Epson SCARA G3-251S
Contents
1. 2 M 4 depth 1 Flange for hand 45 0 mm 29 14 o rot oe Work envelope of the G10 65xS 4 90 conical hole Ho Detail of S Calibration point p 15 i a 30 position of joints 3 and 4 25 H7 i T 1 mm flat cut i 18 through hole t 7 39 5 va AEN iN Square wo A NUM SNN envelope D NE AN N Za aa be DPA X Uf S This and further information as well as CAD data are available at www epson de robots TECHNICAL DATA EPSON SCARA G20 Specifications DESIGN external oriented horizontal articulated arm PAYLOAD kg nom max 10 20 REACH horizontal J1 J2 mm 850 450 400 EPSON SCARA G20 85xS EPSON SCARA G20 A0xS vertical J3 mm 1 000 600 400 x 1 180 or 150 cleanroom and IP54 and IP65 x 4 420 or 390 cleanroom and IP54 and IP65 orientation J4 360 360 REPEATABILITY horizontal J1 J2 mm 0 025 mm 0 025 vertical J3 mm 0 010 mm 0 010 orientation J4 0 005 0 005 MOMENT OF kgm nom max kgm nom max INERTIA 0 05 0 45 0 05 0 45 USER WIRING electrical D sub 15 pin 9 pin pneumatic tubes 2 x 4mm und 2x 6mm SHAFT mm outside inside 25 H7 18 INSERTION FORCE N permanent 250 WEIGHT 48 floor kg 50 floor MOUNTING OPTION 48 ceiling kg 50 ceiling Kg 53 wall kg 55 wall CONTROLLER RC12. D ff Better Products for a Better Future EPSON SCARA G SERIES Epson 7 Industry Solutions Center Epson Deutschland GmbH Factory Automation Division Otto Hahn StraBe 4 40670 Meerbusch Epson America Inc Factory Automation Division 18300 Central Avenue Carson CA 90746 Epson Industry Solutions Center that s where we find your solution Expertise concentrated on 500 m In cooperation with our partners in our Meerbusch Industry Solutions Center we present solutions for the most diverse applications in industry The fields include large format printing retail solution and factory automation Factory automation See all Epson robots in action Our experts help you to set up simulate and optimise your automation application in a workshop cell The cell can be controlled and networked with all standard fieldbuses In addition we provide up to date peripheral equipment such as a Vision and Conveyor Tracking system You would like to arrange an appointment Call us at 49 2159 538 1800 or just e mail us at robot infos epson de a ESD e f Phone 49 2159 538 1800 Fax 49 2159 538 3170 E mail robot infos epson de www epson de robots Phone 15 62290 5910 Fax 15 62290 5999 E mail info robots epson com www robots epson com EPSON is a registered trademark of SEIKO EPSON Corporation All other product and company names used herein exclusively serve identification purp
3. More power in reduced space Economical Slim design and minimised weight lead to considerable savings in operating also in the long run costs Compared to previous models we have reduced our G series by The combination of maximum 10 in height for example Since the robots have no tubes and the user reliability a reduced number of wiring inside the design is particularly compact components and reusability of components results in a Larger work envelope high added value We have increased the working range of our SCARA kinematics by an average 23 The result is an work envelope which is equal to that of non Epson robots of the next bigger size Higher speed We have achieved an average increase in axis speed of 20 just the same as the payload Every kinematics has the highest position accuracy of its class 7 a na 10 igh efficiency optimised ratio of supplied energy and i payload D Height All Epson robots stand out for a particularly low power consumption 20 o That way electric energy is converted into kinetic energy so as Axis speed o to achieve high efficiency and short cycle times 15 Ao Weight 23 Increased work I envelope 20 Increased payload THE GREEN WAY ENVIRONMENT AND SUSTAINABILITY Environmental protection has a long tradition at Epson and is an integral part of the company philosophy It is our aim to reduce the environmental impact of our products from the concept to re
4. 90 conical hole l EPSON SCARA G3 Front view mechanical stop Top view standard 2 M 5 depth 10 SJS Na Top view curved 116 0 mm 2 M 3 depth 8 i Flange for hand l 1 Detail of S Calibration point em position of joints 3 and 4 o ti fo 10 30 10 157 i 5 l 1 mm flat cut t 11 max through hole 16 H7 30 This and further information as well as CAD data are available at www epson de robots TECHNICAL aac DATA Specifications EPSON SCARA G6 65xS DESIGN external oriented horizontal articulated arm PAYLOAD kg nom max 3 6 REACH horizontal J1 J2 mm 450 200 250 mm 550 800 250 mm 650 400 250 vertical J3 x 1 180 or 150 cleanroom and IP54 and IP65 X 3 330 or 300 cleanroom and IP54 and IP65 orientation 4 360 REPEATABILITY horizontal J1 J2 mm 0 015 mm 0 015 mm 0 015 vertical J3 mm 0 010 mm 0 010 mm 0 010 orientation J4 0 005 0 005 0 005 MOMENT OF kgm nom max kgm nom max kgm nom max USER WIRING electrical D sub 15 pin 9 pin pneumatic tubes 2 x 4mm and 2x 6mm SHAFT mm outside inside 20 H7 14 INSERTION FORCE N permanent 150 WEIGHT 27 floor kg 27 floor kg 28 floor MOUNTING OPTION 27 ceiling kg 27 ceil
