Denso Robotics - Chattanooga | Nashville

www.densorobotics.com

©2017 DENSO CorporationInformation subject to change without noticeD2277.470


DENSO 4-AXIS ROBOTS26 ¦ 4-Axis Robots28 ¦ HS-A1 Series30 ¦ HSR Series32 ¦ HM Series34 ¦ XR Series

DENSO ROBOT CONTROLLER36 ¦ RC8A

SOFTWARE / PERIPHERALS42 ¦ Software positioning43 ¦ WINCAPS44 ¦ ORiN2 SDK45 ¦ Robot Tools

SUPPORT46 ¦ Support48 ¦ Global Network

DENSO 5- AND 6-AXIS ROBOTS10 ¦ 5- and 6-Axis Robots12 ¦ VP Series14 ¦ VS-Series Pharmaceutical Robot16 ¦ VS-Series Features18 ¦ VS Series VS-050/06020 ¦ VS Series VS-068/08722 ¦ VS Series VS-6556/657724 ¦ VM Series

DENSO ROBOTICS SOLUTIONS

02 ¦ A Tradition of Technology03 ¦ DENSO Robotics History04 ¦ Development Strength05 ¦ Flexibility [Industries and Applications]06 ¦ Robot Lineup Overview 08 ¦ Robot Functions

Contents ¦ 1

Contents

77,000

18,000

2014 VS-Series Pharmaceutical robot

2017 HSR-Series 4-axis robot

RC8A robot controller

VS-SeriesPharmaceutical Robot

HSR-Series4-axis Robot

RC8A

502 ¦ DENSO Robotics Solutions

77,000

18,000

2014 VS-Series Pharmaceutical robot

2017 HSR-Series 4-axis robot

RC8A robot controller

VS-SeriesPharmaceutical Robot

HSR-Series4-axis Robot

RC8A

50DENSO Robotics Solutions ¦ 3

ROBO

TICS SOLU

TION

S

4 ¦ DENSO Robotics Solutions

DENSO Robotics Solutions ¦ 5

ROBO

TICS SOLU

TION

S

p. 12

p. 28

p. 14 p. 16 p. 18

p. 34

p. 20 p. 22

p. 30 p. 32

Reach: 520 mmPayload: 4kgRepeatability3: + _0.02 mm Cycle time4: 0.35 secMax. composite speed: 8,570 mm/sec

wrist: IP67, unit: IP65

11,450

, UV-resistant

Cleanroom (ISO 5)

VS-050-S2

Reach: 350/450/550 mm Vertical stroke: 100/150/200/320 mmMax. payload: 5 kgRepeatability: +-0.015/0.020 mmCycle time: 0.29 secMax. composite speed: 7,200/6,300/7,100 mm/sec

Standard protection (IP40)Dust- and splashproof (IP65)Cleanroom (ISO 3)UL speci�cations7

Ceiling-mount

Reach: 480/550/650 mmVertical stroke: 100 / 200 / 320 mmMax. payload: 8 kgRepeatability: +- 0.01/0.012 mmCycle time: 0.28 secMax. composite speed: 7,540/8,000/8,850 mm/sec


Ceiling-mount

HS-035A1/045A1/055A1 HSR-048/055/065

Standard protection (IP40)Dust- and mistproof (IP65)Ceiling-mount

HSR SeriesHS-A1 Series

COMPACT GANTRY ROBOT

Robot LineupDENSO Industrial Robots

6 ¦ Lineup of DENSO Industrial Robots


p. 12

p. 28

p. 14 p. 16 p. 18

p. 34

p. 20 p. 22

p. 30 p. 32

Reach: 520 mmPayload: 4kgRepeatability3: + _0.02 mm Cycle time4: 0.35 secMax. composite speed: 8,570 mm/sec

wrist: IP67, unit: IP65

11,450

, UV-resistant

Cleanroom (ISO 5)

VS-050-S2

Reach: 350/450/550 mm Vertical stroke: 100/150/200/320 mmMax. payload: 5 kgRepeatability: +-0.015/0.020 mmCycle time: 0.29 secMax. composite speed: 7,200/6,300/7,100 mm/sec


Ceiling-mount

Reach: 480/550/650 mmVertical stroke: 100 / 200 / 320 mmMax. payload: 8 kgRepeatability: +- 0.01/0.012 mmCycle time: 0.28 secMax. composite speed: 7,540/8,000/8,850 mm/sec


Ceiling-mount

HS-035A1/045A1/055A1 HSR-048/055/065

Standard protection (IP40)Dust- and mistproof (IP65)Ceiling-mount

HSR SeriesHS-A1 Series

COMPACT GANTRY ROBOT

Lineup of DENSO Industrial Robots ¦ 7

300 mm

25 mm

Cycle timeThe time taken to complete a cycle of work from one arrow to the other and back.

1. If downward movement of wrist and neck exceed ±45º, maximum payload is 2.5 kg.

2. If downward movement of wrist iand neck exceed ±45º, maximum paylod is 2 kg.

3. Center of tool mounting-face at constant ambient temperature.

4. Time required for robot to move a 1 kg payload between two points 300 mm apart at a height of 25 mm.

5. If downward movement of wrist and neck exceed ±45º, maximum payload is 6 kg.

6. If payload exceeds 11 kg, downward movement of flange is limited to ±10º.

7. Cleanroom and UL specifications available for floor-mount models only.

ROBO

TICS SOLU

TION

S

Standard Functionalities of DENSO Robots

Collision detection

Compliance / Current limiting

Making DENSO robots easier to use

Force limitation is applied to vertical motion of robot.

Enables robot to have spring function.

Operability

[Supported Robots]VP Series, VS Series, VM Series,HS-A1 Series, HSR Series, HM Series, XR Series

Functions● Reduces path changes caused by variation in speed and uses

arc motion and free-curve interpolation control to improve path accuracy.

Main application● Sealant and silicone adhesive coatings

[Supported Robots]VP Series, VS Series, VM Series,HS-A1 Series, HSR Series, HM Series, XR Series

Function● Adjusts press strength to protect workpiece and hand from

excessive loads.

Main application● Product assembly

[Supported Robots]VP Series, VS Series,VM Series

Function● Allows smooth movement when linear interpretation is required

to pass a point at which a robot’s position changes, such as in the vicinity of a point of singularity.

Main application● Used with a program that employs a palletize library.

[Supported Robots]VP Series, VS Series, VM Series,HS-A1 Series, HSR Series, HM Series

Functions● Detects potential collision between robot and peripheral or

workpiece and executes a robot emergency stop.

Main application● Prevents collision damage to workpiece and hand.

Singularity avoidance

High-accuracy path control

High-speed rotation of fourth axis

Linear motion while moving

down

Result

Hand

Workpiece

8 ¦ Main Functionalities of DENSO Robots


Extended-joint support

Robot

Visual device/sensor

Conveyer Encoder

Controller

Conveyer-tracking board

[System configuration diagram]

Multiple small robots can be used in place of large robots to convey and assemble heavy payloads and long payloads.

Safety areas allow humans and robots to work collaboratively.

Function● Synchronize robot with motion of conveyer to handle a workpiece

without stopping conveyer.

Main application● Pick or place workpiece from or onto moving conveyer.

Main application● Conveyance and assembly tasks of heavy payloads and long payloads.

[Supported Robots]

All RC8A robot models

Motion-Space Monitoring● Conveyance and assembly tasks of heavy payloads and long payloads.

Speed Monitoring● Speed restriction allows continuous production.

Stop-Position Monitoring● Flexible placement of people and robots.

Function● Robot-controller interface can be used to control another axis.

Main application● Drive axis and servo hand

Motor variations1

1. Some robots have a limited total capacity of connectable extended-joint motors. For details, contact one of our sales representatives.2. RC8A only.

Brake 50 W 100 W 200 W 400 W 750 W 1 kW2

StandardProvided 4 4 4 4 4 4

Not provided 4 4 4 4 4 4

FlatProvided 4 4 4 4 4

Not provided 4 4 4 4 4

Encoder cable

Encoder backup battery

Encoder backup battery

Motor conversion cable Motor cable

Motor conversion cable Motor cable

Encoder cable

Robot Controller with extended-joint option

Extended-joint support motor (up to 2 axes)

[Connection example]

Conveyer tracking

Cooperative Motion Function Safety Motion Option

Main Functionalities of DENSO Robots ¦ 9

Link with peripherals for greater resultsConnectability

Extended-jointsupport motor

Extended-jointsupport motor

Drive axis

Robot Robot

Motion-Space Monitoring Speed Monitoring

Stop-Position Monitoring

ROBO

TICS SOLU

TION

S

DENSO 5- AND 6-AXIS ROBOTS

The DENSO lineup of five- and six-axis articulated robots offers an array of arm sizes in the VP, VS and VM Series.

Built with joints similar to a human arm, these robots offer greater flexibility than their four-axis counterparts. Their increased freedom of movement makes them suited to handle a much wider range of applications.

*Machine tending while machine running available with IP67 models

Typical Applications

z Assembly

z Dispensing

z Grinding

z Insertion

z Inspection

z Labeling

z Laser welding

z Machine tending*

z Machining

z Material handling

z Material removal

z Nut and screw driving

z Packaging

z Parts finishing

z Pick and place

z Polishing

z Press fitting

z Soldering

z Spot welding

z Surface finishing

z Test handling

z Ultrasonic welding

Options

z Standard protection (IP30/40)

z Dust- and splashproof (IP67)

z Dust- and mistproof (wrist IP65, unit IP54)

z Cleanroom (ISO 3 and 5)

z UL-listed

Main Features

z Cycle times from 0.31 sec to 0.99 sec

z Repeatability from ±0.02 to ±0.07 mm

z Maximum composite speed from 3,900 to 11,380 mm/sec

z Reaches from 430 mm to 1,298 mm

z Payloads up to 13 kg

10 ¦ DENSO 5- AND 6-AXIS ROBOTS


VP-5243 VS-6242Maximum payload (kg) 31 2.52

Maximum arm reach (mm) 430 432

Standard protection 4 4

1. If downward wrist movement exceeds ±45°, maximum payload is 2.5 kg. 2. If downward wrist movement exceeds ±45°, maximum payload is 2 kg.

