Epson SCARA ROBOT User Manual

Setup & Operation 2. Specifications
G6 Rev.21 37
*a : G6-45*** Joint #2
Max. motion range
Max. pulse range
G6-45*S* / D*
Z 0 to –270
147.5 deg
±2685156 pulse
Z –270 to –330
145 deg
±2639645 pulse
G6-45*C*/ P* / D* with bellows option
Z 0 to –240
147.5 deg
±2685156 pulse
Z –240 to –300
142 deg
±2585031 pulse
Item
G6-*****
Resolution
Joint #1
0.0000343 deg/pulse
Joint #2
0.0000549 deg/pulse
Joint #3
1
0.0000911 mm/pulse
3
0.0001821 mm/pulse
Joint #4
0.0001836 deg/pulse
Motor power
consumption
Joint #1
400 W
Joint #2
400 W
Joint #3
200 W
Joint #4
100 W
Payload
rated
3 kg
max.
6 kg
Joint #4 allowable
moment of inertia *4
rated
0.01 kg·m
2
max.
0.12 kg·m
2
Hand
Shaft diameter
ø20 mm
Through hole
ø14 mm
Joint #3 down force
150 N
Installed wire for customer use
24 (15 pin + 9 pin : D-sub)
Installed pneumatic
tube for customer use
2 pneumatic tubes (ø6 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
2 pneumatic tubes (ø4 mm) : 0.59 MPa (6 kgf/cm
2
: 86 psi)
Environmental
requirements
Ambient Temperature
5 to 40°C (with minimum temperature variation)
Ambient relative
humidity
10 to 80% (no condensation)
Equivalent continuous A-weighted sound
pressure level *5
L
Aeq
= 70 dB(A)
Applicable Controller *6
RC180, RC700-A
Assignable Value
( ) Default values
SPEED
1 to (5) to100
ACCEL *7
1 to (10) to 120
SPEEDS
1 to (50) to 2000
ACCELS
1 to (200) to 25000
FINE
0 to (10000) to 65000
WEIGHT
0,250 to (3,250) 6,250
Safety standard
CE Marking : EMC Directive, Machinery Directive,
RoHS Directive
KC Marking / KCs Marking
UL standards (In case of UL specification):
UL1740, ANSI/RIA R15.06, NFPA 79

Epson SCARA ROBOT Specifications

General

Type	SCARA Robot
Applications	Assembly, Pick and Place, Dispensing, Packaging
Mounting	Floor, Wall, Ceiling
Communication Interface	Ethernet, RS-232, USB
Repeatability	±0.01 mm to ±0.02 mm