Epson G20 Series User Manual

TABLE OF CONTENTS
viii G10 / G20 Rev.20
4. Setting of End Effectors 63
4.1 Attaching an End Effector ....................................................................... 63
4.2 Attaching Cameras and Valves .............................................................. 65
4.3 Weight and Inertia Settings .................................................................... 66
4.3.1 Weight Setting ............................................................................ 66
4.3.2 Inertia Setting ............................................................................. 70
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ................... 75
5. Motion Range 76
5.1 Motion Range Setting by Pulse Range (for All Joints) ........................... 77
5.1.1 Max. Pulse Range of Joint #1 .................................................... 77
5.1.2 Max. Pulse Range of Joint #2 .................................................... 78
5.1.3 Max. Pulse Range of Joint #3 .................................................... 79
5.1.4 Max. Pulse Range of Joint #4 .................................................... 79
5.2 Motion Range Setting by Mechanical Stops .......................................... 80
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 ..................... 81
5.2.2 Setting the Mechanical Stop of Joint #3 ..................................... 84
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................ 86
5.4 Standard Motion Range ......................................................................... 87
Maintenance
1. Safety Maintenance 93
2. General Maintenance 94
2.1 Maintenance Inspection ........................................................................... 94
2.1.1 Schedule for Maintenance Inspection ........................................ 94
2.1.2 Inspection Point .......................................................................... 95
2.2 Overhaul (Parts Replacement) ................................................................ 96
2.3 Greasing ................................................................................................. 98
2.4 Tightening Hexagon Socket Head Cap Bolts ....................................... 100
2.5 Matching Origins ................................................................................... 100
2.6 Layout of Maintenance Parts ............................................................... 101
2.6.1 Table Top Mounting type ............................................................ 101
2.6.2 Wall Mounting type ..................................................................... 103
2.6.3 Ceiling Mounting type ................................................................. 105
2.6.4 G10-65***: For S/N1**** or later ............................................... 107
3. Covers 108
3.1 Arm Top Cover ...................................................................................... 110
3.2 Arm Bottom Cover ................................................................................ 112
3.3 Arm #1 Cover ....................................................................................... 113
3.3.1 G10/G20-***S*, G10/G20-***C* ............................................... 113
3.3.2 G10/G20-***D*, P* .................................................................... 114
3.4 Connector Plate .................................................................................... 115
3.5 Connector Sub Plate ............................................................................ 116

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English