5. SCARA G1 171S EPSON SCARA G1 221S EPSON SCARA G1 171SZ EPSON SCARA G1 221SZ Specifications DESIGN PAYLOAD kg nom max 0 5 1 REACH horizontal J1 J2 mm 175 75 100 vertical J3 orientation J4 mm 100 or 80 cleanroom 360 REPEATABILITY horizontal J1 J2 vertical J3 orientation J4 mm 0 005 mm 0 01 0 01 4 axes external oriented horizontal articulated arm 3 axes external oriented horizontal articulated arm kg nom max 0 5 1 5 mm 225 125 100 mm 175 75 100 mm 225 125 100 mm 100 or 80 cleanroom mm 100 or 80 cleanroom mm 100 or 80 cleanroom 360 mm 0 008 mm 0 005 mm 0 008 mm 0 01 mm 0 01 mm 0 01 0 01 MOMENT OF kgm nom max kgm nom max INERTIA 0 0003 0 004 0 0003 0 004 USER WIRING electrical D sub 15 pin 9 pin pneumatic tubes 1 x 4 mm and 2x O 6 mm SHAFT mm 8 H7 INSERTION FORCE N permanent 50 WEIGHT kg 8 CONTROLLER RC180 RC620 RC620 MANIPULATOR MODEL AVAILABLE OPTIONS Scope of delivery e Epson robot and controller e 1 Epson RC program CD including Simulator e 2 sets of mounting brackets for the robot controller RC180 70 g grease for shaft 1 set 3 m motor and signal cable 1 emergency stop connector 1 connector for standard O 1 set connectors for user wiring 1 back up disc for the robot controller RC180 1 USB programming cable RC180 Manuals on CD 1
6. its open Windows based system design the controller offers unlimited possibilities and allows easy operation The RC620 supports Conveyor Tracking as well as most diverse bus protocols and interface expansions For even higher demands of system resources such as fieldbus masters or the integration of external dll files there is the Epson RC620 It features a higher performance processor and an even greater memory expansion For robots with eye contact The powerful integrated vision systems reliably detect and position parts even in case of manufacturing deviations part changes or varying light conditions Epson Machine Vision That is perfectly matching hardware and software A ie r I r LS ST PSST iit r 7 o Epson RC180 Epson RC620 The slave controller compact smart The master for several kinematics and and powerful complex installation control EPSON SCARA G SERIES Epson Vision Epson Vision allows high speed communication between robot and Machine Vision Bar codes are identified and so are characters and icons even if backgrounds are changing or clock rates are high TP1 Monitoring operation and parametrisation with the portable TP1 Teach Pendant OP1 OP1 Operator Pendant for operation and visualisation tasks even in complex installations Epson brochure about controllers available as PDF at www epson de robots TECHNICAL DATA EPSON SCARA G1 EPSON
7. of the SPIDER a unique SCARA robot with 450 work envelope EPSON ROBOT SYSTEMS TO SPEED UP YOUR PRODUCTION RUN Our robots palletise saw mill drill grind mount move and assemble They work precisely and at breathtaking speed in these and many other applications often up to 24 hours a day As one of the pioneers in robotics we know exactly what the main feature of the combination of kinematics and in telligent control must be apart from speed and precision Reliability That is because the standstill of an installation resulting in a loss of production is expensive very expensive Therefore to us innovation means more than just up to date robot technology Every day our development engineers strive to make our robot systems even more economical flexible and reliable under all conditions Integrated automation We offer you a flexibly expandable range of products with different integrated components Among these are a great number of SCARA robots and 6 axis robots for diverse applications as well as controllers and software Everything engages perfectly and is easy to operate SERVICE AND SUPPORT Our service and support program helps you to tap the full potential of your Epson robot systems Feasibility studies Instead of theoretical simulations we offer cycle time tests with real robots There are many ways in which you benefit from those stud ies Prior to your investment you are provided with optima
8. since we started we have been continuously further developing the SCARA technology and have realised milestones such as ball screw splines brush less motors with absolute encoder Smart Motion Control and much more Today Epson has the most comprehensive SCARA robot product range worldwide offering more than 200 variants Different arm lengths payloads EPSON SCARA G SERIES Good better Epson With Epson you can be sure We develop SCARA robots in our in house research centres and produce them in our quality certified manufacturing facilities The result SCARAs that work with perfect precision and reliability convince through short cycle times and are incredibly user friendly Ioe L ea Ess es 7 os ee T m e E T E e l wns SSO ne sb f S i j A 5 y JE a E K 2 a a iz G10 651S G10 851S G20 851S G20 A01S Different shaft lengths Z stroke Z100 Z stroke Z150 Z stroke Z180 Z stroke Z330 T er RS a Z stroke Z420 COMPACT FAST PRECISE AND EXTREMELY VERSATILE There are more than 200 SCARA variants arm lengths ranging from 175 mm to 1 000 mm payloads ranging from 1 kg to 20 kg and different mounting options The robots are available in different protection classes or as cleanroom versions we are absolutely certain that we can offer you just the right SCARA robot for your application Robust design The reduced number of assemblies a
