Page 1 ROBOT Horizontal articulated HM-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) Overall arm length Series...
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 Axes (Joints) of the Robot Unit ......................5 2.2.1 Robot Unit Components and Rotation Direction ..................
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 Shipped after integrated in the 410006-0800 EtherNet/IP function controller Board manufacturer: Hilscher GmbH Added when the board is Model: CIFX 50-RE\DENSO 410006-0810 purchased as a spare part Extension only upon controller Optional function for memory extension 410006-0320 shipment (3.25 MB to 5.5 MB)
Page 10: Chapter 2 Configuration Of The Robot System
Chapter 2 Configuration of the Robot System Configurators The figure below shows configurators of the typical robot system. I/O conversion box (option) (1) Robot unit PLC (prepared by customer) (3) Power cable (2) Robot controller I/O cable (option) (14) Air regulator (excluding the splash-proof type) (4) Motor &...
Page 11: Names Of Axes (Joints) Of The Robot Unit
Chapter 2 Configuration of the Robot System Names of Axes (Joints) of the Robot Unit 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. Note: The UL-Listed robot unit has the motor ON lamp on the 2nd arm.
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
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 HM-G series (Encoders connected via bus) Connector No.
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 (HM/HMS-G series) The table below lists the specifications of the HM/HMS-G series of robot units. (1) HM-G Series Robot Unit (Floor-mount, Standard type) Item Specifications Model name of robot set HM-4060*...
Page 16 (2) HM-G-W Series Robot Unit (Floor-mount, Dust- & splash-proof type) Item Specifications Model name of robot set HM-4060* HM-4A60* HM-4070* HM-4A70* HM-4085* HM-4A85* HM-40A0* HM-4AA0* (Note 1) HM-4060* HM-4A60* HM-4070* HM-4A70* HM-4085* HM-4A85* HM-40A0* HM-4AA0* Model name of robot unit E/GM-W E/GM-W E/GM-W...
Page 17 Chapter 3 Specifications of the Robot Unit (3) HM-G-UL Series Robot Unit (Floor-mount, UL-Listed) Item Specifications Model name of robot set HM-4060* HM-4A60* HM-4070* HM-4A70* HM-4085* HM-4A85* HM-40A0* HM-4AA0* G-UL G-UL G-UL G-UL G-UL G-UL G-UL G-UL (Note 1) HM-4060* HM-4A60* HM-4070* HM-4A70*...
Page 18 (4) HMS-G Series Robot Unit (Overhead-mount, Standard type) Item Specifications Model name of robot set HMS-4070*G HMS-4A70*G HMS-4085*G HMS-4A85*G (Note 1) Model name of robot unit HMS-4070* E/GM HMS-4A70* E/GM HMS-4085* E/GM HMS-4A85* E/GM 350(J1: 1st axis) + 350 (J2: 2nd axis) 350(J1: 1st axis) + 500 (J2: 2nd axis) Overall arm length = 700 mm...
Page 19 Chapter 3 Specifications of the Robot Unit (5) HMS-G-W Series Robot Unit (Overhead-mount, Dust- & splash-proof type) Item Specifications Model name of robot set HMS-4070*G-W HMS-4A70*G-W HMS-4085*G-W HMS-4A85*G-W (Note 1) Model name of robot unit HMS-4070*E/GM-W HMS-4A70*E/GM-W HMS-4085*E/GM-W HMS-4A85*E/GM-W 350(J1: 1st arm) + 350 (J2: 2nd arm) 350(J1: 1st arm) + 500 (J2: 2nd arm) Overall arm length = 700 mm...
Page 20: Outer Dimensions And Workable Space Of The Robot Unit (Hm/Hms-G)
Outer Dimensions and Workable Space of the Robot Unit (HM/HMS-G) The figure below shows the outer dimensions and workable space of the HM/HMS-G series. (1) HM-G Series Robot Unit (Floor-mount, Standard type) Outer dimensions and workable space (HM-G)
Page 21 Chapter 3 Specifications of the Robot Unit (2) HM-G-W Series Robot Unit (Floor-mount, Dust- & splash-proof type) Outer dimensions and workable space (HM-G-W)
Page 22 (3) HM-G-UL Series Robot Unit (Floor-mount, UL-Listed) Outer dimensions and workable space (HM-G-UL)
Page 23 Chapter 3 Specifications of the Robot Unit (4) HMS-G Series Robot Unit (Overhead-mount, Standard type) Outer dimensions and workable space (HMS-G)
Page 24 (5) HMS-G-W Series Robot Unit (Overhead-mount, Dust- & splash-proof type) Outer dimensions and workable space (HMS-G-W)
Page 25: Robot Positioning Time (Hm/Hms-G Series)
Chapter 3 Specifications of the Robot Unit Robot Positioning Time (HM/HMS-G series) 1. The graphs given on the following pages show the positioning times used to calculate the cycle time. See Chapter 6 Appendix for operating time of each axis. 2.
