SCARA ROBOT
G6 series
MANIPULATOR MANUAL
Rev.11 |
EM111R2121F |
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 |
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system.
Keep this manual handy for easy access at all times.
The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls, tests, and inspections to certify its compliance with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period. (Please ask your Regional Sales Office for warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur during the warranty period):
1.Damage or malfunction caused by improper use which is not described in the manual, or careless use.
2.Malfunctions caused by customers’ unauthorized disassembly.
3.Damage due to improper adjustments or unauthorized repair attempts.
4.Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1.If the Manipulator or associated equipment is used outside of the usage conditions and product specifications described in the manuals, this warranty is void.
2.If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be responsible for any malfunction or accident, even if the result is injury or death.
3.We cannot foresee all possible dangers and consequences. Therefore, this manual cannot warn the user of all possible hazards.
ii |
G6 Rev.11 |
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.
No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.
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
G6 Rev.11 |
iii |
Japan & Others |
SEIKO EPSON CORPORATION |
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Suwa Minami Plant |
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Factory Automation Systems Dept. |
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1010 Fujimi, Fujimi-machi, |
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Suwa-gun, Nagano, 399-0295 |
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JAPAN |
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TEL |
: +81-(0)266-61-1802 |
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FAX |
: +81-(0)266-61-1846 |
North & South America EPSON AMERICA, INC.
Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746
USA
TEL : +1-562-290-5900
FAX : +1-562-290-5999 E-MAIL : info@robots.epson.com
Europe |
EPSON DEUTSCHLAND GmbH |
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Factory Automation Division |
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Otto-Hahn-Str.4 |
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D-40670 Meerbusch |
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Germany |
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TEL |
: +49-(0)-2159-538-1391 |
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FAX |
: +49-(0)-2159-538-3170 |
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: robot.infos@epson.de |
China |
EPSON China Co., Ltd |
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Factory Automation Division |
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7F, Jinbao Building No. 89 Jinbao Street |
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Dongcheng District, Beijing, |
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China, 100005 |
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TEL |
: +86-(0)-10-8522-1199 |
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FAX |
: +86-(0)-10-8522-1120 |
Taiwan |
EPSON Taiwan Technology & Trading Ltd. |
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Factory Automation Division |
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14F, No.7, Song Ren Road, Taipei 110 |
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Taiwan, ROC |
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TEL |
: +886-(0)-2-8786-6688 |
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FAX |
: +886-(0)-2-8786-6677 |
iv |
G6 Rev.11 |
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 |
This section describes what you should know before reading this manual.
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.
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Controller |
Software |
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Name |
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Structure |
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RC180 |
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Controller |
EPSON RC+ 5.0 |
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RC620 |
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Control Unit |
EPSON RC+ 6.0 |
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Drive Unit |
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For details on commands, refer to User’s Guide or “On-line help”.
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.
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.
This manual contains setting procedures by using software. They are marked with the following icon.
EPSON
RC+
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 |
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 |
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2.2 |
Model Number and Model Differences .................................................... |
11 |
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2.3 |
Part Names and Outer Dimensions......................................................... |
12 |
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2.3.1 |
Table Top Mounting ............................................................................ |
12 |
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2.3.2 |
Wall Mounting..................................................................................... |
18 |
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2.3.3 |
Ceiling Mounting................................................................................. |
24 |
2.4 |
Specifications .......................................................................................... |
30 |
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2.5 |
How to Set the Model .............................................................................. |
33 |
3.Environments and Installation·················································· 34
3.1 |
Environmental Conditions........................................................................ |
34 |
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3.2 |
Base Table............................................................................................... |
36 |
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3.3 |
Mounting Dimensions.............................................................................. |
37 |
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3.4 |
Unpacking and Transportation................................................................. |
40 |
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3.5 |
Installation ............................................................................................... |
41 |
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3.5.1 |
Table Top Mounting ............................................................................ |
41 |
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3.5.2 |
Wall Mounting..................................................................................... |
42 |
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3.5.3 |
Ceiling Mounting................................................................................. |
43 |
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3.5.4 |
Cleanroom-model............................................................................... |
44 |
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3.5.5 |
Protected-model ................................................................................. |
44 |
3.6 |
Connecting the Cables ............................................................................ |
45 |
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3.7 |
User Wires and Pneumatic Tubes ........................................................... |
47 |
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3.8 |
Relocation and Storage ........................................................................... |
49 |
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3.8.1 Precautions for Relocation and Storage............................................. |
49 |
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3.8.2 |
Table Top Mounting ............................................................................ |
