SCARA robots
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Direct inquiries to Factory Automation Systems Dept. Suwa Minami Plant 1010 Fujimi, Fujimi-machi, Suwa-gun, Nagano-ken, 399-0295 JAPAN Please inquire at URL
TEL: 81-266-61-1804 FAX: 81-266-61-1846 http://www.epson.jp/e/products/robots/
Safety Precautions
Epson FA Systems Dept. ISO9001 certified April 1995 Epson FA Systems Dept. ISO14001 certified April 1998
Please read associated manuals carefully before installing or using our robot products. Always use products properly per guidelines in the manuals.
EC124R2291F Correct as of April 2012
6-axis robots
Robot controllers
System options
Starts smart, stops smart. The new gold standard in precision automation.
Epson has been a leader in industrial robot technology for over 30 years. Our robotic systems reflect decades of experience in high-precision
INDUSTRY FIRST
INDUSTRY FIRST
INDUSTRY FIRST
INDUSTRY FIRST
1986
1994
1997
2001
Short-arm SCARA robot introduced
Wall/ceilingmount SCARA robots introduced
1982
ISO Class 1 cleanroom IMicrosoft® Windows® Epson compliance achieved OS support introduced mass-production assembly robot developed INDUSTRY FIRST INDUSTRY FIRST Multitasking introduced
1
Variable arc motion introduced
INDUSTRY FIRST
INDUSTRY FIRST
2009 Compact high-speed 6-axis C3 robot introduced
2009 Ceiling-mount RS3 SCARA robot with 360° rotation introduced
A proven reputation for precision and reliability at the leading edge of
micro-component assembly, and are globally recognized for their speed,
industrial robot design
greater precision and efficiency. Whatever manufacturing challenges you
accuracy, and ease of use. Now, we've taken productivity to the next level with Smart Motion Control Technology—a powerful new advance for even
face, Epson industrial robots stand ready to meet your needs with the gold standard in precision automation.
Antistatic system developed
2
G Series Top-class speed and repeatability
SCARA robots
Epson G Series robots stand at the top of their class* in speed, precision, and low residual vibration.
Epson offers SCARA robot systems to meet virtually every assembly and industrial process automation need. Whatever your reach and payload requirements, there's an Epson SCARA system that can satisfy them.
Available to meet virtually any application need, they include models that can be configured for multitasking, cleanroom, antistatic, or washdown process use.
*As of April 2012
A new dimension in SCARA performance
Precision assembly
The RS Series ceiling-mount design and rotating arm
C Series, S Series Unrivaled speed and performance in the tightest quarters
enable maximum productivity in minimum space.
High-speed handling performance
6-axis robots
Innovative arm design eliminates work area dead Full automation of manual processes
space, ensuring greater freedom of movement and significantly faster cycle times.
Epson C Series and S Series 6-axis robots are
Epson's proven line of 6-axis robots now ensures even higher manufacturing quality and productivity with exclusive Smart Motion Control technology for precise control of speed, path, and effector position.
LS Series Outstanding cost-performance and reliability With their small footprint and big feature set, LS Series robots are the cost-effective solution for all kinds of pick-and-place and assembly tasks. Ideal as
designed and developed to offer speed and motion efficiency that give productivity a big boost. High-rigidity arms and ultra-precise path control let you take full advantage of 6-axis effector movement. High repeatability at all load levels is ensured by
Angled/interior assembly and packaging applications
replacements for older Cartesian units, they feature dedicated controllers for unrivaled operating ease.
high-rigidity arm design and advanced inertial control technology that optimizes acceleration and
Multidimensional sealant application processes
deceleration to ensure consistent handling with heavy loads.
Enhanced production layout flexibility in limited space
SCARA robots
6-axis robots
G series G1
G3
03 T 4-axis
1/
MAX
03 T
1.5
3-axis
Kg
P5-6
03 3
Clean type ISO 03 (Class 10 equiv.) ESD suppression
MAX
W/C
3
Kg
04
Clean type ISO 04 (Class 100 equiv.)
D
Protected type IP54
RS series
C series
S series
G10/G20
LS3/LS6
RS3/RS4
C3
S5
03 D P T W C
03 D P T W C
04 T
03 C
03 T W C
04 P T W C
6
10/20
Kg
MAX
P11-14
P
LS series G6
MAX
P7-10
Robot controllers
Protected type IP65
T
Kg
P15-18 Table Top mount
W
Wall mount
C
MAX
3/6
Kg
P19-22 Ceiling mount
W/C
MAX
3/4
P23-26
Kg
MAX
3
Kg
P27-28
5
MAX
Kg
P29-30
RC620 RC180 RC90 P31-32
System options
■ Robot controller options ■ Software options ■ End effector options ■ System option
quick-reference table
P33-38
Wall/ceiling multi-layout mount
4
G series SCARA robot
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
a
208
83
108
88
83
100
88
28.7
208
108
■ At only 8kg, our lightest G series robot
a
100
100
28.7
SCARA robots
Compact, high-rigidity body for precision assembly and press-fit applications
Cleanroom-model
100
Standard-model
■ Available with 175mm or 225mm arm ■ Triple-axis model for heavier payloads
50
75
50
50
75
50 6-Ø 6.5 Drilled hole
b
181.8 15 107
139 10
32
+0.012 0
39.5±0.05 2-Ø4
+0 012 depth 0
88
3
not penetrable
88
not penetrable
10.5±0.05
+0 012 40
4
+0 012 depth3 0
Ø4
44±0.05
44±0.05
110±0.05
+0 012 0
110±0.05
+0 012 0
Reference through hole (View from the bottom of the base)
Reference through hole (View from the bottom of the base)
±0.008 mm
±0.005 mm
0.5 kg 1.5 kg
a b
Detail of “A” (Calibration point position of Joints #3 and #4)
0.30 sec
Ø 16 mechanical stop diameter
G1_221S 125 Max.545
a b
Detail of “A” (Calibration point position of Joints #3 and #4)
G1_171CS G1_221CS 75 125 Max.515 Max.545
■Motion Range (Table Top Mounting） G1-221SZ
4-axis
Model
G1-221CZ
G1-171S
a
g
h d
j k
c
f h
d
f
c
a
c
g
c e
e
q
q
b
b
b 125
g
G1-171C
3-axis
G1-221S
G1-221C G1-171SZ G1-171CZ G1-221SZ G1-221CZ
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
a
Motion range of Joint #1 (degree)
125
c
Motion range of Joint #2 (degree)
e
Mechanical stop area
b
Joint #1 angle to hit mechanical stop (degree)
3
d
Joint #2 angle to hit mechanical stop (degree)
3
59.6
140 60.4
64.8
70.9
86.4
125 62.6
152
149
135
123
52.8
56.2
69.2
82.5
5
1.3
3
3 4
89.2
94.4
125 135
132 82.2
3 4
7
b
All joints: 50 W
-
Ø 8 h7 shaft diameter
G1_171S 75 Max.515
c
0.29 sec
4
Ø 8 h7 shaft diameter Ø 16 mechanical stop diameter
-
0.30 sec
5
100 mm (80 mm)
0.0003 kg・m 2 0.004 kg・m 2
1mm flat cut
16
1mm flat cut
±135 deg (±132 deg)
4
±125 deg
16
±135 deg (±123 deg）
8.5
-
±152 deg (±149 deg）
31.5
±0.01 mm
50 N Home-return-less 24Pin（D-Sub 9+D-sub 15) Φ4mm×1, Φ6mm×2 Standard/Cleanroom *3 &ESD RC180, RC620 CE compliant, ANSI/RIA15.06-1999 *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 28,317cm 3:1cft) cleanroom standards.
5
2
+0.012 0
4
-
100 mm (80 mm) ±360 deg 0.5 kg 1 kg 0.29 sec
2-Ø4
125
5
5
±140 deg (±140 deg)
Ø4
8 kg ±0.008 mm
±0.01 mm ±0.01 deg ±125 deg
225 mm 3000 mm/s 1200 mm/s
d
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
±0.005 mm
25 20
39.5±0.05
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
175 mm 2630 mm/s
225 mm 3000 mm/s 1200 mm/s 3000 deg/s 8 kg
a
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2 (Cleanroom model) Z stroke (Cleanroom model) Joint #4 Rated Maximum
175 mm 2630 mm/s
j k
Standard cycle time *1 Joint #4 allowable moment of inertia*2
Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
G1-221*Z
2x2-M4 depth 6
10.5±0.05
+0 012 40
Table Top
d
Payload
Table Top
c
Max. motion range
3- axis G1-171*Z
G1-221*
a
Weight(cables not included) Repeatability
125
5
96
4-axis G1-171*
90 or more Space for Cables
175
Robot controllers
■Specifications
41.5
＊indicates the stroke margin by mechanical stop.
＊indicates the stroke margin by mechanical stop. 2x2-M4 depth 6
Mounting type Arm length Max. operating speed
72
2
±0.01°
25 20
Motor power consumption
90 or more Space for Cables
175
72
Joint #4
80 3*
139
159.5
2.5*
15
41.5
Repeatability
A
96
Joint #1, #2
10
±0.008 mm
104
±0.005 mm
100
0.30 sec
159.5
0.29 sec
A
6*
Standard cycle time
2.5 *
Rated 0.5 kg / Max 1 kg (4-axis), 1.5 kg (3-axis)
Payload
b
225 mm
35
175 mm
6-axis robots
Arm length
180.8
200.8
■ G1 specifications
201.8
6-Ø 6.5 Drilled hole
140
6
G series SCARA robot
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
Standard-model a
42.5
169 32.5
130
a
169 32.5
2-M3 depth 8 2-M 5 depth 10
2- M 5 depth 10 20
130 2-M3 depth 8
20
42.5
SCARA robots
Compact, with high speed and low vibration for one-rank-up performance
Cleanroom-model
67 120 158
20
140
101
120
23
116
140
101
■ Small footprint, yet has long reach
120
■ Available with straight or curved arm
23
116
■ Handles small, heavy payloads up to 3kg
4- Ø 9
4- Ø 9 2-Ø 9
67 120 158
2-Ø 9
20
■ G3 specifications 250 mm
Arm length
Payload
300 mm
350 mm
Rated 1 kg / Max 3 kg
±0.008 mm
±0.01 mm
Repeatability Joint#4
Ø 30
̶
±142deg (±142deg）
-110∼165 deg -165∼110 deg -120∼165 deg (-120∼160 deg) -165∼120 deg (-160∼120 deg)
0.41 sec
0.43 sec
0.005 kg・m 2 0.05 kg・m 2 200 W 150 W 150 W 150 W 150 N Home-return-less 15Pin (D-Sub) Φ4mm×1, Φ6mm×2 Standard /Cleanroom *4 & ESD RC180, RC620 CE compliant, ANSI/RIA15.06-1999
b 394.2 129
143
10.7 *
30
10
10
120
129
143
199.5
4.1 *
9.6 *
±120 deg
-105∼130 deg -130∼105 deg -120∼160 deg (-120∼150 deg) -160∼120 deg (-150∼120 deg)
150 mm (120 mm) ±360 deg 1 kg 3 kg
*1:Can be mounted on wall or ceiling. *2:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg 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 28,317cm 3:1cft) cleanroom standards.
