Rev.11 EM111R2121F
SCARA ROBOT
G6 series
MANIPULATOR MANUAL
MANIPULATOR MANUAL G6 series Rev.11
SCARA ROBOT
G6 series Manipulator Manual
Rev.11
Copyright © 2007-2011 SEIKO EPSON CORPORATION. All rights reserved.
G6 Rev.11 i
d
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipu lat o r.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
WARRANTY
The Manipulator and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1. Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2. Malfunctions caused by customers’ unauthorized disasse mbly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the Manipulator or associated equipment is used outside of the usage conditions an
product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
ii G6 Rev.11
TRADEMARKS
Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of
Microsoft Corporation in the United States and/or other countries. Other brand and
product names are trademarks or registered trademarks of the respective holders.
NOTICE
No part of this manual may be copied or reproduced without authorization.
The contents of this manual are subject to change wit ho ut no tice.
Please notify us if you should fi nd any errors in thi s manual or if you have any comments
regarding its contents.
INQUIRIES
Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier office for
your region.
Please prepare the following items before you contact us.
- Your controller model and its serial number
- Your manipulator model and its serial number
- Software and its version in your robot system
- A description of the problem
SERVICE CENTER
G6 Rev.11 iii
MANUFACTURER & SUPPLIER
TEL : +81-(0)266-61-1802
FAX : +81-(0)266-61-1846
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 : +1-562-290-5900
FAX : +1-562-290-5999
E-MAIL : info@robots.epson.com
Factory Automation Division
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
Factory Automation Division
TEL : +86-(0)-10-8522-1199
FAX : +86-(0)-10-8522-1120
Taiwan
Factory Automation Division
TEL : +886-(0)-2-8786-6688
FAX : +886-(0)-2-8786-6677
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 G6 Rev.11
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)
G6 Rev.11 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The G6 series Manipulators can be used with the following combinations of Controllers and
software.
The operating methods and descriptions are different depending on which software you are
using. The following icons are put beside appropriate text as necessary. Use the
descriptions that pertain to the software you are using.
Controller
Name Structure
RC180 Controller EPSON RC+ 5.0
Software
RC620
For details on commands, refer to User’s Guide or “On-line help”.
Control Unit
Drive Unit
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to
turn ON/OFF all the hardware components. For the Controller composition, refer to the
table above.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON RC+ 6.0
EPSON
RC+
Figures in this Manual
The figures of manipulators indicated in this manual are basically Standard-model
Manipulator. Unless special instruction is provided, the specifications of Standard-model,
Cleanroom-model, and Protected-model (IP54 / IP65) are the same.
vi G6 Rev.11
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 G6 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
2.4 Specifications..........................................................................................30
2.5 How to Set the Model ..............................................................................33
TABLE OF CONTENTS
3. Environments and Installation··················································34
3.1 Environmental Conditions........................................................................34
3.2 Base Table...............................................................................................36
3.3 Mounting Dimensions..............................................................................37
3.4 Unpacking and Transportation................................................................. 40
3.5 Installation...............................................................................................41
3.5.1 Table Top Mounting ............................................................................41
3.5.2 Wall Mounting.....................................................................................42
3.5.3 Ceiling Mounting.................................................................................43
3.5.4 Cleanroom-model...............................................................................44
3.5.5 Protected-model.................................................................................44
3.6 Connecting the Cables............................................................................45
3.7 User Wires and Pneumatic Tubes...........................................................47
3.8 Relocation and Storage...........................................................................49
3.8.1 Precautions for Relocation and Storage.............................................49
3.8.2 Table Top Mounting ............................................................................50
3.8.3 Wall Mounting.....................................................................................51
3.8.4 Ceiling Mounting.................................................................................52
G6 Rev.11 vii
TABLE OF CONTENTS
4. Setting of End Effectors···························································· 53
4.1 Attaching an End Effector .......................................................................53
4.2 Attaching Cameras and Valves............................................................... 54
4.3 Weight and Inertia Settings.....................................................................55
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3.....................60
5. Motion Range············································································· 61
5.1 Motion Range Setting by Pulse Range (for All Joints).............................62
5.2 Motion Range Setting by Mechanical Stops............................................65
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
5.4 Standard Motion Range .......................................................................... 71
4.3.1 Weight Setting.................................................................................... 55
4.3.2 Inertia Setting..................................................................................... 60
5.1.1 Max. Pulse Range of Joint #1............................................................ 62
5.1.2 Max. Pulse Range of Joint #2............................................................ 63
5.1.3 Max. Pulse Range of Joint #3............................................................ 64
5.1.4 Max. Pulse Range of Joint #4............................................................ 64
5.2.1 Setting the Mechanical Stops of Joints #1 and #2............................. 66
5.2.2 Setting the Mechanical Stop of Joint #3 ............................................ 69
System of the Manipulator (for Joints #1 and #2)...................................71
Maintenance
1. Safety Maintenance··································································· 77
2. General Maintenance ································································ 78
2.1 Schedule for Maintenance Inspection.....................................................78
2.2 Inspection Point ......................................................................................79
2.2.1 Inspection While the Power is OFF
(Manipulator is not operating) ......................................................................... 79
2.2.2 Inspection While the Power is ON
(Manipulator is operating)................................................................................ 79
2.3 Greasing ................................................................................................. 80
2.4 Tightening Hexagon Socket Head Cap Bolts..........................................81
2.5 Matching Origins..................................................................................... 81
2.6 Layout of Maintenance Parts ..................................................................82
2.6.1 Table Top Mounting............................................................................ 82
2.6.2 Wall Mounting .................................................................................... 83
2.6.3 Ceiling Mounting................................................................................ 84
3. Covers························································································ 85
3.1 Arm Top Cover........................................................................................87
3.2 Arm Bottom Cover ..................................................................................89
3.3 Arm #1 Cover.......................................................................................... 90
3.3.1 G6-***S*, G6-***C*............................................................................. 90
3.3.2 G6-***D*, P*....................................................................................... 91
viii G6 Rev.11
TABLE OF CONTENTS
3.4 Connector Plate.......................................................................................92
3.5 Connector Sub Plate ...............................................................................94
3.6 User Plate................................................................................................95
3.7 Maintenance Plate...................................................................................95
3.8 Base Bottom Cover .................................................................................96
4. Cable Unit··················································································· 97
4.1 Replacing Cable Unit...............................................................................98
4.2 Wiring Diagrams....................................................................................109
4.2.1 Signal Cable.....................................................................................109
4.2.2 Power Cable.....................................................................................110
4.2.3 User Cable........................................................................................ 111
5. Arm #1 ······················································································ 112
5.1 Replacing Joint #1 Motor.......................................................................113
5.2 Replacing Joint #1 Reduction Gear Unit................................................115
6. Arm #2 ······················································································ 118
6.1 Replacing Joint #2 Motor.......................................................................119
6.2 Replacing Joint #2 Reduction Gear Unit................................................122
7. Arm #3 ······················································································ 125
7.1 Replacing Joint #3 Motor.......................................................................126
7.2 Replacing the Timing Belt......................................................................130
7.3 Replacing the Brake..............................................................................133
8. Arm #4 ······················································································ 136
8.1 Replacing Joint #4 Motor.......................................................................137
8.2 Replacing the Timing Belt......................................................................141
8.3 Replacing the Brake..............................................................................149
9. Bellows·····················································································152
10. Ball Screw Spline Unit···························································155
10.1 Greasing the Ball Screw Spline Unit....................................................156
10.1.1 Standard-model..............................................................................156
10.1.2 Cleanroom-model / Protected-model.............................................157
10.2 Replacing the Ball Screw Spline Unit ..................................................158
11. Lithium Battery·······································································164
11.1 Replacing the Battery Unit (Lithium Battery)........................................166
11.2 Replacing the Battery Board................................................................167
12. LED Lamp···············································································169
G6 Rev.11 ix
TABLE OF CONTENTS
13. Calibration·············································································· 170
13.1 About Calibration ................................................................................ 170
13.2 Calibration Procedure.........................................................................171
13.3 Accurate Calibrati on of Joint #2 .......................................................... 181
13.4 Calibration Procedure without using Calibration Wizard .....................183
14. Maintenance Parts List ························································· 187
14.1 Common Parts....................................................................................187
14.2 Parts by Environment Model...............................................................189
x G6 Rev.11
Setup & Operation
This volume contains information for setup and operation of the
G6 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 exists if the
CAUTION
associated instructions are not followed properly.
