爱普生机器人G10系列-机器人操作手册【技术资料】.pdf
Rev.20 EM183R3619F SCARA ROBOT G10/G20 series MANIPULATOR MANUAL MANIPULATOR MANUAL G10/G20 series Rev.20 G10/G20 Rev.20 i SCARA ROBOT G10/G20 series Manipulator Manual Rev.20 Copyright 2007-2018 SEIKO EPSON CORPORATION.All rights reserved.ii G10/G20 Rev.20 FOREWORD Thank you for purchasing our robot products.This manual contains the information necessary for the correct use of the manipulator.Please carefully read this manual and other related manuals before installing the robot system.Keep this manual handy for easy access at all times.WARRANTY The Manipulator and its optional parts are shipped to our customers only after being subjected to the strictest quality controls,tests,and inspections to certify its compliance with our high performance standards.Product malfunctions resulting from normal handling or operation will be repaired free of charge during the normal warranty period.(Please ask your Regional Sales Office for warranty period information.)However,customers will be charged for repairs in the following cases(even if they occur during the warranty period):1.Damage or malfunction caused by improper use which is not described in the manual,or careless use.2.Malfunctions caused by customers unauthorized disassembly.3.Damage due to improper adjustments or unauthorized repair attempts.4.Damage caused by natural disasters such as earthquake,flood,etc.Warnings,Cautions,Usage:1.If the Manipulator or associated equipment is used outside of the usage conditions and product specifications described in the manuals,this warranty is void.2.If you do not follow the WARNINGS and CAUTIONS in this manual,we cannot be responsible for any malfunction or accident,even if the result is injury or death.3.We cannot foresee all possible dangers and consequences.Therefore,this manual cannot warn the user of all possible hazards.G10/G20 Rev.20 iii TRADEMARKS Microsoft,Windows,and Windows logo are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries.Other brand and product names are trademarks or registered trademarks of the respective holders.NOTICE No part of this manual may be copied or reproduced without authorization.The contents of this manual are subject to change without notice.Please notify us if you should find any errors in this manual or if you have any comments regarding its contents.MANUFACTURER iv G10/G20 Rev.20 Regarding battery disposal The crossed out wheeled bin label that can be found on your product indicates that this product and incorporated batteries should not be disposed of via the normal household waste stream.To prevent possible harm to the environment or human health please separate this product and its batteries from other waste streams to ensure that it can be recycled in an environmentally sound manner.For more details on available collection facilities please contact your local government office or the retailer where you purchased this product.Use of the chemical symbols Pb,Cd or Hg indicates if these metals are used in the battery.This information only applies to customers in the European Union,according to DIRECTIVE 2006/66/EC OF THE EUROPEAN PARLIAMENT AND OF THE COUNCIL OF 6 September 2006 on batteries and accumulators and waste batteries and accumulators and repealing Directive 91/157/EEC and legislation transposing and implementing it into the various national legal systems.For other countries,please contact your local government to investigate the possibility of recycling your product.The battery removal/replacement procedure is described in the following manuals:Controller manual/Manipulator manual(Maintenance section)G10/G20 Rev.20 v Before Reading This Manual This section describes what you should know before reading this manual.Structure of Control System The G10/G20 series Manipulators can be used with the following combinations of Controllers and software.The operating methods and descriptions are different depending on which software you are using.The following icons are put beside appropriate text as necessary.Use the descriptions that pertain to the software you are using.Controller Software Name Structure RC180 Controller EPSON RC+5.0 RC700-A Control Unit Drive Unit EPSON RC+7.0 Ver.7.1.2 or later The motions of the manipulators such as in emergency stops vary depending on the Controllers since they have different control methods.Details are described in the manual.Turning ON/OFF Controller When you see the instruction“Turn ON/OFF the Controller”in this manual,be sure to turn ON/OFF all the hardware components.For the Controller composition,refer to the table above.Shape of Motors The shape of the motors used for the Manipulator that you are using may be different from the shape of the motors described in this manual because of the specifications.Setting by Using Software This manual contains setting procedures by using software.They are marked with the following icon.EPSON RC+vi G10/G20 Rev.20 TABLE OF CONTENTS G10/G20 Rev.20 vii 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 .62 TABLE 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 .116 TABLE 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 191 TABLE OF CONTENTS x G10/G20 Rev.20 10.Ball Screw Spline Unit 194 10.1 Greasing the Ball Screw Spline Unit .195 10.1.1 Standard-model.195 10.1.2 Cleanroom-model/Protected-model.196 10.2 Replacing the Ball Screw Spline Unit .198 10.2.1 G10.198 10.2.2 G20.205 11.Lithium Battery 210 11.1 Replacing the Battery Unit(Lithium Battery).212 11.2 Replacing the Battery Board.214 12.LED Lamp 216 13.Radiating Unit 218 14.Calibration 220 14.1 About Calibration .220 14.2 Calibration Procedure .221 14.3 Accurate Calibration of Joint#2 .231 14.4 Calibration Procedure without using