Performance, Reliability and Ease of Use—Definitely an EPSON!EPSON Robots are well known for leading the industry in performance, reliability, variety and especially ease of use. The EPSON EZModules™ product line adds a whole new dimension to our solutions oriented approach for high performance industrial robots. EPSONEZ Modules are a series of linear modules available in 1, 2 and 3 axis configurations (4 axis coming soon) that are easily assembledand even easier to use. With speeds up to 1500 mm per second, EPSON EZ Modules also offer a highperformance solution for a value oriented price. Add to all this our industry leading PC based RC520and RC420 controllers and there is no question that EZ Modules are DEFINITELY AN EPSON!

The Right Module for Your ApplicationEPSON EZ Modules are made to meet the tough requirements for today’s applications. With 1,2 and 3 axis configurations available and a wide variety of sizes and payloads, we’re sure tohave the configuration you need. First axis EPSON EZ Modules are available with 400-1000 mmlengths. Second axis EPSON EZ Modules are available with 350-750 mm lengths and third axismodules have 200-400 mm strokes. There are also heavy and medium configurations for manyof the modules so that just the right modules can be selected for your application. Othersizes and configurations of EPSON EZ Modules not listed in this brochure may be avail-able. Be sure to ask about your specific requirements.

Advanced Controls = Fast CyclesAll EPSON Robots have fast cycles and EPSON EZ Modules are no exception.With high rigidity, precision ground ball screws and high precision linear guidescomes the ability to get fast, smooth motion. However, the real key to highperformance motion comes from the servo control system. EPSON PCbased controllers deliver a level of control that is second to none and thenet results are higher top speeds, higher accelerations, smoother motionand faster cycle times.

3 AxisEPSON EZModules

PC Based

Controls

EPSON EZ Modules General Features• High Torque AC Servo Motors• Absolute Encoders• Precision Ground Ball Screws• Dustproof Seals for Dirty Environments• High Precision Linear Guides• Maintenance Free Linear Guide and Ball Screw• High Speed and High Payload Capable• Easy to Assemble• All Cables and Brackets Included• High Performance PC based Controls• Superior Servo Control for smooth quick motion• Easy to use Microsoft Windows™ based Software• Integrated Vision, Conveyor Tracking, Force Sensing,

Active X Controls, Audit Log/Security and more options

We Make It Easy!

A Few 1 and 2 AxisConfigurations

3 Axis MirrorConfigurations

3 axis EPSON EZ Modules can be purchased with 1 of 4mirror type configurations as shown in the figure above. The Yaxis (2nd axis) can be configured on the left or right side ofthe X axis (1st axis) and the Z axis (3rd axis) can face inwardor outward. This flexibility allows the right EPSON EZ Moduleto be selected for your specific workcell layout requirements.

EPSON EZ Modules areeasy to assemble and easy to

use. All necessary cables, cableguides, brackets, etc. are included witheach EZ Modules order. A single part

number is all it takes and yourorder is on its way.

EZ Modules (A Quick Look)

2 Axis(YZ Type)

Highperformanceservo control

system providesquick, smooth

motion.

1, 2, and 3 Axis Configurations Available.

Hightorque, reduced size

AC Servomotors providethe highest performance

in a compact space.

Absoluteencoders mean faster

start-ups. No more wastingtime homing modules

at power up.

400 mm 300 mm 200 mm

2 and 3 Axis configurationshave multiple Z Axis

strokes available.

Single Axis(Small, Medium & Heavy)

2 Axis(RD Type)

2 Axis(RG Type)

A Type

C Type

B Type

D Type

4 Axis Models

Coming Soon

1 Axis ModelsWith speeds of 1500 mm/sec, payloads up to 80Kg, and repeatabilities of +/-10 microns, our singleaxis EPSON EZ Modules are hard to beat. For maxi-mum flexibility, single axis EPSON EZ Modules can bemounted in table top, side mount, or even upside down con-figurations. One common practice is to use the RH (heavy)EPSON EZ Modules as a linear track for our popular E2 CompactSCARA robots. Whatever the use, the single axis EPSON EZModules are sure to fit your application needs.