7
±140 deg
52.5
126±0.05
126±0.05
6 +00 012 Through hole
1 mm flat cut
0.41 sec
012 6 +0 0 Through hole
Conical hole Ø3,90°
8 120
̶
±0.01 mm
79.5
̶
＊indicates the stroke margin by mechanical stop.
＊indicates the stroke margin by mechanical stop.
22.5
̶
90 or more Space for Cables
30
̶
26
150
̶
±0.01 mm ±0.005 deg ±115 deg ±135 deg (±135 deg)
127
System options
Standard cycle time *2 Joint #4 allowable moment of inertia*3 Rated Maximum Joint #1 Motor power consumption Joint #2 Joint #3 Joint #4 Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
̶ ̶
±140 deg ±142 deg (±141 deg) -125∼150 deg -150∼125 deg -135∼150 deg (-135∼145 deg) -150∼135 deg (-145∼135 deg)
1100 mm/s 3000 deg/s 14 kg
51.5
86
1010
Payload
±140 deg ±141 deg (±137 deg)
±0.01 mm
350 mm 4350 mm/s
90 or more Space for Cables
8 120
Common
±0.008 mm
Multiple
1 mm flat cut Conical hole Ø3,90°
Max.Ø11 through hole
10
Curved
300 mm 3950 mm/s
Table top
127
45.5
Straight
Joints #1, #2 Joints #3 Joints #4 Joints #1 Joints #2 (Cleanroom model) Joint #1 Right hand Left hand Joint #2 Right hand (Cleanroom model) Left hand (Cleanroom model) Joint #3 (Cleanroom model) Joint #4 Rated Maximum
Multiple *1
Table top
51.5
86
30
Max. motion range
Arm #1, #2 Joints #1, #2 Joints #3 Joints #4
Table top 250 mm 3550 mm/s
G3-351**-*
10 10
Weight(cables not included) Repeatability
G3-301**-*
G3-251*
A
Robot controllers
■Specifications
194
394.2
A
199.5
6.7 *
Curved arm
36
Straight arm
36
b
194 454
Arm shape
563.5
±0.005° Straight Curved (R)/Curved (L)
Mounting type Arm length Max. operating speed
Ø 30
10.7 *
0.41 sec
6-axis robots
Joint#1, #2
0.43 sec
6.7 *
0.41 sec
Standard cycle time
Ø6 H7 ( +00 012 ) Through hole
Ø16 h7 shaft diameter Ø30 mechanical stop diameter
Detail of “A” (Calibration point position of Joints #3 and #4)
Through hole
Ø30 mechanical stop diameter
Reference through hole (View from the bottom of the base)
a b
012 Ø 6 H7 ( +0 0 )
Max.Ø11 through hole Ø16 h7 shaft diameter
G3_251S 120 Max.545
G3_301S 170 Max.575
G3_351S 220 Max.595
Detail of “A” (Calibration point position of Joints #3 and #4)
Reference through hole (View from the bottom of the base)
a b
G3_251C 120 Max.545
G3_301C 170 Max.575
G3_351C 220 Max.595
8
■Outer Dimensions（Multiple Mounting）
[Unit: mm]
Standard-model
Cleanroom-model
■Motion Range (Table Top Mounting） Straight Arm
[Unit: mm]
G3-251S
51.5 012 6 +0 0 Through hole
d
200
101
23
116
200
140
101
120
8
8 23
g
d
fg h
b
176
73
47 20
6-Ø 9 126±0.05 12
012 ) Ø 6 H7 ( +0 0 Through hole
47 20
73
158
6-Ø9 126±0.05 12
158
Left-Curved Arm
Motion range
a
Motion range of Joint #1 (degree)
c
Motion range of Joint #2 (degree)
e
Mechanical stop area
b
Joint #1 angle to hit mechanical stop (degree)
d
Joint #2 angle to hit mechanical stop (degree)
130 84
h
e
p
z
j
n
104.8
a
141
137
x
f
Ø 30
146.6 142 134.2
3.8
4.8
3.8
Left-Curved Arm G3-301C-L
G3-351S-L
170
130 191.6, 100.3
120.7, 86.8 150, 125
191.6, 107.5 165, 110
150, 135
145, 135
h,k Mechanical stop area
G3-351C-L 220
130
m,j Motion range
f,z Joint #2 angle to hit mechanical stop (degree)
141 96.2
6.3
79.5, 113.2
b,d Joint #1 angle to hit mechanical stop (degree)
b
142.3
2 2.3
Length of Arm #1 (mm)
e,g Motion range of Joint #2 (degree) q r
d
e
130 107.1
142
79.3
a,c Motion range of Joint #1 (degree) 219
t s
g y
Ø 30
G3-351C 220
140
p-n Length of Arm #2 (mm)
k m
G3-351S
130 92
G3-301S-L
n 10.7 *
f
G3-301C 170
Model
c
G3-351S-L
g
012 ) Ø 6 H7 ( +0 0 Through hole
120
h-g Length of Arm #2 (mm)
c q
b
Length of Arm #1 (mm)
G3-301S
165, 120
160, 120
97.0, 183.0
97.0, 184.2 5, 4
3, 6 3.3, -
8.3, 3.8
2.8, 3.8
7.8, 3.8
g
c
h g
69 119
q r
b
t s
e x
e,g Motion range of Joint #2 (degree)
36
f,z Joint #2 angle to hit mechanical stop (degree)
4.1 *
86
Straight Arm c
c
[Unit: mm]
130
130
120.7
142.3 120
f
j k
d
g
1010
c
h 70
z
115
Motion range of Joint #2 (degree)
135
142
e
Mechanical stop area
112
134.2
b
Joint #1 angle to hit mechanical stop (degree)
4
d
Joint #2 angle to hit mechanical stop (degree)
3.8
n
k m np
Left-Curved Arm
t s
m,j Motion range e,g Motion range of Joint #2 (degree)
130 130, 105 160, 120
150, 120 103.3, 183.0
b,d Joint #1 angle to hit mechanical stop (degree)
3.3, 5
2, 5
f,z Joint #2 angle to hit mechanical stop (degree)
2.8, 3.8
12.8, 3.8
70
b
191.9, 125.6
191.9, 107.5
h,k Mechanical stop area
291
G3-351CM-L 220
a,c Motion range of Joint #1 (degree) q r
69±0.05
Length of Arm #1 (mm)
p-n Length of Arm #2 (mm)
x
Right-Curved Arm
34
69±0.05
Through hole 6 +0.012 0
6 Through hole
+0 012 0
70
Motion range of Joint #1 (degree)
c
G3-351SM-R p h j k m n
g
f
c 70
130
y
q r
b
e,g Motion range of Joint #2 (degree)
191.9, 125.6
191.9, 107.5
a,c Motion range of Joint #1 (degree) x
G3-351CM-R 220
p-n Length of Arm #2 (mm)
z
d
Length of Arm #1 (mm)
m,j Motion range
t s
G3 301CM G3 351CM a 170 220 b Max.410 Max.450
a
Reference through hole (View from the bottom of the base)
n
e
174
Right-Curved Arm
Model
G3-351SM-R
System options
Through hole
a
30
j
y
d
012 ) Ø 6 H7 ( +0 0
Motion range
G3-351SM-L
a
f
8
220
h-g Length of Arm #2 (mm)
g h
Model
G3-351SM-L
4- Ø 9
4- Ø 9
G3-351SM/CM
f
79.5
e
Left-Curved Arm
Detail of “A” (Calibration point position of Joints #3 and #4)
8
Straight Arm G3-301SM/CM 170
b
79.5
22.5
45.5 30
1010
3.8, 7.8
Length of Arm #1 (mm)
e
Max.Ø11 through hole Ø16 h7 shaft diameter Ø30 mechanical stop diameter
Ø30 mechanical stop diameter
34
3.8, 2.8
g
b c
b
Conical hole Ø3,90° Ø16 h7 shaft diameter
9
4, 5 3.3, 8.3
a
291
Max.Ø11 through hole
G3 301SM G3 351SM a 170 220 b Max.410 Max.450
120, 160 97.0, 184.2
6, 3 3.3, -
Model
1 mm flat cut
174
120, 165 97.0, 183.0
■Motion Range (Multiple Mounting）
1 mm flat cut
Reference through hole (View from the bottom of the base)
135, 145 79.5, 113.2
165
176
d
012 ) Ø 6 H7 ( +0 0 Through hole
135, 150
191.6, 107.5 110,
＊indicates the stroke margin by mechanical stop.
a
Detail of “A” (Calibration point position of Joints #3 and #4)
130 191.6, 100.3
125, 150
b,d Joint #1 angle to hit mechanical stop (degree)
G3-351SM
Conical hole Ø3,90°
130
h,k Mechanical stop area
G3-351C-R 220
120.7, 86.8
a,c Motion range of Joint #1 (degree)
y
G3-351S-R
170
m,j Motion range
f
219
n
Length of Arm #1 (mm)
p-n Length of Arm #2 (mm)
k m
b 60
131.5
10.5
62.5 109.5
n
G3-301C-R
Robot controllers
9.6 *
j
z
d
120
10.7 *
172
150
90 or more Space for Cables
301.5 473.5
90 or more Space for Cables b 69
62.5
119 36
6.7 *
75.5
10.5
60
131.5
192 330 138
a
86
G3-301S-R
p
e
＊indicates the stroke margin by mechanical stop.
