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Epson G3 Series Manual

Epson scara robot manipulator manual
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SCARA ROBOT
G3 series
MANIPULATOR MANUAL
Rev.1
EM08ZR1795F

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  • Page 1 SCARA ROBOT G3 series MANIPULATOR MANUAL Rev.1 EM08ZR1795F...
  • Page 3 SCARA ROBOT G3 series Manipulator Manual Rev.1 Copyright © 2008 SEIKO EPSON CORPORATION. All rights reserved. G3 Rev.1...
  • Page 4 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. WARRANTY The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance...
  • Page 5 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.
  • Page 6 MANUFACTURER & SUPPLIER Japan & Others SUPPLIERS North & South America EPSON AMERICA, INC. Europe SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAPAN : +81-(0)266-61-1802 : +81-(0)266-61-1846 Factory Automation/Robotics 18300 Central Avenue...

  • Page 7: 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.
  • Page 8 G3 Rev.1...

  • Page 9: Table Of Contents

    1.4 Emergency Stop ...6 1.5 Emergency Movement Without Drive Power ...7 1.6 Manipulator Labels ...8 2. Specifications 2.1 Features of G3 series Manipulators...10 2.2 Model Number and Model Differences ... 11 2.3 Part Names and Outer Dimensions ...12 2.3.1 Table Top Mounting ...12 2.3.2 Multiple Mounting...16...
  • Page 10 TABLE OF CONTENTS 5. Motion Range 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.

  • Page 11: Setup & Operation

    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.

  • Page 13: Safety

    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.

  • Page 14: Design And Installation Safety

    The following items are safety precautions for design personnel: ■ Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system.

  • Page 15: 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.

  • Page 16: Emergency Stop

    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.

  • Page 17: Emergency Movement Without Drive Power

    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 Joint #4...

  • Page 18: Manipulator Labels

    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.
  • Page 19 Setup & Operation 1. Safety Common Multiple Mounting Table Top Mounting Manipulators with bellows do not have label D. NOTE Because they have no risk of catching your hand or fingers. G3 Rev.1...

  • Page 20: Specifications

    Obtain the stroke under the body Succeeded E2C series advantages Compatibility with the E2 series Manipulators The installation procedure and mounting dimensions of end effector for the G3 series are compatible with those for E2 series * Secure the compatible mounting position with optional parts...

  • Page 21: Model Number And Model Differences

    2.2 Model Number and Model Differences G3-25 1 S □-R-UL Environment Cleanroom-model This model has additional features that reduce dust emitted by the Manipulator to enable use in clean room environments. For details on the specifications, refer to Setup & Operation: 2.4 Specifications. G3 Rev.1 Setup &...

  • Page 22: Part Names And Outer Dimensions

    Setup & Operation 2. Specifications 2.3 Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model G3-***S Brake release switch Arm #2 (Up/Down) Fittings (white) for ø6 mm pneumatic tube Fittings (black) for ø6 mm pneumatic tube Signal cable NOTE The brake release button affects only Joint #3.
  • Page 23 (*) indicates the stroke margin by mechanical stop. 1 mm flat cut Conical hole Ø3,90° Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.1 Setup & Operation 2. Specifications G3-251*S Max.545 Max.ø11 through hole shaft diameter mechanical stop diameter (View from the bottom of the base) or more...
  • Page 24 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. Upper bellows Lower bellows Plate cover (For Anti-static) Exhaust port Cover for Table Top mounting surface Plate cover (For Anti-static) G3 Rev.1...
  • Page 25 (*) indicates the stroke margin by mechanical stop. 1 mm flat cut Conical hole Ø3,90° Max.ø11 through hole Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.1 G3-251*S Max.545 shaft diameter mechanical stop diameter Setup & Operation 2. Specifications more Space for cables G3-301*S...

  • Page 26: Multiple Mounting

    Setup & Operation 2. Specifications 2.3.2 Multiple Mounting Standard-model: G3-***1SM Joint #3 / #4 Brake release switch Joint #3 (Up/Down) − − Fitting (white) for ø6 mm pneumatic tube Fitting (black) for ø4 mm pneumatic tube Fitting (black) for ø6 mm pneumatic tube NOTE The brake release button affects only Joints #3.
  • Page 27 Setup & Operation 2. Specifications G3-301SM G3-351SM Max.410 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 Reference through hole Detail of “A” (View from the bottom of the base) (Calibration point position of Joints #3 and #4) G3 Rev.1...
  • Page 28 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 Lower bellows Exhaust port Plate cover (For Anti-static) G3 Rev.1...
  • Page 29 1 mm flat cut Conical hole Ø3,90° Detail of “A” (Calibration point position of Joints #3 and #4) G3 Rev.1 (*) indicates the stroke margin by mechanical stop. Max.ø11 through hole shaft diameter mechanical stop diameter Setup & Operation 2. Specifications G3-301CM G3-351CM Max.410...