50 |
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3.8.3 |
Wall Mounting..................................................................................... |
51 |
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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 |
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4.2 |
Attaching Cameras and Valves ............................................................... |
54 |
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4.3 |
Weight and Inertia Settings ..................................................................... |
55 |
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4.3.1 |
Weight Setting.................................................................................... |
55 |
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4.3.2 |
Inertia Setting..................................................................................... |
60 |
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 |
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5.1.1 Max. Pulse Range of Joint #1............................................................ |
62 |
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5.1.2 Max. Pulse Range of Joint #2............................................................ |
63 |
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5.1.3 Max. Pulse Range of Joint #3............................................................ |
64 |
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5.1.4 Max. Pulse Range of Joint #4............................................................ |
64 |
5.2 |
Motion Range Setting by Mechanical Stops............................................ |
65 |
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5.2.1 Setting the Mechanical Stops of Joints #1 and #2............................. |
66 |
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5.2.2 Setting the Mechanical Stop of Joint #3 ............................................ |
69 |
5.3Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................... |
71 |
5.4 Standard Motion Range .......................................................................... |
71 |
1.Safety Maintenance··································································· 77
2.General Maintenance ································································ 78
2.1 |
Schedule for Maintenance Inspection ..................................................... |
78 |
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2.2 |
Inspection Point ...................................................................................... |
79 |
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2.2.1 Inspection While the Power is OFF |
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(Manipulator is not operating) ......................................................................... |
79 |
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2.2.2 Inspection While the Power is ON |
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(Manipulator is operating)................................................................................ |
79 |
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2.3 |
Greasing ................................................................................................. |
80 |
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2.4 |
Tightening Hexagon Socket Head Cap Bolts .......................................... |
81 |
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2.5 |
Matching Origins ..................................................................................... |
81 |
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2.6 |
Layout of Maintenance Parts .................................................................. |
82 |
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2.6.1 |
Table Top Mounting............................................................................ |
82 |
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2.6.2 |
Wall Mounting .................................................................................... |
83 |
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2.6.3 |
Ceiling Mounting ................................................................................ |
84 |
3.Covers ························································································ 85
3.1 |
Arm Top Cover ........................................................................................ |
87 |
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3.2 |
Arm Bottom Cover .................................................................................. |
89 |
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3.3 |
Arm #1 Cover.......................................................................................... |
90 |
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3.3.1 |
G6-***S*, G6-***C*............................................................................. |
90 |
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3.3.2 |
G6-***D*, P* ....................................................................................... |
91 |
viii |
G6 Rev.11 |
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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 |
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4.2 |
Wiring Diagrams.................................................................................... |
109 |
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4.2.1 |
Signal Cable ..................................................................................... |
109 |
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4.2.2 |
Power Cable..................................................................................... |
110 |
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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 |
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10.1.1 |
Standard-model .............................................................................. |
156 |
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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 Calibration 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 |
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.
Setup & Operation 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.
Important safety considerations are indicated throughout the manual by the following symbols. Be sure to read the descriptions shown with each symbol.
WARNING
WARNING
CAUTION
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 associated instructions are not followed properly.
G6 Rev.11 |
3 |
Setup & Operation 1. 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.
■The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals. This product has been
WARNING |
designed and manufactured strictly for use in a normal indoor environment. |
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Using the product in an environment that exceeds the specified environmental |
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conditions may not only shorten the life cycle of the product but may also cause |
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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 |
Setup & Operation 1. 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.
■Before operating the robot system, make sure that no one is inside the
WARNING |
safeguarded area. The robot system can be operated in the mode for teaching |
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even when someone is inside the safeguarded area. |
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The motion of the Manipulator is always in restricted (low speeds and low power) |
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status to secure the safety of an operator. However, operating the robot system |
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while someone is inside the safeguarded area is extremely hazardous and may |
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result in serious safety problems in case that the Manipulator moves |
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unexpectedly. |
■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
WARNING 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
CAUTION |
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
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.
