Epson
Robots
G-Series
The Epson G-series SCARA :
Greater performance – higher productivity
Epson
Robots
G-Series
2 | Epson Robots G-Series
The Epson G-series SCARA :
Greater performance – higher productivity
With the G-series, Epson introduces their latest SCARA generation to the market.
At present, the complete range comprises of 168 versions with reaches of between 450 to 1,000 millimetres and a load capacity of up to 20 kg. Equipped with
the Epson Smart-Motion Technology, the G-Scaras work much faster than their
predecessors, offering signicantly enlarged working range. All this is topped up
with the usual high precision and reliability.
The working range of the G-series
is 23 % larger.
Next to a considerable improvement in the
Z axis speed, the range of movement has
also been increased again. The speed and
the load capacity of the G-series robots
has been increased by 20 to 100 percent
compared to previous models. Thanks to
Epson E2S-551S
the improved motor management, they are
also able to carry out very fast operations
accurately with greater extensions.
All robot arms of the G-series are available
as standard, cleanroom class 10 / ISO 4
or IP54/65 congurations. Each model can
be selected between a pedestal, wall or
ceiling mount.
(1)
Together with the compact control system
RC180 and the image processing Smart
Epson G6-551S
Comparison of the working ranges
(1)
Class 10 according to US FED STD 209E (old), ISO 4 according to ISO 14644-1.
Vision, the G-series provides great
performance and high ease of use.
Epson Robots G-Series | 3
Name syntax
G
6
10
20
45
55
65
85
A0
1
3 or 4
D
DR
DW
S
SR
SW
P
PR
PW
C
CR
CW
= Example:
payload up to 6kg,
650mm reach,
320mm Z-axis,
Standard Wall mounting
= G6-653SW
G6-653SW
Category Reach
1. + 2. Arm
Z-axis
lenght
Version
IP65-Ver sion
G10-854P
G-Series
G6 G10 G20
G20-A04S
Payload (nom./max.) 3 / 6 kg 5 / 10 kg 10 / 20 kg
Reach 1. + 2. Arm
450 mm 45
550 mm 55
650 mm 65
850 mm 85
1.000 mm A0
Z-axis length (¹
180 mm 1
320 mm 3
420 mm 4
Versions
Standard S
Wall mount W
Celling mount R
Cleanroom/ESD C
IP54 P
IP65 P
1)
The usable Z-axis length is shortened by 30 mm for clean-room and IP54 / IP65 machines.
)
•
•
•
–
–
•
•
–
•
•
•
•
•
•
–
–
•
•
–
•
–
•
•
•
•
•
•
•
–
–
•
•
•
–
•
•
•
•
•
•
•
A1
C
A
B
A1
A2
A2
D
E
A3
F
A4
A4
H
G
H
G
I J
K
4 | Epson Robots G-Series
Pedestal mount
Celling mount
Wall mount
G6-553C
Epson Robots G-Series | 5
G6 - 45 x G6 - 55 x G6 - 65 x G10 - 65 x G10 - 85 x G20 - 85 x G20 - A0 x
Payload nom./max. (kg) 3/6 5/10 10/20
Reach (mm) 450 550 650 650 850 850 1,000
Repeat accuracy + / –
Axes 1+2 (mm)
Axis 3 (mm)
Axis 4 (°)
Max. Speed + / –
Axes 1+2 (mm / s)
Axis 3 (mm / s)
Axis 4 (° / s)
Moment of inertia
nom./max.
(kg m² )
6,440
± 0.015
± 0.010
± 0.005
7,170
1,100 / 2,350
2,400
0.01 / 0.12
7,900
± 0.025
± 0.010
± 0.005
8,900
1,100 / 2,350
2,400
0.02 / 0.25
11,000
11,000
± 0.025
± 0.010
± 0.005
1,100 / 2,350
1,700
0.05 / 0.45
Ø Z-Axis outer/inner (mm) 20/14 25/18 25/18
Insertion force
(1)
Z-Axis
(N)
Working area
A (mm)
B (mm)
C (mm)
A1 (°)
A2 (°)
Z-stroke
A3 (mm)
A4 (°)
150
502
450
134.8
± 152
± 142
for clean-room and IP54 / 65)
602
550
161.2
± 152
± 147.5
180 / 330 (150 / 300
702
650
232
± 152
± 147.5
705.5
650
212.4
± 152
± 152.5
180 / 420 (150 / 390
for clean-room and IP54 / 65)
± 360
250
± 360
905.5
850
207.8
± 152
± 151
250
905.5
850
207.8
± 152
± 151
180 / 420 (150 / 390
for clean-room and IP54 / 65)
1,055.5
1.000
307
± 152
± 152.5
± 360
11,500
Dimensions
D (mm)
E (mm)
F (mm)
G (mm)
H (hole centre distance) (mm)
309.5
299
684 / 834
180
150 x150
372
393.5
813.5 / 1,053.5
240
200 x 200
372
393.5
813.5 / 1,053.5
240
200 x 200
I (mm) 200 300 400 250 450 450 600
J (mm)
K (mm)
Weight
Pedestal mount (kg)
Ceiling mount (kg)
Wall mount (kg)
User cabling
Electrical
Pneumatic
Ambient conditions
Temperature
Humidity
Design of Manipulator
Mounting
Cleanroom & ESD
IP Protection class
27
27
29
250
4–Ø11
400
4–Ø16
27
27
29
28
28
29.5
46
46
51
24 wires ( 15 pin + 9 pin D-Sub)
4 (2x Ø 4mm und 2x Ø 6mm)
5 – 40°C
10 – 80%, non-condensing
Pedastal mount, Ceiling mount, Wall mount
Cleanroom class 10 respectively ISO 4
Standard / IP54 / IP65
48
48
53
400
4–Ø16
48
48
53
(2)
50
50
55
Security reference CE Declaration of Conformity, Safety Class 3
Controller Epson RC180
¹) Shorttime higher values are allowed. 2) Class 10 US FED STD 209E (old), ISO 4 ISO 14644-1.
