SCARA ROBOT G10 / G20 series MANIPULATOR MANUAL Rev.
MANIPULATOR MANUAL G10 / G20 series Rev.
SCARA ROBOT G10 / G20 series Manipulator Manual Rev.2 Copyright © 2007-2008 SEIKO EPSON CORPORATION. All rights reserved. G10 / G20 Rev.
FOREWORD Thank you for purchasing our robot products. This manual contains the information necessary for the correct use of the manipulator. Please carefully read this manual and other related manuals before installing the robot system. Keep this manual handy for easy access at all times.
TRADEMARKS Microsoft, Windows, and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. Other brand and product names are trademarks or registered trademarks of the respective holders. NOTICE No part of this manual may be copied or reproduced without authorization. The contents of this manual are subject to change without notice.
MANUFACTURER & SUPPLIER Japan & Others SEIKO EPSON CORPORATION Suwa Minami Plant Factory Automation Systems Dept. 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAPAN TEL : +81-(0)266-61-1802 FAX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC. Factory Automation/Robotics 18300 Central Avenue Carson, CA 90746 USA TEL : +1-562-290-5900 FAX : +1-562-290-5999 E-MAIL : info@robots.epson.com Europe iv EPSON DEUTSCHLAND GmbH Factory Automation Division Otto-Hahn-Str.
Before Reading This Manual This section describes what you should know before reading this manual. Structure of Control System The G10 / G20 series Manipulators can be used with the following combinations of Controllers and software. The operating methods and descriptions are different depending on which software you are using. The following icons are put beside appropriate text as necessary. Use the descriptions that pertain to the software you are using. Controller : RC180 Software : EPSON RC+ 5.
vi G10 / G20 Rev.
TABLE OF CONTENTS Before Reading This Manual............................................................................v Setup & Operation 1. Safety 1.1 1.2 1.3 1.4 1.5 1.6 2. Conventions.............................................................................................3 Design and Installation Safety .................................................................4 Operation Safety......................................................................................5 Emergency Stop ........
TABLE OF CONTENTS 4. Setting of End Effectors 4.1 4.2 4.3 4.4 44 Attaching an End Effector...................................................................... 44 Attaching Cameras and Valves ............................................................. 46 Weight and Inertia Settings ................................................................... 47 4.3.1 Weight Setting ........................................................................... 47 4.3.2 Inertia Setting .............................
Setup & Operation This volume contains information for setup and operation of the G10 / G20 series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
Setup & Operation 1. 1. Safety Safety Installation and transportation of robots and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes. Please read this manual and other related manuals before installing the robot system or before connecting cables. Keep this manual handy for easy access at all times. 1.1 Conventions Important safety considerations are indicated throughout the manual by the following symbols.
Setup & Operation 1.2 1. Safety Design and Installation Safety Only trained personnel should design and install the robot system. Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer, dealer, or local representative company, or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.
Setup & Operation 1.3 1. Safety Operation Safety The following items are safety precautions for qualified Operator personnel: ■ Please carefully read the Safety-related Requirements in the Safety chapter of the EPSON RC+ User’s Guide before operating the robot system. Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
Setup & Operation 1.4 1. Safety Emergency Stop If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake. However, avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally.
Setup & Operation 1.5 1. Safety Emergency Movement Without Drive Power When the system is placed in emergency mode, push the arm or joint of the Manipulator by hand as shown below: Arm #1 Push the arm by hand. Arm #2 Push the arm by hand. Joint #3 The joint cannot be moved up/down by hand until the electromagnetic brake applied to the joint has been released. Move the joint up/down while pressing the brake release button switch.
Setup & Operation 1.6 1. Safety Manipulator Labels The following labels are attached near the locations of the Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to operate and maintain the Manipulator safely. Do not tear, damage, or remove the labels.
Setup & Operation 1. Safety Table Top Mounting: G10/G20-**** C E D B A C Wall Mounting: G10/G20-****W C A B D Ceiling Mounting: G10/G20-****R A C C D G10 / G20 Rev.
Setup & Operation 2. Specifications 2. Specifications 2.1 Features of G10 series and G20 series Manipulators The G10 series and G20 series Manipulators are high-performance manipulators intended to achieve high speed, high accuracy, space saving, and high cost-performance. The G10 series Manipulators are optimized for high speed assembly and alignment procedure using multiple-hand. The G20 series Manipulators are optimized for heavy payload transfer and alignment packing procedure.
