SCARA robots 6-axis robots Robot controllers Software System

Transcription

SCARA robots
6-axis robots
Robot controllers
Software
System options
Starts smart, stops smart.
The new gold standard
in precision automation.
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
Variable arc motion introduced
INDUSTRY FIRST
Antistatic system developed
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 industrial robot design
Epson has been a leader in industrial robot technology for over 30 years. Our
robotic systems reflect decades of experience in high-precision micro-component
assembly, and are globally recognized for their speed, 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 greater precision and efficiency.
Whatever manufacturing challenges you face, Epson industrial robots stand ready
to meet your needs with the gold standard in precision automation.
Why Epson Robots
Epson, the global leader in robotics technology, offers
you an unrivalled combination of high performance
and operating ease. Backed by a worldwide reputation
for reliability and outstanding customer support,
Epson robots are bringing high-productivity
automated manufacturing to an ever-expanding range
of industries worldwide.
3
?
Low TCO and high reliability for
the ultimate in automated productivity
High productivity
■ Proprietary Epson technology
reduces residual vibration to
ensure high speed and precision
for reduced takt time.
■ Slim, lightweight body design
reduces work cell space
requirements while enabling higher
productivity.
High quality
■ Extremely accurate toolhead
positioning enables high-precision
dispensing and cutting operations.
Easy operation
■ Intuitive grahical interface makes
programming easy even for
first-time users.
■ From program testing to full
production, improved operating
ease helps reduce cost and
manpower requirements.
■ Integrated machine vision systems
boost setup ease and workpiece
handling accuracy.
Epson robot
3D simulator for workcell layout and
toolpath program testing
Conventional robot
Software Integration
Smart Motion
Control Technology
Robot
Machine Vision
Technology
Vibration
Reduction Technology
Global Support
Epson supports its robotics customers through an international network of sales and service offices. There, experts provide
information about equipment configuration options, and perform simulations of the tasks that customers want robots to
perform. We are also partnered with systems integrators around the world, and can provide end-to-end turnkey solutions to
meet virtually any process automation need.
4
H Series / G Series
Top-class speed and repeatability
SCARA robots
Epson H Series and G Series robots offer
class-leading* speed, precision, and low residual
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.
vibration. Available to meet virtually any application
need, they include models that can be configured for
multitasking, cleanroom, antistatic, or washdown
process use.
*As of March 2013
A new dimension in SCARA
performance
Precision assembly
The RS Series ceiling-mount design and rotating
arm enable maximum productivity in minimum
High-speed handling performance
space. Innovative arm design eliminates work area
Full automation of manual processes
dead space, ensuring greater freedom of movement
and significantly faster cycle times.
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
replacements for older Cartesian units, they feature
dedicated controllers for unrivaled operating ease.
SCARA robots
H series
H4
H8
G1
03 T
03 T
03 T
MAX
4 Kg
8 Kg
MAX
5
Clean type
ISO 03 (Class 10 equiv.)
ESD suppression
4-axis
P9 -10
P7-8
03
G series
04
Clean type
ISO 04 (Class 100 equiv.)
D
Protected type IP54
1/
MAX
G3
03 T
3-axis
1.5 Kg
MAX
P11-12
P
Protected type IP65
T
LS series
W/C
3 Kg
G6
G10/G20
LS3/LS6
03 D P T W C
03 D P T W C
04 T
MAX
P13-16
Table Top mount
W
Wall mount
C
6 Kg
P17-20
Ceiling mount
W/C
Wall/ceiling
multi-layout mount
10/20 Kg
MAX
P21-24
MAX
3/6 Kg
P25-28
C Series, S Series
Unrivaled speed and performance in the
tightest quarters
6-axis robots
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.
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
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
6-axis robots
RS series
C series
Robot controllers
RS3/RS4
C3
C4
S5
03 C
03 T W C
03 T C
04 P T W C
MAX
3/4 Kg
P29 -32
MAX
3 Kg
P33-34
Software
System options
S series
MAX
4 Kg
P35 -36
5 Kg
MAX
P37-38
RC700
RC620
RC180
RC90
P39 - 42
■ EPSON RC+
programdevelopment
software
■ Software options
■ Robot controller options
■ End effector options
quick-reference table
■ System option
P43- 45
P46 -52
6
G series SCARA robot
Compact, high-rigidity body for precision
assembly and press-fit applications
■ At only 8kg, our lightest G series robot
■ Available with 175mm or 225mm arm
■ Triple-axis model for heavier payloads
■ G1 specifications
Arm length
175 mm
Payload
225 mm
Rated 0.5 kg / Max 1 kg (4-axis), 1.5 kg (3-axis)
Standard cycle time
Joint #1, #2
0.29 sec
0.30 sec
±0.005 mm
±0.008 mm
Repeatability
Joint #4
±0.01°
■Specifications
4-axis
G1-171*
Mounting type
Arm length
Max. 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
3- axis
G1-221*
G1-171*Z
225 mm
3000 mm/s
175 mm
2630 mm/s
Table Top
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
175 mm
2630 mm/s
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
(Cleanroom model)
Z stroke
(Cleanroom model)
Joint #4
Rated
Maximum
±0.005 mm
1200 mm/s
3000°
8 kg
Joint #3 down force
Home
Installed wire for customer use
Installed pneumatic tube for customer use
Installation environment
Applicable Controller
Safety standard
-
8 kg
±0.005 mm
-
±125°
±152°
(±149°）
±135°
(±123°）
±135°
(±132°)
100 mm
(80 mm)
100 mm
(80 mm)
±360°
0.5 kg
1 kg
-
0.5 kg
1.5 kg
0.29 sec
0.30 sec
0.0003 kg・m 2
0.004 kg・m 2
0.30 sec
-
All joints: 50 W
50 N
Home-return-less
24Pin（D-Sub 9+D-sub 15)
Φ4mm×1, Φ6mm×2
Standard/Cleanroom *3 &ESD
RC180, RC620
CE, KC, UL
*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.
11
±0.008 mm
±0.01 mm
±0.01 mm
±0.01°
±125°
0.29 sec
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
225 mm
3000 mm/s
1200 mm/s
±0.008 mm
±140°
(±140°)
G1-221*Z
Table Top
■Outer Dimensions（Table Top Mounting）
[Unit: mm]
Cleanroom-model
75
a
208
83
108
88
100
83
50
100
50
50
75
50
6-Ø 6.5 Drilled hole
25 20
39.5±0.05
+0.012
depth3
0
+0.012
depth
0
3
not penetrable
96
88
44±0.05
96
110±0.05
Ø4
110±0.05
+0.012
0
Reference through hole
(View from the bottom of the base)
31.5
8.5
Software
1mm flat cut
5
5
4
16
1mm flat cut
16
+0.012
0
2-Ø4
88
not penetrable
39.5±0.05
+0.012
40
4
4
2
2-Ø4
10.5±0.05
44±0.05
+0.012
0
125
5
+0.012
0
+0.012
0
4
2x2-M4 depth 6
10.5±0.05
4
90 or more
Space
for Cables
175
2
125
5
Ø4
41.5
＊indicates the stroke margin by mechanical stop.
2x2-M4 depth 6
25 20
10
72
b
15
107
90 or more
Space
for Cables
175
139
32
80
3*
10
35
104
139
159.5
2.5*
181.8
201.8
b
180.8
15
2.5 *
100
159.5
6*
A
Ø 8 h7 shaft diameter
Ø 8 h7 shaft diameter
Ø 16 mechanical stop diameter
a
b
Detail of “A”
(Calibration point position of Joints #3 and #4)
Robot controllers
41.5
72
6-axis robots
200.8
6-Ø 6.5 Drilled hole
A
88
28.7
208
108
a
SCARA robots
100
28.7
100
Standard-model
Ø 16 mechanical stop diameter
G1_221S
125
Max.545
G1_171S
75
Max.515
a
b
Detail of “A”
G1_171CS G1_221CS
125
75
Max.545
Max.515
■Motion Range (Table Top Mounting）
4-axis
Model
G1-221CZ
G1-171C
G1-171S
c
a
a
c
g
f
h
j
k
j
k
f
h
d
d
d
d
c
c
e
e
q
q
b
b
b
b
125
g
a
c
a
c
g
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 (°)
125
c
e
Mechanical stop area
59.6
140
60.4
62.6
b
Joint #1 angle to hit mechanical stop (°)
3
d
3
64.8
70.9
86.4
125
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
System options
G1-221SZ
140
12
Compact, with high speed and low
vibration for one-rank-up performance
■ Handles small, heavy payloads up to 3kg
■ Available with straight or curved arm
■ Small footprint, yet has long reach
250 mm
Arm length
Payload
300 mm
350 mm
Rated 1 kg / Max 3 kg
0.41 sec
Standard cycle time
Joint#1, #2
0.43 sec
±0.008 mm
0.41 sec
±0.01 mm
Repeatability
Joint#4
±0.005°
Straight
Curved (R)/Curved (L)
Arm shape
Straight arm
Curved arm
■Specifications
G3-301**-*
G3-251*
Mounting type
Arm length
Repeatability
Max. motion range
Straight
Curved
Common
Payload
Arm #1, #2
Joints #1, #2
Joints #3
Joints #4
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
Joint #4 allowable moment of inertia*3 Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
Table top
250 mm
3550 mm/s
G3-351**-*
Multiple *1
Table top
300 mm
3950 mm/s
Multiple
350 mm
4350 mm/s
1100 mm/s
3000°/s
14 kg
±0.008 mm
±140°
±141°
(±137°)
̶
̶
̶
̶
±0.01 mm
±0.01 mm
±0.01 mm
±0.005°
±115°
±135°
(±135°)
±140°
±142°
(±141°)
-125∼150°
-150∼125°
-135∼150°
(-135∼145°)
-150∼135°
(-145∼135°)
̶
̶
̶
̶
±140°
±120°
±142°
(±142°）
-110∼165°
-165∼110°
-120∼165°
(-120∼160°)
-165∼120°
(-160∼120°)
-105∼130°
-130∼105°
-120∼160°
(-120∼150°)
-160∼120°
(-150∼120°)
150 mm
(120 mm)
±360°
1 kg
3 kg
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, KC, UL
*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).
