SCARA robots 6-axis robots Robot controllers Software System options

Transcription

1 SCR roots 6-axis roots Root ontrollers Software System options

2 Starts smart, stops smart. The new gol stanar in preision automation. INDUSTRY FIRST INDUSTRY FIRST Epson mass-proution assemly root evelope INDUSTRY FIRST ISO Class 1 leanroom ompliane ahieve INDUSTRY FIRST IMirosoft Winows OS support introue INDUSTRY FIRST 1997 Short-arm SCR root introue INDUSTRY FIRST INDUSTRY FIRST 1 Wall/eilingmount SCR roots introue 9 Compat high-spee 6-axis C3 root introue INDUSTRY FIRST 9 Ceiling-mount RS3 SCR root with 36 rotation introue Multitasking introue Variale ar motion introue ntistati system evelope

3 proven reputation for preision an reliaility at the leaing ege of inustrial root esign Epson has een a leaer in inustrial root tehnology for over years. Our rooti systems reflet eaes of experiene in high-preision miro-omponent assemly, an are gloally reognize for their spee, auray, an ease of use. Now, we've taken proutivity to the next level with Smart Motion Control Tehnology a powerful new avane for even greater preision an effiieny. Whatever manufaturing hallenges you fae, Epson inustrial roots stan reay to meet your nees with the gol stanar in preision automation.

4 Why Epson Roots Epson, the gloal leaer in rootis tehnology, offers you an unrivalle omination of high performane an operating ease. Bake y a worlwie reputation for reliaility an outstaning ustomer support, Epson roots are ringing high-proutivity automate manufaturing to an ever-expaning range of inustries worlwie. 3

5 ? Low TCO an high reliaility for the ultimate in automate proutivity High proutivity Proprietary Epson tehnology reues resiual viration to ensure high spee an preision for reue takt time. Slim, lightweight oy esign reues work ell spae requirements while enaling higher proutivity. High quality Extremely aurate toolhea positioning enales high-preision ispensing an utting operations. Easy operation Intuitive grahial interfae makes programming easy even for first-time users. From program testing to full proution, improve operating ease helps reue ost an manpower requirements. Integrate mahine vision systems oost setup ease an workpiee hanling auray. 3D simulator for workell layout an toolpath program testing Epson root Conventional root Software Integration Smart Motion Control Tehnology Root Viration Reution Tehnology Mahine Vision Tehnology Gloal Support Epson supports its rootis ustomers through an international network of sales an servie offies. There, experts provie information aout equipment onfiguration options, an perform simulations of the tasks that ustomers want roots to perform. We are also partnere with systems integrators aroun the worl, an an provie en-to-en turnkey solutions to meet virtually any proess automation nee. 4

6 SCR roots Epson offers SCR root systems to meet virtually every assemly an inustrial proess automation nee. Whatever your reah an payloa requirements, there's an Epson SCR system that an satisfy them. Preision assemly High-spee hanling performane Full automation of manual proesses H Series / G Series Top-lass spee an repeataility Epson H Series an G Series roots offer lass-leaing* spee, preision, an low resiual viration. vailale to meet virtually any appliation nee, they inlue moels that an e onfigure for multitasking, leanroom, antistati, or washown proess use. new imension in SCR performane The RS Series eiling-mount esign an rotating arm enale maximum proutivity in minimum spae. Innovative arm esign eliminates work area ea spae, ensuring greater freeom of movement an signifiantly faster yle times. LS Series Outstaning ost-performane an reliaility With their small footprint an ig feature set, LS Series roots are the ost-effetive solution for all kins of pik-an-plae an assemly tasks. Ieal as replaements for oler Cartesian units, they feature eiate ontrollers for unrivale operating ease. SCR roots H series G series LS series H4 H G1 G3 G6 G1/G LS3/LS6 3 T 3 T 3 T 3 T W/C 3 D P T W C 3 D P T W C 4 T MX 4 Kg MX Kg 4-axis MX 1/ 3-axis 1.5 Kg MX 3 Kg MX 6 Kg MX 1/ Kg MX 3/6 Kg P7-3 Clean type ISO 3 (Class 1 equiv.) ESD suppression 4 Clean type ISO 4 (Class 1 equiv.) D P T W C Protete type IP54 Protete type IP65 Tale Top mount Wall mount Ceiling mount W/C Wall/eiling multi-layout mount 5

7 6-axis roots Epson's proven line of 6-axis roots now ensures even higher manufaturing quality an proutivity with exlusive Smart Motion Control tehnology for preise ontrol of spee, path, an effetor position. ngle/interior assemly an pakaging appliations Multiimensional sealant appliation proesses Enhane proution layout flexiility in limite spae C Series, S Series Unrivale spee an performane in the tightest quarters Epson C Series an S Series 6-axis roots are esigne an evelope to offer spee an motion effiieny that give proutivity a ig oost. High-rigiity arms an ultra-preise path ontrol let you take full avantage of 6-axis effetor movement. High repeataility at all loa levels is ensure y high-rigiity arm esign an avane inertial ontrol tehnology that optimizes aeleration an eeleration to ensure onsistent hanling with heavy loas. 6-axis roots Root ontrollers Software System options RS series C series S series RS3/RS4 C3 C4 S5 RC7 3 C 3 T W C 3 T C 4 P T W C RC6 RC1 MX 3/4 Kg MX 3 Kg MX 4 Kg MX 5 Kg RC9 EPSON RC+ programevelopment software Software options Root ontroller options En effetor options System option quik-referene tale 6

8 G series SCR root Compat, high-rigiity oy for preision assemly an press-fit appliations t only kg, our lightest G series root vailale with 175mm or 225mm arm Triple-axis moel for heavier payloas G1 speifiations rm length 175 mm 225 mm Payloa Rate.5 kg / Max 1 kg (4-axis), 1.5 kg (3-axis) Stanar yle time.29 se. se Repeataility, #2 ±.5 mm ±. mm ±.1 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 (Cleanroom moel) Z stroke (Cleanroom moel) Rate Maximum Rate Maximum G1-171* 175 mm 26 mm/s ±.5 mm ±14 (±14 ).29 se 4-axis Tale Top 1 mm/s kg ±.1 mm ±.1 ±125 1 mm ( mm) ±36.5 kg 1 kg.3 kgm2.4 kgm2 G1-221* 225 mm mm/s ±. mm ±2 (±149. se ll joints: 5 W 5 N Home-return-less 24PinD-Su9+D-su ) 4mm 16mm 2 Stanar/Cleanroom *3 &ESD RC1RC6 CE, KC, UL *1:Cyle time ase on roun-trip arh motion (1mm horizontal, 25mm vertial) with.5kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. G1-171*Z 175 mm 26 mm/s 1 mm/s kg ±.5 mm ±. mm ±.1 mm ±125 ±135 (± axis Tale Top ±135 (±132 ) 1 mm ( mm).5 kg 1.5 kg.29 se. se G1-221*Z 225 mm mm/s 11

