Epson G20 series, G10 series Manipulator Manual
Rev.20 EM183R3619F
SCARA ROBOT
G10 / G20 series
MANIPULATOR MANUAL
MANIPULATOR MANUAL
G10 / G20 series Rev.20
G10 / G20 Rev.20 i
SCARA ROBOT
G10 / G20 series Manipulator Manual
Rev.20
Copyright 2007-2018 SEIKO EPSON CORPORATION. All rights reserved.
ii G10 / G20 Rev.20
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
WARRANTY
The Manipulator and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1. Damage or malfunction caused by improper use which is not described in the manual,
or
careless use.
2.
Malfunctions caused by customers’ unauthorized disassembly.
3.
Damage due to improper
adjustments or unauthorized repair attempts.
4.
Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the
Manipulator
or associated equipment is used outside of the usage conditions and
product
specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
G10 / G20 Rev.20 iii
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
MANUFACTURER
iv G10 / G20 Rev.20
Regarding battery disposal
The crossed out wheeled bin label that can be found on your product indicates that this
product and incorporated batteries should not be disposed of via the normal household
waste stream. To prevent possible harm to the environment or human health please
separate this product and its batteries from other waste streams to ensure that it can be
recycled in an environmentally sound manner. For more details on available collection
facilities please contact your local government office or the retailer where you purchased
this product. Use of the chemical symbols Pb, Cd or Hg indicates if these metals are
used in the battery.
This information only applies to customers in the European Union, according to
DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE
COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and
accumulators and repealing Directive 91/157/EEC and legislation transposing and
implementing it into the various national legal systems.
For other countries, please contact your local government to investigate the possibility of
recycling your product.
The battery removal/replacement procedure is described in the following manuals:
Controller manual / Manipulator manual (Maintenance section)
G10 / G20 Rev.20 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The G10 / G20 series Manipulators can be used with the following combinations of
Controllers and software.
The operating methods and descriptions are different depending on which software you are
using. The following icons are put beside appropriate text as necessary. Use the
descriptions that pertain to the software you are using.
Controller
Software
Name Structure
RC180 Controller EPSON RC+ 5.0
RC700-A
Control Unit
Drive Unit
EPSON RC+ 7.0 Ver.7.1.2 or later
The motions of the manipulators such as in emergency stops vary depending on the
Controllers since they have different control methods. Details are described in the
manual.
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to
turn ON/OFF all the hardware components. For the Controller composition, refer to the
table above.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON
RC+
vi G10 / G20 Rev.20
TABLE OF CONTENTS
G10 / G20 Rev.20 vii
Setup & Operation
1. Safety 3
1.1 Conventions ............................................................................................. 3
1.2 Design and Installation Safety ................................................................. 4
1.2.1 Strength of the Ball Screw Spline .................................................. 5
1.3 Operation Safety ...................................................................................... 6
1.4 Emergency Stop ...................................................................................... 8
1.4.1 RC180 ............................................................................................ 8
1.4.2 RC700-A ...................................................................................... 10
1.5 Emergency Movement Without Drive Power ........................................ 12
1.6 ACCELS Setting for CP Motions ............................................................. 13
1.7 Warning Labels ...................................................................................... 14
2. Specifications 17
2.1 Features of G10 series and G20 series Manipulators .......................... 17
2.2 Model Number and Model Differences .................................................. 18
2.3 Part Names and Outer Dimensions ....................................................... 19
2.3.1 Table Top Mounting .................................................................... 19
2.3.2 Wall Mounting ............................................................................ 25
2.3.3 Ceiling Mounting ........................................................................ 31
2.3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37
2.4 Specifications ......................................................................................... 38
2.5 How to Set the Model ............................................................................ 41
3. Environments and Installation 42
3.1 Environmental Conditions ...................................................................... 42
3.2 Base Table ............................................................................................. 46
3.3 Mounting Dimensions ............................................................................ 45
3.4 Unpacking and Transportation .............................................................. 49
3.4.1 Precautions for Transportation .................................................. 49
3.4.2 Transportation ............................................................................ 50
3.5 Installation .............................................................................................. 50
3.5.1 Table Top Mounting .................................................................... 51
3.5.2 Wall Mounting ............................................................................ 52
3.5.3 Ceiling Mounting ........................................................................ 53
