Epson Robots

The Innovation Principle

Epson Robots

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Epson has the solution

Contents

�º¢� The�three�types�of�robot�kinematics

� º∞� EZ�modules

º§� Epson�ProSix�6-axis�robots

º•� Scara�robots

� ¡™� PC�based�robot�controllers������ � 14:�Options�

� � 15:�Epson�OP500RC�controller

¡§� Epson�Vision������ � 17:�Conveyor�tracking

¡•� Epson�RC170�robot�controller������ � 20:�Options

™ ¡� Scope�of�delivery

™™� Epson�RC+�development�interface

™¢� Feasibility�studies

™∞� Epson�training

™§� Epson�control�commands

™•� Contact

Foreword

They�saw,�cut,�drill,�guide,�grind,�install,�move,�assemble�and�put�

letterings�on�cakes�as�well.�They�work�at�breathtaking�speeds,�with�

enormous�precision�and�extraordinary�reliability.�They�never�get�tired�

even�though�they�often�work�24�hours�a�day,�365�days�a�year.�Plain�and�

simple�they�are��the�guarantor�for�the�correct�functioning�of�a�modern�

industrial�business,�as�we�know�it�today.

The�talk�is�of�industrial�robots�–�Epson�industrial�robots.�It�was�the�

SEIKO�Corporation�that�gave�rise�to�them:�The�accuracy�and�speed�

requirements�have�now�become�so�high�since�the�first�quartz�watch�

was�produced�by�SEIKO�that�production�can�only�be�guaranteed�if�

robots�are�used.�It�never�has�been�and�never�will�be�just�a�question�of�

precision�and�speed�but�flexibility�as�well�that�is�absolutely�decisive�

with�regard�to�the�success�or�failure�of�an�automation�solution.�The�

quality�of�Epson�robot�systems�is�both�renowned�and�highly�regarded.�

Epson�robot�systems�are�sub-divided�into�three�categories.�The�first�

group�are�the�so-called�linear�axis�modules.�These�robots�are�the�simp-

lest�and�easiest�to�control,�because�they�enable�the�simple�combination�

of�different�linear�axes�to�form�a�system�that�is�suited�to�a�particular�

application.�The�kinematics�of�the�second�group,�the�so-called�Scara�

robots,�are�able�to�emulate�the�manoeuvrability�of�a�human�arm.�The�

last�group�comprises�the�6-axis�robots.�The�six�axes�in�these�robots�

have�six�degrees�of�freedom�and�are�especially�well�known�for�their�use�

in�the�automotive�industry.�The�advantage�of�using�these�robots�lies�in�

the�fact�that�all�arm�movements�and�orientations,�including�the�hands,�

can�be�reproduced.�This�means�that�a�just�a�single�machine�is�sufficient�

to�complete�a�sequence�of�complex�movements�such�as�those�needed�

to�fit�small�or�costly�components.

Contents

�º¢� The�three�types�of�robot�kinematics

� º∞� EZ�modules

º§� Epson�ProSix�6-axis�robots

º•� Scara�robots

� ¡™� PC�based�robot�controllers������ � 14:�Options�

� � 15:�Epson�OP500RC�controller

¡§� Epson�Vision������ � 17:�Conveyor�tracking

¡•� Epson�RC170�robot�controller������ � 20:�Options

™ ¡� Scope�of�delivery

™™� Epson�RC+�development�interface

™¢� Feasibility�studies

™∞� Epson�training

™§� Epson�control�commands

™•� Contact

£

A Comparison of Epson Robot Kinematics

Linear axis systemLinear�axis�systems�are�the�simplest�kinematics,�

as�they�can�be�programmed�as�a�1:1�Cartesian�

co-ordinates�system.

Epson�linear�axes,�with�a�reach�of�up�to�1,000�

mm�and�a�payload�of�up�to�80�kg�offer�sufficient�

scope�for�heavy,�protruding�parts�as�well.�

Scara robotScara�robots�are�particularly�suitable�for�handling�

and/or�assembling�workpieces�at�parallel�levels�

thanks�to�their�resemblance�to�a�human�arm.�

Another�advantage�is�that�they�only�have�to�move�

a�single�axis�in�order�to�lift�a�part�up.

Above�all�else,�Epson�Scara�robots�will�impress�

you�with�their�diversity�in�addition�to�their�speed�

and�precision.�Reach�ranges�from�250�mm�up�to�

850�mm,�a�payload�of�up�to�20�kg�and�several�

configurations;�they�are�always�an�excellent�

choice,�even�for�complex�requirements.�

6-axis robots6-axis�robots�are�the�most�flexible�because�of�

their�large�number�of�degrees�of�freedom.�As�all�

axes�are�rotating,�the�robot�has�a�nearly�spherical�

working�space�around�it.

