Epson SCARA GX Series, Manual

Page: 9 / 236

Table of Contents
GX series Rev.2 vii
3.4.2 Table Top Mounting .................................................................... 128
3.4.3 Wall Mounting ............................................................................. 129
3.4.4 Ceiling Mounting ......................................................................... 130
3.4.5 Cleanroom & ESD model ........................................................... 131
3.4.6 Protected-model ......................................................................... 131
3.5 Connecting the Cables ........................................................................... 132
3.6 User Wires and Pneumatic Tubes.......................................................... 134
3.6.1 Electrical Wires ........................................................................... 134
3.6.2 Pneumatic Tubes ........................................................................ 135
3.7 Relocation and Storage .......................................................................... 138
3.7.1 Precautions for Relocation and Storage .................................... 138
3.7.2 Table Top Mounting .................................................................... 139
3.7.3 Wall Mounting ............................................................................. 141
3.7.4 Ceiling Mounting ......................................................................... 143
4. Setting of End Effectors 145
4.1 Attaching an End Effector....................................................................... 145
4.2 Attaching Cameras and Valves .............................................................. 147
4.3 Weight and Inertia Settings .................................................................... 149
4.3.1 Weight Setting ............................................................................ 149
4.3.2 Inertia Setting ............................................................................. 155
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................... 158
5. Motion Range 161
5.1 Motion Range Setting by Pulse Range (for All Joints) ........................... 162
5.1.1 Max. Pulse Range of Joint #1 .................................................... 162
5.1.2 Max. Pulse Range of Joint #2 .................................................... 163
5.1.3 Max. Pulse Range of Joint #3 .................................................... 164
5.1.4 Max. Pulse Range of Joint #4 .................................................... 164
5.2 Motion Range Setting by Mechanical Stops .......................................... 165
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 166
5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 170
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator (for Joints #1 and #2) ........................................................ 172
5.4 Standard Motion Range ......................................................................... 172