Setup & Operation 2.2 2.
Setup & Operation 2.3 2. Specifications Part Names and Outer Dimensions 2.3.1 Table Top Mounting Standard-model : G10/G20-***S Joint #2 (rotating) − + Joint #3 and #4 brake release button Joint #2 (rotating) − + Arm #1 Arm #2 Base + Joint #3 (up and down) Shaft − − + Joint #4 (rotating) Signature label (Serial No.
Setup & Operation 2. Specifications (Mount eyebolt at shipment) a G10-65*S 250 G10/G20-85*S 450 b c d G10/G20-**1S 180 813.5 213.5 G10/G20-**4S 420 1053.5 -26.5 (*) indicates the stroke margin by mechanical stop. G20-A0*S 600 90 or more Space for cables 1 mm flat cut Conical hole ø4,90° Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) G10 / G20 Rev.2 Root both side chamfer C0.
Setup & Operation 2. Specifications Cleanroom-model G10/G20-***C The following figure shows the additional parts and specifications for the Table Top mounting Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Plate cover (For static electricity countermeasure) Lower bellows Plate cover (For static electricity countermeasure) Cover for Table Top mounting surface Exhaust port 14 G10 / G20 Rev.
Setup & Operation 2. Specifications (Mount eyebolt at shipment) a G10-65*C 250 G10/G20-85*C 450 b c d G10/G20-**1C 150 870.5 205.5 G10/G20-**4C 390 1129.5 -34.5 (*) indicates the stroke margin by mechanical stop. G20-A0*C 600 90 or more Space for cables 1 mm flat cut Conical hole ø4,90° Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) G10 / G20 Rev.2 Root both side chamfer C0.
Setup & Operation 2. Specifications 2.3.2 Wall Mounting Standard-model G10/G20-***SW MT label (only for custom specification) Joint #2 (rotating) − Joint #3 and #4 brake release button Signature label (Serial No.
Setup & Operation 2. Specifications (*) indicates the stroke margin by mechanical stop. Detail of “B” 1 mm flat cut Conical hole ø4,90° 90 or more Space for cables Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) a b c d G10-65*SW 250 G10/G20-85*SW 450 G10/G20-**1SW 180 -27.5 420 G10/G20-**4SW 420 212.
Setup & Operation 2. Specifications Cleanroom-model G10/G20-***CW The following figure shows the additional parts and specifications for the Wall mounting Cleanroom-model when compared with the Standard-model in appearance. Upper bellows Plate cover (For static electricity countermeasure) Lower bellows Plate cover (For static electricity countermeasure) Exhaust port 18 G10 / G20 Rev.
Setup & Operation 2. Specifications (*) indicates the stroke margin by mechanical stop. Detail of “B” 90 or more Space for cables 1 mm flat cut Conical hole ø4,90° Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “A” (Calibration point position of Joints #3 and #4) a G10-65*CW 250 G10/G20-85*CW 450 b c d G10/G20-**1CW 150 29.5 515 G10/G20-**4CW 390 288.
Setup & Operation 2. Specifications 2.3.
Setup & Operation 2. Specifications (Tolerance applies to the pin hole) a G10-65*SR 250 G10/G20-85*SR 450 b c d G10/G20-**1SR 180 -27.5 420 G20-A0*SR 600 G10/G20-**4SR 420 212.5 660 90 or more Space for cables (*) indicates the stroke margin by mechanical stop. 1 mm flat cut Conical hole ø4,90° Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “B” Detail of “A” (Calibration point position of Joints #3 and #4) G10 / G20 Rev.
Setup & Operation 2. Specifications Cleanroom-model G10/G20-***CR The following figure shows the additional parts and specifications for the Ceiling mounting Cleanroom-model when compared with the Standard-model in appearance. Cover for Ceiling mounting surface Upper bellows Plate cover (For static electricity countermeasure) Lower bellows Plate cover (For static electricity countermeasure) Exhaust port 22 G10 / G20 Rev.
