Epson C4 compact 6-axis robot is designed for greater flexibility, range of motion and speed. All new technologies are included in robot design and performance. The combination of C4 compact 6-axis robot and our power driven servo technology can produce the high-performance effect that customers expect. At the same time, it matches the new RC700 controller and the RC+7.0 software platform to provide you with more efficient applications.
High performance
Industry leading cycle time
Faster than other 6-axis robots
Load up to 4 kg while maintaining the fastest cycle time
High repeated positioning accuracy, in line with customer expectations
Slim linear body design and ultra compact wrist provide greater flexibility
Large range of motion, able to reach areas that other small robots cannot reach
Powerful controller and development software
Epson's new controller RC700 provides richer and easier to use interfaces
Epson's new RC+7.0 provides more powerful development functions, leading the industry in terms of ease of use and saving development time
Other options can be integrated to maximize system performance and reduce total development time (see the options page for more information)
High performance processing capacity is many times faster than other brand products
Full integration options
Visual guidance
Network connectivity
Device network, field bus, Ethernet, IP, CC Link field bus connection
Security and Audit
GUI Builder
Other Axis Controls
Conveyor tracking
Provide clean/ESD models
Suitable for many applications and industries
automobile
medical care
Laboratory Automation
Consumer Electronics
industrial product
signal communication
pharmacy
semiconductor
Electronic equipment
Product specifications
Product model C4-A901S
Installation method Table top installation/ceiling installation * 4
DOF 6
Maximum motion range P point: 900 mm through J4/J5/J6 center
Wrist flange face 965 mm
Maximum motion speed The first joint 275 °/s
The second joint 275 °/s
The third joint 289 °/s
The fourth joint 555 °/s
The fifth joint 555 °/s
The sixth joint 720 °/s
Body weight (excluding cable weight) 29 kg
Repetitive positioning accuracy of joints 1-6 ± 0.03 mm
Maximum range of motion: ± 170 ° deg of the first joint; (UL specification ± 160 deg)
The second joint - 160 °~+65 °
The third joint - 51 °~+225 °
± 200 ° of the fourth joint
Joint 5 ± 135 °
The sixth joint ± 360 °
Load rating 1 kg
Maximum 4 kg (shaft arm positioning down 5KG)
Standard cycle time * 1 0.47 seconds
Allowable inertia moment * 2 4th joint 0.15 kg · m2
The fifth joint 0.15 kg · m2
The sixth joint 0.1 kg · m2
Motor power consumption: 400 W for the first joint
Second joint 400 W
Third joint 150 W
4th joint 50 W
5th joint 50 W
6th joint 50 W
Zero point reset is not required
User circuit 9-pin (D-Sub analog interface)
User gas circuit ø 4mm × four
Standard installation environment/clean type * 3 and anti-static
Applicable controller RC700-A
Safety standards CE, KC, UL
remarks:
*1: Cycle time of round trip arch movement (maximum speed optimal path coordinate) under 1kg load (300mm horizontally and 25mm vertically).
*2: When the center of gravity of the load is at the center of each arm segment. If not in the center of each arm segment, use the Inertia command to set parameters.
*3: Cleanliness: cleanliness grade ISO 3 (ISO14644-1:2015) and early grade 10 (0.1 per 28317cm3 (1 cubic foot) μ M particles).
*4: To use ceiling installation, select the appropriate type in EPSON RC+software.
controller
Epson controller RC700-A
Epson RC+has industry-leading ease of use (new version 7.0)
Control Epson G-series, RS series, C-series and N-series robots
Can connect PC master station and PLC master station
USB connection; Simple installation
Drive unit can be added for multi robot control
Wide range of integration options
Product model RC700-A
Number of controllable axes AC can be connected to six (6) axis servo motors at most
Robot manipulator control
Programming language Robot control software Epson RC+7.0
Joint control Simultaneous maximum six (6) joint software AC servo control
Software AC servo control
Speed control PTP movement: 1~100% programmable; CP movement: speed can be set freely
During acceleration/deceleration control PTP movement: 1~100% programmable; When automatically controlling CP movement: acceleration/deceleration can be set freely
Positioning control
PTP (Point to Point)
CP (continuous track)
Memory capacity
Maximum object size: 8MB
Point data area: 1000 points/file
Backup variable area: maximum 100KB (including management table memory area)
About 1000 variables (depending on the size of array variables)
External I/O signal (standard)
Standard I/O input: 24
Output: 16 per drive group
Communication interface (standard)
Ethernet 1 port
RS-232C 1 port
Dedicated slot (RC700-A: maximum 4 slots)
Extended I/O input: 24
Output: 16 can add 4 boards
RS-232C 2 ports/board can add 2 boards
Fieldbus I/O
Slave board:
PROFIBUS-DP
DeviceNet
CC-Link
EtherNet/IP
PROFINET
EtherCAT
*2 1 plate
Fieldbus I/O
Master station PROFIBUS-DP
DeviceNet
EtherNet/IP 1 board
Number of pulse output control shafts: 4 ports/board, 4 boards can be added
Safety function
Emergency stop switch/low power consumption mode/encoder data terminal line detection/torque abnormality detection/
Position deviation overflow monitoring/speed deviation overflow monitoring/memory anomaly detection/relay fusion detection/
AC low voltage detection/emergency stop of safety door/dynamic braking/overload detection/abnormal motor speed detection/
CPU anomaly detection/overheat detection/fan anomaly detection/overvoltage detection/temperature anomaly detection
Power Supply
AC 200V to AC 240V
Single phase 50/60Hz
Weight * 1
11kg
remarks:
*1 The weight is marked on the controller. Please confirm the weight when handling; Check the weight and add more staff if necessary. Be careful with your fingers and toes when moving or repositioning.
*2 Support standard communication protocols Modbus RTU and ModbusTCP.