· 48 ¦ global network denso 5- and 6-axis robots 10 ¦ 5- and 6-axis robots ... high-accuracy...
TRANSCRIPT
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©2016 DENSO CorporationInformation subject to change without noticeD2170.041
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DENSO 4-AXIS ROBOTS26 ¦ 4-Axis Robots28 ¦ HS Series30 ¦ HM Series32 ¦ XR Series
DENSO ROBOT CONTROLLERS34 ¦ RC840 ¦ RC7M
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
17,000
2014 VS-Series Pharmaceutical RobotVS-SeriesPharmaceutical Robot
492 ¦ DENSO Robotics Solutions
77,000
17,000
2014 VS-Series Pharmaceutical RobotVS-SeriesPharmaceutical Robot
49DENSO 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. 30
p. 14 p. 18 p. 20
p. 32
p. 22 p. 24Reach: 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
Robot LineupDENSO Industrial Robots
6 ¦ Lineup of DENSO Industrial Robots
www.densorobotics.com
p. 12
p. 28 p. 30
p. 14 p. 18 p. 20
p. 32
p. 22 p. 24Reach: 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
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.
ROBO
TICS SOLU
TION
S
Standard Functionalities of DENSO Robots
Collision detection
Compliance control
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 SeriesHM 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 SeriesVM Series, HS SeriesHM 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 SeriesHS 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
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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.
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 RC8 robot models
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. RC8 only.3. RC7 only.
Brake 50 W 100 W 200 W 400 W 750 W 1 kW2 1.5 kW3
StandardProvided 4 4 4 4 4 4
Not provided 4 4 4 4 4 4
FlatProvided 4 4 4 4 4 4
Not provided 4 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
Main Functionalities of DENSO Robots ¦ 9
*Requires conveyer-tracking board.
Link with peripherals for greater resultsConnectability
RC8(High-spec CPU)
Ethernet
RC8
Robot Robot
Extended-jointsupport motor
EMURobot simulation software
Extended-jointsupport motor
Conveyer-tracking board
System con�gurationdiagram
Master Slave
Extended-jointsupport motor
Extended-jointsupport motor
Drive axis
Robot Robot
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.
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
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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) 135
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
UL-listed4 4 4
3. If downward wrist movement exceeds ±45°, maximum payload is 6 kg. 4. UL specifications are for all axes with brakes.
VS-6556/6577Dust- and mistproof model
Dust- and splashproof model
Dust- and mistproof model
Cleanroom model
Cleanroom model
UL-listed model
5. 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 Payloads up to 3 kg
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 ✓
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160135
4-Ø102- Ø6H7(Reference hole)
R10
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
Maximum composite speed (mm/sec) 8,570
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
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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
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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
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
Maximum composite speed (mm/sec) 8,570
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
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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 ✓
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 (RC8)0.37 (RC7)
0.31 (RC8)0.33 (RC7)
Maximum composite speed (mm/sec)
9,080 (RC8)9,000 (RC7)
11,290 (RC8)11,000 (RC7)
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
VS-060Reach: 605 mmMaximum payload: 4 kg
VS-068Reach: 710 mmMaximum payload: 7 kg
VS-087Reach: 905 mmMaximum payload: 7 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
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z Second-arm cover R (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 StandardDust- and
splashproof(IP67)
Dust- and mistproof
Wrist: IP65Unit: IP54
Cleanroom(ISO 5)
Cleanroom(ISO 3)
StandardDust- and
splashproof(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
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 (RC8), 0.37 sec (RC7)
z Outstanding repeatability of ±0.02mm
z Payloads up to 4 kg
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
z UL models available for the US and Canada
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
Reach (to center of 5th axis, mm) 505 605
Minimum motion area (mm) 135 140
Maximum payload (kg) 4
Weight, approx. (kg) 34 35
Cycle time (sec)1 0.35 (RC8); 0.37 (RC7)
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 composite speed (mm/sec) 9,390 (RC8); 9,000 (RC7)
Maximum joint speed (°/sec) J1: 510 J2: 408 J3: 491 J4: 540 J5: 416 J6: 864
Repeatability2 (mm) ±0.02
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
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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
Air source (operating pressure, MPa) 0.10–0.39
Air source (maximum allowable pressure, MPa) 0.49
Protection class Standard: IP40; options: IP67 (dust- and splashproof)
Cleanroom ISO 3 and 5
Ceiling- and wall-mount ✓
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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
Workable space de�ned by Point P
J2
J3J5
A A
95
195Cabling space
170°
170°
5045
(R605.2)
(R140.9)
Workable space de�ned by Point P
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
Workable space de�ned by 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 A1: 505 mm RC7M-supported060 A1: 605 mm RC7M-supported050 A3: 505 mm RC8-supported060 A3: 605 mm RC8-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)
Paint and surface finish:N: DENSO standard colors2
A: Unpainted3
Flange:N: Standard flangeA: Communication-interface flange A1
Mounting orientation:A: All directions
Axes: V6: 6-axis
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.
