EPSON G20-A04C, G10-654SR, G10-851S, G20-854C, G10-654C User Manual

G10 / G20 series

Rev.10 EM111R2122F

SCARA ROBOT

MANIPULATOR MANUAL

MANIPULATOR MANUAL G10 / G20 series Rev.10

SCARA ROBOT

G10 / G20 series Manipulator Manual

Rev.10

Copyright © 2007-2011 SEIKO EPSON CORPORATION. All rights reserved.

G10 / G20 Rev.10 i

d

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,

2. Malfunctions caused by customers’ unauthorized disassembly.

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

or careless use.

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 G10 / G20 Rev.10

TRADEMARKS

Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of

Microsoft Corporation in the United States and/or other countries. Other brand and

product names are trademarks or registered trademarks of the respective holders.

NOTICE

No part of this manual may be copied or reproduced without authorization.

The contents of this manual are subject to change without notice.

Please notify us if you should find any errors in this manual or if you have any comments

regarding its contents.

INQUIRIES

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

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

your region.

Please prepare the following items before you contact us.

- Your controller model and its serial number

- Your manipulator model and its serial number

- Software and its version in your robot system

- A description of the problem

SERVICE CENTER

G10 / G20 Rev.10 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 G10 / G20 Rev.10

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)

G10 / G20 Rev.10 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

RC180 EPSON RC+ 5.0

RC620 EPSON RC+ 6.0

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+

vi G10 / G20 Rev.10

Table of Contents

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

Setup & Operation

1

. Safety ···························································································· 3

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

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

1.3 Operation Safety ....................................................................................5

1.4 Emergency Stop ....................................................................................6

1.5 Emergency Movement Without Drive Power .........................................7

1.6 Manipulator Labels .................................................................................8

2

. Specifications ············································································ 10

2.1 Features of G10 series and G20 series Manipulators ..........................10

2.2 Model Number and Model Differences ................................................. 11

2.3 Part Names and Outer Dimensions .....................................................12

2.3.1 Table Top Mounting ........................................................................12

2.3.2 Wall Mounting .................................................................................18

2.3.3 Ceiling Mounting .............................................................................24

2.3.4 G10-65***/G10-85***: For S/N1**** or later ....................................30

2.4 Specifications .......................................................................................31

2.5 How to Set the Model ...........................................................................34

3

. Environments and Installation ·················································· 35

TABLE OF CONTENTS

3.1 Environmental Conditions ....................................................................35

3.2 Base Table ...........................................................................................37

3.3 Mounting Dimensions ..........................................................................38

3.4 Unpacking and Transportation .............................................................41

3.4.1 Precautions for Transportation .......................................................41

3.4.2 Transportation .................................................................................42

3.5 Installation ............................................................................................42

3.5.1 Table Top Mounting ........................................................................43

3.5.2 Wall Mounting .................................................................................44

3.5.3 Ceiling Mounting .............................................................................45

3.5.4 Cleanroom-model ...........................................................................46

3.5.5 Protected-model .............................................................................46

3.6 Connecting the Cables .........................................................................47

3.7 User Wires and Pneumatic Tubes .......................................................49

3.8 Relocation and Storage ........................................................................51

3.8.1 Precautions for Relocation and Storage .........................................51

3.8.2 Table Top Mounting ........................................................................52

3.8.3 Wall Mounting .................................................................................53

3.8.4 Ceiling Mounting .............................................................................54

G10 / G20 Rev.10 vii

TABLE OF CONTENTS

4

. Setting of End Effectors ··························································· 55

4.1 Attaching an End Effector .................................................................... 55

4.2 Attaching Cameras and Valves ........................................................... 57

4.3 Weight and Inertia Settings ................................................................. 58

4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................. 67

5

. Motion Range ············································································ 68

5.1 Motion Range Setting by Pulse Range (for All Joints) ......................... 69

5.2 Motion Range Setting by Mechanical Stops ........................................ 72

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

5.4 Standard Motion Range ....................................................................... 79

4.3.1 Weight Setting ................................................................................ 58

4.3.2 Inertia Setting ................................................................................. 62

5.1.1 Max. Pulse Range of Joint #1 ........................................................ 69

5.1.2 Max. Pulse Range of Joint #2 ........................................................ 70

5.1.3 Max. Pulse Range of Joint #3 ........................................................ 71

5.1.4 Max. Pulse Range of Joint #4 ........................................................ 71

5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ......................... 73

5.2.2 Setting the Mechanical Stop of Joint #3 ......................................... 76

System of the Manipulator (for Joints #1 and #2) ............................... 78

Maintenance

1

. Safety Maintenance ··································································· 85

2

. General Maintenance ································································ 86

2.1 Schedule for Maintenance Inspection ................................................. 86

2.2 Inspection Point ................................................................................... 87

2.2.1 Inspection While the Power is OFF (Manipulator is not operating) . 87

2.2.2 Inspection While the Power is ON (Manipulator is operating) ......... 87

2.3 Greasing .............................................................................................. 88

2.4 Tightening Hexagon Socket Head Cap Bolts ...................................... 89

2.5 Matching Origins ................................................................................. 91

2.6 Layout of Maintenance Parts ............................................................... 91

2.6.1 Table Top Mounting ........................................................................ 91

2.6.2 Wall Mounting ................................................................................ 93

2.6.3 Ceiling Mounting ............................................................................ 95

2.6.4 G10-65***: For S/N1**** or later .................................................... 97

3

. Cover ·························································································· 98

3.1 Arm Top Cover .................................................................................. 100

3.2 Arm Bottom Cover ............................................................................. 102

3.3 Arm #1 Cover .................................................................................... 103

3.3.1 G10/G20-***S*, G10/G20-***C* ................................................... 103

3.3.2 G10/G20-***D*, P* ....................................................................... 104

viii G10 / G20 Rev.10

TABLE OF CONTENTS

3.4 Connector Plate .................................................................................105

3.5 Connector Sub Plate ..........................................................................106

3.6 User Plate ..........................................................................................107

3.7 Maintenance Plate .............................................................................107

3.8 Base Bottom Cover ............................................................................108

4

. Cable Unit ················································································· 109

4.1 Replacing Cable Unit ......................................................................... 110

4.2 Wiring Diagrams ................................................................................122

4.2.1 Signal Cable .................................................................................122

4.2.2 Power Cable .................................................................................123

4.2.3 User Cable ....................................................................................124

5

. Arm #1 ······················································································ 125

5.1 Replacing Joint #1 Motor ...................................................................126

5.2 Replacing Joint #1 Reduction Gear Unit ............................................128

6

. Arm #2 ······················································································ 131

6.1 Replacing Joint #2 Motor ...................................................................132

6.2 Replacing Joint #2 Reduction Gear Unit ............................................137

7

. Arm #3 ······················································································ 140

7.1 Replacing Joint #3 Motor ...................................................................141

7.2 Replacing the Timing Belt ..................................................................145

7.2.1 G10 ...............................................................................................146

7.2.2 G20 ...............................................................................................150

7.3 Replacing the Brake ...........................................................................151

. Arm #4 ······················································································ 153

8

8.1 Replacing Joint #4 Motor ...................................................................154

8.1.1 G10 ...............................................................................................154

8.1.2 G20 ...............................................................................................158

8.2 Replacing the Timing Belt ..................................................................160

8.2.1 G10 ...............................................................................................161

8.2.2 G20 ...............................................................................................165

8.3 Replacing the Brake ...........................................................................170

8.4 Replacing the Reduction Gear Unit ....................................................173

8.4.1 G10 ...............................................................................................174

8.4.2 G20 ...............................................................................................175

9

. Bellows ····················································································· 177

G10 / G20 Rev.10 ix

TABLE OF CONTENTS

10. Ball Screw Spline Unit ························································· 180

10.1 Greasing the Ball Screw Spline Unit ................................................ 181

10.2 Replacing the Ball Screw Spline Unit .............................................. 184

1

1. Lithium Battery ······································································ 196

11.1 Replacing the Battery Unit (Lithium Battery) .................................... 197

11.2 Replacing the Battery Board ............................................................ 199

1

2. LED Lamp ·············································································· 201

1

3. Radiating Unit ········································································ 203

1

4. Calibration ············································································· 205

10.1.1 Standard-model ........................................................................... 181

10.1.2 Cleanroom-model / Protected-model........................................... 182

10.2.1 G10 .............................................................................................. 184

10.2.2 G20 .............................................................................................. 191

14.1 About Calibration ............................................................................. 205

14.2 Calibration Procedure ...................................................................... 206

14.3 Accurate Calibration of Joint #2 ....................................................... 216

14.4 Calibration Procedure without using Calibration Wizard .................. 218

1

5. Maintenance Parts List ························································· 222

15.1 Common Parts ................................................................................ 222

15.2 Parts by Environment Model ........................................................... 224

x G10 / G20 Rev.10

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.

