Appendix A: Specification; Rs3 Rs4 Specification - Epson RS Series Manual

Appendix A: Specification

RS3 RS4 Specification

Item
Arm length
Max.
operating speed *1
Repeatability
Payload (Load)
Joint #4 allowable
moment of inertia *2
Max.
motion range
Max.
pulse range
(pulse)
Resolution
Hand diameter
Mounting hole
Weight (cables not included)
(Common to Standard & Cleanroom-model)
Driving method
Motor rated capacity
Option
Joint #3 down force
Installed wire for customer use
Installed pneumatic tube for customer use
Environmental Ambient temperature
requirements *4
Ambient relative humidity
Noise level *5
Applicable Controller
RS series Rev.4
Arm #1, #2
Arm #1
Arm #2
Joints #1, #2
Joints # 3
Joint #4
Joints #1, #2
Joints # 3
Joint #4
Rated
Max.
Rated
Max.
Joint #1
Joint #2
Joint #3
Joint #4
− 2560000 to + 5973334
Joint #1
Joint #2
Joint #3
Joint #4
Joint #1
Joint #2
Joint #3
Joint #4
Mounting
Hollow
Joint #1
Joint #2
Joint #3
Joint #4
Environment
2 pneumatic tubes (ø 6 mm): 0.59 MPa (6 kgf/cm
1 pneumatic tube (ø 4 mm): 0.59 MPa (6 kgf/cm
RS3-351*
350 mm
175 mm
175 mm
6237 mm/s
1100 mm/s
2600 deg/s
± 0.01 mm
± 0.01 mm
± 0.01 deg
3 kg
0.005 kg⋅m
0.05 kg⋅m
± 225 deg
± 225 deg
RS*-**1S: 130 mm
RS*-**1C: 100 mm
± 720 deg
pulse
± 4177920 pulse
RS*-**1S: − 1479112 pulse to 0 pulse
RS*-**1C: − 1137778 pulse to 0 pulse
± 3145728 pulse
0.0000527 deg/pulse
0.0000538 deg/pulse
0.0000879 mm/pulse
0.000229 deg/pulse
ø 16 mm
ø 11 mm
6-M6
17 kg: 38 lb
AC servo motor
400 W
200 W
150 W
100 W
Cleanroom & ESD *3
150 N
15 wires: D-sub, 15 pin connectors
5 to 40°C
10 to 80% RH (no condensation)
LAeq = 70 dB (A) or under
RC700-A
Appendix A: Specification
RS4-551*
550 mm
275 mm
275 mm
7400 mm/s
± 0.015 mm
1 kg
4 kg
2
2
−4096000 ~ + 9557334 pulse
0.0000330deg/pulse
19 kg: 42 lb
400 W
: 86 psi)
2
2 : 86 psi)
65