Epson SCARA GX Series User manual

Original instructions
Rev.2 EM221R5129F
SCARA Robots
GX series
Manual

GX
series Manual Rev.2

GX series Rev.2 i
SCARA Robots
GX series Manual
Rev.2
Copyright 2021-2022 SEIKO EPSON CORPORATION. All rights reserved.

ii GX series Rev.2
FOREWORD
Thank you for purchasing our robot products.
This manual contains the information necessary for the correct use of the robot controller.
Please carefully read this manual and other related manuals before installing the robot
system.
Keep this manual handy for easy access at all times.
The robot system 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. Please note that the basic performance of the product will
not be exhibited if our robot system is used outside of the usage conditions and product
specifications described in the manuals.
This manual describes possible dangers and consequences that we can foresee. Be sure to
comply with safety precautions on this manual to use our robot system safety and correctly.
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
CONTACT INFORMATION
Contact information is described in “SUPPLIERS” in the first pages of the following
manual:
Robot System Safety Manual Read this manual first

GX series Rev.2 iii
DISPOSAL
When disposing this product, dispose in accordance with the laws and regulations of each
country.
Regarding battery disposal
The battery removal/replacement procedure is described in the following manuals:
Maintenance Manual
For Taiwanese customers only
Please separate used 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.
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Robot System
The GX series Manipulators can be used with the following combinations of Controllers
and software.
Controller : RC700-D
Software : EPSON RC+ 7.0 Ver.7.5.1B or later
Setting by Using Software
EPSON
RC+
This manual contains setup procedures using the software.
Those sections are indicated by the symbol on the left.
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.
Photos and Illustrations Used in This Manual
The appearance of some parts may differ from those on an actual product depending on
when it was shipped or the specifications. The procedures themselves, however, are
accurate.

iv GX series Rev.2
The Manuals of This Product
The following are typical manual types for this product and an outline of the descriptions.
Safety Manual (book, PDF)
This manual contains safety information for all people who handle this product. The manual also
describes the process from unpacking to operation and the manual you should look at next.
Read this manual first.
-Safety precautions regarding robot system and residual risk
-Declaration of conformity
-Training
-Flow from unpacking to operation
RC700-D Manual (PDF)
This manual explains the installation of the entire robot system and the specifications and functions
of the controller. The manual is primarily intended for people who design robot systems.
-The installation procedure of the robot system (specific details from unpacking to
operation)
-Daily inspection of the controller
-Controller specifications and basic functions
GX series Manual (PDF)
This manual describes the specifications and functions of the Manipulator. The manual is primarily
intended for people who design robot systems.
-Technical information, functions, specifications, etc. required for the Manipulator
installation and design
-Daily inspection of the Manipulator
Status Code/Error Code List (PDF)
This manual contains a list of code numbers displayed on the controller and messages displayed in
the software message area. The manual is primarily intended for people who design robot systems
or do programming.
EPSON RC+ 7.0 User’s Guide (PDF)
This manual describes general information about program development software.
EPSON RC+ 7.0 SPEL+ Language Reference (PDF)
This manual describes the robot programming language “SPEL+”.
Other Manual (PDF)
Manuals for each option are available.
Manuals for maintenance and service
Maintenance and service manuals are not included with the product.
Only personnel who has taken maintenance training held by us and suppliers should be allowed to
perform the maintenance. For more information, please contact the supplier of your region.

