Built to Perform · Short-arm SCARA robot introduced PC Based Robot Controller Antistatic robots...

Built to Perform

SCARA Robots

6-Axis Robots

Robot Controllers

Options

Software

■■■■■

EPSON Robots

1982 1986 1994Epson mass-productionassembly robotdeveloped

Multitasking introduced

ISO Class 1 cleanroomcompliance achieved

Variable arc motion introduced

IMicrosoft® Windows®OS support introduced

1997Short-arm SCARArobot introducedPC Based Robot Controller

Antistatic robots developed

Wall/ceiling-mount SCARArobots introduced

UL robots introduced

Epson introduced4th generationPC Open Architecture Controller

2001 2003 201320092009Ceiling-mountRS3 SCARA robotwith 360° rotationintroduced

Compacthigh-speed 6-axisC3 robotintroduced

INDUSTRY FIRST INDUSTRY FIRST

INDUSTRY FIRST INDUSTRY FIRST INDUSTRY FIRST

INDUSTRY FIRST

INDUSTRY FIRST INDUSTRY FIRST

2

Epson Robots first came to the North and South American market back in 1984 as the EPSON Factory

Automation group began to share its expertise in high precision small parts assembly with other

manufacturers on a worldwide basis. Originally created to support internal automation needs, EPSON

Robots quickly became popular in many of the top manufacturing sites throughout the world. Over the

past 30 years, EPSON Robots has been leading the industry for small parts assembly applications and has

introduced many industry firsts including PC based controls, compact SCARA robots, and much more.

Our focus is to build robots and automation products to help benefit the global manufacturing strategies

put in place by many of the top worldwide manufacturers. EPSON Robots are now busy at work in thousands

of manufacturing facilities throughout the world.

3

Built to Perform

6 - 7 8 - 11 12 - 15 16 - 19 20 - 23 24 - 27

SCARA RobotsAs the industry leader for SCARA robots, EPSON gives you more power of choice than ever before. With over 200+ models available in sizes from 175 – 1,000 mm in reach and payloads up to 20kg, chances are, EPSON has the model and configuration you need for your next application.

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 SCARAs have a wide

variety of sizes from 175 - 1,000 mm in reach, up to

20kg payloads.

RS-Series SCARA Robots

RS-Series are the most unique and flexible SCARAs

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 SCARAs 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.

4

+

28 - 29 30 - 31 32 - 33 34 - 37 38 - 46 47 - 49

6-Axis RobotsThe SlimLine body and compact wrist pitch axis of EPSON’s 6-axis robots enable greater motion range and less mechanical restrictions. These robots are able toeasily reach into confined and restrictedwork spaces from many angles withsmooth motion making C-Series andS-Series robots the most flexible 6-axis robots available in the market today.

C-Series 6-Axis Robots

C-Series 6-axis robots lead the industry with

best in class cycle time, 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.

5

*2013 Fuji-Keizai World Wide Robot Market Report

Industry Leading Mini SCARA

Arm Lengths from 175 to 225 mm

Ultra Compact yet Extremely Powerful

3 Axis Models Available

Specifi cations

*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.*3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.

Mounting typeArm lengthMax. operating speed

Weight (cables not included)Repeatability

Max. motion range

Payload

Standard cycle time*1

Joint #4 allowable moment of inertia*2

Motor power consumption

Joint #3 down forceElectric linesPneumatic linesInstallation environmentAvailable controllersSafety standards

Arm #1, #2Joints #1, #2Joint #3Joint #4

Joints #1, #2Joint #3Joint #4Joint #1Joint #2(Cleanroom model)Joint #3 StdJoint #3 CleanJoint #4RatedMaximum

RatedMaximumJoint #1Joint #2Joint #3Joint #4

G1-171 G1-221 G1-171xZ G1-221xZ4-axis

Table Top

1200 mm/s

3000 deg/s

8 kg

±0.01 mm

±0.01 deg

±125 deg

100 mm

80 mm

±360 deg

0.5 kg

1 kg

0.0003 kg•m2

0.004 kg•m2

175 mm

2630 mm/s

±0.005 mm

±140 deg

(±140 deg)

0.29 sec

225 mm

3000 mm/s

±0.008 mm

±152 deg

(±149 deg)

0.30 sec

3-axis

Table Top

1200 mm/s

–

8 kg

±0.01 mm

–

±125 deg

100 mm

80 mm

–

0.5 kg

1.5 kg

–

–

175 mm

2630 mm/s

±0.005 mm

±135 deg

(±123 deg)

0.29 sec

225 mm

3000 mm/s

±0.008 mm

±135 deg

(±132 deg)

0.30 sec

All joints: 50 W

50 N

24Pin (D-Sub 9+D-sub 15)

Φ4mm×1, Φ6mm×2

Standard/Cleanroom*3 & ESD

RC180, RC620+

CE compliant, ANSI/RIA15.06-1999

6

Outer Dimensions (Table Top Mounting)Cleanroom-model

[Units: mm]

Standard-model

G1-171 / G1-221

Motion Range (Table Top Mounting)Model

g Length of Arm #1 (mm)

h-g Length of Arm #2 (mm)

f Motion range

a Motion range of Joint #1 (deg)

c Motion range of Joint #2 (deg)

e Mechanical stop area

b Joint #1 angle to hit mechanical stop (deg)

d Joint #2 angle to hit mechanical stop (deg)

4-axis G1-171S G1-171C G1-221S G1-221C

75 125

100 100

64.3 59.6 64.8

125 125

140 152 149

60.4 62.6 52.8 56.2

3 3

3 4 5

3-axis G1-171SZ G1-171CZ G1-221SZ G1-221CZ

75 125

100 100

70.9 86.4 89.2 94.4

125 125

135 123 135 132

69.2 82.5 82.2

3 3

1.3 3 4 7

G1_171S G1_221S a 75 125 b Max. 515 Max. 545

G1_171C G1_221C a 75 125 b Max. 515 Max. 545

Detail of “A”(Calibration point position of Joints #3 and #4)

Reference through hole(View from the bottom of the base)

indicates the stroke margin by mechanical stop.




28.7 100 a 208

50 75 50

6-Ø 6.5 Through hole

10

8

83

88

10

0

A

15

9.5

20

0.8

18

0.8 b

13

9

106*

10

02.5

*

10

43

515

72

41.5 175 90 or more

Space

for Cables

96

25 20

88

2

44±

0.0

5

2x2-M4 depth 6 125 10.5±0.05

39.5±0.05

2-Ø4 +0.012 depth3

110±0.05

4+0.012

5

0

0

4+

0.0

12

0

4+0.0120

8.5

1mm fl at cut

Ø8 h7 shaft diameter

Ø16 mechanical stop diameter

16

5 4

a

a

125

j k

cq

c

c

b

bd d

e

g fh

a

a

140

j k

cq

c

c

b

bd d

e

gf

h

50

10

8

83

88

10

0

75 50

28.7 100 a 208

6-Ø 6.5 Through hole

A

15

9.5

201.8

181.8 b

13

9103*

80

2.5

*

107

32

15

72 41.5 175 90 or more

Space

for Cables

96

25 20

88

2

44±

0.0

5

2x2-M4 depth 6 125 10.5±0.05

39.5±0.05

2-Ø4 +0.012 depth3

110±0.05

4+0.0125

0

0

4+

0.0

12

0

Ø4+0.0120

31.51mm fl at cut



16

5

4

G1-221SZ G1-221CZ

SC

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Specifi cations

*1: Can be mounted on wall or ceiling.*2: Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*3: When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*4: Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.

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)

Straightarm

Curvedarm



Max. motion range Straight

Curved

All models

Payload


Joint #4 allowable momentof inertia*3




Joints #1, #2Joint #3Joint #4Joint #1Joint #2(Cleanroom model)Joint #1 Right hand Left handJoint #2 Right hand(Cleanroom model) Left hand(Cleanroom model)Joint #3Cleanroom modelJoint #4RatedMaximum


Table top Table top Multiple*1 Table top Multiple*1G3-301

300 mm

3950 mm/s

±0.01 mm

0.37 sec

±140 deg

±142 deg

(±141 deg)

-125~150 deg

-150~125 deg

-135~150 deg

(-135~145 deg)

-150~135 deg

(-145~135 deg)

G3-351

350 mm

4350 mm/s

±0.01 mm

±142 deg

(±142 deg)

0.37 sec

±140 deg

-110~165 deg

-165~110 deg

-120~165 deg

(-120~160 deg)

-165~120 deg

(-160~120 deg)

±120 deg

-105~130 deg

-130~105 deg

-120~160 deg

(-120~150 deg)

-160~120 deg

(-150~120 deg)

1100 mm/s

3000 deg/s

14 kg

±0.01 mm

±0.005 deg

150 mm

120 mm

±360 deg

1 kg

3 kg

0.005 kg•m2

0.05 kg•m2

200 W

150 W

150 W

150 W

150 N

15Pin (D-Sub)

Φ4mm×1, Φ6mm×2

Standard/Cleanroom*4 & ESD

RC180, RC620+


±115 deg

±135 deg

(±135 deg)

–

–

–

–

G3-251

250 mm

3550 mm/s

±0.008 mm

±140 deg

±141 deg

(±137 deg)

–

–

–

–

0.36 sec

8

Detail of “A”(Calibration point position of Joints #3 and #4) Reference through hole

(View from the bottom of the base)Reference through hole

(View from the bottom of the base)





[Units: mm]

