Setting The Mechanical Stop Of Joint #3 - Epson G Series Maintenance Manual

G1 Maintenance 7. Joint #3

7.4 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model Manipulator (
NOTE

For the Cleanroom-model (
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
NOTE

(3) Turn OFF the Controller.
(4) Remove the Arm Top Cover.
(5) Loosen the lower limit mechanical stop screw. (2-M3×4 set screws)
NOTE

(6) The upper end of the shaft defines the
(7) Firmly tighten the lower limit mechanical stop screw (2-M3×4 set screws) not to let it
(8) Mount the Arm top cover to the base.
(9) Turn ON the Controller.
52
G1-***C*),
switch.
When you press the brake release switch, the shaft
may lower due to the weight of the end effector.
Be sure to hold the shaft by hand while pressing the
button.
For details, refer to G1 manipulator - 3.1 Arm Top Cover.
A mechanical stop is mounted on both the top and bottom of Joint #3. However,
only the position of the lower limit mechanical stop on the top can be changed. Do
not remove the upper limit mechanical stop on the bottom because the calibration
point of Joint #3 is specified using the stop.
maximum stroke. Move the lower limit
mechanical stop down by the length you
want to limit the stroke.
For example, when the lower limit
mechanical stop is set at "100 mm" stroke,
the lower limit Z coordinate value is
" 100". To change the value to "
−
move the lower limit mechanical stop
down "20 mm". Use calipers to measure
the distance when
mechanical stop.
enter the shaft groove.
Recommended tightening torque: 1.5 N⋅m (16 kgf⋅cm)
For details, refer to G1 manipulator - 3.1 Arm Top Cover.
the motion range set with the Joint #3 mechanical
Measure this
distance.
80",
−
adjusting the
).
G1-***S*
Brake
release
switch
2-M3×4
set screw
G series Maintenance Rev.3
Shaft