Epson G10 Series Users Manual

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2015-01-23

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SCARA ROBOT
G10 / G20 series
MANIPULATOR MANUAL
Rev.2 EM082R1662F
MANIPULATOR MANUAL G10 / G20 series Rev.2
G10 / G20 Rev.2 i
SCARA ROBOT
G10 / G20 series Manipulator Manual
Rev.2
Copyright © 2007-2008 SEIKO EPSON CORPORATION. All rights reserved.
ii G10 / G20 Rev.2
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.
WARRANTY
The Manipulator and its optional parts are shipped to our customers only after being
subjected to the strictest quality controls, tests, and inspections to certify its compliance
with our high performance standards.
Product malfunctions resulting from normal handling or operation will be repaired free of
charge during the normal warranty period. (Please ask your Regional Sales Office for
warranty period information.)
However, customers will be charged for repairs in the following cases (even if they occur
during the warranty period):
1. Damage or malfunction caused by improper use which is not described in the manual,
or careless use.
2. Malfunctions caused by customers’ unauthorized disassembly.
3. Damage due to improper adjustments or unauthorized repair attempts.
4. Damage caused by natural disasters such as earthquake, flood, etc.
Warnings, Cautions, Usage:
1. If the Manipulator or associated equipment is used outside of the usage conditions and
product specifications described in the manuals, this warranty is void.
2. If you do not follow the WARNINGS and CAUTIONS in this manual, we cannot be
responsible for any malfunction or accident, even if the result is injury or death.
3. We cannot foresee all possible dangers and consequences. Therefore, this manual
cannot warn the user of all possible hazards.
G10 / G20 Rev.2 iii
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.
Please notify us if you should find any errors in this manual or if you have any comments
regarding its contents.
INQUIRIES
Contact the following service center for robot repairs, inspections or adjustments.
If service center information is not indicated below, please contact the supplier office for
your region.
Please prepare the following items before you contact us.
- Your controller model and its serial number
- Your manipulator model and its serial number
- Software and its version in your robot system
- A description of the problem
SERVICE CENTER
iv G10 / G20 Rev.2
MANUFACTURER & SUPPLIER
SEIKO EPSON CORPORATION
Japan & Others
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 EPSON DEUTSCHLAND GmbH
Factory Automation Division
Otto-Hahn-Str.4
D-40670 Meerbusch
Germany
TEL : +49-(0)-2159-538-1391
FAX : +49-(0)-2159-538-3170
E-MAIL : robot.infos@epson.de
G10 / G20 Rev.2 v
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+ 5.0 Ver. 5.2 or later
For details on commands, refer to User’s Guide or “On-line help”.
Turning ON/OFF Controller
When you see the instruction “Turn ON/OFF the Controller” in this manual, be sure to
turn ON/OFF all the hardware components. For the Controller composition, refer to the
table above.
Shape of Motors
The shape of the motors used for the Manipulator that you are using may be different from
the shape of the motors described in this manual because of the specifications.
Setting by Using Software
This manual contains setting procedures by using software. They are marked with the
following icon.
EPSON
RC+
vi G10 / G20 Rev.2
G10 / G20 Rev.2 vii
TABLE OF CONTENTS
Before Reading This Manual............................................................................v
Setup & Operation
1. Safety 3
1.1 Conventions.............................................................................................3
1.2 Design and Installation Safety .................................................................4
1.3 Operation Safety......................................................................................5
1.4 Emergency Stop ......................................................................................6
1.5 Emergency Movement Without Drive Power ...........................................7
1.6 Manipulator Labels ..................................................................................8
2. Specifications 10
2.1 Features of G10 series and G20 series Manipulators............................10
2.2 Model Number and Model Differences ..................................................11
2.3 Part Names and Outer Dimensions .......................................................12
2.3.1 Table Top Mounting....................................................................12
2.3.2 Wall Mounting ............................................................................16
2.3.3 Ceiling Mounting ........................................................................20
2.4 Specifications.........................................................................................24
2.5 How to Set the Model ............................................................................26
3. Environments and Installation 27
3.1 Environmental Conditions......................................................................27
3.2 Base Table.............................................................................................28
3.3 Mounting Dimensions ............................................................................29
3.4 Unpacking and Transportation...............................................................31
3.4.1 Precautions for Transportation ...................................................31
3.4.2 Transportation............................................................................32
3.5 Installation Procedure............................................................................33
3.5.1 Table Top Mounting....................................................................33
3.5.2 Wall Mounting ............................................................................34
3.5.3 Ceiling Mounting ........................................................................35
3.5.4 Cleanroom-model ......................................................................36
3.6 Connecting the Cables ..........................................................................37
3.7 User Wires and Pneumatic Tubes .........................................................38
3.8 Relocation and Storage .........................................................................40
3.8.1 Precautions for Relocation and Storage.....................................40
3.8.2 Table Top Mounting....................................................................41
3.8.3 Wall Mounting ............................................................................42
3.8.4 Ceiling Mounting ........................................................................43
TABLE OF CONTENTS
4. Setting of End Effectors 44
4.1 Attaching an End Effector...................................................................... 44
4.2 Attaching Cameras and Valves ............................................................. 46
4.3 Weight and Inertia Settings ................................................................... 47
4.3.1 Weight Setting ........................................................................... 47
4.3.2 Inertia Setting ............................................................................ 51
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................... 56
5. Motion Range 57
5.1 Motion Range Setting by Pulse Range (for All Joints)........................... 58
5.1.1 Max. Pulse Range of Joint #1.................................................... 58
5.1.2 Max. Pulse Range of Joint #2.................................................... 59
5.1.3 Max. Pulse Range of Joint #3.................................................... 60
5.1.4 Max. Pulse Range of Joint #4.................................................... 60
5.2 Motion Range Setting by Mechanical Stops.......................................... 61
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 62
5.2.2 Setting the Mechanical Stop of Joint #3..................................... 65
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................. 67
5.4 Standard Motion Range ........................................................................ 68
6. Maintenance Parts List 71
viii G10 / G20 Rev.2
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. Safety
G10 / G20 Rev.2 3
1. 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. Be sure to read the descriptions shown with each symbol.
WARNING
This symbol indicates that a danger of possible serious
injury or death exists if the associated instructions are not
followed properly.
WARNING
This symbol indicates that a danger of possible serious
injury or death caused by electric shock exists if the
associated instructions are not followed properly.
CAUTION
This symbol indicates that a danger of possible harm to
people or physical damage to equipment and facilities
exists if the associated instructions are not followed
properly.
Setup & Operation 1. Safety
4 G10 / G20 Rev.2
1.2 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.
To ensure safety, a safeguard must be installed for the robot system. For details
on the safeguard, refer to the Installation and Design Precautions in the Safety
chapter of the EPSON RC+ User’s Guide.
The following items are safety precautions for design personnel:
■ Personnel who design and/or construct the robot system with this product must
read the Safety chapter in the EPSON RC+ User’s Guide to understand the
safety requirements before designing and/or constructing the robot system.
Designing and/or constructing the robot system without understanding the safety
requirements is extremely hazardous, may result in serious bodily injury and/or
severe equipment damage to the robot system, and may cause serious safety
problems.
■ The Manipulator and the Controller must be used within the environmental
conditions described in their respective manuals. This product has been
designed and manufactured strictly for use in a normal indoor environment.
Using the product in an environment that exceeds the specified environmental
conditions may not only shorten the life cycle of the product but may also cause
serious safety problems.
WARNING
■ The robot system must be used within the installation requirements described in
the manuals. Using the robot system outside of the installation requirements
may not only shorten the life cycle of the product but also cause serious safety
problems.
Further precautions for installation are mentioned in the chapter Setup &
Operation: 3. Environments and Installation. Please read this chapter carefully to
understand safe installation procedures before installing the robots and robotic
equipment.
Setup & Operation 1. Safety
G10 / G20 Rev.2 5
1.3 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.
■ Do not enter the operating area of the Manipulator while the power to the robot
system is turned ON. Entering the operating area with the power ON is
extremely hazardous and may cause serious safety problems as the Manipulator
may move even if it seems to be stopped.
■ Before operating the robot system, make sure that no one is inside the
safeguarded area. The robot system can be operated in the mode for teaching
even when someone is inside the safeguarded area.
