Epson E2C Series, Manipulator Manual, Page: 32 / 208

Setup & Operation 2. Specifications
20 E2C Rev.6
2.4 Specifications
Item E2C251* E2C351*
Arm length Arm #1, #2 125 mm / 125 mm 225 mm / 125 mm
Weight (not include the weight of cables) E2C**1S, C: 14 kg : 31lb. / E2C351SM, CM: 16 kg : 36lb.
Driving method All joints AC servo motor
Joint #1, #2 2900 mm/s 3600 mm/s
Max. operating speed *1 Joint #3 1100 mm/s
Joint #4 2600 degrees/s
Joint #1, #2
±
0.008 mm
±
0.010 mm
Repeatability Joint #3 ± 0.010 mm
Joint #4
±
0.02 degrees
Joint #1
±
90 degrees
±
110 degrees
Joint #2
±
135 degrees
±
145 degrees
Max. motion range *2
Joint #3 E2C**1S, SM 120 mm / E2C**1C, CM: 100 mm
Joint #4 ± 360 degrees
Joint #1 0 to +163840
-
18205 to +182045
Joint #2
±
76800
±
82489
Max. pulse range
Joint #3 E2C**1S, SM:
-
36864 to 0 / E2C**1C, CM:
-
30720 to 0
Joint #4 ± 46695
Joint #1 0.0010986 degrees/pulse
Joint #2 0.0017578 degrees/pulse
Resolution
Joint #3 0.0032552 mm/pulse
Joint #4 0.0077097 degrees/pulse
Joint #1 150 W
Joint #2 150 W
Motor power consumption
Joint #3 150 W
Joint #4 150 W
Payload
Rated
max. 1 kg
3 kg
Joint #4 allowable moment of
inertia *3 Rated
max. 0.005 kg
⋅
m
2
0.050 kg
⋅
m
2
Shaft diameter
through hole ø16 (h7)mm
ø11 mm
Joint #3 down force 150 N
Installed wire for customer use 15 wires (15 -pin D-sub connector)
Installed pneumatic tube for customer use
2 pneumatic tubes (ø6 mm), 1 pneumatic tube (ø4 mm)
Allowable pressure: 0.59 MPa (6 kgf/cm
2
: 86psi)
Ambient Temperature 5 to 40°C (with minimum temperature variation) Environmental
requirements
Ambient relative humidity 10 to 80% (no condensation)
Equivalent continuous A-weighted sound pressure
level *4
L
Aeq
= 66.3 dB (A) or under
Applicable Controller
RC520
RC420
RC170
SPEED 5
ACCEL 10,10
SPEEDS 50
ACCELS 200
FINE 10,10,10,10
Default values
WEIGHT 1,125
Cleanliness level
Clean Class: 10 or its equivalent
Amount of Dust: 10 particles or less (0.13
µ
m diameter or larger)
(In 28317cm
3
(1cft) sample-air around the center of the motion range)
Exhaust tube
Polyurethane tube
Outer diameter: ø8 mm
Cleanroom-model
Exhaust
System *5 Recommended
exhaust flow rate
Approximately 1000 cm
3
/s (Normal)
Safety standard
ANSI/RIA R15.06 conformance
CE conformance: All models
UL1740 conformance: E2C**1S-UL, E2C**1C-UL, E2C351SM-UL, E2C351CM-UL
(No compliance by RC170 adoption)