A
Right-Curved Arm
Model
G3-351S-R
6-axis robots
6.7 *
176
Right-Curved Arm
A
SCARA robots
2-M 3 depth 8
e
219
139
012 6 +0 0 Through hole
116
c
a
j k
51.5
130
a
42.5
G3-251C
a
2-M 3 depth 8
139
140
a
120
130
c
42.5
Straight Arm
Model
G3-351S
105, 130 120, 160
h,k Mechanical stop area
120, 150 103.3, 183.0
b,d Joint #1 angle to hit mechanical stop (degree)
5, 3.3
5, 2
f,z Joint #2 angle to hit mechanical stop (degree)
3.8, 2.8
3.8, 12.8
291
10
G series SCARA robot
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
2-M4 depth 11
110 150 180
15
90 4- 11
2-M5 depth 10
15
12.2*
110 150 180
15
4.2*
15
165.5 160
124 30
15
4- 11
a
15
■ Available with 450mm, 550mm, or 650mm arm
90
124 30
■ Handles payloads up to 6kg
250 2-M4 depth l l
15
52
38
235.5
235.5
±0.015 mm
Joint#4
±0.005°
305
1.2*
c
316.5
391 b
7
4.2*
A
305
316.5
b
20
＊indicates the stroke margin by mechanical stop.
Joint#1, #2
61.5
d
0.39 sec
20
0.36 sec
c
0.35 sec
4.2*
Rated 3 kg / Max 6 kg
Standard cycle time
A
7
650 mm
61.5
12.2*
d
550 mm
391
Payload
＊indicates the stroke margin by mechanical stop.
90 or more Space for Cables
90 or more Space for Cables
Motor power consumption
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
28 kg
95 54.5
39.8
6 +00 02
30
10 10
8
±148 deg
6 +00 02
110
±152 deg
±147.5 deg
15
Ø40 mechanical stop diameter
Detail of “A” (Calibration point position of Joints #3 and #4)
29.5 kg
6 H7（ +00 012 ） 75±0.05 Root both side chamfer C0.5
Reference through hole (View from the bottom of the base)
a
G6-45*S 200
G6-55*S 300
b c d
G6-**1S 180 119 684
G6-**3S 330 -31 834
G6-65*S 400
6 H7（ 0 ） 75±0.05 Root both side chamfer C0.5 +0 012
Reference through hole (View from the bottom of the base)
a
G6-45*C 200
G6-55*C 300
b c d
G6-**1C 150 116 792
G6-**3C 330 -34 942
G6-65*C 400
■Motion Range (Table Top Mounting） Table Top Mounting
Model
G6-55*S
G6-45*S/D e
e d
h
h f
d c
a
Length of Arm #1 (mm)
b
Length of Arm #2 (mm)
c
Motion range
a b
g
11
12.2
Ø40 mechanical stop diameter
Detail of “A” (Calibration point position of Joints #3 and #4)
G6-**1**=180 mm / G6-**3**=330 mm (Environment specification is standard-model) G6-**1**=180 mm / G6-**3**=300 mm (Environment specification is cleanroom or Protected-model) ±360 deg 3 kg 6 kg 0.39 sec 0.35 sec 0.36 sec 0.01 kg・m 2 0.12 kg・m 2 400 W 400 W 200 W 100 W 150 N Home-return-less 15Pin (D-Sub), 9Pin (D-sub) Φ4mm×2, Φ6mm×2 Standard/Cleanroom *3 /Protection *4 RC180, RC620 CE compliant, ANSI/RIA15.06-1999
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized for maximum speed). *2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command. *3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards. *4:G6-***D* protected type with optional bellows complies with IP54; G6-***P* complies with IP65.
Max.Ø14 through hole Ø20 h7 shaft diameter
Ø20 h7 shaft diameter
55±0.05
±105 deg
±130 deg
Max.Ø14 through hole
Wall
8
±120 deg
Ceiling 650 mm 7900 mm/s
230
g
d
Motion range of Joint #1 (degree)
e
Motion range of Joint #2 (degree)
f
Mechanical stop area
g
Joint #1 angle to hit mechanical stop (degree)
h
Joint #1 angle to hit mechanical stop (degree)
G6-45*C/P/D bellows 200
G6-55**
G6-65*
300
400
161.2
232
250 Z:0∼-270
134.8
Z:0∼-240
134.8
Z:-270∼-330
143.5
Z:-240∼-300
153.9 152
Z:0∼-270
147.5
Z:0∼-240
147.5
Z:-270∼-330
145
Z:-240∼-300
142
147.5
124.4
133.8
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
±152 deg Z:0∼-270 mm ±147.5 deg Z:-270∼-330 mm ±145 deg
29 kg
Table top
30
15
Joint #4 Rated Maximum
27 kg
G6-65***
Ceiling Wall 550 mm 7170 mm/s G6-**1**=1100 mm/s /G6-**3**=2350 mm/s 2400 deg/s 27 kg 29 kg ±0.015 mm ±0.01 mm ±0.005 deg ±152 deg ±135 deg
110
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2
Table top
55±0.05
Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
G6-55*** Wall
175
Standard cycle time *1 Joint #4 allowable moment of inertia*2
Ceiling 450 mm 6440 mm/s
Conical hole Ø4,90°
Robot controllers
G6-45** Table top
Joint #3
Payload
1010
Conical hole Ø4,90°
■Specifications
1mm flat cut
10
1mm flat cut
38
14 24
37.5
Repeatability
Max. motion range
2-M5 depth 10
6-axis robots
450 mm
Arm length
Weight(cables not included) Repeatability
15 15
38
■ G6 specifications
Mounting type Arm length Max. operating speed
180
165.5 160
150
a
180
250
150
52
SCARA robots
High speed and precision for small component assembly
Cleanroom-model
15
Standard-model
207.5
3.5 Z:0∼-270
3
Z:0∼-240
3
Z:-270∼-330
5.5
Z:-240∼-300
8.5
6.3
12
■Outer Dimensions (Ceiling Mounting)
[Unit: mm]
Standard-model
Cleanroom-model 52
165.5
250 2-M4 depth 11
a
165.5
52 15
2-M4 depth 11
4-11
d
193 4.2*
A
81 149.5
A
B
B b
b
235.5
305
160
20
12.2*
20
68
c
90 or more Space for Cables
234
234
38
235.5
4.2
38
c
305
38
c
12.2*
15
4.2*
150 180
c
12.2* (233.5)
37.5
1.2* 1mm flat cut
Ø20 h7 shaft diameter
Conical hole Ø4,90°
Detail of “B”
37.5
90 or more Space for Cables
Ø6H7
6-Ø10 Ø6H7
6 +00 012
6-Ø10
80
Detail of “A” (Calibration point position of Joints #3 and #4)
300 160
Detail of “A” (Calibration point position of Joints #3 and #4)
15
Detail of “B”
80
110
Max.Ø14 through hole Ø20 h7 shaft diameter Ø40 mechanical stop diameter
90 or more Space for Cables
6 +00 012
Detail of “B”
160
15
10 10 30
2-M5 depth 10
300
Ø40 mechanical stop diameter
15
90
90
34.5 95
39.8
38
12.2
14 24
15
10 10
30 10
110
Ø20 h7 shaft diameter
28
Robot controllers
Max.Ø14 through hole
110
Ø20 h7 shaft diameter Ø40 mechanical stop diameter
160
1mm flat cut Conical hole Ø4,90°
Ø160
Max.Ø14 through hole
Ø40 mechanical stop diameter
2-M5 depth 10
2-M5 depth 10
10 10 30
28
15
110
Max.Ø14 through hole
1mm flat cut Conical hole Ø4,90°
90
2-M5 depth 10
34.5 95
39.8
38
12.2
90
15
10 10
1mm flat cut Conical hole Ø4,90°
1.2*
4.2*
＊indicates the stroke margin by mechanical stop.
10
14 24
B
b
b
B ＊indicates the stroke margin by mechanical stop.
30
78.5
d 4.2*
A
＊indicates the stroke margin by mechanical stop.
4.2*
＊indicates the stroke margin by mechanical stop.
78.5
d
124 30
124 30 150 180 75±0.05 15
4-11
90 or more Space for Cables
A
138
8
8
G6-45*CR G6-55*CR G6-65*CR 200 300 400
b c d
G6-**1SR 180 -9 385
b c d
G6-**1CR 150 99 526
G6-**3SR 330 141 535
G6-**3CR 300 249 676
190 210
Reference through hole (View from the bottom of the base)
Ceiling Mounting G6-45**R
d
e
h
h
13
f
c a b
230 g
d
250
g
a
Length of Arm #1 (mm)
b
Length of Arm #2 (mm)
G6-55*SR/DR
G6-55*CR/PR/DR bellows 300
200
G6-65**R
G6-**1SW 180 -9 385
G6-**3SW 330 141 535
190 210
Reference through hole (View from the bottom of the base)
G6-45*CW G6-55*CW G6-65*CW 200 300 400
b c d
G6-**1CW G6-**3CW 150 300 99 249 526 676
G6-45**W e
400 d
250
c
Motion range
d
Motion range of Joint #1 (degree)
120
e
Motion range of Joint #2 (degree)
130
f
Mechanical stop area
g
Joint #1 angle to hit mechanical stop (degree)
5.5
h
Joint #2 angle to hit mechanical stop (degree)
3.8
195.5
161.2
172.1
232
182.4
145
e d
h
h f
152 147.5
a
147.5
b
3.5 3.3
c
207.5
146.8 5.8
g
6.3
Wall Mounting
Model
G6-55*SW
65
e
b c d
a
■Motion Range (Wall Mounting） Model
G6-55*SR
G6-45*SW G6-55*SW G6-65*SW 200 300 400
g
a
Length of Arm #1 (mm)
b
Length of Arm #2 (mm)
c
Motion range
d
Motion range of Joint #1 (degree)
105
e
Motion range of Joint #2 (degree)
130
f
Mechanical stop area
g
Joint #1 angle to hit mechanical stop (degree)
h
Joint #2 angle to hit mechanical stop (degree)
G6-55*SW/DW
G6-55*CW/PW/DW bellows
300
200
G6-65**W
400
250 195.5
161.2
172.1
232
145
147.5
148
135 147.5
182.4
207.5
146.8 3.5
3.8
3.3
System options
■Motion Range (Ceiling Mounting）
a
66±0.05
a
26
G6-45*SR G6-55*SR G6-65*SR 200 300 400
66±0.05
26
a
6-axis robots
12.2*
a
15
6 H7（ +00 012 ）
180
38
250
68
15
55±0.05
110
124 30
15
150
52
138
8
15 15
180
150
）
75±0.05
a
2-M4 depth 11
8 55±0.05
110
124 30
6 H7（
+0 012 0
250
6 +00 012
SCARA robots
2-M4 depth 11
Cleanroom-model
235.5
a 6 +00 012
Standard-model
81
250
[Unit: mm]
149.5
52
■Outer Dimensions (Wall Mounting)
7.5 5.8
6.3
330
14
G series SCARA robot
■Outer Dimensions（Table Top Mounting）
200
110 200 240 4- 16 20
G20
200 240
20
400 2-M4depth11
a
179 118 19
200
4- 16 20
39.5
200 240
20
2-M8 depth16 (Mount eyebolt at shipment)
38
1.8*
For fast, efficient, high-payload handling and batch-packing applications 5*
■ Handles heavy payloads up to 20kg
55.5
20
158 30
■ Ideal for mid-range payloads up to 10kg
2-M8 depth 16 (Mount eyebolt at shipment)
20
179 118 19
a
110 200 240
400 2-M4 depth 12
20
55.5
SCARA robots
For high-speed, multi-effector assembly, kitting, and packing applications
Cleanroom-model
20
Standard-model
158 30
G10
[Unit: mm]
1000 mm c
c
850 mm
286
650 mm
Arm length
286
■ G10/20 specifications
A
363
0.42 sec 20
0.37 sec
20
0.34 sec
Standard cycle time
d
d
1*
363
380.5
380.5
b
485.5
8.5
8.5
b 5*
485.5
Rated 10 kg / Max 20 kg
G20
80
80
A
6-axis robots
Rated 5 kg / Max 10 kg
G10 Payload
90 or more Space for Cables
＊indicates the stroke margin by mechanical stop.
