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SCARA ROBOT G10 / G20 series MANIPULA TOR MANUAL Rev .2 EM082R1662F.
MANIPULA TOR 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 CORPORA TION. All right s reserved..
ii G10 / G20 Rev .2 FOREWORD Thank you for p u rchasing our robo t products. This manual contai ns the inf orm ation necessary for the correct use of the manipulato r . Please carefully read this manual and other related manuals before installing the robo t system.
G10 / G20 Rev .2 iii TRADEMARKS Microsoft, W indow s, and W indows logo a re eith er registered tradem ar ks or trademarks of Microsoft Corporation in t he United States a nd/or other countries. Other brand an d product names are tra demarks or registered tradem arks of the respective holders.
iv G10 / G20 Rev .2 MANUFACTURER & SUPPLIER SEIKO EPSON CORPORA TION Japan & Others Suwa Minam i Plant Factory Automation Systems Dept. 1010 Fujim i, Fujimi-machi, Suwa-gun, Nagano, 399-0295 JAP AN TEL : +81-(0)266-61-1802 F AX : +81-(0)266-61-1846 SUPPLIERS North & South America EPSON AMERICA, INC.
G10 / G20 Rev .2 v Before Reading This Manual This section describes what you should kn ow before reading this m anual. S tructure of Control System The G10 / G20 series Manipulators can be used with the following combinations of Controllers and software.
vi G10 / G20 Rev .2.
G10 / G20 Rev .2 vii T ABLE OF CONTENTS Before Reading This M anual ............................................................................ v Setup & Operation 1. Safety 3 1.1 Conv entions .....................................................
T ABLE OF CONTENTS 4. Setting of End Effectors 44 4.1 Attaching an End Effe ctor ...................................................................... 44 4.2 Attaching Ca meras and V a lves ............................................................
Setup & Operation This volume contains informati on for setup and operation of the G10 / G20 series Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.
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Setup & Operation 1. Safety G10 / G20 Rev .2 3 1. Safety Installation and transportation of robots and robotic equipment sh all be performed by qualified person nel and should conf orm to all na tional and local codes. Please read this manual and other rela ted manuals before installin g the robot system or before connec ting cables.
Setup & Operation 1. Safety 4 G10 / G20 Rev .2 1.2 Design and Install ation Safety Only trained personnel should design and install the robot system.
Setup & Operation 1. Safety G10 / G20 Rev .2 5 1.3 Operation Safety The following items are safety precaut ions 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.
Setup & Operation 1. Safety 6 G10 / G20 Rev .2 1.4 Emergency S top If the Manipu lator moves abnorm ally during operation, immediately press the Emergen cy Stop switch. Stops the po wer supply to the m otor , and the arm stops in the shortest distance with the dynam ic brake and mechanical brake.
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 th e arm or joint of the Manipulato r by hand as show n below: Arm #1 Push the arm by hand. Arm #2 Push the arm by hand.
Setup & Operation 1. Safety 8 G10 / G20 Rev .2 1.6 Manipulator Labels The following labels are attac hed near the locations of the Manipulator where specific dangers exist. Be sure to comply with descriptions and warnings on the labels to opera te and maintain the Manipulator safely .
Setup & Operation 1. Safety G10 / G20 Rev .2 9 T able T op Mounting: G10/G20-**** D C C A B E W all Mounting: G10/G20-****W B A D C Ceiling Mounting: G10/G20-****R B A C C D.
Setup & Operation 2. S pecifications 10 G10 / G20 Rev .2 2. S pecifications 2.1 Features of G10 series and G20 series Manipulators The G10 serie s and G20 series Manip ulators are high-perform ance manipulators int ended to achieve high speed, high accur acy , sp ace saving, and high cost-performance.
Setup & Operation 2. S pecifications G10 / G20 Rev .2 11 2.2 Model Number and Model Differences G10 - 85 4 S □ T ype □ : T able T op mounting W : W all mounting R : Ceiling mounting Environmen.
