Epson G6 SCARA Robots

450/550/650

High Speed and High Variety

  • Best in Class Motion Range
  • Tabletop, Ceiling and Wall Mount Models
  • Arm lengths of 450, 550 and 650mm
  • ISO Clean & ESD Compliant Models

Epson G6 SCARA robots are perfect for applications requiring high speed and/or high precision such as mechanical or electrical assembly, pick and place, kitting, dispensing and much more. With applications running in demanding industries such as Automotive, Medical, Semiconductor, Food, Pharmaceutical, Hard Drive, Consumer, and many others, Epson G6 SCARA's are the robot of choice. G6 SCARA arms are available in 450, 550 and 650mm lengths with either 180 (150 clean) or 330 (300 clean) Z-Axis lengths. They are also available in table top, wall or ceiling mount configurations. Clean/ESD and Washdown models are also available in all 3 core arm lengths. That makes for a lot of choices to make sure you get the right robot for your next application.

Unique to the G6 is our new Max-E envelope design. With Max-E, Epson G6-55x robots are now able to do jobs that previously required 600mm arms. Smaller footprints are the key and that translates to less factory space requirements and less overall factory costs.  

Epson G6 SCARA Robots

Features & Benefits

As part of our next generation G-Series SCARA robot lineup, the G6 series incorporate all our latest achievements in advanced robot design and performance. The G6 high rigidity arms combined with our PowerDrive servo technology yield high performance results that customers have come to expect from Epson.

High Performance

  • Best in Class Motion Range with Max-E design allows maximum footprint efficiency
  • Champion Cycle times of 0.35 seconds improve total part throughput
  • Outstanding Accel/Decel Rates with smooth start/stop motion
  • Top speeds of almost 8000 mm/sec gets parts moved fast and precisely
  • Low residual vibration due to unique high rigidity arm design

Wide Variety of Arms and Configurations

  • Arm lengths of 450, 550 and 650mm provide customers the ability to choose the best arm for the job
  • Tabletop, Ceiling and Wall Mount Models
  • ISO Clean & ESD Compliant Models for semiconductor and static sensitive applications like hard drive assembly
  • Z Axis available in 180mm (150mm clean) and 330mm (300mm clean) lengths

Best in Class Controllers and Development Software

  • Epson RC+ leads the industry in ease of use to save development time
  • Two tiered controller offerings allow high performance or low cost solutions with G6 robots
  • Integrated options to maximize system performance and reduce overall development time (see options page for more details)
  • High performance processing power many times faster than competitors models

Used for a Wide Variety of Applications and Industries

  • Automotive - Mirror/glass assembly, Ignition module assembly, Head and tail light assembly and test, Transmission Assembly, Clutch Assembly, Fuel injector assembly, Dashboard assembly, Hood and trunk lock assembly
  • Hard Drive - cover attachment, Disc polishing, Magnetic tape cartridge assembly, High precision drive assembly
  • Medical - Scalpel blade machining, Dental instrument insert molding, Pacemaker battery assembly, Wire stint laser welding, Hearing aid assembly
  • Lab Automation - Pipette packaging, DNA test sequencing, Blood Analysis, Test tube capping, Test tube handling
  • Consumer Products - Appliance assembly, Paint brush assembly, Electric Tooth brush assembly, Chainsaw Assembly, Speaker Manufacturing, Weed trimmer assembly, Connector Assembly
  • Industrial Products - Casting machine load/unload, Smoke detector assembly, Fiber optic connector assembly, Light bulb assembly, Hydraulic valve testing
  • Telecommunications - Cell phone assembly and test, Radio assembly and test
  • Pharmaceutical - Custom prescription filling, Tablet packaging, Protein crystal analysis
  • Solar - Panel assembly
  • Packaging - Meat Packaging, Box cutting and taping, Plastic component packaging, Pipette packaging, Produce packaging
  • Semiconductor - Assembly and test of custom chips, Wire bonding, Automated board testing, Aerospace electronic components assembly
  • Food - Meat handling, Vegetable picking & cutting, Produce packaging
  • Electronics - Inspection of PC boards, Automated cleaning of circuit board components