Standard-model

G3-251 / G3-301 / G3-351

G3_251S G3_301S G3_351S a 120 170 220 b Max. 545 Max. 575 Max. 595

G3_251C G3_301C G3_351C a 120 170 220 b Max. 545 Max. 575 Max. 595

42.5

116

23

101

12

0

14

0

20

130 a 169

2-M 3 depth 8 32.52-M 5 depth 10

4-Ø92-Ø967

120158

20

42.5

116

23

101

12

0

14

0

20

130 a 169

2-M 3 depth 8 32.5 2-M 5 depth 10

4-Ø9

2-Ø967120158

20

Ø30

45

46

.7*

19

419

9.5

15

06

.7*

9.6

*

36

14

32

6

12

9

10

39

4.2

b

51.5 127

90 or more

Space

for Cables

86

A

Ø30

56

3.5

10

.7*

19

419

9.5

12

010

.7*

4.1

*

36

14

33

0

12

9

10

39

4.2

b

51.5 12790 or more

Space

for Cables

86

A

45

.5

52.5

Max. Ø11 through hole


Ø30 mechanical diameter

8

10 10

1mm fl at cut

Conical hole Ø3, 90°

126 ±0.05

6 +0.012 Through hole0

10

Ø6 H7 (+0.012)

Through hole0

45

.5




10 10

1mm fl at cut


22.5

30

8

126 ±0.05

6 +0.012

Through hole0

12

0

Ø6 H7 (+0.012)

Through hole0

30

12

0

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Cleanroom-modelStandard-model

G3-301 / G3-351Outer Dimensions (Multiple Mounting) [Units: mm]







G3_301SM G3_351SM a 170 220 b Max. 410 Max. 450

G3_301CM G3_351CM a 170 220 b Max. 410 Max. 450

126 ±0.05

6 +0.012

Through hole0

101

8

12

0

14

0

20

0

Ø6 H7 (+0.012)

Through hole0

15847 20 1273

6-Ø9

116

23

42.5 130 a 139

2-M3 depth 8 51.5

90 o

r m

ore

Sp

ace

for

Cab

les

6.7

*

Ø30

33

0

19

213

8

75

.56

2.5

131.5

10

.56

.7*

15

09.6

*

36

69

119

60

b

A

86

45

.5

174




70

10 10

1mm fl at cut


4-Ø9

6 +0.012

Through hole0

34

6 +

0.0

12

Th

rou

gh h

ole

0

30

69 ±

0.0

5

8

126 ±0.05

6 +0.012

Through hole0

101

8

12

0

14

0

20

0

Ø6 H7 (+0.012)

Through hole0

15847 20 1273

6-Ø9

116

23

42.5 130 a 139

2-M3 depth 8 51.5

90 o

r m

ore

Sp

ace

for

Cab

les

10

.7*

Ø30

473

.5

301.5

172

10

9.5

62.5

131.5

10

.510

.7*

12

04.1

*

36

69

119

60

b

A

86

22.5

174




70

10 1

0

1mm fl at cut


4-Ø9

Ø6 H7 (+0.012)

Through hole0

34

6 +

0.0

12 T

hro

ug

h h

ole

0

30

69 ±

0.0

5

8

79.5

10

Motion Range (Table Top Mounting) [Units: mm]

Motion Range (Multiple Mounting) [Units: mm]

Straight ArmG3-351S

Left-Curved ArmG3-351S-L

Right-Curved ArmG3-351S-R

Straight ArmG3-351SM

Left-Curved ArmG3-351SM-L

Right-Curved ArmG3-351SM-R

Model

g Length of Arm #1 (mm)h-g Length of Arm #2 (mm)f Motion rangea Motion range of Joint #1 (deg)c Motion range of Joint #2 (deg)e Mechanical stop areab Joint #1 angle to hit mechanical stop (deg)d Joint #2 angle to hit mechanical stop (deg)

Straight Arm G3-251S G3-251C G3-301S G3-301C G3-351S G3-351C

120 170 220

130 130 130

84 92 104.8 107.1 142.3 146.6

140

141 137 142 141 142

79.3 96.2 134.2

2

2.3 6.3 3.8 4.8 3.8

Model

n Length of Arm #1 (mm)p-n Length of Arm #2 (mm)m,j Motion rangea,c Motion range of Joint #1 (deg)e,g Motion range of Joint #2 (deg)h,k Mechanical stop areab,d Joint #1 angle to hit mechanical stop (deg)f,z Joint #2 angle to hit mechanical stop (deg)

Left-Curved Arm G3-301S-L G3-301C-L G3-351S-L G3-351C-L

170 220

130 130

120.7, 86.8 191.6, 100.3 191.6, 107.5

150, 125 165, 110

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

79.5, 113.2 97.0, 183.0 97.0, 184.2

3, 6 5, 4

3.3, - 8.3, 3.8 2.8, 3.8 7.8, 3.8

Model


Right-Curved Arm G3-301S-R G3-301C-R G3-351S-R G3-351C-R

170 220

130 130

120.7, 86.8 191.6, 100.3 191.6, 107.5

125, 150 110, 165

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

79.5, 113.2 97.0, 183.0 97.0, 184.2

6, 3 4, 5

3.3, - 3.3, 8.3 3.8, 2.8 3.8, 7.8

Model

g Length of Arm #1 (mm)h-g Length of Arm #2 (mm)f Motion rangea Motion range of Joint #1 (deg)c Motion range of Joint #2 (deg)e Mechanical stop areab Joint #1 angle to hit mechanical stop (deg)d Joint #2 angle to hit mechanical stop (deg)

Straight Arm G3-301SM/CM G3-351SM/CM

170 220

130 130

120.7 142.3

115 120

135 142

112 134.2

4

3.8

Model


Left-Curved Arm G3-351SM-L G3-351CM-L

220

130

191.9, 107.5 191.9, 125.6

130, 105

160, 120 150, 120

103.3, 183.0

3.3, 5 2, 5

2.8, 3.8 12.8, 3.8

Model


Right-Curved Arm G3-351SM-R G3-351CM-R

220

130

191.9, 107.5 191.9, 125.6

105, 130

120, 160 120, 150

103.3, 183.0

5, 3.3 5, 2

3.8, 2.8 3.8, 12.8

a

a

176

j k

cq

c

c

b

b

d d

e

gf

h

z

a

176

q r

t s

c

b

gd

peg

k

h j

f

m

y e

x

219

z

a

176

q r

t sc

b

g

d

pe

g

k

h j

f

m

y

ex

219

n

a

a

291

j kcq

c

c

bb

dd

egf

h

79.5

z

a

291

q r

t s

c

b

d

p

e

g

k

h j

f

m

y

x

70

n

291

q rt s70

d

y

x b

ae

f

z

cp

nm

k

j hg

n

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Compact, High Speed and Powerful

■ Arm Lengths from 450 to 650 mm

■ High Rigidity Arm = Ultra High Speed

■ Best in Class Motion Range

Specifications

*1: Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2: When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3: Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.*4: G6-xxxDx protected type with optional bellows complies with IP54; G6-xxxPx complies with IP65.



Max. motion range

Payload





180 (150 clean) = 1100 mm/sec 330 (300 clean) = 2350 mm/sec2400 deg/s

±0.015 mm±0.01 mm

±0.005 deg

±147.5 deg

±360 deg3 kg6 kg

0.01 kg•m2

0.12 kg•m2

400 W400 W200 W100 W150 N

15Pin (D-Sub), 9Pin (D-sub)Φ4mm×2, Φ6mm×2

Standard/Cleanroom*3 & ESD/Protection*4

RC180, RC620+CE compliant, ANSI/RIA15.06-1999


Joints #1, #2Joint #3Joint #4Joint #1Joint #2

Joint #3 StdJoint #3 CleanJoint #4RatedMaximum


Table Top Ceiling Wall Table Top Ceiling Wall Table Top Ceiling WallG6-55x

550 mm7170 mm/s

0.36 sec

G6-45x

450 mm6440 mm/s

0.33 sec

27 kg

±152 degZ:0~-270mm ±147.5 deg

Z:-270~-330mm±145 deg

29 kg

±120 deg ±105 deg

±130 deg

27 kg 29 kg

±152 deg ±135 deg

G6-65x

650 mm7900 mm/s

0.38 sec

28 kg 29.5 kg

±152 deg ±148 deg

180 mm / 330 mm150 mm / 300 mm

12


[Units: mm]

Standard-model

G6-45x / G6-55x / G6-65x

Motion Range(Table Top Mounting)

G6-55*S

indicates the stroke margin by mechanical stop. indicates the stroke margin by mechanical stop.





Model

a Length of Arm #1 (mm)

b Length of Arm #2 (mm)

c Motion range

d Motion range of Joint #1 (deg)

e Motion range of Joint #2 (deg)

f Mechanical stop area

g Joint #1 angle to hit mechanical stop (deg)

h Motion range of Joint #2 (deg)

G6-45xS/D G6-45xC/P/D bellows

200

Z: 0～-270 134.8 Z:0 ～ -240 134.8

Z:-270～-330 143.5 Z:-240～-300 153.9

Z: 0～-270 147.5 Z:0 ～ -240 147.5

Z:-270～-330 145 Z:-240～-300 142

124.4

Z: 0～-270 3 Z:0 ～ -240 3

Z:-270～-330 5.5 Z:-240～-300 8.5

G6-55x G6-65x 300 400

161.2 232

147.5

133.8 207.5

6.3

Table Top Mounting

250

152

3.5

G6-45xS G6-55xS G6-65xS a 200 300 400

G6-xx1S G6-xx3S b 180 330 c 119 -31 d 684 834

G6-45xC G6-55xC G6-65xC a 200 300 400

G6-xx1C G6-xx3C b 150 330 c 116 -34 d 792 942

52

124

30

90

15

0

18

0

15

250 a 165.5

2-M4 depth 11

15 2-M5 depth 10

Ø160

4-Ø 11110

150180

15

15

Ø38

d12.2

*

23

5.5

391

4.2

*b

12.2

*

61.5

316

.5

c

20

30

5

7

90 or more

Space

for Cables

A

39.8




10 10

1mm fl at cutConical hole

Ø4, 90°

12.23

824

14

103

0

15

8

75±0.05

6 +0.020

110

Ø6 H7 (+0.012)0

55

±0

.05

52

124

30

90

15

0

18

0

15

250 a 165.52-M4 depth 11

152-M5 depth 10

Ø160

4-Ø 11110

150180

15

15

15

Ø38

d4.2

*

23

5.5

391

1.2

*b

4.2

* 61.5

316

.5

c

20

30

5

7

90 or more

Space

for Cables

A

54.5




10 10

1mm fl at cut

Conical holeØ4, 90°

37.

