Epson Japan Robots Catalogue - April 2013

With Epson industrial robots, you get the highest standards of
safety and reliability and the support of a global sales and service network
SCARA robots
Europe
Republic of Korea
North America
China
Japan
Taiwan
Southeast Asia
South America
Top-quality service and support worldwide

Our global network of sales and service centers is firmly
service representatives we offer warranty coverage for
dedicated to maintaining a consistently high level of product
machines that are later moved to other locations*2, assuring
and service quality in every region. For products under

warranty, we offer on-site assistance to deal with any malfunctions or problems*1, and through our authorized sales and
top-quality support wherever you are.

*1 Standard warranty limitations apply.
*2 Contact local sales and service representatives for details.
Product specifications and appearance are subject to change without notice.

Microsoft, Windows, Visual Basic, Visual C, and the Windows logo are registered
trademarks of Microsoft Corporation.
DeviceNet and Ethernet/IP are registered trademarks of the Open DeviceNet Vendor
Association, Inc.
CC-Link is a registered trademark of the CC-Link Partner Association.

PROFIBUS is a registered trademark of PROFIBUS International.
LabVIEW is a trademark of National Instruments Corporation.
Direct inquiries to
Industrial Solutions Operation Division

Toyoshina Plant
6925, Tazawa, Toyoshina Azumino-shi Nagano-ken, 399-8285 Japan
Please inquire at
URL
TEL: 81-263-72-1530 FAX: 81-263-72-1495

http://global.epson.com/products/robots/
Safety Precautions
Epson FA Systems Dept.

ISO9001 certified April
1995
Epson FA Systems Dept.
ISO14001 certified April
1998
Please read associated manuals carefully before installing or using our robot products. Always use products properly per guidelines in the manuals.
EC133R2481F
Correct as of April 2013
6-axis robots
Robot controllers
Software
System options
Starts smart, stops smart.

The new gold standard
in precision automation.
A proven reputation for precision and reliability

at the leading edge of industrial robot design
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
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
Technologya 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.
H Series / G Series
Top-class speed and repeatability
SCARA robots
C Series, S Series
Unrivaled speed and performance in the
tightest quarters
6-axis 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.
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
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.
vibration. Available to meet virtually any application
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
The RS Series ceiling-mount design and rotating arm

enable maximum productivity in minimum space.
High-speed handling performance
technology that optimizes acceleration and
Multidimensional sealant application processes
deceleration to ensure consistent handling with heavy
Innovative arm design eliminates work area dead

Full automation of manual processes
loads.
Enhanced production layout flexibility in limited space
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
MAX
4 Kg
Clean type
ISO 03 (Class 10 equiv.)
ESD suppression
G1
03 T
8 Kg
4-axis
P7- 8
04
Clean type
ISO 04 (Class 100 equiv.)
Protected type IP54
G3
03 T
MAX
P5-6
03
G series
H8
03 T
6-axis robots
1/
MAX
03 T
3-axis
1.5 Kg
MAX
P9 -10
Protected type IP65
G6
W/C
3 Kg
03 D P T W C
MAX
P11-14
Table Top mount
Wall mount
6 Kg
P15 -18
Ceiling mount
W/C
G10/G20
03 D P T W C
10/20 Kg
MAX
P19 -22
LS series
RS series
LS3/LS6
RS3/RS4
04 T
MAX
3/6 Kg
P23-26
03 C
MAX
3/4 Kg
P27-30
C series
C3
03 T W C
MAX
3 Kg
P31-32
Robot controllers
Software
System options
S series
C4
03 T C
MAX
4 Kg
P33-34
S5
04 P T W C
5 Kg
MAX
P35 -36
RC700
RC620
RC180
RC90
P37- 40
EPSON RC+
programdevelopment
software
Software options
Robot controller options
End effector options
System option
quick-reference table
P41- 43
P44 -50
Wall/ceiling
multi-layout mount
H series SCARA robot
Outer DimensionsTable Top Mounting
15
Compact design only 520mm high

2M3 Drilled hole
2M3 depth 3
109
29 Drilled hole
49 Drilled hole
30
175
135
59.2
80
29 Drilled hole
109
30 49 Drilled hole
30
30
2M4 depth 6
23
2M33
2M3 Drilled hole
45
120
(57.7)
11.5*
120
175
20 20
132.1
120
80
4kg maximum payload
48.4
2M4 depth 6
23
130.7
20 20
140
59.2
120
135
140
175
SCARA robots
Light, compact speed and accuracy for

electronic assembly and component
Cleanroom-model
175
100
48.4
100
Standard-model
45
6.5*
(57.7)
40
40
2.6
0
10
2.6
(8)
338.6
53.5
8
163.6
176.1
120
11.5*
524.018
189.3
Max.11 through hole

16 h7 shaft diameter
30 mechanical stop diameter
62 bellows outside diameter
40
Detail of A
(Calibration point position of Joints #3 and #4)
48
4.5
145
58
20
4.5
180
151
+0.012
0
6 H7
through hole
0
6 +0.012
through hole
2M4
depth 8
4M4 depth 8
48
20
4M4 depth 8
60
2M4
depth 8
48
360
1 kg
4 kg
*1
Standard cycle time
0.34 sec
*2
Rated
Joint #4 allowable moment of inertia
0.005 kgm
Maximum
0.05 kgm
Joint #1
Motor power consumption
400 W
Joint #2
150 W
Joint #3
150 W
Joint #4
100 W
Joint #3 down force
150 N
Home
Home-return-less
Installed wire for customer use
15Pin D-SubEthernet
8Pin
Installed pneumatic tube for customer use
4mm1, 6mm2
Installation environment
Standard/Cleanroom* 3 & ESD
Applicable Controller
RC700
Safety standard
CE, KC
*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 0.1m particles per 28,317cm 3:1cft) cleanroom standards.
35
60
150 mm (120 mm)
180
151
+0.012
0
6 H7
through hole
60 0.025
20
48
58
40
Detail of A
60 0.025
35
Detail of B
4M4 depth 8
25
25
10 10
30
Max.11 through hole
Joint #4
Rated
Maximum
1mm flat cut

Conical hole
3.90
15
Table Top
350 mm
4940 mm/s
1100 mm/s
3000/s
14 kg
0.01 mm
0.01 mm
0.005
145
Detail of B
4M4 depth 3
20
Joint #3
Payload
15
H4-35**
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
(59.2)
80 or more
Space
for Cables
Software
Max. motion range
Conical hole
3.90
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
indicates the stroke margin by mechanical stop.
11.5
33
10
14.5 25.5
40.5
(80.5)
30
6.5
32
10
35.5
(45.5)
Specifications
(135)
45
113
0.005
1mm flat cut
Weight(cables not included)

Repeatability
80 or more
Space
for Cables
Joint #4
Mounting type
Arm length
Max. operating speed
(59.2)
(135)
45
113
Repeatability
2.8*
13
0.01 mm
Robot controllers
Joint #1, #2
238.5
163.6
176.1
150
0.34 sec
9.3*
Standard cycle time
338.6
(8)
6.5*
238.5
Rated 1 kg / Max 4 kg
Payload
53.5
493
350 mm
571.5
524.018
188.8
60
H4 specifications
Arm length
6-axis robots
10
0
6 +0.012
through hole
Motion Range (Table Top Mounting

R4
00
2.
4
2.
R98.2
14
5
R105.2
75
R105.2
2.
145
R1
14
145
5
14
75
5
R3
145
145
R1
14
3.
50
R3
2.
R98.2
3.
192
H4-35*C
00
R4
System options
H4-35*S
3.1
220
3.1
H series SCARA robot

Standard-model
Cleanroom-model
59.2
55.4
275
135
59.2
20 20
20 20
2xM4 through hole
100
15
134
4xM3 depth 3
150
30
4xM3 depth 3
38
38
4x9 through hole
134
2xM4 through hole
4x9 through hole
30
150
(82.5)
7.8*
Compact design only 580mm high
30
130.8
169
150
100
Choice of arm lengths
4xM4 depth 6
78
15
30
130.8
8kg maximum payload
129
4xM4 depth 6
78
6.8*
(82.5)
40
40
10
2.6
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
H8-55***
Table Top
550 mm
7480 mm/s
H8-**1**=1100 mm/s /H8-**3**=2350 mm/s
2400/s
H8-65***
150
41 35
20
166.5
10
150
41 35
4xM4 depth 10
195
20
6 H7+0.012
through hole
0
20
4xM4 depth 10
6.7
H8-55*S
275
30
90
H8-45*S
175
550.025
90
4xM4 depth 10
2xM4 depth 10
180 +0.05
0
4xM4 depth 10
2xM4 depth 10
0
6 H7+0.012
through hole
H8-65*S
375
b
c
d
H8-**1S
180
-10.8
549.2
H8-**3S
330
-160.8
704.2
H8-45*C
175
H8-55*C
275
180 +0.05
0
6 H7+0.012
through hole
0
H8-65*C
375
b
c
d
H8-**1C
150
-12.8
609.2
H8-**3C
330
-162.8
764.2

