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6-Axis Robots
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Why Epson Robots?
As precision automation specialists, the Epson Robots team
has been building automation products for over 35 years.
Leading the industry in small-parts-assembly applications, we’ve
introduced many firsts. As a result, our innovative products are hard at
work in thousands of manufacturing facilities throughout the world.
>
Epson is the #1 SCARA robot manufacturer in the world
We introduced the world’s first folding-arm 6-Axis robot
> Many of our robots contain integrated motion sensors to reduce vibration and increase performance
>
The Epson lineup features 6-Axis robots with payloads up to 8 kg and a reach ranging from 450 to 1,480 mm
We offer a wide range of integrated options including Vision Guidance, Force Guidance and more
>
Our team is dedicated to helping you find the best solution for your automation needs
Epson robots are long-lasting and require little maintenance
2
INDUSTRY FIRST INDUSTRY FIRST INDUSTRY FIRST INDUSTRY FIRST INDUSTRY FIRST INDUSTRY FIRST
1982 1986 1994 1997 2001 2003 2009 2009 2013 2016
Epson mass- ISO Class 1 Microsoft ® Compact SCARA Wall/ceiling- UL robots Compact, Ceiling-mount Epson’s 4th Flexion N2
production- cleanroom Windows® robot introduced mount SCARA introduced high-speed 6-Axis RS3 SCARA robot generation 6-Axis robot
assembly robot compliance OS support robots introduced C3 robot with 360° rotation PC open- with folding-
developed achieved introduced PC-based Robot introduced introduced architecture arm design
Controller controller introduced
INDUSTRY FIRST INDUSTRY FIRST introduced
Multitasking Anti-static robots
introduced developed
3
COMPACT 6-AXIS
Why Choose Epson 6-Axis Robots?
Epson’s lineup of over 300 models gives users the power to choose from
more options than ever before.
3
5
SCARA Robots G-Series SCARA Robots
G-Series robots feature Max-R, a new high rigidity
arm design that achieves high speed, high precision
and low vibration. G-Series SCARA robots have a wide
variety of sizes from 175 – 1,000 mm in reach, with up
to 20kg payloads.
SCARA Robots
03 T 03 T W/C 03 D P T W C 03 D P T W C 04 T T 03 C T C
4-axis MAX 1/ 3-axis 1.5 Kg MAX 3Kg MAX 6Kg MAX 10/20Kg MAX 3/20 Kg MAX 3Kg MAX 3/4 Kg MAX 2.5K
8-9 10 - 13 14 - 17 18 - 21 22 - 27 28 - 29 30 - 33 34 - 35
03 04 D P T W C W/C
Clean type
ISO 03 (Class 10 equiv.) Clean type Wall/ceiling
Protected type IP54 Protected type IP65 Tabletop mount Wall mount Ceiling mount
ESD suppression ISO 04 (Class 100 equiv.) multi-layout mount
6
6-Axis Robots
N-Series 6-Axis Robots
The latest offering in Epson’s 6-Axis family features
a revolutionary compact folding arm design which
maximizes motion efficiency for faster cycle times.
Packed with unique technology exclusive to this
model, the N-Series is setting a new industry standard
for 6-Axis robots.
es C-Series S-Series
36 - 37 38 - 39 40- 43 44 - 45 46 - 49 50 - 58 59 - 61
7
Industry-Leading Mini SCARA
Specifications
4-Axis 3-Axis
G1-171 G1-221 G1-171xZ G1-221xZ
Mounting type Tabletop Tabletop
Arm length Arm #1, #2 175 mm 225 mm 175 mm 225 mm
Max. operating speed Joints #1, #2 2630 mm/s 3000 mm/s 2630 mm/s 3000 mm/s
Joint #3 1200 mm/s 1200 mm/s
Joint #4 3000 deg/s –
Weight (cables not included) 8 kg 8 kg
Repeatability Joints #1, #2 ±0.005 mm ±0.008 mm ±0.005 mm ±0.008 mm
Joint #3 ±0.01 mm ±0.01 mm
Joint #4 ±0.01 deg –
Max. motion range Joint #1 ±125 deg ±125 deg
Joint #2 ±140 deg ±152 deg ±135 deg ±135 deg
(Cleanroom model) (±140 deg) (±149 deg) (±123 deg) (±132 deg)
Joint #3 Std 100 mm 100 mm
Joint #3 Clean 80 mm 80 mm
Joint #4 ±360 deg –
Payload Rated 0.5 kg 0.5 kg
Maximum 1 kg 1.5 kg
Standard cycle time1 0.29 sec 0.30 sec 0.29 sec 0.30 sec
Joint #4 allowable moment Rated 0.0003 kg • m2 –
of inertia2 Maximum 0.004 kg • m2 –
Motor power consumption Joint #1
Joint #2
All joints: 50 W
Joint #3
Joint #4
Joint #3 downward force 50 N
Electric lines 24Pin (D-Sub 9+D-sub 15)
Pneumatic lines Φ4mm×1, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (100mm horizontal, 25mm vertical) with 0.5kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
8 3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.
Outer Dimensions (Tabletop Mounting) G1-171 / G1-221 [Units: mm]
Standard-model Cleanroom-model
SCARA robots
100
108
100
108
83
88
83
88
50 75 50 50 75 50
6-Ø 6.5 Through hole 6-Ø 6.5 Through hole
6-Axis robots
200.8
201.8
180.8
181.8
b
b
A
15
15
2.5*
2.5*
A
100
104
159.5
159.5
107
80
139
139
35
32
6*
3*
10
10
41.5 175 90 or more 72 41.5 175 90 or more
Space Space
Robot controllers
72
for Cables * indicates the stroke margin by mechanical stop. for Cables
* indicates the stroke margin by mechanical stop.
0
2-Ø4 +0.012
0 depth3 0
2
0
96
88
96
88
44±0.05
110±0.05
44±0.05
110±0.05
Ø4+0.012
4+0.012
0
0
Options
8.5
5 4
16
5
a
c
c
c
a
c
a
g g a Motion range of
f f 125 125 125 125
h h Joint #1 (deg)
c Motion range of
140 152 149 135 123 135 132
Joint #2 (deg)
d
d
d
d
k
c
e
q
e
q
b Joint #1 angle to hit 3 3 3 3
b
140
b
Straight Curved
arm arm
Specifications
G3-251 G3-301 G3-351
Mounting type Tabletop Tabletop Multiple Tabletop Multiple
Arm length Arm #1, #2 250 mm 300 mm 350 mm
Max. operating speed Joints #1, #2 3550 mm/s 3950 mm/s 4350 mm/s
Joint #3 1100 mm/s
Joint #4 3000 deg/s
Weight (cables not included) 14 kg
Repeatability Joints #1, #2 ±0.008 mm ±0.01 mm ±0.01 mm
Joint #3 ±0.01 mm
Joint #4 ±0.005 deg
Max. motion range Straight Joint #1 ±140 deg ±140 deg ±115 deg ±140 deg ±120 deg
Joint #2 ±141 deg ±142 deg ±135 deg ±142 deg
(Cleanroom model) (±137 deg) (±141 deg) (±135 deg) (±142 deg)
Curved Joint #1 Right hand – -125~150 deg – -110~165 deg -105~130 deg
Left hand – -150~125 deg – -165~110 deg -130~105 deg
Joint #2 Right hand -135~150 deg -120~165 deg -120~160 deg
– –
(Cleanroom model) (-135~145 deg) (-120~160 deg) (-120~150 deg)
Left hand -150~135 deg -165~120 deg -160~120 deg
– –
(Cleanroom model) (-145~135 deg) (-160~120 deg) (-150~120 deg)
All models Joint #3 150 mm
Cleanroom model 120 mm
Joint #4 ±360 deg
Payload Rated 1 kg
Maximum 3 kg
Standard cycle time1 0.36 sec 0.37 sec 0.37 sec
Joint #4 allowable moment Rated 0.005 kg • m1
of inertia2 Maximum 0.05 kg • m1
Motor power consumption Joint #1 200 W
Joint #2 150 W
Joint #3 150 W
Joint #4 150 W
Joint #3 downward force 150 N
Electric lines 15Pin (D-Sub)
Pneumatic lines Φ4mm×1, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
10 3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3 :1cft) cleanroom standards.
Outer Dimensions (Tabletop Mounting) G3-251 / G3-301 / G3-351 [Units: mm]
Standard-model Cleanroom-model
42.5 130 a 169 42.5 130 a 169
SCARA robots
2-M 3 depth 8 32.5 2-M 3 depth 8 32.5 2-M 5 depth 10
2-M 5 depth 10
20
20
116
140
120
101
116
140
120
101
23
23
4-Ø9 4-Ø9
67 2-Ø9
120 20 67 2-Ø9
158 120 20
158
6-Axis robots
Ø30
10.7*
6.7*
Ø30
194
194
b
454
563.5
394.2
394.2
A
Robot controllers
A
6.7*
36
36
10.7*
199.5
143
199.5
129
150
143
129
120
10
26
51.5 127
10
30
90 or more
9.6*
86 51.5 127
Space
90 or more
4.1*
for Cables 86
Space
* indicates the stroke margin by mechanical stop. for Cables
* indicates the stroke margin by mechanical stop.