5

95

30

15

8

75±0.05

6 +0.020

110

Ø6 H7 (+0.012)0

55

±0

.05

175 a

230

e

c

gg

d

b

e

hf

hd

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Outer Dimensions (Ceiling Mounting)Cleanroom-model

[Units: mm]

Standard-model

G6-45x / G6-55x / G6-65x

Motion Range (Ceiling Mounting)G6-55xSR




Detail of “B”


Detail of “B”

Model

a Length of Arm #1 (mm)b Length of Arm #2 (mm)c Motion ranged Motion range of Joint #1 (deg)e Motion range of Joint #2 (deg)f Mechanical stop areag Joint #1 angle to hit mechanical stop (deg)h Joint #2 angle to hit mechanical stop (deg)

Ceiling Mounting G6-45xxR G6-55xSR/DR G6-55xCR/PR/DR bellows G6-65xxR 200 300 400

250

195.5 161.2 172.1 232

120 152

130 147.5 145 147.5

182.4 146.8 207.5

5.5 3.5

3.8 3.3 5.8 6.3

G6-45xSR G6-55xSR G6-65xSR a 200 300 400

G6-xx1SR G6-xx3SR b 180 330 c -9 141 d 385 535

G6-45xCR G6-55xCR G6-65xCR a 200 300 400

G6-xx1CR G6-xx3CR b 150 300 c 99 249 d 526 676

52

124

30

15

0

18

0

15

250 a 165.5

2-M4 depth 11

15 4-11

110

150

180

15

15

75±0.05

Ø6 H7 (+0.012)0

6 +0.0120

55±0

.05

90 or more

Space

for Cables

12.2

*

Ø38

d

b12.2

*(2

33

.5)

4.2

*

20

78

.53

05

c

A

B

39.8




10 10


Ø4, 90°

12.23

824

14

103

0

15

90

15110

2-M5 depth 10

52

124

30

15

018

015

250 a 165.52-M4 depth 11

4-11

110

150180

15

15

75±0.05Ø6 H7 (+0.012)0

6 +0.0120

55±0

.05

15

8

90 or more

Space

for Cables

4.2 Ø38

d

b4.2

*2

35

.51.2

*

20

78

.53

05

c

A

B

37.

5

Max. Ø14 through holeØ20 h7 shaft diameterØ40 mechanical stop diameter

10 10

1mm fl at cut


34.5 95

30

15

90

15110

2-M5 depth 10

Ø160

23

0 a

250

e

c

gg

d

b

e

hf

h

d

14

Outer Dimensions (Wall Mounting)Cleanroom-model

[Units: mm]

Standard-model


Detail of “B”

Reference through hole(View from the bottom of the base) Reference through hole

(View from the bottom of the base)


Motion Range (Wall Mounting)

G6-55xSWModel


Wall Mounting G6-45xxW G6-55xSW/DW G6-55xCW/PW/DW bellows G6-65xxW 200 300 400

250

195.5 161.2 172.1 232

105 135 148

130 147.5 145 147.5

182.4 146.8 207.5

3.5 7.5

3.8 3.3 5.8 6.3

G6-45xSW G6-55xSW G6-65xSW a 200 300 400

G6-xx1SW G6-xx3SW b 180 330 c -9 141 d 385 535

G6-45xCW G6-55xCW G6-65xCW

a 200 300 400

G6-xx1SW G6-xx3CW b 150 300 c 99 249 d 526 676

124

250 a 138

2-M4 depth 11

12.2

*

Ø38

c

b12.2

*

23

5.5

4.2

*

16

0 14

9.5

23

4

68

A

B

81

39.8




10 10


Ø4, 90°.

12.23

824

14

103

0

15

90

28110

2-M5 depth 10

80

263

00 1

60

Ø6 H7

6 +

0.0

12

0

90 or moreSpacefor Cables

6-Ø10

8

190210

65 a

330

e

c

g

d

b

e

h

fh

d

g

52

124

30

250 a 138

2-M4 depth 11

4.2

*

Ø38

d

b4.2

*

23

5.5

1.2

*19

3

81

23

4

c

A

B

14

9.56

8

37.

5Max. Ø14 through holeØ20 h7 shaft diameterØ40 mechanical stop diameter

10 10

1mm fl at cut


34.5 95

30

15

90

28110

2-M5 depth 10

Ø160

80

26

30

0 16

0

Ø6 H7

6 +

0.0

12

0


6-Ø10

8

190210

66

±0

.05

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High Rigidity = Ultra High Speed +Heavy Payload

■ Arm Lengths from 650 to 850 mm

■ Reduced Residual Vibration for FasterAccel/Decel Rates

Long Reach and Heavy Payload

■ Arm Lengths from 850 to 1,000 mm

■ Monocoque Design Provides for HigherRigidity Over Longer Lengths



Max. motion range

Payload


Joint #4 allowablemoment of inertia*2




Joints #1, #2Joint #3Joint #4Joint #1Joint #2

Joint #3 StdJoint #3 CleanJoint #4RatedMaximum


Table Top Ceiling Wall Table Top Ceiling Wall Table Top Ceiling Wall

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized fo r maximum speed).*2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.*4:G10-xxxDx with optional bellows complies with IP54; G10-xxxPx complies with IP65.

Specifi cationsG10/20-85x

850 mm11000 mm/s

180 (150 clean) =1100 mm/sec 420 (390 clean) =2350 mm/secG10=2400 deg/s / G20=1700 deg/s 48 kg 53 kg

±0.025 mm±0.01 mm

±0.005 deg ±152 deg ±107 deg

180 mm / 420 mm150 mm / 390 mm

±360 degG10=5 kg / G20=10 kg

G10=10 kg / G20=20 kg0.37 sec

G10=0.02 kg•m2 / G20=0.05 kg•m2

G10=0.25 kg•m2 / G20=0.45 kg•m2

750 W600 W400 W150 W250 N

15Pin (D-Sub), 9Pin (D-sub)Φ4mm×2, Φ6mm×2



G10-65x

650 mm8800 mm/s

2400 deg/s 46 kg 51 kg

±152 deg ±107 deg

±152.5 deg ±130 deg

5 kg10 kg

0.34 sec0.02 kg•m2

0.25 kg•m2

G20-A0x

1000 mm11500 mm/s

1700 deg/s 50 kg 55 kg

±152 deg ±107 deg

10 kg20 kg

0.42 sec0.05 kg•m2

0.45 kg•m2

For Clean/Protected models±152.5 deg below Z=-360 ～-390 ±151deg

16


[Units: mm]

Standard-model

G10-65x / G10/20-85x / G20-A0x






Motion Range(Table Top Mounting)

G10/20-85x

Model

a Length of Arm #1 (mm)

b Length of Arm #2 (mm)

c Motion range

d Motion range of Joint #1 (deg)

e Motion range of Joint #2 (deg)

f Mechanical stop area

g Joint #1 angle to hit mechanical stop (deg)

h Joint #2 angle to hit mechanical stop (deg)

G10-65x

250

400

212.4

152

152.5

199.4

3

3.5

Table Top MountingG10/20-85x

S/D C/P/D bellows450

400

207.8

152

152.5

183.3

3

3.5

G20-A0

600

400

307

152

152.5

285.4

3

3.5

Z:0 ～ -360 207.8

Z:-360 ～ -390 218.3

Z:0 ～ -360 152.5

Z:-360 ～ -390 151

Z:0 ～ -360 3.5

Z:-360 ～ -390 5

G10-65xS G10/20-85xS G20-A0xS a 250 450 600

G10/20-xx1S G10/20-xx4S b 180 330 c 813.5 1053.5 d 213.5 -26.5

G10-65xC G10/20-85xC G20-A0xC a 250 450 600

G10/20-xx1C G10/20-xx4C b 150 390 c 870.5 1129.5 d 205.5 -34.5

55.5

15

83

0

110

20

024

02

0

400 a 179

2-M4 depth 12

20

2-M8 depth 16

Ø200

4-Ø16

118

200240

20 20

19

Ø39.5

d

5*

28

64

85

.5

5*

b

80

38

0.5

c

20

36

3

8.5

90 or more

Space

for Cables

A

29

Max. Ø18 through holeØ25 h7 shaft diameterØ39.5 mechanical stop diameter

10 10


Ø4, 90°

14 9

53

0

15

5

8

10±0.05

Ø6(+0.012)0

14

6

Ø6 (+0.012)073

±0

.05

207.

