Epson G20 series, G10 series Manipulator Manual

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Page 1

Rev.20 EM183R3619F

SCARA ROBOT

G10 / G20 series

MANIPULATOR MANUAL

Page 2

MANIPULATOR MANUAL

G10 / G20 series Rev.20

Page 3

G10 / G20 Rev.20 i

SCARA ROBOT

G10 / G20 series Manipulator Manual

Rev.20

Page 4

ii G10 / G20 Rev.20

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,

careless use.

Malfunctions caused by customers’ unauthorized disassembly.

Damage due to improper

adjustments or unauthorized repair attempts.

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.

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G10 / G20 Rev.20 iii

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.

MANUFACTURER

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iv G10 / G20 Rev.20

Regarding battery disposal

The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream. To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner. For more details on available collection facilities please contact your local government office or the retailer where you purchased this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are used in the battery.

This information only applies to customers in the European Union, according to DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91/157/EEC and legislation transposing and implementing it into the various national legal systems. For other countries, please contact your local government to investigate the possibility of recycling your product.

The battery removal/replacement procedure is described in the following manuals: Controller manual / Manipulator manual (Maintenance section)

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G10 / G20 Rev.20 v

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

Software

Name Structure

RC180 Controller EPSON RC+ 5.0

RC700-A

Control Unit

Drive Unit

EPSON RC+ 7.0 Ver.7.1.2 or later

The motions of the manipulators such as in emergency stops vary depending on the

Controllers since they have different control methods. Details are described in the

manual.

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+

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vi G10 / G20 Rev.20

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TABLE OF CONTENTS

G10 / G20 Rev.20 vii

Setup & Operation

1. Safety 3

1.1 Conventions ............................................................................................. 3

1.2 Design and Installation Safety ................................................................. 4

1.2.1 Strength of the Ball Screw Spline .................................................. 5

1.3 Operation Safety ...................................................................................... 6

1.4 Emergency Stop ...................................................................................... 8

1.4.1 RC180 ............................................................................................ 8

1.4.2 RC700-A ...................................................................................... 10

1.5 Emergency Movement Without Drive Power ........................................ 12

1.6 ACCELS Setting for CP Motions ............................................................. 13

1.7 Warning Labels ...................................................................................... 14

2. Specifications 17

2.1 Features of G10 series and G20 series Manipulators .......................... 17

2.2 Model Number and Model Differences .................................................. 18

2.3 Part Names and Outer Dimensions ....................................................... 19

2.3.1 Table Top Mounting .................................................................... 19

2.3.2 Wall Mounting ............................................................................ 25

2.3.3 Ceiling Mounting ........................................................................ 31

2.3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37

2.4 Specifications ......................................................................................... 38

2.5 How to Set the Model ............................................................................ 41

3. Environments and Installation 42

3.1 Environmental Conditions ...................................................................... 42

3.2 Base Table ............................................................................................. 46

3.3 Mounting Dimensions ............................................................................ 45

3.4 Unpacking and Transportation .............................................................. 49

3.4.1 Precautions for Transportation .................................................. 49

3.4.2 Transportation ............................................................................ 50

3.5 Installation .............................................................................................. 50

3.5.1 Table Top Mounting .................................................................... 51

3.5.2 Wall Mounting ............................................................................ 52

3.5.3 Ceiling Mounting ........................................................................ 53

3.5.4 Cleanroom-model ...................................................................... 54

3.5.5 Protected-model ........................................................................ 54

3.6 Connecting the Cables .......................................................................... 55

3.7 User Wires and Pneumatic Tubes ......................................................... 57

3.8 Relocation and Storage ......................................................................... 59

3.8.1 Precautions for Relocation and Storage ................................... 59

3.8.2 Table Top Mounting .................................................................... 60

3.8.3 Wall Mounting ............................................................................ 61

3.8.4 Ceiling Mounting ........................................................................ 62

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TABLE OF CONTENTS

viii G10 / G20 Rev.20

4. Setting of End Effectors 63

4.1 Attaching an End Effector ....................................................................... 63

4.2 Attaching Cameras and Valves .............................................................. 65

4.3 Weight and Inertia Settings .................................................................... 66

4.3.1 Weight Setting ............................................................................ 66

4.3.2 Inertia Setting ............................................................................. 70

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................... 75

5. Motion Range 76

5.1 Motion Range Setting by Pulse Range (for All Joints) ........................... 77

5.1.1 Max. Pulse Range of Joint #1 .................................................... 77

5.1.2 Max. Pulse Range of Joint #2 .................................................... 78

5.1.3 Max. Pulse Range of Joint #3 .................................................... 79

5.1.4 Max. Pulse Range of Joint #4 .................................................... 79

5.2 Motion Range Setting by Mechanical Stops .......................................... 80

5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 81

5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 84

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

System of the Manipulator (for Joints #1 and #2) ................................ 86

5.4 Standard Motion Range ......................................................................... 87

Maintenance

1. Safety Maintenance 93

2. General Maintenance 94

2.1 Maintenance Inspection ........................................................................... 94

2.1.1 Schedule for Maintenance Inspection ........................................ 94

2.1.2 Inspection Point .......................................................................... 95

2.2 Overhaul (Parts Replacement) ................................................................ 96

2.3 Greasing ................................................................................................. 98

2.4 Tightening Hexagon Socket Head Cap Bolts ....................................... 100

2.5 Matching Origins ................................................................................... 100

2.6 Layout of Maintenance Parts ............................................................... 101

2.6.1 Table Top Mounting type ............................................................ 101

2.6.2 Wall Mounting type ..................................................................... 103

2.6.3 Ceiling Mounting type ................................................................. 105

2.6.4 G10-65***: For S/N1**** or later ............................................... 107

3. Covers 108

3.1 Arm Top Cover ...................................................................................... 110

3.2 Arm Bottom Cover ................................................................................ 112

3.3 Arm #1 Cover ....................................................................................... 113

3.3.1 G10/G20-***S*, G10/G20-***C* ............................................... 113

3.3.2 G10/G20-***D*, P* .................................................................... 114

3.4 Connector Plate .................................................................................... 115

3.5 Connector Sub Plate ............................................................................ 116

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TABLE OF CONTENTS

G10 / G20 Rev.20 ix

3.6 User Plate ............................................................................................. 117

3.7 Maintenance Plate ................................................................................ 117

3.8 Base Bottom Cover .............................................................................. 118

4. Cable 119

4.1 Replacing Cable Unit ........................................................................... 120

4.2 Wiring Diagrams .................................................................................. 132

4.2.1 Signal Cable ............................................................................ 132

4.2.2 Power Cable ............................................................................ 133

4.2.3 User Cable ............................................................................... 135

4.3 Replacing M/C Cable ........................................................................... 136

5. Arm #1 139

5.1 Replacing Joint #1 Motor ..................................................................... 140

5.2 Replacing Joint #1 Reduction Gear Unit ............................................. 142

6. Arm #2 145

6.1 Replacing Joint #2 Motor ..................................................................... 146

6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 151

7. Arm #3 154

7.1 Replacing Joint #3 Motor ..................................................................... 155

7.2 Replacing the Timing Belt .................................................................... 159

7.2.1 G10 .......................................................................................... 160

7.2.2 G20 .......................................................................................... 164

7.3 Replacing the Brake ............................................................................ 165

8. Arm #4 167

8.1 Replacing Joint #4 Motor ..................................................................... 168

8.1.1 G10 .......................................................................................... 168

8.1.2 G20 .......................................................................................... 172

8.2 Replacing the Timing Belt .................................................................... 174

8.2.1 G10 .......................................................................................... 175

8.2.2 G20 .......................................................................................... 179

8.3 Replacing the Brake ............................................................................ 184

8.4 Replacing the Reduction Gear Unit ..................................................... 187

8.4.1 G10 .......................................................................................... 188

8.4.2 G20 .......................................................................................... 189

9. Bellows 191

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TABLE OF CONTENTS

x G10 / G20 Rev.20

10. Ball Screw Spline Unit 194

10.1 Greasing the Ball Screw Spline Unit .................................................. 195

10.1.1 Standard-model ........................................................................ 195

10.1.2 Cleanroom-model / Protected-model ....................................... 196

10.2 Replacing the Ball Screw Spline Unit ................................................. 198

10.2.1 G10 ........................................................................................... 198

10.2.2 G20 ........................................................................................... 205

11. Lithium Battery 210

11.1 Replacing the Battery Unit (Lithium Battery) ...................................... 212

11.2 Replacing the Battery Board ............................................................... 214

12. LED Lamp 216

13. Radiating Unit 218

14. Calibration 220

14.1 About Calibration ................................................................................ 220

14.2 Calibration Procedure ......................................................................... 221

14.3 Accurate Calibration of Joint #2 ......................................................... 231

14.4 Calibration Procedure without using Calibration Wizard ................... 233

15. Maintenance Parts List 237

15.1 Common Parts .................................................................................... 237

15.2 Parts by Environment Model .............................................................. 239

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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.

Page 14

Page 15

Setup & Operation 1. Safety

G10 / G20 Rev.20 3

1. Safety

Installation and transportation of manipulators 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.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following

symbols. Be sure to read the descriptions shown with each symbol.

WARNING

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.

CAUTION

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

properly.

Page 16

Setup & Operation 1. Safety

4 G10 / G20 Rev.20

1.2 Design 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:

WARNING

■

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 se

vere

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

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Setup & Operation 1. Safety

G10 / G20 Rev.20 5

1.2.1 Strength of the Ball Screw Spline

If a load exceeding the allowable value is applied to the ball screw spline, it may not work

properly due to deformation or breakage of the shaft. If the ball screw spline is applied

the load exceeding the allowable value, it is necessary to replace the ball screw spline unit.

The allowable loads differ depending on distance where the load is applied to. For

calculating the allowable load, see the calculation formula below.

