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Epson ETX-945 Computer Hardware User Manual

1. ps aut a BE B Mount eyebolt 2 M4 depth 12 _ 200 ie _at shipment So S sz L Re e 4 0 16 S 39 5 LLL G10 65 S G10 G20 85 S G20 A0 S a 250 450 600 G10 G20 1S G10 G20 4S b 180 420 C 813 5 1053 5 d 213 5 26 5 EA T I o q A TE o E eo 1 3 p I L1 co 2 Lo wo 3 BEL aS E 8 o X z indi he strok i hanical stop indicates the stroke margin by mechanical stop Source L T RE Ae Spa J N io T T 1 mm flat cut Lun 9 we Conical hole RN 1 AN zi 4 Max 218 through hole V 4 1 925 h7 shaft diameter 839 5 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 G10 G20 Rev 2 Space for cables 1340 05 eoo Root both side chamfer C0 5 Reference through hole View from the bottom of the base 13 Setup amp Operation 2 Specifications Cleanroom model G10 G20 C The following figure shows the additional parts and specifications for the Table Top mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Lower bellows 14 Sa WW Plate cover For static elec
2. indicates the stroke margin by mechanical stop B i 200 2 M8 depth 16 5 d D RUNE NM i l i Lit i m S I N us Ee f T T 1 mm flat cut a Detail of B 118 37 Lo Lo Conical hole 94 90 NT TT nue L L 90 or more k Max 18 through hole M Space for cables 925 h7 shaft diameter To T o X amp e 939 5 mechanical stop diameter Detail of A S s SEXE Calibration point position of Joints 3 and 4 1 G10 65 SW G10 G20 85 SW G20 A0 SW Le a 250 450 600 i gt G10 G20 1SW G10 G20 4SW b 180 420 ge C 27 5 212 5 Reference hole d 420 660 150 09 220 Tolerance applies 250 G10 G20 Rev 2 to the pin hole Reference through hole View from the bottom of the base 17 Setup amp Operation 2 Specifications Cleanroom model G10 G20 CW The following figure shows the additional parts and specifications for the Wall mounting Cleanroom model when compared with the Standard model in appearance Upper bellows Plate cover For static electricity countermeasure Lower bellows Plate cover For static electricity countermeasure Exhaust port 18 G10 G20 Rev2 Setup amp Operation 2 Specifications 8x indicates the stroke margin by mechanical stop D200
3. Fitting white for 96 mm pneumatic tube User connector 9 pin D sub connector 39 Setup amp Operation 3 Environments and Installation 3 8 Relocation and Storage 8 8 1 Precautions for Relocation and Storage Observe the following when relocating storing and transporting the Manipulators THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES A WARNING Only authorized personnel should perform sling work and operate a crane and a forklift When these operations are performed by unauthorized personnel it is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system A CAUTION Before relocating the Manipulator fold the arm and secure it tightly with a wire tie to prevent hands or fingers from being caught in the Manipulator When removing the anchor bolts support the Manipulator to prevent falling Removing the anchor bolts without support may result in a fall of the Manipulator and then get hands fingers or feet caught To carry the Manipulator have four or more people to work on it and secure the Manipulator to the delivery equipment or hold the bottom of Arm 1 and the bottom of the base by hand When holding the bottom of the base by hand be very careful not to get hands or fingers caught Stabilize the Manipulator with your hands when hoisting i
4. h h g 270 g Maximum space g g g G10 G20 85 S 207 8 G10 G20 85 C 218 3 G10 65 G10 G20 85 DRE G20 A0 S C a Length of Arm 1 mm 250 450 600 b Length of Arm 2 mm 400 400 400 c Motion range 2124 2078 2010 360 120758 307 i Z 360 390 218 3 d Motion range of Joint 1 degree 152 152 152 Z 1 152 5 e Motion range of Joint 2 degree 152 5 152 5 ao RE puer 152 5 Z 360 to 390 151 f Mechanical stop area 199 4 183 3 285 4 Joint 1 angle to hit mechanical stop 3 3 3 degree i i i Z 0 to 3 5 h Joint 2 angle to hit mechanical stop 35 35 iZ 0 to 360 NEN DE CAM 35 degree Z 360 to 390 5 NOTE S G10 G20 Rev 2 In the range Z 360 to 390 mm the area is limited by interference of the Manipulator body and the arm 29 Setup amp Operation 3 Environments and Installation Wall Mounting G10 65 W G10 G20 85 W G20 A0 W Center of Joint 3 Gio es w G10 G20 85 aoo AQew SW a Length of Arm 1 mm 250 450 600 b Length of Arm 2 mm 400 400 400 c Motion range 306 5 207 8 218 3 307 d Motion range of Joint 1 degree 107 107 107 e Motion range of Joint 2 degree 130 1525 151 152 5 f Mechanical stop area 291 2 183 3 285 4 g Joint 1 angle to hit mechanical stop 3
5. 1 If the Manipulator or associated equipment is used outside of the usage conditions and product specifications described in the manuals this warranty is void 2 If you do not follow the WARNINGS and CAUTIONS in this manual we cannot be responsible for any malfunction or accident even if the result is injury or death 3 We cannot foresee all possible dangers and consequences Therefore this manual cannot warn the user of all possible hazards ii G10 G20 Rev 2 TRADEMARKS NOTICE INQUIRIES Microsoft Windows and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Other brand and product names are trademarks or registered trademarks of the respective holders No part of this manual may be copied or reproduced without authorization The contents of this manual are subject to change without notice Please notify us if you should find any errors in this manual or if you have any comments regarding its contents Contact the following service center for robot repairs inspections or adjustments If service center information is not indicated below please contact the supplier office for your region Please prepare the following items before you contact us Your controller model and its serial number Your manipulator model and its serial number Software and its version in your robot system Adescription of the problem SERVICE CE
6. 100 in 420 mm stroke Execute the following commands from the Command Window nos gt MOTOR ON Turns ON the motor gt SPEED 5 Sets low speed gt PULSE 0 0 540672 0 Moves to the lower limit pulse position of Joint 3 In this example all pulses except those for Joint 3 are 0 Substitute these Os with the other pulse values specifying a position where there is no interference even when lowering Joint 3 5 3 Setting the Cartesian Rectangular Range in the XY Coordinate System of the Manipulator for Joints 1 and 2 Use this method to set the upper and lower limits of the X and Y coordinates This setting is only enforced by software Therefore it does not change the physical range The maximum physical range is based on the position of the mechanical stops Set the XYLim setting on the XYZ Limits panel shown by selecting Tools Robot pes Manager You may also execute the XYLim command from the Command Window G10 G20 Rev 2 67 Setup amp Operation 5 Motion Range 5 4 Standard Motion Range The following motion range diagrams show the standard maximum specification When each Joint motor is under servo control the center of Joint 3 s shaft s lowest point moves in the areas shown in the figure Area limited by mechanical stop is the area where the center of Joint 3 s lowest point can be moved when each joint motor is not under servo control Mechanical sto
7. When you move the Manipulator horizontally with Joint 3 Z at a high position the motion time will be faster When Joint 3 gets below a certain point then auto acceleration deceleration is used to reduce acceleration deceleration Refer to the figure below The higher the position of the shaft is the faster the motion acceleration deceleration is However it takes more time to move Joint 3 up and down Adjust the position of Joint 3 for the Manipulator motion after considering the relation between the current position and the destination position The upper limit of Joint 3 during horizontal motion can be set by the LimZ command Automatic acceleration deceleration vs Joint 3 position G10 series and G20 series 1 20 400 100 The percentage in the graph is 100 based on the acceleration 80 deceleration at the upper limited 60 position of Joint 3 as 100 40 40 20 0 100 200 300 400 mm Height of the shaft NOTE When moving the Manipulator horizontally while the shaft is being lowered it may cause CE over shoot at the time of final positioning 56 G10 G20 Rev2 Setup amp Operation 5 Motion Range 5 Motion Range m When setting up the motion range for safety both the pulse range and mechanical stops must always be set at the same time CAUTION The motion range is preset at the factory as explained in Setup amp Operation 5 4 Standard Motion Range That is
8. G10 G20 Rev 2 G10 G20 Rev 2 Setup amp Operation 4 Setting of End Effectors Layouts When you operate the manipulator with an end effector the end effector may interfere with the Manipulator because of the outer diameter of the end effector the size of the work piece or the position of the arms When designing your system layout pay attention to the interference area of the end effector 45 Setup amp Operation 4 Setting of End Effectors 4 2 Attaching Cameras and Valves Arm 2 has threaded holes as shown in the figure below Use these holes for attaching cameras valves and other equipment Unit mm Common Dimensions Table Top Mounting 2 M8 depth 16 Mount eyebolt at shipment From the base mounting face 485 5 Q LES JE Lie Wall Mounting Mount eyebolt i at shipment ey From the reference hole Ceiling Mounting From the base mounting face From the base mounting face 326 46 G10 G20 Rev 2 Setup amp Operation 4 Setting of End Effectors 4 3 Weight and Inertia Settings To ensure optimum Manipulator performance it is important to make sure that the load weight of the end effector and work piece and moment of inertia of the load are within the maximum rating for the Manipulator and tha
