C4 Specifications
| Item | Specifications | ||||
|---|---|---|---|---|---|
| C4-B601 ** | C4-B901** | ||||
| Machinery name | Industrial robot | ||||
| Product series | C-B | ||||
| Model | C4-B601 ** | C4-B901** | |||
| Model Name | C4 | C4L | |||
| Mounting type | Table top mounting (Ceiling mounting) *1 | ||||
| Arm length | P point: J1 to J5 center | 600.0 | 900.0 | ||
| Maximum reach | J1 to J6 flange | 665.0 | 965.0 | ||
| Manipulator weight (not include the weight of cables or shipping jigs) | 27 kg: 59.5 lb | 30 kg: 66.1 lb | |||
| Drive system | All joints | AC servo motor | |||
| Maximum operating speed *2 | Joint #1 | 450°/s | 275°/s | ||
| Joint #2 | 450°/s | 275°/s | |||
| Joint #3 | 514°/s | 289°/s | |||
| Joint #4 | 555°/s | ||||
| Joint #5 | 555°/s | ||||
| Joint #6 | 720°/s | ||||
| Maximum synthetic speed | 9459 mm/s | 8495 mm/s | |||
| Repeatability | Joint #1 to #6 | ±0.02 mm | ±0.03 mm | ||
| Maximum motion range | Joint #1 | ±170° | ±170° | ||
| ±180° without the mechanical stop | |||||
| Joint #2 | -160 to +65° | ||||
| Joint #3 | -51 to +225° | ||||
| Joint #4 | ±200° | ||||
| Joint #5 | ±135° | ||||
| Joint #6 | ±540° | ||||
| Max. pulse range (pulse) | Joint #1 | ±4951609 | ±8102633 | ||
| Software limit maximum value ±5242880 | Software limit maximum value ±8579259 | ||||
| Joint #2 | -4660338 to +1893263 | -7626008 to +3098066 | |||
| Joint #3 | -1299798 to +5734400 | -2310751 to +10194489 | |||
| Joint #4 | ±4723316 | ||||
| Joint #5 | ±3188238 | ||||
| Joint #6 | ±9830400 | ||||
| Resolution | Joint #1 | 0.0000343°/pulse | 0.0000210°/pulse | ||
| Joint #2 | 0.0000343°/pulse | 0.0000210°/pulse | |||
| Joint #3 | 0.0000392°/pulse | 0.0000221°/pulse | |||
| Joint #4 | 0.0000423°/pulse | ||||
| Joint #5 | 0.0000423°/pulse | ||||
| Joint #6 | 0.0000549°/pulse | ||||
| Motor rated capacity | Joint #1 | 400 W | |||
| Joint #2 | 400 W | ||||
| Joint #3 | 150 W | ||||
| Joint #4 | 50 W | ||||
| Joint #5 | 50 W | ||||
| Joint #6 | 50 W | ||||
| Payload (load) *3 | Rated | 1 kg | |||
| Maximum | 4 kg (5 kg with arm downward positioning) | ||||
| Allowable moment | Joint #4 | 4.41 N·m (0.45 kgf·m) | |||
| Joint #5 | 4.41 N·m (0.45 kgf·m) | ||||
| Joint #6 | 2.94 N·m (0.3 kgf·m) | ||||
| Allowable moment of inertia *4 (GD2/4) | Joint #4 | 0.15 kg·m2 | |||
| Joint #5 | 0.15 kg·m2 | ||||
| Joint #6 | 0.10 kg·m2 | ||||
| User wires | 9 wires (D-sub) | ||||
| User wires *5 | ⌀4 mm pneumatic tube × 4 Pressure resistance: 0.59 MPa (6 kgf/cm2) (86 psi) | ||||
| Environmental requirements *6 | Ambient temperature | 5 to 40°C *7 | |||
| Ambient relative humidity | 10 to 80% RH (no condensation) | ||||
| Vibration | 4.9 m/s2 (0.5 G) or less | ||||
| Transportation and storage | Temperature | −20 to +60°C | |||
| Humidity | 10 to 90% (no condensation) | ||||
| Noise level *8 | LAeq = 77.4 dB (A) | LAeq = 73.3 dB (A) or lower | |||
| Environmental specifications *9 | Standard, Cleanroom & ESD | ||||
| Compatible Controller | RC700-E | ||||
| M/C cable | Cable weight (cable only) | For fixing and signal (common to all lengths) | 0.06 kg/m | ||
| For fixing and power (common to all lengths) | 0.45 kg/m | ||||
| For movable and signal (common to all lengths) | 0.07 kg/m | ||||
| For movable and power (common to all lengths) | 0.52 kg/m | ||||
| Cable outer diameter | For fixing and signal (common to all lengths) | ⌀6.2 mm (typ) | |||
| For fixing and power (common to all lengths) | ⌀17.8 mm (typ) | ||||
| For movable and signal (common to all lengths) | ⌀6.4 mm (typ) | ||||
| For movable and power (common to all lengths) | ⌀17.8 mm (typ) | ||||
| Minimum bending radius *10 | For fixing and signal (common to all lengths) | 38 mm | |||
| For fixing and power (common to all lengths) | 107 mm | ||||
| For movable and signal (common to all lengths) | 100 mm | ||||
