EPSON G1-171SZ, G1-221S, G1-171S, G1-221SZ User Manual

SCARA ROBOT

G1 series

MANIPULATOR MANUAL

Rev.4

EM111R2119F

MANIPULATOR MANUAL

G1 series Rev.4

SCARA ROBOT

G1 series Manipulator Manual

Rev.4

Copyright © 2009-2011 SEIKO EPSON CORPORATION. All rights reserved.

G1 Rev.4

i

FOREWORD

Thank you for purchasing our robot products.

This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system.

Keep this manual handy for easy access at all times.

WARRANTY

The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.

Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)

However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):

1.Damage or malfunction caused by improper use which is not described in the manual, or careless use.

2.Malfunctions caused by customers’ unauthorized disassembly.

3.Damage due to improper adjustments or unauthorized repair attempts.

4.Damage caused by natural disasters such as earthquake, flood, etc.

Warnings, Cautions, Usage:

1.If the Manipulator or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.

2.If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.

3.We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.

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G1 Rev.4

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders.

NOTICE

No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.

INQUIRIES

Contact the following service center for robot repairs, inspections or adjustments.

If service center information is not indicated below, please contact the supplier office for your region.

Please prepare the following items before you contact us.

-Your controller model and its serial number

-Your manipulator model and its serial number

-Software and its version in your robot system

-A description of the problem

SERVICE CENTER

G1 Rev.4

iii

MANUFACTURER & SUPPLIER

Japan & Others	SEIKO EPSON CORPORATION
	Suwa Minami Plant
	Factory Automation Systems Dept.
	1010 Fujimi, Fujimi-machi,
	Suwa-gun, Nagano, 399-0295
	JAPAN
	TEL	: [phone]
	FAX	: [phone]

SUPPLIERS

North & South America EPSON AMERICA, INC.

Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746

USA

TEL : [phone]

FAX : [phone] E-MAIL : [e-mail]

Europe	EPSON DEUTSCHLAND GmbH
	Factory Automation Division
	Otto-Hahn-Str.4
	D-40670 Meerbusch
	Germany
	TEL	: [phone]
	FAX	: [phone]
	E-MAIL	: [e-mail]

China	EPSON China Co., Ltd
	Factory Automation Division
	7F, Jinbao Building No. 89 Jinbao Street
	Dongcheng District, Beijing,
	China, 100005
	TEL	: [phone]
	FAX	: [phone]

Taiwan	EPSON Taiwan Technology & Trading Ltd.
	Factory Automation Division
	14F, No.7, Song Ren Road, Taipei 110
	Taiwan, ROC
	TEL	: [phone]
	FAX	: [phone]

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G1 Rev.4

For Customers in the European Union

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)

G1 Rev.4

v

Before Reading This Manual

This section describes what you should know before reading this manual.

Structure of Control System

The G1 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
RC620		Control Unit	EPSON RC+ 6.0
		Drive Unit

For details on commands, refer to User’s Guide or “On-line help”.

Turning ON/OFF Controller

When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to turn ON/OFF all the hardware components. For the Controller composition, refer to the table above.

Shape of Motors

The shape of the motors used for the Manipulator that you are using may be different from the shape of the motors described in this manual because of the specifications.

Setting by Using Software

This manual contains setting procedures by using software. They are marked with the following icon.

EPSON

RC+

Figures in this Manual

The figures of manipulators indicated in this manual are basically Standard-model Manipulator. Unless special instruction is provided, the specifications of Standard-model, Cleanroom-model, and Protected-model (IP54 / IP65) are the same.

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G1 Rev.4

TABLE OF CONTENTS

TABLE OF CONTENTS

Before Reading This Manual ..........................................................................v

Setup & Operation

1. Safety		3
1.1	Conventions ...........................................................................................	3
1.2	Design and Installation Safety ...............................................................	4
1.3	Operation Safety ....................................................................................	5
1.4	Emergency Stop ....................................................................................	6
1.5	Emergency Movement Without Drive Power .........................................	7
1.6	Manipulator Labels .................................................................................	8

2. Specifications		10
2.1	Features of G1 series Manipulators .....................................................	10
2.2	Model Number and Model Differences ..................................................	10
2.3	Part Names and Outer Dimensions .....................................................	11
2.4	Specifications .......................................................................................	19
2.5	How to Set the Model ...........................................................................	21

