EU Robotics Brochure

EU Robotics Brochure
ABOUT DENSO ROBOTICS
OUR WORLDWIDE NETWORK
Our international network of offices provides comprehensive service and support all over the world.
WE’RE ONLY SATISFIED
Cutting edge technology, class leading products and groundbreaking systems
are only part of what you can expect when you choose DENSO Robotics.
Our international customer support facility also leads the way in terms of
service and delivery. We provide a highly personalised, professional and friendly
resource to help with all of your questions and queries. Whether you need
one-to-one assistance over the telephone, or a physical site visit, our teams
of highly qualified engineers, technicians and partner system integrators are
ready and waiting all over the globe.
In the world of robotics, we never forget that the human touch is the most
important one of all.
10 | We’re only satisfied when you are
DENSO WAVE INCORPORATED
1 Yoshiike, Kusaki, Agui-cho
Chita-gun, Aichi 470-2297
JAPAN
Tel: +81 569 49 5018
Fax: +81 569 49 5484
[email protected]
DENSO EUROPE B.V.
Waldecker Str. 9
D-64546 Moerfelden – Walldorf
GERMANY
Tel: +49 (0) 6105 27 35 150
Fax: +49 (0) 6105 27 35 180
[email protected]
3900 Via Oro Avenue
Long Beach, California
90810 U.S.A
Tel: + 1 310 834 6352
Fax: + 1 310 513 7379
DENSO INTERNATIONAL ASIA
PTE. LTD.
51 Science Park Road
Unit + ACM – 01-19
The Aries, Science Park II
SINGAPORE 117586
Tel: +65 6771 2423
Fax: +65 6776 8698
[email protected]
DENSO TAIWAN CORPORATION
No.525, Sec2, Mei Su Rd.
Jui Ping Li, Yang Mei Town
Taoyuan Hsien
TAIWAN
Tel: +886-3-482-8001
Fax: +886-3-482-8003
[email protected]
DENSO SALES (THAILAND) CO. LTD.
888 Moo 1 Bangna - Trad Rd.
KM. 27. 5, T. Bangbo, A. Bangbo
Samutprakam 10560
THAILAND
Tel: +66-2-315-9500
Fax: +66-2-315-9556
[email protected]
DENSO SALES CALIFORNIA INC.
[email protected]
DENSO SALES KOREA
CORPORATION
8F, JPlus B/D, 16-13, Yangjae-dong
Seocho-gu, Seoul, 137-130
KOREA
Tel: +82-2-460-0694
Fax: +82-2-3452-7484
[email protected]
DENSO (CHINA)
INVESTMENT CO. LTD.
Room No.518, The Beijing Fortune
Building, No.5 Dong SanHuan
Bei-Lu, ChaoYang District, Beijing
CHINA 100004
Tel: +86-10-6590-8337
Fax: +86-10-6590-9044
[email protected]
DENSO (MALAYSIA) SDN. BHD.
Ground Floor, No.14, Jalan
Glenmarie
(Persiaran Kerjaya) Section U1
40150 Shah Alam, Selangor
Darul Ehsan
MALAYSIA
Tel: +60-3-5569-9933
Fax: +60-3-5567-3301
[email protected]
DENSO AUTOMOTIVE SYSTEMS
AUSTRALIA PTY LTD.
2-46 Merrindale Drive
Crydon, Victoria 3136
AUSTRALIA
Tel: +61 3 8761 1459
Fax: +61 3 8761 1505
[email protected]
Our worldwide network | 11
DENSO 4 AXIS ROBOTS
WHEN YOU ARE
THE ULTIMATE ANSWER
Whatever challenge you face, DENSO Robotics has the answer. Our product range includes four-axis (SCARAs)
and five and six-axis robots. All of which are defined by their outstanding speed, precision and build quality.
ABOUT DENSO ROBOTICS
TECHNOLOGY WITH TRADITION
For the pinnacle in functionality, our robots can manage payloads of up to 20 kg and each and every model
is designed to perform to the highest possible standards. Compact, light and requiring only minimal periodic
maintenance, our entire robot range also comes with a class leading two-year guarantee.
To add to the cost efficiency and ease of use of our robots, there is only one controller type for all robot models,
you only need one controller for each robot. All that is necessary is to exchange motor drivers, which can
be done quickly and simply. DENSO robots have also been designed to operate in virtually any environment
including dusty, wet or clinical surroundings. The protection ratings of our robots are classed as follows:
❚ Standard
❚ Dust & splash proof (IP65)
❚ Protected (IP67)
❚ Clean room classes 10 and 100
❚ H2O2 resistant (Hydrogen Peroxide; commonly used for sterilization purposes in the pharmaceutical
and medical industries)
❚ UL specifications (for the USA and Canada)
DENSO 4 AXIS ROBOTS
As further testament to DENSO Robotics credentials and reputation in the robotic arm marketplace, important
competitors rely on us to supply them with unbranded hardware so they can increase and complete their own
product ranges.
There is no better answer than DENSO Robotics.
The new VS-087
When you choose a robotic solution from DENSO you
can rest assured that you are investing in a product of
the highest calibre. Our commitment to quality and
customer satisfaction is, quite simply, second-to-none.
DENSO Robotics is proud to be a part of the DENSO
Corporation, which is recognised as one of the 500
largest companies worldwide (Fortune Global 500)
and is also one of the two largest automotive parts
manufacturers in the world.
It is this strength in depth that allows DENSO
Robotics to be such a pioneering force. In fact, our
vision and aptitude have seen the company become
the recognised worldwide leader in small robotic
design and manufacturing.
4 | Technology with tradition
When industrial robots first appeared in the early
1960s, DENSO began to develop and apply the emerging
technologies to its own production processes, allowing
the company to constantly improve and advance the
hardware and software.
And now, today, as the established market leader in the
small assembly industrial robot segment, DENSO Robotics
continues to set the benchmark in reliability, flexibility
and functionality. With more than 60 000 DENSO robots
installed across the globe – 16 000 of which are
employed in its own manufacturing facilities – no
other company has more knowledge or expertise.
DENSO Robotics is the automatic choice when it comes to
industrial robot arms.
The ultimate answer | 5
ABOUT DENSO ROBOTICS
www.densorobotics.com
We can reduce your production costs and
increase your speed to market in the following ways
❚ The unparalleled speed and precision of our robots save you time. Processes are completed faster and more accurately
INCREASING YOUR PRODUCTIVITY
INCREASING YOUR SUCCESS
❚ Our robots are hugely reliable and durable. There is minimal down time. And that means your production procedures
operate at maximum efficiency
❚ The highly compact and lightweight design of our robots saves space. There is no unnecessary bulk or equipment.
Your manufacturing area is utilised to its full capacity
❚ Our robots require the minimum amount of servicing and upkeep. Which means they constantly perform without the time
and expenditure incurred by regular maintenance
DENSO 4 AXIS ROBOTS
❚ Because of their low energy consumption, DENSO robots keep power costs to a minimum while also helping the environment
Putting the environment first
As a business operating in today’s global economy, it is imperative to be as lean
and proficient as possible without compromising anything in terms of quality
and service.