9. Max Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter x Inner Diameter 0 59 MPa 6 kgf cm 86 psi 2 96 mm x 94 mm 2 94 mm x 92 5 mm Fittings for 6 mm and 94 mm outer diameter pneumatic tubes are supplied on both ends of the pneumatic tubes Common Parts 9 pin D sub connector Fitting black for 26 mm pneumatic tube Fitting white for 6 mm pneumatic tube 15 pin D sub connector Fitting black for g4 mm pneumatic tube Brake release button switch Fitting white for 4 mm pneumatic tube G10 G20 Rev 2 G10 G20 Rev2 Setup amp Operation 3 Environments and Installation Table Top Mounting Fitting white for 26 mm pneumatic tube Fitting white for 94 mm pneumatic tube Fitting white Fitting black for 26 mm pneumatic tube Fitting white for 94 mm pneumatic tube User connector 9 pin D sub connector Fitting black for 94 mm pneumatic tube for 96 mm pneumatic tube User connector 15 pin D sub connector Fitting black for 26 mm pneumatic tube User connector 15 pin D sub connector Fitting black l for 24 mm pneumatic tube User connector 9 pin D sub connector Ceiling Mounting Fitting black for 96 mm pneumatic tube Fitting black for 94 mm pneumatic tube Fitting white for 24 mm pneumatic tube User connector 15 pin D sub connector
10. CE 2 For details on the motion range refer to Setup amp Operation 5 2 Motion Range Setting by Mechanical Stops 2 Cover the arm with a sheet so that the arm will not be damaged Refer to the figure below and bind the shaft and arm retaining bracket on the base Example of Arm Retaining Posture Sheet Wire tie Bolt for Arm 1 mechanical stop Arm mounting bolt 3 Hold the bottom of Arm 1 by hand to unscrew the anchor bolts Then remove the Manipulator from the ceiling G10 G20 Rev 2 43 Setup amp Operation 4 Setting of End Effectors 4 Setting of End Effectors Users are responsible for making their own end effector s Before attaching an end effector observe these guidelines A CAUTION If you use an end effector equipped with a gripper or chuck connect wires and or pneumatic tubes properly so that the gripper does not release the work piece when the power to the robot system is turned OFF Improper connection of the wires and or pneumatic tubes may damage the robot system and or work piece as the work piece is released when the Emergency Stop switch is pressed I O outputs are configured at the factory so that they are automatically shut off 0 by power disconnection the Emergency Stop switch or the safety features of the robot system 44 Shaft Attach an end effector to the lower end of the shaft For the shaft dimensions and the over
11. MT label only for custom specification Signature label Ss CE label Serial No of Manipulator NOTE The brake release button affects both Joints 3 and 4 When the brake release button is pressed in CS emergency mode the brakes for both Joints 3 and 4 are released simultaneously For G6 1 Joint 4 has no brake on it 20 G10 G20 Rev 2 400 a Setup amp Operation 2 Specifications 2 M4 depth 2 55 0 012 100220 05 3 ae Tolerance applies to the pin hole 20 200 20 240 G10 65 8R G10 G20 85 SR G20 A0 SR a 250 450 600 G10 G20 1SR G10 G20 4SR b 180 420 212 5 90 or more d 420 660 Space for cables L n 5 F e5 S a a t A TE S a indicates the stroke margin by mechanical stop B Z l ae 1 T HE all a ry 2 M8 depth 16 la Se 2 T T 1 mm flat cut Ltd e LY e Conical hole 94 90 1 TEE Se Max 218
12. The following items are safety precautions for qualified Operator personnel Please carefully read the Safety related Requirements in the Safety chapter of the EPSON RC User s Guide before operating the robot system Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system Do not enter the operating area of the Manipulator while the power to the robot system is turned ON Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped Before operating the robot system make sure that no one is inside the WARNING safeguarded area The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area The motion of the Manipulator is always in restricted low speeds and low power status to secure the safety of an operator However operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated To shut off power to the robot system pull out the power plug from the power source Be sure to connect the AC power cable to a power receptacle
13. 0000343 deg pulse Joint 2 0 0000549 deg pulse Joint 4 0 0001845 deg pulse 0 0001308 deg pulse Joint 1 Motor power Joint 2 consumption Joint 3 Joint 4 rated max Joint 4 allowable rated moment of inertia 4 max Shaft diameter Hang Through hole Installed pneumatic tube for customer use Ambient M 5 to 40 C with minimum temperature variation Environmental Temperature requirements Ambient relative humidit Equivalent continuous A weighted sound Lau 70 dB A pressure level 5 Applicable Controller RC180 1 to 5 to 100 1te 10 to 120 Assignable Value 1 to 50 to 2000 Default values AccelS 1 to 200 to 25000 0 to 10000 to 65000 0 400 to 5 400 to 10 400 Safety standard ANSI RIA R15 06 compliant CE compliant The exhaust system in the Cleanroom model Manipulator G10 G20 C draws air from the base Resolution Payload 10 to 8096 no condensation interior and arm cover interior 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 cr
14. 3 Remove the bolts securing the wire ties removed in step 2 Arm mounting bolt M12x20 Eyebolt Attached at shipment G10 G20 Rev 2 33 Setup amp Operation 3 Environments and Installation 3 5 2 Wall Mounting Install the Wall Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged by a fall of the Manipulator G10 65 W Approximately 51 kg 113 lb G10 G20 85 W Approximately 53 kg 117 lb WARNING G20 A0 W Approximately 55 kg 122 Ib m When installing the Manipulator to the wall support the Manipulator and then secure the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard Model 1 Unpack the manipulator with retaining the arm posture 2 Secure the base to the wall with four bolts NOTE cg Use bolts with specifications conforming to ISO898 1 Property Class 10 9 or 12 9 Screw Hole depth 20 mm or more 2 E Plane Washer 4 M12x40 Spring Washer 34 G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 5 3 Ceiling Mounting N WARNING m Install the Ceiling Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hand
15. 420 mm stroke 7100 50 x 131072 x 66 32 540672 Execute the following command from the Command Window Hor gt JRANGE 3 540672 0 Sets the pulse range of Joint 3 10 Using the Pulse command Go Pulse command move Joint 3 to the lower limit position of the pulse range at low speed If the mechanical stop range is less than the pulse range Joint 3 will hit the mechanical stop and an error will occur When the error occurs either change the pulse range to a lower setting or extend the position of the mechanical stop within the limit NOTE If it is difficult to check whether Joint 3 hits a mechanical stop turn OFF the Controller and lift the arm top cover to check the condition causing the problem from the side 66 G10 G20 Rev 2 Setup amp Operation 5 Motion Range Example When lowering the mechanical stop by 80 mm and changing the lower limit Z coordinate value to 100 in 180 mm stroke Execute the following commands from the Command Window n gt MOTOR ON Turns ON the motor gt SPEED 5 Sets low speed gt PULSE 0 0 1081344 0 Moves to the lower limit pulse position of Joint 3 In this example all pulses except those for Joint 3 are 0 Substitute these Os with the other pulse values specifying a position where there is no interference even when lowering Joint 3 Example When lowering the mechanical stop by 320 mm and changing the lower limit Z coordinate value to
16. DO NOT connect it directly to a factory power source Before performing any replacement procedure turn OFF the Controller and related equipment and then pull out the power plug from the power source Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and or malfunction of the robot WARNING System Do not insert or pull out the motor connectors while the power to the robot system is turned ON Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally and also may result in electric shock and or malfunction of the robot system necessary to operate the robot system with more than one person ensure that all people involved communicate with each other as to what they are doing and take CAUTION all necessary safety precautions 1 Whenever possible only one person should operate the robot system If it is G10 G20 Rev 2 5 Setup amp Operation 1 Safety 1 4 Emergency Stop If the Manipulator moves abnormally during operation immediately press the Emergency Stop switch Stops the power supply to the motor and the arm stops in the shortest distance with the dynamic brake and mechanical brake However avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally Otherwise the Manipulator may hit the peripheral equipment sinc
17. ProSix it may result in malfunction of the Manipulator CAUTION When the Manipulator is a Cleanroom model be aware of the followings When the Manipulator is a Cleanroom model use it with an exhaust system For details refer to Setup amp Operation 2 4 Specifications Cable Connections Connect the power connector and signal connector of the M C cables to the Controller Power Connector E ts Signal Connector G10 G20 Rev 2 37 Setup amp Operation 3 Environments and Installation 3 7 User Wires and Pneumatic Tubes CAUTION m Only authorized or certified personnel should be allowed to perform wiring Wiring by unauthorized or uncertified personnel may result in bodily injury and or malfunction of the robot system Electrical Wires User electrical wires and pneumatic tubes are contained in the cable unit Rated Voltage ee Wires Nominal Sectional Area Outer Diameter Note AC DC30 V 1A 15 0 211 mm 8 3 0 3 mm Shielded Maker Standard 15 pin Suitable Connector JAE DA 15PF N Solder type P Clamp Hood JAE DA C8 J10 F2 1R Connector setscrew 4 40 NC 9 pin Suitable Connector JAE DE9PF N Solder type P Clamp Hood JAE DE C8 J9 F2 1R Connector setscrew 4 40 NC Pins with the same number indicated on the connectors on both ends of the cables are connected Pneumatic Tubes 38
