Epson SCARA G3-251S Datasheet

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Epson SCARA G3-251S Datasheet | Manualzz

EPSON SCARA G-SERIES

OUR SCARAS GET TO THE

POINT FASTER

FOR RELIABLE HANDLING

ABOUT EPSON

EPSON SCARA G-SERIES

About Epson 2

Introduction and overview — product portfolio

The advantages of SCARA robots

Name syntax and table — G-series

Epson SCARA G1 and G3

Epson SCARA G6, G10 and G20

Typical applications

Epson RC+ Simulator

Design of Epson SCARA robots

9

10

11

12

Connections 13

7

8

4

6

Epson Smart Motion

Controller and Machine Vision

14

15

Technical data — Epson G1

Technical data — Epson G3

Technical data — Epson G6

Technical data — Epson G10

16

18

20

22

Technical data — Epson G20

Resource conservation

Environmental performance

24

26

27

Epson, a subsidiary of Seiko Corporation, launched the fi rst robots in the 1980ies. Those were used for precise and fast assembly of Seiko watches. Soon Epson industrial robots and controllers started to conquer markets all over the world.

Today, Epson Factory Automation is one of the leading companies producing high-quality robot systems with branches on all fi ve continents.

• In-house Research and Development department for automation processes

• 1982 fi rst freely available Epson

SCARA robot in Japan

• 1986 world’s fi rst class 1 cleanroom robot

• One of the world’s most comprehensive SCARA model ranges

• 1997 fi rst PC-based controller

• 2008 inventor of the G3 with righty or lefty arm orientation

• 2009 inventor of the SPIDER: a unique SCARA robot with 450° work envelope

EPSON ROBOT SYSTEMS —

TO SPEED UP

YOUR PRODUCTION RUN

3

Our robots palletise, saw, mill, drill, grind, mount, move and assemble. They work precisely and at breathtaking speed in these and many other applications — often up to 24 hours a day.

As one of the pioneers in robotics we know exactly what the main feature of the combination of kinematics and intelligent control must be apart from speed and precision: Reliability! That is because the standstill of an installation resulting in a loss of production is expensive, very expensive. Therefore to us, innovation means more than just up-to-date robot technology. Every day, our development engineers strive to make our robot systems even more economical, fl exible and reliable — under all conditions.

Integrated automation

We offer you a fl exibly expandable range of products with different integrated components. Among these are a great number of SCARA robots and 6-axis robots for diverse applications as well as controllers and software.

Everything engages perfectly and is easy to operate.

SERVICE AND SUPPORT

Our service and support program helps you to tap the full potential of your Epson robot systems.

Feasibility studies

Instead of theoretical simulations we offer cycle time tests with real robots. There are many ways in which you benefi t from those studies. Prior to your investment you are provided with optimal robot confi guration and installation site as well as precise cycle times. That is how you get maximum planning and project security.

Pre-sales support

How can a robot system be effi ciently integrated into an installation?

How can cycle times be optimised?

How can the robot program be integrated into external software? Our application engineers advise you during planning as well as during implementation.

After-sales support

Hotline service, repair service on site, inspection and individual maintenance concepts as well as spare part packages tailored to your needs are only some examples of how we do everything to have your production running non-stop.

Training

Whether you need introductory seminars, or programming, maintenance or operator trainings — our experts share their knowledge with you and your employees.

Central spare part stocking

All spare parts are rapidly delivered from our central warehouse in

Meerbusch, Germany.

4

WE ARE SCARA!

SCARA (Selective Compliance Assembly Robot Arm) robots, also referred to as

“horizontal articulated arm robots”, are a success story of automation. With four degrees of freedom, they can freely position and join a payload with every possible horizontal orientation. They are relatively easy to set up and work particularly

precisely and reliably.

In the beginning was Epson

In a study, Professor Hiroshi Makino from Yamanashi

University in Tokyo found that the majority of joining processes in production are vertical processes executed from above — that was when the SCARA was born!

The Seiko Epson company immediately took on that method and developed a robot type for in-house production. That was even before that kinematics was brought on the market as the fi rst freely available SCARA in 1982.

The SCARA principle: simply reliable

The design of SCARA robots is similar to a human arm, since they have an articulated arm which can only swing horizontally. Usually, they have four freely programmable axes allowing handling in plane-parallel surfaces. The shaft serves to install tools and can rotate independently from its vertical motion to freely orientate the product within the work envelope. Thanks to their design,

SCARAs feature high vertical rigidity.

Adapt your installation to the robot?

Why not just choose the Epson robot you need?

Different arm lengths / payloads

G1-171S G1-221S

Different protection classes

G3-251S G3-301S G3-351S G6-451S

Mounting options

G6-551S G6-651S

IP20 (G6-451S) IP54 (G6-451D) IP65 (G6-451P) ISO3/ESD (G6-451C) Floor (G6-451S) Wall (G6-451SW) Ceiling (G6-451SR)

EPSON SCARA G-SERIES

Experience, expertise, inventiveness or, put more simply: the specialists

Ever since we started, we have been continuously further developing the SCARA technology and have realised milestones such as ball screw splines, brushless motors with absolute encoder, Smart Motion

Control and much more. Today, Epson has the most comprehensive SCARA robot product range worldwide

— offering more than 200 variants.

Good — better — Epson

With Epson you can be sure. We develop SCARA robots in our in-house research centres and produce them in our quality-certifi ed manufacturing facilities.

The result: SCARAs that work with perfect precision and reliability, convince through short cycle times and are incredibly user-friendly.

Different arm lengths / payloads

G10-651S

Different shaft lengths

G10-851S G20-851S G20-A01S

Z-stroke (Z100) Z-stroke (Z150) Z-stroke (Z180) Z-stroke (Z330) Z-stroke (Z420)

6

COMPACT, FAST,

PRECISE — AND

EXTREMELY VERSATILE

There are more than 200 SCARA variants, arm lengths ranging from 175 mm to

1,000 mm, payloads ranging from 1 kg to 20 kg and different mounting options.