Setup & Operation 2. S pecifications 12 G10 / G20 Rev .2 2.3 Part Names and Outer Dimensions 2.3.1 T able T op Mounting S tandard-model : G10/G20-***S + − + − + − + − Joint #3 and #4 brake.
Setup & Operation 2. S pecifications G10 / G20 Rev .2 13 Co nica l ho le ø4, 90° 1 m m f l at cut Max. ø 18 t hr ough h ole ø25 h7 s h aft di amet er 90 or m or e Sp ace f or c abl e s (*) indic ates t h e s tr ok e m argi n b y m ec h anic al s t op.
Setup & Operation 2. S pecifications 14 G10 / G20 Rev .2 Cleanroom-model G10/ G20-***C The following fi gure shows the additio nal parts and specifications for the Table Top m ounting Cleanroom-model when com pared with the Standard-model in appearance.
Setup & Operation 2. S pecifications G10-65*C G10/ G20-8 5*C G20- A0*C a 250 450 600 G10/G20-* *1C G10/G20- **4C b 150 390 c 870.5 112 9.5 d 205. 5 -34.
Setup & Operation 2. S pecifications 16 G10 / G20 Rev .2 2.3.2 W all Mounting S tandard-model G10/G20-***SW + − + − + − + − Joint #3 (up and down) Joint #2 (rotating) Joint #4 (rotating) A.
Setup & Operation 2. S pecifications G10 / G20 Rev .2 17 R ef ere nc e hol e (T oler anc e ap pli es t o the pi n h ol e) Co nica l ho le ø4 ,90 ° 1 mm f l at cu t Ma x. ø1 8 t h r oug h h ol e ø25 h 7 s haft diam et er 90 or m o r e S p ac e f o r c a b l es (* ) ind i ca te s the st roke ma rgin by me chan ical stop.
Setup & Operation 2. S pecifications 18 G10 / G20 Rev .2 Cleanroom-model G10/G20-*** CW The following figure shows the additiona l parts and specificat ions for the Wall mounting Cleanroom-model when compared with the Standard-model in appearance.
Setup & Operation 2. S pecifications 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 c ables (*) indica tes the stroke m argin by m echanical stop.
Setup & Operation 2. S pecifications 20 G10 / G20 Rev .2 2.3.3 Ceiling Mounting S tandard-model G10/G20-***SR + − + − + − + − Joint #3 (up and down) Joint #2 (rotating) Joint #1 (rotating).
Setup & Operation 2. S pecifications Co ni c a l hole ø4, 90° 1 m m f l at c u t Max. ø1 8 t hr ough h ole ø25 h 7 s h aft diam et er 90 or m or e S p ac e f or c a bl es (*) i ndi cate s the stro ke marg in by me ch an ical stop. Det a il of “A” ( Cal ib rat ion p oint p osi ti on of J oint s #3 an d #4 ) ø39.
Setup & Operation 2. S pecifications 22 G10 / G20 Rev .2 Cleanroom-model G10/ G20-*** CR The following fig ure shows the additi onal parts and spe cifications for the Ce iling mounting Cl eanroom-model when compared with the Standard-model in appearance.
Setup & Operation 2. S pecifications G10-65*CR G 10/G20-85* CR G20-A0*CR a 250 450 600 G10/G20-* *1CR G10/G20-** 4CR b 1 50 390 c 29.5 288.5 d 5 15 774 (Tolerance applies to the pin hole) Conical hole ø4,90° 1 mm flat cut Max.
Setup & Operation 2. S pecifications 24 G10 / G20 Rev .2 2.4 S pecifications Item G10/G20-**** G10/G20-** **R G10/G20-*****W Mount m ethod T able T op Ceiling W all Environm ent Cleanroom -model *.
Setup & Operation 2. S pecifications G10 / G20 Rev .2 25 Item G10-***** G20-***** Joint #1 0.0000343 deg/p ulse Joint #2 0.0000549 deg/p ulse 1 0.000092 5 mm/pul se Joint #3 4 0.