8

a

270

e

c

gg

d

b

e

f

h

d

h

55.5

15

83

0

110

20

024

02

0

400 a 1792-M4 depth 11

20 2-M8 depth 16

Ø200

4-Ø16

118

200240

20 20

19

Ø38

d

1.8

*

28

64

85

.51*

b

80

38

0.5

c

20

36

3

8.5

90 or more

Space

for Cables

A

43


10 10


Ø4, 90°

40 10

03

0

15

8

10±0.05

Ø6(+0.012)0

14

6

Ø6 (+0.012)073

±0

.05

SC

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[Units: mm]

Standard-model

G10-65x / G10/20-85x / G20-AOx

Motion Range (Ceiling Mounting)G10/20-85xxR



Detail of “B”



Detail of “B”

Model


G10-65xxR

250

400

306.5

107

130

291.2

3

3.5

Ceiling MountingG10/20-85x

SR/DR CR/PR/DR bellows450

400

207.8 218.3

152

152.5 151

183.3

3

3.5 5

G20-A0xxW

600

400

307

152

152.5

285.4

3

3.5

G10-65xCR G10/20-85xCR G20-A0xCR a 250 450 600

G10/20-xx1CR G10/20-xx4CR b 150 390 c 29.5 288.5 d 515 774

G10-65xSR G10/20-85xSR G20-A0xSR a 250 450 600

G10/20-xx1SR G10/20-xx4SR b 180 420 c -27.5 212.5 d 420 660

55.5

15

83

0

20

024

02

0

400 a 179

2-M4 depth 12

20

4-Ø16

14

6

200

24020

20100±0.05

Ø6 (+0.012)0

6 +0.0120

73±0

.05


5* Ø39.5

d

b28

65

*

20

10

63

63

c

A

B


10 10


Ø4, 90°

4529

14

53

0

15

110

Ø200

118 19

2-MB depth 16

25

0 a

270

e

c

gg

d

b

e

h

f

h

d

55.5

15

83

0

20

0

24

0

20

400 a 1792-M4 depth 11

20

4-Ø16

14

6

200240

20

20100±0.05

Ø6 (+0.012)0

6 +0.0120

73±0

.05

8


1.8

* Ø38

db

28

61*

20

10

63

63

c

A

B


10 10


Ø4, 90°

10

0

43

40

30

15

110

Ø200 118 19 2-M8 depth 16

18


[Units: mm]

Standard-model

G10-65x / G10/20-85x / G20-AOx

Motion Range (Wall Mounting)G10/20-85xxW




Detail of “B”




Detail of “B”

Model


G10-65xxW

250

400

306.5

107

130

291.2

3

3.5

Wall MountingG10/20-85x

SW/DW CW/PW/DW bellows450

400

207.8 218.3

107

152.5 151

183.3

3

3.5 5

G20-A0xxW

600

400

307

107

152.5

285.4

3

3.5

G10-65xSW G10/20-85xSW G20-A0xSW

a 250 450 600

G10/20-xx1SW G10/20-xx4SW b 180 420 c -27.5 212.5 d 420 660

G10-65xCW G10/20-85xCW G20-A0xCW a 250 450 600

G10/20-xx1CW G10/20-xx4CW b 150 390 c 29.5 288.5 d 515 774

55.515

83

0400 a 155

2-M4 depth 12

5* Ø39.5

d

b

28

6

5*

37.

5

224

36

3

c

A

B

24

513

5.5

20

2.5

110

.5


10 10


Ø4, 90°

4529

14

53

0

15

110

Ø200

118 37

2-M8 depth 16

15±0.05

245±

0.05

14

035

34

0 14

0

Ø6 +

0.0

12

0


6-Ø14

8

220250

Ø6 +0.0120

a

400

e

c

gg

d

b

e

h

f

h

d

55.5

15

83

0

400 a 1552-M4 depth 12

1.8

*

Ø38

db

28

61*

38

.5

224

36

3

c

A

B

24

5

13

5.5

24

0.5

110

.5


10 10


Ø4, 90°

10

043

40

30

15

110

Ø200 118 37 2-M8 depth 16

15±0.05

245±

0.05

14

035

34

0 14

0

Ø6 +

0.0

12

0


6-Ø14

8

220250

Ø6 +0.0120

SC

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Specifi cations

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3:Complies with ISO Class 4 cleanroom standards.

Fast, Compact and Low Cost

Arm Length 400 mm

Compact Footprint Robot

High Performance at a Low Cost



Max. motion range

Payload




Joint #3 down forceElectric linesPneumatic linesInstallation environmentAvailable controllerSafety standards


Joints #1, #2Joint #3Joint #4Joint #1Joint #2Joint #3 StdJoint #3 CleanJoint #4RatedMaximum


LS3-401Table Top400 mm

6000 mm/s1100 mm/s2600 deg/s

14 kg±0.01 mm±0.01 mm±0.01 deg±132 deg±141 deg150 mm120 mm

±360 deg1 kg3 kg

0.42 sec0.005 kg•m2

0.05 kg•m2

200 W100 W100 W100 W100 N

15Pin (D-Sub)Φ4mm×1, Φ6mm×2

Standard/Cleanroom*3

RC90CE compliant, ANSI/RIA15.06-1999

20


[Units: mm]

Standard-model

LS3-401

indicates the stroke margin by mechanical stop.indicates the stroke margin by mechanical stop.

Detail of “A”Detail of “A”

Motion Range (Table Top Mounting)

LS3-401S LS3-401C

50

13

2

23

10

0

20175 225 135

2-M3 depth 1030

Ø109 120 45

204-M4 depth 6

80

12

014

0

2-Ø94-Ø9


6.5

* Ø30

474

.5

174

.32

20

15

06

.5*

173

.1

45

9.3

*

5.5

38

MA

X. 6

50

16

3.6

1358

A

130.2

48

58 20

60

60

±0

.01

2-M4 depth 8

4.5

180

6+0.012

35

Ø6H7 (+0.012)0

0

151+0.0504-M4 depth 8

48

20




10 10


Ø3, 90°

45

.53

0

235

132°

180

325.5

333.5

141°

2.8°

2.8°

R128.8

132°

R400

4.2°

R225

141°

R141.6

4.2°

250

132°

180

325.5

333.5

141°

2.8°

2.8°

R128.8

132°

R400

4.2°

R225

141°

R141.64.

2°

50

23

10

0

20175 225 135

2-M3 depth 1030

120 45

20

4-M4 depth 6

80

12

014

0

2-Ø94-Ø9


10

.5* Ø30

58

4

174

.32

20

12

010

.5*

173

.1

45

3.8

* 9.5

38

MA

X. 6

50

16

3.6

1358

A

131.2

48

58 20

60 2

60

±0

.01

2-M4 depth 8

4.5

180

6+0.012

35

Ø6H7 (+0.012)0

0

151+0.0504-M4 depth 8

48

20




10 10


Ø3, 90°

79.5

30

22.5

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Specifi cations

Low Cost and High Performance

Arm Length 600 mm

Industry Leading Ease of Use

High Performance at a Low Cost

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3:Complies with ISO Class 4 cleanroom standards.



Max. motion range

Payload




Joint #3 down forceElectric linesPneumatic linesInstallation environmentAvailable controllerSafety standards




LS6-602Table Top600 mm

6800 mm/s1100 mm/s2000 deg/s


±360 deg2 kg6 kg

0.39 sec0.01 kg•m2

0.12 kg•m2

200 W200 W100 W100 W100 N


Standard/Cleanroom*3

RC90CE compliant, ANSI/RIA15.06-1999

22


[Units: mm]

Standard-model

LS6-602

Motion Range (Table Top Mounting)

LS6-602S LS6-602C


Detail of “A”Detail of “A”

57.7

13

5.5

30

12

9

20275 325 135

2-M4 through hole 30Ø134 150

4-M4 depth 6

10

0

15

016

9

4-Ø9 through hole


10

* Ø38

55

9 174

.5241

20

010

*

178

60

11.8

*

51

50

MA

X. 6

80

16

6.5

(135)10

A

223.4

20

55 5

55

±0

.01

2-M4 depth 10 6.7

through hole6+0.012

41

Ø6H7 (+0.012) through hole0

0

180+0.050

4-M4 depth 10

30

90




10 10

1mm fl at cut


62

30

245

132°

220

492.5

504

150°

2.8°

2.8°

R142.5

132°

R600

4.2°R325

150°

R162.6

4.2°

20

195

4-M4 depth 10

1503520

57.7

13

5.5

30

12

9

20275 325 135

2-M4 through hole 30Ø134 150

4-M4 depth 6

10

0

15

016

9

4-Ø9 through hole

20


6* Ø38

607.

5 174

.5241

170

6*

178

60

9.8

*

53

50

MA

X. 6

80

16

6.5

(135)10

A

223.4

20

55 5

55

±0

.01

2-M4 depth 10 6.7

through hole6+0.012

41

Ø6H7 (+0.012) through hole0

0

180+0.050

4-M4 depth 10

30

90

195

4-M4 depth 10

1503520


10 10

1mm fl at cut


94

30

Ø90

R660

245

132°

380

492.5

504

150°

2.8°

2.8°

R142.5

132°

R600

4.2°

R325

150°

4.2°

R660

86.8

R162.6

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Specifi cations

High Performance SCARA Plus

Arm Length 350 mm

New, Unique Work Space Design

Industry Leading Work Envelope Usage

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm3:1cft) cleanroom standards.



