Epson SCARA ROBOT

TABLE OF CONTENTS
viii G6 Rev.21
4. Setting of End Effectors 59
4.1 Attaching an End Effector .................................................................. 59
4.2 Attaching Cameras and Valves .......................................................... 60
4.3 Weight and Inertia Settings ................................................................ 61
4.3.1 Weight Setting ........................................................................ 61
4.3.2 Inertia Setting ......................................................................... 63
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 .............. 66
5. Motion Range 67
5.1 Motion Range Setting by Pulse Range (for All Joints)....................... 68
5.1.1 Max. Pulse Range of Joint #1 ................................................ 68
5.1.2 Max. Pulse Range of Joint #2 ................................................ 69
5.1.3 Max. Pulse Range of Joint #3 ................................................ 70
5.1.4 Max. Pulse Range of Joint #4 ................................................ 70
5.2 Motion Range Setting by Mechanical Stops ...................................... 71
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ................. 72
5.2.2 Setting the Mechanical Stop of Joint #3 ................................. 75
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2)....................................... 77
5.4 Standard Motion Range ..................................................................... 77
Maintenance
1. Safety Maintenance 83
2. General Maintenance 84
2.1 Maintenance Inspection ..................................................................... 84
2.1.1 Schedule for Maintenance Inspection .................................. 84
2.1.2 Inspection Point .................................................................... 85
2.2 Overhaul (Parts Replacement) .......................................................... 86
2.3 Greasing ............................................................................................. 88
2.4 Tightening Hexagon Socket Head Cap Bolts .................................... 90
2.5 Matching Origins ................................................................................ 90
2.6 Layout of Maintenance Parts ............................................................. 91
2.6.1 Table Top Mounting ............................................................... 91
2.6.2 Wall Mounting ......................................................................... 92
2.6.3 Ceiling Mounting ..................................................................... 93
3. Covers ..................................................................................................... 94
3.1 Arm Top Cover ................................................................................... 96
3.2 Arm Bottom Cover .............................................................................. 98
3.3 Arm #1 Cover ..................................................................................... 99
3.3.1 G6-***S*, G6-***C* ................................................................. 99
3.3.2 G6-***D*, P*.......................................................................... 100
3.4 Connector Plate ............................................................................... 101
3.5 Connector Sub Plate ........................................................................ 103