EZ Modules (1, 2, and 3 Axis Details)

2 Axis ModelsTwo Axis EPSON EZ Modules are available in a wide variety of confrations. RG-HM (which are the conventional XY type modules) and YMS (see below for picture) models are both very popular solutions fomany different demanding applications. With speeds up to 1500 mmpayloads up to 25 Kg, and single axis repeatabilities of +/-10 micronEPSON EZ Modules give maximum performance at a reasonable p

RG Type 2 Axis EPSON EZ MoRG type 2 Axis EPSON EZ MODULES come in 2 basic models:

1) RG-HM (Heavy/Medium models where the first axis is an RH man RM module)Available Axis Lengths: Axis 1: RH (400, 600, 800, 1000 mm

2) RG-MS (Medium/Small models where the first axis is an RM moAvailable Axis Lengths: Axis 1: RM (350, 550, 750 mm) A

YZ type 2 axis EPSON EZ MODULES are available with the first AAvailable Axis Lengths: Axis 1: RM (350, 550, 750 mm) A

YZ-MSz(Medium/Small)

RH RM RS(Heavy) (Medium) (Small)

Payload (Max/Rated) 80/40 Kg 40/20 Kg 20/10 Kg

Motor Size 400 Watt 400 Watt 150 Watt

Max Speed 1500 mm/sec*1

Repeatability +/- 0.01 mm (0.0004 in)

*1 1000 mm RH Module max speed is 1200 mm/sec

Payload (Ma

Axis 1 Max

Axis 2 Max

Repeatabilit

Axis 1 Moto

Axis 2 Moto

Single Axis Lengths

RS (Small) 300, 500, 600 mm

RM (Medium) 350, 550, 750 mm

RH (Heavy) 400, 600, 800, 1000 mm

RH Heavy

YZ Type 2 Axis EPSON EZ Mo

3 Axis ModelsThree axis EPSON EZ Modules are both fast and precise. They are the ideal choice for applica-

tions ranging from simple pick and place to dispensing, and are used in a wide variety of indus-tries including medical, automotive, and semiconductor to name a few. With payloads up to

15 Kg and speeds of up to 1500 mm/sec along with +/-10 micron single axis repeatabili-ties, EPSON EZ Modules have the performance specs to meet your application needs.

RP Type 3 Axis EPSON EZ ModulesRP type 3 Axis EPSON EZ Modules come in a heavy/medium configuration

which can be configured in 1 of 4 mirror type configurations. (see page 3of this brochure) The basic sizes available are as follows:

Axis 1: RH (400, 600, 800, 1000 mm)Axis 2: RM (350, 550, 750 mm)

Axis 3: RSz (200, 300, 400 mm)

figu-YZ-or

m/sec,ns, ourrice.

odules

module and the second axis is

) Axis 2: RM (350, 550, 750 mm)

odule and the second axis is an RS module)Axis 2: RSz (300, 500, 600 mm)

Axis as an RM module and the second axis is an RSz moduleAxis 2: RSz (200, 300, 400 mm)

RG-HM(Heavy/Medium)

RP-HMSz(Heavy/Medium)

RG-HM RG-MS YZ-MSz(Heavy/Medium) (Medium/Small) (Medium/Small)

11/9 Kg (RS300)*3

Max/Rated) 25/15 Kg 6/4 Kg (RS500)*3 15/10 Kg4/2 Kg (RS600)*3

x Speed 1500 mm/sec*1

x Speed 1500 mm/sec*1 750 mm/sec

ity +/- 0.01 mm (0.0004 in)*2

or Size 400 Watt

or Size 400 Watt 150 Watt

*1 1000 mm RH Module max speed is 1200 mm/sec*2 Single axis repeatability*3 Preliminary data subject to change

RP-HMSz(Heavy/Medium)

Payload (Max/Rated) 15/10 Kg

Axis 1 Max Speed 1500 mm/sec*1

Axis 2 Max Speed 1500 mm/sec

Axis 3 Max Speed 750 mm/sec

Repeatability +/- 0.01 mm (0.0004 in)*2

Axis 1 Motor Size 400 Watt

Axis 2 Motor Size 400 Watt

Axis 3 Motor Size 150 Watt

*1 1000 mm RH Module max speed is 1200 mm/sec*2 Single axis repeatability

odules

RC420Compact Controller

Industry Leading Open Architecture Controllers• Easy to learn and use

• Powerful SPEL+ language provides commands for robot workcell control

• Extensive Integrated help screens

• Built-in source level debugger

• Project management

• Open architecture design allows use of 3rd party hardwareand software

• Active X controls option allows programming via VisualBasic or Visual C++

• User created DLL’s can be added to SPEL+Language

• Uses standard software (Microsoft Windows2000™) and hardware (Intel Pentium® IIICPU)

