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ROBOT
Vertical articulated
VP-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 Model
Mini-sized, vertical articulated
VP-G
(Models configured with RC7M controller)
VP-6242G (6-axis type)
VP-5243G (5-axis type)
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 VP-6242G, for example, the robot unit model is
VP-6242E/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
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
1
(3)
(4)
(5)
Power cable (5 m)
Motor & encoder cable
(Note 1) (Option)
Manuals ("Manual Pack CD" and "Safety Precautions")
1
1
1 set
(6)
(7)
WINCAPSIII INSTALL CD (TRIAL VERSION)
Spare fuses for robot controller
Pendantless connector (Dummy connector)
1
3
1 (8)
(9) Connector set for hand control signals (for CN20 and CN21) 1 set
(Note 2)
1
(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
2
Note 1: Choose 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
Standard cable 2 m
410141-4400
Standard cable 4 m
410141-3611
Standard cable 6 m
410141-3621
Standard cable 12 m
410141-3631
Standard cable 20 m
410141-4440
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.
1
1.2 Optional Components
The table below lists the optional components.
Optional Components
Classification No. Item Remarks Part No.
I/O cables
Operation devices
1
1-1 I/O cable for “Mini I/O” (68pins)
1-2 I/O cable for “HAND I/O”
2
3
5
6
Standard I/O cable set
I/O cable for “Parallel I/O board” (96 pins)
I/O cable for “SAFETY I/O” (36 pins)
(Only for global type)
Mini-pendant kit
(Incl. cable and WINCAPSIII Light)
Pendant extension cable
(8 m) Incl. Nos. 1-1 and 1-2.
(15 m) Incl. Nos. 1-1 and 1-2.
(8 m)
(15 m)
(8 m)
(15 m)
(8 m)
(15 m)
(8 m)
(15 m)
(4 m) With cable
(8 m) With cable
(12 m) With cable
(4 m)
(8 m)
Japanese indication
English indication
Japanese indication
English indication
(12 m)
Japanese indication
English indication
(4 m) For TP, MP
(8 m) For TP, MP
Programming support tool
7 WINCAPSIII
CD-ROM
(common to the languages--Japanese, English,
German, Korean, and Chinese)
410090-0980
Optional boards for the robot controller
8 Parallel I/O board
Shipped as installed on the controller
NPN 410010-3320
PNP 410010-3330
Shipped as individual NPN 410010-3340 boards (supply part)
PNP 410010-3350
For Slave station 410010-3370
Shipped as installed on the controller
For Master station
For Master & slave station
410010-3380
410010-3390
Shipped as individual boards (supply part)
For Slave station
For Master station
For Master & slave station
410010-3400
410010-3410
410010-3480
11 Conveyor tracking board
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
410149-0940
410149-0950
410141-2700
410141-2710
410141-1740
410141-1750
410141-3050
410141-3060
410141-3580
410141-3590
410100-1572
410100-1582
410100-1592
410109-0392
410109-0402
410109-0412
410109-0422
410109-0432
410109-0442
410141-3711
410141-3721
2
Chapter 1 Packing List of the Robot
Optional Components
Classification No. Item
12
Optional function for RS232C board
Board manufacturer: CONTEC CO., LTD.
Model: COM-2P(PCI)H
Optional functions
(For own optional board etc.)
13
Optional function for S-LINK V board
Board manufacturer: SUNX CO., LTD
Model: SL-VPCI
14
Optional function for PROFIBUS-DP slave board
Board manufacturer: Hilscher GmbH
Model: CIF50-DPS\DENSO
Remarks
Shipped after integrated in the controller
Added when the board is purchased as a spare part
Shipped after integrated in the controller
Added when the board is purchased as a spare part
Shipped after integrated in the controller
Added when the board is purchased as a spare part
Part No.
410006-0260
410006-0270
410006-0280
410006-0290
410006-0300
410006-0310
15
EtherNet/IP function
Board manufacturer: Hilscher GmbH
Model: CIFX 50-RE\DENSO
Shipped after integrated in the controller
Added when the board is purchased as a spare part
410006-0800
410006-0810
Optional box
16 Optional function for memory extension
17 Controller protection box
18 I/O conversion box
CD manuals 19 Manual Pack CD
20 Instruction manual for VP-G, full set
Extension only upon controller shipment (3.25MB to 5.5MB)
410006-0320
For interchangeability with RC5
410181-0091 type controller
410181-0100
Contained in the robot package. 410002-2661
Includes No. C and No. D 410009-0320
C Instruction manual for VP-G, basic set Includes No. C-1 to No. C-3
C-1 GENERAL INFORMATION ABOUT ROBOT For VP-G
C-2 RC7M CONTROLLER MANUAL For RC7M controller
Optional manuals
(Printed materials,
English edition)
C-3 ERROR CODE TABLES
D Instruction manual for VP-G, extension set Includes No. D-1 to No. D-7
D-1 INSTALLATION & MAINTENANCE GUIDE For VP-G
410009-0220
410002-2530
410002-2430
410002-3370
410009-0100
410002-2550
410002-2750
410002-3310
D-6 Panel Designer USER’S MANUAL
D-7 OPTIONS MANUAL For RC7M controller
410002-3330
410002-3350
410002-6480
410002-2650
3
Chapter 2
Configuration of the Robot System
2.1 Configurators
The figure below shows configurators of the typical robot system.