  • Page 30: Specifications

    Joint #4 Installation method Option Installation environment Joint #3 down force Installed wire for customer use Installed pneumatic ube for customer use G3 series Manipulator 250 mm 300 mm 120 mm 170 mm 130 mm 130 mm 3550 mm/s 3950 mm/s...
  • Page 31 If you specify a larger Accel value, the frequency of the overload error and over heat may rise during continuous operation. The use of large Accel setting is recommended only for necessary motions. G3 Rev.1 G3 series Manipulator 5 to 40°C (with minimum temperature variation) 10 to 80% (no condensation)

  • Page 32: How To Set The Model

    MT label and contact us when necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide. The custom specifications may require a different configuration G3 Rev.1...

  • Page 33: Environments And Installation

    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: Ambient temperature Ambient relative humidity First transient burst noise Electrostatic noise Environment...

  • Page 34: Base Table

    For environmental conditions regarding space when placing the Controller on the base NOTE table, refer to the Controller manual. ■ To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the EPSON RC+ User’s Guide. WARNING : 2500 N : 1500 N...

  • Page 35: Mounting Dimensions

    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.
  • Page 36 Setup & Operation 3. Environments and Installation Table Top Mounting Center of Joint #3 Maximum space Length of Arm #1 (mm) Length of Arm #2 (mm) (Motion range) Motion range of Joint #1 (degree) Motion range of Joint #2 (degree) (Mechanical stop area) Joint #1 angle to hit mechanical stop (degree) Joint #2 angle to hit mechanical stop (degree)
  • Page 37 Multiple Mounting Center of Joint #3 Maximum space Length of Arm #1 (mm) Length of Arm #2 (mm) (Motion range) Motion range of Joint #1 (degree) Motion range of Joint #2 (degree) (Mechanical stop area) Joint #1 angle to hit mechanical stop (degree) Joint #2 angle to hit mechanical stop (degree) G3 Rev.1 Setup &...

  • Page 38: Unpacking And Transportation

    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. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.

  • Page 39: Installation Procedure

    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 ■ Install the Table Top Mounting Manipulator with two or more people. The Manipulator weights are as follows.

  • Page 40: Multiple Mounting

    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.

  • Page 41: Cleanroom-Model

    3.5.3 Cleanroom-model Unpack it outside of the clean room. Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall. Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth.
  • Page 42 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. ■ 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.

  • Page 43: User Wires And Pneumatic Tubes

    3.7 User Wires and Pneumatic Tubes ■ 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. CAUTION User electrical wires and pneumatic tubes are contained in the cable unit. Electrical Wires Rated Voltage AC/DC30 V...
  • Page 44 Setup & Operation 3. Environments and Installation Table Top Mounting Multiple Mounting Fitting (white) for ø6 mm pneumatic tube Fitting (black) for ø6 mm pneumatic tube Fitting (white) for ø6 mm pneumatic tube Fitting (black) for ø4 mm pneumatic tube Fitting (black) for ø6 mm pneumatic tube User connector...

  • Page 45: Relocation And Storage

    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. ■ Only authorized personnel should perform sling work and operate a crane and a forklift.

  • Page 46: Table Top Mounting

    Setup & Operation 3. Environments and Installation 3.8.2 Table Top Mounting ■ 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.

  • Page 47: Multiple Mounting

    3.8.3 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.

  • Page 48: Setting Of End Effectors

    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. ■ 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.

  • Page 49: Attaching Cameras And Valves

    4.2 Attaching Cameras and Valves Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching cameras, valves, and other equipment. Common Dimensions Table Top Mounting Multiple Mounting G3 Rev.1 Setup & Operation 4. Setting of End Effectors [Unit: mm]...

  • Page 50: Weight And Inertia Settings

    Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable weight capacity (end effector and work piece) in G3 series is 1 kg at the default rating and 3 kg at the maximum. When the load (weight of the end effector and work piece) exceeds the rating, change the setting of Weight parameter.
  • Page 51 <Example> A “1 kg” camera is attached to the end of the G3 series arm (180 mm Automatic speed setting by Weight Automatic acceleration/deceleration setting by Weight G3 Rev.1 Setup & Operation 4. Setting of End Effectors away from the rotation center of Joint #2) with a load weight of “1 kg”.