9. 80 RC620 RC620 MANIPULATOR MODEL AVAILABLE OPTIONS mounting option floor wall ceiling cleanroom ISO3 amp ESD IP protection class standard IP54 IP65 longer cables 5m 10m 20m tool adaptor for floor and ceiling mounting cable outlet directly below or above the base power signal cable and user wiring external wiring unit bellows x shaft length x 1 180mm x 4 420mm Scope of delivery Epson robot and controller 1 Epson RC program CD including Simulator 2 sets of mounting brackets for the robot controller RC180 70 g grease for shaft 1 set 3 m motor and signal cable 1 emergency stop connector 1 connector for standard O 1 set connectors for user wiring 1 back up disc for the robot controller RC180 1 USB programming cable RC180 Manuals on CD 1 installation safety manual Manipulator options Longer motor and signal cables 5m 10m 20 m Tool adaptor for easy mounting of end effectors to shaft e External wiring unit The external empty conduit allows the clean feeding of further user media very near to the corresponding end effector recommended e g for fluid lines e Downward cable Serves as an outlet for motor and signal lines through a hole in the mounting plate directly below the manipulator so that robot cables are not visible in the robot cell recommended e g for cleanroom applications e Bellows option 2 pieces bellows for mounting on shaft Protects spline and environment from dir
10. EPSON SCARA G SERIES OUR SC POINT F R NI STE ABOUT EPSON EPSON SCARA G SERIES About Epson Introduction and overview 1K010 0101000 ance 110 The advantages of SCARA robots Name syntax and table G series Epson SCARA G1 and G3 Epson SCARA G6 G10 and G20 Typical applications Epson RC Simulator Design of Epson SCARA robots Connections Epson Smart Motion Controller and Machine Vision Technical data Epson G1 Technical data Epson G3 Technical data Epson G6 Technical data Epson G10 Technical data Epson G20 Resource conservation Environmental performance Coko cli o gt an 10 11 12 13 14 ke 16 18 20 22 24 26 2 Epson a subsidiary of Seiko Cor poration launched the first robots in the 1980ies Those were used for precise and fast assembly of Seiko watches Soon Epson industrial robots and controllers started to conquer markets all over the world Today Epson Factory Automation is one of the leading companies pro ducing high quality robot systems with branches on all five continents e In house Research and Develop ment department for automation processes e 1982 first freely available Epson SCARA robot in Japan e 1986 world s first class 1 clean room robot e One of the world s most compre hensive SCARA model ranges e 1997 first PC based controller e 2008 inventor of the G3 with righty or lefty arm orientation e 2009 inventor
11. EPSON SCARA G10 85xS DESIGN external oriented horizontal articulated arm PAYLOAD kg nom max 5 10 REACH horizontal J1 J2 mm 650 250 400 mm 850 450 400 vertical J3 x 1 180 or 150 cleanroom and IP54 and IP65 x 4 420 or 390 cleanroom and IP54 and IP65 orientation J4 360 360 REPEATABILITY horizontal J1 J2 mm 0 025 mm 0 025 vertical J3 mm 0 010 mm 0 010 orientation J4 0 005 0 005 MOMENT OF kgm nom max kgm nom max INERTIA 0 02 0 25 0 02 0 25 USER WIRING electrical D sub 15 pin 9 pin pneumatic tubes 2 x 4mm and 2x 6mm SHAFT mm outside inside 25 H7 18 INSERTION FORCE N permanent 250 WEIGHT 46 floor kg 48 floor MOUNTING OPTION 46 ceiling kg 48 ceiling Kg 51 wall kg 53 wall CONTROLLER RC180 RC620 RC620 MANIPULATOR MODEL AVAILABLE OPTIONS mounting option floor wall ceiling cleanroom ISO3 amp ESD IP protection class standard IP54 IP65 longer cables 5m 10m 20m tool adaptor for floor and ceiling mounting cable outlet directly below or above the base power signal cable and user wiring external wiring unit bellows x shaft length x 1 180mm x 4 420mm Scope of delivery Epson robot and controller 1 Epson RC program CD including Simulator 2 sets of mounting brackets for the robot controller RC180 70 g grease for shaft 1 set 3 m motor and signal cable 1 emergency stop connector 1 connect
12. Motion Smart Motion is the revolutionary motor management by Epson used in all Epson robot systems At low vibration Epson robots reach the end position much faster and much more precisely Optimum positioning short cycle times and increased path accuracy be on the economical side with Smart Motion Position Target position Time Common robot reaches target position Epson robot reaches target position Epson robot Common robot End position controller As a result of overshooting common motor controllers lead to increased deviations The result imprecise positioning poor interpolation and longer process times Epson Smart Motion however minimises overshooting Epson robots are more precise and product conserving and get to the point faster even if cycle times are extreme FLEXIBLE CONTROLLER CONCEPT A central controller or compact slave controller Epson SCARA G series robots can be perfectly controlled by means of Epson controllers and can be smoothly integrated into your production processes Epson RC180 the most compact most lightweight and fastest controller of its performance class on the market With its compact dimensions the Epson RC180 is incredibly small The controller is mainly intended to work as a stand alone slave Epson RC620 the powerful master controller for up to 20 axes This controller has it all under control robots conveyors and many other peripherals Due to
