GX1
| Item | 4-Axis specifications | 3-Axis specifications | |||||
|---|---|---|---|---|---|---|---|
| GX1-C171* | GX1-C221* | GX1-C171*Z | GX1-C221*Z | ||||
| Machinery name | Industrial robot | ||||||
| Product series | GX | ||||||
| Model | GX1-C***** | ||||||
| Installation method | Table top mounting type | ||||||
| Arm length | Arm #1+Arm #2 | 175 mm | 225 mm | 175 mm | 225 mm | ||
| Arm1 | 75 mm | 125 mm | 75 mm | 125 mm | |||
| Arm2 | 100 mm | 100 mm | |||||
| Weight (not including weight of cables) | 8 kg | 8 kg | |||||
| Drive system | All joints | AC servo motor | |||||
| Maximum speed *1 | Joint #1+Joint #2 | 2630 mm/s | 3000 mm/s | 2630 mm/s | 3000 mm/s | ||
| Joint #3 (Z-axis) | 1200 mm/s | 1200 mm/s | |||||
| Joint #4 (U-axis) | 3000 deg/s | − | |||||
| Repeat accuracy | Joint #1+Joint #2 | ± 0.005 mm | ± 0.008 mm | ± 0.005 mm | ± 0.008 mm | ||
| Joint #3 (Z-axis) | ± 0.01 mm | ± 0.01 mm | |||||
| Joint #4 (U-axis) | ± 0.01 deg | − | |||||
| Max. motion range | Joint #1: | ± 125 deg | ± 125 deg | ||||
| Joint #2: | ± 140 deg | ± 152 deg | ± 135 deg | ± 135 deg | |||
| (Cleanroom & ESD specifications) | (± 140 deg) | (± 149 deg) | (± 123 deg) | (± 132 deg) | |||
| Z stroke | ± 100 (80) mm | ± 100 (80) mm | |||||
| (Cleanroom & ESD specifications) | |||||||
| Joint #4: | ± 360 deg *2 | − | |||||
| Maximum Pulse Range | Joint #1: | − 1019449 ~ 6262329 pulse | |||||
| Joint #2: | ± 2548623 | ± 2767076 | ± 2457600 | ± 2457600 | |||
| (Cleanroom & ESD specifications) | (± 2548623) | (± 2712463) | (± 2239147) | (± 2402987) | |||
| Joint #3: | − 1092267 to 0 | ||||||
| (Cleanroom & ESD specifications) | (- 873813 ~ 0) | ||||||
| Joint #4: | − 393216 to 393216 | ||||||
| Resolution | Joint #1: | 3.43322E-05 deg/pulse | |||||
| Joint #2: | 5.49316E-05 deg/pulse | ||||||
| Joint #3: | 9.15527E-05 mm/pulse | ||||||
| Joint #4: | 9.15527E-04 deg/pulse | ||||||
| Motor rated capacity | 50 W (all axes) | ||||||
| Payload (load) | Rated | 0.5 kg | 0.5 kg | ||||
| Maximum | 1 kg | 1.5 kg | |||||
| Joint #4 allowable moment of inertia | Rated | 0.0003 kg·m2 | - | ||||
| Moment *3 | Maximum | 0.004 kg·m2 | - | ||||
| Hand | ø 8 mm | ||||||
| Hole for mounting | 125 × 88 (4-M6) | ||||||
| Joint #3 press force | 50 N | ||||||
| User Wires | 24 pin (9+15) | ||||||
| User Tubes | 1 × ø4 mm pneumatic tube, pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | ||||||
| 2 × ø4 mm pneumatic tube, pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | |||||||
| Environmental requirements *4 | Ambient temperature | 5 to 40°C | |||||
| Ambient relative humidity | 10 to 80 % RH (no condensation) | ||||||
| Vibration level | Below 4.9 m/s2 (0.5G) | ||||||
| Noise level *5 | Below LAeq = 70 dB | ||||||
| Installation Environment | Cleanroom & ESD specifications (ISO class 3) *6 | ||||||
| Compatible Controllers | RC800-A | ||||||
Setting value range ( )Default value | Speed | 1 ~ (5) ~ 100 | |||||
| Accel *7 | 1 ~ (10) ~ 120 | ||||||
| SpeedS | 0.1 ~ (50) ~ 2000 | ||||||
| AccelS | 0.1 ~ (200) ~ 25000 | ||||||
| Fine | 0 ~ (10000) ~ 65535 | ||||||
| Weight | 0 ~ (0.5) ~ 1 | 1 ~ (0.5) ~ 1.5 | |||||
| M/C Cable Specifications | Cable weight (cable only) | For fixing and signal | 0.06 kg/m | ||||
| For fixing and power | 0.30 kg/m | ||||||
| Cable outer diameter | For fixing and signal | ø 6.2 mm (typ) | |||||
| For fixing and power | ø 13.7 mm (typ) | ||||||
| Minimum bending radius *8 | For fixing and signal | 39 mm | |||||
| For fixing and power | 83 mm | ||||||
*1: During PTP command: The maximum operating speed in CP motion is 2,000 mm/s in the horizontal plane.
*2: The rotational motion of J4 can be set from ±360 to ±3600°. Rotation limits differ depending on the model. Be sure to contact the supplier if you would like to set it to a range higher than the above.
*3: When the center of gravity of the load matches the Joint #4 center position
When the center of gravity position is separated from the Joint #4 center position, set the parameter using the Inertia statement.
*4: When used in a low-temperature environment near the minimum temperature specified in the product specifications, or when the unit is idle for a long period of time during holidays or at night, a collision detection error or similar error may occur immediately after the start of operation due to high resistance in the drive unit. In such cases, warm-up operation for about 10 minutes is recommended.
*5: The conditions at measurement are as follows.
- Manipulator operating conditions
Rated load, four-joint simultaneous operation, maximum speed, maximum acceleration/deceleration - Measurement locations
Manipulator rear side, 1,000 mm away from work envelope, and 50 mm above base mounting surface
*6: Manipulators with Cleanroom specifications discharge the exhaust inside of the base and inside of the arm cover section together.
Consequently, if there is a gap in the base section, the arm tip section will not be sufficiently negatively pressurized, which may result in dust generation. Fasten the exhaust port and exhaust tube firmly with vinyl tape to prevent gaps. If the exhaust discharge rate is not sufficient, dust generation will exceed the specifications.
- Cleanliness : Class ISO 3 (ISO14644-1)
- Exhaust:
- Exhaust port dimensions: Inner diameter ø8 mm
- Compatible exhaust tubes:
- Polyurethane tubes
- Outer diameter ø8 mm
- Recommended exhaust discharge rate: About 1,000 cm3/s (standard state)
In ESD specifications Manipulators, anti-static measures have been applied to the resin material. This specification suppresses the adhesion of dirt, dust, and other contaminants caused by static electrification.
*7: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning. The ACCEL setting can be set to values above 100, but if you continue using the Manipulator at a high value, you may seriously shorten its lifespan, so we recommend limiting the use of such values to operations for which they are essential.
*8: Note the following points when wiring the M/C cable.
Install the cable so as not to apply a load to the connector.
Bend the cable at the minimum bending radius or more. The bending radius (a) and dimensions are shown in the figure below.