  • Page 52: Inertia Setting

    Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable moment of inertia of load for a G3 series Manipulator is 0.005 kg m default rating and 0.05 kg m exceeds the rating, change the setting of the moment of inertia parameter of the Inertia command.
  • Page 53 Manipulator, and/or shorten the life cycle of parts/mechanisms. The acceptable eccentric quantity of load in G3 series is 0 mm at the default rating and 150 mm at the maximum. When the eccentric quantity of load exceeds the rating, change the setting of eccentric quantity parameter of Inertia command.
  • Page 54 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).

  • Page 55: Precautions For Auto Acceleration/Deceleration Of Joint #3

    (c) Moment of inertia of a sphere Rotation center 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.

  • Page 56: Motion Range

    Setup & Operation 5. Motion Range 5. 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.

  • Page 57: Motion Range Setting By Pulse Range (For All Joints)

    Manipulator does not move. The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the Range command from the [Command Window].) G3 Rev.1...

  • Page 58: Max. Pulse Range Of Joint #1

    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 (-).

  • Page 59: Max. Pulse Range Of Joint #2

    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 (-).

  • Page 60: Max. Pulse Range Of Joint #3

    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.

  • Page 61: Motion Range Setting By Mechanical Stops

    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.

  • Page 62: Setting The Mechanical Stops Of Joints #1 And #2

    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.
  • Page 63 Joint #2 Mechanical Stops Ｌ Model G3-**1S/C G3-**1S/C-R G3-**1S/C-L G3-**1SM/CM G3-**1SM/CM-R Setting Angle Pulse Value Setting Angle Pulse Value Setting Angle Pulse Value Setting Angle Pulse Value In case of Multiple Mounting, it is impossible to limit the operating range completely. NOTE Because it may hit the wall within the setting range of mechanical stops.
  • Page 64 (4) Set the pulse range corresponding to the new positions of the mechanical stops. NOTE Be sure to set the pulse range inside the positions of the mechanical stop range. Example: Execute the following commands from the [Command Window]. EPSON >JRANGE 1,-9786710,51729750 >JRANGE 2,-20534614,+20534614 >RANGE -9786710,51729750,-20534614,20534614,-13653338...

  • Page 65: Setting The Mechanical Stop Of Joint #3

    5.2.2 Setting the Mechanical Stop of Joint #3 This method applies only to the Standard-model Manipulator (G3-**1S*) / Multiple NOTE 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.
  • Page 66 The result of the calculation is always negative because the lower limit Z coordinate value is negative. Example: Execute the following command from the [Command Window]. EPSON >JRANGE 3,-38339,0 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.

  • Page 67: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator (For Joints #1 And #2)

    The maximum physical range is based on the position of the mechanical stops. Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the XYLim command from the [Command Window].) 5.4 Standard Motion Range...
  • Page 68 Setup & Operation 5. Motion Range Table Top Mounting - Strait Arm Base mounting face G3-251S 141° 2.3° G3-251C 137° 6.3° G3-301S 142° 3.8° 140° 2° G3-301C 142° 3.8° G3-351S 142° 3.8° G3-351C 142° 3.8° Center of Joint#3 Maximum space Motion range Area limited by mechanical stop 84.0...
  • Page 69 Table Top Mounting - Left-Curved Arm Base mounting face G3-301S-L 150° 3° 125° G3-301C-L G3-351S-L 165° 5° 110° G3-351C-L G3-301S-L 281.4 227.5 241.5 G3-301C-L 288.7 201.8 227.5 G3-351S-L 219.4 346.6 205.2 G3-351C-L 222.9 G3 Rev.1 Setup & Operation 5. Motion Range Center of Joint#3 Motion range Maximum space...
  • Page 70 Setup & Operation 5. Motion Range Table Top Mounting - Right-Curved Arm Base mounting face G3-301S-R 125° 6° G3-301C-R 150° 3° G3-351S-R 110° 4° G3-351C-R G3-301S-R G3-301C-R G3-351S-R G3-351C-R Center of Joint#3 Maximum space Motion range Area limited by mechanical stop 150°...
  • Page 71 Multiple Mounting : Strait Arm Base mounting face G3-301SM/CM 115° 4° G3-351SM/CM 120° G3-301SM G3-301CM G3-351SM G3-351CM G3 Rev.1 Center of Joint#3 Maximum space Motion range Area limited by mechanical stop 135° 112.0 120.7 3.8° 142° 134.2 142.3 10.7 10.7 Setup &...
  • Page 72 Setup & Operation 5. Motion Range Multiple Mounting : Left-Curved Arm G3-351SM-L 3.3° 130° G3-351CM-L 2° G3-351SM-L G3-351CM-L G3-351SM-L G3-351CM-L Center of Joint#3 Base mounting face 160° 2.8° 105° 5° 120° 150° 12.8° 280.8 271.4 186.9 205.2 162.8° 123.8° 277.2 10.7 Maximum space Motion range...
  • Page 73 Multiple Mounting : Right-Curved Arm G3-351SM-R 105° 5° G3-351CM-R G3-351SM-R G3-351CM-R G3-351SM-R G3-351CM-R G3 Rev.1 Center of Joint#3 Base mounting face 3.3° 160° 103.3 125.6 130° 120° 3.8° 2° 150° 125.6 140.5 280.8 186.9 205.2 271.4 123.8° 162.8° 277.2 10.7 Setup &...
  • Page 74 Setup & Operation 5. Motion Range G3 Rev.1...