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 or physical damage to equipment and facilities

CAUTION

exists if the associated instructions are not followed
properly.

G10 / G20 Rev.10 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 G10 / G20 Rev.10

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.

G10 / G20 Rev.10 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

G10 G20

Accel Setting 100 100

Speed Setting 100 100

Load [kg] 10 20

Weight Setting 10 20

Point where the
emergency stop
signal is input

Joint #1

Stop point

Joint #2

Controller RC180 / RC620
Manipulator G10-65*** G10-85*** G20-85*** G20-A0***

Joint #1 + Joint #2 [sec.] 0.6 0.7 1.0 1.3 Free running

time

Free running
angle

Free running
distance

Joint #3 [sec.] 0.6 0.5 0.5 0.8
Joint #1 [deg.] 80 70 80 110
Joint #2 [deg.] 70 50 40 50
Joint #1 + Joint #2 [deg.] 110 120 110 160
Joint #3 G10/G20-**1** [mm]
G10/G20-**4**

90

210

80

160

Start point of
operation

Target point

70

200

90

170

6 G10 / G20 Rev.10

A

A

−

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 switch.

Joint #4 The shaft cannot be rotated by hand until the electromagnetic brake applied to

the shaft has been released.

Move the shaft while pressing the brake release button switch.

Setup & Operation 1. Safety

Joint #3 and #4

brake release button

rm #2

Joint #3

(up and down)

Joint #2

(rotating)

−

+

+

Shaft

−

+

Joint #1

(rotating)

−

+

rm #1

Base

Joint #4

(rotating)

NOTE

)

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

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

simultaneously.

Be careful of the shaft falling and rotating while the brake release button is pressed

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

G10 / G20 Rev.10 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:

Location Labels NOTE

A

B

C

D

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.

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

E

operations are performed by unauthorized
personnel, it is extremely hazardous and may
result in serious bodily injury and/or severe
equipment damage to the robot system.

F

Be careful of the hand falling while the brake release
button is being pressed.

8 G10 / G20 Rev.10

Setup & Operation 1. Safety

A

A

G

H

Location of Labels

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

D

F

C

C

E

B

G

A

C

D

F

B

H

G

E

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

C

F

B

D

H

H

E

C

G

G10 / G20 Rev.10 9

Setup & Operation 2. Specifications

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)

2

2

10 G10 / G20 Rev.10

2.2 Model Number and Model Differences

Setup & Operation 2. Specifications

G10-85 4 S □ -UL

UL specification

UL : UL compliant

□

: Non UL compliant

Type

□

: Table Top mounting

W : Wall mounting

R : Ceiling mounting

Environment

S : Standard

C : Cleanroom

D : Protected : IP 54 (with bellows option)

P : Protected : IP 65

Joint #3 stroke

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

1

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

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

4

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

Arm Length

65 : 650 mm (G10 series only)

85 : 850 mm

A0 : 1000 mm (G20 series only)

Series

G10 : G10 series

G20 : G20 series

Environment

Cleanroom-model

Cleanroom-model Manipulator includes additional features that reduce dust emitted by the

Manipulator to enable use in clean room environments.

Protected-model (IP54 / IP65)

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.

G10 / G20 Rev.10 11

Setup & Operation 2. Specifications

−

−

2.3 Part Names and Outer Dimensions

NOTE

)

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

in its form.

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

2.3.1 Table Top Mounting

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

Joint #3 and #4

brake release button

LED lamp

Arm #2

For the detail, refer to Setup & Operation 2.3.4 G10-65***/G10-85***: For

Joint #2

(rotating)

−

+

Joint #1

(rotating)

+

Arm #1

Base

+

Joint #3

(up and down)

−

Joint #4

(rotating)

Signature label

(Serial No. of Manipulator)

User connector
(9-pin D-sub connector)

Signal cable
Fitting (white)
for ø 6 mm pneumatic tube

Fitting (white)
for ø 4 mm pneumatic tube

Shaft

+

MT label
(only for custom specification)

CE label

UR label

User connector
(15-pin D-sub connector)

Power cable

Fitting (black)
for ø 6 mm pneumatic tube

Fitting (black)
for ø 4 mm pneumatic tube

NOTE

)

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

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

- 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.

12 G10 / G20 Rev.10

Setup & Operation 2. Specifications

G10-65*S G10/G20-85*S G20-A0*S

a 250 450 600

G10/G20-**1S G10/G20-**4S
b 180 420
c 813.5 1053.5
d213.5 -26.5

(Mount eyebolt

at shipment)

(*) indic ates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanic al stop diameter

Detail of “A”

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

Reference through hole

(View from the bottom of the base)

90 or more
Space f or cables

Root both side chamfer C0.5

G10 / G20 Rev.10 13

Setup & Operation 2. Specifications

Cleanroom-model G10/G20-***C

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

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

Upper bellows

Lower bellows

Plate cover
(For static electricity
countermeasure)

Plate cover
(For static electricity
countermeasure)

Cover
for Table Top mounting surface

14

Exhaust port

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(Mount eyebolt

at shipment)

G10-65*C G10/G20-85*C G20-A0*C

a 250 450 600

G10/G20-**1C G10/G20-**4C

b 150 390

c 870.5 1129.5

d 205.5 -34.5

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole

ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter
ø39.5 mechanical stop diameter

Detail of “A”

Calibration point position of Joints #3 and #4

Root both side chamfer C0.5

Reference through hole

(View from the bottom of the base)

90 or more
Space for cables

G10 / G20 Rev.10 15

Setup & Operation 2. Specifications

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.

Stainless steel plate

Upper bellows

Lower bellows

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

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

User connector
(Protected-model)

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

Fittings with cover
(Protected-model)

Stainless steel plate

Stainless steel plate
for Table Top mounting surface

NOTE

)

16

Exhaust port

Fittings with cover
(Protected-model)

User connector
(Protected-model)

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

screw used for mechanical stop.)

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(Mount eyebolt

at shipment)

G10-65*P G10/G20-85*P G20-A0*P

a 250 450 600

G10/G20-**1P G10/G20-**4P

b 150 390
c874 1133
d 205.5 -34.5

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “A”

Calibration point position of Joints #3 and #4

Root both side chamfer C0.5

Reference through hole

(View from the bottom of the base)

90 or more
Space for cables

G10 / G20 Rev.10 17

Setup & Operation 2. Specifications

−+ −

2.3.2 Wall Mounting

Standard-model G10/G20-***SW

Joint #2

(rotating)

Joint #3 and #4

brake release button

LED lamp

MT label

(only for custom specification)

Signature label

(Serial No. of Manipulator)

CE label

UR label

Base

Arm #1

+

(up and down)

NOTE

)

Joint #1

(rotating)

Joint #3

+

−

−

Joint #4

(rotating)

Shaft

+

Arm #2

User connector
(15-pin D-sub connector)

Fitting (white)
for ø 6 mm pneumatic tube

User connector
(9-pin D-sub connector)

Power cable

Signal cable

Fitting (black)
for ø 4 mm pneumatic tube

Fitting (white)
for ø 4 mm pneumatic tube

Fitting (black)
for ø 6 mm pneumatic tube

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

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

- 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.

18

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “A”

Calibration point position of Joints #3 and #4

G10-65*SW G10/G20-85*SW G20-A0*SW

a 250 450 600

G10/G20-**1SW G10/G20-**4SW

b 180 420
c -27.5 212.5
d 420 660

Detail of “B”

90 or more
Space for cables

Reference hole

(Tolerance applies

to the pin hole)

Reference through hole

(View from the bottom of the base)

G10 / G20 Rev.10 19

Setup & Operation 2. Specifications

Cleanroom-model G10/G20-***CW

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

when compared with the Standard-model in appearance.

Upper bellows

Lower bellows

Plate cover
(For static electricity
countermeasure)

Plate cover
(For static electricity
countermeasure)

Exhaust port

20

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(*) indicates the stroke margin by mechanical stop.

