Epson SCARA ROBOT User manual

Rev.21 EM183R3621F
SCARA ROBOT
G6 series
MANIPULATOR MANUAL

MANIPULATOR MANUAL
G6 series Rev.21

G6 Rev.21 i
SCARA ROBOT
G6 series Manipulator Manual
Rev.21
Copyright 2007-2018 SEIKO EPSON CORPORATION. All rights reserved.

ii G6 Rev.21
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.

G6 Rev.21 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 G6 Rev.21
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)

G6 Rev.21 v
Before Reading This Manual
This section describes what you should know before reading this manual.
Structure of Control System
The G6 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+
Figures in this Manual
The figures of manipulators indicated in this manual are basically Standard-model
Manipulator. Unless special instruction is provided, the specifications of Standard-model,
Cleanroom-model, and Protected-model (IP54 / IP65) are the same.

vi G6 Rev.21

TABLE OF CONTENTS
G6 Rev.21 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
1.7Warning Labels.................................................................................. 14
2. Specifications 16
2.1 Features of G6 series Manipulators.................................................. 16
2.2 Model Number and Model Differences ............................................. 17
2.3 Part Names and Outer Dimensions .................................................. 18
2.3.1 Table Top Mounting............................................................... 18
2.3.2 Wall Mounting........................................................................ 24
2.3.3 Ceiling Mounting.................................................................... 30
2.4 Specifications .................................................................................... 36
2.5 How to Set the Model ........................................................................ 39
3. Environments and Installation 40
3.1 Environmental Conditions ................................................................. 40
3.2 Base Table ........................................................................................ 42
3.3 Mounting Dimensions........................................................................ 44
3.4 Unpacking and Transportation .......................................................... 46
3.5 Installation ......................................................................................... 47
3.5.1 Table Top Mounting............................................................... 47
3.5.2 Wall Mounting........................................................................ 48
3.5.3 Ceiling Mounting.................................................................... 49
3.5.4 Cleanroom-model .................................................................. 50
3.5.5 Protected-model .................................................................... 50
3.6 Connecting the Cables ...................................................................... 51
3.7 User Wires and Pneumatic Tubes .................................................... 53
3.8 Relocation and Storage..................................................................... 55
3.8.1 Precautions for Relocation and Storage ............................... 55
3.8.2 Table Top Mounting............................................................... 56
3.8.3 Wall Mounting........................................................................ 57
3.8.4 Ceiling Mounting.................................................................... 58

TABLE OF CONTENTS
viii G6 Rev.21
4. Setting of End Effectors 59
4.1 Attaching an End Effector ..................................................................59
4.2 Attaching Cameras and Valves..........................................................60
4.3 Weight and Inertia Settings................................................................61
4.3.1 Weight Setting ........................................................................61
4.3.2 Inertia Setting .........................................................................63
4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 ..............66
5. Motion Range 67
5.1 Motion Range Setting by Pulse Range (for All Joints).......................68
5.1.1 Max. Pulse Range of Joint #1 ................................................68
5.1.2 Max. Pulse Range of Joint #2 ................................................69
5.1.3 Max. Pulse Range of Joint #3 ................................................70
5.1.4 Max. Pulse Range of Joint #4 ................................................70
5.2 Motion Range Setting by Mechanical Stops......................................71
5.2.1 Setting the Mechanical Stops of Joints #1 and #2.................72
5.2.2 Setting the Mechanical Stop of Joint #3.................................75
5.3 Setting the Cartesian (Rectangular) Range in the XY Coordinate
System of the Manipulator (for Joints #1 and #2).......................................77
5.4 Standard Motion Range .....................................................................77
Maintenance
1. Safety Maintenance 83
2. General Maintenance 84
2.1 Maintenance Inspection .....................................................................84
2.1.1 Schedule for Maintenance Inspection ..................................84
2.1.2 Inspection Point ....................................................................85
2.2 Overhaul (Parts Replacement) ..........................................................86
2.3 Greasing.............................................................................................88
2.4 Tightening Hexagon Socket Head Cap Bolts ....................................90
2.5 Matching Origins ................................................................................90
2.6 Layout of Maintenance Parts .............................................................91
2.6.1 Table Top Mounting ...............................................................91
2.6.2 Wall Mounting.........................................................................92
2.6.3 Ceiling Mounting.....................................................................93
3. Covers.....................................................................................................94
3.1 Arm Top Cover...................................................................................96
3.2 Arm Bottom Cover..............................................................................98
3.3 Arm #1 Cover .....................................................................................99
3.3.1 G6-***S*, G6-***C* .................................................................99
3.3.2 G6-***D*, P*..........................................................................100
3.4 Connector Plate ...............................................................................101
3.5 Connector Sub Plate........................................................................103