Epson Robots Product Specifications Catalog

SCARA Robots
6-Axis Robots
Robot Controllers
Options
Software
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.
1 Leading Epson technology

>
>
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
2 What you need, when you need it

>
>
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
3 Intuitive programming software

> Epson RC+® software is extremely user-friendly, making automation setup fast and easy
4 Reliability you can count on

>
>
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 space-saving 6-Axis robots enable a remarkable

range of motion with fewer mechanical restrictions.
Our robots can reach in to confined workspaces from SlimLine design

many angles with ultra smooth motion, making the
> Saves valuable factory floor space and allows
Flexion™ N-Series, C-Series and S-Series robots
our robots to fit where other robots can’t —
some of the most flexible 6-Axis robots available in the
without compromising power, speed or reach
market today.
> Compact wrist pitch enables our robots to access
World’s first folding-arm design hard-to-reach places in confined spaces
> Epson’s innovative Flexion N-Series offers significant

Proven technology
advantages in motion and workspace efficiency
> Epson 6-Axis robots utilize the same controls,
software and motion technologies found in our
industry-leading SCARA robots
4
COMPACT SCARA
Why Epson SCARA Robots?
Epson’s lineup of over 300 models gives users the power to choose from
more options than ever before.
Hundreds of models available Fast speeds

> A variety of configurations to meet your diverse > Best-in-class cycle times for more efficient
application needs throughput
Sizes ranging from 175 to 1,000 mm in reach Extreme precision

>
> Payloads up to 20 kg > Repeatability up to 5 microns

> Tabletop, wall and ceiling mount options
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.
RS-Series SCARA Robots

RS-Series are the most unique and flexible SCARA
robots available in the market today. With the ability to
cross back under as well as reach behind itself,
RS-Series robots are able to utilize the entire workspace
underneath the arm. As a result there is no lost space in
the center of the work envelope. Enjoy all the benefits of
a typical Epson SCARA robot plus more!
LS-Series SCARA Robots

LS-Series SCARA robots open up realms of
opportunities for manufacturers searching for a
reduced cost automation solution by offering high
performance and great reliability our users have come
to expect from Epson but, at a lower cost. LS-Series
SCARAs were created as the reduced cost solution
for factories looking for maximum value without
giving up performance.
T-Series All-in-One SCARA Robots

The perfect alternative to complex slide-based
solutions, these space-saving robots install in minutes.
And, they include the same intuitive software and
powerful features found in Epson’s high-end robots.
SCARA Robots
G-Series LS-Series T-Series RS-Series N-Serie
G1 G3 G6 G10/G20 LS3/LS6/LS20 T3 RS3/RS4 S5N2
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.
C-Series 6-Axis Robots

C-Series 6-Axis robots lead the industry with
best in class cycle time, and a new SlimLine design
backed by precision and motion range. This compact
robot offers exceptional performance for even the
most demanding and complex application.
S-Series 6-Axis Robots

S-Series 6-Axis robots are high speed, mid range,
6-Axis robots, with a small footprint and advanced
flexibility. They are ideal for applications which
require longer reach and heavier payloads.
6-Axis Robots Controllers Options Software
es C-Series S-Series
C3 C4/C4L C8/C8L/C8XL S5/S5L

S5 RC700A Software options Epson RC+
Robot controller options program development
RC620+
03 T W C 03 T C 03* 04* W C 04 P T W C End effector options
software
RC180 System option

quick-reference table
Kg MAX 3 Kg MAX 4 Kg MAX 8 Kg MAX 5Kg RC90
36 - 37 38 - 39 40- 43 44 - 45 46 - 49 50 - 58 59 - 61
*C8XL - 04 *C8/C8L - 03 *2014 Fuji-Keizai World Wide Robot Market Report
7
Industry-Leading Mini SCARA
High Precision Repeatabilities Down

to 0.005 mm
Arm Lengths from 175 to 225 mm
Ultra Compact yet Extremely Powerful
3-Axis Models Available
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
28.7 100 a 208 28.7 100 a 208
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.
2x2-M4 depth 6 125 10.5±0.05

2x2-M4 depth 6 125 10.5±0.05
25 20 5 39.5±0.05
25 20 5 39.5±0.05 4+0.012
0
4+0.012 2-Ø4 +0.012 depth3
4+0.012
0
4+0.012
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
Reference through hole

Reference through hole (View from the bottom of the base)
(View from the bottom of the base)
Options
8.5
1mm flat cut

16 31.5
1mm flat cut

4
5 4
16
5
Ø8 h7 shaft diameter Ø8 h7 shaft diameter

Ø16 mechanical stop diameter Ø16 mechanical stop diameter
G1_171S G1_221S G1_171C G1_221C
Detail of “A” a 75 125 Detail of “A” a 75 125
(Calibration point position of Joints #3 and #4) (Calibration point position of Joints #3 and #4) b Max. 515 Max. 545
b Max. 515 Max. 545
Motion Range (Tabletop Mounting) Model 4-Axis 3-Axis

G1-171S G1-171C G1-221S G1-221C G1-171SZ G1-171CZ G1-221SZ G1-221CZ
G1-221SZ G1-221CZ g Length of Arm #1 (mm) 75 125 75 125

Software
h-g Length of Arm #2 (mm) 100 100 100 100
f Motion range 64.3 59.6 64.8 70.9 86.4 89.2 94.4

a
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 Mechanical stop area

j
60.4 62.6 52.8 56.2 69.2 82.5 82.2

j
c
e
q
e
q
b Joint #1 angle to hit 3 3 3 3
b
125 mechanical stop (deg)

b
140
b
d Joint #2 angle to hit

3 4 5 1.3 3 4 7
mechanical stop (deg)
9
Compact and Ultra Powerful
■ Arm Lengths from 250 to 350 mm
■ Handles Small, Heavy Payloads up to 3 kg
■ Fast Cycle Times for Increased Productivity
■ Available with Straight or Curved Arm
Straight Curved (R)/Curved (L)
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
Electric lines 15Pin (D-Sub)
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).
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]

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
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
1mm flat cut Through hole

8
120
1mm flat cut

8
Conical hole Ø3, 90°

30
1010
30
1010
Max. Ø11 through hole Max. Ø11 through hole

Ø16 h7 shaft diameter
10

Ø30 mechanical diameter Ø6 H7 (0 )
+0.012
Ø6 H7 (+0.012)
Ø30 mechanical diameter 0
Through hole Through hole
Software
Detail of “A” Detail of “A”

(Calibration point position of Joints #3 and #4) Reference through hole (Calibration point position of Joints #3 and #4) Reference through hole
(View from the bottom of the base) (View from the bottom of the base)
G3_251S G3_301S G3_351S G3_251C G3_301C G3_351C

a 120 170 220 a 120 170 220
b Max. 545 Max. 575 Max. 595 b Max. 545 Max. 575 Max. 595
11
Outer Dimensions (Multiple Mounting) G3-301 / G3-351 [Units: mm]
42.5 130 a 139 42.5 130 a 139

2-M3 depth 8 51.5 2-M3 depth 8 51.5
6 +0.012 6 +0.012
0
0
Through hole Through hole
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
30
1010
1mm flat cut

30
10 10
Max. Ø11 through hole

Ø30 mechanical diameter
Detail of “A” Ø30 mechanical diameter
(Calibration point position of Joints #3 and #4) Detail of “A”
(Calibration point position of Joints #3 and #4)
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
G3_301SM G3_351SM G3_301CM G3_351CM

a 170 220 a 170 220
b Max. 410 Max. 450 b Max. 410 Max. 450
12
Motion Range (Tabletop Mounting) [Units: mm]
Straight Arm Model Straight Arm

