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Epson SCARA GX Series Manual

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SCARA Robots
GX series
Manual
Rev.2
EM221R5129F
Original instructions

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Summary of Contents for Epson SCARA GX Series

  • Page 1 SCARA Robots GX series Manual Rev.2 EM221R5129F Original instructions...
  • Page 3 SCARA Robots GX series Manual Rev.2 Copyright  2021-2022 SEIKO EPSON CORPORATION. All rights reserved. GX series Rev.2...
  • Page 4 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.
  • Page 5 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 This manual contains setup procedures using the software. EPSON Those sections are indicated by the symbol on the left.
  • Page 6 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.

  • Page 7: Table Of Contents

    Table of Contents GX4 Manipulator 1. Safety 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 ..................
  • Page 8 Table of Contents 4.3.2 Inertia Setting ................56 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3...... 59 5. Motion Range 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.
  • Page 9 Table of Contents 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 ................
  • Page 10 Table of Contents Regular Inspection 1. Regular Inspection for GX4 Manipulator 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.

  • Page 11: Gx4 Manipulator

    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.

  • Page 13: Safety

    GX4 Manipulator 1. Safety 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.

  • Page 14: Design And Installation Safety

    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.

  • Page 15: Operation Safety

    GX4 Manipulator 1. Safety 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.
  • Page 16 GX4 Manipulator 1. Safety ■ 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. ■...

  • Page 17: Emergency Stop

    GX4 Manipulator 1. Safety 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.

  • Page 18: Safeguard

    GX4 Manipulator 1. Safety 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.

  • Page 19: Emergency Movement Without Drive Power

    GX4 Manipulator 1. Safety 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.

  • Page 20: Accels Setting For Cp Motions

    GX4 Manipulator 1. Safety 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. NOTE Improper setting may cause following problems.

  • Page 21: Warning Labels

    GX4 Manipulator 1. Safety 1.8 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Use meticulous care when handling those parts or units to which the following warning labels are attached as well as the nearby areas.
  • Page 22 GX4 Manipulator 1. Safety Location of Labels Common (Arm #2) Top view Table top mounting Lateral view Front view Lateral view Back view Table top mounting (Cable downward) Lateral view Front view Lateral view Bottom view Multiple mounting Lateral view Front view Lateral view Top view...

  • Page 23: Response For Emergency Or Malfunction

    GX4 Manipulator 1. Safety 1.9 Response for Emergency or Malfunction 1.9.1 Collision When the Manipulator collides with a mechanical stopper or peripheral device etc., discontinue use and contact the supplier. 1.9.2 Getting body caught in Manipulator When the operator is caught between the Manipulator and a mechanical part such as a base table, press the emergency stop switch to release the brake by the following method.

  • Page 24: Specifications

    GX4 Manipulator 2. Specifications 2. Specifications 2.1 Model Number and Model Differences GX4-A25 1 S □ □ □ □ □ : Standard Arm type □ : Straight : Left-curved -R : Right-curved Cable mounting direction □ : Standard (Table top-Back, Multiple-Ceiling) : Downward (for Table top only) Mounting specification □...
  • Page 25 GX4 Manipulator 2. Specifications Model list (unit: mm) Cable Joint #3 Environment Mounting mounting Arm type Model number length stroke specification specification direction Standard GX4-A251S Standard Downward GX4-A251SB Standard GX4-A251E Table top Straight Downward GX4-A251EB Standard GX4-A251C Cleanroom & ESD Downward GX4-A251CB Standard...

  • Page 26: Part Names And Outer Dimensions

    GX4 Manipulator 2. Specifications 2.2 Part Names and Outer Dimensions 2.2.1 Table Top Mounting Cable mounting direction: Standard Standard-model GX4-A**1S Joint #2 (rotating) Conduit tube − Joint #1 (rotating) Joint #3 #4 brake release switch Cable duct Indicating lamp − Arm #2 Base Joint #3...
  • Page 27 GX4 Manipulator 2. Specifications Details of B * Position of mechanical stop ** Space for connector 1 mm flat cut GX4-A251S, E GX4-A301S, E GX4-A351S, E Conical hole ø3,90° Max. ø11 through hole shaft diameter mechanical stop diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...
  • Page 28 GX4 Manipulator 2. Specifications ESD model GX4-A**1E The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom &...
  • Page 29 GX4 Manipulator 2. Specifications Details of B * Position of mechanical stop ** Space for connector GX4-A251C GX4-A301C GX4-A351C 1 mm flat cut Conical hole ø3,90° Max. ø11 through hole shaft diameter mechanical stop diameter bellows outer diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...
  • Page 30 GX4 Manipulator 2. Specifications Cable mounting direction: Downward Standard-model GX4-A**1SB Joint #2 (rotating) Conduit tube − Joint #1 (rotating) Joint #3 #4 brake release switch Cable duct Indicating lamp − Arm #2 Base Joint #3 − Shaft (up and down) Arm #1 −...
  • Page 31 GX4 Manipulator 2. Specifications Details of B * Position of mechanical stop ** Space for connector GX4-A251SB, EB GX4-A301SB, EB GX4-A351SB, EB 1 mm flat cut Conical hole ø3,90° Max. ø11 through hole shaft diameter mechanical stop diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...
  • Page 32 GX4 Manipulator 2. Specifications ESD model GX4-A**1EB The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom &...
  • Page 33 GX4 Manipulator 2. Specifications Details of B * Position of mechanical stop ** Space for connector GX4-A251CB GX4-A301CB GX4-A351CB 1 mm flat cut Conical hole ø3,90° Max. ø11 through hole shaft diameter mechanical stop diameter bellows outer diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...

  • Page 34: Multiple Mounting

    GX4 Manipulator 2. Specifications 2.2.2 Multiple Mounting Standard-model GX4-A**1SM Joint #2 Conduit tube (rotating) − Joint #3 #4 brake release switch Indicating lamp Base Arm #1 − Joint #1 (rotating) Arm #2 Joint #3 − (up and down) Shaft − Joint #4 Face plate (rotating)
  • Page 35 GX4 Manipulator 2. Specifications ** Space for connector * Position of mechanical stop GX4-A301SM, EM GX4-A351SM, EM 1 mm flat cut Conical hole ø3,90° Max. ø11 through hole shaft diameter mechanical stop diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...
  • Page 36 GX4 Manipulator 2. Specifications ESD model GX4-A**1EM The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Cleanroom & ESD model GX4-A**1CM The following figures show the additional parts and specifications when compared with the Standard- model.
  • Page 37 GX4 Manipulator 2. Specifications ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø3,90° GX4-A301CM GX4-A351CM Max. ø11 through hole shaft diameter mechanical stop diameter bellows outer diameter Details of A Calibration point position of Joints #3 and #4 GX series Rev.2...

  • Page 38: Specifications

    The custom specifications may require a different configuration procedure. Check the custom specifications number (MT***) and contact the supplier of your region when necessary. The Manipulator model can be set from software. Refer to the chapter “Robot Configuration” in the EPSON RC+ User’s Guide. GX series Rev.2...

  • Page 39: Environments And Installation

    GX4 Manipulator 3. Environments and Installation 3. Environments and Installation Designing and installation of robot system 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.

  • Page 40: Base Table

    GX4 Manipulator 3. Environments and Installation Special Environmental Conditions The surface of the Manipulator has general oil resistance. However, if your requirements specify that the Manipulator must withstand certain kinds of oil, please contact the supplier of your region. Rapid change in temperature and humidity can cause condensation inside the Manipulator.
  • Page 41 GX4 Manipulator 3. Environments and Installation The plate for the Manipulator mounting face should be 20 mm thick or more and made of steel to reduce vibration. The surface roughness of the steel plate should be 25 μm or less. The table must be secured on the floor or wall to prevent it from moving.

