User ManualTable of ContentsConventions3Design and Installation Safety4Operation Safety5Emergency Stop6Emergency Movement Without Drive Power7Manipulator Labels8Features of G3 series Manipulators10Model Number and Model Differences11Part Names and Outer Dimensions122.3.1 Table Top Mounting122.3.2 Multiple Mounting16Specifications20How to Set the Model223.1 Environmental Conditions233.2 Base Table243.3 Mounting Dimensions253.4 Unpacking and Transportation283.5 Installation Procedure293.5.1 Table Top Mounting293.5.2 Multiple Mounting303.5.3 Cleanroom-model313.6 Connecting the Cables313.7 User Wires and Pneumatic Tubes333.8 Relocation and Storage353.8.1 Precautions for Relocation and Storage353.8.2 Table Top Mounting363.8.3 Multiple Mounting37Attaching an End Effector38Attaching Cameras and Valves39Weight and Inertia Settings404.3.1 Weight Setting404.3.2 Inertia Setting42Precautions for Auto Acceleration/Deceleration of Joint #345Motion Range Setting by Pulse Range (for All Joints)475.1.1 Max. Pulse Range of Joint #1485.1.2 Max. Pulse Range of Joint #2495.1.3 Max. Pulse Range of Joint #3505.1.4 Max. Pulse Range of Joint #450Motion Range Setting by Mechanical Stops515.2.1 Setting the Mechanical Stops of Joints #1 and #2525.2.2 Setting the Mechanical Stop of Joint #355System of the Manipulator (for Joints #1 and #2)57Standard Motion Range57Schedule for Maintenance Inspection68Inspection Point69(Manipulator is not operating)69(Manipulator is operating)69Greasing70Tightening Hexagon Socket Head Cap Bolts71Matching Origins71Layout of Maintenance Parts722.6.1 Table Top Mounting722.6.2 Multiple Mounting73Arm Top Cover75Arm Bottom Cover77Arm Cap77Connector Plate78Connector Sub Plate79User Plate79Maintenance Plate80Base Bottom Cover80Common Parts81Parts by Environment Model814.2.1 S: Standard-model824.2.2 C: Cleanroom-model82Size: 3.5 MBPages: 92Language: EnglishOpen manual