Epson G6 SCARA Robots

Specifications

Arm Length

G6-45x: 450 mm J1+J2 (200+250 mm)
G6-55x: 550 mm J1+J2 (300+250 mm)
G6-65x: 650 mm J1+J2 (400+250 mm)
J3 (Z): 180 mm (150 Clean) / 330 mm (300 Clean)

Repeatability

J1 + J2: +/-0.015 mm
J3: +/-0.010 mm
J4: +/-0.005 deg

Payload

Max: 6 Kg
Rated: 3 Kg

User Lines

Electric: 24 lines (15 pin, 9 pin)
Air: 6mm x 2, 4mm x 2

Weight

G6-45x (Floor / Ceiling / Wall): 27 / 27 / 28
G6-55x (Floor / Ceiling / Wall): 27 / 27 / 28
G6-65x (Floor / Ceiling / Wall): 28 / 28 / 29.5

Environmental

Temperature: 5- 40 deg C
Humidity: 10 - 80% (non condensing)

Robot Cables

3M (standard), 5M (optional), 10M (optional)

Available Controllers

RC180 Micro PowerDrive
PC Based RC620+ High Performance
RC700A Workcell Controller

Cycle Time (w/ 1Kg payload)

G6-45x: 0.33 secs
G6-55x: 0.36 secs
G6-65x: 0.38 secs

Maximum Operating Speed

G6-45x (J1+J2): 6,440 mm/sec
G6-55x (J1+J2): 7,170 mm/sec
G6-65x (J1+J2): 7,900 mm/sec
J3 (180 / 330): 1,100 / 2,350 mm/sec
J4: 2,400 deg/sec

Motor Wattage

J1: 400 Watts
J2: 400 Watts
J3: 200 Watts
J4: 100 Watts

Other

Insertion Force: 150N (15.3 kgf)
U Inertia (Max/Rated): 0.12 / 0.01 kg*m2

Measurements

Mounting Hole Footprint(mm): 150 x 150 (4-M8)
Z Axis Diameter: 20 mm

Optional Arm Configurations

Mounting Type: Tabletop, Ceiling, Wall
Clean & ESD: ISO 3 Clean & ESD
IP Rating: IP54, IP65

Epson G6 SCARA Robots

Options & Accessories

Robot Options

Longer Robot to Controller Cables

Epson Robot arms come standard with 3 meter power and signal cables that connect the robot arm to the controller. 5 and 10 meter cables are available as options if you need your robot to be mounted further than 3 meters from the robot controller. The cables are different for the RC90, RC180, RC620+ and RC700 controllers so be sure to specify the proper cable option.

Part Number: There are many different cables depending upon which controller and robot that you have. Please contact your Epson Sales Manager or Distributor to make sure you order the proper cable.

(2M) Extension Cables for OP500RC Teach Pendant / Operator Panel

2 meter extension cables are available for the Teach Pendant / Operator Panel to allow usage of TP from further distances away from the controller. The standard cable is 1 meter in length.

Part Number: RE000942-1

(7M) Extension Cables for OP500RC Teach Pendant / Operator Panel

7 meter extension cables are available for the Teach Pendant / Operator Panel to allow usage of TP from further distances away from the controller. The standard cable is 1 meter in length.

Part Number: RE000943-1

Extended Warranty - G-Series (3 Years)

An extended warranty is available for all G-Series robots. This warranty adds 21 months to the standard 15 month warranty.

Part Number: EXTWARR-G

Longer Z Axis

All G6-Series arms come standard with a 180mm (150 clean/ESD) Z Axis. However, a 330mm (300 clean/ESD) Z Axis is available as a factory ordered option. Just order the proper robot model number which has a 330mm Z Axis.

Part Number:

Tool Adapter (for G6 and LS6 Robots)

Tool Adapter - (for G6 and LS6 Robots)

Tool Mounting Plate for SCARA robots. Connects to the end of the Z axis shaft. Provides flat surface for mounting tools and an access hole for routing electrical & pneumatic lines out of the hollow quill to the tooling.