Epson�6-axis�robots�have�been�created�for�

complex�handling�or�assembly�jobs�using�even�

small�workpieces.�Their�high�precision�ensures�

that�many�complex�working�processes�can�be�

implemented�reliably�and�quickly.

¢

Axis/module�specifications RH RM RS� RSz

Reach (mm) 400, 600, 800, 1,000 350, 550, 750 300, 500, 600 200, 300, 400 (3)

Max. speed (mm / s) 1,500 1,500 1,500 750

Repeat accuracy + / – (μm) 10 10 10 10

Payload (2) nom./max. (kg) 40 / 80 20 / 40 10 / 20 10 / 15

Weight (kg) 21 – 34 12 – 17 7.6 – 9.6 7 – 8.3

2) The payload depends on the configuration 3) For 3-axis systems only

1-axis 2-axis 3-axis� 4-axis

RH RH + RM RH + RM + RS RH + RM + RSz + RU (4)

RM RM + RS RM + RS + RSz

– RM + RSz

4) RU is a rotating axis

Combinations

EZ modules

Epson�robot�systems�are�generally�known�for�their�high�accuracy�even�

at�high�speeds.

The�EZ�modules�are�no�exception�to�this.�Their�high�axial�rigidity,��

even�with�large�axes,�as�well�as�the�most�up-to-date�technology�are�

solutions�that�make�Epson�EZ�modules�both�reliable�and�quick�and�

simple.

Epson�EZ�modules�have�been�designed�to�fulfil�the�highest�require-

ments�of�modern�automation�systems.�This�not�only�includes�the�

exceptionally�wide�range�of�available�modules�but�also�the�extraordi-

nary�high�quality�of�each�individual�component.

Scope of delivery EZ modules

Energy chain (¹)

Securing materials

User cabling

¹) For matching module configuration

Control system

Connection box

3 m signal cable

3 m power cable

Example: 4-axis configuration

Other�combinations�are�also�available.

RSz (same as RS, but fitted with a brake)

RS

RM

RH

∞

A2+

P-point

P-range

A2–

A3+

A3–

A5+

A5–

GF

H

I

J

KL

A4– A4+

A6– A6+

A1+

A1–

P-point

P-rangeB

C

D

E

ProSix 6-axis robots

The�6-axis�robot�is,�due�to�its�large�number�of�degrees�of�freedom,�

always�an�excellent�choice�where�handling�or�assembly�on�levels�that�are�

not�parallel�to�each�other�is�required.�All�six�degrees�of�freedom�of�the�

6-axis�robot�are�rotating,�providing�a�nearly�spherical�work�area�around�

the�robot.

Axes�1,�2�and�3�of�a�6-axis�robot�are�called�the�base�axes�and�axes�4,�5�

and�6�are�known�as�the�hand�axes.

The�robot�uses�the�first�three�axes�to�traverse�into�the�required�position�

and�uses�the�other�three�axes�to�orientate�the�toolpiece.

Movement radius and dimensions (see Table)Standard mount

Wall mount

Ceiling mount

You will find the CAD files at: www.epson.de/robots

Category Through�holes�in�the�pedestal

PS3 4 x Ø 11 mm, hole spacing 195 x 195

PS3L 4 x Ø 11 mm, hole spacing 195 x 195

PS5 4 x Ø 11 mm, hole spacing 195 x 195

ProSix mounting dimensions

§

PS3 PS3L(¹) PS5

Reach (mm) 791 949 791

Max. speed Axis 1 (°/s) Axis 2 Axis 3

Axis 4 Axis 5 Axis 6

210 180 225

375 375 500

250 180 225

375 375 500

250 180 225

375 375 500

Repeat accuracy (mm) 0.03 0.04 0.03

Payload nom./max. (kg) 2 / 3 2 / 5 3 / 6

Moment of inertia Axis 4 (kg x m² ) Axis 5 Axis 6

0.30.30.1

0.30.30.1

0.30.30.1

Max. torque Axis 4 (Nm) Axis 5 Axis 6

7.257.255.21

7.257.255.21

7.257.255.21

Working area + / – A1 (°) A2 A3

A4 A5 A6

+170 / –170 +150 / – 45 +190 / –72

+190 / –190 +125 /–125 +360 /– 360

+170 / –170 +150 / – 45 +190 / – 72

+190 / –190 +125 /–125 +360 /– 360

+170 / –170 +150 / – 45 +190 / –72

+190 / –190 +125 /–125 +360 /– 360

Dimensions B (mm) C D

E F G

H I J

K L

235 277 701

791 755 290

311 171 146

56 170

250 302 859

949 827 370

389 191 154

56 170

250 277 701

791 755 290

311 191 154

56 170

Installation options Floor Floor, wall, ceiling Floor, wall, ceiling

User cabling 16 electrical, 2 pneumatic (6 mm)