9 Outer Dimensions Tale Top Mounting Stanar-moel Cleanroom-moel * 1 6* a iniates the stroke margin y mehanial stop. 96 1mm flat ut j Ø h7 shaft iameter Ø 16 mehanial stop iameter 3 6-Ø 6.5Drille hole j 2x2-M4 epth ±.5 Ø Referene through hole (View from the ottom of the ase) 11±.5 Motion Range (Tale Top Mounting G1-221SZ a Detail of (Caliration point position of Joints #3 an #4) q 125 g e f h a k 5 G1-221CZ a q 14 g e Spae for Cales 39.5±.5 44± Ø4 epth3 f h not penetrale a k Moel * 3* iniates the stroke margin y mehanial stop. 96 1mm flat ut glength of rm #1 (mm) h-glength of rm #2 (mm) f Motion range 25 Ø h7 shaft iameter a Ø 16 mehanial stop iameter ± Ø 6.5 Drille hole 2x2-M4 epth ±.5 Ø4 4 Referene through hole (View from the ottom of the ase) Detail of (Caliration point position of Joints #3 an #4) amotion range of ( ) Motion range of ( ) emehanial stop area angle to hit mehanial stop ( ) angle to hit mehanial stop ( ) G1-171S axis ±.5 44± Ø4 epth 3 3-axis not penetrale G1-171C G1-221S G1-221C G1-171SZ G1-171CZ G1-221SZ G1-221CZ Spae for Cales SCR roots 6-axis roots Root ontrollers Software System options 12

10 G series SCR root Compat, with high spee an low viration for one-rank-up performane Hanles small, heavy payloas up to 3kg vailale with straight or urve arm Small footprint, yet has long reah G3 speifiations rm length 25 mm mm 35 mm Payloa Rate 1 kg / Max 3 kg Stanar yle time.41 se.43 se.41 se Repeataility Joint#1, #2 Joint#4 ±. mm ±.1 mm ±.5 rm shape Straight Curve (R)/Curve (L) Straight arm Curve arm Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Straight Curve Common Stanar yle time *2 allowale moment of inertia *3 Motor power onsumption rm #1, #2 Joints #1, #2 Joints #3 Joints #4 own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar Joints #1, #2 Joints #3 Joints #4 Joints #1 Joints #2 (Cleanroom moel) Right han Left han Right han (Cleanroom moel) Left han (Cleanroom moel) (Cleanroom moel) Rate Maximum Rate Maximum ±14 ±141 (±137 ) ±14 ±142 (±141 ) ( ) -135 ( ) G3-1**-* ±.1 mm ±.5 ±1 ±135 (±135 ) (-116 ) (-161 ) G3-351**-* G3-251* Tale top Tale top Multiple *1 Tale top 25 mm mm 35 mm 355 mm/s 395 mm/s 435 mm/s 11 mm/s /s 14 kg ±. mm ±.1 mm ±.1 mm ±142 (±142 mm (1 mm) ±36 1 kg 3 kg.41 se.43 se.41 se.5 kgm2.5 kgm2 W W W W N Home-return-less Pin (D-Su) 4mm 16mm 2 Stanar /Cleanroom *4 & ESD RC1, RC6 CE, KC, UL *1:Can e mounte on wall or eiling. *2:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 2kg payloa (path oorinates optimize for maximum spee). *3:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *4:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. ±14 Multiple ± (-1 ) -161 (-1 ) 13

11 * Outer Dimensions Tale Top Mounting Stanar-moel Cleanroom-moel 6.7 * mm flat ut Conial hole Ø3, * 9.6 * a M3 epth M 5 epth 1 Ø iniates the stroke margin y mehanial stop Max.Ø11 through hole Ø16 h7 shaft iameter Detail of (Caliration point position of Joints #3 an #4) Ø mehanial stop iameter Ø 9 2-Ø ±.5 6 Through hole 1 1 Ø6 H7 ( ) Through hole Referene through hole (View from the ottom of the ase) Spae for Cales * mm flat ut * 1 Conial hole Ø3, a M3 epth Ø iniates the stroke margin y mehanial stop Max.Ø11 through hole Ø16 h7 shaft iameter Ø mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) M 5 epth Through hole Ø 9 2-Ø ± Ø 6 H7( ) Through hole Referene through hole (View from the ottom of the ase) Spae for Cales SCR roots 6-axis roots Root ontrollers Software System options 14

12 Outer Dimensions Multiple Mounting Stanar-moel Cleanroom-moel a M 3 epth Through hole Ø 6 H7 ( ) Through hole Ø9 126± * * * a M 3 epth Through hole Ø 6 H7 ( ) Through hole 1.7 Ø Ø 9 Ø 6 H7 ( ) Through hole Ø9 126± * * * Ø Ø 9 Ø 6 H7 ( ) Through hole ±.5 Spae for Cales Spae for Cales iniates the stroke margin y mehanial stop. iniates the stroke margin y mehanial stop. 1 mm flat ut Conial hole Ø3,9 Max.Ø11 through hole Ø16 h7 shaft iameter Ø mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) 1 mm flat ut Conial hole Ø3,9 Detail of (Caliration point position of Joints #3 an #4) Max.Ø11 through hole Ø16 h7 shaft iameter Ø mehanial stop iameter Through hole 69±.5 6 Through hole Referene through hole (View from the ottom of the ase) 174 Referene through hole (View from the ottom of the ase)

13 s t t z r r t Straight rm t 79.5 G3-351S Left-Curve rm j j Motion Range (Tale Top Mounting G3-351S-L s Right-Curve rm G3-351S-R Straight rm Left-Curve rm G3-351SM-L s 7 Right-Curve rm G3-351SM-R 7 s G3-351SM 219 a y p m n z k g y j y g g g h z q Motion Range (Multiple Mounting a g z 176 x 176 g y e e e e f e h j h h f e k j x m n j km e x k f a a e fg 219 f a a x h n g h m n p 219 p p k a f a q q r q r q k Moel glength of rm #1 (mm) h-glength of rm #2 (mm) f Motion range amotion range of ( ) Motion range of ( ) emehanial stop area angle to hit mehanial stop ( ) angle to hit mehanial stop ( ) Moel nlength of rm #1 (mm) p-nlength of rm #2 (mm) m,jmotion range a,motion range of ( ) e,gmotion range of ( ) h,kmehanial stop area, angle to hit mehanial stop ( ) f,z angle to hit mehanial stop ( ) Moel nlength of rm #1 (mm) p-nlength of rm #2 (mm) m,jmotion range a,motion range of ( ) e,gmotion range of ( ) h,kmehanial stop area, angle to hit mehanial stop ( ) f,z angle to hit mehanial stop ( ) Moel glength of rm #1 (mm) h-glength of rm #2 (mm) f Motion range amotion range of ( ) Motion range of ( ) emehanial stop area angle to hit mehanial stop ( ) angle to hit mehanial stop ( ) Moel nlength of rm #1 (mm) p-nlength of rm #2 (mm) m,jmotion range a,motion range of ( ) e,gmotion range of ( ) h,kmehanial stop area, angle to hit mehanial stop ( ) f,z angle to hit mehanial stop ( ) Moel nlength of rm #1 (mm) p-nlength of rm #2 (mm) m,jmotion range a,motion range of ( ) e,gmotion range of ( ) h,kmehanial stop area, angle to hit mehanial stop ( ) f,z angle to hit mehanial stop ( ) G3-251S 1 1 Straight rm G3-251C G3-1S G3-1C G3-351S G3-351C G3-1S-L , 6., , , 6 G3-1C-L, , , -.3, 3. G3-1S-R , , 79.5, , 3 G3-1C-R 135, 135, , - 3.3,.3 G3-1SM/CM Left-Curve rm Right-Curve rm Straight rm 4 3. G3-351S-L 191.6, , 11 5, G3-351C-L 191.6, , 1 16, 1 97., , , 3. 7., 3. G3-351S-R 191.6, ,165 4, 5 G3-351C-R 191.6, , 165 1, , , , 2. 3., 7. G3-351SM/CM G3-351SM-L 191.9, 17.5 Left-Curve rm 2 1 1, G3-351CM-L 191.9, , 1, 1 3.3, 5 2, 5 2., , 3. G3-351SM-R 191.9, 17.5 Right-Curve rm , , 13. G3-351CM-R 191.9, , 16 1, 5, 3.3 5, 2 3., 2. 3., 12. SCR roots 6-axis roots Root ontrollers Software System options 16