Joint #1, #2
±0.025 mm
Joint #4
±0.005°
90 or more Space for Cables
＊indicates the stroke margin by mechanical stop.
Payload Standard cycle time *1 Joint #4 allowable moment of inertia*2 Motor power consumption
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized for maximum speed). *2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command. *3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards. *4:G10-***D* with optional bellows complies with IP54; G10-***P* complies with IP65.
43 100
40 1010
15
30
30
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
Detail of “A” (Calibration point position of Joints #3 and #4)
Detail of “A” (Calibration point position of Joints #3 and #4)
6（ +00 012 ）
6（ +00 012 ） 8
8
146
Ceiling Wall Table top Ceiling Wall 850 mm 1000 mm 11000 mm/s 11500 mm/s G10/20-**1**=1100 mm/s /G10/20-**4**=2350 mm/s 2400 deg/s G10=2400 deg /G20=1700 deg/s 1700 deg 46 kg 48 kg 53 kg 50 kg 55 kg 51 kg ±0.025 mm ±0.01 mm ±0.005 deg ±152 deg ±107 deg ±152 deg ±107 deg ±152 deg ±107 deg ±152.5 deg(±122.5 deg)* *:bellow Z:-360∼-390 G10/20**1** / G10/20**4**=±151 ±152.5 deg ±130 deg deg(122.5 deg)* (Environment specification is cleanroom or Protected-model) G10/20-**1**=180 mm / G10/20-**4**=420 mm (Environment specification is standard-model) G10/20-**1**=150 mm / G10/20-**4**=390 mm (Environment specification is cleanroom or Protected-model) ±360 deg 5 kg G10=5 kg /G20=10kg 10 kg 10 kg G10=10 kg /G20=20kg 20 kg 0.34 sec 0.37 sec 0.42 sec 0.02 kg・m 2 G10=0.02 kg・m 2 /G20=0.05 kg・m 2 0.05 kg・m 2 0.25 kg・m 2 G10=0.25 kg・m 2 /G20=0.45 kg・m 2 0.45 kg・m 2 750 W 600 W 400 W 150 W 250 N Home-return-less 15Pin (D-Sub), 9Pin (D-Sub) Φ4mm×2, Φ6mm×2 Standard/Cleanroom *3 +ESD /Protection *4 RC180, RC620 CE compliant, ANSI/RIA15.06-1999
10±0.05
a
G10-65*S 250
G10/G20-85*S 450
b c d
G10/G20-**1S 180 813.5 213.5
G10/G20-**4S 420 1053.5 -26.5
6（ +00 012 ） Root both side chamfer C0.5
Reference through hole (View from the bottom of the base)
G20-A0*S 600
a
10±0.05 6（ +00 012 ） Root both side chamfer C0.5
b c d
Reference through hole (View from the bottom of the base)
G10-65*C 250
G10/G20-85*C 450
G20-A0*C 600
G10/G20-**1C G10/G20-**4C 150 390 870.5 1129.5 205.5 -34.5
■Motion Range (Table Top Mounting） Table Top Mounting
Model
G10/20-85** e
e
d
G10-65**
d f c
a
g
h
270
g
C/P/D bellows
G20-A0
a
Length of Arm #1 (mm)
250
450
600
b
Length of Arm #2 (mm)
400
400
400
c
Motion range
b h
G10/20-85* S/D
d
Motion range of Joint #1 (degree)
e
Motion range of Joint #2 (degree)
f
Mechanical stop area
g
Joint #1 angle to hit mechanical stop (degree)
h
Joint #1 angle to hit mechanical stop (degree)
212.4
207.8
207.8 218.3
152
152 152.5
Z:0∼-360 Z:-360∼-390
152.5
152 Z:0∼-360
152.5
Z:-360∼-390
151
199.4
183.3
3
3
3.5
3.5
307
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
Table top
73±0.05
Joint #4 Rated Maximum
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
15
1010
15
Joint #3
Wall
73±0.05
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2
Ceiling 650 mm 8800 mm/s
Conical hole Ø4,90°
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
G20-A0***
207.8
Table top
Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
G10/20-85***
146
Max. motion range
G10-65**
1mm flat cut
Robot controllers
Weight(cables not included) Repeatability
5
1mm flat cut Conical hole Ø4,90°
■Specifications Mounting type Arm length Max. operating speed
14 29 45
Repeatability
152.5 285.4 3
Z:0∼-360
3.5
Z:-360∼-390
5
3.5
16
■Outer Dimensions (Ceiling Mounting)
[Unit: mm]
Standard-model
Cleanroom-model a
179
Standard-model
400 2-M4depth11
55.5
4- 16
6 +00 012
[Unit: mm]
a
Cleanroom-model
55.5
179
400
6 +00 012
a
155
55.5
400 2-M4depth12
2-M4depth12
a
155
38
1.8*
39.5
c
5*
1.8*
158 30
30
158
200 240 20
73±0.05
4- 16
38
G10/G20-85*SR G20-A0*SR 450 600
G10-65*CR 250
a
G10/G20-**1SR G10/G20-**4SR 180 420 -27.5 212.5 420 660
G10/G20-85*CR G20-A0*CR 450 600
d
e
250
f
h
h
g
17
Ceiling Mounting
270
G10-65**R
c
g
a
b
363
286
135.5 224
110.5 b
43 100
110
40 15
1010 30
Detail of “B”
b c d
G10/G20-85*SW G20-A0*SW 450 600
G10/G20-**1SW G10/G20-**4SW 180 420 -27.5 212.5 420 660
340 140 35 245±0 05
6 +00 012
140
6 +00 012 220 250
G10-65*SW 250
90 or more Space for Cables
8
6- 14
G10-65*CW 250
6 +00 012
a 15±0.05 (Tolerance applies to the pin hole)
220 250
b c d
Reference through hole (View from the bottom of the base)
G10/G20-85*CW G20-A0*CW 450 600
G10/G20-**1CW G10/G20-**4CW 150 390 29.5 288.5 515 774
CR/PR/DR bellows
SR/DR
G20-A0**W
a
Length of Arm #1 (mm)
250
450
600
b
Length of Arm #2 (mm)
400
400
400
c
Motion range
d
Motion range of Joint #1 (degree)
107
e
Motion range of Joint #2 (degree)
130
f
Mechanical stop area
291.2
183.3
285.4
g
Joint #1 angle to hit mechanical stop (degree)
3
3
3
h
Joint #2 angle to hit mechanical stop (degree)
3.5
306.5
207.8
218.3 152
152.5
3.5
e
d
e
G10-65**W
d f
307
c a
152 151
5
152.5
3.5
Wall Mounting
Model
G10/20-85**W
G10/20-85*
b g
g h
h 400
G10/20-85* CW/PW/DW bellows
SW/DW
G20-A0**W
a
Length of Arm #1 (mm)
250
450
600
b
Length of Arm #2 (mm)
400
400
400
c
Motion range
d
Motion range of Joint #1 (degree)
107
e
Motion range of Joint #2 (degree)
130
f
Mechanical stop area
291.2
183.3
g
Joint #1 angle to hit mechanical stop (degree)
3
3
h
Joint #2 angle to hit mechanical stop (degree)
3.5
306.5
207.8
218.3
307
151
152.5
107 152.5
3.5
107
System options
e
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
■Motion Range (Wall Mounting） Model
d
a
Reference through hole (View from the bottom of the base)
■Motion Range (Ceiling Mounting） G10/20-85**R
8
+0 012 0
15±0.05 (Tolerance applies to the pin hole)
G10/G20-**1CR G10/G20-**4CR 150 390 29.5 288.5 515 774
b c d
6
2-M8 depth16
Detail of “A” (Calibration point position of Joints #3 and #4)
6- 14
140
Detail of “B”
Detail of “B”
118 37
90 or more Space for Cables
340 140 35 245±0 05
110
110 19
118 37
Robot controllers
Detail of “A” (Calibration point position of Joints #3 and #4)
2-MB depth 16
1mm flat cut Conical hole Ø4,90°
Detail of “B”
19 2-M8 depth 16
118
200
110
1010 30
15
15
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
Detail of “A” (Calibration point position of Joints #3 and #4) 200
b c d
＊indicates the stroke margin by mechanical stop.
2-M8 depth16
14 29 5 45
100
43
1mm flat cut Conical hole Ø4,90°
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
200
a
B
1*
＊indicates the stroke margin by mechanical stop.
200
1010 30
40
1*
14 29 45 5
1mm flat cut Conical hole Ø4,90°
Detail of “A” (Calibration point position of Joints #3 and #4)
G10-65*SR 250
A
＊indicates the stroke margin by mechanical stop.
Max.Ø18 through hole Ø20 h7 shaft diameter Ø39.5 mechanical stop diameter
118
240.5
135.5 224
202.5 110.5 b
B
5*
b
B
1010 30
15
5*
＊indicates the stroke margin by mechanical stop.