Safety regulations CE, EN775, EN60204-1, EN55011, EN61000-6-2, EN60950; UL- version available

Ambient conditions 0 – 45°C, 20 – 80% humidity (non-condensing), 0.5 G vibration

Option: Brake release unit

External controller box for releasing or locking the axis brakes separately , for manual axis movement

¹) Also available as a protected version

6-axis robot for assembly and handling jobs

6-axis robot for assembly and handling jobs with a large reach

6-axis robot for high-speed assembly and handling jobs with a payload of up to 6 kg

Please ask us for other special solutions (geometry, environmental conditions, etc.)

¶

Scara robots

The�kinematics�for�the�Scara�robots�were�developed�at�the�start�of�

the�70s�and�it�was�found�during�assembly�work�testing�that�the�most�

frequent�movements�could�be�realised�using�four�axes.�The�advantage�

of�a�Scara�robot�as�compared�to�other�kinematics�systems�(e.g.�6-axis�

robots)�is�that�it�only�needs�to�move�a�single�axis�(the�Z-axis)�for�the�

lifting�processes.�This�means�that�Scara�robot�construction�is�uncompli-

cated�-�and�very�reliable.

The�advantages�of�Scara�when�compared�to�other�kinematics�clearly�

prevail�wherever�it�is�possible�to�handle�parts�at�a�specific�level.�This�

is�why�Scara�robots�form�the�backbone�of�many�manufacturing�opera-

tions�in�modern�production�plants.

Compact Standard Large Heavy�duty

Payload (nom./max.) 1 / 3 kg 2 / 5 kg 2 / 5 kg 2 / 20 kg

Reach 1st + 2nd arm250 mm 25 350 mm 35 450 mm 45 550 mm 55 650 mm 65 850 mm 85

• • – – – –

– – • • • –

– – – –

•(1) •

– – – – – •

Z-axis length (³)

120 mm 1 170 mm 1 320 mm 3 340 mm 3

• – – –

– • • –

– – • –

– – – •

VersionsStandard S Clean-room C Multimount M

• •

•(²)

• • •

• • –

• • –

1) Long 2nd arm 2) For reach 35 (350 mm) only 3) The usable Z-axis length is shortened by 20 mm and by 50 mm for E2H version for clean-room machine

E2CSLH

25�3545556585

13

SM�SCM�

CM

Name syntax

= Example: Payload up to 5 kg, 450 mm arm length, 320 mm Z-axis, Pedestal mounting = E2 S 45 3 S

E2 series (sub-divided into four categories)

Category Reach 1st + 2nd arms

Z-axis length

Version

•

E2H853SE2S553S E2L853SE2C351S

All machines are also available as UL versions.

Example: Multimount

Multimount Wall

Standard version Pedestal mounting

Multimount Holder fitted to the bottom

Multimount Holder fitted to the top

Multimount Ceiling

ª

A4 A4

A2 A2

I

J

A1 A1

B

C

ED

E D

A3 I H FG

Nowadays�there�are�very�special�production�requirements�regarding�the�

working�radius,�payload�and�the��cycle-time.�There�are�many�versions�of�

Epson’s�E2�series�robots�available�to�you�–�ranging�from�small,�super-

fast�robots�up�to�very�large,�powerful�package.

With�working�radii�ranging�from�250�–�850�mm,�vertical�lifting�up�to�340�

mm�and�payloads�of�up�to�20�kg.�It’s�your�decision�–�with�our�E2�series�

you�will�always�have�the�optimum�conditions�to�ensure�efficient�produc-

tion.