Setup & Operation 2. Specifications (Tolerance applies to the pin hole) a G10-65*CR 250 G10/G20-85*CR 450 b c d G10/G20-**1CR 150 29.5 515 G10/G20-**4CR 390 288.5 774 G20-A0*CR 600 90 or more Space for cables (*) indicates the stroke margin by mechanical stop. 1 mm flat cut Conical hole ø4,90° Max.ø18 through hole ø25 h7 shaft diameter ø39.5 mechanical stop diameter Detail of “B” Detail of “A” (Calibration point position of Joints #3 and #4) G10 / G20 Rev.
Setup & Operation 2. Specifications 2.4 Specifications Item Mount method Environment Arm #1, #2 Arm length 65 85 A0 1 Arm #3 4 Weight (not include the weight of cables) Driving method Max. operating speed *3 G10 G10/G20 G20 All joints Joints #1, #2 Joint #3 Joint #4 Repeatability 65 85 A0 1 4 G10 G20 Joints #1, #2 Joint #3 Joint #4 Joint #1 Max. motion range 65 85 A0 Joint #2 65 85 A0 65 85 A0 1 Joint #3 4 Joint #4 Joint #1 Max.
Setup & Operation 2. Specifications Resolution Item Joint #1 Joint #2 Motor power consumption Payload Joint #4 allowable moment of inertia *4 Hand Joint #3 1 4 Joint #4 Joint #1 Joint #2 Joint #3 Joint #4 rated max. rated max.
Setup & Operation 2. Specifications 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. plane.
Setup & Operation 3. Environments and Installation 3.1 Environmental Conditions 3. Environments and Installation A suitable environment is necessary for the robot system to function properly and safely.
Setup & Operation 3.2 3. Environments and Installation Base Table A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differs depending on the use of the robot system. For your reference, we list some Manipulator table requirements here.
Setup & Operation 3.3 3. Environments and Installation Mounting Dimensions The maximum space described in figures shows that the radius of the end effector is 60 mm or less. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space. If a camera or electromagnetic valve extends outside of the arm, set the maximum range including the space that they may reach.
Setup & Operation 3. Environments and Installation Wall Mounting G20-A0**W G10/G20-85**W Center of Joint#3 G10-65**W Maximum space 250 400 306.5 107 130 291.2 G10/G20-85* SW CW 450 400 207.8 218.3 107 152.5 151 183.
Setup & Operation 3.4 3.4.1 3. Environments and Installation Unpacking and Transportation Precautions for Transportation THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. WARNING ■ Only authorized personnel should perform sling work and operate a crane and a forklift.
Setup & Operation 3.4.2 3. Environments and Installation Transportation Transport the Manipulator following the instructions below: (1) Attach the eyebolts to the upper back side of the Arm. (2) Pass the belts through the eyebolts. (3) Hoist the Manipulator slightly so that it does not fall. Then, remove the bolts securing the Manipulator to the delivery equipment or pallet. (4) Hoist the Manipulator holding it by hand so that it can keep its balance. Then, move it to the base table. 32 G10 / G20 Rev.
Setup & Operation 3.5 3. Environments and Installation Installation Procedure The following sections describe the installation of the Standard Manipulator. 3.5.1 Table Top Mounting 3.5.2 Wall Mounting 3.5.3 Ceiling Mounting When the Manipulator is a Cleanroom-model, refer to the following section. 3.5.4 Cleanroom-model 3.5.1 Table Top Mounting CAUTION ■ Install the Table Top Mounting Manipulator with four or more people. The Manipulator weights are as follows.
Setup & Operation 3.5.2 3. Environments and Installation Wall Mounting WARNING ■ Install the Wall Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. G10-65**W : Approximately 51 kg :113 lb. G10/G20-85**W : Approximately 53 kg :117 lb. G20-A0**W : Approximately 55 kg :122 lb.
Setup & Operation 3.5.3 3. Environments and Installation Ceiling Mounting WARNING ■ Install the Ceiling Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. G10-65**R : Approximately 46 kg :102 lb. G10/G20-85**R : Approximately 48 kg :106 lb. G20-A0**R : Approximately 50 kg :111 lb.
Setup & Operation 3.5.4 36 3. Environments and Installation Cleanroom-model (1) Unpack it outside of the clean room. (2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall. (3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint-free cloth. (4) Carry the Manipulator in the clean room. (5) Refer to the installation procedure of each Manipulator model and install the Manipulator.