G6 Rev.11 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 G6 Rev.11
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.
G6 Rev.11 5
Setup & Operation 1. Safety
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Stops the power supply to the motor, and the arm stops in the shortest
distance with the dynamic brake and mechanical brake.
However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator
is running normally. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory while the robot system stops is different from that in normal
operation.
To place the system in emergency mode during normal operation, press the Emergency
Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
Conditions for Measurement
Accel Setting 100
Speed Setting 100
Load [kg] 6
Weight Setting 6
Point where the
emergency stop
signal is input
Joint #1
Stop point
Joint #2
Start point of
operation
Target point
Controller RC180 / RC620
Manipulator G6-45*** G6-55*** G6-65***
Free running
time
Free running
angle
Free running
distance
Joint #1 + Joint #2 [sec.] 0.6 0.7 0.8
Joint #3 [sec.] 0.4 0.4 0.4
Joint #1 [deg.] 35 45 55
Joint #2 [deg.]
Joint #1 + Joint #2 [deg.] 100 110 120
Joint #3 G6-**1** [mm]
G6-**3**
60 60 65
40
80
40
80
40
80
6 G6 Rev.11
Setup & Operation 1. Safety
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........... For G6-**1**,
Rotate the shaft by hand.
For G6-**3**,
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.
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. (For G6-**1**, Joint #4 has no brake on it.)
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.
G6 Rev.11 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
E
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 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.
F
Be careful of the hand falling while the brake release
button is being pressed.
G
8 G6 Rev.11
Setup & Operation 1. Safety
A
A
Location Labels NOTE
H
Table Top Mounting
G6-***S
D
Ceiling Mounting
G6-***SR
C
F
D
C
B
F
E
C
B
E
A
G
C
H
Wall Mounting
H
G
G6-***SW
C
F
D
H
G
E
B
G6 Rev.11 9
Setup & Operation 2. Specifications
2. Specifications
2.1 Features of G6 series Manipulators
The G6 series Manipulators are high-performance manipulators intended to achieve high
speed, high accuracy, space saving, and high cost-performance. The features of the G6
series Manipulators are as follows:
Compatibility with E2 series Manipulators
The installation procedure and mounting dimensions of the end effector for the G6
series are compatible with those for the E2 series.
Space Saving
Compactness achieved by using a ductless design.
Motion Range Extended
The motion range of the G6 series manipulator has been extended by 20% compared to
E2S.
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 up to a maximum 6 kg to handle greater work
load.
Various Types Available
10 G6 Rev.11
2.2 Model Number and Model Differences
G6-45 1 S □ -UL
UL specification
UL : UL compliant
□
: Non UL compliant
Type
□
: Table Top mounting
W : Wall mounting
R : Ceiling mounting
Environment
S : Standard
C : Clean room
D : Protected : IP 54 (with bellows option)
P : Protected : IP 65
Joint #3 stroke
: 180 mm (G6-***S* / D*)
1
150 mm (G6-***C* / P* / D* bellows option)
: 330 mm (G6-***S* / D*)
3
300 mm (G6-***C* / P* / D* bellows option)
Arm length
45 : 450 mm
55 : 550 mm
65 : 650 mm
Environment
Setup & Operation 2. Specifications
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.
G6-***D*
Normal G6-***D* Manipulators do not have bellows. The normal G6-***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).
G6-***P*
G6-***P* Manipulators comply with grade of protection IP65 (IEC 60529, JIS
C0920).
For details on the specifications, refer to Setup & Operation: 2.4 Specifications.
G6 Rev.11 11
Setup & Operation 2. Specifications
2.3 Part Names and Outer Dimensions
2.3.1 Table Top Mounting
Standard-model G6-***S
Joint #3 and #4
brake release button
LED lamp
Arm #2
Joint #2
(rotating)
−
+
Joint #1
(rotating)
−
+
Arm #1
Base
+
Joint #3
(up and down)
−
−
Joint #4
(rotating)
Signature label
(Serial No. of Manipulator)
UR label
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
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.
(For G6-**1**, Joint #4 has no brake on it.)
- While the LED lamp 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 G6 Rev.11
Setup & Operation 2. Specifications
(
)
G6-45*S G6-55*S G6-65*S
a 200 300 400
G6-**1S G6-**3S
b 180 330
c 119 -31
d 684 834
(*) indicates the stroke margin by mechanical stop.
90 or more
Space for cables
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 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)
G6 Rev.11 13
Setup & Operation 2. Specifications
Cleanroom-model G6-***C
The following figure shows the additional parts and specifications for the Table Top mounting
Cleanroom-model when compared with the Standard-model in appearance.
Upper bellows
Plate cover
(For static electricity
countermeasure)
Lower bellows
Plate cover
(For static electricity
countermeasure)
Cover
for Table Top mounting surface
Exhaust port
14 G6 Rev.11
Setup & Operation 2. Specifications
(
)
G6-45*C G6-55*C G6-65*C
a 200 300 400
G6-**1C G6-**3C
b 150 300
c 116 -34
d 792 942
(*) indicates the stroke margin by mechanical stop.
90 or more
Space for cables
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 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)
G6 Rev.11 15
Setup & Operation 2. Specifications
Protected-model G6-***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 G6-***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 G6-***D* without bellows option, refer to G6-***S.
Upper bellows
Lower bellows
Stainless steel plate
G6-***P only
Plate cover (For oil resistant)
G6-***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
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.)
16 G6 Rev.11
Setup & Operation 2. Specifications
(
)
G6-45*D/P G6-55*D/P G6-65*D/P
a 200 300 400
G6-**1D/P G6-**3D/P
b 150 300
c 116 -34
d 795.5 945.5
(*) indicates the stroke margin by mechanical stop.
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 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
G6 Rev.11 17
Setup & Operation 2. Specifications
−+ −
2.3.2 Wall Mounting
Standard-model G6-***SW
Joint #2
(rotating)
Joint #3 and #4
brake release button
MT label
(only for custom specification)
Signature label
(Serial No. of Manipulator)
CE label
UR label
LED lamp
Joint #3
(up and down)
+
−
−
Joint #4
(rotating)
Shaft
+
Arm #2
Joint #1
(rotating)
Power cable
Signal cable
Base
Arm #1
+
User connector
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
Fitting (black)
for ø 4 mm pneumatic tube
Fitting (white)
Fitting (white)
for ø 6 mm pneum atic tube
Fitting (black)
for ø 6 mm pneum atic tube
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.
(For G6-**1**, Joint #4 has no brake on it.)
- While the LED lamp 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 G6 Rev.11
Setup & Operation 2. Specifications
(
)
(*) indicates the stroke margin by mechanical stop
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
Calibration point position of Joints #3 and #4
Detail of “B”
Space for cables
90 or more
G6-45*SW G6-55*SW G6-65*SW
a 200 300 400
G6-**1SW G6-**3SW
b 180 330
c -9 141
d 385 535
Reference through hole
(View from the bottom of the base)
G6 Rev.11 19
Setup & Operation 2. Specifications
Cleanroom-model G6-***CW
The following figure shows the additional parts and specifications for the Wall mounting Cleanroom-model
when compared with the Standard-model in appearance.
Upper bellows
Plate cover
(For static electricity
countermeasure)
Lower bellows
Plate cover
(For static electricity
countermeasure)
Exhaust port
20 G6 Rev.11
Setup & Operation 2. Specifications
1 mm flat cut
Conical hole
ø4,90°
(*) indicates the stroke margin by mechanical stop
G6-45*CW G6-55*CW G6-65*CW
a 200 300 400
G6-**1CW G6-**3CW
b 150 300
c 99 249
d 526 676
Detail of “B”
Space
for cables
90 or more
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
(Calibration point position of Joints #3 and #4)
Reference through hole
(View from the bottom of the base)
G6 Rev.11 21
Setup & Operation 2. Specifications
Protected-model G6-***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 G6-***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 G6-***DW without bellows option, refer to G6-***SW.
Stainless steel plate
Stainless steel plate
Upper bellows
G6-***PW only
Plate cover (For oil resistant)
Lower bellows
NOTE
)
For Protected-model, all the screws used for outer parts are stainless steel screws. (Excluding the
screw used for mechanical stop.)
