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Epson GX Series Manual

Epson GX Series Manual

Industrial robot:
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Industrial Robot: SCARA Robots
GX series Manual
Original instructions
©Seiko Epson Corporation 2021-2023
Rev.7
ENM236R5752F

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  • Page 1 Industrial Robot: SCARA Robots GX series Manual Original instructions ©Seiko Epson Corporation 2021-2023 Rev.7 ENM236R5752F...

  • Page 2: Table Of Contents

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Table of Contents 1. Introduction 1.1 Introduction 1.2 Trademarks 1.3 Terms of Use 1.4 Manufacturer 1.5 Contact Information 1.6 Disposal 1.7 Before Use 1.8 Manual Types for This Product 2. GX4 Manipulator 2.1 Safety...
  • Page 3 Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 2.2.3.2 Multiple Mounting Specifications 2.2.4 Specifications Table 2.2.5 How to Set the Model 2.3 Environment and Installation 2.3.1 Environment 2.3.2 Base Table 2.3.3 Manipulator Mounting Dimensions 2.3.4 From Unpacking to Installation...
  • Page 4 Industrial Robot: SCARA Robots GX series Manual Rev.7 2.4.3.2.4 Eccentricity and Inertia Setting 2.4.3.2.5 Eccentricity of Load Attached to Shaft 2.4.3.2.6 Automatic Acceleration/Deceleration Correction at Inertia (Eccentricity) Setting 2.4.3.2.7 Calculating the Moment of Inertia 2.4.4 Safety Information for Auto Acceleration of Joint #3 2.4.4.1 Automatic Acceleration/Deceleration Correction by Shaft Position...
  • Page 5 Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2 Specifications 3.2.1 Model Name GX8-A 3.2.2 Model Name GX8-B 3.2.3 Names of Parts and Their Dimensions 3.2.3.1 Table Top Mounting Specifications 3.2.3.1.1 Cable Mounting Direction: Standard 3.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side 3.2.3.2 Wall Mounting Specifications...
  • Page 6 Industrial Robot: SCARA Robots GX series Manual Rev.7 3.4.3 Weight and Inertia Settings 3.4.3.1 Weight Setting 3.4.3.1.1 Weight of Load Attached to Shaft 3.4.3.1.2 Weight of Load Attached to Arm 3.4.3.1.3 Automatic Speed Correction at Weight Setting 3.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting 3.4.3.2 Inertia Setting...
  • Page 7 Industrial Robot: SCARA Robots GX series Manual Rev.7 4.1.4 Emergency Stop 4.1.5 Safeguard (SG) 4.1.6 Arm Movement Method in the Emergency Stop State 4.1.7 ACCELS Setting for CP Motion 4.1.8 Warning Labels 4.1.8.1 Warning Labels 4.1.8.2 Information Labels 4.1.8.3 Labelled Locations 4.1.9 Responses for Emergencies or Malfunctions...
  • Page 8 Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.7 Relocation and Storage 4.3.7.1 Safety Information for Relocation and Storage 4.3.7.2 Table Top Mounting Specifications 4.3.7.3 Wall Mounting Specifications 4.3.7.4 Ceiling Mounting Specifications 4.4 Setting the Hand 4.4.1 Installing the Hand 4.4.2 Attaching Cameras and Valves...
  • Page 9 Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5.4 Standard Work Envelope 5. Periodic Inspection 5.1 GX4 Manipulator Periodic Inspection 5.1.1 Inspection 5.1.1.1 Inspection Schedule 5.1.1.2 Inspection Details 5.1.2 Overhaul (Parts Replacement) 5.1.3 Applying Grease 5.1.4 Tightening the Hexagon Socket Head Cap Bolts 5.2 GX8 Manipulator Periodic Inspection...
  • Page 10 Industrial Robot: SCARA Robots GX series Manual Rev.7 6.3 Appendix C: Stopping Time and Stopping Distance When Safeguard is Open 6.3.1 GX4 Stopping Time and Stopping Distance When Safeguard is Open 6.3.2 GX8 Stopping Time and Stopping Distance When Safeguard is Open 6.3.3 GX10 Stopping Time and Stopping Distance When Safeguard is Open...

  • Page 11: Introduction

    Industrial Robot: SCARA Robots GX series Manual Rev.7 1. Introduction...

  • Page 12: Introduction

    Epson conducts rigorous testing and inspection to ensure that the performance of our robot systems meets our standards. Please note that if the Epson robot system is used outside the operating conditions described in the manual, the product will not perform up to its basic performance.

  • Page 13: Manual Types For This Product

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Manipulator Controller Software GX-A series RC700-D EPSON RC+ 7.0 Ver. 7.5.1B or later GX4-B,GX8-B series EPSON RC+ 7.0 Ver.7.5.4 or later RC700-E GX10-B, GX20-B series EPSON RC+ 7.0 Ver.7.5.4A or later Setting from the software EPSON This manual contains the procedures for configuring the settings from the software.
  • Page 14 Manuals are available for each option. Maintenance and servicing manuals Manuals for maintenance and servicing are not included with the product. Maintenance should be performed by people who have received maintenance training provided by Epson and the suppliers. For more information, please contact the supplier.

  • Page 15: Gx4 Manipulator

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2. GX4 Manipulator This chapter contains information for setup and operation of the Manipulators. Please read this chapter thoroughly before setting up and operating the Manipulators.

  • Page 16: Safety

    The Manipulator and its related equipment should be unpacked and transported by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed. Before use, please read this manual and other related manuals to ensure correct use.

  • Page 17: Design And Installation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.1.2 Design and Installation Safety The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Design personnel should refer to the following manuals: "Safety Manual"...

  • Page 18: Operation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.1.3 Operation Safety The following items are safety precautions for operating personnel: WARNING Be sure to read the Safety Manual before use. Operating the robot system without understanding the safety information can be extremely dangerous and may result in serious injury or severe equipment damage.

  • Page 19: Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.1.4 Emergency Stop Each robot system needs equipment that will allow the operator to immediately stop the system's operation. Install an emergency stop device by using emergency stop input from the Controller or other equipment.

  • Page 20: Arm Movement Method In The Emergency Stop State

    Industrial Robot: SCARA Robots GX series Manual Rev.7 When the safeguard is opened, Protective Stop operates to change to the safeguard open state (display: SO). Safeguard open Operations are prohibited. Further robot operation is not possible until either the safeguard is closed, the latched state is released, and a command is executed, or the TEACH or TEST operation mode is turned on and the enable circuit is activated.
  • Page 21 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3: The joint cannot be moved up or down by hand because the electromagnetic brake is activated. Move the joint while pressing down the brake release switch. Joint #4: The joint cannot be rotated by hand because the electromagnetic brake is activated.

  • Page 22: Accels Setting For Cp Motion

    Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.
  • Page 23 Industrial Robot: SCARA Robots GX series Manual Rev.7 Also, if a CP motion was performed with incorrect values set, check the following point. No deformation or bending of the shaft of the ball screw spline...

  • Page 24: Warning Labels

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.1.8 Warning Labels The Manipulator has the following warning labels. Specific hazards exist in the vicinity of areas with the warning labels. Be thoroughly careful in handling. To ensure that the Manipulator is operated and maintained safely, be sure to follow the safety information and warnings indicated on the warning labels.

  • Page 25: Labelled Locations

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Indicates the position of a brake release button. 2.1.8.3 Labelled Locations Common (Arm #2) Table top mounting specifications Table top mounting specifications (cable routing from bottom side)
  • Page 26 Industrial Robot: SCARA Robots GX series Manual Rev.7 Multiple mounting specifications...

  • Page 27: Responses For Emergencies Or Malfunctions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.1.9 Responses for Emergencies or Malfunctions 2.1.9.1 When a Collision with the Manipulator Occurs If the Manipulator has collided with a mechanical stop, peripheral device, or other object, discontinue use and contact the supplier.
  • Page 28 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Arm #1 Base Joint #1 (rotation) Joint #2 (rotation) CAUTION While the brake release switch is being pressed, in addition to Joint #3, Joint #4 may also move due to its...

  • Page 29: Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2 Specifications 2.2.1 Model Name GX4-A a: Arm length 25: 250 mm 30: 300 mm 35: 350 mm b: Joint #3 stroke 1: 150 mm (GX4-A**1S*, E*), 120 mm (GX4-A**1C*) c: Environmental specifications...
  • Page 30 Industrial Robot: SCARA Robots GX series Manual Rev.7 Model list Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Standard A251S Standard Cable routing from GX4- bottom side A251SB GX4- Standard A251E Table top...
  • Page 31 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Straight A351S Left- GX4- Standard curved A351S-L Right- GX4- curved A351S-R Table top GX4- Standard Straight A351SB...
  • Page 32 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Straight A351C Left- GX4- Standard curved A351C-L Right- GX4- curved A351C-R Table top GX4- Cleanroom & ESD...

  • Page 33: Model Name Gx4-B

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.2 Model Name GX4-B a: Arm length 25: 250 mm 30: 300 mm 35: 350 mm b: Joint #3 stroke 1: 150 mm (GX4-B**1S*, E*), 120 mm (GX4-B**1C*) c: Environmental specifications S: Standard (equivalent to IP20) E: ESD (anti-static) C: Cleanroom &...
  • Page 34 Industrial Robot: SCARA Robots GX series Manual Rev.7 Model list Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Standard B251S Standard Cable routing from GX4- bottom side B251SB GX4- Standard B251E Table top...
  • Page 35 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Straight B351S Left- GX4- Standard curved B351S-L Right- GX4- curved B351S-R Table top GX4- Standard Straight B351SB...
  • Page 36 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Type Number GX4- Straight B351C Left- GX4- Standard curved B351C-L Right- GX4- curved B351C-R Table top GX4- Cleanroom & ESD...

  • Page 37: Names Of Parts And Their Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.3 Names of Parts and Their Dimensions 2.2.3.1 Table Top Mounting Specifications 2.2.3.1.1 Cable Mounting Direction: Standard Standard specifications GX4-A**1S, GX4-B**1S...
  • Page 38 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Arm #1 Base Cable duct Joint #1 (rotation) Conduit tube...
  • Page 39 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Face plate (serial number of Manipulator) ✏ POINTS The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.
  • Page 40 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 41 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX4-A**1E, GX4-B**1E The part shown below is different from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 42 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX4-A**1C, GX4-B**1C The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (anti-static specifications) Plating cover (anti-static specifications) Plating cover (anti-static specifications)
  • Page 43 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 44: Cable Mounting Direction: Cable Routing From Bottom Side

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side Standard specifications GX4-A**1SB, GX4-B**1SB Symbol Description Joint #2 (rotation) Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement)
  • Page 45 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (15-pin D-sub connector) M/C cable connector Ethernet connector Fitting for ø4 mm tube (blue) Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white) Symbol Description...
  • Page 46 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 47 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX4-A**1EB, GX4-B**1EB The part shown below is different from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 48 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX4-A**1CB, GX4-B**1CB The parts shown below differ from the standard specifications. Symbol Description Upper bellows Plating covers (anti-static specifications) Lower bellows Exhaust port...
  • Page 49 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 50: Multiple Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.3.2 Multiple Mounting Specifications Standard specifications GX4-A**1SM, GX4-B**1SM Symbol Description Joint #2 (rotation) Joint #3 and Joint #4 brake release switch Indicating lamp Joint #3 (up/down movement) Joint #4 (rotation) Shaft Arm #2...
  • Page 51 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (15-pin D-sub connector) Ethernet connector Fitting for ø6 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue) M/C cable connector Symbol Description...
  • Page 52 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.
  • Page 53 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 54 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX4-A**1EM, GX4-B**1EM The part shown below is different from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 55 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX4-A**1CM, GX4-B**1CM The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Exhaust port...
  • Page 56 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 57: Specifications Table

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.2.4 Specifications Table For the specifications tables of each model, refer to the following section. Appendix A: Specifications Table 2.2.5 How to Set the Model The Manipulator model for your system has been set before shipment from the factory.

  • Page 58: Environment And Installation

    Rev.7 2.3 Environment and Installation The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed. 2.3.1 Environment To ensure that the robot system operates and maintains maximum performance and to ensure its safe use, the robot system should be installed in an environment that meets the following requirements.