G3-351S G3-251S G3-251C G3-301S G3-301C G3-351S G3-351C

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
Left-Curved Arm Model Left-Curved Arm

c
G3-351S-L g G3-301S-L G3-301C-L G3-351S-L G3-351C-L
p
n Length of Arm #1 (mm) 170 220
e
j
h
z
k p-n Length of Arm #2 (mm) 130 130

m
a
n m,j Motion range 120.7, 86.8 191.6, 100.3 191.6, 107.5

g a,c Motion range of Joint #1 (deg) 150, 125 165, 110
219
s
y
d
t
6-Axis robots
q
e,g Motion range of Joint #2 (deg)

r
150, 135 145, 135 165, 120 160, 120

f
x
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
Right-Curved Arm Model Right-Curved Arm

G3-351S-R G3-301S-R G3-301C-R G3-351S-R G3-351C-R
a
p n Length of Arm #1 (mm)

e
170 220
g
j
c
km p-n Length of Arm #2 (mm) 130 130

z
n m,j Motion range 120.7, 86.8 191.6, 100.3 191.6, 107.5
219
a,c Motion range of Joint #1 (deg)

f
e 125, 150 110, 165

q
r
x
e,g Motion range of Joint #2 (deg)
b
s
t
135, 150 135, 145 120, 165 120, 160

g
h,k Mechanical stop area

y
79.5, 113.2 97.0, 183.0 97.0, 184.2
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
Motion Range (Multiple Mounting) [Units: mm]
Straight Arm Model Straight Arm

G3-351SM G3-301SM/CM G3-351SM/CM
g Length of Arm #1 (mm)
c
170 220
c
a
e
a
h-g Length of Arm #2 (mm) 130 130

f
h
g
f Motion range 120.7 142.3

79.5
d a Motion range of Joint #1 (deg)

d 115 120
c c Motion range of Joint #2 (deg) 135 142
k
j
q
b
e Mechanical stop area

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
Left-Curved Arm Model Left-Curved Arm

G3-351SM-L G3-351SM-L G3-351CM-L
e
g
h
c
n Length of Arm #1 (mm)

a
220
jk
z
p-n Length of Arm #2 (mm) 130

mn
p
70
m,j Motion range 191.9, 107.5 191.9, 125.6

f
y a,c Motion range of Joint #1 (deg) 130, 105
s
t
x e,g Motion range of Joint #2 (deg)

q
r
160, 120 150, 120

h,k Mechanical stop area 103.3, 183.0
291
b,d Joint #1 angle to hit mechanical stop (deg) 3.3, 5 2, 5
b
f,z Joint #2 angle to hit mechanical stop (deg) 2.8, 3.8 12.8, 3.8
Software
Right-Curved Arm Model Right-Curved Arm

G3-351SM-R G3-351SM-R G3-351CM-R
hg n Length of Arm #1 (mm) 220
e
nm p
a
kj
c
p-n Length of Arm #2 (mm) 130

f
m,j Motion range

70
191.9, 107.5 191.9, 125.6

a,c Motion range of Joint #1 (deg)
z
105, 130
x
b
q
r
e,g Motion range of Joint #2 (deg) 120, 160 120, 150

s
t
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
■ High Rigidity Arm = Ultra High Speed
■ Best in Class Motion Range
Specifications
G6-45x G6-55x G6-65x
Mounting type Tabletop Ceiling Wall Tabletop Ceiling Wall Tabletop Ceiling Wall
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
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
Joint #2 400 W
Joint #3 200 W
Joint #4 100 W
Electric lines 15Pin (D-Sub), 9Pin (D-sub)
Installation environment Standard/Cleanroom 3 & ESD/Protection 4
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]
52 250 a 165.5 52 250 a 165.5

Ø160 2-M4 depth 11 Ø160
15
15
SCARA robots
150
180
124
90
30
150
180
124
90
30
2-M4 depth 11 4-Ø 11

4-Ø 11
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
1mm flat cut
95
Conical hole
Ø4, 90° 1mm flat cut
1010
Conical hole
15
Ø4, 90°
30
1010
Max. Ø14 through hole 15
Ø40 mechanical stop diameter Max. Ø14 through hole
Detail of “A” Ø40 mechanical stop diameter
(Calibration point position of Joints #3 and #4) Detail of “A”
6 +0.02
0 6 +0.02
0
8
8
110
110
G6-45xS G6-55xS G6-65xS G6-45xC G6-55xC G6-65xC

55±0.05
55±0.05
a 200 300 400 a 200 300 400
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
Motion Range Model Tabletop Mounting
(Tabletop Mounting) G6-45xS/D G6-45xC/P/D bellows G6-55x G6-65x

a Length of Arm #1 (mm) 200 300 400
G6-55*S b Length of Arm #2 (mm) 250
Software
e e c Motion range Z: 0～-270 134.8 Z:0 ～ -240 134.8

161.2 232
d d Z:-270～-330 143.5 Z:-240～-300 153.9
h h
f
c d Motion range of Joint #1 (deg) 152
a
175
b e Motion range of Joint #2 (deg) Z: 0～-270 147.5 Z:0 ～ -240 147.5

147.5
Z:-270～-330 145 Z:-240～-300 142
f Mechanical stop area 124.4 133.8 207.5
g 230 g g Joint #1 angle to hit mechanical
3.5
stop (deg)
h Motion range of Joint #2 (deg) Z: 0～-270 3 Z:0 ～ -240 3

6.3
Z:-270～-330 5.5 Z:-240～-300 8.5 15
Outer Dimensions (Ceiling Mounting) G6-45x / G6-55x / G6-65x [Units: mm]
52 250 a 165.5 52 250 165.5

a
6 +0.012 2-M4 depth 11 6 +0.012
0
0
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
90 or more Ø38 90 or more
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
4.2*
1.2*
Ø160
34.5 37.5
90
14 24
39.8
90
38
30 10 12.2
1mm flat cut 2-M5 depth 10
95
Conical hole 110 15 2-M5 depth 10
Ø4, 90° 1mm flat cut
110 15
1010
Conical hole
15
Detail of “B” Ø4, 90°

30
1010
Max. Ø14 through hole Detail of “B”

15

Ø40 mechanical stop diameter Max. Ø14 through hole
Detail of “A” Ø40 mechanical stop diameter
Detail of “A”
G6-45xSR G6-55xSR G6-65xSR G6-45xCR G6-55xCR G6-65xCR

a 200 300 400 a 200 300 400
G6-xx1SR G6-xx3SR G6-xx1CR G6-xx3CR

b 180 330 b 150 300
c -9 141 c 99 249
d 385 535 d 526 676
Motion Range (Ceiling Mounting)

G6-55xSR
Model Ceiling Mounting
e e
G6-45xxR G6-55xSR/DR G6-55xCR/PR/DR bellows G6-65xxR
d d
h h a Length of Arm #1 (mm) 200 300 400
fc
b Length of Arm #2 (mm) 250
a
230
b c Motion range 195.5 161.2 172.1 232

d Motion range of Joint #1 (deg) 120 152
e Motion range of Joint #2 (deg) 130 147.5 145 147.5
250
g g Joint #1 angle to hit mechanical stop (deg) 5.5 3.5
g
16 h Joint #2 angle to hit mechanical stop (deg) 3.8 3.3 5.8 6.3
Outer Dimensions (Wall Mounting) [Units: mm]

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
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
Ø4, 90°. 1mm flat cut

Conical hole
1010
2-M5 depth 10
2-M5 depth 10
15
Ø4, 90°
30
1010
110 28
15
Max. Ø14 through hole Ø160 110 28

