Epson G20 Series - Manual

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 a...

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 .....................

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 lo...

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...

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/d...

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, 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...

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 ...

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 ...

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” (Calibratio...

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 point ...

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...

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....

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 follo...

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 y...

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...

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 3...

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 person...

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 t...

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 sourc...

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 rob...

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...

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 equip...

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 ...

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 ...

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 1...

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 t...

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 Whe...

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 ...

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 ...

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 eccent...

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 [Ecce...

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 acc...

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 clock...

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 ...

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 setti...

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 whil...

Setup & Operation 5. Motion Range Example: When lowering the mechanical stop by 80 mm and changing the lower 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 &g...

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. “A...

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...

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 R1...

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 Sc...