You will find the CAD files at: www.epson.de/robots

Category Through�holes�in�the�pedestal

E2C 4 x Ø 9 mm, hole spacing 120 x 120

E2C Multimount 4 x Ø 8.5 mm, hole spacing 174 x 70

E2S 4 x Ø 10 mm, hole spacing 150 x 150

E2S Multimount 4 x Ø 10 mm, hole spacing 190 x 80

E2L / E2H 4 x Ø 16 mm, hole spacing 200 x 200

Scara mounting dimensions

¡º

E2C251 E2C351 E2S45�x�(¹) E2S55�x�(¹) E2S65�x�(¹) E2L653 E2L853 E2H853

Reach (mm) Axes 1+ 2 250 350 450 550 650 650 850 850

Max. speed + / –(° / s) Axes 1+ 2 (mm / s) Axis 3(° / s) Axis 4

2,900 1,100 2,600

3,600 1,100 2,600

5,400 1,100 1,870

6,000 1,100 1,870

6,300 1,100 1,870

5,200 1,100 1,870

6,100 1,100 1,870

5,266 1,100 1,870

Repeat accuracy + / –(mm) Axes 1+ 2 (mm) Axis 3 (°) Axis 4

0.008 0.010 0.020

0.010 0.010 0.020

0.015 0.010 0.020

0.015 0.010 0.020

0.015 0.010 0.020

0.020 0.010 0.020

0.020 0.010 0.020

0.025 0.010 0.025

Payload nom./max. (kg) 1 / 3 1 / 3 2 / 5 2 / 5 2 / 5 2 / 5 2 / 5 2 / 20

Moment of inertia (kg x m² )(nom.) Axis 4 (max.) Axis 4

0.0050.05

0.0050.05

0.010.12

0.010.12

0.010.12

0.010.12

0.010.12

0.020.45

Insertion force (N) 150 150 150 150 150 200 200 200

Working area + / – (°) A1 + / – (°) A2 (mm) A3 (mm) Clean-room A3 + / – A4

90

135 120 100 360

110 135 120 100 360

125 140

170/320 150/300

360

125 140

170/320 150/300

360

125 140

170/320 150/300

360

130 140 320 300 360

130 140 320 300 360

145 147 340 290 360

Dimensions (mm) B C D

E F G

H I

125 125 120

140 680 552

235 217

125 225 120

140 700 552

235 217

235 215 150

180 706

674 / 824

312 289

235 315 150

180 706

674 / 824

312 289

235 415 150

180 706

674/ 824

312 289

350 300 200

240 706 845

318 310

350 500 200

240 706 845

318 310

350 500 200

240 782 916

318 341

User cabling 15 electrical (1 A), 3 pneumatic (6/4 mm)

Safety regulations CE Declaration of Conformity for all models, UL-version available

Ambient conditions 5 – 40°C, 10 – 80% humidity (non-condensing)

¹) X = Z-axis length: 1 = 170 mm, 3 = 320 mm

All machines are also available as UL versions including an

emergency-off switch.

Please ask us about other special solutions (geometry, environmental conditions, etc.)

¡¡

486

450

482

461

101,

6

185

427

470

483

101,

6

189

383

433

41535

448

470

4-axis drive unit

6-axis drive unit 9999

RC 520 Modular controller

RC 420 Compact controller

¡™

PC based robot controllers

Our�Epson�PC�based�robot�controllers�are�distinguished�by�their�

tremendous�flexibility.�The�open�design�enables�you�to�integrate�unique�

upgrades�just�by�plugging�PC�boards�into�the�robot�controller.�This�

means�that�Epson�PC�based�robot�controllers�can�also�act�as�the�

control�unit�for�a�production�cell.

RC�520�Modular�controller RC�420�Compact�controller

Case/version 19“ industrial PC 19“ industrial PC

PCI/ISA slots 7 x ISA, 4 x PCI 3 x ISA, 2 x PCI, 1 x ISA / PCI

CPU Intel P3 (850 MHz) Intel Celeron (850 MHz)

Memory 128 MByte PC100 SD Ram 128 MByte PC100 SD Ram

Hard-disc 40 GB 2.5“ removable disc 40 GB 2.5“ removable disc

Floppy 3.5“ integrated / CD-ROM drive 3.5“ integrated

Ports 2 x RS-232, 1 x Centronics Port 1 x 10/100 base-T Ethernet2 x USB Vers. 1.1

2 x RS-232, 1 x Centronics Port 1 x 10/100 base-T Ethernet 2 x USB Vers. 1.1

Operating system MS Windows Embedded MS Windows Embedded

Development environment Epson RC+ Epson Spel+ high level language

Epson RC+ Epson Spel+ high level language

Safety Emergency-off, redundant emergency-off circuit, redundant door interlock circuit, speed and torque overload cut-outs, dynamic axis brakes, internal memory monitoring, automatic Teach-in mode, slow traversing, On/Off contactor.

Connection ratings 220-240 VAC 50 / 60 HzDrive Unit: 220 – 240 VAC2,000 W, depending on the robot model

220 – 240 VAC 50 / 60 Hz2,000 W, depending on the robot model, UPS fitted as standard item.

Interface Standard 16 inputs / 16 outputs, expandable up to 240 inputs and 240 outputs, Ethernet I/O.Option: Profibus/Devicenet

Standard 16 inputs / 16 outputs,expandable up to 144 inputs and 144 outputs, Ethernet I/O.Option: Profibus/Devicenet

Weight Control system: 17 kgDrive Unit: 14 kg

Control system: 18 kg

Dimensions (W x D x H in mm)

Control system: 482 x 450 x 177 Drive unit (4-axis): 480 x 448 x 99 Drive unit (6-axis): 480 x 470 x 99

Control system: 483 x 470 x 189

Ambient conditions 5 – 40°C, 10 – 80% relative humidity, non-condensing

¡£

PC based controller options

Product Description

Hardware

Expansion I/O board 32 additional inputs and outputs are available per extension card. Several cards can be fitted (depends on the controller being used). NPN, PNP switching is also possible.