VP-5243/6242

VS-050 VS-060 VS-068 VS-087Maximum payload (kg) 4 7Maximum arm reach (mm) 505 605 710 905

Standard protection 4 4 4 4

Dust- and splashproof (IP67) 4 4 4 4

Dust- and mistproof (wrist: IP65, unit: IP54) 4 4 4 4

Cleanroom (ISO 3 and 5) 4 4 4 4

VS-050/060, VS-068/087

VS-050-S2Payload (kg) 4Reach (mm) 520

H2O2-resistant; cleanroom (ISO 5) 4

UL-listed 4

VM-6083 VM-60B1Maximum payload (kg) 134

Maximum arm reach (mm) 1,021 1,298

Standard protection 4 4

Dust- and mistproof (wrist: IP65, unit: IP54) 4 4

Cleanroom type (ISO 5) 4 4

VM

VS-6556 VS-6577Standard

(J2 to J4 with brakes)With brakes

(J2 to J6 with brakes)Standard

(J2 to J4 with brakes)With brakes

(J2 to J6 with brakes)Maximum payload (kg) 73 73

Maximum arm reach (mm) 653 854

Standard protection 4 4 4 4

Dust- and mistproof (wrist: IP65, unit: IP54) 4 4 4 4

Cleanroom (ISO 5) 4 4 4 4

3. If downward wrist movement exceeds ±45°, maximum payload is 6 kg.

VS-6556/6577Dust- and mistproof model

Dust- and splashproof model

Dust- and mistproof model

Cleanroom model

Cleanroom model

4. If the payload exceeds 11 kg, downward wrist movement is limited to ±10°.

DENSO 5- AND 6-AXIS ROBOTS ¦ 11

VS-050-S2

DEN

SO 5- &

6-AXIS RO

BOTS

Supported Robot ControllersVP SERIES 430–432 mm

VP-5243 VP-6242

12 ¦ VP SERIES

Specifications

DENSO VP-Series robots are perfect for installations where operational space is limited.

z Excellent repeatability of ±0.02 mm


z 430 or 432 mm reach

z Ultracompact design saves floor space and facilitates integration

z Floor- or ceiling-mount, with no special hardware needed

z Exceptionally light weight from only 13 to 24 kg

z Low energy consumption, with all motors combined using a maximum of only 300 W

z ANSI and CE compliance allows global deployment

1. At constant ambient temperature. 2. In every direction.

VP-5243 VP-6242

Number of axes 5 6

Overall arm length (mm) 430 420

Second-arm width (mm) 112

Reach (to center of 5th axis, mm) 430 432

Minimum motion area (mm) 162 148

Maximum payload (kg) 2.5 (3.0 with flange pointing down) 2.0 (2.5 with flange pointing down)

Weight, approx. (kg) 13 15

Footprint (mm) 160 × 160

Cycle time (sec) 0.99 (with 1 kg weight)

Maximum composite speed (mm/sec) 3,900

Maximum joint speed (°/sec.) J1: 250 J2: 187 J3: 250 J4, J5, J6: 300

Repeatability1, 2 (mm) ±0.02 ±0.02

Max. allowable moment of inertia (kgm2)

J4 -0.03

J5 0.04

J6 0.01 0.007

Range of motion (°)

J1 ±160

J2 ±120

J3 +136, -128 +160, +19

J4 - ±160

J5 ±120

J6 ±360

Position detection Absolute encoder

Drive motors and brakes AC servomotors and brakes for all axes

Air piping (in-arm integrated) 4 systems (ø4 × 4)

Wiring (in-arm integrated) 9 lines (max. 1 A per line)

Air sourceOperating pressure 1.0 × 105 Pa to 3.9 ×105 Pa

Maximum allowable pressure

4.9 × 105 Pa

Protection class IP30

Ceiling-mount ✓


160135

4-Ø102- Ø6H7(Reference hole)

4 x Ø10 screw

135

160

49 ± 0.05

4-M5, Depth 8(P.C.D. 31.5)

Ø40 h8

Ø5H7Depth 7

+0.0120

-0.0390

+0.0210

+0.0120

Ø20 H7Depth 6

210

Point P

2-M4

15

R148

R432

R222

R222

Ø65

101

7521

028

0

182

155

70

120°

120°

120° 120°

71°

70°

AWorkable space de�ned by point P

Detailed drawing of end-effector mounting face(View A)

Detailed drawing of base mounting face(Top view)

Workable space de�ned by point P

Cabling spacePoint P

R432

60

26

2-M4 140 190

160°

160°

R148

144

± 0

.05

External Dimensions and Workable Space [ VP-6242 ]

Standard payload:2: 2 kg (6-axis) 2.5 kg (5-axis)

*The maximum payload is 2.5 kg (6-axis) or 3 kg (5-axis)

Total arm length:42: 420 mm43: 430 mm

Axes:5: 5-axis6: 6-axis

Mini 5- and 6-axis type:

Legend VP - □ 2 □□

The data listed on this page is for the standard model. For other options, visit our website at www.densorobotics.com.

VP SERIES ¦ 13

Unit : mm

DEN

SO 5- &

6-AXIS RO

BOTS

Supported Robot ControllersVS-Series Pharmaceutical Robot 520 mm

Specifications

14 ¦ VS-050-S2

The DENSO VS-050-S2 robots are designed for pharmaceutical, medical

and life sciences applications where biocontamination control is required.

z Protective outer coating and specially sealed joints allow sterilization with hydrogen peroxide and UV light

z ISO 5 (class 100) cleanroom rating

z Smooth, rounded design with no external screws, to prevent contaminants from adhering to arm or being harbored in crevices

z Wires internally embedded up to the flange, keeping them out of the cleanroom environment and preventing them from becoming tangled or interfering with peripheral equipment

z Bottom-side connector panel makes robot cleaning easier and saves valuable floor space

z Encoder backup battery installed outside the robot, facilitating battery replacement and improving ease of maintenance

z ANSI and CE Compliance allows global deployment

z UL models available for the US and Canada

1. Time required for a robot to move a 1 kg payload betwen two points 300 mm apart at a height of 25 mm. 2. Position repeatability is the precision at constant ambient temperature. 3. Motion range is limited when mounted to a wall, inquire for details.4. When electric gripper connection flange specification-A is selected, the J5 motion range is +110, -102.5. This wire (proximity sensor or other signal wire) is 4-core if electric gripper connection flange specification-A is also selected6. Allowable current is limited.

VS-050-S2

Number of axes 6

Overall arm length (mm) 255 (first arm) + 265 (second arm) = 520

Reach (to center of 5th axis, mm) 520

Minimum motion area (mm) 135

Maximum payload (kg) 4

Weight, approx. (kg) 34

Cycle time (sec)1 0.35

Range of motion (°) J1: ±1803 J2: +120,-115 J3: +141,-115 J4: ±270 J5: ±1154 J6: ±360


Repeatability2 (mm) ±0.02

Max allowable moment of inertia (kgm2) J4 and J5: 0.200, J6: 0.05

Max. allowable moment (Nm) J4 and J5: 6.66, J6: 3.13



Air piping (in-arm integrated) option solenoid valves (2-position, double solenoid) x2

Wiring (in-arm integrated) 10 lines (max. 1 A per line) 5, 6

Electric gripper connection flange specification-A (Option) 25 cores (17+8)6

Air source (operating pressure, MPa) 0.20–0.39

Air source (maximum allowable pressure, MPa) 0.49

Hydrogen peroxide environment 35% hydrogen peroxide steam (dry / wet)

Protection class Wrist IP67 / Unit IP65

Cleanroom ISO 5

Ceiling- and wall-mount ✓

Integrated Servo Gripper Option

+0.021 0

AA 47.7

181.

534

5 600

10

520.2520.2

124.526585

115

115

90141

115

R265.2

R255

141

115141

115

115

120

R265.2

R271.3

R183.1

R520.2

Point P

J5

Workable spacedefind by point P

J3

R265

.2

J2

AA 47.7

181.

5 345

600

10

520.2520.2

124.5

90141 115

R265

.2

R255

141

115141

115

115

R265.2

R271.3

R183.1

R 265.2

R520.2

115

102

110

265

Point P

J2

J5

Workable spacedefind by point P

J3

120

VS-050-S2 communication interface flange-A

Workable space defined by Point P E

E

(R183.1)

(R52

0.2)

28

40

29.54

57.5

57.5 35 50

15545

Point P

accessory

J6J1

J4±270°

J6±360°

115 J4

180°

180°

VS-050-S2 standard flange

Workable space defined by Point P

E

E

(R183.1)

(R52

0.2)

45155

28 40

429.5

35 50

57.5

57.5

J1=±180°J2=+120°,-115°J3=+141°,-115°J4=±270°J5=+110°,-102°J6=±360°

180°

180°

Point P

accessory

J4

One-way mounting of the left or right. The figure shows an example on the left.

One-way mounting of the left or right. The figure shows an example on the left.

J1

J4±270°

J6±360°

J6

115

Detailed drawing of base mounting face, rear connector panel (Top view)120

120

49 ±0.05

144

±0.05

Ø150

220

Connector space(reference hole) A-A

2x Ø6H7 Depth 10

4×M10 Depth 21

Detailed drawing of end-effector mounting face, standard flange (View A)

Detailed drawing of end-effector mounting face, communication-interface flange-A (View A)

C

C B 1:1

C

C B 1:1


External Dimensions and Workable Space [ VS-050-S2 ]

Unit: mm

VS-050-S2 ¦ 15

VS-050-S2

Number of axes 6

Overall arm length (mm) 255 (first arm) + 265 (second arm) = 520

Reach (to center of 5th axis, mm) 520

Minimum motion area (mm) 135




Range of motion (°) J1: ±1803 J2: +120,-115 J3: +141,-115 J4: ±270 J5: ±1154 J6: ±360



Max allowable moment of inertia (kgm2) J4 and J5: 0.200, J6: 0.05

Max. allowable moment (Nm) J4 and J5: 6.66, J6: 3.13



Air piping (in-arm integrated) option solenoid valves (2-position, double solenoid) x2

Wiring (in-arm integrated) 10 lines (max. 1 A per line) 5, 6

Electric gripper connection flange specification-A (Option) 25 cores (17+8)6



Hydrogen peroxide environment 35% hydrogen peroxide steam (dry / wet)

Protection class Wrist IP67 / Unit IP65

Cleanroom ISO 5

Ceiling- and wall-mount ✓

Legend VS 0 5 0 S 2 - A V6 - R1 □ - □ □ N□N - A N N NRobot name:VS: Small articulated robot

Total arm length:520 mm

Connector panel:N: Rear connector panelA: Bottom connector panel

Signal lines and air-pipe solenoid valve:A: 2x solenoid valves

(2-position, double solenoid)N: Specification without signal lines or

air-pipe solenoid valve

Paint and surface finish:N: DENSO standard colors2

A: Unpainted3

Flange:N: Standard flangeA: Communication-interface flange A1

Series Name:Pharmaceutical Series

Axes: V6: 6-axis

Mounting orientation:A: All directions

Protection:C5: Cleanroom (ISO 5)

Standard Safety Compliance:

1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives.

DEN

SO 5- &

6-AXIS RO

BOTS

Supported Robot ControllersVS SERIES FEATURES VS-050/060/068/087

Efficient Use of Dead Space

VS-050 VS-068

Cycle time for 1 kg (sec) 0.35 (RC8A) 0.31 (RC8A)

Maximum composite speed (mm/sec)

9,080 (RC8A) 11,290 (RC8A)

z Cycle time/maximum composite speed300 mm

25 mm

Cycle timeThe time taken to complete a cycle of work from one arrow to the other and back.