13
Table top
0.41 sec
[Unit: mm]
Standard-model
42.5
169
130
a
169
32.5
2-M3 depth 8
101
20
4- Ø 9
4- Ø 9
2-Ø 9
67
67
20
120
158
2-Ø 9
20
6-axis robots
10.7 *
120
158
6.7 *
2- M 5 depth 10
23
116
140
101
120
23
116
2-M 5 depth 10
140
32.5
120
a
20
130
2-M3 depth 8
SCARA robots
42.5
Cleanroom-model
Ø 30
394.2
b
194
36
30
127
90 or more
Space
for Cables
86
4.1 *
10
51.5
10
120
129
143
10.7 *
A
199.5
129
143
26
150
9.6 *
563.5
b
394.2
36
6.7 *
454
199.5
A
51.5
Robot controllers
194
Ø 30
127
90 or more
Space
for Cables
86
Software
126±0.05
126±0.05
6 +0.012
Through hole
0
22.5
79.5
30
1 mm flat cut
30
10 10
Conical hole Ø3,90°
1010
8
120
45.5
1 mm flat cut
6 +0.012
0
Through hole
8
120
52.5
10
)
Ø6 H7 ( +0.012
0
Through hole
Ø16 h7 shaft diameter
Ø30 mechanical stop diameter
Ø 6 H7 ( +0.012
0
)
Max.Ø11 through hole
Through hole
Detail of “A”
a
b
G3_251S
120
Max.545
G3_301S
170
Max.575
G3_351S
220
Max.595
Detail of “A”
a
b
G3_251C
120
Max.545
G3_301C
170
Max.575
G3_351C
220
Max.595
System options
14
■Outer Dimensions（Multiple Mounting）
[Unit: mm]
Standard-model
Cleanroom-model
139
42.5
51.5
130
a
139
51.5
2-M 3 depth 8
6
6 +0.012
0
Through hole
47 20
101
23
116
200
140
101
73
120
8
8
Through hole
23
116
)
Ø 6 H7 ( +0.012
0
Through hole
+0.012
0
6-Ø 9
126±0.05
12
)
Ø 6 H7 ( +0.012
0
Through hole
47 20
73
158
6-Ø9
126±0.05
12
10.7 *
158
Ø 30
b
60
131.5
10.5
36
119
69
62.5
109.5
A
120
10.7 *
172
150
90 or more
Space
for Cables
301.5
473.5
90 or more
Space
for Cables
b
69
119
A
36
1010
22.5
30
1 mm flat cut
79.5
4.1 *
86
45.5
9.6 *
86
1 mm flat cut
1010
Detail of “A”
30
62.5
10.5
6.7 *
75.5
138
60
131.5
330
192
6.7 *
Ø 30
Detail of “A”
4- Ø 9
8
)
Ø 6 H7 ( +0.012
0
174
70
174
a
b
15
34
34
69±0.05
70
Through hole
69±0.05
6 +0.012
0
Through hole
8
Through hole
6 +0.012
0
4- Ø 9
)
Ø 6 H7 ( +0.012
0
Through hole
G3_301SM G3_351SM
220
170
Max.450
Max.410
a
b
G3_301CM G3_351CM
220
170
Max.450
Max.410
200
a
140
130
2-M 3 depth 8
120
42.5
Straight Arm
[Unit: mm]
Straight Arm
Model
c
d
fg
h
b
j
k
c
q
b
176
Left-Curved Arm
f
Motion range
a
c
e
b
d
130
g
h
e
p
n
z
a
141
137
142
79.3
6.3
3.8
4.8
3.8
Left-Curved Arm
G3-301C-L
G3-351S-L
170
G3-351C-L
220
130
m,j Motion range
e,g Motion range of Joint #2 (°)
142
134.2
130
191.6, 107.5
191.6, 100.3
120.7, 86.8
150, 125
165, 110
150, 135
145, 135
h,k Mechanical stop area
f
x
165, 120
160, 120
97.0, 183.0
97.0, 184.2
q
r
e
141
96.2
2
2.3
a,c Motion range of Joint #1 (°)
219
t
s
d
g
y
146.6
79.5, 113.2
b,d Joint #1 angle to hit mechanical stop (°)
f,z Joint #2 angle to hit mechanical stop (°)
b
5, 4
3, 6
3.3, -
8.3, 3.8
2.8, 3.8
7.8, 3.8
176
Right-Curved Arm
Right-Curved Arm
Model
G3-301S-R
n
p
e
g
c
a
G3-351S-R
h
j
f
219
q
r
b
135, 150
191.6, 107.5
110, 165
135, 145
79.5, 113.2
d
125, 150
120, 165
120, 160
97.0, 183.0
97.0, 184.2
4, 5
6, 3
3.3, -
3.3, 8.3
3.8, 2.8
3.8, 7.8
176
■Motion Range (Multiple Mounting）
Straight Arm
[Unit: mm]
Straight Arm
Model
a
c
c
G3-351SM
d
170
f
130
130
g
h
j
k
d
f
Motion range
120.7
142.3
a
115
120
c
135
142
e
112
134.2
b
b
c
b
b
4
d
3.8
Left-Curved Arm
Model
G3-351SM-L
a
c
e
g
G3-351SM-L
n
h
j
70
z
k
m
np
220
p-n Length of Arm #2 (mm)
m,j Motion range
f
130
q
r
d
x
130, 105
160, 120
291
b
150, 120
103.3, 183.0
3.3, 5
2, 5
2.8, 3.8
12.8, 3.8
Right-Curved Arm
Model
G3-351SM-R
n
g
a
f
m,j Motion range
130
q
r
b
t
s
x
y
191.9, 125.6
191.9, 107.5
z
G3-351CM-R
220
70
p h
j
k
m
n
e
c
G3-351SM-R
105, 130
120, 160
120, 150
System options
Right-Curved Arm
191.9, 125.6
191.9, 107.5
y
G3-351CM-L
Software
Left-Curved Arm
t
s
220
g
291
d
G3-351SM/CM
a
79.5
e
G3-301SM/CM
Robot controllers
g
t
s
e
x
y
130
191.6, 100.3
120.7, 86.8
G3-351C-R
220
130
m,j Motion range
n
G3-351S-R
170
k
m
z
G3-301C-R
6-axis robots
n
130
142.3
140
k
m
G3-351C
220
107.1
104.8
G3-301S-L
j
G3-351S
130
92
84
G3-301C
170
Model
c
G3-351S-L
G3-301S
120
219
d
a
a
c
g
e
G3-251C
SCARA robots
G3-251S
G3-351S
103.3, 183.0
5, 3.3
5, 2
3.8, 2.8
3.8, 12.8
291
16
High speed and precision
for small component assembly
■ Handles payloads up to 6kg
■ Available with 450mm, 550mm, or 650mm arm
450 mm
Arm length
Payload
550 mm
650 mm
0.35 sec
Standard cycle time
0.36 sec
Joint#1, #2
±0.015 mm
Joint#4
±0.005°
0.39 sec
Repeatability
■Specifications
G6-45**
Mounting type
Arm length
Repeatability
Max. motion range
Table top
27 kg
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Payload
Ceiling
450 mm
6440 mm/s
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
±152°
Z:0∼-270 mm±147.5°
Z:-270∼-330 mm ±145°
G6-55***
Wall
29 kg
±120°
±105°
Ceiling
Wall
550 mm
7170 mm/s
G6-**1**=1100 mm/s /G6-**3**=2350 mm/s
2400°/s
27 kg
29 kg
±0.015 mm
±0.01 mm
±0.005°
±152°
±135°
±130°
Table top
Ceiling
650 mm
7900 mm/s
28 kg
±152°
±147.5°
G6-**1**=150 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°
3 kg
6 kg
0.39 sec
0.35 sec
0.36 sec
0.01 kg・m 2
2
0.12 kg・m
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, KC, UL
*4:G6-***D* protected type with optional bellows complies with IP54; G6-***P* complies with IP65.
