Epson G3 Series

TABLE OF CONTENTS
viii G3 Rev.14
4. Setting of End Effectors 52
4.1 Attaching an End Effector ..................................................................... 52
4.2 Attaching Cameras and Valves ............................................................. 53
4.3 Weight and Inertia Settings ................................................................... 54
4.3.1 Weight Setting ........................................................................... 54
4.3.2 Inertia Setting ............................................................................ 56
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .................. 60
5. Motion Range 61
5.1 Motion Range Setting by Pulse Range (for All Joints) .......................... 61
5.1.1 Max. Pulse Range of Joint #1 ................................................... 62
5.1.2 Max. Pulse Range of Joint #2 ................................................... 63
5.1.3 Max. Pulse Range of Joint #3 ................................................... 64
5.1.4 Max. Pulse Range of Joint #4 ................................................... 64
5.2 Motion Range Setting by Mechanical Stops ......................................... 65
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .................... 65
5.2.2 Setting the Mechanical Stop of Joint #3 .................................... 69
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................ 71
5.4 Standard Motion Range ........................................................................ 71
Maintenance
1. Safety Maintenance 75
2. General Maintenance 76
2.1 Maintenance Inspection ........................................................................ 76
2.1.1 Schedule for Maintenance Inspection ..................................... 76
2.1.2 Inspection Point ....................................................................... 77
2.2 Overhaul (Pars Replacement) .............................................................. 78
2.3 Greasing ................................................................................................ 80
2.4 Tightening Hexagon Socket Head Cap Bolts ....................................... 82
2.5 Matching Origins ................................................................................... 82
2.6 Layout of Maintenance Parts ................................................................ 83
2.6.1 Table Top Mounting ................................................................... 83
2.6.2 Multiple Mounting ...................................................................... 84
3. Covers 85
3.1 Arm Top Cover ...................................................................................... 87
3.2 Arm Bottom Cover ................................................................................. 88
3.3 Arm Cap ................................................................................................ 89
3.4 Connector Plate..................................................................................... 89
3.5 Connector Sub Plate ............................................................................. 90
3.6 User Plate .............................................................................................. 90
3.7 Heatsink Plate ....................................................................................... 91
3.8 Base Bottom Cover ............................................................................... 91