The robots are available in different protection classes or as cleanroom versions — we are absolutely certain that we can offer you just the right SCARA robot for your application.

Robust design

The reduced number of assemblies as well as the integrated feed-through allow reliable operation without expensive maintenance work.

Small interference contours reduce the risk of collision, which is particularly important if there are several robots working together in most confi ned spaces. High arm rigidities make the

Epson SCARA insensitive to high insertion forces.

Your advantages with Epson SCARA robots

• Fast thanks to Smart Motion technology

• Optimal repeatability and accuracy

• Outstanding joining properties

• Self-supporting design allows direct teaching

• High availability

• Particularly low-maintenance

• High point accuracy

• Low vibration

• High insertion forces due to high arm rigidity

• Space-saving thanks to compact design

• Different payloads and reaches for different applications

• Low deadload — easy integration and high dynamics

G6-551S

EPSON SCARA G-SERIES

How to decode the G-series names

There is a lot of information already in the designations of the G-series.

We give you an example to show you how to “read” the names: G6-553 SW.

G

Name syntax

1

3

17

22

25

30

35

45 1

10 65 4 P

Max.

A0

Arm length arm 1 + 2

Length

Z-stroke

D

Design

W

R

I

R

3

L

Mounting option

Special design

Example

Payload up to 6 kg,

550 mm arm length,

330 mm shaft length, standard design wall mounting

G6-553SW

Confi guration of the Epson SCARA G-series

Payload (nom./max.)

G1 G3 G6 G10 G20

0.5/1.5 kg 1/3 kg 3/6 kg 5/10 kg 10/20 kg

Reach 175

(arm 1 + arm 2) 225

(mm) 250

(mm) 300

(mm) 350

(mm) 450

(mm) 550

(mm) 650 (mm) 650

(mm)

Z-stroke (with bellows)

Mounting option multi-mount = MM

W

R

(mm) 100 (80) fl oor

(mm) 150 (120) fl oor

MM (not G3-251x)

MM (not G3-251x)

(mm) 180 (150)

(mm) 330 (300) fl oor wall ceiling special design

D

P

C ISO3 / ESD

3 (3-axis)

ISO3 / ESD

L / R (lefty/ righty arm optimised)

IP54

IP65

ISO3 / ESD

I (inverted)

Multi-mount: One robot can be used for different mounting options without modifying the kinematics.

(mm) 180 (150)

(mm) 420 (390) fl oor wall ceiling

IP54

IP65

ISO3 / ESD

I (inverted)

(mm) 180 (150)

(mm) 420 (390) fl oor wall ceiling

IP54

IP65

ISO3 / ESD

I (inverted)

8

G FOR GENIUS —

THE EPSON G-SERIES

Epson SCARA G1

Our mini — compact power

The solution for tasks in most confi ned spaces: the Epson G1 — developed as a micromanipulator, transfer unit or high-performance feeder for larger robots. Designed for work where a thousandth of a millimetre matters, such as for electronic manufacturing or precision-mechanical work processes.

Ultralight due to its high-strength aluminium design and at the same time compact and powerful.

Epson G1

Max. payload

4-axis robot: 1 kg

3-axis robot: 1.5 kg

Reach: 175/225 mm

Z-stroke: 100 mm

Epson SCARA G3

It’s all about the curve

SCARA G3 are just the right choice for use in confi ned spaces as they are common in automated component manufacture, since these robots, despite their compact size, cover a large work envelope.

However, we did not stop there and have further developed the G3 based on the fact that a high percentage of all assembly work is performed in the same arm orientation. Therefore, Epson G3 are also available with a left- curved or right-curved fi rst arm. Thanks to this arm geometry especially developed by Epson, the Epson G3-351-L/G3-351-R is the only SCARA of that size on the market whose maximum rectangular work envelope covers an area larger than an ISO A4 sheet.

37,600 mm 2

Max. square work envelope

52,900 mm 2

Max. square work envelope

Epson G3

Max. payload: 3 kg

Reach: 250/

300/350 mm

Z-stroke: 150 mm

Maximum work envelope at minimum space requirement

A comparison of the G3-351S with the lefty arm optimised G3-351-L shows that the maximum square work envelope can be increased by about 40 %. That is just the space productivity needed in modern automation.

Work envelope for a standard arm Work envelope for a lefty optimised arm

EPSON SCARA G-SERIES

Epson SCARA G6

The new effi ciency class

The new G6 design allows for a large work envelope at very compact

dimensions. The robots can carry out tasks with an arm length of e. g. 550 mm when usually 600 mm would be required. G6 are the ideal solution for applications with a focus on high speed at maximum precision, such as is the case with the production of mechanical and electrical parts, pick-andplace applications, equipping with small parts, dosing or feeding.

Epson SCARA G10

Fast and strong

Ultrafast speed and higher payload? A combination that Epson G10 can perfectly handle due to the high arm rigidity. G10 are fast in every sense of the word — for assembly and confi guration as well as for handling with multi-grippers. They use all their advantages particularly in applications such as the assembly of heavy parts, packaging and palletising as well as loading and unloading. Since there are no tubes, the design is very compact.

Epson G6

Max. payload: 6 kg

Reach: 450/550/

650 mm

Z-stroke: 180/330 mm

Epson G10

Max. payload: 10 kg

Reach: 650/850 mm

Z-stroke: 180/420 mm

Epson SCARA G20

Long arm with high strength

Manipulators of the G20 series are suitable for high payloads such as heavy parts or packaging units (up to 20 kg). Since the arm of the G20 is

1,000 mm or 850 mm long, the work envelope is large. Due to the high moment of inertia of the U joint, heavy loads can be handled fast and reliably — without any vibration of the robot arm as is the case for many competition models with a similar arm length.

