Epson G20 Series User Manuals

Table of Contents

• Conventions

  3
• Design and Installation Safety

  4
• Operation Safety

  5
• Emergency Stop

  6
• Emergency Movement Without Drive Power

  7
• Manipulator Labels

  8
• Features of G10 series and G20 series Manipulators

  10
• Model Number and Model Differences

  11
• 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
• Specifications

  24
• How to Set the Model

  26
• Environmental Conditions

  27
• Base Table

  28
• Mounting Dimensions

  29
• Unpacking and Transportation

  31
• 3.4.1 Precautions for Transportation

  31
• 3.4.2 Transportation

  32
• 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
• Connecting the Cables

  37
• User Wires and Pneumatic Tubes

  38
• 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
• Attaching an End Effector

  44
• Attaching Cameras and Valves

  46
• Weight and Inertia Settings

  47
• 4.3.1 Weight Setting

  47
• 4.3.2 Inertia Setting

  51
• Precautions for Auto Acceleration/Deceleration of Joint #3

  56
• 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
• System of the Manipulator (for Joints #1 and #2)

  67
• 5.4 Standard Motion Range

  68