Epson GX4-B251C Manuals

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Epson GX4-B251C Manual (436 pages)

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Brand: Epson | Category: Industrial Equipment | Size: 53.47 MB

Table of Contents
2
Introduction
11
Introduction
12
Trademarks
12
Terms of Use
12
Manufacturer
12
Contact Information
12
Disposal
12
Before Use
12
Manual Types for this Product
13
GX4 Manipulator
15
Safety
16
Conventions Used in this Manual
16
Design and Installation Safety
17
Strength of the Ball Screw Spline
17
Operation Safety
18
Emergency Stop
19
Safeguard (SG)
19
Arm Movement Method in the Emergency Stop State
20
ACCELS Setting for CP Motion
22
Warning Labels
24
Information Labels
24
Labelled Locations
25
Responses for Emergencies or Malfunctions
27
When a Collision with the Manipulator Occurs
27
Entanglement with the Manipulator
27
Specifications
29
Model Name GX4-A
29
Model Name GX4-B
33
Names of Parts and Their Dimensions
37
Cable Mounting Direction: Standard
37
Cable Mounting Direction: Cable Routing from Bottom Side
44
Multiple Mounting Specifications
50
Specifications Table
57
How to Set the Model
57
Environment and Installation
58
Environment
58
Base Table
59
Manipulator Mounting Dimensions
61
From Unpacking to Installation
63
Safety Information for the Flow from Unpacking to Installation
63
Multiple Mounting Specifications
66
Cleanroom & ESD Specifications
68
Connecting the Cables
69
User Wires and Pneumatic Tubes
71
Electrical Wires
71
Pneumatic Tubes
72
Relocation and Storage
75
Safety Information for Relocation and Storage
75
Multiple Mounting Specifications
79
Setting the Hand
82
Installing the Hand
82
Attaching Cameras and Valves
83
Weight and Inertia Settings
84
Weight Setting
85
Weight of Load Attached to Shaft
85
Weight of Load Attached to Arm
85
Automatic Speed Correction at Weight Setting
86
Automatic Acceleration/Deceleration Correction at Weight Setting
87
Inertia Setting
89
Moment of Inertia and Inertia Setting
89
Moment of Inertia of Load Attached to Shaft
89
Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting
90
Eccentricity and Inertia Setting
90
Eccentricity of Load Attached to Shaft
91
Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting
91
Calculating the Moment of Inertia
92
Safety Information for Auto Acceleration of Joint #3
93
Automatic Acceleration/Deceleration Correction by Shaft Position
93
Work Envelope
95
Work Envelope Setting by Pulse Range
96
Joint #1 Maximum Pulse Range
96
Joint #2 Maximum Pulse Range
98
Joint #3 Maximum Pulse Range
100
Joint #4 Maximum Pulse Range
100
Setting the Work Envelope by Mechanical Stops
101
Setting the Mechanical Stops of Joints #1 and #2
102
Setting the Mechanical Stop of Joint #3
107
Setting the Rectangular Range in the XY Coordinate System of the Manipulator
110
Standard Work Envelope
110
GX8 Manipulator
116
Safety
117
Conventions Used in this Manual
117
Design and Installation Safety
118
Strength of the Ball Screw Spline
118
Operation Safety
119
Emergency Stop
120
Safeguard (SG)
120
Arm Movement Method in the Emergency Stop State
121
ACCELS Setting for CP Motion
123
Warning Labels
124
Information Labels
124
Labelled Locations
125
Responses for Emergencies or Malfunctions
126
When a Collision with the Manipulator Occurs
126
Entanglement with the Manipulator
126
Specifications
128
Model Name GX8-A
128
Model Name GX8-B
136
Names of Parts and Their Dimensions
143
Cable Mounting Direction: Standard
143
Cable Mounting Direction: Cable Routing from Bottom Side
152
Wall Mounting Specifications
161
Ceiling Mounting Specifications
170
Specifications Table
179
How to Set the Model
179
Environment and Installation
179
Environment
179
Base Table
181
Manipulator Mounting Dimensions
183
From Unpacking to Installation
186
Safety Information for the Flow from Unpacking to Installation
186
Wall Mounting Specifications
191
Ceiling Mounting Specifications
193
Cleanroom & ESD-Model
195
Protected-Model
195
Connecting the Cables
196
User Wires and Pneumatic Tubes
199
Electrical Wires
199
Pneumatic Tubes
200
Relocation and Storage
204
Safety Information for Relocation and Storage
204
Wall Mounting Specifications
208
Ceiling Mounting Specifications
212
Setting the Hand
215
Installing the Hand
215
Attaching Cameras and Valves
216
Weight and Inertia Settings
219
Weight Setting
219
Weight of Load Attached to Shaft
220
Weight of Load Attached to Arm
220
Automatic Speed Correction at Weight Setting
221
Automatic Acceleration/Deceleration Correction at Weight Setting
223
Inertia Setting
225
Moment of Inertia and Inertia Setting
225
Moment of Inertia of Load Attached to Shaft
226
Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting
226
Eccentricity and Inertia Setting
226