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
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
Reach (to center of 5th axis, mm) 505 605
Minimum motion area (mm) 135 140
Maximum payload (kg) 4
Weight, approx. (kg) 34 35
Cycle time (sec)1 0.35 (RC8); 0.37 (RC7)
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 composite speed (mm/sec) 9,390 (RC8); 9,000 (RC7)
Maximum joint speed (°/sec) J1: 510 J2: 408 J3: 491 J4: 540 J5: 416 J6: 864
Repeatability2 (mm) ±0.02
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
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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
Air source (operating pressure, MPa) 0.10–0.39
Air source (maximum allowable pressure, MPa) 0.49
Protection class Standard: IP40; options: IP67 (dust- and splashproof)
Cleanroom ISO 3 and 5
Ceiling- and wall-mount ✓
Values in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface flange A.
DEN
SO 5- &
6-AXIS RO
BOTS
Supported Robot ControllersVS SERIES 710–905 mm
VS-068 VS-087
Specifications
20 ¦ VS-068/087
VS-068 VS-087
Number of axes 6
Overall arm length (mm) 340 (first arm) + 340 (second arm) = 680 445 (first arm) + 430 (second arm) = 875
Arm offset (mm) J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80
Reach (to center of 5th axis, mm) 710 905
Minimum motion area (mm) 203 235
Maximum payload (kg) 7
Weight, approx. (kg) 49 51
Cycle time (sec)1 0.31 (RC8), 0.33 (RC7) 0.34 (RC8), 0.36 (RC7)
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 payload (kg) 7
Maximum composite speed (mm/sec) 11,380 (RC8); 11,000 (RC7)
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
Max. allowable moment (Nm) J4 and J5: 16.2 J6: 6.86
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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)
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
Air source (operating pressure, MPa) 0.10–0.39
Air source (maximum allowable pressure, MPa) 0.49
Protection class Standard: IP40; option: IP67 (dust- and splashproof)
Ceiling- and wall-mount ✓
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 (RC8) and 0.33 to 0.36 sec (RC7)
z Outstanding repeatability of ±0.02 to ±0.03 mm
z Payloads up to 7 kg
z Reaches from 710 to 905 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
z UL models available for the US and Canada
www.densorobotics.com
External Dimensions and Workable 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°
Workable space de�ned by Point P
Workable space de�ned by Point P
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°
Workable space de�ned by Point P
A A
Workable space de�ned by Point P
80 [85] (115)
J3J3J5
120
VS □□□ □□ - A V6 - □□ N - □ □ N □ N - □ NNN
Robot name:VS: Small articulated robot
Total arm length:068 A2: 680 mm RC7M-supported087 A2: 875 mm RC7M-supported068 A4: 680 mm RC8-supported087 A4: 875 mm RC8-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)
Paint and surface finish:N: DENSO standard colors2
A: Unpainted3
Flange:N: Standard flangeA: Communication-interface flange A1
Mounting orientation:A: All directions
Axes:V6: 6-axis
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.
Legend
The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
VS-068/087 ¦ 21
VS-068 VS-087
Number of axes 6
Overall arm length (mm) 340 (first arm) + 340 (second arm) = 680 445 (first arm) + 430 (second arm) = 875
Arm offset (mm) J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80
Reach (to center of 5th axis, mm) 710 905
Minimum motion area (mm) 203 235
Maximum payload (kg) 7
Weight, approx. (kg) 49 51
Cycle time (sec)1 0.31 (RC8), 0.33 (RC7) 0.34 (RC8), 0.36 (RC7)
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 payload (kg) 7
Maximum composite speed (mm/sec) 11,380 (RC8); 11,000 (RC7)
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
Max. allowable moment (Nm) J4 and J5: 16.2 J6: 6.86
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
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)
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
Air source (operating pressure, MPa) 0.10–0.39
Air source (maximum allowable pressure, MPa) 0.49
Protection class Standard: IP40; option: IP67 (dust- and splashproof)
Ceiling- and wall-mount ✓
Unit : mmValues in brackets [ ] are for cleanroom models. Values in parentheses ( ) are for communication-interface flange A.