G6-***PW only
Plate cover (For oil resistant)
User connector (Protected-model)
Fittings with cover
(Protected-model)
User connector (Protected-model)
Joint #3 and #4
brake release button
(Protected-model)
Fittings with cover
(Protected-model)
Exhaust port
22 G6 Rev.11
Setup & Operation 2. Specifications
1 mm flat cut
Conical hole
ø4,90°
(*) indicates the stroke margin by mechanical stop
G6-45*DW/PW G6-55*DW/PW G6-65*DW/PW
a 200 300 400
G6-**1DW/PW G6-**3DW/PW
b 150 300
c 102.5 252.5
d 529.5 679.5
Detail of “B”
Space
for cables
90 or more
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
(Calibration point position of Joints #3 and #4)
Reference through hole
(View from the bottom of the base)
G6 Rev.11 23
Setup & Operation 2. Specifications
−+ −
2.3.3 Ceiling Mounting
Standard-model G6-***SR
Joint #2
(rotating)
Joint #3 and #4
brake release button
LED lamp
Joint #3
(up and down)
+
Arm #2
−
−
Joint #4
(rotating)
Fitting (black)
for ø 4 mm pneum atic tube
Fitting (black)
for ø 6 mm pneum atic tube
Shaft
+
Power cable
Base
Arm #1
+
Joint #1
(rotating)
Fitting (white)
for ø 4 mm pneumatic tube
Fitting (white)
for ø 6 mm pneum atic tube
Signal cable
User connector
(15-pin D-sub connector)
MT label
(only for custom specification)
Signature label
(Serial No. of Manipulator)
User connector
(9-pin D-sub connector)
CE label
UR label
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.
(For G6-**1**, Joint #4 has no brake on it.)
- While the LED lamp 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 G6 Rev.11
Setup & Operation 2. Specifications
(*) indicates the stroke margin by mechanical stop
Space for cables
90 or more
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
(Calibration point position of Joints #3 and #4)
Detail of “B”
G6-45*SR G6-55*SR G6-65*SR
a 200 300 400
G6-**1SR G6-**3SR
b 180 330
c -9 141
d 385 535
G6 Rev.11
25
Setup & Operation 2. Specifications
Cleanroom-model G6-***CR
The following figure shows the additional parts and specifications for the Ceiling mounting Cleanroom-model
when compared with the Standard-model in appearance.
Lower bellows
Cover
for Ceiling mounting surface
Upper bellows
Plate cover
(For static electricity
countermeasure)
Plate cover
(For static electricity
countermeasure)
Exhaust port
26 G6 Rev.11
Setup & Operation 2. Specifications
Space for cables
90 or more
(*) indicates the stroke margin by mechanical stop
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
(Calibration point position of Joints #3 and #4)
Detail of “B”
G6-45*CR G6-55*CR G6-65*CR
a 200 300 400
G6-**1CR G6-**3CR
b 150 300
c 99 249
d 526 676
G6 Rev.11 27
Setup & Operation 2. Specifications
Protected-model G6-***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 G6-***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 G6-***DR without bellows option, refer to G6-***SR.
Upper bellows
Lower bellows
Stainless steel plate
Stainless steel plate
for Ceiling mounting surface
Stainless steel plate
G6-***PR only
Plate cover (For oil resistant)
User connector (Protected-model)
Joint #3 and #4
brake release button
(Protected-model)
NOTE
)
G6-***PR only
Plate cover (For oil resistant)
User connector (Protected-model)
Exhaust port
Fittings with cover
(Protected-model)
Fittings with cover
(Protected-model)
For Protected-model, all the screws used for outer parts are stainless steel screws. (Excluding the
screw used for mechanical stop.)
28 G6 Rev.11
Setup & Operation 2. Specifications
Space for cables
90 or more
(*) indicates the stroke margin by mechanical stop
1 mm flat cut
Conical hole
ø4,90°
Max.ø14 through hole
ø20 h7 shaft diameter
ø40 mechanical stop diameter
Detail of “A”
(Calibration point position of Joints #3 and #4)
Detail of “B”
G6-45*DR/PR G6-55* DR/PR G6-65* DR/PR
a 200 300 400
G6-**1 DR/PR G6-**3 DR/PR
b 150 300
c 102.5 252.5
d 529.5 679.5
G6 Rev.11 29
Setup & Operation 2. Specifications
2.4 Specifications
Item G6-**** G6-****R G6-****W
Mount method Table Top Ceiling Wall
Environment
Arm
#1, #2
Arm length
45 450 mm
55 550 mm
65 650 mm
1
Arm #3
3
Weig ht
(not include the weight of cables)
45/55 27 kg : 60 lb. 29 kg : 64 lb.
65 28 kg : 62 lb. 29.5 kg : 65 lb.
Driving method All joints
45
55
65
1 1100 mm/s
3 2350 mm/s
Max.
operating
speed *3
Joints
#1, #2
Joint #3
Joint #4
Joints #1, #2
Repeatability
Joint #3
Joint #4
45
Max.
motion range
Joint #1
Joint #2
55
65
45
55/65
1
Joint #3
3
Joint #4
45
Max.
pulse range
(pulse)
Joint #1
Joint #2
55
65
45
55/65
1
Joint #3
3
Joint #4
*a : G6-45*** Joint #2
G6-45*S* / D*
G6-45*C*/ P* / D* with bellows option
Cleanroom-model *1 /
180 mm : G6-**1S* / D*
150 mm : G6-**1C* / P* / D* with bellows option
330 mm : G6-**3S* / D*
300 mm : G6-**3C* / P* / D* with bellows option
AC servo motor
6440 mm/s
7170 mm/s
7900 mm/s
2400 deg/s
±0.015 mm
±0.010 mm
±0.005 deg
±120 deg ±105 deg
±152 deg
±142 to 147.5 deg *a ±130 deg
±147.5 deg
180 mm : G6-**1S* / D*
150 mm : G6-**1C* / P* / D* with bellows option
330 mm : G6-**3S* / D*
300 mm : G6-**3C* / P* / D* with bellows option
±360 deg
−873814 to + 6116694 −436907 to +5679787
−1805881 to +7048761
±2585031 to 2685156 *a ±2366578
±2685156
−1976708 : G6-**1S* / D*
−1647257 : G6-**1C* / P* / D with bellows option
−1811982 : G6-**3S* / D*
−1647257 : G6-**3C* / P* / D* with bellows option
±1961226
Max. motion range
Z 0～–270
Z –270～–330
Z 0～–240
Z –240～–300
147.5 deg
147.5 deg
Protected-model *2
145 deg
142 deg
±135 deg
±148 deg
−1310720 to +6553600
−1689373 to +6932253
Max. pulse range
±2685156 pulse
±2639645 pulse
±2685156 pulse
±2585031 pulse
30 G6 Rev.11
Setup & Operation 2. Specifications
Item G6-*****
Joint #1
Joint #2
Resolution
Joint #3
1 0.0000911 mm/pulse
3 0.0001821 mm/pulse
Joint #4
Joint #1
Motor power
consumption
Joint #2
Joint #3
Joint #4
Payload
rated 3 kg
max. 6 kg
rated 0.01 kg·m
moment of inertia *4
Hand
Joint #3 down force 150 N
0.12 kg·m2
max.
Shaft diameter ø20 mm
Through hole ø14 mm
0.0000343 deg/pulse
0.0000549 deg/pulse
0.0001836 deg/pulse
400 W
400 W
200 W
100 W
2
Joint #4 allowable
Installed wire for customer use 24 (15 pin + 9 pin : D-sub)
2
: 86 psi) Installed pneumatic
2
: 86 psi)
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/cm
2 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm
5 to 40°C (with minimum temperature variation)
10 to 80% (no condensation)
L
= 70 dB(A)
Aeq
Applicable Controller *6 RC180, RC620
SPEED 1 to (5) to100
ACCEL *7 1 to (10) to 120
Assignable Value
( ) Default values
MTBF 3 years
Safety standard
SPEEDS 1 to (50) to 2000
ACCELS 1 to (200) to 25000
FINE 0 to (10000) to 65000
WEIGHT 0,250 to (3,250) 6,250
UL1740 (Third Edition, Dated December 7, 2007)
ANSI/RIA R15.06-1999
NFPA 79 (2007 Edition)
CSA/CAN Z434-03 (February 2003)
CE Marking −
Machinery Directive, Low Voltage Directive, EMC Directive
*1: The exhaust system in the Cleanroom-model Manipulator (
G6-***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.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria; Clean Class: 10 or its equivalent
Amount of Dust (0.1 µm diameter or larger) in 28317 cm
sample-air around the center of the motion rang: 10 particles or
less.)