  • Page 42: Mounting Dimensions

    GX4 Manipulator 3. Environments and Installation 3.3 Mounting Dimensions The maximum space of the Manipulator is shown in the figure. The maximum space in each figure includes an end effector radius of 60 mm. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space.
  • Page 43 GX4 Manipulator 3. Environments and Installation Table top mounting - Straight arm GX4-A301** GX4-A351** GX4-A251** Table top mounting - Curved arm GX4-A351**-L GX4-A351**-R Multiple mounting - Straight arm GX4-A351*M GX4-A301*M GX series Rev.2...

  • Page 44: From Unpacking To Installation

    GX4 Manipulator 3. Environments and Installation 3.4 From Unpacking to Installation 3.4.1 Precautions for the Flow from Unpacking to Installation 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.
  • Page 45 GX4 Manipulator 3. Environments and Installation The following sections describe the installation of the Standard Manipulator and ESD model. 3.4.2 Table Top Mounting 3.4.3 Multiple Mounting For Cleanroom & ESD Manipulator, refer to the following section: 3.4.4 Cleanroom & ESD model GX series Rev.2...
  • Page 46 GX4 Manipulator 3. Environments and Installation 3.4.2 Table Top Mounting ■ Install the Table top mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX4-A251**: approx.

  • Page 47: Multiple Mounting

    GX4 Manipulator 3. Environments and Installation 3.4.3 Multiple Mounting ■ Install the Multiple mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX4-A301*M : approx.

  • Page 48: Cleanroom & Esd Model

    GX4 Manipulator 3. Environments and Installation 3.4.4 Cleanroom & ESD model Unpack it outside of the clean room. Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall. Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint- free cloth.

  • Page 49: Connecting The Cables

    GX4 Manipulator 3. Environments and Installation 3.5 Connecting the Cables ■ 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.
  • Page 50 GX4 Manipulator 3. Environments and Installation Connection method for Manipulator and M/C cable Insert the M/C cable hood into the M/C cable housing on the back and bottom of the Manipulator, and secure it with the lock attached to the housing. Open the lock plates on both sides of the M/C cable housing Insert the M/C cable hood thoroughly Close the lock plates on both sides of the M/C cable housing...

  • Page 51: User Wires And Pneumatic Tubes

    GX4 Manipulator 3. Environments and Installation 3.6 User Wires and Pneumatic Tubes ■ Only authorized or qualified personnel should be allowed to perform wiring. Wiring by unauthorized or unqualified personnel may result in bodily injury and/or malfunction of the robot system. CAUTION 3.6.1 Electrical Wires Connect the following connectors and cables to the user connector of the Manipulator.
  • Page 52 GX4 Manipulator 3. Environments and Installation Arm #2 side (common to GX4 series) Ethernet connector Fitting (white) for User connector ø6 mm pneumatic (15-pin D-sub connector) Fitting (blue) for ø6 mm pneumatic Brake release switch Fitting (blue) for ø4 mm pneumatic Base side (Table top mounting) Housing for M/C cable...
  • Page 53 GX4 Manipulator 3. Environments and Installation Base side (Table top mounting, Cable downward) User connector (15-pin D-sub connector) Fitting (white) for ø6 mm pneumatic Housing for Fitting (blue) for M/C cable ø6 mm pneumatic tube Fitting (blue) for ø4 mm pneumatic tube Ethernet connector Base side (Multiple mounting) Fitting (white) for...

  • Page 54: Relocation And Storage

    GX4 Manipulator 3. Environments and Installation 3.7 Relocation and Storage 3.7.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. 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.
  • Page 55 GX4 Manipulator 3. Environments and Installation 3.7.2 Table Top Mounting ■ Install the Table top mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX4-A251** : approx.
  • Page 56 GX4 Manipulator 3. Environments and Installation Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the Manipulator from the base table. GX4-A251** Center of gravity Center of gravity GX4-A301** Center of gravity Center of gravity GX4-A351** Center of gravity...

  • Page 57: Multiple Mounting

    GX4 Manipulator 3. Environments and Installation 3.7.3 Multiple Mounting ■ Install the Multiple mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX4-A301*M : approx.
  • Page 58 GX4 Manipulator 3. Environments and Installation Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the Manipulator from the wall. GX4-A301*M Center of gravity Center of gravity GX4-A351*M Center of gravity Center of gravity GX series Rev.2...

  • Page 59: Setting Of End Effectors

    GX4 Manipulator 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe the following things. For details of attaching an end effector, Hand Function Manual.
  • Page 60 GX4 Manipulator 4. Setting of End Effectors Brake Release Switch - Joint #3 and Joint #4 cannot be moved up/down by Brake release switch hand until the electromagnetic brake applied to the joints have been released. To move Joint #3 up/down or rotate Joint #4 while attaching an end effector, turn ON the Controller and press the brake release switch.

  • Page 61: Attaching Cameras And Valves

    GX4 Manipulator 4. Setting of End Effectors 4.2 Attaching Cameras and Valves Arm #2 (top and bottom) and cable duct (covered part) have threaded holes as shown in the figure below. Use the Arm #2 (bottom) hole for attaching cameras, valves, and other equipment to Manipulator.

  • Page 62: Weight And Inertia Settings

    The load (weight of the end effector and work piece) on the shaft can be set by Weight parameter. Enter a value into the [Weight:] text box on the [Weight] panel ([Tools] - EPSON [Robot Manager]). (You may also execute the Weight command from the [Command Window].)
  • Page 63 GX4 Manipulator 4. Setting of End Effectors <Example> A “1 kg” camera is attached to the end of the GX4 Arm #2(180 mm away from the rotation center of Joint #2) with a load weight of “1 kg”. Shaft =130 =180 Weight of =1×180...
  • Page 64 GX4 Manipulator 4. Setting of End Effectors Automatic acceleration/deceleration setting by Weight Standard mode GX4-A25** 4 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (2kg) setting is 100%. GX4-A30** 4 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (2kg) setting being 100%.
  • Page 65 GX4 Manipulator 4. Setting of End Effectors Boost mode GX4-A25** 4 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (2kg) setting is 100%. GX4-A30** 4 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (2kg) setting is 100%.

  • Page 66: Inertia Setting

    “moment of inertia” parameter of the Inertia command. Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Load inertia:]. (You EPSON may also execute the Inertia command from [Command Window].) Automatic acceleration/deceleration setting of Joint #4 by Inertia (moment of...
  • Page 67 The eccentric quantity of load (weight of the end effector and work piece) on the shaft can be set by “eccentric quantity” parameter of Inertia command. Select [Tools]-[Robot Manager]-[Inertia] panel and enter the value in [Eccentricity:]. EPSON (You may also execute the Inertia command from [Command Window].) GX series Rev.2...
  • Page 68 GX4 Manipulator 4. Setting of End Effectors Automatic acceleration/deceleration setting by Inertia (eccentric quantity) Standard mode, Boost mode GX4-A25**, GX4-A30**, GX4-A35** 150 (mm) Eccentricity setting The percentages on the graph are ratios based on the acceleration/deceleration at the 0mm setting being 100%. Calculating the moment of inertia Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with work piece).

