Epson G3 Series User Manual

Setup & Operation 5. Motion Range
G3 Rev.14 69
5.2.2 Setting the Mechanical Stop of Joint #3
This method applies only to the Standard-model Manipulator (G3-**1S*) / Multiple
Mounting Manipulator (G3-**1SM).
For the Cleanroom-model (
G3-**1C*), the motion range set with the Joint #3 mechanical
stop cannot be changed.
(1)
Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2)
Push up the shaft while pressing the brake
release switch.
Do not push the shaft up to its upper limit or it
will be
difficult for the arm top cover to be
removed. Push the shaft up to a position
where the Joint #3 mechanical stop can be
changed.
Shaft
Lower limit
mechanical
stop
screw
M3×10
Brake release switch
When you press
the brake release switch, the shaft may lower due to the weight of
the end effector.
Be sure to hold the shaft by hand while pressing the button.
(3)
Turn OFF the
Controller.
(4)
Loosen the lower limit mechanical stop screw (M
3×10).
A mechanical stop is mounted on
both the top and bottom of Joint #3. However,
only the position of the lower limit mechanical stop on the top can be changed.
Do
not remove the upper limit mechanical stop on the bottom because the calibration
point of Joint #3 is specified
using the stop.
(5)
The upper end of the shaft
defines the maximum
stroke.
Move the lower limit mechanical stop
down by the length you want to limit the stroke.
For example, when the lower limit mechanical
stop is set at “
150 mm” stroke, the lower limit Z
coordinate
value is “-150”. To change the
value to “
-130
”, move the lower limit
mechanical stop down
“20 mm”. Use calipers
to measure the distance when
adjusting the
mechanical
stop.
Measure
this distance.
(6)
Firmly tighten the lower limit mechanical
stop screw (M3×
10) not to let it enter the
shaft groove.
Recommended tightening torque: 2.45
N⋅m (25 kgf⋅cm)
(7)
Turn ON the
Controller.
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NOTE
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NOTE
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NOTE

Epson G3 Series Specifications

General

Brand	Epson
Model	G3 Series
Category	Robotics
Language	English