14 G series SCR root High spee an preision for small omponent assemly Hanles payloas up to 6kg vailale with 45mm, 55mm, or 65mm arm G6 speifiations rm length 45 mm 55 mm 65 mm Payloa Rate 3 kg / Max 6 kg Stanar yle time.35 se.36 se.39 se Repeataility Joint#1, #2 Joint#4 ±. mm ±.5 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 Rate Maximum Rate Maximum G6-45** G6-55*** G6-65*** Tale top Ceiling Wall Tale top Ceiling Wall Tale top Ceiling Wall 45 mm 644 mm/s 55 mm 717 mm/s 65 mm 79 mm/s G6-**1**=11 mm/s /G6-**3**=235 mm/s 24 /s 27 kg 29 kg 27 kg 29 kg 2 kg 29.5 kg ±. mm ±.1 mm ±.5 ±2 ±1 ±15 ±2 ±135 ±2 ±14 Z:-27 mm±147.5 Z:-27-3 mm ±145 ±1 ±147.5 G6-**1**= mm / G6-**3**=3 mm(environment speifiation is stanar-moel) G6-**1**=1 mm / G6-**3**= mm(environment speifiation is leanroom or Protete-moel) ±36 3 kg 6 kg.35 se.36 se.1 kgm2.12 kgm2 4 W 4 W W 1 W N Home-return-less Pin (D-Su)9Pin (D-su) 4mm 26mm 2 Stanar/Cleanroom *3 /Protetion *4 RC1RC6 CE, KC, UL.39 se *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 2kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. *4:G6-***D* protete type with optional ellows omplies with IP54; G6-***P* omplies with IP65. 17

15 7 Outer DimensionsTale Top Mounting Stanar-moel Cleanroom-moel 12.2* 11 2-M4 epth ± * 7 4.2* iniates the stroke margin y mehanial stop. 1mm flat ut Conial hole Ø4,9 a M5 epth Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter 1 4.2* * 1.2* 3 iniates the stroke margin y mehanial stop ±.5 1mm flat ut Conial hole Ø4,9 6 H7 75±.5 6 H7 75±.5 Root oth sie hamfer C.5 Root oth sie hamfer C.5 Referene through hole (View from the ottom of the ase) Motion Range (Tale Top Mounting G6-55 * S 175 g Detail of (Caliration point position of Joints #3 an #4) h e 2 e h f g a Moel Spae for Cales alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) a 2-M4 epth l l G6-45*S/D Z: Z: Z: Z: Z:-27 3 Z: G6-45*C/P/D ellows Z: Z: Z: Z: Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) Referene through hole (View from the ottom of the ase) Tale Top Mounting G6-55** Z:-24 3 Z: Spae for Cales M5 epth 1 G6-65* SCR roots 6-axis roots Root ontrollers Software System options 1

16 Outer Dimensions (Ceiling Mounting) Stanar-moel Cleanroom-moel a a M4 epth M4 epth H7 55±.5 75± H7 55±.5 75± * Spae for Cales Spae for Cales 4.2* 12.2* (233.5) B iniates the stroke margin y mehanial stop. 1.2* 4.2* B iniates the stroke margin y mehanial stop. 1mm flat ut Conial hole Ø4, Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) 9 2-M5 epth 1 11 Detail of B 1mm flat ut Conial hole Ø4, Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) 11 Detail of B 9 2-M5 epth 1 Motion Range (Ceiling Mounting G6-55*SR e h g 2 25 e h f g a Moel alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) Ceiling Mounting G6-45**R G6-55*SR/DR G6-55*CR/PR/DR ellows G6-65**R

17 Outer Dimensions (Wall Mounting) Stanar-moel Cleanroom-moel * 16 1mm flat ut Conial hole Ø4, * 4.2* M4 epth 11 6-Ø1 Ø6H7 66± a Motion Range (Wall Mounting G6-55 * SW g 65 h e Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter Referene through hole (View from the ottom of the ase) 3 e h f g a 11 B iniates the stroke margin y mehanial stop. Spae for Cales Detail of B 2-M5 epth 1 Moel alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) mm flat ut Conial hole Ø4, ±.5 4.2* * 1.2* 6-Ø1 Ø6H M4 epth Referene through hole (View from the ottom of the ase) 6 Ø16 a 11 B M5 epth 1 2 G6-45**W G6-55*SW/DW G6-55*CW/PW/DW ellows G6-65**W Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter Wall Mounting iniates the stroke margin y mehanial stop. Spae for Cales SCR roots 6-axis roots Root ontrollers Software System options

18 G series SCR root For high-spee, multi-effetor assemly, kitting, an paking appliations Ieal for mi-range payloas up to 1kg For fast, effiient, high-payloa hanling an ath-paking appliations Hanles heavy payloas up to kg G1/ speifiations rm length 65 mm 5 mm 1 mm Payloa G1 G Rate 5 kg / Max 1 kg Rate 1 kg / Max kg Stanar yle time.34 se.37 se.42 se Repeataility, #2 ±.25 mm ±.5 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 Rate Maximum Rate Maximum G1-65** Tale top Ceiling Wall Tale top Ceiling Wall Tale top Ceiling Wall 65 mm mm/s 5 mm 11 mm/s 1 mm 1 mm/s G1/-**1**=11 mm/s /G1/-**4**=235 mm/s 24 /s G1=24 /G=17 /s 17 eg 46 kg 51 kg 4 kg 53 kg 5 kg 55 kg ±.25 mm ±.1 mm ±.5 ±2 ±17 ±2 ±17 ±2 ±17 ±2.5 ±1 ±2.5 (±122.5 eg)* *:ellowz: G1/**1** / G1/**4**=±1 eg(122.5 )*(Environment speifiation is leanroom or Protete-moel) G1/-**1**=1 mm / G1/-**4**=4 mm(environment speifiation is stanar-moel) G1/-**1**= mm / G1/-**4**=39 mm(environment speifiation is leanroom or Protete-moel) 5 kg 1 kg.34 se.2 kgm2.25 kgm2 G1/-5*** ±36 G1=5 kg /G=1kg G1=1 kg /G=kg.37 se G1=.2 kgm2 /G=.5 kgm2 G1=.25 kgm2 /G=.45 kgm2 75 W 6 W 4 W W 25 N Home-return-less Pin (D-Su)9Pin (D-Su) 4mm 26mm 2 Stanar/Cleanroom*3 & ESD /Protetion *4 RC1RC6 CE, KC, UL *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 2kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. *4:G1-***D* with optional ellows omplies with IP54; G1-***P* omplies with IP65. G-*** 1 kg kg.42 se.5 kgm2.45 kgm2 21