3
(1cft)
G6 Rev.11 31
Setup & Operation 2. Specifications
Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter:ø8 mm)
or Inner diameter ø16mm or larger
Recommended exhaust flow rate : Approx. 1000 cm
3
/s (Normal)
*2: IP (International Protection) for the Protected-model Manipulator indicates International Standard of the
protection level against dust and water.
Normal G6-***D* Manipulators do not have bellows. The normal G6-***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
G6-***D*
with
bellows
option
Dust : 5
IP54
Water : 4
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.
Dust : 6 No ingress of dust.
G6-***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-joints 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: For delivery in April, 2008 or earlier, there are systems in combination of G series and RC170.
*7: 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.
32 G6 Rev.11
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.
Setup & Operation 2. Specifications
G6 Rev.11 33
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.
34 G6 Rev.11
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.
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:
WARNING
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.
G6 Rev.11 35
Setup & Operation 3. Environments and Installation
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:
Max. Reaction torque on the horizontal plate : 500 Nm
Max. Horizontal reaction force : 2500 N
Max. Vertical reaction force : 1500 N
The threaded holes required for mounting the Manipulator base are M8. 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
Power Cable
Connector
M/C Cables
Do not remove the M/C cables from the Manipulator.
26
[unit : mm]
53
18
Signal Cable
Connector
NOTE
)
WARNING
36 G6 Rev.11
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.
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.
Setup & Operation 3. Environments and Installation
G6 Rev.11 37
Setup & Operation 3. Environments and Installation
Table Top Mounting
G6-45**
Center of Joint#3
Maximum space
G6-55**
G6-65**
G6-45*
S / D C / P / D bellows
G6-55** G6-65**
a Length of Arm #1 (mm) 200 300 400
b Length of Arm #2 (mm) 250 250 250
c (Motion range)
Z : 0 to –270
Z : –270 to –330
134.8
143.5
Z : 0 to –240
Z : –240 to –300
134.8
153.9
161.2 232
d Motion range of Joint #1 (degree) 152 152 152
e Motion range of Joint #2 (degree)
Z : 0 to –270
Z : –270 to –330
147.5
145
Z : 0 to –240
Z : –240 to –300
147.5
142
147.5 147.5
f (Mechanical stop area) 124.4 133.8 207.5
g Joint #1 angle to hit mechanical stop (degree) 3.5 3.5 3.5
h Joint #1 angle to hit mechanical stop (degree)
NOTE
)
In the range Z: 0 to –270 mm, the area is limited by interference of the Manipulator body and the arm.
Z : 0 to –270
Z : –270 to –330
3
Z : 0 to –270
5.5
Z : –270 to –330
The bellows for G6-***D are options at shipment.
3
8.5
6.3 6.3
38 G6 Rev.11
Setup & Operation 3. Environments and Installation
Wall Mounting
G6-45**W
G6-55**W
G6-45**W
SW / DW
G6-65**W
G6-55*
CW / PW
/ DW bellows
G6-65**W
a Length of Arm #1 (mm) 200 300 400
b Length of Arm #2 (mm) 250 250 250
c (Motion range) 195.5 161.2 172.1 232
d Motion range of Joint #1 (degree) 105 135 148
e Motion range of Joint #2 (degree) 130 147.5 145 147.5
f (Mechanical stop area) 182.4 146.8 207.5
g Joint #1 angle to hit mechanical stop (degree) 3.5 3.5 7.5
h Joint #2 angle to hit mechanical stop (degree) 3.8 3.3 5.8 6.3
The bellows for G6-***DW are options at shipment.
Ceiling Mounting
G6-45**R
G6-55**R
G6-65**R
G6-55*
G6-45**R
SR / DR
CR / PR
/ DR bellows
G6-65**R
a Length of Arm #1 (mm) 200 300 400
b Length of Arm #2 (mm) 250 250 250
c (Motion range) 195.5 161.2 172.1 232
d Motion range of Joint #1 (degree) 120 152 152
e Motion range of Joint #2 (degree) 130 147.5 145 147.5
f (Mechanical stop area) 182.4 146.8 207.5
g Joint #1 angle to hit mechanical stop (degree) 5.5 3.5 3.5
h Joint #2 angle to hit mechanical stop (degree) 3.8 3.3 5.8 6.3
The bellows for G6-***DR are options at shipment.
G6 Rev.11 39
Setup & Operation 3. Environments and Installation
3.4 Unpacking and 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
WARNING
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.
CAUTION
■
To carry the Manipulator, have two or more people to work on it and secure the
Manipulator to the delivery equipment or hold the areas indicated in gray in the
figure (bottom of Arm #1 and bottom of the base) by hand.
When holding the bottom of the base by hand, be very careful not to get your
hands or fingers caught.
Table Top Mounting
G6-45**/G6-55**
Approx. 27 kg : 60 lb.
G6-65**
Approx. 28 kg : 62 lb.
Wall Mounting
G6-45**W/G6-55**W
Approx. 29 kg : 64 lb.
Ceiling Mounting
G6-45**R/G6-55**R
Approx. 27 kg : 60 lb.
G6-65**R
Approx. 28 kg : 62 lb.
G6-65**W
Approx. 29.5 kg : 65 lb.
■
Stabilize the Manipulator with your hands when hoisting it.
40
■
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.
G6 Rev.11
×
3.5 Installation
■
The robot system must be installed to avoid interference with buildings,
CAUTION
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.
When the Manipulator is a Cleanroom-model or Protected-model, refer to each section.
3.5.1 Table Top Mounting
■
Install the Table Top Mounting Manipulator with two 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.
G6-45** : Approximately 27 kg: 60 lb.
G6-55** : Approximately 27 kg: 60 lb.
G6-65** : Approximately 28 kg: 62 lb.
Setup & Operation 3. Environments and Installation
3.5.1 Table Top Mounting
3.5.2 Wall Mounting
3.5.3 Ceiling Mounting
3.5.4 Cleanroom-model
3.5.5 Protected-model
Standard-model
(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.
(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).
Sheet
Wire tie
40
4-M8
Spring
Washer
Plane
Washer
20 mm
Screw Hole
(depth 20 mm or more)
Bolt
:M4×15
Bolt
:M5×15
G6 Rev.11 41
Setup & Operation 3. Environments and Installation
g
×
3.5.2 Wall Mounting
■
Install the Wall Mounting Manipulator with two or more people.
The Manipulator weights are as follows. Be careful not to get hands, fin
caught and/or have equipment damaged by a fall of the Manipulator.
G6-45**W : Approximately 29 kg: 64 lb.
WARNING
Standard-model
G6-55**W : Approximately 29 kg: 64 lb.
G6-65**W : Approximately 29.5 kg: 65 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.
ers, or feet
(2) Secure the base to the wall with four bolts.
NOTE
)
Use bolts with specifications conforming to
ISO898-1 Property Class: 10.9 or 12.9.
6-M8 40
Screw Hole
(depth 20 mm
or more)
Plane Washer
Spring Washer
42
G6 Rev.11
r
WARNING
Standard-model
Setup & Operation 3. Environments and Installation
3.5.3 Ceiling Mounting
■
Install the Ceiling Mounting Manipulator with two 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.
G6-45**R : Approximately 27 kg: 60 lb.
G6-55**R : Approximately 27 kg: 60 lb.
G6-65**R : Approximately 28 kg: 62 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
Washe
Washer
4-M8×40
Spring
G6 Rev.11 43
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.
44
G6 Rev.11
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
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.
.
Setup & Operation 3. Environments and Installation
Controller
When the Manipulator is a Cleanroom-model, be aware of the followings.
When the Manipulator is a Cleanroom-model, use it with an exhaust system. For details,
When the Manipulator is a Protected-model, be aware of the followings.
WARNING
CAUTION
G6 Rev.11 45
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.
■
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.
