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

Rev.4 EM111R2119F

SCARA ROBOT

G1 series

MANIPULATOR MANUAL

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

d

FOREWORD

Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipu lat o r.
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 disasse mbly.

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 an

product specifications described in the manuals, this warranty is void.

2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be

responsible for any malfunction or accident, even if the result is injury or death.

3. We cannot foresee all possible dangers and consequences. Therefore, this manual

cannot warn the user of all possible hazards.

ii 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 wit ho ut no tice.
Please notify us if you should fi nd any errors in thi s 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

TEL : [phone]
FAX : [phone]

Japan & Others

SEIKO EPSON CORPORATION
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,
Suwa-gun, Nagano, 399-0295
JAPAN

SUPPLIERS

Factory Automation/Robotics

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

Factory Automation Division

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

Factory Automation Division

TEL : [phone]
FAX : [phone]

Taiwan

Factory Automation Division

TEL : [phone]
FAX : [phone]

North & South America

Europe

China

EPSON AMERICA, INC.

18300 Central Avenue
Carson, CA 90746
USA

EPSON DEUTSCHLAND GmbH

Otto-Hahn-Str.4
D-40670 Meerbusch
Germany

EPSON China Co., Ltd

7F, Jinbao Building No. 89 Jinbao Street
Dongcheng District, Beijing,
China, 100005

EPSON Taiwan Technology & Trading Ltd.

14F, No.7, Song Ren Road, Taipei 110
Taiwan, ROC

iv 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

Name Structure

RC180 Controller EPSON RC+ 5.0

Software

RC620

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

Control Unit
Drive Unit

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+ 6.0

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.

vi G1 Rev.4

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

TABLE OF CONTENTS

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

2.3 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

2.2.1 Inspection While the Power is OFF

(Manipulator is not operating) ..................................................51

2.2.2 Inspection While the Power is ON

(Manipulator is operating) ........................................................51

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

viii 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.

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.

WARNING

WARNING

Setup & Operation 1. Safety

This symbol indicates that a danger of possible serious injury or
death exists if the associated instructions are not followed
properly.

This symbol indicates that a danger of possible serious injury or
death caused by electric shock exists if the associated
instructions are not followed properly.

This symbol indicates that a danger of possible harm to people

CAUTION

or physical damage to equipment and facilities exists if the
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.

WARNING

■

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.

4 G1 Rev.4

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.

■

WARNING

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 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.

Setup & Operation 1. Safety

WARNING

CAUTION

■

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
system.

■

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

■

Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
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

Weight setting 1

Point where the

emergency stop

signal is input

Joint #1

Free running
time

Free running
angle

Free running
distance

Joint #1 + Joint #2 [sec.]

Joint #3 [sec.]

Joint #1 [deg.]

Joint #2 [deg.]

Joint #1 + Joint #2 [deg.]

Joint #3 [mm]

Joint #2

Controller RC180 / RC620

Manipulator

Stop point

G1-171*/ G1-171*Z G1-221*/ G1-221*Z

0.4

0.3

40 50

40 45

80 95

Start point of

operation

Target point

50

6 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)

NOTE

)

Arm #2

Joint #1

(rotating)

Joint #3

(up/down)

Shaft

Joint #4

(rotating)

When the brake release button is pressed in emergency mode, the brake for Joint #3 is

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.

Arm #1

Base

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:

A

B

C

D

Labels 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.

Be careful to avoid collision.

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.
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

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

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

10 G1 Rev.4

2.3 Part Names and Outer Dimensions

Setup & Operation 2. Specifications

2.3.1 4-axis spec Part Names : Standard-model (G1-***S)

Fitting (black)
for ø6 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

Joint #3
Brake release switch

Fittings (white) for ø6 mm pneumatic tube

LED

Cable

MT label
(only for special order)

NOTE

)

UR label

Shaft

Base

Signal cable

Power cable

Fittings (white)

for ø6 mm pneumatic tube

Face plate (Manipulator serial No.)

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

CE label

- The brake release button affects only Joint #3. When the brake release button is
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.

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

(*) indicates the stroke margin
by mechanical stop.

Reference through hole

(View from the bottom of the base)

90 or more

Space for cables

1mm

flat cut

Detail of “A”

(Calibration point position of

Joints #3 and #4)

not penetrable

shaft diameter

mechanical stop

diameter

12 G1 Rev.4

Setup & Operation 2. Specifications

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

Fitting (black)
for ø6 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

Joint #3
Brake release switch

Fittings (white) for ø6 mm pneumatic tube

LED

Cable

MT label
(only for special order)

NOTE

)

Belows

Shaft

Base

Signal cable

Power cable

Fittings (white)

for ø6 mm pneumatic tube

Face plate (Manipulator serial No.)

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

UR label

CE label

- The brake release button affects only Joint #3. When the brake release button is
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.

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

(*) indicates the stroke margin
by mechanical stop.

Reference through hole

(View from the bottom of the base)

1mm flat cut

90 or more

Space for cables

not penetrable

shaft diameter

mechanical stop

diameter

Detail of “A”

(Calibration point position of

Joints #3 and #4)

14

G1 Rev.4

Setup & Operation 2. Specifications

2.3.2 3-axis spec Part Names : Standard-model (G1-***Z)

Fitting (black)
for ø6 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

Joint #3
Brake release switch

Fittings (white) for ø6 mm pneumatic tube

LED

Cable

NOTE

)

MT label
(only for special order)

UR label

Shaft

Base

Signal cable

Power cable

Fittings (white)

for ø6 mm pneumatic tube

Face plate (Manipulator serial No.)

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

CE label

- The brake release button affects only Joint #3. When the brake release button is
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.

G1 Rev.4 15

Setup & Operation 2. Specifications

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

G1-171Z G1-221Z

a 75 125
b Max.515 Max.545

(*) indicates the stroke margin
by mechanical stop.

2-M3

Through hole

(View from the bottom of the base)

Reference through hole

1mm flat cut

(Calibration point position of

90 or more

Space for cables

shaft diameter

Detail of “A”

Joints #3 and #4)

not penetrable

16

G1 Rev.4

Setup & Operation 2. Specifications

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

Fitting (black)
for ø6 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

User connector

(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

Joint #3
Brake release switch

Fittings (white) for ø6 mm pneumatic tube

LED

Belows

Belows

Shaft

Signal cable

Base

Cable

MT label
(only for special order)

UR label

CE label

Face plate (Manipulator serial No.)

User connector
(9-pin D-sub connector)

User connector
(15-pin D-sub connector)

Power cable

Fittings (white)

for ø6 mm pneumatic tube

Exhaust port

Fitting (black) for ø4 mm pneumatic tube

Fitting (black) for ø6 mm pneumatic tube

NOTE

)

- The brake release button affects only Joint #3. When the brake release button is
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.

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

(*) indicates the stroke margin
by mechanical stop.

Reference through hole

View from the bottom of the base)

1mm flat cut

shaft diameter

Detail of “A”

(Calibration point position of

Joints #3 and #4)

90 or more

Space for cables

not penetrable

18

G1 Rev.4