 <Click Here for Tool Adapter Options Page>

Part Number: R12B031902

I/O Options

Expansion I/O Board

I/O Expansion Board (RC620+ and RC180 Controller)

Protected I/O board only (32 Inputs / 32 Outputs). For RC180 Controller an Options Adder Box (p/n R12B100503) option is required.

Part Number: R12C040301

IP Board

DeviceNet Master Board (RC620+ Controller)

Provides DeviceNet connectivity as a Master Device. Includes DeviceNet (Master) fieldbus I/O board. There is a separate board if you need a DeviceNet slave board.

Part Number: R12C040722

DeviceNet IP Board

DeviceNet Slave Board (RC620+ or RC180 Controller)

Provides DeviceNet connectivity as a slave device. Includes DeviceNet (Slave) fieldbus I/O board only. RC180 Control Options Adder Box (p/n R12B100503) option required..

Part Number: R12C040706

Profibus

Profibus Master Board (RC620+ Controller)

Provides Profibus connectivity as a Master Device. Includes Profibus (Master) fieldbus I/O board. There is a separate board if you need a Profibus slave board.

Part Number: R12C040723

Profibus IP Board Inside

Profibus-DP Slave Board (RC620+ or RC180 Controller)

Provides Profibus connectivity as a slave device. Includes Profibus (Slave) fieldbus I/O board only. RC180 Control Options Adder Box option required..

Part Number:

Ethernet IP Board

Ethernet/IP Master Board (RC620+ Controller)

Provides EtherNet/IP connectivity as a Master Device. Includes EtherNet/IP (Master) fieldbus I/O board. There is a separate board if you need an EtherNet/IP slave board.

Part Number: R12C040724

Ethernet IP Board

EtherNet/IP Slave Board (RC620+ or RC180 Controller)

Provides EtherNet/IP connectivity as a slave device. Includes EtherNet/IP (Slave) fieldbus I/O board only. RC180 Control Options Adder Box (p/n R12B100503) option required..

Part Number: R12C040719

CC Link

CC-Link Slave Board (RC620+ or RC180 Controller)

Provides CC-Link connectivity as a slave device. Includes CC-Link (Slave) fieldbus I/O board only. RC180 Control Options Adder Box (p/n R12B100503) option required..

Part Number: R12C040708

RS-232C Board

RS232C Board: 4-Port (RC620+ or RC180 Controller)

One 4-Port RS-232C board for communication to other RS-232C based devices. RC180 Controller requires Options Adder Box.

Part Number:

Software Options

VB Guide 5.0

VB Guide 5.0 Software (RC180 Controller)

Provides .Net connectivity to allow programming of EPSON Robots through Vision Basic, Visual C/C++, C#, LabView, etc. Includes software CD. Version 5.x is used for RC180 Controllers.

Part Number: R12B090501

VB Guide 6.0

VB Guide 6.0 Software (RC620+ Controller)

Provides .Net connectivity to allow programming of EPSON Robots through Vision Basic, Visual C/C++, C#, LabView etc. Includes software CD. Version 6.x is used for RC620+ Controllers.

Part Number: R12B090502

GUI Builder

GUI Builder 6.0 Software (RC620+ Controller)

GUI Builder is a graphical user interface development tool that is integrated into the EPSON RC+ development environment. Users can create their own forms with buttons, radio buttons, text boxes, drop down boxes, custom leds, etc. For use with EPSON RC620+ Controllers.

Part Number: R12B091101

Security

Security Option Software (RC620+ Controller)

The Security Option software provides a method to lock out users from modifying code or manipulating the system without a proper log in. Also, creates a history or audit log of all modifications and when they were made to the system.

Part Number: R12B090701

External Control Point Software (RC180 Controller)

External Control Point 5.0 Software (RC180 Controller)

External Control Point software (ECP) allows coordination of motion about a fixed point in space. The robot holds a part and maintains path so that the part can be moved about a fixed point in space like for sealant applications. ECP 5.x is for RC180 Controllers.