Options
52.5 126 ±0.05
6 +0.012
0 Through hole 126 ±0.05
6 +0.012
45.5
22.5
45.5
0
120
120
30
1010
11
Outer Dimensions (Multiple Mounting) G3-301 / G3-351 [Units: mm]
Standard-model Cleanroom-model
8
200
140
120
101
116
200
140
120
101
116
23
23
Ø6 H7 (+0.012
0 ) 6-Ø9 6-Ø9
Through hole 126 ±0.05 Ø6 H7 (+0.012
0 ) 126 ±0.05
73 47 20 12 Through hole 73 47 20 12
158 158
10.7*
Ø30
Ø30
6.7*
301.5
90 or more
60 90 or more
for Cables
for Cables
Space
Space
192
131.5
473.5
131.5
10.5
330
60
b
b
62.5
62.5
10.5
69
69
119
119
138
172
A
75.5
6.7*
36
A
36
109.5
10.7*
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
150
120
86 86
4.1*
9.6*
45.5
22.5
79.5
1mm flat cut
Conical hole Ø3, 90°
30
1010
4-Ø9
Through hole
8
69 ±0.05 Through hole
6 +0.012
0
Through hole
4-Ø9 8
6 +0.012
Ø6 H7 (0+0.012)
69 ±0.05
0
Through hole
6 +0.012
70
0
70
34
34
174
174
Reference through hole
(View from the bottom of the base)
Reference through hole
(View from the bottom of the base)
12
Motion Range (Tabletop Mounting) [Units: mm]
g Length of Arm #1 (mm)
c
c
120 170 220
a
a
f
SCARA robots
gh h-g Length of Arm #2 (mm) 130 130 130
f Motion range 84 92 104.8 107.1 142.3 146.6
d d a Motion range of Joint #1 (deg) 140
c Motion range of Joint #2 (deg) 141 137 142 141 142
c
q e Mechanical stop area 79.3 96.2 134.2
k
j
b b Joint #1 angle to hit mechanical stop (deg) 2
b
176
d Joint #2 angle to hit mechanical stop (deg) 2.3 6.3 3.8 4.8 3.8
j
h
z
y
d
t
6-Axis robots
q
h,k Mechanical stop area 79.5, 113.2 97.0, 183.0 97.0, 184.2
b b,d Joint #1 angle to hit mechanical stop (deg) 3, 6 5, 4
176
f,z Joint #2 angle to hit mechanical stop (deg) 3.3, - 8.3, 3.8 2.8, 3.8 7.8, 3.8
170 220
g
j
c
x
e,g Motion range of Joint #2 (deg)
b
s
t
Robot controllers
b,d Joint #1 angle to hit mechanical stop (deg) 6, 3 4, 5
176
d f,z Joint #2 angle to hit mechanical stop (deg) 3.3, - 3.3, 8.3 3.8, 2.8 3.8, 7.8
170 220
c
a
e
a
h
g
q
b
112 134.2
291
Options
b Joint #1 angle to hit mechanical stop (deg) 4
d Joint #2 angle to hit mechanical stop (deg) 3.8
h
c
220
jk
z
p
70
f,z Joint #2 angle to hit mechanical stop (deg) 2.8, 3.8 12.8, 3.8
Software
a
kj
c
105, 130
x
b
q
r
y
h,k Mechanical stop area 103.3, 183.0
b,d Joint #1 angle to hit mechanical stop (deg) 5, 3.3 5, 2
291
13
d
f,z Joint #2 angle to hit mechanical stop (deg) 3.8, 2.8 3.8, 12.8
Compact, High Speed and Powerful
Specifications
G6-45x G6-55x G6-65x
Mounting type Tabletop Ceiling Wall Tabletop Ceiling Wall Tabletop Ceiling Wall
Arm length Arm #1, #2 450 mm 550 mm 650 mm
Max. operating speed Joints #1, #2 6440 mm/s 7170 mm/s 7900 mm/s
Joint #3 180 (150 clean) = 1100 mm/sec 330 (300 clean) = 2350 mm/sec
Joint #4 2400 deg/s
Weight (cables not included) 27 kg 29 kg 27 kg 29 kg 28 kg 29.5 kg
Repeatability Joints #1, #2 ±0.015 mm
Joint #3 ±0.01 mm
Joint #4 ±0.005 deg
Max. motion range Joint #1 ±152 deg ±120 deg ±105 deg ±152 deg ±135 deg ±152 deg ±148 deg
Joint #2 Z:0~-270mm ±147.5 deg
±130 deg
±147.5 deg
Z:-270~-330mm±145 deg
Joint #3 Std 180 mm / 330 mm
Joint #3 Clean 150 mm / 300 mm
Joint #4 ±360 deg
Payload Rated 3 kg
Maximum 6 kg
Standard cycle time1 0.33 sec 0.36 sec 0.38 sec
Joint #4 allowable moment Rated 0.01 kg • m2
of inertia2 Maximum 0.12 kg • m2
Motor power consumption Joint #1 400 W
Joint #2 400 W
Joint #3 200 W
Joint #4 100 W
Joint #3 downward force 150 N
Electric lines 15Pin (D-Sub), 9Pin (D-sub)
Pneumatic lines Φ4mm×2, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD/Protection 4
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards.
14 4 G6 robots with optional bellows comply with IP54; G6 protected models comply with IP65.
Outer Dimensions (Tabletop Mounting) G6-45x / G6-55x / G6-65x [Units: mm]
Standard-model Cleanroom-model
Ø160 2-M4 depth 11 Ø160
15
15
SCARA robots
150
180
124
90
30
150
180
124
90
30
15
110 15
15
110 15 2-M5 depth 10
150 15 15 150 15 2-M5 depth 10
180 180
Ø38
4.2*
12.2*
Ø38
235.5
235.5
6-Axis robots
d
12.2*
A
61.5
d
61.5
A
4.2*
7
7
b
316.5
b
391
316.5
305
391
305
c
4.2*
1.2*
c
20
20
* indicates the stroke margin by mechanical stop. 90 or more * indicates the stroke margin by mechanical stop. 90 or more
Space
Space
for Cables
for Cables
Robot controllers
54.5 37.5
14 24
39.8
38
30 10 12.2
95
Conical hole
Ø4, 90° 1mm flat cut
1010
Conical hole
15
Ø4, 90°
30
1010
Max. Ø14 through hole 15
Ø20 h7 shaft diameter
Ø40 mechanical stop diameter Max. Ø14 through hole
Ø20 h7 shaft diameter
Detail of “A” Ø40 mechanical stop diameter
(Calibration point position of Joints #3 and #4) Detail of “A”
(Calibration point position of Joints #3 and #4)
6 +0.02
0 6 +0.02
0
8
8
110
110
55±0.05
Options
Ø6 H7 (+0.012
0 ) 75±0.05 G6-xx1S G6-xx3S Ø6 H7 (+0.012
0 ) G6-xx1C G6-xx3C
75±0.05
b 180 330 b 150 330
c 119 -31 c 116 -34
Reference through hole Reference through hole
(View from the bottom of the base) d 684 834 (View from the bottom of the base) d 792 942
Standard-model Cleanroom-model
15
15
150
124
180
30
150
124
180
110
30
110
55±0.05
55±0.05
2-M4 depth 11
15
Ø6 H7 (+0.012)
15
75±0.05 0 75±0.05
4-11
Ø6 H7 (+0.012
0 ) 15 150 15 4-11 15 150 15
180 180
4.2
Space Space
for Cables for Cables
12.2*
Ø38
c
c
20
20
305
(233.5)
305
235.5
d
d
12.2*
78.5
78.5
A
4.2*
B B
b
b
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
4.2*
1.2*
Ø160
34.5 37.5
90
14 24
39.8
90
38
30 10 12.2
95
Conical hole 110 15 2-M5 depth 10
Ø4, 90° 1mm flat cut
110 15
1010
Conical hole
15
Standard-model Cleanroom-model
250 a 138 52 250 a 138
2-M4 depth 11
SCARA robots
124
124
30
2-M4 depth 11
Ø38
4.2*
12.2*
c
Ø38
234
234
235.5
235.5
d
c
6-Axis robots
68
12.2* 68
81
81
149.5
149.5
160
193
A
4.2*
B B
b
b
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
4.2*
1.2*
34.5 37.5
14 24
39.8
38
Robot controllers
12.2
95
1mm flat cut
Conical hole
90
90
30 10
2-M5 depth 10
2-M5 depth 10
15
Ø4, 90°
30
1010
110 28
15
90 or more 90 or more
Space Space
for Cables for Cables
160
160
6-Ø10 6-Ø10
300
300
Ø6 H7
Options
6 +0.012
Ø6 H7
+0.012
0
0
26 80
6
80
8
8
66±0.05
G6-55xSW
Model Wall Mounting
e e G6-45xxW G6-55xSW/DW G6-55xCW/PW/DW bellows G6-65xxW
d d a Length of Arm #1 (mm) 200 300 400
h
h b Length of Arm #2 (mm) 250
fc
c Motion range 195.5 161.2 172.1 232
65
a
b d Motion range of Joint #1 (deg) 105 135 148
e Motion range of Joint #2 (deg) 130 147.5 145 147.5
g f Mechanical stop area 182.4 146.8 207.5
g g Joint #1 angle to hit mechanical stop (deg) 3.5 7.5
330
h Joint #2 angle to hit mechanical stop (deg) 3.8 3.3 5.8 6.3 17
High Rigidity = Ultra High Speed +
Heavy Payload
Specifications
G10-65x G10/20-85x G20-A0x
Mounting type Tabletop Ceiling Wall Tabletop
Ceiling Wall Tabletop Ceiling Wall
Arm length Arm #1, #2 650 mm 850 mm 1000 mm
Max. operating speed Joints #1, #2 8800 mm/s 11000 mm/s 11500 mm/s
Joint #3 180 (150 clean) =1100 mm/sec 420 (390 clean) =2350 mm/sec
Joint #4 2400 deg/s G10=2400 deg/s / G20=1700 deg/s 1700 deg/s
Weight (cables not included) 46 kg 51 kg 48 kg 53 kg 50 kg 55 kg
Repeatability Joints #1, #2 ±0.025 mm
Joint #3 ±0.01 mm
Joint #4 ±0.005 deg
Max. motion range Joint #1 ±152 deg ±107 deg ±152 deg ±107 deg ±152 deg ±107 deg
Joint #2 For Clean/Protected models
±152.5 deg ±130 deg ±152.5 deg below Z=-360 ~ -390 ±151deg
Joint #3 Std 180 mm / 420 mm
Joint #3 Clean 150 mm / 390 mm
Joint #4 ±360 deg
Payload Rated 5 kg G10=5 kg / G20=10 kg 10 kg
Maximum 10 kg G10=10 kg / G20=20 kg 20 kg
Standard cycle time1 0.34 sec 0.37 sec 0.42 sec
Joint #4 allowable Rated 0.02 kg • m2 G10=0.02 kg • m2 / G20=0.05 kg • m2 0.05 kg • m2
moment of inertia2 Maximum 0.25 kg • m2 G10=0.25 kg • m2 / G20=0.45 kg • m2 0.45 kg • m2
Motor power consumption Joint #1 750 W
Joint #2 600 W
Joint #3 400 W
Joint #4 150 W
Joint #3 downward force 250 N
Electric lines 15Pin (D-Sub), 9Pin (D-sub)
Pneumatic lines Φ4mm×2, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD/Protection 4
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized fo r maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3 :1cft) cleanroom standards.
