Denso | RC5 | Specifications | Denso RC5 Specifications

ROBOT
Horizontal articulated
HS-G SERIES
GENERAL INFORMATION ABOUT ROBOT
Copyright © DENSO WAVE INCORPORATED, 2005-2011
All rights reserved. No part of this publication may be reproduced in any form or by any means without
permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of their respective
holders.
Preface
Thank you for purchasing this high-speed, high-accuracy assembly robot.
Before operating your robot, read this manual carefully to safely get the maximum benefit from your robot
in your assembling operations.
Robot series and/or models covered by this manual
Series
HS-G
(Small-sized, horizontal articulated)
Model
(Note 1)
Floor-mount
Overhead-mount
HS-4535*G
HS-4545*G
HS-4555*G
—
HSS-4545*G
HSS-4555*G
Overall arm length
350 mm
450 mm
550 mm
NOTE 1: Model names listed above apply to the models of robot systems. The model names of robot
units are followed by M. If the robot system model is HS4535*G, for example, the robot unit model is
HS4535*E/GM.
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS."
How this book is organized
This book is just one part of the robot documentation set. This book consists of SAFETY PRECAUTIONS,
chapters one through five, and appendix.
Chapter 1 Packing List of the Robot
Lists the standard components contained in the product package and optional components.
Chapter 2 Configuration of the Robot System
Illustrates the configuration of the robot system and describes the component names of the robot unit and
controller.
Chapter 3 Specifications of the Robot Unit
Describes the specifications, motion space, robot positioning time, air piping and signal wiring, and
engineering-design notes for robot hands.
Chapter 4 Specifications of the Robot Controller
Lists the specifications of the robot controller and controller setting table (SETPRM LIST).
Chapter 5 Warranty
Describes the warranty period and coverage.
Appendix How to Use the Manual Pack CD
Contents
Chapter 1 Packing List of the Robot............................................................................................................................... 1
1.1 Standard Components ........................................................................................................................................... 1
1.2 Optional Components............................................................................................................................................ 2
Chapter 2 Configuration of the Robot System............................................................................................................... 4
2.1 Configurators ........................................................................................................................................................ 4
2.2 Names of Robot Unit Components ....................................................................................................................... 5
2.2.1
Robot Unit Components and Rotation Direction ....................................................................................... 5
2.2.2
Name Plate................................................................................................................................................. 6
2.2.3
Warning and Caution Labels...................................................................................................................... 7
2.3 Names of the Robot Controller Components ........................................................................................................ 8
Chapter 3 Specifications of the Robot Unit .................................................................................................................... 9
3.1 Robot Specifications (HS/HSS-G) ........................................................................................................................ 9
3.2 Outer Dimensions and Workable Space of the Robot Unit (HS/HSS-G) ............................................................ 11
3.3 Robot Positioning Time (HS/HSS-G) ................................................................................................................. 18
3.4 Notes for Setting the Positioning Speed (HS/HSS-G)......................................................................................... 28
3.5 Air Piping and Signal Wiring .............................................................................................................................. 30
3.5.1
Instructions for Using Splash-proof Connector Sets................................................................................ 33
3.6 Engineering-design Notes for Robot Hands (HS/HSS-G) .................................................................................. 34
3.7 Stopping Time and Distance (Angle) at an Emergency Stop .............................................................................. 37
Chapter 4 Specifications of the Robot Controller........................................................................................................ 42
4.1 Specifications ...................................................................................................................................................... 42
4.2 Outer Dimensions................................................................................................................................................ 44
4.3 Controller Setting Table ...................................................................................................................................... 45
Chapter 5 Warranty ....................................................................................................................................................... 46
Chapter 6 Appendix........................................................................................................................................................ 47
6.1 Conformity with Standards by Robot Model ...................................................................................................... 47
Chapter 1 Packing List of the Robot
Chapter 1 Packing List of the Robot
1.1
Standard Components
The components listed below are contained in the product package.
Standard Components
No.
Item
Q'ty
(1)
Robot unit
1
(2)
Robot controller
1
(3)
Power cable (5 m)
1
(4)
Motor & encoder cable (Note 1) (Option)
1
(5)
Manuals (“Manual Pack CD” and “Safety Precautions”)
(6)
WINCAPSIII Install CD (Trial version)
1
(7)
Spare fuses for robot controller
3
(8)
Pendantless connector (Dummy connector) (not contained in UL-Listed robot systems)
1
(9)
Connector set for hand control signals (for CN20 and CN21)
(10)
Direction indicator label (Note 2)
1
(11)
Warning label (Note 3)
1
(12)
Spare output IC for robot controller
1
(13)
Dowel pins (internally threaded positioning pin and diamond-shaped pin)
(14)
Short sockets for robot controller
1 set
1 set
1 set
2
Note 1: Choose and order a motor & encoder cable from the table below. The 20-m motor & encoder cable
(standard/splash-proof) is not available for controllers equipped with extended-joint options or UL-Listed
robot units. The internal cable bending radius shall at least be 200 mm. Excessively bending will result in
broken lead wires.
Item
Part No.
Standard cable
2m
410141-4400
Standard cable
4m
410141-3611
Standard cable
6m
410141-3621
Standard cable
12 m
410141-3631
Standard cable
20 m
410141-4440
Splash-proof cable
2m
410141-4420
Splash-proof cable
4m
410141-3681
Splash-proof cable
6m
410141-3691
Splash-proof cable
12 m
410141-3701
410141-4460
Splash-proof cable
20 m
Note 2: After installation, attach the direction indicator label in a position on the robot unit that can be easily seen.