Page 26 (1) HM40602G/HM40602G-W CP operation Load: Load: Travel distance (mm) (2)HM40603G/HM40603G-W CP operation Load: Load: Travel distance (mm)
Page 27 Chapter 3 Specifications of the Robot Unit (3)HM40604G/HM40604G-W CP operation Load: Load: Travel distance (mm) (4)HM40702G & HMS40702G/HM40702G-W & HMS40702G-W CP operation Load: Load: Travel distance (mm)
Page 28 (5)HM40703G & HMS40703G/HM40703G-W & HMS40703G-W CP operation Load: Load: Travel distance (mm) (6)HM40704G & HMS40704G/HM40704G-W & HMS40704G-W CP operation Load: Load: Travel distance (mm)
Page 29 Chapter 3 Specifications of the Robot Unit (7)HM40852G & HMS40852G/HM40852G-W & HMS40852G-W CP operation Load: Load: Travel distance (mm) (8)HM40853G & HMS40853G/HM40853G-W & HMS40853G-W CP operation Load: Load: Travel distance (mm)
Page 30 (9)HM40854G & HMS40854G/HM40854G-W & HMS40854G-W CP operation Load: Load: Travel distance (mm) (10)HM40A02G/HM40A02G-W CP operation Load: Load: Load: Load: Load: Load: Load: Travel distance (mm)
Page 31 Chapter 3 Specifications of the Robot Unit (11)HM40A03G/HM40A03G-W CP operation Load: Load: Load: Load: Load: Load: Travel distance (mm) (12)HM40A04G/HM40A04G-W CP operation Load: Load: Load: Load: Load: Travel distance (mm)
Page 32 (13)HM4A602G/HM4A602G-W CP operation Load: Load: Load: Load: Load: Load: Load: Travel distance (mm) (14)HM4A603G/HM4A603G-W CP operation Load: Load: Load: Load: Load: Load: Travel distance (mm)
Page 33 Chapter 3 Specifications of the Robot Unit (15)HM4A604G/HM4A604G-W CP operation Load: Load: Load: Load: Load: Travel distance (mm) (16)HM4A702G & HMS4A702G/HM4A702G-W & HMS4A702G-W CP operation Load: Load: Load: Load: Load: Load: Load: Travel distance (mm)
Page 34 (17)HM4A703G & HMS4A703G/HM4A703G-W & HMS4A703G-W CP operation Load: Load: Load: Load: Load: Load: Travel distance (mm) (18)HM4A704G & HMS4A704G/HM4A704G-W & HMS4A704G-W CP operation Load: Load: Load: Load: Load: Travel distance (mm)
Page 35 Chapter 3 Specifications of the Robot Unit (19)HM4A852G & HMS4A852G/HM4A852G-W & HMS4A852G-W CP operation Load: Load: Load: Load: Load: Load: Load: Travel distance (mm) (20)HM4A853G & HMS4A853G/HM4A853G-W & HMS4A853G-W CP operation Load: Load: Load: Load: Load: Load: Travel distance (mm)
Page 36 (21)HM4A854G & HMS4A854G/HM4A854G-W & HMS4A854G-W CP operation Load: Load: Load: Load: Load: Travel distance (mm) (22)HM4AA02G/HM4AA02G-W CP operation Load: Load: Load: Load: Load: Load: Load: Travel distance (mm)
Page 37 Chapter 3 Specifications of the Robot Unit (23)HM4AA03G/HM4AA03G-W CP operation Load: Load: Load: Load: Load: Load: Travel distance (mm) (24)HM4AA04G/HM4AA04G-W CP operation Load: Load: Load: Load: Load: Travel distance (mm)
Page 38: Notes For Setting The Positioning Speed (Hm/Hms-G Series)
Notes for Setting the Positioning Speed (HM/HMS-G series) ■ To be applied to all models of the HM-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.
Page 39 Chapter 3 Specifications of the Robot Unit ■ To be applied to all models of the HMS-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 40: Air Piping And Signal Wiring (Hm/Hms-G Series)
Air Piping and Signal Wiring (HM/HMS-G series) The HM/HMS-G series is equipped with 4 air pipes (6) for air chuck and 24 signal lines in the robot unit. (1) HM/HMS-G series (Standard type) Note 1: Pins #1 to #24 on CN21 and those on CN20 are connected with each other. The maximum rated current per line is 1A.
Page 41 Chapter 3 Specifications of the Robot Unit (2) HM/HMS-G-W series (Dust- & splash-proof type) Note 1: Pins #1 to #24 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.
Page 42 (3) HM-G-UL (UL-Listed) Note 1: Pins #1 to #24 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.
Page 43: 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 44: Engineering-Design Notes For Robot Hands (Hm/Hms-G Series)
Engineering-design Notes for Robot Hands (HM/HMS-G series) Design a hand (end-effector) so that it will satisfy conditions (1) and (3) 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 45 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.
Page 46 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 47: 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 48 Z stopping distance vs. speed at an emergency stop (HM-4060*G) (2) HM-4060*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4060*G-W)