  • Page 59: Base Table

    Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS If there are conductive objects such as fences or ladders within 2.5 m of the Manipulator, these objects must be grounded. Special environmental requirements Manipulator surfaces are generally oil-resistant, but if special oils are to be used, oil resistance should be checked before use.
  • Page 60 Industrial Robot: SCARA Robots GX series Manual Rev.7 Names of Parts and Their Dimensions Manipulator Mounting Dimensions The plate for the Manipulator mounting face should be at least 20 mm thick and made of steel for reducing vibrations. A surface roughness of 25 μm or less at the maximum height is appropriate.

  • Page 61: Manipulator Mounting Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 For details on the environmental requirements for the space when housing the Controller in the base table, refer to the following manual. "Controller Manual" WARNING To ensure safety, be sure to install safety barriers for the robot system. For details, refer to the following section.
  • Page 62 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications - Straight arm GX4-A251** GX4-A301** GX4-A351** GX4-B251** GX4-B301** GX4-B351** Table top mounting specifications - Curved arm GX4-A351**-L GX4-A351**-R GX4-B351**-L GX4-B351**-R Multiple mounting specifications - Straight GX4-A301*M GX4-A351*M GX4-B301*M...

  • Page 63: From Unpacking To Installation

    2.3.4.1 Safety Information for the Flow from Unpacking to Installation Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 64 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A351*M, GX4-B351*M: Approx.17 kg (38 lbs) When transporting the Manipulator over long distances, secure it directly to transporting equipment so that it will not fall. If necessary, pack the Manipulator using the same packaging as delivery.
  • Page 65 Industrial Robot: SCARA Robots GX series Manual Rev.7 POINTS ✏ When taking out the Manipulator from the packing box, be sure that the Manipulator does not drop or fall because it is not secured in place. The joints of the Manipulator may rotate due to their own weight. Be careful not to get your hands or fingers caught.

  • Page 66: Multiple Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description 4 × M8 × 30 Spring washer Plain washer 4 × M8 threaded hole (20 mm or more depth) 10 mm ✏ POINTS If the cable is routed by exiting from the bottom side, make sure there is enough space in the center of the base table where the base will be secured in place.
  • Page 67 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS Fabricate the base table for installing the Manipulator with multiple mounting specifications so that it does not touch any cable and conduit tube connected to the Manipulator. The recommended installation methods are as follows:...

  • Page 68: Cleanroom & Esd Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description 4 × M8 threaded hole (20 mm or more depth) Plain washer Spring washer 4 × M8 × 30 2.3.4.4 Cleanroom & ESD Specifications 1. Unpack the Manipulator outside of the cleanroom.

  • Page 69: Connecting The Cables

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.3.5 Connecting the Cables WARNING To perform the power supply lockout, remove the power plug. Be sure to connect the AC power cable to a power outlet. Do not connect it directly to a factory power source.
  • Page 70 Industrial Robot: SCARA Robots GX series Manual Rev.7 L-shape (Standard) Straight Minimum Distance Required for Distance When Minimum Distance Required for Distance When Insertion and Removal Mounted Insertion and Removal Mounted Connecting the M/C cable and the Controller Connect the power connector and signal connector of the M/C cable to the Controller.

  • Page 71: User Wires And Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.3.6 User Wires and Pneumatic Tubes CAUTION Only authorized or certified staff should be allowed to perform wiring. Wiring by unauthorized or uncertified staff may result in bodily injury and/or malfunction of the robot system.

  • Page 72: Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.3.6.2 Pneumatic Tubes Manipulator pneumatic tube specifications Maximum Working Pressure Number of Tubes O.D. × I.D. ø6 mm × ø4 mm 0.59 Mpa (6 kgf/cm : 86 psi) ø4 mm × ø2.5 mm Inside the Manipulator, fittings of the same size and tip color (blue/white) are connected between the air fitting on the base side and the air fitting on the Arm #2 side.
  • Page 73 Industrial Robot: SCARA Robots GX series Manual Rev.7 Base side (table top mounting specifications: cable routing from bottom side) Symbol Description User connector (15-pin D-sub connector) M/C cable housing Ethernet connector Fitting for ø4 mm tube (blue) Fitting for ø6 mm tube (blue)
  • Page 74 Industrial Robot: SCARA Robots GX series Manual Rev.7 Base side (table top mounting specifications) Symbol Description User connector (15-pin D-sub connector) Fitting for ø6 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue) Ethernet connector...

  • Page 75: Relocation And Storage

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Base side (multiple mounting specifications) Symbol Description Fitting for ø6 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue) M/C cable housing User connector (15-pin D-sub connector) Ethernet connector 2.3.7 Relocation and Storage...
  • Page 76 Industrial Robot: SCARA Robots GX series Manual Rev.7 installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed. WARNING Only qualified personnel should perform sling work and operate a crane or a forklift. When these operations are performed by unqualified personnel, it is extremely hazardous and may result in serious bodily injury and/or severe equipment damage to the robot system.
  • Page 77 Industrial Robot: SCARA Robots GX series Manual Rev.7 2. Wrap a sheet around the arm so that it will not get damaged. Refer to the figure below, and use a cable tie or similar object to bind the lower end of the shaft and the arm, and the base and the arm so that the shaft does not sag down.
  • Page 78 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity GX4-A301**, GX4-B301** Symbol Description Center of gravity GX4-A351**, GX4-B351**...

  • Page 79: Multiple Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity 2.3.7.3 Multiple Mounting Specifications WARNING Be sure to always use two or more people when installing or relocating the model with multiple mounting specifications. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 80 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Sheet Cable tie 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the wall.
  • Page 81 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity...

  • Page 82: Setting The Hand

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.4 Setting the Hand 2.4.1 Installing the Hand The hand (end effector) must be prepared by the customer. When installing the hand, take note of the following. For details on attaching the hand, refer to the following manual.

  • Page 83: Attaching Cameras And Valves

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Brake release switch Layout When attaching and operating a hand, the hand may come into contact with the Manipulator body due to the outer diameter of the hand, the size of the workpiece, or the position of the arm. Carefully consider the interference area of the hand when designing the system layout.

  • Page 84: Weight And Inertia Settings

    Industrial Robot: SCARA Robots GX series Manual Rev.7 (Units: mm) Multiple mounting specifications (Units: mm) ✏ POINTS The maximum tightening torque for the screws mounted to the cable duct cover should be 1.5 N·m. 2.4.3 Weight and Inertia Settings To ensure that the Manipulator is functioning properly, keep the load (the sum of the weights of the hand and workpiece) and...

  • Page 85: Weight Setting

    You can also perform settings using the "Weight, Inertia, and Eccentricity/offset Measurement Utility". For details, refer to the following manual: "EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/offset Measurement Utility" 2.4.3.1 Weight Setting CAUTION The total weight of the hand and the workpiece must not exceed 4 kg.

  • Page 86: Automatic Speed Correction At Weight Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 = 1 × 180 /130 = 1.917 → 2 (rounded up) W + W = 1 + 2 = 3 Enter "3" for the [Hand Weight] parameter. L = 130 mm L = 180 mm...

  • Page 87: Automatic Acceleration/Deceleration Correction At Weight Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Boost mode GX4-A25**, GX4-A30**, GX4-A35** GX4-B25**, GX4-B30**, GX4-B35** 4 (kg) Weight setting The percentages on the graph are ratios based on 100% as the speed at the rated (2 kg) setting. 2.4.3.1.4 Automatic Acceleration/Deceleration Correction at Weight Setting...
  • Page 88 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35**, GX4-B35** 4 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (2 kg) setting. Boost mode GX4-A25**, GX4-B25** 4 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (2 kg) setting.

  • Page 89: Inertia Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35**, GX4-B35** 4 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (2 kg) setting. 2.4.3.2 Inertia Setting 2.4.3.2.1 Moment of Inertia and Inertia Setting...

  • Page 90: Automatic Acceleration/Deceleration Correction Of Joint #4 At Inertia (Moment Of Inertia) Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting Standard mode GX4-A25**, GX4-A30**, GX4-A35** GX4-B25**, GX4-B30**, GX4-B35** 0.005 0.01 0.02 0.03 0.04 0.05 (kg·㎡) Moment of inertia setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the 0 mm setting.

  • Page 91: Eccentricity Of Load Attached To Shaft

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Eccentricity Symbol Description Rotation axis Load center of gravity position Eccentricity (150 mm or less) 2.4.3.2.5 Eccentricity of Load Attached to Shaft The eccentricity of the load (hand + workpiece) attached to the shaft can be set by the "Eccentricity" parameter in the Inertia statement.

  • Page 92: Calculating The Moment Of Inertia

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.4.3.2.7 Calculating the Moment of Inertia An example of calculating the moment of inertia of a load (hand holding a workpiece) is shown below. The moment of inertia of the entire load is calculated by the sum of individual parts (a), (b), and (c).

  • Page 93: Safety Information For Auto Acceleration Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 (b) Moment of inertia of a cylinder Symbol Description Center of gravity of cylinder Rotation axis (c) Moment of inertia of a sphere Symbol Description Rotation axis Center of gravity of sphere 2.4.4 Safety Information for Auto Acceleration of Joint #3...
  • Page 94 Industrial Robot: SCARA Robots GX series Manual Rev.7 -120 -150 (mm) Shaft height The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position. GX4-A30**, GX4-B30** -120 -150 (mm) Shaft height The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position.

  • Page 95: Work Envelope

    Industrial Robot: SCARA Robots GX series Manual Rev.7 -120 -150 (mm) Shaft height The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position. ✏ POINTS Horizontal movement with the shaft lowered may cause overshooting during positioning.

  • Page 96: Work Envelope Setting By Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.5.1 Work Envelope Setting by Pulse Range Pulses are the basic unit of Manipulator motion. The motion range (work envelope) of the Manipulator is set by the pulse lower limit value and pulse upper limit value (pulse range) for each joint.
  • Page 97 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications Arm Shape Arm Length (mm) Straight Left-curved Right-curved ±140 Max. motion range (deg.) -165/110 -110/165 1456356 to 6699236 Max. pulse range (pulse) 2184534 to 5825423 582543 to 7427414...

  • Page 98: Joint #2 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.5.1.2 Joint #2 Maximum Pulse Range The 0 (zero) pulse position of Joint #2 is the position where Arm #2 is aligned with Arm #1. (The orientation of Arm #1 does not matter.) With the 0 pulse as a starting point, the counterclockwise pulse value is defined as positive (+), and the clockwise pulse value is defined as negative (-).
  • Page 99 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications Arm Shape Arm Length Environmental (mm) Specifications Straight Left-curved Right-curved S, E ±141 ±137 S, E ±142 Max. motion range ±141 (deg.) S, E -165 to 120 -120 to 165 ±142...

  • Page 100: Joint #3 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 2.5.1.3 Joint #3 Maximum Pulse Range 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 moves down from the 0 pulse position.

  • Page 101: Setting The Work Envelope By Mechanical Stops

    Industrial Robot: SCARA Robots GX series Manual Rev.7 ＋ − Symbol Description 0 pulse All Models Max. motion range (deg.) ±360 Max. pulse range (pulse) ±1310720 2.5.2 Setting the Work Envelope by Mechanical Stops Mechanical stops set the absolute work envelope that physically limits where the Manipulator can move.

  • Page 102: Setting The Mechanical Stops Of Joints #1 And #2

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 mechanical stop (lower limit mechanical stop) Joint #3 mechanical stop (upper limit mechanical stop) *Do not move the position of the upper limit mechanical stop. Joint #2 mechanical stop (adjustable)
  • Page 103 Industrial Robot: SCARA Robots GX series Manual Rev.7 Hexagon Socket Head Number of Recommended Joint # Strength Cap Bolt Bolts Tightening Torque 1 for each ISO 898-1 property class 10.9 or 1, 2 M8 × 10 Total thread 18.0 N∙m (194 kgf∙cm) side 12.9 equivalent...
  • Page 104 Industrial Robot: SCARA Robots GX series Manual Rev.7 narrower pulse range so that nothing blocks the arm motion, or extend the positions of the mechanical stops within the limit.
  • Page 105 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #1 mechanical stop Views from the bottom of Arm #1 Mechanical Stop Position Mounting Arm Length Specifications (mm) Shape Straight Straight ±140 -110 +110 Straight Table top Left- Max. motion range...
  • Page 106 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #2 mechanical stop Mechanical Stop Position Mounting Environmental Length Specifications Shape Specifications (mm) S, E ±141 -111 +111 Straight ±137 -107 +107 S, E ±142 -112 +112 Straight ±141 -111 +111...

