Epson GX Series Manual page 389

Industrial Robot: SCARA Robots GX series Manual
Setting value range
( )Default value
*1: Manipulators with cleanroom & ESD specifications discharge the exhaust inside of the base and inside of the arm cover
section together.
Consequently, if there is a gap in the base section, the arm tip section will not be fully negative pressurized, which may result
in dust generation. Do not remove the maintenance cover on the front of the base. Connect the exhaust tube to the exhaust port
on the back (or bottom) of the base.
If the exhaust discharge rate is not sufficient, dust generation will exceed the specifications.
Cleanliness:
Class ISO 3 (ISO 14644-1)
Exhaust
Exhaust port dimensions: Inner diameter ø6 mm
Compatible exhaust tubes
- Polyurethane tubes
- Outer diameter ø6 mm (Inner diameter ø4 mm)
- Recommended exhaust discharge rate: About 1,000 cm
ESD specifications are specifications that use conductive materials for or apply plating to the major resin parts as anti-static
measures.
We have confirmed that the Manipulator tip (tool mounting section) is at ±5 V or less, even directly after the measuring
operation according to Seiko Epson standards.
If you need any other detailed information, please contact the supplier.
Also, please check the amount of charge on any hand, wiring, or the like that you will attach to the robot on your own before
use.
*2: When PTP statements are used. The maximum operating speed in CP motion is 2,000 mm/s in the horizontal plane.
*3: When the center of gravity of the load matches the Joint #4 center position
When the center of gravity position is separated from the Joint #4 center position, set the parameter using the Inertia statement.
*4: When used in a low-temperature environment near the minimum temperature specified in the product specifications, or
when the unit is idle for a long period of time during holidays or at night, a collision detection error or similar error may occur
immediately after the start of operation due to high resistance in the drive unit.
In such cases, warm-up operation for about 10 minutes is recommended.
*5: The conditions at measurement are as follows.
Manipulator operating conditions
Rated load, four-joint simultaneous operation, maximum speed, maximum acceleration/deceleration
Measurement locations
Manipulator rear side, 1,000 mm away from work envelope, and 50 mm above base mounting surface
Item
Speed
*7
Accel
SpeedS
AccelS
Fine
Weight
GX4-A*****, GX4-B*****
1 to (5) to 100
1 to (10) to 100
1 to (50) to 2000
1 to (200) to 25000
0 to (10000) to 65535
0,130 to (2,130) to 4,130
3
/s (standard state)
Rev.7
389