Ø20 h7 shaft diameter Detail of “B”
Ø40 mechanical stop diameter Ø20 h7 shaft diameter
Ø40 mechanical stop diameter
90 or more 90 or more
Space Space
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
G6-45xSW G6-55xSW G6-65xSW G6-45xCW G6-55xCW G6-65xCW

26
a 200 300 400 a 200 300 400

190
210 G6-xx1SW G6-xx3SW G6-xx1SW G6-xx3CW
190
b 180 330 210 b 150 300
Reference through hole c -9 141 c 99 249
(View from the bottom of the base) Reference through hole
d 385 535 (View from the bottom of the base) d 526 676
Motion Range (Wall Mounting)

Software
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
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
■ Reduced Residual Vibration for Faster

Accel/Decel Rates
Long Reach and Heavy Payload
■ Arm Lengths from 850 to 1,000 mm
■ Monocoque Design Provides for Higher Rigidity
Specifications
G10-65x G10/20-85x G20-A0x
Mounting type Tabletop Ceiling Wall Tabletop
Ceiling Wall Tabletop Ceiling Wall
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
Joint #3 ±0.01 mm
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
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
Joint #2 600 W
Joint #3 400 W
Joint #4 150 W
Electric lines 15Pin (D-Sub), 9Pin (D-sub)
1 Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized fo r maximum speed).
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]
55.5 400 a 179 2-M8 depth 16 55.5 400 a 179

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
90 or more * indicates the stroke margin by mechanical stop. 90 or more

Space Space
14 29
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

Ø39.5 mechanical stop diameter Max. Ø18 through hole
Detail of “A” Ø39.5 mechanical stop diameter
Detail of “A”
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
G10/20-xx1S G10/20-xx4S G10/20-xx1C G10/20-xx4C

146
146
b 180 330 b 150 390

c 813.5 1053.5 c 870.5 1129.5
Options
73±0.05
73±0.05
10±0.05 d 213.5 -26.5 10±0.05 d 205.5 -34.5

Ø6 (+0.012
0 ) Ø6 (+0.012
0 )
Reference through hole Reference through hole

(View from the bottom of the base) (View from the bottom of the base)
Motion Range Model Tabletop Mounting

(Tabletop Mounting) G10-65x
G10/20-85x
G20-A0
S/D C/P/D bellows
G10/20-85x
b Length of Arm #2 (mm) 400 400 400
Software
c Motion range Z:0 ~ -360 207.8

e e 212.4 207.8 307
d d Z:-360 ~ -390 218.3
f d Motion range of Joint #1 (deg) 152 152 152

c
207.8
a e Motion range of Joint #2 (deg) Z:0 ~ -360 152.5

152.5 152.5 152.5
b Z:-360 ~ -390 151
h h f Mechanical stop area 199.4 183.3 285.4
g Joint #1 angle to hit mechanical stop (deg) 3 3 3
g g h Joint #2 angle to hit mechanical stop (deg) Z:0 ~ -360 3.5

270 3.5 3.5 3.5
Z:-360 ~ -390 5
19
Outer Dimensions (Ceiling Mounting) G10-65x / G10/20-85x / G20-AOx [Units: mm]
55.5 400 a 179 4-Ø16 55.5 400 a 179

2-M4 depth 12 6 +0.012 2-M4 depth 11 6 +0.012
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
1*
14 29
45
40 43
1mm flat cut
Conical hole
100
5
Ø4, 90°
1010
1mm flat cut

30
15
Conical hole
Max. Ø18 through hole Ø4, 90°
1010
30
15
Ø39.5 mechanical stop diameter Max. Ø18 through hole
Detail of “A” Ø39.5 mechanical stop diameter
Detail of “A”
Ø200
Ø200 118 19 2-M8 depth 16
2-MB depth 16
110
110
118 19 G10-65xSR G10/20-85xSR G20-A0xSR G10-65xCR G10/20-85xCR G20-A0xCR

a 250 450 600 a 250 450 600
Detail of “B” Detail of “B”
G10/20-xx1SR G10/20-xx4SR G10/20-xx1CR G10/20-xx4CR
b 180 420 b 150 390
c -27.5 212.5 c 29.5 288.5
d 420 660 d 515 774

G10/20-85xxR
Model Ceiling Mounting
G10-65xxR G10/20-85x G20-A0xxW

d e d
e SR/DR CR/PR/DR bellows
f b Length of Arm #2 (mm) 400 400 400
c
a b c Motion range 306.5 207.8 218.3 307
250
h h
d Motion range of Joint #1 (deg) 107 152 152
g 270 g g Joint #1 angle to hit mechanical stop (deg) 3 3 3

h Joint #2 angle to hit mechanical stop (deg) 3.5 3.5 5 3.5
20
Outer Dimensions (Wall Mounting) G10-65x / G10/20-85x / G20-AOx [Units: mm]
55.5 400 a 155 55.5 400 a 155

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
1*
5*
Ø200
2-M8 depth 16
Ø200 118 37 2-M8 depth 16
40 43
14 29
100
45
1mm flat cut

110
Conical hole 1mm flat cut
110
5
Ø4, 90° Conical hole
Robot controllers
30
1010
15
Ø4, 90°
30
1010
118 37
15

Ø39.5 mechanical stop diameter Ø39.5 mechanical stop diameter
Detail of “B” Detail of “B”
(Calibration point position of Joints #3 and #4) (Calibration point position of Joints #3 and #4)
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
8 G10-65xSW G10/20-85xSW G20-A0xSW

Ø6 +0.012
0
Ø6 +0.012 a 250 450 600 G10-65xCW G10/20-85xCW G20-A0xCW
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
Motion Range (Wall Mounting)

G10/20-85xxW
Model Wall Mounting
Software
G10-65xxW G10/20-85x G20-A0xxW

d e e d SW/DW CW/PW/DW bellows
f b Length of Arm #2 (mm) 400 400 400
c
a c Motion range 306.5 207.8 218.3 307
b d Motion range of Joint #1 (deg) 107 107 107
g g e Motion range of Joint #2 (deg) 130 152.5 151 152.5

h h f Mechanical stop area 291.2 183.3 285.4
400 g Joint #1 angle to hit mechanical stop (deg) 3 3 3
h Joint #2 angle to hit mechanical stop (deg) 3.5 3.5 5 3.5
21
Fast, Compact and Low Cost
■ Arm Length 400 mm
■ Compact Footprint Robot
■ High Performance at a Low Cost
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
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 #2 100 W
Joint #3 100 W
Joint #4 100 W
Installation environment Standard/Cleanroom 3
Available controller RC90
Safety standards CE, ANSI/RIA15.06-2012
3 Complies with ISO Class 4 cleanroom standards.
22
Outer Dimensions (Tabletop Mounting) LS3-401 [Units: mm]

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
Robot controllers
Ø6H7 (+0.012) Ø6H7 (+0.012

0 )
0
180
60±0.01
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
1mm flat cut 1mm flat cut

Conical hole Conical hole
30
1010
Ø3, 90° Ø3, 90°

30
1010

Motion Range (Tabletop Mounting)

Software
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
■ Arm Lengths Range from 500-700 mm
■ Industry Leading Ease of Use
■ Fast Cycle Throughput
Specifications
LS6-502 LS6-602 LS6-702
Joint #3 1100 mm/s
Joint #4 2000°/s
Weight(cables not included) 17 kg 17 kg 18 kg
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
Joint #4 allowable moment of inertia2 Rated 0.01 kg±m2
Maximum 0.12 kg±m2
Joint #2 200 W
Joint #3 100 W
Joint #4 100 W
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
24
Outer Dimensions (Tabletop Mounting) LS6-602 [Units: mm]
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
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°
Ø20 h7 shaft diameter Max. Ø14 through hole
Detail of “A” Ø90