VS-050Reach: 505 mmMaximum payload: 4 kg




Fits into Tight Spaces

z Arm width, wrist width and workable space

193 mm

R505

95 mm

235 mm100 mm

R710

VS-068

Standard

VS-050

Bottom connector panel (option)

Base Base

Connector panel Connector panel

Wal

l

Wal

l

16 ¦ VS-SERIES FEATURES

Higher Speed, for Improved Productivity


z Second-arm cover (with tapped holes)

Cover has tapped holes to secure wires for the robot’s second arm.

z Air-purge unit

Dust- and splashproof model maintains IP67 protection level by means of air pressure created inside the robot.

z Brake-release unit

Switch allows release of brake on each axis.

z Paint and surface finish

If IP67 protection level is selected, unit is left as unpainted anodized aluminum. (DENSO standard colors are available as an option.)

z Signal lines and air pipe solenoid valve

Signal lines and air-pipe solenoid valves are embedded in the top of the second arm. Three types are available for VS-068/087 and one for VS-050/060.

z Flange

Optional flange interface has connectorsfor electrical signal lines and EtherNet, allowing wiring to be embedded in the robot unit.

z Connector panel

Choose from two mounting orientations when connecting cables to the robot (such as for a motor and encoder, etc.), for increased installation flexibility.

New VS-Series Options

Rear connector panel

DENSO standard colors

Bottom connector panel

UnpaintedCommunication-interface flange A

Air-pipe solenoid valve

Signal lines

Wires are internally embedded up to the flange, preventing them from becoming entangled or broken (communication-interface flange-A option).

Improved Usability and Ease of Maintenance

Camera

Electric gripper

Category

Part Name VS-050/060 VS-068/087

Specification /VType Standard IP67

(Dust- and mistproof)

Wrist: IP65Unit: IP54

Cleanroom(ISO 5)

Cleanroom(ISO 3)

Standard IP67

(Dust- and mistproof)

Wrist: IP65Unit: IP54

Cleanroom(ISO 5)

Cleanroom(ISO 3)

Connector panel

Rear connector panel 4 4 4 4 4 4 4 4 4 4

Bottom connector panel 4 4 4 4 4 4 4 4 4 4

FlangeStandard flange 4 4 4 4 4 4 4 4 4 4

Communication-interface flange A 4 4

Signal lines and air-pipe solenoid valve

2 × solenoid valves (2-position, double solenoid) 4 4 4 4 4

3 × solenoid valves (2-position, double solenoid) 4 4 4 4 4

3 × solenoid valves (3-position, exhaust center solenoid) 4 4 4 4 4

3 × solenoid valves (3 position, closed center solenoid) 4 4 4 4 4

Options

Air-purge unit 4 4

Brake-release unit1 4 4 4 4 4 4 4 4 4 4

External encoder-battery backup unit 4 4 4 4 4 4 4 4 4 4

Angled motor and encoder cable 4 4 4 4 4 4 4 4 4 4

Second-arm cover R (with tapped holes) 4 4

1. Brake-release unit has an IP67 protection level

z External encoder-battery backup unit

Encoder backup battery installed outside robot facilitates battery replacement and improves ease of maintenance.

VS-SERIES FEATURES ¦ 17

DEN

SO 5- &

6-AXIS RO

BOTS

Supported Robot ControllersVS SERIES 505–605 mm

VS-050 VS-060

Specifications

18 ¦ VS-050/060

1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only.

The VS-050/060 six-axis articulated robots offer exceptionally high speed and

repeatability in a compact design.

z Extremely fast cycle time of 0.35 sec

z Outstanding repeatability of ±0.02mm


z Reaches from 505 to 605 mm

z High maximum allowable moment of inertia

z Compact design, with ultraslim arms; saves space and facilitates integration

z Floor-, wall- or ceiling-mount, with no special hardware needed

z Standard, dust- and splashproof and cleanroom models

z Optional IP67 protection resists cutting fluids and chips

z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange

z Optional bottom connector panel saves floor space


VS-050 VS-060

Number of axes 6

Overall arm length (mm) 250 (first arm) + 255 (second arm) = 505 305 (first arm) + 300 (second arm) = 605

Arm offset (mm) J1 (swing): 0 J3 (front arm): 10 J6 (flange): 70






Range of motion (°) J1: ±1705 J2: ±120 J3: +151, -120 J4: ±270 J5: ±120 J6: ±360

J1: ±1705 J2: ±120 J3: +155, -125 J4 : ±270 J5: ±120 J6: ±360


Maximum joint speed (°/sec) J1: 510 J2: 408 J3: 491 J4: 540 J5: 416 J6: 864


Max allowable moment of inertia (kgm2) J4 and J5: 0.200 J6: 0.050

Max. allowable moment (Nm) J4 and J5: 6.66 J6: 3.13



Air piping (in-arm integrated) option 5 systems (ø4 × 4, ø4 × 1) ; 2 solenoid valves (2-position, double solenoid)

Wiring (in-arm integrated)

10 lines (max. 1 A per line) 3 LAN (1000BASE-TX) × 1 (option) 4

17-line electrical wire for cameras, etc.4

Option set with LAN4



Protection class Standard: IP40; options: IP67 (dust- and splashproof)

Cleanroom ISO 3 and 5

Ceiling- and wall-mount ✓5


Ø40h8 0-0.039

Depth5*

+0.021 0

Ø20H7

Depth5

4xM5

Ø5H7 +0.0120

Detailed drawing of end-effector mounting face, standard �ange (View A)

(P.C.D 31.5)

+0.021

0

Ø20H7

Depth3

4xM5 Depth7

Ø5H7 +0.0120 Depth5

Detailed drawing of end-effector mounting face, communication-interface �ange A (View A)

(P.C.D 31.5)

*This hole does not exist on dust- and splashproof (IP67)model

[VS-060]

[VS-050]

A A

195Cabling space

95

170°

170°

4550

(R505.2)

(R136.1)

Workable space de�ned by Point P

Point P Point P

J1J4

J4±270°

J6±360°

J6

119.5

151° 120°

R255.2

120° 120°

R255.2 R255.2R136.1 R244

120°

151°120°

151°

505.2 505.2

181.

5

595

255

90°

87.9 10

345

120°

120°

70 [75] (105)

35.2

(R250)

(R50

5.2)

Point P


J2

J3J5

A A

95

195Cabling space

170°

170°

5045

(R605.2)

(R140.9)


J1J4J6

J4±270°

J6±360°

164.5300

605.2 605.2

10

87.9

90°155° 125°

R300.2

120° 120°

R140.9

R300.2

125°

155°

155°

125°

R300.2

R270.5

181.

534

565

0

120°

120°

70 [75] (105)

107.

7

(R60

5.2)

(R305)

J1=±170°J2=±120°J3=+155°, -125°J4=±270°J5=+120°, -120°J6=±360°

Point P


J2

J3J5

A A

Values in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface �ange A.

Depth6

Depth5Detailed drawing of base mounting face, rear connector panel (Top view)

49±0.05135

144±

0.05

80

160

135

4xR5

A-A2xØ6H7

4 x Ø10 screw

(Reference hole)

(for M8 screw)

+0.0120

External Dimensions and Workable Space

Legend VS □□□ □□ - A V6 - □□ N - □ □ N □ N - □ NNNRobot name:VS: Small articulated robot

Total arm length:050 A3: 505 mm RC8A-supported060 A3: 605 mm RC8A-supported

Connector panel:N: Rear connector panel

Signal lines and air-pipe solenoid valve:A: 2 solenoid valves

(2-position, double solenoid)N: Specification without signal lines or

air-pipe solenoid valve

Protection:NN: StandardW7: Dust- and splashproof (IP67)W4: Dust- and mistproof (wrist: IP65, unit: IP54)C3: Cleanroom (ISO 3)C5: Cleanroom (ISO 5)


A: Unpainted3



Axes: V6: 6-axis


Unit : mm

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

VS-050/060 ¦ 19

VS-050 VS-060

Number of axes 6








Range of motion (°) J1: ±1705 J2: ±120 J3: +151, -120 J4: ±270 J5: ±120 J6: ±360

J1: ±1705 J2: ±120 J3: +155, -125 J4 : ±270 J5: ±120 J6: ±360




Max allowable moment of inertia (kgm2) J4 and J5: 0.200 J6: 0.050




Air piping (in-arm integrated) option 5 systems (ø4 × 4, ø4 × 1) ; 2 solenoid valves (2-position, double solenoid)


10 lines (max. 1 A per line) 3 LAN (1000BASE-TX) × 1 (option) 4





Protection class Standard: IP40; options: IP67 (dust- and splashproof)

Cleanroom ISO 3 and 5


Values in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface flange A.

DEN

SO 5- &

6-AXIS RO

BOTS


VS-068 VS-087

Specifications

20 ¦ VS-068/087

VS-068 VS-087

Number of axes 6







Cycle time (sec)1 0.31 0.34

Range of motion (°) J1: ±1705 J2: +135, -100 J3: +153, -120 J4: ±270 J5: ±120 J6: ±360

J1: ±1705 J2: +135, -100 J3: +153, -136 J4: ±270 J5: ±120 J6: ±360



Maximum joint speed (°/sec) J1: 450 J2: 360 J3: 510 J4, J5: 540 J6: 864 J1: 360 J2: 300 J3: 408 J4, J5: 540 J6: 864

Repeatability2 (mm) ±0.02 ±0.03

Max. allowable moment of inertia (kgm2) J4 and J5: 0.450 J6: 0.100




Air piping (in-arm integrated) option

7 systems (ø4 × 6, ø6 × 1); 3 solenoid valves (2-position, double solenoid); 3 solenoid valves (3-position, center open); 3 solenoid valves (3-positon, center close)


10 lines (max. 1 A per line)3 LAN (1000BASE-TX) × 1 (option)4





Protection class Standard: IP40; option: IP67 (dust- and splashproof)


1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only.

The VS-068/087 six-axis articulated robots offer exceptionally high speed and repeatability

in a compact design.

z Extremely fast cycle times of 0.31 to 0.34 sec

z Outstanding repeatability of ±0.02 to ±0.03 mm




z Compact design, with ultraslim arms; saves space and facilitates integration

z Floor-, wall- or ceiling-mount, with no special hardware needed

z Standard, dust- and splashproof and cleanroom models

z Optional IP67 protection resists cutting fluids and chips

z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange

z Optional bottom connector panel saves floor space




Detailed drawing of end-effector mounting face, standard �ange (View A)

Detailed drawing of end-effector mounting face, communication-interface �ange A (View A)

[VS-068] [VS-087]

+0.0210

Ø20H7

Depth 3

4×M5 Depth 7(P.C.D 31.5)

Ø5H7 Depth 5+0.0120

Detailed drawing of base mounting face, rear connector panel (Top view)

160

66±0.05160

184±

0.05

200

4×R20

100A-A

2×Ø6H7(Reference hole)

+0.0120

4×Ø12 screw(for M10 screw)

Detailed drawing of base mounting face, bottom connector panel (Top view)

215

Cabl

ing

spac

e

66±0.05160

184±

0.05

160

200

4×R20

1002×Ø6H7(Reference hole)

+0.0120

4×Ø12 screw(for M10 screw)

Ø185(Connector space)

A-A

*

*This hole does not exist on protected type (IP67)

0-0.039

Ø40h8Depth 5

+0.0210

Ø20H7

Depth 5

4×M5 Depth 6(P.C.D 31.5)

Ø5H7+0.0120 Depth 5

Values in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface �ange A.

