ROBOT Horizontal articulated HS-G SERIES GENERAL INFORMATION ABOUT ROBOT
Copyright © DENSO WAVE INCORPORATED, 2005-2011 All rights reserved. No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher. Specifications are subject to change without prior notice. All products and company names mentioned are trademarks or registered trademarks of their respective holders.
Preface Thank you for purchasing this high-speed, high-accuracy assembly robot. Before operating your robot, read this manual carefully to safely get the maximum benefit from your robot in your assembling operations.
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.
Contents Chapter 1 Packing List of the Robot............................................................................................................................... 1 1.1 Standard Components ........................................................................................................................................... 1 1.2 Optional Components............................................................................................................................................
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.
1.2 Optional Components The table below lists the optional components. Optional Components (1) Classification No. 1 1-1 I/O cables 1-2 Item Remarks Standard I/O cable set I/O cable for “Mini I/O” (68pins) I/O cable for “HAND I/O” 2 I/O cable for “Parallel I/O board” (96 pins) 3 I/O cable for “SAFETY I/O” (Only for global type) 4 Teach pendant (36 pins) (8 m) Incl. Nos. 1-1 and 1-2. 410149-0940 (15 m) Incl. Nos. 1-1 and 1-2.
Chapter 1 Packing List of the Robot Optional Components (2) Classification No. 12 13 Optional functions (For own optional board etc.) 14 Item Remarks Optional function for RS232C board Board manufacturer: CONTEC CO., LTD. Model: COM-2P(PCI)H Optional function for S-LINK V board Board manufacturer: SUNX CO., LTD.
Chapter 2 Configuration of the Robot System 2.1 Configurators The figure below shows configurators of the typical robot system.
Chapter 2 Configuration of the Robot System 2.2 2.2.1 Names of Robot Unit Components Robot Unit Components and Rotation Direction The figure below shows the names of the components of the robot unit and the rotation direction of each axis. Note: The UL-Listed robot unit has the motor ON lamp on the 2nd arm.
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.
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.
2.3 Names of the Robot Controller Components The figure below shows the names of the robot controller components. Note: For warning and caution labels pasted on the controller, refer to the RC7M CONTROLLER MANUAL. Connectors for the HS-G series (Encoders connected via bus) Connector No.
Chapter 3 Specifications of the Robot Unit Chapter 3 Specifications of the Robot Unit 3.1 Robot Specifications (HS/HSS-G) The table below lists the specifications of the HS-/HSS-G series of robot units.
Item Specifications Clean class for cleanroom type (FED-STD-209D) Airborne noise (A-weighted equivalent continuous sound pressure level) Weight Class 10 (0.1 μ) at point-of-use 80 dB or less Approx. 25 kg (55 lbs) (See the name plate on each model.
Chapter 3 Specifications of the Robot Unit 3.2 Outer Dimensions and Workable Space of the Robot Unit (HS/HSS-G) The outer dimensions and workable space of the HS/HSS-G series are shown on the following pages. NOTE: The overhead-mount type of robots is motion-prohibited area where the robot cannot work. designed with a preset The motion-prohibited area of the overhead-mount type is set to AREA7 that is specified in the defined interference check area setting.
(1) Outer dimensions and workable space (HS-G series; Floor-mount) 12
Chapter 3 Specifications of the Robot Unit (2) Outer dimensions and workable space (HS-G-UL series; UL-Listed, Floor-mount) 13
(3) Outer dimensions and workable space (HSS-4545*G; Arm length 450 mm, Overhead-mount, Standard type) 14
Chapter 3 Specifications of the Robot Unit (4) Outer dimensions and workable space (HSS-4555*G; Arm length 550 mm, Overhead-mount, Standard type) 15
(5) Outer dimensions and workable space (HSS-4545*G-W; Arm length 450 mm, Overhead-mount, Dust- & splash-proof type) 16
Chapter 3 Specifications of the Robot Unit (6) Outer dimensions and workable space (HSS-4555*G-W; Arm length 550 mm, Overhead-mount, Dust- & splash-proof type) 17
3.3 Robot Positioning Time (HS/HSS-G) 1. The graphs given on the following pages show the positioning times used to calculate the cycle time. 2. Positioning time refers to the time length required from the start of robot operation to the arrival at the target positioning point. 3. After the robot moves to and passes the target positioning point, vibration will be dampened and the robot will be positioned at the target positioning point as shown in the figure below.
Chapter 3 Specifications of the Robot Unit (1) HS-4535*G J1 axis (PTP control) on the HS-4535*G J2 axis (PTP control) on the HS-4535*G 19
Z axis (PTP control) on the HS-4535*G T axis (PTP control) on the HS-4535*G 20
Chapter 3 Specifications of the Robot Unit All axes (CP control) on the HS-4535*G 21
(2) HS/HSS-4545*G J1 axis (PTP control) on the HS/HSS-4545*G J2 axis (PTP control) on the HS/HSS-4545*G 22
Chapter 3 Specifications of the Robot Unit Z axis (PTP control) on the HS/HSS-4545*G T axis (PTP control) on the HS/HSS-4545*G 23
All axes (CP control) on the HS/HSS-4545*G 24
Chapter 3 Specifications of the Robot Unit (3) HS/HSS-4555*G J1 axis (PTP control) on the HS/HSS-4555*G J2 axis (PTP control) on the HS/HSS-4555*G 25
Z axis (PTP control) on the HS/HSS-4555*G T axis (PTP control) on the HS/HSS-4555*G 26
Chapter 3 Specifications of the Robot Unit All axes (CP control) on the HS/HSS-4555*G 27
Notes for Setting the Positioning Speed (HS/HSS-G) ■ To be applied to all models of the HS-G series (Floor-mount type) (1) To horizontally traverse the robot arm at high speeds, teach the robot so that Z axis comes to be as close as possible to its upper end. (2) To stabilize positioning of Z axis near its lower end, the following maximum speed limiting control is automatically provided for J1 and J2 axes depending on the Z-axis coordinate value, only when the robot is moved under PTP control.
