsink plate Heatsink plate 3.1 Arm T op Cover ■ Do not remove the arm top cover forcib ly . Removing the cover [...]

Maintenance 3. Covers 76 G3 Rev .1 (3) T urn OFF the Controller . (4) Unscrew the arm top cover mount ing bolts, and then lift the cover . When bellows are installed to the manip ulator , remove the u pper bellows and the n remove the arm top cover . For bellows rem oval, refer to Maintenance 9. Bell ows . Be careful for user wires and tubes when r[...]

Maintenance 3. Covers G3 Rev .1 77 3.2 Arm Bottom Cover Unscrew the arm bottom cover m ounting bolts, and then pu ll the cover downw ard and remove it. The arm bot tom cover m a y not be remove d fro m the shaft because t h e end ef fector is installed. If it is necessary to rem ove the cover completely (for replacem ent of the ball screw spline un[...]

Maintenance 3. Covers 3.4 Connector Plate ■ Do not remove the connector plate fo rcibly . Removing the connector plate forcibly may result in damage to the cabl es, disconnection, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or im proper function of the robot[...]

Maintenance 3. Covers 3.5 Connector Sub Plate ■ Do not remove the connecto r sub plate forcibly . Removing the connector sub plate forcibly may result in damage to the cables, disconnecti on, and/or contact failure. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric s hock and/or improper f unction[...]

Maintenance 3. Covers 80 G3 Rev .1 3.7 Heatsink Plate Unscrew the heatsink plate m ounting bolt s to remove th e plate. G3-**1* T able T op Mounting G3-**1*W Multiple Mounting Tru s s : 4-M4 × 8 Heatsink plate T russ: 2-M4 × 8 T russ: 4-M4 × 8 Heatsink plate T russ: 2-M4 × 8 3.8 Base Bottom Cover Unscrew the base bot tom cover m ounting bolts a[...]

Maintenance 4. Maintenance Parts List G3 Rev .1 81 4. Maintenance Part s List 4.1 Common P arts Part Name Code Note 250 mm R13B020023 300 mm R13B020024 S/C 350 mm R13B020025 300 mm R13B020026 Cable Unit SM/CM 350 mm R13B020027 Cable Length 3 m R12B020431 Cable Length 5 m R12B020432 M/C Cable Cable Length 10 m R12B020433 Joint #1 R13B000614 200 W AC[...]

Maintenance 4. Maintenance Parts List 82 G3 Rev .1 4.2 Parts by Environment Model 4.2.1 S: S tandard-model Part Name Code Note Ball Screw S pline 150 mm R13B010220 Arm Cover R13B0304 21 White Arm Bottom Cover R13B030423 4.2.2 C: Cleanroom-model Part Name Code Note Ball Screw S pline 120 mm R13B010221 Arm Cover R13B030422 Plating Arm Bottom Cover R1[...]