Manipulator Specifications - Epson RC620 Safety And Installation

1. Safety

1.9 Manipulator Specifications

G1
Mounting type
Arm length
Weight (cables not included)
Driving method
Max. operating
*1
speed
Repeatability
Max. motion range
Max.
pulse range (pulse)
Resolution
Motor power consumption
Payload
Joint #4 allowable
*2
moment of inertia
Shaft diameter
Mounting hole
66
Item
Arm #1, #2
Arm #1
Arm #2
All joints
Joint #1, #2
Joint #3 (Z)
Joint #4 (U)
Joint #1, #2
Joint #3 (Z)
Joint #4 (U)
Joint #1
Joint #2
(Cleanroom model)
Z stroke
(Cleanroom model)
Joint #4
Joint #1
Joint #2
(Cleanroom model)
Joint #3
(Cleanroom model)
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Rated
Maximum
Rated
Maximum
Safety and Installation (RC620 / EPSON RC+ 6.0) Rev.12
4-axis spec
G1-171*
Table Top
175 mm
75 mm
100 mm
8 kg
AC servo motor
2630 mm/s
1200 mm/s
3000 deg/s
± 0.005 mm
± 0.01 mm
± 0.01 deg.
± 125 deg.
± 140 deg.
(± 140 deg.)
± 100 (80) mm
± 360 deg.
− 1019449 ∼ 6262329 pulse
± 2548623
(± 2548623)
− 1092267 to 0
(－873813 to 0)
− 393216 to 393216
3.43322E-05 deg./pulse
5.49316E-05 deg./pulse
9.15527E-05 mm/pulse
9.15527E-04 deg./pulse
All joints: 50 W
0.5 kg
1 kg
0.0003 kg·m
0.004 kg·m
ø 8 mm
125×88 (4-M6)
G1-221*
225 mm
125 mm
3000 mm/s
± 0.008 mm
± 152 deg.
(±149 deg.)
± 2767076
(± 2712463)
2
2