GX4
| Item | GX4-A/GX4-B/GX4-C***** | GX4-A/GX4-B/GX4-C****M | ||||
|---|---|---|---|---|---|---|
| Machinery name | Industrial robot | |||||
| Product series | GX | |||||
| Model | GX4-A*****, GX4-B*****, GX4-C***** | |||||
| Installation method | Table top mounting specifications | Multiple mounting specifications | ||||
| Environmental specifications | ESD specifications, Cleanroom & ESD specifications *1 | |||||
| Arm length | Arm #1 + Arm #2 | 25 | 250 mm | |||
| 30 | 300 mm | |||||
| 35 | 350 mm | |||||
| Arm #3 | 150 mm: GX4-***1S*, E* 120 mm: GX4-***1C* | |||||
Weight (not including weight of cables) | 25 | 15 kg (33 lb) | - | |||
| 30 | 15 kg (33 lb) | 17 kg (38 lb) | ||||
| 35 | 16 kg (35 lb) | 17 kg (38 lb) | ||||
| Drive system | All joints | AC servo motor | ||||
| Maximum operating speed *2 | Joint #1 + Joint #2 | 25 | 3,550 mm/s | |||
| 30 | 3,950 mm/s | |||||
| 35 | 4,350 mm/s | |||||
| Joint #3 | 1,100 mm/s | |||||
| Joint #4 | 3,100 deg/s | |||||
| Item | GX4-A/GX4-B/GX4-C***** | GX4-A/GX4-B/GX4-C****M | ||||
|---|---|---|---|---|---|---|
| Repeatability | Joint #1 + Joint #2 | 25 | ±0.008 mm | |||
| 30 | ±0.01 mm | |||||
| 35 | ±0.01 mm | |||||
| Joint #3 | ±0.01 mm | |||||
| Joint #4 | ±0.005 deg | |||||
| Max. motion range | Joint #1 | 25 | ±140 deg | - | ||
| 30 | ±140 deg | ±115 deg | ||||
| 35 | Straight | ±140 deg | ±120 deg | |||
| Left-curved | -165 to +110 deg | - | ||||
| Right-curved | -110 to +165 deg | - | ||||
| Joint #2 | 25 | S, E | ±141 deg | - | ||
| C | ±137 deg | |||||
| 30 | S, E | ±142 deg | ±135 deg | |||
| C | ±137 deg | |||||
| 35 | Straight | ±142 deg | ±142 deg | |||
| Left-curved | S, E | -165 to +120 deg | - | |||
| C | -160 to +120 deg | - | ||||
| Right-curved | S, E | -120 to +165 deg | - | |||
| C | -120 to +160 deg | - | ||||
| Joint #3 | S, E | 150 mm | ||||
| C | 120 mm | |||||
| Joint #4 | ±360 deg | |||||
| Max. pulse range (pulse) | Joint #1 | 25 | -1456356 to 6699236 | - | ||
| 30 | -728178 to 5971058 | |||||
| 35 | Straight | -873814 to 6116694 | ||||
| Left-curved | -2184534 to 5825423 | - | ||||
| Right-curved | -582543 to 7427414 | - | ||||
| Joint #2 | 25 | S, E | -2566827 to 2566827 | - | ||
| C | -2494009 to 2494009 | |||||
| 30 | S, E | -2585032 to 2585032 | -2457600 to 2457600 | |||
| C | -2566827 to 2566827 | |||||
| 35 | Straight | -2585032 to 2585032 | -2585032 to 2585032 | |||
| Left-curved | S, E | -3003734 to 2184534 | - | |||
| C | -2912712 to 2184534 | - | ||||
| Right-curved | S, E | -2184534 to 3003734 | - | |||
| C | -2184534 to 2912712 | - | ||||
| Joint #3 | S, E | 0 to -1706667 | ||||
| C | 0 to 1365334 | |||||
| Joint #4 | ±1310720 | |||||
| Item | GX4-A/GX4-B/GX4-C***** | ||
|---|---|---|---|
| Resolution | Joint #1 | 0.0000343323 deg/pulse | |
| Joint #2 | 0.0000549316 deg/pulse | ||
| Joint #3 | 0.0000878906 mm/pulse | ||
| Joint #4 | 0.000274658 deg/pulse | ||
| Motor rated capacity | Joint #1 | 400 W | |
| Joint #2 | 150 W | ||
| Joint #3 | 150 W | ||
| Joint #4 | 150 W | ||
| Payload (load) | Rated | 2 kg | |
| Max. | 4 kg | ||
| Joint #4 allowable moment of inertia *3 | Rating | 0.005 kg·m2 | |
| Max. | 0.05 kg·m2 | ||
| Shaft diameter | Outer | ø16 mm | |
| Inner | ø11 mm | ||
| Joint #3 press force | 150 N | ||
| User wiring | 15 (15-pin: D-sub) | ||
| Ethernet CAT5e or equivalent | |||
| User piping | 2 × ø6 mm pneumatic tube, Pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | ||