Calibration Wizard .233 15.Maintenance Parts List 237 15.1 Common Parts.237 15.2 Parts by Environment Model .239 Setup&Operation This volume contains information for setup and operation of the G10/G20 series Manipulators.Please read this volume thoroughly before setting up and operating the Manipulators.Setup&Operation 1.Safety G10/G20 Rev.20 3 1.Safety Installation and transportation of manipulators and robotic equipment shall be performed by qualified personnel and should conform to all national and local codes.Please read this manual and other related manuals before installing the robot system or before connecting cables.Keep this manual handy for easy access at all times.1.1 Conventions Important safety considerations are indicated throughout the manual by the following symbols.Be sure to read the descriptions shown with each symbol.WARNING This symbol indicates that a danger of possible serious injury or death exists if the associated instructions are not followed properly.WARNING This symbol indicates that a danger of possible serious injury or death caused by electric shock exists if the associated instructions are not followed properly.CAUTION This symbol indicates that a danger of possible harm to people or physical damage to equipment and facilities exists if the associated instructions are not followed properly.Setup&Operation 1.Safety 4 G10/G20 Rev.20 1.2 Design and Installation Safety Only trained personnel should design and install the robot system.Trained personnel are defined as those who have taken robot system training and maintenance training classes held by the manufacturer,dealer,or local representative company,or those who understand the manuals thoroughly and have the same knowledge and skill level as those who have completed the training courses.To ensure safety,a safeguard must be installed for the robot system.For details on the safeguard,refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+Users Guide.The following items are safety precautions for design personnel:WARNING Personnel who design and/or construct the robot system with this product must read the Safety chapter in the EPSON RC+Users Guide to understand the safety requirements before designing and/or constructing the robot system.Designing and/or constructing the robot system without understanding the safety requirements is extremely hazardous,may result in serious bodily injury and/or severe equipment damage to the robot system,and may cause serious safety problems.The Manipulator and the Controller must be used within the environmental conditions described in their respective manuals.This product has been designed and manufactured strictly for use in a normal indoor environment.Using the product in an environment that exceeds the specified environmental conditions may not only shorten the life cycle of the product but may also cause serious safety problems.The robot system must be used within the installation requirements described in the manuals.Using the robot system outside of the installation requirements may not only shorten the life cycle of the product but also cause serious safety problems.Further precautions for installation are mentioned in the chapter Setup&Operation:3.Environments and Installation.Please read this chapter carefully to understand safe installation procedures before installing the robots and robotic equipment.Setup&Operation 1.Safety G10/G20 Rev.20 5 1.2.1 Strength of the Ball Screw Spline If a load exceeding the allowable value is applied to the ball screw spline,it may not work properly due to deformation or breakage of the shaft.If the ball screw spline is applied the load exceeding the allowable value,it is necessary to replace the ball screw spline unit.The allowable loads differ depending on distance where the load is applied to.For calculating the allowable load,see the calculation formula below.Allowable bending moment G10/G20:M=50,000 Nmm Example:If 500 N load is applied at 100 mm from the end of the spline nut Moment M=FL10050050,000 Nmm End of the spline nut F L Setup&Operation 1.Safety 6 G10/G20 Rev.20 1.3 Operation Safety The following items are safety precautions for qualified Operator personnel:WARNING Please carefully read the Safety-related Requirements in the Safety chapter of the Safety and Installation manual before operating the robot system.Operating the robot system without understanding the safety requirements is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.Do not enter the operating area of the Manipulator while the power to the robot system is turned ON.Entering the operating area with the power ON is extremely hazardous and may cause serious safety problems as the Manipulator may move even if it seems to be stopped.Before operating the robot system,make sure that no one is inside the safeguarded area.The robot system can be operated in the mode for teaching even when someone is inside the safeguarded area.The motion of the Manipulator is always in restricted(low speeds and low power)status to secure the safety of an operator.However,operating the robot system while someone is inside the safeguarded area is extremely hazardous and may result in serious safety problems in case that the Manipulator moves unexpectedly.Immediately press the Emergency Stop switch whenever the Manipulator moves abnormally while the robot system is operated.WARNING To shut off power to the robot system,disconnect the power plug from the power source.Be sure to connect the AC power cable to a power receptacle.DO NOT connect it directly to a factory power source.Before performing any replacement procedure,turn OFF the Controller and related equipment,and then disconnect the power plug from the power source.Performing