Consumers demand the highest class of products at the most competitive prices.
And shareholders expect a positive return on their investments.
So how do you establish an advantage while still maintaining integrity?
The environment is a crucial consideration during the production of DENSO robots and we are completely dedicated to
reducing the use of hazardous substances.
Our awareness and commitment mean that DENSO robots are an environmentally friendly, ultra efficient and highly profitable
investment. Ultimately, our products and systems can help realise the full potential of your business in an eco-friendly manner.
How do you ensure that your systems are delivering the most effective TCO?
That’s where DENSO Robotics can help.
6 | Increasing your productivity, increasing your success
| 7
From general manufacturing through to the pharmaceutical sector, a huge range of industries can benefit from the ways
DENSO robots streamline and improve processes and procedures.
The versatility and advanced functionality of our products allow them to be programmed for virtually any situation where
a robotic arm is applicable. Whether the requirement is for straightforward “pick and place” or incredibly complex tasks
and routines, such as the fully automated preparation of a medical injection, DENSO robots are at the forefront of today’s
industrial applications.
Here is a brief overview of where and how DENSO Robotics can add value and efficiency to your business.
INTELLIGENT INTERACTION
DENSO robots have been conceived and produced so that programming them is as convenient and user‐friendly as possible.
We have developed a range of tools that allow you to interact with our robots in a manner you find the most comfortable
and familiar.
ABOUT DENSO ROBOTICS
FLEXIBLE. FAST. EFFECTIVE.
For ease and simplicity, all DENSO robot controllers have a standard Ethernet connection for attaching to another device
such as a PLC or industrial PC.
The adaptable choice of ways that you can input instructions into DENSO robots includes the following:
Teaching pendant:
❚ DENSO touch screen teaching pendant
Industries:
PC-based solutions:
❚ Greenhouse
❚ Machine tools
❚ Medical devices
❚ Pharmaceuticals
❚ Semiconductor
❚ Plastics
❚ And many others
Applications:
❚ Pick & place
❚ Assembly
❚ Packaging
❚ Dispensing
❚ Palletizing
❚ Inspection
❚ Material removal
❚ Material handling
❚ Electrostatic welding
❚ Customised projects
❚ WINCAPS III
DENSO’s proprietary off-line programming,
monitoring and simulation software
❚ ORiN2
Innovative middleware that enables the use
of existing high level languages, including
C++, C#, Visual Basic and Java, etc. to
program DENSO robots, therefore eliminating
the requirement to learn any new robot
programming language
Device Net Slave
Device Net Master
Device Net Master & Slave
Profi bus Slave
CC-Link Slave
Parallel IO
RS-232C
Ethernet
Ethernet/IP slave
❚ NI LabVIEW™ Software
The graphical programming language from
National Instruments™ has a dedicated toolkit
created by the Italian company ImagingLab
designed specifically for easily programming
DENSO robots
Platform and
programming
language
independent
❚ b-CAP
binary Controller Access Protocol is an option
available within ORiN2. The system is based
on TCP/IP or UDP and connects to DENSO
robots and peripheral devices via a PC, PLC
or any other appropriate device that includes
an Ethernet TCP/IP connection
C++, C#,
Visual Basic,
Java, etc.
❚ HALCON extension library
Dedicated extension package to enable HALCON
from MVTec and DENSO users to conveniently program
and control DENSO robots and their vision applications
through the same simple graphical interface
NI LabVIEW™ Software is trademark of National Instruments™
8 | Flexible. Fast. Effective.
HALCON and MVTec are registered trademarks
Intelligent interaction | 9
DENSO 4 AXIS ROBOTS
❚ Appliances
❚ Automotive
❚ Chemicals
❚ Consumer products
❚ Electronics
❚ Food
❚ General manufacturing
ABOUT DENSO ROBOTICS
A FULL LINE-UP OF SMALL INDUSTRIAL ROBOTS
NEW
VPG2
NEW VS
VP
VS
VM
HS
HM
XR
4-AXIS ROBOTS
6-AXIS ROBOTS
Ideal for:
Available in Protection Classes:
Ideal for:
Available in Protection Classes:
❚ Assembly
❚ Standard
❚ Pick & place
❚ Standard
❚ Inspection
❚ Dust & Splash Proof (IP65)
❚ Assembly
❚ Dust & Splash Proof (IP65)
❚ Matching
❚ Protected (IP67)
❚ Packaging
❚ Clean Room Class 10
❚ Material handling
❚ Clean Room Class 10 & 100
❚ Dispensing
❚ UL Specifications (for the USA and Canada)
❚ Machine tending
❚ Hydrogen Peroxide-resitant (H2O2) for aseptic environments
❚ Inspection
❚ Packaging
❚ UL Specifications (for the USA and Canada)
❚ Material removal
❚ Palletizing
❚ Electrostatic welding
❚ Bespoke applications
Industries:
❚ Material handling
Main features:
❚ Bespoke applications
14 | A full line-up of small industrial robots
Main features:
❚ Payloads up to 20 kg
❚ Arm reach up to 1000 mm
❚ Payloads up to 10 kg
Industries:
❚ Arm reach up to 1300 mm
Our robots are employable in a wide variety
of industries including pharmaceutical,
medical and food.
DENSO 4 AXIS ROBOTS
The VPG2 Series
includes a robot model for
pharmaceutical and medical
applications (VP-G2-S1)
❚ Max. Comp. Speed up to 11 000 mm/s
❚ Mounting in floor, ceiling and wall
❚ Max. Comp. Speed up to 11 500 mm/s
❚ Mounting in floor and ceiling
Our robots are employable in a wide variety
of industries including pharmaceutical,
medical and food.
| 15
www.densorobotics.com
DENSO 6-AXIS ROBOTS
The DENSO range of 6-axis robots includes the VP Series, the VS Series,
the VM series and additionally DENSO’s new VS models with both long
and short arm lengths.
DENSO 6 AXIS ROBOTS
These robots provide greater flexibility and improved performance over their
4-axis counterparts. Because of their increased scale of movement, they are
suited to handle a far wider range of applications without compromising
either speed or precision.
DENSO 6-axis robots are the ultimate solution for the following:
Applications
❚ Assembly
❚ Inspection
❚ Matching
❚ Material handling
❚ Material tending
❚ Packaging
❚ Palletizing
❚ Electrostatic welding
❚ Bespoke applications
DENSO 6-axis robots deliver the following industry leading specifications:
Main Features
❚ Cycle times ranging from 0.99 s to 0.33 s
❚ Constant precision of between ±0.07 mm and ±0.02 mm
❚ Maximum composite speed from 3900 mm/s up to 11 000 mm/s
❚ Arm lengths between 430 mm and 1298 mm
❚ Payloads up to 10 kg
❚ All models include internal wiring
and air piping for maximum
efficiency in restricted spaces
One cycle is the time taken to
complete a cycle of work from one
arrow to the other and back.
One cycle is the time taken to
complete a cycle of work from one
arrow to the other and back.