19 Outer Dimensions Tale Top Mounting Stanar-moel Cleanroom-moel 5* * M4 epth iniates the stroke margin y mehanial stop ±.5 6 1± Motion Range (Tale Top Mounting G1/-5** 7. g h e 1mm flat ut Conial hole Ø4,9 27 e f h g a a M epth 16 (Mount eyeolt at shipment) Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) Moel alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) 1.* * 73± G1-65** M4epth ±.5 6 Root oth sie hamfer C.5 Root oth sie hamfer C.5 Referene through hole (View from the ottom of the ase) Spae for Cales.5 iniates the stroke margin y mehanial stop. 1mm flat ut Conial hole Ø4,9 S/D a Tale Top Mounting G1/-5* C/P/D ellows Z: Z: Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) Referene through hole (View from the ottom of the ase) 2-M epth16 G Z: Z: Spae for Cales (Mount eyeolt at shipment) Z: Z: SCR roots 6-axis roots Root ontrollers Software System options 22

20 Outer Dimensions (Ceiling Mounting) Stanar-moel Cleanroom-moel a M4epth a M4epth ±.5 6 1±.5 (Tolerane applies to the pin hole) 24 73±.5 6 1±.5 (Tolerane applies to the pin hole) * * 3 Spae for Cales Spae for Cales B 5* MB epth B iniates the stroke margin y mehanial stop. 1* iniates the stroke margin y mehanial stop. 43 1mm flat ut Conial hole Ø4,9 Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) 1mm flat ut Conial hole Ø4, Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) M epth Detail of B Detail of B Motion Range (Ceiling Mounting G1/-5**R 25 e e h g 27 f a h g Moel alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) G1-65**R Ceiling Mounting G1/-5* G-**W SR/DR CR/PR/DR ellows

21 Outer Dimensions (Wall Mounting) Stanar-moel Cleanroom-moel 5* mm flat ut Conial hole Ø4,9 5* a 5 2-M4epth Detail of (Caliration point position of Joints #3 an #4) ±.5 ±.5 (Tolerane applies to the pin hole) Referene through hole (View from the ottom of the ase) Motion Range (Wall Mounting G1/-5**W g h e 4 e h B iniates the stroke margin y mehanial stop. Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Spae for Cales f a g Detail of B 2-M epth16 11 Moel alength of rm #1 (mm) Length of rm #2 (mm) Motion range Motion range of ( ) emotion range of ( ) f Mehanial stop area g angle to hit mehanial stop ( ) h angle to hit mehanial stop ( ) 1.* 26 1* mm flat ut Conial hole Ø4, ±.5 ±.5 (Tolerane applies to the pin hole) 55.5 G1-65**W a 5 2-M4epth Detail of (Caliration point position of Joints #3 an #4) 6 Referene through hole (View from the ottom of the ase) 6-14 SW/DW 7. G1/-5* Wall Mounting B CW/PW/DW ellows iniates the stroke margin y mehanial stop. Max.Ø1 through hole Ø h7 shaft iameter Ø39.5 mehanial stop iameter Spae for Cales Detail of B 11 2-M epth16 G-**W SCR roots 6-axis roots Root ontrollers Software System options 24

22 LS series SCR root Simpliity, reliaility, an performane for easy proess automation Small footprint with a ig working area 4mm arm length LS3 speifiations rm length 4 mm Payloa Rate 1 kg / Max 3 kg Stanar yle time.45 se Repeataility, #2 ±.1 mm ±.1 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 (Cleanroom moel) Rate Maximum Rate Maximum LS3-41* Tale Top 4 mm 6 mm/s 11 mm/s 26 /s 14 kg ±.1 mm ±.1 mm ±.1 ±132 ±141 mm (1 mm) ±36 1 kg 3 kg.45 se.5 kgm2.5 kgm2 W 1 W 1 W 1 W 1 N Home-return-less Pin (D-Su) 4mm 16mm 2 Stanar /Cleanroom *3 RC9 CE, KC *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 2kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 4 leanroom stanars. 25

23 Outer Dimensions Tale Top Mounting Stanar-moel Cleanroom-moel 6.5 * M4 epth 9.3 * 6.5 * 5 Ø M3 epth 1 1mm flat ut Conial hole Ø3,9 Ø MX. 65 iniates the stroke margin y mehanial stop. Detail of Max.Ø11 through hole Ø16 h7 shaft iameter Ø mehanial stop iameter Motion Range (Tale Top Mounting LS3-41S M4 epth R225 R141.6 R R4 6± Ø6H7 LS3-41C Ø9 4-Ø9 Spae for Cales ( ) M4 epth R225 R141.6 R * M4 epth R * 1 3.* M4 epth 6 Ø mm flat ut Conial hole Ø3,9 2-M3 epth 1 iniates the stroke margin y mehanial stop. 4-M4 epth Detail of 1 1 6± Max.Ø11 through hole Ø16 h7 shaft iameter 1 Ø6 H Ø mehanial stop iameter 45 ( ) 2-Ø9 4-Ø MX.65 Spae for Cales 14 SCR roots 6-axis roots Root ontrollers Software System options 26

24 LS series SCR root Simpliity, reliaility, an performane with ae reah an payloa apaity Ieal for multi-effetor, multi-workpiee hanling of payloas up to 6kg 6mm arm length LS6 speifiations rm length 6 mm Payloa Rate 2 kg / Max 6 kg Stanar yle time.42 se Repeataility, #2 ±.2 mm ±.1 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 (Cleanroom moel) Rate Maximum Rate Maximum LS6-62* Tale Top 6 mm 6 mm/s 11 mm/s /s 17 kg ±.2 mm ±.1 mm ±.1 ±132 ± mm (17 mm) ±36 2 kg 6 kg.42 se.1 kgm2.12 kgm2 W W 1 W 1 W 1 N Home-return-less Pin (D-Su) 4mm 16mm 2 Stanar /Cleanroom *3 RC9 CE, KC *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 2kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 4 leanroom stanars. 27

25 2. 2. Outer Dimensions Tale Top Mounting Stanar-moel Cleanroom-moel 1* * 11.* M4 epth Ø M4 epth1 4-M4 epth1 Motion Range (Tale Top Mounting LS6-62S M4 epth 6 55± M4 through hole Ø134 4-Ø9 through hole mm flat ut Conial hole Ø3, R325 R66 R162.6 R Max.Ø14 through hole Spae for Cales Ø h7 shaft iameter Ø4 mehanial stop iameter MX.6 iniates the stroke margin y mehanial stop. Detail of R6 6 through hole Ø6 H7 through hole LS6-62C R * R325 R142.5 R R6 9.* 17 6* M4 epth 6 Ø M4 epth M4 through hole mm flat ut Conial hole Ø3,9 Ø9 Detail of 11 Ø through hole 4-M4 epth1 4-M4 epth Max.Ø14 through hole Ø h7 shaft iameter Ø4 mehanial stop iameter 4-Ø9 through hole Spae for Cales MX.6 iniates the stroke margin y mehanial stop. 55± Ø6 H7 through hole SCR roots 6-axis roots Root ontrollers Software System options

26 RS series SCR root unique rotating arm mehanism for unparallele freeom of movement Outstaning proutivity in limite spae Ceiling mount an rotating arm enale workpiee to e aesse from any iretion RS3 speifiations rm length 35 mm Payloa Rate 1 kg / Max 3 kg Stanar yle time.34 se Repeataility, #2 ±.1 mm ±.1 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 (Cleanroom moel) Rate Maximum Rate Maximum RS3-351* Ceiling 35 mm 6237 mm/s 11 mm/s 26 /s 17 kg ±.1 mm ±.1 mm ±.1 ±225 ±225 1 mm (1 mm) ±7 1 kg 3 kg.34 se.5 kgm2.5 kgm2 4 W W W 1 W N Home-return-less Pin (D-Su) 4mm 1, 6mm 2 Stanar/Cleamroom *3 &ESD RC1, RC6 CE, UL *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 1kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. 29

