Epson G20, G10 User Manual

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SCARA ROBOT

G10 / G20 series

MANIPULATOR MANUAL

Rev.2

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 warranty 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:

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

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.

NOTICE

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.

INQUIRIES

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

-A description of the problem

SERVICE CENTER

G10 / G20 Rev.2

iii

MANUFACTURER & SUPPLIER

Japan & Others

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

SUPPLIERS

North & South America 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

Europe

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

iv

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 hardware 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 & 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 G10 series and G20 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

Wall Mounting ............................................................................

16

 

2.3.3

Ceiling Mounting ........................................................................

20

2.4

Specifications.........................................................................................

24

2.5

How to Set the Model ............................................................................

26

3. Environments and Installation

27

3.1

Environmental Conditions......................................................................

27

3.2

Base Table.............................................................................................

28

3.3

Mounting Dimensions ............................................................................

29

3.4

Unpacking and Transportation...............................................................

31

 

3.4.1

Precautions for Transportation ...................................................

31

 

3.4.2

Transportation ............................................................................

32

3.5

Installation Procedure ............................................................................

33

 

3.5.1

Table Top Mounting....................................................................

33

 

3.5.2

Wall Mounting ............................................................................

34

 

3.5.3

Ceiling Mounting ........................................................................

35

 

3.5.4

Cleanroom-model ......................................................................

36

3.6

Connecting the Cables ..........................................................................

37

3.7

User Wires and Pneumatic Tubes .........................................................

38

3.8

Relocation and Storage .........................................................................

40

 

3.8.1 Precautions for Relocation and Storage.....................................

40

 

3.8.2

Table Top Mounting....................................................................

41

 

3.8.3

Wall Mounting ............................................................................

42

 

3.8.4

Ceiling Mounting ........................................................................

43

G10 / G20 Rev.2

vii

TABLE OF CONTENTS

4. Setting of End Effectors

44

4.1

Attaching an End Effector......................................................................

44

4.2

Attaching Cameras and Valves .............................................................

46

4.3

Weight and Inertia Settings ...................................................................

47

 

4.3.1

Weight Setting ...........................................................................

47

 

4.3.2

Inertia Setting ............................................................................

51

4.4

Precautions for Auto Acceleration/Deceleration of Joint #3...................

56

5.

Motion Range

57

 

5.1

Motion Range Setting by Pulse Range (for All Joints)...........................

58

 

 

5.1.1 Max. Pulse Range of Joint #1....................................................

58

 

 

5.1.2 Max. Pulse Range of Joint #2....................................................

59

 

 

5.1.3 Max. Pulse Range of Joint #3....................................................

60

 

 

5.1.4 Max. Pulse Range of Joint #4....................................................

60

 

5.2

Motion Range Setting by Mechanical Stops..........................................

61

 

 

5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................

62

 

 

5.2.2 Setting the Mechanical Stop of Joint #3.....................................

65

 

5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate

 

 

 

System of the Manipulator (for Joints #1 and #2) .................................

67

 

5.4

Standard Motion Range ........................................................................

68

 

 

 

6.

Maintenance Parts List

71

viii

G10 / G20 Rev.2

Setup & 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 & 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.

Keep this manual handy for easy access at all times.

1.1Conventions

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

WARNING

followed properly.

 

 

 

 

This symbol indicates that a danger of possible serious

 

injury or death caused by electric shock exists if the

WARNING

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 & Operation 1. Safety

1.2Design and Installation Safety

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 Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide.

The following items are safety precautions for design 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

WARNING

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 & Operation: 3. Environments and Installation. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

4

G10 / G20 Rev.2

Setup & Operation 1. Safety

1.3Operation Safety

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. 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.

Whenever possible, only one person should operate the robot system. If it is 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.

G10 / G20 Rev.2

5

Setup & Operation 1. Safety

1.4Emergency 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 since 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

 

 

 

 

 

 

Load [kg]

10

20

 

 

 

 

 

 

Weight Setting

10

20

 

 

 

 

 

 

 

 

 

 

 

Point where the

 

 

 

 

emergency stop

 

 

Joint #1

 

signal is input

 

 

 

 

 

 

 

 

Start point of operation

Target point

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 running

Joint #1

 

[deg.]

70

110

Joint #2

 

[deg.]

50

50

angle

 

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*** or G20-85***.

6

G10 / G20 Rev.2

Setup & Operation 1. Safety

1.5Emergency 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

Joint #1

 

 

Joint #3 and #4

(rotating)

 

 

 

(rotating)

 

brake release button

 

 

 

+

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

+

 

 

 

 

 

 

Arm #1

Arm #2

Base

+

Joint #3

Shaft

(up and down)

 

 

+

Joint #4 (rotating)

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.

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 & Operation 1. Safety

1.6Manipulator 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 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

 

 

 

 

 

Before loosening the base mounting screws, hold

A

 

 

 

the arm and secure it tightly with a band to prevent

 

 

 

hands or fingers from being caught in the

 

 

 

 

 

 

 

 

Manipulator.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

B

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

Hazardous voltage exists while the Manipulator is

C

 

 

 

ON. To avoid electric shock, do not touch any

 

 

 

 

internal electric parts.

