Page 3 - SCARA ROBOT; G3 series; Manipulator Manual; Copyright
G3 Rev.1 i SCARA ROBOT G3 series Manipulator Manual Rev.1 Copyright © 2008 SEIKO EPSON CORPORATION. All rights reserved.
Page 4 - ii; FOREWORD; Malfunctions caused by customers’ unauthorized disassembly.
ii G3 Rev.1 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...
Page 6 - MANUFACTURER & SUPPLIER; SEIKO EPSON CORPORATION; SUPPLIERS; North & South America; EPSON DEUTSCHLAND GmbH
iv G3 Rev.1 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORATION Japan & Others 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. ...
Page 7 - Before Reading This Manual; Structure of Control System; Controller; Turning ON/OFF Controller; Figures in this Manual
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 series Manipulators can be used with the following combinations of Controllers and software. The operating methods and descriptions are different depending...
Page 8 - vi
Page 9 - vii; TABLE OF CONTENTS; Environments and Installation
G3 Rev.1 vii TABLE OF CONTENTS Before Reading This Manual ................................................................................... v Setup & Operation 1. Safety 3 1.1 Conventions.............................................................................................3 1.2 Design a...
Page 10 - Maintenance; Safety Maintenance; Inspection While the Power is OFF; Maintenance Parts List
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........................................
Page 14 - Design and Installation Safety; Installation and Design Precautions
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...
Page 15 - Operation Safety; Safety-related Requirements
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 ...
Page 16 - Free running distance in emergency
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 t...
Page 17 - Emergency Movement Without Drive Power; Rotate the shaft by hand.
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 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 ............
Page 18 - Manipulator Labels; 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 t...
Page 19 - Manipulators with bellows do not have label D.
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 have label D. Because they have no risk of catching your hand or fingers. ) NOTE
Page 20 - Features of G3 series Manipulators; Space productivity
Setup & Operation 2. Specifications 10 G3 Rev.1 2. 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. The features of the G3 series Manipulators are as fol...
Page 21 - Model Number and Model Differences; Fire resistant; Environment
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 resistant UL : UL compliance Type □ : Standard R : Right-Curved L : Left-Curved Environment S : Standard C : Cleanroom & ESD (Anti-Static) Joint #3 stroke : 150...
Page 22 - Part Names and Outer Dimensions
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 label + − + − + − + − UR label Joint #3 / #4 Brake release switch Joint #1 (rotating) Joint #2 (rotating) Joint #3 (Up/Down) Joint #4 (rotating) Arm #1 Arm #2 Ba...
Page 23 - Detail of “A”
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 through hole mechanical stop diameter Conical hole Ø3,90° 1 mm flat cut Detail of “A” (Calibration point position of Joints #3 and #4) or more Space for cable...
Page 31 - Cleanliness level
Setup & Operation 2. Specifications G3 Rev.1 21 Item G3 series Manipulator Ambient Temperature 5 to 40 ° C (with minimum temperature variation) Environmental requirements Ambient relative humidity 10 to 80% (no condensation) Noise level *4 L Aeq = 70 dB (A) Applicable Controller RC180 SPEED 1 to...
Page 32 - How to Set the Model; CAUTION; Robot Configuration
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 shipment from the factory. It is normally not required to change the model when you receive your system. CAUTION ■ When you need to change the setting of the Manipul...
Page 33 - Setup & Operation 3. Environments and Installation; Environmental Conditions; Item; Special Environmental Conditions
Setup & Operation 3. Environments and Installation G3 Rev.1 23 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 co...
Page 34 - WARNING
Setup & Operation 3. Environments and Installation 24 G3 Rev.1 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 ref...
Page 35 - Mounting Dimensions; space for teaching
Setup & Operation 3. Environments and Installation G3 Rev.1 25 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 maximu...
Page 38 - Unpacking and Transportation; Stabilize the Manipulator with your hands when hoisting it.
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 ...
Page 39 - Installation Procedure
Setup & Operation 3. Environments and Installation G3 Rev.1 29 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...
Page 41 - Connecting the Cables
Setup & Operation 3. Environments and Installation 3.5.3 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 ...
Page 43 - User Wires and Pneumatic Tubes; Electrical Wires; Suitable Connector; Pneumatic Tubes; ø4 mm
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 ele...
Page 45 - Relocation and Storage; Precautions for Relocation and Storage
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...
Page 48 - Setup & Operation 4. Setting of End Effectors; Setting of End Effectors; Attaching an End Effector; switch is being pressed.
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. CAUTION ■ If you use an end effector equipped with a gripper or chuck, c...
Page 49 - Setup & Operation 4. Setting of End Effectors; Attaching Cameras and Valves
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 these holes for attaching cameras, valves, and other equipment. [Unit: mm] Comm on Dim ensions Multiple Mounting Table Top Mounting F ro m th e ba se mo un t...
Page 50 - Weight and Inertia Settings; and “; Load on the Arm
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...
Page 51 - Automatic acceleration/deceleration setting by Weight
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 mm away from the rotation center of Joint #2) with a load weight of “1kg”. M = 1 L 2 = 130 L M = 180 W M = 1 × 180 2 /130 2 = 1.538 → 1.6 (round up) W + W M ...