Setup & Operation 2. S pecifications 26 G10 / G20 Rev .2 Exhaust System : Exhaust port diam eter : Inner diameter: ø12 m m / Outer diameter: ø16 mm Exhaust tube : Polyurethane tube Outer diameter: ø12 mm (Inner diameter:ø8 mm ) or Inner diameter ø16mm or larger Recommended exhaust flo w rate : Appro x.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 27 3. Environment s and Inst allation 3.1 Environment al Conditions A suitable environment is necess ary for the robot system to f unction properly and safely .
Setup & Operation 3. Environments and Inst allation 28 G10 / G20 Rev .2 3.2 Base T able A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Ma nipulator . The shape and size of the b ase table dif fers depending on the use of t he robot system.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 29 3.3 Mounting Dimensions The maximum space described in figures shows that t he radius of the end effect or is 60 mm or less. If the radius of the end ef fector exceeds 60 m m, define the radius as t he distance to the oute r edge of max i mum space .
Setup & Operation 3. Environments and Inst allation 30 G10 / G20 Rev .2 G10- 65* *W G10/G 20-85* *W G20 -A0**W Wall M ounting C enter of J oin t# 3 Max imum spa c e G10/G20-85* G10-65**W SW CW G20-A0**W a Length of A rm #1 (mm) 250 450 600 b Length of Arm #2 (mm) 400 400 400 c (M otion ran ge) 306.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 31 3.4 Unpacking and T ransportation 3.4.1 Precautions for Transport ation THE INST ALLA TION SHALL BE PREFOR MED BY QUALIFIED INST ALLA TION PERSONNEL AND SHOULD CONFORM TO ALL NA TIONAL AND LOCAL CODES.
Setup & Operation 3. Environments and Inst allation 32 G10 / G20 Rev .2 3.4.2 T ransportation T ransport the Manip ulator following the instruc tions below: (1) Attach the eyebolts to the upp er back side of the Arm. (2) Pass the belts thro ugh the eyebolts.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 33 3.5 Installation Procedure The following sect ions describe the insta llation of the S tandard Mani pulator . 3.5.1 T able T op Mounting 3.5.2 W all Mounting 3.5.3 Ceiling Mou nt in g When the Manipulator is a Cleanro om -model, refer to the foll owin g secti on .
Setup & Operation 3. Environments and Inst allation 34 G10 / G20 Rev .2 3.5.2 W all Mounting ■ Install the W all Mounting Manipulator with four or more people. The Manipulator weights are as follows. Be careful not to get ha nds, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator .
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 35 3.5.3 Ceiling Mounting ■ Install the Ceiling Mounting Manipulat or 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 da maged by a fall of the Manipulator .
Setup & Operation 3. Environments and Inst allation 36 G10 / G20 Rev .2 3.5.4 Cleanroom-model (1) Unpack it outside of the cle a n room . (2) Secure the Manipulator to de livery e quipment such as a pallet with bol ts so that the Manipulato r does no t fall.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 37 3.6 Connecting the Cables ■ T o shut off power to the robot system, pull out the power plug from the power source. Be sure to connect the AC pow er cable to a power recept acle.
Setup & Operation 3. Environments and Inst allation 38 G10 / G20 Rev .2 3.7 User Wires and Pneumatic T ubes CAUTION ■ Only authorized or certified personnel s hould b e allowed to perform wiring. Wiring by unauthorized or uncer tified personn el may result in bodily in jury and/o r malfunction of the robot system.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 39 T able T op Mounting Fit ting (black) for ø4 mm pneumatic tub e Fitting (w hite) for ø4 mm pneumatic tube Fit ting ( black.
Setup & Operation 3. Environments and Inst allation 40 G10 / G20 Rev .2 3.8 Relocation and S torage 3.8.1 Precautions for Relocation and S torage Observe the following whe n relocating, storing, and transporting the Manipulators.
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 41 3.8.2 T able T op Mounting CAUTION ■ Install or relocate the T able T op Mounti ng Manipulator with four or more people.
