SCARA ROBOT G3 series MANIPULATOR MANUAL Rev.
MANIPULATOR MANUAL G3 series Rev.
SCARA ROBOT G3 series Manipulator Manual Rev.1 Copyright © 2008 SEIKO EPSON CORPORATION. G3 Rev.1 All rights reserved.
FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times.
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.
MANUFACTURER & SUPPLIER Japan & Others SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAPAN TEL : +81-(0)266-61-1802 FAX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC. Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746 USA TEL : +1-562-290-5900 FAX : +1-562-290-5999 E-MAIL : info@robots.epson.com Europe iv EPSON DEUTSCHLAND GmbH Factory Automation Division Otto-Hahn-Str.
Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The G3 series Manipulators can be used with the following combinations of Controllers and software. The operating methods and descriptions are different depending on which software you are using. The following icons are put beside appropriate text as necessary. Use the descriptions that pertain to the software you are using. Controller : RC180 Software : EPSON RC+ 5.0 Ver. 5.
vi G3 Rev.
TABLE OF CONTENTS Before Reading This Manual ................................................................................... v Setup & Operation 1. Safety 1.1 1.2 1.3 1.4 1.5 1.6 2. Conventions.............................................................................................3 Design and Installation Safety .................................................................4 Operation Safety......................................................................................
TABLE OF CONTENTS 5. Motion Range 5.1 5.2 5.3 5.4 46 Motion Range Setting by Pulse Range (for All Joints)........................... 47 5.1.1 Max. Pulse Range of Joint #1.................................................... 48 5.1.2 Max. Pulse Range of Joint #2.................................................... 49 5.1.3 Max. Pulse Range of Joint #3.................................................... 50 5.1.4 Max. Pulse Range of Joint #4....................................................
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.
Setup & Operation 1. 1. Safety 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.
Setup & Operation 1. Safety 1.2 Design and Installation Safety Only trained personnel should design and install the robot system. Trained 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 who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.
Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions 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 robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Setup & Operation 1. Safety 1.4 Emergency Stop If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake. However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally.
Setup & Operation 1. Safety 1.5 Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below: Arm #1 .............Push the arm by hand. Arm #2 .............Push the arm by hand. Joint #3 ............The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released. Move the joint up/down while pressing the brake release button switch. Joint #4...........
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.
Setup & Operation Common 1. Safety C D Multiple Mounting C Table Top Mounting B E C E A B A NOTE ) Manipulators with bellows do not have label D. Because they have no risk of catching your hand or fingers. G3 Rev.
Setup & Operation 2. 2. Specifications Specifications 2.1 Features of G3 series Manipulators The G3 series Manipulators are high-performance manipulators pursuing high speed, high accuracy, space saving, and high cost-performance.
Setup & Operation 2. Specifications 2.
Setup & Operation 2. Specifications 2.3 Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model G3-***S − Joint #2 (rotating) + Joint #1 (rotating) Arm #1 Joint #3 / #4 Brake release switch − + Arm #2 Base + Joint #3 (Up/Down) − − + Shaft Joint #4 (rotating) MT label (only for special order) Face plate (Manipulator serial No.
Setup & Operation 2. Specifications or more Space for cables (*) indicates the stroke margin by mechanical stop. a b G3-251*S 120 Max.545 G3-301*S 170 Max.575 G3-351*S 220 Max.595 1 mm flat cut Conical hole Ø3,90° Max.ø11 through hole shaft diameter mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.
Setup & Operation 2. Specifications Cleanroom-model: G3-***C The following figures show the additional parts and specifications for Cleanroom-model (Table Top mounting) when compared with the Standard-model in appearance. Plate cover (For Anti-static) Upper bellows Exhaust port Lower bellows Plate cover (For Anti-static) 14 Cover for Table Top mounting surface G3 Rev.
Setup & Operation 2. Specifications or more Space for cables (*) indicates the stroke margin by mechanical stop. a b G3-251*S 120 Max.545 G3-301*S 170 Max.575 G3-351*S 220 Max.595 1 mm flat cut Conical hole Ø3,90° Max.ø11 through hole shaft diameter mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.
Setup & Operation 2. Specifications 2.3.2 Multiple Mounting Standard-model: G3-***1SM − Joint #2 (rotating) + Joint #3 / #4 Brake release switch Base Arm #1 − + + Arm #2 Joint #3 (Up/Down) − Joint #1 (rotating) Shaft − Face plate (Manipulator serial No.
2. Specifications or more Space for cables Setup & Operation a b G3-301SM 70 Max.410 G3-351SM 220 Max.450 (*) indicates the stroke margin by mechanical stop. 1 mm flat cut Conical hole Ø3,90° Max.ø11 through hole shaft diameter mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.