• Up to 12 EPSON EZ Module axes can becontrolled from 1 Controller (RC520)

• Runs up to 32 simultaneous tasks

• I/O monitor shows entire system I/Ostate in real time

• Supports a variety of I/O options

• Provides Integrated options such as:Vision, Force Sensing, ConveyorTracking, Security/Audit Log,Ethernet I/O, and Active X Controls

EPSON Robots:

PC Based Robot

Jog & Teach Dialog

Powerful, Yet Easy to UseEPSON is an industry leader in the area of open architecture PC based controls for industrial

robots. Not only is our EPSON RC+ control software easy to learn and use, it is alsoextremely powerful. Our EPSON RC+ Development Environment provides all the elements

you would expect to find in an advanced control system. Standard features such as 32task multi-tasking, integrated source level multi-task debugger, color syntax checking

editor, control of multiple robots from one controller, variable data types, and lan-guage extendibility through user DLL’s (to name a few) help make EPSON RC+

the control system software of choice for even the most advanced users.However, EPSON RC+ is also ideal for beginning users because it is easy to

learn and intuitive to use.

RC520 Expansion ControllerOur powerful EPSON RC+ software is available via 2 hardware plat-

forms. The first hardware platform is called the RC520 controller. Itconsists of an industrial 19 inch rack mount industrial PC with a sin-gle board computer using a fast Intel Pentium® III processor andrunning Microsoft Windows 2000™ along with a separate intelli-gent drive unit. The RC520 has excellent expansion capabilitiesfor options such as Vision Guide, additional I/O, force sensing,etc. It is also capable of running up to 3 EPSON Robots. TheRC520 is the controller of choice for those applications thatrequire lots of power in terms of expansion capability.

RC420 Compact ControllerThe RC420 is the second hardware platform available for ourpopular EPSON RC+ software. The RC420 controller is acompact single box version of the RC520 for when space isat a premium. The RC420 compact controller makes excel-lent use of standard PC hardware architecture (a fast IntelCeleron® processor and Microsoft Windows 2000™) whileat the same time fitting into a compact space. It also has allthe same controls capabilities as the RC520. The primarydifference between the RC520 Expansion Controller and theRC420 Compact Controller is that the RC420 has less avail-able slots for option boards and is dedicated to running just1 EPSON Robot per RC420 controller.

RC520Expansion Controller

We Make It Easy!

Workcell Controllers

EPSON RC+ Editor

Debugger, I/O Monitor, Task Manager

Vision Guide

PC Based Controllers RC520 Controller RC420 ControllerSpecifications

Control Unit/Drive Unit Chassis Separate Control Unit and Single box for Control Unit andDrive Unit; 19 inch rack mount Drive Unit; 19 inch rack mountindustrial PC with passive industrial PC with passivebackplane, shock mount drive backplane, shock mount drivebay and 300 watt power supply; bay and 200 watt power supply19 inch rack mount Drive Unit

PCI / ISA Slots 7 ISA & 4 PCI slots 3 ISA, 2 PCI and 1 ISA/PCI slot

CPU Single Board Computer Single Board Computerwith Intel Pentium® III CPU with Intel Celeron® CPU

(850 MHz or faster) (850 MHz or faster)

Graphic Display Built-in VGA Port

Memory 128MB PC100 SDRAM (additional RAM available)

Hard Drive 20GB (or more) removable type

Floppy Drive 3.5” 1.44MB

RS-232 / Parallel Ports 2 / 1 standard

Ethernet Port Built-in 10/100 base-T Ethernet port

USB Ports 2 standard

Operating System Microsoft Windows 2000™ with current service pack

Control Software EPSON RC+ System Software

Programming Language SPEL+ high performance language with 350+ commands

Multitasking Up to 32 simultaneous tasks

Debugger Source level debugger with single step, breakpoints, multiple task handling

Editor Color based editor with syntax assist/checking feature

Communications Ethernet TCP/IP multiple communication channels available from SPEL+

Standard I/O 16 in / 16 out

Expansion I/O 32 in / 32 out (per board)