[Allowable bending moment]

G10/G20: M=50,000 N∙mm

Example: If 500 N load is applied

at 100 mm from

the end of the spline nut

[Moment]

M=F∙L＝100∙500

＝

50,000 N∙mm

End of the spline nut

Page 18

Setup & Operation 1. Safety

6 G10 / G20 Rev.20

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

WARNING

■

Please carefully read the

Safety-related Requirements in the Safety chapter of

the

Safety and Installation manual 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 sever

e 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 safeguarded area.

The robot system can be operated in the mode for teaching

even when someone is inside the safeguarded ar

ea.

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.

WARNING

■

To shut off power to the robot system,

disconnect 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

disconnect

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 system.

■

Do not

connect or disconnect the motor connectors while the power to the robot

system is turned ON.

Connecting or disconnecting the motor connectors with

the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abno

rmally, and also may result in electric shock

and/or malfunction of the robot system.

Page 19

Setup & Operation 1. Safety

G10 / G20 Rev.20 7

CAUTION

■

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 all necessary safety precautions.

■

Joint #1, #2, and #4: If the joints are operated

repeatedly with the operating angle less than 5 degrees,

they may get damaged early because the bearings are likely to cause oil film shortage in such situation. To prevent early breakdown, move the joints larger than 50 degrees for about five to ten times a day.

oint #3:

If the up

-and-down motion of the hand is less than 10 mm, move the joint a half of

the maximum stroke for five to ten times a day.

■

Oscillation (resonance) may

occur continuously in low speed Manipulator motion

(Speed:

approx. 5 to 20%) depending on combination of Arm orientation and end

effector load. Oscillation arises from natural oscillation frequency of the Arm and can be controlled by following measures.

Changing Manipulator speed Changing the teach points Changing the end effector load

Page 20

Setup & Operation 1. Safety

8 G10 / G20 Rev.20

1.4 Emergency Stop

Emergency stop motions of the Manipulators vary due to difference of control methods of

the Controllers. See the section for your Controller model.

1.4.1 RC180

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. It may also result in short life of the reduction gear unit due to the shock or

the electromagnetic brake due to the worn friction plate.

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.

Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.

Pressing the switch during the operation makes the brakes work. This will shorten the

life of the brakes due to the worn friction plates.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,

make sure to stop the Manipulator using the Emergency Stop switch of the Controller.

If the Manipulator is stopped by turning OFF the Controller while it is operating,

following problems may occur.

Reduction of the life and damage of the reduction gear unit

Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like while

the Manipulator is operating, make sure to check the following points after power

restoration.

Whether or not the reduction gear is damaged

Whether or not the joints are in their proper positions

If there is a position gap, perform calibration by referring to the Maintenance 14.

Calibration in this manual.

Before using the Emergency Stop switch, be aware of the followings.

- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only

in case of emergencies.

- To stop the Manipulator operating the program except in emergency, use Pause (halt)

or STOP (program stop) commands.

Pause and STOP commands do not turn OFF the motors. Therefore, the brake does

not function.

- For the Safeguard system, do not use the circuit for E-STOP.

Page 21

Setup & Operation 1. Safety

G10 / G20 Rev.20 9

For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions

- Safeguard System

Safety and Installation 2.6 Connection to EMERGENCY Connector

To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance

2.1.2 Inspection Point - Inspection While the Power is ON

(Manipulator is operating)

Safety and Installation

RC180: 5.1.1 Manipulator

- Inspection While the Power is ON (Manipulator is operating)

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

Speed Setting

100

Load [kg]

Weight Setting

Joint #1

Start point of operation

Target point

Stop point

Joint #2

Point where the emergency stop signal is input

Controller

RC180

Manipulator

G10-65***

G10-85***

G20-85***

G20-A0***

Free running

time

Joint #1 + Joint #2 [s]

0.6

0.7

1.0

1.3

Joint #3 [s]

0.6

0.5

0.8

Free running angle

Joint #1 [deg.]

110

Joint #2 [deg.]

Joint #1 + Joint #2 [deg.]

110

120

110

160

Free running

distance

Joint #3 G10/G20-**1** [mm]

G10/G20-**4**

210

160

200

170

Page 22

Setup & Operation 1. Safety

10 G10 / G20 Rev.20

1.4.2 RC700-A

If the Manipulator moves abnormally during operation, immediately press the Emergency

Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator

to deceleration motion and stops it at the maximum deceleration speed.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator

is running normally. Pressing the Emergency Stop switch locks the brake and it may

cause wear on the friction plate of the brake, resulting in the short life of the brake.

Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)

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.

Do not turn OFF the Controller while the Manipulator is operating.

If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,

make sure to stop the Manipulator using the Emergency Stop switch of the Controller.

If the Manipulator is stopped by turning OFF the Controller while it is operating,

following problems may occur.

Reduction of the life and damage of the reduction gear unit

Position gap at the joints

In addition, if the Controller was forced to be turned OFF by blackouts and the like while

the Manipulator is operating, make sure to check the following points after power

restoration.

Whether or not the reduction gear is damaged

Whether or not the joints are in their proper positions

If there is a position gap, perform calibration by referring to the Maintenance 14.

Calibration in this manual.

Before using the Emergency Stop switch, be aware of the followings.

- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only

in case of emergencies.

- To stop the Manipulator operating the program except in emergency, use Pause (halt)

or STOP (program stop) commands.

Pause and STOP commands do not turn OFF the motors. Therefore, the brake does

not function.

- For the Safeguard system, do not use the circuit for E-STOP.

For details of the Safeguard system, refer to the following manuals.

EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions

- Safeguard System

Safety and Installation 2.6 Connection to EMERGENCY Connector

Page 23

Setup & Operation 1. Safety

G10 / G20 Rev.20 11

To check brake problems, refer to the following manuals.

Manipulator Manual Maintenance

2.1.2 Inspection Point - Inspection While the Power is ON

(Manipulator is operating)

Safety and Installation

5.1.1 Manipulator

- Inspection While the Power is ON (Manipulator is operating)

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

Speed Setting

100 100

Load [kg]

Weight Setting

Joint #1

Start point of operation

Target point

Stop point

Joint #2

Point where the emergency stop signal is input

Controller

RC700-A

Manipulator

G10-65***

G10-85***

G20-85***

G20-A0***

Free running time

Joint #1 + Joint #2 [s]

0.5

0.8

0.9

0.7

Joint #3 [s]

0.3

Free running angle

Joint #1 [deg.]

Joint #2 [deg.]

Joint #1 + Joint #2 [deg.]

105

160

140

Free running distance

Joint #3 G10/G20-**1** [mm] G10/G20-**4**

80 80 140 140

Page 24

Setup & Operation 1. Safety

12 G10 / G20 Rev.20

1.5 Emergency 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 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 switch.

Joint #3 and #4

brake release switch

Joint #1

(rotating)

Joint #2

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2 Base

−

Shaft

The brake release switch affects both Joints #3 and #4. When the brake release switch 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 switch is pressed

because the shaft may be lowered by the weight of an end effector.

NOTE

Page 25

Setup & Operation 1. Safety

G10 / G20 Rev.20 13

1.6 ACCELS Setting for CP Motions

To make the Manipulator move in CP motion, see the following and set ACCELS properly

according to the tip load and the Z-axis height.

Improper setting may cause following problems.

Reduction of the life and damage of the ball screw spline

Set ACCELS as follows according to the Z-axis height.

ACCELS setting value by Z-axis position and tip load

G10

Z position

(mm)

Tip load

5kg or less

10kg or less

__- 0 > Z >= - 100

25000 or less

18000 or less

_-100 > Z >= - 200

11000 or less

- 200 > Z >= - 300

15000 or less

7500 or less

- 300 > Z >= - 420

11000 or less

5500 or less

G20

Z position

(mm)

Tip load

5kgor less

10kgor less

15kgor less

20kgor less

__- 0 > Z >= - 100

25000 or less

18000 or less

12000 or less

9000 or less

_-100 > Z >= - 200

11000 or less

7000 or less

5500 or less

- 200 > Z >= - 300

15000 or less

7500 or less

5000 or less

3500 or less

- 300 > Z >= - 420

11000 or less

5500 or less

3500 or less

2500 or less

Z-axis height 0

(Origin point)

If the Manipulator is operated in CP motion with the wrong set values, make sure to check

the following point.

Whether the ball screw spline shaft is deformed or bent

NOTE

Page 26

Setup & Operation 1. Safety

14 G10 / G20 Rev.20

1.7 Warning Labels

The Manipulator has the following warning labels.

The warning labels are attached around the locations 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 warning labels. Use meticulous care when handling

those parts or units to which the following warning labels are attached as well as the

nearby areas.

Location Warning Label NOTE

Before loosening the base

mounting screws,

hold the arm and secure it tightly with a band to prevent hands or fingers from being caught in

the Manipulator.

Do not enter the work space when the Manipulators operating. It is extremely hazardous since the Arm may collide and cause serious

safety problems,

Hazardous voltage exists while the Manipulator is ON. To avoid electric shock, do not touch any internal electric

parts.

You can catch your hand or

fingers between the shaft

and

cover when bringing your

hand close to moving parts.

* Manipulators with bellows do not have this label for no danger of your hand or fingers

being caught.

Only authorized personnel should perform sling work and operate a crane. 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.

Page 27

Setup & Operation 1. Safety

G10 / G20 Rev.20 15

Location Warning Label NOTE

Be careful of the hand falling

while the brake

release

switch is being pressed.