(1) Robot unit
I/O conversion box (option)
PLC (prepared by customer)
(3) Power cable
(2) Robot controller
I/O cable (option)
(4) Motor & encoder cable
(Option)
Personal computer
(prepared by customer)
(8) Pendantless connector (Note 2)
Optional board
Teach pendant (option)
Mini pendant
(option)
Controller protection box (option)
WINCAPSIII
(option)
(6) WINCAPSIII install CD
(Trial version)
Printer (prepared by customer)
(7) Spare fuses for robot controller
(12) Spare output IC for robot controller
(14) Short sockets for robot controller
(5) Manuals
(9) Connector set for hand control signals
(for CN20 and CN21)
(13) Dowel pins
(10) Direction indicator label
(11) Warning label
Note 1: Components with numbers in () are the standard components contained in the product package listed on page 1.
Note 2: The pendantless connector should be attached to the robot controller when no teach pendant or mini-pendant is connected.
Configurators of the Robot System (VP-G series)
4
Chapter 2 Configuration of the Robot System
2.2 Names of Robot Unit Components
2.2.1 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.
Names of Components (VP-G series)
NOTE: The flange (tool mounting face) of the robot unit may be coated with rust preventive oil which does not affect the robot function. If spattering of the oil could be a problem when the robot is in use, wipe it off before use.
5
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.
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 VP-G series (Encoders connected via bus)
Connector No. Marking Name
CN2 USB USB connector (2 lines)
CN6
CN9
CN10
INPUT AC
HAND I/O
SAFETY I/O
Power supply 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
Following table list the robot unit specifications of the VP-G series.
VP-G Series Specifications
Specifications
Item
6-axis type 5-axis type (Note 1)
Model name of robot set (Note 2)
Model name of robot unit
Overall arm length
Arm offset
Maximum motion area
Motion range
Maximum payload
Maximum composite speed
Position repeatability (Note 3)
Maximum allowable inertia moment
Position detection
Drive motor and brake
VP-6242G VP-5243G
VP-6242E/GM VP-5243E/GM
210 (first arm) + 210 (second arm) =
420 mm
J3 (front arm)
75 mm
R = 502 mm (end-effector mounting face)
R = 432 mm (Point P: J4, J5, J6 center)
J1
160
J2
120
J3
+160, +19
J4
160
J5
120
J6
360
210 (first arm) + 220 (second arm) =
430 mm
-
R = 500 mm (end-effector mounting face)
R = 430 mm (Point P: J5, J6 center)
J1
160
J2
120
J3
+136, -128
J4
none
J5
120
J6
360
2 kg (2.5 kg at wrist direction downward)
2.5 kg (3 kg at wrist direction downward)
3900 mm/s (at the center of an end-effector mounting face)
In each of X, Y and Z directions:
0.02 mm
Around J4 and J5: 0.030 kgm
Around J6
2
0.007 kgm2
Around J5: 0.040 kgm
2
Around J6
0.010 kgm2
Absolute encoder
AC servomotors for all joints,
Brakes for all joints
4 systems (
4x4)
9 (for proximity sensor signals, etc.)
User air piping
User signal line
Air source
Operating pressure
Maximum allowable pressure
Degree of protection
Airborne noise (A-weighted equivalent continuous sound pressure level)
0.10MPa to 0.39MPa
0.49MPa
IP30
80 dB or less
Weight Approx. 15 kg (32 lbs) Approx. 13 kg (29 lbs)
Note 1
The 5-axis type robot has not the 4th axis (J4).
Note 2
The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 3
Position repeatability is the value at constant ambient temperature.
9
3.2 Outer Dimensions and Workable Space of the Robot Unit
The
outer dimensions and workable space of the VP-G series are shown on the following pages.