The motion of the Manipulator is always in restricted (low speeds and low power)
status to secure the safety of an operator. However, operating the robot system
while someone is inside the safeguarded area is extremely hazardous and may
result in serious safety problems in case that the Manipulator moves
unexpectedly.
WARNING
■ Immediately press the Emergency Stop switch whenever the Manipulator moves
abnormally while the robot system is operated.
■ 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
■ Do not insert or pull out the motor connectors while the power to the robot system
is turned ON. Inserting or pulling out the motor connectors with the power ON is
extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnormally, and also may result in electric shock and/or malfunction of
the robot system.
CAUTION
■ Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
Setup & Operation 1. Safety
6 G10 / G20 Rev.2
1.4 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. Otherwise, the Manipulator may hit the peripheral equipment since
the operating trajectory while the robot system stops is different from that in normal
operation.
To place the system in emergency mode during normal operation, press the Emergency
Stop switch when the Manipulator is not moving.
Refer to the Controller manual for instructions on how to wire the Emergency Stop switch
circuit.
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
Conditions for Measurement
G10 G20
Accel Setting 100 100
Speed Setting 100 100
Load [kg] 10 20
Weight Setting 10 20
Joint #1
Start point of
operation
Target point
Stop point
Joint #2
Point where the
emergency stop
signal is input
Controller RC180
Manipulator G10-85*** G20-A0***
Joint #1 + Joint #2 [sec.] 0.7 1.3 Free running
time Joint #3 [sec.] 0.5 0.8
Joint #1 [deg.] 70 110
Joint #2 [deg.] 50 50
Free running
angle Joint #1 + Joint #2 [deg.] 120 160
Free running
distance
Joint #3 G10/G20-**1**[mm]
G10/G20-**4**
80
160
90
170
Contact us for details of G10-65*** or G20-85***.
Setup & Operation 1. Safety
G10 / G20 Rev.2 7
1.5 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.
Joint #4 The shaft cannot be rotated by hand until the electromagnetic brake
applied to the shaft has been released.
Move the shaft while pressing the brake release button switch.
Joint #3 and #4
brake release button
Joint #1
(rotating)
Joint #2
(rotating)
Joint #3
(up and down)
Joint #4
(rotating)
A
rm #1
A
rm #2
Base
+
−
+
−
+
−
+
−
Shaft
The brake release button affects both Joints #3 and #4. When the brake release button
is pressed in emergency mode, the brakes for both Joints #3 and #4 are released
simultaneously.
)
NOTE
Be careful of the shaft falling and rotating while the brake release button is pressed
because the shaft may be lowered by the weight of an end effector.
Setup & Operation 1. Safety
8 G10 / G20 Rev.2
1.6 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. Use meticulous care when handling those
parts or units to which the following labels are attached as well as the nearby areas:
Location of Labels Labels NOTE
A
Before loosening the base mounting screws, hold
the arm and secure it tightly with a band to prevent
hands or fingers from being caught in the
Manipulator.
B
C
Hazardous voltage exists while the Manipulator is
ON. To avoid electric shock, do not touch any
internal electric parts.
D
You can catch your hand or fingers between the
shaft and cover when bringing your hand close to
moving parts.
E
Only authorized personnel should perform sling
work and operate a crane. When these
operations are performed by unauthorized
personnel, it is extremely hazardous and may
result in serious bodily injury and/or severe
equipment damage to the robot system.
)
NOTE
Manipulators with bellows do not have label D for no danger of your hand or fingers
being caught.
Setup & Operation 1. Safety
G10 / G20 Rev.2 9
Table Top Mounting: G10/G20-****
D
C
C
A
B
E
Wall Mounting: G10/G20-****W
B
A
D
C
Ceiling Mounting: G10/G20-****R
B
A
C
C
D
Setup & Operation 2. Specifications
10 G10 / G20 Rev.2
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. The 1000 mm long arm model of the G20 series enables wide range
motion.
The features of the G10 series and G20 series Manipulators are as follows:
Compatibility with E2H Manipulators (our existing models)
The installation procedure and mounting dimensions of the end effector are compatible
with those for the E2H Manipulators (our existing models).
Space Saving
Compactness achieved by using a ductless design.
Reduce the system height by the new short stroke (Z: 180 mm) lineup.
Motion Range Extended
The motion range has been extended by 20% compared to E2 series.
Improved Productivity
The numbers of user wires and pneumatic tubes have been increased.
The speed of Joints #1, 2, 3, and 4 has been enhanced.
Cycle time has been improved.
Increased Load Capacity
The load capacity has been increased to handle greater work load.
G10: Max. 10 kg
G20: Max. 20 kg
Increased Inertia
The available end effector capacity has been enlarged to enable larger multiple-hand
that holds multi-kind and different types of work piece.
Allowable moment of inertia has been enlarged according to the load.
G10: Max. 0.25 kgm2
G20: Max. 0.45 kgm2
Various Types Available
Long stroke (Z: 420 mm)
Short stroke (Z: 180 mm)
Setup & Operation 2. Specifications
G10 / G20 Rev.2 11
2.2 Model Number and Model Differences
G10-85 4 S □
Type
□: Table Top mounting
W : Wall mounting
R : Ceiling mounting
Environment
S : Standard
C : Cleanroom
D : Protected : IP 54 (with bellow option)
P : Protected : IP 65
Joint #3 stroke
1: 180 mm (G10/G20***S*)
: 150 mm (G10/G20***C*)
4: 420 mm (G10/G20***S*)
: 390 mm (G10/G20***C*)
Arm Length
65 : 650 mm (G10 series only)
85 : 850 mm
A0 : 1000 mm (G20 series only)
Series
G10 : G10 series
G20 : G20 series
Environment
Cleanroom-model
Cleanroom-model Manipulator includes additional features that reduce dust emitted by
the Manipulator to enable use in clean room environments.
Protected-model (IP54 / IP65)
Contact us for detail information regarding the protected-model.
For details on the specifications, refer to Setup & Operation: 2.4 Specifications.
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
+
−
+
−
+
−
+
−
Joint #3 and #4
brake release button Joint #2
(rotating)
Joint #2
(rotating)
Joint #3
(up and down)
Joint #4
(rotating)
Arm #1
Arm #2
Base
Shaft
MT label
(only for custom specification)
Signature label
(Serial No. of Manipulator)
Signal cable Power cable
Fitting (black)
for ø 6 mm pneumatic tube
User connector
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
CE label
Fitting (black)
for ø 4 mm pneumatic tube
Fitting (white)
for ø 6 mm pneumatic tube
Fitting (white)
for ø 4 mm pneumatic tube
The brake release button affects both Joints #3 and #4. When the brake release button is pressed in
emergency mode, the brakes for both Joints #3 and #4 are released simultaneously.
)
NOTE
Setup & Operation 2. Specifications
G10 / G20 Rev.2 13
Conical hole ø4,90°
1 mm flat cut
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
ø39.5 mechanical stop diameter
(Mount eyebolt
at shipment)
Detail of “A”
(Calibration point position of Joints #3 and #4) Reference through hole
(View from the bottom of the base)
Root both side chamfer C0.5
G10-65*S G10/G20-85*S G20-A0*S
a 250 450 600
G10/G20-**1S G10/G20-**4S
b 180 420
c 813.5 1053.5
d213.5 -26.5
Setup & Operation 2. Specifications
14 G10 / G20 Rev.2
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)
Cover
for Table Top mounting surface
Exhaust port
Lower bellows
Plate cover
(For static electricity
countermeasure)
Setup & Operation 2. Specifications
G10-65*C G10/G20-85*C G20-A0*C
a 250 450 600
G10/G20-**1C G10/G20-**4C
b 150 390
c 870.5 1129.5
d 205.5 -34.5
(Mount eyebolt
at shipment)
Conical hole
ø4,90°
1 mm flat cut
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
ø39.5 mechanical stop diameter
Detail of “A”
(
Calibration
p
oint
p
osition of Joints #3 and #4
)
Reference through hole
(View from the bottom of the base)
Root both side chamfer C0.5
G10 / G20 Rev.2 15
Setup & Operation 2. Specifications
16 G10 / G20 Rev.2
2.3.2 Wall Mounting
Standard-model G10/G20-***SW
+
−
+
−
+
−
+
−
Joint #3
(up and down)
Joint #2
(rotating)
Joint #4
(rotating)
Arm #2
Arm #1
Joint #3 and #4
brake release button
Base
Shaft
Signal cable
Power cable
Fitting (black)
for ø 4 mm pneumatic tube
User connector
(15-pin D-sub connector) User connector
(9-pin D-sub connector)
MT label
(only for custom specification)
Signature label
(Serial No. of Manipulator)
CE label
Fitting (white)
for ø 4 mm pneumatic tube
Fitting (white)
for ø 6 mm pneumatic tube
Fitting (black)
for ø 6 mm pneumatic tube
Joint #1
(rotating)
)
NOTE The brake release button affects both Joints #3 and #4. When the brake release button is pressed in
emergency mode, the brakes for both Joints #3 and #4 are released simultaneously. (For G6-**1**,
Joint #4 has no brake on it.)
