Epson G3 Series Manual de usuario Pagina 1

SCARA ROBOT G3 series MANIPULATOR MANUAL Rev.1 EM08ZR1795F

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

Setup & Operation This volume contains information for setup and operation of the G3 series Manipulators. Please read this volume thor

Setup & Operation 1. Safety G3 Rev.1 3 1. Safety Installation and transportation of robots and robotic equipment shall be performed by quali

Setup & Operation 1. Safety 1.2 Design and Installation Safety Only trained personnel should design and install the robot system. Trained

Setup & Operation 1. Safety 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel: Please care

Setup & Operation 1. Safety 1.4 Emergency Stop If the Manipulator moves abnormally during operation, immediately press the Emergency Stop sw

Setup & Operation 1. Safety G3 Rev.1 7 1.5 Emergency Movement Without Drive Power When the system is placed in emergency mode, push the a

Setup & Operation 1. Safety 1.6 Manipulator Labels The following labels are attached near the locations of the Manipulator where specific da

Setup & Operation 1. Safety G3 Rev.1 9 A B D C Common Table Top Mounting Multiple Mounting C E C A B E Manipulators with bellows do not

MANIPULATOR MANUAL G3 series Rev.1

Setup & Operation 2. Specifications 10 G3 Rev.1 2. Specifications 2.1 Features of G3 series Manipulators The G3 series Manipulators are

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 resista

Setup & Operation 2. Specifications 12 G3 Rev.1 2.3 Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model G3-***S CE

Setup & Operation 2. Specifications G3 Rev.1 13 shaft diameter G3-251*S G3-301*S G3-351*S a 120 170 220 b Max.545 Max.575 Max.595 Max.ø11 t

Setup & Operation 2. Specifications 14 G3 Rev.1 Cleanroom-model: G3-***C The following figures show the additional parts and specifications f

Setup & Operation 2. Specifications G3 Rev.1 15 G3-251*S G3-301*S G3-351*S a 120 170 220 b Max.545 Max.575 Max.595 shaft diameter Max.ø11 t

Setup & Operation 2. Specifications 16 G3 Rev.1 2.3.2 Multiple Mounting Standard-model: G3-***1SM +−+ − +− + − CE label UR label Joint #3

Setup & Operation 2. Specifications G3 Rev.1 17 G3-301SM G3-351SM a 70 220 b Max.410 Max.450 shaft diameter Max.ø11 through hole mechanical

Setup & Operation 2. Specifications 18 G3 Rev.1 Cleanroom-model: G3-***1CM The following figures show the additional parts and specifications

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

G3 Rev.1 i SCARA ROBOT G3 series Manipulator Manual Rev.1 Copyright © 2008 SEIKO EPSON CORPORATION.

Setup & Operation 2. Specifications 20 G3 Rev.1 2.4 Specifications Item G3 series Manipulator Arm #1, #2 250 mm 300 mm 350 mm Arm #1 12

Setup & Operation 2. Specifications G3 Rev.1 21 Item G3 series Manipulator Ambient Temperature 5 to 40°C (with minimum temperature variati

Setup & Operation 2. Specifications 22 G3 Rev.1 2.5 How to Set the Model The Manipulator model for your system has been set before shipme

Setup & Operation 3. Environments and Installation G3 Rev.1 23 3. Environments and Installation 3.1 Environmental Conditions A suitable

Setup & Operation 3. Environments and Installation 24 G3 Rev.1 3.2 Base Table A base table for anchoring the Manipulator is not supplied.

Setup & Operation 3. Environments and Installation G3 Rev.1 25 3.3 Mounting Dimensions The maximum space described in figures shows that th

Setup & Operation 3. Environments and Installation 26 G3 Rev.1 A AB A BBB ATable Top Mounting Center of Joint #3 Maximum space G3-301S/C

Setup & Operation 3. Environments and Installation G3 Rev.1 27 ABBAMultiple Mounting Center of Joint #3 Maximum space G3-301SM/CM G3-351S

Setup & Operation 3. Environments and Installation 3.4 Unpacking and Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTAL

Setup & Operation 3. Environments and Installation G3 Rev.1 29 3.5 Installation Procedure The following sections describe the installation

ii G3 Rev.1 FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipula

Setup & Operation 3. Environments and Installation 30 G3 Rev.1 3.5.2 Multiple Mounting Install the Multiple Mounting Manipulator with tw

Setup & Operation 3. Environments and Installation 3.5.3 Cleanroom-model (1) Unpack it outside of the clean room. (2) Secure the Manipula

Setup & Operation 3. Environments and Installation 32 G3 Rev.1 When the Manipulator is a Cleanroom-model, be aware of the followings. For the

Setup & Operation 3. Environments and Installation 3.7 User Wires and Pneumatic Tubes CAUTION Only authorized or certified personnel s

Setup & Operation 3. Environments and Installation 34 G3 Rev.1 Table Top Mounting Fitting (black) for ø4 mm pneumatic tubeFitting (black) for

Setup & Operation 3. Environments and Installation 3.8 Relocation and Storage 3.8.1 Precautions for Relocation and Storage Observe the f

Setup & Operation 3. Environments and Installation 36 G3 Rev.1 3.8.2 Table Top Mounting CAUTION Install or relocate the Table Top Mount