DEN
SO 5- &
6-AXIS RO
BOTS
Supported Robot ControllersVS SERIES 653–854 mm
The VS-6556G/6577G 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 Payloads up to 7 kg
z High maximum allowable moment of inertia
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)
z ANSI and CE compliance allows global deployment
z UL models available for the US and Canada
Specifications
22 ¦ VS-6556/6577
VS-6556 VS-6577
Number of axes 6
Overall arm length (mm) 565 770
Second-arm width (mm) 110
Reach (to center of 5th axis, mm) 653 854
Minimum motion area (mm) 234 242
Maximum payload (kg)1 7
Weight, approx. (kg) 35 36
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
Maximum joint speed (°/sec) J1: 375 J2: 300 J3: 375 J4: 410 J5: 410 J6: 660
Repeatability2,3 (mm) ±0.02 ±0.03
Maximum allowable moment of inertia (kgm2) J4, J5: 0.413 J6: 0.063
Range of motion (°) J1: ±170 J2: +135, -100 J3: +166, -119 J4: ±190 J5: ±120 J6: ±360
Position detection Absolute encoder
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 ✓
UL specifications5 ✓
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. 5. Only available for dust- and mistproof model with brakes.
VS-6556
VS-6577
CEILING-MOUNT OPTION
www.densorobotics.com
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
Workable space de�ned by Point P
Workable space de�ned by 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
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
Workable space de�ned by Point P
Workable space de�ned by 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: 565 mm77: 770 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�gurationUL: UL speci�cations
Standard payload:5: 6 kg*Maximum payload is 7 kg
Axes:6: 6-axis
VS: Small articulated robot
Legend VS - 6 5 □□ - □Unit : mm
The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
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
Second-arm width (mm) 130
Reach (to center of 5th axis, mm) 1,021 1,298
Minimum motion area (mm) 393 404
Maximum payload (kg) 13
Weight, approx. (kg) 82
Footprint (mm) 300 × 300
Cycle time (sec) 0.89 (with 5 kg weight) 0.95 (with 5 kg weight)
Maximum composite speed (mm/sec) 8,300
Maximum joint speed (°/sec) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600
Repeatability1, 2 (mm) ±0.05 ±0.07
Maximum allowable moment of inertia (kgm2) J4, J5: 0.36 J6: 0.064
Range of motion (°) J1: ±170 J2: +135, -90 J3: +165, -80 J4: ±185 J5: ±120 J6: ±360
Position detection Absolute encoder
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)
Protection classStandard: IP40
Options: IP65/54 (wrist/unit) dust- and mistproof; cleanroom ISO 5
Ceiling-mount3 ✓
CEILING-MOUNT OPTION
The DENSO VM-Series six-axis articulated robots offer
exceptionally long reaches along with high speed, high
precision and a large payload capacity.