3.5.4 Cleanroom-model ...................................................................... 54
3.5.5 Protected-model ........................................................................ 54
3.6 Connecting the Cables .......................................................................... 55
3.7 User Wires and Pneumatic Tubes ......................................................... 57
3.8 Relocation and Storage ......................................................................... 59
3.8.1 Precautions for Relocation and Storage ................................... 59
3.8.2 Table Top Mounting .................................................................... 60
3.8.3 Wall Mounting ............................................................................ 61
3.8.4 Ceiling Mounting ........................................................................ 62
TABLE OF CONTENTS
viii G10 / G20 Rev.20
4. Setting of End Effectors 63
4.1 Attaching an End Effector ....................................................................... 63
4.2 Attaching Cameras and Valves .............................................................. 65
4.3 Weight and Inertia Settings .................................................................... 66
4.3.1 Weight Setting ............................................................................ 66
4.3.2 Inertia Setting ............................................................................. 70
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................... 75
5. Motion Range 76
5.1 Motion Range Setting by Pulse Range (for All Joints) ........................... 77
5.1.1 Max. Pulse Range of Joint #1 .................................................... 77
5.1.2 Max. Pulse Range of Joint #2 .................................................... 78
5.1.3 Max. Pulse Range of Joint #3 .................................................... 79
5.1.4 Max. Pulse Range of Joint #4 .................................................... 79
5.2 Motion Range Setting by Mechanical Stops .......................................... 80
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 81
5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 84
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................ 86
5.4 Standard Motion Range ......................................................................... 87
Maintenance
1. Safety Maintenance 93
2. General Maintenance 94
2.1 Maintenance Inspection ........................................................................... 94
2.1.1 Schedule for Maintenance Inspection ........................................ 94
2.1.2 Inspection Point .......................................................................... 95
2.2 Overhaul (Parts Replacement) ................................................................ 96
2.3 Greasing ................................................................................................. 98
2.4 Tightening Hexagon Socket Head Cap Bolts ....................................... 100
2.5 Matching Origins ................................................................................... 100
2.6 Layout of Maintenance Parts ............................................................... 101
2.6.1 Table Top Mounting type ............................................................ 101
2.6.2 Wall Mounting type ..................................................................... 103
2.6.3 Ceiling Mounting type ................................................................. 105
2.6.4 G10-65***: For S/N1**** or later ............................................... 107
3. Covers 108
3.1 Arm Top Cover ...................................................................................... 110
3.2 Arm Bottom Cover ................................................................................ 112
3.3 Arm #1 Cover ....................................................................................... 113
3.3.1 G10/G20-***S*, G10/G20-***C* ............................................... 113
3.3.2 G10/G20-***D*, P* .................................................................... 114
3.4 Connector Plate .................................................................................... 115
3.5 Connector Sub Plate ............................................................................ 116
TABLE OF CONTENTS
G10 / G20 Rev.20 ix
3.6 User Plate ............................................................................................. 117
3.7 Maintenance Plate ................................................................................ 117
3.8 Base Bottom Cover .............................................................................. 118
4. Cable 119
4.1 Replacing Cable Unit ........................................................................... 120
4.2 Wiring Diagrams .................................................................................. 132
4.2.1 Signal Cable ............................................................................ 132
4.2.2 Power Cable ............................................................................ 133
4.2.3 User Cable ............................................................................... 135
4.3 Replacing M/C Cable ........................................................................... 136
5. Arm #1 139
5.1 Replacing Joint #1 Motor ..................................................................... 140
5.2 Replacing Joint #1 Reduction Gear Unit ............................................. 142
6. Arm #2 145
6.1 Replacing Joint #2 Motor ..................................................................... 146
6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 151
7. Arm #3 154
7.1 Replacing Joint #3 Motor ..................................................................... 155
7.2 Replacing the Timing Belt .................................................................... 159
7.2.1 G10 .......................................................................................... 160
7.2.2 G20 .......................................................................................... 164