Table of Contents
GX series Rev.2 v
GX4 Manipulator
1. Safety 3
1.1 Conventions................................................................................................ 3
1.2 Design and Installation Safety.................................................................... 4
1.3 Operation Safety ........................................................................................ 5
1.4 Emergency Stop......................................................................................... 7
1.5 Safeguard................................................................................................... 8
1.6 Emergency Movement Without Drive Power ............................................. 9
1.7 ACCELS Setting for CP Motions.............................................................. 10
1.8 Warning Labels..........................................................................................11
1.9 Response for Emergency or Malfunction................................................. 13
1.9.1 Collision ........................................................................................ 13
1.9.2 Getting body caught in Manipulator ............................................. 13
2. Specifications 14
2.1 Model Number and Model Differences .................................................... 14
2.2 Part Names and Outer Dimensions ......................................................... 16
2.2.1 Table Top Mounting ...................................................................... 16
2.2.2 Multiple Mounting ......................................................................... 24
2.3 Specifications ........................................................................................... 28
2.4 How to Set the Model............................................................................... 28
3. Environments and Installation 29
3.1 Environmental Conditions ........................................................................ 29
3.2 Base Table................................................................................................ 30
3.3 Mounting Dimensions............................................................................... 32
3.4 From Unpacking to Installation................................................................. 34
3.4.1 Precautions for the Flow from Unpacking to Installation.............. 34
3.4.2 Table Top Mounting ...................................................................... 36
3.4.3 Multiple Mounting ......................................................................... 37
3.4.4 Cleanroom & ESD model ............................................................. 38
3.5 Connecting the Cables............................................................................. 39
3.6 User Wires and Pneumatic Tubes............................................................ 41
3.6.1 Electrical Wires............................................................................. 41
3.6.2 Pneumatic Tubes.......................................................................... 41
3.7 Relocation and Storage............................................................................ 44
3.7.1 Precautions for Relocation and Storage ...................................... 44
3.7.2 Table Top Mounting ...................................................................... 45
3.7.3 Multiple Mounting ......................................................................... 47
4. Setting of End Effectors 49
4.1 Attaching an End Effector......................................................................... 49
4.2 Attaching Cameras and Valves................................................................ 51
4.3 Weight and Inertia Settings ...................................................................... 52
4.3.1 Weight Setting .............................................................................. 52

Table of Contents
vi GX series Rev.2
4.3.2 Inertia Setting ................................................................................56
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3......................59
5. Motion Range 62
5.1 Motion Range Setting by Pulse Range (for All Joints)..............................62
5.1.1 Max. Pulse Range of Joint #1.......................................................63
5.1.2 Max. Pulse Range of Joint #2.......................................................64
5.1.3 Max. Pulse Range of Joint #3.......................................................65
5.1.4 Max. Pulse Range of Joint #4.......................................................65
5.2 Motion Range Setting by Mechanical Stops.............................................66
5.2.1 Setting the Mechanical Stops of Joints #1 and #2........................66
5.2.2 Setting the Mechanical Stop of Joint #3 .......................................70
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator ..............................................................................................72
5.4 Standard Motion Range ............................................................................72
GX8 Manipulator
1. Safety 79
1.1 Conventions ..............................................................................................79
1.2 Design and Installation Safety ..................................................................80
1.3 Operation Safety .......................................................................................81
1.4 Emergency Stop........................................................................................83
1.5 Safeguard..................................................................................................84
1.6 Emergency Movement Without Drive Power............................................85
1.7 ACCELS Setting for CP Motions...............................................................86
1.8 Warning Labels .........................................................................................87
1.9 Response for Emergency or Malfunction .................................................90
1.9.1 Collision.........................................................................................90
1.9.2 Getting body caught in Manipulator ..............................................90
2. Specifications 91
2.1 Model Number and Model Differences .....................................................91
2.2 Part Names and Outer Dimensions ..........................................................94
2.2.1 Table Top Mounting .......................................................................94
2.2.2 Wall Mounting..............................................................................106
2.2.3 Ceiling Mounting .........................................................................112
2.3 Specifications ..........................................................................................118
2.4 How to Set the Model..............................................................................118
3. Environments and Installation 119
3.1 Environmental Conditions .......................................................................119
3.2 Base Table...............................................................................................121
3.3 Mounting Dimensions .............................................................................124
3.4 From Unpacking to Installation ...............................................................126
3.4.1 Precautions for the Flow from Unpacking to Installation ............126