  • Page 107: Setting The Mechanical Stop Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Mechanical Stop Position Mounting Environmental Length Specifications Shape Specifications (mm) -2566827 to S, E -2020693 +2020693 2566827 Straight -2494009 to -1947876 +1947876 2494009 -2585032 to S, E -2038898 +2038898 2585032 Straight -2566827 to...
  • Page 108 Industrial Robot: SCARA Robots GX series Manual Rev.7 2. Push up the shaft while pressing the brake release switch. Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be removed. Push the shaft up to a position where the Joint #3 mechanical stop can be changed.
  • Page 109 Industrial Robot: SCARA Robots GX series Manual Rev.7 "-150". To change this value to "-130", move the lower limit mechanical stop down by 20 mm. Use calipers or similar tool to measure the distance when adjusting the mechanical stop. Symbol...

  • Page 110: Setting The Rectangular Range In The Xy Coordinate System Of The Manipulator

    Industrial Robot: SCARA Robots GX series Manual Rev.7 EPSON Execute the following command in [Command Window]. Enter the value calculated in Step (9) for -1137778. >MOTOR ON 'Turns on the motor >SPEED 5 'Sets to low speed >PULSE 0,0,-1137778,0 ' Moves to the lower limit pulse position of Joint #3 (In this example, all pulses except those for Joint #3 are "0".
  • Page 111 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications: Straight arm GX4-A251** GX4-A351** GX4-A301** GX4-B251** GX4-B351** GX4-B301** Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 112 Industrial Robot: SCARA Robots GX series Manual Rev.7 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 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°) Joint #2 motion (°)
  • Page 113 Industrial Robot: SCARA Robots GX series Manual Rev.7 Multiple mounting specifications: Straight arm GX4-A301*M GX4-A351*M GX4-B301*M GX4-B351*M Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 114 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A301*M GX4-A351*M S, E S, E Length of Arm #1 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°) Joint #2 motion (°)
  • Page 115 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of Joint #3 Work envelope Maximum zone 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 + Arm #2 (mm)

  • Page 116: Gx8 Manipulator

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3. GX8 Manipulator This chapter contains information on the setup and operation of the Manipulators. Please read this chapter thoroughly before setting up and operating the Manipulators.

  • Page 117: Safety

    The Manipulator and its related equipment should be unpacked and transported by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed. Before use, please read this manual and other related manuals to ensure correct use.

  • Page 118: Design And Installation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.1.2 Design and Installation Safety The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Design personnel should refer to the following manuals: "Safety Manual"...

  • Page 119: Operation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.1.3 Operation Safety The following items are safety precautions for operating personnel: WARNING Be sure to read the Safety Manual before use. Operating the robot system without understanding the safety information can be extremely dangerous and may result in serious injury or severe equipment damage.

  • Page 120: Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.1.4 Emergency Stop Each robot system needs equipment that will allow the operator to immediately stop the system's operation. Install an emergency stop device by using emergency stop input from the Controller or other equipment.

  • Page 121: Arm Movement Method In The Emergency Stop State

    Industrial Robot: SCARA Robots GX series Manual Rev.7 When the safeguard is opened, Protective Stop operates to change to the safeguard open state (display: SO). Safeguard open Operations are prohibited. Further robot operation is not possible until either the safeguard is closed, the latched state is released, and a command is executed, or the TEACH or TEST operation mode is turned on and the enable circuit is activated.
  • Page 122 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #4: The joint cannot be rotated by hand because the electromagnetic brake is activated. Move the joint while pressing down the brake release switch. Symbol Description Joint #3 and Joint #4 brake release switch...

  • Page 123: Accels Setting For Cp Motion

    Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.

  • Page 124: Warning Labels

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Also, if a CP motion was performed with incorrect values set, check the following point. No deformation or bending of the shaft of the ball screw spline 3.1.8 Warning Labels The Manipulator has the following warning labels.

  • Page 125: Labelled Locations

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Indicates the position of a threaded hole for an eyebolt mounting screw. 3.1.8.3 Labelled Locations Common (Arm #2) Table top mounting specifications (GX8-A****, GX8-B****)

  • Page 126: Responses For Emergencies Or Malfunctions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications (cable routing from bottom side) Wall mounting specifications (GX8-A****W, GX8-B****W) Ceiling mounting specifications (GX8-A****R, GX8-B****R) 3.1.9 Responses for Emergencies or Malfunctions 3.1.9.1 When a Collision with the Manipulator Occurs If the Manipulator has collided with a mechanical stop, peripheral device, or other object, discontinue use and contact the supplier.
  • Page 127 Industrial Robot: SCARA Robots GX series Manual Rev.7 Operator body is entangled with a robot arm The brake is not functioning. Move the arm manually. Operator body is entangled with the shaft The brake is functioning. Press the brake release switch, and move the shaft.

  • Page 128: Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2 Specifications 3.2.1 Model Name GX8-A a: Arm length 45: 450 mm 55: 550 mm 65: 650 mm b: Joint #3 stroke 2: 200 mm (GX8-A**2S*, E*), 170 mm (GX8-A**2C*, P*) 3: 330 mm (GX8-A**3S*, E*), 300 mm (GX8-A**3C*, P*)
  • Page 129 Industrial Robot: SCARA Robots GX series Manual Rev.7 be used in adverse environments such as those exposed to oil smoke and dust. These are compliant with the IP65 protection class (IEC 60529, JIS C0920). For details on the specifications, refer to the following section.
  • Page 130 Industrial Robot: SCARA Robots GX series Manual Rev.7 Model list Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A452S Table top Cable routing from GX8- bottom side A452SB Standard GX8- Wall Standard A452SW GX8-...
  • Page 131 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A453S Table top Cable routing from GX8- bottom side A453SB Standard GX8- Wall Standard A453SW GX8- Ceiling Standard...
  • Page 132 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A552S Table top Cable routing from GX8- bottom side A552SB Standard GX8- Wall Standard A552SW GX8- Ceiling Standard...
  • Page 133 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A553S Table top Cable routing from GX8- bottom side A553SB Standard GX8- Wall Standard A553SW GX8- Ceiling Standard...
  • Page 134 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A652S Table top Cable routing from GX8- bottom side A652SB Standard GX8- Wall Standard A652SW GX8- Ceiling Standard...
  • Page 135 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-A653S Table top Cable routing from GX8- bottom side A653SB Standard GX8- Wall Standard A653SW GX8- Ceiling Standard...

  • Page 136: Model Name Gx8-B

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2.2 Model Name GX8-B a: Arm length 45: 450 mm 55: 550 mm 65: 650 mm b: Joint #3 stroke 2: 200 mm (GX8-B**2S*, E*), 170 mm (GX8-B**2C*, P*) 3: 330 mm (GX8-B**3S*, E*), 300 mm (GX8-B**3C*, P*)
  • Page 137 Industrial Robot: SCARA Robots GX series Manual Rev.7 Model list Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B452S Table top Cable routing from GX8- bottom side B452SB Standard GX8- Wall Standard B452SW GX8-...
  • Page 138 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B453S Table top Cable routing from GX8- bottom side B453SB Standard GX8- Wall Standard B453SW GX8- Ceiling Standard...
  • Page 139 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B552S Table top Cable routing from GX8- bottom side B552SB Standard GX8- Wall Standard B552SW GX8- Ceiling Standard...
  • Page 140 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B553S Table top Cable routing from GX8- bottom side B553SB Standard GX8- Wall Standard B553SW GX8- Ceiling Standard...
  • Page 141 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B652S Table top Cable routing from GX8- bottom side B652SB Standard GX8- Wall Standard B652SW GX8- Ceiling Standard...
  • Page 142 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Cable Mounting Model Length Stroke Specifications Specifications Direction Number Standard GX8-B653S Table top Cable routing from GX8- bottom side B653SB Standard GX8- Wall Standard B653SW GX8- Ceiling Standard...

  • Page 143: Names Of Parts And Their Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2.3 Names of Parts and Their Dimensions 3.2.3.1 Table Top Mounting Specifications 3.2.3.1.1 Cable Mounting Direction: Standard Standard specifications GX8-A***S, GX8-B***S Symbol Description Joint #3 and Joint #4 brake release switch Arm #2...
  • Page 144 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (9-pin D-sub connector) M/C cable housing Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue) User connector (Ethernet connector) Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (white)
  • Page 145 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 146 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX8-A***E, GX8-B***E The parts shown below differ from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 147 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX8-A***C, GX8-B***C The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Plating covers (anti-static specifications) Exhaust port...
  • Page 148 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 149 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-models GX8-A***P, GX8-B***P The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) Plating cover (oil-resistant specifications) Symbol Description Fittings with cover (protected-model)
  • Page 150 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connectors with cover (protected-model) Exhaust port with cover Fittings with cover (protected-model) ✏ POINTS For protected-models, all screws used for the exterior are stainless steel screws. (except for screws used for stops).
  • Page 151 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 152: Cable Mounting Direction: Cable Routing From Bottom Side

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2.3.1.2 Cable Mounting Direction: Cable Routing from Bottom Side Standard specifications GX8-A***SB, GX8-B***SB...
  • Page 153 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Base Arm #1 Joint #1 (rotation) Indicating lamp Joint #2 (rotation) User connector (9-pin D-sub connector) User connector (15-pin D-sub connector) Fitting for ø4 mm tube (blue)
  • Page 154 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 155 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX8-A***EB, GX8-B***EB The parts shown below differ from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 156 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX8-A***CB, GX8-B***CB The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Exhaust port...
  • Page 157 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 158 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-model GX8-A***PB, GX8-B***PB The parts shown below differ from the standard specifications. Symbol Description Fittings with cover (protected-model) Joint #3 and Joint #4 brake release switch (protected-model) Upper bellows Lower bellows Plating cover (oil-resistant specifications)
  • Page 159 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS For protected-models, all screws used for the exterior are stainless steel screws. (except for screws used for stops). The part of the M/C cable housing is not IP65 compliant when the M/C cable hood is not connected.
  • Page 160 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 161: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2.3.2 Wall Mounting Specifications Standard specifications GX8-A***SW, GX8-B***SW Symbol Description Joint #2 (rotation) Indicating lamp Joint #3 (up/down movement) Joint #4 (rotation) Shaft Arm #2 Joint #1 (rotation) Arm #1 Base...
  • Page 162 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (9-pin D-sub connector) User connector (15-pin D-sub connector) Fitting for ø4 mm tube (blue) Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white)
  • Page 163 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 164 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX8-A***EW, GX8-B***EW The parts shown below differ from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 165 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX8-A***CW, GX8-B***CW The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Plating cover (anti-static specifications) Exhaust port...
  • Page 166 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 167 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-model GX8-A***PW, GX8-B***PW The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) Plating cover (oil-resistant specifications) Symbol Description Fittings with cover (protected-model)
  • Page 168 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connectors with cover (protected-model) Fittings with cover (protected-model) Exhaust port with cover ✏ POINTS For protected-models, all screws used for the exterior are stainless steel screws. (except for screws used for stops).
  • Page 169 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 170: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.2.3.3 Ceiling Mounting Specifications Standard specifications GX8-A***SR, GX8-B***SR Symbol Description Joint #2 (rotation) Indicating lamp Joint #3 and Joint #4 brake release switch Joint #3 (up/down movement) Joint #4 (rotation) Shaft Arm #2...
  • Page 171 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (white) User connector (15-pin D-sub connector) User connector (9-pin D-sub connector) M/C cable housing User connector (Ethernet connector) Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue)
  • Page 172 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 173 Industrial Robot: SCARA Robots GX series Manual Rev.7 ESD specifications GX8-A***ER, GX8-B***ER The parts shown below differ from the standard specifications. The external dimensions are identical. Symbol Description Plating covers (anti-static specifications)
  • Page 174 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX8-A***CR, GX8-B***CR The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Plating covers (anti-static specifications) Exhaust port...
  • Page 175 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 176 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-model GX8-A***PR, GX8-B***PR The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) Plating cover (oil-resistant specifications)
  • Page 177 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Fittings with cover (protected-model) Joint #3 and Joint #4 brake release switch (protected-model) User connectors with cover (protected-model) Symbol Description Fittings with cover (protected-model) User connectors with cover (protected-model) Exhaust port with cover ✏...
  • Page 178 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 179: Specifications Table

    "EPSON RC+ User's Guide - 10. Robot Settings" 3.3 Environment and Installation The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 180 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS *1 The ambient temperature requirement is for the Manipulator only. For details on the environment requirements for the connected Controller, refer to the following manual. "Controller Manual" ✏ POINTS 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.