Epson PG motion system You can also use the Epson PG Motion System to control robots constructed from external components. It supports both servo and stepper motors.

Field-bus board Expansion board for connecting up to or installing in a field-bus network. The card can be configured as either master or slave. Bus-systems available are Profibus and Devicenet; mixed operation is also possible.

Software

Epson VB-Guide Active-X control for easy and practical interlinking of your application to external software.

Epson Code Reading Enables OCR-A/OCR-B recognition as well as 1D and 2D codes. Epson Code Reading is only available in conjunction with Epson Vision.

Epson Conveyor Tracking Supports the conveyor belt tracking using Vision system or sensors. Several conveyors can be controlled simultaneously. A conveyor tracking kit includes: PG Board, cable, 2 terminal blocks, software.

Epson Ethernet I/O License Enables Opto 22 components to be connected up.

Epson Security Guide For practical assigning of rights for different users. Furthermore it includes an extensive protocol function for monitoring your plant.

Expansion I/O board Epson PG motion board Field-bus board

¡¢

JOG & Teach Panel

All of the axes are controlled using the

touchscreen controls.

Traversing path settings (short, medium,

long, and continuous).

Traversing path co-ordinate system

selection (World, Joint, Tool, local).

Traversing speed settings.

Epson OP500RC controller

Product Description

Cable sets / Terminal blocks

Std. RC 420 I/O cable one end open, 3 m, 6 m

Std. RC 520 I/O cable one end open, 3 m, 6 m

Interlock circuit cable one end open, 3 m, 6 m

Ext. I/O cable kit 100 pin, i.e. 2 x 50 pin, 2 m Board, 2 x terminal blocks

Power & signal cable Signal cable with straight plug. Choose power cable with straight or angled plug3 m (¹), 5 m (¹), 10 m (¹), 20 m(2)

Power & signal cable for 6-axis robot

3 m, 5 m, 10 m

OP-500RC extension cable 2 m (gives 5 m total cable length) 7 m (gives 10 m total cable length)

¹) Option choices: – Straight plug – Angled on the manipulation end only – Both ends angled

2) Straight plugs only

Point Editor Panel

Individual teach-in points.

Positions can be defined in absolute

dimensions.

Point files are easy to process.

Motion Control Panel

Traverse to separate points.

Traversing command selection

(Jump, Go, Move).

Movement limits selection (Limz).

Robot Control Panel

Switch motors On and Off.

Switchable motor power.

Robot, arm and tool selection.

Return to start position push-button.

I/O Command Panel

Inputs and outputs can be reset using

push-buttons.

Free Joints Panel

Each of the Scara axes can be switched

on separately (movement).

User Page

Makes it easy to define your own user

interface.

Full�control�over�the�on-site�robot�–��

in�a�single�unit

¡∞

ABCDEFGHIJKLMNOPQRSTUVWXYZabcdefghijklmnopqrstuvwxyz!“§$%&/()=?[]+*#‘<>,;.:-–⑀

Epson Vision

Your advantages

Powerful software tools Recognises�turned�or�overlapping�parts�as�well.�Position,�shape�or�size�

measurements�easy�to�implement.

Screen with Vision imageFast�optimisation�for�different�lighting�conditions.Various�histogram�

functions�for�precise�optimisation�of�the�object�colour.

Easy calibrationAn�integrated�wizard�will�help�you�with�the�step-by-step��

procedure�–�regardless�if�it�is�for�a�fixed�or�mobile�camera.�

Can be fully integrated in the RC+ development environmentNo�additional,�complicated�editing�required.�Simple�drag�and�drop�

programming.�Easy�data�exchange�between�robot�programs�and�Vision�

thanks�to�the�program�commands�(VRun,�VGet).

Continuous or discrete image capturesPermanent�or�asynchronously�triggered�(internal�or�external).

Select between different focal lengths for the lensSeveral�lens�focal�lengths�are�available�to�meet�the�different�require-

ments.�

Can also be used in difficult ambient conditions. All Vision components are sturdy industrial versions.

The Epson Vision system can be fully integrated in a development environment. No additional editing programs are needed.

Your options

Control�the�robot�to�grip�separated�bulk�goods�or�sporadic�pieces.

Also�supports�conveyor�tracking.

1D�or�2D�code�processing�(e.g.�EAN�or�data�matrix).

OCR-A/OCR-B�text�recognition.

Different�resolution�cameras�are�available.�From�640�x�480�up�to�

1024�x�768�pixels.