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
46
G6 Rev.11
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
Pneumatic Tubes
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.
Max. Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter × Inner Diameter
0.59 MPa (6 kgf/cm2 : 86 psi)
2
2
ø6 mm × ø4 mm
ø4 mm × ø2.5 mm
CAUTION
Common Parts
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.
■
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.
9-pin D-sub connector
Fitting (black) for
ø6 mm pneumatic tube
Fitting (white) for
ø6 mm pneumatic tube
15-pin D-sub connector
Fitting (black) for
ø4 mm pneumatic tube
Fitting (white) for
ø4 mm pneumatic tube
Brake release
button switch
G6 Rev.11 47
Setup & Operation 3. Environments and Installation
Table Top Mounting
Fitting (white) for
ø6 mm pneumatic tube
User connector
(9-pin D-sub connector)
User connector
(15-pin D-sub connector)
Wall Mounting
Ceiling Mounting
Fitting (white)
for ø4 mm pneumatic tube
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 ø6 mm
pneumatic tube
Fitting (black)
Fitting (black)
for ø4 mm pneumatic tube
Fitting (black)
for ø4 mm pneumatic tube
Fitting (white)
for ø4 mm pneumatic tube
for ø6 mm pneumatic tube
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
User connector
48
Fitting (white)
for ø6 mm pneumatic tube
User connector
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
G6 Rev.11
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 two or more people to work on it and secure the
Manipulator to the delivery equipment or hold the bottom of Arm #1, the bottom of
the main cable fitting, 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 -25
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.
°C to +55°C.
G6 Rev.11 49
Setup & Operation 3. Environments and Installation
g
3.8.2 Table Top Mounting
■
Install or relocate the Table Top Mounting Manipulator with two or more people.
The Manipulator weights are as follows. Be careful not to get hands, fin
feet caught and/or have equipment damaged by a fall of the Manipulator.
CAUTION
NOTE
)
G6-45** : Approximately 27 kg: 60 lb.
G6-55** : Approximately 27 kg: 60 lb.
G6-65** : Approximately 28 kg: 62 lb.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
(2)
Cover the arm with a sheet so that the arm will not be damaged.
Tie the lower end of the shaft and arm, and the base and arm together with a wire tie.
Be careful not to tie them too tight. Otherwise, the shaft may bend.
Example of Arm Retaining Posture
ers, or
Bolt
: M4
×15
Sheet
Wire tie
Bolt
: M5
×15
Washer
: M6
Hold the bottom of Arm #1 by hand to unscrew the anchor bolts.
(3)
Then, remove the Manipulator from the base table.
Ｗａｓｈｅｒ
: M5
50
G6 Rev.11
WARNING
NOTE
)
Setup & Operation 3. Environments and Installation
3.8.3 Wall Mounting
■
Install or relocate the Wall Mounting Manipulator with two 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.
G6-45**W : Approximately 29 kg: 64 lb.
G6-55**W : Approximately 29 kg: 64 lb.
G6-65**W : Approximately 29.5 kg: 65 lb.
■
When removing the Manipulator from the wall, support the Manipulator, and then
remove the anchor bolts. Removing the anchor bolts without supporting is
extremely hazardous and may result in fall of the Manipulator.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
(2)
Cover the arm with a sheet so that the arm will not be damaged.
Refer to the figure below and bind the shaft and arm retaining bracket on the base.
Example of Arm Retaining Posture
Bolt
: M4×15
Washer
: M5
Sheet
Bolt for Arm #1 mechanical stop
Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the
(3)
Manipulator from the wall.
Wire tie
Arm mounting bolt
G6 Rev.11 51
Setup & Operation 3. Environments and Installation
A
3.8.4 Ceiling Mounting
■
Install or relocate the Ceiling Mounting Manipulator with two 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.
G6-45**R : Approximately 27 kg: 60 lb.
G6-55**R : Approximately 27 kg: 60 lb.
WARNING
NOTE
)
G6-65**R : Approximately 28 kg: 62 lb.
■
When removing the Manipulator from the ceiling, support the Manipulator, and
then remove the anchor bolts. Removing the anchor bolts without supporting is
extremely hazardous and may result in fall of the Manipulator.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
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
: M5
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
rm mounting bolt
52
G6 Rev.11
d
b
d
d
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 (G6-**3**) cannot be move
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
effector when the power is disconnecte
during operation, or when the motor is turne
OFF even though the power is turned ON.
To move Joint #3 up/down or rotate Joint #4
(G6-**3**) 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.
The respective brakes for Joints #3 and #4 (G6-**3**) are released simultaneously.
y the weight of the end
The shaft may be lowered by
the weight of the end effector.
Brake release button
- 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 the end effector.
G6 Rev.11 53
- For G6-**1**, Joint #4 has no brake on it.
eing
Setup & Operation 4. Setting of End Effectors
A
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.
4.2 Attaching Cameras and Valves
Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching
cameras, valves, and other equipment. [Unit: mm]
Common Dimensions
4-M4 depth 8
2-M4 depth 8
30
6.7
90
96
41
4-M4 depth 8
Table Top Mounting
391
mounting face
From the base
Wall Mounting
35
20
A
8020
B
282
mounting face
From the base
Ceiling Mounting
110
28
2-M5 depth 10
90
2-M5 depth 10
90
302
mounting face
From the base
48
From the reference hole
B
A
282
mounting face
From the base
54 G6 Rev.11
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.
CAUTION
4.3.1 Weight Setting
■
The total weight of the end effector and the work piece must not exceed 6 kg.
The G6 series Manipulators are not designed to work with loads exceeding 6 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.
Setup & Operation 4. Setting of End Effectors
The acceptable weight capacity (end effector and work piece) in G6 series is 3 kg at the
default rating and 6 kg at the maximum. 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].)
Load on the Arm
When you attach a camera or other devices to the arm, calculate the weight as the
equivalent of the shaft. Then, add this to the load and enter the total weight to the Weight
parameter.
Equivalent Weight Formula
= 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.
G6 Rev.11 55
Setup & Operation 4. Setting of End Effectors
(%)
<Example> A “1 kg” camera is attached to the end of the G6 series arm (450 mm
away from the rotation center of Joint #2) with a load weight of “2
kg”.
M = 1
= 350
L
2
= 450
L
M
= 1 × 4502/3502 = 1.65 → 1.7 (round up)
W
M
W + W
= 2 + 1.7 = 3.7
M
Enter “3.7” for the Wei gh t P ar am e ter.
Automatic speed setting by Weight
140
120
100
100
100
100
100
100
* The percentage in the graph is
based on the speed at rated
weight (3 kg) as 100%.
(%)
(%)
80
70
60
40
20
0 1 2 3 4 5 6 (kg)
Automatic acceleration/deceleration setting by Weight
140
120
100
80
60
120
120 120
120
115
100
80
70
40
20
0 1 2 3 4 5 6 (kg)
140
120
100
80
120
120
120
115
100
80
60
40
70
Weight setting
* The percentage in the graph is
based on the acceleration
/ deceleration at rated weight
(3 kg) as 100%.
70
G6-45*S*
G6-55*S*
Weight setting
* The percentage in the graph is
based on the acceleration
/ deceleration at rated weight
(3 kg) as 100%.
70
G6-65*S*
20
0 1 2 3 4 5 6 (kg)
Weight setting
56 G6 Rev.11
t
CAUTION
EPSON
RC+
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
“inertia”, or “GD
end effector) attached to the shaft, the moment of inertia of load must be considered.
■
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.12 kgwm
work with a moment of inertia exceeding 0.12 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.
The acceptable moment of inertia of load for a G6 series Manipulator is 0.01 kgwm2 at the
default rating and 0.12 kgwm
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.
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.
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].)
”. When the Manipulator operates with additional objects (such as an
2
or less. The G6 series Manipulators are not designed to
2
at the maximum. When the moment of inertia of the load
2
.
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
120
(%)
100
100
80
60
40
40
20
15
20
0 0.02 0.04 0.06 0.08 0.10 0.12 (kg･m2) Moment of inertia setting
G6 Rev.11 57
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
150 mm or less. The G6 series Manipulators are not designed to work with
eccentric quantity exceeding 150 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 G6 series is 0 mm at the default rating and
150 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 (150 mm or less)
Eccentric Quantity
Eccentric quantity of load on the shaft
The eccentric quantity of load (weight of the end effector and work piece) on the shaft can
be set by “eccentric quantity” parameter of Inertia command.