  • Page 69: Precautions For Auto Acceleration/Deceleration Of Joint #3

    GX4 Manipulator 4. Setting of End Effectors (a) Moment of inertia of a rectangular parallelepiped Rectangular parallelepiped’s center of gravity Rotation center + m × L (b) Moment of inertia of a cylinder Cylinder’s center of gravity Rotation center + m × L (c) Moment of inertia of a sphere Sphere’s center of gravity Rotation center...
  • Page 70 GX4 Manipulator 4. Setting of End Effectors Automatic acceleration/deceleration vs. Joint #3 position Standard mode GX4-A25** -120 -150 (mm) Shaft height The percentages on the graph are ratios based on the acceleration/deceleration at the shaft upper limit position is 100%. GX4-A30** -120 -150 (mm)
  • Page 71 GX4 Manipulator 4. Setting of End Effectors Boost mode GX4-A25**, GX4-A30**, GX4-A35** -120 -150 (mm) Shaft height The percentages on the graph are ratios based on the acceleration/deceleration at the shaft upper limit position is 100%. When moving the Manipulator horizontally while the shaft is being lowered, it may cause NOTE over-shoot at the time of final positioning.

  • Page 72: Motion Range

    Manipulator does not move. The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the Range command from the [Command Window].)

  • Page 73: Max. Pulse Range Of Joint #1

    GX4 Manipulator 5. Motion Range 5.1.1 Max. Pulse Range of Joint #1 The 0 (zero) pulse position of Joint #1 is the position where Arm #1 faces toward the positive (+) direction on the X-coordinate axis. When the 0 pulse is a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).

  • Page 74: Max. Pulse Range Of Joint #2

    GX4 Manipulator 5. Motion Range 5.1.2 Max. Pulse Range of Joint #2 The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1. (It is the same regardless of the Arm #1 direction.) With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).

  • Page 75: Max. Pulse Range Of Joint #3

    GX4 Manipulator 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

  • Page 76: Motion Range Setting By Mechanical Stops

    GX4 Manipulator 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.
  • Page 77 The angle of Joint #1 is set from –110 degrees to +110 degrees. The angle of Joint #2 is set from -120 degrees to +120 degrees. Execute the following commands from the [Command Window]. EPSON >JRANGE 1,-582542,5825423 ' the pulse range of Joint #1 >JRANGE 2,-2184533,2184533...
  • Page 78 GX4 Manipulator 5. Motion Range Joint #1 mechanical stop Views from the bottom of Arm #1 Mechanical stop position Mounting length Arm type specification (mm) Straight Straight ±140 -110 +110 Table top Straight Max. motion Left-curved -165 to 110 -150 range Right-curved -110 to 165...
  • Page 79 GX4 Manipulator 5. Motion Range Joint #2 mechanical stop Mechanical stop position Mounting Environment length Arm type specification specification (mm) S, E ±141 -111 +111 Straight ±137 -107 +107 S, E ±142 -112 +112 Straight ±141 -111 +111 Table top Straight S, E, C ±142...

  • Page 80: Setting The Mechanical Stop Of Joint #3

    GX4 Manipulator 5. Motion Range 5.2.2 Setting the Mechanical Stop of Joint #3 This method applies to the Standard-model Manipulator (GX4-A**1S*) and ESD model NOTE  (GX4-A**1E*). For the Cleanroom & ESD model (GX4-A**1C*), the motion range set with the Joint #3 mechanical stop cannot be changed.
  • Page 81 Z coordinate value to “-100” with a 150 mm stroke> (−100)/16×131072×(50/36) = -1137778 Execute the following command from the [Command Window]. EPSON ‘Sets the pulse range of Joint #3 >JRANGE 3,-1137778 ,0 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.

  • Page 82: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator

    This setting is only enforced by software. Therefore, it does not change the physical range. The maximum physical range is based on the position of the mechanical stops. Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the XYLim command from the [Command Window].) 5.4 Standard Motion Range...
  • Page 83 GX4 Manipulator 5. Motion Range Table top mounting - Straight arm GX4-A301** GX4-A251** GX4-A351** Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop GX4-A251* GX4-A301* GX4-A351* GX4-A251*B GX4-A301*B GX4-A351*B S, E S, E S, E Length of Arm #1 + #2 (mm) Arm #1 length (mm) Arm #2 length (mm)
  • Page 84 GX4 Manipulator 5. Motion Range Multiple mounting - Straight arm GX4-A351*M GX4-A301*M Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop GX4-A301*M GX4-A351*M S, E S, E Length of Arm #1 + #2 (mm) Arm #1 length (mm) Arm #2 length (mm) Joint #1 motion (°)
  • Page 85 GX4 Manipulator 5. Motion Range Table top mounting - Curved arm GX4-A351**-L GX4-A351**-R Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop GX4-A351*-L GX4-A351*-R GX4-A351*B-L GX4-A351*B-R S, E S, E Length of Arm #1 + #2 (mm) Arm #1 length (mm) Arm #2 length (mm) d / d’...
  • Page 86 GX4 Manipulator 5. Motion Range GX series Rev.2...

  • Page 87: Gx8 Manipulator

    GX8 Manipulator This volume contains information for setup and operation of the Manipulators. Please read this volume thoroughly before setting up and operating the Manipulators.

  • Page 89: Safety

    GX8 Manipulator 1. Safety 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.

  • Page 90: Design And Installation Safety

    To ensure safety, a safeguard must be installed for the robot system. For details on the safeguard, refer to the Installation and Design Precautions in the Safety chapter of the EPSON RC+ User’s Guide. The following items are safety precautions for design personnel: ■...

  • Page 91: Operation Safety

    GX8 Manipulator 1. Safety 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.
  • Page 92 GX8 Manipulator 1. Safety ■ 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. ■...

  • Page 93: Emergency Stop

    GX8 Manipulator 1. Safety 1.4 Emergency Stop If the Manipulator moves abnormally during operation, immediately press the Emergency Stop switch. Stops the power supply to the motor, and the arm stops in the shortest distance with the dynamic brake and mechanical brake. Avoid pressing the Emergency Stop switch unnecessarily while the Manipulator is running normally.

  • Page 94: Safeguard

    GX8 Manipulator 1. Safety For details of the Safeguard system, refer to the Inspection Point. 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...

  • Page 95: Emergency Movement Without Drive Power

    GX8 Manipulator 1. Safety 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.

  • Page 96: Accels Setting For Cp Motions

    GX8 Manipulator 1. Safety 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. NOTE ...

  • Page 97: Warning Labels

    GX8 Manipulator 1. Safety 1.8 Warning Labels The Manipulator has the following warning labels. The warning labels are attached around the locations where specific dangers exist. Use meticulous care when handling those parts or units to which the following warning labels are attached as well as the nearby areas.
  • Page 98 GX8 Manipulator 1. Safety Location of Labels Common (Arm #2) Top view Front view Lateral view Back view Table top mounting Lateral view Front view Lateral view Back view Table top mounting (Cable downward) Lateral view Front view Lateral view Bottom view GX series Rev.2...
  • Page 99 GX8 Manipulator 1. Safety Wall mounting Lateral view Front view Lateral view Top view Ceiling mounting Lateral view Front view Lateral view Back view GX series Rev.2...

  • Page 100: Response For Emergency Or Malfunction

    GX8 Manipulator 1. Safety 1.9 Response for Emergency or Malfunction 1.9.1 Collision When the Manipulator collides with a mechanical stopper or peripheral device etc., discontinue use and contact the supplier. 1.9.2 Getting body caught in Manipulator When the operator is caught between the Manipulator and a mechanical part such as a base table, press the emergency stop switch to release the brake on the subject arm, and then move the arm by hand.