3. Environments and Installation		22
3.1	Environmental Conditions ....................................................................	22
3.2	Base Table ...........................................................................................	22
3.3	Mounting Dimensions ..........................................................................	24
3.4	Unpacking and Transportation .............................................................	27
3.5	Installation Procedure ..........................................................................	28
3.6	Connecting the Cables .........................................................................	28
3.7	User Wires and Pneumatic Tubes .......................................................	29
3.8	Relocation and Storage ........................................................................	30

4. Setting of End Effectors			31
4.1	Attaching an End Effector ....................................................................		31
4.2	Weight and Inertia Settings ..................................................................		32
	4.2.1	Weight Setting ..........................................................................	32
	4.2.2	Inertia Setting ...........................................................................	34
4.3	Precautions for Auto Acceleration/Deceleration of Joint #3 ..................		37

5. Motion Range		38
5.1	Motion Range Setting by Pulse Range (for All Joints) ..........................	38
5.2	Motion Range Setting by Mechanical Stops .........................................	40
5.3	Setting the Cartesian (Rectangular) Range in the XY Coordinate
	System of the Manipulator (for Joints #1 and #2) ..............................	45
5.4	Standard Motion Range .......................................................................	45

G1 Rev.4

vii

TABLE OF CONTENTS

Maintenance

1.	Safety Maintenance		49
2.	General Maintenance		50
2.1		Schedule for Maintenance Inspection .................................................	50
2.2		Inspection Point ...................................................................................	51

2.2.1Inspection While the Power is OFF

(Manipulator is not operating) ..................................................

51

2.2.2Inspection While the Power is ON

	(Manipulator is operating) ........................................................	51
2.3	Greasing ..............................................................................................	52
2.4	Tightening Hexagon Socket Head Cap Bolts ......................................	53
2.5	Matching Origins .................................................................................	53
2.6	Layout of Maintenance Parts ...............................................................	54

3. Covers		56
3.1	Arm Top Cover ....................................................................................	57
3.2	Connector Plate ...................................................................................	58
3.3	Connector Sub Plate ...........................................................................	59
3.4	User Plate ...........................................................................................	59

4. Cable Unit			60
4.1	Replacing Cable Unit ...........................................................................		61
4.2	Wiring Diagrams ..................................................................................		67
	4.2.1	Signal Cable ............................................................................	67
	4.2.2	Power Cable ............................................................................	68
	4.2.3	User Cable ...............................................................................	69

5.	Arm #1		70
5.1		Motor ...................................................................................................	71
5.2		Reduction Gear Unit ............................................................................	74
6.	Arm #2		75
6.1		Motor ...................................................................................................	76
6.2		Reduction Gear Unit ............................................................................	78
7.	Arm #3		81
7.1		Motor ...................................................................................................	82
7.2		Timing Belt ..........................................................................................	86
7.3		Brake ...................................................................................................	88

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G1 Rev.4

			TABLE OF CONTENTS
8.	Arm #4			89
8.1		Motor	....................................................................................................	90
8.2		Timing ...........................................................................................Belt		94
9.	Bellows			96
9.1		4-axis ...........................................................................................spec		97
9.2		3-axis ...........................................................................................spec		99
10. Ball Screw Spline Unit				101
10.1		Greasing ................................................the Ball Screw Spline Unit		101
		10.1.1 ....................................................................	Standard - model	102
		10.1.2 ....................................	Cleanroom - model / Protected - model	103
10.2		Replacing ...............................................the Ball Screw Spline Unit		104
		10.2.1 .............................................................................	4 - axis spec	105
		10.2.2 .............................................................................	3 - axis spec	108
11.	Lithium Battery			111
11.1 Replacing ....................................the Battery Unit (Lithium Battery)				112
11.2 Replacing ............................................................the Battery Board				113
12.	LED Lamp			115
13.	Calibration			117
13.1		About .............................................................................Calibration		117
13.2		Calibration ......................................................................Procedure		118
13.3		Accurate .......................................................Calibration of Joint #2		128
13.4		Calibration ..................Procedure without using Calibration Wizard		130
14. Maintenance Parts List				134
14.1		Common .................................................................................Parts		134
14.2		Parts ............................................................by Environment Model		135

G1 Rev.4

ix

TABLE OF CONTENTS

x

G1 Rev.4

Setup & Operation

This volume contains information for setup and operation of the G1 series Manipulators.

