Used Crp Robot / Crobotp Welding Robot for sale (7,531)

Condition: like new (used), Year of construction: 2019, functionality: fully functional, overall weight: 170 kg, type of cooling: water, welding current (max.): 500 A, workpiece weight (max.): 10 kg, Equipment: documentation/manual, We offer this as-new CRP Robot / CROBOTP HY 1006A-145 + Ehave CM 500AR welding robot, manufactured in 2019. Manufacturer: CRP Robot / CROBOTP Model: HY 1006A-145 + Ehave CM 500AR Year of manufacture: 2019 Condition: as new ID Category: 905 ID Type: 1918 Machine Type: welding robot Industrial 6-axis welding robot in excellent condition, used for approximately 3 months – almost like new. Ideal solution for companies looking to automate welding production, increase productivity, and achieve consistent weld quality. Technical Specifications Model: CRP-RH14-10-W 6-axis industrial welding robot Reach: 1450 mm Payload: 10 kg Welding source: 500 A Water-cooled torch Repeatability: ±0.08 mm Robot weight: approx. 170 kg Easy and intuitive programming Advantages Bedpfx Apey S R Eberolh ✔ High welding precision ✔ Stable and repeatable weld quality ✔ Significant increase in production efficiency ✔ Easy operation and programming ✔ Suitable for automated and serial production ✔ Machine in excellent condition The machine is fully functional and ready for immediate operation.

Condition: excellent (used), Year of construction: 2000, functionality: fully functional, machine/vehicle number: 52.693.00, feed length X-axis: 1,525 mm, feed length Y-axis: 1,525 mm, feed rate Y-axis: 1 m/min, feed rate Z-axis: 1 m/min, Welding Robot – Fully Equipped Vertical Bend Arm Robot 6 axes Reach: 1525 mm Equipped with automatic welding gun, type: DIX MALZ 520 Wire feed device, manufacturer: FRONIUS, type: ROB.VR1500 DINSE-ZA Includes 2 rotary welding tables Plate dimensions: each 1200 × 750 mm Pneumatically driven cleaning device Positioning and straightening station for the torch Current source, manufacturer: FRONIUS, type: welding device TPS 4000 Supplied with technical documentation Note: The machine can be transported on a standard truck. Technical Attributes Dimensions (L × W × H): approx. 4700 × 3500 × 3800 mm Blsdpfx Asrl S Ufjprsh Weight: approx. 5000 kg Year of construction: 2000

Condition: as good as new (ex-display), JUNE OFFER. FOR THE WHOLE OF JUNE -10% off all welding machines We offer welding machines in a wide variety of configurations and always have several sets in stock. CMT / ROBOT / CMT UNIVERSAL hose packages or HOLLOW SHAFT robots. Everything in stock and available immediately! Don't hesitate to request your customized configuration! We also have a wide variety of spare parts -30% -50% -70% in stock. Just send us a quick email, call us, or WhatsApp us. CMT MACHINES at 1/3 the new price! - 66% DISCOUNT ALL MACHINES CAN BE VIEWED IN VIENNA and PURCHASED WITHOUT WAITING! The prices listed are all starting from ... euros. The prices/offers are created individually according to the device configuration. .) Fronius power source (TPS 4000 CMT) .) Fronius cooling unit (FK 4000) Vufdfi .) Fronius VR CMT wire feeder .) Fronius intermediate hose package .) Fronius trolley .) Fronius hose package CMT robot .) Fronius RCU 5000i Example images of the product. Please see the numerous YouTube videos on the topic of CMT! Also available via WhatsApp and Viber Stocked in Vienna 1230 (Vienna) Bodpfx Apjhzhynsrelh Shipping on pallets available for an additional charge: Austria approx. 180 euros Germany approx. 230 euros Europe upon request All prices are starting from prices. You can configure the devices with us. Robot device or handheld device. Long connecting hose package or short. Various hose packages to choose from. Synchropuls. 270 400 or 500 amp units in stock. CMT versions available as handheld or robotic. It's best to call us. We'll discuss your application and give you an initial price estimate.