Part Number: R12B090601

External Control Point Software

External Control Point 6.0 Software (RC620+ Controller)

External Control Point software (ECP) allows coordination of motion about a fixed point in space. The robot holds a part and maintains path so that the part can be moved about a fixed point in space like for sealant applications.

Part Number: R12B090602

Vision Guidance Pkgs & Options - CV1

CV1 Vision System - Std Resolution Pkg

Controllers: RC620+, RC180, RC90

EPSON Vision Guide CV1 vision system with standard resolution camera. Low Cost vision guidance solution for Epson Robots. Supports up to 2 cameras (standard or high resolution).
Includes: CV1 base unit, High Flex USB cable, standard resolution camera (640x480), shielded ethernet cable, and industry leading ease of use Epson Vision  Guide software.

Available Options for CV1 Vision System - Standard Resolution Package:

  • Standard resolution camera (640x480)
  • High resolution camera (1280x1024)
  • Lens kit 
  • DIN mount 24VDC power supply 

<EPSON CV1 Vision System Details>

Part Number: RCV1SR-SYS

CV1 Camera with High Flex USB Cable

CV1 Vision Option - Std-Res Camera

Optional standard resolution additional camera kit for the Epson CV1 Vision System. Up to 2 cameras can be added to the CV1.

Includes: CV1 standard resolution (640x480) camera and High Flex USB cable.

Controllers: RC620+, RC180, RC90

Part Number: RCV1SR-CAM

CV1 Vision System - High Resolution Pkg

Controllers: RC620+, RC180, RC90

EPSON Vision Guide CV1 vision system with High Resolution (1280x1024) camera. Low Cost vision guidance solution for Epson Robots. Supports up to 2 cameras (standard or high resolution).
Includes: CV1 base unit, High Flex USB cable, High Resolution Camera (1280x1024), shielded ethernet cable and industry leading ease of use Epson Vision Guide Software. 

Available Options for CV1 Vision System - High Resolution Package:

  • Standard resolution camera (640x480)
  • High resolution camera (1280x1024)
  • Lens kit 
  • DIN mount 24VDC power supply 

<EPSON CV1 Vision System Details>

Part Number: RCV1HR-SYS

CV1 Camera with High Flex USB Cable

CV1 Vision Option - Hi-Res Camera

Optional high resolution additional camera kit for the Epson CV1 Vision System. Up to 2 cameras can be added to the CV1.

Includes: CV1 high resolution (1280x1024) camera and High Flex USB cable.

Controllers: RC620+, RC180, RC90

Part Number: RCV1HR-CAM

CV1 Vision Option - Lens Kit

Optional lens kit for the Epson CV1 Vision System. Lens work with both standard and high resolution cameras.

Includes: 8.5mm, 16mm, 25mm, 50mm lens and an extension tube set.

Controllers: RC620+, RC180, RC90

Part Number: RE0001023-1

CV1 Vision Option - 24VDC Power Supply

Optional 24VDC Din mount 3A power supply for the Epson CV1 Vision System. 

Includes: Power supply unit.

Controllers: RC620+, RC180, RC90

Part Number: RE0001014-1

Camera Bracket - for G6 SCARA Robots

Camera Mounting bracket for easy attachment to the end of arm for G6 SCARA Robots.

Part Number: R12B031907

Teach Pendant Options

Teach Pendant TP1

TP1 Teach Pendant (RC90, RC180, RC620+, RC700A Controllers)

Controllers: RC90, RC180, RC620+, RC700A

The TP1 Teach Pendant has a menu driven user interface and alls the teaching of points and setting of parameters via a handheld teaching device. It features a dedicated soft push button interface with robot jogging, mode setting, and data entry just 1 key away. It comes with a 5 meter cable with an option for 10 or 15 meter cables. IP65 is standard. See your sales manager for details and part numbers.