A A

R340

.6

R340.6

R322.8R178.3

153̊

120̊

135̊ 100̊

120̊

120̊

120̊

153̊

R340.6

153̊

120̊

197340

680.6 680.680 [85] (115)

20

30

170°

170°

R710.6 R208.3

102

197.

5 395

735

186

195Cabling space

455510

0

R340R680.6

Point P

J2

J5

J1=±170°J2=+135°,-100°J3=+153°,-120°J4=±270°J5=±120°J6=±360°



Point P

J1J4

J6

J4±270°

J6±360°

A

170̊

170°

R905.5 R254.5

195Cabling space

100 45

55

Point P

J1

J4±270°

J6±360°

J4J6

153̊

136̊

153̊R224.513

5̊ 100̊

R430.5

R430

.5

˚

120̊

R430

.5

153̊

136̊

136̊

R309.3

287430

875.5 875.5

102

30

197.

5 395

840

20

350.

1

R445

(R875.5)

Point P

J2

J1=±170°J2=+135°, -100°J3=+153°, -136°J4=±270°J5=±120°J6=±360°


A A


80 [85] (115)

J3J3J5

120

VS □□□ □□ - A V6 - □□ N - □ □ N □ N - □ NNN

Robot name:VS: Small articulated robot

Total arm length:068 A4: 680 mm RC8A-supported087 A4: 875 mm RC8A-supported

Connector panel:N: Rear connector panelA: Bottom connector panel

Signal lines / Air pipe solenoid valve:B: 3 solenoid valves (2-position, double solenoid)C: 3 solenoid valves (3-position, exhaust center solenoid)D: 3 solenoid valves (3-position, closed center solenoid)N: Specification without signal lines or air-pipe solenoid valve

Protection:NN: StandardW7: Dust- and splashproof (IP67)W4: Dust- and mistproof (wrist: IP65, unit: IP54)C3: Cleanroom (ISO 3)C5: Cleanroom (ISO 5)


A: Unpainted3



Axes:V6: 6-axis


Legend


VS-068/087 ¦ 21

VS-068 VS-087

Number of axes 6







Cycle time (sec)1 0.31 0.34


J1: ±1705 J2: +135, -100 J3: +153, -136 J4: ±270 J5: ±120 J6: ±360



Maximum joint speed (°/sec) J1: 450 J2: 360 J3: 510 J4, J5: 540 J6: 864 J1: 360 J2: 300 J3: 408 J4, J5: 540 J6: 864

Repeatability2 (mm) ±0.02 ±0.03

Max. allowable moment of inertia (kgm2) J4 and J5: 0.450 J6: 0.100




Air piping (in-arm integrated) option

7 systems (ø4 × 6, ø6 × 1); 3 solenoid valves (2-position, double solenoid); 3 solenoid valves (3-position, center open); 3 solenoid valves (3-positon, center close)


10 lines (max. 1 A per line)3 LAN (1000BASE-TX) × 1 (option)4





Protection class Standard: IP40; option: IP67 (dust- and splashproof)


Unit : mmValues in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface flange A.

DEN

SO 5- &

6-AXIS RO

BOTS


The VS-6556/6577 robots provide high speed and high power in a slim, compact body. A variety of options are available that allow operation in a range of environments.

z Fast cycle times from 0.59 to 0.49 sec

z Excellent repeatability from ±0.02 to ±0.03 mm



z Compact design saves floor space, facilitates integration

z Floor- or ceiling-mount, with no special hardware required

z Maximum composite speed : from 7,600 mm/s up to 8,200 mm/s

z Operation in dusty and wet environments (IP65 option)

z Operation in cleanrooms (ISO 4 or 5 option)


Specifications

22 ¦ VS-6556/6577

VS-6556 VS-6577

Number of axes 6

Overall arm length (mm) 565 770




Maximum payload (kg)1 7


Footprint (mm × mm) 200 × 200

Cycle time (sec) 0.49 (with 1 kg weight) 0.59 (with 1 kg weight)

Maximum composite speed (mm/sec) 8,200 7,600


Repeatability2,3 (mm) ±0.02 ±0.03

Maximum allowable moment of inertia (kgm2) J4, J5: 0.413 J6: 0.063



Drive motors and brakesAC servomotors on all axes;

brakes on 2nd, 3rd and 4th axis (5th and 6th axis optional)

Air piping (in-arm integrated) 10 lines (max. 1 A per line)

Wiring (in-arm integrated) 7 systems (ø4 × 6, ø6 x 1), three 2-position double solenoid valves

Protection classStandard: IP40

Options: IP65/54 (wrist/unit) dust- and mistproof,cleanroom ISO 4 and 5

Ceiling-mount4 ✓

1. If downward movement of wrist and neck exceed ±45°, maximum payload is 6 kg. 2. At constant ambient temperature. 3. In all directions. 4. All except cleanroom models, which can be floor-mounted only.

VS-6556

VS-6577

CEILING-MOUNT OPTION


4-M5 Depth 8(P.C.D 31.5)

Ø5 H7 Depth 7

Ø40h8 0-0.039

Ø20H7

Depth 6+0.021

0

+0.012 0

+0.012 0

(Reference hole)

200160 4-Ø12 screw

(for M10 screw)2- Ø6H7

160

200

66 ± 0.05R20

50.0± 481

Detailed drawing of end-effector mounting face (View A)

Detailed drawing of base mounting face (Top view)

375 (485)578.42 (779.88) 575.68 (779.88)

295 (405)108 (218)

80

J5

75

J3

J2

++

+

_

_

_

115

9027

0 (3

65)

335

203

R308.42

(414.88)

R219.74 (323.35)

R578.42 (779.88)

R158.79(166.34)

R308.42 (414.88)

73.4

6(1

43.2

6)16

4.34

(3

37.9

7)

390.

95

120º

120º

100º135º

209º

76°(79°)

Ø65

105A

Point P



Point P

5965

J6 J4

57 51

187.7

170º

170º

R233.79

(R241.34)

R653.4

2

(R854.8

8)

+ +

_ _±360º ±190º

The values in parentheses ( ) are for VS-6577G

4-M5 Depth 8(P.C.D 31.5)

Ø5 H7 Depth 7

Ø40h8 0-0.039

Ø20H7

Depth 6+0.021

0

+0.012 0

+0.012 0

(Reference hole)

200160 4-Ø12 screw

(for M10 screw)2- Ø6H7

160

200

66 ± 0.05R20

50.0± 481



375 (485)578.42 (779.88) 575.68 (779.88)

295 (405)108 (218)

80

J5

75

J3

J2

++

+

_

_

_

115

9027

0 (3

65)

335

203

R308.42

(414.88)

R219.74 (323.35)

R578.42 (779.88)

R158.79(166.34)

R308.42 (414.88)

73.4

6(1

43.2

6)16

4.34

(3

37.9

7)

390.

95

120º

120º

100º135º

209º

76°(79°)

Ø65

105A

Point P



Point P

5965

J6 J4

57 51

187.7

170º

170º

R233.79

(R241.34)

R653.4

2

(R854.8

8)

+ +

_ _±360º ±190º

External Dimensions and Workable Space [ VS-6556-B ]

Total arm length:56: 650 mm77: 850 mm

Options:None: StandardB: With brakeW: Dust- and splashproof (wrist: IP65, unit: IP54)BW: With brake and dust- and splashproof protectionP: Cleanroom (ISO 4 and 5)BP: With brake and cleanroom con�guration

Standard payload:5: 6 kg*Maximum payload is 7 kg

Axes:6: 6-axis

VS: Small articulated robot

Legend VS - 6 5 □□ - □Unit : mm


VS-6556/6577 ¦ 23

Values in parentheses ( ) are for VS-6577.

DEN

SO 5- &

6-AXIS RO

BOTS

Supported Robot ControllersVM SERIES 1021–1298 mm

VM-6083 VM-60B1

Specifications

24 ¦ VM SERIES

1. At constant ambient temperature. 2. In all directions. 3. All except cleanroom models, which can be floor-mounted only.

VM-6083 VM-60B1

Number of axes 6

Overall arm length (mm) 830 1,110


Reach (to center of 5th axis, mm) 1,021 1,298







Maximum joint speed (°/sec) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600





Drive motors and brakes AC servomotors for all axes; brakes on 2nd, 3rd, 4th, 5th and 6th axis

Air piping (in-arm integrated) 7 systems (ø4 × 6, ø6 x 1), three 2-position double solenoid valves

Wiring (in-arm integrated) 10 lines (max 1 A per line)


Options: IP65/54 (wrist/unit) dust- and mistproof; cleanroom ISO 5

Ceiling-mount3 ✓


The DENSO VM-Series six-axis articulated robots offer

exceptionally long reaches along with high speed, high

precision and a large payload capacity.



z Reaches from 1,000 mm to 1,300 mm



z Floor- or ceiling-mount, with no special hardware required


z Operation in cleanrooms (ISO 5 option)



155 ± 0.1

150

15

5 ±

0.1

240

250

192

25 25150

190

250

Standard face

Ø30

4-Ø14.5 hole

J1 rotation center

(for M12 screw)

Detailed drawing of base mounting face (B-B view)

J5

84 330.6590 (445) 84.96 (145.91)

690

Ø82

114

+

+

+ _

_

_

Point P

325

(205

)10

011

53 (1

018)

491.

11 (2

53.3

3)

180

5818

5


120°168°

80°

120°

135°

A

B B

2-M6, Depth 14

R795.38R1118.41 (841.09)

R223

.45

(212

.61)

R598.41(456.1)

120

J2

J3

90°

290 47

5

1953

.41

(131

6.09

)

520

(385

)

259.4 (114.4)

170°

170°130(21)

434 (289)

50

051031 90

215 190

291

J6 J4

Point P2-M6, Depth 14

R403.45 (R392.61)

R1298.41 (R1021.09)2-M4, Depth 10

±360° ±185°


0-0.039

Ø50h8

+0.021

0

+0.0120

Ø25H7

Depth 9.5 [7.5]4-M6, Depth 9(P.C.D.40)

Ø6H79 Depth


Values in parentheses ( ) are for VM-6083.Values in brackets [ ] are of for cleanroom model (ISO 5)

155 ± 0.1

150

15

5 ±

0.1

240

250

192

25 25150

190

250

Standard face

Ø30

4-Ø14.5 hole

J1 rotation center

(for M12 screw)

Detailed drawing of base mounting face (B-B view)

J5

84 330.6590 (445) 84.96 (145.91)

690

Ø82

114

+

+

+ _

_

_

Point P

325

(205

)10

011

53 (1

018)

491.

