Epson SCARA ROBOT User Manual

Setup & Operation 2. Specifications
36 G6 Rev.21
2.4 Specifications
Item
G6-****
G6-****R
G6-****W
Mount method
Table Top
Ceiling
Wall
Environment
Cleanroom-model + ESD *1, Protected-model *2
Arm length
Arm
#1, #2
45
450 mm
55
550 mm
65
650 mm
Arm #3
1
180 mm : G6-**1S*, D*
150 mm : G6-**1C*, P*, D* with bellows option
3
330 mm : G6-**3S*, D*
300 mm : G6-**3C*, P*, D* with bellows option
Weight
(not include the weight of cables)
45, 55
27 kg : 60 lb.
29 kg : 64 lb.
65
28 kg : 62 lb.
29.5 kg : 65 lb.
Driving method
All joints
AC servo motor
Max.
operating
speed *3
Joints
#1, #2
45
6440 mm/s
55
7170 mm/s
65
7900 mm/s
Joint #3
1
1100 mm/s
3
2350 mm/s
Joint #4
2400 deg/s
Repeatability
Joints #1, #2
±0.015 mm
Joint #3
±0.010 mm
Joint #4
±0.005 deg
Max.
motion range
Joint #1
45
±152 deg
±120 deg
±105 deg
55
±152 deg
±135 deg
65
±148 deg
Joint #2
45
±142 to 147.5 deg *a
±130 deg
55
±147.5 deg
±147.5 deg : S
±145 deg : C*, P*, D* with bellows option
65
±147.5 deg
Joint #3
1
180 mm : G6-**1S*, D*
150 mm : G6-**1C*, P*, D* with bellows option
3
330 mm : G6-**3S*, D*
300 mm : G6-**3C*, P*, D* with bellows option
Joint #4
±360 deg
Max.
pulse range
(pulse)
Joint #1
45
−1805881 to +7048761
−873814 to + 6116694
−436907 to +5679787
55
−1805881 to +7048761
−1310720 to +6553600
65
−
1689373 to +6932253
Joint #2
45
±2585031 to 2685156 *a
±2366578
55
±2685156
±2685156 : S
±2639645 : C*, P*, D* with bellows option
65
±2685156
Joint #3
1
−1976708 : G6-**1S*, D*
−
1647257 : G6-**1C*, P*, D with bellows option
3
−1811982 : G6-**3S*, D*
−1647257 : G6-**3C*, P*, D* with bellows option
Joint #4
±1961226

Epson SCARA ROBOT Specifications

General

Brand	Epson
Model	SCARA ROBOT
Category	Robotics
Language	English