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Epson G10 Series, G20 Series 6. Maintenance Parts List

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Setup & Operation 6. Maintenance parts list

G10 / G20 Rev.2 71

6. Maintenance Parts List

Common Parts

Part Name Code Note

Joint #1 R13B000610 750 W

Joint #2 R13B000611 600 W

Joint #3 R13B000607 400 W

For G10 R13B000612 150 W

AC Servo Motor

Joint #4 For G20 R13B000613 150 W with brake

Joint #1 R13B010013 HD32-80

Joint #2 R13B010014 HD32-50

For G10 R13B031601 G10-U

Reduction Gear Unit

Joint #4 For G20 R13B010015 HPG-14A21

Planetary gear reduction

650 mm R13B020014 *3

850 mm R13B020018 Inner wiring cable

Cable Unit

1000 mm R13B020019

Cable Length 3 m R12B020425

Cable Length 5 m R12B020426

M/C Cable

Cable Length 10 m R12B020427

Z axis R13B030503

Solenoid Brake U axis R13B030504 G10 only

Brake Release Switch Joint #3, 4 R13Z702640100 *1

For G10 R13B030209 Z : width 12 mm 744-3GT

Joint #3 For G20 R13B030211 Z : width 12 mm 588-3GT

For G10 R13B030210 U1 : width 15 mm 375-3GT

Timing Belt

Joint #4 For G20 R13B030212 U1 : width 20 mm 789-3GT

Battery Board R13B041202 With lithium battery

Installed in Arm #2

Battery Unit R13ZA00600300 Lithium battery for replacement *2

O-ring R13B031228 For Motor flange of Joint #1

LED Lamp R13A030000200 *1

Ball Screw Spline R13ZA00330200 AFB grease (400 g) *1

Reduction Gear Unit R13ZA00330100 SK-1A (500 g) *1

Grease

Cable R13B030304 Tube of GPL-224 (227 g)

*1 Common with E2 series

*2 Common with E2C

*3 Common with G6 series

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