Features:

  • Easy Jogging and Teaching of Robot Points
  • IP65 Enclosure
  • Menu Driven User Interface
  • I/O Command Execution and Status Display
  • Task Monitor, I/O Monitor, Memory I/O Monitor Displays
  • Low Power and Slow Speed control for Jogging
  • 3 positiion Enable Switch (Right and Left Handed)

<EPSON TP1 Details>

Part Number:

TP2 Teach Pendant

TP2 Teach Pendant (RC90, RC180, RC700A Controllers)

TP2 Teach Pendant with D-Sub connector and 5 meter cable. Connects to D-Sub connector on the front of the Controller. (For use with RC90, RC180, and RC700A Controllers)
 

Part Number:

TP3 Slant View

TP3 Teach Pendant (RC700A Controller)

Controllers: RC700A

The TP3 Teach Pendant is the latest Teach Pendant device for Epson Robots. It features a 10.1 inch color display and allows teaching of points and setting of parameters through an easy touchscreen interface. It comes with a 5 meter cable with an option for 10 or 15 meter cables. IP65 is standard. See your sales manager for details and part numbers.

Features:

  • 10" Color Touchscreen with 1280 x 800 HD Resolution
  • Easy Jogging and Teaching of Robot Points
  • IP65 Enclosure
  • Menu Driven User Interface
  • Easy Connection to RC700A Controller

<EPSON TP3 Details>

Part Number:

Other Options

Operating Panel OP1

Operator Panel OP1 (RC180 Controller)

OP1 Operator Panel provides easy access to the controller status and error conditions when the robot is in Auto mode. Includes the OP1, 3 meter cable, and shorting plug.

Part Number: R12B120001

Conveyor Tracking

Conveyor Tracking (RC620+ Controller)

Provides Conveyor Tracking capability for use with vision or sensor. Conveyor Tracking Option Kit Includes: Pulse Generating Board, Pulse Generating cable, Terminal block (2), 50pin Connector (2), 100pin Connector (1).

Part Number: R12B040802

Pulse Generating Board for Additional Axis Control (RC620+ Controller)

Provides additional axis control capability for controlling external devices. Includes Pulse Generating board & one 100 pin connector.

Part Number: R12B040801

Pulse Generating Kit w/Terminal Block for Additional Axis Control (RC620+ Controller)

Provides additional axis control capability for controlling external devices. Pulse Generating Kit includes Pulse Generating Board, Pulse Generating cable, Terminal block (2), 50pin Connector (2), 100pin connector

Part Number: R12B040803

DVD Drive (RC620+ Controller)

DVD Drive option to allow installation of 3rd party software etc.

Part Number: R12B110418

RAID 1 Option Drive (RC620+ Controller)

RAID 1 Option. Backup HDD that automatically mirrors the contents of the primary HDD.

Part Number: R12B110420

Epson RC700A Controller

Overview

  • Industry Leading Ease of Use with Epson RC+ (New Version 7.0)
  • Controls Epson G-Series, RS-Series and C-Series Robots
  • High Performance, Open Architecture, PC Based
  • Supports Windows 7 Professional, Windows 8 Professional
  • Wide Variety of Integrated Options Available

The EPSON RC700A controller is the next generation high performance controller line with both power, open architecture and industry leading ease of use. More than just a connection to a PC, the RC700A integrates both the power of PC based controls with the with the power of a real time engine running the up to 32 tasks and the SPEL+ language. In addition, the RC700A uses our EPSON RC+ 7.0 development environment which is the Industry Leader in ease of use. Advanced and beginning users alike select the RC700A as their robot controller of choice because it saves them time and money with every application. Capable of controlling up to (4) 4 or 6 axis robots, the RC700A provides superior PowerDrive servo control for super smooth motion, fast accel/decel times, and fast cycle times. The RC700A works with the C4-Series and C8-Series 6-Axis robots, the G-Series SCARA robots and the RS-Series SCARA Robots. All of this along with an open architecture design allows customers to add 3rd party software and hardware to build systems to suit their needs.