Note 3: Attach the warning label on the robot safety fence or other location where workers will easily notice it. If
necessary, prepare a plate for attaching the seal.
When placing an order for UL-Listed robot systems, be sure to order the optional teach pendant or mini-pendant
also which is essential to UL-Listed ones.
1
1.2
Optional Components
The table below lists the optional components.
Optional Components (1)
Classification No.
1
1-1
I/O cables
1-2
Item
Remarks
Standard I/O cable set
I/O cable for “Mini I/O” (68pins)
I/O cable for “HAND I/O”
2
I/O cable for “Parallel I/O board” (96 pins)
3
I/O cable for “SAFETY I/O”
(Only for global type)
4
Teach pendant
(36 pins)
(8 m) Incl. Nos. 1-1 and 1-2.
410149-0940
(15 m) Incl. Nos. 1-1 and 1-2.
410149-0950
(8 m)
410141-2700
(15 m)
410141-2710
(8 m)
410141-1740
(15 m)
410141-1750
(8 m)
410141-3050
(15 m)
410141-3060
(8 m)
410141-3580
(15 m)
410141-3590
(4 m) With cable
410100-1572
(8 m) With cable
410100-1582
(12 m) With cable
(4 m)
Operation
devices
5
Mini-pendant kit
(Incl. cable and WINCAPSIII Light)
(8 m)
(12 m)
6
Programming
support tool
7
8
Pendant extension cable
WINCAPSIII
Parallel I/O board
Shipped as installed
on the controller
410109-0392
English indication
410109-0402
Japanese indication
410109-0412
English indication
410109-0422
Japanese indication
410109-0432
English indication
410109-0442
(4 m)
For TP, MP
410141-3711
(8 m)
For TP, MP
410141-3721
CD-ROM
(common to the
languages--Japanese, English,
German, Korean, and Chinese)
410090-0980
NPN
410010-3320
PNP
410010-3330
410010-3340
DeviceNet board
Optional
boards for the
robot controller
410010-3350
For Slave station
410010-3370
For Master station
410010-3380
For Master
& slave station
For Slave station
Shipped as individual
For Master station
boards (supply part)
For Master & slave station
10
11
410100-1592
Japanese indication
Shipped as individual NPN
boards (supply part) PNP
Shipped as installed
on the controller
9
Part No.
CC-Link board
Conveyor tracking board
2
410010-3390
410010-3400
410010-3410
410010-3480
Shipped as installed on the
controller
410010-3430
Shipped as individual boards
(supply part)
410010-3440
Shipped as installed on the
controller
410010-3460
Shipped as individual boards
(supply part)
410010-3470
Chapter 1 Packing List of the Robot
Optional Components (2)
Classification No.
12
13
Optional
functions
(For own
optional board
etc.)
14
Item
Remarks
Optional function for RS232C board
Board manufacturer: CONTEC CO., LTD.
Model: COM-2P(PCI)H
Optional function for S-LINK V board
Board manufacturer: SUNX CO., LTD.
Model: SL-VPCI
Optional function for PROFIBUS-DP slave
board
Board manufacturer: Hilscher GmbH
Model: CIF50-DPS\DENSO
EtherNet/IP function
15
Optional box
CD Manuals
Optional
manuals
(Printed
materials,
English edition)
Board manufacturer: Hilscher GmbH
Model: CIFX 50-RE\DENSO
Part No.
Shipped after integrated in the
controller
410006-0260
Added when the board is
purchased as a spare part
410006-0270
Shipped after integrated in the
controller
410006-0280
Added when the board is
purchased as a spare part
410006-0290
Shipped after integrated in the
controller
410006-0300
Added when the board is
purchased as a spare part
410006-0310
Shipped after integrated in the
controller
410006-0800
Added when the board is
purchased as a spare part
410006-0810
Extension only upon controller
shipment (3.25MB to 5.5MB)
410006-0320
16
Optional function for memory extension
17
Controller protection box
18
I/O conversion box
For interchangeability with RC5
type controller
410181-0100
19
Manual Pack CD
Contained in the robot package.
410002-2661
20
Instruction manual for HS-G, full set
Includes No. C and No. D
410009-0360
C
Instruction manual for HS-G, basic set
Includes No. C-1 to No. C-3
410009-0260
C-1
GENERAL INFORMATION ABOUT ROBOT
For HS-G
410002-2610
C-2
RC7M CONTROLLER MANUAL
For RC7M controller
410002-2430
C-3
ERROR CODE TABLES
410009-0140
410181-0091
410002-3370
D
Instruction manual for HS-G, extension set
Includes No. D-1 to No. D-7
D-1
INSTALLATION & MAINTENANCE GUIDE
For HS-G
D-2
STARTUP HANDBOOK
410002-2750
D-3
SETTING-UP MANUAL
410002-3310
D-4
PROGRAMMER'S MANUAL (I)
410002-3330
D-5
PROGRAMMER'S MANUAL (II)
410002-3350
D-6
Panel Designer USER’S MANUAL
D-7
OPTIONS MANUAL
For robot unit 21
410002-2630
410002-6480
For RC7M controller
Flange kit
410002-2650
410329-0060
3
Chapter 2 Configuration of the Robot
System
2.1
Configurators
The figure below shows configurators of the typical robot system.
I/O conversion box (option)
PLC (prepared by customer)
(3) Power cable
(2) Robot controller
(1) Robot unit
I/O cable (option)
(4) Motor & encoder cable
(Option)
Personal computer
(prepared by customer)
(8) Pendantless
connector (Note 2)
Teach pendant
(option)
(5) Manuals
(10) Direction
indicator label
Note 1:
Note 2:
Mini pendant
(option)
WINCAPSIII
(option)
Printer (prepared by customer)
(7) Spare fuses
for robot controller
Optional board
(6) WINCAPSIII install CD
(Trial version)
(12) Spare output IC
for robot controller
(9) Connector set
for hand control signals
(for CN20 and CN21)
(11) Warning label
Controller protection
box (option)
(14) Short sockets
for robot controller
(13) Dowel pins
Components with numbers in () are the standard components contained in the product
package listed on page 1.
