Epson GX Series User manual

Industrial Robot: SCARA Robots
GX series Manual
Original instructions
©Seiko Epson Corporation 2021-2023
Rev.7
ENM236R5752F

Table of Contents
1. Introduction 11
1.1 Introduction 12
1.2 Trademarks 12
1.3 Terms of Use 12
1.4 Manufacturer 12
1.5 Contact Information 12
1.6 Disposal 12
1.7 Before Use 12
1.8 Manual Types for This Product 13
2. GX4 Manipulator 15
2.1 Safety 16
2.1.1 Conventions Used in This Manual 16
2.1.2 Design and Installation Safety 17
2.1.2.1 Strength of the Ball Screw Spline 17
2.1.3 Operation Safety 18
2.1.4 Emergency Stop 19
2.1.5 Safeguard (SG) 19
2.1.6 Arm Movement Method in the Emergency Stop State 20
2.1.7 ACCELS Setting for CP Motion 22
2.1.8 Warning Labels 24
2.1.8.1 Warning Labels 24
2.1.8.2 Information Labels 24
2.1.8.3 Labelled Locations 25
2.1.9 Responses for Emergencies or Malfunctions 27
2.1.9.1 When a Collision with the Manipulator Occurs 27
2.1.9.2 Entanglement with the Manipulator 27
2.2 Specifications 29
2.2.1 Model Name GX4-A 29
2.2.2 Model Name GX4-B 33
2.2.3 Names of Parts and Their Dimensions 37
2.2.3.1 Table Top Mounting Specifications 37
2.2.3.1.1 Cable Mounting Direction: Standard 37
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2.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 44
2.2.3.2 Multiple Mounting Specifications 50
2.2.4 Specifications Table 57
2.2.5 How to Set the Model 57
2.3 Environment and Installation 58
2.3.1 Environment 58
2.3.2 Base Table 59
2.3.3 Manipulator Mounting Dimensions 61
2.3.4 From Unpacking to Installation 63
2.3.4.1 Safety Information for the Flow from Unpacking to Installation 63
2.3.4.2 Table Top Mounting Specifications 64
2.3.4.3 Multiple Mounting Specifications 66
2.3.4.4 Cleanroom & ESD Specifications 68
2.3.5 Connecting the Cables 69
2.3.6 User Wires and Pneumatic Tubes 71
2.3.6.1 Electrical Wires 71
2.3.6.2 Pneumatic Tubes 72
2.3.7 Relocation and Storage 75
2.3.7.1 Safety Information for Relocation and Storage 75
2.3.7.2 Table Top Mounting Specifications 76
2.3.7.3 Multiple Mounting Specifications 79
2.4 Setting the Hand 82
2.4.1 Installing the Hand 82
2.4.2 Attaching Cameras and Valves 83
2.4.3 Weight and Inertia Settings 84
2.4.3.1 Weight Setting 85
2.4.3.1.1 Weight of Load Attached to Shaft 85
2.4.3.1.2 Weight of Load Attached to Arm 85
2.4.3.1.3 Automatic Speed Correction at Weight Setting 86
2.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 87
2.4.3.2 Inertia Setting 89
2.4.3.2.1 Moment of Inertia and Inertia Setting 89
2.4.3.2.2 Moment of Inertia of Load Attached to Shaft 89
2.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
90
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2.4.3.2.4 Eccentricity and Inertia Setting 90
2.4.3.2.5 Eccentricity of Load Attached to Shaft 91
2.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 91
2.4.3.2.7 Calculating the Moment of Inertia 92
2.4.4 Safety Information for Auto Acceleration of Joint #3 93
2.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 93
2.5 Work Envelope 95
2.5.1 Work Envelope Setting by Pulse Range 96
2.5.1.1 Joint #1 Maximum Pulse Range 96
2.5.1.2 Joint #2 Maximum Pulse Range 98
2.5.1.3 Joint #3 Maximum Pulse Range 100
2.5.1.3.1 Joint #4 Maximum Pulse Range 100
2.5.2 Setting the Work Envelope by Mechanical Stops 101
2.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 102
2.5.2.2 Setting the Mechanical Stop of Joint #3 107
2.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 110
2.5.4 Standard Work Envelope 110
3. GX8 Manipulator 116
3.1 Safety 117
3.1.1 Conventions Used in This Manual 117
3.1.2 Design and Installation Safety 118
3.1.2.1 Strength of the Ball Screw Spline 118
3.1.3 Operation Safety 119
3.1.4 Emergency Stop 120
3.1.5 Safeguard (SG) 120
3.1.6 Arm Movement Method in the Emergency Stop State 121
3.1.7 ACCELS Setting for CP Motion 123
3.1.8 Warning Labels 124
3.1.8.1 Warning Labels 124
3.1.8.2 Information Labels 124
3.1.8.3 Labelled Locations 125
3.1.9 Responses for Emergencies or Malfunctions 126