For VS-6556 and VS-6577
25mm
300mm
25mm
300mm
For New VS
Options
❚ Standard
❚ Dust & splash proof (IP65)
❚ Protected (IP67)
❚ Clean room class 10 / 100
❚ Hydrogen Peroxide-resitant (H2O2) for aseptic environments
The new VS-087
❚ UL specifications (for the USA and Canada)
16 | DENSO 6-axis robots
| 17
www.densorobotics.com
THE NEW VS SERIES
NEW
DENSO proudly presents its new VS Series. These new 6-axis robots
are characterized as being extremely:
❚ FAST (up to 11 000 mm/s)
❚ PRECISE (±0.03 mm and ±0.02 mm)
❚ FLEXIBLE (install them on floors, ceilings or walls)
DENSO 6 AXIS ROBOTS
In addition:
❚ Their extremely slim and compact design allows you to save
on installation space
❚ You also have the possibility to place the motor and encoder
cable underneath the robot base
❚ They offer you payloads up to 7 kg, delivering you the best
performance possible
Connectivity
The optional “Communication Interface” allows users to connect Gigabit Ethernet
devices and Servo Grippers easily and directly to the robot flange, thanks to an
innovative communication internal wiring. This gives users the advantage of
avoiding the risk of cables and connections tangling up within their surroundings.
Resistant
You can employ these robots in extremely wet conditions thanks to their
optional protection class IP67 (which resists even high pressure washing
and cutting chips).
Have a look at the new VS Series and convince yourself why we’re pioneers
in robotics. It is worth it!
The new VS-087
22 | The New VS Series
| 23
www.densorobotics.com
Improved usability and maintainability
THE NEW VS SERIES
Embedded internally up to end-of-arm
flange, wires are prevented from
becoming entangled and broken.
Camera
Fast motion for improved productivity
New VS Series options
Pick & Place time
Time required for a robot to lift an object to a height of 2.5 cm
and move back and forth between two locations 30 cm apart.
❚ Connector panel
VS-068
❚ Flange
300mm
0.37
0.33
Maximum composite speed [mm/s]
9000
11 000
❚ Paint / Surface finish
Air piping
One cycle is the time taken to
complete a cycle of work from one
arrow to the other and back.
25mm
Pick & place time [s] at 1 kg
(measurement)
❚ Signal lines & Air piping
DENSO 6 AXIS ROBOTS
❚ Pick & place / Maximum composite speed:
VS-050
Servo hand
VS-050
Maximum motion area: 505 mm
Maximum payload: 4 kg
Signal lines
Rear connector
panel
Can be integrated into compact equipment
Bottom connector
panel
Choose from two mounting
orientations when connecting
cables (robot-to-controller cable,
etc.) to the robot for increased
flexibility accommodating user’s
robot installation conditions.
❚ Arm width/Wrist width/Motion area
VS-060
DENSO standard
colors
Communicaton interface flange-A
Flange has connectors for
electrical signals and Ethernet,
allowing wiring to be embedded
in the robot unit. Use them to
connect a motorized hand,
camera, etc.
Unpainted
Signal lines and air pipe
solenoid valves are embedded
in the top area of the second
arm. Three varieties are
available for VS-068 / 087
and one for VS-050 / 060.
Where Protected type (IP67)
is selected, the unit is left as
unpainted aluminum. Protected
type (IP67) plus standard coloring
is available as (optional) extra
specification. Contact us for
further information.
❚ External battery
extention unit
❚ Brake release unit
❚ Air purge unit
❚ Second arm cover R
(with tapped holes)
Encoder backup battery installed
outside the robot facilitates
replacement of batteries and
improves maintainability.
A Switch that allows you
to release the brake of each
axis (wiring of this switch is
directly connected to the brake
release signal of each axis).
The Protected type (IP67)
maintains an IP67 protection
level by air pressure produced
inside the robot.
This cover has tapped holes
to secure wires for the robot’s
second arm.
Maximum motion area: 605 mm
Maximum payload: 4 kg
235 mm
100 mm
193 mm
R5
R7
10
05
95 mm
VS-050
VS-068
Category
Efficient use of dead space
VS-068
Maximum motion area: 710 mm
Maximum payload: 7 kg
Part name
VS-050 / 060
VS-068 / 087
Standard type (IP40)
Protected type (IP67)
Standard type (IP40)
Protected type (IP67)
Rear connector panel
✔
✔
✔
✔
Bottom connector panel
-
-
✔
✔
Standard flange
✔
✔
✔
✔
Communication interface flange-A
✔
-
✔
-
Connector Panel
Flange
2 x solenoid valves (2 position, double solenoid)
✔
✔
-
-
3 x solenoid valves (2 position, double solenoid)
-
-
✔
✔
3 x solenoid valves (3 position, exhaust center solenoid)
-
-
✔
✔
3 x solenoid valves (3 position, closed center solenoid)
-
-
✔
✔
DENSO standard colors
✔
*1
✔
*1
Signal lines
Paint/Surface finish
-
✔
-
✔
External battery extention unit
✔
✔
✔
✔
Brake release unit
✔
✔
✔
✔
Air purge unit
-
✔
-
✔
Second arm cover R (with tapped holes)
✔
-
✔
-
Unpainted
Base
Base
Connector panel
Connector panel
VS-087
Maximum motion area: 905 mm
Maximum payload: 7 kg
24 | The New VS Series
*1. Extra specification (optional). Contact us for further information.
| 25
www.densorobotics.com
DENSO 4-AXIS ROBOTS
The DENSO range of 4-axis robots includes the HS Series and the HM Series.
Also known as SCARA (Selective Compliance Assembly Robot Arm), they are
the perfect option for a wide range of purposes.
If you are looking for a high speed, exceptionally precise arm that can handle
payloads up to 20 kg then DENSO SCARA robots are the ideal choice for
the following:
Applications
❚ Pick & Place
❚ Packaging
❚ Inspection
❚ Material handling
❚ Assembly
❚ Dispensing
❚ Material removal
❚ Bespoke applications
Main Features
❚ Cycle times ranging from 0.35 s to 0.29 s
❚ Constant precision of between ±0.025 mm and ±0.015 mm
❚ Maximum composite speed from 6300 mm/s up to 11 500 mm/s
❚ Payloads up to 20 kg
300mm
One cycle is the time taken to
complete a cycle of work from one
arrow to the other and back.
25mm
❚ All models include internal wiring
and air piping for maximum
efficiency in restricted spaces
DENSO 4 AXIS ROBOTS
❚ Arm lengths between 350 mm and 1000 mm
Because of their extremely compact dimensions, light weight and flexibility to be
mounted on both floor and ceiling, DENSO SCARA robots are perfectly suited for
environments where space is at a premium.
The circular work envelope of the robots is controlled by movement through
4-axis and, while rigid, the units have increased horizontal flexibility, enhancing
the scope of their effectiveness.