Please read this volume thoroughly before setting up and operating the Manipulators.

Setup & Operation 1. Safety

1.Safety

Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables.

Keep this manual handy for easy access at all times.

1.1 Conventions

Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.

	This symbol indicates that a danger of possible serious injury or
	death exists if the associated instructions are not followed
WARNING	properly.
	This symbol indicates that a danger of possible serious injury or
	death caused by electric shock exists if the associated
WARNING	instructions are not followed properly.
	This symbol indicates that a danger of possible harm to people
	or physical damage to equipment and facilities exists if the
CAUTION	associated instructions are not followed properly.

G1 Rev.4

3

Setup & Operation 1. Safety

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:

■Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+ User’s Guide to understand the safety requirements before designing and/or constructing the robot system. Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous, may result in serious bodily injury and/or severe equipment damage to the robot system, and may cause serious safety problems.

■The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been

	WARNING	designed and manufactured strictly for use in a normal indoor environment.
		Using the product in an environment that exceeds the specified environmental
		conditions may not only shorten the life cycle of the product but may also cause
		serious safety problems.

■The robot system must be used within the installation requirements described in the manuals. Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.

Further precautions for installation are mentioned in the chapter Setup & Operation: 3. Environments and Installation. Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.

4

G1 Rev.4

Setup & Operation 1. Safety

1.3 Operation Safety

The following items are safety precautions for qualified Operator personnel:

■Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User’s Guide before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.

■Do not enter the operating area of the Manipulator while the power to the robot system is turned ON. Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.

■Before operating the robot system, make sure that no one is inside the

WARNING	safeguarded area. The robot system can be operated in the mode for teaching
	even when someone is inside the safeguarded area.
	The motion of the Manipulator is always in restricted (low speeds and low power)
	status to secure the safety of an operator. However, operating the robot system
	while someone is inside the safeguarded area is extremely hazardous and may
	result in serious safety problems in case that the Manipulator moves
	unexpectedly.

■Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated.

■To shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC power cable to a power receptacle. DO NOT connect it directly to a factory power source.

■Before performing any replacement procedure, turn OFF the Controller and related equipment, and then pull out the power plug from the power source. Performing any replacement procedure with the power ON is extremely hazardous and may result in electric shock and/or malfunction of the robot

WARNING system.

■Do not insert or pull out the motor connectors while the power to the robot system is turned ON. Inserting or pulling out the motor connectors with the power ON is extremely hazardous and may result in serious bodily injury as the Manipulator may move abnormally, and also may result in electric shock and/or malfunction of the robot system.

■Whenever possible, only one person should operate the robot system. If it is necessary to operate the robot system with more than one person, ensure that all

CAUTION	people involved communicate with each other as to what they are doing and take
	all necessary safety precautions.

G1 Rev.4

5

Setup & Operation 1. Safety

1.4 Emergency Stop

If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake.

However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally. Otherwise, the Manipulator may hit the peripheral equipment since the operating trajectory while the robot system stops is different from that in normal operation.

To place the system in emergency mode during normal operation, press the Emergency Stop switch when the Manipulator is not moving.

Refer to the Controller manual for instructions on how to wire the Emergency Stop switch circuit.

Free running distance in emergency

The operating Manipulator cannot stop immediately after the Emergency Stop switch is pressed.

The free running time/angle/distance of the Manipulator are shown below. However, remember that the values vary depending on following conditions.

Weight of the end effector Weight of work piece Operating pose Weight Speed Accel etc.

