EPSON G3-351SM, G3-351SM-R, G3-351SM-L, G3-301S-R, G3-351CM-L User Manual

SCARA ROBOT

G3 series

MANIPULATOR MANUAL

Rev.5

EM111R2120F

MANIPULATOR MANUAL

G3 series Rev.5

SCARA ROBOT

G3 series Manipulator Manual

Rev.5

Copyright © 2008-2011 SEIKO EPSON CORPORATION. All rights reserved.

G3 Rev.5

i

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system.

Keep this manual handy for easy access at all times.

WARRANTY

The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

1.Damage or malfunction caused by improper use which is not described in the manual, or careless use.

2.Malfunctions caused by customers’ unauthorized disassembly.

3.Damage due to improper adjustments or unauthorized repair attempts.

4.Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1.If the Manipulator or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.

2.If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.

3.We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.

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G3 Rev.5

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.

NOTICE

No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier office for your region.

Please prepare the following items before you contact us.

-Your controller model and its serial number

-Your manipulator model and its serial number

-Software and its version in your robot system

-A description of the problem

SERVICE CENTER

G3 Rev.5

iii

MANUFACTURER & SUPPLIER

Japan & Others	SEIKO EPSON CORPORATION
	Suwa Minami Plant
	Factory Automation Systems Dept.
	1010 Fujimi, Fujimi-machi,
	Suwa-gun, Nagano, 399-0295
	JAPAN
	TEL	: [phone]
	FAX	: [phone]

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746

USA

TEL : [phone]

FAX : [phone] E-MAIL : [e-mail]

Europe	EPSON DEUTSCHLAND GmbH
	Factory Automation Division
	Otto-Hahn-Str.4
	D-40670 Meerbusch
	Germany
	TEL	: [phone]
	FAX	: [phone]
	E-MAIL	: [e-mail]

China	EPSON China Co., Ltd
	Factory Automation Division
	7F, Jinbao Building No. 89 Jinbao Street
	Dongcheng District, Beijing,
	China, 100005
	TEL	: [phone]
	FAX	: [phone]

Taiwan	EPSON Taiwan Technology & Trading Ltd.
	Factory Automation Division
	14F, No.7, Song Ren Road, Taipei 110
	Taiwan, ROC
	TEL	: [phone]
	FAX	: [phone]

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G3 Rev.5

For Customers in the European Union

The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.

This information only applies to customers in the European Union, according to DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91/157/EEC and legislation transposing and implementing it into the various national legal systems.

For other countries, please contact your local government to investigate the possibility of recycling your product.

The battery removal/replacement procedure is described in the following manuals:

Controller manual / Manipulator manual (Maintenance section)

G3 Rev.5

v

Before Reading This Manual

This section describes what you should know before reading this manual.

Structure of Control System

The G3 series Manipulators can be used with the following combinations of Controllers and software.

The operating methods and descriptions are different depending on which software you are using. The following icons are put beside appropriate text as necessary. Use the descriptions that pertain to the software you are using.

	Controller		Software
Name		Structure
RC180		Controller	EPSON RC+ 5.0
RC620		Control Unit	EPSON RC+ 6.0
		Drive Unit

For details on commands, refer to User’s Guide or “On-line help”.

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn ON/OFF all the hardware components. For the Controller composition, refer to the table above.

Shape of Motors

The shape of the motors used for the Manipulator that you are using may be different from the shape of the motors described in this manual because of the specifications.

Setting by Using Software

This manual contains setting procedures by using software. They are marked with the following icon.

EPSON

RC+

Figures in this Manual

The figures of manipulators indicated in this manual are basically Standard-model Manipulator. Unless special instruction is provided, the specifications of Standard-model and Cleanroom-model are the same.

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G3 Rev.5

TABLE OF CONTENTS

TABLE OF CONTENTS

Before Reading This Manual............................................................................

v

Setup & Operation

1. Safety		3
1.1	Conventions.............................................................................................	3
1.2	Design and Installation Safety .................................................................	4
1.3	Operation Safety......................................................................................	5
1.4	Emergency Stop ......................................................................................	6
1.5	Emergency Movement Without Drive Power ...........................................	7
1.6	Manipulator Labels ..................................................................................	8

