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Epson G3 Series Manual 

Epson G3 Series Manual Online:

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Epson G3 Series User Manual
Epson G3 Series User Guide
Epson G3 Series Online Manual

Text of Epson G3 Series User Guide:

  • Epson G3 Series, Setup & Operation 2. Specifications G3 Rev.1 19 G3-301CM G3-351CM a 70 220 b Max.410 Max.450 shaft diameter Max.ø11 through hole mechanical stop diameter Conical hole Ø3,90° 1 mm flat cut Detail of “A” ( Calibration p oint p osition of Joints #3 and #4 ) (*) indicates the stroke margin by mechanical stop. Reference through hole ( View from the bottom of the base ) or more Space for cables

  • Epson G3 Series, Setup & Operation 1. Safety G3 Rev.1 3 1. Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables. Keep this manual handy for easy access at all times. 1.1 Conventions Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol. WARNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructi

  • Epson G3 Series, Setup & Operation 3. Environments and Installation G3 Rev.1 23 3. Environments and Installation 3.1 Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely. Be sure to install the robot system in an environment that meets the following conditions: Item Conditions Ambient temperature * 5 to 40°C (with minimum temperature variation) Ambient relative humidity 10 to 80% (no condensation) First transient burst noise 2 kV or less Electrostatic noise 6 kV or less Environment · Install indoors. · Keep away from direc

  • Epson G3 Series, Setup & Operation 4. Setting of End Effectors G3 Rev.1 41 <Example> A “1 kg” camera is attached to the end of the G3 series arm (180 mm away from the rotation 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 = 1.538 → 1.6 (round up) W + W M = 1 + 1.6 = 2.6 Enter “2.6” for the Weight Parameter. Automatic speed setting by Weight 140 120 100 80 60 40 20 0 1 1.5 2 2.5 3 (kg) Weight setting (%) * The percentage

  • Epson G3 Series, Setup & Operation 5. Motion Range 62 G3 Rev.1 Multiple Mounting : Left-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 m G3-351SM-L 3.3° 160° 2.8° 103.3 125.6 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 y z G3-351SM-L 280.8 G3-351CM-L 220 350 271.4 277.2 186.9 205.2 162.8° 123.8° 3.8° u v w G3-351SM-L 150 9.6 6.7 G3-351CM-L 120 4.1 10.7 (°: degree)

  • Epson G3 Series, Setup & Operation 4. Setting of End Effectors 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its resistance to motion”. This value is typically referred to as “the moment of inertia”, “inertia”, or “GD 2 ”. When the Manipulator operates with additional objects (such as an end effector) attached to the shaft, the moment of inertia of load must be considered. CAUTION ■ The moment of inertia of the load (weight of the end effector and work piece)

  • Epson G3 Series, Maintenance 4. Maintenance Parts List 82 G3 Rev.1 4.2 Parts by Environment Model 4.2.1 S: Standard-model Part Name Code Note Ball Screw Spline 150 mm R13B010220 Arm Cover R13B030421 White Arm Bottom Cover R13B030423 4.2.2 C: Cleanroom-model Part Name Code Note Ball Screw Spline 120 mm R13B010221 Arm Cover R13B030422 Plating Arm Bottom Cover R13B030424 Bellows R13B030704 Gasket Unit R13B031234

  • Setup & Operation 3. Environments and Installation G3 Rev.1 27 A B B A Multiple Mounting Center of Joint #3 Maximum space G3-301SM/CM G3-351SM/CM Standard Standard -R -L a Length of Arm #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 Motion range of Joint #1 (degree)

  • Epson G3 Series, Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set. Joints #3 can be set to any length less than the maximum stroke. Table Top Mounting Mechanical stop of Joint

  • Epson G3 Series, Setup & Operation 3. Environments and Installation 3.5.3 Cleanroom-model (1) Unpack it outside of the clean room. (2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall. (3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth. (4) Carry the Manipulator in the clean room. (5) Refer to the installation procedure of each Manipulator model and install the Manipulator. (6) Connect an exhaust tube to the exhaust port. CAUTION ■ Wh

  • Epson G3 Series, Setup & Operation 1. Safety 1.6 Manipulator Labels The following labels are attached near the locations of the Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely. Do not tear, damage, or remove the labels. Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas: Labels NOTE A Before loosening the base mounting screws, hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in the Manipulator. B C