Location

Label

Page 28

Setup & Operation 1. Safety

16 G10 / G20 Rev.20

Location of Labels

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

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

B A

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

B A

F E

Page 29

Setup & Operation 2. Specifications

G10 / G20 Rev.20 17

2. Specifications

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 the 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 kgm

G20: Max. 0.45 kgm

Various Types Available

Long stroke (Z: 420 mm) Short stroke (Z: 180 mm)

Page 30

Setup & Operation 2. Specifications

18 G10 / G20 Rev.20

2.2 Model Number and Model Differences

G10-85 4 S □ -UL

UL specification

: UL compliant

□

: Non UL compliant

Type

□

: Table Top mounting

: Wall mounting

: Ceiling mounting

Environment

: Standard

: Cleanroom & ESD

: Protected

: IP 54 (with bellows option)

: Protected

: IP 65

Joint #3 stroke

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

: 150 mm (G10/G20***C*, P*, D* bellows option)

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

: 390 mm (G10/G20***C*, P*, D* bellows option)

Arm Length

: 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)

The protected-model Manipulators operate under adverse conditions with dust and oily

smoke.

G10/G20-***D*

Normal G10/G20-***D* Manipulators do not have bellows. The normal

G10/G20-***D* Manipulator (without bellows option) operates under adverse

conditions with oily mist. If necessary, select the bellows option at shipment.

The Manipulators with bellows (option) comply with grade of protection IP54 (IEC

60529, JIS C0920).

G10/G20-***P*

G10/G20-***P* Manipulators comply with grade of protection IP65 (IEC 60529,

JIS C0920).

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

Page 31

Setup & Operation 2. Specifications

G10 / G20 Rev.20 19

2.3 Part Names and Outer Dimensions

G10-65***, G10-85*** manipulator of S/N: 1**** or later is different from other models

in its form. For the detail, refer to Setup & Operation 2.3.4 G10-65***, G10-85***: For

S/N: 1**** or later.

2.3.1 Table Top Mounting

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

−

Joint #3 and #4

brake release

switch

Joint #1

(rotating)

Joint

(rotating)

Joint #3

(up and down)

Joint #4

(rotating)

Arm #1

Arm #2

Base

Shaft

Signature label

(Serial No. of Manipulator)

Signal cable

Power cable

Fitting (black or blue)* for ø 6 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector (9-pin D-sub connector)

CE label

Fitting (black or blue)* for ø 4 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Fitting (white) for ø 4 mm pneumatic tube

LED lamp

UR label

* Color differs depending on the shipment time

- The brake release switch affects both Joints #3 and #4. When the brake release switch is pressed

in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.

- When the LED lamp is lighting or the controller power is on, the current is being applied to the

manipulator. Performing any work with the power ON is extremely hazardous and it may result

in electric shock and/or improper function of the robot system. Make sure to turn OFF the

controller power before the maintenance work.

NOTE

Page 32

Setup & Operation 2. Specifications

20 G10 / G20 Rev.20

Conical

hole

ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more Space for cables (*) indicates the stroke margin by mechanical stop.

ø39.5 mechanical stop diameter

(Mount eyebolt

at shipment)

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

Root both side chamfer C0.5

G10-65*S

G10/G20-85*S

G20-A0*S

250

450

600

G10/G20-**1S

G10/G20-**4S

180

420

813.5

1053.5

213.5

−26.5

Page 33

Setup & Operation 2. Specifications

G10 / G20 Rev.20 21

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)

Cover for Table Top mounting surface

Exhaust port

Lower bellows

Plate cover (For static electricity countermeasure)

Page 34

Setup & Operation 2. Specifications

22 G10 / G20 Rev.20

Conical hole

ø4,90°

1 mm flat cut

Max. ø18 through hole ø

25 h7 shaft diameter

39.5 mechanical stop diameter

Detail of “A”

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

* indicates the stroke margin by mechanical stop.

Reference through hole

(View from the bottom of the base)

G10-65*C

G10/G20-85*C

G20-A0*C

250

450

600

G10/G20-**1C

G10/G20-**4C

150

390

870.5

1129.5

205.5

−34.5

(Mount eyebolt

at shipment)

90 or more

Space for cables

Root both side chamfer C0.5

Page 35

Setup & Operation 2. Specifications

G10 / G20 Rev.20 23

Protected-model G10/G20-***D, P

The following figure shows the additional parts and specifications for the Table Top mounting

Protected-model when compared with the Standard-model in appearance.

Normal G10/G20-***D* Manipulators do not have bellows. If necessary, select the bellows option at

shipment. The following figure is a Manipulator with bellows option.

For dimensions of the end part of G10/G20-***D* without bellows option, refer to G10/G20-***S.

G10/G20-***P only Plate cover (For oil resistant)

Upper bellows

Stainless steel plate for Table Top mounting surface

Exhaust port

Lower bellows

Stainless steel plate

User connector (Protected

-model)

User connector (Protected

-model)

Joint #3 and #4 brake release switch (Protected-model)

Fittings with cover (Protected

-model)

Fittings with cover (Protected-model)

For Protected-model, all the screws used for outer parts are stainless steel screws. (Excluding the

screw used for mechanical stop.)

NOTE

Page 36

Setup & Operation 2. Specifications

24 G10 / G20 Rev.20

G10-65*P

G10/G20-85*P

G20-A0*P

250

450

600

G10/G20-**1P

G10/G20-**4P

150

390

874

1133

205.5

−34.5

Conical hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more Space for cables (*) indicates the stroke margin by mechanical stop.

ø39.5 mechanical stop diameter

(Mount eyebolt

at shipment)

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

Root both side chamfer C0.5

Page 37

Setup & Operation 2. Specifications

G10 / G20 Rev.20 25

2.3.2 Wall Mounting

Standard-model G10/G20-***SW

−

Joint #3

(up and down)

Joint #2

(rotating)

Joint #4

(rotating)

Arm #2

Arm #1

Joint #3

and

brake release switch

Base

Shaft

Signal cable

Power cable

Fitting (black or blue)* for ø

4 mm

pneumatic tube

User connector (15-pin D-sub connector)

User connector (9-pin D-sub connector)

Signature label

(Serial No. of Manipulator)

CE label

Fitting (white) for ø 4 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Fitting (black or blue)* for ø 6 mm pneumatic tube

Joint #1

(rotating)

LED lamp

UR label

* Color differs depending on the shipment time

- The brake release switch affects both Joints #3 and #4. When the brake release switch is pressed

in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.

- When the LED lamp is lighting or the controller power is on, the current is being applied to the

manipulator. Performing any work with the power ON is extremely hazardous and it may result in

electric shock and/or improper function of the robot system. Make sure to turn OFF the controller

power before the maintenance work.

NOTE

Page 38

Setup & Operation 2. Specifications

26 G10 / G20 Rev.20

Reference hole

(Tolerance applies

to the pin hole)

Conical

hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more Space for cables (*) indicates the stroke margin by mechanical stop.

ø39.5 mechanical stop diameter

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

Detail of

“B”

G10-65*SW

G10/G20-85*SW

G20-A0*SW

250

450

600

G10/G20-**1SW

G10/G20-**4SW

180

420 c −27.5

212.5

420

660

Page 39

Setup & Operation 2. Specifications

G10 / G20 Rev.20 27

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)

Exhaust port

Lower bellows

Plate cover (For static electricity countermeasure)

Page 40

Setup & Operation 2. Specifications

28 G10 / G20 Rev.20

Reference hole

(Tolerance applies

to the pin hole)

Conical hole ø4,90°

1 mm flat cut

Max.

ø18 through hole

ø25 h7 shaft diameter

90 or more Space for cables (*) indicates the stroke margin by mechanical stop.

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

ø39.5 mechanical stop diameter

Detail of “B”

G10-65*CW

G10/G20-85*CW

G20-A0*CW

250 450

600

G10/G20-**1CW

G10/G20-**4CW

150

390

29.5

288.5

515

774

Page 41

Setup & Operation 2. Specifications

G10 / G20 Rev.20 29

Protected-model G10/G20-***DW, PW

The following figure shows the additional parts and specifications for the Wall mounting Protected-model

when compared with the Standard-model in appearance.

Normal G10/G20-***DW Manipulators do not have bellows. If necessary, select the bellows option at

shipment. The following figure is a Manipulator with bellows option.

For dimensions of the end part of G10/G20-***DW without bellows option, refer to G10/G20-***SW.

G10/G20

-***PW only

Plate cover (For oil resistant)

G10/G20-***PW only Plate cover (For oil resistant)

Upper bellows

Exhaust port

Lower bellows

Stainless steel plate

User connector (Protected-model)

Joint #3 and #4 brake release switch (Protected-model)

Fittings with cover (Protected

-model)

Fittings with cover (Protected

-model)

For Protected-model, all the screws used for outer parts are stainless steel screws. (Excluding the

screw used for mechanical stop.)

NOTE

Page 42

Setup & Operation 2. Specifications

30 G10 / G20 Rev.20

G10-65*PW

G10/G20-85*PW

G20-A0*PW

250

450

600

G10/G20-**1PW

G10/G20-**4PW

150

390

292

518.5

777.5

Reference hole

(Tolerance applies

to the pin hole)

Conical hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more Space for cables (*) indicates the stroke margin by mechanical stop.

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

ø39.5 mechanical stop diameter

Detail of “B”

Page 43

Setup & Operation 2. Specifications

G10 / G20 Rev.20 31

2.3.3 Ceiling Mounting

Standard-model G10/G20-***SR

−

Joint #3

(up and down)

Joint #2

(rotating)

Joint #1

(rotating)

Joint #4

(rotating)

Arm #2

Arm #1

Joint #3 and #4

brake release

switch

Base

Shaft

Signature label

(Serial No. of Manipulator)

CE label

Signal cable

Power cable

Fitting (black or blue)* for ø 4 mm pneumatic tube

User connector

(15

-pin D-sub connector)

User connector (9-pin D-sub connector)

Fitting (white) for ø 4 mm pneumatic tube

Fitting (white) for ø 6 mm pneumatic tube

Fitting (black or blue)* for

ø 6 mm pneumatic tube

LED lamp

UR label

* Color differs depending

on the shipment time

- The brake release switch affects both Joints #3 and #4. When the brake release switch 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.)