Epson G20

Max. payload: 20 kg

Reach: 850/1,000 mm

Z-stroke: 180/420 mm

10

SOLUTIONS WITH SYSTEM

— AND FUTURE

Epson SCARA robots prove their strong performance and unparalleled reliability in diverse applications.

Loading and unloading machines

Expectations are high: With high point accuracy, the robot must still move at high speed to achieve the required installation throughput. During loading and unloading, the work pieces are defi ned on pallets, work carriers or conveyors or they are fed to the installation as bulk material with subsequent separation and passed on after the process. Epson SCARAs carry out these tasks precisely and reliably in pace with the machine cycle.

Packaging and palletising

Modern packagings require a high degree of fl exibility of the packaging lines. That is because ever shorter product change times as well as a high process reliability must be ensured. Epson robots package and palletise even highly sensitive parts. With Conveyor

Tracking, the robots can also be used for picking up parts from moving conveyors or placing them there.

In that process, objects are detected by a camera or sensor.

Assembling and equipping

Manual activities during assembling and equipping are ineffi cient as well as error-prone. Apart from that, the human arm is naturally limited in its range of motion.

Thanks to the optimised ratio of arm 1 and arm 2,

Epson SCARAs, on the contrary, have maximum free dom of movement and are able to precisely assemble even the smallest parts. Due to their excellent dynamics, high insertion forces and rigidities as well as the good deadload–payload ratio, Epson robots are perfectly suitable for assembly and equipping tasks — even for small batch sizes.

Testing, measuring and checking

Quality checks, measurements, test runs prior to series production — precise detection is most important here.

Epson SCARA robots with the integrated Epson vision system handle these tasks also at high clock rates. The

PC-based Epson RC620 master controller allows use with other software and hardware for measuring and checking. Moreover, the master controller can be easily combined with pattern recognition systems or forcetorque sensors from other manufacturers. If the product deviates from the tolerance values with respect to the predefi ned parameters, it is detected as faulty at an early stage and safely sorted out.

SO THAT YOU KNOW

BEFOREHAND WHAT YOU

WILL NEED LATER

Trial & error — why not? Before using an Epson SCARA robot in your application, you can try, compare and visualise sequences at no risk. Not only in the design phase, but also during integration and operation does the free Epson RC+ Simulator help you save time and money.

The design phase — easy planning and cost reduction

Already during the design phase, you can accurately plan your robot cell quickly and easily and reliably estimate the cycle time for your application.

This way, feasibility is proven before a single part of the installation is manufactured. You can also prepare for later installation expansions in the simulation so that the installation must only be shut down when it cannot be avoided.

The integration phase — reducing integration times, avoiding damage

Prior to the robot delivery, an offl ine program validation is carried out.

Programs can be created parallelly and even complex motion sequences can be visualised and evaluated. This serves to detect risks of collision and avoid damage to the equipment.

The Epson RC+ development environment — powerful, effi cient, intuitive

With its intuitive Windows operator interface, the open structure and integrated Machine Vision, the powerful Epson RC+ project management and development environment is ideal for the uncomplicated programming of your applications.

Now, we have also added a graphical 3-D environment to allow you to almost entirely simulate the robot program and obtain visualised robot motion.

The operation and maintenance phase — reduction of downtimes

Troubleshooting and program modifi cations can be comfortably carried out from your offi ce. Collision detection, reachability checks and robot motion are visualised in 3-D.

SCARA, 6-axis or the Epson SPIDER — all of these robots as well as different motion sequences can be imaged with the Epson RC+

Simulator.

12

THE EPSON CONCEPT:

TO TAKE IT ONE STEP

FURTHER

As a SCARA specialist we aim to permanently optimise every detail of our robot systems — and to reach those aims. How do you benefi t? Unequalled repeatability.

Improved joining properties. Higher insertion forces and speeds. A space-saving design with reduced interference contours. We could just go on and on and on ...

The Epson SCARA — perfect design with many advantages

High-precision ball screw spline with optimised spline pitch

Status light to indicate the operating state of the motors

User wiring

- 4 air/vacuum lines

- 24 signal points

- wear-resistant

- high availability

Different shaft lengths for different applications

Harmonic Drive gear unit

- backlash-free, low-maintenance

- optimised joining properties

- improved repeatability and accuracy

Optional:

Vertical power/signal cable outlet directly below the base

- compact, clean and safe in cleanrooms

- safe in dirty environments (IP65 applications)

Cable unit inside

- space-saving, less interference contours

- reduced mechanical sensitivity

- improved ESD shield

Absolute shaft encoders on all axes

- 21-bit resolution on one motor rotation

- excellent repeatability

- outstanding interpolation

- precise speed control

Monocoque profi le

- 2.5 times as rigid as common cast aluminium arms

- higher insertion forces

- optimised joining properties

Shiftable stops for individual mechanical reduction of the work envelope

Low-vibration base

- product-conserving

- improved repeatability and accuracy

- optimised joining properties

Compact, space-saving mounting base

Fitting holes for improved reproducibility of the robot position

Connections on the Epson SCARA G1

Signal cable

Connection for user wiring

1 x (9-pin D-sub connector)

1 x (15-pin D-sub connector)

Motor function

indicator lamp

Power cable Brake release button

Three connections for compressed-air supply (1 x Ø 4 mm and 2 x Ø 6 mm)

Connections on the Epson SCARA G3

Exhaust port for

cleanroom models

Motor function

Connection for user wiring

1 x (15-pin D-sub connector)

indicator lamp

Power cable

Brake release button

Three connections for compressed-air supply (1 x Ø 4 mm and 2 x Ø 6 mm)

Signal cable

Connections on the Epson SCARA G6, G10 and G20

Connection for user wiring

1 x (9-pin D-sub connector)

1 x (15-pin D-sub connector)

Signal cable

Power cable

Brake release button

Motor function

indicator lamp

Four connections for compressed-air supply (2 x Ø 4 mm and 2 x Ø 6 mm)

EPSON SCARA G-SERIES 13

14

BECAUSE QUALITY IS THE

BEST RECIPE

Just like all other Epson robot systems, robots of the

Epson SCARA G-series also feature a great number of advantages. High-quality components ensure longevity and high availability. The design also focuses on reliability — starting from well-established design principles to easy accessibility of all components.