  • Page 181: Base Table

    Industrial Robot: SCARA Robots GX series Manual Rev.7 The Controllers used with Manipulators with protected-models do not have protection against harsh environments. The Controller should be installed in a location that meets its operating environment requirements. WARNING Always use a circuit breaker for the Controller's power supply. Failure to use a circuit breaker may result in an electrical shock hazard or malfunction due to an electrical leakage.
  • Page 182 Industrial Robot: SCARA Robots GX series Manual Rev.7 If passing cables through the holes in the base table, refer to the connector dimensions in the figures below. (Units: mm) Symbol Description M/C cable hood Signal connector M/C cable Power connector...

  • Page 183: Manipulator Mounting Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 By drilling holes in the base table in advance, the Joint #1 motor can be replaced while the Manipulator is fixed to the base table for improved ease of maintenance. Symbol Description...
  • Page 184 Industrial Robot: SCARA Robots GX series Manual Rev.7 Space for cables The minimum bend radius of the power cable and signal cable is 60 mm. When installing the cables, be sure to maintain sufficient distance from obstacles. Also, leave enough space for other cables so that they are not forced to bend at extreme angles.
  • Page 185 Industrial Robot: SCARA Robots GX series Manual Rev.7 Ceiling mounting specifications GX8-A45**R GX8-A55**R GX8-A65**R GX8-B45**R GX8-B55**R GX8-B65**R...

  • Page 186: From Unpacking To Installation

    3.3.4.1 Safety Information for the Flow from Unpacking to Installation Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 187 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A65**W, GX8-B65**W: Approx.37 kg (82 lbs) Ceiling mounting specifications GX8-A45**R, GX8-B45**R: Approx.33 kg (73 lbs) GX8-A55**R, GX8-B55**R: Approx.34 kg (75 lbs) GX8-A65**R, GX8-B65**R: Approx.35 kg (77 lbs) When transporting the Manipulator over long distances, secure it directly to transporting equipment so that it will not fall.
  • Page 188 Industrial Robot: SCARA Robots GX series Manual Rev.7 "Protected-Model" The following procedure should be followed when transporting the Manipulator by hoisting. 1. Attach the eyebolts to the top of the Manipulator base. 2. Place the Manipulator arm in the extended position.
  • Page 189 Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.4.2 Table Top Mounting Specifications CAUTION Be sure to always use two or more people when installing or relocating the model with table top mounting specifications. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 190 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description 4 × M8 × 40 Spring washer Plain washer 20 mm Threaded hole 20 mm or more depth 2. Use a nippers or similar tool to cut the cable ties holding the arm in place.

  • Page 191: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS If the cable is routed by exiting from the bottom side: Make sure there is enough space in the center of the base table where the base will be secured in place.
  • Page 192 Industrial Robot: SCARA Robots GX series Manual Rev.7 1. With the arm extended, take out the Manipulator from the packing box. POINTS ✏ The joints may rotate due to the Manipulator's own weight. Be careful not to get your hands or fingers caught.

  • Page 193: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 POINTS ✏ Use bolts with strength specifications compliant with ISO 898-1 property class: 10.9 or 12.9. 3. Remove the transportation fixtures. 3.3.4.4 Ceiling Mounting Specifications WARNING Be sure to always use two or more people when installing or relocating the model with ceiling mounting specifications.
  • Page 194 Industrial Robot: SCARA Robots GX series Manual Rev.7 Standard specifications 1. With the arm extended, take out the Manipulator from the packing box. POINTS ✏ The joints may rotate due to the Manipulator's own weight. Be careful not to get your hands or fingers caught.

  • Page 195: Cleanroom & Esd-Model

    Industrial Robot: SCARA Robots GX series Manual Rev.7 POINTS ✏ Use bolts with strength specifications compliant with ISO 898-1 property class: 10.9 or 12.9. 3. Remove the transportation fixtures. 3.3.4.5 Cleanroom & ESD-Model 1. Unpack the Manipulator outside of the cleanroom.

  • Page 196: Connecting The Cables

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.5 Connecting the Cables WARNING To perform the power supply lockout, remove the power plug. Be sure to connect the AC power cable to a power outlet. Do not connect it directly to a factory power source.
  • Page 197 Industrial Robot: SCARA Robots GX series Manual Rev.7 1. Open the lock plates on both sides of the M/C cable housing. 2. Insert the M/C cable hood all the way to the back. 3. Close the lock plates on both sides of the M/C cable housing.
  • Page 198 Industrial Robot: SCARA Robots GX series Manual Rev.7 Connect the power connector and signal connector of the M/C cable to the Controller. Symbol Description Signal connector Power connector There are two types of M/C cables: fixed and movable. Movable cables have wires as shown in the figure below.

  • Page 199: User Wires And Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.6 User Wires and Pneumatic Tubes CAUTION Only authorized or certified personnel should perform wiring. Wiring by unauthorized or uncertified staff may result in bodily injury and/or malfunction of the robot system.

  • Page 200: Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.6.2 Pneumatic Tubes Manipulator pneumatic tube specifications Maximum Working Pressure Number of Tubes O.D. × I.D. ø6 mm × ø4 mm 0.59 Mpa (6 kgf/cm : 86 psi) ø4 mm × ø2.5 mm For each connector inside the Manipulator, fittings of the same size and tip color (blue/white) are connected between the air fitting on the base side and the air fitting on the Arm #2 side.
  • Page 201 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (9-pin D-sub connector) Fitting for ø4 mm tube (blue) Fitting for ø4 mm tube (white) Brake release switch Ethernet connector Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white)
  • Page 202 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description User connector (9-pin D-sub connector) M/C cable housing Fitting for ø6 mm tube (blue) Fitting for ø4 mm tube (blue) Ethernet connector Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (white)
  • Page 203 Industrial Robot: SCARA Robots GX series Manual Rev.7 Base side (wall mounting specifications) Symbol Description User connector (9-pin D-sub connector) User connector (15-pin D-sub connector) Fitting for ø4 mm tube (blue) Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white)

  • Page 204: Relocation And Storage

    Pay attention to the following requirements when relocating, storing, and transporting the Manipulators. Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 205 Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.7.2 Table Top Mounting Specifications CAUTION Be sure to use four or more people when installing or relocating a model with table top mounting specifications, and use three or more people when lifting a Manipulator. The Manipulator weights are as follows.
  • Page 206 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Washer Bolt: M4 × 35 Sheet Cable tie Washer Bolt: M8 × 20 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the base table.
  • Page 207 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity GX8-A65***, GX8-B65***...

  • Page 208: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity 3.3.7.3 Wall Mounting Specifications WARNING Be sure to always use two or more people when installing or relocating the model with wall mounting specifications. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 209 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Bolt: M4 × 15 Washer Arm #1 stop bolt Arm fixing bolt Cable tie Sheet 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the wall.
  • Page 210 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity GX8-A55**W, GX8-B55**W Symbol Description Center of gravity GX8-A65**W, GX8-B65**W...
  • Page 211 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity...

  • Page 212: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.3.7.4 Ceiling Mounting Specifications WARNING Be sure to always use two or more people when installing or relocating the model with ceiling mounting specifications. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 213 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Bolt: M4 × 15 Washer Arm #1 stop bolt Arm fixing bolt Cable tie Sheet 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the ceiling.
  • Page 214 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity GX8-A65**R, GX8-B65**R Symbol Description Center of gravity...

  • Page 215: Setting The Hand

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.4 Setting the Hand 3.4.1 Installing the Hand The hand (end effector) must be prepared by the customer. When installing the hand, take note of the following. For details on attaching the hand, refer to the following manual.

  • Page 216: Attaching Cameras And Valves

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Brake release switch Layout When attaching and operating a hand, the hand may come into contact with the Manipulator body due to the outer diameter of the hand, the size of the workpiece, or the position of the arm. Carefully consider the interference area of the hand when designing the system layout.
  • Page 217 Industrial Robot: SCARA Robots GX series Manual Rev.7 Common for all models (Units: mm) Table top mounting specifications (Units: mm)
  • Page 218 Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall mounting specifications (Units: mm)

  • Page 219: Weight And Inertia Settings

    You can also perform settings using the "Weight, Inertia, and Eccentricity/Offset Measurement Utility". For details, refer to the following manual: "EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/Offset Measurement Utility" 3.4.3.1 Weight Setting CAUTION The total weight of the hand and the workpiece must not exceed 8 kg.

  • Page 220: Weight Of Load Attached To Shaft

    Industrial Robot: SCARA Robots GX series Manual Rev.7 The allowable load weight (hand and workpiece) in the GX8 series is 4 kg at the default rating and 8 kg at the maximum. When the load weight exceeds the rating, change the setting for the hand weight parameter in the Weight statement. After the setting is changed, the maximum speed and acceleration/deceleration of the Manipulator during PTP motion that correspond to the "Hand Weight"...

  • Page 221: Automatic Speed Correction At Weight Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 L = 250 mm L = 180 mm Symbol Description Shaft Weight of the entire camera M = 1 kg W = 2 kg Joint #2 3.4.3.1.3 Automatic Speed Correction at Weight Setting...
  • Page 222 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55*** (kg) Weight setting The percentages on the graph are ratios based on 100% as the speed at the rated (4 kg) setting. GX8-A65***, GX8-B65*** (kg) Weight setting The percentages on the graph are ratios based on 100% as the speed at the rated (4 kg) setting.

  • Page 223: Automatic Acceleration/Deceleration Correction At Weight Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55*** (kg) Weight setting The percentages on the graph are ratios based on 100% as the speed at the rated (4 kg) setting. GX8-A65***, GX8-B65*** (kg) Weight setting The percentages on the graph are ratios based on 100% as the speed at the rated (4 kg) setting.
  • Page 224 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55*** 120 120 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting. GX8-A65***, GX8-B65*** 120 120 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting.

  • Page 225: Inertia Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55*** 136 136 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting. GX8-A65***, GX8-B65*** 120 120 (kg) Weight setting The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (4 kg) setting.

  • Page 226: Moment Of Inertia Of Load Attached To Shaft

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.4.3.2.2 Moment of Inertia of Load Attached to Shaft The moment of inertia of the load (hand + workpiece) attached to the shaft can be set by the "Inertia" parameter in the Inertia statement.

  • Page 227: Eccentricity Of Load Attached To Shaft

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Eccentricity Symbol Description Rotation axis Load center of gravity position Eccentricity (150 mm or less) 3.4.3.2.5 Eccentricity of Load Attached to Shaft The eccentricity of the load (hand + workpiece) attached to the shaft can be set by the "Eccentricity" parameter in the Inertia statement.

  • Page 228: Calculating The Moment Of Inertia

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.4.3.2.7 Calculating the Moment of Inertia An example of calculating the moment of inertia of a load (hand holding a workpiece) is shown below. The moment of inertia of the entire load is calculated by the sum of (a), (b), and (c).

  • Page 229: Safety Information For Auto Acceleration Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 (b) Moment of inertia of a cylinder Symbol Description Center of gravity of cylinder Rotation axis (c) Moment of inertia of a sphere Symbol Description Rotation axis Center of gravity of sphere 3.4.4 Safety Information for Auto Acceleration of Joint #3...
  • Page 230 Industrial Robot: SCARA Robots GX series Manual Rev.7 (mm) -100 -150 -200 -250 -300 -350 Shaft height The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position. GX8-A55***, GX8-B55*** (mm) -100...

  • Page 231: Work Envelope

    Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55*** (mm) -100 -150 -200 -250 -300 -350 Shaft height The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the shaft upper limit position. GX8-A65***, GX8-B65***...

  • Page 232: Work Envelope Setting By Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3. Setting the rectangular range in the XY coordinate system of the Manipulator (for Joints #1 and #2) Rectangular range setting Mechanical Mechanical Work Envelope Stop Stop Pulse range To limit the work envelope for layout efficiency or safety reasons, make the settings as explained in the following sections.