27 Outer Dimensions (Ceiling Mounting) Stanar-moel Cleanroom-moel 1mm flat ut Ø3,9 Conial hole 6 2-M4 epth * Max.Ø11 through hole Ø16h7 shaft iameter Ø mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) 6H7 59±.5 Motion Range (Ceiling Mounting M4 epth 1 4-M4 epth ± Referene through hole (View from the top of the ase) 175 mm Moel * Spae for Cales Manipulator installation position iniates the stroke margin y mehanial stop. 16 rm #1 Length(mm) rm #2 Length(mm) 3-M6 through hole For manipulator mounting through hole Motion range( ) Motion range( ) ø11 spot faing epth 6.5 (from ak sie) 1mm flat ut Ø3,9 Conial hole * 1.5* M4 epth Detail of (Caliration point position of Joints #3 an #4) H7 59±.5 Max.Ø11 through hole Ø16h7 shaft iameter Ø mehanial stop iameter 4 ±.5 Referene through hole (View from the top of the ase) RS3-351* ±225 ± Spae for Cales Manipulator installation position iniates the stroke margin y mehanial stop. 4-M4 epth 4-M4 epth 16 3-M6 through hole For manipulator mounting through hole ø11 spot faing epth 6.5 (from ak sie) SCR roots 6-axis roots Root ontrollers Software System options

28 RS series SCR root unique rotating arm mehanism for unparallele freeom of movement Outstaning proutivity in limite spae Ceiling mount an rotating arm enale workpiee to e aesse from any iretion RS4 speifiations rm length 55 mm Payloa Rate 1 kg / Max 4 kg Stanar yle time.39 se Repeataility,#2 ±. mm ±.1 Speifiations Mounting type rm length Max. operating spee Weight(ales not inlue) Repeataility Max. motion range Payloa Stanar yle time *1 allowale moment of inertia *2 Motor power onsumption own fore Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar rm #1, #2 Joints #1, #2 Joints #1, #2 (Cleanroom moel) Rate Maximum Rate Maximum RS4-551* Ceiling 55 mm 74 mm/s 11 mm/s 26 /s 19 kg ±. mm ±.1 mm ±.1 ±225 ±225 1 mm (1 mm) ±7 1 kg 4 kg.39 se.5 kgm2.5 kgm2 4 W 4 W W 1 W N Home-return-less Pin (D-Su) 4mm 1, 6mm 2 Stanar/Cleamroom *3 &ESD RC1, RC6 CE *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 1kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. 31

29 Outer Dimensions (Ceiling Mounting) Stanar-moel 1mm flat ut Ø3,9 Conial hole * ±.5 Ø Motion Range (Ceiling Mounting Max.Ø11 through hole Ø16h7 shaft iameter Ø mehanial stop iameter Ø 6 59±.5 4 ± Referene through hole (View from the top of the ase) Moel 16 rm #1 Length(mm) rm #2 Length(mm) Motion range( ) Motion range( ) 3-M6 through hole Cleanroom-moel M 4 epth 5 4-M 4 epth 5 4-M 4 epth 5 Detail of (Caliration point position of Joints #3 an #4) ±.5 4 *iniates the stroke margin y mehanial stop. 3.* 1 6.5* 35 iniates the stroke margin y mehanial stop. 4-M 4 epth 5 Max.Ø11 through hole Ø16h7 shaft iameter Ø mehanial stop iameter Detail of (Caliration point position of Joints #3 an #4) Ø 6 Ø (43.5) Spae for Cales Manipulator installation position For manipulator mounting through hole Ø11 spot faing epth 6.5 (from ak sie) mm flat ut Ø3,9 Conial hole Ø 6 59±.5 RS4-551* ±.5 ±225 ± ± ± ( 43.5 ) 14 Spae for Cales Manipulator installation position 3-M6 through hole 34 6 For manipulator 164 mounting through hole! Ø11 spot faing Referene through hole epth 6.5 (View from the top of the ase) (from ak sie) SCR roots 6-axis roots Root ontrollers Software System options 32

30 6-axis root The leaing ege in 6-axis roots for high-preision, small-omponent assemly Large working area; root oupies only 1/44 of workell Low learane requirements for more flexile workell layout Smooth ation; ale to aess workpiee from virtually any angle C3 speifiations Payloa Rate 1 kg / Max 3 kg Stanar yle time.37 se Repeataility ±.2 mm Speifiations Mounting type Degree of feeom Max. Motion Range Wrist flange surfae Max. operating spee Weight(ales not inlue) Repeataility Max. Motion Range Payloa Stanar yle time *1 llowale moment of inertia *2 Motor power onsumption P point: through the enter of J4/J5/J6 Joint #5 Joint #6 -#6 Joint #5 Joint #6 Rate Maximum Joint #5 Joint #6 Joint #5 Joint #6 Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar C3 Tale Top Ceiling Skewe Wall 6 6 mm 665 mm 45 /s 45 /s 514 /s 553 /s 553 /s 7 /s 27 kg ±.2 mm ±17 (±1 eg without the mehanial stop) ± ± ±135 ±36 1 kg 3 kg(5 kg with arm ownwar positioning).37 se. kgm2. kgm2.1 kgm2 4 W 4 W W 5 W 5 W 5 W Home-return-less 9Pin (D-Su) 4mm 4 Stanar /Cleanroom *3 & ESD RC1RC6 CE, KC, UL *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 1kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. 33

31 Outer Dimensions Motion Range M4 epth 5 12 ( 6H7) H ± M4 epth H7 epth 5 2-M epth ± ± M4 epth M4 epth H ±.5 Top View Lateral View Front View R257.4 R R167 R Spae for Cales J4 : - J4 : + J6 : -36 J6 : M4 epth 7 SCR roots 6-axis roots Root ontrollers Software System options 34

32 6-axis root Spee an flexiility for mahine tening operation in onfine workspaes 4kg maximum payloa High spee an repeataility for maximum proutivity Compat esign for enhane onfiguration flexiility C4-91 long arm moel also availale C4 speifiations Payloa Stanar yle time Repeataility Rate 1 kg / Max 4 kg.37 se C se C4-91 ±.2 mm C4-61 ±.3 mm C Speifiations Mounting type Degree of feeom Max. Motion Range Wrist flange surfae Max. operating spee Weight(ales not inlue) Repeataility Max. Motion Range Payloa Stanar yle time *1 llowale moment of inertia *2 Motor power onsumption Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar P point: through the enter of J4/J5/J6 Joint #5 Joint #6 -#6 Joint #5 Joint #6 Rate Maximum Joint #5 Joint #6 Joint #5 Joint #6 C4-61 Tale Top 6 6 mm 665 mm 45 /s 45 /s 514 /s 27 kg ±.2 mm 555 /s 555 /s 7 /s Tale Top 6 9 mm 965 mm 275 /s 275 /s 29 /s 29 kg ±.3 mm ± ± ±135 ±36 1 kg 4 kg(5 kg with arm ownwar positioning).37 se.47 se. kgm2. kgm2.1 kgm2 4 W 4 W W 5 W 5 W 5 W Home-return-less 9PinD-Su 4mm 4 Stanar /Cleanroom *3 & ESD RC7 CEKC *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 1kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 3 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. Ceiling-mounte roots shoul e programme using the EPSON RC+ software eiling-mount settings. C