Detail of “A”
Standard Cleanroom
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
R6 R6 d Motion range of Joint #1 (°) 132 132

°
150
150
°
2°
150
13
13
2°
150
.6 e Motion range of Joint #2 (°)

13
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
i Joint #2 angle to hit mechanical stop (°) 4.2 4.2

2.8
2.8
j Mechanical stop area 121.81 42.5 214.0 121.81 42.5 214.0

°
°
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.
m Motion range 240 220 20 300 380 500

25
High Performance and Payloads
at a Low Cost
■ Fast Cycle Throughput
■ Long Reach 800 mm and 1000 mm Arm Lengths
■ ISO 4 Clean Models Available
Specifications
LS20-804 LS20-A04
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
Joint #3 ±0.01 mm
Joint #4 ±0.01°
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
Joint #2 600 W
Joint #3 400 W
Joint #4 150 W
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
26
Outer Dimensions (Tabletop Mounting) LS20-804 / LS20-A04 [Units: mm]
62.3 450 a 137 58 62.3 450 a 137 58

4x ø16 15 43 4x ø16 12 2xM8 depth 15

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
2xM4 through hole 12 M3 M3 20 200 37 2xM4 through hole 12 M3 M3 20 200 37
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
2xM4 depth10 4xM4 depth10 4xM4 depth10 ø 6 H7 ( +0.012

0 ) 2xM4 depth10 4xM4 depth10 4xM4 depth10 ø 6 H7 ( +0.012
0 )
100±0.05 100±0.05
4xM4 depth 8
4xM4 depth 8
48.2
43
98.2
43
49
3.2
61
25
44
40 1mm flat cut

25
1mm flat cut 40
4
1010 6
12
Conica l hole
Options
ø4,90º
30
Conica l hole
15
ø4,90º Detail of “B”

30
10 10
Max.ø18 through hole Detail of “B”

15
Max.ø18 through hole ø25 shaft diameter

ø25 shaft diameter ø39.5 mechanical stop diameter
ø39.5 mechanical stop diameter ø90 LS20-804*C LS20-A04*C
a 350 550
Detail of “A” b 1000 1100
Detail of “A”

Model Standard Cleanroo m
L S20-A04S LS20-804S LS20-A04C LS20-804C
LS20-804S/A04S LS20-804C/A04C a Length of Arm #1 +Arm #2 (mm) 1000 800 1000 800
a b Length of Arm #1 (mm) 550 350 550 350
Software
a c c Length of Arm #2 (mm) 450 450

c d Motion range of Joint #1 (¡ ) 132 132
d e d
i e Motion range of Joint #2 (¡ ) 152 152
i f b
f j f M otion range 260.7 216.5 260.7 216.5
b
j g Motion range at the rear 818 684.2 818 684.2
3.6
3.6 º n º 3 .6º h Joint #1 angle to hit mechanica l stop (¡) 2 2
n
º 3.6 i J oint #2 angle to hit mechanical stop (¡ )
g k 3.6 3.6
g k j M echanical stop area 232.8 195.3 232.8 195.3
h h k Mechanical stop area at the rear 832.1 693.1 832.1 693.1
h h
m Motion range 290 400 330 400
m m n Motion range 265 340 265 340
27
Powerful, Low-cost Automation
The Ultimate Slide Alternative
■ Efficient Operation
■ Easy to Install
■ Built-in Controller
■ Small and Lightweight
■ No Battery Required for Encoder
■ Comes Standard with 110 V and 220 V Power
■ Easily Accessible Inputs and Outputs
Specifications
T3-401
Arm length Joints #1, #2 400 mm
Payload Rated 1 kg
Maximum 3 kg
Joint #3 ±0.02 mm
Joint #4 ±0.02 deg
Joint #2 ±141 deg
Joint #3 150 mm
Joint #4 ±360 deg
Weight (cables not included) 16 kg: 35lb
of inertia Maximum 0.01 kg • m2
User electric lines Hand I/O IN6/OUT4 (D-Sub 15Pin)
User I/O IN18/OUT12
User pneumatic lines Φ6mm×2, Φ4mm×1
28
Outer Dimensions T3 [Units: mm]
47.8 175 225 145 36

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
Ø16H7 shaft diameter

6.5*
Detail of A
251.3
236.2
192.33
150
35 145 1 90 or more
9.3*
space for cables

10.7
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

Software
00
R4
1°
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
■ New, Unique Workspace Design
■ Industry Leading Work Envelope Usage
Specifications
RS3-351
Mounting type Ceiling
Joint #3 1100 mm/s
Joint #4 2600 deg/s
Joint #3 ±0.01 mm
Joint #4 ±0.01 deg
Joint #2 ±225 deg
Joint #3 Std 130 mm
Joint #4 ±720 deg
Payload Rated 1 kg
Maximum 3 kg
Joint #2 200 W
Joint #3 150 W
Joint #4 100 W
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]
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
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
7.8* 100 8.5*

6*
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
6+0.012 For manipulator 6+0.012 For manipulator

34 164 34 164
4
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

Ø3, 90° Ø3, 90°
Conical hole Conical hole
1010
30
30
1010
15
15

Ø30 mechanical stop diameter Ø30 mechanical stop diameter


Software
Model RS3-351
225 deg 225 deg Arm #1 Length (mm) 175
175 mm
Arm #2 Length (mm) 175
225 deg 225 deg
Joint #1 Motion range (deg) ±225

31
Industry Leading Workspace Design
■ Superior Cycle Throughout
■ Extremely Flexible for Cell or Line Assembly
Specifications
RS4-551
Mounting type Ceiling
Joint #3 1100 mm/s
Joint #4 2600 mm/s
Joint #3 ±0.01 mm
Joint #4 ±0.01 deg
Joint #2 ±225 deg
Joint #3 Std 130 mm
Joint #4 ±720 deg
Payload Rated 1 kg
Maximum 4 kg
Joint #2 400 W
Joint #3 150 W
Joint #4 100 W
32
Outer Dimensions (Ceiling Mounting) RS4-551 [Units: mm]
57 275 275 147 57 275 275 147

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
3.8* 100 6.5*

4*

1.8* 130
Robot controllers
73.5
45.5
1mm flat cut

1mm flat cut
30
10 10
Ø3, 90°
15
30
10 10
15
Max. Ø11 through hole Conical hole

Ø16 h7 shaft diameter Max. Ø11 through hole
80±0.05
80±0.05
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
For manipulator For manipulator

6+0.012 mounting 6-6.5 34 6+0.012 164
4
34 164 mounting 6-6.5

4
0 0
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)

Software
Model RS4-551
225°
Arm #1 Length (mm)

225°
275
Arm #2 Length (mm) 275

225°
225°

33
Space-Saving 6-Axis Robot with
Revolutionary Design
■ New Compact Folding Arm Technology – World’s First*
■ Maximizes Motion Efficiency for Faster Cycle Times*
■ Reduces Required Workspace Area by up to 40%