The pendantless connector is attached to the robot controller when no teach pendant or
mini-pendant is connected.
Configurators of the Robot System (HS-G series)
4
Chapter 2 Configuration of the Robot System
2.2
2.2.1
Names of Robot Unit Components
Robot Unit Components and Rotation Direction
The figure below shows the names of the components of the robot unit and the
rotation direction of each axis.
Note: The UL-Listed robot unit has the motor ON lamp on the 2nd arm.
Robot Unit Components and Rotation Direction (HS-G series)
Robot Unit Components and Rotation Direction (HSS-G series)
5
2.2.2
Name Plate
The name plate is affixed in the base part, which includes serial number of the robot,
robot model, and day of manufacturer, etc.
The serial number is the figure which identifies the robot of each customer and it is
paired with the figure of the controller.
6
Chapter 2 Configuration of the Robot System
2.2.3
Warning and Caution Labels
The robot unit has warning and caution labels pasted as shown below. They alert the
user to the dangers of the areas on which they are pasted. Be sure to observe the
instructions printed on those labels.
Warning and Caution Labels on the Robot Unit
Location of labels
Warning and caution labels on the
robot unit
Label 1
Additional description
Contact with the robot unit which is in motion can cause serious
injuries. Observe the following:
(1) Never enter the robot's restricted space when the robot is in
motion or the motor power is on.
(2) When you need to enter the robot's restricted space for recovery
from robot failures, be sure to cut the power to the robot motors
by activating an emergency stop device or the like.
(on UL-Listed robot units only)
When the controller power is on, pressing the brake release switch
causes the Z axis to fall. It is DANGEROUS. Observe the following:
(1) Never press the brake release switch except in an emergency.
(2) Before pressing the brake release switch, be sure to check that
there is no danger of injuries or damages on equipment.
Label 3
There is a high voltage part.
This label alerts the user to the dangers of electrical shocks.
Label 4
Instructions on how to hold the robot unit for transport.
Label 2
7
2.3
Names of the Robot Controller Components
The figure below shows the names of the robot controller components.
Note: For warning and caution labels pasted on the controller, refer to the RC7M
CONTROLLER MANUAL.
Connectors for the HS-G series (Encoders connected via bus)
Connector No.
CN1
CN2
CN3
CN4
CN5
CN6
CN7
CN9
CN10
Marking
RS-232C
USB
PENDANT
LAN
Mini I/O
INPUT AC
MOTOR
HAND I/O
SAFETY I/O
Name
Serial interface connector
USB connector (2 lines)
Teach pendant connector
Ethernet connector
I/O connector
Power supply connector
Motor/encoder connector
HAND I/O connector
SAFETY I/O connector
(Only for global type)
Names of Robot Controller Components
8
Chapter 3 Specifications of the Robot Unit
Chapter 3 Specifications of the Robot Unit
3.1
Robot Specifications (HS/HSS-G)
The table below lists the specifications of the HS-/HSS-G series of robot units.
(1) HS-G Series (Floor-mount type)
Item
Specifications
Model name of robot system
(Note 1)
Model name of robot unit
HS-4535*G
HS-4535*G-W
(Standard) HS-4545*G
(Dust- & splash-proof)
Motion angle and stroke
(Dust- & splash-proof)
HS-4555*G-P (Cleanroom)
HS-4555*G-UL (UL-Listed)
HS-4535*E/GM (Standard) HS-4545*E/GM (Standard)
HS-4535*E/GM-W
HS-4545*E/GM-W
HS-4555*E/GM (Standard)
HS-4555*E/GM-W
(Dust- & splash-proof)
HS-4535*E/GM-P
(Dust- & splash-proof)
HS-4545*E/GM-P
(Cleanroom)
(Cleanroom)
HS-4535*GM-UL (UL-Listed) HS-4545*GM-UL (UL-Listed)
HS-4555*GM-UL (UL-Listed)
125 (J1: 1st axis) +
225 (J2: 2nd axis) = 350 mm
325 (J1: 1st axis) +
225 (J2: 2nd axis) = 550 mm
225 (J1: 1st axis) +
225 (J2: 2nd axis) = 450 mm
J1 (1st axis) 155,
Z (3rd axis): 200 mm if * = 2, 320 mm if * = 3,
J2 (2nd axis) 145,
T (4th axis): 360
Maximum payload
5 kg
At the center of
the hand
mounting flange
Position
repeatability
(Note 2)
0.015 mm
0.01 mm
T
0.005 
Position detection
Drive motor and brake
Models except
UL-Listed ones
UL-Listed models
User air piping
User signal lines
6,300 mm/s
7,100 mm/s
Z (3rd axis): 2,000 mm/s, T (4th axis): 2400/s
Z
Maximum allowable moment of
inertia around T axis
Brake
releasing
7,200 mm/s
J1 + J2
Maximum force-fit
(Dust- & splash-proof)
HS-4555*E/GM-P
J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Z and T
(Standard)
(Dust- & splash-proof)
Axis combination
Composite
speed
HS-4555*G
HS-4555*G-W
HS-4535*G-P (Cleanroom) HS-4545*G-P (Cleanroom)
HS-4535*G-UL (UL-Listed) HS-4545*G-UL (UL-Listed)
(Cleanroom)
Overall arm length
(Standard)
HS-4545*G-W
0.02 mm
0.02 mm
98N (one second or less)
2
0.1 kgm (with 5 kg payload)
Absolute encoder
AC servomotors for all axes
Brakes for Z axis (3rd axis) and T axis (4th axis)
(1) Press the brake release switch in the direct teaching mode.