	Conditions for measurement
	Accel setting	100
	Speed setting	100
	Load [kg]	1	Start point of
	Weight setting	1
			operation
	Point where the
	emergency stop
	signal is input

		Joint #1			Target point
		Joint #2		Stop point
		Controller		RC180 / RC620
		Manipulator		G1-171*/ G1-171*Z	G1-221*/ G1-221*Z
	Free running	Joint #1 + Joint #2	[sec.]		0.4
	time	Joint #3	[sec.]		0.3
	Free running	Joint #1	[deg.]	40	50
		Joint #2	[deg.]	40	45
	angle
		Joint #1 + Joint #2	[deg.]	80	95
	Free running	Joint #3	[mm]		50
	distance

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G1 Rev.4

Setup & Operation 1. Safety

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
	button.
Joint #4...........	Rotate the shaft by hand.
	Joint #3 brake release button

Joint #2 (rotating)

Arm #2

Joint #1 (rotating)

Joint #3	Arm #1
(up/down)
	Shaft
	Base
	Joint #4
	(rotating)

NOTE

)released. Be careful of the shaft while the brake release button is pressed because the shaft may be lowered by the weight of an end effector.When the brake release button is pressed in emergency mode, the brake for Joint #3 is

G1 Rev.4

7

Setup & Operation 1. Safety

1.6 Manipulator Labels

The following labels are attached near the locations of the Manipulator where specific dangers exist.

Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely.

Do not tear, damage, or remove the labels. Use meticulous care when handling those parts or units to which the following labels are attached as well as the nearby areas:

		Labels	NOTE
A			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.
B			Be careful to avoid collision.
C			Hazardous voltage exists while the Manipulator is ON.
			To avoid electric shock, do not touch any internal electric
			parts.
			Only authorized personnel should perform sling work and
			operate a crane and a forklift.
D			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.
E			Be careful of the hand falling while the brake release
			button is being pressed.
F
G

8

G1 Rev.4

Setup & Operation 1. Safety

Location of Labels

G1 Rev.4

9

Setup & Operation 2. Specifications

2.Specifications

2.1 Features of G1 series Manipulators

The G1 series Manipulators are high-performance manipulators intended to space saving, achieve high speed, high DUTY, and high rigidity.

The features of the G1 series Manipulators are as follows:

High Accuracy & High Speed & High Rigidity

Repeating positioning accuracy is ± 0.005 mm

Æ Optimum for precision assembling production line Cycle time under 0.3 seconds (with 175 mm arm)

* When moving 100 mm in horizontally, 25 mm in vertically with load 0.5 kg Small body yet powerful (Press force: 50N)

Space Saving

Achieves the motion area equivalent to the upper class robot with 225 mm arm

Easy-to-Use

You can easily operate the Light & Compact body

3-Axis Spec

Optimum for screw driving and pressing work using the hand offset

2.2 Model Number

G1-17 1 S Z-UL

UL specification

UL : UL compliant

□: Non UL compliant

Axis

□ : 4-axis spec Z : 3-axis spec

Environment

S : Standard

C : Cleanroom &ESD

Joint #3 stroke

1 : 100 mm

Arm length

17 : 175 mm

22 : 225 mm

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

10

G1 Rev.4

Setup & Operation 2. Specifications

2.3 Part Names and Outer Dimensions

2.3.14-axis spec

Part Names : Standard-model (G1-***S)

Fitting (black)	Joint #3
for ø6 mm pneumatic tube	Brake release switch
Fitting (black)	Fittings (white) for ø6 mm pneumatic tube
for ø4 mm pneumatic tube
User connector
(15-pin D-sub connector)	LED

User connector

(9-pin D-sub connector)

Cable

MT label

(only for special order)

UR label

Shaft

Base

CE label

Face plate (Manipulator serial No.)

Signal cable

Power cable

Fittings (white) for ø6 mm pneumatic tube

User connector

(9-pin D-sub connector)

User connector

(15-pin D-sub connector)

Fitting (black) for ø4 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

NOTE

)pressed in emergency mode, the brake for Joint #3 is 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.When the brake release button isThe brake release button affects only Joint #3.