Eccentricity of Load Attached to Shaft
227
Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting
227
Calculating the Moment of Inertia
228
Safety Information for Auto Acceleration of Joint #3
229
Automatic Acceleration/Deceleration Correction by Shaft Position
229
Work Envelope
231
Work Envelope Setting by Pulse Range
232
Joint #1 Maximum Pulse Range
232
Joint #2 Maximum Pulse Range
233
Joint #3 Maximum Pulse Range
235
Joint #4 Maximum Pulse Range
236
Setting the Work Envelope by Mechanical Stops
237
Setting the Mechanical Stops of Joints #1 and #2
238
Setting the Mechanical Stop of Joint #3
244
Setting the Rectangular Range in the XY Coordinate System of the Manipulator
247
Standard Work Envelope
247
GX10 GX20 Manipulators
255
Safety
256
Conventions Used in this Manual
256
Design and Installation Safety
257
Strength of the Ball Screw Spline
257
Operation Safety
258
Emergency Stop
259
Safeguard (SG)
259
Arm Movement Method in the Emergency Stop State
260
ACCELS Setting for CP Motion
262
Warning Labels
263
Information Labels
263
Labelled Locations
264
Responses for Emergencies or Malfunctions
265
When a Collision with the Manipulator Occurs
265
Entanglement with the Manipulator
265
Specifications
267
Model Name GX10-B/GX20-B
267
Names of Parts and Their Dimensions
272
Wall Mounting Specifications
279
Ceiling Mounting Specifications
286
Specifications Table
293
How to Set the Model
293
Environment and Installation
293
Environment
293
Base Table
295
Manipulator Mounting Dimensions
297
From Unpacking to Installation
299
Safety Information for the Flow from Unpacking to Installation
299
Wall Mounting Specifications
304
Ceiling Mounting Specifications
305
Cleanroom & ESD-Model
307
Protected-Model
307
Connecting the Cables
308
User Wires and Pneumatic Tubes
310
Electrical Wires
310
Pneumatic Tubes
311
Relocation and Storage
314
Safety Information for Relocation and Storage
314
Wall Mounting Specifications
317
Ceiling Mounting Specifications
320
Setting the Hand
323
Installing the Hand
323
Attaching Cameras and Valves
325
Weight and Inertia Settings
327
Weight Setting
327
Weight of Load Attached to Shaft
327
Weight of Load Attached to Arm
327
Automatic Speed Correction at Weight Setting
329
Automatic Acceleration/Deceleration Correction at Weight Setting
329
Inertia Setting
330
Moment of Inertia and Inertia Setting
330
Moment of Inertia of Load Attached to Shaft
330
Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting
331
Eccentricity and Inertia Setting
331
Eccentricity of Load Attached to Shaft
332
Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting
332
Calculating the Moment of Inertia
332
Safety Information for Auto Acceleration of Joint #3
334
Automatic Acceleration/Deceleration Correction by Shaft Position
334
Work Envelope
335
Work Envelope Setting by Pulse Range
335
Joint #1 Maximum Pulse Range
336
Joint #2 Maximum Pulse Range
336
Joint #3 Maximum Pulse Range
338
Joint #4 Maximum Pulse Range
339
Setting the Work Envelope by Mechanical Stops
340
Setting the Mechanical Stops of Joints #1 and #2
341
Setting the Mechanical Stop of Joint #3
346
Setting the Rectangular Range in the XY Coordinate System of the Manipulator
352
Standard Work Envelope
352
Periodic Inspection
359
GX4 Manipulator Periodic Inspection
360
Inspection
360
Inspection Schedule
360
Inspection Details
361
Overhaul (Parts Replacement)
362
Applying Grease
362
Tightening the Hexagon Socket Head Cap Bolts
367
GX8 Manipulator Periodic Inspection
368
Inspection
368
Inspection Schedule
368
Inspection Details
369
Overhaul (Parts Replacement)
370
Applying Grease
370
Tightening the Hexagon Socket Head Cap Bolts
375
GX10/GX20 Manipulator Periodic Inspection
376
Inspection
376
Inspection Schedule
376
Inspection Details
377
Overhaul (Parts Replacement)
378
Applying Grease
378
Tightening the Hexagon Socket Head Cap Bolts
383
Appendix
384
Appendix A: Specifications Table
385
Gx4
385
Gx8
391
Gx10/20
397
Appendix B: Stopping Time and Stopping Distance at Emergency Stop
401
GX4 Stopping Time and Stopping Distance at Emergency Stop
402
GX8 Stopping Time and Stopping Distance at Emergency Stop
408
GX10 Stopping Time and Stopping Distance at Emergency Stop
414
GX20 Stopping Time and Stopping Distance at Emergency Stop
416
Appendix C: Stopping Time and Stopping Distance When Safeguard Is Open
418
GX4 Stopping Time and Stopping Distance When Safeguard Is Open
418
GX8 Stopping Time and Stopping Distance When Safeguard Is Open
425
GX10 Stopping Time and Stopping Distance When Safeguard Is Open
431
GX20 Stopping Time and Stopping Distance When Safeguard Is Open
433
Appendix D: Correction Area for Arm Length Correction
435
GX4 Series
435
GX8 Series
436

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