Setup & Operation 2. Specifications
40 G10 / G20 Rev.20
Cleanliness level: Class ISO 3 (ISO14644-1)
Amount of Dust (0.1 µm diameter or larger) in 28317 cm
3
(1cft) sample-air around the
center of the motion rang: 10 particles or less.)
Exhaust System: Exhaust port diameter : Inner diameter: ø12 mm / Outer diameter: ø16 mm
Exhaust tube : Polyurethane tube
Outer diameter: ø12 mm (Inner diameter:ø8 mm)
or Inner diameter ø16mm or larger
Recommended exhaust flow rate : Approx. 1000 cm
3
/s (Normal)
ESD specification uses resin materials with antistatic treatment. This model controls adhesion of dust
due to electrification.
*2: IP (International Protection) for the Protected-model Manipulator indicates International Standard of the
protection level against dust and water.
Normal G10/G20-***D* Manipulators do not have bellows. The normal G10/G20-***D* Manipulator
(without bellows option) operates under adverse conditions with oily mist.
If necessary, select the bellows option at shipment.
The Manipulators with bellows (option) comply with grade of protection IP54 (IEC 60529, JIS C0920).
G10/G20-***D*
with bellows option
IP54
Dust : 5
Dust shall not ingress in a quantity to interfere with
satisfactory operation of the equipment.
Water splashing against the enclosure from any direction shall
have no harmful effect.
Water projected by a nozzle against enclosure from any
direction shall have no harmful effects.
*3: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal
plane.
*4: In the case where the center of gravity is at the center of Joint #4. If the center of gravity is not at the
center of Joint #4, set the parameter using Inertia command.
*5: Conditions of Manipulator during measurement as follows:
Operating conditions : Under rated load, 4-joint simultaneous motion, maximum speed, maximum
acceleration, and duty 50%.
Measurement point : Rear of the Manipulator, 1000 mm apart from the motion range, 50 mm above
the base-installed surface.
*6: For delivery up until January 2017, there are systems in combination of G series and RC620.
*7: In general use, Accel setting 100 is the optimum setting that maintains the balance of acceleration and
vibration when positioning. Although values larger than 100 can be set to Accel, it is recommended to
minimize the use of large values to necessary motions since operating the manipulator continuously with
the large Accel setting may shorten the product life remarkably.
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