18. The moment of inertia is defined as the ratio of the torque applied to a rigid body and its resistance to motion This value is typically referred to as the moment of inertia inertia or GD When the Manipulator operates with additional objects such as an end effector attached to the shaft the moment of inertia of load must be considered A CAUTION G10 G20 Rev 2 G10 series The moment of inertia of the load weight of the end effector and work piece must be 0 25 kg m or less The G10 series Manipulators are not designed to work with a moment of inertia exceeding 0 25 kgm G20 series The moment of inertia of the load weight of the end effector and work piece must be 0 45 kg m or less The G20 series Manipulators are not designed to work with a moment of inertia exceeding 0 45 kgm Always set the moment of inertia parameter to the correct moment of inertia Setting a value that is smaller than the actual moment of inertia may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable moment of inertia of load for a G10 series and G20 series Manipulators are as follows Rated Max G10 series 0 02 kg m 0 25 kg m G20 series 0 05 kg m 0 45 kg m When the moment of inertia of the load exceeds the rating change the setting of the moment of inertia parameter of the Inertia comman
19. and unplug the cables MORTE Remove the mechanical stops if using them to limit the motion range of Joints 1 and CE 2 For details on the motion range refer to Setup amp Operation 5 2 Motion Range Setting by Mechanical Stops 2 Cover the arm with a sheet so that the arm will not be damaged Refer to the figure below and bind the shaft and arm retaining bracket on the base Example of Arm Retaining Posture Arm mounting bolt Bolt for Arm 1 mechanical stop 3 Hold the bottom of Arm 1 by hand to unscrew the anchor bolts Then remove the Manipulator from the wall 42 G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 8 4 Ceiling Mounting m Install or relocate the Ceiling Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged by a fall of the Manipulator G10 65 R Approximately 46 kg 102 Ib G10 G20 85 R Approximately 48 kg 106 Ib G20 A0 R Approximately 50 kg 111 Ib WARNING m When removing the Manipulator from the ceiling support the Manipulator and then remove the anchor bolts Removing the anchor bolts without supporting is extremely hazardous and may result in fall of the Manipulator 1 Turn OFF the power on all devices and unplug the cables NOTE Remove the mechanical stops if using them to limit the motion range of Joints 1 and
20. it was delivered After removing the bolts securing the Manipulator to the delivery equipment the Manipulator can fall Be careful not to get hands or fingers caught The arm is secured with a wire tie Leave the wire tie secured until you finish the installation so as not to get hands or fingers caught To carry the Manipulator secure the Manipulator to the delivery equipment or pass belts through the eyebolts and hoist it with your hands Make sure to hold the areas indicated in gray in the figure bottom of Arm 1 and bottom of the base by hand Wall Mounting W e G10 65 R Approximately 46 kg 102 Ib Y 65 W_ Approximately 51 kg 113 Ib adi 85 R Approximately 48 kg 106 Ib 485 W Approximately 53 kg 117 Ib ZS G20 A0 R Approximately 50 kg 111 Ib AO W_ Approximately 55 kg 122 Ib Ceiling Mounting R Be careful not to get hands or fingers caught when holding the bottom of the base by hand Stabilize the Manipulator with your hands when hoisting it When transporting the Manipulator for a long distance secure it to the delivery equipment directly so that the Manipulator never falls If necessary pack the Manipulator in the same style as it was delivered G10 G20 Rev2 31 Setup amp Operation 3 Environments and Installation 3 4 2 Transportation Transport the Manipulator following the instructions below 1 Attach the eyebolts to the upper back side
21. of the Arm 2 Pass the belts through the eyebolts 3 Hoist the Manipulator slightly so that it does not fall Then remove the bolts securing the Manipulator to the delivery equipment or pallet 4 Hoist the Manipulator holding it by hand so that it can keep its balance Then move it to the base table 32 G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 5 Installation Procedure The following sections describe the installation of the Standard Manipulator 3 5 1 Table Top Mounting 3 5 2 Wall Mounting 3 5 3 Ceiling Mounting When the Manipulator is a Cleanroom model refer to the following section 3 5 4 Cleanroom model 3 5 1 Table Top Mounting m Install the Table Top Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hands fingers or A feet caught and or have equipment damaged by a fall of the Manipulator G10 65 Approximately 46 kg 102 Ib CAUTION G10 G20 85 Approximately 48 kg 106 Ib G20 A0 Approximately 50 kg 111 Ib Standard Model 1 Secure the base to the base table with four bolts NOTE Use bolts with specifications conforming Ee Spring to ISO898 1 Property Class 10 9 or 12 9 7 Washer Tightening torque 7350 N cm 750 kgf cm Screw Hole depth 20 mm or more 2 Using nippers cut off the wire tie binding the shaft and arm retaining bracket on the base
22. 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 2 5 How to Set the Model The Manipulator model for your system has been set before shipment from the factory It is normally not required to change the model when you receive your system CAUTION problems Manipulator model properly Improper setting of the Manipulator model may m When you need to change the setting of the Manipulator model be sure to set the result in abnormal or no operation of the Manipulator and or cause safety 26 NOTE If an MT label is attached to the rear of a Manipulator the Manipulator has custom GE specifications The custom specifications may require a different configuration procedure check the custom specifications number described on the MT label and contact us when necessary The Manipulator model can be set from software Refer to the chapter Robot Configuration in the EPSON RC User s Guide G10 G20 Rev2 Setup amp Operation 3 Environments and Installation 3 Environments and Installation 3 1 Environmental Conditions A suitable environment is necessary for the robot system to function properly and safely Be sure to install the robot system in an environment that meets the following conditions Item Conditions Ambient temperatur
23. tear damage or remove the labels Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas Location of Labels Labels NOTE WARNING Before loosening the base mounting screws hold the arm and secure it tightly with a band to prevent 4 Follow the instruction manual during lifting transportation Wireropes Eyebolts Weight 48 Kg SS Arm retaining 106 Ib bolt A hands or fingers from being caught in the Manipulator WARNING When moving B robot arm can cause death or serious injury Do not enter work envelope Hazardous voltage exists while the Manipulator is C ON To avoid electric shock do not touch any WARNING internal electric parts You can catch your hand or fingers between the D shaft and cover when bringing your hand close to moving parts 1 Do not lift without arm retaining 2 To pick up the manipulator arm use two wireropes of equal length connected to Only authorized personnel should perform sling INFO UU at work and operate a crane When these 3 Remove the arm retaining bolt before p 7 E turning power on operations are performed by unauthorized personnel it is extremely hazardous and may result
24. the maximum motion range of the Manipulator There are three methods for setting the motion range described as follows 1 Setting by pulse range for all joints 2 Setting by mechanical stops for Joints 1 to 3 3 Setting the Cartesian rectangular range in the X Y coordinate system of the Manipulator for Joints 1 and 2 Mechanical Mechanical stop stop When the motion range is changed due to layout efficiency or safety follow the descriptions in 5 to 5 3 to set the range Rectangular range setting Motion range Pulse range G10 G20 Rev 2 57 Setup amp Operation 5 Motion Range 5 1 Pulses are the basic unit of Manipulator motion The motion range of the Manipulator is controlled by the pulse range between the pulse lower limit and upper limit of each joint Pulse values are read from the encoder output of the servo motor For the maximum pulse range refer to the following sections The pulse range must be set inside of the mechanical stop range 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 NOTE Once the Manipulator receives an operating command it checks whether the target S position specified by the command is within the pulse range before operating If the target position is out of the set pulse range an error occurs and the Manipulator does not move The pulse range can be set on the
25. 0 move the lower limit mechanical stop down 330 mm Use calipers to measure the distance when adjusting the mechanical stop 65 Setup amp Operation 5 Motion Range 6 Firmly tighten two setscrews which are open at a 120 degree interval so that they do not enter the shaft groove Recommended tightening torque 980 N cm 100 kgf cm 7 Turn ON the Controller 8 Move Joint 3 to its lower limit while pressing the brake release button and then check the lower limit position Do not lower the mechanical stop too far Otherwise the joint may not reach a target position 9 Calculate the lower limit pulse value of the pulse range using the formula shown below and set the value The result of the calculation is always negative because the lower limit Z coordinate value is negative G10 851S Z 180mm Lower limit of pulse lower limit Z coordinate value 25 x 131072 x 66 32 G10 854S Z 420mm Lower limit of pulse lower limit Z coordinate value 50 x 131072 x 66 32 Example When lowering the mechanical stop by 80 mm and changing the lower limit Z coordinate value to 100 in 180 mm stroke 7100 25 x 131072 x 66 32 21081344 Execute the following command from the Command Window EG gt JRANGE 3 1081344 0 Sets the pulse range of Joint 3 Example When lowering the mechanical stop by 330 mm and changing the lower limit Z coordinate value to 100 in
