AX6-A901S Collaborative Robotic Arm (Manipulator)
Collaborative Robots · Load 6 kg · Arm length: 900 mm
AX6-A901S specifications
Building on over 40 years of successful precision manufacturing experience at Epson, the AX6 collaborative robot further enhances the safety and performance of operator-robot collaboration, suitable for applications requiring high flexibility, safety, and tight human-machine coordination. Focusing on industries such as pharmaceuticals, chemicals, medical devices, and semiconductors, as well as customers with high requirements for cleanliness and environmental adaptability.
Model introduction
Building on over 40 years of successful precision manufacturing experience at Epson, the AX6 collaborative robot further enhances the safety and performance of operator-robot collaboration, suitable for applications requiring high flexibility, safety, and tight human-machine coordination. Focusing on industries such as pharmaceuticals, chemicals, medical devices, and semiconductors, as well as customers with high requirements for cleanliness and environmental adaptability. High performance: load of 6 kg, maximum TCP speed of 2,000 mm/s; Repeatability± 0.03 mm; Supports multiple safety functions (PFL, SOS, SLS, SLP, etc.), reducing the need for security fences; The appearance is smooth and easy to clean, with no exposed screws in the design, meeting IP54 protection rating and cleanroom Class 5 standards (ISO 05). Lightweight and slim robotic arm design: small footprint, weighing only 18 kg; Easy and convenient installation; Installation can be completed by a single person, reducing labor requirements. Strong scalability: standard DC/AC power supply; Suitable for AMR/AGV integrated application scenarios and highly compatible with cleanroom mobile robot solutions
AX6-A901S exclusive highlights
Load of 6 kg, maximum TCP speed of 2,000 mm/s; Repeatability± 0.03 mm; Supports multiple safety functions (PFL, SOS, SLS, SLP, etc.), reducing the need for security fences; The surface is smooth and easy to clean, with no exposed screws in the design, meeting IP54 protection rating and cleanroom Class 5 standards (ISO 05).
Small footprint, weighing only 18 kg; Easy and convenient installation; Installation can be completed by a single person, reducing labor requirements
Standard DC/AC power supply; Suitable for AMR/AGV integrated application scenarios and highly compatible with cleanroom mobile robot solutions
Epson AX Portal is simple and easy to use, supporting an open development ecosystem, Python programming language, and ROS/ROS2 operating systems, shortening deployment and development time; The RC-A101 controller features a compact and lightweight design, offering more flexible installation and deployment; Intuitive modular programming allows easy programming without professional knowledge; Multi-level access permissions can be set to reduce misoperation and information leakage risks
AX6 Collaborative Robot · Series technical features
The AX6 is Epson's first collaborative robot, with a payload of 6kg and a 900mm arm length. It supports force control safe collaboration, AC/DC power supply, and Python/ROS2 development, designed for flexible workstations that closely integrate humans and machines.
Supports safety functions such as PFL, SOS, SLS, SLP, reducing the need for security fences.
The main body weighs only 18 kg and can be installed by a single person, making it suitable for AMR/AGV integration.
Supports Python development and simplified programming and commissioning with ROS/ROS2 and AX Portal.
Complies with ISO Class 5 cleanliness standards and IP54 protection, suitable for pharmaceuticals and semiconductors.
Typical application scenarios
Common application processes for this model (click to view process details):
AX6-A901S model positioning and working condition adaptation
AX6-A901S It belongs to the Epson collaborative robot model, with a rated load of 6kg, a motion radius of 900mm, and a repeatability of ±0.03mm. Epson's technological foundation is SCARA's global market leader: RS/GX/LS series with high speed and precision, SPEL+ development efficiency, and mature vision integration; The control platform is RC-A101, and the program ecosystem is SPEL+ language (BASIC style) + Vision Guide visual.
From the perspective of working condition adaptation, the typical use for lightweight load (6kg) positioning is:Machine tool loading and unloading, 3C assembly, inspection, and handling of small and medium-sized partsCommon application processes for this model include handling and assembly. The medium reach (900mm) meets the needs of conventional workstations, with flexible single-station layout. ± 0.03mm repeatability is the standard level for six-axis industrial robots, covering most working conditions such as welding, handling, palletizing, and loading/unloading. The end fixture is counted as a load from the most important point—the total of gripper + workpiece + sensor should not exceed 80% of the rated value. Workpieces with high inertia (long rod/uneven load) should be checked separately.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load: 6kg | It is recommended to reserve a load margin of 20%–30%; Verification is made by combining end self-weight + workpiece + imbalanced load inertia, especially sensitive to high-speed conditions |
| Movement radius: 900mm | Determine the radius of the workcell layout: bins, tooling, and fences are bounded by maximum arm span + safety distance; Verify the accessibility of each pick-and-place point during cross-station service |
| Repeatability: ±0.03mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Number of axes: 6 | Six-axis all-posture capability, the preferred choice for complex trajectory and inclined surface operations |
| Protection rating: IP54 | Suitable for standard workshop environments; Dusty and moisture-prone workstations require additional protective kits or positive pressure protection |
| Main body weight: 18kg | Installation base and foundation load-bearing check based on weight + dynamic load; Floor slab installation requires structural calculation, with heavy-duty models serving as independent foundations |
| Controller: RC-A101 | Decide on the process ecosystem, spare parts channels, and second-hand residual value; Currently, spare parts channels are smooth, and repair and upgrade paths are mature |
Control systems and common failure modes
The AX6-A901S comes with the RC-A101 controller, with a programming language and development environment of SPEL+ (BASIC style) + Vision Guide visuals. Maintenance of this generation of control platforms focuses on three basic components: power, storage, and cooling—most "sudden downtime" can be detected in advance when preventive maintenance is in place.