17
G6-65***
Table top
Wall
29.5 kg
±148°
[Unit: mm]
Cleanroom-model
15
90
4- 11
2-M5 depth 10
12.2*
110
150
180
15
4.2*
15
165.5
160
124
30
15
110
150
180
15
a
15
4- 11
180
90
124
30
2-M4 depth 11
250
2-M4 depth l l
15
52
180
165.5
160
150
a
150
250
15
2-M5 depth 10
15
SCARA robots
52
15
Standard-model
38
305
1.2*
c
316.5
391
b
7
A
305
20
20
c
4.2*
316.5
b
391
61.5
4.2*
61.5
A
7
d
12.2*
d
235.5
6-axis robots
235.5
38
90 or more
Space
for Cables
95
54.5
39.8
1mm flat cut
30
10 10
10
1mm flat cut
Conical hole
Ø4,90°
30
15
1010
Conical hole
Ø4,90°
15
12.2
38
14 24
37.5
90 or more
Space
for Cables
Robot controllers
Detail of “A”
Detail of “A”
6 +0.02
0
8
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
55±0.05
110
110
55±0.05
+0.012
6 H7（）
0
75±0.05
Root both side chamfer C0.5
a
6 H7（）
0
75±0.05
a
G6-45*C
200
G6-55*C
300
b
c
d
G6-**1C
150
116
792
G6-**3C
300
-34
942
+0.012
G6-65*C
400
Software
8
6 +0.02
0
Table Top Mounting
G6-45*S/D
e
e
d
h
h
f
d
c
a
b
c
Motion range
175
a
b
g
230
g
d
e
f
g
h
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
207.5
System options
Model
G6-55*S
3.5
Z:0∼-270
3
Z:0∼-240
3
Z:-270∼-330
5.5
Z:-240∼-300
8.5
6.3
18
■Outer Dimensions (Ceiling Mounting)
[Unit: mm]
Standard-model
Cleanroom-model
52
250
a
52
165.5
250
2-M4 depth 11
a
165.5
6 +0.012
0
+0.012
6 H7（）
0
75±0.05
15
75±0.05
4-11
150
15
150
180
110
124
30
180
150
+0.012
6 H7（）
0
55±0.05
2-M4 depth 11
15
55±0.05
110
124
30
8
8
15
15
6 +0.012
0
15
15
4-11
150
180
15
38
90 or more
Space
for Cables
20
305
78.5
4.2*
78.5
d
235.5
305
(233.5)
A
A
B
B
b
b
12.2*
d
20
c
38
90 or more
Space
for Cables
c
12.2*
4.2
180
37.5
90
90
34.5
95
39.8
110
15
Conical hole
Ø4,90°
2-M5 depth 10
10 10
30
38
12.2
1mm flat cut
2-M5 depth 10
15
15
10 10
1mm flat cut
Conical hole
Ø4,90°
160
30 10
14 24
1.2*
4.2*
110
15
Detail of “B”
Detail of “A”
Detail of “B”
Detail of “A”
a
G6-45*SR G6-55*SR G6-65*SR
200
300
400
a
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
■Motion Range (Ceiling Mounting）
Ceiling Mounting
Model
G6-55*SR
G6-45**R
e
e
d
h
d
h
f
a
b
230
g
19
c
250
g
a
b
c
Motion range
d
e
f
G6-55*SR/DR
G6-55*CR/PR/DR bellows
300
200
G6-65**R
400
250
195.5
161.2
172.1
120
130
147.5
182.4
g
5.5
h
3.8
232
152
145
147.5
207.5
146.8
3.5
3.3
5.8
6.3
■Outer Dimensions (Wall Mounting)
[Unit: mm]
Standard-model
Cleanroom-model
250
a
52
138
a
250
SCARA robots
52
138
124
30
124
30
2-M4 depth 11
38
c
12.2*
4.2*
2-M4 depth 11
234
d
81
149.5
68
235.5
193
4.2*
81
149.5
160
12.2*
68
235.5
A
A
B
b
b
B
37.5
90
90
1mm flat cut
110
28
Conical hole
Ø4,90°
2-M5 depth 10
10 10
30
2-M5 depth 10
15
30
10 10
15
34.5
95
39.8
38
12.2
10
1mm flat cut
Conical hole
Ø4,90°
Detail of “B”
Ø160
6-Ø10
Ø6H7
8
190
210
G6-45*SW G6-55*SW G6-65*SW
200
300
400
b
c
d
G6-**1SW
180
-9
385
G6-**3SW
330
141
535
26
a
66±0.05
66±0.05
26
8
190
210
a
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
Software
6 +0.012
0
6-Ø10
6 +0.012
0
300
160
90 or more
Space
for Cables
80
160
300
90 or more
Space
for Cables
80
28
Ø6H7
110
Robot controllers
14 24
1.2*
4.2*
6-axis robots
c
234
38
■Motion Range (Wall Mounting）
G6-45**W
e
d
e
d
h
h
c
65
f
a
b
g
g
a
b
c
Motion range
d
105
e
130
f
g
h
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
7.5
5.8
6.3
System options
Wall Mounting
Model
G6-55*SW
330
20
G10
For high-speed, multi-effector assembly,
kitting, and packing applications
■ Ideal for mid-range payloads up to 10kg
G20
For fast, efficient, high-payload
handling and batch-packing applications
■ Handles heavy payloads up to 20kg
■ G10/20 specifications
650 mm
Arm length
850 mm
1000 mm
G10
G20
Payload
0.34 sec
Standard cycle time
0.37 sec
Joint #1, #2
±0.025 mm
Joint #4
±0.005°
0.42 sec
Repeatability
■Specifications
G10-65**
Mounting type
Arm length
Repeatability
Max. motion range
Table top
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Payload
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
±152°
±152.5°
Ceiling
650 mm
8800 mm/s
G10/20-85***
Wall
Table top
*4:G10-***D* with optional bellows complies with IP54; G10-***P* complies with IP65.
21
G20-A0***
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°/s
G10=2400° /G20=1700 °/s
1700 deg
48 kg
53 kg
50 kg
55 kg
46 kg
51 kg
±0.025 mm
±0.01 mm
±0.005°
±107°
±152°
±107°
±152°
±107°
±152.5°(±122.5 deg)* *:bellow Z:-360∼-390 G10/20**1** / G10/20**4**=±151
±130°
deg(122.5°)* (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°
5 kg
10 kg
G10=5 kg /G20=10kg
10 kg
20 kg
G10=10 kg /G20=20kg
0.34 sec
0.42 sec
0.37 sec
0.05 kg・m 2
0.02 kg・m 2
G10=0.02 kg・m 2 /G20=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, KC, UL
[Unit: mm]
110
200
240
4- 16
200
240
20
179
118 19
200
4- 16
20
20
2-M8 depth16
(Mount eyebolt
at shipment)
5*
39.5
200
240
38
1.8*
20
a
400
2-M4depth11
20
55.5
20
158
30
2-M8 depth 16
(Mount
eyebolt
at shipment)
110
200
240
200
158
30
179
118 19
a
20
400
2-M4 depth 12
SCARA robots
55.5
Cleanroom-model
20
Standard-model
c
c
286
286
6-axis robots
A
20
20
d
363
380.5
b
485.5
d
1*
363
380.5
8.5
8.5
b
5*
485.5
80
80
A
40
100
43
14 29
45
30
30
Conical hole
Ø4,90°
Ø39.5 mechanical stop diameter
1010
1mm flat cut
15
15
1010
5
1mm flat cut
Conical hole
Ø4,90°
90 or more
Space
for Cables
90 or more
Space
for Cables
Robot controllers
Detail of “A”
Detail of “A”
+0.012
6（）
0
+0.012
6（）
0
b
c
d
G10-65*S
250
G10/G20-**1S
180
813.5
213.5
G10/G20-85*S
450
G20-A0*S
600
G10/G20-**4S
420
1053.5
-26.5
73±0.05
73±0.05
146
146
a
10±0.05
a
G10-65*C
250
G10/G20-85*C
450
G20-A0*C
600
10±0.05
+0.012
6（）
0
b
c
d
G10/G20-**1C G10/G20-**4C
150
390
870.5
1129.5
205.5
-34.5
Software
8
8
+0.012
6（）
0
e
e
d
G10-65**
d
207.8
f
c
a
h
270
g
G20-A0
250
450
600
b
400
400
400
c
Motion range
d
e
f
g
h
212.4
207.8
Z:0∼-360
207.8
Z:-360∼-390
218.3
152
152
152.5
g
C/P/D bellows
a
b
h
G10/20-85*
S/D
152.5
152
Z:0∼-360
152.5
Z:-360∼-390
151
199.4
183.3
3
3
3.5
3.5
307
152.5
System options
Table Top Mounting
Model
G10/20-85**
285.4
3
Z:0∼-360
3.5
Z:-360∼-390
5
3.5
22
[Unit: mm]
Standard-model