13. ckets for the robot controller RC180 70 g grease for shaft 1 set 3 m motor and signal cable 1 emergency stop connector 1 connector for standard O 1 set connectors for user wiring 1 back up disc for the robot controller RC180 1 USB programming cable RC180 Manuals on CD 1 installation safety manual mounting option floor multi mount longer cables 5m 10m 20m tool adaptor bellows Manipulator options e Longer motor and signal cables 5m 10m 20m e Tool adaptor for easy mounting of end effectors to shaft e Bellows option 2 pieces bellows for mounting on shaft Protects spline and environment from dirt Dimensions of the Epson SCARA G3 A mm 120 mm 170 mm 220 B mm 545 max mm 575 max mm 595 max Work envelope of the Epson SCARA G3 63 2518 G3 301S G3 351S G3 301S L G3 301S R G3 351S L G3 351S R G3 351S L i 20 2 WR ie 15 c mm 104 8 mm 142 3 mm 120 7 mm 120 7 mm 191 6 mm 191 6 ct mmm 86 8 mm 86 8 mm 100 3 mm 100 3 f p78 rem 86 2 on 1842 rm 798 fr 7055 rm 67 emmy 97 ao o o mmea ne2 mes em 183 a Length of arm 1 b Length of arm 2 c c1 Work envelope d d1 Work envelope of axis 1 e e1 Work envelope of axis 2 f f1 Area of the mechanical stop m m Work envelope of the G3 351S F N ch ISS a ee LL Square envelope aP o 3
14. cycling from the choice of materials and components to transport to reuse Saving energy and costs Energy is money and a real economic factor Therefore we consistently strive to develop particularly reliable failsafe products which consume less and less energy Since 1995 Epson has implemented an environmental management system based on a holistic approach Environmental Vision 2050 our goals With our Environmental Vision 2050 we set an example One of our main intentions is to reduce our CO emissions during the complete life cycle of a product by 90 by 2050 Moreover we are going to introduce reuse and recycling for all of our products and are engaged in protecting biodiversity Sustainable and environmentally friendly Within the framework of our sustainability initiative we have committed ourselves to high ethical and ecological standards The annual Epson Sustainability Report documents how we ensure and continuously improve the good environmental performance of our products and production processes Life cycle assessment Since the year 2000 we have been registering the environmental impact of individual items of our manu facturing program Life cycle assess ment gives information about how much raw material and energy a product consumes within the course of its production use and disposal and what emissions are generated Download the Sustainability Report at http global epson com sr report
15. d Epson vision system handle these tasks also at high clock rates The PC based Epson RC620 master controller allows use with other software and hardware for measuring and checking Moreover the master controller can be easily combined with pattern recognition systems or force torque sensors from other manufacturers If the product deviates from the tolerance values with respect to the predefined parameters it is detected as faulty at an early stage and safely sorted out SO THAT YOU KNOW BEFOREHAND WHAT YOU WILL NEED LATER Trial amp error why not Before using an Epson SCARA robot in your application you can try compare and visualise sequences at no risk Not only in the design phase but also during integration and operation does the free Epson RC Simu lator help you save time and money The design phase easy planning and cost reduction Already during the design phase you can accurately plan your robot cell quickly and easily and reliably estimate the cycle time for your application This way feasibility is proven before a single part of the installation is manufactured You can also prepare for later installation expansions in the simulation so that the installation must only be shut down when it cannot be avoided The integration phase reducing integration times avoiding damage Prior to the robot delivery an offline program validation is carried out Programs can be created parallelly and even compl
16. ety manual shaft Protects spline and environment from dirt Dimensions of the Epson SCARA G6 G6 65xS Ss mm mm 400 a mm 250 Z 0 to 270 mm 134 8 mm 161 2 mm 232 Z 270 to 330 mm 143 5 ooo e e se Z 0 to 270 147 5 147 5 147 5 itm t24 4 mm 133 8 mm 207 5 In Z area 0 to 270 mm the area is limited by the collision area of manipulator body and arm a Length of arm 1 b Length of arm 2 c Work envelope d Work envelope of axis 1 e Work envelope of axis 2 f Area of the mechanical stop Work envelope of the G6 55xS Square envelope Front view 12 2 _ 14 1 8 38 D 235 5 mm 391 0 mm 4 2 316 5mm 305 0 C 20 0 l o T mechanical stop Space for cables Top view standard 2 M 5 depth 10 52 0 250 0 mm A 165 5 Q 3 o 150 0 124 0 mm Cea es FE 90 0 180 0 O 5 160 E 1044415 2 M 4 depth 11 4 11 15 150 15 Flange for hand Bi 41 8 mm is _26 14 4 I 12 2 4 90 conical hole e e10 Detail of S Calibration point 5 l R 30 position of joints 3 and 4 e o 1 mm flat cut 14 through hole 20 H7 40 This and further information as well as CAD data are available at www epson de robots TECHNICAL DATA EPSON SCARA G10 Specifications