It�is�also�possible�to�select�from�cameras�that�use�different�reso-

lutions.�A�total�of�up�to�12�cameras�can�be�used;�these�can�be�

mounted�in�either�fixed�positions�or�as�mobile�units.

Integrated code and text recognition.

50 mm8 mm 16 mm 25 mm

Different focal lengths are available.

¡§

Conveyor tracking

Conveyor tracking and picking up from moving conveyors

Picking�up�from�a�moving�conveyor�is�also�called�conveyor�tracking�

and�many�industries�could�not�imagine�life�without�robot�controlled�

automation.�This�process�can�be�controlled�using�an�image�processing�

system�or�magnetic�or�other�types�of�sensor.

Epson’s�conveyor�tracking�system�supports�both�camera�controlled�as�

well�as�sensor�controlled�systems.

Epson’s�conveyor�tracking�system�can�also�be�used�with�any�suitable�

conveyors.�This�is�important�for�supply�systems,�which�have�to�over-

come�height�differences.

¡¶

342300

75 190

230

240

170

375300

75 190

230

240

170

415

Epson RC170 robot controller

Epson RC170 robot controller with option box

Epson RC170 6-axis version robot controller

¡•

Epson RC170 robot controller

The�Epson�RC170�robot�controller�was�the�first�robot�controller�

produced�by�Epson�and�to�have�both�Scara,�as�well�as�6-axis�robot�

controllers�fitted�in�the�same�housing.�However,�the�4-axis�version�

is�virtually�the�same�size�as�a�sheet�of�DIN�A4�paper�yet�it�is�just�as�

diverse�and�reliable�as�other�familiar�products�from�Epson.

There�is�a�range�of�interesting�options�available�for�the�Epson�RC170�

robot�controller;�You�will�always�realise�the�optimum�controller�funda-

mentals�with�the�Epson�RC170�robot�controller,�whether�its�with�a��

field-bus�board,�a�newly�developed�teaching�pendant�or�a�new,��

ergonomically�optimised�operating�pendant.

However,�programming�the�RC170�remains�easy,�it�is�just�as�powerful�

as�the�other�familiar�members�of�the�Epson�controller�family�and�is�

programmed�using�an�external�computer�instead�of�the�controller�itself.�

Therefore�you�can�write�programs�from�the�comfort�of�your�desk.�In�

addition�to�this,�the�programming�is�network�capable�and�ideal�for��

large�projects,�which�have�to�be�maintained�by�many�developers.�

The�RC170�programming�environment�is�available�in�English,�German�

and�French,�just�like�the�previous�versions.

Dimensions (W x D x H in mm)

Scara version: 300 x 170 x 240 6-axis upgrade ( ¹ ): 75 x 130 x 240 Option box ( ¹ ): 55 x 130 x 240

CPU Intel Celeron, in stand-alone version

Memory 64 MB Flash RAM, 128 KB battery buffered SRAM

Programming environment Epson RC+

Program language Epson SPEL+

Program options VB-Guide, Epson Vision, External Control Point Motion (ECP) 2)

Inputs/outputs 24/16, expandable up to 152/144

Program Max. 4 MB code, corresponds to approx. 200 K program steps

Points Up to 1,000 points per point file

Interfaces RS-232C (optional, max. 8 Ports), Ethernet, Field-bus slave (optional), 2 x USB for connecting up a PC and a USB stick, max. 152/144 I /Os

Main connection 230 / 240V, single phase

Consumption 1,300 VA, depending on the manipulator connected to it

Weight 7 kg (Scara version), 9 kg (6-axis version)

Ambient temperature 5 – 40 °C

Humidity 20 – 80% non condensing

¹) The option enlarges the controller 2) For 6-axis robots only

¡ª

Epson teach pendant for the new RC170 robot controller, the Epson TP1.

RC170 options

Epson OP1 operator pendant for easy operation even with complex systems.

Epson OP1 The�new�Epson�OP1�operator�pendant�makes�an�uncomplicated�and�

easy�to�program�user�interface�available�for�use.

Epson TP1 The�new�Epson�teach�pendant�for�the�Epson�RC170�robot�controller�

has�been�designed�for�challenging�teaching�tasks�–�especially�with��

6-axis�robots.�The�clear�sub-division�of�the�keyboard�according�to��

the�task�makes�easy,�ergonomic�operation�possible.