Versus Standard 6-Axis Robots*
■ Unique Tight Space Motion Capability

Keeps Arm Extremities Out of the Way*
■ 450 mm Reach and 2.5 kg Maximum Payload

*Features Exclusive to Epson’s N-Series Technology
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
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
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
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
■ Compact Wrist Fits in Tight Spaces
■ Long, Slim Arm for Greater Reach
■ Compact Elbow for Optimum Workcell Layout
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
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 #4 ±200 deg
Joint #5 ±135 deg
Joint #6 ±360 deg
Payload Rated 1 kg
Maximum 3 kg
Allowable moment Joint #4 0.15 kg • m2
of inertia Joint #5 0.15 kg • m2
Joint #6 0.1 kg • m2
Joint #2 400 W
Joint #3 150 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Pneumatic lines Φ4mm×4
Available controllers RC180, RC620+
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
■ Arm Lengths from 665-965 mm
■ High Speed and Repeatability for Maximum Productivity
■ 4 kg Maximum Payload
■ Best in Class Motion Range
■ Compact Design for Maximum Flexibility
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
Repeatability Joint #1-#6 ±0.02 mm ±0.03 mm
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)
Allowable moment Joint #4 0.15 kg•m2
of inertia Joint #5 0.15 kg•m2
Joint #2 400 W
Joint #3 150 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Installation environment Standard /Cleanroom 2 & ESD
Available controllers RC700A
Safety standard CE, ANSI/RIA15.06-2012, UL 1740
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]
4xM4 depth 5 25 4xM4 depth 7

4xM4 depth 5 25 4xM4 depth 7
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
(including the lamp)

48 2xM4 depth 7 100
48 2xM4 depth 7
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
°
Joint #1 Motion -13 91

5° R1
-160°
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
51 .8 -1 100 J4:-200° J4:+200°

25
.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
■ Compact Wrist Fits in Tight Spaces
■ Long, Slim Arm for Greater Reach
■ Compact Elbow for Optimum Workcell Layout
Specifications
Model name C8 C8L C8XL
Model number C8-A701 C8-A901 C8-A1401
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
Joint #2 750 W
Joint #3 400 W
Joint #4 100 W
Joint #5 100 W
Joint #6 100 W
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]
A701 Standard-model 6xM4 depth 8 7 70 83 30 15 2xM4 depth 8
38.5
12
6
20

40
77
98
SCARA robots
2xM4 depth 8
35
214 80 310 99(IP-model:100)

(IP-model:216) 39.5
See detail A
70.5
48.5
30
130.5
97
Y
870.9(Including the LED lamp)

300
236(IP-model: 238 X
100
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
Ø12 H7(+0.018 )depth3

10
(IP-model: 220.5) 0
323 (IP-model: 224.5)

(IP-model: 324.5) 2xM4 depth8
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
O pulse position
-24
0 ° +6
5° Joint #4 #6
80 310 583.3
O pulse position
+135° +202° J6:-360° J6:+360°

Software
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
Motion range of P point

.4
112.3
R311
0°
+24 3 P point from top with Joint #3 declining -61 deg.
4 P point from top with Joint #3 tilting up +202 deg.
41
6xM4 depth 8 7 70 83 30 15 4xM4 depth 8

A901 Standard-model
38.5
12
6
20
77
40
98
2xM4 depth 8
35
80 400 99(IP-model: 100)

214 39.5
(IP-model: 216)
70.5
See detail A
48.5
130.5
30
97
Y
970.9 (Including the LED lamp)

400
100 X
236(IP-model: 238)
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
319 (IP-model: 320.5)
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
Ø4 H7( +0.012
0 ) depth4
Space for cable
39.5
Ø12 H7( +0.018 ) depth3

79
0
90
139.5
219 Ø2 7
223 Ø70
323 21.5
(IP-model: 220.5)
10
(IP-model: 224.5) 2xM4 depth8

(IP-model: 324.5)
Detail of A
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.
Top view Lateral view Front view

O pulse position (Joint ＃2 center-P point center)
-24
0 º
+6
5º Joint ＃4 ＃6
O pulse position
80 400 763.6
J6:-360º J6:+360º
100
P point +135º +202º J4:-200º J4:+200º

R90
1.1 R3
30
4 Joint ＃3 ＃5
20 R801
.2 .7※ O pulse position .1
※
3 59 Motion
R2
-61
-135º
1273.1
400
Motion range of P point range R401.1

º
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.
42 ※4 P point from top with Joint ＃3 tilting up +202 deg.
253 210 30 15 4xM4 depth 8

6xM4 depth 8 7 70 83 4xM4 depth 8
A1401 Standard-model
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
1220.9 (Including the LED lamp)

650
236(IP-model: 238)
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
Cable downward model

20
40
38.5
100±0.05
20
61.9 35 or more is
recommended
(Space for fan)
Space for cables
Fan
4xM5 depth8(at 90 deg.pitch) 20 2xØ3 H7( +0.01

0
) depth5
10 139.5
Ø4 H7( +0.012
0 ) depth4
90
39.5
219
223 2xM4 depth8
79
323 (IP-model: 220.5)

Ø12 H7( +0.018
0 ) depth3
(IP-model: 224.5)
(IP-model: 324.5) Ø2 7
Ø70 21.5
Detail of A Detail of Y
Options
82
Detail of X
Motion Range [Units: mm]
A1401 Standard-model
※1 P point from lateral with Joint ＃3 declining -61 deg.
Top view -24

0
Lateral view Joint ＃2
O pulse position
※2 P point from lateral with Joint ＃3 tilting up +202 deg. Front view
º (Joint ＃2 center-P point center)
+5 Joint ＃4 ＃6
80 650 1183.1
5º O pulse position
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
Motion range of P point
0º
R650.6
+24
※3 P point from top with Joint ＃3 declining -61 deg.

※4 P point from top with Joint ＃3 tilting up +202 deg.
43
High Speed and Long Reach
■ High Rigidity Arm = Ultra High Speed
■ Smooth Motion and Low Vibration
■ Robust SlimLine Design for Increased Flexibility
■ 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
Repeatability Joint #1-#6 ±0.02 mm ±0.03 mm
Max. motion range Joint #1 ±170 deg ±30 deg ±170 deg ±30 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
Allowable moment Joint #4 0.3 kg • m2
of inertia Joint #5 0.3 kg • m2
Joint #6 0.1 kg • m2
Joint #2 400 W
Joint #3 200 W
Joint #4 50 W
Joint #5 50 W
Joint #6 50 W
Available controllers RC180, RC620+
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
Joint #1 -150° Joint #3, #5
Options
752
0 pulse position 0 pulse positionMotion

330
R706
239
179 156
136°
246
-170° (J1 Arm) 233 51

277 114 Motion range of P point*
203
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
+135° -190° +190°

+170° (J1 Arm)
-360°+360°
400 40
P point* +65° P point*

1137
R267 225° -135°

-150° Joint #3, #5
842
Joint #1 0 pulse positionMotion

330
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
PLC Pendant Manipulators Pendant

Manipulators
Fieldbus I/O
A
Open Conveyor Tracking Open Conveyor Tracking
Architecture Architecture
Robot Controller Robot Controller
USB 2.0 or Ethernet
Epson RC+ Microsoft Windows preinstalled

programming GUI GUI
environment Development Development PC built into controller
Integrated Integrated
PC Vision Vision
■ RC700A Software/Manipulator Support ■ RC620 + Software/Manipulator Support

Epson RC+ 5.0 — Epson RC+ 5.0 —
Software Epson RC+ 6.0 — Software Epson RC+ 6.0 •
Epson RC+ 7.0 • Epson RC+ 7.0 —
G Series • G Series •
SCARA Robots LS Series — SCARA Robots LS Series —
RS Series • Manipulators RS Series •
Manipulators N2 • N2 —
C8/C8L/C8XL • C8/C8L/C8XL —
6-Axis Robots C4/C4L • 6-Axis Robots C4/C4L —
C3 — C3 •
S5/S5L — S5 •
46
SCARA robots
RC180 RC90
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
Robot controllers Options