- When the LED lamp is lighting or the controller power is on, the current is being applied to the

manipulator. Performing any work with the power ON is extremely hazardous and it may result in

electric shock and/or improper function of the robot system. Make sure to turn OFF the controller

power before the maintenance work.

NOTE

Page 44

Setup & Operation 2. Specifications

32 G10 / G20 Rev.20

Conical hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more

Space for cables

(*) indicates the stroke margin by mechanical stop.

Detail of “A”

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

ø39.5 mechanical stop diameter

Detail of “B”

(Tolerance applies to the pin hole)

G10-65*SR

G10/G20-85*SR

G20-A0*SR

250

450

600

G10/G20-**1SR

G10/G20-**4SR

180

420

−27.5

212.5

420

660

Page 45

Setup & Operation 2. Specifications

G10 / G20 Rev.20 33

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.

Upper bellows

Plate cover (For static electricity countermeasure)

Exhaust port

Lower bellows

Plate cover (For static electricity countermeasure)

Cover for Ceiling mounting surface

Page 46

Setup & Operation 2. Specifications

34 G10 / G20 Rev.20

G10-65*CR

G10/G20-85*CR

G20-

A0*CR

250

450

600

G10/G20-**1CR

G10/G20-**4CR

150

390

29.5

288.5

515

774

(Tolerance applies to the pin hole)

Conical hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more

Space for cables

(*) indicates the stroke margin by mechanical stop.

Detail of “A”

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

ø39.5 mechanical stop diameter

Detail of “B”

Page 47

Setup & Operation 2. Specifications

G10 / G20 Rev.20 35

Protected-model G10/G20-***DR, PR

The following figure shows the additional parts and specifications for the Ceiling mounting Protected-model

when compared with the Standard-model in appearance.

Normal G10/G20-***DR Manipulators do not have bellows. If necessary, select the bellows option at

shipment. The following figure is a Manipulator with bellows option.

For dimensions of the end part of G10/G20-***DR without bellows option, refer to G10/G20***SR.

G10/G20

-***PR only

Plate cover (For oil resistant

)

G10/G20-***PR only Plate cover (For o

il resistant)

Upper bellows

Stainless steel plate for Ceiling mounting surface

Exhaust port

Lower bellows

Stainless steel plate

User connector (Protected-model)

User connector (Protected

-model)

Joint #3 and #4 brake release switch (Protected-model)

Fittings with cover (Protected-model)

- For Protected-model, all the screws used for outer parts are stainless steel screws. (Excluding the

screw used for mechanical stop.)

NOTE

Page 48

Setup & Operation 2. Specifications

36 G10 / G20 Rev.20

G10-65*PR

G10/G20-85*PR

G20-A0*PR

250

450

600

G10/G20-**1PR

G10/G20-**4PR

150

390

292

518.5

777.5

(Tolerance applies to the pin hole)

Conical hole ø4,90°

1 mm flat cut

Max.ø18 through hole ø25 h7 shaft diameter

90 or more

Space for cables

(*) indicates the stroke margin by

mechanical stop.

Detail of “A”

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

ø39.5 mechanical stop diameter

Detail of “B”

Page 49

Setup & Operation 2. Specifications

G10 / G20 Rev.20 37

2.3.4 G10-65***, G10-85***: For S/N: 1**** or later

G10-65***, G10-85*** manipulator of S/N: 1**** or later is different from other models

in its form. The additional screw holes processed on G10-85*** are not for the end

effector or other equipments.

Standard model

G10-65*S*

G10-85*S*

Heat sink

Screw hole

G20-85*S* (Same as before)

Cleanroom model

G10-65*C*

G10-85*C*

Heat sink

Screw hole

G20-85*C* (Same as before) Protection model

G10-65*P*

G10-85*P*

Heat sink

Screw hole

G20-85*P*

(Same as before)

Page 50

Setup & Operation 2. Specifications

38 G10 / G20 Rev.20

2.4 Specifications

Item

G10/G20-****

G10/G20-****R

G10/G20-*****W

Mount method

Tab le To p

Ceiling

Wall

Environment

Cleanroom-model + ESD *1 / Protected-model *2

Arm length

Arm #1, #2

650 mm (G10 only)

850 mm (G10/G20)

1000 mm (G20 only)

Arm #3

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*, D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*, D* with bellows option

Weig h t

(not include the weight

of cables)

G10

46 kg : 102 lb

51 kg : 113 lb

G10/G20

48 kg : 106 lb

53 kg : 117 lb

G20

50 kg : 111 lb

55 kg : 122 lb

Driving method

All joints

AC servo motor

Max. operating speed *3

Joints #1, #2

8800 mm/s

11000 mm/s

11500mm/s

Joint #3

1100 mm/s

2350 mm/s

Joint #4

G10

2400 deg/s

G20

1700 deg/s

Repeatability

Joints #1, #2

±0.025 mm

Joint #3

±0.01 mm

Joint #4

±0.005 deg

Max. motion range

Joint #1

±152 deg ±107 deg

Joint #2

±152.5 deg *a ±130 deg

Joint #3

180 mm : G10/G20-**1S*, D*

150 mm : G10/G20-**1C*, P*, D* with bellows option

420 mm : G10/G20-**4S*, D*

390 mm : G10/G20-**4C*, P*, D* with bellows option

Joint #4

±360 deg

Max. pulse range

(pulse)

Joint #1

-1805881 to +7048761 -495161 to +5738041

Joint #2

±2776178 *a ±2366578

Joint #3

-1946420 : G10/G20-**1S*, D*

-1622016 : G10/G20-**1C*, P*, D* with bellows option

-2270823 : G10/G20-**4S*, D*

-2108621 : G10/G20-**4C*, P*, D* with bellows option

Joint #4

G10

±1951517

G20

±2752512

The length of Arm #1 + #2 varies in different Manipulator models.

65 : 650 mm G10 only 85 : 850 mm G10/G20 A0 : 1000 mm G20 only

NOTE

Page 51

Setup & Operation 2. Specifications

G10 / G20 Rev.20 39

*a : The Joint #2 values for the following manipulators

Max. motion range

Max. pulse range

G10/G20-85C, P, D with bellows option (Z: -360 to -390 only)

G10/G20-85CW, PW, DW with bellows option

G10/G20-85CR, PR, DR with bellows option

±151 deg ±2748871

Item

G10-*****

G20-*****

Resolution

Joint #1

0.0000343 deg/pulse

Joint #2

0.0000549 deg/pulse

Joint #3

0.0000925 mm/pulse

0.000185 mm/pulse

Joint #4

0.0001845 deg/pulse

0.0001308 deg/pulse

Motor power consumption

Joint #1

750 W

Joint #2

600 W

Joint #3

400 W

Joint #4

150 W

Payload

rated

5 kg

10 kg

max.

10 kg

20 kg

Joint #4 allowable moment of inertia *4

rated

0.02 kg·m2

0.05 kg·m2

max.

0.25 kg·m2

0.45 kg·m2

Hand

Shaft diameter

ø25 mm

Through hole

ø18 mm

Joint #3 down force

250 N

Installed wire for customer use

24 (15 pin + 9 pin : D-sub)

Installed pneumatic tube for customer use

2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

2 pneumatic tubes (ø4 mm) : 0.59 MPa (6 kgf/cm2 : 86 psi)

Environmental requirements

Ambient Temperature

5 to 40°C (with minimum temperature variation)

Ambient relative humidity

10 to 80% (no condensation)

Equivalent continuous A-weighted sound pressure level *5

Aeq

= 70 dB(A)

Applicable Controller *6

RC180, RC700-A

Assignable Value ( ) Default values

Speed

1 to (5) to 100

Accel *7

1 to (10) to 120

SpeedS

1 to (50) to 2000

AccelS

1 to (200) to 25000

Fine

0 to (10000) to 65000

Weig h t

0,400 to (10,400) to 20,400

Safety standard

CE Marking : EMC Directive, Machinery Directive,

RoHS Directive

KC Marking / KCs Marking

UL standards (In case of UL specification):

UL1740, ANSI/RIA R15.06, NFPA 79

*1: The exhaust system in the Cleanroom-model Manipulator (G10/G20-*

**C*) draws air from the base

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.

Page 52

Setup & Operation 2. Specifications

40 G10 / G20 Rev.20

Cleanliness level: Class ISO 3 (ISO14644-1)

Amount of Dust (0.1 µm diameter or larger) in 28317 cm

(1cft) sample-air around the

center of the motion rang: 10 particles or less.)

Exhaust System: Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm

Exhaust tube : Polyurethane tube Outer diameter: ø12 mm (Inner diameter:ø8 mm) or Inner diameter ø16mm or larger Recommended exhaust flow rate : Approx. 1000 cm

/s (Normal)

ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust due to electrification.

*2: IP (International Protection) for the Protected-model Manipulator indicates International Standard of the

protection level against dust and water.

Normal G10/G20-***D* Manipulators do not have bellows. The normal G10/G20-***D* Manipulator (without bellows option) operates under adverse conditions with oily mist.

If necessary, select the bellows option at shipment.

The Manipulators with bellows (option) comply with grade of protection IP54 (IEC 60529, JIS C0920).

Model

Degree of protection

G10/G20-***D* with bellows option

IP54

Dust : 5

Dust shall not ingress in a quantity to interfere with satisfactory operation of the equipment.

Water : 4

Water splashing against the enclosure from any direction shall have no harmful effect.

G10/G20-***P* IP65

Dust : 6

No ingress of dust.

Water : 5

Water projected by a nozzle against enclosure from any direction shall have no harmful effects.

*3: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal

plane.

*4: 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.

*5: Conditions of Manipulator during measurement as follows:

Operating conditions : Under rated load, 4-joint simultaneous motion, maximum speed, maximum

acceleration, and duty 50%.

Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above

the base-installed surface.

*6: For delivery up until January 2017, there are systems in combination of G series and RC620.

*7: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and

vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the manipulator continuously with the large Accel setting may shorten the product life remarkably.

Page 53

Setup & Operation 2. Specifications

G10 / G20 Rev.20 41

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

■

When you need to change the setting of the Manipulator model, be sure to set the Manipulator model properly.

Improper setting of the Manipulator model may

result in

abnormal

or no operation of the Manipulator and/or cause safety

problems.

If the custom specifications number (MT***) is described on MODEL of the signature

label (S/N label), the Manipulator has custom specifications. (A label with only the

custom specifications number may be attached depending on shipment time.)

The custom specifications may require a different configuration procedure; check the

custom specifications number (MT***) 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.

NOTE

Page 54

Setup & Operation 3. Environments and Installation

42 G10 / G20 Rev.20

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 temperature *1

5 to 40°C (with minimum temperature variation)

Ambient relative humidity

10 to 80% (no condensation)

First transient burst noise

2 kV or less

Electrostatic noise

4 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.

Manipulators are not suitable for operation in harsh environments such as painting areas,

etc. When using Manipulators in inadequate environments that do not meet the above

conditions, please contact us.

*1 The ambient temperature conditions are for the Manipulators only. For the Controller

the Manipulators are connected to, refer to the Controller manual.

For the Protected-model Manipulator, be sure to install the robot system in an environment

that also meets the following conditions:

Item

Conditions

Environment · Install indoors.

· Keep away from direct sunlight.

· Keep away from salinity or other contaminants.

Keep away from flammable or corrosive solvents (including

water)*² and gases.

· Keep away from shock or vibration.

· Keep away from sources of electric noise.

It can be used under conditions with dust, oily smoke, metal

powder or other contaminants.*³

*2 The Manipulator body is mainly made of iron and aluminum. It is not rust-proofed.

Do not use the Manipulator under conditions where the Manipulator can expose to

water or any other corrosive liquid.

*3 Any contaminants that can deteriorate sealing performance of nitrile rubber oil sealing,

O-rings, packing seals and liquid gasket should be avoided.

NOTE

Page 55

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 43

Special Environmental Conditions

The protective seals are attached on the Protected-model Manipulator to prevent dust,

water, etc. from the outside. Follow the precautions in use environment described below:

The surface of the Manipulator has general oil resistance. However, if your requirements

specify that the Manipulator must withstand certain kinds of oil, please consult your

distributor.

Rapid change in temperature and humidity can cause condensation inside the Manipulator.

If your requirements specify that the Manipulator handles food, please consult your

distributor to check whether the Manipulator will damage the food or not.

The Manipulator cannot be used in corrosive environments where acid or alkaline is used.

In a salty environment where the rust is likely to gather, the Manipulator is susceptible to

rust.

The controller used with the Protected-model Manipulator does not have protection

features for dusty, wet, or oily environment. The controller must be placed in an

environment that meets the specified conditions.

WARNING

■

Use an e

arth leakage breaker on the AC power cable of the Controller to avoid

electric shock and circuit breakdown caused by

short circuit.

Prepare the earth leakage

breaker that pertains the Controller you are using.

For details, refer to the

Controller manual.

CAUTION

■

When cleaning the Manipulator, do not rub it strongly with alcohol or

benzene.

It may lose luster on the coated face.

Page 56

Setup & Operation 3. Environments and Installation

44 G10 / G20 Rev.20

3.2 Base Table

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

maximum 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

Max. Horizontal reaction force

4500

7500

Max. Vertical reaction force

2000

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 & 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 μm 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.

Page 57

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 45

If you are passing cables through the holes on the base table, see the figures below.

[unit : mm]

M/C Cable

Minimum bending radius

Power Cable

Connector

Signal Cable

Connector

RC180, RC620

Power Cable

Connector (Straight)

Signal Cable

Connector

Power Cable

Connector (L-shaped)

RC700-A

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.

WARNING

■

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.

NOTE

Page 58

Setup & Operation 3. Environments and Installation

46 G10 / G20 Rev.20

3.3 Mounting Dimensions

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.

Page 59

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 47

G10-65**

G10/G20

-85**

G20

-A0**

Table Top Mounting

Center of Joint #3

Maximum space

**** : G10/G20-85*S : 207.8 G10/G20-85*C : 218.3

G10-65**

G10/G20-85*

G20-A0**

S, D

C, P, D bellows

Length of Arm #1 (mm)

250

450

600

Length of Arm #2 (mm)

400

(Motion range)

212.4 207.8

Z: 0 to −360

207.8

307

Z: − 360 to −390

218.3

Motion range of Joint #1 (degree)

152

e Motion range of Joint #2 (degree) 152.5 152.5

Z: 0 to −360

152.5

Z: −360 to −390

151

(Mechanical stop area)

199.4

183.3

285.4

Joint #1 angle to hit mechanical stop (degree)

3 3 3

Joint #2 angle to hit mechanical stop (degree)

3.5 3.5

Z: 0 to −360

3.5

Z: −360 to −390

The bellows for G10/G20-***DW are options at shipment.

In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator

body and the arm.

NOTE

Page 60

Setup & Operation 3. Environments and Installation

48 G10 / G20 Rev.20

G10-65**W

G10/G20-85**W

G20-A0**W

Wall Mounting

Center of Joint #3

Maximum space

G10-65**W

G10/G20-85*

G20-A0**W

SW, DW

CW, PW, DW

bellows

Length of Arm #1 (mm)

250

450

600

Length of Arm #2 (mm)

400

(Motion range)

306.5

207.8

218.3

307

Motion range of Joint #1 (degree)

107

Motion range of Joint #2 (degree)

130

152.5

151

152.5

(Mechanical stop area)

291.2

183.3

285.4

Joint #1 angle to hit mechanical stop (degree)

3 3 3

Joint #2 angle to hit mechanical stop (degree)

3.5

3.5 5 3.5

The bellows for G10/G20-***DW are options at shipment.

G10-65**R

G10/G20

-85**R

G20-A0**R

Ceiling Mounting

Center of Joint #3

Maximum space

G10-65**R

G10/G20-85*

G20-A0**R

SR, DR

CR, PR, DR

bellows

Length of Arm #1 (mm)

250

450

600

Length of Arm #2 (mm)

400

(Motion range)

306.5

207.8

218.3

307

Motion range of Joint #1 (degree)

107

152

Motion range of Joint #2 (degree)

130

152.5

151

152.5

(Mechanical stop area)

291.2

183.3

285.4

Joint #1 angle to hit mechanical stop (degree)

3 3 3

Joint #2 angle to hit mechanical stop (degree)

3.5

3.5 5 3.5

The bellows for G10/G20-***DR are options at shipment.

Page 61

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 49

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.

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.

CAUTION

■

Using a cart or similar equipment, transport the Manipulator in the same manner as 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.

■

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.

Ceiling Mounting: R

Table Top Mounting: *

Wall Mounting: W

G10

65**,**R : Approximately 46 kg : 102 lb 65**W : Approximately 51 kg : 113 lb

G10/G20

85**,**R : Approximately 48 kg : 106 lb 85**W : Approximately 53 kg : 117 lb

G20

A0**,**R : Approximately 50 kg : 111 lb

■

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 hoist

ing 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.

Page 62

Setup & Operation 3. Environments and Installation

50 G10 / G20 Rev.20

3.4.2 Transportation

Transport the Manipulator following the instructions below:

(1) Attach the eyebolts to the upper back side 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.

3.5 Installation

CAUTION

■

The robot system

must be installed to avoid

interference with buildings,

structures, utilities, other

machines and equipment that may create a trapping

hazard or pinch points.

■

Oscillation (resonance) may

occur during operation depending on rigidity of the

installation table. If the oscillation occurs, improve rigidity of the table or change the speed or acceleration

and deceleration settings.

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 or Protected-model, refer to each section.

3.5.4 Cleanroom-model

3.5.5 Protected-model

Page 63

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 51

3.5.1 Table Top Mounting

CAUTION

■

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

feet caught and/or have equipment damage

d by a fall of the Manipulator. G10-65** : Approximately 46 kg :102 lb. G10/G20-85** : Approximately 48 kg :106 lb. G20-A0** : Approximately 50 kg :111 lb.

Standard Model

(1)

Secure the base to the base table with

four bo

lts.

Use bolts

with specifications conforming

to ISO898

-1 Property Class: 10.9 or 12.9.

Tightening torque

: 73.5 N⋅m (750 kgf⋅cm)

20 mm

Screw Hole (depth 20 mm or more)

4-M12×40

Spring Washer

Plane Washer

(2) Using nippers, cut off the wire tie

binding

the shaft and arm retaining

bracket on the

base.

Bolt

: M4×15

Washer

: M6

Arm mounting bolt

: M12×20

Wire tie

Eyebolt (Attached at shipment)

(3)

Remove the bolts securing the wire ties

removed in step (2).

(4)

Remove the

fixing jig for transport.

NOTE

Page 64

Setup & Operation 3. Environments and Installation

52 G10 / G20 Rev.20

3.5.2 Wall Mounting

WARNING

■

Install the

Wall Mounting Manipulator with four or more people.

The Manipulator weigh

ts are as follows. Be careful not to get hands, fingers, or

feet caught and/or have equipment damage

d by a fall of the Manipulator. G10-65**W : Approximately 51 kg :113 lb. G10/G20-85**W : Approximately 53 kg :117 lb. G20-A0**W : Approximately 55 kg :122 lb.

■

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 six bolts.

Use bolts

with specifications conforming

to ISO898

-1 Property Class: 10.9 or 12.9.

Tightening torque

: 32.0 N⋅m (326 kgf⋅cm)

Screw Hole (depth 20 mm or more)

6-M12×40

Spring Washer

Plane Washer

(3)

Remove the fixing jig

for transport.