Max. motion range

Payload








RS3-351Ceiling350 mm

6237 mm/s1100 mm/s2600 deg/s


±720 deg1 kg3 kg

0.34 sec0.005 kg•m2

0.05 kg•m2

400 W200 W150 W100 W150 N


Standard/Cleanroom*3 & ESDRC180, RC620+


24


[Units: mm]

Standard-model

RS3-351

Motion Range (Ceiling Mounting)

Reference through hole(View from the top of the base)






Model RS3-351

Arm #1 Length (mm) 175


Joint #1 Motion range (deg) ±225


47.5

113

95

12

0.8

14

0

175

15

175 175 147

34

3-M6throughhole

206

245.5

9.6174

154.8

16

52

95

4

124.8

13

06

*4.8

*14

6.5

473

24

8

171

20

2.5

6

0

58 2

4

90 or more

Space

for Cables

A


10 10

1mm fl at cut

Ø3, 90°Conical hole

48

.5

16

0

80

8

30

15

Manipulator

installation

position

80

±0

.05

Ø6H7 (+0.012)0

6+0.0120

59±0.05

16495

For manipulatormounting 6-6.5through holeØ11 spot facingdepth 6.5(from back side)

225 deg 225 deg

225 deg 225 deg

175 mm

47.5

113

95

12

0.8

14

0

175

175 175 147206

245.5

9.6174

154.816

124.8

15

52

10

08

.5*

7.8

*14

6.5

50

0

24

8

172.5

20

2.5

6

0

58 2

4

90 or more

Space

for Cables

A

Manipulator

installation

position

90

34

3-M6throughhole

95

4


10 10

1mm fl at cut


75

.5

16

0

80

8

30

15

80

±0

.05

Ø6H7 (+0.012)0

6+0.0120

59±0.05

16495

For manipulatormounting 6-6.5through holeØ11 spot facingdepth 6.5(from back side)

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Specifi cations

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command.*3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm3:1cft) cleanroom standards.



Max. motion range

Payload








RS4-551Ceiling550 mm

7400 mm/s1100 mm/s2600 mm/s


±720 deg1 kg4 kg

0.39 sec0.005 kg•m2

0.05 kg•m2

400 W400 W

150 W100 W150 N




Industry Leading Work Space Design

Arm Length 550 mm

Superior Cycle Throughout

Extremely Flexible for Cell or Line Assembly

26


[Units: mm]

Standard-model

RS4-551

Motion Range (Ceiling Mounting)







Model RS4-551





57

113

95

12

0.8

14

0

175

275 275 147206

345.5

9.6174

154.816

124.8

15

60

13

04*

1.8

*16

3.5

49

4

25

5

171

19

6.5

6

0

78

24

90 or more

Space

for Cables

A

Manipulator

installation

position(4

03

.5)


10 1

0

1mm fl at cut


45

.53

0

15

34

3-M6throughhole

95

4

16

0

80

8

80

±0

.05

Ø6 +0.0120

6+0.0120

59±0.05

16495

For manipulatormounting 6-6.5through hole

Ø11 spot facingdepth 6.5(from back side)

225° 2

25°

225° 2

25°

57

113

95

12

0.8

14

0175

275 275 147206

345.5

9.6174

154.816

124.8

15

60

10

06

.5*

3.8

*16

3.5

52

2

25

5

174

19

6.5

6

0

81

21

A

(40

3.5

)


10 1

0

1mm fl at cut


73

.53

0

15

34

3-M6throughhole

95

4

16

0

8

80

±0

.05

Ø6 +0.0120

6+0.0120

59±0.05

16495

For manipulatormounting 6-6.5through hole

Ø11 spot facingdepth 6.5(from back side)

80

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Specifi cations

Mounting typeDegrees of freedomMax. Motion Range

Wrist fl ange surfaceMax. operating speed

Weight (cables not included)RepeatabilityMax. motion range

Payload


Allowable moment of inertia


Electric linesPneumatic linesInstallation environmentAvailable controllersSafety standards

P point: through the center of J4/J5/J6

Joint #1Joint #2Joint #3Joint #4Joint #5Joint #6

Joint #1-#6Joint #1Joint #2Joint #3Joint #4Joint #5Joint #6RatedMaximum

Joint #4Joint #5Joint #6Joint #1Joint #2Joint #3Joint #4Joint #5Joint #6

C3-A601 (C3)

6

600 mm

665 mm450˚/s450˚/s514˚/s553˚/s553˚/s720˚/s27 kg

±0.02 mm

-160 deg~+65 deg-51 deg~+225 deg

±200 deg±135 deg±360 deg

1 kg3 kg

0.37 sec0.15 kg•m2

0.15 kg•m2

0.1 kg•m2

400 W400 W150 W50 W50 W50 W

9Pin (D-Sub)Φ4mm×4



Table Top Ceiling Skewed Wall

±170 deg(±180 deg without the mechanical stop) ±30 deg

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm3:1cft) cleanroom standards.

New, Unique SlimLine Design

Best in Class Motion Range

Compact Wrist Design for Superior Agility

Low Clearance Requirements for More

Flexible Workcell Layout

28

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Motion RangeTop View Lateral View Front View

90 or moreSpace

for Cables

38

.5

12.5

25

4-M4 depth 5

427

2-M4 depth 10

111

95 1

2

4-M4 depth 7

78

9

6

81

25

198

Ø160

154

77

82

2-M4 depth 7

76 23

28

15

4±

0.0

5

2-M4 depth 7

415

48

641.5

A

(Ø60H7)

5

65 250 86Ø

60

H7

92

100

25

03

20

213

19

6.5

40Ø6H7 depth 5

2-M8 depth 16

15

18

9±

0.0

2

75

90

199.5

614.5

6 +0.0120

75±0.05Ø6H7

180

18

0

15

0

4-Ø 1155

±0

.05

110

8

15

109.5

150 1515

90

15

90

R600

R25

7.4

-180 d

eg-1

70 d

eg

+180 deg

+170 deg

R76.8

R500

R167

-135 deg

+225 deg-51 deg

+65 deg

-16

0 d

eg

+135 deg

R191.5

65 250 476.5

100

15

6.4

16

4.9

15

42

09.1

39

3.3

32

08

20

25

0

J4 : -200 deg

J6 : -360 deg

J4 : +200 deg

J6 : +360 deg

29

Specifi cations

*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm3:1cft) cleanroom standards.

High Speed and Exceptional Flexibility

Arm Lengths from 665-965 mm

High Speed and Repeatability for Maximum Productivity

4kg Maximum Payload

Best in Class Motion Range

Compact Design for Maximum Flexibility

Mounting type Degree of feedom Max. motion range Wrist fl ange surface Max. operating speed


Payload




Electric linesPneumatic linesInstallation environment Available controllers Safety standard





6

600 mm

665 mm450°/s450°/s514°/s

27 kg±0.02 mm

0.37 sec

6

900 mm

965 mm275°/s275°/s289°/s

29 kg±0.03 mm

0.47 sec

555°/s555°/s720°/s

±170°-160°～+65°-51°～+225°

±200°±135°±360°1 kg

4 kg(5 kg with arm downward positioning)

0.15 kg•m20.15 kg•m20.1 kg•m2

400 W400 W150 W50 W50 W50 W


Standard /Cleanroom*2 & ESDRC700

CE compliant, ANSI/RIA 15.06-1999

C4-A601 (C4) C4-A901 (C4L)Table Top Table TopCeiling Ceiling

30

Outer Dimensions [Units: mm]C4-A601 / C4-A901

Motion Range

Top View

Top View

C4-A601

C4-A901Lateral View

Lateral View

Front View

Front View

4xM4 depth 5

2xM2 depth 6

2xM4 depth 7

2xM4 depth 7

6565

250400

198 198

77 77 154

154 Ø160Ø160

93

93

640.5

790.5

154±

0.0

5

154±

0.0

5

9±

0.0

215 9±

0.0

215

3202

320

50 400

100

10048

48

199.5199.5

90 90

37.5 37.575 75

614.5

Ø6 h74xØ11

(applicable tolerance is Ø6 h7)55.5

±0.0

58

75±0.05 15

90 1

501

5

180

180 109.51515

111

15090

Ø6 h7 4xØ11

(applicable tolerance is Ø6)

55.5

±0.0

5

75±0.05

15

90 1

50

15

180

180 109.5

1515

8

111

-180°

-180°

-160°

-160°

-135°

-135°

-135

°

-135°

J6:-360°

J6:-360°

J4:-200°

J4:-200°

J4:+200°

J4:+200°

J6:+360°

J6:+360°

-51°-51°

+65°

+65°

+225°

+225°

R191.5

R306.1

-180°

-180°

-170°

-170°

-170°

-170°

P point

P point

P point

P point*

P point

P point

Joint #1

0 pulse

positon

Joint #1

0 pulse

positon

Joints #3, #5

0 pulse

positon

Motion

Joints #3, #5

0 pulse

positon

Motion

Joint #2

0 pulse

positon

Joint #2

0 pulse positon

Joints #4, #6

0 pulse positon

Joints #4, #6

0 pulse positon

476.5

762.5

R167

R800

R500

R267

R250

R400

R250

R400

100

250

400

100

250

400

820

1120

164.9

154

320

320

393.3

437.2

209.1

455.9

154

113.2

156.4

449.8

65

65

R257.4

R351.7

R600

R900

R76.8

R182.8

6 +0.012

0

6 +0.012

0

15090

764.5

415565

198

198

40

2134

213

0

18

18

Ø60h7

Ø60h7

Ø6 h7 depth 5

Ø6 h7 depth 52xM8 depth 16

2xM8 depth 16

(same for the other side)

(same for the other side)(same for the other side)

(same for the other side)

(inclu

din

g t

he la

mp

)

8686

4xM4 depth 7

Space for Cable

90 or more

25111

39.5

78

12.5

25

7842 7

8

95 1

2 6

4xM4 depth 5

2xM4 depth 6

4xM4 depth 7

Space for Cable

90 or more

25

111

39.5 78

77

12.5

25

784 27

8

95 1

2 6

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Specifi cations

Mounting typeDegrees of freedomMax. motion range

Wrist fl ange surfaceMax. operating speed


Payload




Electric linesPneumatic linesInstallation environmentAvailable controllersSafety standards





*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed).*2:Complies with ISO Class 4 (ISO14644-1) and older Class 10 (less than 100.1 μm particles per 28,317cm3:1cft) cleanroom standards.*3:Protected type complies with IP65.