17. ex motion sequences can be visualised and evaluated This serves to detect risks of collision and avoid damage to the equipment The operation and maintenance phase reduction of downtimes Troubleshooting and program modifications can be comfortably carried out from your office Collision detection reachability checks and robot motion are visualised in 3 D NS amp L gt nm 3 in o 8 8 2 Ps 3 ot Q gt gt E FRPR i The Epson RC development environment powerful efficient intuitive With its intuitive Windows operator interface the open structure and integrated Machine Vision the powerful Epson RC project man agement and development environ ment is ideal for the uncomplicated programming of your applications Now we have also added a graphi cal 3 D environment to allow you to almost entirely simulate the robot program and obtain visualised robot motion SCARA 6 axis or the Epson SPIDER all of these robots as well as different motion sequences can be imaged with the Epson RC Simulator THE EPSON CONCEPT TO TAKE IT ONE STEP FURTHER As a SCARA specialist we aim to permanently optimise every detail of our robot systems and to reach those aims How do you benefit Unequalled repeatability Improved joining properties Higher insertion forces and speeds A space saving design with reduced interference contours We could just go on and on and on The E
18. first arm Thanks to this arm geometry especially developed by Epson the Epson G3 351 L G3 351 R is the only SCARA of that size on the market whose maximum rectangular work envelope covers an area larger than an ISO A4 sheet 52 900 mm Max square work envelope 37 600 mm Max square work envelope Om Work envelope for a standard arm Work envelope for a lefty optimised arm TE o ill ih Epson G1 Max payload 4 axis robot 1 kg 3 axis robot 1 5 kg Reach 175 225 mm Z stroke 100 mm Epson G3 Max payload 3 kg Reach 250 300 350 mm Z stroke 150 mm Maximum work envelope at minimum space requirement A comparison of the G3 351S with the lefty arm optimised G3 351 L shows that the maximum square work envelope can be increased by about 40 That is just the space productivity needed in modern automation EPSON SCARA G SERIES Epson SCARA G6 EPSON The new efficiency class The new G6 design allows for a large work envelope at very compact dimensions The robots can carry out tasks with an arm length of e g 550 mm when usually 600 mm would be required G6 are the ideal solution for applications with a focus on high speed at maximum precision such as is the case with the production of mechanical and electrical parts pick and place applications equipping with small parts dosing or feeding E A Epson G6 Max payload 6 kg Reach 450 550 650 mm Z stroke 180 330 mm Epso
19. i 175 ee ee eee larm 1 arm 2 wms S E o E E eS Se mm 850 oo EE mm 1 000 Z stroke with bellows mm 100 80 rs S e C D A e E pie 420 890 mm 420 390 Mounting option ee IP54 ISO3 ESD ISO3 ESD ISO3 ESD special design 3 3 axis L R lefty inverted inverted inverted righty arm optimised Multi mount One robot can be used for different mounting options without modifying the kinematics multi mount MM Design oO vVGlC Hw D F El G FOR GENIUS THE EPSON G SERIES Epson SCARA G1 Our mini compact power The solution for tasks in most confined spaces the Epson G1 developed as a micromanipulator transfer unit or high performance feeder for larger EPSON robots Designed for work where a thousandth of a millimetre matters such as for electronic manufacturing or precision mechanical work processes Ultralight due to its high strength aluminium design and at the same time compact and powerful Epson SCARA G3 It s all about the curve SCARA G3 are just the right choice for use in confined spaces as they are common in automated component manufacture since these robots despite their compact size cover a large work envelope However we did not stop there and have further developed the G3 based on the fact that a high percentage of all assembly work is performed in the same arm orientation Therefore Epson G3 are also available with a left curved or right curved
20. ing kg 28 ceiling Kg 29 wall kg 29 wall kg 29 5 wall CONTROLLER RC180 RC620 RC620 MANIPULATOR MODEL mounting option floor wall ceiling cleanroom ISO3 amp ESD IP protection class standard IP54 IP65 AVAILABLE OPTIONS longer cables 5m 10m 20m tool adaptor for floor and ceiling mounting cable outlet directly below or above the base power signal cable and user wiring external wiring unit bellows x shaft length x 1 180mm x 3 330mm Scope of delivery Manipulator options Epson robot and controller e Longer motor and signal cables 5m 10m 20m 1 Epson RC program CD e Tool adaptor for easy mounting of end effectors including Simulator to shaft e 2 sets of mounting brackets for the e External wiring unit The external empty conduit robot controller RC180 allows the clean feeding of further user media very e 70g grease for shaft near to the corresponding end effector recommended e 1 set 3m motor and signal cable e g for fluid lines e 1 emergency stop connector e Downward cable Serves as an outlet for motor and e 1 connector for standard I O signal lines through a hole in the mounting plate e 1 set connectors for user wiring directly below the manipulator so that robot cables e 1 back up disc for the robot controller RC1 80 are not visible in the robot cell recommended e g e 1 USB programming cable RC180 for cleanroom applications e Manuals on CD e Bellows option 2 pieces bellows for mounting on e 1 installation saf
