Epson RS4 SCARA Robots

550mm

  • Industry Leading Work Envelope Usage
  • No Lost Space in Center of Work Envelope
  • Extremely high speed with superior cycle throughput
  • Zero Footprint Robot
  • ISO Clean & ESD Compliant Models

Epson RS4 SCARA robots are a part of the RS-Series family of robots that use a unique new design to improve both work envelope usage and cycle throughput. The arm structure was designed so that joint 2 can maneuver under joint 1 and thus utilize the entire workspace underneath the arm. Unlike other SCARA robot designs, there is no lost space in the center of the work envelope. No other robot vendor offers a 550mm SCARA robot arm which can work with pallets as large as 777mm x 777mm. A pallet size this large would normally require a SCARA arm which is almost double the size. Epson RS4 SCARA+ arms are capable of handing pallet sizes up to 600x800mm.  The RS-Series SCARA arms are also designed for speed. With super fast cycle times the RS4 is ideal for applications running in demanding industries such as Automotive, Medical, Semi Conductor, Food, Pharmaceutical, Consumer, and many others, Epson RS3 SCARA's are the unique alternative to "just another SCARA" arm and they deliver the high performance required for todays demanding applications.

RS4 SCARA+ arms are available in 550mm arm lengths with either a 130mm Z-Axis length (100mm clean). They are also available in ISO3 Clean/ESD configurations as required for the semi-conductor and medical industries.

With the industry leading ease of use of the EPSON RC+ Development Environment and a ton of integrated options, Epson RS3 Robots with Epson Controllers significantly reduce overall learning curves and development time. RS4 SCARA+ robots are available with either our compact powerful RC180 Controller or our open architecture PC based RC620+ Workcell Controller. The choice is yours depending upon your application. Both controllers feature a host of integrated options such as Vision Guide, .NET support, DeviceNet, Profibus and Ethernet/IP (RC620+ only) communications interfaces and much more. 
 

Epson RS4 SCARA+ Robots

Features & Benefits

Epson RS4 robots were created to provide high performance robots with maximum work envelope efficiency. No other SCARA in the world has the work envelope capacity ratio offered with the RS-Series models. The RS4 is a 550mm SCARA+ arm capable to working on 777mm x 777mm pallets which would normally require a SCARA arm well over 1000mm in size. Also, with movement through the center of the work envelope, the RS-Series arms can significantly reduce cycle times by traveling through shorter distances vs having to always go around the center of the work envelope. Add all this to our Industry Leading Ease of Use and Powerful Controllers and it's easy to see why Epson RS-Series robots are quickly becoming the robot of choice. 

High Performance

Best in Class Work Envelope Usages (no dead space)
Champion Cycle times of 0.39 seconds improve total part throughput
Outstanding Accel/Decel Rates with smooth start/stop motion
Unique "through center" motion reduces cycle times
PowerDrive Servo Technology provides maximum motion performance

Unique Design Yields Better Work Envelope Utilization

  • Overhead mounting to eliminate dead space
  • Perfectly cylindrical envelope to reach more area
  • Joints 1 and 2 can move +/-225mm
  • Joint 2 moves completely underneat Joint 1 for maximum envelope efficiency

Best in Class Controllers and Development Software

  • Industry Leading Ease of Use with EPSON RC+ Development Environment (saves development time) 
  • Two Tiered Controller offering allow high performance or lower cost solutions with the RS4 robots
  • High Performance processing power many times faster than competitors models
  • Integrated options to maximize system performance and reduce overall development time (see options page for more details)

Integrated Options Reduce Development Time

  • Industry Leading Ease of use with Vision Guide Vision Guidance solution
  • Microsoft .NET support for both RC180 and RC620+ Controllers (progam using VB, C/C++, LabView, etc.)
  • Integrated Communications Modules Including: Profibus, DeviceNet, CC-Link and Ethernet/IP (RC620+ only)
  • GUI Builder allows easy creation of Operator Interfaces from the Epson RC+ Development Environment
  • Integrated Conveyor Tracking, Additional I/O, Force Sensing and many more integrated options available

Used for a Wide Variety of Applications and Industries

  • Automotive
  • Consumer Products
  • Industrial Products 
  • Telecommunications
  • Pharmaceutical
  • Packaging
  • Semiconductor
  • Food
  • Electronics

Epson RS4 SCARA Robots

Specifications

Arm Length

J1+J2:  550 mm (275+275 mm)
J3 (Z): 130mm (100 Clean)

Repeatability

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

Payload

Max: 4 Kg
Rated: 1 Kg

User Lines

Electric: 15 lines (15 pin D-Sub)
Air: 3 (6mm x 2, 4mm x 1)

Weight

RS4-551: 20Kg

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)

RS4-551: 0.39 secs
 

Maximum Operating Speed

J1+J2: 7,400 mm/sec
J3: 1,100 mm/sec
J4: 2,600 deg/sec

Motor Wattage

J1: 400 Watts
J2: 400 Watts
J3: 150 Watts
J4: 100 Watts

Other

Insertion Force: 150N (15.29 kgf)
U Inertia (Max/Rated): 0.05 / 0.005 kg*m2

Measurements

Mounting Hole Footprint(mm): 95 x 95 x 160mm (6-M6)
Z Axis Diameter: 16 mm

Optional Arm Configurations

Clean & ESD: ISO 3 Clean & ESD
 

 

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.

Tool Adapter (for G3, LS3, RS3, RS4 Robots)

Tool Adapter - (for G3, LS3, RS3 and RS4 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: R12B031901

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:

Option Unit- Adder Box for RC180 Option Boards

 Option Unit box required for all RC180 Option Boards. Up to 2 Option Boards can be installed in each Option Unit. Up to 2 Option Units can be installed to an RC180 Controller allowing a total of 4 options boards to be used in an RC180 Controller.

Part Number: R12B100503

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 - PC Vision

VB Guide 6.0 Screenshot

Vision Guide 6.0 (RC620+ Controller)

Vision guidance for the RC620+ controller. Industry leading ease of use with Epson Vision Guide software is included. Vision Guide 6.0 uses a frame grabber in the RC620+ controller and can control up to 16 cameras depending upon which Vision Guide option is selected. Available for standard resolution (640x480) or high resolution (1280x1024) cameras. Also available as full kits with cameras, junction box, lens, etc.

Part Number: Many different models available (see Sales Manager for details)

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

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

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>

Downloads

Brochures, Whitepapers, Press Releases

EPSON RS-Series SCARA+ Brochure  
EPSON RS4 SCARA+ Press Release  

Manuals

Epson RS-Series SCARA Robot Manual (R7)  
Epson RC+ 6.0 Users Guide (for RC620+ Controllers)  
Epson RC+ 5.0 Users Guide (for RC180 and RC90 Controllers)  
Epson RC180 Controller Manual  
Epson RC180 Safety and Installation Manual  
Epson SPEL+ 6.0 Language Reference Manual (for RC620 Controllers)  
Epson RC620+ Controller Manual  
Epson RC620+ Safety and Installation Manual  
Epson SPEL+ 5.0 Language Reference Manual (for RC90 and RC180 Controllers)  

RS4-55x Drawings

Robot Model Arm Length
(mm)
Z Axis
Stroke (mm)
Environment Mounting Curved Arm SolidWorks STEP DFX
RS4-551S 550 130 standard ceiling