Condition: ready for operation (used), Year of construction: 2012, number of axes: 6, This 6-axis PANASONIC TA-1800 robot welding cell was manufactured in 2012. It features a maximum reach of 1796 mm, providing flexibility for various welding applications. If you are looking to get high-quality welding capabilities, consider the PANASONIC TA-1800 robot welding cell we have for sale. Contact us for further details. • Robot max distance 1796mm Bjdpfxszatido Aprslh • Robot min distance 472mm

Condition: used, Year of construction: 2002, Technical details: x-travel: 1500 mm z-travel: 1300 mm control: YASNAC XRC Steuerung total power requirement: 3,3 kVA Total weight, approx.: 3.200 kg Welding robot plant consists of: -welding rectifier MESSER, type Phoenix 500TG; MIG-MAG / TIG and E-welding up to 500A; air cooling; protection class IP 23 -Wire feed EWM, type Phoenix Drive 4 ROB WE, wire Ø 1,0 - 1,2mm, feed 0,5 - 24 m/min., protection IP 23 -MIG/MAG gas shielded welding torch BINZEL for wire Ø 0,8 - 1,6mm -Robot ERCS UP6-RE00 with control YASNAC XRC control, travels Y-way=1.500mm and Z-way=1.300mm, circular movement swivel=approx. 90° right/left, swivel radius=1.000mm, turn 360°, welding gun rotate 360° with projection max/min: 1.500 / 500mm -1x control cabinet L:900 x W:900 x H:2500mm -1x control cabinet ERCS-UP6-RE00, control 4.0 XRC, L:610 x W:800 x H:900mm -1x welding table L:4.400 x W:550 x H:1.100mm, with compressed air connection 10 bar, working area LxW 1.200 x 340mm, X-way 3.250mm. furthermore: 1x straightening station DETEC manufacturing (with working table and straightening unit) 1x butt welding station with feeding table i.D. Bljdpfx Asu R Dfkoproh *

Condition: used, Year of construction: 2006, Technical details: workpiece weight: 1,1 t control: RobAssist über makro-Technik / VME-Bus-CPU Rotary-table: Ø 800 mm rotary table tiltable: 370° Grad table - tiltable: 115° Grad total power requirement: 35 kVA Total weight, approx.: 4000 kg dimensions L x W x H: Roboter: ca. 2,5 x 4,5 x 3,8 m dimensions electric cabinet: ca. 600 x 800 x x2200 mm dimensions L x W x H: Absaufanlage: ca. 0,7 x 0,8 x 2,7 m dimensions L x W x H: Drehmodul: ca. 1,4 x 1,4 x 1,1 m The system is currently in the technical department. Welding robot system consists of: -Gantry with robot: Reis Robotics, RVL20-16.3 kVA, stroke radius max. approx. 1600 mm, speeds = axis 1: 3 m/sec, axis 2: 185°/sec. Axis 3: 150° / sec., axis 4: 450° / sec., axis 5: 450° / sec., axis 6: 500° / sec, -2x columns: Column spacing 3300 mm, columns on base plate 900x900mm; columns Ø 350 mm -Turntable/tilt and turn module: Model RIS, type RDK11 Torque max. tilting axis = 4,200 Nm and turning axis 2,200 Nm Speed of tilting axis = 19° / sec. and turning axis 45° / sec. -Welding unit: Fronius, type TPS 2700; welding current range: MIG/MAG 3-270 A and electrode 10-270 A as well as TIG = 3-270 A; protection class IP 23 Blsdevzq Hrjpfx Aprjh -Welding fume extraction: Teka, type DUST Buster DB-302 R, air volume flow max. 300m³/h, filter class Kategori C, filter area 2.2 m² -Cooling unit: Type FK 4000 R, power 2 kW, protection class IP 23, pressure 4 bar Equipment: -safety light barrier with transmitter and receiver Hand-held programming device *

