README.md
Epson RS4-C351S
The Epson RS4-C351S is a 4-axis SCARA robot featuring a 4kg maximum payload capacity, 350mm horizontal reach and ±0.01mm horizontal repeatability.
The RS4-C351S is an extremely compact and versatile ceiling-mounted SCARA robot. It is designed for high-speed automation tasks such as assembly, pick-and-place, packaging and material handling.
Joint Parameters
| Joint |
Lower Limit |
Upper Limit |
Initial Position |
Maximum Speed |
Recommended Maximum Acceleration |
| J1 |
-180° |
360° |
0° |
500°/s |
2500°/s² |
| J2 |
-225° |
225° |
0° |
1000°/s |
5000°/s² |
| J3 |
-130mm |
0mm |
0mm |
1100mm/s |
8000mm/s² |
| J4 |
-720° |
720° |
0° |
2000°/s |
10000°/s² |
Cartesian Parameters
- Maximum TCP linear speed: 1100mm/s
- Recommended maximum TCP linear acceleration: 8000mm/s²
- Recommended maximum TCP angular speed: 2000°/s
- Recommended maximum TCP angular acceleration: 10000°/s²
Notes
- The selected joint and TCP speeds and accelerations are conservative values rather than strict physical actuator limits.