Setup & Operation 2. Specifications Cleanroom-model: G3-***1CM The following figures show the additional parts and specifications for Cleanroom-model (Multiple Mounting) when compared with the Standard-model in appearance. Upper bellows Exhaust port Lower bellows 18 Plate cover (For Anti-static) G3 Rev.
2. Specifications or more Space for cables Setup & Operation (*) indicates the stroke margin by mechanical stop. a b G3-301CM 70 Max.410 G3-351CM 220 Max.450 1 mm flat cut Conical hole Ø3,90° Max.ø11 through hole shaft diameter mechanical stop diameter Reference through hole (View from the bottom of the base) Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.
Setup & Operation 2. Specifications 2.4 Specifications Item Arm #1, #2 Arm length Arm #1 Arm #2 Joints #1, #2 Max. operating Joint #3 speed *1 Joint #4 Joints #1, #2 Repeatability Joint #3 Joint #4 Rated Payload (Load) Max. Joint #4 allowable Rated moment of inertia *2 Max. Straight Max. motion range Curved Joint #2 Common Straight Max.
Setup & Operation Item Environmental requirements G3 series Manipulator Ambient Temperature Ambient relative humidity Noise level *4 Applicable Controller Assignable Value ( ) Default values MTBF Safety standard 2.
Setup & Operation 2. Specifications 2.5 How to Set the Model The Manipulator model for your system has been set before shipment from the factory. is normally not required to change the model when you receive your system. CAUTION NOTE ) It ■ When you need to change the setting of the Manipulator model, be sure to set the Manipulator model properly. Improper setting of the Manipulator model may result in abnormal or no operation of the Manipulator and/or cause safety problems.
Setup & Operation 3. 3. Environments and Installation Environments and Installation 3.1 Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely.
Setup & Operation 3. Environments and Installation 3.2 Base Table A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differs depending on the use of the robot system. For your reference, we list some Manipulator table requirements here. The torque and reaction force produced by the movement of the Manipulator are as follows: Max. Reaction torque on the horizontal plate : 500 Nm Max.
Setup & Operation 3. Environments and Installation 3.3 Mounting Dimensions The maximum space described in figures shows that the radius of the end effector is 60 mm or less. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space. If a camera or electromagnetic valve extends outside of the arm, set the maximum range including the space that they may reach.
Setup & Operation 3. Environments and Installation Table Top Mounting Center of Joint #3 A B A B B Maximum space A G3-251S/C a b Length of Arm #1 (mm) Length of Arm #2 (mm) G3-301S/C -R Standard 120 84 / 92 c (Motion range) d Motion range of Joint #1 (degree) 140 e Motion range of Joint #2 (degree) 141 / 137 f (Mechanical stop area) g Joint #1 angle to hit mechanical stop (degree) 2 h Joint #2 angle to hit mechanical stop (degree) 2.3 79.
Setup & Operation 3. Environments and Installation Multiple Mounting Center of Joint #3 B A B A Maximum space G3-301SM/CM Standard Standard a b Length of Arm #1 (mm) Length of Arm #2 (mm) c (Motion range) d Motion range of Joint #1 (degree) 115 e Motion range of Joint #2 (degree) 135 f (Mechanical stop area) 112 g Joint #1 angle to hit mechanical stop (degree) 4 h Joint #2 angle to hit mechanical stop (degree) 3.8 G3 Rev.1 170 G3-351SM/CM -R 220 -L 220 220 125.6 / 140.
Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. WARNING ■ Only authorized personnel should perform sling work and operate a crane and a forklift. When these operations are performed by unauthorized personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Setup & Operation 3. Environments and Installation 3.5 Installation Procedure The following sections describe the installation of the Standard Manipulator. 3.5.1 Table Top Mounting 3.5.2 Multiple Mounting For Cleanroom-model manipulator, refer to this section; 3.5.3 Cleanroom-model 3.5.1 Table Top Mounting CAUTION ■ Install the Table Top Mounting Manipulator with two or more people. The Manipulator weights are as follows.
Setup & Operation 3. Environments and Installation 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.
Setup & Operation 3.5.3 CAUTION 3. Environments and Installation 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.
Setup & Operation 3. Environments and Installation When the Manipulator is a Cleanroom-model, be aware of the followings. For the Manipulator of Cleanroom-model, use it with an exhaust system. For details, refer to Setup & Operation: 2.4 Specifications. CAUTION ■ When operating the Manipulator under special environmental conditions (adverse conditions with dust and oily smoke), do not place the controller in the same condition since the controller does not comply with IP54 / IP65.
Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes CAUTION ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. User electrical wires and pneumatic tubes are contained in the cable unit. Electrical Wires Rated Voltage Allowable Current Wires Nominal Sectional Area AC/DC30 V 1A 15 0.
Setup & Operation 3. Environments and Installation Table Top Mounting Fitting (white) for ø6 mm pneumatic tube Fitting (black) for ø6 mm pneumatic tube User connector (15-pin D-sub connector) Fitting (black) for ø4 mm pneumatic tube Multiple Mounting Fitting (white) for ø6 mm pneumatic tube User connector (15-pin D-sub connector) Fitting (black) for ø4 mm pneumatic tube Fitting (black) for ø6 mm pneumatic tube 34 G3 Rev.
Setup & Operation 3. Environments and Installation 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. WARNING ■ Only authorized personnel should perform sling work and operate a crane and a forklift.
Setup & Operation 3. Environments and Installation 3.8.2 Table Top Mounting CAUTION ■ Install or relocate the Table Top 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. G3-251S : approx. 27 kg: 60 lb. G3-301S : approx. 27 kg: 60 lb. G3-351S : approx. 28 kg: 62 lb. (1) Turn OFF the power on all devices and unplug the cables.
Setup & Operation 3.8.3 3. Environments and Installation Multiple Mounting ■ Install or relocate 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 removing the Manipulator from the wall, support the Manipulator, and then remove the anchor bolts.
Setup & Operation 4. 4. Setting of End Effectors Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). effector, observe these guidelines. CAUTION Before attaching an end ■ 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.
Setup & Operation 4. Setting of End Effectors 4.2 Attaching Cameras and Valves Arm #2 has threaded holes as shown in the figure below. cameras, valves, and other equipment. Use these holes for attaching [Unit: mm] Common Dimensions From the base mounting face From the base mounting face Table Top Mounting From the reference hole Multiple Mounting G3 Rev.
Setup & Operation 4. Setting of End Effectors 4.3 Weight and Inertia Settings To ensure optimum Manipulator performance, it is important to make sure that the load (weight of the end effector and work piece) and moment of inertia of the load are within the maximum rating for the Manipulator, and that Joint #4 does not become eccentric. If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow the steps below, “4.3.1Weight Setting” and “4.3.
Setup & Operation 4. Setting of End Effectors 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 L2 = 130 LM = 180 WM = 1 × 1802/1302 = 1.538 → 1.6 (round up) W + WM = 1 + 1.6 = 2.6 Enter “2.6” for the Weight Parameter. Automatic speed setting by Weight (%) 140 * The percentage in the graph 120 is based on the speed at 100 100 rated weight (1 kg) as 100%. 80 60 40 20 0 1 1.5 2 2.
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 “GD2”. 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.
Setup & Operation 4. Setting of End Effectors 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 Manipulators are not designed to work with eccentric quantity exceeding 150 mm. Always set the eccentric quantity parameter according to the eccentric quantity.
Setup & Operation 4. Setting of End Effectors Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with work piece). The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and (c).
Setup & Operation 4. Setting of End Effectors (c) Moment of inertia of a sphere Sphere’s center of gravity Rotation center r m 2 2 2 r +m×L 5 Mass (m) 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.
Setup & Operation 5. 5. Motion Range Motion Range ■ When setting up the motion range for safety, both the pulse range and mechanical stops must always be set at the same time. CAUTION 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.
Setup & Operation 5.1 5. Motion Range Motion Range Setting by Pulse Range (for All Joints) Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is controlled by the pulse range between the pulse lower limit and upper limit of each joint. Pulse values are read from the encoder output of the servo motor. For the maximum pulse range, refer to the following sections. The pulse range must be set inside of the mechanical stop range. 5.1.1 Max. Pulse Range of Joint #1 5.1.2 Max.
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 the positive (+) direction on the X-coordinate axis. When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-). +Y A A +X 0 pulse B B Table Top Mounting A Max. Motion Range B Max.
Setup & Operation 5.1.2 5. Motion Range 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 (-).
Setup & Operation 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.
Setup & Operation 5.2 5. Motion Range 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.
Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 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.
Setup & Operation 5.
Setup & Operation 5. Motion Range (1) Turn OFF the Controller. (2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle, and tighten it. Joint Hexagon socket head cap bolt (fully threaded) 1 M8 × 10 The number Recommended of bolts tightening torque 1 bolt / 3720 N⋅cm (380 kgf⋅cm) one side (3) Turn ON the Controller. (4) Set the pulse range corresponding to the new positions of the mechanical stops.