21. installation safety manual mounting option floor cleanroom ISO3 amp ESD longer cables 5m 10m 20m bellows Manipulator options e Longer motor and signal cables 5m 10m 20m e Bellows option 1 piece bellows for mounting on shaft Protects spline and environment from dirt Dimensions of the Epson SCARA G1 G1 2218 G1 171SZ G1 221SZ 4 axes 4 axes 3 axes 3 axes external oriented horizontal articulated arm mm 75 mm 515 max mm 125 mm 545 max mm 75 mm 515 max mm 545 max Work envelope of the Epson SCARA G1 G1 171S G1 2218 G1 171SZ G1 221SZ 4 axes 4 axes 3 axes 3 axes external oriented horizontal articulated arm fn 28 b a mm 100 c mm 89 2 d 125 f mm 60 4 mm 82 2 a Length of arm 1 b Length of arm 2 c Work envelope d Work envelope of axis 1 e Work envelope of axis 2 f Area of the mechanical stop Work envelope of the G1 171S Square work envelope Front view i B i 200 8 mm 180 8 mm l l IJ I 2 5 15 100 0 104 159 5 mm 6 0 4 10 35 d indicates the stroke margin on 175 0mm gt 90 by mechanical stop 41 5 Space for cables Top view standard 1 mm flat cut 8 H7 shaft diameter 16 diameter mechanical stop Detail of S Calibrat
22. ion point position of joints 3 and 4 This and further information as well as CAD data are available at www epson de robots TECHNICAL DATA EPSON SCARA G3 Specifications EPSON SCARA G3 251S EPSON SCARA G3 301S EPSON SCARA G3 351S EPSON SCARA G3 301S L EPSON SCARA G3 351S L EPSON SCARA G3 351S R EPSON SCARA G3 301S R DESIGN external oriented horizontal articulated arm PAYLOAD kg nom max 1 3 REACH horizontal J1 J2 mm 250 120 130 vertical J3 orientation J4 mm 150 or 120 cleanroom 360 REPEATABILITY horizontal J1 J2 vertical J3 orientation J4 mm 0 008 mm 0 010 0 005 mm 300 170 130 mm 150 or 120 cleanroom 360 mm 0 010 mm 0 010 0 005 mm 350 220 130 mm 150 or 120 cleanroom 360 mm 0 010 mm 0 010 0 005 kgm nom max kgm nom max 0 005 0 05 0 005 0 05 MOMENT OF kgm nom max INERTIA 0 005 0 05 USER WIRING electrical D sub 15 pin pneumatic tubes 1 x 4mm and 2x 6 mm SHAFT mm outside inside 16 H7 11 INSERTION FORCE N permanent 150 WEIGHT Kg 14 CONTROLLER RC180 RC620 RC620 MANIPULATOR MODEL mounting option floor cleanroom ISO3 amp ESD AVAILABLE OPTIONS Scope of delivery e Epson robot and controller e 1 Epson RC program CD including Simulator e 2 sets of mounting bra
23. l robot configu ration and installation site as well as precise cycle times That is how you get maximum planning and project security Pre sales support How can a robot system be effi ciently integrated into an installation How can cycle times be optimised How can the robot program be inte grated into external software Our application engineers advise you during planning as well as during implementation Training Whether you need introductory seminars or programming mainte nance or operator trainings our experts share their knowledge with you and your employees After sales support Hotline service repair service on site inspection and individual maintenance concepts as well as spare part packages tailored to your needs are only some examples of how we do everything to have your production running non stop Central spare part stocking All spare parts are rapidly delivered from our central warehouse in Meerbusch Germany WE ARE SCARA SCARA Selective Compliance Assembly Robot Arm robots also referred to as horizontal articulated arm robots are a Success story of automation With four degrees of freedom they can freely position and join a payload with every possible horizontal orientation They are relatively easy to set up and work particularly precisely and reliably In the beginning was Epson The SCARA principle simply reliable In a study Professor Hiroshi Makino from Yamanashi The desig
24. n SCARA G10 Fast and strong Ultrafast speed and higher payload A combination that Epson G10 can perfectly handle due to the high arm rigidity G10 are fast in every sense of the word for assembly and configuration as well as for handling with multi grippers They use all their advantages particularly in applications such as the assembly of heavy parts packaging and palletising as well as loading and unloading Since there are no tubes the design is very compact Epson G10 Max payload 10 kg Reach 650 850 mm Z stroke 180 420 mm Epson SCARA G20 Long arm with high strength Manipulators of the G20 series are suitable for high payloads such as heavy parts or packaging units up to 20 kg Since the arm of the G20 is 1 000 mm or 850 mm long the work envelope is large Due to the high moment of inertia of the U joint heavy loads can be handled fast and reliably without any vibration of the robot arm as is the case for many competition models with a similar arm length Epson G20 Max payload 20 kg Reach 850 1 000 mm Z stroke 180 420 mm SOLUTIONS WITH SYSTEM AND FUTURE Epson SCARA robots prove their strong performance and unparalleled reliability in diverse applications Loading and unloading machines Expectations are high With high point accuracy the robot must still move at high speed to achieve the required installation throughput During loading and unloading the work pieces are defined o