Setup & Operation 3.6 3. Environments and Installation 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.
Setup & Operation 3.7 3. Environments and Installation User Wires and Pneumatic Tubes CAUTION ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. User electrical wires and pneumatic tubes are contained in the cable unit. Electrical Wires Rated Voltage Allowable Current AC/DC30 V Wires 1A Nominal Sectional Area 2 15 0.
Setup & Operation 3.
Setup & Operation 3.8 3.8.1 3. Environments and Installation Relocation and Storage Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. THE INSTALLATION SHALL BE PREFORMED BY QUALIFIED INSTALLATION PERSONNEL AND SHOULD CONFORM TO ALL NATIONAL AND LOCAL CODES. WARNING ■ Only authorized personnel should perform sling work and operate a crane and a forklift.
Setup & Operation 3. Environments and Installation 3.8.2 Table Top Mounting CAUTION ■ Install or relocate the Table Top Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. G10-65** : Approximately 46 kg :102 lb. G10/G20-85** : Approximately 48 kg :106 lb. G20-A0** : Approximately 50 kg :111 lb.
Setup & Operation 3.8.3 3. Environments and Installation Wall Mounting WARNING ■ Install or relocate the Wall Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. G10-65**W : Approximately 51 kg :113 lb. G10/G20-85**W : Approximately 53 kg :117 lb. G20-A0**W : Approximately 55 kg :122 lb.
Setup & Operation 3.8.4 3. Environments and Installation Ceiling Mounting WARNING ■ Install or relocate the Ceiling Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. G10-65**R : Approximately 46 kg :102 lb. G10/G20-85**R : Approximately 48 kg :106 lb. G20-A0**R : Approximately 50 kg :111 lb.
Setup & Operation 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). effector, observe these guidelines. CAUTION Before attaching an end ■ 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.
Setup & Operation 4. Setting of End Effectors Layouts - When you operate the manipulator with an end effector, the end effector may interfere with the Manipulator because of the outer diameter of the end effector, the size of the work piece, or the position of the arms. When designing your system layout, pay attention to the interference area of the end effector. G10 / G20 Rev.
Setup & Operation 4.2 4. Setting of End Effectors Attaching Cameras and Valves Arm #2 has threaded holes as shown in the figure below. cameras, valves, and other equipment. Use these holes for attaching [Unit: mm] Common Dimensions 200 37.5 30 20 96 30 116 43.5 3.5 4-M4 depth 8 4-M4 depth 8 2-M4 depth 8 Table Top Mounting From the base mounting face 485.5 A B 2-M8 depth 16 (Mount eyebolt at shipment) 81 From the reference hole 110.
Setup & Operation 4.3 4. Setting of End Effectors Weight and Inertia Settings To ensure optimum Manipulator performance, it is important to make sure that the load (weight of the end effector and work piece) and moment of inertia of the load are within the maximum rating for the Manipulator, and that Joint #4 does not become eccentric. If the load or moment of inertia exceeds the rating or if the load becomes eccentric, follow the steps below, “4.3.1Weight Setting” and “4.3.
Setup & Operation 4. Setting of End Effectors Load on the Arm When you attach a camera or other devices to the arm, calculate the weight as the equivalent of the shaft. Then, add this to the load and enter the total weight to the Weight parameter. Equivalent Weight Formula WM = M (L1)2/(L1+L2)2 When you attach the equipment near Arm #2: 2 2 When you attach the equipment to the end of Arm #2: WM = M (LM) /(L2) WM : equivalent weight : weight of camera etc.
Setup & Operation 4. Setting of End Effectors Automatic speed setting by Weight G10 series (%) 140 * The percentage in the graph 120 100 100 100 100 100 is based on the speed at 100 rated weight (5 kg) as 100%. 90 80 70 G10-85*** 60 40 20 0 1 2 3 4 5 6 7 8 9 10 G20 series (%) 140 120 120 * The percentage in the graph 120 is based on the speed at 100 100 (kg) Weight setting rated weight (10 kg) as 100%.
Setup & Operation 4. Setting of End Effectors Automatic acceleration/deceleration setting by Weight G10 series (%) 180 165 165 160 160 * The percentage in the graph is based on the acceleration 150 / deceleration at rated weight 140 (5 kg) as 100%.