  • Epson G3 Series, Setup & Operation 3. Environments and Installation 30 G3 Rev.1 3.5.2 Multiple Mounting ■ Install the Multiple 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 damaged by a fall of the Manipulator. G3-301*M : approx. 29 kg: 64 lb. G3-351*M : approx. 29.5 kg: 65 lb. WARNING ■ When installing the Manipulator to the wall, support the Manipulator, and then secure the anchor bolts. Removing the support without securing the anchor bolts properly is extremely hazardous and m

  • Epson G3 Series, G3 Rev.1 iii TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice. Please notify us if you should find any errors in this manual or if you have any comments regarding its contents. INQUIRIES Contact the following service center for robot repairs, inspections or adjustments. If

  • Epson G3 Series, Maintenance 3. Covers 3.4 Connector Plate ■ Do not remove the connector plate forcibly. Removing the connector 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. CAUTION ■ When installing the connector 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

  • Setup & Operation 5. Motion Range Table Top Mounting - Left-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 m n p q G3-301S-L 150° 3.3° 170 300 277.2 G3-301C-L 150° 3° 125° 6° 145° 8.3° 135° 79.5 86.8 113.2 120.7 277.2 G3-351S-L 165° 2.8° 10

  • Epson G3 Series, Setup & Operation 2. Specifications G3 Rev.1 11 2.2 Model Number and Model Differences G3-25 1 S □-R-UL Fire resistant □ : No fire resistant UL : UL compliance Type □ : Standard R : Right-Curved L : Left-Curved Environment S : Standard C : Cleanroom & ESD (Anti-Static) Joint #3 stroke : 150 mm 1 : 120 mm (Cleanroom-model) Arm length 25 : 250 mm 30 : 300 mm 35 : 350 mm Mounting type □ : Table Top Mounting M : Multiple Mounting Environment Cleanroom-model This model has additiona

  • Epson G3 Series, Maintenance 2. General Maintenance 2.6.2 Multiple Mounting G3-**1SM : Standard-model Power cable Cable unit Joint #3 brake Lithium batter y & Battery board Signal cable Brake release switch LED lamp Ball screw spline unit Arm cover Joint #4 motor Z belt U1 belt U2 belt Joint #2 motor Joint #2 reduction gear Joint #1 reduction gear Joint #1 motor Joint #3 motor Joint #3 motor (Figure: G3-301SM) G3-**1CM : Cleanroom-model (with bellows) Bellows Gasket Heat relea

  • Epson G3 Series, Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. CAUTION ■ If you use an end effector equipped with a gripper or chuck, connect wires and/or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF. Improper connection of the wires and/or pneumatic tubes may damage the robot system and/or work piece as

  • Epson G3 Series, 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 Annual End effector mounting bolts √ √ √ √ √ Manipulator mounting bolts √ √ √ √ √ Each arm locking bolts √ √ √ √ √ Bolts/screws around shaft √ Check looseness or backlash of bolts/screws. Tighten them if necessary. (For the tightening torque, refer to M

  • Epson G3 Series, G3 Rev.1 i SCARA ROBOT G3 series Manipulator Manual Rev.1 Copyright © 2008 SEIKO EPSON CORPORATION. All rights reserved.

  • Epson G3 Series, Setup & Operation 4. Setting of End Effectors 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 horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster. When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to reduce acceleration/deceleration. (Refer to the figure below.) The higher the position of the shaft is

  • Setup & Operation 5. Motion Range 5.1.2 Max. Pulse Range of Joint #2 The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1. With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-). B B 0 pulse A A Table Top Mounting

  • Epson G3 Series, 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 Standard Motion Range. That is the maximum motion range of the Manipulator. There are three methods for setting the motion range described as follows: 1. Setting by pulse range (for all joints) 2. Setting by mechanic

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

  • Epson G3 Series, Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gear units need greasing regularly. Only use the grease specified in the following table. CAUTION ■ Keep enough grease in the Manipulator. Operating the Manipulator with insufficient grease will damage sliding parts and/or result in insufficient function of the Manipulator. Once the parts are damaged, a lot of time and money will be required for the repairs. Greasing part Greasing Interval Grease

  • Epson G3 Series, Maintenance 3. Covers 80 G3 Rev.1 3.7 Heatsink Plate Unscrew the heatsink plate mounting bolts to remove the plate. G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Truss: 4-M4 × 8 Heatsink plate T russ: 2-M4 × 8 Truss: 4-M4×8 Heatsink plate Truss: 2-M4 × 8 3.8 Base Bottom Cover Unscrew the base bottom cover mounting bolts and remove the cover. G3-**1C* Cleanroom-model Truss: 4-M4 × 8 Base bottom cove r ) NOTE A base bottom cover is not installed to G3-**1S* (Standard-model).

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