Condition: used, Technical details: number of controlled axis: 6 workpiece weight: 20 t operating time: 4290 h control: YASKAWA total power requirement: 35 kVA Total weight, approx.: 2000 kg dimensions L x W x H: Roboterschweißanlage: 2,7 x 1,1 x 2,0 m dimensions electric cabinet: L:700 x B:800 x H:2000 mm Robot specifications: -6 different directions of movement -payload max. 20kg -working curves: turning curve=1717mm, turning height=1417mm; turning width=2072mm -rotation axis arm: S-axis rotate=+/-180°, L-axis lower arm=+1550° / -110°; U-axis upper arm=+255° / -165° -rotational axes wrist: R-axis roll=+/-200°, B-axis pitch-swivel=+230° / -50°, T-axis rotate=+/-360° -rotational axis speed: S-axis and L-axis = 170°/s; U-axis 175°/s; R-axis and B-axis 355°/s; T-axis 525°/s -permissible torques: R-axis and B-axis=39.2 Nm; T-axis 19.6 Nm Welding equipment specifications: -Fronius, TIG welding, (DC and AC), 3 A/10.1 V - 300 A/22.0 V, water cooling, IP23 protection class. Table top unit specifications: -Table support Ø 600mm, rotate 360°, swivel 90° each right/left. Details of the wire feeder: -Fronius, type KD 7000, feed 0,2 - 22m/min., protection IP23, voltage U1 230V Bljdpfx Apeu Nwfbjrsh Manual control unit Control cabinet i.D. *

Condition: excellent (used), Year of construction: 2013, Model: YA-1 TAR81 E01 Axes: 6 Maximum load capacity: 8 kg Bljdpfxoxfg Sns Aprsh Weight: 204 kg Maximum reach: 1796 mm Year of manufacture: 2013 Country of origin: Japan A brand-new Panasonic 350 A welding unit is included in the scope of delivery.

Condition: new, Year of construction: 2026, functionality: fully functional, arm reach: 955 mm, type of input current: AC, total height: 955 mm, total width: 955 mm, total length: 955 mm, load capacity: 5 kg, control cabinet length: 5 mm, overall weight: 35 kg, input voltage: 230 V, type of cooling: air, protection type (IP code): IP62, FAIRINO COBOTS – MODERN AUTOMATION FOR YOUR BUSINESS We offer advanced FAIRINO collaborative robots (cobots) designed to increase productivity, improve quality, and enhance safety in manufacturing processes. Thanks to their intuitive operation, fast deployment, and excellent price-to-performance ratio, FAIRINO cobots are the ideal automation solution for small, medium-sized, and large enterprises. Why Choose FAIRINO Cobots? ✅ Safe human-robot collaboration without the need for expensive and complex safety fencing. ✅ Easy programming through hand-guiding, graphical programming, and a user-friendly interface. ✅ Fast return on investment through process automation and 24/7 operation capability. ✅ High precision and excellent repeatability for demanding industrial applications. ✅ Compact design that allows operation even in limited production spaces. ✅ Easy integration with vision systems, grippers, CNC machines, AGVs, and other automation equipment. Available Models The FAIRINO FR Series includes collaborative robots with payload capacities ranging from 3 kg to 30 kg, allowing the perfect solution for virtually any industrial application. Available models: • FR3 • FR5 • FR10 • FR16 • FR20 • FR30 Typical Applications • CNC machine tending • Welding and spot welding • Assembly and fastening operations • Packaging and palletizing • Quality inspection • Pick-and-place applications • Dispensing and gluing • Sorting and order fulfillment • Logistics and material handling automation Bsdpfx Ajzaz Eysprelh Benefits for Your Business FAIRINO cobots help reduce production costs, increase operational efficiency, and improve process consistency and product quality. Their flexibility allows them to be quickly redeployed between workstations and adapted to new tasks, making them an ideal solution for modern Industry 4.0 manufacturing environments. Warranty and Support ✔ 12-month distributor warranty. ✔ Professional technical support and service coverage throughout Europe. ✔ Assistance with implementation, configuration, and integration into existing production processes. Contact us today to find the right FAIRINO cobot for your application and receive a customized automation solution tailored to your business needs.

Condition: used, Welding cell with 6-axis industrial robot YASKAWA - MOTOMAN - YASNAC Robotic welding system with 2 welding stations, welding robot type YASNAC ERC Serial No. S24174-1-4 Year of manufacture: 1993 2 welding stations (right + left) Working area per side: approx. 600 x 400 mm Table size per side: approx. 1000 x 950 mm Table surface with one working station (without center wall): approx. 2000 x 950 mm - Table size for fixture exchange plate for welding gauge: 300 x 600 mm - Connection cable robot to control cabinet: 5,000 mm - Free-standing control cabinet with teach-in control panel (approx. 300 kg) - Control cabinet: ENCM-RP692 - Operator control unit: YZNC-OP186 - Teach pendant: JZNC-T834B - Robot: YRFL-NNA06WB - Automation by ECKHARDT, type ROBO Robot payload: 6 kg Robot weight: 180 kg The entire system is designed as a compact welding cell. Robot control cabinet is free-standing. The robot can, of course, also be equipped with a MIG-MAG welding power source. Space requirements (welding cell with robot): L x W x H 2000 x 2000 x 2300 mm Weight (welding cell with robot): 1055 kg Bsdpewypqlofx Aprslh Space requirements (controller with control cabinet): L x W x H 1000 x 850 x 1600 mm Weight (controller with control cabinet): 300 kg Total system footprint (L x W): approx. 3000 x 3000 mm Total system weight: approx. 1355 kg Good condition Transport dimensions (L x W x H): 3000 x 2200 x 2300 mm