Setup & Operation 4. Setting of End Effectors 4.3.2 Inertia Setting Moment of Inertia and the Inertia Setting The moment of inertia is defined as “the ratio of the torque applied to a rigid body and its resistance to motion”. This value is typically referred to as “the moment of inertia”, “inertia”, or “GD2”. When the Manipulator operates with additional objects (such as an end effector) attached to the shaft, the moment of inertia of load must be considered.
Setup & Operation 4. Setting of End Effectors Moment of inertia of load on the shaft The moment of inertia of load (weight of the end effector and work piece) on the shaft can be set by the “moment of inertia” parameter of the Inertia command. EPSON RC+ Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools]-[Robot Manager]). (You may also execute the Inertia command from the [Command Window].
Setup & Operation 4. Setting of End Effectors Eccentric Quantity and the Inertia Setting CAUTION ■ The eccentric quantity of load (weight of the end effector and work piece) must be 200 mm or less. The G10 series and G20 series Manipulators are not designed to work with eccentric quantity exceeding 200 mm. Always set the eccentric quantity parameter according to the eccentric quantity.
Setup & Operation 4. Setting of End Effectors Eccentric quantity of load on the shaft The eccentric quantity of load (weight of the end effector and work piece) on the shaft can be set by “eccentric quantity” parameter of Inertia command. EPSON RC+ Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools]-[Robot Manager]). (You may also execute the Inertia command from the [Command Window].
Setup & Operation 4. Setting of End Effectors The methods for calculating the moment of inertia for (a), (b), and (c) are shown below. Calculate the total moment of inertia using the basic formulas.
Setup & Operation 4. Setting of End Effectors 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator horizontally with Joint #3 (Z) at a high position, the motion time will be faster. When Joint #3 gets below a certain point, then auto acceleration/deceleration is used to reduce acceleration/deceleration. (Refer to the figure below.) The higher the position of the shaft is, the faster the motion acceleration/deceleration is.
Setup & Operation 5. 5. Motion Range Motion Range ■ When setting up the motion range for safety, both the pulse range and mechanical stops must always be set at the same time. CAUTION The motion range is preset at the factory as explained in Setup & Operation: 5.4 Standard Motion Range. That is the maximum motion range of the Manipulator. There are three methods for setting the motion range described as follows: 1. Setting by pulse range (for all joints) 2.
Setup & Operation 5.1 5. Motion Range Motion Range Setting by Pulse Range (for All Joints) Pulses are the basic unit of Manipulator motion. The motion range of the Manipulator is controlled by the pulse range between the pulse lower limit and upper limit of each joint. Pulse values are read from the encoder output of the servo motor. For the maximum pulse range, refer to the following sections. The pulse range must be set inside of the mechanical stop range. 5.1.1 Max. Pulse Range of Joint #1 5.1.2 Max.
Setup & Operation 5.1.2 5. Motion Range Max. Pulse Range of Joint #2 The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1. With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-). 0 pulse A A B Model A Max. Motion Range B Max. Pulse Range G10-65*S* G10 / G20-85*S* G10 / G20-85*C* B Table Top Mounting ±152.
Setup & Operation 5.1.3 5. Motion Range Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position. Upper limit: 0 pulse Model G10/G20-**1S* G10/G20-**4S* G10/G20-**1C* G10/G20-**4C* NOTE ) 5.1.
Setup & Operation 5.2 5. Motion Range Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set. Joints #3 can be set to any length less than the maximum stroke.
Setup & Operation 5. Motion Range 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings. Install the bolts in the holes corresponding to the angle that you want to set.
Setup & Operation 5. Motion Range Joint #2 Mechanical Stops n o p m Joint #2 Model Arm Length Table Top / Ceiling / Wall Standard Table Top Cleanroom A0 85 Standard Cleanroom 85 85 65 65 Ceiling / Wall Table Top Ceiling / Wall 85 Z: 0 to –360 Z: –360 to –390 m n o q +122.5° +152.5° -152.5° -122.5° +121° +122.5° +100° +122.5° +100° +151° +152.5° +130° +152.5° +130° -151° -152.5° -130° -152.5° -130° -121° -122.5° -100° -122.5° -100° Setting Angle +100° +121° +122.5° +151° +152.