S5-A701 (S5) Table Top Ceiling Wall

6

706 mm

786 mm376°/s350°/s400°/s

36 kg

±0.02 mm ±170 deg ±30 deg

-70 deg~+190 deg

0.44 sec

S5-A901 (S5L) Table Top Ceiling Wall

6

895 mm

975 mm270°/s280°/s300°/s

38 kg

±0.03 mm ±170 deg ±30 deg

-72 deg~+190 deg

0.49 sec

450°/s450°/s720°/s

-150 deg~+65 deg

±190 deg±135 deg±360 deg

2 kg5 kg

0.3 kg•m2

0.3 kg•m2

0.1 kg•m2

400 W400 W200 W50 W50 W50 W




High Speed and Long Reach

High Rigidity Arm = Ultra High Speed

Long Reach and Heavy Payload

Robust SlimLine Design for Increased Flexibility

32

Outer Dimensions [Units: mm]

S5-A701 S5-A901

90 or moreSpace for Cables

114

87

2-M4 Depth 8

55

2x2 M4 Depth 8

(Front & Back)

110

40

4-M8 Depth 16

25

423

298

59

70

310

40

473

752

33

0

66

305

623.2

19

9

150.2

10080

88109109

55

523

398

70

114

110

40

25

87

90 or moreSpace for Cables

2-M4 Depth 8

2x2 M4 Depth 8

(Front & Back)4-M8 Depth 16

40

04

0

573

842

33

0

66

405

723.2

19

9

150.2

10080

88

A

109109

+170° (J1 Arm)

Joint #10 pulse position

P point*

-170° (J1 Arm)

R235

R706

94

8

752

40

310

33

0

24

6

179

15

6

23

9

501 706

30588 80

+135°

-135°

15

+65°225°

-150°

136°

Joint #3, #50 pulse positionMotion

P point*

Motion range of P point*

246203

11451

277233


Joint #4, #60 pulse position

-190° +190°

-360°+360°

Motion Range

S5-A701

S5-A901

Top View Lateral View Front View

Top View Lateral View Front View

+170° (J1 Arm)


P point*

-170° (J1 Arm)

R267

R895

681 89540588 80

+135°

15


198

-135°

-150°

138°

Joint #3, #50 pulse positionMotion

P point*

Motion range of P point*

+65°225°

251209

13214

400341

1137

842

404

00

33

0

42

3317

97

Joint #4, #60 pulse position-190° +190°

-360°+360°

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33

Robot controllers

RC700

High Performance Workcell Controller Industry Leading Ease of Use (EPSON RC+ 7.0) Windows Based Open Architecture Design Works with User Selected PC Fully Integrated Options Including: Vision Guidance, .Net Connectivity, EtherNet/IP, DeviceNet, Profibus, Expansion I/O, Conveyor Tracking, Force Sensing, and more

■■■■

RC620

PC Based Controller Industry Leading Ease of Use (EPSON RC+ 6.0) PC Based Open Architecture Design Industry Leading Ease of Use with EPSON RC+ Software Fully Integrated Options including: Vision Guidance, .Net Connectivity, EtherNet/IP, DeviceNet, Profibus, Expansion I/O, Conveyor Tracking, Force Sensing and more Works with RC+ 6.0

■■■

■

RC620+RC700

System Capabilities

■RC700 Software/Manipulator Support ■RC620+ Software/Manipulator Support

Software

Manipulators

SCARA Robots

6-Axis Robots

Software

Manipulators

SCARA Robots

6-Axis Robots

EPSON RC+ 5.0

EPSON RC+ 6.0

EPSON RC+ 7.0

G Series

LS Series

RS Series

C4/C4L

C3

S5/S5L

——•———•——

EPSON RC+ 5.0

EPSON RC+ 6.0

EPSON RC+ 7.0

G Series

LS Series

RS Series

C4

C3

S5

—•—•—•—••

Fieldbus I/O

USB 2.0 or Ethernet

Multiple Workcells

GUIDevelopment

Conveyor Tracking

EPSON RC+programmingenvironment

PLC

PC

Pendant Manipulators

TP1/TP2

OpenArchitecture

IntegratedVision

IntegratedVision

Robot Controller Robot Controller

Multiple Workcells

Pendant

TP1

Manipulators

GUIDevelopment

OpenArchitecture

Conveyor Tracking

Microsoft® Windows preinstalledPC built into controller

34

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IntegratedVision

IntegratedVision

RC180

Compact Controller Easy Setup Via USB Fits Easily inside Most Control Panel Boxes (SCARA controller: approx. 10l volume; 6-axis controller approx. 13l volume) Use as Stand Alone, PLC Slave or with PC Works with RC+ 5.0

■■

■■

RC90

Low Cost and High Performance Controller Industry Leading Ease of Use (EPSON RC+ 7.0) Easy Setup Via USB Use as Stand Alone, PLC Slave or with PC Wide Variety of Integrated Options Works with RC+ 5.0 or RC+ 7.0

■■■■■

RC180 RC90

■RC180 Software/Manipulator Support ■RC90 Software/Manipulator Support

Software

Manipulators

SCARA Robots

6-Axis Robots

Software

Manipulators

SCARA Robots

6-Axis Robots

EPSON RC+ 5.0

EPSON RC+ 6.0

EPSON RC+ 7.0

G Series

LS Series

RS Series

C4

C3

S5

•——•—•—••

EPSON RC+ 5.0

EPSON RC+ 6.0

EPSON RC+ 7.0

G Series

LS Series

RS Series

C4

C3

S5

•—•—•————

Robot Controller Robot Controller

Fieldbus I/O

USB 2.0 or Ethernet

Multiple Workcells

GUIDevelopment

Conveyor Tracking


PLC

PC

Pendant Manipulators

TP1/TP2

OpenArchitecture

Fieldbus I/O

PLC


PC

USB 2.0 or Ethernet

GUIDevelopment

PendantManipulators

TP1/TP2

35

Outer Dimensions

Space for Cables

1.9

61.

38

6181.9

174

18

16

6

10

30

22

150 or more

22

323 67

420 30

4-Ø4

1.9

210

101346313

430489

2930

1.9 0.9

221.9

22

0.2

15

3.2

27.

727.

7

36

525

30

415

.2

30 30370

3.2

2013

030

31 23296

2013

010

208

642

2.4

18

010

.50.

5

181.9

17.8463

54.5380378

13 13

10

.516

9

13

3.3

517

.85

35

0

30.

92

90

3130

434418 18

Ø24

ModelRobot manipulatorcontrol

Positioning control

Memory capacity

Externalinput/outputsignals (standard)

Communicationinterface (standard)Option Boards(Special slot)

Option Boards(PCI or PCIe slots)

Safety features

Power Source

Weight*1

Programming languageand Robot control softwareJoint Control

Speed Control

Acceleration/deceleration controlNumber of Manipulators

Standard I/O

Standard I/ODrive UnitEthernetRS-232CI/O

RS-232CFieldbus I/OSlave

Pulse Generator

Frame Grabber

Fieldbus I/Omaster

RC620+(UL specifi cation: RC620-UL)

Input: 24Output: 16

1 channel1 port

Input: 24 per boardOutput: 16 per board2 channels/board

1 channel/boardPROFINETPROFIBUS-DPDeviceNetCC-LinkEtherNet/IP

4 Axes per Board

1ch per boardPROFIBUS-DPDeviceNetEtherNet/IP

Including 8 inputs, 8 outputs with remote function assigned Assignment change allowed

per Drive Unit

Maximum of 4 boards allowed


Maximum of 1 board allowed



—

PTP motion: Programmable in the range of 1 to 100% CP motion: Programmable (Actual value to be manually entered.)PTP motion: Programmable in the range of 1 to100%; Automatic

CP motion: Programmable (Actual value to be manually entered.)

PTP (Point-To-Point)CP (Continuous Path)

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

AC 200 V to AC 240 VSingle phase 50/60 Hz

Input: 24Output: 16

4 axes spec : 22.5 kg6 axes spec : 24.5 kg8 axes spec : 22.5 kg

EPSON RC+ 7.0 (a multi-tasking robot OS)

Up to six (6) joints Simultaneous controlSoftware AC servo control

4 units

Maximum Object Size: 8 MBPoint data area: 1000 points (per fi le)Backup variable area: Max. 400 KB (Includes the memory area for the management table.)Approx. 4000 variables (Depends on the size of array variables.)

RC700


Up to eight (8) joints Simultaneous controlSoftware AC servo control

Max. 16 units (up to 20 axes)


Input: 24Output: 16

Input: 24Output: 16

2 channels1 port

Input: 32 per boardOutput: 32 per board4 channels/board


4 Axes per Board

Standard Frame GrabberAdvanced Frame Grabber



per Drive Unit







11 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.*2: Including RS series.

+

36

Outer Dimensions

2013

030

2329631

13

010

2020

86

42

380378 54.5

16

910

.5

1

13

3.3

5

2.4

17.8

25

18

0

181.9

0.5

10.5

13 463 13

1834418

4

3130

29

030.