1mm flat cut Conical hole Ø4,90°
106
106
b
B
A
6-axis robots
A A
245
d 245
286
363
286
286
363
d
d
363
d
20
20
38.5
37.5
c
90 or more Space for Cables
c
90 or more Space for Cables
c
100±0.05 (Tolerance app ies to the pin hole) 200 20 20 240
6（ +00 012 ）
39.5
5*
146
200 240 100±0.05 (Tolerance applies to the pin hole) 20 200 20 240
6（ +00 012 ）
20
73±0.05
158 30
146
8
8
SCARA robots
20
400 2-M4depth12
20
55.5
■Outer Dimensions (Wall Mounting)
285.4 3 5
3.5
18
LS series SCARA robot
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
Standard-model 175
225
135
50
■ 400mm arm length
30 45
120
225
135
20
20 4-M4 depth 6
2-Ø9 4-Ø9
2-M 3 depth 10 Ø109
175
4-M4 depth 6
23
23
132
■ Small footprint with a big working area
20
80 100 120 140
20
80 100 120 140
50
2-M 3 depth 10 120
30 45
2-Ø9 4-Ø9
SCARA robots
Simplicity, reliability, and performance for easy process automation
Cleanroom-model
10.5 *
Ø30
60±0.01
60
35
4.5
MAX. 650 163.6
173.1
10.5 *
8 9.5 4-M4 depth 8
180 +0 05
151 0
20 2
Ø16 h7 shaft diameter
Ø16 h7 shaft diameter Ø30 mechanical stop diameter
Detail of “A”
Detail of “A”
■Motion Range (Table Top Mounting） LS3-401C
00
28
.8
325.5
141 °
13 2°
5 R22 ° 4.2 R141 6
R1
250
.8
333.5
28
325.5
R141 6
R1
235
2°
2°
4
13
R22
1°
2°
5
2
4.
14
13
1°
2°
R4
333.5
00
R4
4.
180
8°
8° 2.
8°
8°
2.
2. 180
2.
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg 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.
2
Max.Ø11 through hole
Ø30 mechanical stop diameter
LS3-401S
30
Max.Ø11 through hole
10 10
1mm flat cut Conical hole Ø3,90°
79.5
22.5
45.5
012 6 +0 0
30
10 10
1mm flat cut Conical hole Ø3,90°
14
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
19
58 20
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
012 6 +0 0
141 °
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2 Joint #3 (Cleanroom model) Joint #4 Rated Maximum
time *1
Motor power consumption
4.5
20
Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
Table Top 400 mm 6000 mm/s 1100 mm/s 2600 deg/s 14 kg ±0.01 mm ±0.01 mm ±0.01 deg ±132 deg ±141 deg 150 mm (120 mm) ±360 deg 1 kg 3 kg 0.45 sec 0.005 kg・m 2 0.05 kg・m 2 200 W 100 W 100 W 100 W 100 N Home-return-less 15Pin (D-Sub) Φ4mm×1, Φ6mm×2 Standard /Cleanroom *3 RC90 CE compliant, ANSI/RIA15.06-1999
2°
Standard cycle Joint #4 allowable moment of inertia*2
35
2-M4 depth 8
LS3-401*
13
Payload
012 Ø6 H7 ( +0 ) 0
)
Robot controllers
Max. motion range
+0 012 0
＊indicates the stroke margin by mechanical stop.
2-M4 depth 8
■Specifications
Weight(cables not included) Repeatability
4-M4 depth 8
Ø6H7 ( 180 +0 05 151 0
90 or more Space for Cables
60±0.01
48 48
58 20
Mounting type Arm length Max. operating speed
3.8 *
＊indicates the stroke margin by mechanical stop.
Repeatability
135
45
131.2
60
±0.01°
90 or more Space for Cables
48
Joint #4
135
130.2
48
±0.01 mm
45
120
163.6
5.5
9.3 *
Joint #1, #2
8
0.45 sec
Standard cycle time
220
A
173.1
150
Rated 1 kg / Max 3 kg
584
38
6.5 * 220
Payload
38
474.5
A
6-axis robots
400 mm
Arm length
MAX. 650
174.3
■ LS3 specifications
174.3
6.5 *
Ø30
20
LS series SCARA robot
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
Standard-model 135
20 20
100 129 150 169
■ Ideal for multi-effector, multi-workpiece handling
57.7
4-M4 depth 6
of payloads up to 6kg
2-M4 through hole
Ø134
325
2-M4 through hole
4-Ø9 through hole
30
150
275
135 20 20
4-M4 depth 6
100 129 150 169
325
135.5 30
275
135.5 30
57.7
150
Ø134
30
4-Ø9 through hole
■ 600mm arm length
6*
Ø38
MAX.680
174.5
50 6*
166.5
178
90 or more Space for Cables
±0.02 mm
Joint #4
±0.01°
（135） 90 or more Space for Cables
223.4
＊indicates the stroke margin by mechanical stop.
＊indicates the stroke margin by mechanical stop.
Joint #1, #2
60
10
53
170
（135） 9.8*
60
223.4
11.8*
0.42 sec
Standard cycle time
241
166.5 10
178 51
Rated 2 kg / Max 6 kg
607.5
50
10* 241
A
200
Payload
A
6-axis robots
600 mm
Arm length
MAX.680
10*
Ø38
174.5
559
■ LS6 specifications
SCARA robots
Simplicity, reliability, and performance with added reach and payload capacity
Cleanroom-model
Repeatability 195 2-M4 depth10 6.7
55±0.01
90 30 55±0.01
180 +00 05
62
94
Ø6 H7（+00 012 ）through hole
30
10 10
10 10
30
Max.Ø14 through hole Ø20 h7 shaft diameter Ø40 mechanical stop diameter
Ø20 h7 shaft diameter Ø40 mechanical stop diameter
Detail of “A”
Ø90
Detail of “A”
LS6-602C
25
4.
R3
R1
42
5
492.5 504
13 2° 86.8 492.5 504
245
2°
2° 245
2°
4.
4.
R162 6 R1 42 5
.6
62
R1
13
0°
15
2°
13
0°
25
R3
00
R6
2°
00
R6
150 °
LS6-602S
R6 6
60
0
■Motion Range (Table Top Mounting）
8° 2.
8°
8°
2.
2. 220
380
2. 8°
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg 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.
21
Conical hole Ø3,90°
Max.Ø14 through hole
15
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
195
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
6 +00 012 through hole
1mm flat cut
R6
Motor power consumption
4-M4 depth10
Ø6 H7（+00 012 ）through hole
1mm flat cut Conical hole Ø3,90°
2°
Standard cycle time *1 Joint #4 allowable moment of inertia*2
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2 Joint #3 (Cleanroom model) Joint #4 Rated Maximum
Table Top 600 mm 6800 mm/s 1100 mm/s 2000 deg/s 17 kg ±0.02 mm ±0.01 mm ±0.01 deg ±132 deg ±150 deg 200 mm (170 mm) ±360 deg 2 kg 6 kg 0.42 sec 0.01 kg・m 2 0.12 kg・m 2 200 W 200 W 100 W 100 W 100 N Home-return-less 15Pin (D-Sub) Φ4mm×1, Φ6mm×2 Standard /Cleanroom *3 RC90 CE compliant, ANSI/RIA15.06-1999
20
4-M4 depth10
180 +00 05
4.
Payload
Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
150 °
Max. motion range
LS6-602*
2°
Weight(cables not included) Repeatability
4-M4 depth10
13
Mounting type Arm length Max. operating speed
150 35 20
Robot controllers
■Specifications
41
5
6 +00 012 through hole
4-M4 depth10
55
20
5
150 35 20
55
41
90 30
2-M4 depth10 6.7
22
RS series SCARA robot
■Outer Dimensions (Ceiling Mounting)
[Unit: mm]
workpiece to be accessed from any direction
175
147 206 174 154.8
16 9.6
245.5
245.5
±0.01 mm
Joint #4
±0.01°
172.5 60
15
146.5
15
58 24
Repeatability 6*
Payload Standard cycle time *1 Joint #4 allowable moment of inertia*2 Motor power consumption
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed). *2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command. *3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards.
23
52 202.5 ＊indicates the stroke margin by mechanical stop.
Detail of “A” (Calibration point position of Joints #3 and #4)
6 +00 012
95
164 95
Reference through hole (View from the top of the base)
For manipulator mounting 6-6.5 through hole ø11 spot facing depth 6.5 (from back side)
160 30
Max.Ø11 through hole Ø16h7 shaft diameter Ø30 mechanical stop diameter 8
Detail of “A” (Calibration point position of Joints #3 and #4)
34
Model
RS3-351*
225 deg
Arm #1 Length(mm)
175
Arm #2 Length(mm)
175
175 mm 225 deg
225 deg
95
6 +00 012
164 95
Reference through hole (View from the top of the base)
■Motion Range (Ceiling Mounting） 225 deg
4
15
34
3-M6 through hole
80
1mm flat cut Ø3,90° Conical hole
10 10
160
3-M6 through hole
80
Max.Ø11 through hole Ø16h7 shaft diameter Ø30 mechanical stop diameter 8
4
1mm flat cut Ø3,90° Conical hole
75.5
59±0.05
80±0.05
80 ± 0.05
6H7（ +00 012 ）
48.5
59±0.05
Joint #1 Motion range(degree)
±225
Joint #2 Motion range(degree)
±225
For manipulator mounting 6-6.5 through hole ø11 spot facing depth 6.5 (from back side)
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
6H7（ +00 012 ）
30
Max. motion range
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2 Joint #3 (Cleanroom model) Joint #4 Rated Maximum
Ceiling 350 mm 6237 mm/s 1100 mm/s 2600 deg/s 17 kg ±0.01 mm ±0.01 mm ±0.01 deg ±225 deg ±225 deg 130 mm (100 mm) ±720 deg 1 kg 3 kg 0.34 sec 0.005 kg・m 2 0.05 kg・m 2 400 W 200 W 150 W 100 W 150 N Home-return-less 15Pin (D-Sub) Φ4mm×1 Φ6mm×2 Standard/Cleamroom *3 &ESD RC180, RC620 CE compliant, ANSI/RIA15.06-1999
10 10
Weight(cables not included) Repeatability
7.8* 100
130 4.8 *
＊indicates the stroke margin by mechanical stop.