H8-55*S
H8-55*C
e c''
275
375
151.3
175
142.4
142
194
f Mechanical stop area
145.8
124.7
176.6
419.4
501.9
584.4
a Length of Arm #1 (mm)
275
b Length of Arm #2 (mm)

l'
h
c''
c'
a
h
Table Top
H8-45*S H8-45*C H8-55*S H8-55*C H8-65*S H8-65*S
Model
i
d
c'
f'
c Motion range
d Motion range of Joint #1 ()
150
e Motion range of Joint #2 ()

f'
3.6
2
h Joint #2 angle to hit mechanical stop ()

k Prohibition area of operation
g
g
k
l
l
System options
i
d
g Joint #1 angle to hit mechanical stop ()
Software
30
55
55
20 kg
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
MAX 560
8
15
Detail of A
0
6 H7+0.012
through hole
20
40
4xM4 depth 8
Max.14 through hole

195
6.7
80 or more
Space
for Cables
Detail of B
1mm
4,90
Detail of A
Table Top
650 mm
8220 mm/s
346.3
64
181
6.8*
4xM4 depth 8
10 10
30
15
H8-45**
Table Top
450 mm
6750 mm/s
21 kg
0.015 mm
0.01 mm
0.005
142
Max. motion range
150
H8-**1**=180 mm / H8-**3**=330 mm(Environment specification is standard-model)
H8-**1**=150 mm / H8-**3**=300 mm(Environment specification is cleanroom or Protected-model)
Joint #4
360
Rated
Payload
3 kg
Maximum
8 kg
Standard cycle time *1
0.32 sec
0.29 sec
0.29 sec
*2
Rated
Joint #4 allowable moment of inertia
0.01 kgm2
Maximum
0.12 kgm2
Joint #1
600 W
Joint #2
400 W
Joint #3
150 W
Joint #4
100 W
Joint #3 down force
150 N
Home
Home-return-less
15Pin D-SubEthernet
8Pin
4mm26mm6
Standard/Cleanroom* 3 & ESD
RC700
Safety standard
CE, KC
Repeatability
40
Max.11 through hole

Specifications
Mounting type
Arm length
Detail of B
10
4,90
25
6.8
1mm
(135)
550.025
0.005
Repeatability
60
1010 10
30
Joint #4
(59.2)
213
24
7.8
38
10
49.8
80.8
(90.8)
0.015 mm
80 or more
Space
for Cables
Robot controllers
Joint #1, #2
0.32 sec
25
Standard cycle time
0.29 sec
(135)
24
38
48.8
58.8
0.29 sec
166.5
(59.2)
60
213
5*
10
5*
ayload
258
8
b
181
258
650 mm
346.3
64
6.8*
MAX 560
176.8
176.8
d
H8 specifications
550 mm
6-axis robots
60
450 mm
10
2.6
Arm length
169
135
150
129
275
SCARA robots
High speed and repeatability for electronic

and automotive component assembly
and handling
55.4
X-axis
Y-axis
280
3.8
220
420
280
220
310
280
220
255
120
G series SCARA robot
[Unit: mm]
208
83
108
88
83
100
88
28.7
208
108
At only 8kg, our lightest G series robot
100
100
28.7
SCARA robots
Compact, high-rigidity body for precision

assembly and press-fit applications
Cleanroom-model
100
Standard-model
Available with 175mm or 225mm arm

Triple-axis model for heavier payloads
50
75
50
50
75
50
6- 6.5 Drilled hole
41.5
181.8
15
107
10
32
139
10.50.05
39.50.05
+0.012
0
+0.012
40
2-4
+0.012
depth
0
96
88
not penetrable
1100.05
+0.012
0
Reference through hole

(View from the bottom of the base)

0.008 mm
440.05
440.05
0.01 mm
0.5 kg
1.5 kg
a
b
Detail of A
0.30 sec
31.5
G1_221S
125
Max.545
a
b
Detail of A
G1_171CS G1_221CS
75
125
Max.515
Max.545

4-axis
Model
G1-221CZ
G1-171S
h
d
f
h
j
k
c
e
b
125
G1-171C
3-axis
G1-221S
G1-221C G1-171SZ G1-171CZ G1-221SZ G1-221CZ
Length of Arm #1 (mm)
75
125
75
125
h-g Length of Arm #2 (mm)
100
100
100
100
Motion range
64.3
Motion range of Joint #1 ()
125
Mechanical stop area
59.6
140
60.4
62.6
Joint #1 angle to hit mechanical stop ()
64.8
70.9
86.4
125
152
149
135
123
52.8
56.2
69.2
82.5
1.3
3
4
89.2
94.4
125
135
132
82.2
3
4
System options
G1-221SZ
All joints: 50 W
8 h7 shaft diameter
G1_171S
75
Max.515
0.29 sec
8 h7 shaft diameter
0.30 sec
100 mm
(80 mm)
0.0003 kgm 2
0.004 kgm 2
1mm flat cut
16
1mm flat cut
135
(132)
16
125
135
(123
8.5
152
(149
50 N
Home-return-less
24PinD-Sub 9+D-sub 15)
4mm1, 6mm2
Standard/Cleanroom *3 &ESD
RC180, RC620
CE, KC, UL
+0.012
0
0.005 mm
100 mm
(80 mm)
360
0.5 kg
1 kg
0.29 sec
+0.012
depth3
0
not penetrable
1100.05
+0.012
0
140
(140)
8 kg
0.008 mm
0.01 mm
0.01
125
Joint #3 down force

Home
Safety standard
0.005 mm
225 mm
3000 mm/s
1200 mm/s
j
k
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
175 mm
2630 mm/s
225 mm
3000 mm/s
1200 mm/s
3000
8 kg
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
(Cleanroom model)
Z stroke
(Cleanroom model)
Joint #4
Rated
Maximum
175 mm
2630 mm/s
G1-221*Z

Joint #4 allowable moment of inertia*2
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
2-4
125
Table Top
Payload
Table Top
25 20
39.50.05
Software
Max. motion range
3- axis
G1-171*Z
G1-221*
90 or more
Space
for Cables
175
2x2-M4 depth 6
10.50.05
+0.012
40
96
4-axis
G1-171*

Repeatability
125
Specifications
41.5
2x2-M4 depth 6
25 20
Mounting type
Arm length
72
88
0.01
Joint #4
90 or more
Space
for Cables
175
72
Repeatability
80
159.5
3*
139
10
Joint #1, #2
2.5*
15
104
0.008 mm
100
0.005 mm
159.5
0.30 sec
Robot controllers
0.29 sec
6*
Standard cycle time
2.5 *
Rated 0.5 kg / Max 1 kg (4-axis), 1.5 kg (3-axis)
Payload
225 mm
35
175 mm
180.8
200.8
Arm length
6-axis robots
G1 specifications
201.8
6- 6.5 Drilled hole
140
10
[Unit: mm]
Standard-model
a
42.5
169
32.5
130
169
32.5
2-M3 depth 8
2-M 5 depth 10
2- M 5 depth 10
20
130
2-M3 depth 8
20
42.5
67
120
158
20
140
101
120
23
116
140
101
Small footprint, yet has long reach
120
Available with straight or curved arm
23
116
Handles small, heavy payloads up to 3kg
4- 9
4- 9
2- 9
67
120
158
SCARA robots
Compact, with high speed and low

vibration for one-rank-up performance
Cleanroom-model
2- 9
20
G3 specifications
250 mm
Arm length
350 mm
0.008 mm
0.01 mm
Repeatability
Joint#4
30
0.41 sec
0.43 sec
0.005 kgm 2
0.05 kgm 2
200 W
150 W
150 W
150 W
150 N
Home-return-less
15Pin (D-Sub)
4mm1, 6mm2
Standard /Cleanroom *4 & ESD
RC180, RC620
CE, KC, UL
b
30
4.1 *
10
10
120
129
143
10.7 *
199.5
129
143
-105130
-130105
-120160
(-120150)
-160120
(-150120)
150 mm
(120 mm)
360
1 kg
3 kg
*1:Can be mounted on wall or ceiling.

*2:Cycle time based on round-trip arch motion (300mm horizontal, 25mm vertical) with 2kg payload (path coordinates optimized for maximum speed).
11
-110165
-165110
-120165
(-120160)
-165120
(-160120)
120
52.5
1260.05
1260.05
6 +0.012
Through hole
0
1 mm flat cut
0.41 sec
6 +0.012
0
Through hole
Conical hole 3,90
8
120
142
(142
79.5
140
22.5
0.01 mm
30
1010
0.01 mm
0.005
115
135
(135)
127
90 or more
Space
for Cables
8
120
26
150
140
142
(141)
-125150
-150125
-135150
(-135145)
-150135
(-145135)
1100 mm/s
3000/s
14 kg
51.5
86
1 mm flat cut
Conical hole 3,90
Max.11 through hole
)
6 H7 ( +0.012
0
Through hole
Detail of A
Through hole

a
b
6 H7 ( +0.012
0
)
Max.11 through hole

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

Joint #4 allowable moment of inertia*3 Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Joint #3 down force
Home
Safety standard
140
141
(137)
0.01 mm
350 mm
4350 mm/s
90 or more
Space
for Cables
10
Payload
0.008 mm
Multiple
127
45.5
Common
300 mm
3950 mm/s
Table top
51.5
86
30
Curved
Joints #1, #2
Joints #3
Joints #4
Joints #1
Joints #2
(Cleanroom model)
Joint #1Right hand
Left hand
Joint #2Right hand
(Cleanroom model)
Left hand
(Cleanroom model)
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Multiple *1
Table top
Software
Straight
Arm #1, #2
Joints #1, #2
Joints #3
Joints #4
Table top
250 mm
3550 mm/s
G3-351**-*
10 10