33 Outer Dimensions 91 4xM 4 epth Ø6 h xM4 epth 7 1 Ø 6 H7 epth 5 2xM4 epth 7 4 (same for the other sie) Ø ±.2 4 ± Ø xØ11 75 ±.5 (ppliale tolerane is Ø6H7) Ø6 H7 55±.5 55 ± Ø6 H7 4xØ11 75±.5 (ppliale tolerane is Ø6 H7) Motion Range Root ontrollers ±.2 4± Ø6 H7 epth 5 (same for the other sie) 2xM epth 16 (same for the other sie) 3 2xM epth 16 (same for the other sie) 6-axis roots (Inluing the lamp) 25 4 Ø6 h7 pulse position 61-1 Top View 65 Lateral View Joints #4, #6 pulse position J6 : :-3 J6 J 4:+2 :-2 4 J Front View 1 65 R R 25 P point* R R167 pulse position R Software R R P point Joints #3, #5 pulse positionmotion R Lateral View P point R R 1 Joints #3, #5 pulse positionmotion J 6.1 R3 R4 P point 2 4:- R4 R J6: +36 J4: Joints #4, #6 pulse position J6: P R 267 P point Front View pulse position R Top View System options 91 pulse position Spae for Cales Spae for Cales xM 4 epth xM 4 epth 6 2xM 4 epth xM 4 epth SCR roots 111 2xM 4 epth

34 6-axis root Slim esign with exellent motion flexiility elivers higher proutivity in less spae Class-leaing repeataility* Large working area; root oupies only 1/7 of workell (S5-91**) Joint #5 range of motion ±1 greater than previous moels S5 speifiations Payloa Stanar yle time Repeataility Rate 2 kg / Max 5 kg.44 se S se S5-91 ±.2 mm S5-71 ±.3 mm S5-91 Speifiations Mounting type Degree of feeom Max. Motion Range Wrist flange surfae Max. operating spee Weight(ales not inlue) Repeataility Max. Motion Range Payloa Stanar yle time *1 llowale moment of inertia *2 Motor power onsumption Home Installe wire for ustomer use Installe pneumati tue for ustomer use Installation environment ppliale Controller Safety stanar P point: through the enter of J4/J5/J6 Joint #5 Joint #6 -#6 Joint #5 Joint #6 Rate Maximum Joint #5 Joint #6 Joint #5 Joint #6 S5-71** Tale Top Ceiling Wall 6 76 mm 376 /s 35 /s 4 /s Tale Top Ceiling Wall mm 27 /s 2 /s /s 45 /s 45 /s 7 /s 36 kg 3 kg ±.2 mm ±.3 mm ±17 ± ±17 ± ±19 ±135 ±36 2 kg 5 kg(7 kg with arm ownwar positioning).44 se.49 se.3 kgm2.3 kgm2.1 kgm2 4 W 4 W W 5 W 5 W 5 W Home-return-less Pin (D-Su) 6mm 2 Stanar /Cleanroom *3 /Protetion *4 RC1RC6 CE, KC *1:Cyle time ase on roun-trip arh motion (mm horizontal, 25mm vertial) with 1kg payloa (path oorinates optimize for maximum spee). *2:When payloa enter of gravity is aligne with ; if not aligne with, set parameters using INERTI omman. *3:Complies with ISO Class 4 (ISO ) an oler Class 1 (less than 1.1μm partiles per 2,317m 3 :1ft) leanroom stanars. *4:Protete type omplies with IP65. S5-91** 76 mm 95 mm 37

35 Outer Dimensions 71 ir Supply Opening 423 M5 Tap with over plug ir Supply Opening M5 Tap with over plug Spae for Cales 66 2x2 M4 P.7 Depth (Front & Bak) 2xM4 P.7 Depth 45 1 Spae for Cales 4xM P1.25 Depth xM4 P.7 Depth 2x2 M4 P.7 Depth (Front & Bak) 4xM P1.25 Depth ±.1 6±.1 92±.1 Ø12 H7 (Referene through hole) 4-Ø 12 (Mounting hole) ± ±.1 66 ± ±.1 Ø12 H7 (Referene through hole) 4-Ø 12 (Mounting hole) ± ± ± Ø 6 H7 (Referene through hole) 1±.5 92± ± Ø 6 H7 (Referene through hole) ±.5 Motion Range 71 R76 R (J1 rm) P point* pulse position pulse position Top View Lateral View Front View P point* Joints #3, #5 pulse positionmotion Joints #4, #6 pulse position Software -17 (J1 rm) Motion range of P point* Top View Lateral View 45 Front View R95 R (J1 rm) P point* pulse position pulse position P point* - Joints #3, #5 pulse positionmotion Motion range of P point* Joints #4, #6-19 pulse position System options

36 Root ontrollers Comines the features of RC6 an RC1 ontrollers in a single unit, enaling ontrol of a wie range of workell system setups. PC workell ontroller Controller with uilt-in PC Multi-effetor ontrol General evie ontrol System apailities Multiple workells Multiple workells teahing penant Effetors teahing penant Effetors Fielus I/O Multi-effetor ontrol Open arhiteture onveyor traking Open arhiteture onveyor traking root ontroller root ontroller USB 2. or Ethernet EPSON RC+ programming environment GUI evelopment Image proessing (olor/ monohrome) GUI evelopment Mirosoft Winows preinstalle for PC-less system ontrol Image proessing (olor/ monohrome) RC7 software/effetor support RC6 software/effetor support Software SCR roots Effetors 6-axis roots Software SCR roots Effetors 6-axis roots 39

37 Compat ontroller Full PLC funtionality Easy setup via USB Fits easily insie most ontrol panel oxes (SCR ontroller: approx. 1l volume; 6-axis ontroller approx. 13l volume) Fielus I/O USB 2. or Ethernet EPSON RC+ programming environment teahing penant root ontroller RC1 software/effetor support Effetors Software GUI evelopment SCR roots 6-axis roots Effetors Image proessing (olor/ monohrome) LS series ontroller Full PLC funtionality Easy setup via USB Fielus I/O Open arhiteture USB 2. or Ethernet EPSON RC+ programming environment root ontroller teahing penant RC9 software/effetor support Software 6-axis roots Multiple workells GUI evelopment SCR roots 6-axis roots Effetors onveyor traking Image proessing (olor/ monohrome) SCR roots 6-axis roots Root ontrollers Software System options 4