7.3 Replacing the Brake ............................................................................ 165
8. Arm #4 167
8.1 Replacing Joint #4 Motor ..................................................................... 168
8.1.1 G10 .......................................................................................... 168
8.1.2 G20 .......................................................................................... 172
8.2 Replacing the Timing Belt .................................................................... 174
8.2.1 G10 .......................................................................................... 175
8.2.2 G20 .......................................................................................... 179
8.3 Replacing the Brake ............................................................................ 184
8.4 Replacing the Reduction Gear Unit ..................................................... 187
8.4.1 G10 .......................................................................................... 188
8.4.2 G20 .......................................................................................... 189
9. Bellows 191
TABLE OF CONTENTS
x G10 / G20 Rev.20
10. Ball Screw Spline Unit 194
10.1 Greasing the Ball Screw Spline Unit .................................................. 195
10.1.1 Standard-model ........................................................................ 195
10.1.2 Cleanroom-model / Protected-model ....................................... 196
10.2 Replacing the Ball Screw Spline Unit ................................................. 198
10.2.1 G10 ........................................................................................... 198
10.2.2 G20 ........................................................................................... 205
11. Lithium Battery 210
11.1 Replacing the Battery Unit (Lithium Battery) ...................................... 212
11.2 Replacing the Battery Board ............................................................... 214
12. LED Lamp 216
13. Radiating Unit 218
14. Calibration 220
14.1 About Calibration ................................................................................ 220
14.2 Calibration Procedure ......................................................................... 221
14.3 Accurate Calibration of Joint #2 ......................................................... 231
14.4 Calibration Procedure without using Calibration Wizard ................... 233
15. Maintenance Parts List 237
15.1 Common Parts .................................................................................... 237
15.2 Parts by Environment Model .............................................................. 239
Setup & Operation
This volume contains information for setup and operation of the
G10 / G20
series Manipulators.
Please read this volume
thoroughly before setting up and
operating the Manipulators.
Setup & Operation 1. Safety
G10 / G20 Rev.20 3
1. Safety
Installation and transportation of manipulators and robotic equipment shall be performed
by qualified personnel and should conform to all national and local codes. Please read
this manual and other related manuals before installing the robot system or before
connecting cables.
Keep this manual handy for easy access at all times.
1.1 Conventions
Important safety considerations are indicated throughout the manual by the following
symbols. Be sure to read the descriptions shown with each symbol.
WARNING
This symbol indicates that a danger of possible serious
injury or death exists if the associated instructions are not
followed properly.
WARNING
This symbol indicates that a danger of possible serious
injury or death caused by electric shock exists if the
associated instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to
people
or physical damage to equipment and facilities
exists if the associated instructions are not followed
properly.
Setup & Operation 1. Safety
4 G10 / G20 Rev.20
1.2 Design and Installation Safety
Only trained personnel should design and install the robot system. Trained
personnel are defined as those who have taken robot system training and
maintenance training classes held by the manufacturer, dealer, or local
representative company, or those who understand the manuals thoroughly and
have the same knowledge and skill level as those who have completed the training
courses.
To ensure safety, a safeguard must be installed for the robot system. For details
on the safeguard, refer to the Installation and Design Precautions in the Safety
chapter of the EPSON RC+ User’s Guide.
The following items are safety precautions for design personnel:
WARNING
■
Personnel who design and/or construct the robot system with this product must
read the
Safety chapter in the EPSON RC+ User’s Guide to understand the
safety requirements before designing and/or constructing the robot system.
Designing and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
se
vere
equipment damage to the robot system, and may cause serious safety
problems.
■
The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
designed and
manufactured strictly for use in a normal indoor environment. Using
the product in an environment that exceeds the specified environmental
conditions may not only shorten the life cycle of the product but may also cause
serious safety problems.
■
The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation requirements
may not only shorten the life cycle of the product but also cause serious safety
problems.
Further precautions for installation are mentioned in the chapter Setup &
Operation: 3. Environments and Installation. Please read this chapter carefully to
understand safe installation procedures before installing the robots and robotic
equipment.
Setup & Operation 1. Safety
G10 / G20 Rev.20 5
1.2.1 Strength of the Ball Screw Spline
If a load exceeding the allowable value is applied to the ball screw spline, it may not work
properly due to deformation or breakage of the shaft. If the ball screw spline is applied
the load exceeding the allowable value, it is necessary to replace the ball screw spline unit.