3.1.9.1 When a Collision with the Manipulator Occurs 126
3.1.9.2 Entanglement with the Manipulator 126
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3.2 Specifications 128
3.2.1 Model Name GX8-A 128
3.2.2 Model Name GX8-B 136
3.2.3 Names of Parts and Their Dimensions 143
3.2.3.1 Table Top Mounting Specifications 143
3.2.3.1.1 Cable Mounting Direction: Standard 143
3.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 152
3.2.3.2 Wall Mounting Specifications 161
3.2.3.3 Ceiling Mounting Specifications 170
3.2.4 Specifications Table 179
3.2.5 How to Set the Model 179
3.3 Environment and Installation 179
3.3.1 Environment 179
3.3.2 Base Table 181
3.3.3 Manipulator Mounting Dimensions 183
3.3.4 From Unpacking to Installation 186
3.3.4.1 Safety Information for the Flow from Unpacking to Installation 186
3.3.4.2 Table Top Mounting Specifications 189
3.3.4.3 Wall Mounting Specifications 191
3.3.4.4 Ceiling Mounting Specifications 193
3.3.4.5 Cleanroom & ESD-Model 195
3.3.4.6 Protected-Model 195
3.3.5 Connecting the Cables 196
3.3.6 User Wires and Pneumatic Tubes 199
3.3.6.1 Electrical Wires 199
3.3.6.2 Pneumatic Tubes 200
3.3.7 Relocation and Storage 204
3.3.7.1 Safety Information for Relocation and Storage 204
3.3.7.2 Table Top Mounting Specifications 205
3.3.7.3 Wall Mounting Specifications 208
3.3.7.4 Ceiling Mounting Specifications 212
3.4 Setting the Hand 215
3.4.1 Installing the Hand 215
3.4.2 Attaching Cameras and Valves 216
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3.4.3 Weight and Inertia Settings 219
3.4.3.1 Weight Setting 219
3.4.3.1.1 Weight of Load Attached to Shaft 220
3.4.3.1.2 Weight of Load Attached to Arm 220
3.4.3.1.3 Automatic Speed Correction at Weight Setting 221
3.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 223
3.4.3.2 Inertia Setting 225
3.4.3.2.1 Moment of Inertia and Inertia Setting 225
3.4.3.2.2 Moment of Inertia of Load Attached to Shaft 226
3.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
226
3.4.3.2.4 Eccentricity and Inertia Setting 226
3.4.3.2.5 Eccentricity of Load Attached to Shaft 227
3.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 227
3.4.3.2.7 Calculating the Moment of Inertia 228
3.4.4 Safety Information for Auto Acceleration of Joint #3 229
3.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 229
3.5 Work Envelope 231
3.5.1 Work Envelope Setting by Pulse Range 232
3.5.1.1 Joint #1 Maximum Pulse Range 232
3.5.1.2 Joint #2 Maximum Pulse Range 233
3.5.1.3 Joint #3 Maximum Pulse Range 235
3.5.1.4 Joint #4 Maximum Pulse Range 236
3.5.2 Setting the Work Envelope by Mechanical Stops 237
3.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 238
3.5.2.2 Setting the Mechanical Stop of Joint #3 244
3.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 247
3.5.4 Standard Work Envelope 247
4. GX10 GX20 Manipulators 255
4.1 Safety 256
4.1.1 Conventions Used in This Manual 256
4.1.2 Design and Installation Safety 257
4.1.2.1 Strength of the Ball Screw Spline 257
4.1.3 Operation Safety 258
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4.1.4 Emergency Stop 259
4.1.5 Safeguard (SG) 259
4.1.6 Arm Movement Method in the Emergency Stop State 260
4.1.7 ACCELS Setting for CP Motion 262
4.1.8 Warning Labels 263
4.1.8.1 Warning Labels 263
4.1.8.2 Information Labels 263
4.1.8.3 Labelled Locations 264
4.1.9 Responses for Emergencies or Malfunctions 265
4.1.9.1 When a Collision with the Manipulator Occurs 265
4.1.9.2 Entanglement with the Manipulator 265
4.2 Specifications 267
4.2.1 Model Name GX10-B/GX20-B 267
4.2.2 Names of Parts and Their Dimensions 272
4.2.2.1 Table Top Mounting Specifications 272
4.2.2.2 Wall Mounting Specifications 279
4.2.2.3 Ceiling Mounting Specifications 286
4.2.3 Specifications Table 293
4.2.4 How to Set the Model 293
4.3 Environment and Installation 293
4.3.1 Environment 293
4.3.2 Base Table 295
4.3.3 Manipulator Mounting Dimensions 297
4.3.4 From Unpacking to Installation 299