(1) VP-6242G (6-axis type)
Outer Dimensions and Workable Space [VP-6242G]
10
(2) VP-5243G (5-axis type)
Chapter 3 Specifications of the Robot Unit
Outer Dimensions and Workable Space [VP-5243G]
11
3.3 Robot Positioning Time
1. Positioning time means the time from the start of robot operation to the arrival at the target positioning point.
2. After the robot moves to and passes the target positioning point, vibration will be dampened and the robot positioned at the target positioning point as shown in Figure below. This vibration dampening time is not considered in the graph.
Caution (1) The vibration dampening time depends on factors such as the weight of the end-effector. If the robot is to be used in such a way that it overshoots or if the vibration damping time is of great concern, test the robot carefully beforehand.
(2) If acceleration begins before residual vibration of the robot stops, an overcurrent error (code starts from ERROR6120; 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) Operate the robot with the optimum load setting in accordance with the end-effector weight and workpiece weight. If not, a robot failure may result.
Vibration Dampening Time
12
3.3.1 VP-6242G robot positioning time
Chapter 3 Specifications of the Robot Unit
J1 Axis [VP-6242G]
J2 Axis [VP-6242G]
13
J3 Axis [VP-6242G]
J4 Axis [VP-6242G]
14
Chapter 3 Specifications of the Robot Unit
J5 Axis [VP-6242G]
J6 Axis [VP-6242G]
15
CP Operation [VP-6242G]
16
3.3.2 VP-5243G robot positioning time
Chapter 3 Specifications of the Robot Unit
J1 Axis [VP-5243G]
J2 Axis [VP-5243G]
17
J3 Axis [VP-5243G]
J5 Axis [VP-5243G]
18
Chapter 3 Specifications of the Robot Unit
J6 Axis [VP-5243G]
CP Operation [VP-5243G]
19
3.4 Air Piping and Signal Wiring
The VP-G series is equipped with 4 air pipes for air chuck and 9 signal lines. The air piping and signal wiring of the VP-G series are shown in the figure below.
NOTE: Maintenance and inspection of the robot unit sometimes requires removing and installing the covers. Mount the stays for wiring and piping so that they will not interfere with removal/installation of the covers.
Note 1: Pins #1 to # 9 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A.
Note 2: Use the attached connector sets for CN20 and CN21.
Connector set part No. Part No. Model and part name
410877-0570
17JE-13090-02 (D1)
(Socket connector)
DDK Electronics, Inc.
For
CN20
17JE-09H1-1B (Straight hood)
410877-0580
DDK Electronics, Inc.
410889-0110
410877-0560
17JE-23090-02 (D1)
(Pin connector)
For
CN21
DDK Electronics, Inc.
17JE-09H1-1B (Straight hood)
410877-0580
DDK Electronics, Inc.
Air Piping and Signal Wiring [VP-G series]
20
Appearance
Chapter 3 Specifications of the Robot Unit
3.5 Precautions When Designing the End-effectors
Design an end-effector such that it is in compliance with items (1) to (3) described below.
CAUTION If the end-effector design precautions are not observed, the clamped parts of the robot unit may become loose, rattle or be out of position. In the worst case, the mechanical parts of the robot and robot controller may become damaged.
(1) Mass of end-effector
Design the end-effector so that the total mass of the end-effector (including workpiece) will be lighter than the maximum payload capacity of the robot.
The total mass includes the wiring, piping, etc.
Max. total mass of end-effector (inc. workpiece)
Max. payload capacity
(2) Center of gravity position of end-effector
Design an end-effector so that the center of gravity position of the end-effector (including workpiece) is within the specified range.
VP-6242G VP-5243G
Allowable Range of Center of Gravity Position of End-effector
21
(3) Moment of inertia around J4, J5 and J6
Design an end-effector so that its moments of inertia around J4, J5 and J6
(including workpiece) do not exceed the maximum allowable moment of inertia of the robot.
Moment of inertia around J4, J5 and J6 of end-effector (incl. mass of workpiece)
Max. allowable moment of inertia
Robot model Around axis Maximum allowable moment
Around J4 or J5
VP-6242G
VP-5243G
Around J6
Around J5
Around J6
0.030kgm
2
0.007kgm
2
0.040kgm
2
0.010kgm
2
1. Cylinder (1)
When calculating the moment of inertia around J4, J5 and J6 of the end-effector, use the formulas given in Following Table and Figure.
Moment-of-Inertia Formulas
(Axis of rotation = Center axis)
4. Sphere
(Axis of rotation = Center axis)
2. Cylinder (2)
(The axis of rotation passes through the center of gravity.)