11 (2

53.3

3)

180

5818

5


120°168°

80°

120°

135°

A

B B

2-M6, Depth 14

R795.38R1118.41 (841.09)

R223

.45

(212

.61)

R598.41(456.1)

120

J2

J3

90°

290 47

5

1953

.41

(131

6.09

)

520

(385

)

259.4 (114.4)

170°

170°130(21)

434 (289)

50

051031 90

215 190

291

J6 J4

Point P 2-M6, Depth 14

R403.45 (R392.61)

R1298.41 (R1021.09)2-M4, Depth 10

±360° ±185°


0-0.039

Ø50h8

+0.021

0

+0.0120

Ø25H7

Depth 9.5 [7.5]4-M6, Depth 9(P.C.D.40)

Ø6H79 Depth


Unit : mm

External Dimensions and Workable Space [ VM-60B1 ]

Total arm length:83: 1000 mmB1: 1300 mm

Options:None: Standard W: Dust and mistproof (wrist: IP65, unit: IP54)P: Cleanroom (ISO 5)

Maximum payload:0: 13 kg

Axes:6: 6-axis

Midsize articulated robot

Legend VM - 6 0 □□ - □


VM SERIES ¦ 25

VM-6083 VM-60B1

Number of axes 6

Overall arm length (mm) 830 1,110


Reach (to center of 5th axis, mm) 1,021 1,298







Maximum joint speed (°/sec) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600





Drive motors and brakes AC servomotors for all axes; brakes on 2nd, 3rd, 4th, 5th and 6th axis

Air piping (in-arm integrated) 7 systems (ø4 × 6, ø6 x 1), three 2-position double solenoid valves

Wiring (in-arm integrated) 10 lines (max 1 A per line)


Options: IP65/54 (wrist/unit) dust- and mistproof; cleanroom ISO 5

Ceiling-mount3 ✓

Values in parentheses ( ) are for VM-6083. Values in brackets [ ] are for cleanroom model (ISO 5).

DEN

SO 5- &

6-AXIS RO

BOTS

DENSO 4-AXIS ROBOTS

The DENSO four-axis robot lineup consists of the HS-A1, HSR, HM and XR Series, each with a different range of arm lengths and payload capacities.

Four-axis robots are also known as SCARAs (selective compliance articulated robot arms). They are suited for tasks that require high speed and precision in the horizontal direction.

Typical Applications

z Assembly

z Dispensing

z Encapsulating and potting

z Grinding

z Insertion

z Inspection

z Labeling

z Laser welding

z Machine tending

z Machining

z Material handling

z Material removal

z Nut and screw driving

z Packaging

z Parts finishing

z Pick and place

z Polishing

z Press fitting

z Soldering

z Spot welding

z Surface finishing

z Test handling

z Ultrasonic welding

Options

z Standard protection (IP40)

z Dust- and mistproof (wrist IP65, unit IP54)

z Cleanroom (ISO 3)

z UL-listed

z Ceiling-mount

Main Features

z Cycle times from 0.28 sec to 0.35 sec

z Repeatability from ±0.01 to ±0.025 mm

z Maximum composite speed from 6,300 to 11,450 mm/sec

z Reaches from 350 to 1,000 mm


26 ¦ DENSO 4-AXIS ROBOTS


HS-035A1✽ HS-045A1✽ HS-055A1✽

Maximum payload (kg) 5Total arm length (mm) 350 450 550Vertical stroke (Z, mm) 100/150/200/320

Standard (IP40)Floor 4 4 4

Ceiling 4 4

Dust- and mistproof (IP65)Floor 4 4 4

Ceiling 4 4

Cleanroom (ISO 4)Floor 4 4 4

Ceiling

Bellows onlyFloor 4 4 4

Ceiling 4 4

HSR048A1✽ HSR055A1✽ HSR065A1✽

Maximum payload (kg) 8Total arm length (mm) 480 550 650Vertical stroke (Z, mm) 100/200/320 **NA/170/290

Standard (IP40)Floor 4 4 4

Ceiling 4 4 4

Dust- and mistproof (IP65)Floor 4 4 4

Ceiling 4 4 4

CleanroomFloor 4 4 4

Ceiling 4 4 4

UL-ListedFloor 4 4 4

Ceiling

HS-A1

HSR

HM-4060✽/HM-4A60✽ HM-4070✽/HM-4A70✽✽2 ✽3 ✽4 ✽2 ✽3 ✽4

Maximum payload (kg) 10/20 10/20Total arm length (mm) 600 700Vertical stroke (Z, mm) 200 300 400 200 300 400

Standard (IP40)Floor 4 4 4 4 4 4

Ceiling 4 4 4

Dust- and mistproof (IP65)Floor 4 4 4 4 4 4

Ceiling 4 4 4

HM


Cleanroom model

Ceiling-mount model

Ceiling-mount model

UL-listed model

UL-listed model

HM-4085✽/HM-4A85✽ HM-40A0✽/HM-4AA0✽✽2 ✽3 ✽4 ✽2 ✽3 ✽4

Maximum payload (kg) 10/20 10/20Total arm length (mm) 850 1000Vertical stroke (Z, mm) 200 300 400 200 300 400

Standard (IP40)Floor 4 4 4 4 4 4

Ceiling 4 4 4

Dust- and mistproof (IP65)Floor 4 4 4 4 4 4

Ceiling 4 4 4

DENSO 4-AXIS ROBOTS ¦ 27


*Placeholder for Z-stroke value.

DEN

SO 4-A

XIS ROBO

TS

** Bellows/Dust/Mist/Clean

Supported Robot ControllersHS-A1 SERIES 350–550 mm

HS045A1

UL

CLEAN ROOM

Specifications

28 ¦ HS-A1 SERIES

The new HS-A1 Series robots offer higher speed and accuracy than previous HS models.

DUST & SPLASH PROOF

z Motor performance optimized for use with the latest RC8A controller, improving standard cycle time to 0.29 sec., an increase of 20%

z Highly effective vibration damping of tool center-point improves accuracy in high-speed operations

z Exceptional repeatability of ±0.015 to ±0.02 mm



z Vertical stroke option of 100, 150, 200 or 320 mm

z High maximum allowable moment of inertia enables wide range of end-effectors and applications


z Floor- or ceiling-mount models available


z Operation in cleanrooms (ISO 3 option)



HS035A1-N* HS045A1-N/S* HS055A1-N/S*

Number of axes 4

Position detection method Absolute encoder

Drive motor and brake AC servo motor all axes; brakes on Z and T axes

Total length of arm (arm #1 + #2) 350 (125 + 225) mm 450 (225+225) mm 550 (325+225) mm


J1 (Axis 1) ±155º

J2 (Axis 2) ±145º

Z (Axis 3) *=10: 100 mm, *=15: 150 mm, *=20: 200 mm, *=32: 320 mm

T (Axis 4) ±360º

Maximum payload 5 kg

Maximum joint speed (tool center point)2

Arm tip 7,200 mm/sec 6,300 mm/sec 7,100 mm/sec

Z 2,000 mm/sec

T 2,400º/sec

Standard cycle time 2 0.29 sec

Repeatability1

J1+J2 ±0.015 mm ±0.02 mm

Z ±0.01 mm

T ±0.005º

Maximum downward force 98 N (1 sec. max.)

Maximum allowable moment of inertia

0.1 kgm2

Air piping (in-arm integrated) 4 systems (ø4 × 2, ø6 × 2)

User signal line 19 lines (for proximity sensor signals, etc.)

Air source

Normal pressure 0.05 to 0.35 MPa


0.059 MPa

Airborne noise 80 dB max.

Protection level Dust- and splashproof (IP65) optional Cleanroom ISO Class 3 optional

Weight Approx. 25 kg

*Placeholder for Z-stroke value. 1. At constant ambient temperature. 2. Time required for robot to lift an object to a height of 25mm and move it back and forth between two points 300mm apart.


HS-A1 SERIES ¦ 29

DEN

SO 4-A

XIS ROBO

TS

Detailed drawing of end-effector mounting face (View from Arrow D)

Flange option


Model A B C

HS035✽ 350 125 143

HS045✽ 450 225 136

HS055✽ 550 325 191

Z-Axis Stroke: ST (mm) L1 L2 L3

* =10 : 100 596 246 146

* =15 : 150 647 246 96

* =20 : 200 697 246 46

* =32 : 320 817 246 -741

Above dimensions are for standard models, please see our website for other variations.1. Since the lowest point of the Z axis when its strok is 320 mm is lower than the base mounting surface, care must be taken to avoid interference with peripheral devices.

Unit : mm


Legend

EnvironmentalProtection:NN: StandardW5: Dust- and splashproof (IP65)C3: Cleanroom (ISO Class 3)JN: Bellows

Safety Speci�cations:N: StandardU: UL-compliant

HS□□□A1-□□□-□□□-NNNNN -NNNN

Arm Length:NN: StandardW5: Dust- and splashproof (IP65)JN: Bellows

Z-axis Stroke:10: 100 mm15: 150 mm20: 200 mm32: 320 mm

MountingOrientation:N: Floor-mountS: Ceiling-mount


Supported Robot ControllersHSR SERIES 480–650 mm

HSR055


Specifications

30 ¦ HSR SERIES

The new HSR Series robots use advanced vibration control, a newly designed, highly rigid lightweight arm and

improved heat dissipation to enable continuous high-speed, high-precision operation.

*Placeholder for Z-stroke value. 1. At constant ambient temperature.

z Continuous operation at maximum rated speed and with highest repeatability

z Applications include high-speed, high-precision pick and place in assembly and packaging processes

z Standard cycle time from 0.28 to 0.31 sec.

z Maximum payload capacity 8 kg

z Available reaches of 480, 550 and 650 mm

z Compact, space-saving design facilitates integration

z High maximum moment of inertia allows wide variety of end effectors and applications


z Internally embedded electrical wiring and air piping

z ANSI and CE compliance enables global deployment

HSR048A1-N/S* HSR055A1-N/S* HSR065A1-N/S*

Max Arm reach ( J1 + J2 arm) 480 (205 + 275) mm 550 (275 + 275) mm 650 (375 + 275) mm


J1 (Axis 1) ±155º

J2 (Axis 2) ±143.5º ±150º ±150º

Z (Axis 3) *=10: 100 mm, *=20: 200 mm, *=32: 320 mm

T (Axis 4) ±360º

Axes combination J1 (No.1 axis) + J2 (No. 2 axis) + Z (No. 3 axis) + T (No. 4 axis)

Maximum payload 8 kg

Maximum joint speed (deg/s, mm/s)

J1 450

J2 785

Z 100st: 1700 mm/s, 200st: 2300 mm/s, 320st: 2475 mm/s

T 2500

Cycle time (with 2 kg weight)

(S) 0.28 0.31

Repeatability1

J1+J2 ±0.01 mm ±0.012 mm

Z ±0.01 mm

T ±0.004º

Maximum downward force 98 N (1 sec. max.)

Maximum allowable moment of inertia

0.12 kgm2


Drive motors and brakes All-axis servo motor/Z-axis, T-axis with brake

Air piping (in-arm integrated) 4 systems (ø4 × 2, ø6 × 2)

User signal line 19 lines (for proximity sensor signals, etc.), Ethernet (8 lines) (option)

Air source

Normal pressure 0.05 to 0.35 MPa


0.059 MPa

Airborne noise 80 dB max.