RS3-351* Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
15
Mounting type Arm length Max. operating speed
248
500
A
A
Robot controllers
■Specifications
Manipulator installation position
8.5*
Joint #1, #2
202.5
473
0.34 sec
Standard cycle time
248
52
Rated 1 kg / Max 3 kg
Manipulator installation position
60
146.5
Payload
90 or more Space for Cables
6-axis robots
350 mm
58 24
171
■ RS3 specifications
90
90 or more Space for Cables
Arm length
16 9.6
120.8 140
120.8 140
■ Ceiling mount and rotating arm enable
175
47.5
147 206 174 154.8
124.8 113 95
175
124.8 113 95
■ Outstanding productivity in limited space
175
175
47.5
SCARA robots
A unique rotating arm mechanism for unparalleled freedom of movement
Cleanroom-model
175
Standard-model
24
RS series SCARA robot
■Outer Dimensions (Ceiling Mounting)
[Unit: mm]
Standard-model
57
workpiece to be accessed from any direction
275
147 206 174 154.8
16 9.6
120.8 140 175
124.8 113 95
175
120.8
■ Ceiling mount and rotating arm enable
275
16 9.6
124.8 113 95
■ Outstanding productivity in limited space
147 206 174 154.8
275
140
275
57
345.5
345.5
163.5 522
60 3.8* 100
Payload Standard cycle time *1 Joint #4 allowable moment of inertia*2 Motor power consumption
73.5
45.5 164 95
30
10 10
15
3-M6 through hole
For manipulator mounting 6-6.5 through hole Ø11 spot facing depth 6.5 (from back side)
160
160
59±0.05
80±0.05
80±0.05 012 6 +0 0
Detail of “A” (Calibration point position of Joints #3 and #4)
34 8
95
012 6 +0 0
164 95
Reference through hole (View from the top of the base)
■Motion Range (Ceiling Mounting） Model
°
25
95
Max.Ø11 through hole Ø16h7 shaft diameter Ø30 mechanical stop diameter
012 Ø 6 +0 0
Reference through hole (View from the top of the base)
225
*1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed). *2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command. *3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards.
34 8
225°
Joint #3 down force Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
59±0.05
Ø3,90° Conical hole
RS4-551*
Arm #1 Length(mm)
275
Arm #2 Length(mm)
275
Joint #1 Motion range(degree)
±225
Joint #2 Motion range(degree)
±225
3-M6 through hole
For manipulator mounting 6-6.5 through hole Ø11 spot facing depth 6.5 (from back side)
System options
Rated Maximum Joint #1 Joint #2 Joint #3 Joint #4
012 Ø 6 +0 0
4
Max. motion range
Joints #1, #2 Joint #3 Joint #4 Joint #1 Joint #2 Joint #3 (Cleanroom model) Joint #4 Rated Maximum
Ceiling 550 mm 7400 mm/s 1100 mm/s 2600 deg/s 19 kg ±0.015 mm ±0.01 mm ±0.01 deg ±225 deg ±225 deg 130 mm (100 mm) ±720 deg 1 kg 4 kg 0.39 sec 0.005 kg・m 2 0.05 kg・m 2 400 W 400 W 150 W 100 W 150 N Home-return-less 15Pin (D-Sub) Φ4mm×1 Φ6mm×2 Standard/Cleamroom *3 &ESD RC180, RC620 CE compliant, ANSI/RIA15.06-1999
225°
Weight(cables not included) Repeatability
RS4-551* Arm #1, #2 Joints #1, #2 Joint #3 Joint #4
Detail of “A” (Calibration point position of Joints #3 and #4)
225°
Mounting type Arm length Max. operating speed
1mm flat cut
Max.Ø11 through hole Ø16h7 shaft diameter Ø30 mechanical stop diameter
Robot controllers
■Specifications
15
Ø3,90° Conical hole
10 10
1mm flat cut
4
±0.01°
Repeatability
30
Joint #4
1.8* 130
±0.015 mm
＊indicates the stroke margin by mechanical stop.
6.5*
4*
A ＊indicates the stroke margin by mechanical stop.
0.39 sec
Joint #1,#2
15
255
A
Standard cycle time
196.5
(403.5)
196.5 60
Rated 1 kg / Max 4 kg
(403.5)
60
60
163.5
Payload
255
550 mm
6-axis robots
494
■ RS4 specifications Arm length
81
21
Manipulator installation position
78
15
24
171
174
90 or more Space for Cables
SCARA robots
A unique rotating arm mechanism for unparalleled freedom of movement
Cleanroom-model
26
6-axis robot
■Outer Dimensions
[Unit: mm]
25
4-M4 depth 7
81
25
6
12
38.5
of workcell
78
111
■ Large working area; robot occupies only 1/44
95
9
12.5
4-M4 depth 5
SCARA robots
The leading edge in 6-axis robots for high-precision, small-component assembly
■ Low clearance requirements for more flexible
workcell layout
4
27
90 or more Space for Cables
2-M4 depth 10
■ Smooth action; able to access workpiece from
virtually any angle 198
65
250
76
86
23
5
28 2-M4 depth 7
100
■ C3 specifications
2-M4 depth 7
±0.02 mm
Repeatability
75
154
199.5 614.5
C3 Wall
180 90
15
+0.012 0
±30 deg
180
15
55 ± 0.05
90
110
150
8
6
6H7
4- 11
75 ± 0.05
■Motion Range Lateral View
Front View 250
+1
-160 deg.
R7
476.5 +6 5
+2
25
de
.5
91
R1
7
R16
0 50
R
100
J4 : +200 deg.
J6 : -360 deg.
J6 : +360 deg.
g
g.
-135 deg.
J4 : -200 deg. de
250 820
4 57.
+135 deg.
8 6.
00
+1 70 80 de de g. g.
R2
-1 180 70 d de eg. g.
65
System options
Top View
R6
665 mm Joint #1 450°/s Joint #2 450°/s Joint #3 514°/s Joint #4 553°/s Joint #5 553°/s Joint #6 720°/s Weight(cables not included) 27 kg Joint #1-#6 Repeatability ±0.02 mm Joint #1 Max. Motion Range ±170 deg(±180 deg without the mechanical stop) Joint #2 -160 deg∼+65 deg Joint #3 -51 deg∼+225 deg Joint #4 ±200 deg Joint #5 ±135 deg Joint #6 ±360 deg Rated Payload 1 kg Maximum 3 kg(5 kg with arm downward positioning) Standard cycle time *1 0.37 sec Joint #4 Allowable moment of inertia*2 0.15 kg・m 2 Joint #5 0.15 kg・m 2 Joint #6 0.1 kg・m 2 Joint #1 Motor power consumption 400 W Joint #2 400 W Joint #3 150 W Joint #4 50 W Joint #5 50 W Joint #6 50 W Home Home-return-less Installed wire for customer use 9Pin (D-Sub) Installed pneumatic tube for customer use Φ4mm×4 Installation environment Standard /Cleanroom *3 & ESD Applicable Controller RC180, RC620 Safety standard CE compliant ANSI/RIA15.06-1999 *1:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 1kg payload (path coordinates optimized for maximum speed). *2:When payload center of gravity is aligned with Joint #4 ; if not aligned with Joint #4, set parameters using INERTIA command. *3:Complies with ISO Class 3 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards.
109.5 15
150
15
600 mm
164.9
Skewed 6
154 209.1 393.3 320
P point: through the center of J4/J5/J6
Ceiling
156.4
Table Top
Wrist flange surface Max. operating speed
27
Robot controllers
Mounting type Degree of feedom Max. Motion Range
90 415
160
■Specifications
213
15
77
196.5
9 ± 0.02
18
0.37 sec
320
2-M8 depth 16
154 ± 0.05
Standard cycle time
40
6H7 depth 5
Rated 1 kg / Max 3 kg
Payload
641.5
48
6-axis robots
250
82
92
A
60H7
( 60H7)
28
6-axis robot
■Outer Dimensions
[Unit: mm]
A701
A901
Air Supply Opening M5 Tap with cover plug
Air Supply Opening M5 Tap with cover plug 523
423
398
298 70
■ Large working area; robot occupies only 1/87
87
40 25
110
114
87
2-M4 P0.7 Depth 8
70
2x2 M4 P0.7 Depth 8 (Front & Back) 2-M4 P0.7 Depth 8
90 or more Space for Cables 4-M8 P1.25 Depth 16
2x2 M4 P0.7 Depth 8 (Front & Back)
of workcell (S5-901**)
55
59
25
40
■ Class-leading repeatability*
110
114
55
90 or more Space for Cables 4-M8 P1.25 Depth 16
SCARA robots
Slim design with excellent motion flexibility delivers higher productivity in less space
■ Joint #5 range of motion ±10° greater than
previous models
80
405
100 109
88 305
88
109
A
842
310 473
±0.02 mm［S5-A701］ ±0.03 mm［S5-A901］
Repeatability
199
199
0.44 sec［S5-A701］ 0.49 sec［S5-A901］
Standard cycle time
330
752 330
Rated 2 kg / Max 5 kg
6-axis robots
400
40
66
109
■ S5 specifications Payload
109
100
40
80
66
*Among 5 kg payload models as of April 2012
150.2
573
150.2
723.2
623.2
■Motion Range
450°/s 450°/s 720°/s
±170 deg
±30 deg
-150 deg∼+65 deg
Home Installed wire for customer use Installed pneumatic tube for customer use Installation environment Applicable Controller Safety standard
±30 deg
±190 deg ±135 deg ±360 deg 2 kg 5 kg(7 kg with arm downward positioning) 0.49 sec 0.3 kg・m 2 0.3 kg・m 2 0.1 kg・m 2 400 W 400 W 200 W 50 W 50 W 50 W Home-return-less 15Pin (D-Sub) Φ6mm×2 Standard /Cleanroom *3 & ESD/Protection *4 RC180, RC620 CE compliant, ANSI/RIA15.06-1999
*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 (ISO14644-1) and older Class 10 (less than 10 0.1μm particles per 28,317cm 3:1cft) cleanroom standards. *4:Protected type complies with IP65.