EPSON
RC+
Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools] - [Robot
Manager]). (You may also execute the Inertia command from the [Command Window].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
120
(%)
100
100
80
60
40
60
40
20
0 50 100 150 (mm)
* The percentage in the graph is
based on the acceleration /
deceleration at rated eccentricity
(0 mm) as 100%.
20
Eccentricity setting
58
G6 Rev.11
Setup & Operation 4. Setting of End Effectors
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).
Rotation center
Joint #3 shaft
End effector (a)
Work piece (b)
Whole moment
of inertia
Moment of inertia
=
of end effector (a)
Moment of inertia
+
of work piece (b)
Work piece (c)
Moment of inertia
+
of work piece (c)
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)
b2 + h2
m + m
12
× L
2
L
h
b
(b) Moment of inertia of a cylinder
Cylinder’s center of gravity
Rotation center
r
Mass (m)
L
r 2
m + m
2
× L
2
G6 Rev.11 59
Setup & Operation 4. Setting of End Effectors
(c) Moment of inertia of a sphere
Sphere’s center of gravity
Rotation center
2
5
2
+ m × L2
L
r
Mass (m)
mr
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
120
(%)
100
80
60
100
100
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
position of Joint #3
60
NOTE
)
40
20
0 -100 -200 -300 -400 (mm)
20
Height of the shaft
When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
G6 Rev.11
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)
Setup & Operation 5. Motion Range
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.
G6 Rev.11 61
Setup & Operation 5. Motion Range
5.1 Motion Range Setting by Pulse Range (for All Joints)
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]-[Robot
Manager]. (You may also execute the Range command from the [Command Window].)
5.1.1 Max. Pulse Range of Joint #1
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the
positive (+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
A
+Y
A
A
Max. Motion
Range
B
Max. Pulse
Range
62
+X 0 pulse
B B
Arm length Table Top Mounting Ceiling Mounting Wall mounting
45
55
65
45
55
65
±152 degrees
-1805881 to +7048761
±120 degrees ±105 degrees
-873814 to +6116694 -436907 to +5679787
±135 degrees
±148 degrees
-1310720 to +6553600
-1689373 to +6932253
G6 Rev.11
A
Max. Motion
Range
B
Max. Pulse
Range
NOTE
)
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 (-).
Model Table Top Mounting Ceiling / Wall Mountings
G6-45*S* / D*
/ D* bellows
G6-55*** / G6-65*** ±147.5 degrees
G6-45*S* / D*
/ D* bellows
G6-55*** / G6-65*** ±2685156
Z : 0 to –270 mm ±147.5 degrees
Z : –270 to –330 mm ±145 degrees
Z : 0 to –240 mm ±147.5 degrees G6-45*C* / P*
Z : –240 to –300 mm ±142 degrees
Z : 0 to –270 mm ±2685156
Z : –270 to –330 mm ±2369645
Z : 0 to –240 mm ±2685156 G6-45*C* / P*
Z : –240 to –300 mm ±2585031
In the range Z: 0 to –270 mm, the area is limited by interference of the Manipulator body and the
arm.
0 pulse
A A
B B
±130 degrees
±2366578 °
The bellows for G6-***D are options at shipment.
G6 Rev.11 63
Setup & Operation 5. Motion Range
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.
NOTE
)
Upper limit: 0 pulse
Model Joint #3 Stroke Minimum Limit Pulse
G6-**1S* / D* 180 mm
G6-**3S* / D* 330 mm
G6-**1C* / P* / D* bellows 150 mm
G6-**3C* / P* / D* bellows 300 mm
For the Cleanroom-model (G6-***C*) and Protected-model (G6-*** P*/D* with bellows
option)
, the motion range set with the Joint #3 mechanical stop cannot be changed.
-1976708
-1811982
-1647257
-1647257
The bellows for G6-***D* are options at shipment.
5.1.4 Max. Pulse Range of Joint #4
The 0 (zero) pulse position of Joint #4 is the position where the flat near the end of the
shaft faces toward the end 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 (-).
64
+Y
Counterclockwise (+value)
+X 0 pulse ±1961226 pulse
Clockwise (-value)
G6 Rev.11
Setup & Operation 5. Motion Range
f
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 #1 (Fixed)
Ceiling Mounting
(Adjustable)
Mechanical stop of Joint #2
(Fixed)
Mechanical stop of
Joint #1 (Adjustable)
Mechanical stop o
Joint #1 (Fixed)
Mechanical stop of Joint #1 (Adjustable)
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.
G6 Rev.11 65
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
f
e
g
h
Joint #1
Mounting
Table Top
Ceiling
Wall
Ceiling
Wall
Setting Angle
Pulse Value
Setting Angle
Pulse Value
Setting Angle
Pulse Value
Arm
Length
45/55/65
a b c d e f g h i j k l
+152° +135°
55/65
65 +148°
+105°
d
c
b
a
+60° +20° +5°
l
-5° -20° -60°
i
j
k
55 +135°
45 +120°
45
+75° +30°
-30° -75°
+152°
+148° +135° +120° +105° +75° +60°
7048761
3495254 3203983
436907
6932253 6553600 6116694 5679787 4805974 4369067
+30° +20°
+5°
-5° -20°
-30° -60°
2767076 2475805 2038898 1747627 873814
-75° -105°
-120° -135° -148° -152°
-436907 -873814 -1310720 -1689373 -1805881
-105°
-135° -152°
-148°
-135°
-120°
(°: degree)
66
G6 Rev.11
Setup & Operation 5. Motion Range
Joint #2 Mechanical Stops
o
Joint #2
Model Arm Length m n o p q
Table Top / Ceiling / Wall
G6-45*S / D
Table Top
G6-45*C / P
/ D bellows
Ceiling / Wall
Setting Angle
Pulse Value
Setting Angle
Pulse Value
+147.5° +145° +142° +130° +125° +100°
2685156 2639645 2585031 2366578 2275556 1820445
-100° -125° -130° -142° -145° -147.5°
-1820445 -2275556 -2366578 -2585031 -2639644 -2685156
n
m
55/65
p
q
+147.5°
45 (Z : 0 to –270)
45 (Z :–270 to –330) +145°
+100° +125°
45 (Z : 0 to –240) +147.5°
45 (Z :–240 to –300) +142°
45
+130°
The bellows for G6-***D* are options at shipment.
-125° -100°
(°: degree)
G6 Rev.11 67
Setup & Operation 5. Motion Range
(1) Turn OFF the Controller.
(2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle,
(3) Turn ON the Controller.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
NOTE
Example: Using G6-**1S*
)
EPSON
RC+
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the
and tighten it.
Joint
Be sure to set the pulse range inside the positions of the mechanical stop range.
Execute the following commands from the [Command Window].
>JRANGE 1,-1310720,6553600 ' Sets the pulse range of Joint #1
>JRANGE 2,-2275556,+2275556 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-1310720,6553600,-2275556,2275556,-1976708
,0,-1961226, 1961226
arm does not hit any peripheral equipment during operation.
Hexagon socket head cap
bolt (fully threaded)
1
2
The angle of Joint #1 is set from –135 degrees to +135 degrees.
The angle of Joint #2 is set from -125 degrees to +125 degrees.
M10 × 20
M8 × 10
The number
of bolts
1 bolt /
one side
Recommended
tightening torque
12740 N⋅cm (1300 kgf⋅cm)
3720 N⋅cm (380 kgf⋅cm)
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
and maximum pulse range. Make sure that the arm does not hit the mechanical
stops. (Check the position of the mechanical stop and the motion range you set.)
Example: Using G6-**1S*
The angle of Joint #1 is set from -85 degrees to +115 degrees.
EPSON
RC+
The Pulse command (Go Pulse command) moves all joints to the specified positions at
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 -1310720,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 6553600,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 2621440,-2275556,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2275556,0,0 ' Moves to the max. pulse position of Joint #2
the same time. Specify safe positions after considering motion of not only the joints
whose pulse range have been changed, but also other joints.
In this example, Joint #1 is moved to the center of its motion range (pulse value:
2621440) when checking Joint #2.
The angle of Joint #2 is set from -132 degrees to +132 degrees.
68
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.