Detail of “B”

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

90 or more
Space for cables

Detail of “A”

Calibration point position of Joints #3 and #4

G10-65*CW G10/G20-85*CW G20-A0*CW

a 250 450 600

G10/G20-**1CW G10/G20-**4CW

b 150 390
c 29.5 288.5
d 515 774

Reference hole

(Tolerance applies

to the pin hole)

Reference through hole

(View from the bottom of the base)

G10 / G20 Rev.10 21

Setup & Operation 2. Specifications

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.

Stainless steel plate

Stainless steel plate

Upper bellows

Lower bellows

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

User connector (Protected-model)

Fittings with cover
(Protected-model)

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

User connector (Protected-model)

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

Fittings with cover
(Protected-model)

Exhaust port

NOTE

)

22

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

screw used for mechanical stop.)

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(

)

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “B”

90 or more
Space for cables

Detail of “A”

Calibration point position of Joints #3 and #4

G10-65*PW G10/G20-85*PW G20-A0*PW

a 250 450 600

G10/G20-**1PW G10/G20-**4PW

b 150 390
c 33 292
d 518.5 777.5

Reference hole

(Tolerance applies

to the pin hole)

Reference through hole

View from the bottom of the base

G10 / G20 Rev.10 23

Setup & Operation 2. Specifications

−

−

2.3.3 Ceiling Mounting

Standard-model G10/G20-***SR

Joint #2

Joint #3 and #4

brake release button

LED lamp

(rotating)

+

Base

Arm #1

+

Joint #1

(rotating)

Joint #3

(up and down)

NOTE

)

+

Arm #2

−

−

Shaft

+

Joint #4

(rotating)

Fitting (black)
for ø 6 mm pneumatic tube

Power cable

User connector

(15-pin D-sub connector)

MT label

(only for custom specification)

Signature label

(Serial No. of Manipulator)

Fitting (black)
for ø 4 mm pneum atic tube

Fitting (white)
for ø 4 mm pneum atic tube
Fitting (white)
for ø 6 mm pneum atic tube

Signal cable

User connector
(9-pin D-sub connector)

CE label

UR label

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

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

G6-**1**, Joint #4 has no brake on it.)

- 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.

24

G10 / G20 Rev.10

Setup & Operation 2. Specifications

t

(

)

(Tolerance
applies to
the pin hole)

G10-65*SR G10/G20-85*SR G20-A0*SR

a 250 450 600

G10/G20-**1SR G10/G20-**4SR
b180 420
c -27.5 212.5
d420 660

90 or more

Space f or c ables

(*) indicates the stroke margin by mechanical stop.

1 mm flat cu

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “A”

Calibration point position of Joints #3 and #4

Detail of “B”

G10 / G20 Rev.10 25

Setup & Operation 2. Specifications

Cleanroom-model G10/G20-***CR

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

when compared with the Standard-model in appearance.

Upper bellows

Lower bellows

Cover
for Ceiling mounting surface

Plate cover
(For static electricity
countermeasure)

Plate cover
(For static electricity
countermeasure)

Exhaust port

26

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(Tolerance
applies to
the pin hole)

G10-65*CR G10/G20-85*CR G20-A0*CR

a 250 450 600

G10/G20-**1CR G10/G20-**4CR

b 150 390
c 29.5 288.5
d 515 774

90 or more

Space for cables

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “B”

Detail of “A”

Calibration point position of Joints #3 and #4

G10 / G20 Rev.10 27

Setup & Operation 2. Specifications

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.

Upper bellows

Lower bellows

Stainless steel plate
for Ceiling mounting surface

Stainless steel plate

Stainless steel plate

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

User connector (Protected-model)

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

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

Fittings with cover
(Protected-model)

NOTE

)

28

Fittings with cover
(Protected-model)

User connector (Protected-model)

Exhaust port

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

screw used for mechanical stop.)

G10 / G20 Rev.10

Setup & Operation 2. Specifications

(

)

(Tolerance
applies to
the pin hole)

G10-65*PR G10/G20-85*PR G20-A0*PR

a 250 450 600

G10/G20-**1PR G10/G20-**4PR

b 150 390
c 33 292
d 518.5 777.5

90 or more

Space for cables

(*) indicates the stroke margin by mechanical stop.

1 mm flat cut

Conical hole ø4,90°

Max.ø18 through hole
ø25 h7 shaft diameter

ø39.5 mechanical stop diameter

Detail of “B”

Detail of “A”

Calibration point position of Joints #3 and #4

G10 / G20 Rev.10 29

Setup & Operation 2. Specifications

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*

Screw hole

Heat sink

G20-85*S*

Heat sink

Cleanroom model G10-65*C* G10-85*C*

Heat sink

Screw hole

G20-85*C*

Heat sink

(Same as before)

(Same as before)

Protection model G10-65*P* G10-85*P*

Heat sink

Screw hole

G20-85*P*

Heat sink

30

(Same as before)

G10 / G20 Rev.10

Setup & Operation 2. Specifications

2.4 Specifications

Item G10/G20-**** G10/G20-****R G10/G20-*****W

Mount method Table Top Ceiling Wall
Environment Cleanroom-model *1 / Protected-model *2

65 650 mm (G10 only)

Arm #1, #2

Arm length

Arm #3

Weight

(not include the weight
of cables)

Driving method All joints AC servo motor

Max.
operating
speed *3

Repeatability

Max.
motion range

Max.
pulse range

(pulse)

G10 65 46 kg : 102 lb 51 kg : 113 lb
G10/G20 85 48 kg : 106 lb 53 kg : 117 lb
G20 A0 50 kg : 111 lb 55 kg : 122 lb

Joints
#1, #2

Joint #3

Joint #4

Joints #1, #2
Joint #3
Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

Joint #1

Joint #2

Joint #3

Joint #4

NOTE

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

85 850 mm (G10 / G20)
A0 1000 mm (G20 only)

1

4

65 8800 mm/s
85 11000 mm/s
A0 11500mm/sec
1 1100 mm/s
4 2350 mm/s
G10 2400 deg/s
G20 1700 deg/s

65
85
A0
65
85
A0

1

4

65
85
A0
65
85
A0

1

4

G10
G20

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

±0.025 mm
±0.01 mm
±0.005 deg

±152 deg

±152.5 deg *a

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

±360 deg

-1805881 to +7048761

±2776178 *a

-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

±1951517
±2752512

±2366578

±107 deg

±130 deg

-495161 to +5738041

G10 / G20 Rev.10 31

Setup & Operation 2. Specifications

*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

±151 deg ±2748871

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

Item G10-***** G20-*****

Joint #1

0.0000343 deg/pulse

Joint #2 0.0000549 deg/pulse

Resolution

Joint #3

1 0.0000925 mm/pulse

4 0.000185 mm/pulse
Joint #4 0.0001845 deg/pulse 0.0001308 deg/pulse
Joint #1 750 W

Motor power
consumption

Joint #2
Joint #3 400 W

600 W

Joint #4 150 W

Payload

moment of inertia *4

Hand

rated 5 kg 10 kg
max. 10 kg 20 kg
rated 0.02 kg·m2 0.05 kg·m2 Joint #4 allowable
max. 0.25 kg·m

2

0.45 kg·m2
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)

tube for customer use

Ambient

Environmental
requirements

Temperature
Ambient relative
humidity

Equivalent continuous A-weighted sound
pressure level *5

2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) Installed pneumatic
2 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm

5 to 40°C (with minimum temperature variation)

10 to 80% (no condensation)

= 70 dB(A)

L

Aeq

2

: 86 psi)

Applicable Controller RC180, RC620

Speed 1 to (5) to 100
Accel *6 1 to (10) to 120

Assignable Value
( ) Default values

SpeedS 1 to (50) to 2000
AccelS 1 to (200) to 25000
Fine 0 to (10000) to 65000
Weight 0,400 to (10,400) to 20,400

MTBF 3 years

UL1740 (Third Edition, Dated December 7, 2007)
ANSI/RIA R15.06-1999

Safety standard

NFPA 79 (2007 Edition)
CSA/CAN Z434-03 (February 2003)
CE Marking −

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

Machinery Directive, Low Voltage Directive, EMC Directive

**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.

32

G10 / G20 Rev.10

Setup & Operation 2. Specifications

Cleanliness level: Class ISO 3 (ISO14644-1)

In previous criteria; Clean Class: 10 or its equivalent

3

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

3

Recommended exhaust flow rate : Approx. 1000 cm

/s (Normal)

*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

Dust shall not ingress in a quantity to interfere with

satisfactory operation of the equipment.