To allow operation in virtually any industrial condition, DENSO 4-axis robots are
available in the following protection classes:
Options
❚ Standard
❚ Dust & splash proof (IP65)
❚ Clean room class 10
❚ UL specifications (for the USA and Canada)
34 | DENSO 4-axis robots
| 35
www.densorobotics.com
KEY FEATURES
S (mm)
HS SERIES 350 - 550 MM
*=2:200
*=3:320
Type
L1
L2
L3
Standard
697
246
46
Dust- & splash-proof
790
Cleanroom
798
206
6
Standard
817
246
-74*1
Dust- & splash-proof
910
Cleanroom
918
206
-114*1
The DENSO HS Series of robots is ideal for circumstances where
size constraints are a key consideration.
❚ Exceptional precision: from ±0.02 mm up to ±0.015 mm
61.5
*1 If the Z-axis stroke is 320 mm, the Z axis in the lowermost
position may reach below the base mounting face.
B
225
❚ Low cycle times: 0.35 s
❚ Maximum composite speed: from 6300 mm/s up to 7200 mm/s
❚ Payloads: up to 5 kg
❚ Arm reach: from 350 mm up to 550 mm
❚ Mounting options: floor and ceiling
Ø42
13 10
❚ Operation in clean rooms
(optional specification to CC10 standard)
C1
❚ ANSI and CE compliance: allows global deployment.
Choose a Safety board / Safety box controller
D
Ø14
377
HS-4545*G
566
362
301
L2
263
312
Ø20h7
S
❚ UL specifications (for the USA and Canada)
HS-4535*G
36
L1
❚ Operation in dusty and wet environments
(optional specification to IP65 standard)
L3
HS-4555*G
workable space
145 ‹151›
190 ‹230›
DENSO 4 AXIS ROBOTS
cabling space
Ø42
Mounting configuration
HS-4535*G
HS-4545*G
HS-4555*G
4
4
4
Floor
Floor, Ceiling
Floor, Ceiling
Protection degree
IP65
IP65
IP65
Cleanroom (1)
Class 10 (ISO 1)
Class 10 (ISO 1)
Class 10 (ISO 1)
✔
✔
✔
workable space
310°
6.5
36
Unit
Number of axis
2
290°
Arm configuration
550
5
5
J1
±155
±155 (Ceiling ±152)
±155
±145
±145 (Ceiling ±141)
±145
02
450
5
-360°
(workable space)
deg
200, 320
150, 200, 320 (3)
150, 200, 320 (3)
T
deg
±360
±360
±360
7200
6300
7100
2000
2000
2000
At the center of the hand mounting flange
Ø5H7
+0.012
0
A
mm
±0
.02
+360°
(workable space)
4-Ø5.5
Motion range
Z
12
C
J2
0°
0.
350
kg
28
±
mm
Payload
130
Maximum arm reach
Ø34h7
Ø70
136
UL specification (1)
mm/s
Z
T
Cycle time
J1+J2
deg/s
2400
2400
2400
s
0.35 (with 2 kg weight)
0.35 (with 2 kg weight)
0.35 (with 2 kg weight)
mm
±0.015
±0.02
±0.02
60
Maximum composite speed
mm
±0.01
±0.01
±0.01
T
deg
±0.05
±0.05
±0.05
Allowable inertia
kgm^2
0.1 (with 5 kg)
0.1 (with 5 kg)
0.1 (with 5 kg)
Weight
kg
25
25
25
User signal line
Pneumatic pipe
Brakes
19 (for proximity sensor signals, etc.)
1. Only for floor-mounted. 2. Position repeatability is the value at constant ambient temperature. 3. Z-axis stroke 150 mm is available only for HSS (Ceiling-mounted). For details, please contact our sales.
36 | HS series 350 - 550 mm
Unit: mm
4 systems (φ4x2, φ6x2)
Brakes for Z axis (3rd axis) and T axis (4th axis)
60
4-Ø12
150
134±0.05
120
Z
45°
150
120
Position repeatability (2)
45°
2-Ø6H7 +0.012
0
43± 0.05
117 <123>
Model
A
B
C
HS-4535*G
350
125
143
HS-4545*G
450
225
136
HS-4555*G
550
325
191
| 37
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KEY FEATURES
HM SERIES 600 - 1000 MM
Type
A
B
C
D
F
HM-4060*G, HM-4A60*G
600
250
350
213
286º
HM-4070*G, HM-4A70*G
700
350
350
199
294º
HM-4085*G, HM-4A85*G
850
350
500
281
294º
HM-40A0*G, HM-4AA0*G
1000
500
500
284
294º
The DENSO HM Series of robots offers a higher payload than the
HS model range and also features a longer arm reach.
70
95
B
C
Note 1: Values denote dimensions for the 10 kg payload type (HM-40**G), and
values enclosed in () denote dimensions for the 20 kg payload type (HM-4A**G).
60
❚ Exceptional precision: from ±0.025 mm up to ±0.02 mm
8.5
❚ Low cycle times: 0.31 s and 0.29 s
❚ Maximum composite speed: from 8800 mm/s up
to 11 500 mm/s
G
27
2X
R
8 10
38
G
❚ Payloads: up to 20 kg
181
Ø17
(Ø19)
(Ø22h7)
(Ø26h7)
L1
❚ Arm reach: from 600 mm up to 1000 mm
100
❚ Mounting options: floor and ceiling
E
3N9 ( -0.029
-0.004
450
S
L3
346
L2
❚ UL specifications (for the USA and Canada)
HM-4A70*G
HM-4A85*G
G-G
ZRUNDEOHVSDFH
190 (cabling space)
128
HM-4AA0*G
188
2
HM-4A70*G
HM-4085*G
HM-4A85*G
HM-40A0*G
HM-4AA0*G
4
4
4
4
4
4
Floor
Floor, Ceiling
Floor, Ceiling
Floor, Ceiling
Floor, Ceiling
Floor
Floor
IP65
IP65
IP65
IP65
IP65
IP65
IP65
-
-
-
-
-
-
✔
✔
✔
✔
✔
✔
✔
✔
Maximum arm reach
mm
600
600
700
700
850
850
1000
1000
Payload
kg
10
20
10
20
10
20
10
20
±165
±165
±165
±165
±165
±165
±165
±165
UL specification (1)
'
+360°
(working space)
4-Ø5.5
(4-Ø6.5)
)
0
Ø5H7 ( +0.012
)
0
Ø6H7 ( +0.012
$
J1
0°
-360°
(working space)
2
-
Ø34h7
Ø70 (Ø95)
.0
Floor
IP65
( Ø50h7)
)
±0
Cleanroom
HM-4070*G
4
12
Protection degree
HM-4A60*G
4
(3
28 8 ±0
±0 .0
.0 2)
2
Mounting configuration
Arm
configuration
HM-4060*G
Unit
6.5
ƒ
Number of axis
(φ58)
(36.5 )
Ø40
DENSO 4 AXIS ROBOTS
HM-4A60*G
340
464
❚ ANSI and CE compliance: allows global deployment.