(2) Enter a brake release command with the teach pendant or mini-pendant.
(1) Press the brake release switch when the controller power is ON.
(2) The teach pendant or mini-pendant cannot release the brakes.
4 systems (4x2, 6x2)
19 (for proximity sensor signals, etc.)
Operating pressure
0.05 to 0.35 MPa
Air
source Max. allowable pressure 0.59 MPa
Degree of protection for
dust- & splash-proof type
IP65
(Continued on the following page)
(Note 1) The model name of robot set refers to the model of a complete set including a robot unit and robot controller.
An asterisk (*) in model names denotes the Z-axis stroke.
(Note 2) Value at the constant ambient temperature.
9
Item
Specifications
Clean class for cleanroom type
(FED-STD-209D)
Airborne noise (A-weighted
equivalent continuous sound
pressure level)
Weight
Class 10 (0.1 μ) at point-of-use
80 dB or less
Approx. 25 kg (55 lbs) (See the name plate on each model.)
(2) HSS-G Series Robot Unit (Overhead-mount type)
Item
Specifications
Model name of robot set
(Note 1)
Model name of robot unit
Overall arm length
Motion angle and stroke
HSS-4545*G
HSS-4545*G-W
(Standard)
(Dust- & splash-proof)
HSS-4555*G
HSS-4555*G-W
HSS-4545*E/GM
HSS-4545*E/GM-W
(Standard)
(Dust- & splash-proof)
HSS-4555* E/GM
(Standard)
HSS-4555* E/GM -W (Dust- & splash-proof)
225 (J1: 1st axis) + 225 (J2: 2nd axis) =
450 mm
325 (J1: 1st axis) + 225 (J2: 2nd axis) =
550 mm
J1 (1st axis) 152,
J2 (2nd axis) 141,
Z (3rd axis): 150 mm if * = 1,
200 mm if * = 2,
320 mm if * = 3,
T (4th axis): 360
J1 (1st axis) 155,
J2 (2nd axis) 145,
Z (3rd axis): 150 mm if * = 1,
200 mm if * = 2,
320 mm if * = 3,
T (4th axis): 360
Axis combination
J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload
5 kg
At the center of
the hand
mounting flange
Composite
speed
Z and T
(Note 2)
T
0.005
Position detection
Drive motor and brake
Models except
UL-Listed ones
User air piping
User signal lines
2
Absolute encoder
AC servomotors for all axes
Brakes for Z axis (3rd axis) and T axis (4th axis)
(1) Press the brake release switch in the direct teaching mode.
(2) Enter a brake release command with the teach pendant or mini-pendant.
4 systems (4x2, 6x2)
19 (for proximity sensor signals, etc.)
Maximum
allowable
pressure
0.59 MPa
Weight
0.02 mm
0.1 kgm (with 5 kg payload)
0.05 to 0.35 MPa
Airborne noise (A-weighted
equivalent continuous sound
pressure level)
T (4th axis): 2400/s
98N (one second or less)
Operating
pressure
Degree of protection for
dust- & splash-proof type
7,100 mm/s
0.02 mm
0.01 mm
Maximum force-fit
Air source
Z (3rd axis): 2,000 mm/s,
Z
Maximum allowable moment of
inertia around T axis
Brake
releasing
6,300 mm/s
J1 + J2
Position
repeatability
(Standard)
(Dust- & splash-proof)
IP65
80 dB or less
Approx. 25 kg (55 lbs) (See the name plate on each model.)
Note: Overhead-mount type robots cannot be installed on the floor to work facing upward.
(Note 1) The model name of robot set refers to the model of a complete set including a robot unit and robot controller.
An asterisk (*) in model names denotes the Z-axis stroke.
(Note 2) Value at the constant ambient temperature.
10
Chapter 3 Specifications of the Robot Unit
3.2
Outer Dimensions and Workable Space of the Robot Unit
(HS/HSS-G)
The outer dimensions and workable space of the HS/HSS-G series are shown on the
following pages.
NOTE: The overhead-mount type of robots is
motion-prohibited area where the robot cannot work.
designed
with
a
preset
The motion-prohibited area of the overhead-mount type is set to AREA7 that is
specified in the defined interference check area setting.
Therefore, you may define only up to 31 interference check areas excluding
AREA7 for the overhead-mount type while you may usually define up to 32
(AREA0 through AREA31).
Refer to the SETTING-UP MANUAL, Chapter 4, Section 4.1.2, "[ 5 ] Making the
defined interference check areas active or inactive."
Operating procedure with the teach pendant
Access: [F2 Arm]—[F6 Aux.]—[F6 Area.]
11
(1) Outer dimensions and workable space (HS-G series; Floor-mount)
12
Chapter 3 Specifications of the Robot Unit
(2) Outer dimensions and workable space (HS-G-UL series; UL-Listed, Floor-mount)
13
(3) Outer dimensions and workable space
(HSS-4545*G; Arm length 450 mm, Overhead-mount, Standard type)
14
Chapter 3 Specifications of the Robot Unit
(4) Outer dimensions and workable space
(HSS-4555*G; Arm length 550 mm, Overhead-mount, Standard type)
15
(5) Outer dimensions and workable space
(HSS-4545*G-W; Arm length 450 mm, Overhead-mount, Dust- & splash-proof type)
16
Chapter 3 Specifications of the Robot Unit
(6) Outer dimensions and workable space
(HSS-4555*G-W; Arm length 550 mm, Overhead-mount, Dust- & splash-proof type)
17
3.3
Robot Positioning Time (HS/HSS-G)
1. The graphs given on the following pages show the positioning times used to
calculate the cycle time.
