Denso HS-G Series General Information Manual
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Denso HS-G Series General Information Manual

Denso HS-G Series General Information Manual

Horizontal articulated robot
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ROBOT
Horizontal articulated
HS-G SERIES
GENERAL INFORMATION ABOUT ROBOT

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Summary of Contents for Denso HS-G Series

  • Page 1 ROBOT Horizontal articulated HS-G SERIES GENERAL INFORMATION ABOUT ROBOT...
  • Page 2 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...
  • Page 3 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 Model (Note 1) Series Overall arm length...
  • Page 4 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.

  • Page 5: Table Of Contents

    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..............................

  • Page 7: Chapter 1 Packing List Of The Robot

    Chapter 1 Packing List of the Robot Chapter 1 Packing List of the Robot Standard Components The components listed below are contained in the product package. Standard Components Item Q'ty Robot unit Robot controller Power cable (5 m) Motor & encoder cable (Option) (Note 1) Manuals (“Manual Pack CD”...

  • Page 8: Optional Components

    Optional Components The table below lists the optional components. Optional Components (1) Classification No. Item Remarks Part No. (8 m) Incl. Nos. 1-1 and 1-2. 410149-0940 Standard I/O cable set (15 m) Incl. Nos. 1-1 and 1-2. 410149-0950 (8 m) 410141-2700 I/O cable for “Mini I/O”...
  • Page 9 Board manufacturer: Hilscher GmbH Added when the board is 410006-0310 etc.) Model: CIF50-DPS DENSO purchased as a spare part Shipped after integrated in the 410006-0800 EtherNet/IP function controller Board manufacturer: Hilscher GmbH Added when the board is...

  • Page 10: Chapter 2 Configuration Of The Robot System

    Components with numbers in () are the standard components contained in the product package listed on page 1. Note 2: 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)

  • Page 11: Names Of Robot Unit Components

    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)

  • Page 12: Name Plate

    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.

  • Page 13: Warning And Caution Labels

    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.

  • Page 14: 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. Marking Name...

  • Page 15: Chapter 3 Specifications Of The Robot Unit

    Chapter 3 Specifications of the Robot Unit Chapter 3 Specifications of the Robot Unit 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 HS-4535*G HS-4545*G HS-4555*G...
  • Page 16 Item Specifications Clean class for cleanroom type Class 10 (0.1 μ) at point-of-use (FED-STD-209D) Airborne noise (A-weighted equivalent continuous sound 80 dB or less pressure level) Weight 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...

  • Page 17: Outer Dimensions And Workable Space Of The Robot Unit (Hs/Hss-G)

    Chapter 3 Specifications of the Robot Unit 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 designed with a preset motion-prohibited area where the robot cannot work.
  • Page 18 (1) Outer dimensions and workable space (HS-G series; Floor-mount)
  • Page 19 Chapter 3 Specifications of the Robot Unit (2) Outer dimensions and workable space (HS-G-UL series; UL-Listed, Floor-mount)
  • Page 20 (3) Outer dimensions and workable space (HSS-4545*G; Arm length 450 mm, Overhead-mount, Standard type)
  • Page 21 Chapter 3 Specifications of the Robot Unit (4) Outer dimensions and workable space (HSS-4555*G; Arm length 550 mm, Overhead-mount, Standard type)
  • Page 22 (5) Outer dimensions and workable space (HSS-4545*G-W; Arm length 450 mm, Overhead-mount, Dust- & splash-proof type)
  • Page 23 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)

  • Page 24: Robot Positioning Time (Hs/Hss-G)

    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.
  • Page 25 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...
  • Page 26 Z axis (PTP control) on the HS-4535*G T axis (PTP control) on the HS-4535*G...
  • Page 27 Chapter 3 Specifications of the Robot Unit All axes (CP control) on the HS-4535*G...
  • Page 28 (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...
  • Page 29 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...
  • Page 30 All axes (CP control) on the HS/HSS-4545*G...
  • Page 31 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...
  • Page 32 Z axis (PTP control) on the HS/HSS-4555*G T axis (PTP control) on the HS/HSS-4555*G...
  • Page 33 Chapter 3 Specifications of the Robot Unit All axes (CP control) on the HS/HSS-4555*G...

  • Page 34: Notes For Setting The Positioning Speed (Hs/Hss-G)

    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.
  • Page 35 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.

  • Page 36: Air Piping And Signal Wiring

    Connector set part No. Part No. Model and name Appearance SRCN6A25-24S 410877-0170 (Round connector) (for CN20) (Japan Aviation Electronics Industry Ltd.) 410889-0070 JMSP2119M 410877-0420 (Straight plug) (for CN21) (DDK Electronics, Inc.) Air Piping and Signal Wiring (HS-G series; Standard type)
  • Page 37 Applicable wire 410877-0140 H/MS3057-12A1 (Cord clamp) diameter (for CN20) (HIROSE ELECTRIC CO., LTD.)  8 to 11.6 410877-0440 EBSP2119M (Straight plug) (for CN21) (DDK Electronics, Inc.) Air Piping and Signal Wiring (HS-G series; Dust- & splash-proof type or Cleanroom type)
  • Page 38 (HIROSE ELECTRIC CO., LTD.) 11.4 to 15.9 410889-0140 Applicable wire 410877-0140 H/MS3057-12A1 (Cord clamp) diameter (for CN20) (HIROSE ELECTRIC CO., LTD.)  8 to 11.6 410877-0420 JMSP2119M (Straight plug) (for CN21) (DDK Electronics, Inc.) Air Piping and Signal Wiring (HS-G series; UL-Listed)

  • Page 39: Instructions For Using Splash-Proof Connector Sets

    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,"...

  • Page 40: Engineering-Design Notes For Robot Hands (Hs/Hss-G)

    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.
  • Page 41 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.
  • Page 42 Moment-of-inertia Formulas 1. Cylinder (1) 4. Sphere (Axis of rotation = Center axis) (Axis of rotation = Center axis) 2. Cylinder (2) 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 3.

  • Page 43: Stopping Time And Distance (Angle) At An Emergency Stop

    Chapter 3 Specifications of the Robot Unit 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.
  • Page 44 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)
  • Page 45 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)
  • Page 46 (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)
  • Page 47 Chapter 3 Specifications of the Robot Unit Z stopping distance vs. speed at an emergency stop (HS-4555*G series)

  • Page 48: Chapter 4 Specifications Of The Robot Controller

    Chapter 4 Specifications of the Robot Controller 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...
  • Page 49 Chapter 4 Specifications of the Robot Controller RC7M Controller Specifications (2) (HS-G series) Item Specifications Temperature: 0 to 40C Environmental conditions (in operation) 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...

  • Page 50: Outer Dimensions

    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...

  • Page 51: Controller Setting Table

    Chapter 4 Specifications of the Robot Controller 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>...

  • Page 52: Chapter 5 Warranty

    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.

  • Page 53: Chapter 6 Appendix

    Chapter 6 Appendix Chapter 6 Appendix 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.
  • Page 55 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.

This manual is also suitable for:

Hs-4535gHs-4545gHs-4555gHss-4555gHss-4545g

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