G6 Rev.11
Setup & Operation 5. Motion Range
f
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.
This method applies only to the Standard-model Manipulator (
Manipulator (G6-***D* without bellows option).
For the
the motion range set with the Joint #3 mechanical stop cannot be changed.
Cleanroom-model (G6-***C*) and Protected-model (G6-***D* with bellows option),
G6-***S*)/Protected-model
(2) Push up the shaft while pressing the brake
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.
NOTE
(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (M4×15).
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
When you press the brake release button, the shaft may lower and rotate due to the
)
NOTE
)
weight of the end effector. Be sure to hold the shaft by hand while pressing the
button.
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 “150 mm” stroke,
the lower limit Z coordinate value is
“-150”. To change the value to “-100”,
move the lower limit mechanical stop
down “50 mm”. Use calipers to measure
the distance when adjusting the mechanical
stop.
Brake release button
Lower limit
mechanical
stop
2-M5×6
Measure this distance.
(6) Firmly tighten two lower limit mechanical stop screws (M4 × 15) so that they do not
enter the shaft groove.
Recommended tightening torque: 490 N⋅cm (500 kgf⋅cm)
(7) Turn ON the Controller.
G6 Rev.11 69
Setup & Operation 5. Motion Range
k
j
r
d
m
r
(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.
Example: When lowering the mechanical stop by 50 mm and changing the lowe
EPSON
RC+
(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit
NOTE
)
Example: When lowering the mechanical stop by 50 mm and changing the lowe
G6-**1S (Z: 150mm)
Lower limit of pulse = lower limit Z coordinate value / 20 × 131072 × (62 / 37)
G6-**4S (Z: 300mm)
Lower limit of pulse = lower limit Z coordinate value / 40 × 131072 × (62 / 37)
limit Z coordinate value to “-100” in 150 mm stroke
(-100) / 20 × 131072 × (62 / 37 ) = - 1098171
Execute the following command from the [Command Window].
>JRANGE 3,-1098171,0 ' 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.
The clearance between the lower-limit pulse position and the mechanical stop shoul
be approximately 5 mm.
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.
For details on removing the top cover, refer to Maintenance: 3.1 Arm Top Cover.
limit Z coordinate value to “-100” in 150 mm stroke
EPSON
RC+
70
Execute the following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-1098171,0 ' 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.)
G6 Rev.11
Setup & Operation 5. Motion Range
t
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].)
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.
G6 Rev.11 71
Setup & Operation 5. Motion Range
Table Top Mounting
G6-45**
G6-55**
Center of Joint#3
Motion range
G6-65**
Maximum space
Area limited b y mechan ical st op
Bas e mounting f ace
(°: degree)
G6-45*S / D
G6-45*C / P
/ D bellows
Z 0 to –270 147.5° 3° 134.8
Z –270 to –330 145° 5.5° 143.5
Z 0 to –240 147.5° 3° 134.8
Z –240 to –300 142° 8.5°
G6-55** 133.8 161.2 300 550 514.9 523
G6-65**
a b c d e f g h j k
152° 3.5°
147.5° 6.3°
124.4
153.9
207.5 232 400 650 603.2 614
200 450 426.6 432
q r s
G6-45*S / D
G6-45*C / P
/ D bellows
G6-55** 73.8
G6-65**
Z 0 to –270 147.5°
Z –270 to –330 145°
Z 0 to –240 147.5°
Z –240 to –300 142°
150.5° 64.4
147.5° 153.8°
147.5
m n p t
G6-**1S / D 180 119
G6-**3S / D 330
G6-**1C / P / D bellows 150 116
G6-**3C / P / D bellows 300
4.2 12.2
1.2 4.2
−31
−34
The bellows for G6-***D* are options at shipment.
NOTE
In the range Z: 0 to –270 mm, the area is limited by interference of the Manipulator body and the arm.
)
72
G6 Rev.11
A
Wall Mounting
G6-45**W
G6-55**W
Setup & Operation 5. Motion Range
Center of Joint#3
Motion range
G6-65**W
Maximum space
rea limited by mechanical stop
Center of
base reference hole
(°: degree)
a b c d e f g h
G6-45**W 105° 130° 3.8° 182.4 195.5 200 450
G6-55*SW/DW 147.5° 3.3° 161.2
G6-55*CW/PW/DW bellows
135°
3.5°
145° 5.8°
146.8
172.1
300 550
G6-65**W 148° 7.5° 147.5° 6.3° 207.5 232 400 650
j k q r s
G6-45**W 301.8 313.5 130° 133.8° 122.4
G6-55*SW/DW 147.5°
G6-55*CW/PW/DW bellows
462.1 474.7
145°
150.8° 86.8
G6-65**W 589.2 614 147.5° 153.8° 147.5
G6-**1SW/DW 180
G6-**3SW/DW bellows 330
G6-**1CW/PW/DW 150
G6-**3CW/PW/DW bellows 300
m n p t
4.2 12.2 160
1.2 4.2 193
The bellows for G6-***DW are options at shipment.
G6 Rev.11 73
Setup & Operation 5. Motion Range
A
Ceiling Mounting
G6-45**R
G6-55**R
Center of Joint#3
Motion range
G6-65**R
Maximum space
rea limited by mechanical
Base mounting face
(°: degree)
a b c d e f g h j k
G6-45**R 120° 5.5° 130° 3.8° 182.4 195.5 200 450 350 366.1
G6-55*SR/DR 147.5° 3.3° 161.2
G6-55*CR/PR/DR bellows 145° 5.8°
G6-65**R
152° 3.5°
147.5° 6.3° 207.5 232 400 650 603.2 614
146.8
172.1
300 550 514.9 523
q r s
G6-45**R 130° 133.8° 122.4
G6-55*SR/DR 147.5°
G6-55*CR/PR/DR bellows 145°
150.8° 86.8
G6-65**R 147.5° 153.8° 147.5
G6-**1SR/DR 180 −9
G6-**3SR/DR bellows 330
m n p t
4.2 12.2
141
G6-**1CR 150 99
G6-**3CR 300 249
G6-**1PR/DR 150 102.5
G6-**3PR/DR bellows 300
1.2 4.2
252.5
The bellows for G6-***DR are options at shipment.
74
G6 Rev.11
Maintenance
This volume contains maintenance procedures with safety
precautions for G6 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.
G6 Rev.11 77
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
78 G6 Rev.11
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 √
√ √
G6 Rev.11 79
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
CAUTION
Greasing part Greasing Interval Grease Refer to:
the Manipulator. Once the parts are damaged, a lot of time and money will be
required for the repairs.
Joint #3 Ball screw spline shaft
Joint #1
Joint #2
* Under normal conditions, the reduction gear units shall be greased only when the motor is replaced. However, in
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.
Reduction gear units In the replacement of motor* SK-1A
First time: after 50 km operation
2nd or more: after 100 km operation
Maintenance: 10.1 Greasing the Ball
AFB
Screw Spline Unit
Maintenance:
5.2 Replacing the Joint #1 Reduction
Gear Unit
6.2 Replacing the Joint #2 Reduction
Gear Unit
■
If grease gets into your eyes, mouth, or on your skin, follow the instructions
below.
If grease gets into your eyes
: Flush them thoroughly with clean water, and then see a doctor
immediately.
If grease gets into your mouth
CAUTION
: 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.
80 G6 Rev.11
Maintenance 2. General Maintenance
a
2.4 Tightening Hexagon Socket Head Cap Bolts
Hexagon socket head cap bolts are used in places where mechanical strength is required.
(A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are
fastened with the tightening torques shown in the following table.
When it is necessary to refasten these bolts in some procedures in this manual (except
special cases as noted), use a torque wrench so that the bolts are fastened with the
appropriate tightening torques as shown below.
Tightening Torque
Bolt
Refer below for the set screw.
M3 245 N⋅cm (25 kgf⋅cm)
M4 490 N⋅cm (50 kgf⋅cm) M4 245 N⋅cm (25 kgf⋅cm)
M5 980 N⋅cm (100 kgf⋅cm) M5 392 N⋅cm (40 kgf⋅cm)
M6 1,760 N⋅cm (180 kgf⋅cm)
M8 3,720 N⋅cm (380 kgf⋅cm)
M10 7,350 N⋅cm (750 kgf⋅cm)
M12 12,740 N⋅cm (1,300 kgf⋅cm)
Set Screw Tightening Torque
We recommend that the bolts aligned on a circumference should be fastened in a crisscross
pattern as shown in the figure below.