4 G10/G20 dustproof robots with optional bellows comply with IP54; G10/20 protected models comply with IP65.
18
Outer Dimensions (Tabletop Mounting) G10-65x / G10/20-85x / G20-A0x [Units: mm]
Standard-model Cleanroom-model
Ø200 118 19 2-M4 depth 11 Ø200 118 19
2-M4 depth 12
20
20
SCARA robots
200
240
158
200
110
240
158
110
30
30
4-Ø16 4-Ø16
20
20
20 200 20 20 200 20 2-M8 depth 16
240 240
Ø38
1.8*
Ø39.5
5*
286
286
6-Axis robots
c
c
A
80
80
A
8.5
8.5
b
485.5
485.5
1* b
380.5
380.5
363
5*
363
d
20
20
Robot controllers
95
43
1mm flat cut
Conical hole
100
5
Ø4, 90°
40
1mm flat cut
30
1010
15
Conical hole
Max. Ø18 through hole Ø4, 90°
1010
30
15
Ø6(+0.012
0 ) Ø6(+0.012
0 )
G10-65xS G10/20-85xS G20-A0xS G10-65xC G10/20-85xC G20-A0xC
a 250 450 600 a 250 450 600
8
8
Options
73±0.05
73±0.05
Standard-model Cleanroom-model
20
0 0
20
8
8
200
158
240
146
30
200
240
146
158
30
73±0.05
100±0.05
73±0.05
20
Ø6 (+0.012) 100±0.05
20
0
4-Ø16
20 200 20 Ø6 (+0.012
0 )
240 20 200 20
240
Ø39.5
Ø38
5*
1.8*
90 or more
Space
c
for Cables
90 or more
c
20 Space
for Cables
d
20
363
286
d
286
363
A 106
106
b
B A
* indicates the stroke margin by mechanical stop. B
5*
b
* indicates the stroke margin by mechanical stop.
1*
14 29
45
40 43
1mm flat cut
Conical hole
100
5
Ø4, 90°
1010
Conical hole
Max. Ø18 through hole Ø4, 90°
1010
30
Ø25 h7 shaft diameter
15
Ø39.5 mechanical stop diameter Max. Ø18 through hole
Ø25 h7 shaft diameter
Detail of “A” Ø39.5 mechanical stop diameter
(Calibration point position of Joints #3 and #4)
Detail of “A”
(Calibration point position of Joints #3 and #4)
Ø200
Ø200 118 19 2-M8 depth 16
2-MB depth 16
110
110
h h
d Motion range of Joint #1 (deg) 107 152 152
e Motion range of Joint #2 (deg) 130 152.5 151 152.5
f Mechanical stop area 291.2 183.3 285.4
Standard-model Cleanroom-model
2-M4 depth 12 2-M4 depth 12
SCARA robots
158
158
30
30
Ø38
1.8*
Ø39.5
5*
38.5
c
37.5
245
363
363
245
d
d
286
286
6-Axis robots
202.5
110.5
110.5
135.5
135.5
224
224
240.5
A
A
B
b
b
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
1*
5*
Ø200
2-M8 depth 16
Ø200 118 37 2-M8 depth 16
40 43
14 29
100
45
110
5
Robot controllers
30
1010
15
Ø4, 90°
30
1010
118 37
15
90 or more
90 or more Space
Space for Cables
140 140 35
for Cables
140 35
245±0.05
245±0.05
6-Ø14
Ø6 +0.012
6-Ø14
Ø6 +0.012
340
0
340
8
140
Options
0
a 250 450 600
15±0.05 220 G10/20-xx1SW G10/20-xx4SW 15±0.05 220
250 b 180 420 250
G10/20-xx1CW G10/20-xx4CW
c -27.5 212.5 b 150 390
d 420 660 Reference through hole
Reference through hole (View from the bottom of the base) c 29.5 288.5
(View from the bottom of the base) d 515 774
Specifications
LS3-401
Mounting type Tabletop
Arm length Arm #1, #2 400 mm
Max. operating speed Joints #1, #2 6000 mm/s
Joint #3 1100 mm/s
Joint #4 2600 deg/s
Weight (cables not included) 14 kg
Repeatability Joints #1, #2 ±0.01 mm
Joint #3 ±0.01 mm
Joint #4 ±0.01 deg
Max. motion range Joint #1 ±132 deg
Joint #2 ±141 deg
Joint #3 Std 150 mm
Joint #3 Clean 120 mm
Joint #4 ±360 deg
Payload Rated 1 kg
Maximum 3 kg
Standard cycle time1 0.42 sec
Joint #4 allowable moment Rated 0.005 kg • m2
of inertia2 Maximum 0.05 kg • m2
Motor power consumption Joint #1 200 W
Joint #2 100 W
Joint #3 100 W
Joint #4 100 W
Joint #3 downward force 100 N
Electric lines 15Pin (D-Sub)
Pneumatic lines Φ4mm×1, Φ6mm×2
Installation environment Standard/Cleanroom 3
Available controller RC90
Safety standards CE, ANSI/RIA15.06-2012
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 4 cleanroom standards.
22
Outer Dimensions (Tabletop Mounting) LS3-401 [Units: mm]
Standard-model Cleanroom-model
50 175 225 135 50 175 225 135
20 20 20 20
SCARA robots
4-M4 depth 6
4-M4 depth 6
100
140
120
132
80
23
100
140
120
80
23
2-M3 depth 10 2-Ø9 2-Ø9
2-M3 depth 10
30 4-Ø9 30 4-Ø9
Ø109 120 45 120 45
Ø30
10.5*
Ø30
6.5*
6-Axis robots
MAX. 650
174.3
MAX. 650
174.3
474.5
584
A
38
6.5*
38
220
120 10.5*
173.1
163.6
220
173.1
150
163.6
45 135
5.5
45 135
9.3*
8
9.5
130.2 90 or more 90 or more
3.8*
Space Space
131.2
for Cables for Cables
Robot controllers
* indicates the stroke margin by mechanical stop.
* indicates the stroke margin by mechanical stop.
60±0.01
58 20 180
4-M4 depth 8 58 20 151 0
+0.05
35 151+0.05
0 35 4-M4 depth 8
4.5 4.5
48
48
2-M4 depth 8
20
20
2-M4 depth 8
48
48
60
60
6+0.012
0
6+0.012
0
Options
79.5
22.5
45.5
LS3-401S LS3-401C
00 00
R4 R4
°
°
141
141
2°
2°
141
141
13
13
13
13
2°
2°
°
5 5
4.2 R22 4.2 R22
2° 2°
° 4. ° 4.
R141.6 R141.6
R1
28 R1
.8 28
250
235
333.5
333.5
325.5
325.5
.8
2.8
2.8
°
180 180
23
8°
8°
2.
2.
Low Cost and High Performance
Specifications
LS6-502 LS6-602 LS6-702
Mounting type Tabletop
Arm length Arm #1, #2 500 mm 600 mm 700 mm
Max. operating speed Joints #1, #2 6150 mm/s 6800 mm/s 7450 mm/s
Joint #3 1100 mm/s
Joint #4 2000°/s
Weight(cables not included) 17 kg 17 kg 18 kg
Repeatability Joints #1, #2 ±0.02 mm
Joint #3 ±0.01 mm
Joint #4 ±0.01°
Max. motion range Joint #1 ±132°
Joint #2 ±150°
Joint #3 200 mm
(Cleanroom model) (170 mm)
Joint #4 ±360°
Payload Rated 2 kg
Maximum 6 kg
Standard cycle time1 0.38 sec 0.39 sec 0.42 sec
Joint #4 allowable moment of inertia2 Rated 0.01 kg±m2
Maximum 0.12 kg±m2
Motor power consumption Joint #1 200 W
Joint #2 200 W
Joint #3 100 W
Joint #4 100 W
Joint #3 downward force 100 N
Home Home-return-less
Installed wire for customer use 15Pin D-Sub
Installed pneumatic tube for customer use Φ4mm×1, Φ6mm×2
Installation environment Standard /Cleanroom 3
Applicable controller RC90
Safety standard CE, ANSI/RIA15.06-2012
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 4 cleanroom standards.