Cleanroom-model
a
179
400
2-M4depth11
55.5
4- 16
6 +0.012
0
a
179
6 +0.012
0
20
73±0.05
200
240
146
200
240
100±0.05
(Tolerance
applies to
the pin hole)
20
200
20
240
100±0.05
(Tolerance
applies to
the pin hole)
200
20
20
240
+0.012
6（）
0
4- 16
38
1.8*
+0.012
6（）
0
20
73±0.05
158
30
146
8
8
20
400
2-M4depth12
20
55.5
90 or more
Space
for Cables
363
286
A
106
106
286
363
d
d
20
20
c
90 or more
Space
for Cables
c
5*
39.5
b
B
43
15
1mm flat cut
Conical hole
Ø4,90°
1010
30
5
40
14 29
45
100
1010
30
1mm flat cut
Conical hole
Ø4,90°
15
5*
1*
b
A
B
Detail of “A”
Detail of “A”
200
200
19 2-M8 depth 16
118
110
110
2-MB depth 16
118
19
Detail of “B”
Detail of “B”
a
b
c
d
G10-65*SR
250
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
G10/G20-**1CR G10/G20-**4CR
150
390
29.5
288.5
515
774
b
c
d
d
e
d
e
250
f
270
G10-65**R
c
h
h
g
23
Ceiling Mounting
Model
G10/20-85**R
g
a
b
G10/20-85*
CR/PR/DR bellows
SR/DR
G20-A0**W
a
250
450
600
b
400
400
400
c
Motion range
d
107
e
130
f
g
h
306.5
207.8
152.5
307
151
152.5
152
183.3
291.2
285.4
3
3
3.5
218.3
152
3.5
3
5
3.5
■Outer Dimensions (Wall Mounting)
[Unit: mm]
Standard-model
Cleanroom-model
400
a
155
55.5
400
2-M4depth12
a
155
158
30
1.8*
30
158
2-M4depth12
SCARA robots
55.5
38
245
d
135.5
224
A
B
b
b
1*
B
5*
240.5
135.5
224
110.5
286
363
245
363
d
286
202.5
110.5
A
6-axis robots
38.5
37.5
c
c
5*
39.5
2-M8 depth16
110
Detail of “B”
Detail of “A”
2-M8 depth16
1010
30
1mm flat cut
Conical hole
Ø4,90°
15
118 37
40
110
5
118 37
43
100
14 29
45
200
1010
30
15
1mm flat cut
Conical hole
Ø4,90°
Detail of “B”
Robot controllers
200
Detail of “A”
+0.012
6 0
340
140 35
245±0.05
140
140
+0.012
6 0
6- 14 8
+0.012
0
6 a
15±0.05
(Tolerance applies
to the pin hole)
90 or more
Space
for Cables
220
250
b
c
d
G10-65*SW
250
G10/G20-85*SW G20-A0*SW
450
600
G10/G20-**1SW G10/G20-**4SW
180
420
-27.5
212.5
420
660
6- 14 8
+0.012
6 0
G10-65*CW
250
a
15±0.05
(Tolerance applies
to the pin hole)
220
250
b
c
d
G10/G20-85*CW G20-A0*CW
450
600
G10/G20-**1CW G10/G20-**4CW
150
390
29.5
288.5
515
774
Software
340
140 35
245±0.05
90 or more
Space
for Cables
■Motion Range (Wall Mounting）
G10/20-85*
e
d
e
G10-65**W
d
f
c
a
b
g
g
h
h
400
CW/PW/DW bellows
SW/DW
G20-A0**W
a
250
450
600
b
400
400
400
c
Motion range
d
107
e
130
f
306.5
207.8
218.3
307
151
152.5
107
152.5
291.2
183.3
g
3
3
h
3.5
3.5
107
285.4
3
5
System options
Wall Mounting
Model
G10/20-85**W
3.5
24
LS series SCARA robot
Simplicity, reliability, and performance
for easy process automation
■ Small footprint with a big working area
■ 400mm arm length
■ LS3 specifications
400 mm
Arm length
Payload
0.45 sec
Standard cycle time
Joint #1, #2
±0.01 mm
Joint #4
±0.01°
Repeatability
■Specifications
LS3-401*
Mounting type
Arm length
Repeatability
Max. motion range
Payload
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
Table Top
400 mm
6000 mm/s
1100 mm/s
2600°/s
14 kg
±0.01 mm
±0.01 mm
±0.01°
±132°
±141°
150 mm
(120 mm)
±360°
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, KC
*3:Complies with ISO Class 4 cleanroom standards.
25
[Unit: mm]
Standard-model
Cleanroom-model
225
135
50
20
135
20
4-M4 depth 6
23
80
100
120
140
30
45
120
225
20
2-Ø9
4-Ø9
2-M 3 depth 10
Ø109
175
4-M4 depth 6
23
132
20
80
100
120
140
175
2-M 3 depth 10
120
30
45
2-Ø9
4-Ø9
SCARA robots
50
10.5 *
Ø30
MAX. 650
9.5
Ø6 H7 ( +0.012
)
0
60±0.01
60
)
48
60±0.01
60
4.5
4-M4 depth 8
48
48
48
35
+0.012
0
90 or more
Space
for Cables
131.2
Ø6H7 (
180
151 +0.05
0
135
45
58 20
35
4.5
4-M4 depth 8
180
+0.05
151 0
20
20
2-M4 depth 8
Robot controllers
90 or more
Space
for Cables
58 20
163.6
8
120
3.8 *
135
130.2
173.1
10.5 *
220
163.6
45
8
5.5
150
9.3 *
38
584
38
A
173.1
220
6.5 *
174.3
MAX. 650
174.3
474.5
A
6-axis robots
6.5 *
Ø30
2
79.5
30
10 10
1mm flat cut
Conical hole
Ø3,90°
30
10 10
22.5
45.5
6 +0.012
0
Software
1mm flat cut
Conical hole
Ø3,90°
2
2-M4 depth 8
6 +0.012
0
Detail of “A”
Detail of “A”
LS3-401C
141
°
8°
2.
.8
180
325.5
28
8°
2.
8°
2.
180
R1
250
.8
333.5
235
28
325.5
R141.6
R1
333.5
2°
8°
2°
2°
141
°
13
5
R22
°
4.2
R141.6
4.
4.
2°
1°
2°
13
5
R22
2°
4.
14
2°
1°
13
14
13
00
R4
2.
00
R4
System options
LS3-401S
26
LS series SCARA robot
Simplicity, reliability, and performance
with added reach and payload capacity
■ Ideal for multi-effector, multi-workpiece handling
of payloads up to 6kg
■ 600mm arm length
■ LS6 specifications
600 mm
Arm length
Payload
0.42 sec
Standard cycle time
Joint #1, #2
±0.02 mm
Joint #4
±0.01°
Repeatability
■Specifications
LS6-602*
Mounting type
Arm length
Repeatability
Max. motion range
Payload
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
Table Top
600 mm
6800 mm/s
1100 mm/s
2000°/s
17 kg
±0.02 mm
±0.01 mm
±0.01°
±132°
±150°
200 mm
(170 mm)
±360°
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, KC
*3:Complies with ISO Class 4 cleanroom standards.
27
[Unit: mm]
Standard-model
Cleanroom-model
275
325
135
57.7
4-M4 depth 6
275
325
135
20 20
2-M4 through hole
Ø134
2-M4 through hole
4-Ø9 through hole
30
30
4-Ø9 through hole
MAX.680
174.5
50
607.5
50
A
166.5
178
90 or more
Space
for Cables
90 or more
Space
for Cables
5
195
41
150
35 20
20
4-M4 depth10
6 +0.012
0
through hole
195
4-M4 depth10
180 +0.05
0
180 +0.05
0
Ø6 H7（+0.012
）through hole
0
94
Ø6 H7（+0.012
）through hole
0
62
4-M4 depth10
55±0.01
90
30
55±0.01
90
30
2-M4 depth10 6.7
5
6 +0.012
0
through hole
4-M4 depth10
55
20
55
150
35 20
1mm flat cut
10 10
30
30
10 10
Conical hole
Ø3,90°
Detail of “A”
Software
1mm flat cut
Conical hole
Ø3,90°
Robot controllers
41
（135）
223.4
2-M4 depth10 6.7
60
10
53
170
9.8*
（135）
223.4
11.8*
241
166.5
10
178
200
51
60
6*
A
241
10*
174.5
MAX.680
10*
Ø38
6-axis robots
559
150
Ø134
Ø38
6*
150
4-M4 depth 6
100
129
150
169
135.5
30
100
129
150
169
135.5
30
20 20
SCARA robots
57.7
Ø90
Detail of “A”
150
°
4.
2°
25
R3
R1
42.
5
492.5
504
2°
13
86.8
245
492.5
504
2°
2°
2°
4.
4.
4.
2°
13
0°
2°
13
0°
.6
62
R1
25
R3
R162.6
R1
42
.5
245
00
R6
15
150
°
00
R6
15
8°
380
2.
8°
8°
2.
8°
2.
220
2.