The economical and futureoriented complete solution

All main components are Epson products; they are developed in our research centres and produced in our quality-certifi ed manufacturing facilities. Hardware and software match perfectly.

We get to the point fast: Smart Motion

Smart Motion is the revolutionary motor management by Epson used in all

Epson robot systems. At low vibration, Epson robots reach the end position much faster and much more precisely. Optimum positioning, short cycle times and increased path accuracy — be on the economical side with

Smart Motion!

Position

Target position

Time

Epson robot reaches target position

Common robot reaches target position

Epson robot

Common robot

End position controller

As a result of overshooting, common motor controllers lead to increased deviations.

The result: imprecise positioning, poor interpolation and longer process times. Epson Smart Motion,

however, minimises overshooting. Epson robots are more precise and product-conserving and get to the point faster — even if cycle times are extreme.

EPSON SCARA G-SERIES 15

FLEXIBLE

CONTROLLER

CONCEPT

A central controller or compact slave controller —

Epson SCARA G-series robots can be perfectly

controlled by means of Epson controllers and can be smoothly integrated into your production processes.

Epson RC180 — the most compact, most lightweight and fastest controller of its performance class on the market

With its compact dimensions, the Epson RC180 is incredibly small.

The controller is mainly intended to work as a stand-alone slave.

Epson RC620 — the powerful master controller for up to

20 axes

This controller has it all under control: robots, conveyors and many other peripherals. Due to its open, Windows-based system design, the controller offers unlimited possibilities and allows easy operation. The RC620 supports

Conveyor Tracking as well as most diverse bus protocols and interface expansions.

Epson Vision

Epson Vision allows high-speed communication between robot and Machine Vision. Bar codes are identifi ed, and so are characters and icons — even if backgrounds are changing or clock rates are high.

For even higher demands of system resources, such as fi eldbus masters or the integration of external .dll fi les, there is the Epson RC620+. It features a higher-performance processor and an even greater memory expansion.

For robots with eye contact

The powerful, integrated vision systems reliably detect and position parts — even in case of manufacturing deviations, part changes or varying light conditions. Epson Machine Vision: That is perfectly matching hardware and software.

TP1

Monitoring, operation and parametrisation with the portable TP1 Teach Pendant

Epson RC180

The slave controller — compact, smart and powerful

Epson RC620

The master for several kinematics and complex installation control

OP1

OP1 Operator Pendant for operation and visualisation tasks even in complex installations

Epson brochure about controllers available as

PDF at: www.epson.de/robots

EPSON SCARA G1

TECHNICAL

DATA

Specifi cations

DESIGN

PAYLOAD

REACH vertical (J3) orientation (J4)

EPSON SCARA G1-171S EPSON SCARA G1- 221S

4 axes, external oriented horizontal articulated arm

(kg) nom./max. 0.5/1

(mm) 100 or 80 (cleanroom)

(°) +/–360

REPEATABILITY horizontal (J1+J2) (mm) vertical (J3) orientation (J4) (°) +/–0.01

(mm) 225 (125+100)

(mm) 100 or 80 (cleanroom)

(°) +/–360

(mm) +/–0.008

(°) +/–0.01

MOMENT OF

INERTIA

SHAFT

WEIGHT

USER WIRING

INSERTION FORCE

CONTROLLER

MANIPULATOR MODEL

AVAILABLE OPTIONS

EPSON SCARA G1-171SZ EPSON SCARA G1- 221SZ

3 axes, external oriented horizontal articulated arm

(kg) nom./max. 0.5/1.5

(mm) 175 (75+100) (mm) 225 (125+100)

(mm) 100 or 80 (cleanroom) (mm) 100 or 80 (cleanroom)

– –

(mm) +/–0.005

(kgm 2 ) nom./max. (kgm 2 ) nom./max.

0.0003 / 0.004 0.0003 / 0.004 – electrical D-sub (15-pin + 9-pin) pneumatic tubes (1 x Ø 4 mm and 2 x Ø 6 mm)

(mm) Ø 8 H7

(N) permanent 50

(kg) 8

RC180 / RC620 / RC620+ mounting option fl oor, cleanroom (ISO3) & ESD longer cables (5 m /10 m /20 m), bellows

(mm) +/–0.008

Scope of delivery

• Epson robot and controller including Simulator robot controller (RC180)

• 70 g grease for shaft

• 1 set 3 m motor and signal cable

• 1 emergency stop connector

• 1 connector for standard I/O

• 1 set connectors for user wiring

• 1 back-up disc for the robot controller (RC180)

• 1 USB programming cable (RC180)

• Manuals on CD

• 1 installation/safety manual

Manipulator options

• Longer motor and signal cables (5 m / 10 m / 20 m) shaft. Protects spline and environment from dirt.

EPSON SCARA G1

Dimensions of the Epson SCARA G1

A

B

4 axes 3 axes 3 axes external oriented horizontal articulated arm

(mm) 75 (mm) 125 (mm) 75 (mm) 125

(mm) 515 max. (mm) 545 max. (mm) 515 max. (mm) 545 max.