Water splashing against the enclosure from any direction shall

have no harmful effect.

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

Dust : 5

IP54

Water : 4

Dust : 6 No ingress of dust.

G10/G20-***P* IP65

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 : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above

the base-installed surface.

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

vibration when positioning.

However, you may require an operation with high acceleration to shorten the cycle time by decreasing the

vibration at positioning. In this case, set Accel to larger than 100.

If you specify a larger Accel value, the frequency of the overload error and over heat may rise during

continuous operation. The use of large Accel setting is recommended only for necessary motions.

G10 / G20 Rev.10 33

Setup & Operation 2. Specifications

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.

■

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

CAUTION

NOTE

)

result in abnormal or no operation of the Manipulator and/or cause safety
problems.

If an MT label is attached to the rear of a Manipulator, the Manipulator has custom

specifications. The custom specifications may require a different configuration

procedure; check the custom specifications number described on the MT label and contact

us when necessary.

The Manipulator model can be set from software.

Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.

34

G10 / G20 Rev.10

Setup & Operation 3. Environments and Installation

3. Environments and Installation

3.1 Environmental Conditions

A suitable environment is necessary for the robot system to function properly and safely.

Be sure to install the robot system in an environment that meets the following conditions:

Item Conditions

Ambient 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 6 kV or less

Environment · Install indoors.

· Keep away from direct sunlight.

· Keep away from dust, oily smoke, salinity, metal

powder or other contaminants.

· Keep away from flammable or corrosive solvents

and gases.

· Keep away from water.

· Keep away from shocks or vibrations.

· Keep away from sources of electric noise.

NOTE

)

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

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.

G10 / G20 Rev.10 35

Setup & Operation 3. Environments and Installation

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.

WARNING

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 gives damage to 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.

■

Use an earth leakage breaker on the AC power cable of the Controller to avoid
the electric shock and circuit breakdown caused by an unexpected water leak.
Prepare the earth leakage brake that pertains the controller you are using. For
details, refer to the controller manual.

36 G10 / G20 Rev.10

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:

Setup & Operation 3. Environments and Installation

Max. Reaction torque on the horizontal plate
Max. Horizontal reaction force
Max. Vertical reaction force

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.

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

47

95

26

G10 G20

1000 Nm 1000 Nm
4500 N 7500 N
2000 N 2000 N

[unit : mm]

53

18

Power Cable

Connector

M/C Cables

Do not remove the M/C cables from the Manipulator.

NOTE

)

WARNING

G10 / G20 Rev.10 37

For environmental conditions regarding space when placing the Controller on the base

table, refer to the Controller manual.

■

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.

Signal Cable

Connector

Setup & Operation 3. Environments and Installation

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.

38 G10 / G20 Rev.10

Setup & Operation 3. Environments and Installation

Table Top Mounting

G10/G20-85**

G10-65**

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

Center of Joint #3

Maximum space

a

Length of Arm #1 (mm)

b

Length of Arm #2 (mm)

c

(Motion range)

d

Motion range of Joint #1 (degree)

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

f

(Mechanical stop area)

g

Joint #1 angle to hit mechanical stop (degree)

h

Joint #2 angle to hit mechanical stop (degree)

NOTE

)

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

body and the arm.

G10-65**

250 450 600
400 400 400

212.4 207.8

152 152 152

199.4 183.3 285.4
3 3 3

3.5 3.5

S / D C / P / D bellows

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

G20-A0**

G10/G20-85*

Z: 0 to −360 207.8

Z:

− 360 to −390 218.3

Z: 0 to −360

Z:

−360 to −390

Z: 0 to −360

Z:

−360 to −390

152.5

151

3.5

5

G20-A0**

307

152.5

3.5

G10 / G20 Rev.10 39

Setup & Operation 3. Environments and Installation

Wall Mounting

G10-65**W

G10/G20- 85**W

G20-A0**W

Center of Joint #3

Maximum space

G10/G20-85*

a

Length of Arm #1 (mm)

b

Length of Arm #2 (mm)

c

(Motion range)

d

Motion range of Joint #1 (degree)

G10-65**W

SW / DW

CW / PW / DW

bellows

250 450 600
400 400 400

306.5 207.8 218.3 307
107 107 107

G20-A0**W

e Motion range of Joint #2 (degree) 130 152.5 151 152.5
f

(Mechanical stop area)

g

Joint #1 angle to hit mechanical stop (degree)

h

Joint #2 angle to hit mechanical stop (degree)

291.2 183.3 285.4

3 3 3

3.5 3.5 5 3.5

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

Ceiling Mounting

G10-65**R

G10/G20-85**R

Center of Joint #3

G20-A0**R

Maximum space

G10/G20-85*

a

Length of Arm #1 (mm)

b

Length of Arm #2 (mm)

c

(Motion range)

d

Motion range of Joint #1 (degree)

G10-65**R

SR / DR

CR / PR / DR

bellows

250 450 600
400 400 400

306.5 207.8 218.3 307
107 152 152

G20-A0**R

e Motion range of Joint #2 (degree) 130 152.5 151 152.5
f

(Mechanical stop area)

g

Joint #1 angle to hit mechanical stop (degree)

h

Joint #2 angle to hit mechanical stop (degree)

291.2 183.3 285.4

3 3 3

3.5 3.5 5 3.5

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

40 G10 / G20 Rev.10

Setup & Operation 3. Environments and Installation

3.4 Unpacking and Transportation

WARNING

3.4.1 Precautions for Transportation

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

■

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.

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.

■

To carry the Manipulator, secure the Manipulator to the delivery equipment, or
pass belts through the eyebolts and hoist it with your hands. Make sure to hold
the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the
base) by hand.

CAUTION

Table Top Mounting: *

Ceiling Mounting: R

■

Be careful not to get hands or fingers caught when holding the bottom of the base

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
A0**W : Approximately 55 kg : 122 lb

by hand.

■

Stabilize the Manipulator with your hands when hoisting it.

■

When transporting the Manipulator for a long distance, secure it to the delivery
equipment directly so that the Manipulator never falls.
If necessary, pack the Manipulator in the same style as it was delivered.

G10 / G20 Rev.10 41

Setup & Operation 3. Environments and Installation

3.4.2 Transportation

Transport the Manipulator following the instructions below:

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

Hoist the Manipulator holding it by hand so that it can keep its balance. Then,

(4)

move it to the base table.

3.5 Installation

■

The robot system must be installed to avoid interference with buildings,

CAUTION

structures, utilities, other machines and equipment that may create a
trapping hazard or pinch points.

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

42

G10 / G20 Rev.10

×

CAUTION

Standard Model

Setup & Operation 3. Environments and Installation

3.5.1 Table Top Mounting

■

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 damaged 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) Secure the base to the base table with four

bolts.

NOTE

)

Use bolts with specifications conforming

to ISO898-1 Property Class: 10.9 or 12.9.

Tightening torque

: 7350 N⋅cm (750 kgf⋅cm)

(2) Using nippers, cut off the wire tie binding

the shaft and arm retaining bracket on the

base.

(3) Remove the bolts securing the wire ties

removed in step (2).

Arm mounting bolt

: M12×20

4-M12

20 mm

Screw Hole
(depth 20 mm or more)

40

Spring
Washer

Plane
Washer

Bolt

: M4×15

Washer

: M6

Wire tie

Eyebolt
(Attached
at shipment)

G10 / G20 Rev.10 43

Setup & Operation 3. Environments and Installation

×

3.5.2 Wall Mounting

■

Install the Wall Mounting Manipulator with four or more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet
caught and/or have equipment damaged by a fall of the Manipulator.
G10-65**W : Approximately 51 kg :113 lb.

WARNING

Standard Model

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.

(1) Unpack the manipulator with retaining the

arm posture.

(2)

Secure the base to the wall with six bolts.

NOTE

)

Use bolts with specifications conforming to

ISO898-1 Property Class: 10.9 or 12.9.

6-M12

40

Screw Hole
(depth 20 mm
or more)

Plane Washer

Spring Washer

44

G10 / G20 Rev.10

r

WARNING

Standard Model

Setup & Operation 3. Environments and Installation

3.5.3 Ceiling Mounting

■

Install the Ceiling Mounting Manipulator with four or more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or
feet caught and/or have equipment damaged by a fall of the Manipulator.
G10-65**R : Approximately 46 kg :102 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.

