Epson G20 Series User Manual

Setup & Operation 5. Motion Range
G10 / G20 Rev.20 87
5.4 Standard Motion Range
The following “motion range” diagrams show the standard (maximum) specification.
When each Joint motor is under servo control, the center of Joint #3’s (shaft’s) lowest
point moves in the areas shown in the figure.
“Area limited by mechanical stop” is the area where the center of Joint #3’s lowest point
can be moved when each joint motor is not under servo control.
“Mechanical stop” sets the limited motion range so that the center of Joint #3 cannot move
beyond the area mechanically.
“Maximum space” is the area that contains the farthest reach of the arms. If the
maximum radius of the end effector is over 60 mm, add the “Area limited by mechanical
stop” and “radius of the end effector”. The total value is specified as the maximum area.
Table Top Mounting
Center of Joint #3
Maximum space
Motion range
Area limited by mechanical stop
Base mounting face
G20-A0**
G10/G20-85**
G10-65**
**** : G10/G20-85*S : 207.8
G10/G20-85*C : 218.3
(°: degree)
a
b
c
d
e
f
g
h
j
k
q
G10-65**
152° 3°
152.5°
3.5°
199.4
212.4
250
650
620.7
626.6
152.5
G10/G20-85*S, D
183.3
207.8
450 850 797.3 807.8
G10/G20-85*C, P,
D bellows
Z: 0 to –360
Z: –360 to –390
151°
5°
218.3
151
G20-A0**
152.5°
3.5°
285.4
307
600
1000
929.8
943.8
152.5
r
s
G10-65**
156
139.4
G10/G20-85**
123.3
G20-A0**
225.4
m
n
p
t
G10/G20-**1S, D
180
5 5 393.5
G10/G20-**4S, D
420
G10/G20-**1C, P, D bellows
150
1 1.8 355.5
G10/G20-**4C, P, D bellows
390
The bellows for G10/G20-***D* are options at shipment.
In the range Z: –360 to –390 mm, the area is limited by interference of the Manipulator
body and the arm.
F
NOTE

Epson G20 Series Specifications

General

Brand	Epson
Model	G20 Series
Category	Robotics
Language	English