Hardware Software

Field-bus board ECP External Control Point licence (1)

RS232 board VB Guide Lite licence

I/O 32/32 board

1) For 6-axis robots only

™º

RC�420�controller RC�520�controller RC�170�controller

1 x manipulator 1 x manipulator 1 x manipulator

3 m power cable3 m signal cable3-button PC mousePC keyboard

3 m power cable3 m signal cable3-button PC mousePC keyboard

3 m power cable3 m signal cable

Emergency-Off plugD ummy connector for optical device

connectionPlug for standard I / O 50-pin Sub-D2x plugs for 15-pin Sub-D

Emergency-Off plugD ummy connector for optical device

connectionPlug for standard I / O 50-pin Sub-D2x plugs for 15-pin Sub-D

Emergency-Off plugD ummy connector for optical device

connectionPlug for standard I / O 50-pin Sub-D

Windows Embedded licenceWindows Embedded QuickstartSoftware dongle including licence

Windows Embedded licenceWindows Embedded QuickstartSoftware dongle including licence

—

Driver CDEpson RC+ CDBack-up disc

Driver CDEpson RC+ CDBack-up disc

Driver CDEpson RC+ 5.0 CD

Manual: Control system

Manipulator Programming User guide

Manual: Control system

Manipulator Programming User guide

Manual: Control system

Manipulator Programming User guide

Z-axis maintenance grease (1) Z-axis maintenance grease (1) Z-axis maintenance grease (1)

— Motion cableSlot bracket3m power cable Drive unit(s)

—

1) For Scara robots only

Scope of delivery

The�following�accessories�are�part�of�the�standard�Epson�

robot�scope�of�delivery�and�do�not�have�to�be�purchased�

as�additional�options.

™¡

Epson RC+ development interface

Flexible control architectureEpson�is�number�one�when�it�comes�to�the�development�of�controllers�

based�on�industrial�PCs.�Epson’s�SPEL+�robot�programming�language�

is�not�only�especially�easy�to�learn�but�it�is�also�extremely�powerful.�

Epson’s�RC+�programming�environment�provides�you�with�all�the�tools�

that�you�need�for�fast�and�efficient�development�of�robot�programs.�

Integrated source code debugger

Integrated project management system

Syntax Colouring

Open structure also enables you to connect into an external programming

environment (e.g. Active-X, VB, MFC).

Online help text

Has many upgrade options

An integrated I/O monitor immediately provides the current status of all

inputs and outputs.

Complex functions such as Vision and conveyor tracking are already inte-

grated within the interface.

A variety of communication paths:

Direct Ethernet I/O, Profibus, DeviceNet, serial, TCP/IP, I/O hand-shake

are available as an option

Macro editor

Label editor

Development interface

Interrupt handler – programmable reactions to interrupt conditions.

Its own error handler can be launched for multiple error conditions.

Variables timing right up to ”point reached status“. It is possible to process

the next command before the actual robot point is reached.

All of the robot’s movement commands can be interrupted, but this

depends on the on a specific condition (e.g. an input being set).

The acceleration and speed can be modified using simple software

commands whilst the program is running. This means that the robot runs at

optimum efficiency in any operating state.

Integrated security and flexibility

™™

Task 1

Task 2

Task 3

Task 4

Task 5

Task n

Robot 1

Robot 2

Robot 3

Vision System

Feeder

Display

Syntax colouring, powerful debugger, inputting help and a freely defined interface all help your development.

Even complex tools such as the Vision editor are integrated seamlessly into the Epson RC+ system. Multi-tasking for decoupled execution of several, independent tasks.

™£

Y+

Center of axis #2

X+

R 4

95

R 450

R 235

R 156

R 136

R 90

Feasibility studies

As�a�result�of�a�feasibility�study�of�your�working�processes,�

Epson�will�be�able�to�provide�you�with�the�know-how�gained�

from�more�than�20-years�of�building�robots.�Instead�of�theo-

retical�simulations,�with�all�their�imponderabilities,�we�are�

able�to�provide�you�with�a�simulation�using�real�robots�and�

the�most�realistic�environment�possible.�

�

You�can�select�from�the�following�performance�catalogue�to�

meet�your�needs:

Analyse the production processes.

Optimise the production processes with regard to cycle times or

other parameters.

Cycle time testing using real robots.

Document the process performance in word, images and film.

Programming support for particularly complex or time critical

runs.

If desired, you can also receive support in the setting up of your

system from a partner belonging to Epson’s integrator network.

Integrated security and flexibility

™¢

Epson training

Training�is�a�question�of�individuality.�Everyone�takes�to�new�know-

ledge�in�a�different�way�–�and�this�is�why�the�training�is�especially�

efficient,�as�it�enables�us�to�take�a�look�at�the�individual�characteristics�

of�the�participants�in�a�special�way.�Epson’s�training�courses�are�open�

to�a�relatively�small�number�of�participants�only�and�this�means�that�

there�is�ample�time�to�deal�with�any�special�questions�and�theory�and�

practical�training�remain�hand-in-hand.