(1) Unpack the manipulator with retaining the

arm posture.

(2)

Secure the base to the ceiling with four

bolts.

NOTE

)

Use bolts with specifications conforming

to ISO898-1 Property Class: 10.9 or 12.9.

Screw Hole

(depth 20 mm or more)

Plane
Washer

Spring

Washe

4-M12×40

G10 / G20 Rev.10 45

Setup & Operation 3. Environments and Installation

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.

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

(3)

lint-free cloth.

Carry the Manipulator in the clean room.

(4)

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

Manipulator.

Connect an exhaust tube to the exhaust port.

(6)

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.

■

Connect the power cable connection and the signal cable connector to the
Manipulator immediately after the Manipulator installation. The Manipulator

WARNING

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 controller.

46

G10 / G20 Rev.10

Setup & Operation 3. Environments and Installation

3.6 Connecting the Cables

■

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

■

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.

■

Be sure to connect the cables properly. Do not allow unnecessary strain on the

WARNING

CAUTION

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

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

WARNING

cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the
cables, disconnection, and/or contact failure. Damaged cables, disconnection,
or contact failure is extremely hazardous and may result in electric shock and/or
improper function of the robot system.

■

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.

■

When connecting the Manipulator to the Controller, make sure that the serial
numbers on each equipment match. Improper connection between the
Manipulator and Controller may not only cause improper function of the robot
system but also serious safety problems. The connection method varies with
the Controller used. For details on the connection, refer to the

manual

If the G series Manipulator or E2 series Manipulator is connected to the
Controller for the PS series (ProSix), it may result in malfunction of the
Manipulator.

When the Manipulator is a Cleanroom-model, use it with an exhaust system. For details,

refer to Setup & Operation: 2.4 Specifications.

■

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.

.

Controller

■

When operating the Manipulator under special environmental conditions (adverse
conditions with dust and oily smoke), do not place the controller in the same

CAUTION

condition since the controller does not comply with IP54 / IP65. Doing so may
cause equipment damage to and/or malfunction of the controller.

G10 / G20 Rev.10 47

Setup & Operation 3. Environments and Installation

Cable Connections

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

Power Connector

Signal Connector

48

G10 / G20 Rev.10

Setup & Operation 3. Environments and Installation

3.7 User Wires and Pneumatic Tubes

■

Only authorized or certified personnel should be allowed to perform wiring.

CAUTION

Electrical Wires

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.

Rated Voltage Allowable Current Wires Nominal Sectional Area

AC/DC30 V 1 A 24 0.211 mm2

Maker Standard

15 pin

9 pin

Suitable Connector JAE

Clamp Hood JAE

Suitable Connector JAE

Clamp Hood JAE

DA-15PF-N (Solder type)
DA-C8-J10-F2-1R (Connector setscrew: #4-40 NC)
DE9PF-N (Solder type)
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

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.

■

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.

■

CAUTION

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

Max. Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter × Inner Diameter

0.59 MPa (6 kgf/cm2 : 86 psi)

9-pin D-sub connector

Fitting (black) for
ø6 mm pneumatic tube

Fitting (white) for
ø6 mm pneumatic tube

2
2

15-pin D-sub connector

Fitting (black) for
ø4 mm pneumatic tube

Fitting (white) for
ø4 mm pneumatic tube

Brake release
button switch

ø6 mm × ø4 mm

ø4 mm × ø2.5 mm

G10 / G20 Rev.10 49

Setup & Operation 3. Environments and Installation

r

k

Table Top Mounting

Fitting (white) for
ø6 mm pneumatic tube

Fitting (white)
for ø4 mm pneumatic tube

Wall Mounting

User connector
(9-pin D-sub connector)

User connector
(15-pin D-sub connector)

Fitting (black)
for ø6 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

Ceiling Mounting

Fitting (white)
for ø6 mm pneumatic tube

Fitting (black)
for ø6 mm
pneumatic tube

Fitting (white)
for ø4 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

Fitting (black)
for ø4 mm pneumatic tube

Fitting (blac
for ø6 mm
pneumatic tube

)

User connecto

(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

Fitting (white)
for ø4 mm pneumatic tube

Fitting (white)
for ø6 mm
pneumatic tube

User connector
(15-pin D-sub connector)

User connector
(9-pin D-sub connector)

50

G10 / G20 Rev.10

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 PREFORMED BY QUALIFIED INSTALLATION
PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL
CODES.

■

Only authorized personnel should perform sling work and operate a crane and a
forklift. When these operations are performed by unauthorized personnel, it is

WARNING

extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system.

■

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.

Setup & Operation 3. Environments and Installation

CAUTION

■

To carry the Manipulator, have four or more people to work on it and secure the
Manipulator to the delivery equipment or hold the bottom of Arm #1 and the
bottom of the base by hand. When holding the bottom of the base by hand, be
very careful not to get hands or fingers caught.

■

Stabilize the Manipulator with your hands when hoisting 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
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.

−25°C to +55°C.

G10 / G20 Rev.10 51

Setup & Operation 3. Environments and Installation

3.8.2 Table Top Mounting

■

Install or relocate the Table Top Mounting Manipulator with four or more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or
feet caught and/or have equipment damaged by a fall of the Manipulator.

CAUTION

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.

NOTE

)

For details on the motion range, refer to Setup & Operation: 5.2 Motion Range

Setting by Mechanical Stops.

Attach the eyebolts on the upper back side of Arm #1.

(2)

Tie the lower end of the shaft and arm, and the base and arm together with a wire tie.

(3)

Be careful not to tie them too tight. Otherwise, the shaft may bend.

Bolt

: M4

Washer

: M6

×15

Wire tie

Arm mounting bolt

: M12

×20

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.

Hoist the Manipulator holding it by hand so that it can keep its balance. Then,

(6)

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

NOTE

)

Stretch the belts tight until you finish anchoring the Manipulator.

52

G10 / G20 Rev.10

WARNING

Setup & Operation 3. Environments and Installation

3.8.3 Wall Mounting

■

Install or relocate the Wall Mounting Manipulator with four or more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or
feet caught and/or have equipment damaged by a fall of the Manipulator.
G10-65**W : Approximately 51 kg :113 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.

NOTE

)

For details on the motion range, refer to Setup & Operation: 5.2 Motion Range

Setting by Mechanical Stops.

Cover the arm with a sheet so that the arm will not be damaged.

(2)

Refer to the figure below and bind the shaft and arm retaining bracket on the base.

Example of Arm Retaining Posture

Bolt

: M4×15

Washer

: M6

Sheet

Bolt for Arm #1 mechanical stop

(3)

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

Manipulator from the wall.

Wire tie

Arm mounting bolt

G10 / G20 Rev.10 53

Setup & Operation 3. Environments and Installation

3.8.4 Ceiling Mounting

■

Install or relocate the Ceiling Mounting Manipulator with four or more people.
The Manipulator weights are as follows. Be careful not to get hands, fingers, or
feet caught and/or have equipment damaged by a fall of the Manipulator.
G10-65**R : Approximately 46 kg :102 lb.
G10/G20-85**R : Approximately 48 kg :106 lb.

WARNING

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.

NOTE

)

For details on the motion range, refer to Setup & Operation: 5.2 Motion Range

Setting by Mechanical Stops.

Cover the arm with a sheet so that the arm will not be damaged.

(2)

Refer to the figure below and bind the shaft and arm retaining bracket on the base.

Example of Arm Retaining Posture

Bolt

: M4×15

Washer

: M6

Sheet

Bolt for Arm #1 mechanical stop

(3)

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

Manipulator from the ceiling.

Wire tie

Arm mounting bolt

54

G10 / G20 Rev.10

b

ｂ

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.

■

If you use an end effector equipped with a gripper or chuck, connect wires and/or
pneumatic tubes properly so that the gripper does not release the work piece
when the power to the robot system is turned OFF. Improper connection of the
wires and/or pneumatic tubes may damage the robot system and/or work piece

CAUTION

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.

Setup & Operation 4. Setting of End Effectors

- Do not move the upper limit mechanical stop on the lower side of the shaft.

Otherwise, when “Jump motion” is performed, the upper limit mechanical stop may hit

the Manipulator, and the robot system may not function properly.

- Use a split muff coupling with an M4 bolt or larger to attach the end effector to the

shaft.

