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G3 Rev.1 vii
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 .......................................................12
2.3.1 Table Top Mounting....................................................................12
2.3.2 Multiple Mounting.......................................................................16
2.4 Specifications.........................................................................................20
2.5 How to Set the Model ............................................................................22
3. Environments and Installation 23
3.1 Environmental Conditions......................................................................23
3.2 Base Table.............................................................................................24
3.3 Mounting Dimensions ............................................................................25
3.4 Unpacking and Transportation...............................................................28
3.5 Installation Procedure............................................................................29
3.5.1 Table Top Mounting....................................................................29
3.5.2 Multiple Mounting.......................................................................30
3.5.3 Cleanroom-model ......................................................................31
3.6 Connecting the Cables ..........................................................................31
3.7 User Wires and Pneumatic Tubes .........................................................33
3.8 Relocation and Storage .........................................................................35
3.8.1 Precautions for Relocation and Storage.....................................35
3.8.2 Table Top Mounting....................................................................36
3.8.3 Multiple Mounting.......................................................................37
4. Setting of End Effectors 38
4.1 Attaching an End Effector......................................................................38
4.2 Attaching Cameras and Valves..............................................................39
4.3 Weight and Inertia Settings....................................................................40
4.3.1 Weight Setting............................................................................40
4.3.2 Inertia Setting.............................................................................42
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ...................45