C4-A601S Six-axis robotic arm (manipulator)
Six-axis Robot · Load capacity is 4 kg
C4-A601S specifications
The Epson C4 compact 6-axis robot is designed for greater flexibility, range of motion, and speed. It includes all new technologies in robot design and performance. The C4 compact 6-axis robot combined with our power-driven servo technology delivers the high performance customers expect. It is also paired with the new RC700 controller and the RC+7.0 software platform, providing you with more efficient applications.
Model introduction
The Epson C4 compact 6-axis robot is designed for greater flexibility, range of motion, and speed. It includes all new technologies in robot design and performance. The C4 compact 6-axis robot combined with our power-driven servo technology delivers the high performance customers expect. It is also paired with the new RC700 controller and the RC+7.0 software platform, providing you with more efficient applications. High performance: industry-leading cycle time; Faster than other brands' 6-axis robots; Load capacity up to 4 kilograms while maintaining the fastest cycle time; High repeatability accuracy, meeting customer expectations; The slim linear body design and ultra-compact wrist offer great flexibility; Wide range of motion to reach areas inaccessible to other small robots. Powerful controller and development software: Epson's new RC700 controller offers richer and more user-friendly interfaces; Epson's new RC+7.0 offers more powerful development capabilities, leading the industry in simplicity and time savings; Additional options can be integrated to maximize system performance and reduce total development time (for more information, please refer to the options page); High-performance processing is many times faster than other brands' products. Full integration options: visual guidance; Network connectivity; Device network, fieldbus, Ethernet, IP, CC-Link fieldbus connection; Security and auditing; GUI builder; Other shaft controls
Exclusive highlights of the C4-A601S
Industry-leading cycle times; Faster than other brands' 6-axis robots; Load capacity up to 4 kilograms while maintaining the fastest cycle time; High repeatability accuracy, meeting customer expectations; The slim linear body design and ultra-compact wrist offer great flexibility; A large range of motion can reach areas that other small robots cannot reach
Epson's new RC700 controller offers richer and more user-friendly interfaces; Epson's new RC+7.0 offers more powerful development capabilities, leading the industry in simplicity and time savings; Additional options can be integrated to maximize system performance and reduce total development time (for more information, please refer to the options page); Its high-performance processing capability is many times faster than other brands' products
Visual guidance; Network connectivity; Device network, fieldbus, Ethernet, IP, CC-Link fieldbus connection; Security and auditing; GUI builder; Other shaft controls
Automobiles; Medical; laboratory automation; Consumer electronics; Industrial products; Communication
C / CX Series Six-axis · Compact · Series technical features
The C4/C8 and CX4/CX7 are Epson's compact six-axis robots, with payloads ranging from 3 to 8kg, compact size, and flexible installation, designed for space-constrained applications such as electronic assembly, inspection, and small handling.
Miniaturized body design suitable for space-constrained production lines and internal integration with equipment.
Six degrees of freedom can perform actions that SCARA cannot handle, such as tilting pick-and-place and multi-angle assembly.
Maintaining Epson's cost advantage in six-axis models is suitable for mass deployment.
Typical application scenarios
Common application processes for this model (click to view process details):
C / CX Series Six-axis · Compact · Other models in the same series
Compare load and reach to choose the model that best suits your process.
C4-A601S model positioning and working condition adaptation
C4-A601S Belongs to Epson C / CX series six-axis · A compact industrial robot model with a rated load of 4kg, a motion radius of 4000mm, and a repeatability of ±0.02mm. 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 RC700-A, and the program ecosystem is SPEL+ language (BASIC style) + Vision Guide visual.
From the perspective of working condition adaptation, typical applications for small load (4kg) positioning are:High-speed sorting, precision assembly, dispensing coating, and inspection/pick-and-place processingCommon application processes for this model include handling and assembly. The extra-long boom (4000mm) is suitable for large workpieces and cross-line services, with attention to rigidity and vibration during large overhanging postures. ± 0.02mm repeatability is the standard level for six-axis industrial robots, covering the vast majority of welding operations, handling, palletizing, and loading and unloading operations. Although the load is light, it is recommended to keep the total weight of the end and workpiece within 70% of the rated value, leaving ample acceleration margin at high speeds.
| Parameters | Engineering interpretation and usage recommendations |
|---|---|
| Rated load 4kg | 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: 4000mm | 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: ±0.02mm | 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 |
| Main body weight: 27kg | 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 RC700-A | 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 C4-A601S comes with the RC700-A controller, with a programming language and development environment of SPEL+ (BASIC style) + Vision Guide for vision. 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 the C4-A601S
This site is a third-party robotics technology service provider. The eight major business supports related to the C4-A601S are as follows (sorted by service frequency for each model):
- Maintenance and repair: For on-site diagnostics, board-level maintenance, and annual maintenance contracts for C4-A601S—periodic inspection and adjustment of synchronous belt tension (SCARA unique item), we will 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; In-house C4-A601S or equivalent models 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 the C4-A601S, with targeted commissioning according to handling and assembly conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for C4-A601S, with interfaces designed according to Epson flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, C4-A601S equivalent in-stock models can be rented, including transportation, installation, and commissioning, with flexible lease terms and repurchasing.
Common issues with this device
Is it easy to find spare parts for the C4-A601S?
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 4kg, how much 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 C4-A601S 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.
Contact Henghuan Back to the full series