Setup & Operation 2. Specifications
G10 / G20 Rev.2 17
Reference hole
(Tolerance applies
to the pin hole)
Conical hole ø4,90°
1 mm flat cu
t
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
ø39.5 mechanical stop diameter
Detail of “A”
(
Calibration
p
oint
p
osition of Joints #3 and #4
)
Reference through hole
(View from the bottom of the base)
Detail of “B”
G10-65*SW G10/G20-85*SW G20-A0*SW
a 250 450 600
G10/G20-**1SW G10/G20-**4SW
b 180 420
c -27.5 212.5
d 420 660
Setup & Operation 2. Specifications
18 G10 / G20 Rev.2
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)
Exhaust port
Lower bellows
Plate cover
(For static electricity
countermeasure)
Setup & Operation 2. Specifications
G10 / G20 Rev.2 19
Reference hole
(Tolerance applies
to the pin hole)
Conical hole ø4,90°
1 mm flat cut
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
Detail of “A”
(
Calibration
p
oint
p
osition of Joints #3 and #4
)
Reference through hole
(View from the bottom of the base)
ø39.5 mechanical stop diameter
Detail of “B”
G10-65*CW G10/G20-85*CW G20-A0*CW
a 250 450 600
G10/G20-**1CW G10/G20-**4CW
b 150 390
c 29.5 288.5
d 515 774
Setup & Operation 2. Specifications
20 G10 / G20 Rev.2
2.3.3 Ceiling Mounting
Standard-model G10/G20-***SR
+
−
+
−
+
−
+
−
Joint #3
(up and down)
Joint #2
(rotating)
Joint #1
(rotating)
Joint #4
(rotating)
Arm #2
Arm #1
Joint #3 and #4
brake release button
Base
Shaft
MT label
(only for custom specification)
Signature label
(Serial No. of Manipulator) CE label
Signal cable Power cable
Fitting (black)
for ø 4 mm pneumatic tube
User connector
(15-pin D-sub connector) User connector
(9-pin D-sub connector)
Fitting (white)
for ø4 mm pneumatic tube
Fitting (white)
for ø 6 mm pneumatic tube
Fitting (black)
for ø 6 mm pneumatic tube
The brake release button affects both Joints #3 and #4. When the brake release button is pressed in
emergency mode, the brakes for both Joints #3 and #4 are released simultaneously. (For G6-**1**,
Joint #4 has no brake on it.)
)
NOTE
Setup & Operation 2. Specifications
Conical hole ø4,90°
1 mm flat cu
t
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
Detail of “A”
(
Calibration
p
oint
p
osition of Joints #3 and #4
)
ø39.5 mechanical stop diameter Detail of “B”
(Tolerance
applies to
the pin hole)
G10-65*SR G10/G20-85*SR G20-A0*SR
a 250 450 600
G10/G20-**1SR G10/G20-**4SR
b180 420
c -27.5 212.5
d420 660
G10 / G20 Rev.2 21
Setup & Operation 2. Specifications
22 G10 / G20 Rev.2
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.
Upper bellows
Plate cover
(For static electricity
countermeasure)
Exhaust port
Lower bellows
Plate cover
(For static electricity
countermeasure)
Cover
for Ceiling mounting surface
Setup & Operation 2. Specifications
G10-65*CR G10/G20-85*CR G20-A0*CR
a 250 450 600
G10/G20-**1CR G10/G20-**4CR
b 150 390
c 29.5 288.5
d 515 774
(Tolerance
applies to
the pin hole)
Conical hole ø4,90°
1 mm flat cut
Max.ø18 through hole
ø25 h7 shaft diameter
90 or more
Space for cables
(*) indicates the stroke margin by mechanical stop.
Detail of “A”
(
Calibration
p
oint
p
osition of Joints #3 and #4
)
ø39.5 mechanical stop diameter
Detail of “B”
G10 / G20 Rev.2 23
Setup & Operation 2. Specifications
24 G10 / G20 Rev.2
2.4 Specifications
Item G10/G20-**** G10/G20-****R G10/G20-*****W
Mount method Table Top Ceiling Wall
Environment Cleanroom-model *1 / Protected-model *2
65 650 mm (G10 only)
85 850 mm
Arm #1, #2
A0 1000 mm (G20 only)
1 180 mm : G10/G20-**1S*
150 mm : G10/G20-**1C*
Arm length
Arm #3 4 420 mm : G10/G20-**4S*
390 mm : G10/G20-**4C*
G10 65 46 kg : 102 lb 51 kg : 113 lb
G10/G20 85 48 kg : 106 lb 53 kg : 117 lb
Weight
(not include the weight
of cables) G20 A0 50 kg : 111 lb 55 kg : 122 lb
Driving method All joints AC servo motor
65 Contact us for the value.
85 11000 mm/s
Joints
#1, #2 A0 11500mm/sec
1 1100 mm/s
Joint #3 4 2350 mm/s
G10 2400 deg/s
Max.
operating
speed *3
Joint #4 G20 1600 deg/s
Joints #1, #2 ±0.025 mm
Joint #3 ±0.01 mm
Repeatability
Joint #4 ±0.005 deg
65
85
Joint #1
A0
±152 deg ±107 deg
65 ±130 deg
85
Joint #2
A0
±152.5 deg *a
1 180 mm : G10/G20-**1S*
150 mm : G10/G20-**1C*
Joint #3 4 420 mm : G10/G20-**4S*
390 mm : G10/G20-**4C*
Max.
motion range
Joint #4 ±360 deg
65
85
Joint #1
A0
-1805881 to +7048761 -495161 to +5738041
65 ±2366578
85
Joint #2
A0
±2776178 *a
1 -1946420 : G10/G20-**1S*
-1622016 : G10/G20-**1C*
Joint #3
4 -2270823 : G10/G20-**4S*
-2108621 : G10/G20-**4C*
G10 ±1951517
Max.
pulse range
(pulse)
Joint #4 G20 ±2752512
*a : The Joint #2 values for the following manipulators
Max. motion range Max. pulse range
G10/G20-85C (Z: −360 to −390 only)
G10/G20-85CW
G10/G20-85CR
±151 deg ±2748871
Setup & Operation 2. Specifications
G10 / G20 Rev.2 25
Item G10-***** G20-*****
Joint #1 0.0000343 deg/pulse
Joint #2 0.0000549 deg/pulse
1 0.0000925 mm/pulse
Joint #3 4 0.000185 mm/pulse
Resolution
Joint #4 0.0001845 deg/pulse 0.0001308 deg/pulse
Joint #1 750 W
Joint #2 600 W
Joint #3 400 W
Motor power
consumption
Joint #4 150 W
rated 5 kg 10 kg
Payload max. 10 kg 20 kg
rated 0.02 kg·m20.05 kg·m2
Joint #4 allowable
moment of inertia *4 max. 0.25 kg·m20.45 kg·m2
Shaft diameter ø25 mm
Hand Through hole ø18 mm
Joint #3 down force 250 N 150 N
Installed wire for customer use 24 (15 pin + 9 pin : D-sub)
2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) Installed pneumatic
tube for customer use 2 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi)
Ambient
Temperature 5 to 40°C (with minimum temperature variation)
Environmental
requirements Ambient relative
humidity 10 to 80% (no condensation)
Equivalent continuous A-weighted sound
pressure level *5 LAeq = 70 dB(A)
Applicable Controller RC180
Speed 1 to (5) to 100
Accel *6 1 to (10) to 120
SpeedS 1 to (50) to 2000
AccelS 1 to (200) to 25000
Fine 0 to (10000) to 65000
Assignable Value
( ) Default values
Weight 0,400 to (5,400) to 10,400
MTBF 3 years
ANSI/RIA R15.06 compliant
Safety standard CE compliant
*1: The exhaust system in the Cleanroom-model Manipulator (G10/G20-***C*) draws air from the base
interior and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria; Clean Class: 10 or its equivalent
Amount of Dust (0.1 µm diameter or larger) in 28317 cm3 (1cft)
sample-air around the center of the motion rang: 10 particles or
less.)