24
Outer Dimensions (Tabletop Mounting) LS6-602 [Units: mm]
Standard-model Cleanroom-model
165.8 165.8
57.7 275 325 135 4-M4 depth 6 57.7 275 325 135
2020 4-M4 depth 6
SCARA robots
2020
135.5
135.5
100
150
169
129
100
150
169
129
30
30
2-M4 through hole Ø134 150 30 4-Ø9 through hole 2-M4 through hole 150 30 4-Ø9 through hole
Ø134
Ø38
6*
Ø38
10*
MAX. 680
MAX. 680
6-Axis robots
174.5
174.5
607.5
559
50
50
A
10*
6*
241
241
166.5
166.5
178
178
170
200
60 (135)
10
51
53
10
60 (135)
223.4 223.4 90 or more
9.8*
90 or more
11.8*
Space Space
for Cables for Cables
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
Robot controllers
150 20 6+0.012 195 150 20 6+0.012
0 195
0
3520 3520
41 4-M4 depth 10 through hole 41 4-M4 depth 10 through hole
2-M4 depth 10 6.7 2-M4 depth 10 6.7
5
5
55
55
90
30
90
30
55±0.025
55±0.025
4-M4 depth 10 1800+0.05 4-M4 depth 10 1800+0.05
Ø6H7 (+0.012
0 ) Ø6H7 (+0.012
0 )
94
62
Options
Conical hole
30
1010
Conical hole
30
Ø3, 90°
1010
Ø3, 90°
Max. Ø14 through hole
Ø20 h7 shaft diameter Max. Ø14 through hole
Ø40 mechanical stop diameter Ø20 h7 shaft diameter
Ø40 mechanical stop diameter
Standard Cleanroom
Motion Range (Tabletop Mounting)
Model
LS6-502S LS6-602S LS6-702S LS6-50 2C LS6-60 2C LS6-70 2C
a Length of Arm #1 +Arm #2 (mm) 5006 00 700 5006 00 700
b Length of Arm #1 (mm) 225 325 425 225 325 425
LS6-602S LS6-602C
c Length of Arm #2 (mm)
Software
275 275
60
60
00 00
R6
R6
150
°
2°
150
13
13
2°
150
150 150
13
2°
62
2°
°
R32
5 R1 R325
4.2 2°
4.2 2° f Motion range 138.11 62.6 232.o 138.11 62.6 232.0
° 4. ° 4.
245 86.8
g Motion range at the rear 425.64 92.5 559.4 425.64 93.5 559.4
R162.6
R14
245
R14 2.5 h Joint #1 angle to hit mechanical stop (°) 2.8 2.8
2.5
492.5
492.5
504
504
220 380
8°
8°
k Mechanical stop area at the rear 433.55 04.0 574.5 433.55 04.0 574.5
2.
2.
Specifications
LS20-804 LS20-A04
Mounting type Tabletop
Arm length Arm #1, #2 800 mm 1000 mm
Max. operating speed Joints #1, #2 9940 mm/s 11250 mm/s
Joint #3 2020 mm/s
Joint #4 1400°/s
Weight(cables not included) 47 kg 50 kg
Repeatability Joints #1, #2 ±0.025 mm
Joint #3 ±0.01 mm
Joint #4 ±0.01°
Max. motion range Joint #1 ±132°
Joint #2 ±152 °
Joint #3 420 mm
(Cleanroom model) (390 mm)
Joint #4 ±360°
Payload Rated 10 kg
Maximum 20 kg
Standard cycle time1 0.38 sec 0.42 sec
Joint #4 allowable moment of inertia2 Rated 0.05kg • m2
Maximum 0.45 kg • m2
Motor power consumption Joint #1 750 W
Joint #2 600 W
Joint #3 400 W
Joint #4 150 W
Joint #3 downward force 250 N
Home Home-return-less
Installed wire for customer use 15Pin: D-Sub, 9Pin: D-Sub
Installed pneumatic tube for customer use Φ4mm×2 , Φ6mm×2
Installation environment Standard /Cleanroom 3
Applicable controller RC90
Safety standard CE, ANSI/RIA15.06-2012
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 4 cleanroom standards.
26
Outer Dimensions (Tabletop Mounting) LS20-804 / LS20-A04 [Units: mm]
Standard-model Cleanroom-model
15 43 12 2xM8 depth 15
SCARA robots
166.3
166.3
170
200
230
120
170
120
200
50
50
230
30
50
50
30
ø39.5
(145.1) ø38
(145.1)
4*
4*
15
B
40 15
10
2.6
259.3
B
º
60 40
1053.5
10
2.6
259.3
º
60
6-Axis robots
1119.3
b
A
92
4*
b
8
546.3
A
484.5
92
3.2*
377.2
8
380.2
546.3
420
484.5
280
377.2
380.2
390
280
58
18.5
3*
26.5
80more
120 137
58
18.5
150 or more
33.7
1.8*
80more
Space
120 137
for Cables
150 or more
*indica tes the stroke margin by mechanical stop. Space
for Cables
*indica tes the stroke margin by mechanical stop.
Robot controllers
200 30
200 30
37.5 20 6 +0.012
0 37.5 20 6 +0.012
0
43.5 43.5
2
2
146
116
116
96
30
96
146
30
73±0.05
73±0.05
4xM4 depth 8
4xM4 depth 8
48.2
43
98.2
43
49
3.2
61
25
44
1010 6
12
Conica l hole
Options
ø4,90º
30
Conica l hole
15
27
Powerful, Low-cost Automation
The Ultimate Slide Alternative
■ Efficient Operation
■ Easy to Install
■ Built-in Controller
Specifications
T3-401
Mounting type Tabletop
Arm length Joints #1, #2 400 mm
Payload Rated 1 kg
Maximum 3 kg
Repeatability Joints #1, #2 ±0.02 mm
Joint #3 ±0.02 mm
Joint #4 ±0.02 deg
Standard cycle time1 0.54 sec
Max. motion range Joint #1 ±132 deg
Joint #2 ±141 deg
Joint #3 150 mm
Joint #4 ±360 deg
Weight (cables not included) 16 kg: 35lb
Joint #4 allowable moment Rated 0.003 kg • m2
of inertia Maximum 0.01 kg • m2
Joint #3 downward force 83 N
User electric lines Hand I/O IN6/OUT4 (D-Sub 15Pin)
User I/O IN18/OUT12
User pneumatic lines Φ6mm×2, Φ4mm×1
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
28
Outer Dimensions T3 [Units: mm]
Ø104 M4 through hole 24
SCARA robots
65
120
129.5
23
140
2xM3 through hole 4xØ9 through hole 120 45
6-Axis robots
6.5*
Ø36
45.5
176.5
MAX.600
30
10 10
490.7
15
Robot controllers
MAX.Ø11 through hole
5
Detail of A
251.3
236.2
192.33
150
35 145 1 90 or more
9.3*
180
Ø6 +0.012
0 H7 151+0.05
0
35 58 20 4xM4 depth 8 through hole 145±0.05
4.5
Options
120
+0.05
0
96
20
142
132
72±0.05
2xM4 depth 8
Ø6 +0.012 H7
2
0
through hole
141
14
°
°
25
2
13
R2
132
1.6
R14 8.8
°
R12
4.
2
2
4.
246
325.6
333.5
°
2.8
2.
8 °
230
29
High Performance SCARA Plus
Specifications
RS3-351
Mounting type Ceiling
Arm length Arm #1, #2 350 mm
Max. operating speed Joints #1, #2 6237 mm/s
Joint #3 1100 mm/s
Joint #4 2600 deg/s
Weight (cables not included) 17 kg
Repeatability Joints #1, #2 ±0.01 mm
Joint #3 ±0.01 mm
Joint #4 ±0.01 deg
Max. motion range Joint #1 ±225 deg
Joint #2 ±225 deg
Joint #3 Std 130 mm
Joint #3 Clean 100 mm
Joint #4 ±720 deg
Payload Rated 1 kg
Maximum 3 kg
Standard cycle time1 0.34 sec
Joint #4 allowable moment Rated 0.005 kg • m2
of inertia2 Maximum 0.05 kg • m2
Motor power consumption Joint #1 400 W
Joint #2 200 W
Joint #3 150 W
Joint #4 100 W
Joint #3 downward force 150 N
Electric lines 15Pin (D-Sub)
Pneumatic lines Φ4mm×1, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm 3 :1cft) cleanroom standards.
30
Outer Dimensions (Ceiling Mounting) RS3-351 [Units: mm]
Standard-model Cleanroom-model
SCARA robots
47.5 175 175 147 47.5 175 175 147
206 206
174 16 174 16
154.8 9.6 154.8 9.6
120.8
124.8
120.8
124.8
140
113
175
140
113
175
95
95
245.5 245.5
90 or more 90 or more
90
Space Space
for Cables for Cables
172.5
171
6-Axis robots
Manipulator
60 58 24
Manipulator
60 58 24
15
15
installation installation
146.5
146.5
position position
52
52
473
500
248
248
202.5
202.5
A A
* indicates the stroke margin by mechanical stop. * indicates the stroke margin by mechanical stop.
4.8* 130
Robot controllers
80±0.05
80±0.05
Ø6H7 (+0.012
0 ) Ø6H7 (+0.012
0 )
59±0.05 59±0.05
3-M6 3-M6
through through
hole hole
160
160
80
80
0
mounting 6-6.5 0
4
mounting 6-6.5
8 95 95 through hole 8 95 95 through hole
Ø11 spot facing Ø11 spot facing
Reference through hole depth 6.5 Reference through hole depth 6.5
(View from the top of the base) (from back side) (View from the top of the base) (from back side)
Options
48.5
75.5
30
30
1010
15
15
Model RS3-351
175 mm
Arm #2 Length (mm) 175
225 deg 225 deg
Specifications
RS4-551
Mounting type Ceiling
Arm length Arm #1, #2 550 mm
Max. operating speed Joints #1, #2 7400 mm/s
Joint #3 1100 mm/s
Joint #4 2600 mm/s
Weight (cables not included) 19 kg
Repeatability Joints #1, #2 ±0.015 mm
Joint #3 ±0.01 mm
Joint #4 ±0.01 deg
Max. motion range Joint #1 ±225 deg
Joint #2 ±225 deg
Joint #3 Std 130 mm
Joint #3 Clean 100 mm
Joint #4 ±720 deg
Payload Rated 1 kg
Maximum 4 kg
Standard cycle time1 0.39 sec
Joint #4 allowable moment Rated 0.005 kg • m2
of inertia2 Maximum 0.05 kg • m2
Motor power consumption Joint #1 400 W
Joint #2 400 W
Joint #3 150 W
Joint #4 100 W
Joint #3 downward force 150 N
Electric lines 15Pin (D-Sub)
Pneumatic lines Φ4mm×1, Φ6mm×2
Installation environment Standard/Cleanroom 3 & ESD
Available controllers RC180, RC620+, RC700A
Safety standards CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.
