- Industrial & lab equipment
- Measuring, testing & control
- Industrial robots
- Epson
- SCARA G20-A04C
- Data Sheet
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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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