| G3-251* | G3-301**-* | G3-351**-* | |||||
|---|---|---|---|---|---|---|---|
| Mounting type | Table Top | Table Top | Multiple Mounting*2 | Table Top | Multiple Mounting | ||
| Arm length (Joints #1+#2) | 120+130=250 | 170+130=300 | 220+130=350 | ||||
| Max.Operating speed *1 | Joints#1+#2 | 3550mm/sec | 3950mm/sec | 4350mm/sec | |||
| Joint #3 | 1100mm/sec | ||||||
| Joint #4 | 3000deg/sec | ||||||
| Repeatability | Joints#1+#2 | ±0.008mm | ±0.01mm | ±0.01mm | |||
| Joint #3 | ±0.010mm | ||||||
| Joint #4 | ±0.005deg | ||||||
| Max motion range |
Straight | Joints #1 | ±140deg | ±140deg | ±115deg | ±140deg | ±120deg |
| Joints #2 | ±141deg | ±142deg | ±135deg | ±142deg | |||
| Clean #2 | ±137deg | ±141deg | ±135deg | ±142deg | |||
| Curving | (J1)Right-hand | - | -125~150deg | - | -110~165deg | -105~130deg | |
| (J1)Left-hand | - | -150~125deg | - | -165~110deg | -130~105deg | ||
| Clean #2-Right | - | -135~145deg | - | -120~160deg | -120~150deg | ||
| (J2)Right-hand | - | -135~150deg | - | -120~165deg | -120~160deg | ||
| (J2)Left-hand | - | -150~135deg | - | -165~120deg | -160~120deg | ||
| Clean #2-Left | - | -145~135deg | - | -160~120deg | -150~120deg | ||
| Common | Joint #3 | 150 mm (Environment specification is standard-model:S)/ 120 mm (Cleanroom-model:C) | |||||
| Joint #4 | ±360deg | ||||||
| Payload | Rated | 1kg | |||||
| Max. | 3kg | ||||||
| Joint #4 allowable moment of inertia |
Rated | 0.005kg·m2 | |||||
| Max. | 0.05kg·m2 | ||||||
| Joint #3 Insertion force | 150N | ||||||
| Clean room model | Available (ISO 3 (ISO14644-1) & ESD) | ||||||
| Installed wire for customer use | 15 (15 pin: D-sub) cores | ||||||
| Installed pneumatic tube for customer use | 1 pneumatic tubes (ø4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | ||||||
| 2 pneumatic tubes (ø6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | |||||||
| Weight | 14kg | ||||||
| Home | Home-return-less | ||||||
| Applicable Controller | RC180 | ||||||
| Safety standards | CE compliant ANSI RIA R15.06-1999 | ||||||
*1: In the case of PTP command. Maximum operating speed for CP command is 2000 mm/s on horizontal plane.
*2: The robot available in both Wall Mount and Ceiling Mountplane.
| G6-45*** | G6-55*** | G6-65*** | |||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|
| Mounting type | Table Top | Ceiling | Wall | Table Top | Ceiling | Wall | Table Top | Ceiling | Wall | ||
| Arm length (Joints #1+#2) |
450mm | 550mm | 650mm | ||||||||
| Max motion speed |
Joints#1+#2 | 6440mm/sec | 7170mm/sec | 7900mm/sec | |||||||
| Joint #3 | G6-**1** = 1100 mm/sec / G6-**3** = 2350 mm/sec | ||||||||||
| Joint #4 | 2400deg/sec | ||||||||||
| Weight | 27 kg | 29kg | 27 kg | 29kg | 28kg | 29.5kg | |||||
| Repeatability | Joints#1+#2 | ±0.015 mm | |||||||||
| Joint #3 | ±0.01mm | ||||||||||
| Joint #4 | ±0.005deg | ||||||||||
| Max motion range |
Joint #1 | ±152deg | ±120deg | ±105deg | ±152deg | ±135deg | ±152deg | ±148deg | |||
| Joint #2 | z:0-270mm | ±147.5deg | ±130deg | ±147.5deg | |||||||
| z:-270--330mm | ±145deg | ||||||||||
| Joint #3 | G6-**1** = 180 mm / G6-**3** = 330 mm (Environment specification is standard-model) |
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| G6-**1** = 150 mm / G6-**3** = 300 mm (Environment specification is cleanroom or Protected-model) |
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| Joint #4 | ±360deg | ||||||||||
| Payload | Rated | 3kg | |||||||||
| Max. | 6kg | ||||||||||
| Join#4 allowable moment of inertia |
Rated | 0.01kg⋅m2 | |||||||||
| Max. | 0.12 kg⋅m2 | ||||||||||
| Joint #3 down force | 150N | ||||||||||
| Installed wire for customer use | 15 (15 pin: D-sub) cores , 9 (9 pin: D-sub) cores | ||||||||||
| Installed pneumatic tube for customer use |
2 pneumatic tubes (φ4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | ||||||||||
| 2 pneumatic tubes (φ6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | |||||||||||
| Home | Home-return-less | ||||||||||
| Applicable Controller | RC170 / RC180 | ||||||||||
| Safety standards | CE compliantANSI RIA R15.06-1999 | ||||||||||
The maximum motion ranges of cleanroom-model and protected-model are different. Contact Epson for detail information.