Setup & Operation 5.2.2 NOTE ) 5. Motion Range Setting the Mechanical Stop of Joint #3 This method applies only to the Standard-model Manipulator (G3-**1S*) / Multiple Mounting Manipulator (G3-**1SM). For the Cleanroom-model (G3-**1C*), the motion range set with the Joint #3 mechanical stop cannot be changed. (1) Turn ON the Controller and turn OFF the motors using the Motor OFF command. (2) Push up the shaft while pressing the brake release button.
Setup & Operation 5. Motion Range (8) Move Joint #3 to its lower limit while pressing the brake release button, and then check the lower limit position. Do not lower the mechanical stop too far. Otherwise, the joint may not reach a target position. (9) Calculate the lower limit pulse value of the pulse range using the formula shown below and set the value. The result of the calculation is always negative because the lower limit Z coordinate value is negative.
Setup & Operation 5.3 5. Motion Range Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2) Use this method to set the upper and lower limits of the X and Y coordinates. This setting is only enforced by software. Therefore, it does not change the physical range. The maximum physical range is based on the position of the mechanical stops. EPSON RC+ 5.4 Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot Manager].
Setup & Operation 5. Motion Range Table Top Mounting - Strait Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face a G3-251S G3-251C G3-301S G3-301C G3-351S G3-351C 140° b c 141° 137° 142° 2° 142° 142° 142° d e 2.3° 79.3 6.3° 3.8° 96.2 3.8° 3.8° 134. 3.8° 2 f 84.0 92.0 104.8 107.1 142.3 146.6 g h j k q 120 250 221.9 224.5 143.3° 170 300 260.2 263.9 220 350 298.5 303.3 145.8 ° m 150 120 150 120 150 120 n 9.6 4.1 9.6 4.1 9.6 4.1 p 6.
Setup & Operation 5. Motion Range Table Top Mounting - Left-Curved Arm Center of Joint#3 Motion range Maximum space Area limited by mechanical stop Base mounting face G3-301S-L G3-301C-L G3-351S-L G3-351C-L G3-301S-L G3-301C-L G3-351S-L G3-351C-L a b c 150° 3° 125° 165° 5° 110° r 281.4 288.7 s t 227.5 241.5 201.8 227.5 219.4 205.2 222.9 346.6 d e 150° 6° 145° 165° 4° 160° u 150 120 150 120 f 3.3° 8.3° 2.8° 7.8° v 9.6 4.1 9.6 4.1 g h j k m 135° 79.5 86.8 113.2 120.7 120° 96.
Setup & Operation 5. Motion Range Table Top Mounting - Right-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face G3-301S-R G3-301C-R G3-351S-R G3-351C-R G3-301S-R G3-301C-R G3-351S-R G3-351C-R a 125° 150° b 6° 3° c 150° 125° d 3° 6° e 135° 145° f 3.3° 8.3° 110° 4° 165° 5° 120° 3.8° n p 170 300 220 350 q r s t 227.5 241.5 281.4 277.2 201.8 227.5 288.7 219.4 205.2 342.5 346.6 222.
Setup & Operation 5. Motion Range Multiple Mounting : Strait Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face G3-301SM/CM G3-351SM/CM a 115° 120° G3-301SM G3-301CM G3-351SM G3-351CM m 150 120 150 120 b 4° n 9.6 4.1 9.6 4.1 c 135° 142° d 3.8° e f 112.0 120.7 134.2 142.3 g 170 220 h 300 350 q j k 201.8 212.4 138.8° 240.0 253.0 145.8° p 6.7 10.7 6.7 10.7 (°: degree) G3 Rev.
Setup & Operation 5. Motion Range Multiple Mounting : Left-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face a G3-351SM-L G3-351CM-L G3-351SM-L G3-351CM-L G3-351SM-L G3-351CM-L 130° b 3.3° 2° n p 220 350 u 150 120 v 9.6 4.1 c d 105° 5° q e 160° 150° f 2.8° 12.8° m h j k 103.3 125.6 120° 183.0 191.6 125.6 140.5 g r s t x y 280.8 271.4 186.9 205.2 162.8° 123.8° 277.2 z 3.8° w 6.7 10.7 (°: degree) 62 G3 Rev.
Setup & Operation 5. Motion Range Multiple Mounting : Right-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face G3-351SM-R G3-351CM-R G3-351SM-R G3-351CM-R G3-351SM-R G3-351CM-R a b c 105° 5° 130° N p q 220 350 u 150 120 v 9.6 4.1 d 3.3° 2° r e f 120° 3.8° m g h j k 160° 103.3 125.6 183.0 191.6 150° 125.6 140.5 s t x y z 280.8 2.8° 186.9 205.2 271.4 123.8° 162.8° 277.2 12.8° w 6.7 10.7 (°: degree) G3 Rev.