26. 0 G20 4CR b 150 390 o C 29 5 288 5 d SU za 90 or more Space for cables 5 us E F Ice i c e s i A See pue zu E A 3 indicates the stroke margin by mechanical stop B g 200 118 19 2 M8depthl6 1 mm flat cut ai Conical hole 24 90 3 c3 Max 218 through hole D il of B 925 h7 shaft diameter etail of B 939 5 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 G10 G20 Rev 2 23 Setup amp Operation 2 Specifications 2 4 Specifications G10 G20 G10 G20 R G10 G20 W Mount method Table Top Ceiling Wall Environment Cleanroom model 1 Protected model 2 Arm length 180 mm G10 G20 1S 150 mm G10 G20 1C 420 mm G10 G20 4S 390 mm G10 G20 4C Weight 51 kg 113 lb not include the weight 153 kg 117 Ib of cables 55 kg 122 Ib Max operating speed 3 Repeatability Max motion range G10 G20 1S G10 G20 1C G10 G20 4S G10 G20 4C Max pulse range 1946420 G10 G20 18 pulse 1622016 G10 G20 1C 2210823 G10 G20 48 2108621 G10 G20 4C 31951517 32752512 a The Joint 2 values for the following manipulators Max motion range Max pulse range G10 G20 85C Z 360 to 390 only G10 G20 85CW 151 deg 2748871 G10 G20 85CR 24 G10 G20 Rev 2 Setup amp Operation 2 Specifications G10 G20 Joint 1 0
27. 10 G20 Rev 2 15 Setup amp Operation 2 Specifications 2 3 2 Wall Mounting Standard model G10 G20 SW MT label only for custom specification Joint 2 rotating Joint 3 and 4 brake release button 2t Signature label Serial No of Manipulator CE label Arm 1 rotating T Joint 3 Arm 2 up and down V Shaft User connector 15 pin D sub connector User connector 9 pin D sub connector Joint 4 rotating Power cable Signal cable Fitting black for 94 mm pneumatic tube Fitting white Fitting white for 96 mm pneumatic tube for 24 mm pneumatic tube Fitting black for 66 mm pneumatic tube NOTE The brake release button affects both Joints 3 and 4 When the brake release button is pressed in emergency mode the brakes for both Joints 3 and 4 are released simultaneously For G6 1 Joint 4 has no brake on it 16 G10 G20 Rev2 5 5 400 Setup amp Operation 2 Specifications 2 M4 depth 2 5x
28. 118 31 2 M8depth 6 o o 3 66 Si Detail of B 1 fl 90 or more MANS cut fn Space for cables Conical hole 54 90 To i s 3 E Max 218 through hole S9 925 h7 shaft diameter o H 3 6 2 14 239 5 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 1 G10 65 CW G10 G20 85 CW G20 A0 CW T EIE a 250 450 600 Reference hole Lj G10 G20 1CW G10 G20 4CW b 150 390 150 05 P C 29 5 288 5 Tolerance applies 0 d 515 774 to the pin hole 25 Reference through hole View from the bottom of the base G10 G20 Rev 2 19 Setup amp Operation 2 Specifications 2 3 3 Ceiling Mounting Standard model G10 G20 SR Joint 2 rotating Joint 3 and 4 brake release button Base Arm 1 Joint 1 rotating Joint 3 Firme Fitting black i itting blac Op angdown for 94 mm pneumatic tube E NE Fitting white e y for 24 mm pneumatic tube Fitting white Joint 4 for 56 mm pneumatic tube rotating Fitting black for 96 mm pneumatic tube Signal cable Power cable User connector 15 pin D sub connector f User connector 9 pin D sub connector
29. 3 3 degree h Joint 2 angle to hit mechanical stop 35 35 5 35 degree G20 A0 R Ceiling Mounting G10 65 R G10 G20 85 R we a Center of Joint 3 h b 70 g Maximum space ROC G10 G20 85 AQ G10 65 R SR CR G20 A0 R a Length of Arm 1 mm 250 450 600 b Length of Arm 2 mm 400 400 400 c Motion range 306 5 207 8 218 3 307 d Motion range of Joint 1 degree 107 152 152 e Motion range of Joint 2 degree 130 1525 151 152 5 f Mechanical stop area 291 2 183 3 285 4 g Joint 1 angle to hit mechanical stop 3 3 3 degree h Joint 2 angle to hit mechanical stop 35 35 i 5 35 degree i 30 G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 4 Unpacking and Transportation 3 4 1 Precautions for Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES AT WARNING Only authorized personnel should perform sling work and operate a crane and a forklift When these operations are performed by unauthorized personnel it is extremely hazardous and may result in serious bodily injury and or severe equipment damage to the robot system N CAUTION Using a cart or similar equipment transport the Manipulator in the same manner as
30. 871 ange i Z 360 to 390 2748871 G20 A0 S 2776178 2776178 cg In the range Z 360 to 390 mm the area is limited by interference of the Manipulator body and the arm G10 G20 Rev 2 59 Setup amp Operation 5 Motion Range 5 1 3 Max Pulse Range of Joint 3 The 0 zero pulse position of Joint 3 is the position where the shaft is at its upper limit The pulse value is always negative because Joint 3 always moves lower than the 0 pulse position Upper limit 0 pulse Model Joint 3 Stroke Minimum Limit Pulse G10 G20 1S 180 mm 1946420 G10 G20 4S 420 mm 2270823 G10 G20 1C 150 mm 1622016 G10 G20 4C 390 mm 2108621 NOTE For the Cleanroom model G10 G20 C the motion range set with the Joint 3 mechanical stop cannot be changed 5 1 4 Max Pulse Range of Joint 4 The 0 zero pulse position of Joint 4 is the position where the flat near the end of the shaft faces toward the end of Arm 2 With the 0 pulse as a starting point the counterclockwise pulse value is defined as the positive and the clockwise pulse value is defined as the negative Counterclockwise value X TN G10 0 pulse 21951517 pulse G20 0 pulse 42752512 pulse X Clockwise value 60 G10 G20 Rev 2 Setup amp Operation 5 Motion Range 5 2 Motion Range Setting by Mechanical Stops G10 G20 Rev 2 Mechanical stops physicall
31. ARNING To ensure safety a safeguard must be installed for the robot system For details on the safeguard refer to the EPSON RC User s Guide 28 G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 3 Mounting Dimensions Table Top Mounting G10 65 The maximum space described in figures shows that the radius of the end effector is 60 mm or less If the radius of the end effector exceeds 60 mm define the radius as the distance to the outer edge of maximum space If a camera or electromagnetic valve extends outside of the arm set the maximum range including the space that they may reach Be sure to allow for the following extra spaces in addition to the space required for mounting the Manipulator Controller and peripheral equipment space for teaching space for maintenance and inspection Ensure a space to open the rear side cover and the maintenance cover for maintenance space for cables The minimum bend radius of the power cable is 90 mm When installing the cable be sure to maintain sufficient distance from obstacles In addition leave enough space for other cables so that they are not bent forcibly Ensure distance to the safeguard from the maximum motion range is more than 100 mm G20 A0 G10 G20 85 Center of Joint 3
32. EPSON SCARA ROBOT G10 G20 series MANIPULATOR MANUAL EM082R1662F MANIPULATOR MANUAL G10 G20 series Rev 2 SCARA ROBOT G10 G20 series Manipulator Manual Rev 2 Copyright 2007 2008 SEIKO EPSON CORPORATION All rights reserved G10 G20 Rev 2 i FOREWORD Thank you for purchasing our robot products This manual contains the information necessary for the correct use of the manipulator Please carefully read this manual and other related manuals before installing the robot system Keep this manual handy for easy access at all times WARRANTY The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls tests and inspections to certify its compliance with our high performance standards Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period Please ask your Regional Sales Office for watranty period information However customers will be charged for repairs in the following cases even if they occur during the warranty period 1 Damage or malfunction caused by improper use which is not described in the manual or careless use 2 Malfunctions caused by customers unauthorized disassembly 3 Damage due to improper adjustments or unauthorized repair attempts 4 Damage caused by natural disasters such as earthquake flood etc Warnings Cautions Usage
33. NTER G10 G20 Rev 2 iii MANUFACTURER amp SUPPLIER Japan amp Others SUPPLIERS iv North amp South America Europe SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept 1010 Fujimi Fujimi machi Suwa gun Nagano 399 0295 JAPAN TEL 81 0 266 61 1802 FAX 81 0 266 61 1846 EPSON AMERICA INC Factory Automation Robotics 18300 Central Avenue Carson CA 90746 USA TEL 1 562 290 5900 FAX 1 562 290 5999 E MAIL info robots epson com EPSON DEUTSCHLAND GmbH Factory Automation Division Otto Hahn Str 4 D 40670 Meerbusch Germany TEL 49 0 2159 538 1391 FAX 49 0 2159 538 3170 E MAIL robot infos epson de G10 G20 Rev 2 Before Reading This Manual This section describes what you should know before reading this manual Structure of Control System The G10 G20 series Manipulators can be used with the following combinations of Controllers and software The operating methods and descriptions are different depending on which software you are using The following icons are put beside appropriate text as necessary Use the descriptions that pertain to the software you are using Controller RC180 Software EPSON RC 5 0 Ver 5 2 or later For details on commands refer to User s Guide or On line help Turning ON OFF Controller When you see the instruction Turn ON OFF the Controller in this manual be sure to turn ON OFF all the hardwa
34. Range panel shown by selecting Tools Robot ROS Manager You may also execute the Range command from the Command Window 5 1 1 Max Pulse Range of Joint 1 The 0 zero pulse position of Joint 1 is the position where Arm 1 faces toward the positive direction on the X coordinate axis When the 0 pulse is a starting point the counterclockwise pulse value is defined as the positive and the clockwise pulse value is defined as the negative X 0 pulse Arm length Table Top Mounting Ceiling Mounting Wall mounting A 65 icto 85 A0 152 degrees 107 degrees B 65 Max Pulse 1805881 to 7048761 495161 to 5738041 Range 85 A0 58 G10 G20 Rev 2 5 1 2 Max Pulse Range of Joint 2 The 0 zero pulse position of Joint 2 is the position where Arm 2 is in line with Arm 1 With the O pulse as a starting point the counterclockwise pulse value is defined as the positive and the clockwise pulse value is defined as the negative Setup amp Operation 5 Motion Range NOTE Model Table Top Mounting Ceiling Wall Mountings G10 65 S 130 degrees A EEUU RER RER 152 5 degrees Bern ic eee Max Motion Z 0 to Range G10 G20 85 C 151 degrees i Z 360 to 390 151 degrees G20 A0 S 152 5 degrees 152 5 degrees G10 65 S 2366578 B G10 G20 85 S eee 2776178 22776178 Max Pulse Gig Go9 gsscs 2200 42748