Repeatability
G3-301**-*
G3-251*
9.6 *
Specifications
394.2
394.2
36
199.5
6.7 *
Curved arm
36
194
454
Straight arm
Robot controllers
Arm shape
194
0.005
Straight
Curved (R)/Curved (L)
Mounting type
Arm length
30
10.7 *
0.41 sec
563.5
Joint#1, #2
0.43 sec
6.7 *
0.41 sec
Standard cycle time
Max. motion range
6-axis robots
Payload
300 mm
12
Outer DimensionsMultiple Mounting
[Unit: mm]
Standard-model
Cleanroom-model

Straight Arm
[Unit: mm]
2-M 3 depth 8
51.5
6 +0.012
0
Through hole
200
101
23
116
200
140
101
120
8
23
fg
h
c
q
176
73
47 20
6- 9
1260.05
12
)
6 H7 ( +0.012
0
Through hole
47 20
73
158
6-9
1260.05
12
158
Left-Curved Arm
120
Motion range
130
84
n
a
104.8
141
137
142
79.3
q
r
219
t
s
30
141
146.6
142
96.2
6.3
134.2
3.8
4.8
3.8
Left-Curved Arm
G3-301C-L
G3-351S-L
170
130
191.6, 100.3
120.7, 86.8
150, 125
145, 135
79.5, 113.2
b,d Joint #1 angle to hit mechanical stop ()
191.6, 107.5
165, 110
150, 135
h,k Mechanical stop area
G3-351C-L
220
130
m,j Motion range
f,z Joint #2 angle to hit mechanical stop ()
142.3
2
2.3
e,g Motion range of Joint #2 ()
130
107.1
140
a,c Motion range of Joint #1 ()
G3-351C
220
165, 120
160, 120
97.0, 183.0
97.0, 184.2
5, 4
3, 6
3.3, -
8.3, 3.8
2.8, 3.8
7.8, 3.8
6.7 *
176
69
119
q
r
219
t
s
e
x
36
4.1 *
86
Straight Arm
c
[Unit: mm]
130
120.7
142.3
120
j
k
79.5
22.5
45.5
30
130
b
c
g
1010
70
115
135
142
112
134.2
3.8
k
m
np
Left-Curved Arm
t
s
m,j Motion range

130
130, 105
160, 120
150, 120
103.3, 183.0
3.3, 5
2, 5
2.8, 3.8
12.8, 3.8
70
191.9, 125.6
191.9, 107.5
291
G3-351CM-L
220

q
r
690.05
p-n Length of Arm #2 (mm)
Right-Curved Arm
34
690.05
Through hole
6 +0.012
0
6
Through hole
+0.012
0
G3-351SM-R
p h
j
k
m
n
c
70
130
q
r
191.9, 125.6
191.9, 107.5

x
G3-351CM-R
220
m,j Motion range
t
s
G3_301CM G3_351CM
a
170
220
b Max.410
Max.450

174
Right-Curved Arm
Model
G3-351SM-R
105, 130
120, 160
120, 150
System options
70
Through hole
G3-351SM-L
)
6 H7 ( +0.012
0
Motion range
30
1010
g
h
220
Model
G3-351SM-L
4- 9
4- 9
G3-351SM/CM
170
Left-Curved Arm
Detail of A
Straight Arm
G3-301SM/CM
Max.11 through hole

34
3.8, 7.8
Software
Conical hole 3,90

13
3.8, 2.8
291
Max.11 through hole
G3_301SM G3_351SM
a
170
220
b Max.410
Max.450
4, 5
3.3, 8.3
79.5
1 mm flat cut
174
120, 160
97.0, 184.2
6, 3
3.3, -
Model
1 mm flat cut

120, 165
97.0, 183.0
Motion Range (Multiple Mounting
)
6 H7 ( +0.012
0
Through hole
135, 145
79.5, 113.2
Detail of A
135, 150
191.6, 107.5
110,165
176
G3-351SM
Conical hole 3,90
130
191.6, 100.3
125, 150

130
G3-351C-R
220
120.7, 86.8
G3-351S-R
170
m,j Motion range
k
m
60
131.5
10.5
62.5
109.5
120
10.7 *
172
150
90 or more
Space
for Cables
301.5
473.5
90 or more
Space
for Cables
b
69
62.5
119
36
6.7 *
75.5
10.5
60
131.5
330
138
9.6 *
86
G3-301C-R
Robot controllers
G3-301S-R
Right-Curved Arm
Model
G3-351S-R
192
Right-Curved Arm
6-axis robots
g
y
30
G3-351S
130
92
k
m
G3-301C
170
G3-301S-L
n
10.7 *
G3-301S
Model
G3-351S-L
)
6 H7 ( +0.012
0
Through hole
219
139
6 +0.012
0
Through hole
116
j
k
51.5
130
42.5
2-M 3 depth 8
139
140
120
130
G3-251C
SCARA robots
G3-251S
c
42.5
Straight Arm
Model
G3-351S
103.3, 183.0
5, 3.3
5, 2
3.8, 2.8
3.8, 12.8
291
14
[Unit: mm]
2-M4 depth 11
110
150
180
15
90
4- 11
2-M5 depth 10
15
12.2*
110
150
180
15
4.2*
15
165.5
160
124
30
15
4- 11
15
Available with 450mm, 550mm, or 650mm arm
90
124
30
Handles payloads up to 6kg
250
2-M4 depth l l
15
52
38
235.5
235.5
0.015 mm
Joint#4
0.005
305
316.5
1.2*
305
316.5
391
b
4.2*
20
90 or more
Space
for Cables
90 or more
Space
for Cables
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
28 kg
95
54.5
39.8
6 +0.02
0
30
10 10
148
6 +0.02
0
110
152
147.5
15
Detail of A
29.5 kg
+0.012
6 H7
0
750.05
Root both side chamfer C0.5

G6-45*S
200
G6-55*S
300
b
c
d
G6-**1S
180
119
684
G6-**3S
330
-31
834
G6-65*S
400
6 H7
0
750.05
+0.012

G6-45*C
200
G6-55*C
300
b
c
d
G6-**1C
150
116
792
G6-**3C
300
-34
942
G6-65*C
400

Table Top Mounting
Model
G6-55*S
G6-45*S/D
e
e
d
h
f
d
c
Motion range
a
b
15
12.2
Detail of A
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 kgm 2
0.12 kgm 2
400 W
400 W
200 W
100 W
150 N
Home-return-less
15Pin (D-Sub), 9Pin (D-sub)
4mm2, 6mm2
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.
Max.14 through hole

550.05
105
130
Max.14 through hole
Wall
120
Ceiling
650 mm
7900 mm/s
230
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
3.5
Z:0-270
Z:0-240
Z:-270-330
5.5
Z:-240-300
8.5
System options
Joint #3 down force

Home
Safety standard
152
Z:0-270 mm147.5
Z:-270-330 mm 145
29 kg
Table top
30
15
Joint #4
Rated
Maximum
27 kg
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
175
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
G6-65***
Table top
110
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
G6-55***
Wall
Conical hole
4,90
Software

Ceiling
450 mm
6440 mm/s
550.05
G6-45**
Table top
Joint #3
Payload
1010
Conical hole
4,90
Specifications
1mm flat cut
10
1mm flat cut
38
14 24
37.5
Repeatability
Robot controllers
Joint#1, #2
61.5
0.39 sec
20
0.36 sec
0.35 sec
4.2*
Standard cycle time
650 mm
61.5
12.2*
550 mm
391
Payload
Max. motion range
2-M5 depth 10
6-axis robots
450 mm
Arm length

Repeatability
15
15
38
G6 specifications
Mounting type
Arm length
180
165.5
160
150
180
250
150
52
SCARA robots
High speed and precision

for small component assembly
Cleanroom-model
15
Standard-model
6.3
16
Outer Dimensions (Ceiling Mounting)
[Unit: mm]
Standard-model
Cleanroom-model
52
165.5
250
2-M4 depth 11
165.5
52
15
2-M4 depth 11
4-11
12.2*
15
193
4.2*
B
b
235.5
81
149.5
81
A
305
160
20
12.2*
20
68
90 or more
Space
for Cables
234
234
38
235.5
4.2
38
305
38
150
180
12.2*
(233.5)
37.5
1.2*
1mm flat cut
Conical hole
4,90
Detail of B
37.5
6H7
6-10
6H7
80
6 +0.012
0
6-10
80
Detail of A
300
160
15
Detail of B
G6-45*CR G6-55*CR G6-65*CR

200
300
400
b
c
d
G6-**1SR
180
-9
385
b
c
d
G6-**1CR
150
99
526
G6-**3SR
330
141
535
G6-**3CR
300
249
676
190
210

Motion Range (Ceiling Mounting
17
c
a
b
230
g
250
G6-55*SR/DR
G6-55*CR/PR/DR bellows
300
200
G6-65**R
G6-**1SW
180
-9
385
G6-**3SW
330
141
535
190
210

G6-45*CW G6-55*CW G6-65*CW

200
300
400
b
c
d
G6-**1CW G6-**3CW
150
300
99
249
526
676
G6-45**W
e
400
d
250
Motion range
120
130
5.5
3.8
195.5
161.2
172.1
232
182.4
145
e
d
h
f
152
147.5
147.5
3.5
3.3
207.5
146.8
5.8
6.3
Wall Mounting
Model
G6-55*SW
65
b
c
d
330
Motion range
105
130
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
Ceiling Mounting
G6-45**R
G6-45*SW G6-55*SW G6-65*SW