13
2°
R6
6
60
LS6-602C
R6
LS6-602S
System options
0
28
RS series SCARA robot
A unique rotating arm mechanism
for unparalleled freedom of movement
■ Outstanding productivity in limited space
■ Ceiling mount and rotating arm enable workpiece to be accessed from any direction
■ RS3 specifications
350 mm
Arm length
Payload
0.34 sec
Standard cycle time
Joint #1, #2
±0.01 mm
Joint #4
±0.01°
Repeatability
■Specifications
RS3-351*
Mounting type
Arm length
Repeatability
Max. motion range
Payload
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
Ceiling
350 mm
6237 mm/s
1100 mm/s
2600°/s
17 kg
±0.01 mm
±0.01 mm
±0.01°
±225°
±225°
130 mm
(100 mm)
±720°
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, UL
29
[Unit: mm]
Cleanroom-model
47.5
147
206
174
154.8
175
175
147
206
174
154.8
120.8
140
120.8
140
245.5
245.5
Manipulator
installation
position
52
202.5
248
500
202.5
248
52
60
15
146.5
58 24
171
15
58 24
60
146.5
Manipulator
installation
position
6-axis robots
A
A
7.8* 100
130
8.5*
473
90 or more
Space
for Cables
172.5
90
90 or more
Space
for Cables
6*
16
9.6
124.8
113
95
16
9.6
175
175
124.8
113
95
175
SCARA robots
47.5
175
Standard-model
4.8 *
100
35 20
4-M4 depth 8
20
35
100 20
20
4-M4 depth 8
80
60
30
80
60
30
4-M4 depth 8
Robot controllers
2-M4 depth 8
7.5
2-M4 depth 8
38
4-M4 depth 8
7.5
+0.012
6H7（）
0
Detail of “A”
34
164
95
(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
80
3-M6
through
hole
30
Ø16h7 shaft diameter
Ø30 mechanical stop diameter 8
Detail of “A”
4
6 +0.012
0
95
1mm flat cut
Ø3,90°
Conical hole
10 10
160
Ø30 mechanical stop diameter 8
4
80
30
10 10
15
3-M6
through
hole
34
95
6 +0.012
0
164
95
(View from the top of the base)
For manipulator
mounting 6-6.5
through hole
Software
1mm flat cut
Ø3,90°
Conical hole
75.5
59±0.05
48.5
59±0.05
15
+0.012
6H7（）
0
80±0.05
80 ± 0.05
38
ø11 spot facing
depth 6.5
(from back side)
RS3-351*
225°
Arm #1 Length(mm)
175
Arm #2 Length(mm)
175
175 mm
225°
225°
Joint #1 Motion range(°)
±225
±225
System options
Model
225°
30
RS series SCARA robot
A unique rotating arm mechanism
for unparalleled freedom of movement
■ Outstanding productivity in limited space
■ Ceiling mount and rotating arm enable workpiece to be accessed from any direction
■ RS4 specifications
550 mm
Arm length
Payload
0.39 sec
Standard cycle time
Joint #1,#2
±0.015 mm
Joint #4
±0.01°
Repeatability
■Specifications
RS4-551*
Mounting type
Arm length
Repeatability
Max. motion range
Payload
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
Ceiling
550 mm
7400 mm/s
1100 mm/s
2600°/s
19 kg
±0.015 mm
±0.01 mm
±0.01°
±225°
±225°
130 mm
(100 mm)
±720°
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
31
[Unit: mm]
Standard-model
Cleanroom-model
57
275
275
147
95
6 +0.012
0
8
164
95
34
95
164
90 or more
Space
for Cables
171
15
21
Manipulator
installation
position
( 403.5 )
196.5
255
522
(403.5)
60
60
255
196.5
494
60
60
163.5
81
15
78
24
Manipulator
installation
position
6-axis robots
174
90 or more
Space
for Cables
163.5
175
9.6
140
16
120.8
174
154.8
345.5
95
34
4
80
120.8
140
160
175
4
80
Ø 6 +0.012
0
345.5
8
206
80± 0.05
Ø6
16
9.6
124.8
113
95
80±0.05
206
174
154.8
95
59±0.05
Ø 6 +0.012
0
+0.012
0
160
147
113
275
124.8
275
SCARA robots
59± 0.05
57
100
3.8*
*＊indicates the stroke margin by mechanical stop.
Robot controllers
130
6.5*
4*
A
38
75
7.5
75
4-M 4 depth 5
4-M 4 depth 5
35
Ø 6 +0.012
0
59±0.05
73.5
15
Detail of “A”
6 +0.012
0
For manipulator
mounting 6-6.5
8
95
95
through hole
Ø11 spot facing
depth 6.5
(View from the top of the base) (from back side)
34
164
Ø3,90°
Conical hole
3-M6
through
hole
For manipulator
mounting 6-6.5
through hole
Ø11 spot facing
depth 6.5
(View from the top of the base) (from back side)
4
4
160
160
1mm flat cut
80
30
10 10
15
3-M6
through
hole
6 +0.012
0
34
8
95
Ø30 mechanical stop diameter !
Detail of “A”
164
95
Software
Ø3,90°
Conical hole
30
45.5
59±0.05
10 10
Ø 6 +0.012
0
1mm flat cut
20
80±0.05
4-M 4 depth 5
80±0.05
35 20
30
80
4-M 4 depth 5
80
30
38
7.5
°
225
225°
225°
225°
RS4-551*
Arm #1 Length(mm)
275
Arm #2 Length(mm)
275
±225
±225
System options
Model
32
6-axis robot
The leading edge in 6-axis robots for
high-precision, small-component assembly
■ Large working area; robot occupies only 1/44
of workcell
■ Low clearance requirements for more flexible
workcell layout
■ Smooth action; able to access workpiece from
virtually any angle
■ C3 specifications
Payload
Standard cycle time
0.37 sec
±0.02 mm
Repeatability
■Specifications
C3
Mounting type
Degree of feedom
Max. Motion Range
Wrist flange surface
Table Top
Ceiling
Skewed
600 mm
665 mm
450°/s
450°/s
514°/s
553°/s
553°/s
720°/s
27 kg
Joint #1-#6
Repeatability
±0.02 mm
Joint #1
Max. Motion Range
±170°(±180 deg without the mechanical stop)
Joint #2
-160°∼+65°
Joint #3
-51°∼+225°
Joint #4
±200°
Joint #5
±135°
Joint #6
±360°
Rated
Payload
1 kg
Maximum
3 kg(5 kg with arm downward positioning)
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
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
9Pin (D-Sub)
Φ4mm×4
RC180, RC620
Safety standard
CE, KC, UL
33
Wall
6
P point: through
the center of J4/J5/J6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
±30°
■Outer Dimensions
[Unit: mm]
SCARA robots
25
4-M4 depth 7
81
25
6
12
38.5
78
111
95
9
12.5
4-M4 depth 5
4
198
27
65
90 or more
Space
for Cables
2-M4 depth 10
250
76
86
23
5
28
82
92
250
2-M4 depth 7
100
6-axis robots
A
60H7
( 60H7)
641.5
48
40
2-M4 depth 7
6H7 depth 5
320
213
15
196.5
9 ± 0.02
154 ± 0.05
77
Robot controllers
18
2-M8 depth 16
75
154
90
415
160
199.5
614.5
180
109.5
15
150
15
90
15
+0.012
0
180
15
55 ± 0.05
90
110
Software
150
8
6
6H7
4- 11
75 ± 0.05
■Motion Range
Lateral View
Front View
25
J4 : +200°
R2
.5
7
154
209.1
393.3
320
R16
250
820
R1
1°
-135°
J6 : -360°
J6 : +360°
°
91
-5
0
50
R
100
164.9
57.
4
J4 : -200°
+2
.8
-160°
+1 70°
80
°
476.5
+6
5°
+135°
6
R7
00
R6
+1
250
System options
-1 180
70 °
°
65
156.4
Top View
34
6-axis robot
Speed and flexibility for machine tending
operation in confined workspaces
■ 4kg maximum payload
■ High speed and repeatability for maximum
productivity
■ Compact design for enhanced configuration
flexibility
■C4-A901 long arm model also available
■ C4 specifications
Payload
0.37 sec［C4-A601］
0.47 sec［C4-A901］
Standard cycle time
±0.02 mm［C4-A601］
±0.03 mm［C4-A901］
Repeatability
■Specifications
Mounting type
Degree of feedom
Max. Motion Range
Repeatability
Max. Motion Range
Payload
5
35
P point: through
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1-#6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Rated
Maximum
C4-A601
C4-A901
Table Top
6
Table Top
6
600 mm
900 mm
665 mm
450°/s
450°/s
514°/s
965 mm
275°/s
275°/s
289°/s
555°/s
555°/s
720°/s
27 kg
±0.02 mm
29 kg
±0.03 mm
±170°
-160°∼+65°
-51°∼+225°
±200°
±135°
±360°
1 kg
0.37 sec
0.15 kg・m2
0.15 kg・m2
0.1 kg・m2
400 W
400 W
150 W
50 W
50 W
50 W
Home
Home-return-less
9Pin D-Sub
Φ4mm×4
RC700
Safety standard
CE, KC
＊Ceiling-mounted robots should be programmed using the EPSON RC+ software ceiling-mount settings.
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
0.47 sec
■Outer Dimensions
[Unit: mm]
A901
4xM 4 depth 7
86
400
198
86
93
Ø60 h7
198
100
2xM4 depth 7
100
Ø 6 H7 depth 5
2xM4 depth 7
48
(same for the other side)
77
75
154
90
Ø160
199.5
320
198
213
18
9±0.02
15
154 ±0.05
198
213
37.5
77
75
90
154
Ø160
565
614.5
199.5
764.5
180
150
15
109.5
15
15
150
180
90
110
180
150
4xØ11
75 ± 0.05
(Applicable tolerance is Ø6H7)
Ø6 H7
15
55±0.05
15
55 ± 0.05
90
110
8
8
109.5
15
Ø6 H7
4xØ11
75± 0.05
(Applicable tolerance is Ø6 H7)
■Motion Range
Robot controllers
180
150
90
6 +0.012
0
15
90
6 +0.012
0
15
18
15 9± 0.02
154± 0.05
37.5
415
40
40
Ø6 H7 depth 5
2xM 8 depth 16
320
2xM 8 depth 16
6-axis robots
640.5
48
790.5
(Including the lamp)
250
400
Ø60 h7
Joint #2
0 pulse position
A601
- 180°
Top View
65
Lateral View
-170°
250
Front View
+6
5°
00
35
+1
250
R 25
P point*
320
164.9
156.4
154
00
R5
209.1
393.3
0
R167
820
1°
-160°
R1
-5
Joint #1
0 pulse position
5
91.
°
Software
- 135
°
25
+2
4
7.
25
8
6.
R7
°
Joints #3, #5
0 pulse
positionMotion
R
P point
Joints #4, #6
0 pulse position
J6
°
:+3
60
60
:-3
°
J6
° J
00 4:+2
:-2
00
4
J
°
476.5
100
R6
R 250
+170°
+180°
Lateral View
+6
65
90
0
P point
R
35
7
8
2.
1.