  • Page 101: Specifications

    GX8 Manipulator 2. Specifications 2. Specifications 2.1 Model Number and Model Differences GX8-A45 2 S □ □ □ □ : Standard Cable mounting direction □ : Standard (Table top-Back, Wall-Ceiling, Multiple-Ceiling) B : Downward (for Table top only) Mounting specification □...
  • Page 102 GX8 Manipulator 2. Specifications Model list (unit: mm) Joint #3 Environment Mounting Cable mounting Arm length Model number stroke specification specification direction Standard GX8-A452S Table top Downward GX8-A452SB Standard Wall GX8-A452SW Standard Ceiling GX8-A452SR Standard GX8-A452E Table top Downward GX8-A452EB Wall GX8-A452EW Standard...
  • Page 103 GX8 Manipulator 2. Specifications Joint #3 Environment Mounting Cable mounting Arm length Model number stroke specification specification direction Standard GX8-A553S Table top Downward GX8-A553SB Standard Wall GX8-A553SW Standard Ceiling GX8-A553SR Standard GX8-A553E Table top Downward GX8-A553EB Wall GX8-A553EW Standard Ceiling GX8-A553ER Standard GX8-A553C...

  • Page 104: Part Names And Outer Dimensions

    GX8 Manipulator 2. Specifications 2.2 Part Names and Outer Dimensions 2.2.1 Table Top Mounting Cable mounting direction: Standard Standard-model GX8-A***S Joint #2 Indicating lamp (rotating) − Joint #1 Joint #3, #4 (rotating) brake release switch − Arm #1 Base Arm #2 Joint #3 −...
  • Page 105 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) 1 mm flat cut Details of B Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452S, E GX8-A453S, E GX8-A552S, E GX8-A553S, E GX8-A652S, E GX8-A653S, E –...
  • Page 106 GX8 Manipulator 2. Specifications ESD model GX8-A***E The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom & ESD model GX8-A***C The following figures show the additional parts and specifications when compared with the Standard- model.
  • Page 107 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) 1 mm flat cut Details of B Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452C GX8-A453C GX8-A552C GX8-A553C...
  • Page 108 GX8 Manipulator 2. Specifications Protected-model GX8-A***P The following figures show the additional parts and specifications when compared with the Standard-model. Plate cover (for oil resistant) Upper bellows User connectors with cover (Protected-model) Lower bellows Fittings with cover (Protected-model) Joint #3, #4 brake release switch Plate cover (Protected-model) (for oil resistant)
  • Page 109 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) Details of B 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452P GX8-A453P GX8-A552P GX8-A553P...
  • Page 110 GX8 Manipulator 2. Specifications Cable mounting direction: Downward Standard-model GX8-A***SB Joint #2 Indicating lamp (rotating) − Joint #1 (rotating) Joint #3, #4 − brake release switch Arm #1 Base Arm #2 Joint #3 − (up and down) Shaft − Joint #4 (rotating) User connector (Ethernet connector)
  • Page 111 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) Details of B 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452SB, EB GX8-A453SB, EB GX8-A552SB, EB GX8-A553SB, EB GX8-A652SB, EB GX8-A653SB, EB –...
  • Page 112 GX8 Manipulator 2. Specifications ESD model GX8-A***EB The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom & ESD model GX8-A***CB The following figures show the additional parts and specifications when compared with the Standard- model.
  • Page 113 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) Details of B 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452CB GX8-A453CB GX8-A552CB GX8-A553CB GX8-A652CB GX8-A653CB –...
  • Page 114 GX8 Manipulator 2. Specifications Protected-model GX8-A***PB The following figures show the additional parts and specifications when compared with the Standard- model. Plate cover (for oil resistant) Upper bellows User connectors with cover (Protected-model) Lower bellows Fittings with cover (Protected-model) Plate cover Joint #3, #4 brake release switch (for oil resistant) (Protected-model)
  • Page 115 GX8 Manipulator 2. Specifications (Mount eyebolt when transporting) Details of B 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 * Position of mechanical stop ** Space for connector Section GX8-A452PB GX8-A453PB GX8-A552PB GX8-A553PB GX8-A652PB GX8-A653PB –...

  • Page 116: Wall Mounting

    GX8 Manipulator 2. Specifications 2.2.2 Wall Mounting Standard-model GX8-A***SW Joint #2 (rotating) − Indicating lamp Joint #3, #4 brake release switch Base Arm #1 − Joint #1 Arm #2 Joint #3 (rotating) (up and down) − − Shaft Joint #4 (rotating) User connector (Ethernet connector)
  • Page 117 GX8 Manipulator 2. Specifications Details of B ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452SW, EW GX8-A453SW, EW GX8-A552SW, EW GX8-A553SW, EW GX8-A652SW, EW GX8-A653SW, EW 16.6 11.6 16.6...
  • Page 118 GX8 Manipulator 2. Specifications ESD model GX8-A***EW The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom & ESD model GX8-A***CW The following figures show the additional parts and specifications when compared with the Standard- model.
  • Page 119 GX8 Manipulator 2. Specifications Details of B ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452CW GX8-A453CW GX8-A552CW GX8-A553CW GX8-A652CW GX8-A653CW 98.5 223.5 98.5...
  • Page 120 GX8 Manipulator 2. Specifications Protected-model GX8-A***PW The following figures show the additional parts and specifications when compared with the Standard- model. Upper bellows Plate cover (for oil resistant) User connectors with cover Lower bellows (Protected-model) Plate cover (for oil resistant) Fittings with cover (Protected-model) User connectors with cover...
  • Page 121 GX8 Manipulator 2. Specifications Details of B * Position of mechanical stop ** Space for connector 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452PW GX8-A453PW GX8-A552PW GX8-A553PW GX8-A652PW GX8-A653PW 98.5 223.5 98.5...

  • Page 122: Ceiling Mounting

    GX8 Manipulator 2. Specifications 2.2.3 Ceiling Mounting Standard-model GX8-A***SR Joint #2 (rotating) − Indicating lamp Joint #3, #4 brake release switch Base Arm #1 − Joint #1 Arm #2 (rotating) Joint #3 − Shaft (up and down) − Joint #4 (rotating) Fitting (blue) for ø...
  • Page 123 GX8 Manipulator 2. Specifications Section Details of B ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452SR, ER GX8-A453SR, ER GX8-A552SR, ER GX8-A553SR, ER GX8-A652SR, ER GX8-A653SR, ER 16.6 11.6 16.6...
  • Page 124 GX8 Manipulator 2. Specifications ESD model GX8-A***ER The following figures show the additional parts and specifications when compared with the Standard- model. The outer dimensions are same as the Standard-model. Plate cover (For Anti-static) Plate cover (For Anti-static) Cleanroom & ESD model GX8-A***CR The following figures show the additional parts and specifications when compared with the Standard- model.
  • Page 125 GX8 Manipulator 2. Specifications Section Details of B ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452CR GX8-A453CR GX8-A552CR GX8-A553CR GX8-A652CR GX8-A653CR 98.5 223.5 98.5...
  • Page 126 GX8 Manipulator 2. Specifications Protected-model GX8-A***PR The following figures show the additional parts and specifications for Ceiling mounting and Protected- model when compared with the Standard-model in appearance. Upper bellows Plate cover (for oil resistant) User connectors with cover (Protected-model) Lower bellows Fittings with cover Plate cover...
  • Page 127 GX8 Manipulator 2. Specifications Section Details of B ** Space for connector * Position of mechanical stop 1 mm flat cut Conical hole ø4,90° Details of A Calibration point position of Joints #3 and #4 GX8-A452PR GX8-A453PR GX8-A552PR GX8-A553PR GX8-A652PR GX8-A653PR 98.5 223.5 98.5...