200
300
400
Motion Range (Wall Mounting

Model
G6-55*SR
660.05
G6-45*SR G6-55*SR G6-65*SR

200
300
400
26
660.05
26
Software
Detail of A
90 or more
Space
for Cables
6 +0.012
0
110
Max.14 through hole

160
10 10
30
Detail of B
300
15
90 or more
Space
for Cables
2-M5 depth 10
15
110
28
90
90
34.5
95
39.8
38
12.2
10 10
30 10
14 24
15
Max.14 through hole
110
160
1mm flat cut

Conical hole
4,90
160
Max.14 through hole
2-M5 depth 10
2-M5 depth 10
10 10
30
28
15
110
Max.14 through hole
1mm flat cut

Conical hole
4,90
90
2-M5 depth 10
34.5
95
90
39.8
38
12.2
10
15
10 10
1mm flat cut

Conical hole
4,90
1.2*
4.2*
Robot controllers
14 24
B
30
78.5
d
4.2*
4.2*
78.5
124
30
124
30
150
180
750.05
15
4-11
90 or more
Space
for Cables
138
6-axis robots
12.2*
15
550.05
110
124
30
+0.012
6 H7
0
180
38
250
2-M4 depth 11
4.2*
15
52
138
68
150
15
15
750.05
15
180
150
6 H7
+0.012
0
250
6 +0.012
0
8
550.05
110
124
30
2-M4 depth 11
Cleanroom-model
235.5
a
6 +0.012
0
Standard-model
149.5
250
[Unit: mm]
SCARA robots
52
Outer Dimensions (Wall Mounting)
18
200
110
200
240
4- 16
20
G20
200
240
20
400
2-M4depth11
179
118 19
200
4- 16
20
39.5
200
240
20
2-M8 depth16
(Mount eyebolt
at shipment)
38
1.8*
For fast, efficient, high-payload

handling and batch-packing applications
5*
Handles heavy payloads up to 20kg
55.5
20
158
30
Ideal for mid-range payloads up to 10kg
2-M8 depth 16
(Mount
eyebolt
at shipment)
20
179
118 19
110
200
240
400
2-M4 depth 12
20
55.5
6-axis robots
1000 mm
80
1*
20
0.42 sec
20
0.37 sec
0.34 sec
Standard cycle time
363
380.5
380.5
485.5
8.5
8.5
b
5*
485.5
G20
363
G10
Payload
80
850 mm
286
650 mm
286
G10/20 specifications
Arm length
0.025 mm
Joint #4
0.005
90 or more
Space
for Cables
Robot controllers
90 or more
Space
for Cables
Joint #1, #2
Payload
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
Table top
*4:G10-***D* with optional bellows complies with IP54; G10-***P* complies with IP65.
43
100
40
1010
15
30
30
Max.18 through hole

39.5 mechanical stop diameter
Detail of A
Detail of A
+0.012
6
0
+0.012
6
0
8
146
100.05
G10-65*S
250
G10/G20-85*S
450
b
c
d
G10/G20-**1S
180
813.5
213.5
G10/G20-**4S
420
1053.5
-26.5
+0.012
6
0

G20-A0*S
600
100.05
+0.012
6
0
b
c
d

G10-65*C
250
G10/G20-85*C
450
G20-A0*C
600
G10/G20-**1C G10/G20-**4C
150
390
870.5
1129.5
205.5
-34.5

Table Top Mounting
Model
G10/20-85**
e
G10-65**
d
f
c
270
C/P/D bellows
G20-A0
250
450
600
400
400
400
Motion range
b
h
G10/20-85*
S/D
212.4
207.8
207.8
218.3
152
152
152.5
Z:0-360
Z:-360-390
152.5
152
Z:0-360
152.5
Z:-360-390
151
199.4
183.3
3.5
3.5
307
152.5
System options
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
46 kg
48 kg
53 kg
50 kg
55 kg
51 kg
0.025 mm
0.01 mm
0.005
107
152
107
152
107
152.5(122.5 deg)* *:bellowZ:-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
G10=5 kg /G20=10kg
10 kg
10 kg
G10=10 kg /G20=20kg
20 kg
0.34 sec
0.37 sec
0.42 sec
0.02 kgm 2
G10=0.02 kgm 2 /G20=0.05 kgm 2
0.05 kgm 2
0.25 kgm 2
G10=0.25 kgm 2 /G20=0.45 kgm 2
0.45 kgm 2
750 W
600 W
400 W
150 W
250 N
Home-return-less
15Pin (D-Sub), 9Pin (D-Sub)
4mm2, 6mm2
Standard/Cleanroom*3 & ESD /Protection *4
RC180, RC620
CE, KC, UL
730.05
Joint #4
Rated
Maximum
Joint #3 down force

Home
Safety standard
19
1010
15
Joint #3
152
152.5
Wall
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Ceiling
650 mm
8800 mm/s
Conical hole
4,90
Max.18 through hole

G20-A0***
730.05
Table top
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
G10/20-85***
1mm flat cut
Software
Max. motion range
G10-65**
207.8

Repeatability
1mm flat cut

Conical hole
4,90
146
Mounting type
Arm length
14 29
45
Repeatability
Specifications
SCARA robots
For high-speed, multi-effector assembly,

kitting, and packing applications
Cleanroom-model
20
Standard-model
158
30
G10
[Unit: mm]
285.4
3
Z:0-360
3.5
Z:-360-390
3.5
20
[Unit: mm]
Standard-model
Cleanroom-model
a
179
400
2-M4depth11
55.5
4- 16
20
6 +0.012
0
Standard-model
a
Cleanroom-model
55.5
179
400
6 +0.012
0
155
55.5
400
2-M4depth12
2-M4depth12
155
38
1.8*
39.5
5*
1.8*
158
30
30
158
200
240
20
730.05
4- 16
38
38.5
37.5
G10/G20-85*SR G20-A0*SR
450
600
G10-65*CR
250
G10/G20-**1SR G10/G20-**4SR
180
420
-27.5
212.5
420
660
G10/G20-85*CR G20-A0*CR
450
600
250
21
Ceiling Mounting
270
G10-65**R
363
135.5
224
43
100
110
40
1010
30
15
140
+0.012
6
0
+0.012
6
0
340
140 35
2450.05
90 or more
Space
for Cables
a
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
G10-65*CW
250
+0.012
6
0
a
150.05
(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
CR/PR/DR bellows
SR/DR
G20-A0**W
250
450
600
400
400
400
Motion range
107
130
291.2
183.3
285.4
3.5
306.5
207.8
218.3
152
152.5
3.5
G10-65**W
d
f
307
c
a
152
151
152.5
3.5
Wall Mounting
Model
G10/20-85**W
G10/20-85*
b
g
g
h
h
400
G10/20-85*
CW/PW/DW bellows
SW/DW
G20-A0**W
250
450
600
400
400
400
Motion range
107
130
291.2
183.3
3.5
306.5
207.8
218.3
307
151
152.5
107
152.5
3.5
107
285.4
3
5
System options
Detail of B
Motion Range (Wall Mounting

Model


G10/20-85**R
+0.012
0
150.05
(Tolerance applies
to the pin hole)
G10/G20-**1CR G10/G20-**4CR
150
390
29.5
288.5
515
774
b
c
d
2-M8 depth16
Detail of A
6- 14
140
Detail of B
Max.18 through hole

90 or more
Space
for Cables
340
140 35
2450.05
110
110
19
118 37
Software
b
c
d
110.5
286
Detail of A
2-MB depth 16
Detail of B
118 37
1mm flat cut

Conical hole
4,90
Detail of B
19 2-M8 depth 16
118
200
110
1010
30
15
15
Max.18 through hole

Detail of A
200
2-M8 depth16
14 29
5
45
100
43
40
1mm flat cut

Conical hole
4,90
Max.18 through hole

200
1*
200
1010
30
14 29
45
5
1010
30
1mm flat cut

Conical hole
4,90
Detail of A
G10-65*SR
250
Max.18 through hole

118
240.5
135.5
224
202.5
110.5
b
5*
Robot controllers
15
5*
1mm flat cut

Conical hole
4,90
1*
106
106
A
A
245
d
245
286
363
286
286
363
363
20
20
90 or more
Space
for Cables
6-axis robots
90 or more
Space
for Cables
1000.05
(Tolerance
applies to
the pin hole)
200
20
20
240
+0.012
6
0
39.5
5*
146
200
240
1000.05
(Tolerance
applies to
the pin hole)
20
200
20
240
+0.012
6
0
20
730.05
158
30
146
20
400
2-M4depth12
[Unit: mm]
SCARA robots
55.5
Outer Dimensions (Wall Mounting)
3.5
22
LS series SCARA robot
[Unit: mm]
Standard-model
175
225
135
50
400mm arm length
30
45
120
225
135
20
20
4-M4 depth 6
2-9
4-9
2-M 3 depth 10
109
175
4-M4 depth 6
23
23
132
Small footprint with a big working area
20
80
100
120
140
20
80
100
120
140
50
2-M 3 depth 10
120
30
45
2-9
4-9
SCARA robots
Simplicity, reliability, and performance

for easy process automation
Cleanroom-model
10.5 *
30
4.5
MAX. 650
163.6
173.1
10.5 *
120
8
9.5
3.8 *
+0.05
30
10 10
79.5
22.5
45.5
30
10 10
1mm flat cut

