Epson G20 Series User Manual

Rev.20 EM183R3619F
SCARA ROBOT
G10 / G20 series
MANIPULATOR MANUAL

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English

Summary

1. Safety

1.2 Design and Installation Safety

Safety precautions for personnel designing and installing the robot system.

1.3 Operation Safety

Safety precautions for operator personnel during robot system operation.

1.4 Emergency Stop

Procedures and precautions for using the emergency stop function for different controller models.

1.5 Emergency Movement Without Drive Power

2. Specifications

2.2 Model Number and Model Differences

2.4 Specifications

Presents a comprehensive table of technical specifications including arm length, weight, speed, and range.

3. Environments and Installation

3.1 Environmental Conditions

Details acceptable ambient temperature, humidity, and environmental factors for robot operation.

3.2 Base Table

3.3 Mounting Dimensions

3.5 Installation

Describes the installation procedures for the manipulator, including different mounting types.

3.6 Connecting the Cables

Instructions and safety precautions for connecting power, signal, and other cables to the robot system.

4. Cable

4.1 Replacing Cable Unit

4.3 Replacing M/C Cable

5. Arm #1

5.1 Replacing Joint #1 Motor

Step-by-step guide for removing and installing the Joint #1 motor unit.

5.2 Replacing Joint #1 Reduction Gear Unit

Instructions for replacing the Joint #1 reduction gear unit, including its parts.

6. Arm #2

6.1 Replacing Joint #2 Motor

Step-by-step guide for removing and installing the Joint #2 motor unit.

6.2 Replacing Joint #2 Reduction Gear Unit

Instructions for replacing the Joint #2 reduction gear unit.

7. Arm #3

7.1 Replacing Joint #3 Motor

Step-by-step guide for removing and installing the Joint #3 motor.

7.3 Replacing the Brake

8. Arm #4

8.1 Replacing Joint #4 Motor

Step-by-step guide for replacing the Joint #4 AC servo motor for G10 and G20 series.

8.3 Replacing the Brake

8.4 Replacing the Reduction Gear Unit

10. Ball Screw Spline Unit

10.2 Replacing the Ball Screw Spline Unit

Step-by-step instructions for replacing the ball screw spline unit for G10 and G20 series.

11. Lithium Battery

11.1 Replacing the Battery Unit (Lithium battery)

11.2 Replacing the Battery Board

14. Calibration

14.1 About Calibration

14.2 Calibration Procedure

Detailed procedure for calibrating robot joints using the EPSON RC+ calibration wizard.

14.3 Accurate Calibration of Joint #2

Method for accurate calibration of Joint #2, especially when working point coordinates require calculation.

14.4 Calibration Procedure without using Calibration Wizard