G1 Rev.4

11

Setup & Operation 2. Specifications

Part Dimension : Standard-model (G1-***S)

			G1-171S	G1-221S
	a	75		125
	b		Max.515	Max.545

1mm flat cut

shaft diameter mechanical stop

diameter

Detail of “A” (Calibration point position of

Joints #3 and #4)

90 or more Space for cables

(*) indicates the stroke margin by mechanical stop.

not penetrable

Reference through hole (View from the bottom of the base)

12

G1 Rev.4

	Setup & Operation 2. Specifications
Part Names : Cleanroom-model (G1-***C)
Fitting (black)	Joint #3
for ø6 mm pneumatic tube	Brake release switch
Fitting (black)	Fittings (white) for ø6 mm pneumatic tube
for ø4 mm pneumatic tube

User connector
(15-pin D-sub connector)	LED

User connector

(9-pin D-sub connector)

Cable

	MT label
	(only for special order)
Belows	UR label

Shaft

Base

CE label

Face plate (Manipulator serial No.)

Signal cable

Power cable

Fittings (white) for ø6 mm pneumatic tube

User connector

(9-pin D-sub connector)

User connector

(15-pin D-sub connector)

Exhaust port

Fitting (black) for ø4 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

NOTE

)pressed in emergency mode, the brake for Joint #3 is 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.When the brake release button isThe brake release button affects only Joint #3.

G1 Rev.4

13

Setup & Operation 2. Specifications

Part Dimension : Cleanroom-model (G1-***C)

	G1-171C			G1-221C
a	75			125
b	Max.515			Max.545

1mm flat	cut	shaft diameter
		mechanical stop
		diameter
		Detail of “A”
(Calibration point position of
90 or more	Joints #3 and #4)

Space for cables

(*) indicates the stroke margin by mechanical stop.

not penetrable

Reference through hole (View from the bottom of the base)

14

G1 Rev.4

Setup & Operation 2. Specifications

2.3.23-axis spec

Part Names : Standard-model (G1-***Z)

Fitting (black)	Joint #3
for ø6 mm pneumatic tube	Brake release switch
Fitting (black)	Fittings (white) for ø6 mm pneumatic tube
for ø4 mm pneumatic tube
User connector
(15-pin D-sub connector)	LED

User connector

(9-pin D-sub connector)

Cable

MT label

(only for special order)

UR label

Shaft

Base

CE label

Face plate (Manipulator serial No.)

Signal cable

Power cable

Fittings (white) for ø6 mm pneumatic tube

User connector

(9-pin D-sub connector)

User connector

(15-pin D-sub connector)

Fitting (black) for ø4 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

NOTE

)pressed in emergency mode, the brake for Joint #3 is 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.When the brake release button isThe brake release button affects only Joint #3.

G1 Rev.4

15

Setup & Operation 2. Specifications

Part Dimension : Standard-model (G1-***Z)

(*) indicates the stroke margin by mechanical stop.

2-M3 Through hole

Reference through hole (View from the bottom of the base)

		G1-171Z		G1-221Z
a		75		125
b		Max.515		Max.545

1mm flat cut

shaft diameter

Detail of “A” (Calibration point position of

Joints #3 and #4)

90 or more Space for cables

not penetrable

16

G1 Rev.4

	Setup & Operation 2. Specifications
Part Names : Cleanroom-model (G1-***CZ)
Fitting (black)	Joint #3
for ø6 mm pneumatic tube	Brake release switch
Fitting (black)	Fittings (white) for ø6 mm pneumatic tube
for ø4 mm pneumatic tube

User connector
(15-pin D-sub connector)	LED
User connector
(9-pin D-sub connector)
Belows		Cable

	MT label
	(only for special order)
Belows	UR label

Shaft

Base

CE label

Face plate (Manipulator serial No.)

Signal cable

Power cable

Fittings (white) for ø6 mm pneumatic tube

User connector

(9-pin D-sub connector)

User connector

(15-pin D-sub connector)

Exhaust port

Fitting (black) for ø4 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

NOTE

)pressed in emergency mode, the brake for Joint #3 is 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.When the brake release button isThe brake release button affects only Joint #3.

G1 Rev.4

17

Setup & Operation 2. Specifications

Part Dimension : Cleanroom-model (G1-***CZ)

		G1-171CZ		G1-221CZ
a		75		125
b		Max.515		Max.545

1mm flat cut

shaft diameter

Detail of “A” (Calibration point position of

Joints #3 and #4)

90 or more

Space for cables

(*) indicates the stroke margin by mechanical stop.

not penetrable

Reference through hole (View from the bottom of the base)

18

G1 Rev.4