Conical hole
3,90
Max.11 through hole
Detail of A
Detail of A

LS3-401C
00
R1
250
.8
333.5
28
5
R22
4.2
R141.6
28
.8
180
2.
8
2.
2.
2.
180
325.5
141
13
2
R141.6
R1
235
4.
13
4.
14
13
R22
2
4.
R4
333.5
00
R4
System options
LS3-401S
*3:Complies with ISO Class 4 cleanroom standards.
23
180
151 0
6 +0.012
0
Max.11 through hole
14
Joint #3 down force

Home
Safety standard
1mm flat cut

Conical hole
3,90
325.5
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
6 +0.012
0
141
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
time *1
4-M4 depth 8
20
20
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
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 kgm 2
0.05 kgm 2
200 W
100 W
100 W
100 W
100 N
Home-return-less
15Pin (D-Sub)
4mm1, 6mm2
Standard /Cleanroom *3
RC90
CE, KC
Standard cycle
4.5
58 20
2-M4 depth 8
LS3-401*
13
Payload
35
Software
Max. motion range
6 H7 ( +0.012
)
0
2-M4 depth 8
Specifications

Repeatability
4-M4 depth 8
+0.012
0
600.01
600.01
60
35
6H7 (
180
+0.05
151 0
90 or more
Space
for Cables
60
48
48
58 20
135
45
131.2
Repeatability
Mounting type
Arm length
584
90 or more
Space
for Cables
48
0.01
135
48
Joint #4
220
163.6
5.5
9.3 *
0.01 mm
45
130.2
Robot controllers
Joint #1, #2
0.45 sec
Standard cycle time
174.3
38
173.1
150
Payload
220
6.5 *
38
474.5
400 mm
Arm length
MAX. 650
174.3
LS3 specifications
6-axis robots
6.5 *
30
24
LS series SCARA robot
[Unit: mm]
Standard-model
135
20 20
100
129
150
169
Ideal for multi-effector, multi-workpiece handling
57.7
4-M4 depth 6
of payloads up to 6kg
2-M4 through hole
134
325
2-M4 through hole
4-9 through hole
30
150
275
135
20 20
4-M4 depth 6
100
129
150
169
325
135.5
30
275
135.5
30
57.7
150
134
30
4-9 through hole
600mm arm length
6*
38
MAX.680
50
6*
135
Joint #4
0.01
Repeatability
195
2-M4 depth10 6.7
180 +0.05
0
94
6 H7+0.012
through hole
0
30
10 10
90
Detail of A
25
4.
R3
R1
42.
492.5
504
13
2
86.8
492.5
504
245
2
245
13
4.
4.
R162.6
R1
42
.5
.6
62
R1
00
R6
15
13
25
150
LS6-602C
00
R6
R3
R6
6
60
LS6-602S
System options
8
2.
2.
2.
220
380
2.
8
*3:Complies with ISO Class 4 cleanroom standards.
25
550.01
90
30
550.01
62
10 10
Detail of A
15
Joint #3 down force

Home
Safety standard
195
Max.14 through hole

R6
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
6 +0.012
0
through hole
1mm flat cut

Conical hole
3,90
Max.14 through hole
4-M4 depth10
6 H7+0.012
through hole
0
4.

20
4-M4 depth10
180 +0.05
0
1mm flat cut

Conical hole
3,90
150
Payload
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
Table Top
600 mm
6800 mm/s
1100 mm/s
2000/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 kgm 2
0.12 kgm 2
200 W
200 W
100 W
100 W
100 N
Home-return-less
15Pin (D-Sub)
4mm1, 6mm2
Standard /Cleanroom *3
RC90
CE, KC
150
35 20
Software
Max. motion range
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4

Repeatability
LS6-602*
13
Mounting type
Arm length
4-M4 depth10
30
Specifications
41
6 +0.012
0
through hole
4-M4 depth10
55
20
150
35 20
55
41
90
30
2-M4 depth10 6.7
Robot controllers
0.02 mm
135
90 or more
Space
for Cables
Joint #1, #2
60
223.4
9.8*
90 or more
Space
for Cables
10
53
170
166.5
178
241
166.5
10
178
51
60
223.4
11.8*
0.42 sec
Standard cycle time
174.5
200
607.5
50
10*
174.5
559
Payload
241
600 mm
Arm length
MAX.680
10*
38
6-axis robots
LS6 specifications
SCARA robots
Simplicity, reliability, and performance

with added reach and payload capacity
Cleanroom-model
26
RS series SCARA robot
[Unit: mm]
workpiece to be accessed from any direction
175
147
206
174
154.8
16
9.6
245.5
245.5
202.5
248
500
52
52
202.5
473
248
A
8.5*
6*
Payload
Manipulator
installation
position
60
15
146.5
58 24
171
15
58 24
60
146.5
Manipulator
installation
position
0.34 sec
Joint #4
0.01
4.8 *
0.01 mm
Robot controllers
Joint #1, #2
7.8* 100
130
Standard cycle time
Repeatability
4-M4 depth 8
100
35 20
4-M4 depth 8
20
35
100 20
20
4-M4 depth 8
80
60
30
80
60
30
Specifications
Payload
Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
+0.012
6H7
0
Detail of A
6 +0.012
0
95
164
95

(View from the top of the base)
For manipulator
mounting 6-6.5
through hole
11 spot facing
depth 6.5
(from back side)
160
30
Max.11 through hole

16h7 shaft diameter
30 mechanical stop diameter 8
Detail of A
34
15
34
3-M6
through
hole
80
1mm flat cut

3,90
Conical hole
10 10
160
3-M6
through
hole
80
Max.11 through hole

16h7 shaft diameter
30 mechanical stop diameter 8
1mm flat cut

3,90
Conical hole
75.5
590.05
800.05
80 0.05
590.05
95
6 +0.012
0
164
95

(View from the top of the base)
For manipulator
mounting 6-6.5
through hole
11 spot facing
depth 6.5
(from back side)

Model
225
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
Joint #3 down force

Home
Safety standard
+0.012
6H7
0
48.5
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
4-M4 depth 8
7.5
38
30
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
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 kgm 2
0.05 kgm 2
400 W
200 W
150 W
100 W
150 N
Home-return-less
15Pin (D-Sub)
4mm1, 6mm2
Standard/Cleamroom *3 &ESD
RC180, RC620
CE, UL
2-M4 depth 8
38
Software
Max. motion range
7.5
RS3-351*
10 10

Repeatability
2-M4 depth 8
15
Mounting type
Arm length
27
6-axis robots
350 mm
Arm length
90 or more
Space
for Cables
172.5
90
90 or more
Space
for Cables
RS3 specifications
16
9.6
120.8
140
124.8
113
95
175
47.5
147
206
174
154.8
120.8
140
Ceiling mount and rotating arm enable
175
124.8
113
95
Outstanding productivity in limited space
175
175
47.5
SCARA robots
A unique rotating arm mechanism

for unparalleled freedom of movement
Cleanroom-model
175
Standard-model
28
RS series SCARA robot
[Unit: mm]
Standard-model
57
275
275
147
59 0.05
80
80
workpiece to be accessed from any direction
6 +0.012
0
345.5
8
95
9.6
164
6 +0.012
0
95
34
95
164
90 or more
Space
for Cables
15
21
163.5
196.5
255
522
(403.5)
196.5
494
255
A
0.015 mm
Joint #4
0.01
100
Joint #1,#2
*indicates the stroke margin by mechanical stop.
38

Rated
Maximum
Joint #1
Joint #2
Joint #3
Joint #4
30
160
73.5
15
3,90
Conical hole
30
3-M6
through
hole
For manipulator
mounting 6-6.5
through hole
11 spot facing
depth 6.5
(View from the top of the base) (from back side)
6 +0.012
Max.11 through hole
0
34
16h7 shaft diameter
8
95
4
164
10 10
1mm flat cut
80
Detail of A
6 +0.012
0
For manipulator
mounting 6-6.5
8
95
95
through hole
11 spot facing
depth 6.5
(View from the top of the base) (from back side)
34
800.05
80
800.05
3-M6
through
hole
30
Max.11 through hole

16h7 shaft diameter
4-M 4 depth 5
590.05
160
3,90
Conical hole
20
6 +0.012
0
45.5
1mm flat cut
Detail of A
164
95

RS4-551*
Arm #1 Length(mm)
275
Arm #2 Length(mm)
275
225
225
System options
Model
29
590.05
225
35
6 +0.012
0
225
Joint #3 down force

Home
Safety standard
4-M 4 depth 5
225
Payload
Joints #1, #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
(Cleanroom model)
Joint #4
Rated
Maximum
35 20
Software
Max. motion range
Arm #1, #2
Joints #1, #2
Joint #3
Joint #4
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 kgm 2
0.05 kgm 2
400 W
400 W
150 W
100 W
150 N
Home-return-less
15Pin (D-Sub)
4mm1, 6mm2
Standard/Cleamroom *3 &ESD
RC180, RC620
CE
10 10