3 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm 3 :1cft) cleanroom standards.
32
Outer Dimensions (Ceiling Mounting) RS4-551 [Units: mm]
Standard-model Cleanroom-model
206 206
174 16 174 16
154.8 9.6 154.8 9.6
SCARA robots
124.8
120.8
120.8
124.8
140
175
113
140
113
175
95
95
345.5
345.5
90 or more
Space
for Cables
174
171
15
81 21
15
Manipulator
78 24
6-Axis robots
163.5
installation
163.5
position
60
60
(403.5)
(403.5)
196.5
522
494
196.5
255
255
60
60
A
A
* indicates the stroke margin by mechanical stop.
Robot controllers
73.5
45.5
Ø3, 90°
15
30
10 10
Conical hole Ø3, 90°
15
Ø6 +0.012
0
Ø6 +0.012
0
59±0.05 59±0.05
Options
3-M6 3-M6
through through
hole hole
160
160
80
80
0 0
Model RS4-551
225°
275
Specifications
N2-A450
Mounting type Tabletop1 Ceiling
Degree of freedom 6
Max. motion range P point:
through the center 450mm
of J4/J5/J6
Wrist flange surface 532.2mm
Max. operating speed Joint #1 297 °/s
Joint #2 297 °/s
Joint #3 356°/s
Joint #4 356°/s
Joint #5 360°/s
Joint #6 360°/s
Weight (cable not included) 19 kg
Repeatability Joint #1-#6 ±0.02mm
Max. motion range Joint #1 ±180°
Joint #2 ±180°
Joint #3 ±180°
Joint #4 ±195°
Joint #5 ±130
Joint #6 ±360°
Payload2 Rated 1 kg
Maximum 2.5 kg
Allowable moment of inertia3 Joint #4 0.2 kg•m2
Joint #5 0.2 kg•m2
Joint #6 0.08 kg•m2
Motor power consumption Joint #1 100W
Joint #2 100W
Joint #3 100W
Joint #4 30W
Joint #5 30W
Joint #6 15W
Installed wire for customer use 15 wires (D-sub) 8 pin (RJ45) Cat 5e or equivalent (2 cables)
Installed pneumatic tube for customer use Φ6 mm pneumatic tubes (2 tubes),
Allowable pressure: 0.59 Mpa (6 kgf/cm2) (89 psi)
Installation environment Standard
Available controllers RC700A
Safety standards CE, ANSI/RIA15.06-2012
1 Manipulators are set to “Ceiling mounting” at shipment. To use the manipulators as “Table Top mounting”, you need to change the model settings.
34 2 Do not exceed the maximum payload.
3 If the center of gravity is at the center of each arm. If the center of gravity is not at the center of each arm, set the eccentric quantity using INERTIA command.
Outer Dimensions N2-A450 [Units: mm]
175 (Baseplate)
120 4 Slot
6x 9 THRU 3xM4 depth 8
SCARA robots
15 2xM4 depth 8
200 (Baseplate)
20
65
154
51 44
6 Slot
65
20
7.50
9
594.47
298.97 120
Cables
Space
for
90
6-Axis robots
171
14.80
623.70
345.20
330.40
15 11.50
6xM4 depth 6 See detail A
122.60
90
55
Robot controllers
0
5.7
R5
160 280.58 66.42
304
4x 11 THRU, 11 +0.012
Counterbore depth 6.5 4xM4 depth 6 5 0 H7
2xM4 depth 8
113.80
°
45
15.75 ±0.02
2xM4 depth 8
20
31.50
137.50
95
209.10
90
27
12
304
8 H7
60
Detail of A
Options
Motion Range
Top View -35
J2=
+35
Lateral View Front View
J2=
R1
69
Pp
oin
tR
16
0
345.20
Software
0
29
ntR J4:-195 J4:+195
poi
J6:-360 J6:+360
160
P
int R
Pp
P po
0
oin
45
tR
tR
160 290 57
in
45
po
35
P
Compact Yet Powerful with
High Repeatability and Fast Speed
■ Payloads up to 3 kg
Specifications
C3-A601 (C3)
Mounting type Tabletop Ceiling Skewed Wall
Degrees of freedom 6
Max. Motion Range P point: through the
600 mm
center of J4/J5/J6
Wrist flange surface 665 mm
Max. operating speed Joint #1 450˚/s
Joint #2 450˚/s
Joint #3 514˚/s
Joint #4 553˚/s
Joint #5 553˚/s
Joint #6 720˚/s
Weight (cables not included) 27 kg
Repeatability Joint #1-#6 ±0.02 mm
Max. motion range Joint #1 ±170 deg(±180 deg without the mechanical stop) ±30 deg
Joint #2 -160 deg~+65 deg
Joint #3 -51 deg~+225 deg
Joint #4 ±200 deg
Joint #5 ±135 deg
Joint #6 ±360 deg
Payload Rated 1 kg
Maximum 3 kg
Standard cycle time1 0.37 sec
Allowable moment Joint #4 0.15 kg • m2
of inertia Joint #5 0.15 kg • m2
Joint #6 0.1 kg • m2
Motor power consumption Joint #1 400 W
Joint #2 400 W
Joint #3 150 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Electric lines 9Pin (D-Sub)
Pneumatic lines Φ4mm×4
Installation environment Standard/Cleanroom 2 & ESD
Available controllers RC180, RC620+
Safety standards CE, ANSI/RIA15.06-2012
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm 3 :1cft) cleanroom standards.
36
Outer Dimensions C3-A601 [Units: mm]
25
4-M4 depth 7
81
4-M4 depth 5
12.5
SCARA robots
9
38.5
12
6
111
95
78
25
4 2-M4 depth 10
27 90 or more
Space
for Cables
65 250 86
198 5
(Ø60H7)
76 23
Ø60H7
92
6-Axis robots
28
250
82
100
48
641.5
2-M4 depth 7
2-M4 depth 7
Ø6H7 depth 5
40
2-M8 depth 16
320
18
9±0.02
196.5
213
154±0.05
Robot controllers
15
77 75
90
154
415 199.5
Ø160 614.5
180 109.5
150 15
15
90
6 +0.012
0
15
8
Options
180
150
110
90
55±0.05
15
Ø6H7 4-Ø 11
75±0.05
Motion Range
Top View Lateral View Front View
Software
65 250 476.5
+6
5d
+2 eg J4 : -200 deg J4 : +200 deg
25
7.4
+135 deg d eg
0d g
R25
e
.5
eg
8
0d
6. 91
R7 R1 J6 : -360 deg J6 : +360 deg
-5
-18
250
1
820
-17
-135 deg
-160 deg
de
g
R167
393.3
320
00
209.1
+1 80
R5
154
R6
70 de
+1
00
de g
156.4
164.9
g
100
37
High Speed and Exceptional Flexibility
■ 4 kg Maximum Payload
Specifications
C4-A601 (C4) C4-A901 (C4L)
Mounting type Tabletop Ceiling Tabletop Ceiling
Degree of feedom 6
Max. motion range P point: through the
600 mm 900 mm
center of J4/J5/J6
Wrist flange surface 665 mm 965 mm
Max. operating speed Joint #1 450°/s 275°/s
Joint #2 450°/s 275°/s
Joint #3 514°/s 289°/s
Joint #4 555°/s
Joint #5 555°/s
Joint #6 720°/s
Weight (cables not included) 27 kg 29 kg
Repeatability Joint #1-#6 ±0.02 mm ±0.03 mm
Max. motion range Joint #1 ±170°
Joint #2 -160°~+65°
Joint #3 -51°~+225°
Joint #4 ±200°
Joint #5 ±135°
Joint #6 ±360°
Payload Rated 1 kg
Maximum 4 kg(5 kg with arm downward positioning)
Standard cycle time1 0.37 sec 0.47 sec
Allowable moment Joint #4 0.15 kg•m2
of inertia Joint #5 0.15 kg•m2
Joint #6 0.1 kg•m2
Motor power consumption Joint #1 400 W
Joint #2 400 W
Joint #3 150 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Electric lines 9Pin (D-Sub)
Pneumatic lines Φ4mm×4
Installation environment Standard /Cleanroom 2 & ESD
Available controllers RC700A
Safety standard CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.