z Fast cycle times from 0.89 to 0.95 sec
z Payloads up to 13 kg
z Reaches from 1,000 mm to 1,300 mm
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount, with no special hardware required
z Operation in dusty and wet environments (IP65 option)
z Operation in cleanrooms (ISO 5 option)
z ANSI and CE compliance allows global deployment
www.densorobotics.com
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
Workable space de�ned by point P
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°
Workable space de�ned by point P
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
Detailed drawing of end-effector mounting face (View A)
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
Workable space de�ned by point P
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°
Workable space de�ned by point P
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
Detailed drawing of end-effector mounting face (View A)
Unit : mm
External Dimensions and Workable Space [ VM-60B1 ]
Total arm length:83: 830 mm81: 1,110 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 □□ - □
The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
VM SERIES ¦ 25
VM-6083 VM-60B1
Number of axes 6
Overall arm length (mm) 830 1,110
Second-arm width (mm) 130
Reach (to center of 5th axis, mm) 1,021 1,298
Minimum motion area (mm) 393 404
Maximum payload (kg) 13
Weight, approx. (kg) 82
Footprint (mm) 300 × 300
Cycle time (sec) 0.89 (with 5 kg weight) 0.95 (with 5 kg weight)
Maximum composite speed (mm/sec) 8,300
Maximum joint speed (°/sec) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600
Repeatability1, 2 (mm) ±0.05 ±0.07
Maximum allowable moment of inertia (kgm2) J4, J5: 0.36 J6: 0.064
Range of motion (°) J1: ±170 J2: +135, -90 J3: +165, -80 J4: ±185 J5: ±120 J6: ±360
Position detection Absolute encoder
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)
Protection classStandard: IP40
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 and HM 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 4)
z UL-listed
z Ceiling-mount
Main Features
z Cycle times from 0.29 sec to 0.35 sec
z Repeatability from ±0.015 to ±0.025 mm
z Maximum composite speed from 6,300 to 11,450 mm/sec
z Reaches from 350 to 1,000 mm
z Payloads up to 20 kg
26 ¦ DENSO 4-AXIS ROBOTS
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HS-4535✽ HS-4545✽ HS-4555✽
✽ 2 ✽ 3 ✽ 2 ✽ 3 ✽ 2 ✽ 3Maximum payload (kg) 5Total arm length (mm) 350 450 550Vertical stroke (Z, mm) 200 320 200 320 200 320
Standard (IP40)Floor 4 4 4 4 4 4
Ceiling 4 4 4 4
Dust- and mistproof (IP65)Floor 4 4 4 4 4 4
Ceiling 4 4 4 4
Cleanroom (ISO 4) Floor 4 4 4 4 4 4
UL-listed Ceiling 4 4 4 4 4 4
HS
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
Dust- and mistproof model
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
Dust- and mistproof model
DEN
SO 4-A
XIS ROBO
TS
Supported Robot ControllersHS SERIES 350-550 mm
HS-4535✽
HS-4545✽
HS-4555✽
Specifications
28 ¦ HS SERIES
DENSO HS-Series robots are ideal for high-speed applications where
size constraints are a key consideration.
z Fast cycle time of 0.35 sec
z Exceptional repeatability of ±0.015 to ±0.02 mm
z Payloads up to 5 kg
z Reaches from 350 to 550 mm
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount, with no special hardware needed
z Operation in dusty and wet environments (IP65 option)
z Operation in cleanrooms (ISO 4 option)
z ANSI and CE compliance allows global deployment
z UL models available for the US and Canada
CEILING-MOUNT OPTION
HS-4535* HS-4545* HS-4555*
Number of axes 4
Maximum arm reach (mm) 350 450 550
First-arm reach (mm) 125 225 325
Second-arm reach (mm) 225
Range of motion (°)
J1 ±155
J2 ±145
Z (mm) 200, 320
T ±360
Position detection Absolute encoder
Minimum motion area (mm) 143 136 191
Maximum payload (kg) 5
Weight, approx. (kg) 25
Footprint (mm) 150 × 150
Cycle time (sec) 0.35 (with 2 kg weight)
Maximum composite speed (mm/sec)
7,200 6,300 7,100
Maximum joint speed
J1 (°/sec) 720 450
J2 (°/sec) 720
Z (mm/sec) 2,000
T (°/sec) 2,400
Repeatability1
J1+J2 (mm) ±0.015 ±0.02
Z (mm) ±0.01
T (°) ±0.005
Maximum force fit (1 sec or less, N) 98
Maximum allowable moment of inertia (kgm2)
0.1 (with 5 kg weight)
Wiring (in-arm integrated) 19 lines (max. 1 A per line)
Air piping (in-arm integrated) 4 systems (ø4 × 2, ø6 × 2)
Protection classStandard: IP40
Options: IP65 (dust- and mistproof), cleanroom ISO 4
Ceiling-mount - ✓ ✓
UL specifications2 ✓
*Placeholder for Z-stroke value. 1. At constant ambient temperature. 2. Floor-mount only.