Choose a Safety board / Safety box controller
)
20.5
(24.5)
❚ Operation in dusty and wet environments
(optional specification to IP65 standard)
±147
Z
mm
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
100, 150, 200, 300 (3)
T
deg
±360
±360
±360
±360
±360
±360
±360
±360
At the center
of the hand
mounting flange
8780
8780
9570
9570
11 450
11 450
11 390
11 390
mm/s
2760
2760
2760
2760
2760
2760
2760
2760
Z
T
Cycle time
J1+J2
Position
repeatability (2)
±147 (Ceiling ±142)
Z
deg/s
2220
1540
2220
1540
2220
1540
2220
1540
s
0.29 (with
2 kg weight)
0.29 (with
2 kg weight)
0.29 (with
2 kg weight)
0.29 (with
2 kg weight)
0.31(with
2 kg weight)
0.31(with
2 kg weight)
0.31(with
2 kg weight)
0.31(with
2 kg weight)
mm
±0.02
±0.02
±0.02
±0.02
±0.025
±0.025
±0.025
±0.025
mm
±0.01
±0.01
±0.01
±0.01
±0.01
±0.01
±0.01
ZRUNDEOHVSDFH
2XØ8H7
60 )
0
(8
Maximum
composite speed
±147 (Ceiling ±145, Dust & Splash-proof
type ±146, Ceiling Dust & Splash-proof
type ±142)
45°
45°
Unit: mm
)
( +0.015
0
(reference hole)
4-R20
6
(8 0
0)
±143 (Dust & Splash-proof type ±140)
220
175
60±0.05
S
R2000
deg
J2
Motion range
4XØ14.3
±0.01
L1
L2
L3
(z axis stroke)
10 kg
20 kg
100
755
749
350
250
±0.05
±0.05
±0.05
±0.05
±0.05
±0.05
±0.05
150
805
799
350
200
0.25
(with 10 kg)
0.45
(with 20 kg)
0.25
(with 10 kg)
0.45
(with 20 kg)
0.25
(with 10 kg)
0.45
(with 20 kg)
0.25
(with 10 kg)
0.45
(with 20 kg)
200
855
849
350
150
Weight
kg
User signal line
Pneumatic pipe
Brakes
Standard: 53, Ceiling: 54, Dust & Splash-proof: 56
24 (for proximity sensor signals, etc.)
R2000
300
955
949
350
50
400 (Note 2)
1055
1049
350
-50
4 systems (φ6)
Brake for Z axis (3rd axis)
1. Only for floor-mounted. 2. Position repeatability is the value at constant ambient temperature. 3. Z-axis stroke 100 mm and 150 mm are available only for HM (floor-mounted). For details, please contact our sales.
38 | HM series 600 - 1000 mm
175
220
±0.05
kgm^2
T
200±0.05
deg
Allowable inertia
Note 2: In the case of the Z axis 400 mm stroke type, the lowermost end of the Z axis may reach a lower
position than the base mounting face.
| 39
www.densorobotics.com
KEY FEATURES
XR SERIES
84
(1001.7 )
750.5
210
200
874
( 127.7 )
(123.5)
340
192
The DENSO XR Series of robots can
be mounted on the ceiling.
Workable space
Defined by Point P
60
Point P
❚ Operation in restricted spaces
Z=135.200
❚ Faster than Cartesian robots with combined
movement of coordinated slide (X-axis) and
swivel motions (R-axis)
Point P
❚ Easily fits into low-height restrictions
(Z-Axis stroke)
36.2
200
(R-Axis stroke)
+0.012
Ø5H7 ( 0 ) Depth 7
(P.C.D. 31.5)
Ø40h
8 ( -00.0
3
Workable space
4XM5 Depth 8
9
)
Defined by Point P
❚ Corresponds with narrow frontage facility
with its compact size
1
7
Ø20H
❚ Combined compactness and wide range
motion area by original “X-R” structure
(
+0.02
0
pth
) De
6
( 922.4 )
( 1011.7 )
190
(Cable space)
( 821.7 )
( 596.7 )
270+0.05
Point P
+0.012
) reference hole
4XØ6H7 ( 0
Number of axis
Unit
Mounting configuration
XR-4341*G
XR-4371*G
XR-4372*G
XR-4373*G
XR-43A1*G
XR-43A2*G
XR-43A3*G
4
4
4
4
4
4
4
Ceiling
Ceiling
Ceiling
Ceiling
Ceiling
Ceiling
12XØ6.6
Robot Mounting Hole)
Ceiling
192
-
-
-
-
-
-
-
Cleanroom
-
-
-
-
-
-
-
-
-
-
-
-
-
-
850
450
Maximum motion area (Point P: Wrist center)
mm
850
1160
1260
1360
1460
1560
1660
Payload
kg
5
5
5
5
5
5
5
( 231.5 )
167.5
Protection degree
UL specification
439.2
100
5X100=500
450
(X-Axis stroke)
Arm configuration
DENSO 4 AXIS ROBOTS
64
( 236.2 )
46
45
248
147.5
291
( 71.2 )
(X-Axis stroke)
X-axis
mm
450
760
760
760
1060
1060
1060
R-axis
deg
±168
±168
±168
±168
±168
±168
±168
Z-axis
mm
T-axis
deg
±360
±360
±360
±360
±360
±360
±360
X + R-axis
mm/s
3650
3600
3600
3600
3240
3240
3240
Z-axis / T-axis
mm/s, deg/s
X + R-axis
mm
±0.015
±0.015
±0.015
±0.015
±0.015
±0.015
±0.015
Z-axis
mm
±0.010
±0.010
±0.010
±0.010
±0.010
±0.010
±0.010
deg
±0.005
±0.005
±0.005
±0.005
±0.005
±0.005
±0.005
51
52
53
Motion range
195.6
*=1: 135, *=2: 200
T-axis
Allowable inertia
kgm^2
Weight (2)
kg
°
168
Z: 1500, T: 720
(R-Axis rotation)
_
+
200
0
Point P
(R-Axis stroke)
Position repeatability (1)
°
168
Maximum composite speed
0.05
Workable space
33
45
46
47
User signal line
10 (for proximity sensor signals, etc.)
Pneumatic pipe
1 system (φ8) (with optional manifold valve: 4 systems (φ4x8))
Brakes
Defined by Point P
_
+
360°
360°
T-Axis rotation
Brake for Z-axis
1. Position repeatability is the value at constant ambient temperature. 2. In the case of the heaviest model (Z=200 mm).
40 | XR series
| 41
www.densorobotics.com
THE DENSO CONTROLLER
EVERYTHING YOU NEED IS JUST A TOUCH AWAY
power
O
N
O
F
F
152.4
152.1
Mini I/0
The DENSO Controller is the smallest controller in its class and provides every
conceivable feature and function. The unit is easy to use, extremely light,
adaptable and highly intuitive. Key features of the DENSO Controller include:
power err
run
❚ Very light weight: less than 20 kg
1 x Ethernet
❚
1 x RS232C
❚
2 x USB
❚
Mini I/O
❚
Safety IO
❚
Hand IO
Safety category 4
❚
Profibus
❚
DeviceNet
❚
Parallel I/O extension
PCI EXTENSION CARDS OPTIONAL
コントローラ設定表/THE SETPRM LIST
Note 1.Only the different value from the defaults of the 注記1.標準値から変更された箇所のみ値を示します。
SETPRM are written. The blank means default.