Condition: new, Year of construction: 2023, arm reach: 1,400 mm, load capacity: 6 kg, New welding robot TIG OKIO AB6-C1400 -Country of origin: China -Type: AB6-C1400 -Number of axes: 6 -Reach: 1400 mm -Maximum payload: 6 kg -Control cabinet Bljdpfxjqnt N Ds Aproh -Remote control -Wire feeder -Welding source: TIG WSM400R -Cooler

Condition: as good as new (ex-display), Year of construction: 2015, operating hours: 5 h, functionality: fully functional, overall weight: 150 kg, load capacity: 6 kg, arm reach: 1,445 mm, repeat accuracy: 0.06 mm, Industrial welding robot with a payload of 6 kg and a reach of 1445 mm. Bjdpfoqcunaox Aprslh The robot served as a demonstration exhibit.

Condition: used, Year of construction: 2011, overall weight: 1,622 kg, load capacity: 240 kg, arm reach: 2,700 mm, This is a used, tested welding robot system comprising a KUKA KR 240-2 2000 and a KRC2 ed05 controller from 2011, combined with a welding unit from SKS Welding Systems. The system is designed for industrial welding and automation applications and is typically used for arc welding, heavy-duty assembly operations, and combined handling/welding tasks. The robot has a payload capacity of 240 kg and a reach of 2700 mm, making it suitable for large-scale workpieces. The system is equipped with an SKS LSQ 4 welding power source featuring wire feeder, welding torch, and a complete hose package. Blsdpfx Apey Nfl Dsrjh

Year of construction: 2013, condition: used, Make: PAUL VON DER BANK GMBH, Type: Robotic Welding System, Year of manufacture: 2013, Serial No.: 13.536, Welding source, make Fronius, type CM TransPuls Synergic 4000, Cooling unit, Welding unit VR7000CMT, Programming terminal RCU5000I, Positioner table, Welding robot, make KUKA, type KR5-2ARC, Robot controller KRC4, Extraction system, make Plymovent – System not connected. Bjdeyx Exvopfx Aprjlh

Year of construction: 2010, condition: ready for operation (used), Offered is a robot-assisted laser welding system with fiber laser. Robot radius approx. 2000mm on linear axis, robot manufacturer: laser type: ytterbium fiber laser YLS, number of axes: 6 + linear travel axis, application: laser welding and surface processing, extraction: Plymovent extraction arm, control: KRC. Equipped with YLS laser source, linear axis, processing optics, Plymovent extraction, system table, control cabinet. Accessories: wire feeder: EWM Phoenix Drive 4 Rob MF. Weight: approx. 3500kg, overall dimensions X/Y/Z: approx. 5000mm/3000mm/2800mm. Inspection possible by arrangement. Blodpfxjy T N Iwe Aprsh

Condition: new, Year of construction: 2025, Raycus 3kW Laser Welding System Compact, flexible, easy to operate - Integrated robot control - Yaskawa AR1140 - Integrated laser source: Raycus 3kW - Laser head: 3kW push/pull Bledpfey T N N Iox Aprsh - Water cooling: S&A external - Easy mobility with pallet jack - Extremely simple programming - Easy teaching with Yaskawa Smartpendant - Industrial mode for increased speed - Base dimensions: L x W x H 1200mm x 1000mm x 80mm - Water cooling: Yes

Condition: like new (used), Fronius used -TPS4000CMT / TransPuls Synergic 4000 CMT R - cooling unit FK4000-RFC (4,045,837,632) water cooled - RCU5000i remote control Univ.SD (4,046,098) - VR7000 CMT R (4,045,963,000 - Angle encoder CMT (43,0001,1219) with robot hose package kPL Robacta - Interface Interbus Rugged Line(4,045,885) (optional Profibus and Profinet connections available) Blodepa N Aaopfx Aprsh

Condition: excellent (used), Reach: 1300 mm Blsdpfx Aow N N Dcsprsh Payload: 12.5 kg Weight: 33.5 kg Type: MSIP-REM-URK-UR10 Year of manufacture: 2018 Serial number: S300711 Welding machine Lorch S5 RoboMIG XT Cobot Welding current: 400 A.