 

 

 

 

 

 

 

 

 

 

You can catch your hand or fingers between the

D

 

 

 

shaft and cover when bringing your hand close to

 

 

 

 

moving parts.

 

 

 

 

 

 

 

 

 

 

 

Only authorized personnel should perform sling

 

 

 

 

work and operate a crane.

When these

E

 

 

 

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.

 

 

 

 

 

 

 

NOTE

)Manipulatorsbeing caught. with bellows do not have label D for no danger of your hand or fingers

8

G10 / G20 Rev.2

Setup & Operation 1. Safety

Table Top Mounting: G10/G20-****

C

E

D

B

A C

Wall Mounting: G10/G20-****W

C

A

B

D

Ceiling Mounting: G10/G20-****R

A

C

C

B

D

G10 / G20 Rev.2

9

Setup & Operation 2. Specifications

2.Specifications

2.1Features 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 wires 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 kgm2

G20: Max. 0.45 kgm2

Various Types Available

Long stroke (Z: 420 mm)

Short stroke (Z: 180 mm)

10

G10 / G20 Rev.2

Setup & Operation 2. Specifications

2.2Model Number and Model Differences

G10-85 4 S

Type

: Table Top mounting

W

: Wall mounting

R

: Ceiling mounting

Environment

S

: Standard

 

C

: Cleanroom

 

D

: Protected

: IP 54 (with bellow option)

P

: Protected

: IP 65

Joint #3 stroke

1

: 180 mm (G10/G20***S*)

: 150 mm (G10/G20***C*)

 

4

: 420 mm (G10/G20***S*)

: 390 mm (G10/G20***C*)

 

Arm Length

65 : 650 mm (G10 series only)

85 : 850 mm

A0 : 1000 mm (G20 series only)

Series

G10 : G10 series

G20 : G20 series

Environment

Cleanroom-model

Cleanroom-model Manipulator includes additional features that reduce dust emitted by the Manipulator to enable use in clean room environments.

Protected-model (IP54 / IP65)

Contact us for detail information regarding the protected-model.

For details on the specifications, refer to Setup & Operation: 2.4 Specifications.

G10 / G20 Rev.2

11

Setup & Operation 2. Specifications

2.3Part Names and Outer Dimensions

2.3.1Table Top Mounting

Standard-model : G10/G20-***S

 

Joint #2

 

Joint #3 and #4

(rotating)

Joint #2

brake release button

(rotating)

+

 

 

 

 

 

+

Arm #1

Arm #2

 

 

 

 

 

 

Base

+

 

 

 

 

 

 

Joint #3

Shaft

 

 

 

 

 

(up and down)

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

+

 

 

 

 

 

 

Joint #4

 

 

 

 

 

 

(rotating)

 

 

 

 

 

 

 

 

 

 

 

 

MT label

Signature label

 

 

 

 

 

(only for custom specification)

 

 

 

 

 

 

(Serial No. of Manipulator)

 

 

 

 

 

CE label

 

 

 

 

 

 

 

 

 

 

User connector

 

 

 

 

 

User connector

 

 

 

 

 

 

 

 

 

 

(9-pin D-sub connector)

 

 

 

 

(15-pin D-sub connector)

Signal cable

 

 

 

 

 

Power cable

Fitting (white)

 

 

 

 

 

Fitting (black)

for ø6 mm pneumatic tube

 

 

 

 

 

for ø6 mm pneumatic tube

Fitting (white)

Fitting (black)

for ø4 mm pneumatic tube

for ø4 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.

12

G10 / G20 Rev.2

Setup & Operation 2. Specifications

(Mount eyebolt at shipment)

 

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

 

 

(*) indicates the stroke margin by mechanical stop.

90 or more Space for cables

1 mm flat cut

Conical hole ø4,90°

 

 

 

 

 

 

Max.ø18 through hole

 

 

 

 

 

 

 

 

 

 

 

ø25 h7 shaft diameter

Root both side chamfer C0.5

 

 

 

 

 

 

 

 

 

ø39.5 mechanical stop diameter

 

 

 

 

 

Reference through hole

Detail of “A”

(Calibration point position of Joints #3 and #4)

(View from the bottom of the base)

G10 / G20 Rev.2

13

Setup & 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

Plate cover

(For static electricity countermeasure)

Lower bellows

Cover

Plate cover for Table Top mounting surface (For static electricity

countermeasure)

Exhaust port

14

G10 / G20 Rev.2

Epson G20, G10 User Manual

Setup & Operation 2. Specifications

 

 

 

(Mount eyebolt

 

 

 

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

 

 

(*) indicates the stroke margin by mechanical stop.

90 or more

 

 

Space for cables

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole

ø25 h7 shaft diameter Root both side chamfer C0.5 ø39.5 mechanical stop diameter

Detail of “A”

Reference through hole

(Calibration point position of Joints #3 and #4)

(View from the bottom of the base)

G10 / G20 Rev.2

15

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