空欄のものは標準値が設定されています。
2.Write the new values on this list when 2.パラメータ値を変更した場合は、必ず下表の値の
書き直し、
または記入してください。 you modify the SETPRM values.
ソフトウェア Ver.
1パラメータ/PARAMETER
SOFTWARE Ver.
パラメ−タ
値
PARAMETER
VALUE
電池交換日
DATE OF RENEWING BAT.
1
2
3
4
5
6
7
8
1
2
負方向 3
ソフト
4
リミット 5
NLIM
6
7
8
1
2
3
4
RANG
5
6
7
8
Ethernet IP
Parallel I/O
ProfiBus
USB X2
Device Net
Ethernet/IP
RS232
Conveyor Tracking
❚ Large memory capacity: 3.25 MB (10 000 steps and 30 000 points)
❚ Utilises DENSO’s proprietary WINCAPS III software for off-line
programming, simulation and management of variables, I/Os
and log-files
User memory capacity
Language used
No. of teaching programs
IPM SLOT5*
BOARD SLOT3*
SLOT6*
SLOT4*
SLOT1* SLOT2*
設置上の注意事項
コントローラは防塵・防滴・防爆構造にはなっていません。
設置の前には取扱説明書を必ずお読みください。
コントローラの上に物を置いたり、衝撃を与えたりしないで下さい。
CAUTION IN INSTALLATION
This controller does not meet dust−proof,
3その他変更点/OTHER MODIFICATIONS
mist−proof or explosion−proof specifications.
AXIS
IPM MOTOR
AXIS
IPM MOTOR
7 *********8 *********
Read operation manual before installation.
Do not place anything on the controller,
and do not impact against the controller.
注意/CAUTION
Robot Controller外部電源を使用する場合、
仕様以外の電圧は絶対に印加しないで
RC7M−******
MODEL NO.
ください。
コントロ−ラ故障の原因になります。
410200−****
PART NO.
DO NOT input the wrong voltage when using the
*PH AC***V∼***V 50/60Hz
POWER
external power source.
It may cause the controller failuer.
***KVA
CAPACITY
****KW
TYP OUTPUT
Item
Specification
**Kg/**lb
WEIGHT
Mini I/O
DC21.6V∼26.4V
CONDITION TEMP.0to40℃,HUMIDITY.UNDER90%RH
Parallel I/O
DC21.6V∼26.4V
******
SERIAL NO.
DeviceNet
DC21.6V∼26.4V
YEAR OF PRODUCTION ****
I/O Conversion BOX
DC21.6V∼26.4V
DENSO WAVE INCORPORATED
4−2−12, TORANOMON MINATO−KU,TOKYO,
JAPAN
S−LINK V
DC22.8V∼26.4V
RS-232C
PLC OR SEQUENCER
MINI PENDANT
PARALLEL I/O SIGNAL
24/24 standard
40/48 optional
RC7M
440 x 425 x 152 mm - VP, VS, VM 18 kg / HS, HM, XR 17 kg
PTP, CP 3D linear, 3D circular / All axes: Full-digital AC Servo
3.25 MB (10 000 steps and 30 000 points) - exp. with 2.25 MB
DENSO robot language (confirming to SLIM)
255
1x Ethernet (100 Base-T)
Cabling space
(Min. 200)
553.8
440
Hand I/O Input: 8 user open points Output: 8 fixed system points
Extension I/O board (option): 40 / 48 (2 boards possible)
External communication
2サブアッセンブリ/SUBASSEMBLY
指や棒などを入れないこと
ケガのおそれあり
DO NOT insert fingers
or foreign objects into opening, or personal
injury may occur.
425
TEACHING PENDANT
Mini I/O Input: 8 user open points + 11 fixed system points Output: 8 user open points + 14 fixed system points
(Note: The global type of the controller standard cannot use system-fixed emergency stop I/Os)
External signals (I/O)
TYPE
注意/CAUTION
ETHERNET
❚ Memory can be expanded by an additional 2.25 MB
Control method / Drive system
PENDANT
Extended-Joint
Support Controller
正方向
ソフト
リミット
PLIM
2 x RS232C
Size & Weight
LAN
19
❚
Controller model
USB
Safety box
(Only for global type
with safety box)
❚ Supplementary interface options include:
❚
RS-232C
ENCODER
❚ Extensive variety of connection interfaces:
❚
Hand I/0
battery
Safety category 3
❚ Compact dimensions: 440 mm x 425 mm x 152 mm
70
Protection box
860
3x RS232C (2x option)
2x USB (for backup storage on memory stick)
PROGRAMMING DENSO ROBOTS
Profi bus slave board: 256/256 Ethernet IP
860
Field buses (option)
DeviceNet Slave 256/256
DeviceNet Master 1024/1024
Protection class
Power source
252.5
With safety box: compliant with safety category 4
IP20 (protection box IP53 available)
VP, VS, New VS, HS, HM: Single-phase, 230 V±10 %, 50/60 Hz
25
Safety category
675
DeviceNet Master & Slave 1280/1280
With safety board: compliant with safety category 3
VM: 3-phase, 200 V-15 % to 230 V+10 %, 50/60 Hz
Unit: mm
Global Type: Mini I/O Input: 8 user open points + 14 fixed system points Output: 7 user open points + 13 fixed system points
42 | The DENSO controller
| 43
DENSO TEACHING AND MINI PENDANTS
PROGRAMMING DENSO ROBOTS
POWER AT YOUR FINGERTIPS
CONTROL MADE SIMPLE
The DENSO Teaching and Mini Pendants include the following user-friendly features:
Programming robots can be an extremely time consuming and challenging task, which is why we have developed a suite of tools
designed to make the process as quick, simple and results-orientated as possible.
❚ Very light
❚ Small and compact
❚ Easy to use
PC-based options for programming DENSO robots:
❚ Safe and secure
❚ 5 Languages available: Japanese,
English, German, Korean, Chinese
Teaching pendant
Mini-pendant
Programming
✓
✓ (1)
Operating the robot and teaching
✓
✓
Maintaining
✓
✓ (2)
Liquid crystal display with backlight
640 × 480 pixels
Liquid crystal display
128 × 64 pixels
Display
Power source
Outside dimensions
DC24V (supplied from robot controller)
198 x 290 x 104 mm
Degree of protection
Weight
Cable length
❚ WINCAPS III
❚ b-CAP
DENSO’s proprietary off-line programming, monitoring
and simulation software
Binary Controller Access Protocol is an option available within
ORiN2. The system is based on Transmission Control Protocol /
Internet Protocol (TCP/IP) and connects to DENSO robots and
peripheral devices via a PC, PLC or any other appropriate device
that includes an Ethernet connection. b-CAP is platform and
programming language independent
242 x 102 x 75 mm
❚ ORiN2
IP65
1.3 kg or less
E&$3
ELQDU\&RQWUROOHU$FHVV3URWRFRO
Approx. 0.3 kg (excluding cables)
4 m, 8 m, 12 m
Pioneering middleware that allows the use of existing high-level
programming languages, including C++, C#, Visual Basic and
Java, etc. to program DENSO robots. To simplify the programming
process, ORiN2 provides two independent interfaces for accessing
devices on a network
❚ HALCON
1. Mini-pendant is not able to create and edit programs. WINCAPS III Light included with mini-pendant is available to do that.