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61.5
L1
377
L2 312
145 (151) 190 (230)
263 30
1 326
566
L3S
225 B
Cabling space
Workable space
D
The values in parentheses ( ) are for dust- and mistproof model (IP65)
290°
310°
130
C
A
136
Workable space
Ø42
4-Ø5.5
60 6045° 45°
36
Ø34h7Ø70
0°
26.
5
28±0.0
2 12±0.02
Ø5H7
Flange (option)
150
117 (123)43± 0.05
2-Ø6H7
150
120
134±
0.05
4-Ø12120
+0.012 0
+0.012 0
Detailed drawing of base mounting face(Top view)
361013
Ø42
Ø20h7
Ø14C1
Detailed drawing of end-effector mounting face (View D)
Workable space Workable space-360° +360°
S (mm) Type L1 L2 L3
✽=2:200
Standard 697 246 46
Dust & splash proof 790206 6
Cleanroom 798
✽=3:320
Standard 817 246 -74 (*1)
Dust & splash proof 910206 -114 (*1)
Cleanroom 918
*1: If Z-stroke is 320 mm, the lowest point of the Z-axis will achieve a position lower than the base mounting surface.
Model A B C
HS-4535✽ 350 125 143
HS-4545✽ 450 225 136
HS-4555✽ 550 325 191
Unit: mm
External Dimensions and Workable Space
Total arm length:35: 350 mm45: 450 mm55: 550 mm
Vertical stroke:2: 200 mm3: 320 mm
Options:None: Standard (IP40)W: Dust- and mistproof (IP65)P: Cleanroom ISO 4UL: UL-listed
Maximum payload:5: 5 kg
Mounting:None: FloorS: Ceiling
Axes:4: 4-axis
Small 4-axis robot
Legend HS □ - 4 5 □□ □ - □
The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
HS SERIES ¦ 29
Values in parentheses ( ) are for dust- and mistproof model (IP65).
DEN
SO 4-A
XIS ROBO
TS
Supported Robot ControllersHM SERIES 600-1000 mm
HM-4A60✽ HM-4A70✽ HM-4A85✽ HM-4AA0✽
30 ¦ HM SERIES
*Placeholder for Z-stroke value. 1. At constant ambient temperature.
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
Range of motion (°)
J1 ±165
J2 ±143 ±147
Z (mm) 200, 300, 400
T ±360
Position detection Absolute encoder
Minimum motion area (mm) 213 199 281 284
Maximum payload (kg) 10 20 10 20 10 20 10 20
Weight, approx. (kg) 53
Footprint (mm) 220 × 220
Cycle time (sec) 0.29 (with 2 kg weight) 0.31 (with 2 kg weight)
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)
Wiring (in-arm integrated) 24 lines (max. 1 A per line)
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 Fast cycle times from 0.29 to 0.31 sec
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
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount, with no special hardware needed
z Operation in dusty and wet environments (IP65 option)
z ANSI and CE compliance allows global deployment
Specifications
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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)
Detailed drawing of base mounting face (Top view)
(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
External Dimensions and Workable Space
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 □ □□ □ - □
The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
HM SERIES ¦ 31
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
Maximum payload (kg) 5
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
Position detection Absolute encoder
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)
Wiring (in-arm integrated) 10 lines (max. 1 A per line)
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
32 ¦ XR SERIES
1. At constant ambient temperature.
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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 ¦ 33
DEN
SO 4-A
XIS ROBO
TS
RC8 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.
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
34 ¦ RC8 Robot Controller
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RC8 Robot Controller ¦ 35
440.5
Expandability
Graphical Programming for Advanced Robotics
Fieldbus Industrial EtherNet
ROBO
T CON
TROLLERS
ROBO
T CON
TROLLERS
ROBO
T CON
TROLLERS
440.5
Expandability
Graphical Programming for Advanced Robotics
Fieldbus Industrial EtherNet
RC8 Robot Controller
36 ¦ RC8 Robot Controller
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RC8 Robot Controller ¦ 37
The RC8 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 Reprogram robot even while it is running
z Seamless, high-speed connection via Ethernet/IP, CC-Link or Profinet
FlexibilityRobot can be directlycontrolled by PLC or PAC
ROBO
T CON
TROLLERS
RC8 Robot Controller
Specification
Specifications
38 ¦ RC8 Robot Controller
Applicable robots VP-5243/6242
VP-6242G2
VS-050/060
VS-068/087
VM-6083/60B1
HS-45***
HM-4*****
XR-43***1
Power
Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 1.80 2.45 1.80
Input voltage rangeThree-phase 200 V AC -15% to 240 V AC +10% (100 V specification also available for VP Series)
Single-phase 200 V AC -15% to 240 V AC +10%1 Single-phase 200 V AC -15% to 240 V AC +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 robot language (PacScript)
Memory capacity, user area Variable area: 1.75 MB (equivalent to 65,000 points); File area: 400 MB (5,000 steps × 256 files)
Teaching systemRemote teachingNumerical entry (MDI) Direct teaching (HS Series and HM Series only)
External signal (I/O, etc.)