38 Outer Dimensions or more Spae for ales Ø Ø

39 Speifiations Moel Controllale axes (UL speifiation: RC6-UL) (UL speifiation: RC1-UL) Root manipulator ontrol Programming language an Root ontrol software Joint Control Spee Control eleration/ eeleration ontrol Connetale manipulators Positioning ontrol Memory apaity Externalinput/outputsignals (stanar) Stanar I/O Stanar I/O (Drive Unit) Communiation interfae (stanar) Ethernet RS-232C Up to six (6) onnetale C servo motors EPSON RC+ 7.(a multi-tasking root language) Up to six (6) joints Simultaneous ontrol Software C servo ontrol Input : 24 Output : 16 1 hannel 1 hannel Speial slot (RC1/RC6: Max. 4 slotsrc9: Max. 2 slots) I/O RS-232C Fielus I/O slave Pulse Generator PCI slot Frame graer FielusI/O master Safety features Power Soure Weight *1 1 hannel/oar PROFIBUS-DP DevieNet CC-Link EtherNet/IP PROFINET 1 unit Maximum Ojet Size : MB Point ata area : 1 points (per file) Bakup variale area : Max. 4 KB (Inlues the memory area for the management tale.) pprox. 4 variales (Depens on the size of array variales.) Input : 24 per oar Output : 16 per oar 2 hannel/oar Numer of Controlling axis 4h per oar ition of 4 oars allowe ition of 2 oars allowe ition of 1 oar allowe ition of 4 oars allowe 11 kg Inluing inputs, outputs with remote funtion assigne ssignment hange allowe Up to eight () onnetale C servo motors (Limite y the total motor power.) EPSON RC+ 6.(a multi-tasking root language) Up to eight () joints Simultaneous ontrol Software C servo ontrol per Drive Unit Depens on CPU Boar ition of 4 oars allowe ition of 2 oars allowe ition of 1 oar allowe Numer of Controlling ition of 4 oars axis 4h per oar allowe Stanar frame graer ition of 2 oars vane frame graer allowe Up to six (6) onnetale C servo motors EPSON RC+ 5.(a multi-tasking root language) PTP motion: Programmale in the range of 1 to 1%; auto-ontrol CP motion: Programmale at user-efine aeleration/eeleration spees PTPPoint-To-PointCPContinuous Path C V to C 24 V Single phase 5/6 Hz Up to six (6) joints Simultaneous ontrol Software C servo ontrol PTP motion: Programmale in the range of 1 to 1% CP motion: Programmale at user-efine spees Input : 24 Output : 16 Input : 24 Output : 16 2 hannel 1 or 2 hannel Input : 32 per oar Output : 32 per oar 4 hannel/oar 1 hannel/oar PROFIBUS-DP DevieNet CC-Link EtherNet/IP PROFINET 1 hannel/oar PROFIBUS-DP DevieNet EtherNet/IP 4 unit Maximum Ojet Size : MB Point ata area : 1 points (per file) Bakup variale area : Max. 4 KB (Inlues the memory area for the management tale.) pprox. 4 variales (Depens on the size of array variales.) Inluing inputs, outputs with remote funtion assigne ssignment hange allowe ition of 1 oar allowe 4 axes spe : 22.5 kg 6 axes spe : 24.5 kg axes spe : 22.5 kg Input : 24 Output : 16 Input : 32 per oar Output : 32 per oar 1 unit Maximum Ojet Size : 4 MB Point ata area : 1 points (per file) Bakup variale area : Max. 1 KB (Inlues the memory area for the management tale.) pprox. 1 variales (Depens on the size of array variales.) 1 hannel ition of 4 oars allowe 4 C servo motors ition of 2 oars 4 hannel/oar allowe 2 hannel/oar 1 hannel/oar PROFIBUS-DP DevieNet CC-Link EtherNet/IP PROFINET ition of 1 oar allowe Inluing inputs, outputs with remote funtion assigne ssignment hange allowe Emergeny stop swith / Low power moe / Enoer ale isonnetion error etetion / Irregular torque etetion / Positioning variaility overflow etetion / Spee variaility overflow etetion / Memory hek-sum error etetion / Relay weling etetion / C power low-voltage etetion / Safety oor emergeny stop / Dynami raking / Overloa etetion / Motor spee error etetion / CPU error etetion Overheating etetion / Fan error etetion / Over-voltage etetion / Temperature error etetion For SCR root*2 : 9. kg (Base unit without option) For Six-axis root : 1.5 kg (Base unit + ProSix Driver Unit) Option unit : 1. kg (Inase of installing 2 option oars) EPSON RC+ 7.(a multi-tasking root language) Up to 4 joints simultaneous ontrol Software C servo ontrol Input : 24 Output : 16 Input : 24 per oar Output : 16 per oar" 1 hannel/oar PROFIBUS-DP DevieNet CC-Link EtherNet/IP PROFINET Numer of Controlling axis 4h per oar 1 unit Maximum Ojet Size : MB Point ata area : 1 points (per file) Bakup variale area : Max. 4 KB (Inlues the memory area for the management tale.) pprox. 4 variales (Depens on the size of array variales.) 1 hannel 1 hannel ition of 2 oars allowe ition of 2 oars allowe ition of 1 oar allowe ition of 2 oars allowe 7.5 kg Inluing inputs, outputs with remote funtion assigne ssignment hange allowe SCR roots 6-axis roots Root ontrollers Software System options *1: Weight is insrie on ontroller. Exerise aution when lifting; hek weight an get aitional manpower if neee. Keep fingers an toes lear when moving or repositioning. *2:Inluing RS series. 42

40 EPSON RC+ program evelopment software EPSON RC+ software makes it easy to evelop ontrol programs for setup, operation, an regular maintenane. With an easy-to-unerstan graphi user interfae, it helps you ahieve maximum proutivity with minimum programming overhea. SPEL+ language support Epson inustrial roots use an easy-to-learn programming language that makes it simple to set up omplex, multitask workflows. Epson RC+5. Epson RC+6. Epson RC+7. omman Multitasking funtion Pallet Pallet With Epson's programming language, even omplex Hanling weight & inertia Weight, Inertia multitask proesses an e automate with ease. Up to 32 High-spee ontinuous path auray Multitasking Positioning ompletion rh motion CP Xqt Fine rh iniviual tasks an e seamlessly exeute an ontrolle y a single program. 512-hannel input/output expanaility, Vision Guie mahine vision, an pulse generator ontrol of peripheral equipment an all e utilize to ahieve full proess automation. Parallel proessing!...! Singularity avoiane voisingularity Controller Example Remote ontrol expansion I/O Task 1 Effetor On-the-fly pikup Task 4 Vision Guie option Example program Funtion main Motor On: Motor power on Power High: Power moe high Spee 1: Spee 1% el 1, 1: eleration 1% Task 9 Task 1 Task Task 16 Workpiee feeer unit 1 Workpiee feeer unit 2 Workpiee offloa unit Waste removal unit Fen Easy alignment with palletize parts If parts are arrange in a square layout, spae at regular intervals, the PLLET omman an e use to quikly an preisely position the en effetor. If Sw(o) = On Then: Is the I/O (input it) on? Jump P : Move the effetor to point Else Jump P1 Move the effetor to point 1 EnIf Simply set points P1, P2, an P3 all other points are set automatially. High repeataility with varying payloas an effetor orientation One the operator has set workpiee an effetor weight, weight range, an effetor orientation, aeleration is automatially ajuste to reue resiual viration an ensure high repeataility. High-spee, high-preision, 3D ontinuous path ontrol ll Epson root systems offer the fast, preise, three-imensional ontinuous path (CP) ontrol neee for high-proutivity oating an sealant appliation proesses. vane linear interpolation, arh interpolation, an free urve motion enale preise effetor ontrol, an simple PSS ommans an e use to evae ostales within the workell spae. Programme paths an referene either a tool-entere ontrol point or an external ontrol point. Positioning ompletion time ontrol for maximum effiieny time limit an e set for the ompletion of effetor positioning to enale the next instrution to e exeute even if the target point has not een reahe. This allows you to maximize your yiel y prioritizing takt (yle) time over preision, or vie versa, aoring to the nature of the work to e one. Continuous path (CP) ontrol 43

