Epson G20 Series

Setup & Operation 2. Specifications
G10 / G20 Rev.20 39
*a : The Joint #2 values for the following manipulators
Max. motion range
Max. pulse range
G10/G20-85C, P, D with bellows option (Z: -360 to -390 only)
G10/G20-85CW, PW, DW with bellows option
G10/G20-85CR, PR, DR with bellows option
±151 deg ±2748871
Item
G10-*****
G20-*****
Resolution
Joint #1
0.0000343 deg/pulse
Joint #2
0.0000549 deg/pulse
Joint #3
1
0.0000925 mm/pulse
4
0.000185 mm/pulse
Joint #4
0.0001845 deg/pulse
0.0001308 deg/pulse
Motor power
consumption
Joint #1
750 W
Joint #2
600 W
Joint #3
400 W
Joint #4
150 W
Payload
rated
5 kg
10 kg
max.
10 kg
20 kg
Joint #4 allowable
moment of inertia *4
rated
0.02 kg·m
2
0.05 kg·m
2
max.
0.25 kg·m
2
0.45 kg·m
2
Hand
Shaft diameter
ø25 mm
Through hole
ø18 mm
Joint #3 down force
250 N
Installed wire for customer use
24 (15 pin + 9 pin : D-sub)
Installed pneumatic
tube for customer use
2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
2 pneumatic tubes (ø4 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
Environmental
requirements
Ambient
Temperature
5 to 40°C (with minimum temperature variation)
Ambient relative
humidity
10 to 80% (no condensation)
Equivalent continuous A-weighted sound
pressure level *5
L
Aeq
= 70 dB(A)
Applicable Controller *6
RC180, RC700-A
Assignable Value
( ) Default values
Speed
1 to (5) to 100
Accel *7
1 to (10) to 120
SpeedS
1 to (50) to 2000
AccelS
1 to (200) to 25000
Fine
0 to (10000) to 65000
Weight
0,400 to (10,400) to 20,400
Safety standard
CE Marking : EMC Directive, Machinery Directive,
RoHS Directive
KC Marking / KCs Marking
UL standards (In case of UL specification):
UL1740, ANSI/RIA R15.06, NFPA 79
*1: The exhaust system in the Cleanroom-model Manipulator (G10/G20-*
**C*) draws air from the base
interior and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.