Epson G20 Series

TABLE OF CONTENTS
G10 / G20 Rev.20 vii
Setup & Operation
1. Safety 3
1.1 Conventions ............................................................................................. 3
1.2 Design and Installation Safety ................................................................. 4
1.2.1 Strength of the Ball Screw Spline .................................................. 5
1.3 Operation Safety ...................................................................................... 6
1.4 Emergency Stop ...................................................................................... 8
1.4.1 RC180 ............................................................................................ 8
1.4.2 RC700-A ...................................................................................... 10
1.5 Emergency Movement Without Drive Power ........................................ 12
1.6 ACCELS Setting for CP Motions ............................................................. 13
1.7 Warning Labels ...................................................................................... 14
2. Specifications 17
2.1 Features of G10 series and G20 series Manipulators .......................... 17
2.2 Model Number and Model Differences .................................................. 18
2.3 Part Names and Outer Dimensions ....................................................... 19
2.3.1 Table Top Mounting .................................................................... 19
2.3.2 Wall Mounting ............................................................................ 25
2.3.3 Ceiling Mounting ........................................................................ 31
2.3.4 G10-65***/G10-85***: For S/N1**** or later ............................... 37
2.4 Specifications ......................................................................................... 38
2.5 How to Set the Model ............................................................................ 41
3. Environments and Installation 42
3.1 Environmental Conditions ...................................................................... 42
3.2 Base Table ............................................................................................. 46
3.3 Mounting Dimensions ............................................................................ 45
3.4 Unpacking and Transportation .............................................................. 49
3.4.1 Precautions for Transportation .................................................. 49
3.4.2 Transportation ............................................................................ 50
3.5 Installation .............................................................................................. 50
3.5.1 Table Top Mounting .................................................................... 51
3.5.2 Wall Mounting ............................................................................ 52
3.5.3 Ceiling Mounting ........................................................................ 53
3.5.4 Cleanroom-model ...................................................................... 54
3.5.5 Protected-model ........................................................................ 54
3.6 Connecting the Cables .......................................................................... 55
3.7 User Wires and Pneumatic Tubes ......................................................... 57
3.8 Relocation and Storage ......................................................................... 59
3.8.1 Precautions for Relocation and Storage ................................... 59
3.8.2 Table Top Mounting .................................................................... 60
3.8.3 Wall Mounting ............................................................................ 61
3.8.4 Ceiling Mounting ........................................................................ 62