  • Page 128: Specifications

    The custom specifications may require a different configuration procedure; check the custom specifications number (MT***) and contact the supplier of your region when necessary. The Manipulator model can be set from software. Refer to the chapter Robot Configuration in the EPSON RC+ User’s Guide. GX series Rev.2...

  • Page 129: Environments And Installation

    GX8 Manipulator 3. Environments and Installation 3. Environments and Installation Designing 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. 3.1 Environmental Conditions A suitable environment is necessary for the Manipulator to function properly and safely.
  • Page 130 GX8 Manipulator 3. Environments and Installation the following things. The model complies with grade of protection IP65 (IEC 60529, JIS C0920). The Manipulator can be installed in an environment where dust is flying or where it is exposed to water. The Manipulator can be installed in an environment where dust, oily smoke, metal powder, etc.

  • Page 131: Base Table

    GX8 Manipulator 3. Environments and Installation 3.2 Base Table A base table for anchoring the Manipulator is not supplied. Please make or obtain the base table for your Manipulator. The shape and size of the base table differs depending on the use of the robot system.
  • Page 132 GX8 Manipulator 3. Environments and Installation If you are passing cables through the holes on the base table, see the figures below. [unit : mm] M/C cable hood Power connector Signal connector Power connector Signal connector (straight) M/C cable Power connector (L-shaped) NOTE ...
  • Page 133 GX8 Manipulator 3. Environments and Installation By making holes in the base in advance, it is possible to replace the Joint #1 motor while the Manipulator is secured to the base, and improves maintainability. Joint #1 reduction Joint #1 gear unit motor Section SS-SS A: Minimum space of base table required to remove Joint #1 motor and reduction gear unit...

  • Page 134: Mounting Dimensions

    GX8 Manipulator 3. Environments and Installation 3.3 Mounting Dimensions The maximum space of the Manipulator is shown in the figure. The maximum space in each figure shows an end effector radius of 60 mm. If the radius of the end effector exceeds 60 mm, define the radius as the distance to the outer edge of maximum space.
  • Page 135 GX8 Manipulator 3. Environments and Installation Table top mounting GX8-A55*** GX8-A65*** GX8-A45*** Wall mounting GX8-A55**W GX8-A65**W GX8-A45**W Ceiling mounting GX8-A55**R GX8-A65**R GX8-A45**R GX series Rev.2...

  • Page 136: From Unpacking To Installation

    GX8 Manipulator 3. Environments and Installation 3.4 From Unpacking to Installation 3.4.1 Precautions for the Flow from Unpacking to Installation Transportation, and relocation 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. ■...
  • Page 137 GX8 Manipulator 3. Environments and Installation ■ The robot system must be installed to avoid interference with buildings, structures, utilities, other machines and equipment that may create a trapping hazard or pinch points. ■ Vibration (resonance) may occur during operation depending on rigidity of the CAUTION installation table.
  • Page 138 GX8 Manipulator 3. Environments and Installation 3.4.2 Table Top Mounting ■ Install the Table Top Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45***: approx.

  • Page 139: Wall Mounting

    GX8 Manipulator 3. Environments and Installation 3.4.3 Wall Mounting ■ Install the Wall Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45**W: approx.

  • Page 140: Ceiling Mounting

    GX8 Manipulator 3. Environments and Installation 3.4.4 Ceiling Mounting ■ Install the Ceiling Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45**R: approx.

  • Page 141: Cleanroom & Esd Model

    GX8 Manipulator 3. Environments and Installation 3.4.5 Cleanroom & ESD model (1) Unpack the Manipulator outside of the clean room. (2) Secure the Manipulator to delivery equipment such as a pallet with bolts so that the Manipulator does not fall over. (3) Wipe off the dust on the Manipulator with a little alcohol or distilled water on a lint- free cloth.

  • Page 142: Connecting The Cables

    GX8 Manipulator 3. Environments and Installation 3.5 Connecting the Cables ■ 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. ■...
  • Page 143 GX8 Manipulator 3. Environments and Installation Connection method for Manipulator and M/C cable Insert the M/C cable hood into the M/C cable housing of the Manipulator, and secure it with the lock attached to the housing. Open the lock plates on both sides of the M/C cable housing Insert the M/C cable hood thoroughly Close the lock plates on both sides of the M/C cable housing （2）...

  • Page 144: User Wires And Pneumatic Tubes

    GX8 Manipulator 3. Environments and Installation 3.6 User Wires and Pneumatic Tubes ■ Only authorized or certified personnel should be allowed to perform wiring. Wiring by unauthorized or uncertified personnel may result in bodily injury and/or malfunction of the robot system. CAUTION 3.6.1 Electrical Wires Connect the following connectors and cables to the user connector of the Manipulator.

  • Page 145: Pneumatic Tubes

    GX8 Manipulator 3. Environments and Installation 3.6.2 Pneumatic Tubes Pneumatic tube specifications in the Manipulator Pneumatic Outer diameter Max. usable pneumatic pressure tubes × Inner diameter ø6mm × ø4 mm 0.59Mpa (6 kgf/cm2 : 86 psi) ø4mm × ø2.5 mm For each connector, inside the Manipulator, fittings of the same size and tip color (blue/white) are piped between the air fitting on the base side and the air fitting on the Arm #2 side.
  • Page 146 GX8 Manipulator 3. Environments and Installation Arm #2 side (common to GX8 series) User connector User connector (15-pin D-sub connector) (9-pin D-sub connector) Fitting (white) for Fitting (blue) for ø6 mm pneumatic tube ø4 mm pneumatic tube Fitting (blue) for Fitting (white) for ø6 mm pneumatic tube ø4 mm pneumatic tube...
  • Page 147 GX8 Manipulator 3. Environments and Installation Base side (Wall mounting) Ethernet connector User connector Housing for M/C cable (9-pin D-sub connector) User connector Fitting (white) for (15-pin D-sub connector) ø6 mm pneumatic tube Fitting (blue) for Fitting (blue) for ø4 mm pneumatic tube ø6 mm pneumatic tube Fitting (white) for ø4 mm pneumatic tube...

  • Page 148: Relocation And Storage

    GX8 Manipulator 3. Environments and Installation 3.7 Relocation and Storage 3.7.1 Precautions for Relocation and Storage Observe the following when relocating, storing, and transporting the Manipulators. The installation shall be made by personnel who has taken robot system training held by us and suppliers and should conform to all national and local codes.
  • Page 149 GX8 Manipulator 3. Environments and Installation 3.7.2 Table Top Mounting ■ Install or relocate the Table Top Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45***: approx.
  • Page 150 GX8 Manipulator 3. Environments and Installation Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the Manipulator from the base table. GX8-A45*** Center of gravity GX8-A55*** Center of Center of gravity gravity GX8-A65*** Center of gravity Center of gravity GX series Rev.2...

  • Page 151: Wall Mounting

    GX8 Manipulator 3. Environments and Installation 3.7.3 Wall Mounting ■ Install or relocate the Wall Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45**W: approx.
  • Page 152 GX8 Manipulator 3. Environments and Installation Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the Manipulator from the wall. GX8-A45**W Center of gravity GX8-A55**W Center of gravity GX8-A65**W Center of gravity GX series Rev.2...

  • Page 153: Ceiling Mounting

    GX8 Manipulator 3. Environments and Installation 3.7.4 Ceiling Mounting ■ Install or relocate the Ceiling Mounting Manipulator with two or more people. The Manipulator weights are as follows. Be careful not to get hands, fingers, or feet caught and/or have equipment damaged by a fall of the Manipulator. GX8-A45**R: approx.
  • Page 154 GX8 Manipulator 3. Environments and Installation Hold the bottom of Arm #1 by hand to unscrew the anchor bolts. Then, remove the Manipulator from the ceiling. GX8-A45**R Center of gravity Center of gravity GX8-A55**R Center of gravity GX8-A65**R Center of gravity GX series Rev.2...