The allowable loads differ depending on distance where the load is applied to. For
calculating the allowable load, see the calculation formula below.
[Allowable bending moment]
G10/G20: M=50,000 N∙mm
Example: If 500 N load is applied
at 100 mm from
the end of the spline nut
[Moment]
M=F∙L＝100∙500
＝
50,000 N∙mm
End of the
spline nut
F
L
Setup & Operation 1. Safety
6 G10 / G20 Rev.20
1.3 Operation Safety
The following items are safety precautions for qualified Operator personnel:
WARNING
■
Please carefully read the
Safety-related Requirements in the Safety chapter of
the
Safety and Installation manual before operating the robot system. Operating
the robot system without understanding the safety requirements is extremely
hazardous and may result in serious bodily injury and/or sever
e equipment
damage to the robot system.
■
Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON. Entering the operating area with the power ON is
extremely hazardous and may cause serious safety problems as
the Manipulator
may move even if it seems to be stopped.
■
Before operating the robot system, make sure that no one is inside the
safeguarded area.
The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded ar
ea.
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator.
However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpectedly.
■
Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
WARNING
■
To shut off power to the robot system,
disconnect the power plug from the power
source.
Be sure to connect the AC power cable to a power receptacle.
DO NOT connect it directly to a factory power source.
■
Before performing any replacement procedure, turn OFF the
Controller and
related equipment, and then
disconnect
the power plug from the power source.
Performing any replacement procedure with the power ON is extremely
hazardous and may result in electric shock and/or malfunction of the robot
system.
■
Do not
connect or disconnect the motor connectors while the power to the robot
system is turned ON.
Connecting or disconnecting the motor connectors with
the power ON is extremely hazardous and may result in serious bodily injury as
the Manipulator may move abno
rmally, and also may result in electric shock
and/or malfunction of the robot system.
Setup & Operation 1. Safety
G10 / G20 Rev.20 7
CAUTION
■
Whenever possible, only one person should operate the robot system.
If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■
Joint #1, #2, and #4:
If the joints are operated
repeatedly with the operating angle less than 5 degrees,
they may get damaged early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move the joints larger
than 50 degrees for about five to ten times a day.
J
oint #3:
If the up
-and-down motion of the hand is less than 10 mm, move the joint a half of
the maximum stroke for five to ten times a day.
■
Oscillation (resonance) may
occur continuously in low speed Manipulator motion
(Speed:
approx. 5 to 20%) depending on combination of Arm orientation and end
effector load. Oscillation arises from natural oscillation frequency of the Arm
and can be controlled by following measures.
Changing Manipulator speed
Changing the teach points
Changing the end effector load
Setup & Operation 1. Safety
8 G10 / G20 Rev.20
1.4 Emergency Stop
Emergency stop motions of the Manipulators vary due to difference of control methods of
the Controllers. See the section for your Controller model.
1.4.1 RC180
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Stops the power supply to the motor, and the arm stops in the shortest
distance with the dynamic brake and mechanical brake.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory while the robot system stops is different from that in normal
operation. It may also result in short life of the reduction gear unit due to the shock or
the electromagnetic brake due to the worn friction plate.
To place the system in emergency mode during normal operation, press the Emergency
Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Do not press the Emergency Stop switch unnecessarily while the Manipulator is operating.
Pressing the switch during the operation makes the brakes work. This will shorten the
life of the brakes due to the worn friction plates.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating,
following problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power
restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the Maintenance 14.
Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only
in case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STOP.
Setup & Operation 1. Safety
G10 / G20 Rev.20 9
For details of the Safeguard system, refer to the following manuals.
EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions
- Safeguard System
Safety and Installation 2.6 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
RC180: 5.1.1 Manipulator
- Inspection While the Power is ON (Manipulator is operating)
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
Conditions for Measurement
G10
G20
Accel Setting
100
100
Speed Setting
100
100
Load [kg]
10
20
Weight Setting
10
20
Joint #1
Start point of
operation
Target point
Stop point
Joint #2
Point where the
emergency stop
signal is input
Controller
RC180
Manipulator
G10-65***
G10-85***
G20-85***
G20-A0***
Free running
time
Joint #1 + Joint #2 [s]
0.6
0.7
1.0
1.3
Joint #3 [s]
0.6
0.5
0.5
0.8
Free running
angle
Joint #1 [deg.]