TP1/TP2 Multiple TP1/TP2
Workcells
PLC Pendant PLC Pendant Manipulators

Manipulators
Fieldbus I/O Fieldbus I/O
Open Conveyor Tracking

Architecture
Robot Controller Robot Controller
USB 2.0 or Ethernet USB 2.0 or Ethernet
Epson RC+ Epson RC+

programming GUI programming GUI
environment Development environment Development
Integrated Integrated
PC Vision PC Vision
■ RC180 Software/Manipulator Support ■ RC90 Software/Manipulator Support

Epson RC+ 5.0 • Epson RC+ 5.0 •
—
Software
Software Epson RC+ 6.0 — Software Epson RC+ 6.0

Epson RC+ 7.0 — Epson RC+ 7.0 •
G Series • G Series —
SCARA Robots LS Series — SCARA Robots LS Series •
Manipulators RS Series • Manipulators RS Series —
N2 — N2 —
C8/C8L/C8XL — C8/C8L/C8XL —
6-Axis Robots C4/C4L — 6-Axis Robots C4/C4L —
C3 • C3 —
S5 • S5 —
47
Outer Dimensions
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
Option Boards Frame Grabber — Standard Frame Grabber

Maximum of 2 boards allowed
(PCI or PCIe slots) Advanced Frame Grabber
Fieldbus I/O 1ch per board 1ch per board
master PROFIBUS-DP Maximum of 1 board allowed PROFIBUS-DP
Maximum of 1 board allowed
DeviceNet DeviceNet
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 4 axes spec : 22.5 kg
11 kg 6 axes spec : 24.5 kg
8 axes spec : 22.5 kg
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)
Robot controllers Options

Epson RC+ 7.0 ( a multi-tasking robot OS)
Joint Control Up to six (6) joints simultaneous control Up to four (4) 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 1 unit (up to 6 axes) 1 unit (up to 4 axes)
Positioning control PTP (Point-To-Point)
CP (Continuous Path)
Memory capacity Maximum Object Size: 4 MB Maximum Object Size: 8 MB
Point data area: 1000 points (per file) Point data area: 1000 points (per file)
Backup variable area: Max. 100 KB (Includes the memory area for the Backup variable area: Max. 400 KB (Includes the memory area for the
management table.) management table.)
Approx. 1000 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
—
Drive Unit
Communication Ethernet 1 channel 1 channel
interface (standard) RS-232C — 1 port
Option Boards I/O Input: 32 per board Input: 24 per board
Maximum of 4 boards allowed Maximum of 2 boards allowed
(Special slot) Output: 32 per board Output: 16 per board
RS-232C 4 channel/board Maximum of 2 boards allowed 2 channel/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
Maximum of 1 board allowed
DeviceNet DeviceNet
CC-Link CC-Link
Pulse Generator
— 4 Axes per Board Maximum of 2 boards allowed
Option Boards Frame Grabber —
(PCI or PCIe slots)
Fieldbus I/O 1ch per board
master — PROFIBUS-DP
DeviceNet Maximum of 1 board allowed
EtherNet/IP
Software
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
Vision Guide – Powerfully Simple Robot Guidance

■ Built to make vision guided robot applications easy, while driving high precision and performance
■ Drag & Drop user interface for building robust vision solutions quickly
■ Powerful set of intelligent vision objects simplify vision application development
■ Single development environment for both robot and vision (no communications setup between robot
and vision system)
■ Only 3 SPEL+ Language commands (VRUN, VGET, VSET) for working with vision sequences
■ Full set of Wizard based calibration tools for fixed and mobile camera calibration
■ Step Wizard to help new users easily select the vision tool(s) they need
■ Fast vision processing times with support for up to 10 MP GigE cameras
■ Color cameras and color vision tools supported
■ Code reader supports a wide variety of standard bar and 2D code formats
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)
USB 2 Std Resolution: 640x480 (0.3MP)

USB 2 Med Resolution: 1280x1024 (1.3MP) Vision Sequence Easy Access Jog
Vision Guide Main Window Flow Chart Screen, Sequence &
USB 2 High Resolution: 2560x1920 (5MP) Calibration Flyouts
USB 2 Med Resolution Color: 1280x1024 (2MP) Drop down menus
for vision tools
USB 2 High Resolution Color: 2560x1920 (5MP)
Robot to Camera Calibrations

Mobile Camera (mounted on robot)
Fixed Upward
Fixed Downward
Max Number of Cameras Properties and

GigE: (4) per CV2 Results Tables
USB: (2) per CV2
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
SCARA robots
RC + 7.0 API RC700A RC90 T3
VB Guide RC620+ RC180 RC90
Program and Execute Robot Applications in a

Familiar Windows OS Environment
■ Robots can be controlled using Visual Basic®, Visual C++®, Visual C#®,LabVIEW™, and other third-party
programming languages
■ Robot status and variable values can be captured
■ Vision Guide Integration for easy image display on user GUI’s
■ Third-party .NET interface and database design tools can also be used for program development
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
ECP RC700A RC620+ RC180 RC90 T3
External Control Point Operation for Precise

Positioning Without Complex Calculations
■ For processes requiring the workpiece to be moved against
a fixed tool, external control points can be used to ensure
precise positioning
■ Up to 15 external control points can be set
External Control Part

Point
Outside Fixed
Tool
51
GUI Builder RC700A RC620+ RC180 RC90 T3
■ Easily create a Graphic User Interface for Operators

■ Fully integrated within Epson RC+ Development Environment
■ Create GUI’s without Visual Studio or other 3rd party software tools
■ Create and debug GUI forms from your Epson RC+ Project
■ Form and Control Events are Executed as SPEL+ Tasks
■ Works with RC700A, RC620+, RC180, and RC90 Controllers
■ Steps to use GUI Builder
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
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.
53
Security RC700A RC620+ RC90 T3
Restrict User Access to Programming

Functions for Greater Safety and Security*
■ Password-based protection levels can be set to restrict
access to some parts of the Epson RC+ system
■ Helps prevent accidental or unauthorized alteration of
control programs when multiple operators need to
have access to basic controls
■ Keeps a log of every time changes are made to
source code
*Standard on RC700A and RC90 controllers
Force-Sensing RC700A RC620+ RC90
Integrated Force-Sensing Technology

for Realtime Force Control
■ Allows you to easily integrate force-sensing
capability into your control programs*
■ Force/torque values can be set for just one axis,
or all six
■ Trigger values can be set to stop robot motion
when a specific force level is reached
■ Up to two sensors can be mounted; data from
sensors can be shared by multiple programs
*ATI Industrial Automation, Inc. force/torque
components must be purchased separately z
force
x y
torque G3 series robot
(gamma force sensor sold separately)
OCR RC700A RC620+ RC90 T3
Optical Character Recognition of Text on Parts and Labels

■ For use with optional Vision Guide system ■ A font creation function lets you create SEMI fonts
■ Enables you to specify the font, font size, and and user-defined fonts from imaged characters or
number of characters of text that you want to read ASCII conversion files
from an image
PG Motion System RC700A RC620+ RC90
Control Peripheral Devices for Fully Integrated Process Automation*

■ Epson RC+ software and pulse generator (PG) cards ■ PG cards can be used to control X/Y tables, sliders,
enable control of multiple third-party drives rotary tables, and a wide range of other
and motors production/inspection line peripherals
■ PG robots and standard Epson RC+ system robots can ■ Each PG card has 4 channels, and can support from
be operated simultaneously, and controlled using the 1 to 4 robots. Up to 4 cards can be installed
same commands *Drivers and motors for third party devices not included
54
SCARA robots
Teach Pendant TP1 RC700A RC620+ RC180 RC90
Versatile Control with Just a Few Keystrokes