| G10-65*** | G10-85*** | ||||||
|---|---|---|---|---|---|---|---|
| Mounting type | Table Top | Ceiling | Wall | Table Top | Ceiling | Wall | |
| Arm length (Joints #1+#2) |
650mm | 850mm | |||||
| Max motion speed |
Joints #1+#2 | 8800mm/sec | 11000mm/sec | ||||
| Joint #3 | G10-**1** = 1100 mm/sec / G10-**4** = 2350 mm/sec | ||||||
| Joint #4 | 2400deg/sec | ||||||
| Weight | 46 kg | 51kg | 48 kg | 53kg | |||
| Repeatability | Joints #1+#2 | ±0.025 mm | |||||
| Joint #3 | ±0.010mm | ||||||
| Joint #4 | ±0.005deg | ||||||
| Max motion range |
Joint #1 | ±152deg | ±107deg | ±152deg | ±107deg | ||
| Joint #2 | ±152.5deg | ±130deg | ±152.5deg | ||||
| Joint #3 | G10-**1** = 180 mm / G10-**4** = 420 mm (Environment specification is standard-model) |
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| G10-**1** = 150 mm / G10-**4** = 390 mm (Environment specification is cleanroom or Protected-model) |
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| Joint #4 | ±360deg | ||||||
| Payload | Rated | 5kg | |||||
| Max. | 10kg | ||||||
| Join#4 allowable moment of inertia |
Rated | 0.02kg⋅m2 | |||||
| Max. | 0.25 kg⋅m2 | ||||||
| Joint #3 down force | 250N | ||||||
| Installed wire for customer use | 15 (15 pin: D-sub) cores , 9 (9 pin: D-sub) cores | ||||||
| Installed pneumatic tube for customer use |
2 pneumatic tubes (φ4 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | ||||||
| 2 pneumatic tubes (φ6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | |||||||
| Home | Home-return-less | ||||||
| Applicable Controller | RC180 | ||||||
| Safety standards | CE compliant ANSI RIA R15.06-1999 | ||||||
The maximum motion ranges of cleanroom-model and protected-model are different. Contact Epson for detail information.
| G20-85*** | G20-A0*** | ||||||
|---|---|---|---|---|---|---|---|
| Mounting type | Table Top | Ceiling | Wall | Table Top | Ceiling | Wall | |
| Arm length(Joints #1+#2) | 850mm | 1000mm | |||||
| Max motion speed |
Joints #1+#2 | 11000mm/sec | 11500mm/sec | ||||
| Joint #3 | G20-**1** = 1100 mm/sec / G20-**4** = 2350 mm/sec | ||||||
| Joint #4 | 1700deg/sec | ||||||
| Weight | 48 kg | 53kg | 50 kg | 55kg | |||
| Repeatability | Joints #1+#2 | ±0.025 mm | |||||
| Joint #3 | ±0.01mm | ||||||
| Joint #4 | ±0.005deg | ||||||
| Max motion range |
Joint #1 | ±152deg | ±105deg | ±152deg | ±135deg | ||
| Joint #2 | ±152.5deg | ||||||
| Joint #3 | G20-**1** = 180 mm / G20-**4** = 420 mm (Environment specification is standard-model) |
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| G20-**1** = 150 mm / G20-**4** = 390 mm (Environment specification is cleanroom or Protected-model) |
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| Joint #4 | ±360deg | ||||||
| Payload | Rated | 10kg | |||||
| Max. | 20kg | ||||||
| Join#4 allowable moment of inertia |
Rated | 0.05kg⋅m2 | |||||
| Max. | 0.45 kg⋅m2 | ||||||
| Joint #3 down force | 250N | ||||||
| Installed wire for customer use | 15 (15 pin: D-sub) cores , 9 (9 pin: D-sub) cores | ||||||
| Installed pneumatic tube for customer use |
2 pneumatic tubes (φ4 mm) : 0.59 Mpa (6 kgf/2 : 86 psi) | ||||||
| 2 pneumatic tubes (φ6 mm) : 0.59 Mpa (6 kgf/cm2 : 86 psi) | |||||||
| Home | Home-return-less | ||||||
| Applicable Controller | RC180 | ||||||
| Safety standards | CE compliant ANSI RIA R15.06-1999 | ||||||
The maximum motion ranges of cleanroom-model and protected-model are different. Contact Epson for detail information.
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