Table of Contents
GX series Rev.2 vii
3.4.2 Table Top Mounting .................................................................... 128
3.4.3 Wall Mounting............................................................................. 129
3.4.4 Ceiling Mounting......................................................................... 130
3.4.5 Cleanroom & ESD model ........................................................... 131
3.4.6 Protected-model ......................................................................... 131
3.5 Connecting the Cables........................................................................... 132
3.6 User Wires and Pneumatic Tubes.......................................................... 134
3.6.1 Electrical Wires........................................................................... 134
3.6.2 Pneumatic Tubes........................................................................ 135
3.7 Relocation and Storage.......................................................................... 138
3.7.1 Precautions for Relocation and Storage .................................... 138
3.7.2 Table Top Mounting .................................................................... 139
3.7.3 Wall Mounting............................................................................. 141
3.7.4 Ceiling Mounting......................................................................... 143
4. Setting of End Effectors 145
4.1 Attaching an End Effector....................................................................... 145
4.2 Attaching Cameras and Valves.............................................................. 147
4.3 Weight and Inertia Settings .................................................................... 149
4.3.1 Weight Setting ............................................................................ 149
4.3.2 Inertia Setting ............................................................................. 155
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3................... 158
5. Motion Range 161
5.1 Motion Range Setting by Pulse Range (for All Joints)........................... 162
5.1.1 Max. Pulse Range of Joint #1 .................................................... 162
5.1.2 Max. Pulse Range of Joint #2 .................................................... 163
5.1.3 Max. Pulse Range of Joint #3 .................................................... 164
5.1.4 Max. Pulse Range of Joint #4 .................................................... 164
5.2 Motion Range Setting by Mechanical Stops .......................................... 165
5.2.1 Setting the Mechanical Stops of Joints #1 and #2..................... 166
5.2.2 Setting the Mechanical Stop of Joint #3..................................... 170
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate System
of the Manipulator (for Joints #1 and #2)........................................................ 172
5.4 Standard Motion Range ......................................................................... 172

Table of Contents
viii GX series Rev.2
Regular Inspection
1. Regular Inspection for GX4 Manipulator 179
1.1 Maintenance Inspection ..........................................................................179
1.1.1 Schedule for Maintenance Inspection.........................................179
1.1.2 Inspection Point...........................................................................180
1.2 Overhaul (Parts Replacement) ...............................................................181
1.3 Greasing..................................................................................................181
1.4 Tightening Hexagon Socket Head Cap Bolts .........................................184
2. Regular Inspection for GX8 Manipulator 185
2.1 Maintenance Inspection ..........................................................................185
2.1.1 Schedule for Maintenance Inspection.........................................185
2.1.2 Inspection Point...........................................................................186
2.2 Overhaul (Parts Replacement) ...............................................................187
2.3 Greasing..................................................................................................187
2.4 Tightening Hexagon Socket Head Cap Bolts .........................................190
Appendix
Appendix A: Specifications 193
GX4 Specifications..................................................................................193
GX8 Specifications..................................................................................196
Appendix B: Time and Distance of Free Running in Emergency 199
GX4 Time and Distance of Free Running in Emergency .......................200
GX8 Time and Distance of Free Running in Emergency .......................206
Appendix C: Time and Distance of Free Running
When Safeguard Is Opened 212
GX4 Time and Distance of Free Running When Safeguard Is Opened.213
GX8 Time and Distance of Free Running When Safeguard Is Opened.219
Appendix D: Accuracy Range of Arm Length Offset 225
GX4 series ..............................................................................................225
GX8 series ..............................................................................................226

GX4 Manipulator
This volume contains information for setup and operation of the Manipulators.
Please read this volume thoroughly before setting up and operating the Manipulators.

GX4 Manipulator 1. Safety
GX series Rev.2 3
1. Safety
Transportation and installation of the Manipulators and robotic equipment shall be
performed by personnel who has taken robot system training held by us and suppliers, 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.
This product is intended for transporting and assembling parts in a safely isolated area.
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 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.

GX4 Manipulator 1. Safety
4 GX series Rev.2
1.2 Design and Installation Safety
Design and installation of robot system shall be performed by personnel who has taken robot
system training held by us and suppliers.
To ensure safety, a safeguard must be installed for the robot system. For details on the
safeguard, refer to Installation and Design Precautions in the Safety chapter of the EPSON
RC+ User’s 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 “
Safety Manual” to understand the safety requirements before designing
and/or constructi
ng 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.
■
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 specifi
ed 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.
■
When designing or installing a robot system, wear at least the following protective
gear. Working without
protective gear may cause serious safety problems.
Work clothes suitable for work
Helmet
Safety shoes
■
Do not remove any parts unless otherwise instructed by manuals. Follow the
maintenance procedure strictly as described. Improper removal of parts or
improper maintenance may cause not only malfunction of the robot system but
serious safety problems.
Further precautions for installation are mentioned in “3. Environments and Installation”.
Please read this chapter carefully to understand safe installation procedures before
installing the robots and robotic equipment.