Universal/ dedicated I/O
Mini I/O Input: 8 open user points + 14 fixed system points (version without safety I/O has 13 fixed system points)Output: 8 open user points + 16 fixed system points (version without safety I/O has 12 fixed system points)
Hand I/O Input: 8 open user points; Output: 8 open user points
Parallel I/O boards (option) Bus: PCIInput: 40 open user points; Output: 48 open user points
DeviceNet slave board (option)
Bus: PCI ExpressInput: 256 points; Output: 256 points
CC-Link remote device board (option)
Bus: PCI ExpressInput : 128 points; Output: 128 points; Remote registers, Input: 256 points; Output: 256 points
PROFIBUS slave board (option)
Bus: PCI ExpressInput: 256 points; Output: 256 points
EtherNet/IP adapter board (option)
Bus: PCI ExpressInput: 4,032 points; Output: 4,032 points
External communication RS-232C: 1 line; Gigabit Ethernet: 1 line; USB: 2 lines
Expansion slot PCI: 1 slot; PCI Express: 1 slot
Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring required), etc.
Environmental condition (in motion) Temperature: 0 to 40 ºC; Humidity: 90% or less RH (no condensation allowed)
Safety category Standard specification: Category 4, PL = e (ISO 13849-1, 2006)3
Protection level IP20
Weight Standard: Approx. 12 kg4
1. Power for 100 V AC specification: Single-phase 100 V AC -10% to 110 V AC +10% 50/60 Hz, 1 kVA.2. Up to two additional axes optional. Power modules, motors and cabling not included.3. If built-in safety I/O is not required, please specify controller without safety I/O.4. Does not include supplied cables.
Safety I/O
Expansion board slot (PCI Express) Teach Pendant connector
Status LEDEncoder connector
Motor connectorMotor connector
(for extended-joint support)
Expansion board slot (PCI)
Mini I/O universal / dedicated connector
Hand I/O connector Power switch
Power connector
EtherNet (GigE)USB x 2
RS-232CVGA (option)
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84 Unit : mm
Dimensions
System configuration diagram
RC8 Robot Controller ¦ 39
ROBO
T CON
TROLLERS
RC7M Robot Controller
z Wide variety of connection interfaces: • EtherNet • RS232C • USB × 2 • Mini I/O • Hand I/O
z Other interface options include: • RS232C expansion • PROFIBUS • CC-Link • S-LINK V • DeviceNet • Parallel I/O expansion • EtherNet / IP
z Extended-joint support specification (option): Controls of peripheral and tool are consolidated in robot1
z Controller protection box (option): Protects controller from foreign particles in air
1. PTP is the only control available for the extended-joint support motor.Safety category 3Safety category 4
Specifications
Applicable robotsVP
-5243/ 6242
VP-6242G2/
6242G2-S1
VS-050/060
VS-068/087
VS-6556G/ 6577G
VM-6083/ 60B1
HS-45✽✽✽
HM-4✽✽✽✽✽
XR-43✽✽✽
Power
Power supply (kVA) 1.00 (*2) 1.00 (*2) 1.15 2.78 1.85 3.30 1.80 2.45 1.80
Input voltage rangeThree phase, 200 V AC -15% to 230 V AC +10% (100 V AC specification also available for the VP Series2)
Single phase, 230 V AC -10% to 230 V AC +10% — Single phase, 230 V AC -10% to 230 V AC +10%
Power supply frequency 50/60 Hz
Power cable 5 m
Controllable axes 5/6 6 4
Control method PTP, CP 3-dimensional linear, 3-dimensional arc
Drive method Digital AC servo on all axes
Language used DENSO robot language (conforming to SLIM)
Memory capacity 3.25 MB (equivalent to 10,000 steps and 30,000 points); expandable to 5.5 MB (option)3
Teaching system 1. Remote teaching2. Numerical entry (MDI)
1. Remote teaching2. Numerical entry (MDI)3. Direct teaching
1. Remote teaching2. Numerical entry
(MDI)
External signal (I/O, etc.)