Setup & Operation 2. Specifications
26 G10 / G20 Rev.2
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. Maximum operating speed for CP command is 2000 mm/s on horizontal
plane.
*4: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the
center of Joint #4, set the parameter using Inertia command.
*5: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joints simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.
Measurement point : In front of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.
*6: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning.
However, you may require an operation with high acceleration to shorten the cycle time by decreasing the
vibration at positioning. In this case, set Accel to larger than 100.
If you specify a larger Accel value, the frequency of the overload error and over heat may rise during
continuous operation. The use of large Accel setting is recommended only for necessary motions.
2.5 How to Set the Model
The Manipulator model for your system has been set before shipment from the factory. It
is normally not required to change the model when you receive your system.
CAUTION
■ When you need to change the setting of the Manipulator model, be sure to set the
Manipulator model properly. Improper setting of the Manipulator model may
result in abnormal or no operation of the Manipulator and/or cause safety
problems.
)
NOTE If an MT label is attached to the rear of a Manipulator, the Manipulator has custom
specifications. The custom specifications may require a different configuration
procedure; check the custom specifications number described on the MT label and contact
us when necessary.
The Manipulator model can be set from software.
Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide.
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 27
3. Environments and Installation
3.1 Environmental Conditions
A suitable environment is necessary for the robot system to function properly and safely.
Be sure to install the robot system in an environment that meets the following conditions:
Item Conditions
Ambient temperature *1 5 to 40°C (with minimum temperature variation)
Ambient relative humidity 10 to 80% (no condensation)
First transient burst noise 2 kV or less
Electrostatic noise 6 kV or less
Environment · Install indoors.
· Keep away from direct sunlight.
· Keep away from dust, oily smoke, salinity, metal
powder or other contaminants.
· Keep away from flammable or corrosive solvents
and gases.
· Keep away from water.
· Keep away from shocks or vibrations.
· Keep away from sources of electric noise.
Manipulators are not suitable for operation in harsh environments such as painting areas,
etc. When using Manipulators in inadequate environments that do not meet the above
conditions, please contact us.
)
NOTE
*1 The ambient temperature conditions are for the Manipulators only. For the Controller
the Manipulators are connected to, refer to the Controller manual.
Setup & Operation 3. Environments and Installation
28 G10 / G20 Rev.2
3.2 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.
The base table must not only be able to bear the weight of the Manipulator but also be able
to withstand the dynamic movement of the Manipulator when the Manipulator operates at
maximum acceleration. Ensure that there is enough strength on the base table by
attaching reinforcing materials such as crossbeams.
The torque and reaction force produced by the movement of the Manipulator are as
follows:
G10 G20
Max. Reaction torque on the horizontal plate 1000 Nm 1000 Nm
Max. Horizontal reaction force 4500 N 7500 N
Max. Vertical reaction force 2000 N 2000 N
The threaded holes required for mounting the Manipulator base are M12. Use mounting
bolts with specifications conforming to ISO898-1 property class: 10.9 or 12.9.
For dimensions, refer to Setup & Operation: 3.3 Mounting Dimensions.
The plate for the Manipulator mounting face should be 20 mm thick or more and made of
steel to reduce vibration. The surface roughness of the steel plate should be 25 µm or
less.
The table must be secured on the floor or wall to prevent it from moving.
The Manipulator must be installed horizontally.
When using a leveler to adjust the height of the base table, use a screw with M16 diameter
or more.
If you are passing cables through the holes on the base table, see the figures below.
[unit : mm]
Power Cable
Connector
95
Signal Cable
Connector
47
26
53
18
M/C Cables
Do not remove the M/C cables from the Manipulator.
)
NOTE For environmental conditions regarding space when placing the Controller on the base
table, refer to the Controller manual.
WARNING
■ To ensure safety, a safeguard must be installed for the robot system.
For details on the safeguard, refer to the EPSON RC+ User’s Guide.
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 29
3.3 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.
Be sure to allow for the following extra spaces in addition to the space required for
mounting the Manipulator, Controller, and peripheral equipment.
space for teaching
space for maintenance and inspection
(Ensure a space to open the rear side cover and the maintenance cover for
maintenance.)
space for cables
The minimum bend radius of the power cable is 90 mm. When installing the cable, be
sure to maintain sufficient distance from obstacles. In addition, leave enough space for
other cables so that they are not bent forcibly.
Ensure distance to the safeguard from the maximum motion range is more than 100 mm.
G10-65**
G10/G20-85**
G20-A0**
Table Top Mounting
Center of Joint#3
Maximum space
**** : G10/G20-85*S : 207.8
G10/G20-85*C : 218.3
G10/G20-85*
G10-65** S C
G20-A0**
a Length of Arm #1 (mm) 250 450 600
b Length of Arm #2 (mm) 400 400 400
Z: 0 to −360 207.8
c (Motion range) 212.4 207.8
Z: − 360 ∼ −390 218.3 307
d Motion range of Joint #1 (degree) 152 152 152
Z: 0 to −360 152.5
e Motion range of Joint #2 (degree) 152.5 152.5 Z: −360 to −390 151 152.5
f (Mechanical stop area) 199.4 183.3 285.4
g Joint #1 angle to hit mechanical stop
(degree) 3 3 3
Z: 0 to −360 3.5
h Joint #2 angle to hit mechanical stop
(degree) 3.5 3.5
Z: −360 to −390 5 3.5
)
NOTE
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm.
Setup & Operation 3. Environments and Installation
30 G10 / G20 Rev.2
G10-65**W
G10/G20-85**W
G20-A0**W
Wall Mounting
Center of Joint#3
Maximum space
G10/G20-85*
G10-65**W SW CW G20-A0**W
a Length of Arm #1 (mm) 250 450 600
b Length of Arm #2 (mm) 400 400 400
c (Motion range) 306.5 207.8 218.3 307
d Motion range of Joint #1 (degree) 107 107 107
e Motion range of Joint #2 (degree) 130 152.5 151 152.5
f (Mechanical stop area) 291.2 183.3 285.4
g Joint #1 angle to hit mechanical stop
(degree) 3 3 3
h Joint #2 angle to hit mechanical stop
(degree) 3.5 3.5 5 3.5
G10-65**R
G10/G20-85**R
G20-A0**R
Ceiling Mounting
Center of Joint#3
Maximum space
G10/G20-85*
G10-65**R SR CR G20-A0**R
a Length of Arm #1 (mm) 250 450 600
b Length of Arm #2 (mm) 400 400 400
c (Motion range) 306.5 207.8 218.3 307
d Motion range of Joint #1 (degree) 107 152 152
e Motion range of Joint #2 (degree) 130 152.5 151 152.5
f (Mechanical stop area) 291.2 183.3 285.4
g Joint #1 angle to hit mechanical stop
(degree) 3 3 3
h Joint #2 angle to hit mechanical stop
(degree) 3.5 3.5 5 3.5
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 31
3.4 Unpacking and Transportation
3.4.1 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. When these operations are performed by unauthorized personnel, it is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system.
■ Using a cart or similar equipment, transport the Manipulator in the same manner
as it was delivered.
■ After removing the bolts securing the Manipulator to the delivery equipment, the
Manipulator can fall. Be careful not to get hands or fingers caught.
■ The arm is secured with a wire tie. Leave the wire tie secured until you finish the
installation so as not to get hands or fingers caught.
■ To carry the Manipulator, secure the Manipulator to the delivery equipment, or
pass belts through the eyebolts and hoist it with your hands. Make sure to hold
the areas indicated in gray in the figure (bottom of Arm #1 and bottom of the
base) by hand.
