Industrial automation

Epson Scara G20

The EPSON G20 SCARA robots can handle payloads up to 20 kgs with quick cycle times. Thanks to its specially designed rigid arm, it can cover large work areas.

The G20 is an ideal choice for assembly applications, loading and unloading, jobs requiring more than one grippers. Thanks to its 20 kg payload capability, it can lift larger products, so it is ideal for palettizing type applications as well.

Because of its internal cabling, it is considered a compact robot.

Images, videos

G20 Scara robot: sztenderd kialakítás G20 Scara robot: sztenderd kialakítás G20 Scara robot: tisztaszobás kialakítás G20 Scara robot: tisztaszobás kialakítás G6 Scara robot: munkakörnyezet szerint EPSON RC700 robot controller (front) EPSON RC700 controller: connectivity TP1, teach pendant (teaching points without PC) TP2, teach pendant (teaching points without PC) EPSON RC+: Robot simulator


EPSON G20 SCARA robots :: 20 kg payload
Model G20-85x G20-A0x
Robot type 4-axis, SCARA robot
Payload nominal / max. (kg) 10 / 20
Arm length arm 1+2 (mm) 850 (450+400) 1000 (600+400)
Z-axis length (mm)
stand. / clean room
x=1 180 / 150
x=3 420 / 390
Max. speed arm 1+2 (mm/s) 11000 11500
Z-axis (mm/s) standard: 2350
cleanroom: 1100
U-axis (°/s) 1700
Repeatability arm 1+2 (mm) ± 0.025
Z-axis (mm) ± 0.010
U-axis (°) ± 0.005
Inertia nominal / max. (kg/m2) 0.05 / 0.45
Z-axis diameter outer / inner (mm) 25 H7 / 18
Insertion force (N) 250
Wiring electrical D-Sub: 15-pin + 9-pin
pneumatic 2 x ø 4 / 2 x ø 6
Mounting Floor mount
Wall mount
Ceiling mount
Environment standard IP20
cleanroom (ISO3) and ESD
Mounting holes 4 x ø 16 mm holes
200 x 200 mm
Weight (kg) 48 - 55
Controller possibilities RC700-A controller
power/signal cable (m) standard: 3 m
option: 5m, 10m, 20m
Other options tool adapter
external wiring unit
Z-axis protection (bellows)
Standard RoHS Directive: 2002/92/EC
ANSI/RIA R15.06-1999
NFPA 79 (2007 Edition)
CSA/CAN Z434-03 (February 2003)
EC Machinery Directive 2006/42/EC

Order contents

Contents of the order

the manipulator in the selected size, payload, mounting (standard, wall mount, etc.) and for the environment (standard, clean room, etc.);
the new RC700 robot controller, with the servo drives for the robot, I/O connections, standard and optional communications, options and PC connectivity;
P/S Cable:
Power and Signal cable to connect the robot and the controller, standard length is 3 meters;
for operation, programming, service and maintenance (in English);
RC+ software:
complete programming environment for EPSON robots, can be installed on Windows, quick and easy to learn;
Robot Simulator:
3D robot simulator on Windows;
additional options specific to your order (camera system, etc.);


for the RC700 Robot Controller

P/S Cable:
longer Power and Signal cable option in 5 or 10 meter length;
Teach Pendant:
EPSON TP1, TP2 or TP3 Teach Pendants can be used to teach/re-teach points of the robot without the need to connect the programming PC;
Drive Unit:
external drive unit, to control additional robots;
I/O option:
additional inputs and outputs to increase the number of digital I/Os;
Serial Connection:
RS-232C option (with 2 channels per card);
Fieldbus, slave:
communication cards (slave): Profibus-DP, ProfiNet, DeviceNet, EtherCAT, Ethernet/IP, CC-Link;
Fieldbus, slave:
communication cards (master) with external PC: DeviceNet, Profibus, Ethernet/IP;
Conveyor Tracking:
conveyor tracking option, for tracking parts moving on a conveyor belt;
Pulse Generating:
pulse generating cards;
Compact Vision:
EPSON's own smart camera system that can be programmed from the robot's own software. Up to 6 cameras can be connected;
PV1 PC Vision:
camera recognition system for external PCs, with the ability to program from within the EPSON RC+, with up to 8 different cameras;
optical character recognition;
GUI Builder:
license to build Windows based User Interface to control the robotic cell;
license to integrate robot controls into Your Windows applications;
External Control Point license;
Force Sensing:
allowing real-time force sensing on the robot;
Security License:
ability to define different user levels, track usage (operation hours, changes, etc.);


Simple to understand programming language: SPEL+

EPSON robot programming is done in a Windows-based programming environment called EPSON RC+. The programming language itself is called SPEL+.
SPEL+ is very similar to BASIC. It is quick to learn and easy to understand. After programming and compiling in EPSON RC+, the program is transferred to the robot controller. From that point, the controller controlls the robot (without the need of the PC).

Do you need to control other devices as well? No problem. SPEL+ can do a lot more than just robot control. It is a multitasking language, capable of controlling task parallel or independent of the robot.

Complex motion control

SPEL+ includes a wide range ot motion commands: PTP (point-to-point motion), linear motion, CP (continuous path motion), etc. or special motion commands such as Jump or Palletizing commands.

Robot Simulator, to plan ahead

With the use of the 3D robot simulator, you can plan ahead, design and simulate your application before your robot even arrives. Inside EPSON RC+ you can add 3D models to model your robotic cell, and check the cycle times. You can run study and verify your concept ideal before having to manufacture anything.

EPSON RC+ robot simulator EPSON RC+ programming EPSON RC+: robot points table EPSON RC+ Robot Manager EPSON RC+ I/O Panel Security License GUI builder

Camera Systems

EPSON's integrated vision systems

You can choose form a wide range of camera systems offered by the automation industry. But EPSON also provides its own solution. EPSON's vision systems are integrated with the robot's software, making it easy to connect and to access all the parameters and results of the camera system.

CV1, Compact Vision

The CV1 (Compact Vision) controller connects to the robot controller via Ethernet. Programming is done from inside EPSON RC+.
The CV1 supports up to 2 x EPSON USB cameras (VGA, 1.3MP or 5MP).

CV2, Compact Vision

The CV2 connect to the robot controller via Ethernet connection. The CV2 offers quicker processing and supports high speed GigE cameras for faster data transfers. Programming is done inside EPSON RC+. The CV2 supports up to 4 x GigE cameras and up to 2 x USB cameras at the same time.

PV1, PC Vision (for RC700 only)

The EPSON PV1 is a customizable option. It is installed on a Windows PC, that connects to the robot controller. The processing speed is the function of the hardware used. The PV1 support up to 8 x EPSON GigE cameras which are available in different color modes or resolutions.

Please click here for more information about EPSON's Vision Systems.

CV1 kamerás rendszer EPSON USB camera EPSON CV2 camera system EPSON GigE camera Vision Guide

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