4.3.4.1 Safety Information for the Flow from Unpacking to Installation 299
4.3.4.2 Table Top Mounting Specifications 302
4.3.4.3 Wall Mounting Specifications 304
4.3.4.4 Ceiling Mounting Specifications 305
4.3.4.5 Cleanroom & ESD-Model 307
4.3.4.6 Protected-Model 307
4.3.5 Connecting the Cables 308
4.3.6 User Wires and Pneumatic Tubes 310
4.3.6.1 Electrical Wires 310
4.3.6.2 Pneumatic Tubes 311
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4.3.7 Relocation and Storage 314
4.3.7.1 Safety Information for Relocation and Storage 314
4.3.7.2 Table Top Mounting Specifications 315
4.3.7.3 Wall Mounting Specifications 317
4.3.7.4 Ceiling Mounting Specifications 320
4.4 Setting the Hand 323
4.4.1 Installing the Hand 323
4.4.2 Attaching Cameras and Valves 325
4.4.3 Weight and Inertia Settings 327
4.4.3.1 Weight Setting 327
4.4.3.1.1 Weight of Load Attached to Shaft 327
4.4.3.1.2 Weight of Load Attached to Arm 327
4.4.3.1.3 Automatic Speed Correction at Weight Setting 329
4.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 329
4.4.3.2 Inertia Setting 330
4.4.3.2.1 Moment of Inertia and Inertia Setting 330
4.4.3.2.2 Moment of Inertia of Load Attached to Shaft 330
4.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia)
Setting
331
4.4.3.2.4 Eccentricity and Inertia Setting 331
4.4.3.2.5 Eccentricity of Load Attached to Shaft 332
4.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 332
4.4.3.2.7 Calculating the Moment of Inertia 332
4.4.4 Safety Information for Auto Acceleration of Joint #3 334
4.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position 334
4.5 Work Envelope 335
4.5.1 Work Envelope Setting by Pulse Range 335
4.5.1.1 Joint #1 Maximum Pulse Range 336
4.5.1.2 Joint #2 Maximum Pulse Range 336
4.5.1.3 Joint #3 Maximum Pulse Range 338
4.5.1.4 Joint #4 Maximum Pulse Range 339
4.5.2 Setting the Work Envelope by Mechanical Stops 340
4.5.2.1 Setting the Mechanical Stops of Joints #1 and #2 341
4.5.2.2 Setting the Mechanical Stop of Joint #3 346
4.5.3 Setting the Rectangular Range in the XY Coordinate System of the Manipulator 352
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4.5.4 Standard Work Envelope 352
5. Periodic Inspection 359
5.1 GX4 Manipulator Periodic Inspection 360
5.1.1 Inspection 360
5.1.1.1 Inspection Schedule 360
5.1.1.2 Inspection Details 361
5.1.2 Overhaul (Parts Replacement) 362
5.1.3 Applying Grease 362
5.1.4 Tightening the Hexagon Socket Head Cap Bolts 367
5.2 GX8 Manipulator Periodic Inspection 368
5.2.1 Inspection 368
5.2.1.1 Inspection Schedule 368
5.2.1.2 Inspection Details 369
5.2.2 Overhaul (Parts Replacement) 370
5.2.3 Applying Grease 370
5.2.4 Tightening the Hexagon Socket Head Cap Bolts 375
5.3 GX10/GX20 Manipulator Periodic Inspection 376
5.3.1 Inspection 376
5.3.1.1 Inspection Schedule 376
5.3.1.2 Inspection Details 377
5.3.2 Overhaul (Parts Replacement) 378
5.3.3 Applying Grease 378
5.3.4 Tightening the Hexagon Socket Head Cap Bolts 383
6. Appendix 384
6.1 Appendix A: Specifications Table 385
6.1.1 GX4 385
6.1.2 GX8 391
6.1.3 GX10/20 397
6.2 Appendix B: Stopping Time and Stopping Distance at Emergency Stop 401
6.2.1 GX4 Stopping Time and Stopping Distance at Emergency Stop 402
6.2.2 GX8 Stopping Time and Stopping Distance at Emergency Stop 408
6.2.3 GX10 Stopping Time and Stopping Distance at Emergency Stop 414
6.2.4 GX20 Stopping Time and Stopping Distance at Emergency Stop 416
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6.3 Appendix C: Stopping Time and Stopping Distance When Safeguard is Open 418
6.3.1 GX4 Stopping Time and Stopping Distance When Safeguard is Open 418
6.3.2 GX8 Stopping Time and Stopping Distance When Safeguard is Open 425
6.3.3 GX10 Stopping Time and Stopping Distance When Safeguard is Open 431
6.3.4 GX20 Stopping Time and Stopping Distance When Safeguard is Open 433
6.4 Appendix D: Correction Area for Arm Length Correction 435
6.4.1 GX4 Series 435
6.4.2 GX8 Series 436
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