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GCR20-1100
SIASUN GCR20-1100 User Manual
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G
CR20-
1100
Collaborative R
obot
User
Manual
(
Hard
w
ar
e
)
M
odel: G
CR2
0-1
10
0
V2.0
SIA
SUN
Co.,Ltd.
2
Table of Contents
Table of Contents
3
Preface
5
Intended Audience
5
Representation of Warnings and Notes
6
Special Statement
7
Revision History
7
Safety
8
Abstract
8
Limitation of Liability
8
Risk Assessment
9
Safety Operations
10
Emergency Stop
10
Movement Without Drive Power
10
The Risk of Collision
12
Production Introduction
16
Overview
16
Robot
17
Introduction
17
Base Input Panel Description
18
Tool Flange
19
Control System
21
Control Box
22
Introduction
22
Tool Flange I/O Description
22
Control Box External Interface
23
Control Box Power Supply Cable
25
Demonstrator
26
Technical Data
27
Robot Technical Data
27
Basic Data
27
Working Space
28
Robot Joint Coordinates
29
Robot Zero Position and Positive Direction
29
Tool Flange Data
31
Base Data
32
Load
33
Basic Load Data
33
Payload Diagram
34
Control System Technical Data
35
I/O Data
35
Stop Time and Distance
36
Introduction
36
Stop Time and Distance for Axis 1-4 in Stop 0
36
Nameplates and Labels
38
Installation and Commissioning
40
Mechanical Installation
40
Base Module Installation
40
Tool Flange Installation
41
Control Box Installation
41
Electrical Installation
42
Introduction
42
Electrical Warning and Cautions
42
Control Box I/O
44
Tool Flange I/O
51
Transportation and Storage
53
Transportation
53
Preconditions
53
Robot Packaging
53
Packaging Pose
54
Packaging Size
55
Storage
56
Preconditions
56
Procedure
56
Maintenance and Repair
57
Safety Instructions
57
Maintenance
59
Robot Cleaning
60
Control Box Cleaning
60
Repair
61
Appendix A Reference
62
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SIASUN GCR20-1100 Specifications
General
Payload Capacity
20 kg
Reach
1100 mm
Degrees of Freedom
6
Repeatability
±0.05 mm
Type
Industrial Robot
Power Supply
AC 220V, 50/60Hz
Installation
Floor, Wall