# Epson RS3-351

Hardware · `RS3-351` · verification: source checked

The Epson RS3-351 is a SCARA robot with a 350 mm arm reach and a 3 kg maximum payload. It is used for automated pick-and-place, assembly, and other repetitive motion tasks. The document states a 0.34 s cycle time and optional ISO 3 clean/ESD configurations.

## Specification

| Property | Value |
|---|---|
| Category | scara robot |
| Axes | 4 |
| Payload | 3 kg |
| Reach | 350 mm |
| Repeatability | 0.01 mm |
| Weight | 17 kg |
| Operating temp min | 5 °C |
| Operating temp max | 40 °C |

### Joints

| Name | Max speed (°/s) |
|---|---|
| J4 | 2600 |

## Connected

- Manufacturer: [Epson](https://machineschema.com/manufacturer/epson.md)
- Protocols: [EtherNet/IP](https://machineschema.com/protocol/ethernet-ip.md)

## Safety

- Third-party safety certifications are optional.
- ISO 3 Clean and ESD configurations are available.
- Operating humidity range is 10-80% non-condensing.

## Study notes

- Arm length/reach is J1+J2: 350 mm (175+175 mm); Z-axis stroke is 130 mm (100 mm for clean configuration).
- Payload is 3 kg maximum and 1 kg rated.
- Stated cycle time for RS3-351 is 0.34 s.
- Maximum operating speed is J1+J2: 6,237 mm/s; J3: 1,100 mm/s; J4: 2,600 deg/s.
- Repeatability is J1+J2: ±0.010 mm; J3: ±0.010 mm; J4: ±0.010 deg.
- Insertion force is 150 N (15.29 kgf).
- Maximum/rated inertia is 0.05 / 0.005 kg*m2.
- Motor wattage is J1: 400 W; J2: 200 W; J3: 150 W; J4: 100 W.
- User lines include 15 electric lines (15-pin D-Sub) and 3 air lines (6 mm x 2, 4 mm x 1).
- Mounting hole footprint is 95 x 95 x 160 mm (6-M6); Z-axis diameter is 16 mm.
- Ethernet/IP is listed as an integrated communications option and is noted as RC620+ only; Profibus, DeviceNet, and CC-Link are named but have no matching protocol ids.
- Epson RC180 and RC620+ controllers are named, but neither has a matching controller id in the reference list.

## Sources

1. [Epson RS3 SCARA Robots - 350mm | Products | Epson US](https://epson.com/For-Work/Robots/SCARA/Epson-RS3-SCARA-Robots---350mm/p/RRS-351SSR13) (accessed 2026-10-25)

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