GX8
| Item | GX8-A/GX8-B/GX8-C***** | GX8-A/GX8-B/GX8-C****R | GX8-A/GX8-B/GX8-C****W | ||
|---|---|---|---|---|---|
| Machinery name | Industrial robot | ||||
| Product series | GX | ||||
| Model | GX8-A*****, GX8-B*****, GX8-C***** | ||||
| Installation method | Table top mounting specifications | Ceiling mounting specifications | Wall mounting specifications | ||
| Environmental specifications | ESD specifications, Cleanroom & ESD specifications*1, Protected-model*2 | ||||
| Arm length | Arm #1 + Arm #2 | 45 | 450 mm | ||
| 55 | 550 mm | ||||
| 65 | 650 mm | ||||
| Arm #3 | 2 | 200 mm: GX8-***2S*, E* 170 mm: GX8-***2C*, P* | |||
| 3 | 330 mm: GX8-***3S*, E* 300 mm: GX8-***3C*, P* | ||||
| Weight (not including weight of cables) | 45 | 33 kg (73 lb) | 35 kg (77 lb) | ||
| 55 | 34 kg (75 lb) | 36 kg (79 lb) | |||
| 65 | 35 kg (77 lb) | 37 kg (82 lb) | |||
| Drive system | All joints | AC servo motor | |||
| Maximum operating speed *3 | Joint #1 + Joint #2 | 45 | 7,450 mm/s | ||
| 55 | 8,450 mm/s | ||||
| 65 | 9,460 mm/s | ||||
| Joint #3 | 2 | 2,350 mm/s | |||
| 3 | 2,350 mm/s | ||||
| Joint #4 | 2,800 deg/s | ||||
| Repeatability | Joint #1 + Joint #2 | ±0.015 mm | |||
| Joint #3 | ±0.01 mm | ||||
| Joint #4 | ±0.005 deg | ||||
| Max. motion range | Joint #1 | 45 | ±152 deg | ±105 deg | ±105 deg |
| 55 | ±152 deg | ±135 deg | |||
| 65 | ±148 deg | ||||
| Joint #2 | 45 | ±142 to 147.5 deg *a | ±125 deg | ||
| 55 | ±145 to 147.5 deg *a | ±147.5 deg: S*, E* | |||
| ±145 deg: C*, P* | |||||
| 65 | ±147.5 deg | ||||
| Joint #3 | 2 | 200 mm: GX8-***2S*, E* 170 mm: GX8-***2C*, P* | |||
| 3 | 330 mm: GX8-***3S*, E* 300 mm: GX8-***3C*, P* | ||||
| Joint #4 | ±360 deg | ||||
| Max. pulse range (pulse) | Joint #1 | 45 | -1128676 to +4405476 | -273067 to +3549867 | -273067 to +3549867 |
| 55 | -1128676 to +4405476 | -819200 to +4096000 | |||
| 65 | -1055858 to +4332658 | ||||
| Joint #2 | 45 | ±2503111 to ±2685156 *a | ±2275556 | ||
| 55 | ±2639644 to ±2685156 *a | ±2685156: S*, E* | |||
| ±2639645: C*, P* | |||||
| 65 | ±2685156 | ||||
| Joint #3 | 2 | -1092267: GX8-***2S*, E* -928427: GX8-***2C*, P* | |||
| 3 | -1802240: GX8-***3S*, E* -1638400: GX8-***3C*, P* | ||||
| Joint #4 | ±1668189 | ||||
*a: GX8-*45***、GX8-*55*** Joint #2
| Max. Motion Range | Max. Pulse Range | ||
|---|---|---|---|
| GX8-A/GX8-B/GX8-C45*S*,E* | 0 ≥ Z ≥ -270 | ±147.5 deg | ±2685156 pulse |
| -270 > Z ≥ -330 | ±145 deg | ±2639644 pulse | |
| GX8-A/GX8-B/GX8-C45*C*,P* | 0 ≥ Z ≥ -240 | ±147.5 deg | ±2685156 pulse |
| -240 > Z ≥ -300 | ±137.5 deg | ±2503111 pulse | |
| GX8-A/GX8-B/GX8-C55*C*,P* | 0 ≥ Z ≥ -240 | ±147.5 deg | ±2685156 pulse |
| -240 > Z ≥ -300 | ±145 deg | ±2639644 pulse | |
| Item | GX8-A/GX8-B/GX8-C***** | ||
|---|---|---|---|
| Resolution | Joint #1 | 0.0000549 deg/pulse | |
| Joint #2 | 0.0000549 deg/pulse | ||
| Joint #3 | 2 | 0.0001831 mm/pulse | |
| 3 | 0.0001831 mm/pulse | ||
| Joint #4 | 0.0002140 deg/pulse | ||
| Motor rated capacity | Joint #1 | 750 W | |
| Joint #2 | 600 W | ||
| Joint #3 | 200 W | ||
| Joint #4 | 200 W | ||
| Payload (load) | Rated | 4 kg | |
| Max. | 8 kg | ||
Joint #4 allowable moment of inertia *4 | Rating | 0.01 kg·m2 | |
| Max. | 0.16 kg·m2 | ||
| Shaft diameter | Outer | ø20 mm | |
| Inner | ø14 mm | ||
| Joint #3 press force | 150 N | ||
| User wiring | 24 (15 pin + 9 pin: D-sub) | ||
| Ethernet CAT5e or equivalent | |||
| User piping | 2 × ø6 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 | Ambient temperature *5 | 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 *6 | LAeq = 74 dB(A) | ||
| Compatible Controllers |
| ||
| Operation mode *7 | Standard mode (default), Boost mode | ||
Setting value range ( )Default value | Speed | 1 to (5) to 100 | |
| Accel *8 | 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 (4) to 8 | ||
| 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 *9 | 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 (GX8-A/GX8-B/GX8-C***C*) discharge the exhaust inside of the base and inside of the arm cover together.
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 ø 12 mm
- Compatible exhaust tubes
- Polyurethane tubes
- Outer diameter ø12 mm (Inner diameter ø8 mm)
- Recommended exhaust discharge rate: About 1,000 cm3/s (standard state)
ESD specifications (GX8-A/GX8-B/GX8-C***E*) 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: The IP (International Protection) rating for Manipulators with protected-models is an international standard indicating the degree of protection against dust and water.
| Model | Protection Class | ||
|---|---|---|---|
| GX8-A/GX8-B/GX8-C***P* | IP65 | Dust protection level: 6 | No ingress of dust |
| Water protection level: 5 | Water which is directed against the enclosure from any direction as a jet shall not have any harmful effects or impair performance. | ||
*3: When PTP statements are used
The maximum operating speed in CP motion is 2,000 mm/s in the horizontal plane.
*4: 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.
*5: 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.
*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. 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.
*8: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning.
*9: 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.
| Item | GX8-B**3P-FZ |
|---|---|
| Food grade grease model | Food grade grease model have the grease for Z-axis ball screw splines which is usable for foods. Be sure to use the specified grease(L700) for food specification machine. |