5. Center of gravity not on the axis of rotation
:
Inertia moment around center of gravity
3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.) l: Moment of inertia kgm
m:
2
Mass kg
r: b, c, : Length m
22
Chapter 3 Specifications of the Robot Unit
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 end-effector into three parts (, , ).
(1) Moment of inertia around J6
Around J6
A d J6
(2) Moment of inertia around J4 and J5 For the end-effector shown below, the moment of inertia around J4 and J5 can be calculated according to the same formula.
End-effector Moment of Inertia Calculation Example
23
3.6 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) VP-6242G series
J1, J2, J3 stopping time vs. speed at an emergency stop (VP-6242G series)
J1, J2, J3 stopping distance vs. speed at an emergency stop (VP-6242G series)
24
(2) VP-5243G series
Chapter 3 Specifications of the Robot Unit
J1, J2, J3 stopping time vs. speed at an emergency stop (VP-5243G)
J1, J2, J3 stopping distance vs. speed at an emergency stop (VP-5243G)
25
Chapter 4
Specifications of the Robot Controller
4.1 Specifications
Table below lists the robot controller specifications.
RC7M Controller Specifications (1) (VP-G series)
External signals
(I/O)
Controller model
No. of controllable axes
Control system
Drive system
Language used
Memory capacity
Teaching system
Cables
Item Specifications
Applicable robot
Standard I/O
Parallel I/O board
(Option)
DeviceNet board
(Option)
CC-Link board
(option)
External communication
Mini I/O
HAND I/O
SAFETY I/O
(Only for Global type)
Master & slave
Extension slot
Self-diagnosis function
Timer function
Error display
2 boards
1 board
Master
Slave
Slave
Motor & encoder cable
(option)
I/O cable
(option)
Power cable
Mini-sized, vertical articulated type
VP-6242G (6-axis type)
RC7M-VPG5/6CA*-**
Six axes
Mini-sized, vertical articulated type
VP-5243G (5-axis type)
RC7M-VPG5/6CA*-**
Five axes
PTP, CP 3-dimensional linear, 3-dimensional circular
All axes: Full-digital AC servo
DENSO robot language (conforming to SLIM)
3.25 MB (equivalent to 10,000 steps, 30,000 points)
1) Remote teaching 2) Numerical input (MDI)
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
Input signals: Additional 80 user open points
Output signals: Additional 96 user open points
Input signals: Additional 40 user open points
Output signals: Additional 48 user open points
Input signals: 1024 points (Master) + 256 points (Slave)
Output signals: 1024 points (Master) + 256 points (Slave)
Input signals: 1024 points
Output signals: 1024 points
Input signals: 256 points
Output signals: 256 points
Input signals: 384 points
Output signals: 384 points
(including remote registers RWw and RWr)
RS-232C: 1 line
Ethernet: 1 line
USB: 2 lines
3 (For an optional board)
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).
2 m, 4 m, 6 m, 12 m, 20 m
(Standard)
8 m, 15 m
(For Mini I/O, HAND I/O, Optional board for parallel I/O and SAFETY I/O)
5 m
26
Chapter 4 Specifications of the Robot Controller
RC7M Controller Specifications (2) (VP-G series)
Item Specifications
Environmental conditions
(in operation)
Temperature: 0 to 40
C
Humidity: 90% RH or less (no condensation allowed)
Power source
200 VAC type:
Three-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz, 1 kVA
Single-phase, 230 VAC-10% to 230 VAC+10%, 50/60 Hz, 1 kVA
100 VAC type:
Single-phase, 100 VAC-10% to 110 VAC+10%, 50/60 Hz, 1 kVA
Degree of protection
Weight
IP20
Standard type: Approx. 18 kg (40 lbs)
Global type with safety board: Approx. 19 kg (42 lbs)
Global type with safety box: Approx. 22 kg (49 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.
27
4.2 Outer Dimensions
Figure below shows the outer dimensions of the robot controller.
Outer Dimensions of Robot Controller (VP-G series)
Outer Dimensions of RC7M Robot Controller
28
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.
TYPE
SUBASSEMBLY
The next replacement dates of the memory backup battery and encoder backup battery are entered.
The model of the robot system is entered.
The coding of the set model is described below:
The type and position of the controller IPM board are described.
The coding of the set model (VP-G series)
29
Vertical articulated robot, mini-sized
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.
30
Chapter 6 Appendix
Chapter 6
Appendix
6.1 Conformity with Standards by Robot Model
For information on conformity with standards,contact your DENSO representative.
31
Vertical Articulated Robot
VP-G SERIES
GENERAL INFORMATION ABOUT ROBOT
First Edition July 2005
Tenth Edition April 2011
Eleventh 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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