Setup & Operation 3. Environments and Inst allation 42 G10 / G20 Rev .2 3.8.3 W all Mounting ■ Install or relocate the W all Mounting M anipulator 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 da maged by a fall of the Manipulator .
Setup & Operation 3. Environments and Inst allation G10 / G20 Rev .2 43 3.8.4 Ceiling Mounting ■ Install or relocate the Ceiling Mounting M anipulator 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 da maged by a fall of the Manipulator .
Setup & Operation 4. Setting of End Ef fectors 44 G10 / G20 Rev .2 4. Setting of End Ef fectors 4.1 Atta ching an End Effector Users are responsible for making t heir own en d ef fector(s). Befo re attach ing an end effector , observe these guidelines.
Setup & Operation 4. Setting of End Ef fectors G10 / G20 Rev .2 45 Layouts - When you operate the manipulator with an end effector , the end effector m ay interfere with the Mani pulator because of the outer diam eter of the end ef fector , the size of the work piece, o r the position of the arms.
Setup & Operation 4. Setting of End Ef fectors 46 G10 / G20 Rev .2 4.2 Attaching Cameras and V alves Arm #2 has threaded holes as shown in the fi gure below . Use these holes for att aching cameras, valves, a nd other equipment. [Unit: mm] A A 30 2-M4 depth 8 4-M4 depth 8 43.
Setup & Operation 4. Setting of End Ef fectors G10 / G20 Rev .2 47 4.3 Weight and Inertia Settings T o ensure optimum Manipu lator performance, it is important to make sure that the load (weight o.
Setup & Operation 4. Setting of End Ef fectors 48 G10 / G20 Rev .2 Load on the Arm When you attach a cam era or other devices to the arm, calculate the weight as the equivalent of t he shaft. Then, add this to the load and ent er the total weight to the W eight parameter .
Setup & Operation 4. Setting of End Ef fectors G10 / G20 Rev .2 49 Automatic speed setting by We ight G10 series 140 120 100 80 60 40 20 0 1 2 3 4 5 6 7 8 9 10 (kg) We i g h t s et t in g ( % ) 100 100 100 100 90 70 100 G10-85*** * The percentag e in the grap h is base d on the spe ed at rated weight (5 kg) as 100%.
Setup & Operation 4. Setting of End Ef fectors 50 G10 / G20 Rev .2 Automatic acceleration/dece leration 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) Wei.
Setup & Operation 4. Setting of End Ef fectors 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 t o a rigid body a nd its resistance to motion” .
Setup & Operation 4. Setting of End Ef fectors 52 G10 / G20 Rev .2 Moment of inertia of load on the shaft The moment of inerti a of load (weight of the end effector and w ork piece) on the shaft can be set by the “ moment of inertia” param eter of the Inertia comm and.
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 G 20 series Manipulators are not designed to work with eccentric quantity exceeding 200 mm.
Setup & Operation 4. Setting of End Effectors 54 G10 / G20 Rev .2 Eccentric quantity of load on the shaft The eccentric quant ity of load (weight of the end ef fector and work piece) on the shaft c an be set by “ecc entric quantity” parameter of Inertia command.
Setup & Operation 4. Setting of End Effectors G10 / G20 Rev .2 55 The methods for ca lculating the m oment of iner tia for (a), (b), and (c) are shown below .
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 t he Manipulator horizont ally with Joint #3 (Z) at a high position, t he motion tim e will be faster .
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 explaine d in Setup & Operati on: 5.
Setup & Operation 5. Motion Range 58 G10 / G20 Rev .2 5.1 Motion Range Setting by Pulse Range (for All Joint s) Pulses are the basic uni t of Manipulator motion. The motion ran ge of the Manipulator is controlled by the pulse range between the p ulse lower limit and upper li mit of each joint.
Setup & Operation 5. Motion Range G10 / G20 Rev .2 59 5.1.2 Max. Pulse Range of Joint #2 The 0 (zero) pulse pos ition of Joint #2 is the position where Arm #2 is in-line with Arm #1 .