  • Page 155: Setting Of End Effectors

    GX8 Manipulator 4. Setting of End Effectors 4. Setting of End Effectors 4.1 Attaching an End Effector Users are responsible for making their own end effector(s). Before attaching an end effector, observe these guidelines. For details of attaching an end effector, Hand Function Manual. ■...
  • Page 156 GX8 Manipulator 4. Setting of End Effectors Brake release switch - Joint #3 and Joint #4 cannot be moved up/down by Brake release switch hand until the electromagnetic brake applied to the joints have been released. To move Joint #3 up/down or rotate Joint #4 while attaching an end effector, turn ON the Controller and press the brake release switch.

  • Page 157: Attaching Cameras And Valves

    GX8 Manipulator 4. Setting of End Effectors 4.2 Attaching Cameras and Valves Base and Arm #2 (top and bottom) have threaded holes as shown in the figure below. Use the Arm #2 (bottom) hole for attaching cameras, valves, and other equipment to Manipulator.
  • Page 158 GX8 Manipulator 4. Setting of End Effectors Wall mounting GX8-A***PW : 4×M4 depth6 Other than GX8-A***PW: 4×M4 depth7.5 Root C1 Ceiling mounting GX8-A***PR : 4×M4 depth6 Other than GX8-A***PR: 4×M4 depth7.5 Root C1 GX series Rev.2...

  • Page 159: Weight And Inertia Settings

    The load (weight of the end effector and work piece) on the shaft can be set by Weight parameter. Enter a value into the [Load inertia:] text box on the [Inertia] panel ([Tools] - [Robot EPSON Manager]). (You may also execute the Inertia command from the [Command Window].) Load on the Arm When you attach a camera or other devices to the arm, calculate the weight as the equivalent of the shaft.
  • Page 160 GX8 Manipulator 4. Setting of End Effectors <Example> A “1 kg” camera is attached to the end of the GX8 Arm #2 (350 mm away from the rotation center of Joint #2) with a load weight of “2 kg”. =250 Shaft =350 =1×350...
  • Page 161 GX8 Manipulator 4. Setting of End Effectors Automatic speed setting by Weight Standard mode GX8-A45** 8 (kg) Weight setting The percentages on the graph are ratios based on the speed at the rated (4kg) setting is 100%. GX8-A55** 8 (kg) Weight setting The percentages on the graph are ratios based on the speed at the rated (4kg) setting is 100%.
  • Page 162 GX8 Manipulator 4. Setting of End Effectors Boost mode GX8-A45** 8 (kg) Weight setting The percentages on the graph are ratios based on the speed at the rated (4kg) setting is 100%. GX8-A55** 8 (kg) Weight setting The percentages on the graph are ratios based on the speed at the rated (4kg) setting is 100%. GX8-A65** 8 (kg) Weight setting...
  • Page 163 GX8 Manipulator 4. Setting of End Effectors Automatic acceleration/deceleration setting by Weight Standard mode GX8-A45** 8 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (4kg) setting is 100%. GX8-A55** 8 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (4kg) setting is 100%.
  • Page 164 GX8 Manipulator 4. Setting of End Effectors Boost mode GX8-A45** 8 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (4kg) setting is 100%. GX8-A55** 8 (kg) Weight setting The percentages on the graph are ratios based on the acceleration/deceleration at the rated (4kg) setting is 100%.

  • Page 165: Inertia Setting

    “moment of inertia” parameter of the Inertia command. Enter a value into the [Weight:] text box on the [Weight] panel ([Tools]-[Robot Manager]). EPSON (You may also execute the Weight command from the [Command Window].) Automatic acceleration/deceleration setting of Joint #4 by Inertia...
  • Page 166 “eccentric quantity” parameter of Inertia command. Enter a value into the [Eccentricity:] text box on the [Inertia] panel ([Tools]-[Robot EPSON Manager]). (You may also execute the Inertia command from the [Command Window].) Automatic acceleration/deceleration setting by Inertia (eccentric quantity)
  • Page 167 GX8 Manipulator 4. Setting of End Effectors Calculating the Moment of Inertia Refer to the following examples of formulas to calculate the moment of inertia of load (end effector with work piece). The moment of inertia of the entire load is calculated by the sum of each part (a), (b), and (c).

  • Page 168: Precautions For Auto Acceleration/Deceleration Of Joint #3

    GX8 Manipulator 4. Setting of End Effectors (c) Moment of inertia of a sphere Sphere’s center of gravity Rotation center + m × L 4.4 Precautions for Auto Acceleration/Deceleration of Joint #3 When you move the Manipulator in horizontal PTP motion with Joint #3 (Z) at a high position, the motion time will be faster.
  • Page 169 GX8 Manipulator 4. Setting of End Effectors Automatic acceleration/deceleration vs. Joint #3 position Standard mode GX8-A45** -100 -150 -200 -250 -300 -350 (mm) Shaft height The percentages on the graph are ratios based on the acceleration/deceleration at the shaft upper limit position is 100%.
  • Page 170 GX8 Manipulator 4. Setting of End Effectors Boost mode GX8-A45** -100 -150 -200 -250 -300 -350 (mm) Shaft height The percentages on the graph are ratios based on the acceleration/deceleration at the shaft upper limit position is 100%. GX8-A55** -100 -150 -200 -250...

  • Page 171: Motion Range

    GX8 Manipulator 5. Motion Range 5. Motion Range ■ Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is extremely dangerous as it can move the Manipulator to a position outside the normal operating area. WARNING ■...

  • Page 172: Motion Range Setting By Pulse Range (For All Joints)

    Manipulator does not move. The pulse range can be set on the [Range] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the Range command from the [Command Window].) 5.1.1 Max.

  • Page 173: Max. Pulse Range Of Joint #2

    GX8 Manipulator 5. Motion Range 5.1.2 Max. Pulse Range of Joint #2 The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is in-line with Arm #1. (It is the same regardless of the Arm #1 direction.) With the 0 pulse as a starting point, the counterclockwise pulse value is defined as the positive (+) and the clockwise pulse value is defined as the negative (-).

  • Page 174: Max. Pulse Range Of Joint #3

    GX8 Manipulator 5. Motion Range 5.1.3 Max. Pulse Range of Joint #3 The 0 (zero) pulse position of Joint #3 is the position where the shaft is at its upper limit. The pulse value is always negative because Joint #3 always moves lower than the 0 pulse position.

  • Page 175: Motion Range Setting By Mechanical Stops

    GX8 Manipulator 5. Motion Range 5.2 Motion Range Setting by Mechanical Stops Mechanical stops physically limit the absolute area that the Manipulator can move. Both Joints #1 and #2 have threaded holes in the positions corresponding to the angle for the mechanical stop settings.