Standard I/OMini I/O Input: 8 user open points + 11 fixed system points; Output: 8 user open points + 14 fixed system points4
Hand I/O Input : 8 user open points; Output: 8 user open points
Safety I/O (*1) Input: 6 fixed system points; Output: 5 fixed system points
Parallel I/O board (option)
Mount 2 boards Input: 80 user open points; Output: 96 user open points (expandable)
Mount 1 board Input: 40 user open points; Output: 48 user open points (expandable)
DeviceNet board (option)
Master / Slave Input: 1,024 points (master) + 256 points (slave); Output: 1,024 points (master) + 256 points (slave)
Master Input: 1,024 points; Output: 1,024 points
Slave Input: 256 points; Output: 256 points
CC-Link remote device board (option) Remote device Input : 384 points; Output: 384 points (including remote registers RWw and RWr)
External communication RS-232C: 1 line; EtherNet: 1 line; USB: 2 lines (supporting flash memory)
Expansion slot 3 (for optional boards)
Self diagnosis function Overrun, servo error, memory error, input error, etc.
Timer function 0.02 sec to 10 sec (1/60 sec step)
Environmental condition (in motion) Temperature: 0 to 40 ºC; Humidity: 90% RH or less (no condensation allowed); Altitude: 1,000 m or less
Protect grade IP20 (IP54 with controller protection box)
Weight Approx. 18 kg5 Approx. 17 kg5
1. Used with safety specification and UL specifications. (Requires a safety I/O cable.) 2. Power for the 100 V specification: Single phase, 100 V AC -10% to 110 V AC +10% 50/60 Hz, 1 kVA. 3. Requires additional functionality when controller is shipped.4. Standard global type of controller cannot use system-fixed emergency-stop I/Os. 5. Does not include supplied cables.
Controller Type Safety Category Standard I/O Type
Standard
Standard
NPN (negative common)8 / PNP
(positive common)
Safety specificationWith safety board 3
CEWith safety box 4
UL specifications7With safety board 3
CE+ULWith safety box 4
Extended-joint support specification
Standard
Safety specificationWith safety board 3
CEWith safety box 4
Options6
Safety board
Specifications
Safety box
6. Specifications must be specified when placing order. Changes to specifications cannot be made after shipment.
7. UL specifications are also required for the robot unit. A multifunctional Teach Pendant or Mini Pendant is also required.
8. Standard used in Japan.
Compliant robot safety standardsISO 10218-1: 2011, ANSI/RIA R15.06-1999UL standards UL1740, CSA Z434, etc.
40 ¦ RC7M Robot Controller
www.densorobotics.com
Unit : mm
Dimensions
System configuration
Controller Protection Box
RC7M Robot Controller ¦ 41
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 Tools*Utility 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 RC8
z ORiN2 SDKMiddleware for PCMiddleware to develop application-program providers based on ORiN2 specifications
IO Slave
42 ¦ DENSO Software Overview*RC7 only.
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 Program bank*
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
*RC7 only.
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® 8PC: CPU Pentium® IV, 1.5 GHz, 512 MB RAM, 500 MB HDDFive languages supported :English, Chinese, German, Japanese, Korean
SOFTW
ARE / PERIPH
ERALS
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 (ver2.1.9)
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 90 58 15 90 0 15 90 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; 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; PC: CPU Pentium®, 1 GHz, 512 MB RAM, 500 MB HDD
DENSO FACTORY WARE
Robot Tools
Robot Tools ¦ 45
SOFTW
ARE / PERIPH
ERALS
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
www.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
8F, JPLUS B/D, 16-13, Yangjae-dong, Seocho-gu, Seoul, 137-130, Korea
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: +81-569-49-1591
TEL : +49-6105-27-35-150
TEL : +82-2-460-0694
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: +82-2-3452-7484
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
www.densorobotics.com
©2016 DENSO CorporationInformation subject to change without noticeD2170.041
www.densorobotics.com