GX4 Manipulator 1. Safety
GX series Rev.2 5
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 load differs depending on distance where the load is applied to. For
calculating the allowable load, refer to the calculation formula below.
[Allowable bending moment]
GX4: M=13,000 N ∙ mm
Example: If 130 N load is applied
at 100 mm from
the end of the spline nut
[Moment]
M=F ∙ L ＝ 100 ∙ 130
＝ 13,000 N ∙ mm
End of the
spline nut
F
L
1.3 Operation Safety
The following items are safety precautions for operating personnel:
WARNING
■
Please carefully read “
Safety Manual
” before operating the robot system.
Operating the robot system without understanding the safety precautions 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.

GX4 Manipulator 1. Safety
6 GX series Rev.2
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 any replacement procedure with the power ON is extremely hazardous
and may result in electric shock and/or malfunction of the robot system.
■
Do not connect or disconnect the connector of M/C cable while the Controller is
turned ON. Connecting or disconnecting the motor connectors with the power ON
is extremely hazardous and may result in serious bodily injury as the Manipulator
may move abnorma
lly, and also may result in electric shock and/or malfunction of
the robot system.
CAUTION
■
Whenever possible, only one person should operate the robot system. If it is
necessary to operate the robot system with more than one person, ensure that
all
people involved communicate with each other as to what they are doing and take
all necessary safety precautions.
■
Joint #1, #2, and #4:
If the joints are operated repeatedly with the operating angle less than 5 degrees,
they may get damaged
early because the bearings are likely to cause oil film
shortage in such situation. To prevent early breakdown, move each joint larger
than 50 degrees for about once an hour.
Joint #3:
If the up
-and-down motion of the hand is less than 10 mm, move the join
t a half of
the maximum stroke for about once an hour.
■
Vibration (resonance) may occur continuously in low speed
Manipulator motion
(Speed: approx. 5 to 20%) depending on combination of Arm orientation and end
effector load. Vibration arises from natural vibration frequency of the Arm and can
be controlled by following measures.
Changing Manipulator speed
Changing the teach points
Changing the end effector load

GX4 Manipulator 1. Safety
GX series Rev.2 7
1.4 Emergency Stop
If the Manipulator moves abnormally during operation, immediately press the Emergency
Stop switch. Pressing the Emergency Stop switch immediately changes the manipulator to
deceleration motion and stops it at the maximum deceleration speed.
Avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running
normally.
- The Manipulator may hit the peripheral equipment.
When you press the Emergency Stop switch, the operating trajectory until the robot
system stops is different from that in normal operation.
- The life of the brakes will be shortened.
The brakes are locked and the brake friction plate is worn.
Normal brake life cycle: About 2 years (when the brakes are used 100 times/day)
- Impact is applied on the reduction gear unit, and it may result in the short life of the
reduction gear unit.
To place the system in emergency mode during normal operation, press the Emergency Stop
switch when the Manipulator is not moving.
Refer to Controller Manual for instructions on how to wire the Emergency Stop switch
circuit.
Do not turn OFF the Controller while the Manipulator is operating.
If you attempt to stop the Manipulator in emergency situations, make sure to stop the
Manipulator using the Emergency Stop switch of the Controller.
If the Manipulator is stopped by turning OFF the Controller while it is operating, following
problems may occur.
Reduction of the life and damage of the reduction gear unit
Position gap at the joints
In addition, if the Controller was forced to be turned OFF by blackouts and the like while
the Manipulator is operating, make sure to check the following points after power restoration.
Whether or not the reduction gear is damaged
Whether or not the joints are in their proper positions
If there is a position gap, maintenance is required. For more information, contact the supplier
of your region.
Before using the Emergency Stop switch, be aware of the followings.
-The Emergency Stop (E-STOP) switch should be used to stop the Manipulator only in
case of emergencies.
-To stop the Manipulator operating the program except in emergency, use Pause (halt)
or STOP (program stop) commands.
Pause and STOP commands do not turn OFF the motors. Therefore, the brake does not
function.
-For the Safeguard system, do not use the circuit for E-S TO P.
To check brake problems, refer to Regular Inspection.

