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愛普生機器人G10系列-機器人操作手冊【技術資料】
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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 ........................................................................ 62TABLE OF CONTENTS
viii
G10 / G20 Rev.20
4. Setting of End Effectors
63
4.1 Attaching an End Effector .......................................................................63
4.2 Attaching Cameras and Valves ..............................................................65
4.3 Weight and Inertia Settings ....................................................................66
4.3.1 Weight Setting ............................................................................66
4.3.2 Inertia Setting .............................................................................70
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ...................75
5. Motion Range
76
5.1 Motion Range Setting by Pulse Range (for All Joints) ...........................77
5.1.1 Max. Pulse Range of Joint #1 ....................................................77
5.1.2 Max. Pulse Range of Joint #2 ....................................................78
5.1.3 Max. Pulse Range of Joint #3 ....................................................79
5.1.4 Max. Pulse Range of Joint #4 ....................................................79
5.2 Motion Range Setting by Mechanical Stops ..........................................80
5.2.1 Setting the Mechanical Stops of Joints #1 and #2 .....................81
5.2.2 Setting the Mechanical Stop of Joint #3 .....................................84
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2) ................................86
5.4 Standard Motion Range .........................................................................87
Maintenance
1. Safety Maintenance
93
2. General Maintenance
94
2.1 Maintenance Inspection ...........................................................................94
2.1.1 Schedule for Maintenance Inspection ........................................94
2.1.2 Inspection Point ..........................................................................95
2.2 Overhaul (Parts Replacement) ................................................................96
2.3 Greasing .................................................................................................98
2.4 Tightening Hexagon Socket Head Cap Bolts .......................................100
2.5 Matching Origins ...................................................................................100
2.6 Layout of Maintenance Parts ...............................................................101
2.6.1 Table Top Mounting type ............................................................101
2.6.2 Wall Mounting type.....................................................................103
2.6.3 Ceiling Mounting type.................................................................105
2.6.4 G10-65***: For S/N1**** or later ...............................................107
3. Covers
108
3.1 Arm Top Cover ......................................................................................110
3.2 Arm Bottom Cover ................................................................................112
3.3 Arm #1 Cover .......................................................................................113
3.3.1 G10/G20-***S*, G10/G20-***C* ...............................................113
3.3.2 G10/G20-***D*, P* ....................................................................114
3.4 Connector Plate ....................................................................................115
3.5 Connector Sub Plate ............................................................................116TABLE OF CONTENTS
G10 / G20 Rev.20
ix
3.6 User Plate .............................................................................................117
3.7 Maintenance Plate ................................................................................117
3.8 Base Bottom Cover ..............................................................................118
4. Cable
119
4.1 Replacing Cable Unit ........................................................................... 120
4.2 Wiring Diagrams .................................................................................. 132
4.2.1 Signal Cable ............................................................................ 132
4.2.2 Power Cable ............................................................................ 133
4.2.3 User Cable ............................................................................... 135
4.3 Replacing M/C Cable ........................................................................... 136
5. Arm #1
139
5.1 Replacing Joint #1 Motor ..................................................................... 140
5.2 Replacing Joint #1 Reduction Gear Unit ............................................. 142
6. Arm #2
145
6.1 Replacing Joint #2 Motor ..................................................................... 146
6.2 Replacing Joint #2 Reduction Gear Unit ............................................. 151
7. Arm #3
154
7.1 Replacing Joint #3 Motor ..................................................................... 155
7.2 Replacing the Timing Belt .................................................................... 159
7.2.1 G10 .......................................................................................... 160
7.2.2 G20 .......................................................................................... 164
7.3 Replacing the Brake ............................................................................ 165
8. Arm #4
167
8.1 Replacing Joint #4 Motor ..................................................................... 168
8.1.1 G10 .......................................................................................... 168
8.1.2 G20 .......................................................................................... 172
8.2 Replacing the Timing Belt .................................................................... 174
8.2.1 G10 .......................................................................................... 175
8.2.2 G20 .......................................................................................... 179
8.3 Replacing the Brake ............................................................................ 184
8.4 Replacing the Reduction Gear Unit ..................................................... 187
8.4.1 G10 .......................................................................................... 188
8.4.2 G20 .......................................................................................... 189
9. Bellows
191TABLE OF CONTENTS
x
G10 / G20 Rev.20
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