Table Top Mounting: *
Wall Mounting: W
Ceiling Mounting: R
G10
65**/**R : Approximately 46 kg : 102 lb
65**W : Approximately 51 kg : 113 lb
G10/G20
85**/**R : Approximately 48 kg : 106 lb
85**W : Approximately 53 kg : 117 lb
G20
A0**/**R : Approximately 50 kg : 111 lb
A0**W : Approximately 55 kg : 122 lb
■ Be careful not to get hands or fingers caught when holding the bottom of the base
by hand.
■ Stabilize the Manipulator with your hands when hoisting it.
CAUTION
■ When transporting the Manipulator for a long distance, secure it to the delivery
equipment directly so that the Manipulator never falls.
If necessary, pack the Manipulator in the same style as it was delivered.
Setup & Operation 3. Environments and Installation
32 G10 / G20 Rev.2
3.4.2 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.
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 33
3.5 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. 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.
Standard Model
(1) Secure the base to the base table with fou
r
bolts.
Use bolts with specifications conforming
to ISO898-1 Property Class: 10.9 or 12.9.
Tightening torque
: 7350 N⋅cm (750 kgf⋅cm)
20 mm
Screw Hole
(depth 20 mm or more)
4-M12
×
40
Spring
Washer
Plane
Washer
(2) Using nippers, cut off the wire tie binding
the shaft and arm retaining bracket on the
base.
(3) Remove the bolts securing the wire ties
removed in step (2).
Bolt
: M4×15
Washer
: M6
A
rm mounting bolt
: M12×20
Wire tie
Eyebolt
(Attached
at shipment)
)
NOTE
Setup & Operation 3. Environments and Installation
34 G10 / G20 Rev.2
3.5.2 Wall Mounting
■ 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.
WARNING
■ When installing the Manipulator to the wall, support the Manipulator, and then
secure the anchor bolts. Removing the support without securing the anchor
bolts properly is extremely hazardous and may result in fall of the Manipulator.
Standard Model
(1) Unpack the manipulator with retaining the arm posture.
(2) Secure the base to the wall with four bolts.
Use bolts with specifications conforming to ISO898-1 Property Class: 10.9 or 12.9.
Screw Hole
(depth 20 mm
or more)
4-M12
×
40 Spring Washer
Plane Washer
)
NOTE
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 35
3.5.3 Ceiling Mounting
■ 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.
WARNING
■ When installing the Manipulator to the ceiling, support the Manipulator, and then
secure the anchor bolts. Removing the support without securing the anchor
bolts properly is extremely hazardous and may result in fall of the Manipulator.
Standard Model
(1) Unpack the manipulator with retaining the arm posture.
(2) Secure the base to the ceiling with four bolts.
Use bolts with specifications conforming to ISO898-1 Property Class: 10.9 or 12.9.
Screw Hole
(depth 20 mm or more)
4-M12×40
Spring
Washe
r
Plane
Washer
)
NOTE
Setup & Operation 3. Environments and Installation
36 G10 / G20 Rev.2
3.5.4 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.
(6) Connect an exhaust tube to the exhaust port.
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
Setup & Operation 3. Environments and Installation
38 G10 / G20 Rev.2
3.7 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 Wires Nominal Sectional Area Outer Diameter Note
AC/DC30 V 1 A 15 0.211 mm2ø8.3±0.3 mm Shielded
Maker Standard
Suitable Connector JAE DA-15PF-N (Solder type)
15 pin Clamp Hood JAE DA-C8-J10-F2-1R (Connector setscrew: #4-40 NC)
Suitable Connector JAE DE9PF-N (Solder type)
9 pin Clamp Hood JAE DE-C8-J9-F2-1R (Connector setscrew: #4-40 NC)
Pins with the same number, indicated on the connectors on both ends of the cables, are
connected.
Pneumatic Tubes
Max. Usable Pneumatic Pressure Pneumatic Tubes Outer Diameter × Inner Diameter
2 ø6 mm × ø4 mm
0.59 MPa (6 kgf/cm2 : 86 psi) 2 ø4 mm × ø2.5 mm
Fittings for ø6 mm and ø4 mm (outer diameter) pneumatic tubes are supplied on both ends
of the pneumatic tubes.
Common Parts
Fitting (white) for
ø6 mm pneumatic tube
Fitting (black) for
ø6 mm pneumatic tube
Brake release
button switch
15-pin D-sub connector
Fitting (black) for
ø4 mm pneumatic tube
Fitting (white) for
ø4 mm pneumatic tube
9-pin D-sub connector
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 39
Table Top Mounting
Fitting (black)
for ø4 mm pneumatic tube
Fitting (white)
for ø4 mm pneumatic tube
Fitting (black)
for ø6 mm pneumatic tube
Fitting (white) for
ø6 mm pneumatic tube
User connector
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
Wall Mounting
Fitting (black)
for ø6 mm
pneumatic tube
User connecto
r
(15-pin D-sub connector)
User connector
(9-pin D-sub connector)
Fitting (white)
for ø6 mm pneumatic tube
Fitting (black)
for ø4 mm pneumatic tube
Fitting (white)
for ø4 mm pneumatic tube
Ceiling Mounting
Fitting (black)
for ø4 mm pneumatic tube
Fitting (white)
for ø4 mm pneumatic tube
Fitting (black)
for ø6 mm
pneumatic tube
Fitting (white)
for ø6 mm
pneumatic tube
User connector
(15-pin D-sub connector) User connector
(9-pin D-sub connector)
Setup & Operation 3. Environments and Installation
40 G10 / G20 Rev.2
3.8 Relocation and Storage
3.8.1 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. When these operations are performed by unauthorized personnel, it is
extremely hazardous and may result in serious bodily injury and/or severe
equipment damage to the robot system.
■ Before relocating the Manipulator, fold the arm and secure it tightly with a wire tie
to prevent hands or fingers from being caught in the Manipulator.
■ When removing the anchor bolts, support the Manipulator to prevent falling.
Removing the anchor bolts without support may result in a fall of the Manipulator,
and then get hands, fingers, or feet caught.
■ To carry the Manipulator, have four or more people to work on it and secure the
Manipulator to the delivery equipment or hold the bottom of Arm #1 and the
bottom of the base by hand. When holding the bottom of the base by hand, be
very careful not to get hands or fingers caught.
CAUTION
■ Stabilize the Manipulator with your hands when hoisting it. Unstable hoisting is
extremely hazardous and may result in fall of the Manipulator.
When transporting the Manipulator for a long distance, secure it to the delivery
equipment so that the Manipulator cannot fall.
If necessary, pack the Manipulator in the same way as it was delivered.
When the Manipulator is used for a robot system again after long-term storage,
perform a test run to verify that it works properly, and then operate it thoroughly.
Transport and store the Manipulator in the range of -25°C to +55°C.
Humidity within 10% to 90% is recommended.
When condensation occurs on the Manipulator during transport or storage, turn
ON the power only after the condensation dries.
Do not shock or shake the Manipulator during transport.
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 41
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.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
)
NOTE
(2) Attach the eyebolts on the upper back side of Arm #1.
(3) Tie the lower end of the shaft and arm, and the base and arm together with a wire tie.
Be careful not to tie them too tight. Otherwise, the shaft may bend.
Bolt
: M4×15
Washer
: M6
A
rm mounting bolt
: M12×20
Wire tie
Eyebolt
(Attached
at shipment)
(4) Pass the belts through the eyebolts.
(5) Hoist the Manipulator slightly so that it does not fall. Remove four bolts securing
the Manipulator.
(6) Hoist the Manipulator holding it by hand so that it can keep its balance. Then,
move the Manipulator to the delivery equipment or another location and anchor it.
Stretch the belts tight until you finish anchoring the Manipulator.
)
NOTE
Setup & Operation 3. Environments and Installation
42 G10 / G20 Rev.2
3.8.3 Wall Mounting
■ 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.