NOTE

Page 65

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 53

3.5.3 Ceiling Mounting

WARNING

■

Install the

Ceiling Mounting Manipulator with four or more people.

The Manipulator weigh

ts are as follows. Be careful not to get hands, fingers, or

feet caught and/or have equipment damage

d by a fall of the Manipulator. G10-65**R : Approximately 46 kg :102 lb. G10/G20-85**R : Approximately 48 kg :106 lb. G20-A0**R : Approximately 50 kg :111 lb.

■

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.

(2)

Secure the base to the

ceiling with four

bolts.

Use bolts

with specifications conforming

to ISO898

-1 Property Class: 10.9 or 12.9.

Tightening torque

: 32.0 N⋅m (326 kgf⋅cm)

Screw Hole

(depth 20 mm

or more)

4-M12

×40

Spring

Washer

Plane Washer

(3)

Remove the fixing

jig for transport.

NOTE

Page 66

Setup & Operation 3. Environments and Installation

54 G10 / G20 Rev.20

3.5.4 Cleanroom-model

(1) Unpack it outside of the clean room.

(2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the

Manipulator does not fall.

(3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a

lint-free cloth.

(4) Carry the Manipulator in the clean room.

(5) Refer to the installation procedure of each Manipulator model and install the

Manipulator.

(6) Connect an exhaust tube to the exhaust port.

3.5.5 Protected-model

Refer to the installation procedure of each Manipulator model and install the Manipulator.

When the Manipulator is a Protected-model, be aware of the followings.

WARNING

■

Connect the power cable connection and

the signal cable connector to the

Manipulator immediately after the Manipulator installation. The Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP54 / IP65.

CAUTION

■

When operating the Manipulator under

special environmental conditions (adverse

conditions with dust and oily smoke), do not place the controller in the same condition since the controller does not comply with IP54 / IP65. Doing so may cause equipment damage to and/or malfunction of the contr

oller.

Page 67

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 55

3.6 Connecting the Cables

WARNING

■

To shut off power

to the robot system, disconnect 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 disconnect 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

system.

■

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

forcibl

y.) 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.

■

Grounding the manipulator is done by connecting with the controller. Ensure that the controller is grounded and the cables are correctly connected. If the ground wire is improperly connected to ground, it may result in

the fire or electric

shock.

CAUTION

■

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 probl

ems. The connection method varies with

the Controller used. For details on the connection, refer to the

Controller

manual

If the G series Manipulator is connected to the Controller for the

6-axis robot, it

may result in

malfunction of the Manipulator.

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 & Operation: 2.4 Specifications.

When the Manipulator is a Protected-model, be aware of the followings.

WARNING

■

Connect the power cable connection and

the signal cable connector to the

Manipulator immediately after the Manipulator installation. The Manipulator without connecting them may result in electric shock and/or malfunction of the robot system as it cannot ensure IP54

, IP65.

CAUTION

■

When operating the Manipulator under spe

cial environmental conditions (adverse

conditions with dust and oily smoke), do not place the controller in the same condition since the controller does not comply with IP54, IP65. Doing so may cause equipment damage to and/or malfunction of the controlle

Page 68

Setup & Operation 3. Environments and Installation

56 G10 / G20 Rev.20

Cable Connections

Connect the power connector and signal connector of the M/C cables to the Controller.

Signal Connector

Power Connector

Page 69

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 57

3.7 User Wires and Pneumatic Tubes

CAUTION

■

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.

User electrical wires and pneumatic tubes are contained in the cable unit.

Electrical Wires

Rated Voltage

Allowable

Current

Wires Nominal Sectional Area Outer Diameter Note

AC/DC30 V

1 A

0.211 mm2

ø8.3±0.3 mm

Shielded

Maker

Standard

15 pin

Suitable Connector

JAE

DA-15PF-N

(Solder type)

Clamp Hood

JAE

DA-C8-J10-F2-1R

(Connector setscrew: #4-40 NC)

9 pin

Suitable Connector

JAE

DE9PF-N

(Solder type)

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

Max. Usable Pneumatic Pressure

Pneumatic Tubes

Outer Diameter × Inner Diameter

0.59 MPa (6 kgf/cm2 : 86 psi)

ø6 mm × ø4 mm

ø4 mm × ø2.5 mm

Fittings for ø6 mm and ø4 mm (outer diameter) pneumatic tubes are supplied on both ends

of the pneumatic tubes.

When the Manipulator is a Protected-model, be aware of the followings.

CAUTION

■

Be sure to use IP54 or IP65 compliant wires and tubes when using the Manipulator under special environmental conditions (adverse condition with dust and oily smoke). Using unprotected wires and tubes may cause equipment damage to and/or malfunction of

the Manipulator as proper operation of the

Manipulator under the conditions is no more guaranteed.

■

Be sure to attach the cap on the user cable connector when not using the connector. Using

the

Manipulator without the cap may cause equipment

damage to and

/or malfunction of the Manipulator as dust or oily smoke gets into

the connector.

Common Parts * Color differs depending on the shipment time

Fitting (white) for ø6 mm pneumatic tube

Fitting (black or blue)* for ø6 mm pneumatic tube

Brake release switch 15-pin D

-sub connector

Fitting (black or blue)* for ø4 mm pneumatic tube

Fitting (white) for ø4 mm pneumatic tube

9-pin D-sub connector

Page 70

Setup & Operation 3. Environments and Installation

58 G10 / G20 Rev.20

Table Top Mounting

Fitting (black or blue)* for ø4 mm pneumatic tube

Fitting (white) for ø4 mm pneumatic tube

Fitting (black or blue)* for

ø6 mm pneumatic tube

Fitting (white) for ø6 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector (9-pin D-sub connector)

Wall Mounting

Fitting (black or blue)* for ø6 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector (9-pin D-sub connector)

Fitting (white) for ø6 mm pneumatic tube

Fitting (black or blue)* for ø4 mm pneumatic tube

Fitting (

white)

for ø4 mm pneumatic tube

Ceiling Mounting

Fitting (black or blue)* for ø4 mm pneumatic tube

Fitting (white) for ø4 mm pneumatic tube

Fitting (black or blue)* for ø6 mm pneumatic tube

Fitting (white) for ø6 mm pneumatic tube

User connector (15-pin D-sub connector)

User connector (9-pin D-sub connector)

Page 71

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 59

3.8 Relocation and Storage

3.8.1 Precautions for Relocation and Storage

Observe the following when relocating, storing, and transporting the Manipulators.

THE INSTALLATION SHALL BE PERFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES.

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.

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.

■

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 hoist

ing it. Unstable hoisting is

extremely hazardous and may result in fall of the Manipulator.

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.

Page 72

Setup & Operation 3. Environments and Installation

60 G10 / G20 Rev.20

3.8.2 Table Top Mounting

CAUTION

■

Install

or relocate the Table Top Mounting Manipulator with four or more people.

The Manipulator weigh

ts are as follows. Be careful not to get hands,

fingers, or

feet caught and/or have equipment damage

d by a fall of the Manipulator. G10-65** : Approximately 46 kg :102 lb. G10/G20-85** : Approximately 48 kg :106 lb. G20-A0** : Approximately 50 kg :111 lb.

(1) Turn OFF the power on all devices and unplug the cables.

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 & 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.

Bolt

: M4

×15

Washer

: M6

Arm mounting bolt

: M12×20

Wire tie

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,

move the Manipulator to the delivery equipment or another location and anchor it.

Stretch the belts tight until you finish anchoring the Manipulator.

NOTE

Page 73

Setup & Operation 3. Environments and Installation

G10 / G20 Rev.20 61

3.8.3 Wall Mounting

WARNING

■

Install

or relocate the Wall Mounting Manipulator with four or more people.

The Manipulator weigh

ts are as follows. Be careful not to get hands, fingers, or

feet caught and/or have equipment damage

d by a fall of the Manipulator. G10-65**W : Approximately 51 kg :113 lb. G10/G20-85**W : Approximately 53 kg :117 lb. G20-A0**W : Approximately 55 kg :122 lb.

■

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 and unplug the cables.

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 & 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.

Sheet

Arm mounting bolt

Bolt for Arm #1 mechanical stop

Bolt

: M4×15

Washer

: M6

Wire tie

Example of Arm Retaining Posture

(3) Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the

Manipulator from the wall.

NOTE

Page 74

Setup & Operation 3. Environments and Installation

62 G10 / G20 Rev.20

3.8.4 Ceiling Mounting

WARNING

■

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 damage

d by a fall of the Manipulator. G10-65**R : Approximately 46 kg :102 lb. G10/G20-85**R : Approximately 48 kg :106 lb. G20-A0**R : Approximately 50 kg :111 lb.

■

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.

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 & 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.

Sheet

Arm mounting bolt

Bolt for Arm #1 mechanical stop

Bolt

: M4×15

Washer

: M6

Wire tie

Example of Arm Retaining Posture

(3) Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the

Manipulator from the ceiling.

NOTE

Page 75

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 63

4. Setting of End Effectors

4.1 Attaching an End Effector

Users are responsible for making their own end effector(s). Before attaching an end

effector, observe these guidelines.

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 pneuma

tic 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

Shaft

- Attach

an end effector to the lower end of the shaft.

For the shaft dimensions,

and the overall dimensions of the Manipulator, refer to

Setup

& 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 r

obot 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 switch

- Joint

s #3 and #4 cannot be moved

up/down by hand because the electromagnetic brake

is applied to the joint

s while power to the robot system is turned O F F.

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

ontroller and move the joint up/down or rotate

the joint while pressing

the brake release switch.

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 are

released

simultaneously.

Brake release switch

The shaft may be lowered by the weight of the end effector

Be careful of the

shaft falling and rotating while the brake release switch is

being

pressed

because the shaft may be lowered by the weight of the end effector.

