Document Outline

• EM08ZR1795F SCARA ROBOTG3 series MANIPULATOR MANUAL Rev.1
  • PREFACE
    • FOREWORD
    • WARRANTY
    • TRADEMARKS
    • NOTICE
    • INQUIRIES
    • SERVICE CENTER
    • MANUFACTURER & SUPPLIER
    • SUPPLIERS
    • Before Reading This Manual
      • Structure of Control System
      • Turning ON/OFF Controller
      • Shape of Motors
      • Setting by Using Software
      • Figures in this Manual
  • TABLE OF CONTENTS
    • Setup & Operation
      • 1. Safety
      • 2. Specifications
      • 3. Environments and Installation
      • 4. Setting of End Effectors
      • 5. Motion Range
    • Maintenance
      • 1. Safety Maintenance
      • 2. General Maintenance
      • 3. Covers
      • 4. Maintenance Parts List
  • Setup & Operation
    • 1. Safety
      • 1.1 Conventions
      • 1.2 Design and Installation Safety
      • 1.3 Operation Safety
      • 1.4 Emergency Stop
      • 1.5 Emergency Movement Without Drive Power
      • 1.6 Manipulator Labels
    • 2. Specifications
      • 2.1 Features of G3 series Manipulators
      • 2.2 Model Number and Model Differences
      • 2.3 Part Names and Outer Dimensions
        • 2.3.1 Table Top Mounting
        • 2.3.2 Multiple Mounting
      • 2.4 Specifications
      • 2.5 How to Set the Model
    • 3. Environments and Installation
      • 3.1 Environmental Conditions
      • 3.2 Base Table
      • 3.3 Mounting Dimensions
      • 3.4 Unpacking and Transportation
      • 3.5 Installation Procedure
        • 3.5.1 Table Top Mounting
        • 3.5.2 Multiple Mounting
        • 3.5.3 Cleanroom-model
      • 3.6 Connecting the Cables
      • 3.7 User Wires and Pneumatic Tubes
      • 3.8 Relocation and Storage
        • 3.8.1 Precautions for Relocation and Storage
        • 3.8.2 Table Top Mounting
        • 3.8.3 Multiple Mounting
    • 4. Setting of End Effectors
      • 4.1 Attaching an End Effector
      • 4.2 Attaching Cameras and Valves
      • 4.3 Weight and Inertia Settings
        • 4.3.1 Weight Setting
          • Load on the Shaft
          • Load on the Arm
          • Automatic speed setting by Weight
          • Automatic acceleration/deceleration setting by Weight
        • 4.3.2 Inertia Setting
          • Moment of Inertia and the Inertia Setting
          • Moment of inertia of load on the shaft
          • Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
          • Eccentric Quantity and the Inertia Setting
          • Eccentric quantity of load on the shaft
          • Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
          • Calculating the Moment of Inertia
      • 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3
        • Automatic acceleration/deceleration vs. Joint #3 position
    • 5. Motion Range
      • 5.1 Motion Range Setting by Pulse Range (for All Joints)
        • 5.1.1 Max. Pulse Range of Joint #1
        • 5.1.2 Max. Pulse Range of Joint #2
        • 5.1.3 Max. Pulse Range of Joint #3
        • 5.1.4 Max. Pulse Range of Joint #4
      • 5.2 Motion Range Setting by Mechanical Stops
        • 5.2.1 Setting the Mechanical Stops of Joints #1 and #2
        • 5.2.2 Setting the Mechanical Stop of Joint #3
      • 5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
      • 5.4 Standard Motion Range
  • Maintenance
    • 1. Safety Maintenance
    • 2. General Maintenance
      • 2.1 Schedule for Maintenance Inspection
      • 2.2 Inspection Point
        • 2.2.1 Inspection While the Power is OFF (Manipulator is not operating)
        • 2.2.2 Inspection While the Power is ON (Manipulator is operating)
      • 2.3 Greasing
      • 2.4 Tightening Hexagon Socket Head Cap Bolts
      • 2.5 Matching Origins
      • 2.6 Layout of Maintenance Parts
        • 2.6.1 Table Top Mounting
        • 2.6.2 Multiple Mounting
    • 3. Covers
      • 3.1 Arm Top Cover
      • 3.2 Arm Bottom Cover
      • 3.3 Arm Cap
      • 3.4 Connector Plate
      • 3.5 Connector Sub Plate
      • 3.6 User Plate
      • 3.7 Heatsink Plate
      • 3.8 Base Bottom Cover
    • 4. Maintenance Parts List
      • 4.1 Common Parts
      • 4.2 Parts by Environment Model