35. all dimensions of the Manipulator refer to Setup amp Operation 2 Specifications Do not move the upper limit mechanical stop on the lower side of the shaft Otherwise when Jump motion is performed the upper limit mechanical stop may hit the Manipulator and the robot system may not function properly Use a split muff coupling with an M4 bolt or larger to attach the end effector to the shaft Brake release button Joints 3 and 4 cannot be moved up down by hand because the electromagnetic brake is applied to the joints while power to the robot system is turned OFF This prevents the shaft from hitting peripheral equipment and rotating in the case that the shaft is lowered by the weight of the end effector when the power is disconnected during operation or when the motor is turned OFF even though the power is turned ON To move Joint 3 up down or rotate Joint 4 while attaching an end effector turn ON the Controller and move the joint up down or rotate the joint while pressing the brake release button This button switch is a momentary type the brake is released only while the button switch is being pressed The respective brakes for Joints 3 and 4 Xe The shaft may be lowered by the weight of the end are released simultaneously m effector Be careful of the shaft falling and rotating while the brake release button is being pressed because the shaft may be lowered by the weight of the end effector
36. amp Operation 5 2 Motion Range Setting by Mechanical Stops 2 Attach the eyebolts on the upper back side of Arm 1 3 Tie the lower end of the shaft and arm and the base and arm together with a wire tie Be careful not to tie them too tight Otherwise the shaft may bend Arm mounting bolt M12x20 Eyebolt Attached at shipment 4 Pass the belts through the eyebolts 5 Hoist the Manipulator slightly so that it does not fall Remove four bolts securing the Manipulator 6 Hoist the Manipulator holding it by hand so that it can keep its balance Then NOTE Move the Manipulator to the delivery equipment or another location and anchor it EF Stretch the belts tight until you finish anchoring the Manipulator G10 G20 Rev 2 41 Setup amp Operation 3 Environments and Installation 3 8 3 Wall Mounting E Install or relocate the Wall Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hands fingers or feet caught and or have equipment damaged by a fall of the Manipulator G10 65 W Approximately 51 kg 113 Ib G10 G20 85 W Approximately 53 kg 117 lb WARNING G20 A0 W Approximately 55 kg 122 Ib m When removing the Manipulator from the wall support the Manipulator and then remove the anchor bolts Removing the anchor bolts without supporting is extremely hazardous and may result in fall of the Manipulator 1 Turn OFF the power on all devices
37. c speed setting by Weight G10 series 140 Setup amp Operation 4 Setting of End Effectors The percentage in the graph 120 100 100 100 100 100 is based on the speed at rated weight 5 kg as 100 80 o G10 85 60 40 20 7 8 9 10 kg Weight setting O Se laa 120 The percentage in the graph 120 is based on the speed at 100 100 rated weight 10 kg as 100 80 80 70 3 Ge0 A0 60 40 20 5 10 15 20 kg Weight setting G10 G20 Rev2 Contact us for details of Gi10 65 and G20 85 49 Setup amp Operation 4 Setting of End Effectors Automatic acceleration deceleration setting by Weight G10 series 1 180 165 The percentage in the graph 160 is based on the acceleration 140 deceleration at rated weight 120 5 kg as 100 100 80 80 S o G10 85 60 40 20 10 kg Weight setting G20 series O 140 The percentage in the graph 120 is based on the acceleration 100 deceleration at rated weight 80 10 kg as 100 60 o G20 A0 40 20 0 5 10 15 20 kg Weight setting Contact us for details of G10 65 and G20 85 50 G10 G20 Rev 2 Setup amp Operation 4 Setting of End Effectors 4 3 2 Inertia Setting Moment of Inertia and the Inertia Setting
38. d After the setting is changed the maximum acceleration deceleration speed of Joint 4 corresponding to the moment of inertia value is set automatically 51 Setup amp Operation 4 Setting of End Effectors Moment of inertia of load on the shaft The moment of inertia of load weight of the end effector and work piece on the shaft can be set by the moment of inertia parameter of the Inertia command Enter a value into the Load inertia text box on the Inertia panel Tools Robot Hore Manager You may also execute the Inertia command from the Command Window Automatic acceleration deceleration setting of Joint 4 by Inertia moment of inertia G10 series 120 The percentage in the graph is based on the acceleration deceleration at rated moment of inertia 0 02 kg m as 100 0 0 05 0 10 0 15 0 20 0 25 kg m Moment of inertia setting G20 series O 600 The percentage in the graph is based 500 on the acceleration deceleration at 400 400 rated moment of inertia 0 05 kKg m 300 as 100 200 100 100 60 35 26 0 0 10 0 20 0 30 0 40 0 50 kg m Moment of inertia setting 52 G10 G20 Rev 2 Setup amp Operation 4 Setting of End Effectors Eccentric Quantity and the Inertia Setting m The eccentric quantity of load weight of the end effector and work piece must be 200 mmor less The G10 series and G20 serie
39. e the operating trajectory while the robot system stops is different from that in normal operation To place the system in emergency mode during normal operation press the Emergency Stop switch when the Manipulator is not moving Refer to the Controller manual for instructions on how to wire the Emergency Stop switch circuit Free running distance in emergency The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed The free running time angle distance of the Manipulator are shown below However remember that the values vary depending on following conditions Weight of the end effector Weight of work piece Operating pose Weight Speed Accel etc Conditions for Measurement G10 G20 Accel Setting 100 100 Speed Setting 100 100 A Load kg 10 20 o Weight Setting 10 20 J Start point of ee operation Za ae Point where the es emergency stop Joint 1 Target point signal is input i X d V Stop point Joint 2 Controller RC180 Manipulator G10 85 G20 A0 Free running Joint 1 Joint 2 sec 0 7 1 3 time Joint 3 sec 0 5 0 8 Free runnin Joint 1 deg 70 110 pe 9 Joint 2 deg 50 50 Joint 1 Joint 2 deg 120 160 Free running Joint 3 G10 G20 1 mm 80 90 distance G10 G20 4 160 170 Contact us for details of G10 65 o
40. e 4 5to 40 C with minimum temperature variation Ambient relative humidity 10 to 80 no condensation First transient burst noise 2 kV or less Electrostatic noise 6 kV or less Environment Install indoors Keep away from direct sunlight Keep away from dust oily smoke salinity metal powder or other contaminants Keep away from flammable or corrosive solvents and gases Keep away from water Keep away from shocks or vibrations Keep away from sources of electric noise NOTE Manipulators are not suitable for operation in harsh environments such as painting areas CH etc When using Manipulators in inadequate environments that do not meet the above conditions please contact us The ambient temperature conditions are for the Manipulators only For the Controller the Manipulators are connected to refer to the Controller manual G10 G20 Rev 2 27 Setup amp Operation 3 Environments and Installation 3 2 Base Table NOTE CE A base table for anchoring the Manipulator is not supplied Please make or obtain the base table for your Manipulator The shape and size of the base table differs depending on the use of the robot system For your reference we list some Manipulator table requirements here The base table must not only be able to bear the weight of the Manipulator but also be able to withstand the dynamic movement of the Manipulator when the Manipulator operates at ma
41. eep this manual handy for easy access at all times 1 1 Conventions Important safety considerations are indicated throughout the manual by the following symbols Be sure to read the descriptions shown with each symbol This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly WARNING This symbol indicates that a danger of possible serious injury or death caused by electric shock exists if the associated instructions are not followed properly This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed CAUTION properly G10 G20 Rev 2 3 Setup amp Operation 1 Safety 1 2 Design and Installation Safet WARNING Only trained personnel should design and install the robot system Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer dealer or local representative company or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses To ensure safety a safeguard must be installed for the robot system For details on the safeguard refer to the nstallation and Design Precautions in the Safety chapter of the EPSON RC User s Guide The following items are safety precautions for de
42. g the Cables To shut off power to the robot system pull out the power plug from the power source Be sure to connect the AC power cable to a power receptacle DO NOT connect it directly to a factory power source m Before performing any replacement procedure turn OFF the Controller and related equipment and then pull out the power plug from the power source Performing any replacement procedure with the power ON is extremely AN hazardous and may result in electric shock and or malfunction of the robot system WARNING m Be sure to connect the cables properly Do not allow unnecessary strain on the cables Do not put heavy objects on the cables Do not bend or pull the cables forcibly The unnecessary strain on the cables may result in damage to the cables disconnection and or contact failure Damaged cables disconnection or contact failure is extremely hazardous and may result in electric shock and or improper function of the robot system m When connecting the Manipulator to the Controller make sure that the serial numbers on each equipment match Improper connection between the Manipulator and Controller may not only cause improper function of the robot system but also serious safety problems The connection method varies with the Controller used For details on the connection refer to the Controller manual If the G series Manipulator or E2 series Manipulator is connected to the Controller for the PS series
