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Epson G10 Series, G20 Series 4. Setting of End Effectors

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Setup & Operation 4. Setting of End Effectors

44 G10 / G20 Rev.2

4. Setting of End Effectors

4.1 Attaching an End Effector

Users are responsible for making their own end effector(s). Before attaching an end

effector, observe these guidelines.

CAUTION

■ If you use an end effector equipped with a gripper or chuck, connect wires and/or

pneumatic tubes properly so that the gripper does not release the work piece

when the power to the robot system is turned OFF. Improper connection of the

wires and/or pneumatic tubes may damage the robot system and/or work piece

as the work piece is released when the Emergency Stop switch is pressed.

I/O outputs are configured at the factory so that they are automatically shut off (0)

by power disconnection, the Emergency Stop switch, or the safety features of the

robot system.

Shaft

- Attach an end effector to the lower end of the shaft.

For the shaft dimensions, and the overall dimensions of the Manipulator, refer to Setup

& Operation: 2. Specifications.

- Do not move the upper limit mechanical stop on the lower side of the shaft.

Otherwise, when “Jump motion”is performed, the upper limit mechanical stop may hit

the Manipulator, and the robot system may not function properly.

- Use a split muff coupling with an M4 bolt or larger to attach the end effector to the

shaft.

Brake release button

- Joints #3 and #4 cannot be movedup/down by hand because the electromagnetic brake

is applied to the joints while power to the robot system is turned OFF. This prevents

the shaft from hitting peripheral equipment and rotating in the case that the shaft is

lowered by the weight of the end effector when the power is disconnected during

operation, or when the motor is turned OFF even though the power is turned ON.

To move Joint #3 up/down or rotate Joint

#4 while attaching an end effector, turn

ON the Controller and move the joint

up/down or rotate the joint while pressing

the brake release button.

This button switch is a momentary-type;

the brake is released only while the button

switch is being pressed.

The respective brakes for Joints #3 and #4

are released simultaneously.

Brake release button

The shaft may be lowered

by the weight of the end

effector.

- Be careful of the shaft falling and rotating while the brake release button is

b

eing

pressed because the shaft may be lowered by the weight of the end effector.

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