9

35

0

275

170.5130.5

3025

ModelRobot manipulatorcontrol

Positioning control

Memory capacity

Externalinput/outputsignals (standard)

Communicationinterface (standard)Option Boards(Special slot)

Option Boards(PCI or PCIe slots)

Safety features

Power Source

Weight*1

Programming languageand Robot control softwareJoint Control

Speed Control

Acceleration/deceleration controlNumber of Manipulators

Standard I/O

Standard I/ODrive UnitEthernetRS-232CI/O

RS-232CFieldbus I/OSlave

Pulse Generator

Frame Grabber

Fieldbus I/Omaster

RC180(UL specifi cation: RC180-UL)

Input: 24Output: 16

1 channel

Input: 32 per boardOutput: 32 per board4 channel/board






—

—

—

PTP motion: Programmable in the range of 1 to 100% CP motion: Programmable (Actual value to be manually entered.)PTP motion: Programmable in the range of 1 to100%; Automatic

CP motion: Programmable (Actual value to be manually entered.)

PTP (Point-To-Point)CP (Continuous Path)

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

AC 200 V to AC 240 VSingle phase 50/60 Hz

—

For SCARA robot*2: 9.0 kg (Base unit without option)For Six-axis robot: 10.5 kg (Base unit + ProSix Driver Unit)Option unit: 1.0 kg (Incase of installing 2 option boards)


Up to six (6) joints simultaneous controlSoftware AC servo control

1 unit (up to 6 axes)


—

RC90EPSON RC+ 5.0 (a multi-tasking robot OS) Ver. 5.4.1 or later is recommendedEPSON RC+ 7.0 ( a multi-tasking robot OS)

Up to four (4) joints simultaneous controlSoftware AC servo control

1 unit (up to 4 axes)


Input: 24Output: 16

1 channel

1 port

Input: 24 per boardOutput: 16 per board2 channel/board


4 Axes per Board








7.5 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.*2: Including RS series.

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37

Robot Controller Options

Compatible controllers

Vision Guide

Vision Guide — the user-friendly way to bring workcells online quickly

Easy-to-use GUI simplifies camera and robot coordinate calibration.Workpiece position can be determined from robot coordinates, eliminating the need for complex calculations.No programming required. Image processing sequence can be set up via simple drag & drop operation and parameter entry.Image processing operations can be executed using robot language commands — no transmission program is required.Vision operations are easily executed from within the SPEL+ Environment. Vision sequences are run via 3 easy SPEL+ language commands (VSET, VGET, VRUN).

■

■

■

■

■

RC700 RC620+ RC180 RC90

Vision Tools

Robot Controller

Robot Controller

PC(supplied separately)

PC(supplied separately)

Ethernet

PoE Injector

PoE Ethernet Switch

CV1

USB

Camera

GigE Camera

Extension Tubes

Extension Tubes

Camera Lens

Camera Lens

Parameter SettingsRobot Operation + Vision Program

■ Supported peripherals

Compact VisionTwo cameras can be supported by each unit, minimizing space requirements.

PC VisionPC is used for image processing, so users control the speed of vision processing.Up to eight cameras are supported.

Controller RC700 RC620+ RC180 RC90

Compact Vision (CV1)

PC Vision (PV1)

CV1

PV1

(supplied separately)

E

Vision Guide5.0/6.0/7.0software

Vision Guide 7.0software

A wide range of integrated controller options are available to reduce development time.

38

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RC620+ RC180RC700

RC700

RC90


RC620+ RC180 RC90

RC+ 7.0 API

VB Guide

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.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

■

■■■■

RC620+ RC180 RC90


ECP

External Control Point Operation for Precise Positioning Without Complex Calculations

For processes requiring the workpiece to be moved againsta fixed tool, external control points can be used to ensureprecise positioning.Up to 15 external control points can be set.

■

■

External ControlPoint

Outside FixedTool

Part

RC700

39


Easily create a Graphic User Interface for OperatorsFully integrated within EPSON RC+ Development EnvironmentCreate GUI’s without Visual Studio or other 3rd party software toolsCreate and debug GUI forms from your EPSON RC+ ProjectForm and Control Events are Executed as SPEL+ TasksWorks with RC700, RC620+, RC180, and RC90 Controllers

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 with supports .Net library usage.

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GUI BuilderCompatible controllers

RC700 RC620+ RC180 RC90

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■ Steps to use GUI Builder

STEP 1

STEP 3

STEP 2

STEP 4

Create a new form and click the Button control from the GUI Builder Toolbar and drag it to the form.

Add more graphics components on your form and associated SPEL+ code as required for your application.

Double click the button and the code editor will appear. Add the SPEL+ code you want to execute when the button is clicked from your application.

Run the application from the EPSON RC+ Run Window or set to have the GUI come up automatically. You can also bring up RC+ dialogs like the I/O monitor shown here.

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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)

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Parts of the GUI Builder Window

Toolbar

Design Area

Forms Explorer

Property Grid

Events Grid

Design AreaThis 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 ButtonsContains the various controls to be put on a GUI Builder Form. Many of the common controls are supported 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 ExplorerA 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 GridUsed 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 GridUsed 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.

■ GUI Builder Area Definitions


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Restrict User Access to ProgrammingFunctions for Greater Safety and Security*

Password-based protection levels can be set to restrictaccess to some parts of the EPSON RC+ system.Helps prevent accidental or unauthorized alteration ofcontrol programs when multiple operators need tohave access to basic controls.Keeps a log of every time changes are made tosource code.

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Integrated Force-Sensing Technologyfor Realtime Force Control

Allows you to easily integrate force-sensingcapability 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 motionwhen a specific force level is reached.Up to two sensors can be mounted; data fromsensors can be shared by multiple programs.

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*ATI Industrial Automation, Inc. force/torque components must be purchased separately.

*Standard on RC700 and RC90 controllers.

Optical Character Recognition of Text on Parts and Labels

For use with optional Vision Guide system.Enables you to specify the font, font size, andnumber of characters of text that you want to read from an image.

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A font creation function lets you create SEMI fontsand user-defined fonts from imaged characters orASCII conversion files.

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G3 series robot(gamma force sensor sold separately)

force

torque

z

yx

SecurityCompatible controllers

RC700 RC620+ RC180 RC90

Force-SensingCompatible controllers

RC700 RC620+ RC180 RC90

OCRCompatible controllers

RC700 RC620+ RC180 RC90

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Versatile Control with Just a Few Keystrokes

Easy-to-Use Pendant for Teaching

Control Peripheral Devices for Fully Integrated Process Automation*

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.Can step through programs even when safetydoor is open.

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Point data save, edit, and load functionsKeyword candidate display, search, andline jump functionsI/O and task monitoring functionsProject/system data backup and restorefunctionsReduced operating speed in teachmode for enhanced safety andprogramming ease

Features

Universal design ensures ease of use for bothright-handed and left-handed operators.Connects directly to operator unit or controllerinterface card.

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EPSON RC+ software and pulse generator (PG) cardsenable control of multiple third-party drivesand motors.PG robots and standard EPSON RC+ system robots canbe operated simultaneously, and controlled using thesame commands.

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PG cards can be used to control X/Y tables, sliders, rotary tables, and a wide range of otherproduction/inspection line peripherals. Each PG card has 4 channels, and can support from1 to 4 robots. Up to 4 cards can be installed.

*Drivers and motors for third party devices not included

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Teaching Pendant TP2Compatible controllers

RC700 RC620+ RC180 RC90

PG Motion SystemCompatible controllers

RC700 RC620+ RC180 RC90

Teach Pendant TP1Compatible controllers

RC700 RC620+ RC180 RC90

Precision Tracking for High-Productivity Pick-and-Place Operation

Supports vision or sensor based conveyor tracking.Vision system with Vision Guide software detectsmoving parts for pick-and-place handling.Multi-conveyor, multi-effector setups are supported.Can automate manual kitting/packaging tasks and help maintain productivity with continuous conveyor operation. Can also be used for workpiece assembly.Simple start/stop program execution.

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CameraRobot 1

Robot 2

Encoder

Control unit

Conveyor(up to 16 supported)

Controller

Conveyor TrackingCompatible controllers

RC700 RC620+ RC180 RC90


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The Convenience of a Built-In DVDMulti-Drive

The RC620+ controller can be equipped with a DVD drive for easy program installation and data recording.

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DVD DriveCompatible controllers

RC700 RC620+ RC180 RC90

Interface Cards Expand YourSystem Options

Each option unit holds 2 interface cards; up to 2option units can be mounted (4 interface cards total)

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Option UnitCompatible controllers

RC700 RC620+ RC180 RC90

RAID Support for Enhanced BackupData Integrity*

RAID support for high-integrity data backup.■

*Factory default option

RAID OptionCompatible controllers

RC700 RC620+ RC180 RC90

Give Your Controller a Memory Boost

CPU memory can be increased from 1GB to 2GB.■

Memory ExpansionCompatible controllers

RC700 RC620+ RC180 RC90

Bidirectional High-SpeedPeripheral Connectivity

Support for DeviceNet®, PROFIBUS®, andEthernet/IP® networked peripherals (1024-point I/O).

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Fieldbus I/O (Master)Compatible controllers

RC700 RC620+ RC180 RC90

Expanded Serial Port Connectivity

4-port (for RC180/RC620+ controllers)and 2-port (for RC700/RC90 controllers)RS-232C cards to connect serial interface devices.

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RS-232C CardsCompatible controllers

RC700 RC620+ RC180 RC90

Expanded Input/Output Flexibility

32-point I/O (forRC180/RC620+controllers) and 24inputs/16 outputs(for RC700/RC90 controllers)expansion cards.

