Epson ES Series User Manual

Part 1: Setup & Operation 10. Specifications
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10.2 EL series Standard model specifications
Model
EL65** EL85**
Arm length Joint #1 + #2 300 mm + 350 mm 500 mm + 350 mm
Weight 31kg
Driving method All joints AC servo motor
Max. operation speed
*1
Joint #1 + #2
Joint #3
Joint #4
4970 mm/s
1000 mm/s
1687 °/s
5860 mm/s
1000 mm/s
1687 °/s
Repeatability
Joint #1 + #2
Joint #3
Joint #4
±0.025 mm
±0.01 mm
±0.03 °
Max. motion range
*2
Joint #1
Joint #2
Joint #3
Joint #4
±130 °
±140 °
320 mm
±360 °
Max. pulse range
Joint #1
Joint #2
Joint #3
Joint #4
-45512 to +250312
±127432
-98304 to 0
±65536
Resolution
Joint #1
Joint #2
Joint #3
Joint #4
0.0008789 °/pulse
0.0010986 °/pulse
0.0032552 mm/pulse
0.005493 °/pulse
Motor power
consumption
Joint #1
Joint #2
Joint #3
Joint #4
400 W
200 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
= 70 dB (A) or under
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, 350
*1 : In case of PTP control. In case of CP control, maximum operation speed on horizontal plane is
1120 m/s.
*2 : Base backside is excluded from the maximum working area in ES65**.

Epson ES Series Specifications

General

Type	SCARA
Payload	3 kg
Repeatability	±0.01 mm
Axes	4
Controller	RC700