38
Outer Dimensions C4-A601 / C4-A901 [Units: mm]
12.5
12.5
25
25
12
12
6
6
111
111
95
95
SCARA robots
39.5
78
90 or more
77
8
39.5
78
8
2xM4 depth 6 4 27 78 Space for Cable
2xM2 depth 6 42 7 78 90 or more
Space for Cable
65 400 86
65 250 86 198
198
Ø60h7
93
Ø60h7
93
400
100
50
790.5
640.5
Ø6 h7 depth 5
(same for the other side) Ø6 h7 depth 5
2xM8 depth 16 (same for the other side)
0
6-Axis robots
(same for the other side) 2xM8 depth 16
40
(same for the other side)
3202
18
15 9±0.02
320
154±0.05
2134
198
154±0.05
18
9±0.02
213
198
37.5 37.5
77
15
75 75 77
154
90 199.5 90 154
415 Ø160 565 199.5 Ø160
614.5
764.5
180 109.5
15 150 15 15 180 109.5
90 150 15
6 +0.012
0 90
6 +0.012
15
5
Robot controllers
1501
111
180
111
150
180
90
90
55.5±0.05
55.5±0.058
15
4xØ11 Ø6 h7 75±0.05 4xØ11
15
Ø6 h7 75±0.05
(applicable tolerance is Ø6)
(applicable tolerance is Ø6 h7)
Motion Range
C4-A601 Joint #2
0 pulse
-180°
positon
Top View -170° Lateral View 65 250 476.5 Front View
Joints #4, #6
R6 100 0 pulse positon
00
+6
5° J6:-360° J6:+360°
P point Joints #3, #5 J4:-200° J4:+200°
R2
6 .8 0 pulse
+2
57
R7
°
35
positon
.4
25
-1
.5
°
250
0 pulse R250
-5
Options
820
1
positon R167
°
0
R50
393.3
320
209.1
154
156.4
164.9
P point*
R250
-170°
-180°
C4-A901 Joint #2
-180° 0 pulse positon
Top View -170°
Lateral View +65
Front View
R9 ° Joints #4, #6
00 65 400 762.5 0 pulse positon
° J6:-360° J6:+360°
R3 Joints #3, #5 35
+2
P point
Software
.7 82 0 pulse P point
R1
°
positon -1 .1
35 06
R3
°
Motion °
-5
Joint #1
-160
320 400
1120
1°
0 pulse
R4
437.2
positon R267 00
154
113.2
P point 00
R8
449.8
455.9
P point -170°
R400
-180°
39
Compact Yet Powerful with
High Repeatability and Fast Speed
■ Payloads up to 8 kg
Specifications
Model name C8 C8L C8XL
Model number C8-A701 C8-A901 C8-A1401
Mounting type Tabletop
Degree of feedom 6
Max. Motion Range P point: through
711 mm 901 mm 1400 mm
the center of J4/J5/J6
Wrist flange surface 791 mm 981 mm 1480 mm
Max. operating speed Joint #1 331°/s 294°/s 200°/s
Joint #2 332°/s 300°/s 167°/s
Joint #3 450°/s 360°/s 200°/s
Joint #4 450°/s
Joint #5 450°/s
Joint #6 720°/s
Weight(cables not included) 49 kg (IP:53 kg) 52 kg (IP:56 kg) 62 kg (IP:66 kg)
Repeatability Joint #1-#6 ±0.02 mm ±0.03 mm ±0.05 mm
Max. Motion Range Joint #1 ±240°
Joint #2 -158°~+65° -135°~+55°
Joint #3 -61°~+202°
Joint #4 ±200°
Joint #5 ±135°
Joint #6 ±360°
Payload Rated 3 kg
Maximum 8 kg
Standard cycle time1 1 kg 0.31 sec 0.35 sec 0.53 sec
5 kg 0.39 sec 0.43 sec 0.62 sec
8 kg 0.48 sec 0.50 sec 0.72 sec
Allowable moment of inertia2 Joint #4 0.47 kg・• m2
Joint #5 0.47 kg・• m2
Joint #6 0.15 kg・• m2
Motor power consumption Joint #1 1000 W
Joint #2 750 W
Joint #3 400 W
Joint #4 100 W
Joint #5 100 W
Joint #6 100 W
Home Home-return-less
Installed wire for customer use 15pin(D-sub), 8pin(RJ45), 6pin(for force sensor)
Installed pneumatic tube for customer use Φ6mm x 2
Installation environment Standard (IP40)/ Cleanroom2 & ESD/ IP67
Applicable Controller RC700A
Safety standard CE, ANSI/RIA15.06-2012, UL 1740
1 Cycle time based on round-trip arch motion (300 mm horizontal, 25 mm vertical) with each payload setting (path coordinates optimized for maximum speed).
40 2 C8 and C8L comply with ISO Class 3 (ISO14644-1) cleanroom standards, and C8XL complies with ISO Class 4 (ISO14644-1) cleanroom standards.
Outer Dimensions [Units: mm]
38.5
12
6
20
40
77
98
SCARA robots
2xM4 depth 8
35
70.5
48.5
30
130.5
97
Y
61 2xM4 depth 8
(*1)
6-Axis robots
10
472
291.5
150
16
95 30
2xM12 depth22 80
190 (*1) 219 90
*1 Same for the other side (IP-model: 220.5) Space for cables
200
319 (IP-model: 320.5)
206
20 160 4x Ø 13
4xM4 depth8 7 70 100±0.05
80
Robot controllers
3xM4 depth7
146
77
200
160
Cable downward model
38.5
10
100±0.05
20
100
10
4xM5 depth8(at 90 deg.pitch)
Space for cables
20 2xØ3 H7(+0.01
0 )depth5
Mouth Ø 5.5 depth5.7 10 4xM3 depth7
Ø4xH7(+0.012
0 )depth4
139.5
90
39.5
219
223
79
(IP-model: 220.5) 0
Ø27
Ø70
Options
21.5
Detail of A
Detail of Y
82
Detail of X
■Motion
Motion Range [Unit: mm]
A701 Standard-model 1 P point from lateral with Joint #3 declining -61 deg.
(Joint #2 center-P point center)
2 P point from lateral with Joint #3 tilting up +202 deg.
Joint #2
Top view Lateral view Front view
(Joint #2 center-P point center)
O pulse position
-24
0 ° +6
5° Joint #4 #6
80 310 583.3
O pulse position
R2 4
30
76
.6 .2 Joint #3 #5 J4:-200° J4:+200°
3 76 -
P point R1 O pulse position P point R181 61°
-158°
300
.8 1
R166.4 -135° R311.4
1083.4
Joint #1 R317.3 2
O pulse position Motion range of P point
472
.4
R711
287.6
112.3
R311
0°
+24 3 P point from top with Joint #3 declining -61 deg.
(Joint #1 center-P point center)
4 P point from top with Joint #3 tilting up +202 deg.
(Joint #1 center-P point center)
41
Outer Dimensions [Units: mm]
38.5
12
6
20
77
40
98
2xM4 depth 8
35
70.5
See detail A
48.5
130.5
30
97
Y
61
2xM4 depth 8
(*1)
10
472
291.5
150
16
30
2xM12 depth22 80
95
190 *1 Same for the other side (*1) 219 90
200 (IP-model: 220.5) Space for cables
206
20 160
4xM4 depth8 7 70 100±0.05 4x Ø 13
146
77
160
200
80
3xM4 depth7
38.5
100±0.05
20
10 100 10
Cable downward mode
4xM5 depth8(at 90 deg.pitch) 20 2xØ3 H7( +0.01
0
) depth5
Mouth Ø 5.5 depth5.7 10 4xM3 depth7
Ø4 H7( +0.012
0 ) depth4
Space for cable
39.5
0
90
139.5
219 Ø2 7
223 Ø70
323 21.5
(IP-model: 220.5)
10
Detail of Y
82
Motion Range
Detail of X
[Units: mm]
A701 Standard-model
※1 P point from lateral with Joint #3 declining -61 deg.
(Joint #2 center-P point center)
Joint #2 ※2 P point from lateral with Joint #3 tilting up +202 deg.
4 Joint #3 #5
20 R801
.2 .7※ O pulse position .1
※
3 59 Motion
R2
-61
-135º
1273.1
400
P点
-158 º
of P point R422.9 ※2
Joint#1 R229.5 ※1
O pulse position
472
296.4 240.1
299.9
.1
R401
+240 º
※3 P point from top with Joint #3 declining -61 deg.
(Joint #1 center-P point center)
42 ※4 P point from top with Joint #3 tilting up +202 deg.
(Joint #1 center-P point center)
Outer Dimensions [Units: mm]
38.5
20
40
12
6
20
40
98
77
SCARA robots
2xM4 depth 8
214 35
(IP-model: 216)
See detail A 80 650
39.5 99(IP-model: 100)
48.5
70.5
130.5
30
97
Y
100 X
6-Axis robots
61
2xM4 depth 8
(*1)
10
472
291.5
150
16
95
30
190 2xM12 depth22 80 90 Space for cables 80
*1 Same for the other side (*1) 220.5 61.9 35 or more is
200 recommended
320.5 (Space for fan)
3xM4 depth7
423 206
10
20 160
4xM4 depth8 7 70 2xM4 depth8 4x Ø 13
10 100
100±0.05
Robot controllers
200
160
146
77
100±0.05
20
61.9 35 or more is
recommended
(Space for fan)
Space for cables
Fan
Ø4 H7( +0.012
0 ) depth4
90
39.5
219
223 2xM4 depth8
79
Detail of A Detail of Y
Options
82
Detail of X
A1401 Standard-model
※1 P point from lateral with Joint #3 declining -61 deg.
J6:-360º J6:+360º
100
Motion range of P point P point +13
5º +202º J4:-200º J4:+200º
º
R4
5
4
-13
41
650 30
※ Joint #3 #5
.4
※ 9 1.5 O pulse position -13 -6
3 R4 5º 1º
Software
P点
※2 R650
1772.6
Joint#1
R702.3 .6
O pulse position
※1
R354.7
204.8
472
00.6
R 14 R 1300.6
428.5
638.3
0º
R650.6
+24
■ 5 kg Maximum Payload
Specifications
S5-A701 (S5) S5-A901 (S5L)
Mounting type Tabletop Ceiling Wall Tabletop Ceiling Wall
Degrees of freedom 6
Max. motion range P point: through the
706 mm 895 mm
center of J4/J5/J6
Wrist flange surface 786 mm 975 mm
Max. operating speed Joint #1 376°/s 270°/s
Joint #2 350°/s 280°/s
Joint #3 400°/s 300°/s
Joint #4 450°/s
Joint #5 450°/s
Joint #6 720°/s
Weight (cables not included) 36 kg 38 kg
Repeatability Joint #1-#6 ±0.02 mm ±0.03 mm
Max. motion range Joint #1 ±170 deg ±30 deg ±170 deg ±30 deg
Joint #2 -150 deg~+65 deg
Joint #3 -70 deg~+190 deg -72 deg~+190 deg
Joint #4 ±190 deg
Joint #5 ±135 deg
Joint #6 ±360 deg
Payload Rated 2 kg
Maximum 5 kg
Standard cycle time1 0.44 sec 0.49 sec
Allowable moment Joint #4 0.3 kg • m2
of inertia Joint #5 0.3 kg • m2
Joint #6 0.1 kg • m2
Motor power consumption Joint #1 400 W
Joint #2 400 W
Joint #3 200 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Electric lines 15Pin (D-Sub)