80
70
80
110
Joint #2 [deg.]
70
50
40
50
Joint #1 + Joint #2 [deg.]
110
120
110
160
Free running
distance
Joint #3 G10/G20-**1** [mm]
G10/G20-**4**
90
210
80
160
70
200
90
170
Setup & Operation 1. Safety
10 G10 / G20 Rev.20
1.4.2 RC700-A
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator
to deceleration motion and stops it at the maximum deceleration speed.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Pressing the Emergency Stop switch locks the brake and it may
cause wear on the friction plate of the brake, resulting in the short life of the brake.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
To place the system in emergency mode during normal operation, press the Emergency
Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations such as “Safeguard Open”,
make sure to stop the Manipulator using the Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating,
following problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power
restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, perform calibration by referring to the Maintenance 14.
Calibration in this manual.
Before using the Emergency Stop switch, be aware of the followings.
- The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only
in case of emergencies.
- To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does
not function.
- For the Safeguard system, do not use the circuit for E-STOP.
For details of the Safeguard system, refer to the following manuals.
EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions
- Safeguard System
Safety and Installation 2.6 Connection to EMERGENCY Connector
Setup & Operation 1. Safety
G10 / G20 Rev.20 11
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
5.1.1 Manipulator
- Inspection While the Power is ON (Manipulator is operating)
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
Conditions for Measurement
G10
G20
Accel Setting
100
100
Speed Setting
100 100
Load [kg]
10
20
Weight Setting
10
20
Joint #1
Start point of
operation
Target point
Stop point
Joint #2
Point where the
emergency stop
signal is input
Controller
RC700-A
Manipulator
G10-65***
G10-85***
G20-85***
G20-A0***
Free running
time
Joint #1 + Joint #2 [s]
0.5
0.8
0.9
0.7
Joint #3 [s]
0.3
0.3
0.3
0.3
Free running
angle
Joint #1 [deg.]
40
85
90
75
Joint #2 [deg.]
65
75
70
65
Joint #1 + Joint #2 [deg.]
105
160
160
140
Free running
distance
Joint #3 G10/G20-**1** [mm]
G10/G20-**4**
80 80 140 140
Setup & Operation 1. Safety
12 G10 / G20 Rev.20
1.5 Emergency Movement Without Drive Power
When the system is placed in emergency mode, push the arm or joint of the Manipulator
by hand as shown below:
Arm #1 Push the arm by hand.
Arm #2 Push the arm by hand.
Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake
applied to the joint has been released. Move the joint up/down while
pressing the brake release switch.
Joint #4 The shaft cannot be rotated by hand until the electromagnetic brake applied to
the shaft has been released.
Move the shaft while pressing the brake release switch.
Joint #3 and #4
brake release switch
Joint #1
(rotating)
Joint #2
(rotating)
Joint #3
(up and down)
Joint #4
(rotating)
Arm #1
Arm #2
Base
+
−
+
−
+
−
+
−
Shaft
The brake release switch affects both Joints #3 and #4. When the brake release switch is
pressed in emergency mode, the brakes for both Joints #3 and #4 are released
simultaneously.
Be careful of the shaft falling and rotating while the brake release switch is pressed
because the shaft may be lowered by the weight of an end effector.
NOTE
Setup & Operation 1. Safety
G10 / G20 Rev.20 13
1.6 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, see the following and set ACCELS properly
according to the tip load and the Z-axis height.
Improper setting may cause following problems.
Reduction of the life and damage of the ball screw spline
Set ACCELS as follows according to the Z-axis height.