Weight Approx. 31 kg Approx. 32 kg


Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E28

2.6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L1

27568

F

E E

449 48

8

179

B

0+0.012(

)

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

-360° (Workable space) +360° (Workable space)

Model A B C D E

HSR048A1-N* 480 205 164.4 287º 406.53

HSR055A1-N* 550 275 142.4 300º 364.32

HSR065A1-N* 650 375 194.0 300º 287.62

Z-Axis Stroke: ST (mm) L1 L2

* =10 : 100 555.2 120

* =20 : 200 555.2 20

* =32 : 320 775.2 -100 (Note 1)

Above dimensions are for standard models, please see our website for other variations. Note 1: If the Z-axis stroke is 320 mm, the lowest point of the Z-axis is lower than the base mounting position. Pay attention to interference with peripherals.

Unit : mm


Legend

HSR A1 - - - -N NN NNNNRobot name:HSR: Denso 4-axis robot

Mountingoption:N: Floor typeS: Ceiling type

Z-axis stroke:10: 100 mm20: 200mm17: 170mm *232: 320mm29: 290mm *2

Compatible standard:N: Standard typeU: UL speci�cations

External battery:N: NoA: Yes*1Arm length:

048: 480mm055: 550mm065: 650mm

Environmental resistance:NN: Standard typeW5: Dust & splash proof type (IP65)C3: Cleanroom type (ISO Class 3)JN: Bellows type

Signal wires and Ethernet:N: Standard typeA: Built-in Ethernet typeMechanism type:

A1: Arm length 480 mm, 550 mm, 650 mm*1: External battery units are sold separately.*2: For W5/C3/JN variants


HSR SERIES ¦ 31

DEN

SO 4-A

XIS ROBO

TS

Supported Robot ControllersHM SERIES 600-1000 mm

HM-4A60✽ HM-4A70✽ HM-4A85✽ HM-4AA0✽

32 ¦ HM SERIES

HM- 4060*

HM-4A60*

HM-4070*

HM-4A70*

HM-4085*

HM-4A85*

HM-40A0*

HM-4AA0*

Number of axes 4

Maximum arm reach (mm) 600 700 850 1000

First-arm reach (mm) 250 350 350 500

Second-arm reach (mm) 350 350 500 500


J1 ±165

J2 ±143 ±147

Z (mm) 200, 300, 400

T ±360


Minimum motion area (mm) 213 199 281 284

Maximum payload (kg) 10 20 10 20 10 20 10 20




Maximum composite speed (mm/sec) 8,780 9,570 11,450 11,390

Maximum joint speed

J1 (°/sec) 450

J2 (°/sec) 667

Z (mm/sec) 2,780

T (°/sec) 2,220 for 10 kg models or 1,540 for 20 kg models

Repeatability1

J1+J2 (mm) ±0.02 ±0.025

Z (mm) ±0.01

T (°) ±0.005

Maximum force fit (1 sec or less, N) 98

Maximum allowable moment of inertia (kgm2)0.25 (with

10 kg weight)

0.45 (with 20 kg

weight)

0.25 (with 10 kg

weight)

0.45 (with 20 kg

weight)

0.25 (with 10 kg

weight)

0.45 (with 20 kg

weight)

0.25 (with 10 kg

weight)

0.45 (with 20 kg

weight)


Air piping (in-arm integrated) 4 systems (ø6)

Protection class Standard: IP40; option: IP65 (dust- and mistproof)

Ceiling-mount - - ✓ ✓ ✓ ✓ - -

The DENSO HM-Series robots offer longer reaches and higher payload

capacities than the HS-Series models.


z Exceptional repeatability of ±0.02 to ±0.025 mm

z Long reaches from 600 to 1,000 mm

z Large payloads up to 20 kg






Specifications

*Placeholder for Z-stroke value. 1. At constant ambient temperature.


SL3

L1

60C70 95B

L2

E

464

181

188128 190 (Cabling space)

450

340

Workable space

346

330°

130

A

F

Workable space

D

12±0.02(38 ±

0.02)

28±0.0

2

60(80

)60(80) 45°45°

Ø5H7 ( ) (Ø6H7 ( ))

4-Ø5.5(4-Ø6.5)

(Ø50h7)Ø34h7

Ø70 (Ø95)

6.52

(36.

5)

+360°(Workable space)

-360°(Workable space)

0°

Ø40 (φ58)

+0.012 0

+0.012 0

Flange (option)2

(Ø26)Ø22

839

.21027

8.5

2XR

G G

3N9 ( )-0.004-0.029

20.5

(24.

5)

G - G

Detailed drawing of end-effector mounting face (View E)2

175

220

200±

0.05

175

R200

0

60±0.05

R2000

4XØ14.3

220

4-R20

2XØ8H7 ( )+0.015+0

(Reference hole)


(Ø19)Ø1710

0

Model A B C D F

HM-4060✽, HM-4A60✽ 600 250 350 213 286º

HM-4070✽, HM-4A70✽ 700 350 350 199 294º

HM-4085✽, HM-4A85✽ 850 350 500 281 294º

HM-40A0✽, HM-4AA0✽ 1000 500 500 284 294º

2. Dimensions of figure based on 10 kg load capacity (HM-40✽✽✽); dimensions of end-effector mounting-face flange (option) in parentheses based on 20 kg load capacity (HM-4A✽✽✽).

S L1 L2 L3

(Z-axis stroke) 10 kg 20 kg

200 855 849 350 150

300 955 949 350 50

400 (*1) 1055 1049 350 -50

*1: If Z-stroke is 400 mm, the lowest point of the Z-axis will achieve a position lower than the base mounting surface.

Unit : mm


Total arm length:60: 600 mm70: 700 mm85: 850 mm90: 1000 mm

Vertical stroke:2: 200 mm3: 300 mm4: 400 mm

Options:None: Standard (IP40)W: Dust- and mistproof (IP65)UL: UL-listed

Maximum payload:0: 10 kgA: 20 kg

Orientation:None: FloorS: Ceiling

Axe:4: 4-axis

Midsize 4-axis robot:

Legend HM □ - 4 □ □□ □ - □


HM SERIES ¦ 33

Values in parentheses ( ) are for 20 kg models.

DEN

SO 4-A

XIS ROBO

TS

Supported Robot ControllersXR SERIES

Specifications

XR-43411 XR-43711 XR-43721 XR-43731 XR-43A11 XR-43A21 XR-43A31

Number of axes 4

Arm length (mm) 200 200 250 300 200 250 300

Axis combination X axis + R axis + Z axis + T axis


Weight, approx. (kg) 33 45 46 47 51 52 53

Cycle time (sec) 0.53 (with 1 kg weight)

Range of motion and stroke

X axis (mm) 450 760 1060

R axis (°) ±168

Z axis (mm) 135

T axis (°) ±360

Maximum composite speed

At center ofhand (X + R,

mm/sec)3,650 3,600 3,240

Z (mm/sec) and T (°) Z: 1,500; T: 720

Maximum joint speed X: 124–165 mm/sec R: 382–573°/sec Z: 1,500 mm/sec T: 720°/sec

Repeatability1

X and R (mm) ±0.015

Z (mm) ±0.010

T (°) ±0.005

Maximum force fit (1 sec or less, N) 98

Maximum allowable moment of inertia (kg/m2) 0.05


Drive motors and brakes AC servo motors for all axes; brake for Z axis

Brake releasing Enter brake-release command with Teach Pendant or Mini Pendant

Air piping (in-arm integrated) 1 system (ø8); 4 systems with optional manifold valve ( ø4 × 8)


Air source (MPa)

Operating pressure 0.05–0.35

Maximum allowable pressure 0.59

The XR-Series four-axis compact gantry robots feature a flexible

SCARA robot combined with a ceiling-mounted, long-stroke

Cartesian robot. They have a highly efficient, space-saving design

yet a wide range of motion.

z Extremely compact, integrated gantry design uses up to 40% less valuable factory floor space than a conventional SCARA

z Ceiling- or wall-mount maximizes work area

z Fast cycle time of 0.53 sec

z Outstanding repeatability of ±0.015 mm

z Integrated gantry with long X-axis stroke allows conveyorless operation in many applications, saving up to 20% in capital-equipment costs

34 ¦ XR SERIES

1. At constant ambient temperature.


195.

6

450

168°168°

360° 360°

200

850

_ +

_ +

(X-axis stroke)

(R-axis rotation)

T-axis rotation

Workable space

Point P

0

(R-a

xis

stro

ke)

Point P

874

Z=13

5.20

0

(1001.7)

750.5 (123.5)(127.7)

192

Workable space (Z-a

xis

stro

ke)

A

200

20036.2

210

340

84

60

(R-axis stroke)

Workable space

Point P

167.55X100=500

147.5

12XØ6.6

46

100

439.

2

4XØ6H7( )(Reference hole)

(231

.5)

64

248

(236

.2)

(922.4)

192

270±0.05

45

(71.2) (596.7)

450

291

(821.7) 190(1011.7)

(Cabling space)

Point P

(Robot mounting hole)

(X-axis stroke)

+0.012 0

Ø20H7( ) Depth 6

+0.0210

Ø40h8( )0

-0.039

Ø5H7( ) Depth 7

4XM5 Depth 8

(P.C.D. 31.5)+0.012 0

External Dimensions and Workable Space (X-axis = 450 mm)

X-axis stroke:4: 450 mm7: 760 mmA: 1,060 mm

Total arm length:1: 200 mm2: 250 mm3: 300 mm

Z-axis stroke:1: 135 mm2: 200 mm

Maximum payload:3: 5 kg

Axes:4: 4-axis

Integrated gantryrobot

Legend XR - 4 3 □ □ □Unit: mm

XR SERIES ¦ 35

DEN

SO 4-A

XIS ROBO

TS

RC8A ROBOT CONTROLLER

World’s smallest size*The world’s smallest high-performance 8-axis controllerCompact size saves factory �oor space, facilitates integration.*For robot controllers supporting 6-axis robots (3 kw class).

RC8

Safety I/O

Expansion-board slot(PCI Express)

Teach Pendant connector

Status LED

Encoder connector

Motor connector

Motor connector(for extended-joint support)

Expansion-board slot(PCI)

Mini I/O universal/dedicated connector

Hand I/O connector

Power switch

Power connector

Robot ControllerDevelopment Code No.8

Advanced functions and usabilityGreatly improved ease of useImproved functionality with easy-to-use interface.Signi�cant advancements in Teach Pendant usability.

Trusted global standardCompliant with ISO Safety Requirements for Industrial Robots (ISO 10218-1:2011)Allows global deployment.

Optional Safety Motion

Highly �exible and expandableImproved adaptability to diverse operating environmentsMany different devices can be connected and controlled to meet a wide range of needs.

Compact

Usability

Global Standard

Flexibility

EtherNet (GigE)

2 × USB

RS-232C

VGA (option)

Advantage

36 ¦ RC8A Robot Controller


RC8A Robot Controller ¦ 37

Lightweight (RC7M: 22 kg, RC8A 10 kg)

Expandability

Graphical Programming for Advanced Robotics

Fieldbus Industrial EtherNet320

410

10 kg

RC8A

RC8A

RC7M

If a provider that supportsexternal devices is available,you can access the providerfrom PacScript to create aprogram that allows controlfrom the RC8A.