2. Positioning time refers to the time length required from the start of robot operation
to the arrival at the target positioning point.
3. After the robot moves to and passes the target positioning point, vibration will be
dampened and the robot will be positioned at the target positioning point as shown
in the figure below. This vibration dampening time is not considered in those
graphs.
Caution (1) The vibration dampening time depends on factors such as the
weight of the hand. If the robot is to be used in such a way that
it overshoots or if the vibration damping time is of great
concern, then test the robot carefully beforehand.
(2) If acceleration begins before residual vibration of the robot
stops, an overcurrent error (code starts from ERROR6120
where the first digit represents the axis number) may be
displayed. In this case, take one of the following measures:
• Lower the deceleration of the preceding operation with a
DECEL command to reduce residual vibration.
• Keep the robot in stand-by with a DELAY command until
residual vibration stops.
• Lower acceleration with an ACCEL command.
(3) Run the robot with the optimum payload setting in accordance
with weight of the hand and workpiece. If not, a robot failure
may result.
(4) In the positioning time graphs, the Z-axis stroke is represented
near the upper end. Near the lower end, the horizontal
movement time along the J1/J2 axis increases. (Refer to
"Notes for setting the positioning speed .")
Vibration Dampening Time
18
Chapter 3 Specifications of the Robot Unit
(1) HS-4535*G
J1 axis (PTP control) on the HS-4535*G
J2 axis (PTP control) on the HS-4535*G
19
Z axis (PTP control) on the HS-4535*G
T axis (PTP control) on the HS-4535*G
20
Chapter 3 Specifications of the Robot Unit
All axes (CP control) on the HS-4535*G
21
(2) HS/HSS-4545*G
J1 axis (PTP control) on the HS/HSS-4545*G
J2 axis (PTP control) on the HS/HSS-4545*G
22
Chapter 3 Specifications of the Robot Unit
Z axis (PTP control) on the HS/HSS-4545*G
T axis (PTP control) on the HS/HSS-4545*G
23
All axes (CP control) on the HS/HSS-4545*G
24
Chapter 3 Specifications of the Robot Unit
(3) HS/HSS-4555*G
J1 axis (PTP control) on the HS/HSS-4555*G
J2 axis (PTP control) on the HS/HSS-4555*G
25
Z axis (PTP control) on the HS/HSS-4555*G
T axis (PTP control) on the HS/HSS-4555*G
26
Chapter 3 Specifications of the Robot Unit
All axes (CP control) on the HS/HSS-4555*G
27
Notes for Setting the Positioning Speed (HS/HSS-G)
■ To be applied to all models of the HS-G series (Floor-mount type)
(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z
axis comes to be as close as possible to its upper end.
(2) To stabilize positioning of Z axis near its lower end, the following maximum speed
limiting control is automatically provided for J1 and J2 axes depending on the
Z-axis coordinate value, only when the robot is moved under PTP control.
The positioning time of J1 and J2 axes becomes longer according to the
maximum speed limit shown below.
[Movement time in J1/J2 positioning time graphs (sec.)]
x 100 (sec.)
Max. speed limit
For example, when the robot arm moves by SP100 from the start point (Z-axis
coordinate 26 mm) to the target point (Z-axis coordinated -74 mm), the maximum
speed limits are as follows:
91 when Z-axis coordinate is 26 mm
50 when Z-axis coordinate is -74 mm
At this time, the maximum speed is the smaller value (at the lowest end) of 50.
There is no speed limit when
the hand moves only along
the Z axis (SP100).
Max. speed limit (Converted to SP value)
3.4
Z-axis coordinate (mm)
HS-G Series: Maximum Speed Limit on the J1 and J2 (PTP control)
28
Chapter 3 Specifications of the Robot Unit
■ To be applied to all models of the HSS-G series (Overhead-mount type)
(1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z
axis comes to be as close as possible to its upper end.
(2) To stabilize positioning of Z axis near its lower end, the following maximum speed
limiting control is automatically provided for J1 and J2 axes depending on the
Z-axis coordinate value, only when the robot is moved under PTP control.
The positioning time of J1 and J2 axes becomes longer according to the
maximum speed limit shown below.
[Movement time in J1/J2 positioning time graphs (sec.)]
x 100 (sec.)
Max. speed limit
For example, when the robot arm moves by SP100 from the start point (Z-axis
coordinate -651 mm) to the target point (Z-axis coordinated -751 mm), the
maximum speed limits are as follows:
91 when Z-axis coordinate is -651 mm
50 when Z-axis coordinate is -751 mm
At this time, the maximum speed is the smaller value (at the lowest end) of 50.
There i
Max. speed limit (Converted to SP value)
no sp
Z-axis coordinate (mm)
HSS-G: Series Maximum Speed Limit on the J1 and J2 (PTP control)
29
3.5
Air Piping and Signal Wiring
The HS/HSS-G series is equipped with 4 air pipes (4x2 and 6x2) for air chuck and
19 signal lines in the robot unit.
(1) HS/HSS-G (Standard type)
Air No.
Air piping joint
AIR 1, 2
4, PT1/8
AIR 3, 4
6, PT1/4
Maximum
allowable pressure
0.59 MPa
Note 1: Pins #1 to #19 on CN21 and those on CN20 are connected with each other. The maximum rated current per
line is 1A.
Note 2: Use the attached connector set for CN20 and CN21.