43. he mechanical stop and the motion range you set Example Using G10 854S The angle of Joint 1 is set from 105 degrees to 105 degrees The angle of Joint 2 is set from 122 5 degrees to 122 5 degrees Execute the following commands from the Command Window RC gt MOTOR ON Turns ON the motor gt CP ON Enters low power mode gt SPEED 5 Sets at low speeds gt PULSE 436907 0 0 0 Moves to the min pulse position of Joint 1 gt PULSE 5679787 0 0 0 Moves to the max pulse position of Joint 1 gt PULSE 2621440 2230045 0 0 Moves to the min pulse position of Joint 2 gt PULSE 2621440 2230054 0 0 Moves to the max pulse position of Joint 2 The Pulse command Go Pulse command moves all joints to the specified positions at the same time Specify safe positions after considering motion of not only the joints whose pulse range have been changed but also other joints 64 G10 G20 Rev 2 Setup amp Operation 5 Motion Range In this example Joint 1 is moved to the center of its motion range pulse value 2621440 when checking Joint 2 If the arm is hitting the mechanical stops or if an error occurs after the arm hits the mechanical stops either reset the pulse range to a narrower setting or extend the positions of the mechanical stops within the limit 5 2 2 Setting the Mechanical Stop of Joint 3 NOTE CE NOTE NOTE G10 G20 Rev 2 This method applies only to the Standard m
44. in serious bodily injury and or severe equipment damage to the robot system NOTE ce Manipulators with bellows do not have label D for no danger of your hand or fingers being caught G10 G20 Rev 2 Setup amp Operation 1 Safety Table Top Mounting G10 G20 G10 G20 Rev 2 9 Setup amp Operation 2 Specifications 2 opecifications 2 1 Features of G10 series and G20 series Manipulators The G10 series and G20 series Manipulators are high performance manipulators intended to achieve high speed high accuracy space saving and high cost performance The G10 series Manipulators are optimized for high speed assembly and alignment procedure using multiple hand The G20 series Manipulators are optimized for heavy payload transfer and alignment packing procedure The 1000 mm long arm model of the G20 series enables wide range motion The features of the G10 series and G20 series Manipulators are as follows Compatibility with E2H Manipulators our existing models The installation procedure and mounting dimensions of the end effector are compatible with those for the E2H Manipulators our existing models Space Saving Compactness achieved by using a ductless design Reduce the system height by the new short stroke Z 180 mm lineup Motion Range Extended The motion range has been extended by 20 compared to E2 series Improved Productivity The numbers of user wi
45. ions corresponding to the angle for the mechanical stop settings Install the bolts in the holes corresponding to the angle that you want to set Joint 1 Mechanical Stops d Joint 1 Mounting Arm Length a b C d f g h 65 85 A0 Jue Top SAC 41529 152 Seling 107 609 15 15 60 107 Ceiling 65 Wall 65 85 A0 a b C d e f g h Setting Angle 152 107 60 15 15 60 107 152 Pulse Value 7048761 45738041 4369067 43058347 42184534 4873814 495161 1805881 degree 62 G10 G20 Rev 2 Setup amp Operation 5 Motion Range Joint 2 Mechanical Stops Joint 2 Model Arm Length m n ie q Table Top Ceiling Wall AO Standard 85 122 5 152 5 152 5 122 5 Table Top Z 0 to 360 Gleanroem 583 S nat pre 151 151 121 Standard 85 122 5 152 5 152 5 122 5 Ceiling Wall Cleanroom 85 1100 130 130 100 Table Top 65 122 5 152 5 152 5 122 5 Ceiling Wall 65 100 130 130 100 Setting Angle 100 121 122 5 151 152 5 Pulse Value 1820445 2202738 2230045 2748871 2776178 Setting Angle 152 5 151 122 5 121 100 Pulse Value 2776178 2748871 2230045 2202738 1820445 NOTE degree CS h the range Z 360 to 390 mm the area is li
46. iteria Clean Class 10 or its equivalent Amount of Dust 0 1 um diameter or larger in 28317 cm left sample air around the center of the motion rang 10 particles or less G10 G20 Rev 2 25 Setup amp Operation 2 Specifications 6 Exhaust System Exhaust port diameter Inner diameter 12 mm Outer diameter 616 mm Exhaust tube Polyurethane tube Outer diameter 12 mm Inner diameter 8 mm or Inner diameter 616mm or larger Recommended exhaust flow rate Approx 1000 cm s Normal Contact us for detail information regarding the Protected model Manipulator In the case of PTP command Maximum operating speed for CP command is 2000 mm s on horizontal plane 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 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 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
47. mited by interference of the Manipulator body and the arm G10 G20 Rev 2 63 Setup amp Operation 5 Motion Range 1 Turn OFF the Controller 2 Install a hexagon socket head cap bolt into the hole corresponding to the setting angle and tighten it Joint Hexagon socket head cap The number Recommended bolt fully threaded of bolts tightening torque M12 x 20 12740 N cm 1300 kgf cm M10 x 10 7350 N cm 750 kgf cm 3 Turn ON the Controller 4 Set the pulse range corresponding to the new positions of the mechanical stops NOTE E Be sure to set the pulse range inside the positions of the mechanical stop range Example Using G10 854S The angle of Joint 1 is set from 105 degrees to 105 degrees The angle of Joint 2 is set from 122 5 degrees to 122 5 degrees Execute the following commands from the Command Window RC gt JRANGE 1 436907 5679787 Sets the pulse range of Joint 1 gt JRANGE 2 2230045 2230045 Sets the pulse range of Joint 2 gt RANGE Checks the setting using Range 436907 5679787 2230045 2230045 1976708 0 1961226 1961226 5 Move the arm by hand until it touches the mechanical stops and make sure that the arm does not hit any peripheral equipment during operation 6 Operate the joint changed at low speeds until it reaches the positions of the minimum and maximum pulse range Make sure that the arm does not hit the mechanical stops Check the position of t
48. odel Manipulator G10 G20 S For the Cleanroom model G10 G20 C the motion range set with the Joint 3 mechanical stop cannot be changed 1 2 3 4 5 Turn ON the Controller and turn OFF the motors using the Motor OFF command Push up the shaft while pressing the brake Lower imit mechanical stop 2 M5x6 release button Brake release button 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 When you press the brake release button the shaft may lower and rotate due to the weight of the end effector Be sure to hold the shaft by hand while pressing the button Turn OFF the Controller Loosen the lower limit mechanical stop screw 2 M5x6 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 The upper end of the shaft defines the Measure this distance 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 420 mm stroke the lower limit Z coordinate value is 420 To change the value to 10
49. p sets the limited motion range so that the center of Joint 3 cannot move beyond the area mechanically Maximum space is the area that contains the farthest reach of the arms If the maximum radius of the end effector is over 60 mm add the Area limited by mechanical stop and radius of the end effector The total value is specified as the maximum area Table Top Mounting G20 A0 G10 G20 85 Center of Joint 3 G10 65 Maximum space Motion range Li a C a cc a S e ar j i oh B a Jn d h d ag d Ne ilk Ir jik b q 270 b A b r P p S 4 i jh mi B i A F 2 ase mou nungrace G10 G20 85 S 207 8 I Area limited by mechanical stop G10 G20 85 C 218 3 a b C d e f g h j k q G10 65 199 4 212 4 250 650 620 7 626 6 G10 G20 85 S 152 5 3 5 2078 152 5 G10 G20 85 C Z0 t0360 152 3 183 3 450 850 797 3 807 8 Z 360 to 390 151 5 218 3 151 G20 A0 152 5 3 5 285 4 307 600 1000 929 8 943 8 152 5 r S G10 65 139 4 G10 G20 85 156 1233 G20 A0 225 4 m n p t G10 G20 1S 180 G10 G20 4S 420 3 3 ve G10 G20 1C 150 G10 G20 4C 390 Hs 39959 NOTE degree Cg In the range Z 360 to 390 mm the area is limited by interference of the Manipulato
50. r q r p b 270 b m tip Area limited by mechanical stop m t p n m a b C d e f g h j k q r S G10 65 R 107 130 3 5 291 2 306 5 250 650 473 1 485 5 130 133 5 231 2 G10 G20 85 SR 152 5 207 8 152 5 9 183 3 450 850 797 3 807 8 123 3 G10 G20 85 CR 152 151 5 218 3 151 156 G20 A0 R 152 5 3 5 285 4 307 600 1000 929 8 943 8 152 5 225 4 m n p t Kk G10 G20 1SR 180 5 5 447 5 G10 G20 4SR 420 G10 G20 1CR 150 485 5 G10 G20 4CR 390 18 degree 70 G10 G20 Rev 2 Setup amp Operation 6 Maintenance parts list 6 Maintenance Parts List Common Parts Part Name Code Note Joint 1 R13B000610 750 W Joint 2 R13B000611 600 W AC Servo Motor Joint 3 R13B000607 400 W For G10 R13B000612 150 W Joint 4 For G20 R13B000613 150 W with brake Joint 1 R13B010013 HD32 80 Joint 2 R13B010014 HD32 50 Reduction Gear Unit For G10 R13B031601 G10 U Joint 4 For G20 R13B010015 Dol Planetary gear reduction 650 mm R13B020014 3 Cable Unit 850 mm R13B020018 Inner wiring cable 1000 mm R13B020019 Cable Length 3 m R12B020425 M C Cable Cable Length 5 m R12B020426 Cable Length 10 m R12B020427 Z axis R13B030503 Solenoid Brake U axis R13B030504 G10 only Brake Release Switch Joint 3 4 R13Z702640100 1 For G10 R13B030209 Z width 12 mm 744 3GT Joint 3 For G20 R13B030211 wid
51. r G20 85 6 G10 G20 Rev 2 Setup amp Operation 1 Safety Movement Without Drive Power When the system is placed in emergency mode push the arm or joint of the Manipulator by hand as shown below Arm 1 Push the arm by hand Arm 2 Push the arm by hand Joint 3 The joint cannot be moved up down by hand until the electromagnetic brake applied to the joint has been released Move the joint up down while pressing the brake release button switch Joint 4 The shaft cannot be rotated by hand until the electromagnetic brake applied to the shaft has been released Move the shaft while pressing the brake release button switch Joint 2 rotating Joint 1 Joint 3 and 4 rotating brake release button e Joint 3 up and down Joint 4 rotating NOTE The brake release button affects both Joints 3 and 4 When the brake release button 2 is pressed in emergency mode the brakes for both Joints 3 and 4 are released simultaneously Be careful of the shaft falling and rotating while the brake release button is pressed because the shaft may be lowered by the weight of an end effector G10 G20 Rev 2 7 Setup amp Operation 1 Safety 1 6 Manipulator Labels The following labels are attached near the locations of the Manipulator where specific dangers exist Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely Do not