Setup & Operation 5. Motion Range 60 G10 / G20 Rev .2 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse pos ition of Joint #3 is t he position where the shaft is at i ts upper limit. The pulse value is always nega tive because Joint #3 always moves lower than the 0 pulse position.
Setup & Operation 5. Motion Range G10 / G20 Rev .2 61 5.2 Motion Range Setting by Mechanical S tops Mechanical stops physically limit the absolute area that t he Manipulator can m ove. Both Joints #1 a nd #2 have threaded holes in the positi ons corresponding to the an gle for the mechan ical stop se ttings.
Setup & Operation 5. Motion Range 62 G10 / G20 Rev .2 5.2.1 Setting the Mechanical S tops of Joints #1 and #2 Both Joints #1 and #2 have threaded hol es in the positions c orresponding to the angle f or the mechan ical stop se ttings. Install th e bolts in the holes corre sponding to the angle that you want to set.
Setup & Operation 5. Motion Range G10 / G20 Rev .2 63 Joint # 2 Mechanical St ops p o n m Joint #2 Model Arm Length m n o q T able T op / Ceiling / Wall A0 S t andard 85 Z: 0 to –360 +122.5 ° +152.5 ° - 152.5 ° - 122. 5 ° T able T op Cleanroom 85 Z: –360 to –390 +121 ° +151 ° - 151 ° - 121 ° S t andard 85 +122.
Setup & Operation 5. Motion Range 64 G10 / G20 Rev .2 (1) T urn OFF the Controller . (2) Install a hexagon soc ket head cap bolt into the hole corresponding to th e setting angle, and tighten i t.
Setup & Operation 5. Motion Range G10 / G20 Rev .2 65 In this example, Joint #1 is moved to the center of it s motion range (pulse value: 2621440) whe n checking Joint #2.
Setup & Operation 5. Motion Range 66 G10 / G20 Rev .2 (6) Firmly tighten two setscrews w hich are open at a 120 degree interval so that th ey do not enter the s haft groove. Recommended t ightening torque: 980 N ⋅ cm (100 kgf ⋅ cm) (7) Turn ON the Controller .
Setup & Operation 5. Motion Range Example: When lowering the mechani cal stop by 80 mm and changing t he lowe r limit Z coordi nate value to “ - 100” in 180 mm stroke EPSON RC+ Execute the following comm ands from the [Comm and W indow].
Setup & Operation 5. Motion Range 68 G10 / G20 Rev .2 5.4 S tandard Motion Range The following “m otion range” diagrams show the standard (m aximum) specification. When each Joint motor is un der servo control, the center of Joint #3’ s (shaft’ s) lowest point moves in t he areas shown in the figure.
Setup & Operation 5. Motion Range G10 / G20 Rev .2 69 W all Mounting G10/G 20-85* *W G10- 65* *W G20- A 0**W C enter of J oin t # 3 Max imum spa c e Moti on r ang e Ar ea li m ited b y m ech an ic al st op C enter of b as e r ef er enc e ho l e a b c d e f g h j k q r s G10-65**W 130° 291.
Setup & Operation 5. Motion Range Ceiling Mounting C enter of J oin t # 3 Max imum spa c e Moti on r ang e A r ea li mited b y m e chan ic al st op Ba se mo un t in g fa ce G10/G 20-85* *R G10- 65* *R G10- A 0**R a b c d e f g h j k q r s G10-65**R 107° 130° 291.
Setup & Operation 6. Maintenance part s list G10 / G20 Rev .2 71 6. Maintenance Parts List Common Parts Part Name Code Note Joint #1 R13B000610 750 W Joint #2 R13B00061 1 600 W Joint #3 R13B000607.
Setup & Operation 6. Maintenance parts list 72 G10 / G20 Rev .2 Parts by Environment Model (S: Stan dard-model C: Cleanroom-model) Part Name Code Note 180 mm R13B010208 S 420 mm R13B010209 150 mm .
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