Setup & Operation 2. Specifications

26 G10 / G20 Rev.2
Exhaust System : Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter:ø8 mm)
or Inner diameter ø16mm or larger
Recommended exhaust flow rate : Approx. 1000 cm3/s (Normal)
*2: Contact us for detail information regarding the Protected-model Manipulator.
*3: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal
plane.
*4: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the
center of Joint #4, set the parameter using Inertia command.
*5: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.
Measurement point : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.
*6: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning.
However, you may require an operation with high acceleration to shorten the cycle time by decreasing the
vibration at positioning. In this case, set Accel to larger than 100.
If you specify a larger Accel value, the frequency of the overload error and over heat may rise during
continuous operation. The use of large Accel setting is recommended only for necessary motions.
2.5 How to Set the Model
The Manipulator model for your system has been set before shipment from the factory. It
is normally not required to change the model when you receive your system.

CAUTION

■ When you need to change the setting of the Manipulator model, be sure to set the

Manipulator model properly. Improper setting of the Manipulator model may

result in abnormal or no operation of the Manipulator and/or cause safety

problems.

)
NOTE If an MT label is attached to the rear of a Manipulator, the Manipulator has custom
specifications. The custom specifications may require a different configuration
procedure; check the custom specifications number described on the MT label and contact
us when necessary.
The Manipulator model can be set from software.
Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.