41 3D jump with variale arh for ultra-preise short-istane movement EPSON SCR an ProSix roots all support JUMP omman movements in three-imensional spae, an the arh esrie y the approahing an eparting effetor an e set to suit the work environment. Deeleration/aeleration of the approahing or eparting hea an e regulate without interrupting operation, ensuring smooth, preise, short-istane motion that helps improve takt time an prout quality staility. a: Z-axis vertial asent (mm; eparting) : Z-axis vertial esent (mm; approahing) z: Horizontal travel (mm) Parallel proessing for higher spee an effiieny Parallel proessing enales you to ontrol peripheral evies while the root arm is in motion. Commans an e sent via RS-232C or any other supporte I/O interfae to ensure synhronize ontrol of multi-evie proesses for maximum throughput effiieny. Configuration singularity avoiane funtion Continuous path operations that ontain root arm onfiguration singularities an ause joint-spee overrun. If the arm approahes suh a onfiguration, the singularity avoiane funtion prevents overrun errors y maintaining joint spee until the arm has move past the point of singularity. Teahing Methos Remote Teahing Points are taught using the jog keys on the teahing unit to move the effetor to the target. This metho is espeially useful for operations that require very high preision eause the jog keys allow ajustment in units as small as the resolution of eah axis. Diret Teahing Points are taught y isengaging the motor of eah axis an Remote ontrol expansion I/O With the remote ontrol expansion I/O, there's no nee for prior program evelopment. SPEL+ ommans an e entere iretly, enaling personnel with no programming experiene to quikly assemle the ommans neee to ontrol root operation. On-the-fly pikup Workpiee pikup, alignment, an kitting an e arrie out on-the-fly without pausing root movement. Comine with an imaging system, it makes an ieal solution for high-spee alignment an hanling of ranomly arrange workpiees. 1 PTP motion CP motion * RC7 an RC6 ontrollers only. Operating spee an aeleration/eeleration settings Operating spee an aeleration/eeleration of the arm an e set in 1 steps. 2 Maximum point-to-point spee is set as a perentage relative to the maximum aeleration spee. sent an esent spees an also e set. For ontinuous path motion, maximum en effetor spee ranges up to 11mm/s, an maximum aeleration/eeleration spee ranges up to 5mm/s. moving the effetor to the target y han. (Diret teahing is not supporte y ProSix 6-axis roots.) MDI Teahing Points are taught y inputting preetermine oorinate values without moving the arm. CD-to-Point Teahing CD ata an also e use to set oorinate values for eah teahing point. 3 SCR roots 6-axis roots Root ontrollers Software System options 44

42 SPEL+ Simulator language support The EPSON RC+ software simulator isplays a 3D view of the workell, enaling you to thoroughly test programs an operating learanes to optimize the workell layout. Layout evaluation 3D simulation of atual operation enales you to optimize the workell layout an etermine neessary learanes efore rollout. Multi-effetor simulations are also possile. * Not supporte when using EPSON RC+5. or EPSON RC+6. Palette, han, an other CD ata an e inlue in simulations. Palette/han isplay from CD ata. Enlarge view of han. Reor & playak funtions Reoring & playak funtions make it easy to inlue still images an movies in presentations. Clearane heking Choosing the right root is easy eause you an hek all neessary workell an peripheral equipment Proutivity foreasting Takt times an e measure in avane an use to generate throughput an proutivity foreasts efore atual setup. Deugging funtion I/O ata exhange with virtual peripheral evies an e monitore to assist eugging. Deugge programs an e rolle out iretly to existing workell setups. Mahine vision simulation Mahine vision image proessing input an also e linke to setup simulations. * Not supporte when using EPSON RC+5. or EPSON RC+6. 45

43 Software options Epson's long experiene in the evelopment of inustrial roots an ontrol tehnologies enales us to offer a wie range of software options. Easy-to-use GUI simplifies amera an root oorinate aliration. Workpiee position an e etermine from root oorinates, eliminating the nee for omplex alulations. No programming require. Image proessing sequene an e set up via simple rag & rop operation an parameter entry. Image proessing operations an e exeute using root language ommans no transmission program is require. Controller Compat Vision (CV1) PC Vision (PV1) RC7 Compatile ontrollers Vision Guie the user-frienly way to ring workells online quikly Supporte peripherals CV1 PC (supplie separately) Vision Guie 5./6./7. software PV1 Root ontroller RC6 RC1 RC9 Compat Vision Root operation + image proessing program Two ameras an e supporte y eah unit, minimizing spae requirements. PC Vision Root ontroller PC is use for image proessing, so separate image proessing unit is not require. Up to eight ameras an e supporte. PC (supplie separately) Vision Guie 7. software Ethernetet CV1 PoE injetor PoE Ethernet swith USB Camera GigE amera Extension tues Extension tues Detetion tool options Parameter settings Camera lens Camera lens SCR roots 6-axis roots Root ontrollers Software System options 46

44 VB Guie 6. Compatile ontrollers VB Guie 5. Program an exeute root appliations in a familiar Winows OS environment Roots an e ontrolle using Visual Basi, Visual C, LaVIEW, an other thir-party programming languages. Root status an variale values an e apture. Thir-party Visual Basi interfae an ataase esign tools an also e use for program evelopment. The following EPSON RC+ winows an ialogs an e alle from within a Visual Basi appliation: Root Manager I/O Monitor Task Manager Maintenane Dialog Simulator (RC+PI 7.) Pressure Monitor (RC+PI 7.) RC+PI 7. asi system VB Guie 6. asi system VB Guie 5. asi system RC6 ontroller Personal omputer.net appliations that use SpelNet ommans EPSON RC+ 7. out-press server.net appliations ase on the SpelNetLi lirary.net appliations that use SpelNet ommans EPSON RC+ In-proess server EPSON RC+ 6. In-proess server RC1 ontroller or virtual ontroller RC7/RC9 ontroller or External ontrol point operation for preise virtual ontroller positioning without omplex alulations For proesses requiring the workpiee to e move against a fixe tool, external ontrol points an e Compatile ontrollers use to ensure preise positioning. ECP Up to external ontrol points an e set. External Control Point Part Outsie Fixe Tool 47

45 Compatile ontrollers Easily reate ustom interfaes for your ontrol programs Quikly an easily reate ontrol program ustom interfaes that an take the plae of eiate PLCs an isplay evies. Full-feature toolset is easy to unerstan an use. Enales simple GUI reation without using Visual Stuio or other thir-party software tools. Makes it easy to uil a graphial user interfae, even if you've never uilt one efore. Seurity Compatile ontrollers Compatile ontrollers Compatile ontrollers Restri user aess to programming funtions for greater safety an seurity Passwor-ase protetion levels an e set to restrit aess to some parts of the EPSON RC+ system. Helps prevent aiental or unauthorize alteration of ontrol programs when multiple operators nee to have aess to asi ontrols. * Stanar on RC7 an RC9 ontrollers. Fore-sensing Integrate fore-sensing tehnology for realtime fore ontrol llows you to easily integrate fore-sensing apaility into your ontrol programs.* Fore/torque values an e set for just one axis, or all six. Trigger values an e set to stop root motion when a speifi fore level is reahe. Up to two sensors an e mounte; ata from sensors an e share y multiple programs TI Inustrial utomation, In. fore/torque omponents must e purhase separately. OCR torque Optial harater reognition of text on parts an laels For use with optional Vision Guie software. Enales you to speify the font, font size, an numer of haraters of text that you want to rea from an image. fore G3 series root (gamma fore sensor sol separately) font reation funtion lets you reate SEMI fonts an user-efine fonts from image haraters or SCII onversion files*. * RC6 ontroller (Vision Guie 6.) require. SCR roots 6-axis roots Root ontrollers Software System options 4