Pneumatic lines Φ6mm×2
Installation environment Standard/Cleanroom 2 & ESD/Protection 3
Available controllers RC180, RC620+
Safety standards CE, ANSI/RIA15.06-2012
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
2 Complies with ISO Class 4 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm 3 :1cft) cleanroom standards.
3 Protected type complies with IP65.
44
Outer Dimensions S5-A701 / S5-A901 [Units: mm]
S5-A701 S5-A901
523
423 398
298 55 70
55 70
SCARA robots
114
110
40
25
87
59
114
110
40
25
87
90 or more
90 or more 2x 8 Space for Cables
2x2 M4 Depth 8 Space for Cables (Front & Back)
4-M8 Depth 16
(Front & Back) 2-M4 Depth 8
2-M4 Depth 8 4-M8 Depth 16
80 405 100
88 109 109
80 305 100
88
109 109
6-Axis robots
A
66
40
66
40
400
310
842
752
330
330
199
Robot controllers
199
473 150.2
573 150.2
623.2
723.2
Motion Range
S5-A701 Joint #2
0 pulse position
501 706
Top View Lateral View 88 305 80 Front View
15 Joint #4, #6
0 pulse position
+170° (J1 Arm)
+135° +190°
-190°
P point* -360°+360°
40
R235 +65°
225° -135° P point*
310
948
Options
752
R706
239
179 156
136°
246
S5-A901 Joint #2
0 pulse position
681 895
Top View Lateral View 88 405 80 Front View
15 Joint #4, #6
0 pulse position
Software
0 pulse position
198
97
R895
317
138°
423
341 14
-170° (J1 Arm) 400 132 Motion range of P point*
209
251
45
Robot controllers
RC700A RC620+
RC700A RC620
High Performance Workcell Controller PC-Based Controller
■ Industry Leading Ease of Use (Epson RC+ 7.0) ■ Industry Leading Ease of Use (Epson RC+ 6.0)
■ Windows Based Open Architecture Design ■ PC-based Open Architecture Design
■ Works with User Selected PC ■ Industry Leading Ease of Use with Epson RC+ Software
■ Fully Integrated Options Including: Vision Guidance, Fully Integrated Options including: Vision Guidance,
.Net Connectivity, EtherNet/IP, DeviceNet, Profibus, .Net Connectivity, EtherNet/IP, DeviceNet, Profibus,
Expansion I/O, Conveyor Tracking, Force Sensing, and more ■ Expansion I/O, Conveyor Tracking, Force Sensing and more
Works with RC+ 6.0
System Capabilities
Multiple TP1/TP2/TP3 Multiple TP1
Workcells Workcells
A
Open Conveyor Tracking Open Conveyor Tracking
Architecture Architecture
Integrated Integrated
PC Vision Vision
6-Axis robots
RC180 RC90
Compact Controller Low-cost and High Performance Controller
■ Easy Setup Via USB ■ Industry Leading Ease of Use (Epson RC+ 7.0)
■ Fits Easily inside Most Control Panel Boxes (SCARA controller: ■ Easy Setup Via USB
approx. 10l volume; 6-Axis controller approx. 13l volume) ■ Use as Stand Alone, PLC Slave or with PC
■ Use as Stand Alone, PLC Slave or with PC ■ Wide Variety of Integrated Options
■ Works with RC+ 5.0 ■ Works with RC+ 5.0 or RC+ 7.0
Integrated Integrated
PC Vision PC Vision
A +
30 323 67
31 296 23
1.9
18
22
20
20
166
10 61.3 86
174
130
10 20 130
42 86
22
18
1.9
150 or more 420 30
4-Ø4
30
Space for Cables
380 54.5
378 489
430
17.85
30 29
2.4
1.9 0.9
27.7
0.5
1.9
133.35
181.9
180
169
220.2
153.2
221.9
210
10.5
10.5
13 463 13
17.8
27.7
463
10
13 13
18 344 18
30 370 30
31 30
4
3.2
25
290
350
415.2
365
Ø24
30.9
30
Model RC700A RC620+
(UL specification: RC620-UL)
Robot manipulator Programming language
control and Robot control software Epson RC+ 7.0 (a multi-tasking robot OS) Epson RC+ 6.0 (a multi-tasking robot OS)
Joint Control Up to six (6) joints Simultaneous control Up to eight (8) joints Simultaneous control
Software AC servo control Software AC servo control
Speed Control PTP motion: Programmable in the range of 1 to 100%
CP motion: Programmable (Actual value to be manually entered.)
Acceleration/ PTP motion: Programmable in the range of 1 to 100%; Automatic
deceleration control CP motion: Programmable (Actual value to be manually entered.)
Number of Manipulators 4 units Max. 16 units (up to 20 axes)
Positioning control PTP (Point-To-Point)
CP (Continuous Path)
Memory capacity Maximum Object Size: 8 MB Maximum Object Size: 8 MB
Point data area: 1000 points (per file) Point data area: 1000 points (per file)
Backup variable area: Max. 400 KB (Includes the memory area for the Backup variable area: Max. 400 KB (Includes the memory area for the
management table.) management table.)
Approx. 4000 variables (Depends on the size of array variables.) Approx. 4000 variables (Depends on the size of array variables.)
External Standard I/O Input: 24 Including 8 inputs, 8 outputs with Input: 24 Including 8 inputs, 8 outputs with
input/output Output: 16 remote function assigned Output: 16 remote function assigned
signals (standard) Assignment change allowed Assignment change allowed
Standard I/O Input: 24 Input: 24
per Drive Unit per Drive Unit
Drive Unit Output: 16 Output: 16
Communication Ethernet 1 channel 2 channels
interface (standard) RS-232C 1 port 1 port
Option Boards I/O Input: 24 per board Input: 32 per board
Maximum of 4 boards allowed Maximum of 4 boards allowed
(Special slot) Output: 16 per board Output: 32 per board
RS-232C 2 channels/board Maximum of 2 boards allowed 4 channels/board Maximum of 2 boards allowed
Fieldbus I/O 1 channel/board 1 channel/board
Slave PROFINET PROFINET
PROFIBUS-DP Maximum of 1 board allowed PROFIBUS-DP
DeviceNet Maximum of 1 board allowed
DeviceNet
CC-Link CC-Link
EtherNet/IP EtherNet/IP
Pulse Generator
4 Axes per Board Maximum of 4 boards allowed 4 Axes per Board Maximum of 4 boards allowed
1 Weight is inscribed on controller. Exercise caution when lifting; check weight and get additional manpower if needed. Keep fingers and toes clear when moving or repositioning.
48
Outer Dimensions
170.5
130.5 31 296 23
30 130 20
10 20 130 20
SCARA robots
42 86
275
380
378 54.5
1
0.5
2.4
5 302
17.825 133.35
181.9
169
180
10.5
10.5
13 463 13
18 344 18
6-Axis robots
3130
4
290
350
30.9
Model RC180 RC90
(UL specification: RC180-UL)
Robot manipulator Programming language Epson RC+ 5.0 (a multi-tasking robot OS) Ver. 5.4.1 or later is recommended
control and Robot control software Epson RC+ 5.0 (a multi-tasking robot OS)
Safety features Emergency stop switch / Safety door input / Low power mode / Dynamic brake / Encoder cable disconnection error detection /
Motor overload detection / Irregular motor torque (out-of-control Manipulator) detection / Motor speed error detection/
Positioning overflow - servo error - detection / Speed overflow - servo error - detection / CPU irregularity detection /
Memory check-sum error detection / Overheat detection at the Motor Driver Module / Relay welding detection /
Over-voltage detection / AC power supply voltage reduction detection / Temperature error detection / Fan error detection
Power Source
AC 200 V to AC 240 V
Single phase 50/60 Hz
Weight 1 For SCARA robot 2 : 9.0 kg (Base unit without option)
For Six-axis robot: 10.5 kg (Base unit + ProSix Driver Unit) 7.5 kg
Option unit: 1.0 kg (Incase of installing 2 option boards)
1 Weight is inscribed on controller. Exercise caution when lifting; check weight and get additional manpower if needed. Keep fingers and toes clear when moving or repositioning.
2 Including RS series.
49
Robot Controller Options
A wide range of integrated controller options are available to reduce development time.
Compatible controllers
Vision Guide RC700A RC620+ RC180 RC90 T3
Specifications
Available Vision Solutions
CV2-S (Standard Vision Processing)
CV2-H (High Speed Vision Processing)
PV1 (Customer supplied PC)
Cameras Supported
GigE Std Resolution: 640x480 (0.3MP)
GigE Med Resolution: 1600x1200 (2MP)
GigE High Resolution: 2560x1920(5MP)
GigE Ultra High Resolution: 3664 x 2748(10MP)
GigE Color Camera: 2560x1920(5MP)
Controllers Supported:
CV2: RC700A, RC90
CV1: RC180, RC620
PV1: RC700A, RC620, RC180, RC90
*See Epson for CV1 and PV1 Vision details
Vision Tools
Vision Find Tools Vision Inspection Tools Vision Construction Tools Other Vision Tools
-Geometric Search -Line Inspector -Frames -Code Reader (bar and 2D)
-Polar Search -Arc Inspector -Lines -OCR
-Normalized Correlation -Defect Finder -Points -Histogram
-Blob Analysis -Color Match -Statistics
-Edge Finder -Image Operation Tools
-Line Finder
-Arc Finder
50
Robot Controller Options
SCARA robots
Compatible controllers
RC + 7.0 API RC700A RC90 T3
6-Axis robots
■ The following Epson RC+ windows and dialogs can be called from within a .NET application:
● Robot Manager
● I/O Monitor
● Task Manager
● Maintenance Dialog
● Simulator
● Force Monitor
Robot controllers
Options Software
Compatible controllers
ECP RC700A RC620+ RC180 RC90 T3
51
Robot Controller Options
Compatible controllers
GUI Builder RC700A RC620+ RC180 RC90 T3
GUI Builder provides the tools for the easy creation of graphical user interfaces from within the popular Epson RC+
Development Environment. It is a popular option for users that need a simple GUI and do not want to deal with the
complexity of a 3rd party product such as Visual Studio. Even users that have never before created a GUI can easily
make one with GUI Builder. By integrating the GUI Builder toolset inside of the Epson RC+ Development Environment,
users can work from one development environment, which helps reduce overall development time. For users that want
to create more complex GUI’s, it is suggested to use Epson VB Guide or RC+ 7.0 API along with Microsoft Visual Studio or
another platform which supports .Net library usage.