52. r body and the arm 68 G10 G20 Rev 2 Wall Mounting G10 65 W Center of Joint 3 Motion range G10 G20 85 W Maximum space Setup amp Operation 5 Motion Range G20 A0 W q dV n d b ik b d d b ilk 5 q d d 5 t r jk 0 It p 400 i Area limited by mechanical stop Center of Mis FRS neo de in a b C d e f g h j k q r S G10 65 W 130 35 291 2 306 5 250 650 473 1 485 5 130 133 5 231 2 G10 G20 85 SW 152 5 7 207 8 152 5 107 3 G10 G20 85 CW 151 5 ds 2183 Ae lle eles Hos mo 151 156 ee G20 A0 W 152 5 3 5 285 4 307 600 1000 575 4 605 2 152 5 225 4 m n p t G10 G20 1SW 180 G10 G20 4SW 420 j 2029 G10 G20 1CW 150 G10 G20 4CW 390 Ee 202 degree G10 G20 Rev 2 69 Setup amp Operation 5 Motion Range Ceiling Mounting G10 65 R Center of Joint 3 Motion range G10 G20 85 R Maximum space G10 A0 R S e f Ihi jk g N b d Hi d i h Ms d d jk 400
53. re components For the Controller composition refer to the table above Shape of Motors The shape of the motors used for the Manipulator that you are using may be different from the shape of the motors described in this manual because of the specifications Setting by Using Software This manual contains setting procedures by using software They are marked with the following icon EPSON RC G10 G20 Rev 2 v vi G10 G20 Rev 2 TABLE OF CONTENTS Before Reading This Manual V Setup amp Operation 1 Safety 3 1 11 GornvertiOns u hh ioca ceci ecd dE Id ie pep decedere e Hes 3 1 2 Design and Installation Safety ssss e 4 1 9 Operation Safety iiec eret scie de o Pe Ea pap Rea 5 1 47 Emergency SIODi creer re Pte eee iot e are 6 1 5 Emergency Movement Without Drive Power 7 1 6 Manipulator Labels nana nine e eee np et e ep eaae did cs 8 2 Specifications 10 2 1 Features of G10 series and G20 series Manipulators 10 2 2 Model Number and Model Differences sseeeeeeee 11 2 3 Part Names and Outer Dimensions 12 2 3 1 Table Top Mounting 12 2 3 2 Wall Mountingias iecore Retos a dia 16 2 3 3 Ceiling Mounting eeeeeeen meme 20 2 45 SDeCITICatlOriS 3n oec RR eese ntu inet 24 2 5 How to Set the Model ss 26 3 Envi
54. repere De eei Inertia Setting ito terr eee ERR Precautions for Auto Acceleration Deceleration of Joint 3 3 5 Motion Range 5 1 5 2 5 3 Motion Range Setting by Pulse Range for All Joints 5 1 1 5 1 2 5 1 3 5 1 4 Max Pulse Range of Joint 1 Max Pulse Range of Joint 2 Max Pulse Range of Joint 3 Max Pulse Range of Joint 4 Motion Range Setting by Mechanical Stops ssssssseereeeeeeeerrrrre reesen 5 2 1 5 2 2 Setting the Mechanical Stops of Joints 1 and 2 Setting the Mechanical Stop of Joint 3 Setting the Cartesian Rectangular Range in the XY Coordinate System of the Manipulator for Joints 1 and 2 5 4 Standard Motion Range sse eene 6 Maintenance Parts List G10 G20 Re 44 44 46 47 47 51 56 57 58 58 59 60 60 61 62 65 67 68 71 V 2 setup amp Operation This volume contains information for setup and operation of the G10 G20 series Manipulators Please read this volume thoroughly before setting up and operating the Manipulators Setup amp Operation 1 Safety 1 Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes Please read this manual and other related manuals before installing the robot system or before connecting cables K
55. res and pneumatic tubes have been increased The speed of Joints 1 2 3 and 4 has been enhanced Cycle time has been improved Increased Load Capacity The load capacity has been increased to handle greater work load G10 Max 10 kg G20 Max 20 kg Increased Inertia The available end effector capacity has been enlarged to enable larger multiple hand that holds multi kind and different types of work piece Allowable moment of inertia has been enlarged according to the load G10 Max 0 25 kgm G20 Max 0 45 kgm Various Types Available Long stroke Z 420 mm Short stroke Z 180 mm 10 G10 G20 Rev 2 Setup amp Operation 2 Specifications 2 2 Model Number and Model Differences G10 85 4S Environment Cleanroom model Type W R S pees D P 1 Table Top mounting Wall mounting Ceiling mounting Environment Standard Cleanroom Protected IP 54 with bellow option Protected IP 65 Joint 43 stroke 180 mm G10 G20 S 150 mm G10 G20 C 420 mm G10 G20 S 4 390 mm G10 G20 C Arm Length 65 650 mm G10 series only 85 850 mm AO 1000 mm G20 series only Series G10 G10 series G20 G20 series Cleanroom model Manipulator includes additional features that reduce dust emitted by the Manipulator to enable use in clean room environments Pro
56. ronments and Installation 27 3 1 Environmental Conditions 27 3 2 Base Table wei conne et teer e eee eed ces 28 3 3 Mounting Dimensions Parietaria neeaaea eae nennen nnns 29 3 4 Unpacking and Transportation 31 3 4 1 Precautions for Transportation en 31 9 42 Transportation dU Bee onde aitada 32 3 5 Installation Procedure ss 33 3 5 1 Table Top Mounting aa e 33 9 52 Wall MOUII a acad ree enero d tn neue 34 3 5 3 Ceiling Mounting eseeenm me 35 3 5 4 Gleanroomsmodel 5 i ite ID Ges 36 3 6 Connecting the Cables eee ccecceesseeeceeeseeeceeneeeeeeseseaneenesssnaeeeseneaeees 37 3 7 User Wires and Pneumatic Tubes sseeeene 38 3 8 Relocation and Storage sssssssee ee e 40 3 8 1 Precautions for Relocation and Storage 40 3 8 2 Table Top Mounting tte e tees 41 9 8 3 Wall Mounting 2 iieri ene eee see medion 42 3 8 4 Ceiling Mounting enne nennen 43 G10 G20 Rev2 vii TABLE OF CONTENTS viii 4 Setting of End Effectors 4 1 4 2 4 3 4 4 Attaching an End Effector ne Attaching Cameras and Valves 0 eeecceeeecseeeeeecneeeeeenneeeeeennaeeeeennaeeeeees Weight and Inertia Settings ssnm 4 3 1 4 3 2 Weight Settingi 2 tied 1eme tune 2
57. s fingers or feet caught and or have equipment damaged by a fall of the Manipulator G10 65 R Approximately 46 kg 102 Ib G10 G20 85 R Approximately 48 kg 106 Ib G20 A0 R Approximately 50 kg 111 Ib m When installing the Manipulator to the ceiling support the Manipulator and then secure the anchor bolts Removing the support without securing the anchor bolts properly is extremely hazardous and may result in fall of the Manipulator Standard Model 1 Unpack the manipulator with retaining the arm posture LI ft 2 Secure the base to the ceiling with four bolts NOTE S Use bolts with specifications conforming to ISO898 1 Property Class 10 9 or 12 9 Plane Washer Spring Washer 4 M12x40 G10 G20 Rev 2 35 Setup amp Operation 3 Environments and Installation 3 5 4 Cleanroom model 36 1 2 3 4 5 6 Unpack it outside of the clean room Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint free cloth Carry the Manipulator in the clean room Refer to the installation procedure of each Manipulator model and install the Manipulator Connect an exhaust tube to the exhaust port G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 6 Connectin
58. s Manipulators are not designed to work with eccentric quantity exceeding 200 mm Always set the eccentric quantity parameter according to the eccentric quantity CAUTION Setting a value that is smaller than the actual eccentric quantity may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable eccentric quantity of load in G10 series and G20 series Manipulators is 0 mm at the default rating and 200 mm at the maximum When the eccentric quantity of load exceeds the rating change the setting of eccentric quantity parameter of Inertia command After the setting is changed the maximum acceleration deceleration speed of the Manipulator corresponding to the eccentric quantity is set automatically Rotation center cD Position of load s center of gravity os f Eccentric quantity 200 mm or less Eccentric Quantity G10 G20 Rev 2 53 Setup amp Operation 4 Setting of End Effectors Eccentric quantity of load on the shaft The eccentric quantity of load weight of the end effector and work piece on the shaft can be set by eccentric quantity parameter of Inertia command Enter a value into the Eccentricity text box on the Inertia panel Tools Robot nes Manager You may also execute the Inertia command from the Command Window Automatic acceleration deceleration setting by Inertia eccen
59. setting of Weight parameter After the setting is changed the maximum acceleration deceleration speed of the robot system corresponding to the Weight Parameter is set automatically Load on the Shaft EPSON RC The load weight of the end effector and work piece on the shaft can be set by Weight parameter Enter a value into the Load inertia text box on the Inertia panel Tools Robot Manager You may also execute the Inertia command from the Command Window G10 G20 Rev 2 47 Setup amp Operation 4 Setting of End Effectors Load on the Arm 48 When you attach a camera or other devices to the arm calculate the weight as the equivalent of the shaft Then add this to the load and enter the total weight to the Weight parameter Equivalent Weight Formula M Li L2 Lu When you attach the equipment near Arm 2 Wu M Li Li Lo When you attach the equipment to the end of Arm 2 Wu M Lm D Ww equivalent weight weight of camera etc length of Arm 1 length of Arm 2 distance from rotation center of Joint 2 to center of gravity of camera etc lt Example gt A 1 kg camera is attached to the end of the G10 series arm 450 mm away from the rotation center of Joint 2 with a load weight of 2 kg M 1 L2 400 Lu 450 Wwa 1x4507 4007 1 26 1 3 round up W Wm 24 1 3 3 3 Enter 3 3 for the Weight Parameter G10 G20 Rev 2 Automati
60. sign personnel Personnel who design and or construct the robot system with this product must read the Safety chapter in the EPSON RC User s Guide to understand the safety requirements before designing and or constructing the robot system Designing and or constructing the robot system without understanding the safety requirements is extremely hazardous may result in serious bodily injury and or severe equipment damage to the robot system and may cause serious safety problems The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals This product has been designed and manufactured strictly for use in a normal indoor environment Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems The robot system must be used within the installation requirements described in the manuals Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems Further precautions for installation are mentioned in the chapter Setup amp Operation 3 Environments and Installation Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment G10 G20 Rev 2 Setup amp Operation 1 Safety 1 3 Operation Safet