29
Joint #1 0 pulse position
225°
-360° ＋360°
+65°
P point*
-135° -150°
Joints #3, #5 0 pulse positionMotion
136°
-170° (J1 Arm)
233 51 277 114 203 246
-72 deg∼+190 deg
0.44 sec Joint #4 Joint #5 Joint #6 Joint #1 Joint #2 Joint #3 Joint #4 Joint #5 Joint #6
R235
R706
-70 deg∼+190 deg
Joints #4, #6 0 pulse position ＋190° -190°
＋135° P point*
38 kg ±0.03 mm ±170 deg
Front View
+170° (J1 Arm)
246
36 kg ±0.02 mm
706 80
239
975 mm 270°/s 280°/s 300°/s
305
40
786 mm 376°/s 350°/s 400°/s
88 15
948 752 310
895 mm
Lateral View
330 179 156
706 mm
Top View
Wall
A901
Motion range of P point*
Joint #2 0 pulse position
Top View
Lateral View
681
88
405
895 80
Front View
15 +170°(Arm #1)
＋135° P point*
R267
R895
Joint #1 0 pulse position
225°
+65°
-170° (J1 Arm)
-135° -150°
P point* Joints #3, #5 0 pulse positionMotion
198
Motor power consumption
Joint #1-#6 Joint #1 Joint #2 Joint #3 Joint #4 Joint #5 Joint #6 Rated Maximum
Ceiling 6
Joints #4, #6 0 pulse position ＋190° -190° -360° ＋360°
System options
Standard cycle time *1 Allowable moment of inertia*2
Joint #1 Joint #2 Joint #3 Joint #4 Joint #5 Joint #6
Table Top
40
Payload
P point: through the center of J4/J5/J6
S5-A901** Wall
1137 842 400
Weight(cables not included) Repeatability Max. Motion Range
Ceiling 6
330 97
Wrist flange surface Max. operating speed
S5-A701** Table Top
Joint #2 0 pulse position
501
423 317
Mounting type Degree of feedom Max. Motion Range
A701
Robot controllers
■Specifications
138° 341 14 400 132 209 251
Motion range of P point*
30
Robot controllers
■Outer Dimensions
[Unit: mm]
RC180
463 370
130 17.825 133.35 10.5 169
13
13
463
30 18
344
18
■ Full PLC functionality
■ Multi-effector control
■ No need to set IP address when connecting via Ethernet or USB
■ General device control
RC180: Fits easily inside most control panel boxes (SCARA controller: approx. 10l volume; 6-axis controller approx. 13l volume) RC90: LS series dedicated controller
■ High-speed conveyor tracking
365
■Specifications
RC620
Model
RC180
(UL specification: RC620-UL)
Controllable axes Robot manipulator control
System capabilities
30.9
■ Controller with built-in PC
30
RC180 compact controller RC90 controller dedicates LS seriescontroller
Programming language and Robot control software Joint Control
Up to six (6) connectable AC servo motors
4 AC servo motors
EPSON RC+ 6.0(a multi-tasking robot language)
EPSON RC+ 5.0(a multi-tasking robot language)
EPSON RC+ 5.0(a multi-tasking robot language) Ver.5.4.1 or later is recommended.
Up to eight (8) joints Simultaneous control Software AC servo control
Up to six (6) joints Simultaneous control Software AC servo control
Up to 4 joints simultaneous control Software AC servo control
Speed Control
TP1
Connectable manipulators
TP1 teaching pendant
Effectors
Memory capacity
External input/output signals (standard)
conveyor tracking
robot controller
Communication interface (standard) Special slot (RC180/RC620: Max. 4 slots RC90: Max. 2 slots)
compact controllers
USB 2.0 or Ethernet GUI development
Microsoft® Windows® preinstalled for PC-less system control
Multiple workcells
EPSON RC+ programming environment
1 unit
PCI slot
1 unit
Maximum Object Size : 8 MB Point data area : 1000 points (per file) Backup variable area : Max. 400 KB (Includes the memory area for the management table.) Approx. 4000 variables (Depends on the size of array variables.)
Maximum Object Size : 4 MB Point data area : 1000 points (per file) Backup variable area : Max. 100 KB (Includes the memory area for the management table.) Approx. 1000 variables (Depends on the size of array variables.)
Standard I/O
Input : 24 Output : 16
Input : 24 Output : 16
Standard I/O (Drive Unit) Ethernet RS-232C I/O
Input : 24 Output : 16
RS-232C Fieldbus I/O slave
̶
Input : 24 Output : 16
̶
per Drive Unit 1 channel
2 channel
Including 8 inputs, 8 outputs with remote function assigned Assignment change allowed
Maximum Object Size : 4 MB Point data area : 1000 points (per file) Backup variable area : Max. 100 KB (Includes the memory area for the management table.) Approx. 1000 variables (Depends on the size of array variables.)
̶
Including 8 inputs, 8 outputs with remote function assignment change allowed
̶ 1 channel 1 port
1 or 2 channel
Depends on CPU Board
Input : 32 per board Output : 32 per board
Addition of 4 boards allowed
Input : 32 per board Output : 32 per board
Addition of 4 boards allowed
Input : 24 per board Output : 16 per board"
Addition of 2 boards allowed
4 channel/board
Addition of 2 boards allowed
4ch per board
Addition of 2 boards allowed
2ch per board
Addition of 2 boards allowed
PROFIBUS-DP DeviceNet CC-Link EtherNet/IP PROFINET
Addition of 1 board allowed
1ch per board PROFINET PROFIBUS-DP DeviceNet CC-Link EtherNet/IP
Addition of 1 board allowed
1ch per board PROFIBUS-DP DeviceNet CC-Link
Addition of 1 board allowed
Pulse Generator
Number of Controlling axis 4ch per board
Addition of 4 boards allowed
̶
̶
Frame grabber
Standard frame grabber Advanced frame grabber
Addition of 2 boards allowed
̶
̶
PROFIBUS-DP DeviceNet EtherNet/IP
Addition of 1 board allowed
̶
̶
FieldbusI/O master
Safety features Emergency stop switch / Low power mode / Encoder cable disconnection error detection / Irregular torque detection / Positioning variability overflow detection / Speed variability overflow detection / Memory check-sum error detection /
■ One-click backup
Relay welding detection / AC power low-voltage detection / Safety door emergency stop / Dynamic braking /
All controllers feature a USB interface for easy backup of control programs and error logs
Overload detection / Motor speed error detection / CPU error detection Overheating detection / Fan error detection / Over-voltage detection / Temperature error detection
Power Source Weight *1
AC 200 V to AC 240 V Single phase 50/60 Hz
AC 200 V to AC 240 V Single phase 50/60 Hz
AC 200 V to AC 240 V Single phase 50/60 Hz
4 axes spec : 22.5 kg 6 axes spec : 24.5 kg 8 axes spec : 22.5 kg
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)
7.5 kg
System options
Image processing (monochrome)
PC
Shared features
Max. 16 units (up to 20 axes)
PTP（Point-To-Point） CP（Continuous Path）
Fieldbus I/O
Open architecture
PTP motion: Programmable in the range of 1 to 100%; auto-control CP motion: Programmable at user-defined acceleration/deceleration speeds
Positioning control
PLC
Multi-effector control
PTP motion: Programmable in the range of 1 to 100% CP motion: Programmable at user-defined speeds
Acceleration/ deceleration control
Robot controllers
TP1 teaching pendant
Effectors
TP1/TP2
Image processing (color/ monochrome)
RC90
(UL specification: RC180-UL)
Up to eight (8) connectable AC servo motors (Limited by the total motor power.)
6-axis robots
PC workcell controller
350
RC180/RC90
415.2
RC620
290
4
25
3.2
30
13
31 30
RC620
20
20 181.9 180
210 13
10.5
1.9
302
10
27.7
5
54.5
1
2.4 0.5
0.9
221.9 220.2 153.2
RC180
380 378
29
1.9
23
42 86 10 20 130
1.9 10 61.3 86 18 174
22 166 22 27.7
RC90
30 4-Ø4
296
SCARA robots
30
489 430
275
420
150 or more Space for cables
31
170.5 130.5
67 1.9
323
18
30
RC90
30
RC620
*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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Robot controller options
A wide range of controller options can be employed to further expand the variety of process tasks that you can automate.
PG motion system
Compatible controllers RC620
RC180
RC90
Vision Guide
RC620
RC180
■ EPSON RC+ software and pulse generator (PG) cards
RC90
enable control of multiple third-party drives and motors. ■ PG robots and standard EPSON RC+ system robots can be operated simultaneously, and controlled using the same commands. ■ PG cards can be used to control X/Y tables, sliders,
Advanced machine vision systems with user-friendly software for easy program development
DVD drive
■ Built-in image processing engine assists
Teach Pendant TP1
RC180
RC90
Helps prevent injuries and damage
■ The RC620 controller is equipped with a DVD drive*
■Immediately stops robot
＊Factory default option
CPU choice
Compatible controllers RC620
RC180
RC90
RC620
RC180
Your choice of standard or high-speed CPU
RC90
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.
■ The RC620 is available in standard (Celeron® M, 1GB)
Features ● Point
and high-speed (Intel® Core™ Duo, 2GB) configurations.*
data save, edit, and load
functions ● Keyword candidate display, search, and line jump
＊High-speed configuration recommended for Visual Basic program development.
functions ● I/O and task monitoring functions ● Project/system data
Option unit
backup and restore functions ● Reduced
operating speed in teach
programming ease
RC620
RC180
RC90
operation in emergency situations
RS-232C cards
Compatible controllers RC620
RC180
RC90
RC180
RC90
option units can be mounted (4 interface cards total).
RC90
＊RC90 controller includes 2 interface cards as a factory default option.
RAID option
■ Universal design ensures ease of use for both
RC620
RC180
RC90
■ RAID support for high-integrity data backup.
Compatible controllers RC620
RC180
Precision tracking for high-productivity pick-and-place operation
Controller
Camera
Robot 1 Robot 2
workpiece for pick-and-place handling. Multi-conveyor, multi-effector setups are supported. ■ Can automate manual kitting/packaging tasks and help maintain productivity regardless of continuous/intermittent conveyor operation. Can also be used for workpiece assembly. ■ Simple start/stop program execution
RC620
RC180
RC90
Control unit
■ Standard CPU memory can be increased from 512MB
to 1GB; high-speed CPU memory can be increased from 1GB to 2GB.
Operator Panel OP1
RC620
RC180
display.
construction execution.
RC180
RC90
■ 32-point I/O (for
RC180/RC620 controllers) and 24 inputs/16 outputs (for RC90 controllers) expansion cards.
Fieldbus I/O (slave)
Compatible controllers RC620
RC180
RC90
High-speed peripheral connectivity ■ Support for DeviceNet®, PROFIBUS®, CC-Link®,
＊Profinet® and Ethernet/IP® not supported on RC90 controller.
Fieldbus I/O (master)
Compatible controllers RC620
RC180
RC90
Bidirectional high-speed peripheral connectivity ■ Support for DeviceNet®, PROFIBUS®, and
I/O cable kit
Cables and connectors for easy connectivity with no soldering required
■ Controller and error status
■ Simple start/stop program
RC620
Expanded input/output flexibility
RC90
■ Oil- and dust-resistant Conveyor (up to 16 supported)
Compatible controllers
Ethernet/IP® networked peripherals (1024-point I/O).
Compatible controllers
Easy connectivity and touchscreen control Encoder
I/O expansion cards
IP65 pr tecti n
Compatible controllers RC620
RC180
RC90
System options
■ Vision system with Vision Guide software detects
Compatible controllers
Give your controller a memory boost
RC90
controllers) and 2-port (for RC90 controllers) RS-232C cards to connect serial interface devices.
Ethernet/IP®, and PROFINET® networked peripherals (256-point I/O).
＊Requires RC620 controller with high-speed CPU.
Memory expansion
■ 4-port (for RC180/RC620
Compatible controllers
RAID support for enhanced backup data integrity
right-handed and left-handed operators. ■ Connects directly to operator unit or controller interface card.