Setup & Operation 64 5. Motion Range G3 Rev.
Maintenance This volume contains maintenance procedures with safety precautions for G3 series Manipulators.
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Maintenance 1. 1. Safety Maintenance Safety Maintenance Please read this chapter, this manual, and other relevant manuals carefully to understand safe maintenance procedures before performing any routine maintenance. Only authorized personnel who have taken safety training should be allowed to maintain the robot system. Safety training is the program for industrial robot operators that follows the laws and regulations of each nation.
Maintenance CAUTION 2. 1. Safety Maintenance ■ 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 the 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.
Maintenance 2. General Maintenance 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 Check looseness or backlash of End effector mounting bolts √ √ √ √ √ bolts/screws. Manipulator mounting bolts √ √ √ √ √ Tighten them if necessary. Each arm locking bolts √ √ √ √ √ (For the tightening torque, refer to Bolts/screws around shaft Maintenance: 2.
Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gear units need greasing regularly. grease specified in the following table. CAUTION Only use the ■ 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.
Maintenance 2. General Maintenance 2.4 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.
Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts 2.6.
Maintenance 2.6.2 2. General Maintenance Multiple Mounting G3-**1SM : Standard-model Brake release switch Ball screw spline unit LED lamp Cable unit Joint #3 motor Arm cover Power cable Signal cable Joint #4 motor Lithium battery & Battery board Joint #3 motor Z belt U1 belt U2 belt Joint #2 reduction gear Joint #2 motor Joint #1 motor Joint #1 reduction gear Joint #3 brake (Figure: G3-301SM） G3-**1CM : Cleanroom-model (with bellows) Bellows Gasket Gasket Bellows G3 Rev.
Maintenance 3. 3. Covers Covers All procedures for removing and installing covers 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 the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.
Maintenance Table Top Mounting 3. Covers Multiple Mounting Connector sub plate Connector plate Arm top cover Arm bottom cover Arm cap Heatsink plate Arm top cover Connector plate Arm bottom cover Connector sub plate Base bottom cover Heatsink plate 3.1 Arm Top Cover ■ Do not remove the arm top cover forcibly. Removing the cover forcibly may result in damage to the cables, disconnection, and/or contact failure.
Maintenance 3. Covers (3) Turn OFF the Controller. (4) Unscrew the arm top cover mounting bolts, and then lift the cover. NOTE ) 4-M4×12 When bellows are installed to the manipulator, remove the upper bellows and then remove the arm top cover. For bellows removal, refer to Maintenance 9. Bellows. 4-M4×8 Truss Arm top cover Be careful for user wires and tubes when removing the cover. Arm Top Cover Installation (1) Set the arm top cover to the arm and secure with the arm top cover mounting bolts.
Maintenance 3. Covers 3.2 Arm Bottom Cover Unscrew the arm bottom cover mounting bolts, and then pull the cover downward and remove it. NOTE ) The arm bottom cover may not be removed from the shaft because the end effector is installed. If it is necessary to remove the cover completely (for replacement of the ball screw spline unit etc.), remove the end effector. If it is not necessary to remove the cover completely, move the shaft to the lower limit, and lower the arm bottom cover.
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.
Maintenance 3. Covers 3.5 Connector Sub Plate ■ 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.
Maintenance 3. Covers 3.7 Heatsink Plate Unscrew the heatsink plate mounting bolts to remove the plate. G3-**1* Table Top Mounting G3-**1*W Multiple Mounting Heatsink plate Heatsink plate Truss: 4-M4×8 Truss: 4-M4×8 Truss: 2-M4×8 Truss: 2-M4×8 3.8 Base Bottom Cover Unscrew the base bottom cover mounting bolts and remove the cover. G3-**1C* Cleanroom-model Base bottom cover Truss: 4-M4×8 NOTE ) 80 A base bottom cover is not installed to G3-**1S* (Standard-model). G3 Rev.
Maintenance 4. 4. Maintenance Parts List Maintenance Parts List 4.
Maintenance 4. Maintenance Parts List 4.2 Parts by Environment Model 4.2.1 S: Standard-model Part Name Ball Screw Spline Code 150 mm R13B030421 Arm Bottom Cover R13B030423 White C: Cleanroom-model Part Name Ball Screw Spline 82 R13B010220 Arm Cover 4.2.2 Note Code 120 mm Note R13B010221 Arm Cover R13B030422 Arm Bottom Cover R13B030424 Bellows R13B030704 Gasket Unit R13B031234 Plating G3 Rev.