| For movable and power (common to all lengths) | 100 mm | ||||
| Default values (Max. setting values) | Speed | 5 (100) | |||
| Accel *11 | 5, 5 (120, 120) | ||||
| SpeedS | 50 (2000) | ||||
| AccelS | 200 (25000) | 200 (15000) *12 | |||
| Fine | 10000, 10000, 10000, 10000, 10000, 10000 (65535, 65535, 65535, 65535, 65535, 65535) | ||||
| Weight | 1 (5) | ||||
*1: Manipulators are set to "Table Top mounting" at shipment. To use the Manipulators as "Ceiling mounting", you need to change the model settings. For details on how to change the model settings, refer to the following sections.
- Changing the Robot
- "Epson RC+ User's Guide - Robot Configuration"
*2: When PTP statements are used
*3: If the payload exceeds the maximum payload, refer to the following section.
"WEIGHT Setting - Restrictions on payload exceeding the maximum payload"
*4: If the center of gravity is at the center of each arm.
If the center of gravity is not at the center of each arm, set the eccentricity using INERTIA command.
*5: For details of the installed pneumatic tube for customer use, refer to the following section.
User Wires and Pneumatic Tubes
*6: For details of the environmental requirements, refer to the following section.
Environment
*7: When used in a low-temperature environment near the minimum temperature specified in the product specifications, or when the unit is idle for a long period of time during holidays or at night, a collision detection error or similar error may occur immediately after the start of operation due to high resistance in the drive unit. In such cases, warm-up operation for about 10 minutes is recommended.
*8: The conditions at measurement are as follows.
- Operating conditions: Under rated load, all arms simultaneous motion, maximum speed, maximum acceleration/deceleration, and maximum acceleration/deceleration which duty is 100%.
- Measurement point: 1000 mm apart from the rear of Manipulator
*9: Manipulators with cleanroom specifications discharge the exhaust inside of the base and inside of the arm cover section together. Consequently, if there is a gap in the base section, the arm tip section will not be sufficiently negatively pressurized, which may result in dust generation.
Cleanliness: Class ISO 3 (ISO 14644-1)
Exhaust port: Fitting for ⌀8 mm tube 60 L/min vacuum
Exhaust tube: Polyurethane tube Outer diameter: ⌀8 mm (Inner diameter: ⌀5 to 6 mm)
ESD specification uses resin materials with anti-static treatment. This model controls adhesion of dust due to electrification.
Protection level for the standard model and cleanroom model Manipulators is equivalent to IP20.
The IP (International Protection) rating is an international standard indicating the degree of protection against dust and water.
| Protection Class | ||
|---|---|---|
| IP20 | Dust protection level: 2 | A solid object which is 12.5 mm or longer cannot touch dangerous areas inside of the Manipulator. |
| Water protection level: 0 | Not protected. | |
*10: Note the following points when wiring the movable M/C cable.
Install the cable not to apply a load to the connector.
Bend the cable at the minimum bending radius of the movable part or more. The bending radius (a) and dimensions are shown in the figure below.
*11: The Accel setting of "100" is the optimum setting that balances acceleration/deceleration and vibration during positioning. Although values larger than 100 can be set to Accel, it is recommended to minimize the use of large values to necessary motions since operating the Manipulator continuously with the large Accel setting may shorten the product life remarkably.
*12: Maximum AccelS setting value for payload of 4 kg or more is 12000.
Although setting the value exceeding 12000 does not cause an error, do not set the value in order to prevent Manipulator malfunction.