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I/O Expansion CardsCompatible controllers

RC700 RC620+ RC180 RC90

High-Speed Peripheral Connectivity

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

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Fieldbus I/O (Slave)Compatible controllers

RC700 RC620+ RC180 RC90

Easy Connectivity and Touchscreen Control

Controller and errorstatus display.Oil-and dust-resistantconstructionSimple start/stopprogram execution.

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IP65protection

Operator Panel OP1Compatible controllers

RC700 RC620+ RC180 RC90

IP65protection

Emergency Stop SwitchCompatible controllers

RC700 RC620+ RC180 RC90

Helps prevent injuries and damage

Immediately stops robot operation in emergency situations.

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I/O Cable KitCompatible controllers

RC700 RC620+ RC180 RC90

Cables and connectors for easy connectivity with no soldering required

A wide range of I/O cables and connectors are available.

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G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5

Compatible robot manipulators

External Wiring Units

Simplifies Wiring when Mounting EndEffector Options

Enables easy, on-site connection of external wiringby users.Ideal for connecting Vision Guide system cameracables or other wiring.

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Enhances Handling/Processing Versatility andSimplifies End Effector Changes

Enables Brake Release so Robot Arm Can be Movedby Hand When Power is Switched Off

Standard 3m Cables, or Optional 5m and 10m Cablesfor Greater Freedom in Controller and Robot Placement

Securely Mount Machine Vision System Camera to Robot Arm

An External Drive Unit to Increase theNumber of Robots that Can be Controlledwith a Single RC620+ Controller

Robot Manipulator Options

Bracket design varies according to robot; please specify model when ordering.

G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5Tool AdaptersCompatible robot manipulators

G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5Brake Release UnitsCompatible robot manipulators

G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5Power and Signal CablesCompatible robot manipulators

G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5Camera Mounting BracketCompatible robot manipulators

G1 G3 G6 G10 G20 LS3 LS6 RS3 RS4 C3 C4 S5RC620+ DU Drive UnitCompatible robot manipulators

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46

Options Quick-Reference Table

Controller Options

Teaching Pendant (TP1)

Teaching pendant (TP2)

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

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

Force Sensing

OCR

Robot Manipulator Options

External Wiring Units

Tool Adapters

Brake Release Units

Power and Signal Cables

Camera Mounting Bracket

External Drive Units

RC620+

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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 productivity with minimum programming overhead.

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

SPEL+ Language Support

Multitasking Function

Easy Alignment with Palletized Parts

High Repeatability with Varying Payloads and End Effector Orientation

High-Speed, High-Precision, 3D Continuous Path Control

Positioning Completion Time Control for Maximum Efficiency

With Epson’s programming language, even complex

multitasking processes can be automated with ease. Up

to 32 individual tasks can be seamlessly executed and

controlled by a single program. Up to 512-channel input/

output expandability, Vision Guide machine vision, and

pulse generator control of peripheral equipment can all be

utilized to achieve full process automation.

If parts are arranged in a

rectangular layout, spaced

at regular intervals, the

PALLET command can be

used to quickly and

precisely position the

end effector.

Once the operator has set workpiece and end effector

weight, weight range, and end effector orientation,

acceleration is automatically adjusted to reduce

residual vibration and ensure high repeatability.

All Epson robot systems offer the fast, precise,

three-dimensional continuous path (CP) control needed for

high-productivity coating and sealant application

processes. Advanced linear interpolation, arch

interpolation, and free curve motion

enable precise effector control, and

simple PASS commands can be used to

evade obstacles within the workcell

space. Programmed paths can

reference either a tool-centered control

point or an external control point.

A time limit can be set for the completion of robot

positioning to enable the next instruction to be executed

even if the target point has not been reached. This allows

you to maximize your yield by prioritizing takt (cycle) time

over precision, or vice versa, according to the nature of the

work to be done.

Controller

Task 1

Task 4

Task 9

Task 10

Task 15

Task 16

Example

Robot Arm

Vision Guide option

Workpiece feeder unit 1

Workpiece feeder unit 2

Workpiece offl oad unit

Waste removal unit

Simply set points P1, P2, and P3 — all other points are set automatically.

Example Program

Function main Motor On *turn motor power on Power High *Power mode set high Speed 100 *Speed 100% Accel 100, 100 *Acceleration/Deceleration 100%

If Sw(partok) = On Then *Checking if good part Jump goodparts *move arm to goodpart pile Else Jump badparts *move arm to bad part pile EndIf

Fend

Pallet

Handling weight & inertia

High-speed continuous path accuracy

Multitasking

Positioning Precision

Arch motion

Parallel processing

Remote control expansion I/O

On-the-fl y pickup

Pallet

Weight, Inertia

CP

Xqt

Fine

Arch

!...!

AvoidSingularity

EpsonRC+5.0

EpsonRC+6.0

EpsonRC+7.0 command

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EPSON RC+ Program Development Software

47

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48

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.

Simulator

Layout Evaluation

Record & Playback Functions

Clearance Checking

Productivity Forecasting

Debugging Function

Machine Vision Simulation*

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.

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Recording & playback functions make it easy to include

still images and movies in presentations.

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Choosing the right robot is easy because you can check

all necessary workcell and peripheral equipment

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Cycle times can be measured in advance and used to

generate throughput and productivity forecasts before

actual setup.

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Machine vision image processing input can also be used

within simulations.

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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.

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* Multi-robot simulations are only supported with EPSON RC+ 7.0

* Vision Guide simulation supported with EPSON RC+ 7.0

Pallet/hand display from CAD data.

Enlarged view of hand.

EPSON RC+ Program Development Software

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3D Jump with Variable Arch forUltra-Precise Short-Distance Movement

EPSON SCARA and 6-axis robots all support JUMP

command movements in three-dimensional space, and the

arch described by the approaching and departing effector

can be set to suit the work environment.

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.

Parallel Processing for Higher Speed and Effeciency

Parallel processing enables you to control peripheral

devices while the robot arm is in motion. Discrete I/O can

be used to ensure sychronized control of multi-device

processes for maximum throughput efficiency.

Conditional Stop (1)

Input conditions (set in advance via SENSE command) are

checked just before the arm begins its descent. If the

conditions are satisfied, the robot stops above the target,

without descending.

Conditional Stop (2)

If input conditions (set in advance via TILL command) are

satisfied during arm operation, the arm immediately

decelerates and stops. Cycle time is reduced because arm

movement can continue uninterrupted until conditions

are met.

Operating Speed andAcceleration/Deceleration Settings

Operating speed and acceleration/deceleration of the arm

can be set as a percentage of maximum from 1-100%.

PTP motion

CP motion

Maximum point-to-point speed is set as apercentage relative to the maximum speed. Acceleration and deceleration values canalso be set.

For continuous path motion, maximum endeffector speed ranges up to 2000mm/s, andmaximum acceleration/deceleration speedranges up to 2500mm/s.

Teaching Methods

● Remote Teaching

Points are taught using the jog keys on the

teaching pendant to move the effector to the target.

This method is especially useful for operations that

require very high precision because the jog keys

allow adjustment in units as small as the resoluion

of each axis.

● Direct Teaching

Points are taught by disengaging the motor of each

axis and moving the effector to the target by hand.

(Direct teaching is not supported for 6-axis robots.)

● MDI Teaching

Points are taught by inputting predetermined

coordinate values without moving the arm.

a: Z-axis vertical ascent (mm; departing)b: Z-axis vertical decent (mm; approaching)z: Horizontal travel (mm)

Ready signal

End effectorstandby positionafter completion

Input conditionschecked justbefore descent

End effector stopposition directlyabove target

Target Positioning

Arm motion stops

Condition satisfied

Multitask Programming Ease

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■ 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.

Drawing on our global expertise in customized robotic

solution development, we will continue to provide

customers with the tools they need to automate

manufacturing processes and achieve higher productivity.

By creating the world’s most trusted and reliable industrial

robots, we pledge to deliver the true customer value that

is the hallmark of every Epson product.

Japan

Taiwan

Southeast Asia

Rebulic of Korea

China

Europe

North America

South America

Product specifi cations and appearance are subject to change without notice.Microsoft, Windows, Visual Basic, Visual C, and the Windows logo are registeredtrademarks of Microsoft Corporation.DeviceNet and Ethernet/IP are registered trademarks of the Open DeviceNetVendor Association, Inc.

CC-Link is a registered trademark of the CC-Link Partner Association.PROFIBUS is a registered trademark of PROFIBUS International.LabVIEW is a trademark of National Instruments Corporation.

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EPSON Robots18300 Central AvenueCarson, CA 90746

Tel: +1 (562) 290-5910Fax: +1 (562) 290-5999

E-mail: [email protected]: epsonrobots.com

Safety Precautions Please read associated manuals carefully before installing or using our robot products. Always use products properly per guidelines in the manuals.

Specifications are subject to change without notice. Epson is a registered trademark and Exceed Your Vision is a registered logomark of Seiko Epson Corporation. Epson RC+, SPEL+, and Better Products for a Better Future are trademarks of Seiko Epson Corporation. Built to Perform is a trademark of Epson America, Inc. 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 2014 Epson America, Inc. EPSON reserves the right to make changes in specifi cation at any time and without notice. The information furnished in this document is believed to be accurate and reliable. However, no guarantees are made. For the latest information, check our website at: www.epsonrobots.com. Windows, Windows XPTM, Windows VistaTM and Microsoft are trademarks of Microsoft Corporation. Ver: EPSONCatalogB (R3-8014)

Epson FA Systems Dept.ISO9001 certified April 1995

Epson FA Systems Dept.ISO14001 certified April 1998

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