Condition: like new (used), Year of construction: 2019, operating hours: 253 h, Welding robot KUKA from December 2019, very little used. 253 hrs. The robot is connected, available for testing, inspection in Lithuania. Industrial robot KUKA KR8 R2100-2 arc HW Working lifting load: 8 kg Maximum reach: 2100 mm Number of axes: 6 Positioning accuracy (ISO9283): +-0.04 mm Fixing: floor Protection class: IP54 Blodjrgqx Ujpfx Aproh Three-axis positioner KUKA KP3-H2H500 Axes: 3 Working load: 500kg (per conductor side) Positioning accuracy (ISO9283): +-0.04 m Distance between discs: 3 200 mm Merkle Hight Pulse 452 rs welding source kit Phases: 3*400V Working range: 20 - 450A Welding voltage: 15 - 36.5 V Protection class: IP23 Applications: MIG/MAG, Pulse ARC, MMA/s Components: torch, cables, wire feeding mechanism, wire reel with bracket. Software: KUKA Office Lite KSS 8.5 offline TBI automatic clamp. Burner cleaning station 3 functions: pniaumo - nozzle cleaning, wire cutting, silicone coating. If you have any further questions, we will be happy to answer them.

Year of construction: 2011, condition: excellent (used), Cloos welding robot Qirox QRC 320 incl. control V 6, pedestal for standing arrangement, Cloos welding machine Quinto II 603 ( 600 A), wire feed, welding torch, torch hose package, mech. cleaning, pressure booster 1 rotary tilt table WPK 5000, pick-up weight 500 kg, 1 start preselection, 1 control for customer-provided sliding door gas nozzle sensor, arc seam search, point editor Unit will be completely overhauled and serviced before delivery. Blsdpfjizwv Nex Aprjh Second station with another, same rotary tilt table possible.

Year of construction: 2019, condition: like new (used), functionality: fully functional, Laser Welding Robotic system for welding steel, stainless steel. Scope of supply: 1 x YASKAWA 6-axis robot YASKAWA MH6.(Payload: 6kg, H-Reach:1422mm, Robot Mass: 130kg, 2009.03) 1 x YASKAWA DX100 controller.( 2009.03 ) 1 x IPG YLS-1000 Ytterbium 1kW Laser.(2011.05) 1 x IPG P30 laser welding head with coaxial nozzle and cam.(2018.05) 1 x Cooling water circulation system RIEDEL for laser.(2011) 1 x Cooling water circulation system Chilly-35-S for optics.(2010). Bsdjh Ad E Hjpfx Aprslh 1 x siegmund table 1200x800.(2019) 1 x IPG Welding Head Alarm Module Box WHAM.(2018.05) 1 x PC for Laser with LaserNet software. Machine can be inspected. Very good condition. Connected, can be tested. Shipping to EU countries is our responsibility and the shipping cost is free.

Year of construction: 2019, condition: like new (used), Laser Welding Robotic system for welding steel, stainless steel. Scope of supply: 1 x YASKAWA 6-axis robot YASKAWA HP20D.(Payload: 20kg, H-Reach: 1717mm, Robot Mass: 280kg, 2009.01) 1 x YASKAWA DX100 controller.( 2009.02 ) 1 x LASERLINE LDM 1200-60 Diode 1320W Laser.(2015.10) 1 x LASERLINE laser welding head OTS-5 with Crossjet and cam.(2017.12) 1 x Cooling water circulation 2 way system HYFRA Sigma7 for laser and optics.(2018) 1 x siegmund table 1200x800.(2019) Machine can be inspected. Very good condition. Connected, can be tested. Shipping to EU countries is our responsibility and the shipping cost is free. Bsdjh Aiy Sspfx Aprjlh