Brake release button

- Joints #3 and #4 cannot be moved up/down by hand because the electromagnetic brake

is applied to the joints while power to the robot system is turned OFF. This prevents

the shaft from hitting peripheral equipment and rotating in the case that the shaft is

lowered by the weight of the end effector when the power is disconnected during

operation, or when the motor is turned OFF even though the power is turned ON.

To move Joint #3 up/down or rotate Joint

#4 while attaching an end effector, turn

ON the Controller and move the joint

up/down or rotate the joint while

pressing the brake release button.

This button switch is a momentary-type;

the brake is released only while the

button switch is being pressed.

Brake release button

The respective brakes for Joints #3 and

#4 are released simultaneously.

-

Be careful of the shaft falling and rotating while the brake release button is

G10 / G20 Rev.10 55

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

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

eing

Setup & Operation 4. Setting of End Effectors

Layouts

- When you operate the manipulator with an end effector, the end effector may interfere

with the Manipulator because of the outer diameter of the end effector, the size of the

work piece, or the position of the arms. When designing your system layout, pay

attention to the interference area of the end effector.

56 G10 / G20 Rev.10

Setup & Operation 4. Setting of End Effectors

A

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.

Common Dimensions

43.5

96

30

116

37.5

200

20

30

[Unit: mm]

Table Top Mounting

485.5

mounting face

From the base

Wall Mounting

3.5
4-M4 depth 8

2-M4 depth 8

4-M4 depth 8

NOTE

)

A

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.

326

mounting face

From the base

118

B

81

2-M8 depth 16
(Mount eyebolt
at shipment)

2-M8 depth 16

37

(Mount eyebolt
at shipment)

110

110.5

From the reference hole

Ceiling Mounting

355.5

mounting face

From the base

B

326

mounting face

From the base

A

110

G10 / G20 Rev.10 57

Setup & Operation 4. Setting of End Effectors

t

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 that the default setting.

4.3.1 Weight Setting

■

G10 series
The total weight of the end effector and the work piece must not exceed 10 kg.
The G10 series Manipulators are not designed to work with loads exceeding 10 kg.

G20 series

CAUTION

The total weight of the end effector and the work piece must not exceed 20 kg.
The G20 series Manipulators are not designed to work with loads exceeding 20 kg.

Always set the Weight parameters according to the load. Setting a value that is
smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.

The acceptable weight capacity (end effector and work piece) in G10 series and G20 series

Manipulators are as follows.

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]-[Robo

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

G10 series 5 kg 10 kg
G20 series 10 kg 20 kg

Rated Max.

58 G10 / G20 Rev.10

Load on the Arm

Setup & Operation 4. Setting of End Effectors

When you attach a camera or other devices to the arm, calculate the weight as the

equivalent of the shaft. Then, add this to the load and enter the total weight to the Weight

parameter.

Equivalent Weight Formula

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

When you attach the equipment near Arm #2:

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

W

: equivalent weight

M

M

: weight of camera etc.

L

: length of Arm #1

1

L

: length of Arm #2

2

L

: distance from rotation center of Joint #2 to center of gravity

M

W

M

= M (LM)2/(L2)2

W

M

of camera etc.

<Example> A “1 kg” camera is attached to the end of the G10 series arm (450 mm

away from the rotation center of Joint #2) with a load weight of “2

kg”.

M = 1

= 400

L

2

= 450

L

M

=1×4502/4002=1.26 → 1.3 (round up)

W

M

W + W

= 2 + 1.3 = 3.3

M

Enter “3.3” for the Wei gh t P ar am e ter.

G10 / G20 Rev.10 59

Setup & Operation 4. Setting of End Effectors

(%)

(%)

.

Automatic speed setting by Weight

G10 series

140

120

100

110

110 110

100

100 100

100

80

60

40

20

100

90

* The percentage in the graph

is based on the speed at

rated weight (5 kg) as 100%.

80
70

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

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

Weight setting

G20 series

140

120

120

100

80

120

100

80

* The percentage in the graph

is based on the speed at

rated weight (10 kg) as 100%

70

60

40

20

0 5 10 15 20 (kg)

Weight setting

60 G10 / G20 Rev.10

Setup & Operation 4. Setting of End Effectors

(%)

(%)

Automatic acceleration/deceleration setting by Weight

G10 series

180

165

165

160

160

150

140

125

125

110

100

125

120

100

80

60

40

20

90

* The percentage in the graph

is based on the acceleration

/ deceleration at rated weight

(5 kg) as 100%.

G10-65***

80

G10-85***

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

Weight setting

G20 series

180

160

140

120

100

80

60

170

120

160

120

120

110

100

90

80

* The percentage in the graph

is based on the acceleration

/ deceleration at rated weight

(10 kg) as 100%.

G20-85***

75

70

G20-A0***

40

20

0 5 10 15 20 (kg)

Weight setting

G10 / G20 Rev.10 61

Setup & Operation 4. Setting of End Effectors

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”,

2

”. When the Manipulator operates with additional objects (such as an

2

or less. The G10 series Manipulators are not designed to

2

or less. The G20 series Manipulators are not designed to

CAUTION

“inertia”, or “GD

end effector) attached to the shaft, the moment of inertia of load must be considered.

■

G10 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.25 kgwm
work with a moment of inertia exceeding 0.25 kgwm

G20 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.45 kgwm
work with a moment of inertia exceeding 0.45 kgwm

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.

2

.

2

.

The acceptable moment of inertia of load for a G10 series and G20 series Manipulators are

as follows.

G10 series
G20 series

Rated Max.

0.02 kg⋅m

0.05 kg⋅m

2

0.25 kg⋅m2

2

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.

62 G10 / G20 Rev.10

t

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.

Setup & Operation 4. Setting of End Effectors

EPSON

RC+

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

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

Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)

G10 series

(%)

120

100

100

80

60

40

50

35

30

20

0 0.05 0.10 0.15 0.20 0.25 (kg･m2) Moment of inertia setting

G20 series

(%)

600

500

400

400

300

200

100

0 0.10 0.20 0.30 0.40 0.50 (kg･m2) Moment of inertia setting

60

35

26

G10 / G20 Rev.10 63

Setup & Operation 4. Setting of End Effectors

Eccentric Quantity and the Inertia Setting

■

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.

CAUTION

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.

Rotation center

Position of load’s center of gravity

Eccentric quantity (200 mm or less)

Eccentric Quantity

64

G10 / G20 Rev.10

Setup & Operation 4. Setting of End Effectors

t

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+

Automatic acceleration/deceleration setting by Inertia (eccentric quantity)

Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools]-[Robo

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

G10 series and G20 series

120

(%)

100

80

60

40

100

70

50

* The percentage in the graph is

25

20

based on the acceleration /

deceleration at rated

eccentricity (0 mm) as 100%.

0 50 100 150 200 (mm)

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)

Whole moment

of inertia

Moment of inertia

=

of end effector (a)

Rotation center

+

Eccentricity setting

Joint #3 shaft

End effector (a)

Moment of inertia

of work piece (b)

Work piece (c)

Moment of inertia

+

of work piece (c)

G10 / G20 Rev.10 65

Setup & Operation 4. Setting of End Effectors

The methods for calculating the moment of inertia for (a), (b), and (c) are shown below.

Calculate the total moment of inertia using the basic formulas.

(a) Moment of inertia of a rectangular parallelepiped

Rotation center

Rectangular parallelepiped’s center of gravity

Mass (m)

L

h

(b) Moment of inertia of a cylinder

Cylinder’s center of gravity

Rotation center

r

Mass (m)

L

b

2

+ h2

b

m+ m

12

× L

2

2

r

m+ m

2

× L

2

(c) Moment of inertia of a sphere

Rotation center

Mass (m)

L

Sphere’s center of gravity

r

2

2

5

+ m × L2

mr

66

G10 / G20 Rev.10

Setup & Operation 4. Setting of End Effectors

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

100

100

80

60

40

20

30

* The percentage in the graph is

based on the acceleration /

deceleration at the upper-limited

position of Joint #3 as 100%.

40

30

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

NOTE

)

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

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

over-shoot at the time of final positioning.

Height of the shaft

G10 / G20 Rev.10 67

Setup & Operation 5. Motion Range

5. Motion Range

■

When setting up the motion range for safety, both the pulse range and

CAUTION

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)

Rectangular range setting

Mechanical

stop

Motion range

Pulse 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.

68 G10 / G20 Rev.10

Setup & Operation 5. Motion Range

t

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.