2. Mini-pendant is able to use the following maintenance functions.
- (1) Performing CALSET
- (2) Resetting the motor encoder data
- (3) Setting the calendar clock built in the robot controller
(Date setting)
- (4) Setting the next battery replacement
- (5) Releasing and locking brakes
❚ NI LabVIEW™ Software
The graphical programming language created by National
Instruments™, NI LabVIEW™ Software has a comprehensive
extension library developed by the Italian company ImagingLab
created especially for communication with DENSO robots
NI LabVIEW™ Software is trademark of National Instruments™
44 | DENSO teaching and mini pendants
DENSO has created a comprehensive, dedicated extension package
to enable HALCON from MVTec and DENSO users to conveniently
program and control DENSO robots and their vision applications
through the same simple graphical interface
HALCON and MVTec are registered trademarks
Programming DENSO robots | 45
PROGRAMMING DENSO ROBOTS
Functions
Item
WINCAPS III
ORiN2
Off-line programming, monitoring and simulation software
Middleware for programming DENSO robots, peripheral
devices and all your factory automated processes
Based on DENSO’s PAC programming language, WINCAPS III enables users to
conveniently program, design, implement and perform maintenance on their robotic
applications. The software has been created to provide a simple and intuitive system
that includes extensive simulation features. These functions reduce the effort required
to plan, apply and maintain core robotic exercises, saving time and expenditure.
This pioneering software includes two separate and distinctive interfaces
for accessing and controlling devices on a network. One interface is used
for the development of ‘Applications and Case Studies’; and the other
is used for actually connecting to specific devices.
The Application Programming Interface (API) provides a common object
model for all of your network devices, each of which can then be
plugged into ORiN2 by creating a dedicated ‘provider’.
This separation of processes simplifies and streamlines the
implementation of your programming procedures.
ORiN2 also provides extensive protocols for internet connection.
Full Function Version
Light Version
Trial Version
Create new program / edit program
✓
✓
✓ (1)
Program bank
✓
✓ (2)
✓ (2)
3D CAD data import
✓
-
-
3D view teach NEW
✓
✓
✓
Simulation function NEW
✓
-
-
Debugging
✓
-
-
Monitoring
✓
✓ (3)
✓ (3)
Movie save function NEW
✓
✓
✓
Print
✓
-
-
Simple calibration NEW
✓
✓
✓
Entering a user ID upgrades the trial version to the Full Function version. 1. 1program (PRO1) only.
2. Number of library limited.
❚ ORiN2 provides the unified ❚ ORiN2 enables to easily
access from a PC to a lot of
use the distributed object
devices such as an industrial
technologies such as DCOM
robot and a PLC
and SOAP, and it provides
two standardized software
interfaces, Application
Interface and Device Interface
Support
Binary
CAO Engine
✓
✓
Provider Development Tools
✓
✓
CAO Provider (number)
✓
✓
(Ready-made Providers)
12
61
Test and Configuration Tools
✓
CAO-OPC
✓
CAO-SQL
✓
Item
Key advantages:
❚ Off-line programming allows robots to be programmed
through a PC without the need for a physical connection
to either the robot or the controller
❚ Input information and change variables with
ease and clarity
❚ Import CAD drawings in standard VRML and
DirectX formats
❚ Click an object with a mouse and a robot end
moves to the position immediately. Obtain the
position data (teaching) easily NEW
❚ 3D simulation of robots and peripherals allows you to
achieve the following with the minimum of effort:
Plan the layout of automated workcells in a
virtual environment
❚ Verify robot arm reach
❚
46 | Wincaps III
Determine obstacle clearances and detect
potential collisions
❚ Troubleshoot and debug programs
❚ Confirm process cycle times
❚ Save a simulation movie NEW
❚
❚ Remote monitoring
❚ Examine workcell operation using 3D simulation,
real time I/O status indicators and detailed
control logs
❚ Panel designer
❚ Customise the Teaching Pendant display to
your preferences
❚ Simple calibration
❚ Calibrate easily with simple calibration wizard NEW
ORiN2 SDK
Full-set
Package Type
3. Sampling interval: 1 sec.
❚ ORiN2 SDK enables to
use a lot of development
tools such as Visual Basic,
Visual C++ and Delphi
supporting OLE (COM,
ActiveX)
CAO-UpnP
❚ Bundle version:
This edition includes providers for
the DENSO Controller and allows
you to write program code in
standard languages
❚ ORiN2 SDK provides a
lot of utility tools which
make it easy to create
an application and a
provider. Ex. Provider
Wizard, CAO Tester
ORiN2 SDK
Runtime
Source
ORiN2 SDK
Bundle
Support
Binary
Support
Binary
✓
✓
✓
✓
✓
✓
✓
✓
✓
44
12
61
7
7
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
✓
Source
0
Source
0
✓
✓
❚ Runtime version:
This edition of ORiN2 is similar
to the Bundle version but includes
additional interfaces for device
options
❚ SDK version:
The same as the Runtime version
but with the functionality to create
custom interfaces
System Requirements: OS: Windows® 2000/XP Professional/Vista PC: CPU Pentium III 1 GHz, Memory 512 MB, HDD 500 MB
Windows is a trademark or registered trademark of Microsoft Corporation in the U.S. and/or other countries
ORiN2 | 47
PROGRAMMING DENSO ROBOTS
Item
b-CAP
ADDITIONAL SUPPORT SOFTWARE
b-CAP is based on Transmission Control Protocol / Internet Protocol (TCP/IP)
Robot Tools (based on ORiN2)
This control protocol enables connection to DENSO robots and peripheral devices using a PC, PLC or other device which
incorporates Ethernet TCP/IP or UDP.
Robot Tools is a fully featured suite of utility tools created to enable the optimum maintenance and operation of DENSO robots.
The software streamlines daily maintenance workflow and reduces the running costs of a robot after installation.
It works completely independently of any incumbent platform or programming language.
Key advantages:
Key advantages:
❚ GP operator: Operate / teach a robot
via PC with a mouse or a game pad NEW
❚ Highly flexible and powerful control through PCs, PLCs or other applicable hardware device using TCP/IP or UDP
❚ Platform and programming language independent
❚ No requirement to learn a new robotic programming language
❚ Image logger: save images and data
before and after an error NEW
NEW
❚ Virtual TP: a PC-based virtual
teaching pendant
❚ Mobile monitor: sends error
notices via email
Camera
❚ Control log analyser: provides
management of historical
data and visualisation of
servo statistics
NEW
Robot Tools
Robot
❚ Easy backup: back up all data
from controllers on the network
with one click operation
OTHER TCP/IP DEVICES
(SMART PHONE, ETC.)