| 1 × ø4 mm pneumatic tube, Pressure resistance: 0.59 MPa (6 kgf/cm2: 86 psi) | |||
| Environmental requirements | Ambient temperature *4 | 5 to 40°C | |
| Ambient relative humidity | 10 to 80% (no condensation) | ||
| Transportation and storage | Temperature | −20 to +60°C | |
| Humidity | 10 to 90% (no condensation) | ||
| Noise level *5 | LAeq = 71 dB(A) | ||
| Compatible Controllers |
| ||
| Operation mode *6 | Standard mode (default), Boost mode | ||
Setting value range ( )Default value | Speed | 1 to (5) to 100 | |
| Accel *7 | 1 to (10) to 100 | ||
| SpeedS | 1 to (50) to 2000 | ||
| AccelS | 1 to (200) to 25000 | ||
| Fine | 0 to (10000) to 65535 | ||
| Weight | 0 to (2) to 4 | ||
| M/C cable | Cable weight (cable only) | For fixing and signal (common to all lengths) | 0.06 kg/m |
| For fixing and power (common to all lengths) | 0.30 kg/m | ||
| For movable and signal (common to all lengths) | 0.07 kg/m | ||
| For movable and power (common to all lengths) | 0.36 kg/m | ||
| Cable outer diameter | For fixing and signal (common to all lengths) | ⌀6.5 mm (typ) | |
| For fixing and power (common to all lengths) | ⌀13.7 mm (typ) | ||
| For movable and signal (common to all lengths) | ⌀6.4 mm (typ) | ||
| For movable and power (common to all lengths) | ⌀13.7 mm (typ) | ||
| Minimum bending radius *8 | For fixing and signal (common to all lengths) | 40 mm | |
| For fixing and power (common to all lengths) | 83 mm | ||
| For movable and signal (common to all lengths) | 100 mm | ||
| For movable and power (common to all lengths) | 100 mm | ||
*1: Manipulators with cleanroom & ESD 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 fully negative pressurized, which may result in dust generation. Do not remove the maintenance cover on the front of the base.
Connect the exhaust tube to the exhaust port on the back (or bottom) of the base.
If the exhaust discharge rate is not sufficient, dust generation will exceed the specifications.
- Cleanliness:
Class ISO 3 (ISO 14644-1) - Exhaust
- Exhaust port dimensions: Inner diameter ø6 mm
- Compatible exhaust tubes
- Polyurethane tubes
- Outer diameter ø6 mm (Inner diameter ø4 mm)
- Recommended exhaust discharge rate: About 1,000 cm3/s (standard state)
ESD specifications are specifications that use conductive materials for or apply plating to the major resin parts as anti-static measures.
We have confirmed that the Manipulator tip (tool mounting section) is at ±5 V or less, even directly after the measuring operation according to Seiko Epson standards.
If you need any other detailed information, please contact the supplier.
Also, please check the amount of charge on any hand, wiring, or the like that you will attach to the robot on your own before use.
*2: When PTP statements are used. The maximum operating speed in CP motion is 2,000 mm/s in the horizontal plane.
*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: The PerformMode command can be used to switch operation modes. For details, refer to the following manual.
"Epson RC+ SPEL+ Language Reference"
KEY 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. Use it with caution.
*7: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning.
*8: Note the following points when wiring the movable M/C cable.
Install the cable not to apply a load to the connector.
Bend the cable at the minimum bending radius of the movable part or more. The bending radius (a) and dimensions are shown in the figure below.