  • Page 233: Joint #2 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 +X 0 pulse Mounting Specifications Arm Length (mm) Table Top Ceiling Wall ±105 ±105 Max. motion range ±152 ±135 ±152 (deg.) ±148 273067 to +3549867 -273067 to +3549867 Max. pulse range -1128676 to +4405476...
  • Page 234 Industrial Robot: SCARA Robots GX series Manual Rev.7 0 pulse Mounting Specifications Arm Length Z-value Range Environmental Specifications (mm) (mm) Table Top Ceiling Wall 0 ≥ Z ≥ –270 ±147.5 S, E –270 > Z ≥ –330 ±145 ±125 0 ≥ Z ≥ –240 ±147.5...

  • Page 235: Joint #3 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.5.1.3 Joint #3 Maximum Pulse Range 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 moves down from the 0 pulse position.

  • Page 236: Joint #4 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.5.1.4 Joint #4 Maximum Pulse Range The 0 (zero) pulse position of Joint #4 is the position where the flat surface near the end of the shaft faces toward the end of Arm #2.

  • Page 237: Setting The Work Envelope By Mechanical Stops

    Industrial Robot: SCARA Robots GX series Manual Rev.7 3.5.2 Setting the Work Envelope by Mechanical Stops Mechanical stops set the absolute work envelope that physically limits where the Manipulator can move. Both Joints #1 and #2 have threaded holes in positions corresponding to angles for the setting area. The positions of the mechanical stops (variable) set the work envelope.

  • Page 238: Setting The Mechanical Stops Of Joints #1 And #2

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall mounting specifications Only the stop positions that are different from the model with table top mounting specifications are explained here. Symbol Description Joint #1 mechanical stop (fixed) Joint #1 mechanical stop (variable) Ceiling mounting specifications Only the stop positions that are different from the model with table top mounting specifications are explained here.
  • Page 239 Industrial Robot: SCARA Robots GX series Manual Rev.7 4. Set the pulse range corresponding to the new positions of the mechanical stops. POINTS ✏ Be sure to set the pulse range inside the positions of the mechanical stop range. Example: Setting Joint #1 to -135° to +135° and Joint #2 to -125° to +125° for the GX8-A**2S* EPSON Execute the following command in [Command Window].
  • Page 240 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #1 mechanical stop Mounting Arm Length Specifications (mm) Table top 450, 550, 650 152° 135° 115° -115° -135° -152° 105° 85° -85° -105° Max. motion Ceiling range 550, 650 152° 135°...
  • Page 241 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-*55**W only Mounting Arm Length Specifications (mm) Max. motion range -135 (deg.) Wall Max. pulse range 4096000 3185778 2639645 637156 91022 -819200 (pulse)  ...
  • Page 242 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #2 mechanical stop  ...
  • Page 243 Industrial Robot: SCARA Robots GX series Manual Rev.7 Max. motion range (deg.): Z-value Mounting Environmental Length Range Specifications Specifications (mm) (mm) 0 ≥ Z ≥–270 ±147.5 S, E –270 > Z ≥ – ±145 Table top +100 +125 -125 -100 0 ≥...

  • Page 244: Setting The Mechanical Stop Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Max. pulse range (pulse): Z-value Mounting Environmental Length Range Specifications Specifications (mm) (mm) 0 ≥ Z ≥– ±2685156 S, E –270 > Z ±2639644 ≥ –330 Table top +1820444 +2275556 -2275556 -1820444 0 ≥...
  • Page 245 Industrial Robot: SCARA Robots GX series Manual Rev.7 2. Push up the shaft while pressing the brake release switch. Do not push the shaft up to its upper limit or it will be difficult for the arm top cover to be removed. Push the shaft up to a position where the Joint #3 mechanical stop can be changed.
  • Page 246 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Measurement length 6. Adjust the low-profile hexagon socket head cap bolts (2 × M5) of the lower limit mechanical stop so that the size of the gap between the two is about the same, and secure in place at the following torque.

  • Page 247: Setting The Rectangular Range In The Xy Coordinate System Of The Manipulator

    Industrial Robot: SCARA Robots GX series Manual Rev.7 If the mechanical stop range is less than the pulse range, Joint #3 will hit the mechanical stop and an error will occur. When an error occurs, either change the pulse range to a narrower setting or extend the position of the mechanical stop within the limit.
  • Page 248 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications GX8-A45*** GX8-A55*** GX8-A65*** GX8-B45*** GX8-B55*** GX8-B65*** Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 249 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A45** GX8-A45**B GX8-B45** GX8-B45**B S, E C, P Length of Arm #1 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°) 0 ≥ Z ≥−270 147.5...
  • Page 250 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55** GX8-A65** GX8-A55**B GX8-A65**B GX8-B55** GX8-B65** GX8-B55**B GX8-B65**B S, E C, P S, E C, P Length of Arm #1 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°)
  • Page 251 Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall mounting specifications GX8-A45**W GX8-A55**W GX8-A65**W GX8-B45**W GX8-B55**W GX8-B65**W Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 252 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A45**W GX8-A55**W GX8-A65**W GX8-B45**W GX8-B55**W GX8-B65**W S, E C, P S, E C, P S, E C, P Length of Arm #1 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°)
  • Page 253 Industrial Robot: SCARA Robots GX series Manual Rev.7 Ceiling mounting specifications GX8-A45**R GX8-A55**R GX8-A65**R GX8-B45**R GX8-B55**R GX8-B65**R Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 254 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A45**R GX8-A55**R GX8-A65**R GX8-B45**R GX8-B55**R GX8-B65**R S, E C, P S, E C, P S, E C, P Length of Arm #1 + Arm #2 (mm) Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°)

  • Page 255: Gx10 Gx20 Manipulators

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4. GX10 GX20 Manipulators This chapter contains information on the setup and operation of the Manipulators. Please read this chapter thoroughly before setting up and operating the Manipulators.

  • Page 256: Safety

    The Manipulator and its related equipment should be unpacked and transported by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed. Before use, please read this manual and other related manuals to ensure correct use.

  • Page 257: Design And Installation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.1.2 Design and Installation Safety The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Design personnel should refer to the following manuals: "Safety Manual"...

  • Page 258: Operation Safety

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.1.3 Operation Safety The following items are safety precautions for operating personnel: WARNING Be sure to read the Safety Manual before use. Operating the robot system without understanding the safety information can be extremely dangerous and may result in serious injury or severe equipment damage.

  • Page 259: Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.1.4 Emergency Stop Each robot system needs equipment that will allow the operator to immediately stop the system's operation. Install an emergency stop device by using emergency stop input from the Controller or other equipment.

  • Page 260: Arm Movement Method In The Emergency Stop State

    Industrial Robot: SCARA Robots GX series Manual Rev.7 When the safeguard is opened, Protective Stop operates to change to the safeguard open state (display: SO). Safeguard open Operations are prohibited. Further robot operation is not possible until either the safeguard is closed, the latched state is released, and a command is executed, or the TEACH or TEST operation mode is turned on and the enable circuit is activated.
  • Page 261 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #4: The joint cannot be rotated by hand because the electromagnetic brake is activated. Move the joint while pressing down the brake release switch. Symbol Description Joint #3 and Joint #4 brake release switch...

  • Page 262: Accels Setting For Cp Motion

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.1.7 ACCELS Setting for CP Motion To make the Manipulator move in CP motion, set ACCELS properly in the SPEL program according to the tip load and the Z- axis height. ✏...

  • Page 263: Warning Labels

    Industrial Robot: SCARA Robots GX series Manual Rev.7 No deformation or bending of the shaft of the ball screw spline 4.1.8 Warning Labels The Manipulator has the following warning labels. Specific hazards exist in the vicinity of areas with the warning labels. Be thoroughly careful in handling.

  • Page 264: Labelled Locations

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Indicates the position of a brake release button. Indicates the position of a threaded hole for an eyebolt mounting screw. 4.1.8.3 Labelled Locations Common (Arm #2) Table top mounting specifications (GX10-B/GX20-B****)

  • Page 265: Responses For Emergencies Or Malfunctions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall mounting specifications (GX10-B/GX20-B****W) Ceiling mounting specifications (GX10-B/GX20-B****R) 4.1.9 Responses for Emergencies or Malfunctions 4.1.9.1 When a Collision with the Manipulator Occurs If the Manipulator has collided with a mechanical stop, peripheral device, or other object, discontinue use and contact the supplier.
  • Page 266 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Base Arm #1 Joint #1 (rotation) Joint #2 (rotation) CAUTION While the brake release switch is being pressed, in addition to Joint #3, Joint #4 may also move due to its own weight.

  • Page 267: Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.2 Specifications 4.2.1 Model Name GX10-B/GX20-B a: Model name GX10-B: GX10-B series GX20-B: GX20-B series b: Arm length 65: 650 mm (GX10-B series only) 85: 850 mm A0: 1000 mm (GX20-B series only)
  • Page 268 Industrial Robot: SCARA Robots GX series Manual Rev.7 Model list GX10-B series Joint #3 Environmental Mounting Model Length Stroke Specifications Specifications Number Table top GX10-B651S Standard Wall GX10-B651SW Ceiling GX10-B651SR Table top GX10-B651C GX10- Cleanroom & ESD Wall B651CW Ceiling...
  • Page 269 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Model Length Stroke Specifications Specifications Number Table top GX10-B851S Standard Wall GX10-B851SW Ceiling GX10-B851SR Table top GX10-B851C GX10- Cleanroom & ESD Wall B851CW Ceiling GX10-B851CR Table top GX10-B851P...
  • Page 270 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX20-B series Joint #3 Environmental Mounting Model Number Length Stroke Specifications Specifications Table top GX20-B851S Standard Wall GX20-B851SW Ceiling GX20-B851SR Table top GX20-B851C Cleanroom & ESD Wall GX20-B851CW Ceiling GX20-B851CR Table top...
  • Page 271 Industrial Robot: SCARA Robots GX series Manual Rev.7 Joint #3 Environmental Mounting Model Number Length Stroke Specifications Specifications Table top GX20-BA01S Standard Wall GX20-BA01SW Ceiling GX20-BA01SR Table top GX20-BA01C GX20- Cleanroom & ESD Wall BA01CW Ceiling GX20-BA01CR Table top GX20-BA01P...

  • Page 272: Names Of Parts And Their Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.2.2 Names of Parts and Their Dimensions 4.2.2.1 Table Top Mounting Specifications Standard specifications GX10-B/GX20-B***S Symbol Description Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement)
  • Page 273 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS The brake release switch is used with both Joint #3 and Joint #4. Press the brake release switch while in the emergency stop state to simultaneously release the brakes on Joint #3 and Joint #4.
  • Page 274 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 275 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX10-B/GX20-B***C The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Table top mounting surface cover Exhaust port Plating covers (anti-static specifications)
  • Page 276 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 277 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-models GX10-B/GX20-B***P The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) Stainless steel plate for table top mounting surface Stainless steel plate...
  • Page 278 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 279: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.2.2.2 Wall Mounting Specifications Standard specifications GX10-B/GX20-B***SW...
  • Page 280 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Joint #1 (rotation) Arm #1 Base User connector (15-pin D-sub connector) User connector (9-pin D-sub connector) Fitting for ø4 mm tube (blue)
  • Page 281 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 282 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX10-B/GX20-B***CW The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Exhaust port...
  • Page 283 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 284 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-models GX10-B/GX20-B***PW The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) User connector (protected-model) Fittings with cover (protected-model) Exhaust port Stainless steel plate...
  • Page 285 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 286: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.2.2.3 Ceiling Mounting Specifications Standard specifications GX10-B/GX20-B***SR...
  • Page 287 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Joint #3 and Joint #4 brake release switch Indicating lamp Arm #2 Joint #3 (up/down movement) Joint #4 (rotation) Shaft Joint #1 (rotation) Arm #1 Base Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (white)
  • Page 288 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 289 Industrial Robot: SCARA Robots GX series Manual Rev.7 Cleanroom & ESD specifications GX10-B/GX20-B***CR The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating covers (anti-static specifications) Exhaust port Ceiling mounting surface cover...
  • Page 290 Industrial Robot: SCARA Robots GX series Manual Rev.7...
  • Page 291 Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-models GX10-B/GX20-B***PR The parts shown below differ from the standard specifications. Symbol Description Upper bellows Lower bellows Plating cover (oil-resistant specifications) Stainless steel plate Exhaust port User connector (protected-model) Fittings with cover (protected-model)
  • Page 292 Industrial Robot: SCARA Robots GX series Manual Rev.7...