Safety Emergency Stop circuit Safeguard circuitLow power mode Dynamic brake

Motor overload detection Motor speed error detectionPositioning servo error detection Drive module overheat detectionIrregular motor torque detection CPU irregularity detectionEncoder cable disconnect detection Speed overflow servo error detectionMemory check-sum error detection Lockout/Tagout Lock device

Power Source Control Unit:

200-240VAC100-120VAC / 200-240VAC

Single phase 50/60 HzSingle phase 50/60 HzDrive Unit: 200-240VACSingle phase 50/60 Hz

Maximum Power Consumption 2000W (depending upon manipulator model)

Rated Ambient Temperature 5-40 deg C

Weight 17 kg (Control Unit); 14 kg (Drive Unit) 24 kg

Size Control Unit (PC):

482.6 W x 470 D x 189 H (mm)482 W x 450 D x 177 H (mm)Drive Unit (Amps):

480 W x 448 D x 207 H (mm)

EZ Modules and Controller Specifications

North and South America

EPSON AMERICA, INC.Factory Automation/Robotics18300 Central AvenueCarson, CA 90746

Tel: 562-290-5900Fax: 562-290-5999

E-mail: info@robots.epson.comrobots.epson.com

Europe

EPSON DEUTSCHLAND GmbHFactory Automation DivisionZülpicher Straße 6D-40549 Düsseldorf Germany

Tel: 211-5603-391Fax: 211-5603-444

www.epson.de/robots/english

Asia

SEIKO EPSON CORPORATIONSuwa Minami PlantFactory Automation Systems Dept.1010 Fujimi, Fujimi-machi,Suwa-gun, Nagano, 399-0295 Japan

Tel: 81-266-61-1802Fax: 81-266-61-1846

fa.epson.co.jp/eEPSON reserves the right to make changes in specification at any time and without notice. The information furnished in this document is believed to be accurate and reliable. However, no guarantees are made. For the latest information, check our website at: www.robots.epson.com.Windows, Windows 2000 and Microsoft are the trademarks of Microsoft Corporation. Pentium and Pentium III are trademarks of Intel Corporation. Celeron® is a registered trademark of Intel Corporation. EPSON RC+ and SPEL+ are trademarks of SEIKO EPSON CORPORATION.Rev: EPSONEZA

EZ Modules Specifications One Axis Two Axis Three AxisModel Types RH (Heavy) RM (Med) RS (Small) RG-HM RG-MS YZ-MSz RP-HMSz

Configuration 1, 2, and 3 Axis Linear Modules

Range Axis 1 400, 600, 350, 550 300, 500 400, 600, 350, 550, 350, 550, 400, 600,800, 1000 mm 750 mm 600 mm 800, 1000 mm 750 mm 750 mm 800, 1000 mm

Axis 2 350, 550, 300, 500, 200, 300, 350, 550,750 mm 600 mm 400 mm 750 mm

Axis 3 200, 300,400 mm

Max Speed Axis 1 1500 mm/sec*1 1500 mm/sec*1 1500 mm/sec*1

Axis 2 1500 mm/sec 750 mm/sec 1500 mm/sec

Axis 3 750 mm/sec

Repeatability +/-0.010 mm (0.0004 in) (single axis repeatability)

Payload Rated / Max 11/9 Kg (RS300)

80/40 Kg 40/20 Kg 20/10 Kg 25/15 Kg 6/4 Kg (RS500) 15/10 Kg 15/10 Kg

4/2 Kg (RS600)

Motor Ratings Axis 1 400 watt 150 watt 400 watt 400 watt

Axis 2 400 watt 150 watt 400 watt

Axis 3 150 watt

Cycle Time (3 Axis only) 0.594 secs*2

Downward Force Z Axis 200N (20.4kgf) 200N (20.4kgf)

Weight Axis 1 21-34 Kg 12-17 Kg 7.6-9.6 Kg 21-34 Kg 12-17 Kg 12-17 Kg 21-34 Kg

Axis 2 12-17 Kg 7.6-9.6 Kg 7-8.3 Kg 12-17 Kg

Axis 3 7-8.3 Kg

Environmental Temperature 5-40 deg C

Conditions Humidity 10-80% (no condensation)

H M S H M M H

M S Sz M

Sz

*1 1000 mm RH Module max speed is 1200 mm/sec.*2 Cycle time is for 3 Axis RH800, RM550 (or RM350), RSz (200, 300, or 400 mm) sized model with a 5 Kg payload