ACCELS setting value by Z-axis position and tip load
G10
Z position
(mm)
Tip load
5kg or less
10kg or less
__- 0 > Z >= - 100
25000 or less
18000 or less
_-100 > Z >= - 200
11000 or less
- 200 > Z >= - 300
15000 or less
7500 or less
- 300 > Z >= - 420
11000 or less
5500 or less
G20
Z position
(mm)
Tip load
5kgor less
10kgor less
15kgor less
20kgor less
__- 0 > Z >= - 100
25000 or less
18000 or less
12000 or less
9000 or less
_-100 > Z >= - 200
11000 or less
7000 or less
5500 or less
- 200 > Z >= - 300
15000 or less
7500 or less
5000 or less
3500 or less
- 300 > Z >= - 420
11000 or less
5500 or less
3500 or less
2500 or less
Z
Z-axis height 0
(Origin point)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
Whether the ball screw spline shaft is deformed or bent
NOTE
Setup & Operation 1. Safety
14 G10 / G20 Rev.20
1.7 Warning Labels
The Manipulator has the following warning labels.
The warning labels are attached around the locations where specific dangers exist.
Be sure to comply with descriptions and warnings on the labels to operate and maintain
the Manipulator safely.
Do not tear, damage, or remove the warning labels. Use meticulous care when handling
those parts or units to which the following warning labels are attached as well as the
nearby areas.
Location Warning Label NOTE
A
Before loosening the base
mounting screws,
hold the
arm and secure it tightly with a
band to prevent hands or
fingers from being caught in
the Manipulator.
B
Do not enter the work space
when the Manipulators
operating. It is extremely
hazardous since the Arm may
collide and cause serious
safety problems,
C
Hazardous voltage exists
while the Manipulator is ON.
To avoid electric shock, do not
touch any internal electric
parts.
D
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.
E
Only authorized personnel
should perform sling work and
operate a crane. When
these
operations are
performed by unauthorized
personnel, it is extremely
hazardous and may result in
serious bodily injury and/or
severe equipment damage to
the robot system.
Setup & Operation 1. Safety
G10 / G20 Rev.20 15
Location Warning Label NOTE
F
Be careful of the hand falling
while the brake
release
switch is being pressed.
Location
Label
G
H
Setup & Operation 1. Safety
16 G10 / G20 Rev.20
Location of Labels
Table Top Mounting: G10/G20-****
Wall Mounting: G10/G20-****W
D
C
C
A
B
E
F
G
H
B
A
D
C
F
H
G
E
Ceiling Mounting: G10/G20-****R
B
A
C
C
D
F
E
H
G
Setup & Operation 2. Specifications
G10 / G20 Rev.20 17
2. Specifications
2.1 Features of G10 series and G20 series Manipulators
The G10 series and G20 series Manipulators are high-performance manipulators intended
to achieve high speed, high accuracy, space saving, and high cost-performance.
The G10 series Manipulators are optimized for high speed assembly and alignment
procedure using multiple-hand.
The G20 series Manipulators are optimized for heavy payload transfer and alignment
packing procedure. The 1000 mm long arm model of the G20 series enables wide range
motion.
The features of the G10 series and G20 series Manipulators are as follows:
Compatibility with E2H Manipulators (our existing models)
The installation procedure and mounting dimensions of the end effector are compatible
with those for the E2H Manipulators (our existing models).
Space Saving
Compactness achieved by using a ductless design.
Reduce the system height by the new short stroke (Z: 180 mm) lineup.
Motion Range Extended
The motion range has been extended by 20% compared to the E2 series.
Improved Productivity
The numbers of user wires and pneumatic tubes have been increased.
The speed of Joints #1, 2, 3, and 4 has been enhanced.
Cycle time has been improved.
Increased Load Capacity
The load capacity has been increased to handle greater work load.
G10: Max. 10 kg
G20: Max. 20 kg
Increased Inertia
The available end effector capacity has been enlarged to enable larger multiple-hand
that holds multi-kind and different types of work piece.
Allowable moment of inertia has been enlarged according to the load.
G10: Max. 0.25 kgm
2
G20: Max. 0.45 kgm
2
Various Types Available
Long stroke (Z: 420 mm)
Short stroke (Z: 180 mm)
Setup & Operation 2. Specifications
18 G10 / G20 Rev.20
2.2 Model Number and Model Differences
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 & ESD
D
: Protected
: IP 54 (with bellows option)
P
: Protected
: IP 65
Joint #3 stroke
1
: 180 mm (G10/G20***S*, D*)
: 150 mm (G10/G20***C*, P*, D* bellows option)
4
: 420 mm (G10/G20***S*, D*)
: 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.
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