G1-221S SCARA Robotic Arm (Manipulator)
SCARA Robot · Load 1 kg · Arm length: 225 mm
G1-221S specifications
More than a decade ago, Epson began developing compact SCARA robots with our E Series product line. Now, more than a decade later, we have launched a smaller, faster, and more precise SCARA robot, which we call the Miniature SCARA Series. While downsizing, the G1 miniature SCARA robotic arm integrates components and design concepts with other G-series robots, such as high-rigidity robotic arms and PowerDrive servo technology, achieving outstanding performance while reducing footprint and costs.
Model introduction
More than a decade ago, Epson began developing compact SCARA robots with our E Series product line. Now, more than a decade later, we have launched a smaller, faster, and more precise SCARA robot, which we call the Miniature SCARA Series. While downsizing, the G1 miniature SCARA robotic arm integrates components and design concepts with other G-series robots, such as high-rigidity robotic arms and PowerDrive servo technology, achieving outstanding performance while reducing footprint and costs. High performance: Wide range of motion while occupying a small footprint; Cycle time is 0.30 seconds; Excellent acceleration/deceleration rate, smooth start/stop movements; Thanks to its unique high-rigidity arm design, residual vibration is minimal; High duty cycle, capable of rapid all-weather cycling (compared to competing Epson models). Diverse types and configurations of arms: robot arms come in lengths of 175 mm and 225 mm, allowing users to choose the most suitable product according to their workload; A unique three-axis robot model (eliminating the fourth axis in the application, eliminating the need for J4 positioning); Dust-free and anti-static properties comply with ISO standards (ISO14644-1:2015), and these product models are suitable for semiconductors and electrostatic-sensitive applications, such as hard drive driver assembly; Adopt Epson's better controllers and development software in the same category; Epson RC+ software is industry-leading in ease of use, helping to shorten development time; The G1 robot uses a dual-layer controller, offering a high-performance, low-cost solution
Exclusive highlights of the G1-221S
Wide range of motion but small footprint; Cycle time is 0.30 seconds; Excellent acceleration/deceleration rate, smooth start/stop movements; Thanks to its unique high-rigidity arm design, residual vibration is minimal; High duty cycle, capable of fast all-weather cycling (compared to competing Epson models)
The robotic arm comes in lengths of 175 mm and 225 mm, allowing users to choose the most suitable product according to their workload; A unique three-axis robot model (eliminating the fourth axis in the application, eliminating the need for J4 positioning); Dust-free and anti-static properties comply with ISO standards (ISO14644-1:2015), and these product models are suitable for semiconductors and electrostatic-sensitive applications, such as hard drive driver assembly; Adopt Epson's better controllers and development software in the same category; Epson RC+ software is industry-leading in ease of use, helping to shorten development time; The G1 robot uses a dual-layer controller, offering a high-performance, low-cost solution
Automotive—mirror/glass assembly, headlight/taillight assembly and testing, clutch assembly, fuel injector assembly, dashboard assembly; Hard drive driver—enclosure accessories, disk polishing, cassette tape assembly, high-precision driver assembly; Medical — dental instrument insert molds, pacemaker battery packs, laser welding, hearing aids; Laboratory automation — straw packaging, DNA identification and sequencing, blood analysis, tube capping, test tube handling; Consumer products—electric toothbrushes, connectors; Telecommunications — mobile phone assembly and testing, radio assembly and testing
G Series SCARA · Classic High Reliability · Series technical features
The G Series is Epson's classic SCARA product line, covering loads ranging from G1 to G20 weighing 0.5-20kg, known for its PowerDrive servo technology and high-rigidity arm design, and has long dominated precision manufacturing production lines.
Epson's self-developed servo technology enables high-speed, smooth start/stop and excellent acceleration and deceleration characteristics.
The G Series has large shipments and high inventory, with abundant maintenance documentation and spare parts resources.
Countertop, ceiling, and sidewall mounting models are fully available to suit different production line layouts.
High-performance or economical controllers can be selected as needed, balancing performance and cost.
Applicable industries
Typical applications of this model in the following industries (click to view industry solutions).
Mirror/glass assembly, headlight/taillight assembly and testing, clutch assembly, fuel injector assembly, instrument panel assembly
Enclosure accessories, disk polishing, cassette tape assembly, high-precision drive assembly
Dental instrument insert molds, pacemaker battery packs, laser welding, hearing aids
Straw packaging, DNA identification and sequencing, blood analysis, tube capping, and tube handling
Electric toothbrushes, connectors
Mobile phone assembly and testing, radio assembly and testing
Typical application scenarios
Common application processes for this model (click to view process details):
G Series SCARA · Classic High Reliability · Other models in the same series
Compare load and reach to choose the model that best suits your process.
G1-221S model positioning and working condition adaptation
G1-221S Belongs to the Epson G Series SCARA · The classic highly reliable SCARA horizontal multi-joint robot model has a rated load of 1kg, a motion radius of 225mm, and repeatability of ±0.008mm. 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 (1kg) positioning are:High-speed sorting, precision assembly, dispensing coating, and inspection/pick-and-place processing。 The short arm (225mm) model has a compact structure, suitable for dense workstations and close-range pick-and-place operations, with a small working unit footprint. ± 0.008mm repeatability is classified as precision-grade, meeting the trajectory requirements for precision assembly, dispensing, and inspection guidance. 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 1kg | 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 225mm | 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: ±0.008mm | Repeatability ≠ absolute accuracy: Precision assembly requires external measurement closed-loop or visual guidance; Long-term accuracy trends rely on annual retest management |
| Main unit weight: 8kg | 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 G1-221S comes with the RC700-A controller, with a programming language and development environment of SPEL+ (BASIC style) + Vision Guide for 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 the G1-221S
This site is a third-party robotics technology service provider. The eight major business supports related to the G1-221S are as follows (listed by service frequency of this model):
- Maintenance and repair: For on-site diagnostics, board-level maintenance, and annual maintenance contracts for G1-221S—periodic inspection and adjustment of synchronous belt tension (SCARA special item), we implemented brand-exclusive items according to SOPs, with same-day response from Sichuan and Chongqing.
- 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 G1-221S or equivalent models in the library come with a full functional 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 mold-changing formula management for the G1-221S are targeted for high-speed sorting, precision assembly, dispensing and coating, and inspection/pick-and-place conditions.
- Research and development of automation equipment: Custom fixture ends, peripheral tooling, and safety fences for the G1-221S, with interfaces designed according to Epson flange and IO standards.
- Robot rental: For short-term capacity or process validation periods, users can rent G1-221S models of the same class in stock, 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 G1-221S?
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 1kg, 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 G1-221S 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