Epson G10 Series, Руководство манипулятора, Страница: 50 / 252

Setup & Operation 2. Specifications
38 G10 / G20 Rev.20
2.4 Specifications
Item G10/G20-**** G10/G20-****R G10/G20-*****W
Mount method Table Top Ceiling Wall
Environment Cleanroom-model + ESD *1 / Protected-model *2
Arm length
Arm #1, #2
65 650 mm (G10 only)
85 850 mm (G10/G20)
A0 1000 mm (G20 only)
Arm #3
1
180 mm : G10/G20-**1S*, D*
150 mm : G10/G20-**1C*, P*, D* with bellows option
4
420 mm : G10/G20-**4S*, D*
390 mm : G10/G20-**4C*, P*, D* with bellows option
Weight
(not include the weight
of cables)
G10 65 46 kg : 102 lb 51 kg : 113 lb
G10/G20 85 48 kg : 106 lb 53 kg : 117 lb
G20 A0 50 kg : 111 lb 55 kg : 122 lb
Driving method All joints AC servo motor
Max.
operating
speed *3
Joints
#1, #2
65 8800 mm/s
85 11000 mm/s
A0 11500mm/s
Joint #3
1 1100 mm/s
4 2350 mm/s
Joint #4
G10 2400 deg/s
G20 1700 deg/s
Repeatability
Joints #1, #2
± 0.025 mm
Joint #3 ± 0.01 mm
Joint #4 ± 0.005 deg
Max.
motion range
Joint #1
65
± 152 deg ± 107 deg 85
A0
Joint #2
65
± 152.5 deg *a ± 130 deg 85
A0
Joint #3
1
180 mm : G10/G20-**1S*, D*
150 mm : G10/G20-**1C*, P*, D* with bellows option
4
420 mm : G10/G20-**4S*, D*
390 mm : G10/G20-**4C*, P*, D* with bellows option
Joint #4
±
360 deg
Max.
pulse range
(pulse)
Joint #1
65
-1805881 to + 7048761 -495161 to + 5738041
85
A0
Joint #2
65
± 2776178 *a ± 2366578 85
A0
Joint #3
1
-1946420 : G10/G20-**1S*, D*
-1622016 : G10/G20-**1C*, P*, D* with bellows option
4
-2270823 : G10/G20-**4S*, D*
-2108621 : G10/G20-**4C*, P*, D* with bellows option
Joint #4
G10
± 1951517
G20
± 2752512
The length of Arm #1 + #2 varies in different Manipulator models.
65 : 650 mm G10 only
85 : 850 mm G10/G20
A0 : 1000 mm G20 only

NOTE