Work envelope of the Epson SCARA G1

4 axes 3 axes

external oriented horizontal articulated arm

3 axes a (mm) 75 b-a (mm) 100 c d

(mm) 64.3

(mm) 125

(mm) 100

(mm) 59.6

(mm) 75

(mm) 100

(mm) 70.9

(mm) 125

(mm) 100

(mm) 89.2

125° 125° 125° 125° e f

140° 152° 135° 135°

(mm) 60.4 (mm) 52.8 (mm) 69.2 (mm) 82.2

a Length of arm #1 b Length of arm #2 c Work envelope d Work envelope of axis #1 e Work envelope of axis #2 f Area of the mechanical stop

Work envelope of the G1-171S

Square work envelope d e e f b c a d e

Front view

B

200.8 mm

180.8 mm

S

2.5*

159.5 mm

100.0

6.0*

15

104

35

10

* indicates the stroke margin by mechanical stop

72.0

41.5

175.0 mm > 90

Space for cables

28.7

100 A

108.0 mm

Top view standard

208.0 mm

50 75 50

83.0

88.0

100.0

6Ø 6.5

1 mm flat cut

Flange for hand

8.5 mm

4

5

16 mm

Ø 8 H7 shaft diameter

Ø 16 diameter mechanical stop

Detail of S: Calibration point position of joints #3 and #4

140 mm

This and further information as well as CAD data are available at: www.epson.de/robots

EPSON SCARA G3

TECHNICAL

DATA

Specifi cations

EPSON SCARA G3-251 S EPSON SCARA G3- 301S

EPSON SCARA G3- 301S-L

EPSON SCARA G3- 301S-R

EPSON SCARA G3- 351S

EPSON SCARA G3- 351S-L

EPSON SCARA G3- 351S-R

DESIGN

PAYLOAD

REACH vertical (J3) orientation (J4) external oriented horizontal articulated arm

(kg) nom./max. 1/3

(mm) 150 or 120 (cleanroom)

(°) +/–360

(mm) 300 (170+130)

(mm) 150 or 120 (cleanroom)

(°) +/–360

REPEATABILITY horizontal (J1+J2) (mm)

vertical +/–0.010 (mm) +/–0.010

(°) +/–0.005

(mm) 350 (220+130)

(mm) 150 or 120 (cleanroom)

(°) +/–360

(mm) +/–0.010

(°) +/–0.005

MOMENT OF

INERTIA

(kgm 2 ) nom./max. (kgm 2 ) nom./max. (kgm 2 ) nom./max.

0.005 / 0.05 0.005 / 0.05 0.005 / 0.05

USER WIRING electrical D-sub (15-pin) pneumatic tubes (1 x Ø 4 mm and 2 x Ø 6 mm)

SHAFT

INSERTION FORCE

WEIGHT

CONTROLLER

MANIPULATOR MODEL

(mm) Ø outside/inside 16 H7 /11

(N) permanent 150

(kg) 14

RC180 / RC620 / RC620+ mounting option fl oor cleanroom (ISO3) & ESD mounting option fl oor, multi-mount

AVAILABLE OPTIONS longer cables (5 m /10 m /20 m), tool adaptor, bellows

Scope of delivery

• Epson robot and controller including Simulator robot controller (RC180)

• 70 g grease for shaft

• 1 set 3 m motor and signal cable

• 1 emergency stop connector

• 1 connector for standard I/O

• 1 set connectors for user wiring

• 1 back-up disc for the robot controller (RC180)

• 1 USB programming cable (RC180)

• Manuals on CD

• 1 installation/safety manual

Manipulator options

• Longer motor and signal cables (5 m / 10 m / 20 m) to shaft shaft. Protects spline and environment from dirt.

EPSON SCARA G3 19

Dimensions of the Epson SCARA G3

A

B

G3-251S

(mm) 120

(mm) 545 max.

G3-301S

(mm) 170

(mm) 575 max.

G3-351S

(mm) 220

(mm) 595 max.

Work envelope of the Epson SCARA G3 a (mm) 120 (mm) 170 (mm) 220 (mm) 170 (mm) 170 (mm) 220 (mm) 220 b-a (mm) 130 (mm) 130 (mm) 130 (mm) 130 (mm) 130 (mm) 130 (mm) 130 c (mm) (mm) 104.8 (mm) 142.3 (mm) 120.7 (mm) 120.7 (mm) 191.6 (mm) 191.6

c1 - - - (mm) 86.8 (mm) 86.8 (mm) 100.3 (mm) 100.3

d 140° 140° 140° 150° 125° 165° 110° d1 - - - 125° 150° 110° 165° e 141° 142° 142° 150° 135° 165° 120° e1 - - - 135° f f1

(mm) 79.3 (mm) 96.2 (mm) 134.2 (mm) 79.5 (mm) 79.5 (mm) 97 (mm) 97

- - - (mm) 113.2 (mm) 113.2 (mm) 183 (mm) 183 a Length of arm #1 b Length of arm #2

(c, c1) Work envelope

(d, d1) Work envelope of axis #1

(e, e1) Work envelope of axis #2

(f, f1) Area of the mechanical stop

Work envelope of the G3-351S d

Square work envelope

194 mm e e

176 e f c a d b

6.7*

Front view

Ø 30

194.0 mm

S

36

199.5 mm

6.7*

150

26.0

143

9.6* 86

*mechanical stop

129.0

10

394.2

>90

B

42.5

116.0 mm

23

130.0

2-M 3 depth 8

Top view standard

2-M 5 depth 10

169.0

A

20

32.5

18 120

67

20

120.0

101.0

140.0

4- Ø 9

2- Ø 9

42.5

116.0 mm

23

2-M 3 depth 8

Top view curved

130.0 220.0 169.0

72.0 mm

126.0

±0.05

20

2-M 5 depth 10

32.5

18 120

67

20

120.0

101.0

140.0

4- Ø 9

2- Ø 9

Flange for hand

Detail of S: Calibration point position of joints #3 and #4

Ø 3.90°

90° conical hole

45.5 mm

15

1 mm flat cut

10 30

10

Ø 11 max. through hole

Ø 16 H7

Ø 30

This and further information as well as CAD data are available at: www.epson.de/robots