  • Page 293: Specifications Table

    "EPSON RC+ User's Guide - 10. Robot Settings" 4.3 Environment and Installation The robot system should be designed and installed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 294 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS *1 The ambient temperature requirement is for the Manipulator only. For details on the environment requirements for the connected Controller, refer to the following manual. "Controller Manual" ✏ POINTS 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.

  • Page 295: Base Table

    Industrial Robot: SCARA Robots GX series Manual Rev.7 The Controllers used with Manipulators with protected-models do not have protection against harsh environments. The Controller should be installed in a location that meets its operating environment requirements. WARNING Always use a circuit breaker for the Controller's power supply. Failure to use a circuit breaker may result in an electrical shock hazard or malfunction due to an electrical leakage.
  • Page 296 Industrial Robot: SCARA Robots GX series Manual Rev.7 If passing cables through the holes in the base table, refer to the connector dimensions in the figures below. (Units: mm) Symbol Description M/C cable M/C cable hood Signal connector Power connector...

  • Page 297: Manipulator Mounting Dimensions

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.3 Manipulator Mounting Dimensions The maximum envelope of the Manipulator is shown in the figures below. The maximum envelope shown in each figure shows the case when the radius of the hand is 60 mm or less. If the radius of the hand exceeds 60 mm, define the radius as the distance to the outer edge of the maximum envelope.
  • Page 298 Industrial Robot: SCARA Robots GX series Manual Rev.7 Ceiling mounting specifications...

  • Page 299: From Unpacking To Installation

    4.3.4.1 Safety Information for the Flow from Unpacking to Installation Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 300 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B85**W, GX20-B85**W: Approx.53 kg (117 lbs) GX20-BA0**W: Approx.55 kg (122 lbs) Ceiling Mounting Specifications GX10-B65**R: Approx.46 kg (102 lbs) GX10-B85**R, GX20-B85**R: Approx.49 kg (108 lbs) GX20-BA0**R: Approx.50 kg (111 lbs) When transporting the Manipulator over long distances, secure it directly to transporting equipment so that it will not fall.
  • Page 301 Industrial Robot: SCARA Robots GX series Manual Rev.7 Transporting the Manipulator by Hoisting Follow the procedure below. 1. Attach the eyebolts to the top of the Manipulator base as shown in the figure below. 2. Place the Manipulator arm in the extended position.
  • Page 302 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Hoisting belt M10 eyebolts: 2 (included) Plain washers: 2 (included) Nuts: 2 (included) 4.3.4.2 Table Top Mounting Specifications CAUTION Be sure to use four or more people when installing or relocating a model with table top mounting specifications, and use three or more people when lifting a Manipulator.
  • Page 303 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description 4 × M12 × 40 Spring washer Plain washer 20 mm Threaded hole (20 mm or more depth) 2. Use a nippers or similar tool to cut the cable ties holding the arm in place.

  • Page 304: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.4.3 Wall Mounting Specifications WARNING Be sure to use four or more people when installing or relocating a model with wall mounting specifications, and use three or more people when lifting a Manipulator. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.

  • Page 305: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Threaded hole (20 mm or more depth) Plain washer Spring washer 6 × M12 × 40 POINTS ✏ Use bolts with strength specifications compliant with ISO 898-1 property class: 10.9 or 12.9.
  • Page 306 Industrial Robot: SCARA Robots GX series Manual Rev.7 Standard specifications 1. With the arm extended, take out the Manipulator from the packing box. POINTS ✏ The joints may rotate due to the Manipulator's own weight. Be careful not to get your hands or fingers caught.

  • Page 307: Cleanroom & Esd-Model

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.4.5 Cleanroom & ESD-Model 1. Unpack the Manipulator outside of the cleanroom. 2. Secure the Manipulator to transporting equipment (or a pallet) with bolts so that the Manipulator does not fall down.

  • Page 308: Connecting The Cables

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.5 Connecting the Cables WARNING To perform the power supply lockout, remove the power plug. Be sure to connect the AC power cable to a power outlet. Do not connect it directly to a factory power source.
  • Page 309 Industrial Robot: SCARA Robots GX series Manual Rev.7 1. Open the lock plates on both sides of the M/C cable housing. 2. Insert the M/C cable hood all the way to the back. 3. Close the lock plates on both sides of the M/C cable housing.

  • Page 310: User Wires And Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Signal connector Power connector There are two types of M/C cables: fixed and movable. Movable cables have wires as shown in the figure below. 4.3.6 User Wires and Pneumatic Tubes CAUTION Only authorized or certified personnel should perform wiring.

  • Page 311: Pneumatic Tubes

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Protected-Model Manufacturer Model Number Type Remarks Connector HARTING 09670155615 Solder type 2 included D-sub 15-pin Clamp hood HARTING 09670150538 Connector setscrew: #4-40 UNC 2 included Connector HARTING 09670095615 Solder type 2 included...
  • Page 312 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description 15-pin D-sub connector 9-pin D-sub connector Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white) Brake release switch Fitting for ø4 mm tube (white) Fitting for ø4 mm tube (blue)
  • Page 313 Industrial Robot: SCARA Robots GX series Manual Rev.7 Base side (wall mounting specifications) Symbol Description Fitting for ø4 mm tube (blue) Fitting for ø4 mm tube (white) Fitting for ø6 mm tube (blue) Fitting for ø6 mm tube (white) M/C cable housing...

  • Page 314: Relocation And Storage

    Pay attention to the following requirements when relocating, storing, and transporting the Manipulators. Transportation and installation of the Manipulator and related equipment should be performed by people who have received installation training provided by Epson and the suppliers. Also, the laws and regulations of the installation country must be followed.
  • Page 315 Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.7.2 Table Top Mounting Specifications CAUTION Be sure to use four or more people when installing or relocating a model with table top mounting specifications, and use three or more people when lifting a Manipulator. The Manipulator weights are as follows.
  • Page 316 Industrial Robot: SCARA Robots GX series Manual Rev.7 4. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the base table. GX10-B65** Symbol...

  • Page 317: Wall Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity 4.3.7.3 Wall Mounting Specifications WARNING Be sure to use four or more people when installing or relocating a model with wall mounting specifications, and use three or more people when lifting a Manipulator. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 318 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Sheet Arm #1 stop bolt Arm fixing bolt Cable tie Bolt: M4 × 15 Washer 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the wall.
  • Page 319 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity GX20-BA0**W Symbol Description Center of gravity...

  • Page 320: Ceiling Mounting Specifications

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.3.7.4 Ceiling Mounting Specifications WARNING Be sure to use four or more people when installing or relocating a model with ceiling mounting specifications, and use three or more people when lifting a Manipulator. The Manipulator weights are as follows. Be careful not to get hands or feet caught or have equipment damaged due to dropping of the Manipulator.
  • Page 321 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Sheet Arm #1 stop bolt Arm fixing bolt Cable tie Bolt: M4 × 15 Washer 3. While supporting the bottom of Arm #1 by hand so that the Manipulator does not fall over, remove the anchor bolts. Then, remove the Manipulator from the ceiling.
  • Page 322 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Center of gravity...

  • Page 323: Setting The Hand

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.4 Setting the Hand 4.4.1 Installing the Hand The hand (end effector) must be prepared by the customer. When installing the hand, take note of the following. For details on attaching the hand, refer to the following manual.
  • Page 324 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Brake release switch Layout When attaching and operating a hand, the hand may come into contact with the Manipulator body due to the outer diameter of the hand, the size of the workpiece, or the position of the arm. Carefully consider the interference area of the hand when...

  • Page 325: Attaching Cameras And Valves

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.4.2 Attaching Cameras and Valves The base and Arm #2 (bottom surfaces) have threaded holes as shown in the figure below. Use the threaded holes in Arm #2 (bottom surface) for attaching cameras, valves, and other heavy objects to the Manipulator.
  • Page 326 Industrial Robot: SCARA Robots GX series Manual Rev.7 Ceiling mounting specifications (Units: mm)

  • Page 327: Weight And Inertia Settings

    You can also perform settings using the "Weight, Inertia, and Eccentricity/Offset Measurement Utility". For details, refer to the following manual: "EPSON RC+ User's Guide - 6.18.12 Weight, Inertia, and Eccentricity/Offset Measurement Utility" 4.4.3.1 Weight Setting CAUTION GX10-B Series The total weight of the hand and the workpiece must not exceed 10 kg.
  • Page 328 Industrial Robot: SCARA Robots GX series Manual Rev.7 If an external wiring unit (excluding cables) is installed near the user connector on the Arm #2 side, add 0.16 kg to the equivalent weight conversion value of the shaft. Equivalent weight formula...

  • Page 329: Automatic Speed Correction At Weight Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.4.3.1.3 Automatic Speed Correction at Weight Setting GX10-B Series The percentages on the graph are ratios based on 100% as the speed at the rated (5 kg) setting. GX20-B Series The percentages on the graph are ratios based on 100% as the speed at the rated (10 kg) setting.

  • Page 330: Inertia Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 GX20-B Series The percentages on the graph are ratios based on 100% as the acceleration/deceleration at the rated (10 kg) setting. 4.4.3.2 Inertia Setting 4.4.3.2.1 Moment of Inertia and Inertia Setting The moment of inertia is a quantity that expresses how hard it is for an object to turn, and it is expressed in terms of values for the moment of inertia, inertia, or GD .

  • Page 331: Automatic Acceleration/Deceleration Correction Of Joint #4 At Inertia (Moment Of Inertia) Setting

    Industrial Robot: SCARA Robots GX series Manual Rev.7 EPSON Go to [Tools] - [Robot Manager] - [Inertia] panel, and enter the value in [Inertia]. This can also be set using the Inertia statement in [Command Window]. 4.4.3.2.3 Automatic Acceleration/Deceleration Correction of Joint #4 at Inertia (Moment of Inertia) Setting...

  • Page 332: Eccentricity Of Load Attached To Shaft

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Eccentricity Symbol Description Rotation axis Load center of gravity position Eccentricity (200 mm or less) 4.4.3.2.5 Eccentricity of Load Attached to Shaft The eccentricity of the load (hand + workpiece) attached to the shaft can be set by the "Eccentricity" parameter in the Inertia statement.
  • Page 333 Industrial Robot: SCARA Robots GX series Manual Rev.7 The moment of inertia of the entire load is calculated by the sum of (A), (B), and (C). Symbol Description Rotation axis Shaft Hand Workpiece Workpiece The methods for calculating the moment of inertia for (A), (B), and (C) are shown below. Use the moment of inertia of these basic shapes as a reference to find the moment of inertia of the entire load.

  • Page 334: Safety Information For Auto Acceleration Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 (C) Moment of inertia of a sphere Symbol Description Rotation axis Center of gravity of sphere 4.4.4 Safety Information for Auto Acceleration of Joint #3 When performing horizontal movement in PTP motion, the operation time can be shorted by setting the shaft to a high position.

  • Page 335: Work Envelope

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5 Work Envelope WARNING Do not operate the Manipulator with the mechanical stop removed. Removing the mechanical stop is extremely dangerous because the Manipulator may move to a position outside its normal work envelope.

  • Page 336: Joint #1 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 EPSON Go to [Tools] - [Robot Manager] - [Range] panel, and make the setting. This can also be set using the Range statement in [Command Window]. 4.5.1.1 Joint #1 Maximum Pulse Range The 0 (zero) pulse position of Joint #1 is the position where Arm #1 is facing the positive (+) direction on the X-coordinate axis.
  • Page 337 Industrial Robot: SCARA Robots GX series Manual Rev.7 Mounting Specifications Type Table Top Ceiling, Wall GX10-B65*** ±130 ±152.5 GX10-B/GX20-B85*S* ±152.5 Z: 0 to ‒360 ±152.5 Max. motion range (deg.) GX10-B/GX20-B85*C*, P* ±151 Z: ‒360 to ‒390 ±151 GX20-BA0*** ±152.5 ±152.5 GX10-B65*** ±2366578...

  • Page 338: Joint #3 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5.1.3 Joint #3 Maximum Pulse Range 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 moves down from the 0 pulse position.