Connector set part No.
Part No.
Model and name
410877-0170
(for CN20)
SRCN6A25-24S
(Round connector)
(Japan Aviation Electronics Industry Ltd.)
410877-0420
(for CN21)
JMSP2119M
(Straight plug)
(DDK Electronics, Inc.)
410889-0070
Air Piping and Signal Wiring (HS-G series; Standard type)
30
Appearance
Chapter 3 Specifications of the Robot Unit
(2) HS/HSS-G-W, HS-G-P (Dust- & splash-proof type or Cleanroom type)
Notes for cleanroom type
*1 Recommended suction air flow rate: 25 to 40
liters/min.
Recommended blower: VFC068P
(manufactured by Fuji Electric Motor Co., Ltd.)
The cleanroom type requires ventilation inside
the robot. Exhaust air from the air vent provided
in the back of the robot base.
*2 Dimension D at point of use
HS-4535*G-P: 250 mm
HS-4545*G-P: 350 mm
HS-4555*G-P: 400 mm
Air No.
Air piping joint
AIR 1, 2
4, PT1/8
AIR 3, 4
6, PT1/4
Maximum
allowable pressure
0.59 MPa
Note 1: Pins A to V on CN20 and pins #1 to #19 on CN21 are connected with each other as shown below.
The maximum rated current per line is 1A.
CN20
CN21
A
1
B
2
C
3
D
4
E
5
F
6
G
7
H
8
J
9
K
10
L
11
M
12
N
13
P
14
R
15
S
16
T
17
U
18
V
19
Note 2: Use the attached connector set for CN20 and CN21.
Connector set part No.
410889-0080
Part No.
Model and name
410877-0120
(for CN20)
H/M3106A22-14S (Straight plug)
(HIROSE ELECTRIC CO., LTD.)
410877-0130
(for CN20)
H/MS3057-12A (Cord clamp)
(HIROSE ELECTRIC CO., LTD.)
410877-0140
(for CN20)
H/MS3057-12A1 (Cord clamp)
(HIROSE ELECTRIC CO., LTD.)
410877-0440
(for CN21)
EBSP2119M (Straight plug)
(DDK Electronics, Inc.)
Appearance
Applicable wire
diameter
11.4 to 15.9
Applicable wire
diameter
 8 to 11.6
Air Piping and Signal Wiring (HS-G series; Dust- & splash-proof type or Cleanroom type)
31
(3) HS-G-UL (UL-Listed)
Note 1: Pins A to V on CN20 and pins #1 to #19 on CN21 are connected with each other as shown below.
The maximum rated current per line is 1A.
CN20
CN21
A
1
B
2
C
3
D
4
E
5
F
6
G
7
H
8
J
9
K
10
L
11
M
12
N
13
P
14
R
15
S
16
T
17
U
18
Note 2: Use the attached connector set for CN20 and CN21.
Connector set part No.
410889-0140
Part No.
Model and name
410877-0120
(for CN20)
H/M3106A22-14S (Straight plug)
(HIROSE ELECTRIC CO., LTD.)
410877-0130
(for CN20)
H/MS3057-12A (Cord clamp)
(HIROSE ELECTRIC CO., LTD.)
410877-0140
(for CN20)
H/MS3057-12A1 (Cord clamp)
(HIROSE ELECTRIC CO., LTD.)
410877-0420
(for CN21)
JMSP2119M (Straight plug)
(DDK Electronics, Inc.)
Appearance
Applicable wire
diameter
11.4 to 15.9
Applicable wire
diameter
 8 to 11.6
Air Piping and Signal Wiring (HS-G series; UL-Listed)
32
V
19
Chapter 3 Specifications of the Robot Unit
3.5.1
Instructions for Using Splash-proof Connector Sets
The splash-proof connector sets for CN20 and CN21 assure the splash-proofness as
long as they are properly assembled and connected.
When using those connector sets, be sure to observe the following notes.
(1) The degree of protection of the splash-proof robot unit, which is
specified in Section 3.1 "Robot Specifications," is assured as long as the
splash-proof connectors are joined with connectors CN20 and CN21 on
the robot unit. If there is no connection on CN20 and CN21, the
splash-proof rating is not assured.
(2) Use a sheathed cable for a splash-proof connector. Using an
unsheathed cable cannot assure the splash-proof rating.
(3) Each connector set contains two types of cord clamps for CN20. Use the
one that matches the cable diameter.
(4) Each connector set should be assembled according to the instructions
specified by the connector manufacturer.
The table below shows an assembly procedure example of a connector set for CN20,
21. The actual assembly procedure should be in accordance with the instructions
specified by the connector manufacturer.
Overview of assembly procedure example of connector set for CN20, 21
Components of connector set for
CN20,21
Assembly procedure example
(1) Treatment of wire ends: Strip the wire ends of the cable
(prepared by the customer). The cable diameter and the lengths
"A" and "B" should be in accordance with the instructions given
by the connector manufacturer.
(For straight plug)
(2) Tinning: Tin both the core wires and the connector contacts.
(3) Pass the cable through the heat-shrinkable tube for splash-proof
purpose (with adhesive inside, prepared by the customer) and
the rubber bushing.
(4) Solder the core wires onto the connector contacts to connect
them each other.
(5) Press the rubber bushing against the shell to fit the hood. Then
cover the rubber bushing with the heat-shrinkable tube and apply
heat to shrink the tube.
33
3.6
Engineering-design Notes for Robot Hands (HS/HSS-G)
Design a hand (end-effector) so that it will satisfy conditions (1) and (2) described
below.