EPSON SCARA G6

TECHNICAL

DATA

Specifi cations

DESIGN

PAYLOAD

REACH

EPSON SCARA G6-45 xS external oriented horizontal articulated arm

EPSON SCARA G6-55 xS

(kg) nom./max. 3/6

(mm) 550 (300+250)

EPSON SCARA G6-65

(mm) 650 (400+250) xS orientation (J4)

x=3 330 or 300 (cleanroom and IP54 and IP65)

(°) +/–360 (°) +/–360 (°) +/–360

REPEATABILITY horizontal (J1+J2) (mm) +/–0.015 (mm) +/–0.015

vertical +/–0.010 (mm) +/–0.010 (mm) +/–0.010

MOMENT OF

INERTIA

(kgm 2 ) nom./max. (kgm 2 ) nom./max. (kgm 2 ) nom./max.

0.01 / 0.12 0.01 / 0.12 0.01 / 0.12

USER WIRING electrical D-sub (15-pin + 9-pin) pneumatic tubes (2 x Ø 4 mm and 2 x Ø 6 mm)

SHAFT

INSERTION FORCE

WEIGHT

MOUNTING OPTION

(mm) Ø outside/inside 20 H7 /14

(N) permanent 150

(kg) 27 fl oor

(kg) 27 ceiling

(kg) 29 wall

(kg) 27 fl oor

(kg) 27 ceiling

(kg) 29 wall

(kg) 28 fl oor

(kg) 28 ceiling

(kg) 29.5 wall

CONTROLLER

MANIPULATOR MODEL

AVAILABLE OPTIONS

RC180 / RC620 / RC620+ mounting option fl oor, wall, ceiling cleanroom (ISO3) & ESD, IP protection class: standard / IP54 / IP65 longer cables (5 m /10 m /20 m), tool adaptor, for fl oor and ceiling mounting: cable outlet directly below or above the base

(power/signal cable and user wiring), external wiring unit, bellows

x=shaft length; x=1 180 mm; x=3 330 mm

Scope of delivery

• Epson robot and controller including Simulator robot controller (RC180)

• 70 g grease for shaft

• 1 set 3 m motor and signal cable

• 1 emergency stop connector

• 1 connector for standard I/O

• 1 set connectors for user wiring

• 1 back-up disc for the robot controller (RC180)

• 1 USB programming cable (RC180)

• Manuals on CD

• 1 installation/safety manual

Manipulator options

• Longer motor and signal cables (5 m /10 m /20 m) to shaft allows the clean feeding of further user media very near to the corresponding end effector (recommended e. g. for fl uid lines). signal lines through a hole in the mounting plate directly below the manipulator so that robot cables are not visible in the robot cell (recommended e. g. for cleanroom applications).

shaft. Protects spline and environment from dirt.

EPSON SCARA G6 21

Dimensions of the Epson SCARA G6

A

G6-45xS

(mm) 200

B

C

D

Work envelope of the Epson SCARA G6

G6-55xS G6-65xS

(mm) 300 (mm) 400

G6-XX1S G6-XX3S

(mm) 180 (mm) 330

(mm) 119

(mm) 684

(mm) –31

(mm) 834

12.2 *

235.5 mm

Ø 38

S

391.0 mm B

12.2*

4.2*

61.5

7

C

316.5 mm 305.0

20.0

e f a

G6-45xS G6-55xS G6-65xS

(mm) 200 (mm) 300 (mm) 400 b-a c Z: 0 to –270 d

(mm) 250

(mm) 134.8

(mm) 250 (mm) 250

(mm) 161.2 (mm) 232

Z: –270 to –330 (mm) 143.5

152° 152° 152°

Z: 0 to –270

Z: –270 to –330

147.5°

145°

(mm) 124.4

147.5° 147.5°

(mm) 133.8 (mm) 207.5

*mechanical stop

52.0

250.0 mm A

124.0 mm 30

In Z-area: 0 to –270 mm, the area is limited by the collision area of

manipulator body and arm.

a Length of arm #1 b Length of arm #2 c Work envelope d Work envelope of axis #1 e Work envelope of axis #2 f Area of the mechanical stop

2-M 4 depth 11

Ø 160

4- Ø 11

>90

Space for cables

Top view standard

2-M 5 depth 10

165.5

15

110

150 15

15

Front view

D

282.0

150.0

90.0

180.0

Flange for hand

Work envelope of the G6-55xS

41.8 mm

Ø 4.90° conical hole

15

1 mm flat cut

26

14

10

10

12.2

10

30

Ø 14 through hole

Ø 20 H7

Ø 40

Detail of S: Calibration point position of joints #3 and #4 e e d d

Square work envelope

359 mm f c a b e

230

This and further information as well as CAD data are available at: www.epson.de/robots

EPSON SCARA G10

TECHNICAL

DATA

Specifi cations

DESIGN

PAYLOAD

REACH

EPSON SCARA G10 -65xS external oriented horizontal articulated arm

(kg) nom./max. 5/10

EPSON SCARA G10 -85xS

(mm) 850 (450+400) orientation (J4)

x=4 420 or 390 (cleanroom and IP54 and IP65)

(°) +/–360 (°) +/–360

REPEATABILITY horizontal (J1+J2) (mm) +/–0.025 (mm)

vertical +/–0.010 (mm) +/–0.010

(°) +/–0.005.

MOMENT OF

INERTIA

(kgm 2 ) nom./max.

0.02/0.25

USER WIRING

SHAFT

WEIGHT

INSERTION FORCE

MOUNTING OPTION electrical D-sub (15-pin + 9-pin) pneumatic tubes (2 x Ø 4 mm and 2 x Ø 6 mm)

(mm) Ø outside/inside 25 H7/18

(N) permanent 250

(kg) 46 fl oor

(kg) 46 ceiling

(kg) 51 wall

CONTROLLER

MANIPULATOR MODEL

AVAILABLE OPTIONS

(kgm 2 ) nom./max.