  • Page 339: Joint #4 Maximum Pulse Range

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5.1.4 Joint #4 Maximum Pulse Range The 0 (zero) pulse position of Joint #4 is the position where the flat surface near the end of the shaft faces toward the end of Arm #2.

  • Page 340: Setting The Work Envelope By Mechanical Stops

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5.2 Setting the Work Envelope by Mechanical Stops Mechanical stops set the absolute work envelope that physically limits where the Manipulator can move. Both Joints #1 and #2 have threaded holes in positions corresponding to angles for the setting area. The positions of the mechanical stops (variable) set the work envelope.

  • Page 341: Setting The Mechanical Stops Of Joints #1 And #2

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall Mounting Specifications Only the stop positions that are different from the model with table top mounting specifications are explained here. Symbol Description Joint #1 mechanical stop (fixed) Joint #1 mechanical stop (variable) Ceiling mounting specifications Only the stop positions that are different from the model with table top mounting specifications are explained here.
  • Page 342 Industrial Robot: SCARA Robots GX series Manual Rev.7 2. Install a hexagon socket head cap bolt into the threaded hole corresponding to the setting angle, and tighten it. Hexagon Socket Head Number of Recommended Joint # Strength Cap Bolt Bolts Tightening Torque M12 ×...
  • Page 343 Industrial Robot: SCARA Robots GX series Manual Rev.7 If the arm hits a mechanical stop or if an error occurs after the arm hits a mechanical stop, either reset the pulse range to a narrower pulse range so that nothing blocks the arm motion, or extend the positions of the mechanical stops within the limit.
  • Page 344 Industrial Robot: SCARA Robots GX series Manual Rev.7 Max. motion range (deg.): Arm Length Mounting Environmental Z-value Range (mm) Specifications Specifications (mm) Table top S,C,P +122.5 +152.5 -152.5 -122.5 Ceiling, Wall S,C,P +100 +130 -130 -100 +122.5 +152.5 -152.5 -122.5 Table top Z: 0 to –360...
  • Page 345 Industrial Robot: SCARA Robots GX series Manual Rev.7 ✏ POINTS Z: In the -360 to -390 mm range, the area is limited due to interference between the Manipulator body and the arm.  ...

  • Page 346: Setting The Mechanical Stop Of Joint #3

    Industrial Robot: SCARA Robots GX series Manual Rev.7 4.5.2.2 Setting the Mechanical Stop of Joint #3 ✏ POINTS This method can be used only for the Manipulator models with standard specifications (GX10-B***S*). For Manipulator models with standard specifications (GX20-B***S*), cleanroom specifications (GX10-B/GX20- B***C*), and protected-models (GX10-B/GX20-B***P*), the work envelope set by the Joint #3 mechanical stop cannot be changed.
  • Page 347 Industrial Robot: SCARA Robots GX series Manual Rev.7 to the factory default position. Symbol Description M6 × 6 set screw (recessed end) M4 × 8 set screw (flat tip) POINTS ✏ A mechanical stop is mounted on both the top and bottom of Joint #3. However, only the position of the lower limit mechanical stop on the top can be changed.
  • Page 348 Industrial Robot: SCARA Robots GX series Manual Rev.7 Recommended tightening torque: 8.0 ± 0.4 N⋅m(82 ± 4 kgf⋅cm) Symbol Description Helical groove Cylindrical surface 7. Turn on the Controller. 8. Press down Joint #3 while pressing the brake release switch, and then check the lower limit position. Do not lower the mechanical stop too far.
  • Page 349 Industrial Robot: SCARA Robots GX series Manual Rev.7 (In this example, all pulses except those for Joint #3 are "0". Substitute these "0" values with the other pulse values to specify a position where interference will not occur even when lowering Joint #3.)
  • Page 350 Industrial Robot: SCARA Robots GX series Manual Rev.7 To return to the factory default position 1. Turn on the Controller, and turn off the motors using the Motor OFF statement. 2. Push up the shaft while pressing the brake release switch.
  • Page 351 Industrial Robot: SCARA Robots GX series Manual Rev.7 5. Prepare the 2 × M4 × 8 set screws removed in step 4 of "To change from the factory default position." Adjust so that the shaft groove and set screws (2 × M4 × 8) are in the positions shown below, and insert the set screws (2 ×...

  • Page 352: Setting The Rectangular Range In The Xy Coordinate System Of The Manipulator

    Industrial Robot: SCARA Robots GX series Manual Rev.7 an error occurs, either change the pulse range to a narrower setting or extend the position of the mechanical stop within the limit. Example: To return the mechanical stop to its factory default position after being lowered by 80 mm with a stroke of...
  • Page 353 Industrial Robot: SCARA Robots GX series Manual Rev.7 Table top mounting specifications Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 354 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B85** GX20- GX10-B65** GX20-B85** BA0** C, P C, P C, P Length of Arm #1 + Arm #2 (mm) 1000 Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°) 0 ≥...
  • Page 355 Industrial Robot: SCARA Robots GX series Manual Rev.7 Wall mounting specifications Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop GX10-B85**W GX10-B65**W GX20-BA0**W GX20-B85**W C, P C, P C, P Length of Arm #1 + Arm #2 (mm)
  • Page 356 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B**1*W GX10-B**4*W GX20-B**1*W GX20-B**4*W C, P C, P Joint #3 work envelope Distance from base mounting surface 202.5 240.5 202.5 240.5 Joint #3 mechanical stop area (upper limit) Joint #3 mechanical stop area (lower limit)
  • Page 357 Industrial Robot: SCARA Robots GX series Manual Rev.7 Ceiling mounting specifications Symbol Description Center of Joint #3 Work envelope Maximum zone Base mounting surface Range to mechanical stop...
  • Page 358 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B85**R GX10-B65**R GX20-BA0**R GX20-B85**R C, P C, P C, P Length of Arm #1 + Arm #2 (mm) 1000 Length of Arm #1 (mm) Length of Arm #2 (mm) Joint #1 motion (°) Joint #2 motion (°)

  • Page 359: Periodic Inspection

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5. Periodic Inspection Accurate inspection work is necessary to prevent breakdowns and ensure safety. This section explains the inspection schedule and what should be inspected. Perform inspections according to the predetermined schedule.

  • Page 360: Gx4 Manipulator Periodic Inspection

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.1 GX4 Manipulator Periodic Inspection 5.1.1 Inspection 5.1.1.1 Inspection Schedule Inspection items are divided into five stages (daily, 1-month, 3-month, 6-month, and 12-month), with additional items added at each stage. However, if the Manipulator is powered and operated for more than 250 hours in a month, add inspection items every 250, 750, 1,500, and 3,000 hours.

  • Page 361: Inspection Details

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.1.1.2 Inspection Details Inspection items Inspection Daily 1-month 3-month 6-month 12-month Inspection Item Location Inspection Inspection Inspection Inspection Inspection Hand mounting ✓ ✓ ✓ ✓ ✓ bolts Loose bolts: Check for rattling Manipulator ✓...

  • Page 362: Overhaul (Parts Replacement)

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Inspection methods Inspection Item Inspection Method Using an Allen wrench or similar tool, check that the hand mounting bolts and Manipulator Check for loose or installation bolts are not loose. rattling bolts If the bolts are loose, refer to the following section, and retighten to the proper torque.
  • Page 363 For the first time only, apply grease after running for 50 km. ✏ POINTS When using EPSON RC+, the recommended interval for applying grease to the ball screw spline unit can be viewed from the [Maintenance] dialog box in EPSON RC+. Applying grease to the ball screw spline unit...
  • Page 364 When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand. Using the EPSON RC+ [Tools] - [Robot Manager] - [Jog & Teach] panel, lower the shaft to the lower limit. Symbol...
  • Page 365 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Application area Mechanical stop Shaft Spline nut 5. Grease should be applied to the helical and vertical grooves of the ball screw spline so that the grooves are filled evenly.
  • Page 366 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Spline nut end...

  • Page 367: Tightening The Hexagon Socket Head Cap Bolts

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.1.4 Tightening the Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts (referred to as "bolts" below) are used in locations where mechanical strength is required. During assembly, these bolts are tightened at the tightening torques shown in the following table.

  • Page 368: Gx8 Manipulator Periodic Inspection

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.2 GX8 Manipulator Periodic Inspection 5.2.1 Inspection 5.2.1.1 Inspection Schedule Inspection items are divided into five stages (daily, 1-month, 3-month, 6-month, and 12-month), with additional items added at each stage. However, if the Manipulator is powered and operated for more than 250 hours in a month, add inspection items every 250, 750, 1,500, and 3,000 hours.

  • Page 369: Inspection Details

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.2.1.2 Inspection Details Inspection items Inspection Daily 1-month 3-month 6-month 12-month Inspection Item Location Inspection Inspection Inspection Inspection Inspection Hand mounting ✓ ✓ ✓ ✓ ✓ bolts Loose bolts: Check for rattling Manipulator ✓...

  • Page 370: Overhaul (Parts Replacement)

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Inspection methods Inspection Item Inspection Method Using an Allen wrench or similar tool, check that the hand mounting bolts and Manipulator Check for loose or installation bolts are not loose. Refer to the following section, and retighten to the proper torque.
  • Page 371 For the first time only, apply grease after running for 50 km. ✏ POINTS When using EPSON RC+, the recommended interval for applying grease to the ball screw spline unit can be viewed from the [Maintenance] dialog box in EPSON RC+. Applying grease to the ball screw spline unit...
  • Page 372 When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand. Using the EPSON RC+ [Tools] - [Robot Manager] - [Jog & Teach] panel, lower the shaft to the lower limit. POINTS ✏...
  • Page 373 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Application area Mechanical stop Shaft Spline nut 5. Grease should be applied to the helical and vertical grooves of the ball screw spline so that the grooves are filled evenly.
  • Page 374 Industrial Robot: SCARA Robots GX series Manual Rev.7 Symbol Description Spline nut end...

  • Page 375: Tightening The Hexagon Socket Head Cap Bolts

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.2.4 Tightening the Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts (referred to as "bolts" below) are used in locations where mechanical strength is required. During assembly, these bolts are tightened at the tightening torques shown in the following table.

  • Page 376: Gx10/Gx20 Manipulator Periodic Inspection

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.3 GX10/GX20 Manipulator Periodic Inspection 5.3.1 Inspection 5.3.1.1 Inspection Schedule Inspection items are divided into five stages (daily, 1-month, 3-month, 6-month, and 12-month), with additional items added at each stage. However, if the Manipulator is powered and operated for more than 250 hours in a month, add inspection items every 250, 750, 1,500, and 3,000 hours.

  • Page 377: Inspection Details

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.3.1.2 Inspection Details Inspection items Inspection Daily 1-month 3-month 6-month 12-month Inspection Item Location Inspection Inspection Inspection Inspection Inspection Hand mounting ✓ ✓ ✓ ✓ ✓ bolts Loose bolts: Check for rattling Manipulator ✓...

  • Page 378: Overhaul (Parts Replacement)

    Industrial Robot: SCARA Robots GX series Manual Rev.7 Inspection methods Inspection Item Inspection Method Using an Allen wrench or similar tool, check that the hand mounting bolts and Manipulator Check for loose or installation bolts are not loose. Refer to the following section, and retighten to the proper torque.
  • Page 379 For the first time only, apply grease after running for 50 km. ✏ POINTS When using EPSON RC+, the recommended interval for applying grease to the ball screw spline unit can be viewed from the [Maintenance] dialog box in EPSON RC+. Applying grease to the ball screw spline unit...
  • Page 380 When pressing the brake release switch, watch for the shaft descending or rotating under the weight of the hand. Using the EPSON RC+ [Tools] - [Robot Manager] - [Jog & Teach] panel, lower the shaft to the lower limit. POINTS ✏...
  • Page 381 Industrial Robot: SCARA Robots GX series Manual Rev.7 3. Turn off the Controller. 4. Wipe off the old grease on the shaft, and apply new grease. The grease application area is from the end of the spline nut to the mechanical stop.
  • Page 382 Industrial Robot: SCARA Robots GX series Manual Rev.7 8. After moving to the origin position, perform a reciprocating motion with the shaft. The reciprocating motion is performed from the upper limit to the lower limit using the low-power mode operation program. Perform the motion for about 5 minutes to allow the grease to spread.