ROBO

T CON

TROLLERS

ROBO

T CON

TROLLERS

ROBO

T CON

TROLLERS

Lightweight (RC7M: 22 kg, RC8A 10 kg)

Expandability

Graphical Programming for Advanced Robotics

Fieldbus Industrial EtherNet320

410

10 kg

RC8A

RC8A

RC7M

If a provider that supportsexternal devices is available,you can access the providerfrom PacScript to create aprogram that allows controlfrom the RC8A.

RC8A Robot Controller




The RC8A robot controller’s I/O command-slave functions allow DENSO robots to be directly controlled by Rockwell, Omron, Mitsubishi and Siemens PLCs or PACs.

By keeping the programming software for all their devices in a single-platform, master control center, companies can more easily manage the data they collect and make it readily accessible to the Industrial Internet of Things.

z Easily program, operate and support robot from familiar PLC or PAC interface

z Control robot directly using DENSO PacScript commands in native language of PLC or PAC

z Execute most robot commands, such as palletizing, compliance control, etc.

z Seamless, high-speed connection via Ethernet/IP, CC-Link or Profinet

z Safety Motion Option

FlexibilityRobot can be directlycontrolled by PLC or PAC

ROBO

T CON

TROLLERS

RC8A


Robot Controller

Safety Motion I/O (option)

Expansion board slot (PCI Express) Teaching-pendant connector

Status LEDEncoder connector

Motor connectorsMotor connector

(for extended-joint support)

Expansion board slot (PCI)

Mini I/O universal / dedicated connector

Hand I/O connector Power switch

Power connector

Gigabit EthernetUSB USB

RS-232C

VGA (option)

Applicable robots VP-5243/6242

VP-6242G2

VS-050/060

VS-068/087

VM-6083/60B1

HM-4*****

XR-43***1

HSR HS-A1

Power

Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 2.45 1.80 1.80 1.80

Input voltage rangeThree-phase, 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1)

Single-phase, 230 VAC -10% to 240 VAC +10% N/A Single-phase, 230VAC -10% to 240VAC +10%

Power supply frequency 50/60 Hz

Power cable 5 m

Controllable axes 5/62 62 42

Control method PTP, CP 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes)

Drive method Digital AC servo on all axes

Language used DENSO Robotics language (PacScript)

Memory capacity, user area User area-Variable area: 1.75 MB (equivalent to 32,766 points); File area : 400 MB (5,000 steps × 256 files)

Teaching system Remote teaching, Numerical entry (MDI), Direct teaching (HM, HSR and HS-A1 Series only)

External signals (I/O, etc.)

Mini I/OStandard type/Safety motion type Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points

Safety I/O less type Input: User open 8 points + system fix 13 points / Output: 8 open user points + 14 fixed system points

Hand I/O Input: User open 8 points / Output: User open 8 points

Motion I/O (Option) Input: Safety circuit signal: 30 points / Output: Safety circuit signal: 14 points

Parallel l/O Expansion Board (Option) Expansion slot: PCI / Input: 40 points / Output: 48 points

CC-Link Remote Device Board (Option)

Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.Remote register input: 2,048 words max. / Output: 2,048 words3

DeviceNet Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.

DeviceNet Master Board (Option) Expansion slot: PCI Express / Input: 1,024 points / Output: 1,024 points

EtherNet / IP Adapter Board (Option) Expansion slot: PCI Express / Input: 4,032 points max. / Output: 4,032 points max.

PROFIBUS Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.

PROFINET I/O Device Board (Option) Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.

EtherCAT Slave Board (Option) Expansion slot: PCI Express / Input: 2,048 points max. / Output: 2,048 points max.

External communication RS-232C: 1 line; Gigabit Ethernet: 1 line; USB: 2 lines; VGA: 1 line (Option)

Expansion slot PCI: 1 slot; PCI Express: 1 slot

Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring), etc.

Environmental requirements (when operating) Temperature: 0 to 40 ºC; Humidity: 90% or less RH (no condensation)

Safety category Standard type: (Safety I/O) Category 4, PL eSafety motion type: (Safety I/O) Category 4, PL e / (Motion I/O) Category 3 PL d


Weight Safety I/O less type, standard type: approx. 10 kg, safety motion type: approx. 11 kg4

1. Power for 100 VAC specification: Single phase 100 VAC -10% to 110 VAC +10% 50/60 Hz, 1 kVA.2. Up to two additional axes optional. Power modules, motors and cabling not included.3. For Version 2.00.4. Does not include supplied cables.

Specifications


84

PROFINETEtherCAT

PLC Monitor Camera

Unit : mm

Dimensions

System configuration diagram


Applicable robots VP-5243/6242

VP-6242G2

VS-050/060

VS-068/087

VM-6083/60B1

HM-4*****

XR-43***1

HSR HS-A1

Power

Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 2.45 1.80 1.80 1.80

Input voltage rangeThree-phase, 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1)

Single-phase, 230 VAC -10% to 240 VAC +10% N/A Single-phase, 230VAC -10% to 240VAC +10%

Power supply frequency 50/60 Hz

Power cable 5 m

Controllable axes 5/62 62 42

Control method PTP, CP 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes)

Drive method Digital AC servo on all axes

Language used DENSO Robotics language (PacScript)

Memory capacity, user area User area-Variable area: 1.75 MB (equivalent to 32,766 points); File area : 400 MB (5,000 steps × 256 files)

Teaching system Remote teaching, Numerical entry (MDI), Direct teaching (HM, HSR and HS-A1 Series only)

External signals (I/O, etc.)

Mini I/OStandard type/Safety motion type Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points

Safety I/O less type Input: User open 8 points + system fix 13 points / Output: 8 open user points + 14 fixed system points

Hand I/O Input: User open 8 points / Output: User open 8 points

Motion I/O (Option) Input: Safety circuit signal: 30 points / Output: Safety circuit signal: 14 points

Parallel l/O Expansion Board (Option) Expansion slot: PCI / Input: 40 points / Output: 48 points

CC-Link Remote Device Board (Option)

Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.Remote register input: 2,048 words max. / Output: 2,048 words3

DeviceNet Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.

DeviceNet Master Board (Option) Expansion slot: PCI Express / Input: 1,024 points / Output: 1,024 points

EtherNet / IP Adapter Board (Option) Expansion slot: PCI Express / Input: 4,032 points max. / Output: 4,032 points max.

PROFIBUS Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.

PROFINET I/O Device Board (Option) Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.

EtherCAT Slave Board (Option) Expansion slot: PCI Express / Input: 2,048 points max. / Output: 2,048 points max.

External communication RS-232C: 1 line; Gigabit Ethernet: 1 line; USB: 2 lines; VGA: 1 line (Option)

Expansion slot PCI: 1 slot; PCI Express: 1 slot

Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring), etc.

Environmental requirements (when operating) Temperature: 0 to 40 ºC; Humidity: 90% or less RH (no condensation)

Safety category Standard type: (Safety I/O) Category 4, PL eSafety motion type: (Safety I/O) Category 4, PL e / (Motion I/O) Category 3 PL d


Weight Safety I/O less type, standard type: approx. 10 kg, safety motion type: approx. 11 kg4

1. Power for 100 VAC specification: Single phase 100 VAC -10% to 110 VAC +10% 50/60 Hz, 1 kVA.2. Up to two additional axes optional. Power modules, motors and cabling not included.3. For Version 2.00.4. Does not include supplied cables.

93.8

3

356.5

319.6

53.8

ROBO

T CON

TROLLERS

ProgrammingDevelop robot application

programs

Interface to link devices to a PC environment

SimulationCreate a simulated environment

for multiple robots

UtilityMaintain and support

installed robots

EMU, VRC

ORiN2 SDK

WINCAPS Robot Tools

DENSO Software Overview

From implementation to maintenance, we offer a variety of helpful tools to make our robots easy to use.

Software

ConnectivityRobot Control

from a PLC

z WINCAPSOffline programming and monitoring softwareSoftware to program robots on aPC using DENSO’s PAC languageor PACScript, in a simulated 3-Denvironment

z Robot ToolsUtility softwareSoftware to support optimum robotmaintenance and operation, to reduce running costs and daily maintenance

z EMURobot simulation softwareEnables 3-D simulation of multiple robots (max. 16)

z VRCVirtual robot controllerfor RC8A

z ORiN2 SDKMiddleware for PCMiddleware to develop application-program providers based on ORiN2 specifications

IO Slave

42 ¦ DENSO Software Overview

Software solutions that produce results

Manage robots from a PCImplementation Development Control Maintenance

Windows is a trademark or registered trademark of Microsoft Corporation in the United States and other countries.

Functions Full-Function Version Light Version1 Trial Version2

Create new program/edit program 4 4 45

Program bank 4 43 43

3-D CAD data import 4

3-D view teach 4 4 4

Simulation function 4

Debug function 4

Monitoring 4 44 44

Movie-save function 4 4 4

Print 4

Simple calibration 4 4 4

z Program creation

Uses DENSO’s PACScript Editor for programming tasks.Includes the following functions:

● Line-number display● Color support for commands● Command input support (displays input candidates) ● Indent display ● Comment block ● Bookmarks

z Embedded commands for program bank functions

Programs created by users can be registered for use by otherrobot applications. Includes pre-registered functions as sample programs, such as:

● Palletizing ● Tool operation

● Arm motion ● Create TP panel screen

z Panel screen editor

Create a panel screen for a Teach Pendant.

z Easy calibration

Three types of calibration can be used:

CALSETCorrects the CALSET value. Overwrites a CALSET value with the correct value based on a standard position when a motor is replaced or the CALSET value is lost.

TOOLCorrects the value of the selected TOOL. Use when a hand or other end-effector is created, recreated or replaced.

WORKCorrects the value of the selected WORK. All WORK coordinates that were set when the robot mounting position changed can be corrected in a single step.

WINCAPS III enables users to program, design,

implement and monitor their robot applications on a PC.

Offline programming and monitoring software

Functions

WINCAPS

WINCAPS ¦ 43

z 3-D arm view

Displays robot and peripheral devices in 3-D and simulates robot motion on a PC.

● Import 3-D graphic data (VRML and DirectX formats)● Check for interference with equipment● Measure cycle time of a created project ● Click on an object to move it to a robot end-object and obtain that

position data (3-D view teach)

z Log function

Users can view the following logs:

● Error log ● Operation log ● Trace log● Control log (command position of each axis, encoder value, current value,

payload rate, etc.)● Variables (PRO name and variable name, type, written value, write source, etc.)● I/O log (port, type, status, initial value)● Servo minor-axis data log (speed reference value, actual speed, torque

command, deviation angle, absolute current value)

z Online functions

Connect to robot controller to use the following functions:

[ Monitor function ] Monitor robot status● 3-D view display ● Variables ● Execution program● Receive and save log data

[ Debug functions ] Execute programs in robot controller from PC● Adjust robot speed ● Reset all programs● Start/stop supervisory tasks ● Program start● Step stop, cycle stop, suspend (halt), program reset● Step feed ● Simulate dedicated I/O settings

1. Included with Mini Pendant.2. Included with robot.3. Limited number of libraries can be used.4. Sampling interval 1 sec.5. One program only (PRO1).