Page 76

Setup & Operation 4. Setting of End Effectors

64 G10 / G20 Rev.20

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.

Page 77

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 65

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]

2-M4 depth 8

4-M4 depth 8

43.5

37.5

4-M4 depth 8

116

2-M8 depth 16 (Mount eyebolt at shipment)

118

110

3.5

2-M8 depth 16 (Mount eyebolt at shipment)

110

Common Dimensions

Wall Mounting

Table Top Mounting

From the base

mounting face

485.5

From the base

mounting face

326

From the reference hole

110.5

From the base

mounting face

326

From the base

mounting face

355.5

Ceiling Mounting

200

For G10

-65***,G10-85*** manipulator of S/N: 1***** or later, the form of arm bottom is different from the others. The additional screw holes processed on G10-85*** are not for the end effector or other equipments. For the detail, refer to:

Setup & Operation 2.3.4 G10

-65***,

G10

-85***: For S/N: 1**** or later

NOTE

Page 78

Setup & Operation 4. Setting of End Effectors

66 G10 / G20 Rev.20

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 that 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, 4.3.1Weight Setting and 4.3.2 Inertia Setting to set parameters.

Setting parameters makes the PTP motion 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 than the default setting.

4.3.1 Weight Setting

CAUTION

■

G10 series The total weight of the end effector and the work piece must

not exceed 10 kg.

The G

10 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 G

20 series Manipulators are not designed to work with loads exceeding 20 kg.

Always set the Weight paramet

ers 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

5 kg

10 kg

G20 series

10 kg

20 kg

When the load (weight of the end effector and work piece) exceeds the rating, change the

setting of Weight parameter.

After the setting is changed, the maximum acceleration/deceleration speed of the robot

system at PTP motion corresponding to the “Weight Parameter” is set automatically.

Load on the Shaft

The load (weight of the end effector and work piece) on the shaft can be set by Weight

parameter.

EPSON

RC+

Enter a value into the [Load inertia:] text box on the [Inertia] panel (

[Tools]-

[Robot

anager]). (You may also execute the Inertia command from the [Command Window].)

Page 79

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 67

Load on the Arm

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

When you attach the equipment near

Arm #2:

When you attach the equipment to the end of Arm #2:

= M (L1)2/(L1+L2)2

WM = M (LM)2/(L2)2

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.

A “1

kg” camera is attached to the end of the G10 series arm (450

away from the rotation center of Joint #2) with

a load weight of

“2

kg”.

M=1

=400

=450

=1×4502/4002=1.26 → 1.3 (round up)

W + W

=2+1.3=3.3

Enter “3.3” for the Weight Parameter.

Page 80

Setup & Operation 4. Setting of End Effectors

68 G10 / G20 Rev.20

Automatic speed setting by Weight

G10 series

140

120

100

0 1 2 3 4 5 6 7 8 9 10 (kg)

Weight setting

(%)

100

G10-65*** G10-85***

110

* The percentage in the graph

is based

on the speed at

rated weight (

5 kg) as 100%.

G20 series

140

120

100

0 5 10 15 20 (kg)

Weight setting

(%)

120

100

* The percentage in the graph

is based on the speed at

rated weight (10 kg) as 100%.

Page 81

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 69

Automatic acceleration/deceleration setting by Weight

G10 series

180

160

140

120

100

0 1 2 3

4 5

6 7 8 9 10 (kg)

Weight setting

(%)

165

160

150

100

165

G10-65*** G10-85***

125

110

125

* The percentage in the graph

is based on the acceleration

/ deceleration at rated weight

(5 kg) as 100%.

G20 series

180

160

140

120

100

(%)

G20-85*** G20-A0***

120

110

100

120

170

120

160

0 5 10 15 20 (kg) Weight setting

* The percentage in the graph

is based

on the acceleration

/ deceleration at rated weight

(10 kg) as 100%.

Page 82

Setup & Operation 4. Setting of End Effectors

70 G10 / G20 Rev.20

4.3.2 Inertia Setting

Moment of Inertia and the Inertia Setting

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.

CAUTION

■

G10 series The

moment of inertia of the load (weight of the end effector and work piece)

must be

0.25 kgm2 or less. The G10 series Manipulators are not designed to

work with

a moment of inertia exceeding 0.25 kgm2.

G20 series The

moment of inertia of the load (weight of the end effector and work piece)

must be

0.45 kgm2 or less. The G20 series Manipulators are not designed to

work with

a moment of inertia exceeding 0.45 kgm2.

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⋅m2

0.25 kg⋅m2

G20 series

0.05 kg⋅m2

0.45 kg⋅m2

When the moment of inertia of the load exceeds the rating, change the setting of the

moment of inertia parameter of the Inertia command. After the setting is changed, the

maximum acceleration/deceleration speed of Joint #4 at PTP motion corresponding to the

“moment of inertia” value is set automatically.

Page 83

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 71

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.

EPSON

RC+

Enter a value into the [Load inertia:] text box on the [Inertia] panel (

[Tools]-

[Robot

anager]). (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

0 0.05 0.10 0.15 0.20 0.25 (kg

･m

)

Moment of inertia setting

120

100

(%)

100

G20 series

0 0.10 0.20 0.30 0.40 0.50 (kg･m2)

Moment of inertia setting

120

100

(%)

100

Page 84

Setup & Operation 4. Setting of End Effectors

72 G10 / G20 Rev.20

Eccentric Quantity and the Inertia Setting

CAUTION

■

The

eccentric quantity of load (weight of the end effector and work piece) must be

200 mm

or less. The G10 series and G20 series Manipulators are not designed

to work with

eccentric quantity exceeding 200 mm.

Always set the eccentric quantity parameter according to the eccentric quantity. 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 at PTP motion corresponding to the “eccentric quantity” is set

automatically.

Position of load’s center of gravity

Rotation center

Eccentric quantity (200 mm or less)

Eccentric Quantity

Page 85

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 73

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.

EPSON

RC+

Enter a value into the [Eccentricity:] text box on the [Inertia] panel

([Tools]-

[Robot

anager]). (You may also execute the Inertia command from the [Command Window].)

Automatic acceleration/deceleration setting by Inertia (eccentric quantity)

G10 series and G20 series

* The percentage in the graph is

based on the acceleration /

deceleration at rated

eccentricity (0 mm) as 100%.

120

100

0 50 100 150 200 (mm)

Eccentricity setting

(%)

100

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).

Work piece (b)

Work piece (c)

End effector (a)

Joint #3 shaft

Rotation center

Moment of inertia

of end effector (a)

Moment of inertia

of work piece (b)

Moment of inertia

of work piece (c)

Whole moment

of inertia

Page 86

Setup & Operation 4. Setting of End Effectors

74 G10 / G20 Rev.20

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

Mass (m)

Rectangular parallelepiped’s center of gravity

Rotation center

+ m × L2

b2 + h2

(b) Moment of inertia of a cylinder

+ m × L2

r 2

Mass (m)

Cylinder’s center of gravity

Rotation center

r 2+ m × L2

2 5

Sphere’s center of gravity

Mass (m)

Rotation center

Page 87

Setup & Operation 4. Setting of End Effectors

G10 / G20 Rev.20 75

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3

When you move the Manipulator in horizontal PTP motion 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 using Jump command can be set by

the LimZ command.

Automatic acceleration/deceleration vs. Joint #3 position

G10 series and G20 series

120

100

0 -100 -200 -300 -400 (mm)

Height of the shaft

(%)

100

G10-85***, G20-85, A0*** G10-65***

* The percentage in the graph is

based on the acceleration /

deceleration at the upper-limited

position of Joint #3 as 100%.

When moving the Manipulator horizontally while the shaft is being lowered, it may cause

over-shoot at the time of final positioning.

NOTE

Page 88

Setup & Operation 5. Motion Range

76 G10 / G20 Rev.20

5. Motion Range

CAUTION

■

When setting up the motion range for safety, both the pulse range and mechanical stops must always be set at the same time.

The motion range is preset at the factory as explained in Setup & Operation: 5.4 Standard Motion Range. That is 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

stop

Rectangular range setting

Pulse range

Motion range

Mechanical

stop

When the motion range is changed due to layout efficiency or safety, follow the

descriptions in 5.1 to 5.3 to set the range.

Page 89

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 77

5.1 Motion Range Setting by Pulse Range

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.

Once the Manipulator receives an operating command, it checks whether the target

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.

EPSON

RC+

The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot

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: Max. Motion

Range

±152 degrees

±107 degrees

85, A0

B: Max. Pulse

Range

-1805881 to +7048761

-495161 to 5738041

85, A0

NOTE

Page 90

Setup & Operation 5. Motion Range

78 G10 / G20 Rev.20

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 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 (-).

0 pulse

Model

Table Top Mounting

Ceiling, Wall Mountings

A: Max. Motion

Range

G10-65***

±152.5 degrees

±130 degrees

G10/G20-85*S*, D*

152.5 degrees

G10/G20-85*C*, P*, D* bellows

Z: 0 to −360

±151 degrees

Z: −360 to −390

±151 degrees

G20-A0***

±152.5 degrees

B: Max. Pulse

Range

G10-65***

±2776178

±2366578

G10/G20-85*S*, D*

±2776178

G10/G20-85*C*, P*, D* bellows

Z: 0 to −360

±2748871

Z: −360 to −390

±2748871

G20-A0***

2776178

The bellows for G10/G20-***D are options at shipment.

In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator

body and the arm.

NOTE

Page 91

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 79

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*, D*

180 mm

-1946420

G10/G20-**4S*, D*

420 mm

-2270823

G10/G20-**1C*, P*, D* bellows

150 mm

-1622016

G10/G20-**4C*, P*, D* bellows

390 mm

-2108621

The bellows for G10/G20-***D* are options at shipment.