61. t Unstable hoisting is extremely hazardous and may result in fall of the Manipulator 40 When transporting the Manipulator for a long distance secure it to the delivery equipment so that the Manipulator cannot fall If necessary pack the Manipulator in the same way as it was delivered When the Manipulator is used for a robot system again after long term storage perform a test run to verify that it works properly and then operate it thoroughly Transport and store the Manipulator in the range of 25 C to 55 C Humidity within 10 to 90 is recommended When condensation occurs on the Manipulator during transport or storage turn ON the power only after the condensation dries Do not shock or shake the Manipulator during transport G10 G20 Rev 2 Setup amp Operation 3 Environments and Installation 3 8 2 Table Top Mounting E Install or relocate the Table Top Mounting Manipulator with four or more people The Manipulator weights are as follows Be careful not to get hands fingers or A feet caught and or have equipment damaged by a fall of the Manipulator G10 65 Approximately 46 kg 102 Ib CAUTION G10 G20 85 Approximately 48 kg 106 Ib G20 A0 Approximately 50 kg 111 Ib 1 Turn OFF the power on all devices and unplug the cables vs Remove the mechanical stops if using them to limit the motion range of Joints 1 and 2 For details on the motion range refer to Setup
62. t Joint 4 does not become eccentric If the load or moment of inertia exceeds the rating or if the load becomes eccentric follow the steps below 4 3 1 Weight Setting and 4 3 2 Inertia Setting to set parameters Setting parameters makes the operation of the Manipulator optimal reduces vibration to shorten the operating time and improves the capacity for larger loads In addition it reduces persistent vibration produced when the moment of inertia of the end effector and work piece is larger that the default setting 4 3 1 Weight Setting N CAUTION m G10 series The total weight of the end effector and the work piece must not exceed 10 kg The G10 series Manipulators are not designed to work with loads exceeding 10 kg G20 series The total weight of the end effector and the work piece must not exceed 20 kg The G20 series Manipulators are not designed to work with loads exceeding 20 kg Always set the Weight parameters according to the load Setting a value that is smaller than the actual load may cause errors excessive shock insufficient function of the Manipulator and or shorten the life cycle of parts mechanisms The acceptable weight capacity end effector and work piece in G10 series and G20 series Manipulators are as follows Rated Max G10 series 5kg 10 kg G20 series 10 kg 20 kg When the load weight of the end effector and work piece exceeds the rating change the
63. tected model IP54 IP65 Contact us for detail information regarding the protected model For details on the specifications refer to Setup amp Operation 2 4 Specifications G10 G20 Rev 2 11 Setup amp Operation 2 Specifications 2 3 Part Names and Outer Dimensions 2 3 1 Table Top Mounting Standard model G10 G20 S Joint 2 Joint 3 and 4 rotating brake release button DN Joint 3 up and down Joint 4 rotating Joint 2 rotating MT label only for custom specification Signature label Serial No of Manipulator User connector 9 pin D sub connector Signal cable Fitting white for 6 mm pneumatic tube Fitting white for 4 mm pneumatic tube CE label User connector 15 pin D sub connector Power cable Fitting black for 26 mm pneumatic tube Fitting black for 94 mm pneumatic tube NOTE The brake release button affects both Joints 3 and 4 When the brake release button is pressed in CE emergency mode the brakes for both Joints 3 and 4 are released simultaneously 12 G10 G20 Rev 2 Setup amp Operation 2 Specifications 2 M8 depth 16
64. th 12 mm 588 3GT Timing Belt Jenti For G10 R13B030210 U1 widthi5mm 375 3GT oin For G20 R13B030212 U1 width20mm 789 3GT With lithi Battery Board R13B041202 Rae Installed in Arm 2 Battery Unit R13ZA00600300 Lithium battery for replacement 2 O ring R13B031228 For Motor flange of Joint 1 LED Lamp R13A030000200 1 Ball Screw Spline R13ZA00330200 AFB grease 400 g 1 Grease Reduction Gear Unit R13ZA00330100 SK 1A 500 g 1 Cable R13B030304 Tube of GPL 224 227 g 1 Common with E2 series 2 Common with E2C 3 Common with G6 series G10 G20 Rev2 71 Setup amp Operation 6 Maintenance parts list Parts by Environment Model S Standard model C Cleanroom model Part Name Code Note 180 mm R13B010208 420 mm R13B010209 For G10 150 mm R13B010210 390 mm R13B010211 Ball Screw Spline 180 mm R13B010214 420 mm R13B010215 For G20 a 150 mm R13B010216 390 mm R13B010217 S R13B030410 White painting Arm Cover C R13B030414 Plating 150 mm R13B030701 3 Bellows Gee eare rm ec ce mc 390 mm R13B030703 3 Common with G6 series 72 G10 G20 Rev 2
65. through hole 118 9 I 925 h7 shaft diameter ams Detail of B G10 G20 Rev 2 239 5 mechanical stop diameter Detail of A Calibration point position of Joints 3 and 4 21 Setup amp Operation 2 Specifications Cleanroom model G10 G20 CR The following figure shows the additional parts and specifications for the Ceiling mounting Cleanroom model when compared with the Standard model in appearance Cover for Ceiling mounting surface Upper bellows Lower bellows Plate cover For static electricity countermeasure Exhaust port Plate cover For static electricity countermeasure 22 G10 G20 Rev 2 Setup amp Operation 2 Specifications 55 5 400 T a He 2 M4 depth Gone co eo o e amp Se lisi E ji Tum zd olerance E applies to 4 16 the pin hole 20 1 200 120 240 d D 38 G10 65 CR G10 G20 85 CR G20 A0 CR a 250 450 600 G10 G20 1CR G1
66. tric quantity G10 series and G20 series O 120 The percentage in the graph is 1007 based on the acceleration 80 deceleration at rated 60 eccentricity 0 mm as 100 40 20 0 50 100 150 200 mm Eccentricity setting Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the moment of inertia of load end effector with work piece The moment of inertia of the entire load is calculated by the sum of each part a b and c Rotation center Ge Joint 3 shaft End effector a Work piece b Work piece c Whole moment Moment of inertia Moment of inertia Moment of inertia of inertia of end effector a of work piece b of work piece c 54 G10 G20 Rev2 G10 G20 Rev 2 Setup amp Operation 4 Setting of End Effectors The methods for calculating the moment of inertia for a b and c are shown below Calculate the total moment of inertia using the basic formulas a Moment of inertia of a rectangular parallelepiped Rotation center Rectangular parallelepiped s center of gravity b Moment of inertia of a cylinder Cylinder s center of gravity Rotation center c Moment of inertia of a sohere Sphere s center of gravity 5 Rotation center co 55 Setup amp Operation 4 Setting of End Effectors 4 4 Precautions for Auto Acceleration Deceleration of Joint 3
67. tricity countermeasure for Table Top mounting surface Plate cover For static electricity countermeasure f n o o Pa no M a f ah o Exhaust port G10 G20 Rev2 Setup amp Operation 2 Specifications 55 5 400 s a eq 2 M4depthl 200 118 19 2 a E a 29 3 ee 099 ZI Qi Sw amie 7T zi 204 200 1 20 2 M8 depth 6 240 Mount eyebolt 5 D 38 at shipment G10 65 C G10 G20 85 C G20 A0 C a 250 450 600 G10 G20 1C G10 G20 4C b 150 390 C 870 5 1129 5 d 205 5 34 5 o eo A i SJ 2 Ln T E la oo 3 if T ical EX e N i n indicates the stroke margin by mechanical stop 90 or more Space for cables 0 012 66 x CO 1 mm flat cut Conical hole S ANOS F 1000 05 c5 Max 218 through hole re get 925 h7 shaft diameter Root both side chamfer C0 5 239 5 mechanical stop diameter Detail of A Reference through hole Calibration point position of Joints 3 and 4 View from the bottom of the base G
68. ximum acceleration Ensure that there is enough strength on the base table by attaching reinforcing materials such as crossbeams The torque and reaction force produced by the movement of the Manipulator are as follows G10 G20 Max Reaction torque on the horizontal plate 1000 Nm 1000 Nm Max Horizontal reaction force 4500 N 7500 N Max Vertical reaction force 2000 N 2000 N The threaded holes required for mounting the Manipulator base are M12 Use mounting bolts with specifications conforming to ISO898 1 property class 10 9 or 12 9 For dimensions refer to Setup amp Operation 3 3 Mounting Dimensions The plate for the Manipulator mounting face should be 20 mm thick or more and made of steel to reduce vibration The surface roughness of the steel plate should be 25 um or less The table must be secured on the floor or wall to prevent it from moving The Manipulator must be installed horizontally When using a leveler to adjust the height of the base table use a screw with M16 diameter or more If you are passing cables through the holes on the base table see the figures below unit mm ges 53 COCO 26 ie 1 8 Power Cable Signal Cable M A Connector Connector DA M C Cables Do not remove the M C cables from the Manipulator For environmental conditions regarding space when placing the Controller on the base table refer to the Controller manual N W
69. y limit the absolute area that the Manipulator can move Both Joints 1 and 2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings Install the bolts in the holes corresponding to the angle that you want to set Joints 43 can be set to any length less than the maximum stroke Table Top Mounting Mechanical stop of Joint 3 Lower limit mechanical stop Mechanical stop of Joint 2 Fixed Mechanical stop of Joint 1 Adjustable Do not move the upper limit mechanical stop Mechanical stop of Mechanical stop of Joint 2 Joint 1 Fixed Adjustable Wall Mounting E Mechanical stop of Joint 1 Mechanical stop of Joint 1 Fixed Adjustable Ceiling Mounting Mechanical stop of Joint 1 Mechanical stop of Joint 1 Fixed Adjustable The different mechanical stop positions from Table Top Mounting are indicated for Wall Mounting and Ceiling Mounting 61 Setup amp Operation 5 Motion Range 5 2 1 Setting the Mechanical Stops of Joints 1 and 2 Both Joints 1 and 2 have threaded holes in the posit

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