R
18
Joints #3, #5
0 pulse
positionMotion
-1
3
+170°
+180°
J
6.1
0
R3
00
00
R400
P point
2
4:-
R4
R8
J6:
+36
0°
° 00 J4:+2
00°
0°
-36
°
5°
Joints #4, #6
0 pulse position
J6:
P点
R 267
P point
Front View
5°
762.5
+ 22
5°
100
5°
3
+1
-51
Joint #1
0 pulse position
400
400
1120
R
449.8
113.2
154
437.2
320
455.9
Top View
System options
A901
Joint #2
0 pulse position
- 180°
-170°
1-60°
93
12.5
78
8
77
65
250
90 or more
Space for Cables
4 27 78
90 or more
Space for Cables
4 27 78
65
4xM 4 depth 7
12
6
39.5
111
95
25
78
8
2xM 4 depth 6
2xM 4 depth 6
25
2xM 4 depth 5
12.5
6
12
39.5
95
25
SCARA robots
111
2xM 4 depth 5
25
A601
36
6-axis robot
Slim design with excellent motion
flexibility delivers higher productivity in
less space
■ Class-leading repeatability*
■ Large working area; robot occupies only 1/87
of workcell (S5-901**)
■ Joint #5 range of motion ±10° greater than previous models
*Among 5 kg payload models as of April 2012
■ S5 specifications
Payload
0.44 sec［S5-A701］
0.49 sec［S5-A901］
Standard cycle time
±0.02 mm［S5-A701］
±0.03 mm［S5-A901］
Repeatability
■Specifications
S5-A701**
Mounting type
Degree of feedom
Max. Motion Range
Repeatability
Max. Motion Range
Payload
Table Top
Ceiling
6
P point: through
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Joint #1-#6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Rated
Maximum
S5-A901**
Wall
Table Top
706 mm
895 mm
786 mm
376°/s
350°/s
400°/s
975 mm
270°/s
280°/s
300°/s
Home
Safety standard
36 kg
±0.02 mm
±170°
38 kg
±0.03 mm
±30°
±170°
±30°
-150°∼+65°
-70°∼+190°
-72°∼+190°
±190°
±135°
±360°
2 kg
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 /Protection *4
RC180, RC620
CE, KC
*4:Protected type complies with IP65.
37
Wall
450°/s
450°/s
720°/s
0.44 sec
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Ceiling
6
■Outer Dimensions
[Unit: mm]
A701
A901
Air Supply Opening
M5 Tap with cover plug
423
398
298
55
2xM4 P0.7 Depth 8
4xM8 P1.25 Depth 16
109
405
109
100
88
109
109
A
199
199
330
330
752
842
310
400
40
66
87
80
40
100
88
4xM8 P1.25 Depth 16
66
305
90 or more
Space for Cables
2x2 M4 P0.7 Depth 8
(Front & Back)
2xM4 P0.7 Depth 8
90 or more
Space for Cables
2x2 M4 P0.7 Depth 8
(Front & Back)
70
40
25
110
87
114
70
59
25
40
110
114
55
80
Air Supply Opening
M5 Tap with cover plug
523
473
573
150.2
150.2
723.2
45.2
2-Ø 6 H7
(Reference through hole)
85±0.1
100 ±0.05
138
66
100± 0.05 105
194
Ø 12 H7
4-Ø 12 (Mounting hole)
160
92 ± 0.1
92 ± 0.1
45.2
2-Ø 6 H7
194
160
60±0.1
66 ±0.1
194
100±0.05
92± 0.1
66
100±0.05 105
85 ±0.1
Ø 12 H7
4-Ø 12 (Mounting hole)
160
66±0.1
194
160
60±0.1
138
92± 0.1
623.2
■Motion Range
A701
Joint #2
0 pulse position
Top View
Lateral View
501
88
305
706
80
Front View
15
Joints #4, #6
0 pulse position
＋190°
-190°
+170° (J1 Arm)
-360° ＋360°
40
＋135°
246
Joints #3, #5
0 pulse positionMotion
239
R706
P point*
-135°
-150°
330
179 156
Joint #1
0 pulse position
+65°
225°
Software
R235
948
752
310
P point*
136°
-170° (J1 Arm)
233 51
277 114
203
246
A901
Motion range of P point*
Top View
Lateral View
681
88
405
895
80
Front View
15
+170°(Arm #1)
40
P point*
+65°
225°
-135°
-150°
423
317
-170° (J1 Arm)
P point*
Joints #3, #5
0 pulse positionMotion
198
Joint #1
0 pulse position
1137
842
400
330
97
R267
R895
Joints #4, #6
＋190°
-190°
0 pulse position
-360° ＋360°
＋135°
System options
Joint #2
0 pulse position
138°
341 14
400 132
209
251
Motion range of P point*
38
Robot controllers
RC700
RC700
RC620
Combines the features of RC620 and
RC180 controllers in a single unit,
enabling control of a wide range of
workcell system setups.
PC workcell controller
■Controller with built-in PC
■Multi-effector control
■General device control
System capabilities
TP1/TP2
Multiple
workcells
teaching pendant
PLC
TP1
Multiple
workcells
Effectors
teaching pendant
Fieldbus I/O
Effectors
Multi-effector control
Open
architecture
conveyor
tracking
conveyor
tracking
Open
architecture
robot controller
robot controller
USB 2.0 or Ethernet
EPSON RC+
programming
environment
GUI
development
Image
processing
(color/
monochrome)
Microsoft® Windows® preinstalled
for PC-less system control
GUI
development
Image
processing
(color/
monochrome)
PC
■RC700 software/effector support
Software
SCARA robots
Effectors
6-axis robots
39
EPSON RC+5.0
̶
EPSON RC+6.0
̶
EPSON RC+5.0
̶
EPSON RC+6.0
EPSON RC+7.0
●
●
EPSON RC+7.0
̶
H series
●
H series
̶
G series
̶
G series
●
LS series
̶
LS series
̶
RS series
̶
RS series
●
C4
●
C4
̶
C3
̶
C3
●
S5
̶
S5
●
Software
SCARA robots
Effectors
6-axis robots
SCARA robots
RC90
RC180
RC620
6-axis robots
RC180
RC90
Compact controller
LS series controller
■Full PLC functionality
■Full PLC functionality
■Easy setup via USB
■Easy setup via USB
Fits easily inside most control panel boxes (SCARA controller:
approx. 10l volume; 6-axis controller approx. 13l volume)
teaching pendant
PLC
Multiple
workcells
Effectors
Fieldbus I/O
TP1/TP2
teaching pendant
PLC
Effectors
Robot controllers
TP1/TP2
Fieldbus I/O
conveyor
tracking
Open
architecture
robot controller
USB 2.0 or Ethernet
EPSON RC+
programming
environment
USB 2.0 or Ethernet
GUI
development
Image
processing
(color/
monochrome)
EPSON RC+
programming
environment
GUI
development
Image
processing
(color/
monochrome)
Software
robot controller
PC
PC
SCARA robots
Effectors
6-axis robots
●
EPSON RC+6.0
̶
EPSON RC+7.0
software/effector support
EPSON RC+5.0
̶
EPSON RC+6.0
̶
̶
EPSON RC+7.0
●
H series
̶
H series
̶
G series
●
G series
̶
LS series
̶
LS series
●
RS series
●
RS series
̶
C4
̶
C4
̶
C3
●
C3
̶
S5
●
S5
̶
Software
SCARA robots
6-axis robots
6-axis robots
System options
Software
■RC90
EPSON RC+5.0
40
30.9
30
Ø24
RC180
18
365
344
20
18
25
3.2
221.9
220.2
153.2
27.7
1.9
27.7
17.85
170.5
130.5
13
18
166
150 or more
Space for cables
420
1.9
30
489
430
13
30
370
463
31
296
380
378
463
344
18
1.9
22
323
1.9
10 61.3 86
18
174
22
20
30
130
20
42 86
10 20 130
30
13
10
210
133.35
169
17.8
10.5
13
415.2
463
54.5
130
20
13
30
380
378
30
42 86
10 20 130
4
1
23
17.825 133.35
10.5
169
5
296
31 30
4
2.4
0.5
31
2.4
RC700
290
350
181.9
180
10.5
275
41
290
0.5
31
30.9
350
181.9
180
10.5
■Outer Dimensions
RC620
67
30
4-Ø4
29
0.9
30
RC90
23
1
54.5
302
13
18
[Unit: mm]
■Specifications
Model
RC700
RC620
RC180
(UL specification: RC620-UL)
(UL specification: RC180-UL)
RC90
Controllable axes
Up to eight (8) connectable AC servo motors
(Limited by the total motor power.)
Up to six (6) connectable AC servo motors）
4 AC servo motors
Programming
language and Robot
control software
EPSON RC+ 7.0(a multi-tasking robot language)
Joint Control
Up to six (6) joints Simultaneous control
Software AC servo control
Up to eight (8) joints Simultaneous control
Up to six (6) joints Simultaneous control
Up to 4 joints simultaneous control
Robot manipulator control
Speed Control
SCARA robots
Up to six (6) connectable AC servo motors
PTP motion: Programmable in the range of 1 to 100% CP motion: Programmable at user-defined speeds
Acceleration/
deceleration control
PTP motion: Programmable in the range of 1 to 100%; auto-control
CP motion: Programmable at user-defined acceleration/deceleration speeds
Connectable manipulators
1 unit
1 unit
1 unit
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.)
management table.)