2. Specifications			10
2.1	Features of G3 series Manipulators.......................................................		10
2.2	Model Number and Model Differences ..................................................		11
2.3	Part Names and Outer Dimensions .......................................................		13
	2.3.1	Table Top Mounting....................................................................	13
	2.3.2	Multiple Mounting.......................................................................	17
2.4	Specifications.........................................................................................		21
2.5	How to Set the Model ............................................................................		25

3. Environments and Installation			26
3.1	Environmental Conditions......................................................................		26
3.2	Base Table.............................................................................................		27
3.3	Mounting Dimensions ............................................................................		28
	3.3.1	Table Top Mounting - Straight Arm .............................................	29
	3.3.2	Table Top Mounting - Left-Curved Arm.......................................	30
	3.3.3	Table Top Mounting - Right-Curved Arm ....................................	31
	3.3.4	Multiple Mounting - Straight Arm ................................................	32
	3.3.5	Multiple Mounting - Left-Curved Arm..........................................	33
	3.3.6	Multiple Mounting - Right-Curved Arm .......................................	34
3.4	Unpacking and Transportation...............................................................		35
3.5	Installation .............................................................................................		36
	3.5.1	Table Top Mounting....................................................................	36
	3.5.2	Multiple Mounting.......................................................................	37
	3.5.3	Cleanroom-model ......................................................................	38
3.6	Connecting the Cables ..........................................................................		39
3.7	User Wires and Pneumatic Tubes .........................................................		40
3.8	Relocation and Storage .........................................................................		42
	3.8.1 Precautions for Relocation and Storage.....................................		42
	3.8.2	Table Top Mounting....................................................................	43
	3.8.3	Multiple Mounting.......................................................................	44

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vii

TABLE OF CONTENTS

4. Setting of End Effectors			45
4.1	Attaching an End Effector......................................................................		45
4.2	Attaching Cameras and Valves .............................................................		46
4.3	Weight and Inertia Settings ...................................................................		47
	4.3.1	Weight Setting ...........................................................................	47
	4.3.2	Inertia Setting ............................................................................	49
4.4	Precautions for Auto Acceleration/Deceleration of Joint #3...................		53

5. Motion Range		54
5.1	Motion Range Setting by Pulse Range (for All Joints)...........................	54
	5.1.1 Max. Pulse Range of Joint #1....................................................	55
	5.1.2 Max. Pulse Range of Joint #2....................................................	56
	5.1.3 Max. Pulse Range of Joint #3....................................................	57
	5.1.4 Max. Pulse Range of Joint #4....................................................	57
5.2	Motion Range Setting by Mechanical Stops..........................................	58
	5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................	58
	5.2.2 Setting the Mechanical Stop of Joint #3.....................................	62
5.3	Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ............................................		64
5.4	Standard Motion Range ........................................................................	64

Maintenance

	1.	Safety Maintenance			67
	2.	General Maintenance			68
2.1			Schedule for Maintenance Inspection ...................................................		68
2.2			Inspection Point.....................................................................................		69
			2.2.1 Inspection While the Power is OFF ...........................................		69
			2.2.2 Inspection While the Power is ON.............................................		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
			2.6.1	Table Top Mounting ...................................................................	72
			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			Heatsink Plate.......................................................................................		80
3.8			Base Bottom Cover ...............................................................................		80
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				TABLE OF CONTENTS
4.	Cable Unit				81
4.1			Replacing Cable Unit.............................................................................		82
4.2			Wiring Diagrams ....................................................................................		87
			4.2.1	Signal Cable...............................................................................	87
			4.2.2	Power Cable ..............................................................................	88
			4.2.3	User Cable .................................................................................	89
5.	Arm #1				90
5.1			Replacing Joint #1 Motor .......................................................................		91
5.2			Replacing Joint #1 Reduction Gear Unit................................................		94
6.	Arm #2				97
6.1			Replacing Joint #2 Motor .......................................................................		98
6.2			Replacing Joint #2 Reduction Gear Unit..............................................		102
7.	Arm #3				105
7.1			Replacing Joint #3 Motor .....................................................................		106
7.2			Replacing the Timing Belt ....................................................................		110
7.3			Replacing the Brake ............................................................................		114
8.	Arm #4				116
8.1			Replacing Joint #4 Motor .....................................................................		117
8.2			Replacing the Timing Belt ....................................................................		121
9.	Replacing Arm #1				129
10.		Bellows			136
11. Ball Screw Spline Unit					138
11.1 Greasing the Ball Screw Spline Unit ..................................................					138
			11.1.1	Standard-model......................................................................	139
			11.1.2	Cleanroom-model / Protected-model......................................	140
11.2 Replacing the Ball Screw Spline Unit .................................................					141
12.		Lithium Battery			145
12.1 Replacing the Battery Unit (Lithium Battery)......................................					146
12.2 Replacing the Battery Board..............................................................					147
13.		LED Lamp			149
14.		Calibration			150
14.1			About Calibration ...............................................................................		150
14.2			Calibration Procedure........................................................................		151
14.3 Accurate Calibration of Joint #2.........................................................					161
14.4 Calibration Procedure without using Calibration Wizard....................					163
G3 Rev.5					ix