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Conditions for Measurement |
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Accel Setting |
100 |
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Speed Setting |
100 |
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Load [kg] |
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Weight Setting |
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Target point |
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emergency stop |
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Joint #1 |
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Stop point |
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Joint #2 |
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Controller |
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RC180 / RC620 |
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Manipulator |
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G6-45*** |
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G6-55*** |
G6-65*** |
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Free running |
Joint #1 + Joint #2 |
[sec.] |
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0.6 |
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0.7 |
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0.8 |
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time |
Joint #3 |
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[sec.] |
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0.4 |
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0.4 |
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Free running |
Joint #1 |
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[deg.] |
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35 |
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45 |
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55 |
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Joint #2 |
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[deg.] |
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60 |
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60 |
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65 |
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angle |
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Joint #1 + Joint #2 |
[deg.] |
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100 |
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110 |
120 |
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Free running |
Joint #3 |
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G6-**1** |
[mm] |
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40 |
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40 |
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40 |
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distance |
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G6-**3** |
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80 |
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80 |
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80 |
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6 |
G6 Rev.11 |
Setup & Operation 1. Safety
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.
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Joint #2 |
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(rotating) |
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− |
Joint #1 |
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+ |
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(rotating) |
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Joint #3 and #4 |
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− |
brake release button |
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+ |
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Arm #1 |
Arm #2
Base
+
Joint #3 |
Shaft |
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(up and down) |
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− − |
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+ |
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
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 |
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Labels |
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NOTE |
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Before loosening the base mounting screws, hold the |
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A |
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arm |
and secure |
it tightly with a band to prevent |
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hands or fingers from being caught in the |
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Manipulator. |
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B |
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C |
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Hazardous voltage exists while the Manipulator is |
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ON. |
To avoid |
electric shock, do not touch any |
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internal electric parts. |
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You can catch your hand or fingers between the shaft |
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and cover when bringing your hand close to moving |
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D |
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parts. |
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* Manipulators with bellows do not have this label for |
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no danger of your hand or fingers being caught. |
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Only authorized personnel should perform sling work |
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and operate a crane and a forklift. |
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E |
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When these operations are performed by |
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unauthorized personnel, it is extremely hazardous |
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and may result in serious bodily injury and/or severe |
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equipment damage to the robot system. |
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F |
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Be careful of the hand falling while the brake release |
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button is being pressed. |
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G |
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8 |
G6 Rev.11 |
Setup & Operation 1. Safety
Location |
Labels |
NOTE |
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H
Table Top Mounting |
C |
G6-***S |
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F |
D |
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B
E G
AC H
Ceiling Mounting |
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Wall Mounting |
H |
G6-***SR |
A |
G6-***SW |
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H |
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C |
C |
C |
G |
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F |
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F |
E |
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E |
G |
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A |
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D |
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D |
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B |
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B |
G6 Rev.11 |
9 |
Setup & Operation 2. Specifications
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 |
Setup & Operation 2. Specifications
G6-45 1 S □ -UL
UL specification
UL : UL compliant
□: Non UL compliant
Type
□ |
: Table Top mounting |
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W |
: Wall mounting |
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R |
: Ceiling mounting |
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Environment |
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S |
: Standard |
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C |
: Clean room |
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D |
: Protected |
: IP 54 (with bellows option) |
P |
: Protected |
: IP 65 |
Joint #3 stroke
1
3
:180 mm (G6-***S* / D*)
150 mm (G6-***C* / P* / D* bellows option)
:330 mm (G6-***S* / D*)
300 mm (G6-***C* / P* / D* bellows option)
Arm length
45 : 450 mm
55 : 550 mm
65 : 650 mm
Environment
Cleanroom-model
Cleanroom-model Manipulator includes additional features that reduce dust emitted by the Manipulator to enable use in clean room environments.
Protected-model (IP54 / IP65)
The Protected-model Manipulators operate under adverse conditions with dust and oily smoke.