Caution: Strictly observe these engineering-design notes. Otherwise, the
clamped sections of the robot unit will become loose, rattle or be out of position. In the
worst case, the mechanical parts of the robot unit and the robot controller may be
damaged.
(1) Mass of hand
The total mass of a hand or tool (including work-piece) should be less than the
maximum allowable payload of the robot. Be sure to include the mass of wirings and
piping used for a hand or tool.
Total mass of hand or tool (incl. Work-piece) ≤ Max. allowable payload
NOTE: The maximum allowable payload refers to a mass of payload that you have
preset.
(2) Hand center of gravity
The center of gravity of a hand or tool (including work-piece) should be located within
the range specified in Figure below.
Unit: mm
Hand center of gravity (HS/HSS-G)
34
Chapter 3 Specifications of the Robot Unit
(3) Moment of inertia around the T axis
The moment of inertia of a hand or tool (including work-piece) around the T axis
should be less than the maximum allowable moment of inertia around the T axis of the
robot.
Hand's moment of inertia (incl. Work-piece) around the T axis ≤
Max. allowable moment of inertia
Calculate the moment of inertia around the T axis according to the graph given below.
NOTE: You may program the reduced ratio of the speed and acceleration individually
within the range specified below. If you set the reduced ratio of the programmed
speed only, the controller automatically calculates that of the acceleration according to
the formula below.
Acceleration (%) = (Speed/100)2x100
Application sample of hand's moment of inertia
 To run the robot at 100% of the programmed speed and acceleration: The moment
of inertia around the T axis should be 0.03 kgm2 or less.
2
 If the moment of inertia around the T axis is 0.04 kgm : Run the robot at 90% or less
of the programmed speed and at 81% or less of the programmed acceleration.
Speed and
acceleration (%)
110
100
90
80
70
60
Speed
50
40
Acceleration
30
20
10
0
0
0.01
0.02
0.03
0.04
0.05
0.06
0.07
Hand's moment of inertia (kgm2)
0.08
0.09
0.1
(Max.)
When calculating the hand's or tool's moment of inertia around the T axis, refer to the moment-of-inertia
formulas on the next page.
35
Moment-of-inertia Formulas
1. Cylinder (1)
4. Sphere
(Axis of rotation = Center axis)
2. Cylinder (2)
(Axis of rotation = Center axis)
5. Center of gravity not on the axis of rotation.
(The axis of rotation passes through the center of gravity.)
Ig:
Moment of inertia around center of gravity
l:
Moment of inertia
[kgm ]
Mass
[kg]
r:
Radius
[m]
:
Length
[m]
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.)
m:
a, b, c,
2
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into simple
parts as much as possible for easier calculations.
As shown in the figure below, divide the hand into three parts ( (1), (2), (3) ).
Calculation Example of Hand's Moment of Inertia Around the T Axis
36
Chapter 3 Specifications of the Robot Unit
3.7
Stopping Time and Distance (Angle) at an Emergency Stop
Pressing the emergency stop button when the robot is in motion stops the robot. The
stopping time required from activation of a stop signal and the distance (angle) for
major three joints vary with the robot speed as shown in the graphs below. The
measuring conditions are: Robot arm extended, 33%, 66% and 100% of the maximum
payload.
(1) HS-4535*G series (HS-4535*G / HSS-4535*G)
J1, J2, Z stopping time vs. speed at an emergency stop (HS-4535*G series)
J1, J2 stopping distance vs. speed at an emergency stop (HS-4535*G series)
37
Z stopping distance vs. speed at an emergency stop (HS-4535*G series)
(2) HS-4545*G series (HS-4545*G / HSS-4545*G)
J1, J2, Z stopping time vs. speed at an emergency stop (HS-4545*G series)
38
Chapter 3 Specifications of the Robot Unit
J1, J2 stopping distance vs. speed at an emergency stop (HS-4545*G series)
Z stopping distance vs. speed at an emergency stop (HS-4545*G series)
39
(3) HS-4555*G series (HS-4555*G / HSS-4555*G)
J1, J2, Z stopping time vs. speed at an emergency stop (HS-4555*G series)
J1, J2 stopping distance vs. speed at an emergency stop (HS-4555*G series)
40
Chapter 3 Specifications of the Robot Unit
Z stopping distance vs. speed at an emergency stop (HS-4555*G series)
41
Chapter 4
Specifications of the Robot Controller
4.1
Specifications
The table below lists the specifications of the robot controller.
RC7M Controller Specifications (1) (HS-G series)
Item
Specifications
Small-sized, horizontal articulated type (HS-G)
Applicable robot
RC7M-HSG4BA-**
model
PTP, CP 3-dimensional linear, 3-dimensional circular
Control system
No. of controllable axes
Drive system
All axes: Full-digital AC servo
Language used
DENSO robot language (conforming to SLIM)
Memory capacity
3.25 MB (equivalent to 10,000 steps, 30,000 points)
Teaching system
1) Remote teaching 2) Numerical input (MDI)
External
signals
(I/O)
Standard I/O
Mini I/O
HAND I/O
SAFETY I/O
(Only for Global type)
Parallel I/O
board
(Option)
DeviceNet
board
(Option)
CC-Link
board
(option)
Input signals: 8 user open points + 11 fixed system points
Output signals: 8 user open points + 14 fixed system points
Note: In global type, some fixed system points are not used.
