Epson G-Series User manual

The Epson G-series SCARA :
Greater performance – higher productivity
Epson G-Series
Robots
Epson G-Series
Robots

2| Epson Robots G-Series
The Epson G-series SCARA :
Greater performance – higher productivity
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
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
(1)
or IP54/65 congurations. Each model can
be selected between a pedestal, wall or
ceiling mount.
Together with the compact control system
RC180 and the image processing Smart
Vision, the G-series provides great
performance and high ease of use.
Comparison of the working ranges
(1)
Class 10 according to US FED STD 209E (old), ISO 4 according to ISO 14644-1.
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 be-
tween 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 signicantly enlarged working range. All this is topped up
with the usual high precision and reliability.
Epson E2S-551S
Epson G6-551S

Epson Robots G-Series | 3
G6 G10 G20
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.
G-Series
IP65-Version
G10-854P
G20-A04S
G6-653SW
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
Category Reach
1. + 2. Arm
Z-axis
lenght
Version

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
G6-553C
Celling mount
Wall mount
Pedestal mount

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 (°)
± 0.015
± 0.010
± 0.005
± 0.025
± 0.010
± 0.005
± 0.025
± 0.010
± 0.005
Max. Speed + / –
Axes 1+2 (mm/s) 6,440 7,170 7,900 8,900 11,000 11,000 11,500
Axis 3 (mm/s)
Axis 4 (°/s)
1,100 / 2,350
2,400
1,100 / 2,350
2,400
1,100 / 2,350
1,700
Moment of inertia
nom./max.
(kg m² ) 0.01 / 0.12 0.02 / 0.25 0.05 / 0.45
Ø Z-Axis outer/inner (mm) 20/14 25/18 25/18
Insertion force
Z-Axis (1) (N)
150 250 250
Working area
A(mm)
B(mm)
C(mm)
A1 (°)
A2 (°)
502
450
134.8
± 152
± 142
602
550
161.2
± 152
± 147.5
702
650
232
± 152
± 147.5
705.5
650
212.4
± 152
± 152.5
905.5
850
207.8
± 152
± 151
905.5
850
207.8
± 152
± 151
1,055.5
1.000
307
± 152
± 152.5
Z-stroke
A3 (mm)
A4 (°)
180 / 330 (150 / 300
for clean-room and IP54 / 65)
± 360
180 / 420 (150 / 390
for clean-room and IP54 / 65)
± 360
180 / 420 (150 / 390
for clean-room and IP54 / 65)
± 360
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)
250
4–Ø11
400
4–Ø16
400
4–Ø16
Weight
Pedestal mount (kg)
Ceiling mount (kg)
Wall mount (kg)
27
27
29
27
27
29
28
28
29.5
46
46
51
48
48
53
48
48
53
50
50
55
User cabling
Electrical
Pneumatic
24 wires ( 15 pin + 9 pin D-Sub)
4 (2x Ø 4mm und 2x Ø 6mm)
Ambient conditions
Temperature
Humidity
5 – 40°C
10 – 80%, non-condensing
Design of Manipulator
Mounting
Cleanroom & ESD
IP Protection class
Pedastal mount, Ceiling mount, Wall mount
Cleanroom class 10 respectively ISO 4 (2)
Standard / IP54 / IP65
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
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 RC180 Robot control system

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 (Probus/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 DEUTSCHLAND GmbH
Otto-Hahn-Straße 4
40670 Meerbusch
Tel.: [phone]
Fax: [phone]
E-Mail: [email protected]
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
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.
Epson Smart Vision
SC300 (Fixed Camera) SC300M (Mobile Camera)
Resolution (pixel) 640 x 480 640 x 480
Sensor Type
¼” Progressive Scan with Square Pixels ¼” Progressive Scan with Square Pixels
Lens Type CS Mount CS Mount
Mounting Options Fixed Camera Mobile Camera (Mobile head for
mounting on end of robot arm)
Mobile Camera Head Cable NA 5 Meter (Camera Link)
Communications Interface Ethernet 10/100 Ethernet 10/100
Image Operation Tools Open, Close, Erode, Dilate, Sharpen,
Smooth, Flip, etc.
Open, Close, Erode, Dilate, Sharpen,
Smooth, Flip, etc.
Vision Tools Geometric Search, Polar Search,
Normalized Correlation, Blob Analysis,
Edge Finder, etc.
Geometric Search, Polar Search,
Normalized Correlation, Blob Analysis,
Edge Finder, etc.
Other Vision Tools Frames, Lines, Points, Histogram,
Statistics …
Frames, Lines, Points, Histogram,
Statistics …
Robot/Camera Calibrations Mobile, Fixed Upward, Fixed Downward
(all wizard based)
Mobile, Fixed Upward, Fixed Downward
(all wizard based)
Dimensions (mm) 154.13 (L) x 48.26 (H) x 60.05 (W) Main Body: 150.19 (L) x 51.31 (H) x
60.55 (W) Mobile Head: 44.25 (L) x
48.77 (H) x 68.17 (W)
Weight (kg) 0.435 Main Body: 0.435
Mobile Head: 0.185
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
Compliant
FCC Class A; CE Class A; RoHS
Compliant
The Epson Smart Vision convinces
through its simple operation, straight-
forward installation. Thanks to the
seamless Vision Editor integration into
the robot programming environment
and the powerful geometry tools, the
programming is exceptionally intuitive.
Two camera versions (stationary and
mobile) provide the necessary free-
dom for the system conception.