  • Page 176: Setting The Mechanical Stops Of Joints #1 And #2

    The angle of Joint #1 is set from –135 degrees to +135 degrees. The angle of Joint #2 is set from -125 degrees to +125 degrees. Execute the following commands from the [Command Window]. EPSON >JRANGE 1,-819200,4096000 ' Sets the pulse range of Joint #1 >JRANGE 2,-2275556,+2275556 ' Sets the pulse range of Joint #2...
  • Page 177 GX8 Manipulator 5. Motion Range The Pulse command (Go Pulse command) moves all joints to the specified positions at the same time. Specify safe positions after considering motion of not only the joints whose pulse range have been changed, but also other joints. In this example, Joint #1 is moved to the center of its motion range (pulse value: 1638400) when checking Joint #2.
  • Page 178 GX8 Manipulator 5. Motion Range Joint #1 mechanical stop Mounting Arm length specification (mm) 450, 550, Table top -115 -135 -152 -105 Max. motion range Ceiling (deg.) 550, 650 -115 -135 -152 -105 Wall -115 -135 -148 450, 550, Table top 4405476 4096000 3731912...
  • Page 179 GX8 Manipulator 5. Motion Range Joint #2 mechanical stop Arm length Mounting Environment Z value range (mm) specification specification (mm) 0 >= Z >= –270 ±147.5 S, E –270 > Z >= –330 ±145 Table top +100 +125 –125 –100 0 >= Z >= –240 ±147.5 C, P...

  • Page 180: Setting The Mechanical Stop Of Joint #3

    GX8 Manipulator 5. Motion Range 5.2.2 Setting the Mechanical Stop of Joint #3 This method applies to the Standard-model Manipulator (GX8-A***S*) and ESD model NOTE  (GX8-A***E*). For the Cleanroom & ESD model (GX8-A***C*) and Protected-model (GX8-A***P*), the motion range set with the Joint #3 mechanical stop cannot be changed. (1) Turn ON the Controller and turn OFF the motors using the Motor OFF command.
  • Page 181 Z coordinate value to “−150” in 200 mm stroke (−150)/40×131072×(60/36) = −819200 Execute the following command from the [Command Window]. EPSON 'Sets the pulse range of Joint #3 >JRANGE 3,-819200,0 (10) Using the Pulse command (Go Pulse command), move Joint #3 to the lower limit position of the pulse range at low speed.

  • Page 182: Setting The Cartesian (Rectangular) Range In The Xy Coordinate System Of The Manipulator (For Joints #1 And #2)

    This setting is only enforced by software. Therefore, it does not change the physical range. The maximum physical range is based on the position of the mechanical stops. Set the XYLim setting on the [XYZ Limits] panel shown by selecting [Tools]-[Robot EPSON Manager]. (You may also execute the XYLim command from the [Command Window].) 5.4 Standard Motion Range...
  • Page 183 GX8 Manipulator 5. Motion Range Table top mounting GX8-A65*** GX8-A55*** GX8-A45*** Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop (° = degree) GX8-A45** GX8-A45**B S, E S, E Length of Arm #1 + #2 (mm) Arm #1 length (mm) Arm #2 length (mm) Joint #1 motion (°)
  • Page 184 GX8 Manipulator 5. Motion Range GX8-A55** GX8-A65** GX8-A55**B GX8-A65**B S, E C, P S, E C, P Length of Arm #1 + #2 (mm) Arm #1 length (mm) Arm #2 length (mm) Joint #1 motion (°) 0 >= Z >= 147.5 Joint #2 motion (°) 147.5...
  • Page 185 GX8 Manipulator 5. Motion Range Wall mounting GX8-A65**W GX8-A45**W GX8-A55**W (° = degree) Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop GX8-A45**W GX8-A55**W GX8-A65**W S, E C, P S, E C, P S, E C, P Length of Arm #1 + #2 (mm) Arm #1 length (mm)
  • Page 186 GX8 Manipulator 5. Motion Range Ceiling mounting GX8-A65**R GX8-A55**R GX8-A45**R (° = degree) Center of Joint #3 Motion range Max. space Base mounting surface Range to mechanical stop GX8-A45**R GX8-A55**R GX8-A65**R S, E C, P S, E C, P S, E C, P Length of Arm #1 + #2 (mm) Arm #1 length (mm)

  • Page 187: Regular Inspection

    Regular Inspection Performing inspection properly is essential to prevent trouble and ensure safety. This volume describes the inspection schedule and contents. Inspect according to the schedule.

  • Page 189: Regular Inspection For Gx4 Manipulator

    Regular Inspection 1. Regular Inspection for GX4 Manipulator 1. Regular Inspection for GX4 Manipulator 1.1 Maintenance Inspection 1.1.1 Schedule for Maintenance Inspection Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual. The inspection points are added every stage. If the Manipulator is operated for 250 hours or longer per month, the inspection points must be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.

  • Page 190: Inspection Point

    Regular Inspection 1. Regular Inspection for GX4 Manipulator 1.1.2 Inspection Point Inspection Item Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting √ √ √ √ √ bolts Check looseness or backlash of bolts/screws. Manipulator mounting √ √...

  • Page 191: Overhaul (Parts Replacement)

    Perform greasing at 50 km of operation for the first time of greasing. NOTE  For EPSON RC+ 7.0, the recommended replacement time for the grease on the ball screw spline unit can be checked in the [Maintenance] dialog box of EPSON RC+ 7.0. GX series Rev.2...
  • Page 192 Arm #1 - Move the shaft to its lower limit from EPSON [Tools]-[Robot Shaft Manager]-[Jog & Teach]. NOTE Make sure that the hand does not interfere ...
  • Page 193 Regular Inspection 1. Regular Inspection for GX4 Manipulator Apply new grease evenly to the spiral groove of the ball screw spline unit and the vertical groove so that the groove is filled. Grease application example Turn ON the Controller. Start the robot manager and move the shaft to the origin position. Be careful not to hit peripheral equipment.

  • Page 194: Tightening Hexagon Socket Head Cap Bolts

    Regular Inspection 1. Regular Inspection for GX4 Manipulator 1.4 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.

  • Page 195: Regular Inspection For Gx8 Manipulator

    Regular Inspection 2. Regular Inspection for GX8 Manipulator 2. Regular Inspection for GX8 Manipulator 2.1 Maintenance Inspection 2.1.1 Schedule for Maintenance Inspection Inspection points are divided into five stages: daily, monthly, quarterly, biannual, and annual. The inspection points are added every stage. If the Manipulator is operated for 250 hours or longer per month, the inspection points must be added every 250 hours, 750 hours, 1500 hours, and 3000 hours operation.

  • Page 196: Inspection Point

    Regular Inspection 2. Regular Inspection for GX8 Manipulator 2.1.2 Inspection Point Inspection Item Inspection Point Inspection Place Daily Monthly Quarterly Biannual Annual End effector mounting √ √ √ √ √ bolts Check looseness or backlash of bolts/screws. Manipulator mounting √ √...

  • Page 197: Overhaul (Parts Replacement)

    Perform greasing at 50 km of operation for the first time of greasing. NOTE  For EPSON RC+ 7.0, the recommended replacement time for the grease on the ball screw spline unit can be checked in the [Maintenance] dialog box of EPSON RC+ 7.0. GX series Rev.2...
  • Page 198 Arm #1 Arm #2 - Move the shaft to its lower limit from Shaft EPSON [Tools]-[Robot Manager]-[Jog & Teach]. NOTE Make sure that the hand does not interfere ...
  • Page 199 Regular Inspection 2. Regular Inspection for GX8 Manipulator Apply new grease evenly to the spiral groove of the ball screw spline unit and the vertical groove so that the groove is filled. Grease application example Turn ON the Controller. Start the robot manager and move the shaft to the origin position. Be careful not to hit peripheral equipment.

  • Page 200: Tightening Hexagon Socket Head Cap Bolts

    Regular Inspection 2. Regular Inspection for GX8 Manipulator 2.4 Tightening Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts are used in places where mechanical strength is required. (A hexagon socket head cap bolt will be called a “bolt” in this manual.) These bolts are fastened with the tightening torques shown in the following table.