VISION DEVICE
PLC
PC
Product name
Function
ETHERNET (TCP/IP or UDP)
ROBOT
CO
NT
R
LLE
RO
b-CAP
SERVER
Image Logger NEW
Virtual TP
Control Log Analyzer
Easy Backup
Mobile Monitor
Connect a robot controller with a PC and operate / teach a robot with a mouse or a game pad
Monitor current robot position / variables (Type P, J and T) or images from an isolated environment (e.g. cleanroom)
Assist an engineer to control a robot via PC.
Help to determine causes of sudden error and wrong assembly in your production. Capture images around the error and save
equipment data (I/O, variable etc.). Specify the error cause through validation of the images and the data and contribute equipment
improvement.
Works with a controller set on a manual mode: various settings can be made on the GUI based Virtual TP.
Robot teaching can also be done with a Mini Pendant.
Obtains Control Log from a designated controller and analyzes the robot operating status by graphing out the Control Log:
visualizes the operating status.
Backups and restores all data of multiple controllers with a single click.
Consolidates the compressed data: enriches the portability and maintenance performance of robot facilities.
Monitors controllers operating status and notifies errors or troubles through portable devices to an operator even not at the site.
System Requirements: OS : Windows® 2000 SP4 or later, Windows® XP SP1 or later, Windows® Vista PC : CPU Pentium® III 1 GHz or faster / Memory 512 MB
or more / HDD 500 MB or more. ORiN2 is a registered trademark of Japan Robot Association
48 | b-CAP
Additional support software | 49
PROGRAMMING DENSO ROBOTS
GP operator NEW
VISION-GUIDED ROBOTIC
SOFTWARE SOLUTIONS
VISION-GUIDED ROBOTIC
SOFTWARE SOLUTIONS
ORiN Vision
e.vision
ORiN Vision is the extensive vision library designed exclusively for ORiN2 middleware.
e.vision is a software system for programming DENSO robots using computer vision, which is based on ORiN Vision
(an extension of the ORiN2 software package).
The library allows you to directly program robot vision applications with standard high-level languages including C++,
C# and VB among others.
Using a clear and simple Graphical User Interface, e.vision allows you to directly manipulate and configure the actions of
the robot through basic trial and error.
This incredibly user-friendly and easy to use system is intended for engineers and system integrators with limited knowledge
of computer vision.
Key advantages:
Key advantages:
❚ Built-in processing functions use the OpenCV standard
❚ High-level image processing fuctionality
❚ The system is hardware independent allowing you to connect to any off-the-shelf camera regardless of interface (analogue,
USB, IEE 2394, etc.)
❚ Fast and efficient procedures result in short development times
❚ Extremely user-friendly structure and interface
❚ The easy vision configuration tool for “pick and place” applications is exceptionally fast, simple and effective
❚ It works extensively with Anyfeeders from Flexfactory
❚ It is also possible to directly configure Flexfactory’s Anyfeeders
❚ It includes two helpful Wizards that provide step-by-step guidance through core features including camera
calibration and your vision applications
BASIC STRUCTURE
USER CUSTOMIZED
ORiN2 APPLICATION
INTERACTIVE
PROGRAMMING TOOL
API LAYER: ORiN2, DENSO
ORiN2 standard functions
(ex.) asynchronous processing, distributed processing,
dynamic binding
CAO ENGINE
INTERACTIVE VISION
PROGRAMMING TOOL
EASY CAMERA
CALIBRATION FUNCTION
ROBOT VISION LAYER: ORiN VISION, DENSO
Robot vision functions
(ex.) image model management, calibration,
OCR / BarCode / QR Code
QR DECODE
OPENCV
DIRECTSHOW
MODEL
DataBase
IMAGE PROCESSED WITH
GUI OPERATRION
CAMERA
PROGRAMMING DENSO ROBOTS
SAMPLE PROGRAM
IMAGE PROCESSING LAYER: OPENCV,
INTEL (OPEN SOURCE)
Image processing functions – Basic vision functions
IMAGE ACQUISITION: DIRECTSHOW, MICROSOFT (OS STANDARD)
PC camera connection function – Quick camera setup
MOVING A CHESSBOARD
WHILE TAKING PICTURES
50 | Vision-guided robotic software solutions - ORiN Vision
Vision-guided robotic software solutions - e.vision | 51
VISION-GUIDED ROBOTIC
SOFTWARE SOLUTIONS
ROBOTIC CALIBRATION TOOLS
HALCON from MVTec with extension package for DENSO robots based on ORiN2
ROSY (Robot Optimization System) calibration kit for DENSO robots
HALCON software provides an integrated development environment (IDE) for machine vision and has become one of the
worldwide industry standards.
Certain robotic tasks and applications require a level of precision and accuracy of pose that can only be achieved through
more advanced methods of calibration.
Because HALCON is so widely used and highly regarded, DENSO has created a comprehensive, dedicated extension package to
enable HALCON and DENSO users to conveniently program DENSO robots and control their vision applications through the same
simple graphical interface.
The ROSY (Robot Optimization System) calibration kit enables you to achieve these advanced levels of precision in a
sophisticated, direct and straight forward manner.
This integrated development environment, which is called HDevelop, is intended for engineers with a thorough knowledge
of machine vision, but with a limited understanding of robotics.
ROSY utilises a calibration sphere and cameras to assess kinetic errors. The resulting correction values are calculated
and the control parameters can then be adjusted accordingly with a minimum of effort.
Key advantages:
Key advantages:
❚ DENSO robots can be programmed
directly using one clear and practical interface
❚ The user can increase the already exceptional accuracy of DENSO robots even further for special applications
❚ The DENSO extension package is conveniently
and seamlessly incorporated into the HALCON
integrated development environment, HDevelop
❚ No previous experience of robotic programming
is required
❚ The whole process can be accomplished easily and is usually completed in less than an hour
❚ Identical and accurate robot cells can be created quickly and efficiently
by
❚ On-site calibration service
Extension Package
for DENSO robots
PROGRAMMING DENSO ROBOTS
❚ The HALCON extension package offers a complete
and powerful solution with more than 1400
commands for operations including blob analysis,
morphology, pattern matching, measuring,
identification and 3D vision
52 | Vision-guided robotic software solutions - HALCON
Robotic calibration tools - ROSY | 53
SIMULATION TOOLS
3DCreate
Implementing a professional robotic solution is a substantial and serious project which can have a major impact on the whole
of your business. Whether you are investing in a single arm, or a complete automated production facility, it is vital that you are
confident in the potential performance of your installation.
Visual Components® – the world’s leading provider of 3D robotic and manufacturing software created 3DCreate® which is a
simple, quick and cost-effective software tool that enables machine builders, system integrators and manufacturers to simulate
complete factory layouts in a virtual environment.
This highly innovative and powerful solution provides all of the functions you need to create new simulated components from
existing 3D CAD data, allowing you to customise, observe and evaluate your industrial robotic applications in advance.
Key advantages:
CUSTOM APPLICATION
❚ Use ready-made robot models from online eCatalogue
❚ Easy plug’n’play interface for layout design
❚ Integrate robot cells with factory layouts
❚ Parametric components suit various customer cases
❚ Connect to an external controller
For more information please visit www.visualcomponents.com
54 | Simulation tools
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