Epson G3 Series - Manual (Page 31)

Setup & Operation 2. Specifications
G3 Rev.1 21
Item G3 series Manipulator
Ambient
Temperature
5 to 40 °C (with minimum temperature variation)
Environmental
requirements
Ambient relative
humidity
10 to 80% (no condensation)
Noise level *4 L
Aeq
= 70 dB (A)
Applicable Controller RC180
SPEED 1 to (5) to100
ACCEL *5 1 to (10) to 120
SPEEDS 1 to (50) to 2000
ACCELS 1 to (200) to 25000
FINE 0 to (10000) to 65000
Assignable Value
( ) Default values
WEIGHT 0,130 to (1,130) 3,130
MTBF 3 years
Safety standard
ANSI/RIA R15.06 compliant
CE compliant
*1: In the case of PTP command.
Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: In the case where the center of gravity is at the center of Joint #4.
If the center of gravity is not at the center of Joint #4, set the parameter using Inertia command.
*3: The exhaust system in the Cleanroom-model Manipulator draws air from the base interior and arm cover
interior together.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria; Clean Class: 10 or its equivalent
Amount of Dust (0.1 µm diameter or larger) in 28317 cm 3 (1cft)
sample-air around the center of the motion rang: 10 particles or less.
Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter:ø8 mm) or
Inner diameter ø16mm or larger
Recommended exhaust flow rate : approx. 1000 cm 3 /s (Normal)
*4: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.
Measurement point : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.
*5: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning.
However, you may require an operation with high acceleration to shorten the cycle time by decreasing the
vibration at positioning. In this case, set Accel to larger than 100.
If you specify a larger Accel value, the frequency of the overload error and over heat may rise during
continuous operation. The use of large Accel setting is recommended only for necessary motions.