WARNING
■ When removing the Manipulator from the wall, support the Manipulator, and then
remove the anchor bolts. Removing the anchor bolts without supporting is
extremely hazardous and may result in fall of the Manipulator.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
)
NOTE
(2) Cover the arm with a sheet so that the arm will not be damaged.
efer to the figure below and bind the shaft and arm retaining bracket on the base. R
Sheet
Arm mounting bolt
Bolt for Arm #1 mechanical stop
Bolt
: M4×15
Washer
: M5
Wire tie
Example of Arm Retaining Posture
(3) Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the
Manipulator from the wall.
Setup & Operation 3. Environments and Installation
G10 / G20 Rev.2 43
3.8.4 Ceiling Mounting
■ 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.
WARNING
■ When removing the Manipulator from the ceiling, support the Manipulator, and
then remove the anchor bolts. Removing the anchor bolts without supporting is
extremely hazardous and may result in fall of the Manipulator.
(1) Turn OFF the power on all devices and unplug the cables.
Remove the mechanical stops if using them to limit the motion range of Joints #1 and
#2. For details on the motion range, refer to Setup & Operation: 5.2 Motion Range
Setting by Mechanical Stops.
)
NOTE
(2) Cover the arm with a sheet so that the arm will not be damaged.
efer to the figure below and bind the shaft and arm retaining bracket on the base. R
Sheet
Arm mounting bolt
Bolt for Arm #1 mechanical stop
Bolt
: M4×15
Washer
: M5
Wire tie
Example of Arm Retaining Posture
(3) Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the
Manipulator from the ceiling.
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 moved up/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.
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 45
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.
Setup & Operation 4. Setting of End Effectors
46 G10 / G20 Rev.2
4.2 Attaching Cameras and Valves
Arm #2 has threaded holes as shown in the figure below. Use these holes for attaching
cameras, valves, and other equipment. [Unit: mm]
A
A
30
2-M4 depth 8
4-M4 depth 8
43.5
37.5 20
4-M4 depth 8
30
116
96
2-M8 depth 16
(Mount eyebolt
at shipment)
118
110
3.5
B2-M8 depth 16
(Mount eyebolt
at shipment)
37
110
B
A
81
Common Dimensions
Wall Mounting
Table Top Mounting
From the base
mounting face
485.5
From the base
mounting face
326
From the reference hole
110.5
From the base
mounting face
326
From the base
mounting face
355.5
Ceiling Mounting
200
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 47
4.3 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 “4.3.2 Inertia Setting” to set parameters.
Setting parameters makes the operation of the Manipulator optimal, reduces vibration to
shorten the operating time, and improves the capacity for larger loads. In addition, it
reduces persistent vibration produced when the moment of inertia of the end effector and
work piece is larger that the default setting.
4.3.1 Weight Setting
CAUTION
■ G10 series
The total weight of the end effector and the work piece must not exceed 10 kg.
The G10 series Manipulators are not designed to work with loads exceeding 10
kg.
G20 series
The total weight of the end effector and the work piece must not exceed 20 kg.
The G20 series Manipulators are not designed to work with loads exceeding 20
kg.
Always set the Weight parameters according to the load. Setting a value that is
smaller than the actual load may cause errors, excessive shock, insufficient
function of the Manipulator, and/or shorten the life cycle of parts/mechanisms.
The acceptable weight capacity (end effector and work piece) in G10 series and G20 series
Manipulators are as follows.
Rated Max.
G10 series 5 kg 10 kg
G20 series 10 kg 20 kg
When the load (weight of the end effector and work piece) exceeds the rating, change the
setting of Weight parameter.
After the setting is changed, the maximum acceleration/deceleration speed of the robot
system corresponding to the “Weight Parameter” is set automatically.
Load on the Shaft
The load (weight of the end effector and work piece) on the shaft can be set by Weight
parameter.
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
48 G10 / G20 Rev.2
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
When you attach the equipment near Arm #2:
When you attach the equipment to the end of Arm #2:
WM = M (L1)2/(L1+L2)2
WM = M (LM)2/(L2)2
WM
M
L1
L2
LM
: equivalent weight
: weight of camera etc.
: length of Arm #1
: length of Arm #2
: distance from rotation center of Joint #2 to center of gravity
of camera etc.
<Example> A “1 kg” camera is attached to the end of the G10 series arm (450 mm
away from the rotation center of Joint #2) with a load weight of “2
kg”.
M = 1
L2 = 400
LM = 450
WM=1×4502/4002=1.26 → 1.3 (round up)
W + WM = 2 + 1.3 = 3.3
Enter “3.3” for the Weight Parameter.
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 49
Automatic speed setting by Weight
G10 series
140
120
100
80
60
40
20
0 1 2 3 4 5 6 7 8 9 10 (kg)
Weight setting
(
%
)
100 100 100 100 90
70
100
G10-85***
* The percentage in the graph
is based on the speed at
rated weight (5 kg) as 100%.
G20 series
140
120
100
80
60
40
20
0 5 10 15 20 (kg)
Weight setting
(
%
)
120 120
100
80 70 G20-A0***
* The percentage in the graph
is based on the speed at
rated weight (10 kg) as 100%.
Contact us for details of G10-65*** and G20-85***.
Setup & Operation 4. Setting of End Effectors
50 G10 / G20 Rev.2
Automatic acceleration/deceleration setting by Weight
G10 series
180
160
140
120
100
80
60
40
20
0 1 2 3 4 5 6 7 8 9 10 (kg)
Weight setting
(
%
)
165 160 150
100 90 80
165
G10-85***
* The percentage in the graph
is based on the acceleration
/ deceleration at rated weight
(5 kg) as 100%.
G20 series
140
120
100
80
60
40
20
0 5 10 15 20 (kg)
Weight setting
(
%
)
120
110 100
90 75
120
G20-A0***
* The percentage in the graph
is based on the acceleration
/ deceleration at rated weight
(10 kg) as 100%.
Contact us for details of G10-65*** and G20-85***.
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 51
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.
CAUTION
■ G10 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.25 kgwm2 or less. The G10 series Manipulators are not designed to
work with a moment of inertia exceeding 0.25 kgwm2.
G20 series
The moment of inertia of the load (weight of the end effector and work piece)
must be 0.45 kgwm2 or less. The G20 series Manipulators are not designed to
work with a moment of inertia exceeding 0.45 kgwm2.
Always set the moment of inertia parameter to the correct moment of inertia.
Setting a value that is smaller than the actual moment of inertia may cause
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms.
The acceptable moment of inertia of load for a G10 series and G20 series Manipulators are
as follows.
Rated Max.
G10 series 0.02 kg･m20.25 kg･m2
G20 series 0.05 kg･m20.45 kg･m2
When the moment of inertia of the load exceeds the rating, change the setting of the
moment of inertia parameter of the Inertia command. After the setting is changed, the
maximum acceleration/deceleration speed of Joint #4 corresponding to the “moment of
inertia” value is set automatically.
Setup & Operation 4. Setting of End Effectors
52 G10 / G20 Rev.2
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].)
Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of inertia)
G10 series
0 0.05 0.10 0.15 0.20 0.25 (kg･m2) Moment of inertia setting
120
100
80
60
40
20
(%) 100 100
50
35 30
* The percentage in the graph is based
on the acceleration/deceleration at
rated moment of inertia (0.02 kg⋅m2)
as 100%.
G20 series
0 0.10 0.20 0.30 0.40 0.50 (kg･m2) Moment of inertia setting
600
500
400
300
200
100
(%)
400
100 60 35 26
* The percentage in the graph is based
on the acceleration/deceleration at
rated moment of inertia (0.05 kg⋅m2)
as 100%.
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 53
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.
Setting a value that is smaller than the actual eccentric quantity may cause
errors, excessive shock, insufficient function of the Manipulator, and/or shorten
the life cycle of parts/mechanisms.
The acceptable eccentric quantity of load in G10 series and G20 series Manipulators is 0
mm at the default rating and 200 mm at the maximum. When the eccentric quantity of
load exceeds the rating, change the setting of eccentric quantity parameter of Inertia
command. After the setting is changed, the maximum acceleration/deceleration speed of
the Manipulator corresponding to the “eccentric quantity” is set automatically.
Position of load’s center of gravity
Rotation center
Eccentric quantity (200 mm or less)
Eccentric Quantity
Setup & Operation 4. Setting of End Effectors
54 G10 / G20 Rev.2
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].)
Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
G10 series and G20 series
* The percentage in the graph is
based on the acceleration /
deceleration at rated
eccentricity (0 mm) as 100%.
120
100
80
60
40
20
0 50 100 150 200 (mm)
Eccentricity setting
70
50
25
(%)
100
Calculating the Moment of Inertia
Refer to the following examples of formulas to calculate the moment of inertia of load
(end effector with work piece).
The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and
(c).
Work piece (b) Work piece (c)
End effector (a)
Joint #3 shaft
Rotation center
Moment of inertia
of end effector (a)
= Moment of inertia
of work piece (b)
+Moment of inertia
of work piece (c)
+
Whole moment
of inertia
Setup & Operation 4. Setting of End Effectors
G10 / G20 Rev.2 55
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.
(a) Moment of inertia of a rectangular parallelepiped
h
b
L
Mass (m)
Rectangular parallelepiped’s center of gravity
Rotation center
m + m
× L2
b2 + h2
12
(b) Moment of inertia of a cylinder
m + m
× L2
r 2
2
Mass (m)
L
r
Cylinder’s center of gravity Rotation center
(c) Moment of inertia of a sphere
m r
2+ m × L2
2
5
Sphere’s center of gravity
r
Mass (m)
L
Rotation center
Setup & Operation 4. Setting of End Effectors
56 G10 / G20 Rev.2
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. However, it takes more time to move Joint #3 up and down.
Adjust the position of Joint #3 for the Manipulator motion after considering the relation
between the current position and the destination position. The upper limit of Joint #3
during horizontal motion can be set by the LimZ command.
Automatic acceleration/deceleration vs. Joint #3 position
G10 series and G20 series
* The percentage in the graph is
based on the acceleration /
deceleration at the upper-limited
position of Joint #3 as 100%.
120
100
80
60
40
20
0 -100 -200 -300 -400 (mm)
Height of the shaft
(%) 100
40
100
)
NOTE When moving the Manipulator horizontally while the shaft is being lowered, it may cause
over-shoot at the time of final positioning.
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 57
5. Motion Range
CAUTION
■ When setting up the motion range for safety, both the pulse range and
mechanical stops must always be set at the same time.
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. Setting by mechanical stops (for Joints #1 to #3)
3. Setting the Cartesian (rectangular) range in the X, Y coordinate system of the
Manipulator (for Joints #1 and #2)
Mechanical
stop
Rectangular range setting
Pulse range
Motion range
Mechanical
stop
When the motion range is changed due to layout efficiency or safety, follow the
descriptions in 5.1 to 5.3 to set the range.
Setup & Operation 5. Motion Range
58 G10 / G20 Rev.2
5.1 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. Pulse Range of Joint #2
5.1.3 Max. Pulse Range of Joint #3
5.1.4 Max. Pulse Range of Joint #4.
)
NOTE Once the Manipulator receives an operating command, it checks whether the target
position specified by the command is within the pulse range before operating. If the
target position is out of the set pulse range, an error occurs and the Manipulator does not
move.
EPSON
RC+
The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot
Manager]. (You may also execute the Range command from the [Command Window].)
5.1.1 Max. Pulse Range of Joint #1
The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the
positive (+) direction on the X-coordinate axis.
When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the
positive (+) and the clockwise pulse value is defined as the negative (-).
+Y
+X 0 pulse
B B
A A
Arm length Table Top Mounting Ceiling Mounting Wall mounting
65
A
Max. Motion
Range 85/A0 ±152 degrees ±107 degrees
65
B
Max. Pulse
Range 85/A0 -1805881 to +7048761 -495161 to 5738041
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 59
5.1.2 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 (-).
B B
0 pulse
A A
Model Table Top Mounting Ceiling / Wall Mountings
G10-65*S* ±130 degrees
G10 / G20-85*S* ±152.5 degrees
Z: 0 to −360
±152.5 degrees
G10 / G20-85*C* Z: −360 to −390 ±151 degrees
±151 degrees
A
Max. Motion
Range
G20-A0*S* ±152.5 degrees ±152.5 degrees
G10-65*S* ±2366578
G10 / G20-85*S* ±2776178
Z: 0 to −360
±2776178
G10 / G20-85*C* Z: −360 to −390 ±2748871 ±2748871
B
Max. Pulse
Range
G20-A0*S* ±2776178 ±2776178
)
NOTE
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm.
Setup & Operation 5. Motion Range
60 G10 / G20 Rev.2
5.1.3 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 Joint #3 Stroke Minimum Limit Pulse
G10/G20-**1S* 180 mm
-1946420
G10/G20-**4S* 420 mm
-2270823
G10/G20-**1C* 150 mm
-1622016
G10/G20-**4C* 390 mm
-2108621
)
NOTE For the Cleanroom-model (G10/G20-***C*), the motion range set with the Joint #3
mechanical stop cannot be changed.
5.1.4 Max. Pulse Range of Joint #4
The 0 (zero) pulse position of Joint #4 is the position where the flat near the end of the
shaft faces toward the end of Arm #2. 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 (-).
+Y
+X
Clockwise (-value)
Counterclockwise (+value)
G10
0 pulse ±1951517 pulse
G20
0 pulse ±2752512 pulse
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 61
5.2 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.
Table Top Mounting
Mechanical stop of Joint #2
(Adjustable)
Mechanical stop of
Joint #1 (Fixed)
Mechanical stop of Joint #3
(Lower limit mechanical stop)
(Do not move the upper
limit mechanical stop.)
Mechanical stop of
Joint #1 (Adjustable)
Mechanical stop of Joint #2
(Fixed)
Wall Mounting
Mechanical stop of Joint #1
(Fixed) Mechanical stop of Joint #1
(Adjustable)
Ceiling Mounting
Mechanical stop of Joint #1
(Fixed) Mechanical stop of Joint #1
(Adjustable)
* The different mechanical stop positions from Table Top Mounting are indicated for Wall
Mounting and Ceiling Mounting.
Setup & Operation 5. Motion Range
62 G10 / G20 Rev.2
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.
a
b
c
de
f
g
h
Joint #1 Mechanical Stops
Joint #1
Mounting Arm Length a b c d e f g h
Table Top 65/85/A0
Ceiling 85/A0 +152° -152°
Ceiling 65
Wall 65/85/A0
+107° +60° +15° -15° -60° -107°
a b c d e f g h
Setting Angle +152° +107° +60° +15° -15° -60° -107° -152°
Pulse Value +7048761 +5738041 +4369067 +3058347 +2184534 +873814 -495161 -1805881
(°: degree)
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 63
Joint #2 Mechanical Stops
p
o
n
m
Joint #2
Model Arm Length
m n o q
Table Top / Ceiling / Wall A0
Standard 85 Z: 0 to –360
+122.5° +152.5° -152.5°-122.5°
Table Top Cleanroom 85 Z: –360 to –390 +121° +151° -151° -121°
Standard 85 +122.5° +152.5° -152.5°-122.5°
Ceiling / Wall Cleanroom 85 +100° +130° -130° -100°
Table Top 65 +122.5° +152.5° -152.5°-122.5°
Ceiling / Wall 65 +100° +130° -130° -100°
Setting Angle +100° +121° +122.5° +151° +152.5°
Pulse Value +1820445 +2202738 +2230045 +2748871 +2776178
Setting Angle -152.5° -151° -122.5° -121° -100°
Pulse Value -2776178 -2748871 -2230045 -2202738 -1820445
(°: degree)
)
NOTE
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm.
Setup & Operation 5. Motion Range
64 G10 / G20 Rev.2
(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.
(4) Set the pulse range corresponding to the new positions of the mechanical stops.
Be sure to set the pulse range inside the positions of the mechanical stop range.
Example: Using G10-854S
The angle of Joint #1 is set from –105 degrees to +105 degrees.
The angle of Joint #2 is set from –122.5 degrees to +122.5 degrees.
)
NOTE
EPSON
RC+
Execute the following commands from the [Command Window].
>JRANGE 1,-436907,5679787 ' Sets the pulse range of Joint #1
>JRANGE 2,-2230045,2230045 ' Sets the pulse range of Joint #2
>RANGE ' Checks the setting using Range
-436907,5679787,-2230045,2230045,-1976708
,0,-1961226, 1961226
(5) Move the arm by hand until it touches the mechanical stops, and make sure that the
arm does not hit any peripheral equipment during operation.
