Epson G20 Series User Manual

Setup & Operation 1. Safety
G10 / G20 Rev.20 9
For details of the Safeguard system, refer to the following manuals.
EPSON RC+ User’s Guide 2. Safety - Installation and Design Precautions
- Safeguard System
Safety and Installation 2.6 Connection to EMERGENCY Connector
To check brake problems, refer to the following manuals.
Manipulator Manual Maintenance
2.1.2 Inspection Point - Inspection While the Power is ON
(Manipulator is operating)
Safety and Installation
RC180: 5.1.1 Manipulator
- Inspection While the Power is ON (Manipulator is operating)
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed.
The free running time/angle/distance of the Manipulator are shown below. However,
remember that the values vary depending on following conditions.
Weight of the end effector Weight of work piece Operating pose
Weight Speed Accel etc.
Conditions for Measurement
G10
G20
Accel Setting
100
100
Speed Setting
100
100
Load [kg]
10
20
Weight Setting
10
20
Joint #1
Start point of
operation
Target point
Stop point
Joint #2
Point where the
emergency stop
signal is input
Controller
RC180
Manipulator
G10-65***
G10-85***
G20-85***
G20-A0***
Free running
time
Joint #1 + Joint #2 [s]
0.6
0.7
1.0
1.3
Joint #3 [s]
0.6
0.5
0.5
0.8
Free running
angle
Joint #1 [deg.]
80
70
80
110
Joint #2 [deg.]
70
50
40
50
Joint #1 + Joint #2 [deg.]
110
120
110
160
Free running
distance
Joint #3 G10/G20-**1** [mm]
G10/G20-**4**
90
210
80
160
70
200
90
170

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English