Setup & Operation 5. Motion Range (1) Turn OFF the Controller. (2) Install a hexagon socket head cap bolt into the hole corresponding to the setting angle, and tighten it. Joint Hexagon socket head cap bolt (fully threaded) The number of bolts Recommended tightening torque 1 M12 × 20 1 12740 N⋅cm (1300 kgf⋅cm) 2 M10 × 10 2 7350 N⋅cm (750 kgf⋅cm) (3) Turn ON the Controller. NOTE ) (4) Set the pulse range corresponding to the new positions of the mechanical stops.
Setup & Operation 5. Motion Range In this example, Joint #1 is moved to the center of its motion range (pulse value: 2621440) when checking Joint #2. If the arm is hitting the mechanical stops or if an error occurs after the arm hits the mechanical stops, either reset the pulse range to a narrower setting or extend the positions of the mechanical stops within the limit. 5.2.2 Setting the Mechanical Stop of Joint #3 NOTE ) This method applies only to the Standard-model Manipulator (G10/G20-***S*).
Setup & Operation 5. Motion Range (6) Firmly tighten two setscrews which are open at a 120 degree interval so that they do not enter the shaft groove. Recommended tightening torque: 980 N⋅cm (100 kgf⋅cm) (7) Turn ON the Controller. (8) Move Joint #3 to its lower limit while pressing the brake release button, and then check the lower limit position. Do not lower the mechanical stop too far. Otherwise, the joint may not reach a target position.
Setup & Operation Example: EPSON RC+ 5.3 When lowering the mechanical stop by 80 mm and changing the lower limit Z coordinate value to “-100” in 180 mm stroke Execute the following commands from the [Command Window]. >MOTOR ON ' Turns ON the motor >SPEED 5 ' Sets low speed >PULSE 0,0,-1081344,0 ' Moves to the lower limit-pulse position of Joint #3. (In this example, all pulses except those for Joint #3 are “0”.
Setup & Operation 5.4 5. Motion Range Standard Motion Range The following “motion range” diagrams show the standard (maximum) specification. When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest point moves in the areas shown in the figure. “Area limited by mechanical stop” is the area where the center of Joint #3’s lowest point can be moved when each joint motor is not under servo control.
Setup & Operation 5. Motion Range Wall Mounting G20-A0**W G10-65**W G10/G20-85**W Center of Joint#3 Maximum space Motion range Area limited by mechanical stop a G10-65**W G10/G20-85*SW 107° G10/G20-85*CW G20-A0**W G10/G20-**1SW G10/G20-**4SW G10/G20-**1CW G10/G20-**4CW m 180 420 150 390 Center of base reference hole b 3° c d 130° 3.5° 152.5° 151° 5° 152.5° 3.5° n p t 5 5 202.5 1 1.8 240.5 e f 291.2 306.5 207.8 183.3 218.3 285.4 307 g 250 450 600 h j k 650 473.1 485.5 q r s 130 133.
Setup & Operation 5. Motion Range Ceiling Mounting G10-A0**R G10/G20-85**R Center of Joint#3 Maximum space G10-65**R Motion range Area limited by mechanical stop Base mounting face G10-65**R G10/G20-85*SR G10/G20-85*CR G20-A0**R G10/G20-**1SR G10/G20-**4SR G10/G20-**1CR G10/G20-**4CR a 107° 152° m 180 420 150 390 b 3° c d 130° 3.5° 152.5° 151° 5° 152.5° 3.5° n p t 5 5 447.5 1 1.8 485.5 e f 291.2 306.5 207.8 183.3 218.3 285.4 307 g 250 450 600 h j k 650 473.1 485.5 q r s 130 133.
Setup & Operation 6. 6.
Setup & Operation 6. Maintenance parts list Parts by Environment Model (S: Standard-model Part Name S For G10 C Ball Screw Spline S For G20 C Arm Cover Bellows *3 72 Code 180 mm R13B010208 420 mm R13B010209 150 mm R13B010210 390 mm R13B010211 180 mm R13B010214 420 mm R13B010215 150 mm R13B010216 390 mm R13B010217 C: Cleanroom-model) Note S R13B030410 White painting C R13B030414 Plating C 150 mm R13B030701 390 mm R13B030703 *3 Common with G6 series G10 / G20 Rev.