Page 49 Chapter 3 Specifications of the Robot Unit J1, J2 stopping distance vs. speed at an emergency stop (HM-4060*G-W) Z stopping distance vs. speed at an emergency stop (HM-4060*G-W)
Page 50 (3) HM-4070*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4070*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4070*G)
Page 51 Chapter 3 Specifications of the Robot Unit Z stopping distance vs. speed at an emergency stop (HM-4070*G) (4) HM-4070*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4070*G-W)
Page 52 J1, J2 stopping distance vs. speed at an emergency stop (HM-4070*G-W) Z stopping distance vs. speed at an emergency stop (HM-4070*G-W)
Page 53 Chapter 3 Specifications of the Robot Unit (5) HM-4085*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4085*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4085*G)
Page 54 Z stopping distance vs. speed at an emergency stop (HM-4085*G) (6) HM-4085*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4085*G-W)
Page 55 Chapter 3 Specifications of the Robot Unit J1, J2 stopping distance vs. speed at an emergency stop (HM-4085*G-W) Z stopping distance vs. speed at an emergency stop (HM-4085*G-W)
Page 56 (7) HM-40A0*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-40A0*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-40A0*G)
Page 57 Chapter 3 Specifications of the Robot Unit Z stopping distance vs. speed at an emergency stop (HM-40A0*G) (8) HM-40A0*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-40A0*G-W)
Page 58 J1, J2 stopping distance vs. speed at an emergency stop (HM-40A0*G-W) Z stopping distance vs. speed at an emergency stop (HM-40A0*G-W)
Page 59: Maximum Payload 20 Kg Type
Chapter 3 Specifications of the Robot Unit 3.7.2 Maximum Payload 20 kg Type (1) HM-4A60*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A60*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4A60*G)
Page 60 Z stopping distance vs. speed at an emergency stop (HM-4A60*G) (2) HM-4A60*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A60*G-W)
Page 61 Chapter 3 Specifications of the Robot Unit J1, J2 stopping distance vs. speed at an emergency stop (HM-4A60*G-W) Z stopping distance vs. speed at an emergency stop (HM-4A60*G-W)
Page 62 (3) HM-4A70*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A70*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4A70*G)
Page 63 Chapter 3 Specifications of the Robot Unit Z stopping distance vs. speed at an emergency stop (HM-4A70*G) (4) HM-4A70*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A70*G-W)
Page 64 J1, J2 stopping distance vs. speed at an emergency stop (HM-4A70*G-W) Z stopping distance vs. speed at an emergency stop (HM-4A70*G-W)
Page 65 Chapter 3 Specifications of the Robot Unit (5) HM-4A85*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A85*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4A85*G)
Page 66 Z stopping distance vs. speed at an emergency stop (HM-4A85*G) (6) HM-4A85*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4A85*G-W)
Page 67 Chapter 3 Specifications of the Robot Unit J1, J2 stopping distance vs. speed at an emergency stop (HM-4A85*G-W) Z stopping distance vs. speed at an emergency stop (HM-4A85*G-W)
Page 68 (7) HM-4AA0*G series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4AA0*G) J1, J2 stopping distance vs. speed at an emergency stop (HM-4AA0*G)
Page 69 Chapter 3 Specifications of the Robot Unit Z stopping distance vs. speed at an emergency stop (HM-4AA0*G) (8) HM-4AA0*G-W series J1, J2, Z stopping time vs. speed at an emergency stop (HM-4AA0*G-W)
Page 70 J1, J2 stopping distance vs. speed at an emergency stop (HM-4AA0*G-W) Z stopping distance vs. speed at an emergency stop (HM-4AA0*G-W)
Page 71: Chapter 4 Specifications Of The Robot Controller
No. of controllable axes Up to four axes simultaneously 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)
Page 72 RC7M Controller Specifications (2) (HM-G series) Item Specifications Environmental conditions Temperature: 0 to 40°C (in operation) Humidity: 90% RH or less (no condensation allowed) Three-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz, 2.45 kVA Power source Single-phase, 230 VAC-10% to 230 VAC+10%, 50/60 Hz, 2.45 kVA Degree of protection IP20 Standard type:...