Training – ProgrammingAlthough�the�Epson�programming�language�is�one�of�the�simplest�yet�

most�powerful�programming�languages�on�the�market,�thanks�to�its�

similarity�to�BASIC,�fundamental�and�individually-tuned�training�forms�

the�basis�for�efficient�and�reliable�setting�up�of�a�robotics�cell.�You�can�

select�from�the�following�training�catalogue�to�suit�your�ambitions:

Basic programming training

Vision programming training

Conveyor tracking programming training

Field-bus and I/O programming training

Individual programming training – your very specific problems

can be looked into here.

Software training

Training – Service & SupportAny�system�can�fail,�even�the�best�and�most�reliable.�If�a�system�fails�

you�have�to�minimise�the�consequences,�such�as�production�down-

time,�etc.;�a�decisive�factor�in�this�case�is�the�reaction�time�between�

failure�and�restart�of�the�system.

Even�though�Epson�service�is�already�able�to�provide�excellent�reaction�

times,�the�quickest�reaction�time�possible�can�be�realised�by�having�

well�trained�staff�already�working�in-house.�For�this�reason�we�offer�

you�a�range�of�training�courses,�which�are�all�aimed�at�making�your�

staff�ready�to�handle�any�emergency�case.

Epson robots basic service

Epson robots basic maintenance

Epson Scara robot service

Epson 6-axis robot service

Epson controller service

Service and maintenance training

If�desired�different�training�modules�can�always�be�combined.�For�

example,�Vision�programming�can�be�combined�with�Epson�Scara�

Robot�Servicing�training.

™∞

1

4

3

1210

1

4

3

1210

1

4

3

12101

4

3

1210

 = 90°

P2

P1

P2

P1

 = 90°

 = 90°  =| 90°

Epson control commands

JumpThe�‘Jump’�command�can�be�used�to�

increase�the�approximate�positioning�speed.�

Jump3The�‘Jump3’�command�can�be�used�to�

increase�the�approximate�positioning�speed.�

The�start�and�end�points�must�not�have�the�

same�orientation�when�the�‘Jump3’�command�

is�used.

Movement commands

PTP run (1)

Current�is�applied�to�all�of�the�motors�during�

the�whole�of�the�movement.�Therefore�the�

trajectory�cannot�be�fully�predicted,�but�it�is�

always�the�same.�A�PTP�run�is�fast.

CP run (2)

The�motors�are�controlled�during�a�CP�run�

so�that�the�tool�centre�point�(or�a�relevantly�

defined�point)�always�moves�along�a�defined�

trajectory.�A�CP�run�is�precise.

1)�PTP�=�Point�to�Point�2)�CP�=�Continuous�Path

™§

1

4

3

1210

1

4

3

12101

4

3

1210

P1 P2

P3

TillThe�speed�will�be�immediately�reduced�and�

the�arm�will�be�stopped�if�the�input�condi-

tions,�which�were�set�up�in�advance�by�a�

TILL�command,�are�fulfilled�whilst�the�arm�

is�moving.�This�feature�is�used�in�particular�

to�reduce�the�cycle�time�as�the�arm�moves�

during�the�sampling.�

SenseInput�conditions,�which�were�set�up�in�

advance�by�a�SENSE�command,�will�be�

checked�immediately�prior�to�the�arm�

starting�its�downward�non-stop�movement.�

The�robot�will�be�stopped�above�the�target�

position�(“approach�point“)�if�the�condition�

is�fulfilled.

The check starts before the downward movement

Stop is above the target position

Target position

Arm stopped

Condition fulfilled

The�pallet�need�not�necessarily�lie�in�one�

of�the�coplanar�base�levels.

The�pallet�need�not�necessarily�be�square.

Example: “Pallet”

Pallet 1, P1, P2, P3, 3, 4 = Pallet definition

Jump pallet (1, 4) = 1. palett, 4. nest

Pal

let

num

ber

Pal

let

leve

l d

efini

tion

Num

ber

of c

olu

mns

Num

ber

of l

ines

™¶

Europe�

EPSON�DEUTSCHLAND�GmbH�Otto-Hahn-Straße�440670�Meerbusch,�GermanyTel.:�+49�(0)�2159�/�538�1391Fax:�+49�(0)�2159�/�538�3170Email:�robot.infos@epson.dewww.epson.de/robots

U S A

EPSON�AMERICA,�Inc.18300�Central�AvenueCarson,�CA�90746,�USATel:�+1562290�–�5910Fax:�+1562290�–�5999Email:�info@robots.epson.comwww.robots.epson.com

Asien�

SEIKO�EPSON�Corp.1010�Fujimi,�Fujimi-machi,�Suwa�gun399-0295�Nagano-ken,�JapanTel:�+81�2666�–�11804Fax:�+81�2666�–�11846Email:�epsonrb@exepson.co.jphttp://fa.epson.co.jp/e

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