| Failure mode | Typical performance | Disposal recommendations |
|---|---|---|
| SCARA synchronous belt tension attenuation and wear | SCARA Synchronous Belt Tension Attenuation and Wear (Main Cause of Precision Drift) | Included as a mandatory inspection item for annual maintenance, with spare parts stocked in advance |
| The encoder battery is depleted | Encoder battery depleted (loss of origin and calibration data) | Initial interpretation of alarm codes by reference with manuals, remote diagnosis allows for early positioning |
| Driver alarm | Driver alarm (high-speed overcurrent) | Daily inspection coverage, with abnormal trends (abnormal noises/temperature rise/errors) recorded |
| RC controller fan and power supply aging | RC controller fan and power supply aging | Quarterly dust removal maintenance and cabinet temperature monitoring |
| Maintenance projects | Cycle recommendations | Key points |
|---|---|---|
| Timing belt tension adjusted by periodic inspection (SCARA specific item) | By cycle | Timing belt tension adjusted by periodic inspection (SCARA specific item) |
| Annual battery replacement | Year | Battery replacement annually, calibration data backup |
| Guide rails and screw lubrication (LS/GX series) | According to the manufacturer's manual cycle | Guide rails and screw lubrication (LS/GX series) |
| Cable and drag chain inspection | every six months | Insulation, shielding, and bending radius inspection of power and encoder lines, as well as wear of cables inside the drag chain, are the main causes of intermittent faults |
| Zero point and accuracy retest | Every year | Repeatability measured by dial gauges or laser trackers, drift trend digitization—accuracy degradation can be seen six months in advance |
| Control cabinet dust removal and fans | Every quarter | Filter cleaning, fan speed and noise checks, cabinet temperature recording; Dust environments shorten the cycle |
Henghuan's service capabilities for AX6-A901S
This site is a third-party robotics technology service provider. The AX6-A901S supports the following eight major services (sorted by service frequency for each model):
- Maintenance and repair: For on-site diagnostics, board-level maintenance, and annual maintenance contracts for AX6-A901S—periodic inspection and adjustment of synchronous belt tension (SCARA special item), we follow SOPs and respond to Sichuan-Chongqing on the same day.
- Used & in-stock robot sales: SCARA has a large second-hand circulation and is the preferred choice for 3C and electronic assembly conditions; Procurement focuses on inspecting belt and guide rail wear; The AX6-A901S or equivalent models in the inventory come with a full-function test report and a 12-month warranty.
- Sales of new industrial robots: When adding new production lines or replacing entire batches, we conduct cross-brand selection comparisons based on process requirements (including models of the same grade as Epson), and provide configuration and pricing plans.
- Applied technology services: Process programming, trajectory optimization, tap time potential, and model change formula management for AX6-A901S, with targeted commissioning according to handling and assembly conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for AX6-A901S, with interfaces designed according to Epson flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, AX6-A901S equivalent in-stock models can be rented, including transportation, installation, and commissioning, with flexible rental periods and flexible purchase options.
Common issues with this device
Is it easy to find spare parts for AX6-A901S?
Epson: The spare parts channel for this generation is smooth; we have in-stock or short-cycle channels for standard parts such as drivers, power modules, batteries, and teach pendant components; It is recommended to allocate consumables for periodic inspection and adjustment of synchronous belt tension (SCARA specific items) according to the annual maintenance contract.
With a nominal load of 6kg, how much weight can it actually handle?
The rated load is the static load limit of the flange surface. In actual selection, three factors must be considered: the self-weight of the end fixture (vacuum suction cup groups or grippers often account for 2–5kg), the inertia generated by the workpiece offload (checked according to the inertia ratio when the center of gravity deviates from the flange center), and the dynamic load during high-speed movement. The conventional engineering practice is to keep the "end + workpiece" within 70%–80% of the rated value to ensure cycle time and service life.
If the equipment's accuracy deteriorates after several years of use, how can it be restored?
According to the inspection order: first check whether the zero point is drifting (common after collision or battery depletion), then perform zero calibration; Check the reducer's return error (actual measurement of forward and reverse positioning deviation; if exceeded, disassemble or replace); Then check the installation base fastening and foundation settlement; Finally, trajectory compensation parameter restructuring. Most accuracy issues can be mostly restored after calibration and maintenance, so there is no need to rush into major repairs—we first release the inspection data before deciding on the plan.
Is the used AX6-A901S worth buying?
SCARA has a large second-hand circulation and is the preferred choice for 3C and electronic assembly applications; Procurement focuses on checking for belt and guide rail wear. Three essential items for second-hand procurement: comprehensive inspection reports (axial accuracy, driver status, insulation and battery), maintenance history and operating hours, controller generation, and software license integrity. Every used machine we sell comes with inspection records and a 12-month warranty, and we can also accept third-party inspections designated by customers.
Need technical support or procurement for this model?
Whether it's model selection comparison, installation and commissioning, or maintenance of in-use equipment, you can contact Henghuan. Tell us about your processes, loads, and equipment status, and we will provide third-party technical support and solution recommendations.
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