(6) Operate the joint changed at low speeds until it reaches the positions of the minimum
and maximum pulse range. Make sure that the arm does not hit the mechanical
stops. (Check the position of the mechanical stop and the motion range you set.)
Example: Using G10-854S
The angle of Joint #1 is set from –105 degrees to +105 degrees.
The angle of Joint #2 is set from –122.5 degrees to +122.5 degrees.
EPSON
RC+
Execute the following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>CP ON ' Enters low-power mode
>SPEED 5 ' Sets at low speeds
>PULSE -436907,0,0,0 ' Moves to the min. pulse position of Joint #1
>PULSE 5679787,0,0,0 ' Moves to the max. pulse position of Joint #1
>PULSE 2621440,-2230045,0,0 ' Moves to the min. pulse position of Joint #2
>PULSE 2621440,2230054,0,0 ' Moves to the max. pulse position of Joint #2
The Pulse command (Go Pulse command) moves all joints to the specified positions
at the same time. Specify safe positions after considering motion of not only the
j
oints whose pulse range have been changed, but also other joints.
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 65
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*).
For the Cleanroom-model (G10/G20-***C*), the motion range set with the Joint #3
mechanical stop cannot be changed.
(1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
(2) Push up the shaft while pressing the brake
release button.
Do not push the shaft up to its upper limit or
it will be difficult for the arm top cover to
be removed. Push the shaft up to a
position where the Joint #3 mechanical stop
can be changed.
When you press the brake release button,
the shaft may lower and rotate due to the
weight of the end effector. Be sure to hold
the shaft by hand while pressing the button.
Lower limit mechanical stop : 2-M5
×
6
Brake release button
Shaft
(3) Turn OFF the Controller.
(4) Loosen the lower limit mechanical stop screw (2-M5×6).
A mechanical stop is mounted on both the top and bottom of Joint #3. However, only
the position of the lower limit mechanical stop on the top can be changed. Do not
remove the upper limit mechanical stop on the bottom because the calibration point o
f
Joint #3 is specified using the stop.
(5) The upper end of the shaft defines the
maximum stroke. Move the lower limit
mechanical stop down by the length you
want to limit the stroke.
For example, when the lower limit
mechanical stop is set at “420 mm” stroke,
the lower limit Z coordinate value is
“-420”. To change the value to “-100”,
move the lower limit mechanical stop
down “330 mm”. Use calipers to
measure the distance when adjusting the
mechanical stop.
Measure this distance
)
NOTE
)
NOTE
Setup & Operation 5. Motion Range
66 G10 / G20 Rev.2
(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.
(9) Calculate the lower limit pulse value of the pulse range using the formula shown below
and set the value.
The result of the calculation is always negative because the lower limit Z coordinate
value is negative.
G10-851S (Z: 180mm)
Lower limit of pulse = lower limit Z coordinate value / 25 × 131072 × (66 / 32)
G10-854S (Z: 420mm)
Lower limit of pulse = lower limit Z coordinate value / 50 × 131072 × (66 / 32)
Example: When lowering the mechanical stop by 80 mm and changing the lowe
r
limit Z coordinate value to “-100” in 180 mm stroke
(−100) / 25 × 131072 × (66/32) = −1081344
EPSON
RC+
Execute the following command from the [Command Window].
>JRANGE 3,-1081344,0 ' Sets the pulse range of Joint #3
Example: When lowering the mechanical stop by 330 mm and changing the lowe
r
limit Z coordinate value to “-100” in 420 mm stroke
(−100) / 50 × 131072 × (66/32) = −540672
EPSON
RC+
Execute the following command from the [Command Window].
>JRANGE 3,-540672,0 ' Sets the pulse range of Joint #3
(10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit
position of the pulse range at low speed. If the mechanical stop range is less than
the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When
the error occurs, either change the pulse range to a lower setting or extend the position
of the mechanical stop within the limit.
If it is difficult to check whether Joint #3 hits a mechanical stop, turn OFF the
Controller and lift the arm top cover to check the condition causing the problem from
the side.
)
NOTE
Setup & Operation 5. Motion Range
Example: When lowering the mechanical stop by 80 mm and changing the lowe
r
limit Z coordinate value to “-100” in 180 mm stroke
EPSON
RC+ 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”. Substitute these “0s” with the other pulse
values specifying a position where there is no
interference even when lowering Joint #3.)
Example: When lowering the mechanical stop by 320 mm and changing the lower
limit Z coordinate value to “-100” in 420 mm stroke
EPSON
RC+ Execute the following commands from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-540672,0 ' Moves to the lower limit-pulse position of Joint #3.
(In this example, all pulses except those for Joint #3
are “0”. Substitute these “0s” with the other pulse
values specifying a position where there is no
interference even when lowering Joint #3.)
5.3 Setting the Cartesian (Rectangular) Range
in the XY Coordinate System of the Manipulator (for Joints #1 and #2)
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical
range. The maximum physical range is based on the position of the mechanical stops.
EPSON
RC+
Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot
Manager].
(You may also execute the XYLim command from the [Command Window].)
G10 / G20 Rev.2 67
Setup & Operation 5. Motion Range
68 G10 / G20 Rev.2
5.4 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.
“Mechanical stop” sets the limited motion range so that the center of Joint #3 cannot move
beyond the area mechanically.
“Maximum space” is the area that contains the farthest reach of the arms. If the
maximum radius of the end effector is over 60 mm, add the “Area limited by mechanical
stop” and “radius of the end effector”. The total value is specified as the maximum area.
Table Top Mounting
Center of Joint#3
Maximum space
Motion range
A
rea limited by mechanical stop
Base mounting face
G20-A0**
G10/G20-85**
G10-65**
**** : G10/G20-85*S : 207.8
G10/G20-85*C : 218.3
a b c d e f g h j k q
G10-65** 199.4 212.4 250 650 620.7 626.6
G10/G20-85*S Z: 0 to –360
152.5° 3.5° 207.8 152.5
G10/G20-85*C Z: –360 to –390 151° 5°
183.3
218.3
450 850 797.3 807.8
151
G20-A0**
152° 3°
152.5° 3.5° 285.4 307 600 1000 929.8 943.8 152.5
r s
G10-65** 139.4
G10/G20-85** 123.3
G20-A0**
156
225.4
m n p t
G10/G20-**1S 180
G10/G20-**4S 420 5 5 393.5
G10/G20-**1C 150
G10/G20-**4C 390 1 1.8 355.5
(°: degree)
)
NOTE
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator body and the arm.
Setup & Operation 5. Motion Range
G10 / G20 Rev.2 69
Wall Mounting
G10/G20-85**W
G10-65**W
G20-A0**W
Center of Joint#3
Maximum space
Motion range
Area limited by mechanical stop Center of base reference hole
a b c d e f g h j k q r s
G10-65**W 130° 291.2 306.5 250 650 473.1 485.5 130 133.5 231.2
G10/G20-85*SW 152.5° 3.5° 207.8 152.5
G10/G20-85*CW 151° 5° 183.3 218.3 450 850 531.6 553.9 151 123.3
G20-A0**W
107° 3°
152.5° 3.5° 285.4 307 600 1000 575.4 605.2 152.5
156
225.4
m n p t
G10/G20-**1SW 180
G10/G20-**4SW 420 5 5 202.5
G10/G20-**1CW 150
G10/G20-**4CW 390 1 1.8 240.5
(°: degree)
Setup & Operation 5. Motion Range
Ceiling Mounting
Center of Joint#3
Maximum space
Motion range
A
rea limited by mechanical stop
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
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
Setup & Operation 6. Maintenance parts list
72 G10 / G20 Rev.2
Parts by Environment Model (S: Standard-model C: Cleanroom-model)
Part Name Code Note
180 mm R13B010208
S 420 mm R13B010209
150 mm R13B010210
For G10
C 390 mm R13B010211
180 mm R13B010214
S 420 mm R13B010215
150 mm R13B010216
Ball Screw Spline
For G20
C 390 mm R13B010217
S R13B030410 White painting
Arm Cover C R13B030414 Plating
150 mm R13B030701 *3
Bellows C
390 mm R13B030703
*3 Common with G6 series

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