Epson G20 Series User Manual

Setup & Operation 5. Motion Range
86 G10 / G20 Rev.20
Example:
When lowering the mechanical stop by 80 mm and changing the lower
limit Z coordinate value to “-100” in 180 mm stroke
EPSON
RC+
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-1081344,0 ' Moves to the lower limit-pulse position of Joint #3
.
(In this example, all pulses except
those for Joint #3
are “0”. Substitute these “0s” with the other
pulse
values specifying a position where there
is no
interference even when lowering Joint #3.)
Example:
When lowering the mechanical stop by 320 mm and changing the lower
limit Z coordinate value to “-100” in 420 mm stroke
EPSON
RC+
Execute the following command
s from the [Command Window].
>MOTOR ON ' Turns ON the motor
>SPEED 5 ' Sets low speed
>PULSE 0,0,-540672,0 ' Moves to the lower limit-pulse position of Joint #3
.
(In this example, all pulses except
those for Joint #3
are “0”. Substitute these “0s” with the other
pulse
values specifying a position where there
is no
interference even when lowering Joint #3.)
5.3 Setting the Cartesian (Rectangular) Range in the XY
Coordinate System of the Manipulator (for Joints #1 and #2)
Use this method to set the upper and lower limits of the X and Y coordinates.
This setting is only enforced by software. Therefore, it does not change the physical
range. The maximum physical range is based on the position of the mechanical stops.
EPSON
RC+
Set the XYLim
setting on the [XYZ Limits] panel shown by selecting [Tools]-
[Robot
Manager].
(You may also execute the XYLim command from the [Command Window].)

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English

Summary

1. Safety

1.2 Design and Installation Safety

Safety precautions for personnel designing and installing the robot system.

1.3 Operation Safety

Safety precautions for operator personnel during robot system operation.

1.4 Emergency Stop

Procedures and precautions for using the emergency stop function for different controller models.

1.5 Emergency Movement Without Drive Power

2. Specifications

2.2 Model Number and Model Differences

2.4 Specifications

Presents a comprehensive table of technical specifications including arm length, weight, speed, and range.

3. Environments and Installation

3.1 Environmental Conditions

Details acceptable ambient temperature, humidity, and environmental factors for robot operation.

3.2 Base Table

3.3 Mounting Dimensions

3.5 Installation

Describes the installation procedures for the manipulator, including different mounting types.

3.6 Connecting the Cables

Instructions and safety precautions for connecting power, signal, and other cables to the robot system.

4. Cable

4.1 Replacing Cable Unit

4.3 Replacing M/C Cable

5. Arm #1

5.1 Replacing Joint #1 Motor

Step-by-step guide for removing and installing the Joint #1 motor unit.

5.2 Replacing Joint #1 Reduction Gear Unit

Instructions for replacing the Joint #1 reduction gear unit, including its parts.

6. Arm #2

6.1 Replacing Joint #2 Motor

Step-by-step guide for removing and installing the Joint #2 motor unit.

6.2 Replacing Joint #2 Reduction Gear Unit

Instructions for replacing the Joint #2 reduction gear unit.

7. Arm #3

7.1 Replacing Joint #3 Motor

Step-by-step guide for removing and installing the Joint #3 motor.

7.3 Replacing the Brake

8. Arm #4

8.1 Replacing Joint #4 Motor

Step-by-step guide for replacing the Joint #4 AC servo motor for G10 and G20 series.

8.3 Replacing the Brake

8.4 Replacing the Reduction Gear Unit

10. Ball Screw Spline Unit

10.2 Replacing the Ball Screw Spline Unit

Step-by-step instructions for replacing the ball screw spline unit for G10 and G20 series.

11. Lithium Battery

11.1 Replacing the Battery Unit (Lithium battery)

11.2 Replacing the Battery Board

14. Calibration

14.1 About Calibration

14.2 Calibration Procedure

Detailed procedure for calibrating robot joints using the EPSON RC+ calibration wizard.

14.3 Accurate Calibration of Joint #2

Method for accurate calibration of Joint #2, especially when working point coordinates require calculation.

14.4 Calibration Procedure without using Calibration Wizard