Performance, Reliability and Ease of UseDefinitely an EPSON!

EPSON Robots are well known for leading the industry in performance, reliability, variety and especially ease of use. The EPSON EZ
Modules product line adds a whole new dimension to our solutions oriented approach for high performance industrial robots. EPSON
EZ Modules are a series of linear modules available in 1, 2 and 3 axis configurations (4 axis coming soon) that are easily assembled
and even easier to use. With speeds up to 1500 mm per second, EPSON EZ Modules also offer a high
performance solution for a value oriented price. Add to all this our industry leading PC based RC520
and RC420 controllers and there is no question that EZ Modules are DEFINITELY AN EPSON!
The Right Module for Your Application
EPSON EZ Modules are made to meet the tough requirements for todays applications. With 1,
2 and 3 axis configurations available and a wide variety of sizes and payloads, were sure to
have the configuration you need. First axis EPSON EZ Modules are available with 400-1000 mm
lengths. Second axis EPSON EZ Modules are available with 350-750 mm lengths and third axis
modules have 200-400 mm strokes. There are also heavy and medium configurations for many
of the modules so that just the right modules can be selected for your application. Other
sizes 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 Cycles
All EPSON Robots have fast cycles and EPSON EZ Modules are no exception.
With high rigidity, precision ground ball screws and high precision linear guides
comes the ability to get fast, smooth motion. However, the real key to high
performance motion comes from the servo control system. EPSON PC
based controllers deliver a level of control that is second to none and the
net results are higher top speeds, higher accelerations, smoother motion
and faster cycle times.
3 Axis
EPSON EZ
Modules
P
C

B
a
s
e
d
C
o
n
t
r
o
l
s
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 Axis
Configurations
3 Axis Mirror
Configurations
3 axis EPSON EZ Modules can be purchased with 1 of 4
mirror type configurations as shown in the figure above. The Y
axis (2nd axis) can be configured on the left or right side of
the X axis (1st axis) and the Z axis (3rd axis) can face inward
or outward. This flexibility allows the right EPSON EZ Module
to be selected for your specific workcell layout requirements.
EPSON EZ Modules are
easy to assemble and easy to
use. All necessary cables, cable
guides, brackets, etc. are included with
each EZ Modules order. A single part
number is all it takes and your
order is on its way.
EZ Modules (A Quick Look)
2 Axis
(YZ Type)
High
performance
servo control
system provides
quick, smooth
motion.
1, 2, and 3 Axis
Configurations Available.
High
torque, reduced size
AC Servomotors provide
the highest performance
in a compact space.
Absolute
encoders mean faster
start-ups. No more wasting
time homing modules
at power up.
400 mm 300 mm 200 mm
2 and 3 Axis configurations
have 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