Page 73: Outer Dimensions
Chapter 4 Specifications of the Robot Controller Outer Dimensions Figure below shows the outer dimensions of the robot controller. Outer Dimensions of Robot Controller (HM-G series) Outer Dimensions of RC7M Robot Controller...
Page 74: Controller Setting Table
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.
Page 75: 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 76: Chapter 6 Appendix
Chapter 6 Appendix Operating time of each axis (1)HM40602G...
Page 77 Chapter 6 Appendix...
Page 78 (2)HM40602G-W...
Page 79 Chapter 6 Appendix...
Page 80 (3)HM40603G...
Page 81 Chapter 6 Appendix...
Page 82 (4)HM40603G-W...
Page 83 Chapter 6 Appendix...
Page 84 (5)HM40604G...
Page 85 Chapter 6 Appendix...
Page 86 (6)HM40604G-W...
Page 87 Chapter 6 Appendix...
Page 88 (7)HM40702 & HMS40702G...
Page 89 Chapter 6 Appendix...
Page 90 (8)HM40702G-W & HMS40702G-W...
Page 91 Chapter 6 Appendix...
Page 92 (9)HM40703G & HMS40703G...
Page 93 Chapter 6 Appendix...
Page 94 (10)HM40703G-W & HMS40703G-W...
Page 95 Chapter 6 Appendix...
Page 96 (11)HM40704G & HMS40704G...
Page 97 Chapter 6 Appendix...
Page 98 (12)HM40704G-W & HMS40704G-W...
Page 99 Chapter 6 Appendix...
Page 100 (13)HM40852G & HMS40852G...
Page 101 Chapter 6 Appendix...
Page 102 (14)HM40852G-W & HMS40852G-W...
Page 103 Chapter 6 Appendix...
Page 104 (15)HM40853G & HMS40853G...
Page 105 Chapter 6 Appendix...
Page 106 (16)HM40853G-W & HMS40853G-W...
Page 107 Chapter 6 Appendix...
Page 108 (17)HM40854G & HMS40854G...
Page 109 Chapter 6 Appendix...
Page 110 (18)HM40854G-W & HMS40854G-W...
Page 111 Chapter 6 Appendix...
Page 112 (19)HM40A02G...
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Page 114 (20)HM40A02G-W...
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Page 116 (21)HM40A03G...
Page 117 Chapter 6 Appendix...
Page 118 (22)HM40A03G-W...
Page 119 Chapter 6 Appendix...
Page 120 (23)HM40A04G...
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Page 122 (24)HM40A04G-W...
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Page 124 (25)HM4A602G...
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Page 126 (26)HM4A602G-W...
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Page 128 (27)HM4A603G...
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Page 130 (28)HM4A603G-W...
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Page 132 (29)HM4A604G...
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Page 134 (30)HM4A604G-W...
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Page 136 (31)HM4A702G & HMS4A702G...
Page 137 Chapter 6 Appendix...
Page 138 (32)HM4A702G-W & HMS4A702G-W...
Page 139 Chapter 6 Appendix...
Page 140 (33)HM4A703G & HMS4A703G...
Page 141 Chapter 6 Appendix...
Page 142 (34)HM4A703G-W & HMS4A703G-W...
Page 143 Chapter 6 Appendix...
Page 144 (35)HM4A704G & HMS4A704G...
Page 145 Chapter 6 Appendix...
Page 146 (36)HM4A704G-W & HMS4A704G-W...
Page 147 Chapter 6 Appendix...
Page 148 (37)HM4A852G & HMS4A852G...
Page 149 Chapter 6 Appendix...
Page 150 (38)HM4A852G-W & HMS4A852G-W...
Page 151 Chapter 6 Appendix...
Page 152 (39)HM4A853G & HMS4A853G...
Page 153 Chapter 6 Appendix...
Page 154 (40)HM4A853G-W & HMS4A853G-W...
Page 155 Chapter 6 Appendix...
Page 156 (41)HM4A854G & HMS4A854G...
Page 157 Chapter 6 Appendix...
Page 158 (42)HM4A854G-W & HMS4A854G-W...
Page 159 Chapter 6 Appendix...
Page 160 (43)HM4AA02G...
Page 161 Chapter 6 Appendix...
Page 162 (44)HM4AA02G-W...
Page 163 Chapter 6 Appendix...
Page 164 (45)HM4AA03G...
Page 165 Chapter 6 Appendix...
Page 166 (46)HM4AA03G-W...
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Page 168 (47)HM4AA04G...
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Page 172: Conformity With Standards By Robot Model
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 173 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.

Denso Faber HM-G Series General Information Manual

Chapter 1 Packing List of the Robot

Chapter 2 Configuration of the Robot System

Chapter 3 Specifications of the Robot Unit

Chapter 4 Specifications of the Robot Controller

Chapter 5 Warranty

Chapter 6 Appendix

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