Page 53 - Eccentric Quantity
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. Alwa...
Page 55 - Precautions for Auto Acceleration/Deceleration of Joint #3
Setup & Operation 4. Setting of End Effectors G3 Rev.1 45 (c) Moment of inertia of a sphere m r 2 + m × L 2 2 5 Sphere’s center of gravity r Mass (m) Rotation center L 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator in horizontal PTP motion with Joint...
Page 60 - For the
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 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. Upper limit: 0 pulse M...
Page 61 - Motion Range Setting by Mechanical Stops; Joints #3 can be set to any length less than the maximum stroke.
Setup & Operation 5. Motion Range 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 bo...
Page 62 - Views from the bottom of Arm #1
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. R L Joi...
Page 63 - Views from the top of Arm #1
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 ° +120 ° - 120 ° 300 +142 ° - 142 ° +122 ° - 122 ° G3-**1S/C 350 +142 ° - 142 ° +122 ° - 122 ° 300 +150 ° - 135 ° +135 ° - 120 ° G3-**1S/C-R 350 +165 ° - 12...
Page 66 - limit Z coordinate value to “; ' Turns ON the motor
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 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...
Page 67 - Standard Motion Range
Setup & Operation 5. Motion Range 5.3 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 ch...
Page 68 - Table Top Mounting - Strait Arm; a b c d e f g h j k q
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 mechanical stop Base mounting face a b c d e f g h j k q m n p G3-251S 141° 2.3° 84.0 150 9.6 6.7 G3-251C 137° 6.3° 79.3 92.0 120 250 221.9 224.5 143.3° 120 ...
Page 69 - a b c d
Setup & Operation 5. Motion Range Table Top Mounting - Left-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face a b c d e f g h j k m n p q G3-301S-L 150° 3.3° 170 300 277.2 G3-301C-L 150° 3° 125° 6° 145° 8.3° 135° 79.5 86.8 113.2 120.7 277....
Page 70 - a b c d e f g h j k m
Setup & Operation 5. Motion Range 60 G3 Rev.1 Table Top Mounting - Right-Curved Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face a b c d e f g h j k m G3-301S-R 125° 6° 150° 3° 135° 3.3° 150° G3-301C-R 150° 3° 125° 6° 145° 8.3° 145° 79.5 86.8 11...
Page 71 - a b c d e f g h j k q
Setup & Operation 5. Motion Range G3 Rev.1 61 Multiple Mounting : Strait Arm Center of Joint#3 Maximum space Motion range Area limited by mechanical stop Base mounting face a b c d e f g h j k q G3-301SM/CM 115° 135° 112.0 120.7 170 300 201.8 212.4 138.8° G3-351SM/CM 120° 4° 142° 3.8° 134.2 142....
Page 77 - Maintenance 1. Safety Maintenance
Maintenance 1. 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 maint...
Page 78 - General Maintenance; Schedule for Maintenance Inspection
Maintenance 1. Safety Maintenance 68 G3 Rev.1 CAUTION ■ 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, d...
Page 79 - Maintenance 2. General Maintenance; Inspection Point
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) Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting bolts √ √ √ √ √ Manipulator mounting bolts √ √ √ √ √ Each arm loc...
Page 81 - Tightening Hexagon Socket Head Cap Bolts; Set Screw; Matching Origins; and follow the steps that pertain to the software you are; pls
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 ...
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 Joint #3 motor Lithium battery & Battery board Joint #1 motor Joint #2 reduction gear unit Joint #1 reduction gear unit Brake release button switch Ball screw spline unit Joint #4...
Page 85 - Maintenance 3. Covers
Maintenance 3. Covers G3 Rev.1 75 Table Top Mounting Multiple Mounting Arm bottom cover Arm cap Connector plate Connector sub plate Base bottom cover Arm top cover Connector plate Connector sub plate Arm top cover Arm bottom cover Heatsink plate Heatsink plate 3.1 Arm Top Cover ■ Do not remove the a...
Page 86 - (1) Set the arm top cover to the arm and secure with
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 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 . Be c...
Page 87 - Arm Bottom Cover
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 it. 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 rep...
Page 88 - Connector Plate
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...
Page 89 - Connector Sub Plate; Unscrew the user plate mounting bolts and remove the plate.
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...
Page 90 - Base Bottom Cover; Unscrew the base bottom cover mounting bolts and remove the cover.
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 G3-**1*W Multiple Mounting Truss: 4-M4 × 8 Heatsink plate Truss: 2-M4 × 8 Truss: 4-M4 × 8 Heatsink plate Truss: 2-M4 × 8 3.8 Base Bottom Cover Unscrew the ba...
Page 91 - Maintenance 4. Maintenance Parts List
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 R13B020024 S/C 350 mm R13B020025 300 mm R13B020026 Cable Unit SM/CM 350 mm R13B020027 Cable Length 3 m R12B020431 Cable Length 5 m R12B020432 M/C Cable Cable Leng...
Page 92 - Parts by Environment Model
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 Spline 150 mm R13B010220 Arm Cover R13B030421 White Arm Bottom Cover R13B030423 4.2.2 C: Cleanroom-model Part Name Code Note Ball Screw Spline 120 mm R13B010221 Arm...