■ IP65-rated enclosure is sealed against oil and dust for
reliable operation in adverse conditions
■ Shock-resistant construction helps protect unit from
impact damage
■ Universal design ensures ease of use for both
right-handed and left-handed operators
■ Connects directly to operator unit or controller interface
card (Interface is built-in on RC180/RC620 controllers)
■ Menus can be displayed in English, German, French,
or Japanese
6-Axis robots
■ Can step through programs even when safety
door is open
Teach Pendant TP2 RC700A RC180 RC90 T3
Easy-to-Use Pendant for Teaching

■ Connects directly to operator unit or controller
Robot controllers
interface card
Teach Pendant TP3 RC700A T3
A Teach Pendant and Operating Pendant in One

■ 10” color touchscreen panel
■ 1280 x 800 high definition screen resolution
■ User-friendly GUI
■ Ability to make robot parameter changes
■ High speed test mode
■ IP65-rated enclosure is sealed against oil and dust for
reliable operation in adverse conditions
■ Shock-resistant construction helps protect unit from
Options Software
impact damage
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
55
Compatible controllers Compatible controllers

DVD Drive RC620+ Operator Panel OP1 RC180
The Convenience of a Built-In DVD Easy Connectivity and Touchscreen Control

Multi-Drive ■ Controller and error
■ The RC620+ controller can be equipped with status display
a DVD drive for easy program installation and ■ Oil-and dust-resistant
data recording construction
■ Simple start/stop
program execution
IP65
protection
Option Unit RC180
Interface Cards Expand Your RS-232C Cards

RC700A RC620+ RC180 RC90
System Options
■ Each option unit holds 2 interface cards; up to 2 Expanded Serial Port Connectivity
option units can be mounted (4 interface cards total) ■ 4-port (for RC180/
RC620+ controllers)
and 2-port (for RC700A/
RC90 controllers)
Compatible controllers RS-232C cards to
RAID Option RC620+
connect serial
interface devices
RAID Support for Enhanced Backup
Data Integrity*
■ RAID support for high-integrity data backup Compatible controllers
I/O Expansion Cards RC700A RC620+ RC180 RC90
*Factory default option
Expanded Input/Output Flexibility

■ 32-point I/O (for
Compatible controllers RC180/RC620+
Memory Expansion RC620+ controllers) and 24
inputs/16 outputs
Give Your Controller a Memory Boost (for RC700A/RC90
controllers)
■ CPU memory can be increased from 1GB to 2GB
expansion cards

Fieldbus I/O (Master) RC700A RC620+ RC90 T3 Fieldbus I/O (Slave) RC700A RC620+ RC180 RC90
T3
Bidirectional High-Speed High-Speed Peripheral Connectivity

Peripheral Connectivity ■ Support for DeviceNet®, PROFIBUS®, CC-Link®,
■ Support for DeviceNet®, PROFIBUS®, and Ethernet/IP®, and PROFINET® networked peripherals
Ethernet/IP® networked peripherals (1024-point I/O) (256-point I/O)

Emergency Stop Switch RC700A RC620+ RC180 RC90 I/O Cable Kit RC700A RC620+ RC180 RC90
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
56
Robot Manipulator Options
SCARA robots
Compatible robot manipulators
External Wiring Units G6 G10 G20
Simplifies Wiring when Mounting End

Effector Options
■ Enables easy, on-site connection of external wiring
by users
■ Ideal for connecting Vision Guide system camera
cables or other wiring

Tool Adapters G1 G3 G6 G10 G20 LS3 LS6 LS20 T3 RS3 RS4
6-Axis robots
Enhances Handling/Processing Versatility and
Simplifies End Effector Changes

Brake Release Units N2 C3 C4 C8 S5
Enables Brake Release so Robot Arm Can be Moved

by Hand When Power is Switched Off

Power and Signal Cables G1 G3 G6 G10 G20 LS3 LS6 LS20 RS3 RS4 N2 C3 C4 C8 S5
Robot controllers
Standard 3m Cables, or Optional 5m and 10m Cables
for Greater Freedom in Controller and Robot Placement

Camera Mounting Bracket G3 G6 G10 G20 LS3 LS6 LS20 T3 RS3 RS4 N2 C3 C4 C8 S5
Securely Mount Machine Vision System Camera to Robot Arm
Options Software
Bracket design varies according to robot; please specify model when ordering.

RC620+ DU Drive Unit G1 G3 G6 G10 G20 RS3 RS4 C3 S5
An External Drive Unit to Increase the

Number of Robots that Can be Controlled
with a Single RC620+ Controller

RC700A DU Drive Unit G1 G3 G6 G10 G20 RS3 RS4 N2 C3 C4 C8 S5
An External Drive Unit to Increase the

Number of Robots that Can be Controlled
with a Single RC700A Controller
57
Options Quick-Reference Table
Controller Options
RC700A RC620+ RC180 RC90 T3

Teach Pendant (TP1) ⃝ ⃝ ⃝ ⃝ ―
Teach Pendant (TP2) ⃝ ― ⃝ ⃝ ⃝
Teach Pendant (TP3) ⃝ ― ― ― ⃝
Conveyor Tracking ⃝ ⃝ ― ⃝ ―
PG Cards (Ext Axis Control) ⃝ ⃝ ― ⃝ ―
DVD Drive ― ⃝ ― ― ―
Option Unit ― ― ⃝ ― ―
RAID Option ― ⃝ ― ― ―
Memory Expansion ― ⃝ ― ― ―
Operator Panel (OP1) ― ― ⃝ ― ―
Emergency Stop Switch ⃝ ⃝ ⃝ ⃝ ⃝
RS-232C Cards ⃝ ⃝ ⃝ ⃝ ―
I/O Expansion Cards ⃝ ⃝ ⃝ ⃝ ―
Fieldbus I/O (Slave) ⃝ ⃝ ⃝ ⃝ ⃝
Fieldbus I/O (Master) ⃝ ⃝ ― ⃝ ⃝
I/O Cable Kit ⃝ ⃝ ⃝ ⃝ ⃝
Software Options
RC700A RC620+ RC180 RC90 T3

Vision Guide (5.0) ― ― ⃝ ⃝ ―
Vision Guide (6.0) ― ⃝ ― ― ―
Vision Guide (7.0) ⃝ ― ― ⃝ ⃝
VB Guide 5.0 ― ― ⃝ ⃝ ―
VB Guide 6.0 ― ⃝ ― ― ―
RC+API 7.0 ⃝ ― ― ⃝ ⃝
ECP ⃝ ⃝ ⃝ ⃝ ⃝
GUI Builder 5.0 ― ― ⃝ ⃝ ―
GUI Builder 6.0 ― ⃝ ― ― ―
GUI Builder 7.0 ⃝ ― ― ⃝ ⃝
Security ⃝ (Standard function) ⃝ ― ⃝ (Standard function) ⃝ (Standard function)
Force Sensing ⃝ ⃝ ― ⃝ ―
OCR ⃝ ⃝ ― ⃝ ⃝
Robot Manipulator Options

G10 LS3/LS6 RS3 S5
G1 G3 G6 /G20 /LS20 T3 /RS4 N2 C3 C4 C8 /S5L
External Wiring Units ― ― ⃝ ⃝ ― ― ― ― ― ― ― ―
Tool Adapters ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ― ― ― ― ―
Brake Release Units ― ― ― ― ― ― ― ⃝ ⃝ ⃝ ⃝ ⃝
Power and Signal Cables ⃝ ⃝ ⃝ ⃝ ⃝ ― ⃝ ⃝ ⃝ ⃝ ⃝ ⃝
Camera Mounting Bracket ― ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝ ⃝
External Drive Units ⃝ ⃝ ⃝ ⃝ ― ― ⃝ ⃝ ⃝ ― ― ⃝
58
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.
SPEL+ Language Support