TABLE OF CONTENTS
15. Maintenance Parts List		167
15.1	Common Parts ..................................................................................	167
15.2	Parts by Environment Model .............................................................	168

x

G3 Rev.5

Setup & Operation

This volume contains information for setup and operation of the G3 series Manipulators.

Please read this volume thoroughly before setting up and operating the Manipulators.

Setup & Operation 1. Safety

1.Safety

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables.

Keep this manual handy for easy access at all times.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

WARNING

WARNING

CAUTION

This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.

This symbol indicates that a danger of possible serious injury or death caused by electric shock exists if the associated instructions are not followed properly.

This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.

G3 Rev.5

3

Setup & Operation 1. Safety

1.2 Design and Installation Safety

Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.

To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide.

The following items are safety precautions for design personnel:

■Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.

■The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been

	WARNING	designed and manufactured strictly for use in a normal indoor environment.
		Using the product in an environment that exceeds the specified environmental
		conditions may not only shorten the life cycle of the product but may also cause
		serious safety problems.

■The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.

Further precautions for installation are mentioned in the chapter Setup & Operation: 3. Environments and Installation. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

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G3 Rev.5

Setup & Operation 1. Safety

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User’s Guide before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

■Do not enter the operating area of the Manipulator while the power to the robot system is turned ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.

■Before operating the robot system, make sure that no one is inside the

WARNING	safeguarded area. The robot system can be operated in the mode for teaching
	even when someone is inside the safeguarded area.
	The motion of the Manipulator is always in restricted (low speeds and low power)
	status to secure the safety of an operator. However, operating the robot system
	while someone is inside the safeguarded area is extremely hazardous and may
	result in serious safety problems in case that the Manipulator moves
	unexpectedly.

■Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated.

■To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.

■Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot

WARNING system.

■Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

■Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all

CAUTION	people involved communicate with each other as to what they are doing and take
	all necessary safety precautions.

G3 Rev.5

5

Setup & Operation 1. Safety

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally. Otherwise, the Manipulator may hit the peripheral equipment since the operating trajectory while the robot system stops is different from that in normal operation.

To place the system in emergency mode during normal operation, press the Emergency Stop switch when the Manipulator is not moving.

Refer to the Controller manual for instructions on how to wire the Emergency Stop switch circuit.

Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed.

The free running time/angle/distance of the Manipulator are shown below. However, remember that the values vary depending on following conditions.

Weight of the end effector Weight of work piece Operating pose Weight Speed Accel etc.

Conditions for Measurement
Accel Setting	100
Speed Setting	100
Load [kg]	3
Weight Setting	3	Start point of
		operation
Point where the
emergency stop	Joint #1	Target point
signal is input

Joint #2	Stop point

		Controller			RC180 / RC620
		Manipulator		G3-25***	G3-30***	G3-35***
	Free running	Joint #1 + Joint #2	[sec.]	0.5	0.5	0.5
	time	Joint #3	[sec.]	0.5	0.5	0.5
	Free running	Joint #1	[deg.]	35	35	40
		Joint #2	[deg.]	50	50	50
	angle
		Joint #1 + Joint #2	[deg.]	85	85	90
	Free running	Joint #3 G3-**1**	[mm]	95	95	95
	distance

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G3 Rev.5

Setup & Operation 1. Safety

1.5 Emergency Movement Without Drive Power

When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below:

Arm #1 .............	Push the arm by hand.
Arm #2 .............	Push the arm by hand.
Joint #3 ............	The joint cannot be moved up/down by hand until the
	electromagnetic brake applied to the joint has been released.
	Move the joint up/down while pressing the brake release button
	switch.
Joint #4...........	Rotate the shaft by hand.
		Joint #2
	−(rotating)
		+
		Joint #1
		(rotating)
Joint #3brake release button		−
		+
Arm #2

			Base
	+		Arm #1
	Joint #3
		−	Shaft
	(up and down)
		+
	−
		Joint #4
		(rotating)
NOTE	The brake release button affects only Joint #3. When the brake release button is

)pressed in emergency mode, the brake for Joint #3 is released.