The RC700A comes standard with the latest version (7.0) of our Industry Leading EPSON RC+ Controls software and lots of fully integrated options. As the Industry Leader in ease of use, EPSON RC+ wizards, point and click setup, Jog and Teach window, Integrated Debugger, Epson Smartsense and many other features help reduce overall development time as compared to competitive robot systems. In addition, options such as Vision Guidance, .NET support (RC+ 7.0 API), EtherNet/IP, DeviceNet, Profibus, GUI Builder and much more are fully integrated into the EPSON RC+ development environment to maximize performance and ease of use.

The RC700A is capable of controlling up to 6 axes from the core controller but additional robots can be added through external drive units as well. Up to (4) robots can be controlled from just 1 RC700A controller for single source development in a multi-robot workcell. All this power from a single controller. No wonder the EPSON RC700A is the high performance robot controller of choice.

 

RC700A Controller Specifications

Basic Hardware Specifications

Chassis Description: Single Box Chassis; 19 inch rack mount size
CPU: Intel CPU for Maximum Performance
Memory: 1GB
Option Slots: 4 Real Time Option Slots Available
Mounting Options: Desktop, Rack, Floor

Robot Manipulator Control

Joint Control: Up to 6 joints simultaneous control (AC Servo)
Motion Type: CP (Continuous Path) motion, PTP (Point to Point) motion
Speed/Accel/Decel: Fully programmable
Multiple Robot Control: Up to 3 robots (18 axes) from 1 controller

Teaching Methods

Remote
Direct
Manual Data Input

Digital I/O

Standard I/O: 24 Inputs / 16 Outputs (Optically Isolated)
Expansion I/O: 24 Inputs / 16 Outputs (up to 4 boards max)

Communication Interfaces

Ethernet Port: 1 Built-in Port
USB: 1 Port
RS232: 1 Port (Up to 4 additional)

Dimensions

Control Unit: 380W x 350D x 182H (mm)
Drive Unit (Option for additional Robot Control): Coming Soon

Weight

Control Unit: 11 Kg (4 Axis Configuration)
 

Power Source & Consumption

Power Source: 200-240 VAC Single Phase 50/60 Hz
Maximum Power Consumption: 2.5 kVA (depending upon manipulator model)

Environment

Temperature: 5-40 deg C
Humidity: 20-80% (no condensation)
Standards for Environment: RoHS

Safety Standards and Features

CE Compliance, ANSI/RIA 15.06-1999, UL1740
Emergency stop switch
Safeguard Circuit
Low Power Mode
Dynamic Brake
Encoder Cable Disconnection Error Detection
Motor Overload Detection
Irregular Motor Torque Detection
Motor Speed Error Detection
Positioning Overflow
Speed Overflow
Servo Error Detection
CPU Irregularity Detection
Memory Check-Sum Error Detection
Motor Driver Overheat Detection
Over-Voltage Detection
AC Power Supply Voltage Reduction
Temperature Error Detection
Fan Error Detection
 

Basic Software Specifications

Operating System: Microsoft Windows 7 or 8 Professional (On User PC)
Language: SPEL+ high performance language with 425+ commands
Development Environment: EPSON RC+ 7.0
Multitasking: Up to 48 simultaneous tasks (16 are background tasks)
Debugger: Source level with single step, breakpoints, watch variables and built in EPSON Smartsense™ technology
Source Code Editor: Color coded with auto syntax assist, code indent, and built-in EPSON SmartSense™ Technology
Communication: Ethernet TCP/IP multiple communication channels available from SPEL+

EPSON RC+ 7.0 Development Environment

Project based development environment including:

  • Project Explorer for easy access to application files
  • Point file spreadsheets for editing points
  • Run Window for fast development
  • Robot Manager for Jogging, teaching points, and configuring robot parameters
  • I/O Monitor and I/O Label Editor allow easy setup and viewing of I/O Status
  • Task Manager provides debugging/monitoring dialog for all actively running tasks
  • Point and click configuration wizards
  • Operator Window for easy production use
  • Fully Integrated help system

