Scara Robot Manipulator Manual

TABLE OF CONTENTS
viii G3 Rev.1
5. Motion Range 46
5.1 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.................................................... 50
5.2 Motion Range Setting by Mechanical Stops.......................................... 51
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 52
5.2.2 Setting the Mechanical Stop of Joint #3..................................... 55
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2)................................ 57
5.4 Standard Motion Range ........................................................................ 57
Maintenance
1. Safety Maintenance 67
2. General Maintenance 68
2.1 Schedule for Maintenance Inspection ................................................... 68
2.2 Inspection Point..................................................................................... 69
2.2.1 Inspection While the Power is OFF
(Manipulator is not operating).................................................... 69
2.2.2 Inspection While the Power is ON
(Manipulator is operating).......................................................... 69
2.3 Greasing ............................................................................................... 70
2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 71
2.5 Matching Origins ................................................................................... 71
2.6 Layout of Maintenance Parts................................................................. 72
2.6.1 Table Top Mounting ................................................................... 72
2.6.2 Multiple Mounting ...................................................................... 73
3. Covers 74
3.1 Arm Top Cover ...................................................................................... 75
3.2 Arm Bottom Cover................................................................................. 77
3.3 Arm Cap................................................................................................ 77
3.4 Connector Plate .................................................................................... 78
3.5 Connector Sub Plate ............................................................................. 79
3.6 User Plate ............................................................................................. 79
3.7 Maintenance Plate ................................................................................ 80
3.8 Base Bottom Cover ............................................................................... 80
4. Maintenance Parts List 81
4.1 Common Parts ...................................................................................... 81
4.2 Parts by Environment Model ................................................................. 81
4.2.1 S: Standard-model .................................................................... 82
4.2.2 C: Cleanroom-model ................................................................. 82