0.02/0.25

(kg) 48 fl oor

(kg) 48 ceiling

(kg) 53 wall

RC180 / RC620 / RC620+ mounting option fl oor, wall, ceiling cleanroom (ISO3) & ESD, IP protection class: standard / IP54 / IP65 longer cables (5 m /10 m /20 m), tool adaptor, for fl oor and ceiling mounting: cable outlet directly below or above the base

(power/signal cable and user wiring), external wiring unit, bellows

x=shaft length; x=1 180 mm; x=4 420 mm

Scope of delivery

• Epson robot and controller including Simulator robot controller (RC180)

• 70 g grease for shaft

• 1 set 3 m motor and signal cable

• 1 emergency stop connector

• 1 connector for standard I/O

• 1 set connectors for user wiring

• 1 back-up disc for the robot controller (RC180)

• 1 USB programming cable (RC180)

• Manuals on CD

• 1 installation/safety manual

Manipulator options

• Longer motor and signal cables (5 m /10 m /20 m) to shaft allows the clean feeding of further user media very near to the corresponding end effector (recommended e. g. for fl uid lines). signal lines through a hole in the mounting plate directly below the manipulator so that robot cables are not visible in the robot cell (recommended e. g. for cleanroom applications).

shaft. Protects spline and environment from dirt.

EPSON SCARA G10 23

Dimensions of the Epson SCARA G10

A

G10-65xS G10-85xS G10-XX1S G10-XX4S

(mm) 250 (mm) 450

B

C

D

(mm) 180

(mm) 813.5

(mm) 213.5

(mm) 420

(mm) 1,053.5

(mm) –26.5

Work envelope of the Epson SCARA G10 d e f a

G10-65xS

(mm) 250 b-a (mm) 400 c (mm) 212.4

152°

152.5°

(mm) 199.4 a Length of arm #1 b Length of arm #2 c Work envelope d Work envelope of axis #1 e Work envelope of axis #2 f Area of the mechanical stop

G10-85xS

(mm) 450

(mm) 400

(mm) 207.8

152°

152.5°

(mm) 183.3

Work envelope of the G10-65xS

5*

Ø 39.5

Front view

C

286.0 mm

S

485.5 mm

B

5*

80.0

8.5

D 380.5 mm 363.0

20.0

*mechanical stop

>90

Space for cables

55.5

158.0 mm 30

2-M 4 depth 12

400.0 mm

Ø 200

4- Ø 16

A

Top view standard

2-M 8 depth 16

179.0

200.0

110.0

240.0

20

118

200 20

19

45.0 mm

Ø 4.90° conical hole

15

1 mm flat cut

Flange for hand

29

14

5

10

10

30

Ø 18 through hole

Ø 25 H7

Ø 39.5

Detail of S: Calibration point position of joints #3 and #4 d

Square work envelope

405.1

e e e f c a d b

270

This and further information as well as CAD data are available at: www.epson.de/robots

EPSON SCARA G20

TECHNICAL

DATA

Specifi cations

DESIGN

PAYLOAD

REACH

EPSON SCARA G20-85 xS external oriented horizontal articulated arm

(kg) nom./max. 10/20

EPSON SCARA G20-A0 xS

(mm) 1,000 (600+400) orientation (J4)

x=4 420 or 390 (cleanroom and IP54 and IP65)

(°) +/–360 (°) +/–360

REPEATABILITY horizontal (J1+J2) (mm) +/–0.025 (mm)

vertical +/–0.010 (mm) +/–0.010

(°) +/–0.005

MOMENT OF

INERTIA

SHAFT

WEIGHT

USER WIRING

INSERTION FORCE

MOUNTING OPTION

(kgm 2 ) nom./max.

0.05/0.45 electrical D-sub (15-pin + 9-pin) pneumatic tubes (2 x Ø 4 mm und 2 x Ø 6 mm)

(mm) Ø outside/inside 25 H7/18

(N) permanent 250

(kg) 48 fl oor

(kg) 48 ceiling

(kg) 53 wall

(kgm 2 ) nom./max.

0.05/0.45

(kg) 50 fl oor

(kg) 50 ceiling

(kg) 55 wall

CONTROLLER

MANIPULATOR MODEL

AVAILABLE OPTIONS

RC180 / RC620 / RC620+ mounting option fl oor, wall, ceiling cleanroom (ISO3) & ESD, IP protection class: standard / IP54 / IP65 longer cables (5 m /10 m /20 m), tool adaptor, for fl oor and ceiling mounting: cable outlet directly below or above the base

(power/signal cable and user wiring), external wiring unit, bellows

x=shaft length; x=1 180 mm; x=4 420 mm

Scope of delivery

• Epson robot and controller including Simulator robot controller (RC180)

• 70 g grease for shaft

• 1 set 3 m motor and signal cable

• 1 emergency stop connector

• 1 connector for standard I/O

• 1 set connectors for user wiring

• 1 back-up disc for the robot controller (RC180)

• 1 USB programming cable (RC180)

• Manuals on CD

• 1 installation/safety manual

Manipulator options

• Longer motor and signal cables (5 m /10 m /20 m) to shaft allows the clean feeding of further user media very near to the corresponding end effector (recommended e. g. for fl uid lines). signal lines through a hole in the mounting plate directly below the manipulator so that robot cables are not visible in the robot cell (recommended e. g. for cleanroom applications).

shaft. Protects spline and environment from dirt.