SPEL+ Language

Powerful, easy to learn structured language with features including: functions, parameter passing, variable types, long variable names, event traps, error handling and much more

Error Handling

Error History
User Errors
Automatic Error Logging
User defined errors and messages

Languages Supported

English, French, German, Japanese, Chinese

Available Robots

C4-Series 6-Axis (C4, C4L)
C8-Series 6-Axis (C8, C8L, C8XL)
G-Series SCARA (G1,G3,G6,G10,G20)
RS-Series SCARA (RS3, RS4)
 

Options

Option Slots: 4 Real Time Option Slots
Vision Guidance: Industry leading ease of use with Vision Guide 7.0 (CV1 or PV1 Vision)
Conveyor Tracking: Vision or Sensor based
Expansion I/O: (24 Inputs/16 Outputs) up to 4 boards
Fieldbus Slave or Master Boards: EtherNet/IP, DeviceNet, Profibus, CC-Link
EPSON RC+ 7.0 API: Microsoft .NET Communication Module
LabView Support: Comes with EPSON RC+ 7.0 API
GUI Builder: Build User GUI from EPSON RC+ Environment
Security Option: (Now included as Standard with RC+ 7.0) Allows user to password protect system
Additional Axis Control: Available with Pulse Generating Board
RS232-C Ports: Up to 4 additional ports with 2 option boards
ECP Software Option: Supports External Control Point Motion
Teach Pendants: TP1,  TP2
 

 

For additional RC700A Controller info <click here>

Epson G6 SCARA Robots

Downloads

Brochures, Whitepapers, Press Releases

Epson G-Series SCARA Robots  
Epson G-Series SCARA Robots Press Release  

Manuals

EPSON RC180 Controller Manual  
Epson G6 SCARA Robot Manual  
EPSON RC180 Safety and Installation Manual  
Epson RC620+ Controller Manual  
Epson RC620+ Safety and Installation Manual  
Epson RC+ 6.0 Users Guide (for RC620+ Controllers)  
Epson RC+ 5.0 Users Guide (for RC180 and RC90 Controllers)  
EPSON SPEL+ 6.0 Language Reference Manual (for RC620 Controllers)  
EPSON SPEL+ 5.0 Language Reference Manual (for RC90 and RC180 Controllers)  

G6-45x Drawings

Robot Model Arm Length
(mm)
Z Axis
Stroke (mm)
Environment Mounting Curved Arm SolidWorks STEP DFX
G6-451S 450 180 standard tabletop      
G6-451SW 450 180 standard wall  
G6-451SR 450 180 standard ceiling  
G6-451C 450 150 clean tabletop  
G6-451CR 450 150 clean ceiling  
G6-453S 450 330 standard tabletop      
G6-453SW 450 330 standard wall  
G6-453SR 450 330 standard ceiling  
G6-453C 450 300 clean tabletop  
G6-453CR 450 300 clean ceiling      

G6-55x Drawings

Robot Model Arm Length
(mm)
Z Axis
Stroke (mm)
Environment Mounting Curved Arm SolidWorks STEP DFX
G6-551S 550 180 standard tabletop      
G6-551SW 550 180 standard wall      
G6-551SR 550 180 standard ceiling      
G6-551DW 550 150 IP54 wall      
G6-553S 550 330 standard tabletop      
G6-553SW 550 330 standard wall      
G6-553SR 550 330 standard ceiling  
G6-553DW 550 300 IP54 wall  

G6-65x Drawings

Robot Model Arm Length
(mm)
Z Axis
Stroke (mm)
Environment Mounting Curved Arm SolidWorks STEP DFX
G6-651S 650 180 standard tabletop      
G6-651SW 650 180 standard wall      
G6-651SR 650 180 standard ceiling      
G6-651DW 650 150 IP54 wall      
G6-653S 650 330 standard tabletop      
G6-653SW 650 330 standard wall      
G6-653SR 650 330 standard ceiling      
G6-653DW 650 300 IP54 wall  
G6-653PW 650 300 IP65 wall