Epson industrial robots use an easy-to-learn programming language that makes it simple to set up
complex, multitasking workflows.
Epson Epson Epson

Multitasking Function
RC+5.0 RC+6.0 RC+7.0 command
With Epson’s programming language, even complex
Pallet • • • Pallet
Handling weight & inertia • • • Weight, Inertia multitasking processes can be automated with ease. Up
High-speed continuous path accuracy • • • CP to 32 individual tasks can be seamlessly executed and
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
Task 1 Robot Arm

Example Program
Task 4 Vision Guide option
Function main
Motor On *turn motor power on
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%
If Sw(partok) = On Then *Checking if good part Task 15 Workpiece offload unit

Jump goodparts *move arm to goodpart pile
Else Task 16 Waste removal unit
Jump badparts *move arm to bad part pile
EndIf
High-Speed, High-Precision,
Fend 3D Continuous Path Control
All Epson robot systems offer the fast, precise,
three-dimensional continuous path (CP) control needed for
Easy Alignment with Palletized Parts high-productivity coating and sealant application
If parts are arranged in a processes. Advanced linear interpolation, arch
Options
rectangular layout, spaced interpolation, and free curve motion
at regular intervals, the enable precise effector control, and
PALLET command can be simple PASS commands can be used to
used to quickly and evade obstacles within the workcell
precisely position the space. Programmed paths can
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.
High Repeatability with

Positioning Completion Time Control
Varying Payloads and End
for Maximum Efficiency
Software
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.
59
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
Enlarged view of hand.
Pallet/hand display from CAD data.
Record & Playback Functions Productivity Forecasting

■ Recording & playback functions make it easy to include ■ Cycle times can be measured in advance and used to
still images and movies in presentations. generate throughput and productivity forecasts before
actual setup.
Clearance Checking
■ Choosing the right robot is easy because you can check Debugging Function
all necessary workcell and peripheral equipment. ■ I/O data exchange with virtual peripheral devices can
be monitored to assist in debugging.
■ Debugged programs can be rolled out directly to
existing workcell setups.
Machine Vision Simulation*

■ Machine vision image processing input can also be used
within simulations.
* Vision Guide simulation supported with Epson RC+ 7.0
60
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
Operating Speed and

Acceleration/Deceleration Settings
a: Z-axis vertical ascent (mm; departing)
b: Z-axis vertical descent (mm; approaching) Operating speed and acceleration/deceleration of the arm
z: Horizontal travel (mm)
can be set as a percentage of maximum from 1-100%.
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
(Direct teaching is not supported for 6-axis robots.)
● 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
61
62
Europe
Republic of Korea
North America
China
Japan
India
Taiwan
Southeast Asia
South America
■ Providing High-Quality Support, When and Where It’s Needed

At Epson, our reputation is built on the high quality of our products and services,
and maintaining that quality is a worldwide priority. Our support network for robotic
products now includes eight regional centers, and we stand ready to meet the needs
of customers in virtually every major market.
Industry Solutions Automation

Applications
Epson Robots is a leading supplier to a wide variety of manufacturing
industries including automotive, medical, electronics, consumer Epson Robots are extremely
products, industrial and many more. Our customers range from large versatile and provide a
Fortune 100 companies to small manufacturing facilities. wide range of automation
possibilities:
>
Automotive: Epson Robots are used to manufacture various
automotive parts including brakes, clutch components, ignition > Assembly
systems, instrument panels, headlights, mirrors, locks and more. > Pick and place
>
Medical: Popular with leading medical manufacturers, Epson
> Handling
Robots are used to create contact lenses, glasses, dental > Packaging
instruments, dental implants, hearing aids, pacemakers, blood test > Kitting/Tray loading
systems and much more. > Machine tending
> Electronics: Epson Robots are used in major electronic and semi- > Screw driving
conductor facilities across the globe. Industry-specific applications > Dispensing
include chip handling and placement, encoder assembly, board and > Palletizing
laser diode testing, wire bonding and more. > Lab analysis and testing
> Inspection and test
> Finishing
> Grinding
63
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
Epson Robots Epson America, Inc. Epson Canada Limited www.epson.com TM
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
Sales Inquiries (562) 290-5997

info@robots.epson.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

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Epson Robots Product Specifications Catalog

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SCARA Robots

1 Leading Epson technology

2 What you need, when you need it

3 Intuitive programming software

4 Reliability you can count on

Epson’s space-saving 6-Axis robots enable a remarkable

Our robots can reach in to confined workspaces from SlimLine design

> Epson’s innovative Flexion N-Series offers significant

Hundreds of models available Fast speeds

Sizes ranging from 175 to 1,000 mm in reach Extreme precision

> Payloads up to 20 kg > Repeatability up to 5 microns

RS-Series SCARA Robots

LS-Series SCARA Robots

T-Series All-in-One SCARA Robots

G-Series LS-Series T-Series RS-Series N-Serie

G1 G3 G6 G10/G20 LS3/LS6/LS20 T3 RS3/RS4 S5N2

C-Series 6-Axis Robots

S-Series 6-Axis Robots

6-Axis Robots Controllers Options Software

C3 C4/C4L C8/C8L/C8XL S5/S5L

RC180 System option

*C8XL - 04 *C8/C8L - 03 *2014 Fuji-Keizai World Wide Robot Market Report

High Precision Repeatabilities Down

Arm Lengths from 175 to 225 mm

Ultra Compact yet Extremely Powerful

3-Axis Models Available

28.7 100 a 208 28.7 100 a 208

2x2-M4 depth 6 125 10.5±0.05

Reference through hole

1mm flat cut

1mm flat cut

Ø8 h7 shaft diameter Ø8 h7 shaft diameter

Motion Range (Tabletop Mounting) Model 4-Axis 3-Axis

G1-221SZ G1-221CZ g Length of Arm #1 (mm) 75 125 75 125

h-g Length of Arm #2 (mm) 100 100 100 100

f Motion range 64.3 59.6 64.8 70.9 86.4 89.2 94.4

c e Mechanical stop area

60.4 62.6 52.8 56.2 69.2 82.5 82.2

125 mechanical stop (deg)

d Joint #2 angle to hit

■ Arm Lengths from 250 to 350 mm

■ Handles Small, Heavy Payloads up to 3 kg

■ Fast Cycle Times for Increased Productivity

■ Available with Straight or Curved Arm

Straight Curved (R)/Curved (L)

1mm flat cut Through hole

1mm flat cut

Conical hole Ø3, 90°

Max. Ø11 through hole Max. Ø11 through hole

Ø16 h7 shaft diameter

Detail of “A” Detail of “A”

G3_251S G3_301S G3_351S G3_251C G3_301C G3_351C

42.5 130 a 139 42.5 130 a 139

1mm flat cut

Max. Ø11 through hole

G3_301SM G3_351SM G3_301CM G3_351CM

Straight Arm Model Straight Arm

Left-Curved Arm Model Left-Curved Arm

k p-n Length of Arm #2 (mm) 130 130

n m,j Motion range 120.7, 86.8 191.6, 100.3 191.6, 107.5

e,g Motion range of Joint #2 (deg)

150, 135 145, 135 165, 120 160, 120

Right-Curved Arm Model Right-Curved Arm

p n Length of Arm #1 (mm)

> Epson’s innovative Flexion N-Series offers significant

> Payloads up to 20 kg > Repeatability up to 5 microns

C8XL - 04 C8/C8L - 03 *2014 Fuji-Keizai World Wide Robot Market Report