Epson SCARA GX Series, Manual

Page: 204 / 236

Appendix A: Specifications - GX4 Specifications
194 GX series Rev.2
Item
GX4-A***** GX4-A****M
Max.
pulse range
(pulse)
Joints #1
25
- 1456356 to 6699236
-
30
- 728178 to 5971058
35 Straight
- 873814 to 6116694
Curved-L
- 2184534 to 5825423
-
Curved-R
- 582543 to 7427414
-
Joints #2
25
S, E
-
2566827 to 2566827
-
C
- 2494009 to 2494009
30
S, E
- 2585032 to 2585032
- 2457600 to 2457600
C
- 2566827 to 2566827
35 Straight
- 2585032 to 2585032 - 2585032 to 2585032
Curved-L S, E
-
3003734 to 2184534
-
C
- 2912712 to 2184534
-
Curved-R S, E
- 2184534 to 3003734
-
C
-
2184534 to 2912712
-
Joint #3
S
0 to
-
1706667
C
0 to - 1365334
Joint #4
±
1310720
Item
GX4-A*****
Resolution
Joint #1 0.0000343323 deg/pulse
Joint #2 0.0000549316 deg/pulse
Joint #3 0.0000878906 mm/pulse
Joint #4 0.000274658 deg/pulse
Motor rated capacity
Joint #1 400 W
Joint #2 150 W
Joint #3 150 W
Joint #4 150 W
Payload
rated 2 kg
max. 4 kg
Joint #4 allowable
moment of inertia *4 rated
0.005 kg · m
2
max. 0.05 kg
·
m 2
Hand
Shaft diameter ø 16 mm
Through hole ø 11 mm
Joint #3 down force 150 N
Installed wire for customer use
15 (15 pin: D-sub)
Equivalent to Ethernet CAT5e
Installed pneumatic tube for customer use
2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
1 pneumatic tubes (ø4 mm) : 0.59 MPa (6 kgf/cm 2 : 86 psi)
Environmental
requirements
Ambient Temp.*4 5 to 40 ° C
Ambient relative humidity
10 to 80 % (no condensation)
Noise level *5 L
Aeq
= 71 dB (A)
Applicable Controller RC700-D
Assignable Value
( ) Default values
Speed 1
to
(5)
to
100
Accel *6 1
to
(10)
to
100
SpeedS 1
to
(50)
to
2000
AccelS
1 to (200) to 25000
Fine 0
to
(10000)
to
65535
Weight 0,130
to
(2,130)
to
4,130