Document Outline

• EM082R1662F SCARA ROBOT G10/G20 series manipulator manual Rev.2
  • PREFACE
    • FOREWORD
    • WARRANTY
    • TRADEMARKS
    • NOTICE
    • INQUIRIES
    • SERVICE CENTER
    • MANUFACTURER & SUPPLIER
    • SUPPLIERS
    • Before Reading This Manual
      • Structure of Control System
      • Turning ON/OFF Controller
      • Shape of Motors
      • Setting by Using Software
  • TABLE OF CONTENTS
    • Before Reading This manual
    • Setup & Operation
      • 1. Safety 3
        • 1.1 Conventions 3
        • 1.2 Design and Installation Safety 4
        • 1.3 Operation Safety 5
        • 1.4 Emergency Stop 6
        • 1.5 Emergency Movement Without Drive Power 7
        • 1.6 Manipulator Labels 8
      • 2. Specifications 10
        • 2.1 Features of G10 series and G20 series Manipulators 10
        • 2.2 Model Number and Model Differences 11
        • 2.3 Part Names and Outer Dimensions 12
          • 2.3.1 Table Top Mounting 12
          • 2.3.2 Wall Mounting 16
          • 2.3.3 Ceiling Mounting 20
        • 2.4 Specifications 24
        • 2.5 How to Set the Model 26
      • 3. Environments and Installation 27
        • 3.1 Environmental Conditions 27
        • 3.2 Base Table 28
        • 3.3 Mounting Dimensions 29
        • 3.4 Unpacking and Transportation 31
          • 3.4.1 Precautions for Transportation 31
          • 3.4.2 Transportation 32
        • 3.5 Installation Procedure 33
          • 3.5.1 Table Top Mounting 33
          • 3.5.2 Wall Mounting 34
          • 3.5.3 Ceiling Mounting 35
          • 3.5.4 Cleanroom-model 36
        • 3.6 Connecting the Cables 37
        • 3.7 User Wires and Pneumatic Tubes 38
        • 3.8 Relocation and Storage 40
          • 3.8.1 Precautions for Relocation and Storage 40
          • 3.8.2 Table Top Mounting 41
          • 3.8.3 Wall Mounting 42
          • 3.8.4 Ceiling Mounting 43
      • 4. Setting of End Effectors 44
        • 4.1 Attaching an End Effector 44
        • 4.2 Attaching Cameras and Valves 46
        • 4.3 Weight and Inertia Settings 47
          • 4.3.1 Weight Setting 47
          • 4.3.2 Inertia Setting 51
        • 4.4 Precautions for Auto Acceleration/Deceleration of Joint
      • 5. Motion Range 57
        • 5.1 Motion Range Setting by Pulse Range (for All Joints) 58
          • 5.1.1 Max. Pulse Range of Joint #1 58
          • 5.1.2 Max. Pulse Range of Joint #2 59
          • 5.1.3 Max. Pulse Range of Joint #3 60
          • 5.1.4 Max. Pulse Range of Joint #4 60
        • 5.2 Motion Range Setting by Mechanical Stops 61
          • 5.2.1 Setting the Mechanical Stops of Joints #1 and #2 62
          • 5.2.2 Setting the Mechanical Stop of Joint #3 65
        • 5.3 Setting the Cartesian (Rectangular) Range in the XY Coo
        • 5.4 Standard Motion Range 68
      • 6. Maintenance Parts List 71
  • Setup & Operation
    • 1. Safety
      • 1.1 Conventions
      • 1.2 Design and Installation Safety
      • 1.3 Operation Safety
      • 1.4 Emergency Stop
      • 1.5 Emergency Movement Without Drive Power
      • 1.6 Manipulator Labels
    • 2. Specifications
      • 2.1 Features of G10 series and G20 series Manipulators
      • 2.2 Model Number and Model Differences
      • 2.3 Part Names and Outer Dimensions
        • 2.3.1 Table Top Mounting
        • 2.3.2 Wall Mounting
        • 2.3.3 Ceiling Mounting
      • 2.4 Specifications
      • 2.5 How to Set the Model
    • 3. Environments and Installation
      • 3.1 Environmental Conditions
      • 3.2 Base Table
      • 3.3 Mounting Dimensions
      • 3.4 Unpacking and Transportation
        • 3.4.1 Precautions for Transportation
        • 3.4.2 Transportation
      • 3.5 Installation Procedure
        • 3.5.1 Table Top Mounting
        • 3.5.2 Wall Mounting
        • 3.5.3 Ceiling Mounting
        • 3.5.4 Cleanroom-model
      • 3.6 Connecting the Cables
      • 3.7 User Wires and Pneumatic Tubes
      • 3.8 Relocation and Storage
        • 3.8.1 Precautions for Relocation and Storage
        • 3.8.2 Table Top Mounting
        • 3.8.3 Wall Mounting
        • 3.8.4 Ceiling Mounting
    • 4. Setting of End Effectors
      • 4.1 Attaching an End Effector
      • 4.2 Attaching Cameras and Valves
      • 4.3 Weight and Inertia Settings
        • 4.3.1 Weight Setting
        • 4.3.2 Inertia Setting
      • 4.4 Precautions for Auto Acceleration/Deceleration of Joint
    • 5. Motion Range
      • 5.1 Motion Range Setting by Pulse Range (for All Joints)
        • 5.1.1 Max. Pulse Range of Joint #1
        • 5.1.2 Max. Pulse Range of Joint #2
        • 5.1.3 Max. Pulse Range of Joint #3
        • 5.1.4 Max. Pulse Range of Joint #4
      • 5.2 Motion Range Setting by Mechanical Stops
        • 5.2.1 Setting the Mechanical Stops of Joints #1 and #2
        • 5.2.2 Setting the Mechanical Stop of Joint #3
      • 5.3 Setting the Cartesian (Rectangular) Range  in the XY C
      • 5.4 Standard Motion Range
    • 6. Maintenance Parts List
      • Common Parts
      • Parts by Environment Model