Epson ES Series - 10.1 ES series Standard model specifications

10. Specifications Part 1: Setup & Operation
60
10.1 ES series Standard model specifications
Model ES45** ES55** ES65**
Arm length Arm #1 + #2 215 + 235 mm 315 + 235 mm 415 + 235 mm
Weight 20kg
Driving method All joints AC servo motor
Max. operation speed
*1
Joint #1 + #2
Joint #3
Joint #4
4733 mm/s
1000 mm/s
1687 °/s
5290 mm/s
1000 mm/s
1687 °/s
5277 mm/s
1000 mm/s
1687 °/s
Repeatability
Joint #1 + #2
Joint #3
Joint #4
±0.02 mm
±0.01 mm
±0.03 °
Max. motion range
*2
Value in ( ) is option
Joint #1
Joint #2
Joint #3
Joint #4
±125 °
±140 °
170 mm (320 mm)
±360 °
Max. pulse range
Value in ( ) is option
Joint #1
Joint #2
Joint #3
Joint #4
-31858 to +195698
±79645
-52224 (-98304) to 0
±65536
Resolution
Joint #1
Joint #2
Joint #3
Joint #4
0.0010986 °/pulse
0.0017578 °/pulse
0.0032552 mm/pulse
0.005493 °/ pulse
Motor power
consumption
Joint #1
Joint #2
Joint #3
Joint #4
200 W
100 W
100 W
100 W
Payload rated / max. 2kg /5kg
Joint #4 allowable
moment of inertia
*3
rated / max.
With rated payload (2kg) : 0.01kg⋅
m
2
/ 0.02kg⋅m
2
With max. payload (5kg) : 0.02kg⋅m
2
/ 0.04kg⋅m
2
Diameter of the shaft/through hole
φ 20 (h7) mm / φ 14 mm
Joint #3 down force 100 N (10.2kgf)
Installed wire for customer use 15 wires (15 -pin D-sub connector)
Installed pneumatic tube for customer
use
φ 6 mm 2 pneumatic tubes
φ 4 mm 1 pneumatic tube
Allowable pressure: 0.59MPa (6kgf/cm
2
)
Environmental requirements
Temperature: 5 to 40 °C (No drastic change is allowed.)
Humidity: 10 to 80 % (No condensation is allowed.)
Equivalent continuous A-weighted
sound pressure level
*4
L
Aeq
= 66 dB (A)
Applicable controller EPSON RC+, SRC5**, SRC-3**
Default values
SPEED
ACCEL
SPEEDS
ACCELS
FINE
WEIGHT
5
10, 10
50
200
10, 10, 10, 10
2, 235