Be careful of the shaft while the brake release button is pressed because the shaft may be lowered by the weight of an end effector.

G3 Rev.5

7

Setup & Operation 1. Safety

1.6 Manipulator Labels

The following labels are attached near the locations of the Manipulator where specific dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.

Do not tear, damage, or remove the labels. Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas:

		Labels		NOTE
			Before loosening the base mounting screws,
A			hold the arm and secure it tightly with a band to
			prevent hands or fingers from being caught in
			the Manipulator.
B
C			Hazardous voltage exists while the Manipulator
			is ON.	To avoid electric shock, do not touch
			any internal electric parts.
			You can catch your hand or fingers between the
			shaft and cover when bringing your hand close
D			to moving parts.
			* Manipulators with bellows do not have this
			label for no danger of your hand or fingers being
			caught.
E			HOT
			Be careful not to burn yourself.
			Only authorized personnel should perform sling
			work and operate a crane and a forklift.
F			When	these operations are performed by
			unauthorized personnel, it is extremely hazardous
			and may result in serious bodily injury and/or
			severe equipment damage to the robot system.
G			Be careful of the hand falling while the brake
			release button is being pressed.

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G3 Rev.5

Setup & Operation 1. Safety

H

I

Common

Table Top Mounting

Multiple Mounting

G3 Rev.5

9

Setup & Operation 2. Specifications

2.Specifications

2.1 Features of G3 series Manipulators

The G3 series Manipulators are high-performance manipulators pursuing high speed, high accuracy, space saving, and high cost-performance.

The features of the G3 series Manipulators are as follows:

Space productivity

Top level of cycle time and positioning accuracy

Minimized body

10 % downsize of overall height, compared to E2C

Extended motion range

The same size of motion range compared with the other brands’ one up robots

Extended range in Z direction

Obtain the stroke under the body

Succeeded E2C series advantages

Compatibility with the E2C series Manipulators

The installation procedure and mounting dimensions of end effector for the G3 series are compatible with those for E2C series

* Secure the compatible mounting position with optional parts

Improved productivity

Increase in number of user wires and pneumatic tubes

Enhanced speed of Joint #1, 2, 3, and 4

Improved cycle time

10

G3 Rev.5

Setup & Operation 2. Specifications

2.2 Model Number and Model Differences

G3-25 1 S □-R-UL

UL specification

UL : UL compliant

□: Non UL compliant

Type

□: Standard

R	: Right-Curved
L	: Left-Curved

Mounting type

□	: Table Top Mounting
M	: Multiple Mounting
Environment
S	: Standard
C	: Cleanroom & ESD (Anti-Static)

Joint #3 stroke

1: 150 mm

: 120 mm (Cleanroom-model)

Arm length

25 : 250 mm

30 : 300 mm

35 : 350 mm

Environment

Cleanroom-model

This model has additional features that reduce dust emitted by the Manipulator to enable use in clean room environments.

For details on the specifications, refer to Setup & Operation: 2.4 Specifications.

G3 Rev.5

11

Setup & Operation		2. Specifications
	Arm	Arm type	Mounting type	Environment	Joint #3	Model
	length				stroke	Number
	250 mm	Standard	Table Top Mounting	Standard	150	G3-251S
				Cleanroom	120	G3-251C
			Table Top Mounting	Standard	150	G3-301S
		Standard		Cleanroom	120	G3-301C
			Multiple Mounting	Standard	150	G3-301SM
	300 mm			Cleanroom	120	G3-301CM
		Right-Curved	Table Top Mounting	Standard	150	G3-301S-R
				Cleanroom	120	G3-301C-R
		Left-Curved	Table Top Mounting	Standard	150	G3-301S-L
				Cleanroom	120	G3-301C-L
			Table Top Mounting	Standard	150	G3-351S
		Standard		Cleanroom	120	G3-351C
			Multiple Mounting	Standard	150	G3-351SM
				Cleanroom	120	G3-351CM
			Table Top Mounting	Standard	150	G3-351S-R
	350 mm	Right-Curved		Cleanroom	120	G3-351C-R
			Multiple Mounting	Standard	150	G3-351SM-R
				Cleanroom	120	G3-351CM-R
			Table Top Mounting	Standard	150	G3-351S-L
		Left-Curved		Cleanroom	120	G3-351C-L
			Multiple Mounting	Standard	150	G3-351SM-L
				Cleanroom	120	G3-351CM-L