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
Standard-model G6-***S
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Joint #2 |
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(rotating) |
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− |
Joint #1 |
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+ |
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(rotating) |
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Joint #3 and #4 |
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− |
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brake release button |
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+ |
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Arm #1 |
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LED lamp |
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Arm #2 |
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Base |
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+ |
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Joint #3 |
Shaft |
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(up and down) |
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− − |
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+ |
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Joint #4 |
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(rotating) |
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Signature label |
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MT label |
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(Serial No. of Manipulator) |
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(only for custom specification) |
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UR label |
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CE label |
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User connector |
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User connector |
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(9-pin D-sub connector) |
(15-pin D-sub connector) |
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Signal cable |
Power cable |
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Fitting (white) |
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Fitting (black) |
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for ø6 mm pneumatic tube |
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for ø6 mm pneumatic tube |
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Fitting (white) |
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Fitting (black) |
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for ø4 mm pneumatic tube |
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for ø4 mm pneumatic tube |
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NOTE |
- |
The brake release button affects both Joints #3 and #4. |
When the brake release |
button is pressed |
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in emergency mode, the brakes for both Joints #3 and #4 are released simultaneously. |
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(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
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G6-45*S |
G6-55*S |
G6-65*S |
a |
200 |
300 |
400 |
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G6-**1S |
G6-**3S |
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b |
180 |
330 |
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c |
119 |
-31 |
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d |
684 |
834 |
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(*) indicates the stroke margin by mechanical stop.
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90 or more |
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Space for cables |
1 mm flat cut |
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Conical hole |
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ø4,90° |
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Max.ø14 through hole |
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ø20 h7 shaft diameter |
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ø40 mechanical stop diameter |
Root both side chamfer C0.5 |
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Detail of “A” |
Reference through hole |
(Calibration point position of Joints #3 and #4) |
(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 |
Cover |
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(For static electricity |
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for Table Top mounting surface |
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countermeasure) |
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Exhaust port
14 |
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)
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G6-45*C |
G6-55*C |
G6-65*C |
a |
200 |
300 |
400 |
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G6-**1C |
G6-**3C |
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b |
150 |
300 |
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c |
116 |
-34 |
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d |
792 |
942 |
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90 or more Space for cables
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
Stainless steel plate
G6-***P only
Plate cover (For oil resistant)
User connector (Protected-model)
Joint #3 and #4 brake release button (Protected-model)
Lower bellows
G6-***P only
Plate cover (For oil resistant)
Fittings with cover (Protected-model)
Fittings with cover (Protected-model)
Stainless steel plate
Stainless steel plate
for Table Top mounting surface
Exhaust port
User connector (Protected-model)
NOTE 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
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G6-45*D/P |
G6-55*D/P |
G6-65*D/P |
a |
200 |
300 |
400 |
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G6-**1D/P |
G6-**3D/P |
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b |
150 |
300 |
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c |
116 |
-34 |
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d |
795.5 |
945.5 |
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(*) 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 |
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ø20 h7 shaft diameter |
Root both side chamfer C0.5 |
ø40 mechanical stop diameter |
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Detail of “A” |
Reference through hole |
(Calibration point position of Joints #3 and #4) |
(View from the bottom of the base) |
G6 Rev.11 |
17 |
Setup & Operation 2. Specifications
Standard-model G6-***SW
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MT label |
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Joint #2 |
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(only for custom specification) |
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(rotating) |
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Signature label |
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− |
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+ |
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(Serial No. of Manipulator) |
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Joint #3 and #4 |
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CE label |
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brake release button |
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UR label |
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LED lamp |
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Base |
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Arm #1 |
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− |
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+ |
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Joint #1 |
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+ |
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(rotating) |
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Joint #3 |
Arm #2 |
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(up and down) |
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− − |
Shaft |
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+ |
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User connector |
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Joint #4 |
Power cable |
(15-pin D-sub connector) |
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(rotating) |
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User connector |
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Signal cable |
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(9-pin D-sub connector) |
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Fitting (black) |
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for ø4 mm pneumatic tube |
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Fitting (white) |
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Fitting (white) |
for ø4 mm pneumatic tube |
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for ø6 mm pneumatic tube |
Fitting (black) |
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for ø6 mm pneumatic tube |
NOTE
)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.- The brake release button affects both Joints #3 and #4. When the brake release button is pressed
18 |
G6 Rev.11 |