NOTE

)

EPSON

RC+

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.

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

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 (-).

A

+Y

A

+X 0 pulse

B B

Arm length Table Top Mounting Ceiling Mounting Wall mounting

A

Max. Motion

Range

B

Max. Pulse

Range

65

85/A0

65

85/A0

±152 degrees

-1805881 to +7048761

±107 degrees

-495161 to 5738041

G10 / G20 Rev.10 69

Setup & Operation 5. Motion Range

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 (-).

Max. Motion

Range

Max. Pulse

Range

NOTE

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

)

A

B

G10-65***

G10 / G20-85*S* / D*

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

G20-A0***
G10-65***
G10 / G20-85*S* / D*

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

G20-A0***

Model Table Top Mounting Ceiling / Wall Mountings

Z: 0 to −360

−360 to −390

Z:

Z: 0 to −360

−360 to −390

Z:

0 pulse

A A

B B

±130 degrees

±152.5 degrees

±151 degrees
±152.5 degrees ±152.5 degrees

±2776178

±2748871
±2776178

±2776178

±152.5 degrees

±151 degrees

±2366578
±2776178

±2748871

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

70 G10 / G20 Rev.10

Setup & Operation 5. Motion Range

Y

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
G10/G20-**4S* / D* 420 mm
G10/G20-**1C* / P* / D* bellows 150 mm
G10/G20-**4C* / P* / D* bellows 390 mm

-1946420

-2270823

-1622016

-2108621

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

NOTE

)

For the Cleanroom-model

bellows option)

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

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

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 (-).

+

Counterclockwise (+value)

+X

Clockwise (-value)

G10

0 pulse ±1951517 pulse

G20

0 pulse ±2752512 pulse

G10 / G20 Rev.10 71

Setup & Operation 5. Motion Range

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 #3

(Lower limit mechanical stop)

(Do not move the upper

limit mechanical stop.)

Mechanical stop of Joint #2

Wall Mounting

Mechanical stop of Joint #2

(Fixed)

Mechanical stop of
Joint #1 (Adjustable)

Mechanical stop of

Joint #1 (Fixed)

(Adjustable)

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.

72 G10 / G20 Rev.10

Setup & Operation 5. Motion Range

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

Both Joints #1 and #2 have threaded holes in the 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

d

e

Joint #1

Mounting Arm Length

Table Top

Ceiling

Ceiling

Wall

65/85/A0

85/A0

65

65/85/A0

Setting Angle

Pulse Value

a b c d e f g h

+152°

+7048761

c

b

a

a b c d e f g h

+152°

+107° +60° +15°

+107° +60° +15°

h

-15°

-60° -107°

-15°

-60° -107° -152°

+5738041 +4369067 +3058347 +2184534 +873814

f

g

-152°

-495161 -1805881

(°: degree)

G10 / G20 Rev.10 73

Setup & Operation 5. Motion Range

Joint #2 Mechanical Stops

Joint #2

Model Arm Length

Table Top / Ceiling / Wall

G10/G20-85*S / D

Table Top

Ceiling / Wall

Table Top
Ceiling / Wall

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

G10/G20-85*SR / SW
/ DR / DW
G10/G20-85*CR /CW
/ PR / PW / DR bellows
/ DW bellows

m

A0
85

Z: 0 to –360

85

Z: –360 to –390

85

85

65
65

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

n

o

p

m n o q

+122.5° +152.5°

+121° +151°

+122.5° +152.5°

+100° +130°

+122.5° +152.5°

+100° +130°

-152.5° -122.5°

-151° -121°

-152.5° -122.5°

-130° -100°

-152.5° -122.5°

-130° -100°

Setting Angle

Pulse Value

Setting Angle

Pulse Value

NOTE

)

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

+100° +121° +122.5° +151° +152.5°

+1820445 +2202738 +2230045 +2748871 +2776178

-152.5° -151° -122.5° -121° -100°

-2776178 -2748871 -2230045 -2202738 -1820445

(°: degree)

74 G10 / G20 Rev.10

Setup & Operation 5. Motion Range

j

(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)

1 M12 × 20 1 12740 N⋅cm (1300 kgf⋅cm)

The number

of bolts

Recommended

tightening torque

(3) Turn ON the Controller.

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

NOTE

2 M10 × 10 2 7350 N⋅cm (750 kgf⋅cm)

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+

(5) Move the arm by hand until it touches the mechanical stops, and make sure that the

(6) Operate the joint changed at low speeds until it reaches the positions of the minimum

Execute the following commands 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

arm does not hit any peripheral equipment during operation.

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+

The Pulse command (Go Pulse command) moves all joints to the specified positions

G10 / G20 Rev.10 75

Execute the following commands 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

at the same time. Specify safe positions after considering motion of not only the

oints whose pulse range have been changed, but also other joints.

Setup & Operation 5. Motion Range

f

In this example, Joint #1 is moved to the center of its motion range (pulse value:

2621440) when checking Joint #2.

If the arm is hitting the mechanical stops or if an error occurs after the arm hits the

mechanical stops, either reset the pulse range to a narrower setting or extend the

positions of the mechanical stops within the limit.

5.2.2 Setting the Mechanical Stop of Joint #3

NOTE

)

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

(2) Push up the shaft while pressing the brake

(3) Turn OFF the Controller.

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)

NOTE

)

release button.

Do not push the shaft up to its upper limit or

it will be difficult for the arm top cover to

be removed. Push the shaft up to a

position where the Joint #3 mechanical stop

can be changed.

When you press the brake release button,

the shaft may lower and rotate due to the

weight of the end effector. Be sure to hold

the shaft by hand while pressing the button.

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

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

Brake release button

Shaft

(4) Loosen the lower limit mechanical stop set screw (2-M5×6).

NOTE

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

)

(5) The upper end of the shaft defines the

76 G10 / G20 Rev.10

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 o

Joint #3 is specified using the stop.

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

Setup & Operation 5. Motion Range

k

j

r

r

m

(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: 980 N⋅cm (100 kgf⋅cm)

(7) Turn ON the Controller.

(8) Move Joint #3 to its lower limit while pressing the brake release button, and then chec

the lower limit position. Do not lower the mechanical stop too far. Otherwise, the

oint may not reach a target position.

(9) Calculate the lower limit pulse value of the pulse range using the formula shown below

and set the value.

The result of the calculation is always negative because the lower limit Z coordinate

value is negative.

EPSON

RC+

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 lowe

limit Z coordinate value to “-100” in 180 mm stroke
(−100) / 25 × 131072 × (66/32) = −1081344

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 lowe

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

EPSON

RC+

(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit

NOTE

)

Execute the following command from the [Command Window].

>JRANGE 3,-540672,0 ' Sets the pulse range of Joint #3

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 fro

the side.

G10 / G20 Rev.10 77

Setup & Operation 5. Motion Range

r

r

t

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

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

EPSON

RC+

Execute the following commands 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 lowe

limit Z coordinate value to “-100” in 420 mm stroke

EPSON

RC+

Execute the following commands 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]-[Robo

Manager].

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

78 G10 / G20 Rev.10

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

G10-65**

Motion range

G10/G20-85**

Setup & Operation 5. Motion Range

G20-A0**

Maximum space

Base mounting face

Area limited by mechanical stop

a b c d e f g h j k q

G10-65** 199.4 212.4 250 650 620.7 626.6
G10/G20-85*S / D
G10/G20-85*C / P
/ D bellows
G20-A0**

G10-65** 139.4
G10/G20-85** 123.3
G20-A0**

G10/G20-**1S / D 180
G10/G20-**4S / D 420
G10/G20-**1C / P / D bellows 150
G10/G20-**4C / P / D bellows 390

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

NOTE

Z: 0 to –360

Z: –360 to –390

r s

m n p t

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

152.5° 3.5°

152° 3°

151° 5°

152.5° 3.5° 285.4 307 600 1000 929.8 943.8 152.5

156

225.4

5 5 393.5

1 1.8 355.5

183.3

207.8

218.3

450 850 797.3 807.8

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

)

(°: degree)

152.5

151

G10 / G20 Rev.10 79

Setup & Operation 5. Motion Range

Wall Mounting

G10-65**W

Center of Joint #3

Motion range

G20-A0**W

G10/G20-85**W

Maximum space

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 130° 291.2 306.5 250 650 473.1 485.5 130 133.5 231.2
G10/G20-85*SW/DW 152.5°
G10/G20-85*CW/PW
/DW bellows
G20-A0**W