5
Bolt hole
3
1
8
Do not fasten all bolts securely at one time.
Divide the number of times that the bolts are
fastened into two or three and fasten the bolts
securely with a hexagonal wrench. Then, use
4
torque wrench so that the bolts are fastened with
tightening torques shown in the table above.
7
2
6
2.5 Matching Origins
After parts have been replaced (motors, reduction gear units, a brake, timing belts, a ball
screw spline unit, etc.), the Manipulator cannot operate properly because a mismatch
exists between the origin stored in each motor and its corresponding origin stored in the
Controller. After replacing the parts, it is necessary to match these origins.
For calibration, the pulse values for a specific position must be recorded in advance.
Before replacing parts, select easy point (pose) data from the registered point data to check
the accuracy. Then, follow the steps below to display the pulse values and record them.
EPSON
RC+
G6 Rev.11 81
Execute the following command from the [Command Window].
>PULSE
PULSE: [Joint #1 Pulse value] pls [Joint #2 Pulse value] pls [Joint #3 Pulse value]
pls [Joint #4 Pulse value] pls
Maintenance 2. General Maintenance
2.6 Layout of Maintenance Parts
2.6.1 Table Top Mounting type
G6-***S : Standard-model
Ball screw spline unit
LED lamp
Brake release button switch
Arm cover
Joint #2 motor
Joint #3 motor
Z belt
U2 belt
Joint #3 brake
Joint #4 brake
U1 belt
Lithium battery and Battery board
Joint #4 motor
reduction gear unit
Joint #1 motor
Joint #2 reduction gear unit
Cable unit
Joint #1
Power cable
Signal cable
(Figure: G6-551S)
G6-***C : Cleanroom-model
G6-***D/P : Protected-model (D: With bellows option)
Brake release button switch (for D/P)
Gasket (D/P)
Bellows (C/D/P)
Gasket (P)
Gasket (P)
Gasket (C/D/P)
Bellows (C/D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
(Figure: G6-551P)
82 G6 Rev.11
Maintenance 2. General Maintenance
2.6.2 Wall Mounting type
G6-***SW : Standard-model
Ball screw spline unit
Joint #3 motor
LED lamp
Brake release button switch
Arm cover
Power cable
Signal cable
Joint #1 motor
Z belt
U2 belt
Joint #3 brake
Joint #4 brake
U1 belt
Lithium battery and Battery board
Joint #2 motor
Joint #2 reduction gear unit
Joint #4 motor
Cable unit
Joint #1
reduction gear unit
(Figure: G6-551SW)
G6-***CW : Cleanroom-model
G6-***DW/PW : Protected-model (D: With bellows option)
Bellows (C/D/P)
Gasket (P)
Gasket (C/D/P)
Bellows (C/D/P)
Brake release button switch (for D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
(Figure: G6-551PW)
G6 Rev.11 83
Maintenance 2. General Maintenance
(Fig
)
2.6.3 Ceiling Mounting type
G6-***SR : Standard-model
Ball screw spline unit
LED lamp
Brake release button switch
Arm cover
Power cable
Signal cable
Joint #3 motor
Z belt
U2 belt
Joint #3 brake
Joint #4 brake
U1 belt
Lithium battery and Battery board
Joint #4 motor
Joint #2 motor
Joint #2 reduction gear unit
G6-***CR : Cleanroom-model
G6-***DR/PR : Protected-model (D: With bellows option)
Bellows (C/D/P)
Brake release button switch (for D/P)
Gasket (D/P)
Gasket (D/P)
Cable unit
Joint #1 motor
Joint #1
reduction gear unit
ure: G6-551SR
Gasket (D/P)
Gasket (D/P)
Gasket (P)
Gasket (C/D/P)
Bellows (C/D/P)
Gasket (D/P)
Gasket (D/P)
Gasket (P)
Gasket (D/P)
Gasket (D/P)
Gasket (D/P)
(Figure: G6-551PR)
84 G6 Rev.11
3. Covers
All procedures for removing and installing covers in maintenance are described in this
chapter.
■
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.
■
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
WARNING
Maintenance Parts and Tools
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 careful not to get any foreign substances in the Manipulator, connectors, and
pins during maintenance. Turning ON the power to the robot system when any
foreign substances exist in them is extremely hazardous and may result in electric
shock and/or malfunction of the robot system.
Maintenance 3. Covers
Maintenance
parts
Tools
Name Quantity Note
Gasket unit 1 R13B031226
Arm #2 Gasket 1 R13B031227
Silicon adhesive
(for the gasket on the
Connector Plate)
Hexagonal wrench
(width across flats: 2.5 mm) 1 For M3 screw
Hexagonal wrench
(width across flats: 3 mm)
Cross-point screwdriver 1
Wiping cloth 1
1
1 For M4 screw
For bellows
removal
For wiping
adhesive
Only for Cleanroom-model and
Protected-model
Only for Cleanroom-model and
Protected-model
Only for Table top mounting and
Ceiling mounting
/ Protected-model
Only for Wall mounting
/ Cleanroom-model and
Protected-model
Only for Cleanroom-model and
Protected-model
G6 Rev.11 85
Maintenance 3. Covers
p
p
Table Top mounting
Arm top cover
Side cover
Arm cap
Wall mounting
Connector sub plate
Connector
Maintenance plate
Arm top cover
Base bottom cover
Side cover
Connector plate
Connector sub plate
late
Arm cap
Side cover
Side cover
Arm cap
Arm cap
Arm bottom cover
Maintenance plate
Base bottom cover (Except G6-***S)
Ceiling mounting
Base bottom cover
(Except G6-***SR)
Maintenance plate
Arm top cover
Arm cap
Side cover
Arm bottom cover
Connector sub plate
Connector
Side cover
Arm top cover
late
86 G6 Rev.11
3.1 Arm Top Cover
■
Do not remove the arm top cover forcibly. Removing the cover forcibly 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.
■
When installing the cover, be careful not to allow the cables to interfere with the
cover mounting and do not bend these cables forcibly to push them into the
CAUTION
Arm Top Cover
Removal
cover. Unnecessary strain on 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.
When routing the cables, observe the cable locations after removing the cover.
Be sure to place the cables back to their original locations.
(1) Turn ON the Controller.
(2) Press and hold the brake release button switch to let the shaft down. Be sure to keep
enough space and prevent the end effector hitting any peripheral equipment.
Maintenance 3. Covers
NOTE
)
(3) Turn OFF the Controller.
(4) Unscrew the arm top cover mounting bolts, and then lift the cover.
NOTE
)
The brake release button switch affects both Joints #3 and #4. When the brake
release button switch is pressed, the brakes for both Joints #3 and #4 are released
simultaneously. (Joint #4 brake is installed to G6-**3** only.)
Be careful of the shaft falling or rotation while the brake release button switch is being
pushed because it may be lowered by the weight of an end effector.
When bellows are installed to the manipulator, remove the upper bellows and then
remove the arm top cover. For bellows removal, refer to Maintenance 9. Bellows.
The cover cannot be removed completely because user wires and tubes are connected.
However, you can continue regular maintenance.
LED lamp and the cable of the brake release button switch are located between the
main part and the cover. Do not pull the cable strong or the connector may be
damaged.
G6 Rev.11 87
Maintenance 3. Covers
e
G6-***S* (Standard-model)
G6-***C* (Cleanroom-model),
G6-***D*/P* (Protected-model)
Arm Top Cover
Installation
4-M4×12
Gaskets are installed only to G6-***P*.
(1) Set the arm top cover to the arm and secure with
the arm top cover mounting bolts.
After mounting the arm top cover, make sure
that the lower limit mechanical stop does not
touch the cylindrical part of the arm top cover.
G6-***C*
: 4-M4×12
G6-***D*/P*
: 4-M4×15 (SUS)
Gasket
(G6-***P* only)
Gasket
(G6-***P* only)
Lower limit
mechanical stop
Cylinder part
of the arm
top cover
Shaft
Brake releas
button switch
When bellows are installed to the manipulator, install the arm top cover and then
install the upper bellows. For bellows installation, refer to Maintenance 9. Bellows.
88 G6 Rev.11
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