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.
3.5 Air Piping and Signal Wiring The HS/HSS-G series is equipped with 4 air pipes (4x2 and 6x2) for air chuck and 19 signal lines in the robot unit. (1) HS/HSS-G (Standard type) Air No. Air piping joint AIR 1, 2 4, PT1/8 AIR 3, 4 6, PT1/4 Maximum allowable pressure 0.59 MPa Note 1: Pins #1 to #19 on CN21 and those on CN20 are connected with each other. The maximum rated current per line is 1A. Note 2: Use the attached connector set for CN20 and CN21. Connector set part No. Part No.
Chapter 3 Specifications of the Robot Unit (2) HS/HSS-G-W, HS-G-P (Dust- & splash-proof type or Cleanroom type) Notes for cleanroom type *1 Recommended suction air flow rate: 25 to 40 liters/min. Recommended blower: VFC068P (manufactured by Fuji Electric Motor Co., Ltd.) The cleanroom type requires ventilation inside the robot. Exhaust air from the air vent provided in the back of the robot base. *2 Dimension D at point of use HS-4535*G-P: 250 mm HS-4545*G-P: 350 mm HS-4555*G-P: 400 mm Air No.
(3) HS-G-UL (UL-Listed) Note 1: Pins A to V on CN20 and pins #1 to #19 on CN21 are connected with each other as shown below. The maximum rated current per line is 1A. CN20 CN21 A 1 B 2 C 3 D 4 E 5 F 6 G 7 H 8 J 9 K 10 L 11 M 12 N 13 P 14 R 15 S 16 T 17 U 18 Note 2: Use the attached connector set for CN20 and CN21. Connector set part No. 410889-0140 Part No. Model and name 410877-0120 (for CN20) H/M3106A22-14S (Straight plug) (HIROSE ELECTRIC CO., LTD.
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.
3.6 Engineering-design Notes for Robot Hands (HS/HSS-G) Design a hand (end-effector) so that it will satisfy conditions (1) and (2) described below. Caution: Strictly observe these engineering-design notes. Otherwise, the clamped sections of the robot unit will become loose, rattle or be out of position. In the worst case, the mechanical parts of the robot unit and the robot controller may be damaged.
Chapter 3 Specifications of the Robot Unit (3) Moment of inertia around the T axis The moment of inertia of a hand or tool (including work-piece) around the T axis should be less than the maximum allowable moment of inertia around the T axis of the robot. Hand's moment of inertia (incl. Work-piece) around the T axis ≤ Max. allowable moment of inertia Calculate the moment of inertia around the T axis according to the graph given below.
Moment-of-inertia Formulas 1. Cylinder (1) 4. Sphere (Axis of rotation = Center axis) 2. Cylinder (2) (Axis of rotation = Center axis) 5. Center of gravity not on the axis of rotation. (The axis of rotation passes through the center of gravity.) Ig: Moment of inertia around center of gravity l: Moment of inertia [kgm ] Mass [kg] r: Radius [m] : Length [m] 3. Rectangular parallelepiped (The axis of rotation passes through the center of gravity.
Chapter 3 Specifications of the Robot Unit 3.7 Stopping Time and Distance (Angle) at an Emergency Stop Pressing the emergency stop button when the robot is in motion stops the robot. The stopping time required from activation of a stop signal and the distance (angle) for major three joints vary with the robot speed as shown in the graphs below. The measuring conditions are: Robot arm extended, 33%, 66% and 100% of the maximum payload.
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.
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.
(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.
Chapter 3 Specifications of the Robot Unit Z stopping distance vs.
Chapter 4 Specifications of the Robot Controller 4.1 Specifications The table below lists the specifications of the robot controller. RC7M Controller Specifications (1) (HS-G series) Item Specifications Small-sized, horizontal articulated type (HS-G) Applicable robot RC7M-HSG4BA-** model PTP, CP 3-dimensional linear, 3-dimensional circular Control system No.
Chapter 4 Specifications of the Robot Controller RC7M Controller Specifications (2) (HS-G series) Item Specifications Environmental conditions (in operation) Temperature: 0 to 40C Humidity: 90% RH or less (no condensation allowed) Three-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz, 1.8 kVA Power source Single-phase, 230 VAC-10 to 230 VAC+10%, 50/60 Hz, 1.8 kVA Degree of protection IP20 Standard type: Approx. 17 kg (38 lbs) Global type with safety board: Approx.
4.2 Outer Dimensions Figure below shows the outer dimensions of the robot controller.
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. SOFTWARE Ver. The version of the main software for the controller is entered. DATE OF RENEWING BAT. The next replacement dates of the memory backup battery and encoder backup battery are entered.
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.
Chapter 6 Appendix Chapter 6 Appendix 6.1 Conformity with Standards by Robot Model For information on conformity with standards, refer to "Conformity with Standards by Robot Model" in the Additional Information section of the RC7M controller manual pack CD SUPPLEMENT.
Horizontal Articulated Robot HS-G SERIES GENERAL INFORMATION ABOUT ROBOT First Edition July 2005 Eleventh Edition April 2011 Twelfth Edition October 2011 DENSO WAVE INCORPORATED 10N**C The purpose of this manual is to provide accurate information in the handling and operating of the robot. Please feel free to send your comments regarding any errors or omissions you may have found, or any suggestions you may have for generally improving the manual.