4 unit
Positioning control
management table.)
management table.)
6-axis robots
PTP
（Point-To-Point）CP
（Continuous Path）
Memory capacity
Externalinput/outputsignals (standard)
Standard I/O
Including 8 inputs, 8
outputs with remote
function assigned
Assignment change
allowed
Input : 24
Output : 16
outputs with remote
function assigned
Assignment change
allowed
Input : 24
Output : 16
per Drive Unit
outputs with remote
function assigned
Assignment change
allowed
Input : 24
Output : 16
outputs with remote
function assigned
Assignment change
allowed
Input : 24
Output : 16
̶
̶
Communication interface (standard)
Ethernet
1 channel
2 channel
RS-232C
1 channel
1 or 2 channel
1 channel
1 channel
̶
1 channel
Depends on CPU Board
Special slot (RC180/RC620: Max. 4 slotsRC90: Max. 2 slots)
Input : 24 per board
Output : 16 per board
Addition of 4 boards
allowed
allowed
allowed
Output : 16 per board"
allowed
RS-232C
2 channel/board
allowed
4 channel/board
allowed
4 channel/board
allowed
2 channel/board
allowed
Fieldbus I/O
slave
1 channel/board
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
Addition of 1 board
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
Addition of 1 board
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
Addition of 1 board
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
Addition of 1 board
allowed
Pulse Generator
Number of Controlling
axis 4ch per board
allowed
axis 4ch per board
allowed
̶
axis 4ch per board
allowed
Frame grabber
̶
Standard frame grabber
Advanced frame grabber
allowed
̶
̶
FieldbusI/O
master
̶
1 channel/board
PROFIBUS-DP
DeviceNet
EtherNet/IP
Addition of 1 board
allowed
̶
̶
PCI slot
Software
I/O
Robot controllers
Standard I/O
(Drive Unit)
Input : 24
Output : 16
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 /
Relay welding detection / AC power low-voltage detection / Safety door emergency stop / Dynamic braking /
System options
Overload detection / Motor speed error detection / CPU error detection Overheating detection / Fan error detection /
Over-voltage detection / Temperature error detection
Power Source
AC 200 V to AC 240 V
Single phase 50/60 Hz
Weight *1
11 kg
4 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
*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.
42
EPSON RC+ program development software
EPSON RC+ software makes it easy to develop control programs for setup, operation, and regular
maintenance. With an easy-to-understand graphic user interface, it helps you achieve maximum productivity
with minimum programming overhead.
SPEL+ language support
Epson industrial robots use an easy-to-learn programming language that makes it simple to
set up complex, multitask workflows.
Epson RC+5.0 Epson RC+6.0 Epson RC+7.0
command
Multitasking function
Pallet
●
●
●
Pallet
With Epson's programming language, even complex
Handling weight & inertia
●
●
●
Weight, Inertia
multitask processes can be automated with ease. Up to 32
High-speed
continuous path accuracy
●
●
●
CP
individual tasks can be seamlessly executed and
Multitasking
●
●
●
Xqt
Positioning completion
●
●
●
Fine
Arch motion
●
●
●
Arch
Parallel processing
●
●
●
!...!
Singularity avoidance
●
●
●
AvoidSingularity
Remote control
expansion I/O
●
̶
●
On-the-fly pickup
̶
●
●
expandability, Vision Guide machine vision, and pulse
Example program
Function main
Motor On:
Power High:
Speed 100:
Accel 100, 100:
If Sw(o) = On Then:
Jump P0 :
Else
Jump P1
EndIf
controlled by a single program. 512-channel input/output
Motor power on
Power mode high
Speed 100%
Acceleration 100%
Is the I/O (input bit) on?
Move the effector to point 0
Move the effector to point 1
generator control of peripheral equipment can all be
utilized to achieve full process automation.
Controller
Example
Task 1
Effector
Task 4
Vision Guide option
Task 9
Workpiece feeder unit 1
Task 10
Workpiece feeder unit 2
Task 15
Workpiece offload unit
Task 16
Waste removal unit
High-speed, high-precision,
3D continuous path control
All Epson robot systems offer the fast, precise,
Fend
three-dimensional continuous path (CP) control needed for
high-productivity coating and sealant application
processes. Advanced linear interpolation, arch
Easy alignment with palletized parts
enable precise effector control, and
If parts are arranged in a
simple PASS commands can be used to
square layout, spaced at
evade obstacles within the workcell
regular intervals, the
space. Programmed paths can
PALLET command can be
reference either a tool-centered control
used to quickly and
precisely position the end
effector.
interpolation, and free curve motion
point or an external control point.
Simply set points P1, P2, and P3 —
all other points
are set automatically.
High repeatability with varying
payloads and effector orientation
Continuous path (CP) control
Positioning completion time control
for maximum efficiency
A time limit can be set for the completion of effector
Once the operator has set workpiece and effector weight,
positioning to enable the next instruction to be executed
weight range, and effector orientation, acceleration is
even if the target point has not been reached. This allows
automatically adjusted to reduce residual vibration and
you to maximize your yield by prioritizing takt (cycle) time
ensure high repeatability.
over precision, or vice versa, according to the nature of
the work to be done.
43
Remote control expansion I/O
EPSON SCARA and ProSix robots all support JUMP
prior program development. SPEL+ commands can be
command movements in three-dimensional space, and the
entered directly, enabling personnel with no programming
arch described by the approaching and departing effector
experience to quickly assemble the commands needed to
can be set to suit the work environment.
control robot operation.
With the remote control expansion I/O, there's no need for
Deceleration/acceleration of the approaching or departing
On-the-fly pickup
ensuring smooth,
Workpiece pickup, alignment, and kitting can be carried
precise,
out on-the-fly without pausing robot movement.
short-distance
Combined with an imaging system, it makes an ideal
motion that
solution for high-speed alignment and handling of
helps improve
randomly arranged workpieces.
takt time and
product quality
stability.
* RC700 and RC620 controllers only.
a: Z-axis vertical ascent (mm; departing)
b: Z-axis vertical descent (mm; approaching)
z: Horizontal travel (mm)
1
Parallel processing for higher speed
and efficiency
6-axis robots
head can be regulated without interrupting operation,
SCARA robots
3D jump with variable arch for
ultra-precise short-distance movement
2
Parallel processing enables you to control peripheral
devices while the robot arm is in motion. Commands can
3
to ensure synchronized control
of multi-device processes for
maximum throughput
efficiency.
Configuration singularity
avoidance function
Continuous path operations that
Operating speed and
acceleration/deceleration settings
contain robot arm configuration
Operating speed and acceleration/deceleration of the arm
singularities can cause joint-speed
can be set in 100 steps.
overrun. If the arm approaches such
PTP motion
avoidance function prevents overrun
errors by maintaining joint speed
until the arm has moved past the
point of singularity.
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.
Software
a configuration, the singularity
Robot controllers
be sent via RS-232C or any other supported I/O interface
Teaching Methods
● Remote Teaching
● 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 by ProSix 6-axis robots.)
● MDI Teaching
Points are taught by inputting predetermined coordinate
values without moving the arm.
● CAD-to-Point Teaching
CAD data can also be used to set coordinate values for each
teaching point.
System options
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.
44
Simulator
SPEL+
language support
The EPSON RC+ software simulator displays a 3D view of the workcell, enabling you to
thoroughly test programs and operating clearances to optimize the workcell layout.
Layout evaluation
■ 3D simulation of actual operation enables you to optimize the workcell
layout and determine necessary clearances before rollout.
■ Multi-effector simulations are also possible.
* Not supported when using EPSON RC+5.0 or EPSON RC+6.0
■ Palette, hand, and other CAD data can be included in simulations.
Palette/hand display from CAD data.
Enlarged view of hand.
Record & playback functions
Productivity forecasting
■ Recording & playback functions make it easy to include
■ Takt times can be measured in advance and used to
still images and movies in presentations.
Clearance checking
■ Choosing the right robot is easy because you can check
all necessary workcell and peripheral equipment
generate throughput and productivity forecasts before
actual setup.
Debugging function
■ I/O data exchange with virtual peripheral devices can
be monitored to assist debugging.
■ Debugged programs can be rolled out directly to
existing workcell setups.
Machine vision simulation
■ Machine vision image processing input can also be
linked to setup simulations.
* Not supported when using EPSON RC+5.0 or EPSON RC+6.0
45
Software options
Epson's long experience in the development of industrial robots and control technologies enables us to offer
a wide range of software options.
Compatible controllers
Vision Guide
RC700
RC620
RC180
RC90
■ Easy-to-use GUI simplifies
Detection
tool options
6-axis robots
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.
Robot operation + image processing program
Parameter settings
Robot controllers
■Supported peripherals
Controller
RC700
RC620
RC180
RC90
Compact Vision (CV1)
●
●
●
●
PC Vision (PV1)
●
̶
̶
●
CV1
SCARA robots
Vision Guide — the user-friendly way to bring workcells online quickly
Compact Vision
Two cameras can be supported by each unit, minimizing space requirements.
PC
Robot controller
CV1
USB
(supplied separately)
Extension tubes
Camera lens
Vision Guide
5.0/6.0/7.0
software
Software
Ethernet
Eth
et
Camera
PC Vision
PV1
PC is used for image processing, so separate image processing unit is not required.
Up to eight cameras can be supported.