EPSON SCARA G20 25

5*

Ø 39.5

Dimensions of the Epson SCARA G20

A

G20-85xS G20-A0xS G20-XX1S G20-XX4S

(mm) 450 (mm) 600

B

C

D

(mm) 180

(mm) 813.5

(mm) 213.5

(mm) 420

(mm) 1,053.5

(mm) –26.5

Work envelope of the Epson SCARA G20 d e f a b c

G20-85xS

(mm) 450

(mm) 400

(mm) 207.8

152°

152.5°

(mm) 183.3 a Length of arm #1 b Length of arm #2 c Work envelope d Work envelope of axis #1 e Work envelope of axis #2 f Area of the mechanical stop

G20-A0xS

(mm) 600

(mm) 400

(mm) 307

152°

152.5°

(mm) 285.4

Front view

C

286.0 mm

S

485.5 mm

B

5*

80.0

8.5

D 380.5 mm 363.0

20.0

*mechanical stop

>90

Space for cables

55.5

158.0 mm 30

2-M 4 depth 12

400.0 mm

Ø 200

4- Ø 16

A

Top view standard

2-M 8 depth 16

179.0

200.0

110.0

240.0

20

118

200 20

19

Work envelope of the G20-85xS

45.0 mm

Ø 4.90° conical hole

15

1 mm flat cut

Flange for hand

29

14

5

10

10

30

Ø 18 through hole

Ø 25 H7

Ø 39.5

Detail of S: Calibration point position of joints #3 and #4 d e

Square work envelope

589 e d f c a b e

270

This and further information as well as CAD data are available at: www.epson.de/robots

26

EFFICIENTLY USING

RESOURCES

Reduced mass but increased power. Optimised effi ciency. Compact design but a larger work envelope. We always consider the next step. It is not all about the

initial investment, but also about the operating and follow-up costs of our robots in your application. Our aim: to be effi cient in every way.

More power in reduced space

Slim design and minimised weight lead to considerable savings in operating costs. Compared to previous models, we have reduced our G-series by

10% in height, for example. Since the robots have no tubes and the user wiring inside, the design is particularly compact.

Larger work envelope

We have increased the working range of our SCARA kinematics by an average 23 %. The result is an work envelope which is equal to that of

non-Epson robots of the next bigger size.

Higher speed

We have achieved an average increase in axis speed of 20 %, just the same as the payload. Every kinematics has the highest position accuracy of its class.

Economical — also in the long run

The combination of maximum

reliability, a reduced number of components and reusability of components results in a high added value.

High effi ciency, optimised ratio of supplied energy and payload

All Epson robots stand out for a particularly low power consumption.

That way, electric energy is converted into kinetic energy so as to achieve high effi ciency and short cycle times.

+20%

Axis speed

–10%

Height

–15%

Weight

+23%

Increased work envelope

+20%

Increased payload

THE GREEN WAY:

ENVIRONMENT AND

SUSTAINABILITY

Environmental protection has a long tradition at Epson and is an integral part of the company philosophy. It is our aim to reduce the environmental impact of our products — from the concept to recycling, from the choice of materials and

components to transport to reuse.

Saving energy — and costs

Energy is money and a real economic factor. Therefore, we consistently strive to develop particularly reliable, failsafe products which consume less and less energy. Since 1995, Epson has implemented an environmental management system based on a holistic approach.

Environmental Vision 2050 — our goals

With our Environmental Vision 2050, we set an example. One of our main intentions is to reduce our CO

2

emissions during the complete life cycle of a product by 90% by 2050. Moreover, we are going to introduce reuse and recycling for all of our products and are engaged in protecting biodiversity.

Life cycle assessment

Since the year 2000, we have been registering the environmental impact of individual items of our manufacturing program. Life cycle assessment gives information about how much raw material and energy a

product consumes within the course of its production, use and disposal and what emissions are generated.

Download the “Sustainability Report” at: http://global.epson.com/sr/report/ Sustainable and environmentally friendly

Within the framework of our sustainability initiative, we have committed ourselves to high ethical and ecological standards. The annual “Epson

Sustainability Report” documents how we ensure and continuously improve the good environmental performance of our products and production

processes.

EPSON SCARA G-SERIES

Epson Industry Solutions Center — that’s where we fi nd your solution!

Expertise concentrated on 500 m 2 : In cooperation with our partners, in our Meerbusch

Industry Solutions Center we present solutions for the most diverse applications in

industry. The fi elds include large format printing, retail solution and factory automation.

Factory automation: See all Epson robots in action. Our experts help you to set up, simulate and optimise your automation application in a workshop cell. The cell can be controlled and networked with all standard fi eldbuses. In addition, we provide up-to-date peripheral equipment such as a Vision and Conveyor Tracking system.

You would like to arrange an appointment?

Call us at +49 2159 538 1800 or just e-mail us at: [email protected]

Epson Deutschland GmbH

Factory Automation Division

Otto-Hahn-Straße 4

40670 Meerbusch

Epson America Inc.

Factory Automation Division

18300 Central Avenue

Carson, CA 90746

Phone: +49 2159 538 1800

Fax: +49 2159 538 3170

E-mail: [email protected]

www.epson.de/robots

Phone: +15 62290 5910

Fax: +15 62290 5999

E-mail: [email protected]

www.robots.epson.com

Seiko Epson Corp

1010 Fujimi, Fujimi-machi,

Suwa gun

399-0295 Nagano-ken

Phone: +81 2666 11804

Fax: +81 2666 11846

E-mail: [email protected]

www.epson.jp/fa/e

Epson China Co, Ltd.

SHENZHEN BRANCH

12/F, Dawning Mansion, Keji South

12th Road, Hi-tech Park, Shenzhen

Phone: +86 755 2699 3828

Fax: +86 755 2699 3838

EPSON® is a registered trademark of SEIKO EPSON® Corporation.

All other product and company names used herein exclusively serve identifi cation purposes and can be trademarks or registered trademarks of the corresponding rights holders. All specifi cations can be changed without notice.

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