Repeatability
RS4-551*
15
Mounting type
Arm length
4-M 4 depth 5
4-M 4 depth 5
225
Specifications
75
7.5
75
80
30
38
7.5
3.8*
Repeatability
Robot controllers
130
6.5*
4*
0.39 sec
Standard cycle time
60
60
Payload
( 403.5 )
60
60
550 mm
Arm length
Manipulator
installation
position
81
15
171
163.5
78
24
Manipulator
installation
position
6-axis robots
174
90 or more
Space
for Cables
RS4 specifications
175
16
345.5
95
34
174
154.8
140
120.8
140
160
175
124.8
113
95
Ceiling mount and rotating arm enable
206
120.8
Outstanding productivity in limited space
16
9.6
800.05
206
174
154.8
80 0.05
590.05
6 +0.012
0
6 +0.012
0
160
147
95
275
113
275
124.8
57
SCARA robots
A unique rotating arm mechanism

for unparalleled freedom of movement
Cleanroom-model
30
6-axis robot
Outer Dimensions
[Unit: mm]
25
4-M4 depth 7
81
25
12
38.5
of workcell
78
111
Large working area; robot occupies only 1/44
95
12.5
4-M4 depth 5
SCARA robots
The leading edge in 6-axis robots for

high-precision, small-component assembly
Low clearance requirements for more flexible
workcell layout
27
90 or more
Space
for Cables
2-M4 depth 10
Smooth action; able to access workpiece from
virtually any angle

198
65
250
76
86
23
28
82
92
250
2-M4 depth 7
100
6-axis robots
60H7
( 60H7)
C3 specifications
2-M4 depth 7
75
154
199.5
614.5
C3
Wall
180
90
+0.012
0
15
55 0.05
90
180
150
8
110
Software
30
6H7
4- 11
75 0.05
Motion Range
Top View
Lateral View
Front View
8
6.
R7
25
.5
91
-5
R1
-135
-160
+1 70
80
476.5
+6
5
+2
+135
57.
R2
-1 180
70
+1
250
R16
0
50
100
J4 : -200
J4 : +200
J6 : -360
J6 : +360
System options
65
00
31
R6
665 mm
Joint #1
450/s
Joint #2
450/s
Joint #3
514/s
Joint #4
553/s
Joint #5
553/s
Joint #6
720/s
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 kgm 2
Joint #5
0.15 kgm 2
Joint #6
0.1 kgm 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)
4mm4
RC180, RC620
Safety standard
CE, KC, UL
15
Wrist flange surface

109.5
15
150
15
600 mm
250
820
Skewed
6
164.9
P point: through
the center of J4/J5/J6
Ceiling
154
209.1
393.3
320
Table Top
156.4
Mounting type
Degree of feedom
Max. Motion Range
90
415
160
Specifications
213
15
77
196.5
18
154 0.05
0.02 mm
Repeatability
9 0.02
0.37 sec
320
2-M8 depth 16
Robot controllers
Standard cycle time
40
6H7 depth 5
Payload
641.5
48
32
6-axis robot
Outer Dimensions
[Unit: mm]
A901
12.5
78
8
77
100
400
2xM4 depth 7
100
6 H7 depth 5
(same for the other side)
154
90
160
199.5
565
15
150
180
90
111
180
15
55.5 0.05
15
Joint #2
0 pulse position
- 180
Top View
250
65
Lateral View
-170
Front View
+6
R6
250
R1
R 25
R167
00
R5
P point*
164.9
156.4
154
170
-160+65
-51+225
200
135
360
1 kg
91.
820
Joint #1
0 pulse position
- 135
29 kg
0.03 mm
3
+1
.
76
Software
Joints #3, #5
0 pulse
positionMotion
320
00
P point
Joints #4, #6
0 pulse position
J6
:+3
60
60
:-3
J6
J
00 4:+2
2
:
00
J4
476.5
100
-5
R 250
+170
+180
0.47 sec
P point
65
90
35
1.
2.
18
Joints #3, #5
0 pulse
positionMotion
P point
P point
+170
+180
-1
3
762.5
+6
Front View
R 267
2
4:-
6.1
0
R3
00
00
J6:
+36
0
00 J4:+2
00
-36
R4
R8
Joints #4, #6
0 pulse position
J6:
+ 22
5
100
3
+1
-51
Joint #1
0 pulse position
400
400
1120
Joint #2
0 pulse position
Lateral View
System options
A901
- 180
-170
Top View
449.8
113.2
154
437.2
320
455.9
27 kg
0.02 mm
555/s
555/s
720/s
4x11
75 0.05
(Applicable tolerance is 6 H7)
209.1
393.3
965 mm
275/s
275/s
289/s
A601
33
150
90
900 mm
665 mm
450/s
450/s
514/s
6 H7
2
+2
600 mm
0.15 kgm2
0.15 kgm2
0.1 kgm2
400 W
400 W
150 W
50 W
50 W
50 W
Home
Home-return-less
9PinD-Sub
4mm4
RC700
Safety standard
CE, KC
Ceiling
6
0.37 sec
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
8
111
55.5 0.05
Table Top
7.

Ceiling
25
Payload
Joint #1-#6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Rated
Maximum
109.5
15
Motion Range
C4-A901
4x11
75 0.05
(Applicable tolerance is 6H7)
6 H7

Repeatability
Max. Motion Range
Table Top
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
180
150
90
+0.012
60
15
R400

C4-A601
P point: through
109.5
15
-160
Mounting type
Degree of feedom
Max. Motion Range
90
6 +0.012
0
180
150
1-60
Specifications
154
160
199.5
Robot controllers
0.02 mmC4-A601
0.03 mmC4-A901
Repeatability
77
764.5
15
0.37 secC4-A601
0.47 secC4-A901
37.5
75
90
614.5
Standard cycle time
320
15
75
15
415
77
198
213
1540.05
198
213
18
15 9 0.02
154 0.05
37.5
C4 specifications
40
40
6 H7depth5
2xM
8 depth 16
320
2xM 8 depth 16
2xM4 depth 7
48
6-axis robots
640.5
48
790.5
(Including the lamp)
250
C4-A901 long arm model also available
Payload
198
86
18
93
400
198
60 h7
flexibility
12
6
39.5
111
95
25
12.5
65
86
93
Compact design for enhanced configuration
250
90 or more
Space for Cables
4 27 78
90.02
65
2xM 4 depth 6
90 or more
Space for Cables
4 27 78
4xM 4 depth 7
60 h7
productivity
25
4xM 4 depth 5
78
8
2xM 4 depth 6
High speed and repeatability for maximum
4xM4 depth 7
39.5
95
111
4kg maximum payload
25
SCARA robots
Speed and flexibility for machine tending

operation in confined workspaces
12
4xM4 depth 5
25
A601
34
6-axis robot
Outer Dimensions
[Unit: mm]
55
305
80
Joint #5 range of motion 10 greater than
109
87
87
100
88
90 or more
Space for Cables
80
109
405
4xM8 P1.25 Depth 16
109
100
88
109
40
66
previous models
4xM8 P1.25 Depth 16
66
of workcell (S5-901**)
70
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)
2xM4 P0.7 Depth 8
Large working area; robot occupies only 1/87
398
70
40
Class-leading repeatability*
Air Supply Opening

M5 Tap with cover plug
40
25
55
523
114
298
59
25
40
110
114
Slim design with excellent motion

flexibility delivers higher productivity in
less space
A901
Air Supply Opening

M5 Tap with cover plug
423
110
A701
199
199
330
330
752
842
310
400
*Among 5 kg payload models as of April 2012
573
150.2
45.2
2- 6 H7
(Reference through hole)

Home
Safety standard
Top View
-150+65
-70+190
706
80
Front View
+170 (J1 Arm)
850.1
194
-360 360
135
Joint #1
0 pulse position
948
752
310
40
P point*
38 kg
0.03 mm
R706
30
-72+190
190
135
360
2 kg
Joints #4, #6
0 pulse position
190
-190
R235
170
305
225
+65
P point*
-135
-150
Joints #3, #5
0 pulse positionMotion
239
30
88
15
246
36 kg
0.02 mm
138
Lateral View
501
330
179 156
450/s
450/s
720/s
92 0.1
Joint #2
0 pulse position
975 mm
270/s
280/s
300/s
136
-170 (J1 Arm)
233 51
277 114
203
246
Motion range of P point*
0.49 sec
0.3 kgm 2
0.3 kgm 2
0.1 kgm 2
400 W
400 W
200 W
50 W
50 W
50 W
Home-return-less
15Pin (D-Sub)
6mm2
Standard /Cleanroom *3 /Protection *4
RC180, RC620
CE, KC
*4:Protected type complies with IP65.
35
A701
A901
Joint #2
0 pulse position
Top View
Lateral View
681
88
405
895
80
Front View
15
+170(Arm #1)
P point*
R267
R895
-170 (J1 Arm)
Joints #4, #6
190
-190
0 pulse position
-360 360
135
Joint #1
0 pulse position
225
+65
-135
-150
P point*
Joints #3, #5
0 pulse positionMotion
System options
786 mm
376/s
350/s
400/s
170
Wall
895 mm
0.44 sec
Joint #4
Joint #5
Joint #6
Joint #1
Joint #2
Joint #3
Joint #4
Joint #5
Joint #6
Ceiling
6
198
Payload
Table Top
706 mm
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
Wall
Software

