C4-B901S Six-axis robotic arm (manipulator)
Six-axis Robot · Load capacity is 4 kg
C4-B901S Specifications
The Epson C4 compact 6-axis robot is designed for maximum flexibility, range of motion, and speed. In terms of robot design and performance, it includes all the latest technologies. The combination of the C4 compact 6-axis robot with our power-driven servo technology delivers the high-performance performance customers expect. It is also paired with the new RC700-E controller and RC+ software platform for more efficient applications.
Model introduction
The Epson C4 compact 6-axis robot is designed for maximum flexibility, range of motion, and speed. In terms of robot design and performance, it includes all the latest technologies. The combination of the C4 compact 6-axis robot with our power-driven servo technology delivers the high-performance performance customers expect. It is also paired with the new RC700-E controller and RC+ software platform for more efficient applications. High performance: industry-leading cycle time; Maintains the fastest cycle time while carrying loads up to 4 kilograms; High repeatability accuracy, meeting customer expectations; The slim linear body design and ultra-compact wrist offer maximum flexibility; Wide range of motion allows for areas that other small robots cannot reach. Powerful controller and development software: Epson's new RC700-E controller offers richer and more user-friendly interfaces; Epson RC+ software offers more powerful development features, making it simple and easy to use; Integration options optimize system performance and reduce total development time (see the options page for more information); High-performance processing capability. Full integration options: security function board; Visual guidance; Network connectivity; Device network, fieldbus, Ethernet, IP, CC-Link fieldbus connections; Security and auditing; GUI builder
C4-B901S exclusive highlights
Industry-leading cycle times; Maintains the fastest cycle time while carrying loads up to 4 kilograms; High repeatability accuracy, meeting customer expectations; The slim linear body design and ultra-compact wrist offer maximum flexibility; A large range of motion can reach areas that other small robots cannot reach
Epson's new RC700-E controller offers richer and more user-friendly interfaces; Epson RC+ software offers more powerful development features, making it simple and easy to use; Integration options optimize system performance and reduce total development time (see the options page for more information); High-performance processing capabilities
Safety function boards; Visual guidance; Network connectivity; Device network, fieldbus, Ethernet, IP, CC-Link fieldbus connections; Security and auditing; GUI builder
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-B901S model positioning and working condition adaptation
C4-B901S 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 ±0.03mm. 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 RC700-E, 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. ± 0.03mm repeatability is the standard level for six-axis industrial robots, covering most working conditions such as welding, handling, palletizing, and loading/unloading. 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: ±0.03mm | 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 |
| Main body weight: 30kg | 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-E | 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-B901S comes with the RC700-E controller, with a programming language and development environment of SPEL+ (BASIC style) + Vision Guide. 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-B901S
This site is a third-party robotics technology service provider. The eight major business supports related to the C4-B901S 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-B901S—such as 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; In-stock C4-B901S 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-B901S, with targeted commissioning according to handling and assembly conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fence for C4-B901S, with interfaces designed according to Epson flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, C4-B901S 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 the C4-B901S?
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-B901S 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