Product image © Epson Robots, shown for identification. Official source ↗.
Epson Robots
G1-221
Smallest SCARA Epson builds - a 225 mm-arm mini robot weighing 8 kg, carrying 0.5 kg rated / 1.5 kg maximum with +/-0.008 mm repeatability and a 0.30 s cycle. Also offered as a 3-axis model without the rotating joint 4.
Payload
1.5 kg
@ full reach: 0.5 kg
Reach
225 mm
Repeatability
±0.008 mm
💲 Price on application
Full specifications
Performance
How much it lifts, how far it reaches, how precisely it repeats.
- Payload
Maximum mass the robot can carry at the wrist flange, including the gripper/tool. Higher means it can handle heavier parts.
- 1.5 kg 0th pct in class
- Payload at full reach
Manufacturer-stated payload at the wrist when the arm is at (or near) maximum horizontal reach. Often 20-40% below the headline rated payload because leverage and inertia rise with extension. Higher means it keeps more usable capacity at the edge of its envelope.
- 0.5 kg 0th pct in class
- Reach
Maximum horizontal distance from the base axis to the wrist — defines the size of the work area. Higher means a larger envelope.
- 225 mm 0th pct in class
- Repeatability
How close the robot returns to the same taught point on repeated tries (ISO 9283, ±). Lower is better — tighter precision.
- 0.008 mm 98th pct in class
- Axes (DOF)
Number of independently driven joints / degrees of freedom. 6 is standard for articulated arms; 4 for SCARA/palletizers; 7 adds elbow redundancy.
- 4
- Std cycle time
Time for a standard 25/305/25 mm pick-place move where published. Lower is faster.
- 0.3 s 88th pct in class
Motion range & speed
Per-axis travel limits and rotational speeds.
Motion range and maximum speed per joint.
| Axis | Range | Max speed |
|---|---|---|
| J1 | -125° to 125° | — |
| J2 | -152° to 152° | — |
| J4 | -360° to 360° | — |
Physical
Size, mass and how it mounts.
- Robot weight
Mass of the manipulator (arm) without controller. Lighter eases mounting and mobile use; heavier often means stiffer/higher payload.
- 8 kg
- Mounting
Orientations the robot can be installed in (floor, ceiling/inverted, wall, tilted, mobile base).
- tabletop
Environment
Conditions it can operate in — dust, water, temperature, cleanliness.
- Cleanroom class
ISO 14644-1 cleanroom rating the robot is certified for. Lower number = cleaner environment.
- 3 ISO 10th pct in class
Safety
Standards met and collaborative-operation capability.
- Collaborative
Whether the robot is designed to work safely next to people without fencing (power-and-force-limited).
- No
- Safety standards
Certified safety standards (ISO 10218-1, ISO/TS 15066) and functional-safety level (PLd/PLe, SIL2/3).
- UL 1740, CE
Control & software
Programming, languages and ecosystem.
- Programming
How the robot is taught: pendant, hand-guiding (lead-through), block/flow-chart, scripting, offline simulation.
- teach-pendant, offline-sim
- Languages
Native robot programming language(s) — e.g. KRL (KUKA), RAPID (ABB), URScript (UR), INFORM (Yaskawa).
- SPEL+
- Simulation
Offline programming / simulation software for the robot.
- Epson RC+
- Offline programming
Whether programs can be built and validated offline in a digital twin before deployment.
- Yes
Safety certifications
- UL 1740 — UL certification — North American safety listing confirming compliance with product-safety standards
- CE — CE marking — confirms conformity with EU product-safety directives for the European market
Specifications sourced from Epson Robots official datasheet ↗. Specs last verified 2026-08-06.
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Frequently asked questions
What is the payload of the Epson Robots G1-221? +
The Epson Robots G1-221 has a maximum payload of 1.5 kg.
What is the reach of the Epson Robots G1-221? +
The Epson Robots G1-221 has a maximum reach of 225 mm (0.23 m).
What is the repeatability of the Epson Robots G1-221? +
The Epson Robots G1-221 has a pose repeatability of ±0.008 mm (ISO 9283), making it highly accurate for precision work.
How many axes does the Epson Robots G1-221 have? +
The Epson Robots G1-221 is a 4-axis scara robot.
What is the Epson Robots G1-221 used for? +
The Epson Robots G1-221 is typically used for assembly, pick-and-place, inspection, screw-driving.
What controller does the Epson Robots G1-221 use? +
The Epson Robots G1-221 runs on the RC700A controller.
How much does the Epson Robots G1-221 cost? +
Epson Robots G1-221: Price on application. Industrial robots are typically quoted per project through authorized distributors.