6 | Epson Robots G-Series
Epson RC180 Robot control system
The Epson RC180 control system is small and compact featuring the diversity
and reliability that is typical for products originating from Epson.
The programming of the Epson RC180 control system is intuitive and powerful.
This is achieved by an external computer and programmes can therefore
be created comfortably from your desktop. Furthermore, the control system
offers full network capability – an ideal requirement for larger projects that are
administered by several developers. The programming environment is available
in German, English and French.
Epson Robots G-Series | 7
Scope of delivery G-Series / RC180 Controller
• 1x Manipulator
• Power cable 3m
• Signal cable 3m
• Emergency-Off plug
• Dummy connector for optional device connection
• Plug for standard I/O 50-pin Sub-D
• Epson RC+ 5.x CD
• Safety manual
• Manuals on CD:
– Controller system
– Manipulator
– Programming
– User Guide
Dimensions (WxDxH in mm) 302 x 170.5 x 275
CPU Intel Celeron, in stand-alone version
Memory 128 MB Flash RAM, 128 KB battery buffered SRAM
Programming enviroment Epson RC+
Program language Epson SPEL+
Program options VB-Guide, Epson Vision
Inputs /outputs 24 / 16, expandable up to 152 /144
Program Max. 4MB Code, corresponds to approx. 200 K program steps
Points Up to 1,000 points per point le
Interfaces 2x USB for connecting up a PC and USB stick,
Ethernet, 24/16 Standard I/O.
Optional available:
RS-232C, Fieldbus-Slave (Probus/CC-Link/Devicenet) Ethernet-IP, up to 152/144 I/O’s
upgradeable
Main connection 230/240 Volt , single phase
Consumption 1,300 VA, depending on the manipulator connected to it
Weight 7 kg
Ambient temperature 5 – 40 °C
Humidity 20 - 80%, non condensing
Epson Smart Vision
Great solutions at fair prices. Whenever compact, exible and cost effective
solutions are required for product recognition, quality assurance or other “visual”
tasks, the new vision system Epson Smart Vision for Epson RC180 controller
shows its strenghts.
The Epson Smart Vision convinces
through its simple operation, straightforward installation. Thanks to the
seamless Vision Editor integration into
the robot programming environment
SC300 (Fixed Camera) SC300M (Mobile Camera)
Resolution (pixel) 640 x 480 640 x 480
Sensor Type
Lens Type CS Mount CS Mount
Mounting Options Fixed Camera Mobile Camera (Mobile head for
Mobile Camera Head Cable
Communications Interface Ethernet 10/100 Ethernet 10/100
Image Operation Tools Open, Close, Erode, Dilate, Sharpen,
Vision Tools Geometric Search, Polar Search,
Other Vision Tools Frames, Lines, Points, Histogram,
Robot/Camera Calibrations
Dimensions (mm) 154.13 (L) x 48.26 (H) x 60.05 (W) Main Body: 150.19 (L) x 51.31 (H) x
Weight (kg) 0.435 Main Body: 0.435
Ambient Temperature 0 – 45 °C 0 – 45 °C
Power Consumption 375 mA @ 24V DC (9W typical) 375 mA @ 24V DC (9W typical)
Connectors RJ45 for Power; RJ45 for Ethernet RJ45 for Power; RJ45 for Ethernet
Certifications FCC Class A; CE Class A; RoHS
¼” Progressive Scan with Square Pixels
NA 5 Meter (Camera Link)
Smooth, Flip, etc.
Normalized Correlation, Blob Analysis,
Edge Finder, etc.
Statistics …
Mobile, Fixed Upward, Fixed Downward
(all wizard based)
Compliant
and the powerful geometry tools, the
programming is exceptionally intuitive.
Two camera versions (stationary and
mobile) provide the necessary freedom for the system conception.
¼” Progressive Scan with Square Pixels
mounting on end of robot arm)
Open, Close, Erode, Dilate, Sharpen,
Smooth, Flip, etc.
Geometric Search, Polar Search,
Normalized Correlation, Blob Analysis,
Edge Finder, etc.
Frames, Lines, Points, Histogram,
Statistics …
Mobile, Fixed Upward, Fixed Downward
(all wizard based)
60.55 (W) Mobile Head: 44.25 (L) x
48.77 (H) x 68.17 (W)
Mobile Head: 0.185
FCC Class A; CE Class A; RoHS
Compliant
EPSON DEUTSCHLAND GmbH
Otto-Hahn-Straße 4
40670 Meerbusch
Tel.: +49 (0) 2159 / 538 1391
Fax: +49 (0) 2159 / 538 3170
E-Mail: robot.infos@epson.de
This brochure is subject to alterations; we are not responsible for any printing errors;
we retain the right to make procedural modifications without giving prior notice.
www.epson.de/robots
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