Setup & Operation 3. Environments and Installation G3 Rev.1 37 3.8.3 Multiple Mounting Install or relocate the Multiple Mounting Manipul

Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for makin

Setup & Operation 4. Setting of End Effectors 4.2 Attaching Cameras and Valves Arm #2 has threaded holes as shown in the figure below. Use

G3 Rev.1 iii TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United S

Setup & Operation 4. Setting of End Effectors 4.3 Weight and Inertia Settings To ensure optimum Manipulator performance, it is important to

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 mma

Setup & Operation 4. Setting of End Effectors 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting The moment of inertia is defi

Setup & Operation 4. Setting of End Effectors Eccentric Quantity and the Inertia Setting CAUTION The eccentric quantity of load (weight of

Setup & Operation 4. Setting of End Effectors Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the

Setup & Operation 4. Setting of End Effectors G3 Rev.1 45 (c) Moment of inertia of a sphere m r 2+ m × L2 2 5 Sphere’s center of gravity r Mas

Setup & Operation 5. Motion Range 5. Motion Range CAUTION When setting up the motion range for safety, both the pulse range and mechanica

Setup & Operation 5. Motion Range G3 Rev.1 47 5.1 Motion Range Setting by Pulse Range (for All Joints) Pulses are the basic unit of Manip

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

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

iv G3 Rev.1 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORATION Japan & Others Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi

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 position

Setup & Operation 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that th

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

Setup & Operation 5. Motion Range G3 Rev.1 53 Ｒ Ｌ Joint #2 Mechanical Stops Views from the top of Arm #1 Model Arm a b c d 250 +141°-141°+1

Setup & Operation 5. Motion Range 54 G3 Rev.1 (1) Turn OFF the Controller. (2) Install a hexagon socket head cap bolt into the hole co

Setup & Operation 5. Motion Range G3 Rev.1 55 5.2.2 Setting the Mechanical Stop of Joint #3 )NOTE This method applies only to the Standar

Setup & Operation 5. Motion Range 56 G3 Rev.1 (8) Move Joint #3 to its lower limit while pressing the brake release button, and then chec

Setup & Operation 5. Motion Range 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Jo

Setup & Operation 5. Motion Range 58 G3 Rev.1 Table Top Mounting - Strait Arm Center of Joint#3 Maximum space Motion range Area limited by

Setup & Operation 5. Motion Range Table Top Mounting - Left-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechani

G3 Rev.1 v Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The G3 se

Setup & Operation 5. Motion Range 60 G3 Rev.1 Table Top Mounting - Right-Curved Arm Center of Joint#3 Maximum space Motion range Area limit

Setup & Operation 5. Motion Range G3 Rev.1 61 Multiple Mounting : Strait Arm Center of Joint#3 Maximum spaceMotion range Area limited by m

Setup & Operation 5. Motion Range 62 G3 Rev.1 Multiple Mounting : Left-Curved Arm Center of Joint#3 Maximum spaceMotion range Area limited

Setup & Operation 5. Motion Range G3 Rev.1 63 Multiple Mounting : Right-Curved Arm Center of Joint#3 Maximum space Motion range Area limit

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

Maintenance This volume contains maintenance procedures with safety precautions for G3 series Manipulators.

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Maintenance 1. Safety Maintenance 1. Safety Maintenance Please read this chapter, this manual, and other relevant manuals carefully to understand

Maintenance 1. Safety Maintenance 68 G3 Rev.1 CAUTION Be sure to connect the cables properly. Do not allow unnecessary strain on the cables.

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) I

vi G3 Rev.1

Maintenance 2. General Maintenance 2.3 Greasing The ball screw spline and reduction gear units need greasing regularly. Only use the grease speci

Maintenance 2. General Maintenance 2.4 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanica

Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts 2.6.1 Table Top Mounting G3-**1S : Standard-model Joint #3 motor Lithium b

Maintenance 2. General Maintenance 2.6.2 Multiple Mounting G3-**1SM : Standard-model Power cable Cable unitJoint #3 brakeLithium battery & Ba

Maintenance 3. Covers 3. Covers All procedures for removing and installing covers in maintenance are described in this chapter. Do not insert or

Maintenance 3. Covers G3 Rev.1 75 Table Top Mounting Multiple Mounting Arm bottom cover Arm cap Connector plate Connector sub plate Base bott

Maintenance 3. Covers 76 G3 Rev.1 (3) Turn OFF the Controller. (4) Unscrew the arm top cover mounting bolts, and then lift the cover. When b

Maintenance 3. Covers G3 Rev.1 77 3.2 Arm Bottom Cover Unscrew the arm bottom cover mounting bolts, and then pull the cover downward and remove

Maintenance 3. Covers 3.4 Connector Plate Do not remove the connector plate forcibly. Removing the connector plate forcibly may result in damag

Maintenance 3. Covers 3.5 Connector Sub Plate Do not remove the connector sub plate forcibly. Removing the connector sub plate forcibly may res

G3 Rev.1 vii TABLE OF CONTENTS Before Reading This Manual ... v Setu

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

Maintenance 4. Maintenance Parts List G3 Rev.1 81 4. Maintenance Parts List 4.1 Common Parts Part Name Code Note 250 mm R13B020023 300 mm R

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 Sp