For the Cleanroom-model

(G10/G20-***C*) and Protected-model (G10/G20-*** P*, D*

with bellows option)

, 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 face on the shaft end is

facing toward the tip 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 (-).

Clockwise (-value)

Counterclockwise (+value)

G10

0 pulse ±1951517 pulse

G20

0 pulse ±2752512 pulse

NOTE

Page 92

Setup & Operation 5. Motion Range

80 G10 / G20 Rev.20

5.2 Motion Range Setting by Mechanical Stops

Mechanical stops physically 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 #3 can be set to any length less than the maximum stroke.

Table Top Mounting

Mechanical stop of Joint #2

(Adjustable)

Mechanical stop of

Joint #1 (Fixed)

Mechanical stop of Joint #3

(Lower limit mechanical stop)

(Do not move the upper

limit mechanical stop.)

Mechanical stop of Joint #1 (Adjustable)

Mechanical stop of Joint #2

(Fixed)

Wall Mounting

Mechanical stop of Joint #1

(Fixed)

Mechanical stop of Joint #1

(Adjustable)

Ceiling Mounting

Mechanical stop of Joint #1

(Fixed)

Mechanical stop of Joint #1

(Adjustable)

* The different mechanical stop positions from Table Top mounting are indicated for Wall

mounting and Ceiling mounting.

Page 93

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 81

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

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.

Joint #1 Mechanical Stops

Joint #1

Mounting

Arm Length

a b c d e f g h

Table Top

65, 85, A0

+152°

+107° +60° +15°

-15°

-60° -107°

-152°

Ceiling

85, A0

Ceiling

Wall

65, 85, A0

a b c d e f g

Setting Angle

+152

+107°

+60°

+15°

-15

-60

-107

-152

Pulse Value

+7048761 +5738041 +4369067 +3058347 +2184534 +873814

495161

1805881

(°: degree)

Page 94

Setup & Operation 5. Motion Range

82 G10 / G20 Rev.20

Joint #2 Mechanical Stops p

Joint #2

Model

Arm Length

m n o q

Table Top, Ceiling, Wall

+122.5° +152.5°

-152.5° -122.5°

Table Top

G10/G20-85*S, D

G10/G20-8 5 *C , P, D bellows

Z: 0 to –360

Z: –360 to –390

+121°

+151°

-151°

-121°

Ceiling / Wall

G10/G20-85*SR, SW, DR, DW

+122.5° +152.5° -152.5° -122.5°

G10/G20-85*CR, CW,

PR, PW, DR bellows,

DW bellows

+100° +130°

-130° -100°

Table Top

+122.5°

+152.5°

-152.5°

-122.5°

Ceiling, Wall

+100°

+130°

-130°

-100°

The bellows for G10/G20-***D* are options at shipment.

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

(°: degree)

In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator

body and the arm.

NOTE

Page 95

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 83

(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

bolt (fully threaded)

The number

of bolts

Recommended

tightening torque

1 M12 × 20 1 127.4 N⋅m (1300 kgf⋅cm) 2 M10 × 10 2 73.5 N⋅m (750 kgf⋅cm)

(3) Turn ON the

Controller.

(4) Set the pulse range corresponding to the new positions of

the mechanical stops.

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.

EPSON

RC+

Execute the following command

s from the [Command Window].

>JRANGE 1,-436907,5679787 ' Sets the pulse range of Joint #1

>JRANGE 2,-2230045,2230045 ' Sets the pulse range of Joint #2

>RANGE ' Checks the setting using Range

-436907,5679787,-2230045,2230045,-1946420

,0,-1951517, 1951517

(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)

perate 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 the 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.

EPSON

RC+

Execute the following command

s from the [Command Window].

>MOTOR ON ' Turns ON the motor

>CP ON ' Enters low-power mode

>SPEED 5 ' Sets at low speeds

>PULSE -436907,0,0,0 ' Moves to the min. pulse position of Joint #1

>PULSE 5679787,0,0,0 ' Moves to the max. pulse position of Joint #1

>PULSE 2621440,-2230045,0,0 ' Moves to the min. pulse position of Joint #2

>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 position

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

NOTE

Page 96

Setup & Operation 5. Motion Range

84 G10 / G20 Rev.20

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 stop

s or if an error occurs after the arm hits the

mechanical stops

, either

reset the pulse range to a narrower setting or extend the

position

s of the mechanical stops within the limit.

5.2.2 Setting the Mechanical Stop of Joint #3

This method applies only to the Standard-model Manipulator (G10/G20-***S*) and

Protected-model Manipulator (G10/G20-***D* without bellows option).

For the Cleanroom-model (G10/G20-***C*) and Protected-model (G10/G20-***D* with

bellows option)

, the motion range set with the Joint #3 mechanical stop cannot be changed.

(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.

(2)

Push up the shaft while pressing the brake

release switch.

Do not push the shaft up to its upper limit

or it will be difficult for the arm top cover

to be removed. Push the shaft up to a

position where the Joint #3 mechanical stop

can be changed.

When you press

the brake release switch,

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.

Lower limit mechanical stop : 2-M5×6 set screw

Brake release switch

Shaft

(3) Turn OFF the

Controller.

(4) Loosen the lower limit mechanical stop

set screw (2-M5×6).

A mechanical stop is mounted on both the top and bottom of Joint #3. However,

only the position of the lower limit mechanical stop on the top can be changed. Do

not remove the upper limit mechanical stop on the bottom because the calibration

point of Joint #3 is specified using the stop.

(5)

The upper end of the shaft

defines the

maximum stroke.

Move the lower limit

mechanical stop down by the length you

want to limit the stroke.

For example, when the lower limit

mechanical stop is set at “

420 mm” stroke,

the lower limit Z coordinate value is “

-420”. To change the value to “-100”,

move the lower limit mechanical stop down

“

320 mm”. Use calipers to measure the

distance when

adjusting the mechanical

stop.

Measure this distance

NOTE

Page 97

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 85

(6)

Firmly tighten two setscrews which are open at a 120 degrees interval so that they do

not enter the shaft groove.

Recommended tightening torque:

9.8 N·m (100 kgf·cm)

(7) Turn ON the

Controller.

(8)

Move

Joint #3 to its lower limit while pressing the brake release switch, 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.

he result of the calculation is always negative because t

he lower limit Z coordinate

value

is negative.

G10-851S (Z: 180mm)

Lower limit of pulse = lower limit Z coordinate value/25×131072×(66/32)

G10-854S (Z: 420mm)

Lower limit of pulse = lower limit Z coordinate value/50×131072×(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 (−100)/25×131072×(66/32) = −1081344

EPSON

RC+

Execute the following command from

the [Command Window].

>JRANGE 3,-1081344,0 ' Sets the pulse range of Joint #3

Example: When lowering the mechanical stop by 320 mm and changing the lower

limit Z coordinate value to “-100” in 420 mm stroke (−100) / 50 × 131072 × (66/32) = −540672

EPSON

RC+

Execute the following command from

the [Command Window].

>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.

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.

NOTE

Page 98

Setup & Operation 5. Motion Range

86 G10 / G20 Rev.20

Example: When lowering the mechanical stop by 80 mm and changing the lower

limit Z coordinate value to “-100” in 180 mm stroke

EPSON

RC+

Execute the following command

s from the [Command Window].

>MOTOR ON ' Turns ON the motor

>SPEED 5 ' Sets low speed >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 “0s” 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 “-100” in 420 mm stroke

EPSON

RC+

Execute the following command

s from the [Command Window].

>MOTOR ON ' Turns ON the motor

>SPEED 5 ' Sets low speed >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 “0s” 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.

EPSON

RC+

Set the XYLim

setting on the [XYZ Limits] panel shown by selecting [Tools]-

[Robot

Manager].

(You may also execute the XYLim command from the [Command Window].)

Page 99

Setup & Operation 5. Motion Range

G10 / G20 Rev.20 87

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 stop” 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

Center of Joint #3

Maximum space

Motion range

Area limited by mechanical stop

Base mounting face

G20-A0**

G10/G20-85**

G10-65**

**** : G10/G20-85*S : 207.8 G10/G20-85*C : 218.3

(°: degree)

a b c d e f g h j k q

G10-65**

152° 3°

152.5°

3.5°

199.4

212.4

250

650

620.7

626.6

152.5

G10/G20-85*S, D

183.3

207.8 450 850 797.3 807.8

G10/G20-85*C, P, D bellows

Z: 0 to –360

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

G10-65**

156

139.4

G10/G20-85**

123.3

G20-A0**

225.4

n p t

G10/G20-**1S, D

180

5 5 393.5

G10/G20-**4S, D

420

G10/G20-**1C, P, D bellows

150

1 1.8 355.5

G10/G20-**4C, P, D bellows

390

The bellows for G10/G20-***D* are options at shipment.

In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm.

NOTE

Page 100

Setup & Operation 5. Motion Range

88 G10 / G20 Rev.20

Wall Mounting

G10/G20-85**W

G10-65**W

G20-A0**W

Center of Joint #3

Maximum space

Motion range

Area limited by mechanical stop

Center of base reference hole

(°: degree)

a b c d e f g h j k q r s

G10-65**W

107° 3°

130°

3.5°

291.2

306.5

250

650

473.1

485.5

130

133.5

231.2

G10/G20-85*SW, DW

152.5°

183.3

207.8

450 850 531.6 553.9

152.5

156

123.3

G10/G20-85*CW, P W, DW bellows

151° 5° 218.3 151

G20-A0**W

152.5°

3.5°

285.4

307

600

1000

575.4

605.2

152.5

225.4

n p t

G10/G20-**1 S W, DW

180

5 5 202.5

G10/G20-**4SW, DW

420

G10/G20-**1 C W, PW, DW bellows

150

1 1.8 240.5

G10/G20-**4 C W, PW, DW bellows

390

The bellows for G10/G20-***DW are options at shipment.