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G3 Rev.5

Setup & Operation 2. Specifications

2.3Part Names and Outer Dimensions

2.3.1Table Top Mounting

Standard-model G3-**1S

Joint #2

−(rotating)+

Joint #1 (rotating)

Joint #3 Brake release switch	−
Arm #2	+
Arm #2

		Base
+
Joint #3	−	Arm #1
(Up/Down)		Shaft
		+
−

	Joint #4
	(rotating)
Fittings (white)	User connector
for ø6 mm	(15-pin D-sub connector)
pneumatic tube
Fittings (black)
for ø6 mm
pneumatic tube
Signal cable	Fitting (black)
	for ø4 mm

Power cable	pneumatic tube

MT label (only for special order)

Face plate (Manipulator serial No.)

CE label

UR label

NOTE

)emergency mode, the brake for Joint #3 is released.

-While the LED lamp is on, the current is being applied to the manipulator. Performing any work with the power ON is extremely hazardous and it may result in electric shock and/or improper

function of the robot system. Make sure to turn OFF the controller power before the maintenance work. When the brake release button is pressed inThe brake release button affects only Joint #3.

G3 Rev.5

13

Setup & Operation 2. Specifications

				or more
				Space for cables
		G3-251S	G3-301S		G3-351S
(*) indicates the stroke margin	a	120	170		220
by mechanical stop.	b	Max.545	Max.575		Max.595

1 mm flat cut

Conical hole Ø3,90°

Max.ø11 through hole
shaft diameter
mechanical stop diameter
Detail of “A”	Reference through hole
(Calibration point position of Joints #3 and #4)	(View from the bottom of the base)
14	G3 Rev.5

Setup & Operation 2. Specifications

Cleanroom-model: G3-***C

The following figures show the additional parts and specifications for Cleanroom-model (Table Top mounting) when compared with the Standard-model in appearance.

Upper bellows	Plate cover
	(For Anti-static)

Exhaust port

Lower bellows	Cover
Plate cover	for Table Top mounting surface
(For Anti-static)

G3 Rev.5

15

Setup & Operation 2. Specifications

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole Ø3,90°

Max.ø11 through hole shaft diameter

mechanical stop diameter

Detail of “A”

(Calibration point position of Joints #3 and #4)

		or
		more	Space for cables
	G3-251C	G3-301C		G3-351C
a	120	170		220
b	Max.545	Max.575		Max.595

Reference through hole (View from the bottom of the base)

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G3 Rev.5

Setup & Operation 2. Specifications

2.3.2Multiple Mounting

Standard-model: G3-**1SM

Joint #2 − (rotating)

+

Joint #3 Brake release switch

LED lamp

Base

− Arm #1

+

+Arm #2

Joint #3	Joint #1
(Up/Down)	(rotating)
−	Shaft
	−	Face plate (Manipulator serial No.)
	+
	User connector	MT label (only for special order)
	(15-pin D-sub connector)
	Power cable
Fitting (white)
for ø6 mm
pneumatic tube
Fitting (black)		CE label
for ø4 mm
pneumatic tube	Fitting (black)	UR label

	for ø6 mm	Signal cable
	pneumatic tube

NOTE

)emergency mode, the brake for Joint #3 is released.

-While the LED lamp is on, the current is being applied to the manipulator. Performing any work with the power ON is extremely hazardous and it may result in electric shock and/or improper

function of the robot system. Make sure to turn OFF the controller power before the maintenance work. When the brake release button is pressed inThe brake release button affects only Joint #3.

G3 Rev.5

17

Setup & Operation 2. Specifications

or more Space for cables

	G3-301SM	G3-351SM
a	170	220
b	Max.410	Max.450

(*) indicates the stroke margin by mechanical stop.

	1 mm flat cut
	Conical hole
	Ø3,90°	Max.ø11 through hole
		shaft diameter
		mechanical stop diameter
		Detail of “A”	Reference through hole
			(View from the bottom of the base)
	(Calibration point position of Joints #3 and #4)

18

G3 Rev.5