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Epson G10 Series, G20 Series 3.6 Connecting the Cables

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Setup & Operation 3. Environments and Installation

G10 / G20 Rev.2 37

3.6 Connecting the Cables

■ To shut off power to the robot system, pull out the power plug from the power

source. Be sure to connect the AC power cable to a power receptacle. DO

NOT connect it directly to a factory power source.

■ Before performing any replacement procedure, turn OFF the Controller and

related equipment, and then pull out the power plug from the power source.

Performing any replacement procedure with the power ON is extremely

hazardous and may result in electric shock and/or malfunction of the robot

system.

WARNING ■ Be sure to connect the cables properly. Do not allow unnecessary strain on the

cables. (Do not put heavy objects on the cables. Do not bend or pull the cables

forcibly.) The unnecessary strain on the cables may result in damage to the

cables, disconnection, and/or contact failure. Damaged cables, disconnection,

or contact failure is extremely hazardous and may result in electric shock and/or

improper function of the robot system.

CAUTION

■ When connecting the Manipulator to the Controller, make sure that the serial

numbers on each equipment match. Improper connection between the

Manipulator and Controller may not only cause improper function of the robot

system but also serious safety problems. The connection method varies with

the Controller used. For details on the connection, refer to the Controller

manual.

If the G series Manipulator or E2 series Manipulator is connected to the

Controller for the PS series (ProSix), it may result in malfunction of the

Manipulator.

When the Manipulator is a Cleanroom-model, be aware of the followings.

When the Manipulator is a Cleanroom-model, use it with an exhaust system. For details,

refer to Setup & Operation: 2.4 Specifications.

Cable Connections

Connect the power connector and signal connector of the M/C cables to the Controller.

Signal Connector

Power Connector

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