System requirements:

OS: Windows® XP, Vista, Windows® 7, Windows® 8, Windows® 10PC: CPU Pentium® IV, 1.5 GHz, 512 MB RAM, 500 MB HDDFive languages supported :English, Chinese, German, Japanese, Korean

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ORiN2 SDK

Features

ORiN2 SDK is a software tool kit used to develop an application program or provider based on ORiN2 specifications. It provides a standard communication interface for robots as well as various FA peripherals and databases.

ORiN2 SDK has a wide variety of functions to support development, including a CAO engine, test program, sample program and skeleton-provider auto-generate tool.

The superior expandability of ORiN2 supports not only industrial robots, but a variety of devices, such as PLCs, CNC machine tools, bar code readers and RFID, to enable application development independent of manufacturer or model.

Integration Middleware for PCs

z Provides standard interfaces

ORiN2 enables easy system development that supports distributed-object technologies such as DCOM and SOAP, and provides two standard interfaces, one for applications and one for devices.

z Recycles applications

Equipped with a gateway to reciprocally connect with different standards (OPC and UPnP) and improve reusability of existing applications.

z Development tool options

Use any development tool that supports OLE (COM, ActiveX) , such as: ・Visual C++ ・C++ Builder ・Visual BASIC ・Delphi ・LabVIEW ・Excel

z Create an original provider

With Provider Wizard, a user can create an original provider to expand functions.

Package TypeORiN2 Software Development Kit (ver 2.1.13)

Provider Development Runtime + Utilities Set Runtime DENSO Products

Purpose Provider Development +Execution Environment

Execution Environment +Expanded Components Execution Environment Execution Environment

(DENSO Products only)

Application Support Binary Source Support Binary Source Support Binary Source Support Binary Source

CAO engine 4 4 4 4 4 4 4 4

CAO provider development tools 4 4

CAO provider (quantity)4 4 4 4 4 4 4 4 4

15 97 59 15 97 0 15 97 0 13 17 0

Test and configuration tools 4 4 4 4 4 4 4 4

CAO‐OPC 4 4 4 4

CAO‐SQL 4 4 4 4 4 4 4 4

CAO‐UPnP 4 4

CAO‐Script 4 4

System requirements: OS: Windows® 2000 SP4 or later, Windows® XP SP1 or later, Windows® Vista , Windows® 7, Windows® 8, Windows® 10; PC: CPU Pentium®, 1 GHz, 512 MB RAM, 500 MB HDD Windows is a trademark or registered trademark of Microsoft Corporation in the United States and other countries.OPC is a trademark or registered trademark of the OPC Foundation in the United States and other countries. ORiN is a trademark or registered trademark of Japan Robot Association.

PLC Sensor Monitor

Development tools

Application interface

Device interface

FA devices

Robot Camera

ORiN2 SDK

44 ¦ ORiN2 SDK

Robot Tools

Robot Support and Maintenance Software

Robot Tools is a fully featured suite of utility tools created for optimum operation and maintenance of DENSO robots.The software streamlines daily maintenance workflow and reduces the running costs of a robot after installation.

z GP Operator:

Connect a robot controller to a PC and use a mouse or game pad for easy robot operation. Allows teaching to a designated variable (P type, J type or T type) to assist developer teaching, in which a PC is used to control a robot.

z Image Logger:

Help to determine causes of sudden error and incorrect assembly of your equipment. Capture images related to the error and save equipment data (I/O, variable, etc.) at the time of the occurrence. Specify the error cause through validation of the images and data to contribute to equipment improvement.

z Virtual TP:

A virtual Teach Pendant on the PC works with a controller set to manual mode, allowing various controller settings (GUI) to be configured and monitored, even from a remote location. Makes maintenance easier and helps the user create settings when no Teach Pendant or Mini Pendant or is available.

z Mobile Monitor:

Monitors controller operating status and enables quick response to an error by sending an error-notification e-mail to a portable device when an operator is offsite. Contributes to easier maintenance and task efficiency.

z Control Log Analyzer:

Obtains the control log from a designated controller and automatically displays it in a graph. The graph can be used to analyze robot control status (such as detection of NG waveforms), or the control log can be entered to a database to be compared with past data. Makes maintenance easier and visualizes (quantifies) an error occurrence.

z Easy Backup:

Performs backup and batch-restores all data from multiple controllers. Automatic Easy Backup reduces task time and Easy Restore enables fast recovery when an error occurs. Contributes to improved maintainability and task efficiency.

Product Features

System requirements: OS : Windows® 2000 SP4 or later, Windows® XP SP1 or later, Windows® Vista, Windows® 7, Windows® 8, Windows® 10; PC: CPU Pentium®, 1 GHz, 512 MB RAM, 500 MB HDD

DENSO FACTORY WARE

Robot Tools

Robot Tools ¦ 45

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ORiN2 SDKSupport

Phone

z888-4-ROBOTX (888-476-2689)

Training

● For course descriptions, schedules, costs and locations, visit our website and click Training.www.densorobotics.com/training

Application Support

We offer complete application feasibility studies for cycle time, reach and payload.

46 ¦ Support

We understand the importance of product training. That is why we offer you comprehensive operator, programming and maintenance training for all our robots. Courses are available for both end-users and robot integrators.

We have fully equipped training facilities at our main training and applications center, which is centrally located inWest Chester, Ohio, as well as at our satellite research, development and training center in Long Beach, California.On-site training at your location can also be arranged.

Our training sites feature:

z Friendly, knowledgeable and experienced trainersz Dedicated classroomsz Dedicated training robots (no more than two students per robot)z Dedicated computer workstations and offline simulation software

Our small class sizes and low student-to-trainer ratios make learning easier and more effective. Students benefit from a variety of classroom sessions, computer-workstation interaction and hands-on robot training. Students who successfully complete their courses receive official DENSO factory training certification.

[DENSO Robotics Americas Application Support]

TEL: 888-4-ROBOTX (888-476-2689)

E-mail: [email protected]

Western Regional OfficeHours: 8:30 a.m. to 5:00 p.m. Pacific Time

Eastern Regional OfficeHours: 8:30 a.m. to 5:00 p.m. Eastern Time

Website

Our website offers complete robot and controller specifications, as well as downloadable CAD files, installation and maintenance guides and other product literature.

zwww.densorobotics.com


Service and Repair ¦ 47

Service and Repair

Service

zCustomers in the Americas

Description

Repair (1) On-site repair: Service technician travels to customer site to perform repairs.(2) DENSO in-house repair: Customer sends parts to DENSO Service Center for repair.

1

Refurbishment (1) Inspection and repair of an idle robot or a robot to be relocated.(2) Complete disassembly and refurbishment of mechanical and electrical as needed.

3

Full Service (Annual Contract)

Includes the following full range of services:(1) Bi-annual preventative maintenance service.(2) Scheduled maintenance inspection (one per year).(3) On-call telephone maintenance and technical support.

4

Maintenance Training (1) Robot maintenance course at DENSO Training Center. Students learn scheduled maintenance and inspection as well as parts replacement; two days per robot model.

(2) On-site robot maintenance training. Trainer conducts maintenance course at customer site using customer robots.

5

zCustomers outside the Americas

DENSO offers a comprehensive global service network, available no matter where your robot is located throughout the world. Service in regions without a DENSO Service Center or local vendor will be handled by a service center or vendor in the closest region or by the DENSO factory headquarters in Japan.

Regions Supported by DENSO Service Centers

USA (handles North, Central and South America)

Germany, Italy, Benelux, France, Great Britain

Japan, Singapore, Malaysia, South Korea, China, Thailand

Americas

Europe

Asia

[DENSO Robotics Americas Service Center]

1643 Robert C. Jackson Drive, Maryville, TN 37801

TEL: 888-4-ROBOTX (888-476-2689)

E-mail: [email protected]

Hours: 8:00 a.m. to 4:30 p.m. Eastern time

Scheduled Inspection and Maintenance

Service technician travels to customer site to perform scheduled inspection and maintenance.2

Americas Service Center

SUPPO

RT

Service Centers

DENSO (CHINA) INVESTMENT CO., LTD.

DENSO EUROPE B. V. Robotics Department

DENSO INTERNATIONAL ASIA PTE. LTD.

■ Sales office ● Service center

DENSO TAIWAN CORP.

DENSO SALES KOREACORPORATION

DENSO (MALAYSIA)SDN. BHD.

DENSO Automotive Systems Australia Pty Ltd.

DENSO PRODUCTS & SERVICES AMERICAS, INC.

DENSO SALES (THAILAND) CO., LTD.

DENSO PRODUCTS & SERVICES AMERICAS, INC.

DENSO WAVE INCORPORATED

DENSO EUROPE B. V. Robotics Department

DENSO SALES KOREA CORPORATION

DENSO (CHINA) INVESTMENT CO., LTD.

DENSO TAIWAN CORP.

DENSO SALES (THAILAND) CO., LTD.

DENSO (MALAYSIA) SDN. BHD.

DENSO INTERNATIONAL ASIA PTE. LTD.

DENSO Automotive Systems Australia Pty Ltd.

3900 Via Oro Avenue, Long Beach, California 90810, U.S.A.

1 Yoshiike Kusagi, Agui-cho, Chita-gun, Aichi 470-2297, Japan

Waldeckerstrasse 9 D-64546 Moerfelden-Walldorf, Germany

131,Seonggogae-ro,Uiwang-si,Gyeonggi-do, Korea 437-120

Maxdo Centre, No. 1901, No.8 Xing Yi Road, Shanghai, China 200336

No.525, Sec2, Mei Su Rd., Jui Ping Li, Yang Mei Town, Taoyuan Hsien, Taiwan

888 Moo 1 Bangna - Trad Rd., KM. 27. 5, T. Bangbo, A. Bangbo, Samutprakam

10560, Thailand

Ground Floor, No.14, Jalan Glenmarie (Persiaran Kerjaya) Section U1, 40150

Shah Alam, Selangor Darul Ehsan, Malaysia

51 Science Park Road Unit + ACM-01-19 The Aries, Science Park II,

Singapore 117586

2-46 Merrindale Drive Croydon Victoria Australia 3136

TEL : +1-888-476-2689

TEL: +81-569-49-5020

TEL : +49-6105-27-35-150

TEL : +82-31-340-1783

TEL : +86-21-3223-3212

TEL : +886-3-482-8001

TEL : +66-2-315-9500

TEL : +60-3-5569-9933

TEL : +65-6771-2423

TEL : +61-3-8761-1400

FAX: +1-310-952-7502

FAX: +81-569-49-5484

FAX: +49-6105-27-35-180

FAX: +82-31-8033-7210

FAX: +86-21-5208-0062

FAX: +886-3-482-8003

FAX: +66-2-315-9556

FAX: +60-3-5567-3301

FAX: +65-6776-8698

FAX: +61-3-8761-1505

DENSO WAVEINCORPORATED

Global Network

48 ¦ Global Network

Denso Robotics - Chattanooga | Nashville

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