25. n of SCARA robots is similar to a human arm University in Tokyo found that the majority of joining since they have an articulated arm which can only swing processes in production are vertical processes executed horizontally Usually they have four freely programmable from above that was when the SCARA was born axes allowing handling in plane parallel surfaces The The Seiko Epson company immediately took on that shaft serves to install tools and can rotate independently method and developed a robot type for in house from its vertical motion to freely orientate the product production That was even before that kinematics was within the work envelope Thanks to their design brought on the market as the first freely available SCARA SCARAs feature high vertical rigidity in 1982 Adapt your installation to the robot Why not just choose the Epson robot you need Different arm lengths payloads T gt I as T a ate EPSOM ERS W ora 2 T n e e Ey Sree f P ee t O m rA 7 a eh ak aa cf A G1 171S G1 221S G3 251S G3 301S G3 351S G6 451S G6 551S G6 651S Different protection classes Mounting options d A at s n Yat in l i TE f a EFO EPSON EPH EPON k s EPa E Ee ik Sa i y a 4 4 IP20 G6 451S IP54 G6 451D IP65 G6 451P 1SO3 ESD G6 451C Floor G6 451S Wall G6 451SW Ceiling G6 451SR Experience expertise inventiveness or put more simply the specialists Ever
26. n pallets work Carriers or conveyors or they are fed to the installation as bulk material with subsequent separation and passed on after the process Epson SCARAs carry out these tasks precisely and reliably in pace with the machine cycle Assembling and equipping Manual activities during assembling and equipping are inefficient as well as error prone Apart from that the human arm is naturally limited in its range of motion Thanks to the optimised ratio of arm 1 and arm 2 Epson SCARAs on the contrary have maximum free dom of movement and are able to precisely assemble even the smallest parts Due to their excellent dynamics high insertion forces and rigidities as well as the good deadload payload ratio Epson robots are perfectly suitable for assembly and equipping tasks even for small batch sizes Packaging and palletising Modern packagings require a high degree of flexibility of the packaging lines That is because ever shorter product change times as well as a high process reliability must be ensured Epson robots package and palletise even highly sensitive parts With Conveyor Tracking the robots can also be used for picking up parts from moving conveyors or placing them there In that process objects are detected by a camera or sensor Testing measuring and checking Quality checks measurements test runs prior to series production precise detection is most important here Epson SCARA robots with the integrate
27. or for standard O 1 set connectors for user wiring 1 back up disc for the robot controller RC180 1 USB programming cable RC180 Manuals on CD 1 installation safety manual Manipulator options Longer motor and signal cables 5m 10m 20 m Tool adaptor for easy mounting of end effectors to shaft e External wiring unit The external empty conduit allows the clean feeding of further user media very near to the corresponding end effector recommended e g for fluid lines e Downward cable Serves as an outlet for motor and signal lines through a hole in the mounting plate directly below the manipulator so that robot cables are not visible in the robot cell recommended e g for cleanroom applications e Bellows option 2 pieces bellows for mounting on shaft Protects spline and environment from dirt EPSON SCARA G10 5 39 5 Dimensions of the Epson SCARA G10 10 65xS G10 85xS G10 XX1S___ 10 XX4S Front view A Cc 286 0 mm B mm 420 C mm 1 053 5 D mm 26 5 Work envelope of the Epson SCARA G10 G10 65xS G10 85xS mechanical stop a mm 250 mm 450 Space for cables b a mm 400 mm 400 c mm 212 4 mm 207 8 d 152 Top view standard e o2 SERIE f mm 199 4 mm 183 3 eee a Length of arm 1 b Length of arm 2 c Work envelope 158 0 mm d Work envelope of axis 1 e Work envelope of axis 2 f Area of the mechanical stop
28. oses and can be trademarks or registered trademarks of the corresponding rights holders All specifications can be changed without notice SS F Seiko Epson Corp 1010 Fujimi Fujimi machi Suwa gun 399 0295 Nagano ken Epson China Co Ltd SHENZHEN BRANCH 12 F Dawning Mansion Keji South 12th Road Hi tech Park Shenzhen Phone 81 2666 11804 Fax 81 2666 11846 E mail eosonro exepson co jp www epson jp fa e Phone 86 755 2699 3828 Fax 86 755 2699 3838 EPSON Printed on LumiArt 150 g qm wood free paper