Repeatability
Max. Motion Range
Ceiling
6
40

Table Top
P point: through
45.2
Motion Range
S5-A901**
1137
842
400
330
97
Mounting type
Degree of feedom
Max. Motion Range
S5-A701**
66
100 0.05 105
2- 6 H7
423
317
Specifications
12 H7
4- 12 (Mounting hole)
100 0.05
66
1000.05 105
194
160
600.1
66 0.1
92 0.1
92 0.1
0.02 mmS5-A701
0.03 mmS5-A901
Repeatability
85 0.1
138
0.44 secS5-A701
0.49 secS5-A901
12 H7
4- 12 (Mounting hole)
194
660.1
194
160
600.1
1000.05
92 0.1
Standard cycle time
150.2
723.2
623.2
160
Payload
473
160
S5 specifications
138
341 14
400 132
209
251
Motion range of P point*
36
Robot controllers
SCARA robots
RC700
RC620
Combines the features of RC620 and

RC180 controllers in a single unit,
enabling control of a wide range of
workcell system setups.
RC180
6-axis robots
RC700
RC90
RC180
RC620
RC90
PC workcell controller
Compact controller
LS series controller
Controller with built-in PC
Full PLC functionality
Full PLC functionality
Multi-effector control
Easy setup via USB
Easy setup via USB
General device control
Fits easily inside most control panel boxes (SCARA controller:

approx. 10l volume; 6-axis controller approx. 13l volume)
TP1/TP2
Multiple
workcells
PLC
teaching pendant
TP1
Multiple
workcells
Effectors
TP1/TP2
teaching pendant
Fieldbus I/O
Effectors
Multi-effector control
Open
architecture
conveyor
tracking
Effectors
Fieldbus I/O
Microsoft Windows preinstalled

for PC-less system control
GUI
development
PC
robot controller
EPSON RC+
programming
environment
USB 2.0 or Ethernet

GUI
development
Image
processing
(color/
monochrome)
Software
SCARA robots
Effectors
6-axis robots
EPSON RC+6.0
H series
LS series
C4
S5
EPSON RC+7.0
G series
RS series
C3
EPSON RC+5.0
Software
SCARA robots
Effectors
6-axis robots
RC180 software/effector support
EPSON RC+6.0
H series
LS series
C4
S5
EPSON RC+7.0
G series
RS series
C3
GUI
development
Image
processing
(color/
monochrome)
EPSON RC+5.0
Software
SCARA robots
Effectors
6-axis robots
RC90
software/effector support
EPSON RC+6.0
H series
LS series
C4
S5
EPSON RC+7.0
G series
RS series
C3
Software
SCARA robots
6-axis robots
6-axis robots
EPSON RC+5.0
EPSON RC+7.0
G series
RS series
C3
EPSON RC+6.0
H series
LS series
C4
S5
System options
EPSON RC+5.0
EPSON RC+
programming
environment
PC
PC
conveyor
tracking
robot controller
Image
processing
(color/
monochrome)
Effectors
Software
Image
processing
(color/
monochrome)
teaching pendant
Open
architecture
USB 2.0 or Ethernet

GUI
development
PLC
TP1/TP2
Fieldbus I/O
robot controller
USB 2.0 or Ethernet
37
teaching pendant
conveyor
tracking
Open
architecture
robot controller
EPSON RC+
programming
environment
PLC
Multiple
workcells
Robot controllers
System capabilities
38
Outer Dimensions
Specifications
Model
RC620
30
1.9
0.9
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

PTP motion: Programmable in the range of 1 to 100% CP motion: Programmable at user-defined speeds
Acceleration/
deceleration control
1.9
27.7
17.85
Up to six (6) connectable AC servo motors
Speed Control
29
0.5
2.4
30
4-4
489
430
30
54.5
Up to eight (8) connectable AC servo motors

(Limited by the total motor power.)
Robot manipulator control
1.9
10 61.3 86
18
174
166
130
30
22
420
150 or more
Space for cables
380
378
PTP motion: Programmable in the range of 1 to 100%; auto-control

CP motion: Programmable at user-defined acceleration/deceleration speeds
13
463
370
Maximum Object Size : 8 MB

Point data area : 1000 points (per file)
Backup variable area : Max. 400 KB
(Includes the memory area for the
management table.)
Approx. 4000 variables
(Depends on the size of array variables.)
30
25
3.2
30
18
13
31
344
365
Standard I/O

management table.)

management table.)
30
30.9
Input : 24
Output : 16
Including 8 inputs, 8
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)
170.5
130.5
296
23
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
130
30
42 86
10 20 130
54.5
2.4
0.5
181.9
180
10.5
FieldbusI/O
master
13
463
Frame grabber
13
allowed
Standard frame grabber

Advanced frame grabber
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
EtherNet/IP
Addition of 1 board
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
EtherNet/IP
Addition of 1 board
allowed
1 channel/board
PROFIBUS-DP
DeviceNet
EtherNet/IP
Software
380
378
axis 4ch per board
PCI slot
17.825 133.35
10.5
169
275
I/O
20
20
31
302
outputs with remote
function assigned
Assignment change
allowed
Input : 24
Output : 16
Standard I/O
(Drive Unit)
RC90

management table.)
Externalinput/outputsignals (standard)
415.2
290
350
RC180
1 unit
Robot controllers
24
1 unit
PTPPoint-To-PointCPContinuous Path
30
18
Max. 16 units (up to 20 axes)
Memory capacity
10
27.7
13
210
221.9
220.2
153.2
17.8
10.5
181.9
180
10.5
463
1 unit
Positioning control
6-axis robots
133.35
169
Connectable manipulators
13
RC90
(UL specification: RC180-UL)
Up to six (6) connectable AC servo motors
67
22
20
42 86
10 20 130
323
1.9
23
20
296
RC180
(UL specification: RC620-UL)
SCARA robots
31
RC620
RC700
Controllable axes
18
RC700
Addition of 1 board
allowed
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 /
18
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 /
31 30
344
18
Over-voltage detection / Temperature error detection
290
350
Power Source
AC 200 V to AC 240 V
Single phase 50/60 Hz
30.9
Weight *1
11 kg
[Unit: mm]
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.
39
40
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.
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
3D jump with variable arch for

ultra-precise short-distance movement
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
Pallet
With Epson's programming language, even complex
Deceleration/acceleration of the approaching or departing
Handling weight & inertia
Weight, Inertia
multitask processes can be automated with ease. Up to 32
head can be regulated without interrupting operation,
On-the-fly pickup
individual tasks can be seamlessly executed and
ensuring smooth,
Workpiece pickup, alignment, and kitting can be carried
controlled by a single program. 512-channel input/output
precise,
out on-the-fly without pausing robot movement.
expandability, Vision Guide machine vision, and pulse
short-distance
Combined with an imaging system, it makes an ideal
generator control of peripheral equipment can all be
motion that
solution for high-speed alignment and handling of
utilized to achieve full process automation.
helps improve
randomly arranged workpieces.
High-speed
continuous path accuracy
Multitasking
Xqt
Positioning completion
Fine
Arch motion
Arch
Parallel processing
!...!
Singularity avoidance
AvoidSingularity
Remote control
expansion I/O
On-the-fly pickup
CP
Example program
Example
product quality
Task 1
Effector
stability.
Task 4
Vision Guide option
Task 9
Workpiece feeder unit 1
Parallel processing enables you to control peripheral
Task 10
Workpiece feeder unit 2
devices while the robot arm is in motion. Commands can
Controller
a: Z-axis vertical ascent (mm; departing)

b: Z-axis vertical descent (mm; approaching)
z: Horizontal travel (mm)
Parallel processing for higher speed

and efficiency
be sent via RS-232C or any other supported I/O interface

Motor power on
Power mode high
Speed 100%
Acceleration 100%
Task 15
Workpiece offload unit
Task 16
Waste removal unit
to ensure synchronized control

of multi-device processes for
maximum throughput
efficiency.
If Sw(o) = On Then:
Jump P0 :
Else
Jump P1
EndIf
Is the I/O (input bit) on?

Move the effector to point 0
Move the effector to point 1
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
If parts are arranged in a
evade obstacles within the workcell
regular intervals, the
reference either a tool-centered control
used to quickly and

precisely position the end
effector.
you develop do not include robot
can be set in 100 steps.

PTP motion
might result in joint-speed overrun.

This not only enables operating
speed to remain high, it also makes
space. Programmed paths can
PALLET command can be
automatically ensures the programs
Operating speed and acceleration/deceleration of the arm
arm configuration singularities that
enable precise effector control, and

simple PASS commands can be used to
square layout, spaced at
This convenient function
Operating speed and

acceleration/deceleration settings
programming much easier.
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
Easy alignment with palletized parts
interpolation, and free curve motion
Configuration
singularity
avoidance function
Robot controllers
Function main
Motor On:
Power High:
Speed 100:
Accel 100, 100:
takt time and
6-axis robots
Pallet
SCARA robots
SPEL+ language support
point or an external control point.

