EPSON G6-451PR, G6-551C, G6-553SW, G6-451SR, G6-451D User Manual
...
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
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