29. position EPSON SCARA G SERIES Connections on the Epson SCARA G1 Signal cable Motor function indicator lamp a Connection for user wiring gt 1x 9 pin D sub connector _ a 1x 15 pin D sub connector ue y Power cable Brake release button 7 i 1 5 a Ti Ae ya Three connections for compressed air mpa supply 1x 4 mm and 2x 6 mm Connections on the Epson SCARA G3 Exhaust port for cleanroom models l Motor function Connection for user wiring dicator lamp 1x 15 pin D sub connector Power cable Brake release button Three connections for compressed air supply 1x 4 mm and 2x 6 mm Signal cable Connection for user wiring 1x 9 pin D sub connector 1x 15 pin D sub connector Signal cable Brake release button Power cable Motor function indicator lamp Four connections for compressed air supply 2x 4 mm and 2x 6 mm BECAUSE QUALITY IS THE BEST RECIPE Just like all other Epson robot systems robots of the The economical and future Epson SCARA G series also feature a great number Oriented complete solution N _ All main components are Epson of advantages High quality components ensure lon B E ey etetievelop cin Gur on reliability starting from well established design our quality certified manufacturing principles to easy accessibility of all components facilities Hardware and software match perfectly We get to the point fast Smart
30. pson SCARA perfect design with many advantages Status light to indicate the operating state of the motors High precision ball screw spline with optimised spline pitch E User wiring 4 air vacuum lines 24 signal points wear resistant m high availability 7 a EE Cable unit inside space saving less interference contours reduced mechanical sensitivity improved ESD shield Absolute shaft encoders on all axes 21 bit resolution on one motor rotation excellent repeatability outstanding interpolation precise speed control EPSON Monocoque profile 2 5 times as rigid as common cast aluminium arms higher insertion forces TE r z optimised joining properties I P numee b no a friteb Different shaft lengths for different applications Shiftable stops for individual mechanical reduction of the work envelope e ___ Low vibration base product conserving Harmonic Drive gear unit backlash free low maintenance optimised joining properties improved repeatability and accuracy Optional Vertical power signal cable outlet directly below the base compact clean and safe in cleanrooms safe in dirty environments IP65 applications improved repeatability and accuracy optimised joining properties Compact space saving mounting base Fitting holes for improved reproducibility 4 e of the robot
31. s well as the integrated feed through allow reliable operation without expensive maintenance work Small interference contours reduce the risk of collision which is particularly important if there are several robots working together in most confined spaces High arm rigidities make the Epson SCARA insensitive to high insertion forces Your advantages with Epson SCARA robots Fast thanks to Smart Motion technology Optimal repeatability and accuracy Outstanding joining properties Self supporting design allows direct teaching High availability Particularly low maintenance High point accuracy Low vibration High insertion forces due to high arm rigidity Space saving thanks to compact design Different payloads and reaches for different applications Low deadload easy integration and high dynamics HL Jn G6 551S EPSON SCARA G SERIES How to decode the G series names There is a lot of information already in the designations of the G series We give you an example to show you how to read the names G6 553 SW i7 Example 22 Payload up to 6 kg Name syntax 25 3 550 mm arm length 30 L 330 mm shaft length 1 35 R standard design 45 1 D wall mounting G 6 59 3 S W G6 553SW 10 65 P R 20 85 C AO Max Arm length Length Mounting Special Series payload arm 1 2 Z stroke Design option design Configuration of the Epson SCARA G series Payload nom max 0 5 1 5 kg 1 3 kg 3 6 kg 5 10 kg 10 20 kg Reach L
32. t EPSON SCARA G20 5i 39 5 Dimensions of the Epson SCARA G20 A 286 0 mm B mm 420 C mm 1 053 5 F D mm 26 5 485 5 mm Work envelope of the Epson SCARA G20 mechanical stop a mm 450 mm 600 Space for cables b mm 400 mm 400 c mm 207 8 mm 307 d 152 Top view standard e S2 52455 f mm 183 3 mm 285 4 2 M 8 depth 16 a Length of arm 1 D b Length of arm 2 eta 7 200 0 c Work envelope penny b 110 0 240 0 d Work envelope of axis 1 e Work envelope of axis 2 49 f Area of the mechanical stop 2 M 4 depth 12 20 Flange for hand e 45 0 mm SS 29 po E3 14 t Work envelope of the G20 85xS 5 Detail of S Calibration point 4 90 conical hole position of joints 3 and 4 o 10 30 15 10 1 mm flat cut 18 through hole 25 H7 t 39 5 Square envelope Si pa lt T W pews This and further information as well as CAD data are available at www epson de robots EFFICIENTLY USING RESOURCES Reduced mass but increased power Optimised efficiency Compact design but a larger work envelope We always consider the next step It is not all about the initial investment but also about the operating and follow up costs of our robots in your application Our aim to be efficient in every way
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