Simply set points P1, P2, and P3
all other points
are set automatically.
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
Teaching Methods
Remote Teaching
Points are taught using the jog keys on the teaching unit to
move the effector to the target. This method is especially
useful for operations that require very high precision because
the jog keys allow adjustment in units as small as the
resolution of each axis.
Direct Teaching
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
High repeatability with varying

payloads and effector orientation
Continuous path (CP) control
the work to be done.
41
42
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
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.
RC700
RC620
RC180
RC90
Vision Guide the user-friendly way to bring workcells online quickly

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.
SCARA robots
Vision Guide
SPEL+ language support

Simulator
Robot operation + image processing program
Parameter settings
* Not supported when using EPSON RC+5.0 or EPSON RC+6.0
Supported peripherals
Controller
RC700
RC620
RC180
RC90
Compact Vision (CV1)
PC Vision (PV1)
CV1
Compact Vision
Two cameras can be supported by each unit, minimizing space requirements.
PC
Robot controller
Enlarged view of hand.
CV1
Ethernet
Camera
USB
(supplied separately)
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
Extension tubes
Camera lens
Vision Guide
5.0/6.0/7.0
software
PV1
PC Vision
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
Debugged programs can be rolled out directly to
PoE injector
existing workcell setups.
Machine vision image processing input can also be
linked to setup simulations.
Extension tubes
(supplied separately)
Vision Guide 7.0

software
PoE Ethernet switch
Camera lens
System options
be monitored to assist debugging.
Machine vision simulation
Software
Palette/hand display from CAD data.
Robot controllers
Palette, hand, and other CAD data can be included in simulations.
* Not supported when using EPSON RC+5.0 or EPSON RC+6.0
43
44
VB Guide 5.0
RC700
RC620
RC180
RC90
RC700
RC620
RC180
RC90
GUI Builder
RC700
RC620
RC180
SCARA robots
VB Guide 6.0
RC90
Easily create custom interfaces

for your control programs
Program and execute robot applications in a familiar

Windows OS environment
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.
Robots can be controlled using Visual Basic, Visual
RC700
Basic application:
Robot Manager
I/O Monitor
Task Manager
Maintenance Dialog
Simulator (RC+API 7.0)
Pressure Monitor (RC+API 7.0)
Security
RC620
RC180
6-axis robots
C, LabVIEW, and other third-party programming

languages.
Robot status and variable values can be captured.
Third-party Visual Basic interface and database
design tools can also be used for program
development.
The following EPSON RC+ windows and dialogs can
be called from within a Visual
RC90
RC700
RC620
RC180
RC90
Restric user access to programming

functions for greater safety and security
Password-based protection levels can be set to
VB Guide 6.0 basic system

RC620 controller
PC
VB Guide 5.0 basic system

Personal computer
.NET applications
based on the
SpelNetLib library
.NET applications
that use SpelNet
commands
* Standard on RC700 and RC90 controllers.
.NET applications
that use SpelNet
commands
Force-sensing
EPSON RC+ 7.0
out-prcess server
Robot controllers
RC+API 7.0 basic system
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.
EPSON RC+
In-process server
EPSON RC+ 6.0

In-process server
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
all six.
Software
RC180
controller or
virtual controller
RC700/RC90
controller or
virtual controller
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
ECP
sensors can be shared by multiple programs
RC700
RC620
RC180
ATI Industrial Automation, Inc. force/torque components

must be purchased separately.
RC90
External control point operation for precise

positioning without complex calculations
force
For processes requiring the workpiece to be moved
torque
OCR
External Control
Point
Part
Outside Fixed
Tool
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.
45
y
G
G3 series robot
(gamma force sensor sold separately)
A font creation function lets you create SEMI fonts
and user-defined fonts from imaged characters or

ASCII conversion files.
System options
against a fixed tool, external control points can be

used to ensure precise positioning.
Up to 15 external control points can be set.
46
Robot controller options

A wide range of controller options can be employed to further expand the variety of
process tasks that you can automate.
RC700
RC620
RC180
DVD drive
RC90
Teaching Pendant TP2
RC620
RC180
RC180
RC90
Features
Point data save, edit, and load
functions Keyword candidate
The RC620 controller is equipped with a DVD drive*
Immediately stops robot
for easy program installation and data recording.
display, search, and line jump

functions Project/system data
Reduced
operating speed in teach
CPU choice
mode for enhanced safety and

programming ease
RC700
RC620
RC180
RC90
Your choice of standard or high-speed

CPU
The RC620 is available in standard (Celeron M, 1GB)
and high-speed (Intel Core Duo, 2GB)

configurations.*
RC90
High-speed configuration recommended for Visual Basic program development.
Option unit
right-handed and left-handed operators.

Connects directly to operator unit or controller interface
card.
RC700
RC620
RC180
RC90
RAID option
RC90
Controller
Camera
Robot 1
Enables pick-and-place handling of items on a
high-speed conveyor.
Control unit
RC180
Conveyor
RC620
RC180
RC90
Standard CPU memory can be increased from 512MB
Operator Panel OP1
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
Easy connectivity and touchscreen control

Controller and error status
display.
Oil- and dust-resistant
construction
Simple start/stop program
execution.
RC700
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,
IP65
protection
Fieldbus I/O (master)
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.
RC700
RC620
RC180
RC90
System options
47
RC700
Ethernet/IP, and PROFINET networked peripherals

(256-point I/O).
to 1GB; high-speed CPU memory can be increased

from 1GB to 2GB.
Control peripheral robots for fully integrated process automation

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,
RC90
Give your controller a memory boost
RC90
EPSON RC+ software and pulse generator (PG) cards
RC180
RS-232C cards
Software
Encoder
RC620
RC620
Requires RC620 controller with high-speed CPU.
Memory expansion
*Vision Guide software required.
RC700
RC700
RAID support for enhanced backup data

integrity
and effect robot handling.
Can automate manual kitting/packaging tasks and
PG motion system
RAID support for high-integrity data backup.
Robot 2
Uses machine vision/sensors to detect workpiece
help maintain productivity regardless of

continuous/intermittent conveyor operation. Can
also be used for workpiece assembly.
Simple start/stop program execution.
RC90
Robot controllers
option units can be mounted (4 interface cards total).
Precision tracking for high-productivity

pick-and-place operation
RC180
32-point I/O (for
RC90 controller includes 2 interface cards as a factory default option.
RC180
RC620
Expanded input/output flexibility
Interface cards expand your system

options
Each option unit holds 2 interface cards; up to 2
RC620
RC700
backup and restore functions
Universal design ensures ease of use for both
RC700
operation in emergency
situations
Factory default option
functions I/O and task monitoring
Easy-to-use pendant for teaching
Conveyor tracking
Emergency stop switch
Helps prevent
injuries and damage
RC700
RC620
6-axis robots
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.
RC700
The convenience of a built-in DVD

multi-drive
Versatile control with just a few keystrokes

IP65-rated enclosure is sealed against oil and dust for
SCARA robots
Teach Pendant TP1
48
System option quick-reference table
Software options
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.
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
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
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
G20
LS3
LS6
RS3
RS4
C3
C4
S5
Standard 3m cables, or optional 5m and 10m cables for

greater freedom in controller and robot placement

H4
H8
G1
G3
G6
G10
G20
LS3
LS6
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
RS3
RS4
C3
C4
S5
I/O expansion cards
Securely mount machine vision system camera to robot arm
Fieldbus I/O (Slave)
Fieldbus I/O (Master)
I/O cable kit
Controller options
Software
Camera mounting bracket
RC90
Robot controllers
Enables wiring and conduits for

the hand to be enclosed within the
robot arm assembly.
RC180
Security
Tool adapters
RC620
6-axis robots
Internal wiring unit
RC700
SCARA robots
Epson robot end effector options provide the enhanced functionality and
configuration flexibility you need for full-process automation.

H4
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
49
G10
G20
LS3
LS6
RS3
RS4
C3
C4
S5
H8
C4
S5
External wiring units
G10/G20 LS3/LS6 RS/RS4
Internal wiring unit
Tool adapters
Brake release units
Power and signal cables
Camera mounting bracket
RC620DU drive unit
System options
Bracket design varies according to robot; please specify model when ordering.
50

Epson Japan Robots Catalogue - April 2013

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Epson Japan Robots Catalogue - April 2013

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With Epson industrial robots, you get the highest standards of

Top-quality service and support worldwide

service representatives we offer warranty coverage for

dedicated to maintaining a consistently high level of product

machines that are later moved to other locations*2, assuring

and service quality in every region. For products under

top-quality support wherever you are.

Product specifications and appearance are subject to change without notice.

CC-Link is a registered trademark of the CC-Link Partner Association.

Industrial Solutions Operation Division

TEL: 81-263-72-1530 FAX: 81-263-72-1495

Epson FA Systems Dept.

Starts smart, stops smart.

A proven reputation for precision and reliability

ISO Class 1 cleanroom

Variable arc motion introduced

Epson H Series and G Series robots offer

Epson offers SCARA robot systems to

need, they include models that can be configured for

*As of March 2013

A new dimension in SCARA

Epson C Series and S Series 6-axis robots are

Epson's proven line of 6-axis robots now

vibration. Available to meet virtually any application

designed and developed to offer speed and motion

Angled/interior assembly and packaging applications

high-rigidity arm design and advanced inertial control

The RS Series ceiling-mount design and rotating arm

High-speed handling performance

technology that optimizes acceleration and

Multidimensional sealant application processes

deceleration to ensure consistent handling with heavy

Innovative arm design eliminates work area dead

Enhanced production layout flexibility in limited space

space, ensuring greater freedom of movement and

Protected type IP54

Protected type IP65

Table Top mount

H series SCARA robot

Outer DimensionsTable Top Mounting

Compact design only 520mm high

2M3 Drilled hole

4kg maximum payload

Light, compact speed and accuracy for

Max.11 through hole

150 mm (120 mm)

1mm flat cut

Max. motion range

indicates the stroke margin by mechanical stop.

1mm flat cut

Weight(cables not included)

indicates the stroke margin by mechanical stop.

Standard cycle time

Motion Range (Table Top Mounting

H series SCARA robot

Outer DimensionsTable Top Mounting

2xM4 through hole

4x9 through hole

2xM4 through hole