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Setup & Operation 2. Specifications
G10 / G20 Rev.2 25
Item G10-***** G20-*****
Joint #1
0.0000343 deg/pulse
Joint #2
0.0000549 deg/pulse
1 0.0000925 mm/pulse
Joint #3
4 0.000185 mm/pulse
Resolution
Joint #4
0.0001845 deg/pulse 0.0001308 deg/pulse
Joint #1
750 W
Joint #2
600 W
Joint #3
400 W
Motor power
consumption
Joint #4
150 W
rated
5 kg 10 kg
Payload
max.
10 kg 20 kg
rated
0.02 kg·m
2
0.05 kg·m
2
Joint #4 allowable
moment of inertia *4
max.
0.25 kg·m
2
0.45 kg·m
2
Shaft diameter
ø25 mm
Hand
Through hole
ø18 mm
Joint #3 down force
250 N 150 N
Installed wire for customer use
24 (15 pin + 9 pin : D-sub)
2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm
2
: 86 psi) Installed pneumatic
tube for customer use
2 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm
2
: 86 psi)
Ambient
Temperature
5 to 40°C (with minimum temperature variation)
Environmental
requirements
Ambient relative
humidity
10 to 80% (no condensation)
Equivalent continuous A-weighted sound
pressure level *5
L
Aeq
= 70 dB(A)
Applicable Controller
RC180
Speed 1 to (5) to 100
Accel *6 1 to (10) to 120
SpeedS 1 to (50) to 2000
AccelS 1 to (200) to 25000
Fine 0 to (10000) to 65000
Assignable Value
( ) Default values
Weight 0,400 to (5,400) to 10,400
MTBF 3 years
ANSI/RIA R15.06 compliant
Safety standard
CE compliant
*1: The exhaust system in the Cleanroom-model Manipulator (
G10/G20-***C*) draws air from the base
interior and arm cover interior.
A crack or other opening in the base unit can cause loss of negative air pressure in the outer part of the
arm, which can cause increased dust emission.
Do not remove the maintenance cover on the front of the base.
Seal the exhaust port and the exhaust tube with vinyl tape so that the joint is airtight.
If the exhaust flow is not sufficient, dust particle emission may exceed the specified maximum level.
Cleanliness level : Class ISO 3 (ISO14644-1)
In previous criteria; Clean Class: 10 or its equivalent
Amount of Dust (0.1 µm diameter or larger) in 28317 cm
3
(1cft)
sample-air around the center of the motion rang: 10 particles or
less.)