GX10/20
| Item | GX10-B/GX10-C**** GX20-B/GX20-C**** | GX10-B/GX10-C****R GX20-B/GX20-C****R | GX10-B/GX10-C****W GX20-B/GX20-C****W | ||
|---|---|---|---|---|---|
| Machinery name | Industrial robot | ||||
| Product series | GX | ||||
| Model | GX10-B*****, GX10-C*****, GX20-B*****, GX20-C***** | ||||
| Installation method | Table top mounting specifications | Ceiling mounting specifications | Wall mounting specifications | ||
| Environmental specifications | Cleanroom specifications & ESD*1, Protected-model*2 | ||||
| Arm length | Arm #1 + Arm #2 | 65 | 650 mm (GX10-B/GX10-C only) | ||
| 85 | 850 mm (GX10-B/GX10-C/GX20-B/GX20-C) | ||||
| A0 | 1000 mm (GX20-B/GX20-C only) | ||||
| Arm #3 | 1 | 180 mm: GX10-B/GX10-C/GX20-B/GX20-C**1S* 150 mm: GX10-B/GX10-C/GX20-B/GX20-C**1C*, P* | |||
| 4 | 420 mm: GX10-B/GX10-C/GX20-B/GX20-C**4S* 390 mm: GX10-B/GX10-C/GX20-B/GX20-C**4C*, P* | ||||
| Weight (not including weight of cables) | 65 | 46 kg (102 lb) | 51 kg (113 lb) | ||
| 85 | 49 kg (108 lb) | 53 kg (117 lb) | |||
| A0 | 50 kg (111 lb) | 55 kg (122 lb) | |||
| Drive system | All joints | AC servo motor | |||
| Maximum operating speed *3 | Joint #1 + Joint #2 | 65 | 8800 mm/s | ||
| 85 | 11000 mm/s | ||||
| A0 | 11500 mm/s | ||||
| Joint #3 | 2350 mm/s | ||||
| Joint #4 | 2400 deg/s (GX10-B/GX10-C only) 1700 deg/s (GX20-B/GX20-C only) | ||||
| Repeatability | Joint #1 + Joint #2 | ±0.025 mm | |||
| Joint #3 | ±0.01 mm | ||||
| Joint #4 | ±0.005 deg | ||||
| Max. motion range (deg.) | Joint #1 | 65 | ±152 deg | ±107 deg | ±107deg |
| 85 | ±152 deg | ||||
| A0 | |||||
| Joint #2 | 65 | ±152.5 deg *a | ±130 deg | ||
| 85 | ±152.5 deg *a | ||||
| A0 | |||||
| Joint #3 | 1 | 180 mm: GX10-B/GX10-C/GX20-B/GX20-C**1S* 150 mm: GX10-B/GX10-C/GX20-B/GX20-C**1C*, P* | |||
| 4 | 420 mm: GX10-B/GX10-C/GX20-B/GX20-C**4S* 390 mm: GX10-B/GX10-C/GX20-B/GX20-C**4C*, P* | ||||
| Joint #4 | ±360 deg | ||||
| Max. pulse range (pulse) | Joint #1 | 65 | -1805881 to +7048761 | -495161 to +5738041 | -495161 to +5738041 |
| 85 | -1805881 to 7048761 | ||||
| A0 | |||||
| Joint #2 | 65 | ±2776178 *a | ±2366578 | ||
| 85 | ±2776178 *a | ||||
| A0 | |||||
| Joint #3 | 1 | -973210: GX10-B/GX10-C/GX20-B/GX20-C**1S* -811008: GX10-B/GX10-C/GX20-B/GX20-C**1C*, P* | |||
| 4 | -2270823: GX10-B/GX10-C/GX20-B/GX20-C**4S* -2108621: GX10-B/GX10-C/GX20-B/GX20-C**4C*, P* | ||||
| Joint #4 | ±1951517 (GX10-B/GX10-C only) ±2752512 (GX20-B/GX20-C only) | ||||
KEY POINTS
The length of Arm #1 + Arm #2 varies depending on the model.
- 65: 650 mm GX10-B/GX10-C only
- 85: 850 mm GX10-B/GX10-C/GX20-B/GX20-C
- A0: 1000 mm GX20-B/GX20-C only
*a: For Manipulators in table below (Joint #2)
| Max. Motion Range | Max. Pulse Range | |
|---|---|---|
GX10-B/GX10-C/GX20-B/GX20-C85*C, P (Z: -360 to -390 only) GX10-B/GX10-C/GX20-B/GX20-C85*CW, PW GX10-B/GX10-C/GX20-B/GX20-C85*CR, PR | ±151 deg | ±2748872 |
| Item | GX10-B/GX10-C***** | GX20-B/GX20-C***** | ||
|---|---|---|---|---|
| Resolution | Joint #1 | 0.0000343 deg/pulse | ||
| Joint #2 | 0.0000549 deg/pulse | |||
| Joint #3 | 0.000185 mm/pulse | |||
| Joint #4 | 0.0001845 deg/pulse | 0.0001308 deg/pulse | ||
| Motor rated capacity | Joint #1 | 750 W | ||
| Joint #2 | 600 W | |||
| Joint #3 | 400 W | |||
| Joint #4 | 150 W | |||
| Payload (load) | Rated | 5 kg | 10 kg | |
| Max. | 10 kg | 20 kg | ||
| Joint #4 allowable moment of inertia *4 | Rating | 0.02 kg·m2 | 0.05 kg·m2 | |
| Max. | 0.25 kg·m2 | 0.45 kg·m2 | ||
| Shaft diameter | Outer | ø25 mm | ||
| Inner | ø18 mm * Manipulators with cleanroom & ESD specifications or protected-model: upper end of shaft ø14 mm | |||
| Joint #3 press force | 250 N | |||
| User wiring | 24 pin (15 pin + 9 pin: D-sub) | |||
| 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 *5 | Ambient temperature | 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 = 73 dB (A) | |||
| Compatible Controllers | GX10-B, GX20-B: RC700-E GX10-C, GX20-C: RC800-A | |||
| Setting value range( )Default value | Speed | 1 to (3) to 100 | ||
| Accel *7 | 1 to (10) to 120 | |||
| SpeedS | 1 to (50) to 2000 | |||
| AccelS | 1 to (200) to 25000 | |||
| Fine | 0 to (10000) to 65535 | |||
| Weight | 0 ~ (5) ~ 10 | 0 ~ (10) ~ 20 | ||
| 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 (GX10-B/GX10-C/GX20-B/GX20-C***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.
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.
Fasten the exhaust port and exhaust tube firmly with vinyl tape to prevent gaps.
- Cleanliness:
Class ISO 3 (ISO 14644-1) - Exhaust
- Exhaust port dimensions: Inner diameter ø12 mm, outer diameter ø16 mm
- Compatible exhaust tubes
- Polyurethane tubes
- Outer diameter ø12 mm (inner diameter ø8 mm) or inner diameter ø16 mm or more
- Recommended exhaust discharge rate: About 1000 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: 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 | ||
|---|---|---|---|
| GX10-B/GX10-C/GX20-B/GX20-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 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.
