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Epson G10 Series, G20 Series Setup & Operation 2. Specifications , G10 / G20 Rev.2

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Setup & Operation 2. Specifications

G10 / G20 Rev.2 25

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

Joint #1 0.0000343 deg/pulse

Joint #2 0.0000549 deg/pulse

1 0.0000925 mm/pulse

Joint #3 4 0.000185 mm/pulse

Resolution

Joint #4 0.0001845 deg/pulse 0.0001308 deg/pulse

Joint #1 750 W

Joint #2 600 W

Joint #3 400 W

Motor power

consumption Joint #4 150 W

rated 5 kg 10 kg

Payload max. 10 kg 20 kg

rated 0.02 kg·m20.05 kg·m2

Joint #4 allowable

moment of inertia *4 max. 0.25 kg·m20.45 kg·m2

Shaft diameter ø25 mm

Hand Through hole ø18 mm

Joint #3 down force 250 N 150 N

Installed wire for customer use 24 (15 pin + 9 pin : D-sub)

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

tube for customer use 2 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)

Ambient

Temperature 5 to 40°C (with minimum temperature variation)

Environmental

requirements Ambient relative

humidity 10 to 80% (no condensation)

Equivalent continuous A-weighted sound

pressure level *5 LAeq = 70 dB(A)

Applicable Controller RC180

Speed 1 to (5) to 100

Accel *6 1 to (10) to 120

SpeedS 1 to (50) to 2000

AccelS 1 to (200) to 25000

Fine 0 to (10000) to 65000

Assignable Value

( ) Default values

Weight 0,400 to (5,400) to 10,400

MTBF 3 years

ANSI/RIA R15.06 compliant

Safety standard CE compliant

*1: The exhaust system in the Cleanroom-model Manipulator (G10/G20-***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 cm3 (1cft)

sample-air around the center of the motion rang: 10 particles or

less.)

Contents

Main SCARA ROBOT G10 / G20 series Rev.2 EM082R1662F MANIPULATOR MANUAL Page SCARA ROBOT G10 / G20 series FOREWORD WARRANTY TRADEMARKS NOTICE INQUIRIES SERVICE CENTER MANUFACTURER & SUPPLIER SUPPLIERS Before Reading This Manual Structure of Control System Turning ON/OFF Controller Shape of Motors Page TABLE OF CONTENTS Setup & Operation 1. Safety 3 2. Specifications 10 3. Environments and Installation 27 4. Setting of End Effectors 44 5. Motion Range 57 6. Maintenance Parts List 71 Page Page 1. Safety 1.1 Conventions 1.2 Design and Installation Safety 1.3 Operation Safety 1.4 Emergency Stop Page Page Setup & Operation 1. Safety G10 / G20 Rev.2 9 Table Top Mounting: G10/G20-**** Wall Mounting: G10/G20-****W Ceiling Mounting: G10/G20-****R 2. Specifications Page Setup & Operation 2. Specifications 12 G10 / G20 Rev.2 2.3 Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model : G10/G20-***S Setup & Operation 2. Specifications G10 / G20 Rev.2 13 Detail of A (Calibration point position of Joints #3 and #4) Reference through hole (View from the bottom of the base) Setup & Operation 2. Specifications Cleanroom-model G10/G20-***C Setup & Operation 2. Specifications G10 / G20 Rev.2 Setup & Operation 2. Specifications 16 G10 / G20 Rev.2 2.3.2 Wall Mounting Standard-model G10/G20-***SW Setup & Operation 2. Specifications G10 / G20 Rev.2 Setup & Operation 2. Specifications Cleanroom-model G10/G20-***CW Setup & Operation 2. Specifications G10 / G20 Rev.2 Setup & Operation 2. Specifications 20 G10 / G20 Rev.2 2.3.3 Ceiling Mounting Standard-model G10/G20-***SR Setup & Operation 2. Specifications G10 / G20 Rev.2 Setup & Operation 2. Specifications Cleanroom-model G10/G20-***CR Page Setup & Operation 2. Specifications 2.4 Specifications Setup & Operation 2. Specifications G10 / G20 Rev.2 Setup & Operation 2. Specifications 2.5 How to Set the Model CAUTION Page Page Table Top Mounting Wall Mounting Ceiling Mounting 3.4 Unpacking and Transportation CAUTION 3.4.2 Transportation Page Page Page 3.5.4 Cleanroom-model 3.6 Connecting the Cables Cable Connections 3.7 User Wires and Pneumatic Tubes Electrical Wires Pneumatic Tubes Page 3.8 Relocation and Storage Page Page Page 4. Setting of End Effectors Page Setup & Operation 4. Setting of End Effectors 46 G10 / G20 Rev.2 A 4.2 Attaching Cameras and Valves Ceiling Mounting Wall Mounting B 4.3 Weight and Inertia Settings 4.3.1 Weight Setting Load on the Shaft Load on the Arm Page Page 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting Moment of inertia of load on the shaft Eccentric Quantity and the Inertia Setting Setup & Operation 4. Setting of End Effectors Eccentric quantity of load on the shaft 120 100 80 60 40 20 0 50 100 150 200 (mm) (%) Setup & Operation 4. Setting of End Effectors G10 / G20 Rev.2 (a) Moment of inertia of a rectangular parallelepiped Automatic acceleration/deceleration vs. Joint #3 position 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 Page ) 5.1.4 Max. Pulse Range of Joint #4 5.2 Motion Range Setting by Mechanical Stops 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Page Page 5.2.2 Setting the Mechanical Stop of Joint #3 Page in the XY Coordinate System of the Manipulator (for Joints #1 and #2) Page Setup & Operation 6. Maintenance parts list G10 / G20 Rev.2 71 6. Maintenance Parts List Common Parts