  • Page 383: Tightening The Hexagon Socket Head Cap Bolts

    Industrial Robot: SCARA Robots GX series Manual Rev.7 5.3.4 Tightening the Hexagon Socket Head Cap Bolts Hexagon socket head cap bolts (referred to as "bolts" below) are used in locations where mechanical strength is required. During assembly, these bolts are tightened at the tightening torques shown in the following table.

  • Page 384: Appendix

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6. Appendix This section provides detailed technical data such as the specifications, stopping time, and stopping distance for each model.

  • Page 385: Appendix A: Specifications Table

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.1 Appendix A: Specifications Table 6.1.1 GX4 GX4-A***** GX4-A****M Item GX4-B***** GX4-B****M Machinery name Industrial robot Product series GX4-A*****, GX4-B***** Model Model Name GX4-A Model Name GX4-B Table top mounting Multiple mounting...
  • Page 386 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A***** GX4-A****M Item GX4-B***** GX4-B****M ±0.008 mm Joint #1 + Joint ±0.01 mm Repeatability ±0.01 mm Joint #3 ±0.01 mm Joint #4 ±0.005 deg ±140 deg ±140 deg ±115 deg Joint #1 Straight ±140 deg...
  • Page 387 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A***** GX4-A****M Item GX4-B***** GX4-B****M -1456356 to -728178 to 6699236 5971058 Straight -873814 to 6116694 Joint #1 -2184534 to Left-curved 5825423 -582543 to Right-curved 7427414 -2566827 to S, E 2566827 -2494009 to 2494009...
  • Page 388 Industrial Robot: SCARA Robots GX series Manual Rev.7 Item GX4-A*****, GX4-B***** Joint #1 0.0000343323 deg/pulse Joint #2 0.0000549316 deg/pulse Resolution Joint #3 0.0000878906 mm/pulse Joint #4 0.000274658 deg/pulse Joint #1 400 W Joint #2 150 W Motor rated capacity Joint #3...
  • Page 389 Industrial Robot: SCARA Robots GX series Manual Rev.7 Item GX4-A*****, GX4-B***** Speed 1 to (5) to 100 1 to (10) to 100 Accel SpeedS 1 to (50) to 2000 Setting value range ( )Default value AccelS 1 to (200) to 25000...
  • Page 390 Industrial Robot: SCARA Robots GX series Manual Rev.7 *6: The PerformMode command can be used to switch operation modes. For details, refer to the following manual. "EPSON RC+ SPEL+ Language Reference" ✏ POINTS Boost mode reduces the amount of time for a single operation compared to Standard mode; however, it worsens the operation duty and the vibration when stopping operation.

  • Page 391: Gx8

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.1.2 GX8 GX8-A**** GX8-A****R GX8-A****W Item GX8-B**** GX8-B****R GX8-B****W Machinery name Industrial robot Product series GX8-A*****, GX8-B***** Model Model Name GX8-A Model Name GX8-B Table top mounting Ceiling mounting Wall mounting Installation method...
  • Page 392 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A**** GX8-A****R GX8-A****W Item GX8-B**** GX8-B****R GX8-B****W ±105 deg ±105 deg Joint #1 ±152 deg ±135 deg ±152 deg ±148 deg ±125 deg ±142 to 147.5 deg ±147.5 deg: S*, E* Joint #2 ±145 to 147.5 deg...
  • Page 393 Industrial Robot: SCARA Robots GX series Manual Rev.7 Max. Motion Range Max. Pulse Range 0 ≥ Z ≥ -270 ±147.5 deg ±2685156 pulse GX8-A45*S*, E* GX8-B45*S*,E* -270 > Z ≥ -330 ±145 deg ±2639644 pulse 0 ≥ Z ≥ -240 ±147.5 deg...
  • Page 394 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A***** Item GX8-B***** Joint #1 0.0000549 deg/pulse Joint #2 0.0000549 deg/pulse Resolution 0.0001831 mm/pulse Joint #3 0.0001831 mm/pulse Joint #4 0.0002140 deg/pulse Joint #1 750 W Joint #2 600 W Motor rated capacity...
  • Page 395 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A***** Item GX8-B***** Speed 1 to (5) to 100 1 to (10) to 100 Accel SpeedS 1 to (50) to 2000 Setting value range ( )Default value AccelS 1 to (200) to 25000...
  • Page 396 Industrial Robot: SCARA Robots GX series Manual Rev.7 *6: 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 *7: The PerformMode command can be used to switch operation modes.

  • Page 397: Gx10/20

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.1.3 GX10/20 GX10-B**** GX10 B****R GX10-B****W Item GX20-B**** GX20-B****R GX20-B****W Machinery name Industrial robot Product series GX10-B*****, GX20-B***** Model Model Name GX10-B/GX20-B Table top mounting Ceiling mounting Wall mounting Installation method specifications...
  • Page 398 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B**** GX10 B****R GX10-B****W Item GX20-B**** GX20-B****R GX20-B****W 180 mm: GX10-B/GX20-B**1S* 150 mm: GX10-B/GX20-B**1C*, P* Joint #3 420 mm: GX10-B/GX20-B**4S* 390 mm: GX10-B/GX20-B**4C*, P* Joint #4 ±360 deg -495161 to +5738041 -495161 to...
  • Page 399 Industrial Robot: SCARA Robots GX series Manual Rev.7 Item GX10-B***** GX20-B***** Joint #1 0.0000343 deg/pulse Joint #2 0.0000549 deg/pulse Resolution Joint #3 0.000185 mm/pulse Joint #4 0.0001845 deg/pulse 0.0001308 deg/pulse Joint #1 750 W Joint #2 600 W Motor rated capacity...
  • Page 400 Industrial Robot: SCARA Robots GX series Manual Rev.7 *1: Manipulators with cleanroom & ESD specifications (GX10-B/GX20-B***C*) discharge exhaust inside the base and inside the arm cover together. Consequently, if there is a gap in the base section, the arm tip section will not be sufficiently negatively pressurized, which may result in dust generation.

  • Page 401: Appendix B: Stopping Time And Stopping Distance At Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.2 Appendix B: Stopping Time and Stopping Distance at Emergency Stop The stopping time and stopping distance at an emergency stop are shown in the graphs for each model. The stopping time is the length of time corresponding to the "Stopping time" in the figure below. Be sure to confirm that a safe environment is provided where the robot will be installed and operated.

  • Page 402: Gx4 Stopping Time And Stopping Distance At Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.2.1 GX4 Stopping Time and Stopping Distance at Emergency Stop GX4-A25***, GX4-B25***: J1 Standard mode Boost mode GX4-A25***, GX4-B25***: J2 Standard mode Boost mode...
  • Page 403 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A25***, GX4-B25***: J3 Standard mode Boost mode...
  • Page 404 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A30***, GX4-B30***: J1 Standard mode Boost mode GX4-A30***, GX4-B30***: J2 Standard mode Boost mode...
  • Page 405 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A30***, GX4-B30***: J3 Standard mode Boost mode...
  • Page 406 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35***, GX4-B35***: J1 Standard mode Boost mode GX4-A35***, GX4-B35***: J2 Standard mode Boost mode...
  • Page 407 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35***, GX4-B35***: J3 Standard mode Boost mode...

  • Page 408: Gx8 Stopping Time And Stopping Distance At Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.2.2 GX8 Stopping Time and Stopping Distance at Emergency Stop GX8-A45***, GX8-B45***: J1 Standard mode Boost mode GX8-A45***, GX8-B45***: J2 Standard mode Boost mode...
  • Page 409 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A45***, GX8-B45***: J3 Standard mode Boost mode...
  • Page 410 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55***: J1 Standard mode Boost mode GX8-A55***, GX8-B55***: J2 Standard mode Boost mode...
  • Page 411 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55***: J3 Standard mode Boost mode...
  • Page 412 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A65***, GX8-B65***: J1 Standard mode Boost mode GX8-A65***, GX8-B65***: J2 Standard mode Boost mode...
  • Page 413 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A65***, GX8-B65***: J3 Standard mode Boost mode...

  • Page 414: Gx10 Stopping Time And Stopping Distance At Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.2.3 GX10 Stopping Time and Stopping Distance at Emergency Stop GX10-B65***: J1 GX10-B65***: J2 GX10-B65***: J3...
  • Page 415 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B85***: J1 GX10-B85***: J2 GX10-B85***: J3...

  • Page 416: Gx20 Stopping Time And Stopping Distance At Emergency Stop

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.2.4 GX20 Stopping Time and Stopping Distance at Emergency Stop GX20-B85***: J1 GX20-B85***: J2 GX20-B85***: J3...
  • Page 417 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX20-BA0***: J1 GX20-BA0***: J2 GX20-BA0***: J3...

  • Page 418: Appendix C: Stopping Time And Stopping Distance When Safeguard Is Open

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.3 Appendix C: Stopping Time and Stopping Distance When Safeguard is Open The stopping time and stopping distance when the safeguard is opened are shown in the graphs for each model. The stopping time is the length of time corresponding to the "Stopping time" in the figure below. Be sure to confirm that a safe environment is provided where the robot will be installed and operated.
  • Page 419 Industrial Robot: SCARA Robots GX series Manual Rev.7 Standard mode Boost mode GX4-A25***, GX4-B25***: J2 Standard mode Boost mode...
  • Page 420 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A25***, GX4-B25***: J3 Standard mode Boost mode...
  • Page 421 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A30***, GX4-B30***: J1 Standard mode Boost mode GX4-A30***, GX4-B30***: J2 Standard mode Boost mode...
  • Page 422 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A30***, GX4-B30***: J3 Standard mode Boost mode...
  • Page 423 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35***, GX4-B35***: J1 Standard mode Boost mode GX4-A35***, GX4-B35***: J2 Standard mode Boost mode...
  • Page 424 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX4-A35***, GX4-B35***: J3 Standard mode Boost mode...

  • Page 425: Gx8 Stopping Time And Stopping Distance When Safeguard Is Open

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.3.2 GX8 Stopping Time and Stopping Distance When Safeguard is Open GX8-A45***, GX8-B45***: J1 Standard mode Boost mode GX8-A45***, GX8-B45***: J2 Standard mode Boost mode...
  • Page 426 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A45***, GX8-B45***: J3 Standard mode Boost mode...
  • Page 427 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55***: J1 Standard mode Boost mode GX8-A55***, GX8-B55***: J2 Standard mode Boost mode...
  • Page 428 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A55***, GX8-B55***: J3 Standard mode Boost mode...
  • Page 429 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A65***, GX8-B65***: J1 Standard mode Boost mode GX8-A65***, GX8-B65***: J2 Standard mode Boost mode...
  • Page 430 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX8-A65***, GX8-B65***: J3 Standard mode Boost mode...

  • Page 431: Gx10 Stopping Time And Stopping Distance When Safeguard Is Open

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.3.3 GX10 Stopping Time and Stopping Distance When Safeguard is Open GX10-B65***: J1 GX10-B65***: J2 GX10-B65***: J3...
  • Page 432 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX10-B85***: J1 GX10-B85***: J2 GX10-B85***: J3...

  • Page 433: Gx20 Stopping Time And Stopping Distance When Safeguard Is Open

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.3.4 GX20 Stopping Time and Stopping Distance When Safeguard is Open GX20-B85***: J1 GX20-B85***: J2 GX20-B85***: J3...
  • Page 434 Industrial Robot: SCARA Robots GX series Manual Rev.7 GX20-BA0***: J1 GX20-BA0***: J2 GX20-BA0***: J3...

  • Page 435: Appendix D: Correction Area For Arm Length Correction

    For details on available options, please contact the supplier. For details on arm length calibration, refer to the following manual. "EPSON RC+ User's Guide - 22.2 Arm Length Calibration" This section shows the measured correction area as shipped. (Shaded area: Correction area, Units: mm) The measured Z-axis position is shown below.

  • Page 436: Gx8 Series

    Industrial Robot: SCARA Robots GX series Manual Rev.7 6.4.2 GX8 Series GX8-A45*** GX8-A55*** GX8-B45*** GX8-B55*** GX8-A65*** GX8-B65***...

This manual is also suitable for:

Gx4-a251cGx4-a301cGx4-a351cGx4-b251cGx4-b301cGx4-b351c

Table of Contents