Epson G3 Series User Manual
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.................................................... 49
5.1.3 Max. Pulse Range of Joint #3.................................................... 50
5.1.4 Max. Pulse Range of Joint #4.................................................... 50
5.1.2 Max. Pulse Range of Joint #2.................................................... 49
5.1.3 Max. Pulse Range of Joint #3.................................................... 50
5.1.4 Max. Pulse Range of Joint #4.................................................... 50
5.2 Motion Range Setting by Mechanical Stops.......................................... 51
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 52
5.2.2 Setting the Mechanical Stop of Joint #3..................................... 55
5.2.2 Setting the Mechanical Stop of Joint #3..................................... 55
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2)................................ 57
5.4 Standard Motion Range ........................................................................ 57
Maintenance
1. Safety Maintenance
67
2. General Maintenance
68
2.1 Schedule for Maintenance Inspection ................................................... 68
2.2 Inspection Point..................................................................................... 69
2.2 Inspection Point..................................................................................... 69
2.2.1 Inspection While the Power is OFF
(Manipulator is not operating).................................................... 69
2.2.2 Inspection While the Power is ON
(Manipulator is operating).......................................................... 69
2.3 Greasing ............................................................................................... 70
2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 71
2.5 Matching Origins ................................................................................... 71
2.6 Layout of Maintenance Parts................................................................. 72
2.4 Tightening Hexagon Socket Head Cap Bolts ........................................ 71
2.5 Matching Origins ................................................................................... 71
2.6 Layout of Maintenance Parts................................................................. 72
2.6.1 Table Top Mounting ................................................................... 72
2.6.2 Multiple Mounting ...................................................................... 73
2.6.2 Multiple Mounting ...................................................................... 73
3. Covers
74
3.1 Arm Top Cover ...................................................................................... 75
3.2 Arm Bottom Cover................................................................................. 77
3.3 Arm Cap................................................................................................ 77
3.4 Connector Plate .................................................................................... 78
3.5 Connector Sub Plate ............................................................................. 79
3.6 User Plate ............................................................................................. 79
3.7 Maintenance Plate ................................................................................ 80
3.8 Base Bottom Cover ............................................................................... 80
3.2 Arm Bottom Cover................................................................................. 77
3.3 Arm Cap................................................................................................ 77
3.4 Connector Plate .................................................................................... 78
3.5 Connector Sub Plate ............................................................................. 79
3.6 User Plate ............................................................................................. 79
3.7 Maintenance Plate ................................................................................ 80
3.8 Base Bottom Cover ............................................................................... 80
4. Maintenance Parts List
81
4.1 Common Parts ...................................................................................... 81
4.2 Parts by Environment Model ................................................................. 81
4.2 Parts by Environment Model ................................................................. 81
4.2.1 S: Standard-model .................................................................... 82
4.2.2 C: Cleanroom-model ................................................................. 82
4.2.2 C: Cleanroom-model ................................................................. 82