  • Page 201: Appendix

    Appendix This volume describes the specifications table for each model and detailed data of time and distance of free running.

  • Page 203: Appendix A: Specifications

    Appendix A: Specifications - GX4 Specifications Appendix A: Specifications GX4 Specifications Item GX4-A***** GX4-A****M Table Top Mount method Multiple Environment ESD model, Cleanroom & ESD model *1 200 mm Arm 1+ 300 mm Arm 2 Arm length 350 mm 150 mm : GX4-A**1S*, E* Arm 3 120 mm : GX4-A**1C* 15 kg : 33 lb...
  • Page 204 Appendix A: Specifications - GX4 Specifications Item GX4-A***** GX4-A****M -1456356 to 6699236 -728178 to 5971058 -873814 to 6116694 Joints #1 Straight -2184534 to 5825423 Curved-L -582543 to 7427414 Curved-R -2566827 to 2566827 S, E -2494009 to 2494009 -2585032 to 2585032 S, E Max.
  • Page 205 Appendix A: Specifications - GX4 Specifications Item GX4-A***** CE Marking, UKCA Marking: EMC Directive, Machinery Directive, RoHS Safety standard Directive KC Marking, KCs Marking *1: The exhaust system in the Cleanroom & ESD model Manipulator (GX4-A**1C*) draws air from the base interior and arm cover interior together.

  • Page 206: Gx8 Specifications

    Appendix A: Specifications - GX8 Specifications GX8 Specifications Item GX8-A***** GX8-A****R GX8-A****W Mount method Table Top Ceiling Wall Environment ESD model, Cleanroom & ESD model *1, Protected-model *2 450 mm 550 mm #1, #2 650 mm Arm length 200 mm : GX8-A**2S*, E* 170 mm : GX8-A**2C*, P* Arm #3 330 mm : GX8-A**3S*, E*...
  • Page 207 Appendix A: Specifications - GX8 Specifications *a : G 45***, G 55*** Joint #2 X8-A X8-A Max. motion range Max. pulse range 0 >= Z >= −270 147.5 deg ±2685156 pulse GX8-A45*S*, E* 145 deg −270 > Z >= −330 ±2639644 pulse 0 >= Z >= −240 147.5 deg...
  • Page 208 Appendix A: Specifications - GX8 Specifications *1: The exhaust system in the Cleanroom & ESD model Manipulator ( draws air from the base GX8-A***C*) interior and arm cover interior. Connect an exhaust tube to the exhaust port on the back of the base (or bottom of the base). If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.

  • Page 209: Appendix B: Time And Distance Of Free Running In Emergency

    Appendix B: Time and Distance of Free Running in Emergency Appendix B: Time and Distance of Free Running in Emergency The time and distance of free running in emergency stop are shown in a graph for each model. The time of free running is “Free running time” in the figure below. In addition, emergency stop and safeguard response times are up to 30 milliseconds.

  • Page 210: Gx4 Time And Distance Of Free Running In Emergency

    Appendix B: Time and Distance of Free Running in Emergency GX4 Time and Distance of Free Running in Emergency GX4-A25***: J1 Standard Boost GX4-A25***: J2 Standard Boost GX series Rev.2...
  • Page 211 Appendix B: Time and Distance of Free Running in Emergency GX4-A25***: J3 Standard Boost GX series Rev.2...
  • Page 212 Appendix B: Time and Distance of Free Running in Emergency GX4-A30***: J1 Standard Boost GX4-A30***: J2 Standard Boost GX series Rev.2...
  • Page 213 Appendix B: Time and Distance of Free Running in Emergency GX4-A30***: J3 Standard Boost GX series Rev.2...
  • Page 214 Appendix B: Time and Distance of Free Running in Emergency GX4-A35***: J1 Standard Boost GX4-A35***: J2 Standard Boost GX series Rev.2...
  • Page 215 Appendix B: Time and Distance of Free Running in Emergency GX4-A35***: J3 Standard Boost GX series Rev.2...

  • Page 216: Gx8 Time And Distance Of Free Running In Emergency

    Appendix B: Time and Distance of Free Running in Emergency GX8 Time and Distance of Free Running in Emergency GX8-A45***: J1 Standard Boost GX8-A45***: J2 Standard Boost GX series Rev.2...
  • Page 217 Appendix B: Time and Distance of Free Running in Emergency GX8-A45***: J3 Standard Boost GX series Rev.2...
  • Page 218 Appendix B: Time and Distance of Free Running in Emergency GX8-A55***: J1 Standard Boost GX8-A55***: J2 Standard Boost GX series Rev.2...
  • Page 219 Appendix B: Time and Distance of Free Running in Emergency GX8-A55***: J3 Standard Boost GX series Rev.2...
  • Page 220 Appendix B: Time and Distance of Free Running in Emergency GX8-A65***: J1 Standard Boost GX8-A65***: J2 Standard Boost GX series Rev.2...
  • Page 221 Appendix B: Time and Distance of Free Running in Emergency GX8-A65***: J3 Standard Boost GX series Rev.2...

  • Page 222: Appendix C: Time And Distance Of Free Running When Safeguard Is Opened

    Appendix C: Time and Distance of Free Running When Safeguard Is Opened Appendix C: Time and Distance of Free Running When Safeguard Is Opened The time and distance of free running when safeguard is opened are shown in a graph for each model.

  • Page 223: Gx4 Time And Distance Of Free Running When Safeguard Is Opened

    Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4 Time and Distance of Free Running When Safeguard Is Opened GX4-A25***: J1 Standard Boost GX4-A25***: J2 Standard Boost GX series Rev.2...
  • Page 224 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4-A25***: J3 Standard Boost GX series Rev.2...
  • Page 225 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4-A30***: J1 Standard Boost GX4-A30***: J2 Standard Boost GX series Rev.2...
  • Page 226 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4-A30***: J3 Standard Boost GX series Rev.2...
  • Page 227 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4-A35***: J1 Standard Boost GX4-A35***: J2 Standard Boost GX series Rev.2...
  • Page 228 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX4-A35***: J3 Standard 100% Speed [%] 0.35 0.30 0.25 0.20 0.15 0.10 0.05 0.00 Weight [kg] Boost GX series Rev.2...

  • Page 229: Gx8 Time And Distance Of Free Running When Safeguard Is Opened

    Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8 Time and Distance of Free Running When Safeguard Is Opened GX8-A45***: J1 Standard Boost GX8-A45***: J2 Standard Boost GX series Rev.2...
  • Page 230 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8-A45***: J3 Standard Boost GX series Rev.2...
  • Page 231 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8-A55***: J1 Standard Boost GX8-A55***: J2 Standard Boost GX series Rev.2...
  • Page 232 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8-A55***: J3 Standard Boost GX series Rev.2...
  • Page 233 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8-A65***: J1 Standard Boost GX8-A65***: J2 Standard Boost GX series Rev.2...
  • Page 234 Appendix C: Time and Distance of Free Running When Safeguard Is Opened GX8-A65***: J3 Standard Boost GX series Rev.2...

  • Page 235: Appendix D: Accuracy Range Of Arm Length Offset

    Following describes accuracy range that measured at shipment. (Shaded area: Accuracy range, Unit: mm) Refer to EPSON RC+ 7.0 (Ver.7.5) User’s Guide for the procedure of Offset. The measured Z-axis position for each Manipulator is as follow: GX4 series: Z=-130mm...

  • Page 236: Gx8 Series

    Appendix D: Accuracy Range of Arm Length Offset GX8 series GX8-A55*** GX8-A45*** GX8-A65*** GX series Rev.2...

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