  • Page 75: Maintenance

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

  • Page 77: Safety Maintenance

    1. 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.

  • Page 78: General Maintenance

    Maintenance 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.

  • Page 79: Inspection Point

    2.2 Inspection Point 2.2.1 Inspection While the Power is OFF Inspection Point Check looseness or backlash of bolts/screws. Tighten them if necessary. (For the tightening torque, refer to Maintenance: 2.4 Tightening Hexagon Socket Head Cap Bolts.) Check looseness of connectors. If the connectors are loosen, push it securely or tighten.

  • Page 80: Greasing

    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. ■ Keep enough grease in the Manipulator. insufficient grease will damage sliding parts and/or result in insufficient function of the Manipulator.

  • Page 81: Tightening Hexagon Socket Head Cap Bolts

    Then, follow the steps below to display the pulse values and record them. Execute the following command from the [Command Window]. EPSON >PULSE PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value] pls [Joint #4 Pulse value] pls G3 Rev.1...

  • Page 82: Layout Of Maintenance Parts

    Maintenance 2. General Maintenance 2.6 Layout of Maintenance Parts 2.6.1 Table Top Mounting G3-**1S : Standard-model LED lamp Ball screw spline unit Arm cover Joint #4 motor Z belt U1 belt U2 belt Joint #1 motor G3-**1C : Cleanroom-model (with bellows) Bellows Gasket Bellows...

  • Page 83: Multiple Mounting

    2.6.2 Multiple Mounting G3-**1SM : Standard-model Ball screw LED lamp spline unit Arm cover Joint #4 motor Z belt U1 belt U2 belt G3-**1CM : Cleanroom-model (with bellows) Bellows Gasket Bellows G3 Rev.1 Brake release switch Cable unit Joint #3 motor Joint #1 motor...

  • Page 84: Covers

    Maintenance 3. Covers 3. 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.

  • Page 85: Arm Top Cover

    Table Top Mounting bottom cover Arm cap Connector plate Connector sub plate Base bottom cover 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. Damaged cables, disconnection, or contact failure is extremely hazardous and may result in electric shock and/or improper function of the robot system.
  • Page 86 Maintenance 3. Covers (3) Turn OFF the Controller. (4) Unscrew the arm top cover mounting bolts, and then lift the cover. NOTE 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.

  • Page 87: Arm Bottom Cover

    3.2 Arm Bottom Cover Unscrew the arm bottom cover mounting bolts, and then pull the cover downward and remove it. The arm bottom cover may not be removed from the shaft because the end effector is NOTE installed. If it is necessary to remove the cover completely (for replacement of the ball screw spline unit etc.), remove the end effector.

  • Page 88: Connector Plate

    Maintenance 3. Covers 3.4 Connector Plate ■ Do not remove the connector plate forcibly. 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. ■...

  • Page 89: Connector Sub Plate

    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.

  • Page 90: Maintenance Plate

    Maintenance 3. Covers 3.7 Heatsink Plate Unscrew the heatsink plate mounting bolts to remove the plate. G3-**1* Table Top Mounting Heatsink plate Truss: 4-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 NOTE A base bottom cover is not installed to G3-**1S* (Standard-model).

  • Page 91: Maintenance Parts List

    4. Maintenance Parts List 4.1 Common Parts Part Name 250 mm 300 mm Cable Unit 350 mm 300 mm SM/CM 350 mm Cable Length 3 m M/C Cable Cable Length 5 m Cable Length 10 m Joint #1 AC Servo Motor Joint #2 / #3 / #4 Joint #1 Reduction Gear...

  • Page 92: Parts By Environment Model

    Maintenance 4. Maintenance Parts List 4.2 Parts by Environment Model 4.2.1 S: Standard-model Ball Screw Spline Arm Cover Arm Bottom Cover 4.2.2 C: Cleanroom-model Ball Screw Spline Arm Cover Arm Bottom Cover Bellows Gasket Unit Part Name 150 mm R13B010220 R13B030421 R13B030423 Part Name...

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