Robot controller
PC
GigE camera
Extension tubes
(supplied separately)
Vision Guide 7.0
software
PoE Ethernet switch
Camera lens
System options
PoE injector
46
VB Guide 6.0
VB Guide 5.0
RC700
RC620
RC180
RC90
RC700
RC620
RC180
RC90
Program and execute robot applications in a familiar
Windows® OS environment
■ Robots can be controlled using Visual Basic®, Visual
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
Basic application:
● Robot Manager
● I/O Monitor
● Task Manager
● Maintenance Dialog
● Simulator (RC+API 7.0)
● Pressure Monitor (RC+API 7.0)
RC+API 7.0 basic system
VB Guide 6.0 basic system
VB Guide 5.0 basic system
RC620 controller
PC
Personal computer
.NET applications
based on the
SpelNetLib library
.NET applications
that use SpelNet
commands
EPSON RC+ 7.0
out-prcess server
.NET applications
that use SpelNet
commands
EPSON RC+
In-process server
EPSON RC+ 6.0
In-process server
RC180
controller or
virtual controller
RC700/RC90
controller or
virtual controller
ECP
RC700
RC620
RC180
RC90
External control point operation for precise
positioning without complex calculations
■ For processes requiring the workpiece to be moved
against a fixed tool, external control points can be
used to ensure precise positioning.
■ Up to 15 external control points can be set.
External Control
Point
Part
Outside Fixed
Tool
47
RC700
RC620
RC180
SCARA robots
GUI Builder
RC90
Easily create custom interfaces
for your control programs
■ 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.
Security
RC620
RC180
6-axis robots
RC700
RC90
RC700
RC620
RC180
RC90
Restric user access to programming
functions for greater safety and security
■ Password-based protection levels can be set to
Robot controllers
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.
* Standard on RC700 and RC90 controllers.
Force-sensing
RC700
RC620
RC180
RC90
Integrated force-sensing technology
for realtime force control
■ Allows you to easily integrate force-sensing
capability into your control programs.*
■ Force/torque values can be set for just one axis, or
Software
all six.
■ Trigger values can be set to stop robot motion
when a specific force level is reached.
■ Up to two sensors can be mounted; data from
sensors can be shared by multiple programs
＊ATI Industrial Automation, Inc. force/torque components
must be purchased separately.
z
force
x
torque
RC700
RC620
RC180
RC90
Optical character recognition of text on parts and labels
■ 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
and user-defined fonts from imaged characters or
ASCII conversion files*.
System options
OCR
y
Gシリーズ（ガンマフォースセンサー使用）
G3 series robot
(gamma force sensor sold separately)
* RC620 controller (Vision Guide 6.0) required.
48
Robot controller options
A wide range of controller options can be employed to further expand the variety of
process tasks that you can automate.
Teach Pendant TP1
RC700
RC620
RC180
RC90
Versatile control with just a few keystrokes
■ IP65-rated enclosure is sealed against oil and dust for
Features
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 (can be used with RC180/RC620 units even when
mounted in control panel box).
■ Menus can be displayed in English, German, French, or
Japanese.
■ Can step through programs even when safety door is
open.
● Point data save, edit, and load
functions ● Keyword candidate
Teaching Pendant TP2
display, search, and line jump
functions ● I/O and task monitoring
functions ● Project/system data
backup and restore functions*
● Reduced
operating speed in teach
mode for enhanced safety and
programming ease
* RC180 controller only.
RC700
RC620
RC180
RC90
Easy-to-use pendant for teaching
■ Universal design ensures ease of use for both
right-handed and left-handed operators.
■ Connects directly to operator unit or controller interface
card.
Conveyor tracking
RC700
RC620
RC180
RC90
Precision tracking for high-productivity
pick-and-place operation
Controller
Camera
Robot 1
Robot 2
■ Enables pick-and-place handling of items on a
high-speed conveyor.
■ Uses machine vision/sensors to detect workpiece
and effect robot handling.
■ 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.
Control unit
Encoder
Conveyor
*Vision Guide software required.
PG motion system
RC700
RC620
RC180
RC90
Control peripheral robots for fully integrated process automation
■ EPSON RC+ software and pulse generator (PG) cards
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,
49
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.
＊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.
RC700
RC620
RC180
RC90
The convenience of a built-in DVD
multi-drive
for easy program installation and data recording.
RC620
RC180
RC90
■ The RC620 is available in standard (Celeron® M, 1GB)
and high-speed (Intel® Core™ Duo, 2GB)
configurations.*
＊High-speed configuration recommended for Visual Basic program development.
RC700
RC620
RC180
RC90
RC180
RC90
RAID support for enhanced backup data
integrity
＊Requires RC620 controller with high-speed CPU.
RC620
RC180
RC90
Give your controller a memory boost
■ Standard CPU memory can be increased from 512MB
to 1GB; high-speed CPU memory can be increased
from 1GB to 2GB.
Operator Panel OP1
RC700
RC620
RC180
RC90
■ Controller and error status
display.
■ Oil- and dust-resistant
RC620
RC180
RC90
Expanded serial port connectivity
■ 4-port (for RC180/RC620
controllers) and 2-port (for
RC90 controllers) RS-232C
cards to connect serial
interface devices.
I/O expansion cards
RC700
RC620
RC180
RC90
RC180/RC620 controllers)
and 24 inputs/16 outputs
(for RC90 controllers)
expansion cards.
Fieldbus I/O (slave)
RC700
RC620
RC180
RC90
High-speed peripheral connectivity
■ Support for DeviceNet®, PROFIBUS®, CC-Link®,
Fieldbus I/O (master)
IP65
protection
RC700
RC620
RC180
RC90
Bidirectional high-speed peripheral
connectivity
■ Support for DeviceNet®, PROFIBUS®, and
Ethernet/IP® networked peripherals (1024-point I/O).
I/O cable kit
Cables and connectors
for easy connectivity with
no soldering required
■ A wide range of I/O cables
and connectors are available.
construction
execution.
RC700
RC700
RC620
RC180
RC90
System options
Easy connectivity and touchscreen control
■ Simple start/stop program
Software
RC700
RS-232C cards
Ethernet/IP®, and PROFINET® networked peripherals
(RC180/RC620: 256-point I/O; RC700/RC90:
2048-point I/O, 384-point CC-Link I/O).
■ RAID support for high-integrity data backup.
Memory expansion
■Immediately stops robot
Robot controllers
option units can be mounted (4 interface cards total).
＊RC90 controller includes 2 interface cards as a factory default option.
RC620
RC90
■ 32-point I/O (for
■ Each option unit holds 2 interface cards; up to 2
RC700
RC180
Expanded input/output flexibility
Interface cards expand your system
options
RAID option
RC620
6-axis robots
Your choice of standard or high-speed
CPU
Option unit
RC700
operation in emergency situations
＊Factory default option
RC700
Helps prevent
injuries and damage
■ The RC620 controller is equipped with a DVD drive*
CPU choice
Emergency stop switch
SCARA robots
DVD drive
50
End effector options
Epson robot end effector options provide the enhanced functionality and
configuration flexibility you need for full-process automation.
External wiring units
Compatible end effectors
H4
H8
G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
C4
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.
Internal wiring unit
Tool adapters
H4
H8
G1
G3
G6
H4
H8
G1
G3
G6
G10
G20
LS3
LS6
RS3
G10
G20
LS3
LS6
RS3
RS4
C3
C4
S5
RS4
C3
C4
S5
Enables wiring and conduits for
the hand to be enclosed within the
robot arm assembly.
Brake release units
Enhances handling/processing
versatility and simplifies effector
changes
H4
H8
G1
G3
G6
G10
G20
LS3
LS6
RS3
RS4
C3
C4
S5
G20
LS3
LS6
RS3
RS4
C3
C4
S5
G20
LS3
LS6
RS3
RS4
C3
C4
S5
LS3
LS6
RS3
RS4
C3
C4
S5
Enables brake release so robot arm can be moved by hand
when power is switched off
Power and signal cables
H4
H8
G1
G3
G6
G10
Standard 3m cables, or optional 5m and 10m cables for
greater freedom in controller and robot placement
Camera mounting bracket
H4
H8
G1
G3
G6
G10
Securely mount machine vision system camera to robot arm
Bracket design varies according to robot; please specify model when ordering.
RC620DU drive unit
H4
H8
G1
G3
G6
A multi-effector drive unit to increase the number
of robots that can be controlled with a single
RC620 controller
51
G10
G20
System option quick-reference table
Software options
RC620
RC180
RC90
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
●
̶
̶
●
●
（Standard function）
●
̶
●
（Standard function）
Force sensing
●
●
̶
●
OCR
●
●
̶
●
RC700
RC620
RC180
RC90
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
●
●
●
●
6-axis robots
Security
SCARA robots
RC700
Controller options
Robot controllers
Software
End effector options
H8
G１
G３
G６
G10/G20 LS3/LS6 RS３/RS4
C３
C4
S5
External wiring units
̶
̶
̶
̶
●
●
̶
̶
̶
̶
̶
Internal wiring unit
̶
̶
̶
̶
Tool adapters
●
●
●
●
̶
̶
̶
●
̶
̶
̶
●
●
●
●
̶
̶
̶
Brake release units
̶
̶
̶
̶
̶
̶
̶
̶
●
●
●
Power and signal cables
●
●
●
●
●
●
●
●
●
●
●
Camera mounting bracket
●
RC620DU drive unit
̶
●
̶
●
●
●
●
●
●
●
●
̶
●
●
●
●
̶
●
●
̶
●
System options
H4
52

SCARA robots 6-axis robots Robot controllers Software System

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