Condition: excellent (used), Year of construction: 2021, functionality: fully functional, machine/vehicle number: 306 431, type of input current: three-phase, total height: 2,165 mm, total width: 1,800 mm, total length: 3,000 mm, overall weight: 1,250 kg, input voltage: 400 V, type of cooling: air, Equipment: cabin, Machine year of manufacture 2021, purchased used in December 2022. Inspected, repaired, and adjusted by a specialist company in April 2023. Since then, it has only operated for a few hours in test run mode. Blodpfsy Ndcbex Aproh

Condition: like new (used), Year of construction: 2026, operating hours: 12 h, functionality: fully functional, machine/vehicle number: EQWCR/SR, arm reach: 1,434 mm, type of input current: AC, overall weight: 12 kg, input voltage: 48 V, Robotic Welding Solutions, Automatic welding solutions. Product Overview: EQ Series High-Performance Collaborative Robots This series features four primary models rebranded for precision and industrial excellence: the EQCR-7, EQCR-12, EQSR-3, and EQSR-4. These 6-axis collaborative robots are engineered to handle various industrial tasks with high repeatability and advanced safety features. Key Specifications & Performance The robots are categorized by their payload capacity and working radius: Payload & Reach: * EQCR-12: The heavy-duty model with a 12kg payload and 1434mm reach.EQCR-7: A balanced model with a 7kg payload and 988mm reach.EQSR-4: A versatile option with a 5kg payload and 919mm reach.EQSR-3: A compact solution with a 3kg payload and 705mm reach. Bljdpfx Apovl Ewmersh Precision: These models offer exceptional repeatability, with the EQCR-7 achieving $\pm$0.02 mm and the other models at $\pm$0.03 mm. Sensing: Equipped with integrated force/torque sensing (x-y-z) at the tool flange for delicate and precise operations. Movement and Speed Degrees of Freedom: 6 axes. Joint Range: Most axes offer a full $\pm$360° rotation, providing maximum flexibility in tight spaces. TCP Speed: Maximum tool-end speeds range from 1.5m/s (EQSR-3) up to 3.2m/s (EQCR-7).Physical & Environmental Ratings Protection Level: The EQCR series boasts an IP67 rating (dust-tight and water-resistant), while the EQSR series is rated at IP54.Cleanroom Standard: All models are compliant with ISO Class 5 cleanroom environments. Operating Conditions: Designed to work in temperatures from 0°C to 50°C with up to 93% relative humidity. Control Cabinet The series is supported by the MCC control cabinet, featuring: Safety Standards: Certified to EN ISO 13849-1 (PL d, Cat. 3) with 21 integrated safety functions. Connectivity: Supports RS232, RS485, Gigabit Ethernet, USB 3.0, HDMI, and EtherCAT. User Interface: Supports "Drag-to-Teach" programming and a graphical user interface for easy deployment.

Condition: excellent (used), Year of construction: 2011, operating hours: 1,000 h, functionality: fully functional, arm reach: 3,000 mm, type of input current: three-phase, load capacity: 500 kg, control cabinet width: 600 mm, control cabinet height: 2,000 mm, overall weight: 300 kg, input voltage: 220 V, controller manufacturer: Tawers, input current: 22 A, pivoting range: 270 °, teach pendant manufacturer: Panasonic, Equipment: documentation/manual, type plate available, Panasonic Welding Robot TA-199WG/PA-C Frame, complete with controller, software, and full set of control cables; Robot Controller GIII Modules for rotator and bearing unit Rotator Pana Dice 500 and rotator, Pana Dice 500 (can operate simultaneously on the machine) Wire feeder Power source for MIG/MAG and TIG welding, Panasonic Tawers Pulse Anthropomorphic manipulator Water-cooled welding torch with anti-collision function Water chiller Tawers TA-1900 WG III Manipulator Number of controllable axes: up to 12 Maximum welding speed - 180 m/min linear Maximum working area: 1895/3790 mm Panasonic Pulse Power Source Welding methods - MIG/MAG and TIG Duty cycle 350A/80% Panasonic Controller 7-inch color display Windows operating system Panasonic Pana Dice 500 Rotator Max load - 500 kg Bjdoyzn D Hopfx Aprjlh Panasonic Pana Dice 1000 Rotator Max load - 1000 kg