GX4 Manipulator 1. Safety
8 GX series Rev.2
Free running distance in emergency
The operating Manipulator cannot stop immediately after the Emergency Stop switch is
pressed. In addition, time and distance of the free running vary by following factors:
Hand weight WEIGHT Setting ACCEL Setting
Workpiece weight SPEED Setting Posture etc.
For time and distance of the Manipulator free running, refer to “Appendix B: Time and
Distance of Free Running in Emergency”.
1.5 Safeguard
To ensure safe operation, install a safety system using safety doors, light curtains, safety
floor mats, etc.
When a closed safeguard is open during robot motion, the safeguard interlock function
operates. The robot stops immediately and enters into pause state. Then, all robot motors are
turned OFF. The descriptions below explain how the safeguard input works.
Safeguard open
: The robot stops immediately, motors are turned OFF, and further
operation is impossible until either the safeguard is closed or TEACH
or TEST mode is turned ON and the enable circuit is engaged.
Safeguard closed
: The robot can automatically operate in unrestricted (high power) state.
For the Safeguard system, do not use the circuit for E-STOP. For details of wiring
instructions, refer to the following manual:
RC700-D Manual “9. EMERGENCY”
For details of Safeguard, refer to the following manual:
RC700-D Manual “2.7.1 Connection to EMERGENCY Connector”
WARNING
■
The EMERGENCY connector on the controller has a safeguard input circuit to
connect the safety device interlock switch. To protect operators working near the
robot, be sure to connect the interlock switch and make sure that it works properly.
■ The time to stop the robot and the stopping distance by the safeguard interlock
function will change depending on the conditions of use. Be sure to confirm that
safety is ensured according to the installation environment of the robot.
Free running distance when the safeguard is opened
The Manipulator in operation cannot stop immediately after the safeguard is opened. In
addition, time and distance of the free running vary by following factors:
Hand weight WEIGHT Setting ACCEL Setting
Workpiece weight SPEED Setting Posture etc.
For time and distance of the Manipulator free running, refer to “Appendix C: Time and
Distance of Free Running When the Safeguard is Opened”.

GX4 Manipulator 1. Safety
GX series Rev.2 9
1.6 Emergency Movement Without Drive Power
When the system is placed in emergency mode, push the joint of the Manipulator by hand
as shown below:
Joint #1 Push Arm #1 by hand.
Joint #2 Push Arm #2 by hand.
Joint #3 The joint cannot be moved up/down by hand until the electromagnetic
brake applied to the joint has been released.
Move the joint up/down while pressing the brake release switch.
Joint #4 The joint cannot be rotated by hand until the electromagnetic brake
applied to the joint has been released.
Move the joint up/down while pressing the brake release switch.
Joint #3 #4 brake
release switch
Joint #1
(rotating)
Joint #2
(rotating)
Joint #3
(up and down)
Joint #4
(rotating)
Arm #1
Arm #2
Base
+
−
+
−
+
−
Shaft
+
−
The brake release switch is common to Joint #3 and Joint #4. When the brake release switch
is pressed in emergency mode, the brakes for Joint #3 and Joint #4 are released.
Be careful of the shaft falling and rotating while the brake release switch is being pressed
because the shaft may be lowered by the weight of an end effector.

NOTE

GX4 Manipulator 1. Safety
10 GX series Rev.2
1.7 ACCELS Setting for CP Motions
To make the Manipulator move in CP motion, refer to the following and set ACCELS
properly using the SPEL program according to the tip load and the Z-axis height.
Improper setting may cause following problems.
- Reduction of the life and damage of the ball screw spline
Set ACCELS as follows according to the Z-axis height.
ACCELS setting value by Z-axis height and tip load
Z-axis height
(mm)
Tip load
3kg or less
4kg or less
- 0 > Z >= - 50
25000 or less
25000 or less
- 50 > Z >= - 100
25000 or less
- 100 > Z >= - 150
21500 or less
Z
Z-axis height 0
(Origin point)
If the Manipulator is operated in CP motion with the wrong set values, make sure to check
the following point.
- Whether the ball screw spline shaft is deformed or bent

NOTE