Epson G10 Series, G20 Series

Setup & Operation 5. Motion Range

Ceiling Mounting

Center of Joint#3

Maximum space

Motion range

rea limited by mechanical st op

Base mounting face

G10/G20-85**R

G10-65**R

G10-A0**R

a b c d e f g h j k q r s

G10-65**R 107° 130° 291.2 306.5 250 650 473.1 485.5 130 133.5 231.2

G10/G20-85*SR 152.5° 3.5° 207.8 152.5

G10/G20-85*CR 151° 5° 183.3 218.3 450 850 797.3 807.8 151 123.3

G20-A0**R

152° 3°

152.5° 3.5° 285.4 307 600 1000 929.8 943.8 152.5

156 225.4

m n p t

G10/G20-**1SR 180

G10/G20-**4SR 420 5 5 447.5

G10/G20-**1CR 150

G10/G20-**4CR 390 1 1.8

485.5

(°: degree)

70 G10 / G20 Rev.2

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