107° 3°

151° 5°

152.5° 3.5° 285.4 307 600 1000 575.4 605.2 152.5

3.5°

207.8 152.5

183.3

218.3

450 850 531.6 553.9

151

156

123.3

225.4

m n p t

G10/G20-**1SW/DW 180
G10/G20-**4SW/DW 420
G10/G20-**1CW/PW/DW bellows 150
G10/G20-**4CW/PW/DW bellows 390

5 5 202.5

1 1.8 240.5

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

80 G10 / G20 Rev.10

Ceiling Mounting

G10-65**R

Area limited by mechanical stop

Center of Joint #3

Setup & Operation 5. Motion Range

G10-A0**R

G10/G20-85**R

Maximum space

Motion range

Base mounting face

(°: degree)

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

G10-65**R 107° 130° 291.2 306.5 250 650 473.1 485.5 130 133.5 231.2
G10/G20-85*SR/DR
G10/G20-85*CR/PR

/DR bellows
G20-A0**R

152°

152.5°

3°

151° 5°

152.5° 3.5° 285.4 307 600 1000 929.8 943.8 152.5

3.5°

183.3

207.8

218.3

450 850 797.3 807.8

152.5

151

156

123.3

225.4

m n p t

G10/G20-**1SR/DR 180
G10/G20-**4SR/DR 420
G10/G20-**1CR/PR/DR bellows 150
G10/G20-**4CR/PR/DR bellows 390

5

5

1 1.8

447.5

485.5

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

G10 / G20 Rev.10 81

Setup & Operation 5. Motion Range

82 G10 / G20 Rev.10

Maintenance

This volume contains maintenance procedures with safety
precautions for G10/G20 series Manipulators.

1. Safety Maintenance

Please read this chapter, this manual, and other relevant manuals carefully to understand

safe maintenance procedures before performing any routine maintenance.

Only authorized personnel who have taken safety training should be allowed to
maintain the robot system.
Safety training is the program for industrial robot operators that follows the laws
and regulations of each nation.
The personnel who have taken safety training acquire knowledge of industrial
robots (operations, teaching, etc.), knowledge of inspections, and knowledge of
related rules/regulations.
The personnel who have completed the robot system-training and maintenance­training classes held by the manufacturer, dealer, or locally-incorporated
company are allowed to maintain the robot system.

Do not remove any parts that are not covered in this manual. Follow the

■

maintenance procedure strictly as described in this manual. Improper removal
of parts or improper maintenance may not only cause improper function of the
robot system but also serious safety problems.

Maintenance 1. Safety Maintenance

WARNING

WARNING

■

Keep away from the Manipulator while the power is ON if you have not taken the
training courses. Do not enter the operating area while the power is ON.
Entering the operating area with the power ON is extremely hazardous and may
cause serious safety problems as the Manipulator may move even it seems to be
stopped.

■

When you check the operation of the Manipulator after replacing parts, be sure to
check it while you are outside of the safeguarded area. Checking the operation
of the Manipulator while you are inside of the safeguarded area may cause
serious safety problems as the Manipulator may move unexpectedly.

■

Before operating the robot system, make sure that both the Emergency Stop
switches and safeguard switch function properly. Operating the robot system
when the switches do not function properly is extremely hazardous and may
result in serious bodily injury and/or serious damage to the robot system as the
switches cannot fulfill their intended functions in an emergency.

■

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.

G10 / G20 Rev.10 85

Maintenance 1. Safety Maintenance

Be sure to connect the cables properly. Do not allow unnecessary strain on the

■

cables. (Do not put heavy objects on the cables. Do not bend or pull the cables
forcibly.) The unnecessary strain on the cables may result in damage to the

CAUTION

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.

2. General Maintenance

This chapter describes maintenance inspections and procedures. Performing maintenance

inspections and procedures properly is essential for preventing trouble and ensuring safety.

Be sure to perform the maintenance inspections in accordance with the schedule.

2.1 Schedule for Maintenance Inspection

Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and

annual. The inspection points are added every stage.

If the Manipulator is operated for 250 hours or longer per month, the inspection points

must be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.

1 month (250 h) √

2 months (500 h) √

3 months (750 h) √ √

4 months (1000 h) √

5 months (1250 h) √

6 months (1500 h) √ √ √

7 months (1750 h) √

8 months (2000 h) √

9 months (2250 h) √ √

10 months (2500 h) √

11 months (2750 h) √

12 months (3000 h) √ √ √ √

13 months (3250 h)

…

Daily

inspection

Inspect every day

…

Monthly

inspection

√

…

Inspection Point

Quarterly

inspection

…

Biannual

inspection

…

Annual

inspection

…

h = hour

86 G10 / G20 Rev.10

2.2 Inspection Point

2.2.1 Inspection While the Power is OFF (Manipulator is not operating)

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

Maintenance 2. General Maintenance

Check looseness or backlash of

bolts/screws.

Tighten them if necessary.

(For the tightening torque, refer to

Maintenance: 2.4 Tightening

Hexagon Socket Head Cap Bolts.)

Check looseness of connectors.

If the connectors are loosen, push it

securely or tighten.

Visually check for external defects.

Clean up if necessary.

Check for bends or improper

location. Repair or place it properly

if necessary.

Check tension of timing belts.

Tighten it if necessary.

Grease conditions Refer to Maintenance: 2.3 Greasing.

End effector mounting bolts √ √ √ √ √

Manipulator mounting bolts √ √ √ √ √

Each arm locking bolts √ √ √ √ √

Bolts/screws around shaft √

Bolts/screws securing motors,

reduction gear units, etc.

External connectors on

Manipulator (on the connector

plates etc.)

Manipulator cable unit √ √ √ √

External appearance of

Manipulator

External cables √ √ √ √

Safeguard etc. √ √ √ √ √

Inside of Arm #2 √ √

√ √ √ √ √

√ √ √ √ √

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

√

Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual

Check motion range Each joint √

Move the cables back and forth

lightly to check whether the cables

are disconnected.

Push each arm in MOTOR ON

status to check whether backlash

exists.

Check whether unusual sound or

vibration occurs.

Measure the accuracy repeatedly by

a gauge.

External cables

(including cable unit of the

Manipulator)

Each arm √

Whole √ √ √ √ √

Whole √

√ √

G10 / G20 Rev.10 87

Maintenance 2. General Maintenance

2.3 Greasing

The ball screw spline and reduction gear units need greasing regularly. Only use the

grease specified in the following table.

■

Keep enough grease in the Manipulator. Operating the Manipulator with
insufficient grease will damage sliding parts and/or result in insufficient function of
the Manipulator. Once the parts are damaged, a lot of time and money will be
required for the repairs.

If grease gets into your eyes, mouth, or on your skin, follow the instructions

■

below.

CAUTION

Greasing part Greasing Interval Grease Refer to:

If grease gets into your eyes

: Flush them thoroughly with clean water, and then see a doctor immediately.

If grease gets into your mouth

: If swallowed, do not induce vomiting. See a doctor immediately.
: If grease just gets into your mouth, wash out your mouth with water

thoroughly.

If grease gets on your skin

: Wash the area thoroughly with soap and water.

Maintenance:

Joint #1

Joint #2

Joint #3 Ball screw spline shaft

Joint #4 Backlash-less gear In Joint #3 greasing AFB Following indication (G10 only)

* Under normal conditions, the reduction gear units shall be greased only when the motor is replaced. However, in

Reduction gear units In the replacement of motor* SK-1A

First time: after 50 km operation

2nd or more: after 100 km operation

case of severe working conditions (such as high duty, high speeds, large payloads, etc.), the reduction gear units

must be greased every 10,000 hours.

5.2 Replacing the Joint #1 Reduction

Gear Unit

6.2 Replacing the Joint #2 Reduction

Gear Unit

Maintenance: 10.1 Greasing the Ball

AFB

Screw Spline Unit

Greasing Joint #4 Backlash-less gear (G10 only)

Maintenance Parts and Tools

Maintenance

Parts

Tools

For Ball Screw spline (AFB grease)

Hexagonal wrench (width across flats: 3 mm)

Flat blade screwdriver 1

Name Quantity Note

Proper

quantity

1

R13ZA00330200

For M4 screw

Grease gun (or Plastic syringe) 10 to 20g

Wiping cloth 1 For wiping grease

88 G10 / G20 Rev.10