A
x
is

M
o
d
e
ls
C
o
m
in
g

S
o
o
n
1 Axis Models
With speeds of 1500 mm/sec, payloads up to 80
Kg, and repeatabilities of +/-10 microns, our single
axis EPSON EZ Modules are hard to beat. For maxi-
mum flexibility, single axis EPSON EZ Modules can be
mounted 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 Compact
SCARA robots. Whatever the use, the single axis EPSON EZ
Modules are sure to fit your application needs.
EZ Modules (1, 2, and 3 Axis Details)
2 Axis Models
Two Axis EPSON EZ Modules are available in a wide variety of conf
rations. RG-HM (which are the conventional XY type modules) and Y
MS (see below for picture) models are both very popular solutions fo
many different demanding applications. With speeds up to 1500 mm
payloads up to 25 Kg, and single axis repeatabilities of +/-10 micron
EPSON EZ Modules give maximum performance at a reasonable p
RG Type 2 Axis EPSON EZ Mo
RG type 2 Axis EPSON EZ MODULES come in 2 basic models:
1) RG-HM (Heavy/Medium models where the first axis is an RH m
an 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 mo
Available Axis Lengths: Axis 1: RM (350, 550, 750 mm) A
YZ type 2 axis EPSON EZ MODULES are available with the first A
Available 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 Models
Three 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 Modules
RP 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 3
of 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, our
rice.
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 module
Axis 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 Kg
4/2 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
RC420
Compact 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 hardware
and software
Active X controls option allows programming via Visual
Basic or Visual C++
User created DLLs can be added to SPEL+
Language
Uses standard software (Microsoft Windows
2000) and hardware (Intel Pentium III
CPU)
Up to 12 EPSON EZ Module axes can be
controlled from 1 Controller (RC520)
Runs up to 32 simultaneous tasks
I/O monitor shows entire system I/O
state in real time
Supports a variety of I/O options
Provides Integrated options such as:
Vision, Force Sensing, Conveyor
Tracking, Security/Audit Log,
Ethernet I/O, and Active X Controls
EPSON Robots:
PC Based Robot
Jog & Teach Dialog
Powerful, Yet Easy to Use
EPSON 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 also
extremely powerful. Our EPSON RC+ Development Environment provides all the elements
you would expect to find in an advanced control system. Standard features such as 32
task 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 DLLs (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 Controller
Our powerful EPSON RC+ software is available via 2 hardware plat-
forms. The first hardware platform is called the RC520 controller. It
consists of an industrial 19 inch rack mount industrial PC with a sin-
gle board computer using a fast Intel Pentium III processor and
running Microsoft Windows 2000 along with a separate intelli-
gent drive unit. The RC520 has excellent expansion capabilities
for options such as Vision Guide, additional I/O, force sensing,
etc. It is also capable of running up to 3 EPSON Robots. The
RC520 is the controller of choice for those applications that
require lots of power in terms of expansion capability.
RC420 Compact Controller
The RC420 is the second hardware platform available for our
popular EPSON RC+ software. The RC420 controller is a
compact single box version of the RC520 for when space is
at a premium. The RC420 compact controller makes excel-
lent use of standard PC hardware architecture (a fast Intel
Celeron processor and Microsoft Windows 2000) while
at the same time fitting into a compact space. It also has all
the same controls capabilities as the RC520. The primary
difference between the RC520 Expansion Controller and the
RC420 Compact Controller is that the RC420 has less avail-
able slots for option boards and is dedicated to running just
1 EPSON Robot per RC420 controller.
RC520
Expansion Controller
We Make It Easy!
Workcell Controllers
EPSON RC+ Editor
Debugger, I/O Monitor,
Task Manager
Vision Guide
PC Based Controllers
RC520 Controller RC420 Controller
Specifications
Control Unit/Drive Unit Chassis Separate Control Unit and
Single box for Control Unit and
Drive Unit; 19 inch rack mount
Drive Unit; 19 inch rack mount
industrial PC with passive
industrial PC with passive
backplane, shock mount drive
backplane, shock mount drive
bay and 300 watt power supply;
bay and 200 watt power supply
19 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 Computer
with 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 circuit
Low power mode Dynamic brake
Motor overload detection Motor speed error detection
Positioning servo error detection Drive module overheat detection
Irregular motor torque detection CPU irregularity detection
Encoder cable disconnect detection Speed overflow servo error detection
Memory check-sum error detection Lockout/Tagout Lock device
Power Source Control Unit:
200-240VAC
100-120VAC / 200-240VAC
Single phase 50/60 Hz
Single phase 50/60 Hz
Drive Unit: 200-240VAC
Single 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/Robotics
18300 Central Avenue
Carson, CA 90746
Tel: 562-290-5900
Fax: 562-290-5999
E-mail: info@robots.epson.com
robots.epson.com
Europe
EPSON
DEUTSCHLAND GmbH
Factory Automation Division
Zlpicher Strae 6
D-40549 Dsseldorf Germany
Tel: 211-5603-391
Fax: 211-5603-444
www.epson.de/robots/english
Asia
SEIKO EPSON
CORPORATION
Suwa Minami Plant
Factory Automation Systems Dept.
1010 Fujimi, Fujimi-machi,Suwa-
gun, Nagano, 399-0295 Japan
Tel: 81-266-61-1802
Fax: 81-266-61-1846
fa.epson.co.jp/e
EPSON 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 Axis
Model 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