Input signals: 8 user open points
Output signals: 8 user open points
Input signals: 6 fixed system points
Output signals: 5 fixed system points
2 boards
Input signals: Additional 80 user open points
Output signals: Additional 96 user open points
1 board
Input signals: Additional 40 user open points
Output signals: Additional 48 user open points
Master & slave
Input signals: 1024 points (Master) + 256 points (Slave)
Output signals: 1024 points (Master) + 256 points (Slave)
Master
Input signals: 1024 points
Output signals: 1024 points
Slave
Input signals: 256 points
Output signals: 256 points
Slave
Input signals: 384 points
Output signals: 384 points
(including remote registers RWw and RWr)
External
communication
RS-232C: 1 line
Ethernet: 1 line
USB: 2 lines
Extension slot
3 (For an optional board)
Self-diagnosis function
Timer function
Error display
Cables
Up to four axes simultaneously
Overrun, servo error, memory error, input error, etc.
0.02 to 10 sec. (in units of 1/60 sec.)
Error codes will be outputted on the external I/O.
Error messages will be displayed in English on the teach pendant (option).
Error codes will be displayed on the mini pendant (option).
Motor & encoder cable
(option)
2 m, 4 m, 6 m, 12 m, 20 m
(Standard / Splash-proof)
I/O cable
(option)
8 m, 15 m
(For Mini I/O, HAND I/O, Optional board for parallel I/O and SAFETY I/O)
Power cable
5m
42
Chapter 4 Specifications of the Robot Controller
RC7M Controller Specifications (2) (HS-G series)
Item
Specifications
Environmental conditions
(in operation)
Temperature: 0 to 40C
Humidity: 90% RH or less (no condensation allowed)
Three-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz, 1.8 kVA
Power source
Single-phase, 230 VAC-10 to 230 VAC+10%, 50/60 Hz, 1.8 kVA
Degree of protection
IP20
Standard type:
Approx. 17 kg (38 lbs)
Global type with safety board: Approx. 18 kg (40 lbs)
Weight
Global type with safety box:
Approx. 21 kg (46 lbs)
WARNING

 DO NOT touch fins. Their hot surfaces may cause severe
burns.

 DO NOT insert fingers or foreign objects into openings.
Doing so may cause bodily injury.

 Before opening the controller cover and accessing the inside
of the controller for maintenance, be sure to turn off the
power switch, disconnect the power cable, and wait 3
minutes or more. This is for protecting you from electric
shock.

 DO NOT connect or disconnect connector to/from the
controller while the power switch is on. Doing so may cause
electric shock or controller failure.
CAUTION IN INSTALLATION

 This controller is not designed to be dust-proof,
splash-proof, or explosion-proof.

 Read operation-manuals before installation.

 Do not place anything on the controller.
43
4.2
Outer Dimensions
Figure below shows the outer dimensions of the robot controller.
Outer Dimensions of Robot Controller (HS-G series)
Outer Dimensions of RC7M Robot Controller
44
Chapter 4 Specifications of the Robot Controller
4.3
Controller Setting Table
The controller setting table given in Figure below is attached to the controller.
It shows the software version, the next replacement dates of the memory backup
battery and encoder backup battery, etc.
<Content THE SETPRM LIST>
SOFTWARE Ver.
The version of the main software for the controller is entered.
DATE OF
RENEWING BAT.
The next replacement dates of the memory backup battery and encoder backup
battery are entered.
TYPE
The model of the robot system is entered.
The coding of the set model is described below.
SUBASSEMBLY
The type and position of the controller IPM board are described.
Small-sized, horizontal articulated robot (HS/HSS-G series)
HS – 4 5 35 2 G – W
Variation
None: Standard type
W:
Dust- & splash-proof type
(Robot unit: IP65 equivalent)
P:
Cleanroom type (Class 10, 0.1µ)
Z-axis stroke
1:150 mm, 2: 200 mm, 3: 320 mm
Arm length
35: 350 mm, 45: 450 mm, 55: 550 mm
Maximum payload (5 kg)
Number of axes (4 axes)
Horizontal articulated robot, small-sized
HS: Floor-mount type
HSS: Overhead-mount type
45
Chapter 5 Warranty
DENSO robots are manufactured under strict quality control. In case of failure, we
warranty the robot under the following conditions:
Warranty Period
The warranty shall be effective for one year from the date of purchase.
Warranty Coverage
DENSO WAVE shall repair the robot free of charge when a failure occurs and is
attributable to the design, manufacture or material of the robot within the warranty
period in spite of proper use.
Items Not Covered
Failures, which arise from one of the following, shall not be covered by the warranty
even if the robot is under warranty:
(1) Failures caused by improper repair, modification, transfer or handling by you or a
third party;
(2) Failures caused by the use of a part or oil/fat other than those specified in the
related manuals;
(3) Failures caused by a fire, salt damage, earthquake, storm/flood or other acts of
God;
(4) Failures caused by the use of the robot in an environment other than the
environment specified in the related manuals, such as dust and water ingress;
(5) Failures caused by a worn-out consumable, such as a fan filter;
(6) Failures caused by improper performance or non-performance of lubrication,
maintenance or inspections stated in this owner's manual; and
(7) Damages other than the robot repair costs.
46
Chapter 6 Appendix
Chapter 6 Appendix
6.1
Conformity with Standards by Robot Model
For information on conformity with standards, refer to "Conformity with Standards by
Robot Model" in the Additional Information section of the RC7M controller manual
pack CD SUPPLEMENT.
47
Horizontal Articulated Robot
HS-G SERIES
GENERAL INFORMATION ABOUT ROBOT
First Edition
July 2005
Eleventh Edition April 2011
Twelfth Edition October 2011
DENSO WAVE INCORPORATED
10N**C
The purpose of this manual is to provide accurate information in the handling and operating of the
robot. Please feel free to send your comments regarding any errors or omissions you may have
found, or any suggestions you may have for generally improving the manual.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages
resulting from the application of the information in this manual.
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