STEP 1 STEP 2
Create a new form and click the Button control from the Double click the button and the code editor will appear.
GUI Builder Toolbar and drag it to the form. Add the SPEL+ code you want to execute when the
button is clicked from your application.
STEP 3 STEP 4
Add more graphics components on your form and Run the application from the Epson RC+ Run Window or
associated SPEL+ code as required for your application. set to have the GUI come up automatically. You can also
bring up RC+ dialogs like the I/O monitor shown here.
52
Robot Controller Options
SCARA robots
Parts of the GUI Builder Window
GUI Builder has 5 main areas of use when creating and modifying user GUI’s. These include: Toolbar Buttons, Design Area,
Forms Explorer, Property Grid and Events Grid. (See graphic below)
Toolbar
Forms Explorer
6-Axis robots
Design Area Property Grid
Events Grid
Robot controllers
■ GUI Builder Area Definitions
Design Area
This is where forms are displayed at design time. Each opened form is displayed on its own tab. You can easily
switch between forms by clicking on the tab or double clicking the form in the forms explorer.
Toolbar Buttons
Contains the various controls to be put on a GUI Builder Form. Many of the common controls are supported
Options Software
such as button, label, textbox, radio button, checkbox, etc. However, there are also some Epson unique controls
to help reduce development time for items routinely needed for robot systems. Some of these unique controls
include the video box control (to display Vision Guide Image display window) and the LED control (to interface
with Epson Robot I/O).
Forms Explorer
A tree that contains each form for the current project and its associated controls. When a new form or control is
created, it is added to the tree. Double clicking on a form opens the form in its own tab in the design area.
Property Grid
Used to display and edit form and control properties. When you select a form or control, the associated
properties are displayed in the grid. You can edit the values for properties thus changing the characteristics of
the specific control.
Events Grid
Used to display and change the events for the associated form or control. Each event has a user function
(written in SPEL+ code) that is called when the event occurs. This gives the user complete flexibility to program
what happens when specific events occur.
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Robot Controller Options
Compatible controllers
Security RC700A RC620+ RC90 T3
Compatible controllers
Force-Sensing RC700A RC620+ RC90
force
x y
torque G3 series robot
(gamma force sensor sold separately)
Compatible controllers
OCR RC700A RC620+ RC90 T3
Compatible controllers
PG Motion System RC700A RC620+ RC90
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Robot Controller Options
SCARA robots
Compatible controllers
Teach Pendant TP1 RC700A RC620+ RC180 RC90
6-Axis robots
■ Can step through programs even when safety
door is open
Compatible controllers
Teach Pendant TP2 RC700A RC180 RC90 T3
Robot controllers
interface card
Compatible controllers
Teach Pendant TP3 RC700A T3
Options Software
impact damage
■ Universal design ensures ease of use for both
right-handed and left-handed operators
Compatible controllers
Conveyor Tracking RC700A RC620+ RC90 Controller
Camera
Robot 1
Precision Tracking for High-Productivity Robot 2
Pick-and-place Operation
Control unit
■ Supports vision or sensor based conveyor tracking
■ Vision system with Vision Guide software detects
moving parts for pick-and-place handling
■ Multi-conveyor, multi-effector setups are supported Encoder
■ Can automate manual kitting/packaging tasks and
help maintain productivity with continuous conveyor
Conveyor
operation. Can also be used for workpiece assembly (up to 16 supported)
■ Simple start/stop program execution
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Robot Controller Options
Compatible controllers
Option Unit RC180
T3
T3 T3
Helps Prevent Injuries and Damage Cables and Connectors for Easy
■ Immediately stops Connectivity with no Soldering Required
robot operation in ■ A wide range of I/O
emergency situations cables and connectors
are available
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Robot Manipulator Options
SCARA robots
Compatible robot manipulators
External Wiring Units G6 G10 G20
6-Axis robots
Enhances Handling/Processing Versatility and
Simplifies End Effector Changes
Robot controllers
Standard 3m Cables, or Optional 5m and 10m Cables
for Greater Freedom in Controller and Robot Placement
Options Software
Bracket design varies according to robot; please specify model when ordering.
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Options Quick-Reference Table
Controller Options
Software Options
Tool Adapters ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ― ― ― ― ―
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Epson RC+ Program Development Software
Epson RC+ software makes it easy to develop control programs for setup, operation, and regular
maintenance. With an easy-to-understand graphical user interface, you can achieve maximum
SCARA robots
productivity with minimum programming overhead.
6-Axis robots
Multitasking (16) (32) (32) Xqt
controlled by a single program. Up to 512-channel input/
Positioning Precision • • • Fine
Arch motion • • • Arch
output expandability, Vision Guide machine vision, and
Parallel processing • • • !...! pulse generator control of peripheral equipment can all be
Remote control expansion I/O • – • AvoidSingularity utilized to achieve full process automation.
On-the-fly pickup – • •
Controller Example
Robot controllers
Power High *Power mode set high Task 9 Workpiece feeder unit 1
Speed 100 *Speed 100%
Task 10 Workpiece feeder unit 2
Accel 100, 100 *Acceleration/Deceleration 100%
Options
rectangular layout, spaced interpolation, and free curve motion
end effector. Simply set points P1, P2, and P3 — reference either a tool-centered control
all other points are set automatically.
point or an external control point.
Effector Orientation
A time limit can be set for the completion of robot
Once the operator has set workpiece and end effector
positioning to enable the next instruction to be executed
weight, weight range, and end effector orientation,
even if the target point has not been reached. This allows
acceleration is automatically adjusted to reduce
you to maximize your yield by prioritizing takt (cycle) time
residual vibration and ensure high repeatability.
over precision, or vice versa, according to the nature of the
work to be done.
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Epson RC+ Program Development Software
Simulator
The Epson RC+ software simulator displays a 3D view of the workcell, enabling you to
thoroughly test programs and operating clearances to optimize the workcell layout.
Layout Evaluation
■ 3D simulation of actual operation
enables you to optimize the workcell
layout and determine necessary
clearances before rollout.
■ Multi-robot simulations are also possible.*
■ Pallet, hand, and other CAD based objects
can be included in simulations.
* Multi-robot simulations are only supported with
Epson RC+ 7.0
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Multitask Programming Ease
SCARA robots
3D Jump with Variable Arch for Conditional Stop (2)
Ultra-Precise Short-Distance Movement If input conditions (set in advance via TILL command) are
Epson SCARA and 6-axis robots all support JUMP satisfied during arm operation, the arm immediately
command movements in three-dimensional space, and the decelerates and stops. Cycle time is reduced because arm
arch described by the approaching and departing effector movement can continue uninterrupted until conditions
can be set to suit the work environment. are met.
Deceleration/acceleration of the approaching or departing
head can be adjusted ensuring smooth, precise,
short-distance motion that helps improve cycle time and
product quality stability.
6-Axis robots
Arm motion stops
Condition satisfied
Robot controllers
Parallel Processing for Higher Speed Maximum point-to-point speed is set as a
PTP motion
and Efficiency percentage relative to the maximum speed.
Acceleration and deceleration values can
Parallel processing enables you to control peripheral also be set.
devices while the robot arm is in motion. Discrete I/O can
For continuous path motion, maximum end
be used to ensure synchronized control of multi-device CP motion
effector speed ranges up to 2000mm/s, and
processes for maximum throughput efficiency. maximum acceleration/deceleration speed
ranges up to 2500mm/s.
Teaching Methods
Ready signal
Options
● Remote Teaching
Points are taught using the jog keys on the
Conditional Stop (1) teaching pendant to move the effector to the target.
Input conditions (set in advance via SENSE command) are This method is especially useful for operations that
checked just before the arm begins its descent. If the require very high precision because the jog keys
conditions are satisfied, the robot stops above the target, allow adjustment in units as small as the resolution
without descending. of each axis.
● Direct Teaching
Points are taught by disengaging the motor of each
End effector
standby position axis and moving the effector to the target by hand.
after completion
Software
● MDI Teaching
End effector stop
position directly
above target Points are taught by inputting predetermined
Input conditions
checked just coordinate values without moving the arm.
before descent
Target Positioning
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Europe
Republic of Korea
North America
China
Japan
India
Taiwan
Southeast Asia
South America
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Epson Business Solutions
Epson is a leading provider of innovative technology solutions that help businesses succeed.
We partner with you to best meet your specific needs, focusing on:
• Improved productivity
• World-class customer service and support
• Cost-effective, high-quality solutions
• A commitment to the environment
Discover how Epson can help you work toward the future. www.epson.com/forbusiness
1650 Glenn Curtiss St. 3840 Kilroy Airport Way 185 Renfrew Drive www.epson.ca
eco.epson.com
Carson, CA 90746 Long Beach, CA 90806 Markham, Ontario L3R 6G3 www.epsonrobots.com
Specifications and terms are subject to change without notice. EPSON and Epson RC+ are registered trademarks, EPSON Exceed Your Vision is a registered logomark and Better Products for a Better Future
and Flexion are trademarks of Seiko Epson Corporation. Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and/or other countries. All other
product and brand names are trademarks and/or registered trademarks of their respective companies. Epson disclaims any and all rights in these marks. Copyright 2017 Epson America, Inc. CPD-54833 9/17