Expanded serial port connectivity
Robot controllers
RC180
RC620
■ Each option unit holds 2 interface cards; up to 2
Compatible controllers RC620
Compatible controllers
Interface cards expand your system options
mode for enhanced safety and
Easy-to-use pendant for teaching
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Compatible controllers
Compatible controllers
■ IP65-rated enclosure is sealed against oil and dust for
Conveyor tracking
Emergency stop switch
The convenience of a built-in DVD multi-drive for easy program installation and data recording.
Versatile control with just a few keystrokes
Teaching Pendant TP2
RC620
＊PG motion system requires optional EPSON RC+ software and at least one optional PG output board. Drivers and motors for third-party devices are not included.
6-axis robots
vision-to-robot calibration, making it much easier to align the robot's coordinate system with the camera's field of view. ■ Simple setup—only a camera and controller are needed. ■ Advanced pattern matching and geometric search tools enable easy solution program development without writing a single line of code.
Compatible controllers
turrets, and a wide range of other production/inspection line peripherals. ■ Each PG card has 4 channels, and can support from 1 to 4 robots. Up to 4 cards can be mounted.
SCARA robots
Control peripheral robots for fully integrated process automation Compatible controllers
■ A wide range of I/O cables
and connectors are available.
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Software options
VB Guide 5.0
RC620
RC180
RC90
RC620
RC180
RC90
GUI Builder 5.0
Compatible controllers RC620
RC180
RC90
RC620
RC180
RC90
Easily create custom interfaces for your control programs
Compatible controllers
VB Guide 6.0
GUI Builder 6.0
SCARA robots
Epson's long experience in factory automation enables us to offer a wide array of easy-to-use software programs to help you achieve maximum productivity with minimum programming overhead.
■ Quickly and easily create control program custom
interfaces that can take the place of dedicated PLCs and display devices. ■ Full-featured toolset is easy to understand and use. ■ Enables simple GUI creation without using Visual Studio or other third-party software tools. ■ Makes it easy to build a graphical user interface, even if you've never built one before.
Program and execute robot applications in a familiar Windows® OS environment ■ Robots can be controlled using Visual Basic®, Visual
Security
Compatible controllers RC620
RC180
RC90
6-axis robots
C®, LabVIEW™, and other third-party programming languages. ■ Robot status and variable values can be captured. ■ Third-party Visual Basic 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 Visual
Restric user access to programming functions for greater safety and security ■ Password-based protection levels can be set to
Basic application: ● Robot Manager ● I/O Monitor ● Task Manager ● Maintenance Dialog
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.
VB Guide basic system
VB Guide 6.0 basic system
RC620 controller
Force-sensing
Personal computer .NET applications that use SpelNet commands
RC620
RC180
RC90
Robot controllers
.NET applications based on the SpelNetLib library
Compatible controllers
Integrated force-sensing technology for realtime force control ■ Allows you to easily integrate force-sensing
capability into your control programs.*
EPSON RC+ In-process server
EPSON RC+ 6.0 In-process server
RC180 controller
■ 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.
ECP
z
Compatible controllers RC620
RC180
RC90
force torque
x
y G3 series robot (gamma force sensor sold separately)
■ 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.
OCR
RC620
RC180
RC90
Optical character recognition of text on parts and labels External Control Point
Part Outside Fixed Tool
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Compatible controllers
■ For use with optional Vision Guide software. ■ Enables you to specify the font, font size, and
number of characters of text that you want to read from an image.
■ A font creation function lets you create SEMI fonts
System options
External control point operation for precise positioning without complex calculations
and user-defined fonts from imaged characters or ASCII conversion files.
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End effector options
System option quick-reference table
Controller options
Epson robot end effector options provide the enhanced functionality and configuration flexibility you need for full-process automation. Compatible end effectors G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
S5
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
Compatible end effectors G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
S5
Brake release units
Compatible end effectors G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
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
RS3
RS4
C3
●
●
Vision Guide (6.0)
●
̶
̶
Teaching pendant (TP1)
●
●
̶
Teaching pendant (TP2)
̶
●
●
Conveyor tracking
●
̶
̶
PG cards
●
̶
̶
DVD drive
●
̶
̶
CPU option
●
̶
̶
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
●
●
●
RC620
RC180
RC90
VB Guide 5.0
̶
●
●
VB Guide 6.0
●
̶
̶
ECP
●
●
●
GUI Builder 5.0
̶
●
●
GUI Builder 6.0
●
̶
̶
Security
●
̶
̶
Force sensing
●
̶
̶
OCR
●
̶
̶
Software options
G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
S5
End effector options
G3
G6
G10
A multi-effector drive unit to increase the number of robots that can be controlled with a single RC620 controller
G20
LS3
LS6
RS3
RS4
C3
S5
G３
G６
G10/G20
LS3
LS6
RS３/4
C３
S5
External wiring units
̶
̶
●
●
̶
̶
̶
̶
̶
Tool adapters
̶
●
●
●
●
●
●
̶
̶
Brake release units
̶
̶
̶
̶
̶
̶
̶
●
●
Power and signal cables
●
●
●
●
●
●
●
●
●
Camera mounting bracket
̶
●
●
●
●
●
●
●
●
RC620DU drive unit
●
●
●
●
̶
̶
●
●
●
System options
G１
Compatible end effectors G1
Robot controllers
Compatible end effectors
Bracket design varies according to robot; please specify model when ordering.
37
̶
S5
Securely mount machine vision system camera to robot arm
RC620DU drive unit
Vision Guide (5.0)
Compatible end effectors
Standard 3m cables, or optional 5m and 10m cables for greater freedom in controller and robot placement
Camera mounting bracket
RC90
6-axis robots
Enhances handling/processing versatility and simplifies effector changes
RC180
SCARA robots
External wiring units
RC620
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EPSON RC+ program development software
SPEL+ language support Epson industrial robots use an easy-to-learn programming language that makes it simple to set up complex, multitask workflows.
Function main Motor On:
Motor power on
Power High:
Power mode high
Speed 100:
Speed 100%
Accel 100, 100:
Acceleration 100%
If Sw(o) = On Then: Jump P0 :
Move the effector to point 1
EndIf
command movements in three-dimensional space, and the
can be set in 100 steps.
Deceleration/acceleration of the approaching or departing
multitask processes can be automated with ease. Up to 32
head can be regulated without interrupting operation,
individual tasks can be seamlessly executed and
ensuring smooth,
controlled by a single program. 512-channel input/output
precise,
expandability, Vision Guide machine vision, and pulse
short-distance
generator control of peripheral equipment can all be
motion that
utilized to achieve full process automation.
helps improve
Controller
Example
Task 1
Effector
product quality stability.
a: Z-axis vertical ascent (mm; departing) b: Z-axis vertical descent (mm; approaching) z: Horizontal travel (mm)
Parallel processing for higher speed and efficiency
Task 4
Vision Guide option
Task 9
Workpiece feeder unit 1
Parallel processing enables you to control peripheral
Task 10
Workpiece feeder unit 2
devices while the robot arm is in motion. Commands can
Task 16
Workpiece offload unit Waste removal unit
PTP motion
CP motion
Maximum point-to-point speed is set as a percentage relative to the maximum acceleration speed. Ascent and descent speeds can also be set. For continuous path motion, maximum end effector speed ranges up to 1120mm/s, and maximum acceleration/deceleration speed ranges up to 5000mm/s.
Teaching Methods
takt time and
Task 15
Fend
Operating speed and acceleration/deceleration of the arm
With Epson's programming language, even complex
Else Jump P1
EPSON SCARA and ProSix robots all support JUMP
can be set to suit the work environment.
Is the I/O (input bit) on? Move the effector to point 0
Operating speed and acceleration/deceleration settings
arch described by the approaching and departing effector
Multitasking function Example program
3D jump with variable arch for ultra-precise short-distance movement
● Remote Teaching Points are taught using the jog keys on the teaching unit 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 resolution of each axis.
● Direct Teaching
be sent via RS-232C or any other supported I/O interface
Points are taught by disengaging the motor of each
to ensure synchronized control of multi-device processes
axis and moving the effector to the target by hand.
for maximum throughput efficiency.
(Direct teaching is not supported by ProSix 6-axis robots.)
● MDI Teaching
Easy alignment with palletized parts If parts are arranged in a square layout, spaced at regular intervals, the PALLET command can be used to quickly and precisely position the end effector.
High-speed, high-precision, 3D continuous path control three-dimensional continuous path (CP) control needed for 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. Continuous path (CP) control
High repeatability with varying payloads and effector orientation
39
coordinate values without moving the arm
"Ready" signal
All Epson robot systems offer the fast, precise, high-productivity coating and sealant application
Simply set points P1, P2, and P3 — all other points are set automatically.
Points are taught by inputting predetermined
Simulator 3D imaging of robot operation makes it easy to optimize workcell layout and parameters on a PC
Workcell layout analysis
Interference checking
3D imaging of robot operation makes it easy to determine
Workcell layout and robot selection are
workcell space requirements.
easier because interference problems
Allows import of CAD data for pallets and hands.
with peripheral equipment can be
Still images and movies of simulated operation can be
identified in advance on your PC.
easily added to presentation materials.
＊Interfering objects are shown in red for
Interference checking
Productivity forecasting
Positioning completion time control for maximum efficiency
Takt time can be confirmed in advance by running actual operating programs in the simulator.
A time limit can be set for the completion of effector positioning to enable the next instruction to be executed
Debugging function
Once the operator has set workpiece and effector weight,
even if the target point has not been reached. This allows
Peripheral equipment data input/output can be debugged
weight range, and effector orientation, acceleration is
you to maximize your yield by prioritizing takt (cycle) time
in the simulator's virtual environment.
automatically adjusted to reduce residual vibration and
over precision, or vice versa, according to the nature of
After debugging, operating programs are fully ready for
ensure high repeatability.
the work to be done.
Pallet and hand display using CAD data
Hand (enlarged view)
real-world deployment.
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With Epson industrial robots, you get the highest standards of safety and reliability and the support of a global sales and service network
At Epson, we continue to draw on the strengths of our global network 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 Europe
product.
Republic of Korea North America China
Japan
Taiwan Southeast Asia
South America
■ Top-quality service and support worldwide Our global network of sales and service centers is firmly dedicated to maintaining a consistently high level of product and service quality in every region. For products under warranty, we offer on-site assistance to deal with any malfunctions or problems*1, and through our authorized sales and service representatives we offer warranty coverage for machines that are later moved to other locations*2, assuring top-quality support wherever you are. *1 Standard warranty limitations apply. *2 Contact local sales and service representatives for details.
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