Epson G3 Series User Manual

Setup & Operation 5. Motion Range
68 G3 Rev.14
(1)
Turn OFF the
Controller.
(2)
Install
a hexagon socket head cap bolt into the hole corresponding to the setting angle,
and
tighten it.
Joint
Hexagon socket head cap
bolt (fully threaded)
The number
of bolts
Recommended
tightening torque
1
M8 × 10
1 bolt /
one side
37.2 N⋅m (380 kgf⋅cm)
(3)
Turn ON the
Controller.
(4)
Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range
inside the positions of the mechanical stop range.
Example:
Using G3-251S*
The angle of Joint #1 is set from –110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following command
s from the [Command Window].
>JRANGE 1,-582542,5825423 ' the pulse range of Joint #1
>JRANGE 2,-2184533,2184533 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-582542, 5825423,-2184533,2184533,-1706667
,0, -1494221, 1494221
(5)
Move the arm by hand until it touches the mechanical
stops
, and make sure that the
arm does not hit
any peripheral equipment during operation.
(6)
O
perate the joint changed at low speeds until it reaches the positions of the minimum
and
maximum pulse range. Make sure that the arm does not hit the
mechanical
stops.
(Check the position of the mechanical stop and the motion range you set.)
Example
: Using G3-251S*
The angle of Joint #1 is set from -110 degrees to +110 degrees.
The angle of Joint #2 is set from
-
120 degrees to +120 degrees.
EPSON
RC+
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>CP ON ' Enters low-power mode
>SPEED 5 ' Sets at low speeds
>PULSE -582542,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 5825423,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 2621440,- 2184533,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2184533,0,0 ' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command)
moves all joints to the specified positions
at
the same time.
Specify safe positions after considering motion of not only the joints
whose pulse range have been changed, but also other joints
.
In this example, Joint #1 is moved to the center of its motion
range (pulse value:
2621440) when checking Joint #2.
If the arm
is hitting the mechanical stop
s or if an error occurs after the arm hits the
mechanical stops
, either
reset the pulse range to a narrower setting or extend the
position
s of the mechanical stops within the limit.

NOTE

Epson G3 Series Specifications

General

Number of axes	4
Payload	3 kg
Repeatability	±0.01 mm
Degrees of Freedom	4
Type	SCARA
Installation	Wall, Ceiling

Summary

Setup & Operation

1. Safety

Important safety considerations indicated by symbols; read descriptions for safe operation.

2. Specifications

Details on G3 series manipulator features, model differences, and technical specifications.

3. Environments and Installation

Guidelines for installing the robot system in suitable environments and related procedures.

5. Motion Range

5.1 Motion Range Setting by Pulse Range (for All Joints)

Methods for setting motion range using pulse range for all joints.

5.2 Motion Range Setting by Mechanical Stops

Setting motion range by physically limiting absolute movement area with mechanical stops.

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)

Setting upper and lower limits of X and Y coordinates using software, not affecting physical range.

5.4 Standard Motion Range

Diagrams showing standard (maximum) motion range specifications and definitions of areas.

Maintenance

1. Safety Maintenance

Procedures and safety precautions for performing routine maintenance on the robot system.

2. General Maintenance

Description of maintenance inspections and procedures, emphasizing schedule adherence and safety.

3. Covers

Procedures for removing and installing covers during maintenance, with safety warnings.

4. Cable

Procedures for replacing cable units, wiring diagrams, power cables, and user cables.

5. Arm #1

Procedures for replacing the Joint #1 motor and reduction gear unit, including safety precautions.

6. Arm #2

Procedures for replacing the Joint #2 motor and reduction gear unit, with safety guidelines.

7. Arm #3

Procedures for replacing the Joint #3 motor, timing belt, and brake, with safety measures.

8. Arm #4

Procedures for replacing the Joint #4 motor and timing belt, with safety guidelines.

9. Replacing Arm #1

Detailed steps for replacing the Arm #1 unit, including software configuration changes.

10. Bellows

Procedure for replacing bellows, with precautions regarding dust emission.

11. Ball Screw Spline Unit

Procedures for greasing and replacing the ball screw spline unit, with safety warnings.

12. Lithium Battery

Information and procedures for handling and replacing the lithium battery and battery board.

13. LED Lamp

Procedure for removing and installing the LED lamp.

14. Calibration

About calibration, procedures using wizard and without wizard, and accuracy testing.

15. Maintenance Parts List

List of common and environment-specific parts for maintenance, including codes and references.