Densorobotics - Southern Fluid Power
www.densorobotics.com 2017 DENSO Corporation Information subject to change without notice D2277.470 www.densorobotics.com
Contents DENSO ROBOTICS SOLUTIONS 02 A Tradition of Technology 03 DENSO Robotics History 04 Development Strength 05 Flexibility [Industries and Applications] 06 Robot Lineup Overview 08 Robot Functions DENSO 4-AXIS ROBOTS 26 4-Axis Robots 28 HS-A1 Series 30 HSR Series 32 HM Series 34 XR Series DENSO ROBOT CONTROLLER DENSO 5- AND 6-AXIS ROBOTS 10 5- and 6-Axis Robots 12 VP Series 14 VS-Series Pharmaceutical Robot 16 VS-Series Features 18 VS Series VS-050/060 20 VS Series VS-068/087 22 VS Series VS-6556/6577 24 VM Series 36 RC8A SOFTWARE / PERIPHERALS 42 Software positioning 43 WINCAPS 44 ORiN2 SDK 45 Robot Tools SUPPORT 46 Support 48 Global Network Contents 1
77,000 18,000 2 DENSO Robotics Solutions
ROBOTICS SOLUTIONS 2017 HSR-Series 4-axis robot RC8A robot controller RC8A 2014 HSR-Series 4-axis Robot VS-Series Pharmaceutical robot VS-Series Pharmaceutical Robot 50 DENSO Robotics Solutions 3
4 DENSO Robotics Solutions
ROBOTICS SOLUTIONS DENSO Robotics Solutions 5
Robot Lineup DENSO Industrial Robots VS-050-S2 p.12 p.14 p.16 Reach: Payload: Repeatability3: Cycle time 4: Max. composite speed: 520 mm 4kg 0.02 mm 0.35 sec 8,570 mm/sec wrist: IP67, unit: IP65 , UV-resistant Cleanroom (ISO 5) HS-A1 Series HSR Series HS-035A1/045A1/055A1 p.28 HSR-048/055/065 p.30 Reach: Vertical stroke: Max. payload: Repeatability: Cycle time: Max. composite speed: Reach: Vertical stroke: Max. payload: Repeatability: Cycle time: Max. composite speed: 350/450/550 mm 100/150/200/320 mm 5 kg -0.015/0.020 mm 0.29 sec 7,200/6,300/7,100 mm/sec Standard protection (IP40) Dust- and splashproof (IP65) Cleanroom (ISO 3) UL specifications7 Ceiling-mount 6 Lineup of DENSO Industrial Robots p.32 480/550/650 mm 100 / 200 / 320 mm 8 kg - 0.01/0.012 mm 0.28 sec 7,540/8,000/8,850 mm/sec Standard protection (IP40) Dust- and splashproof (IP65) Cleanroom (ISO 3) UL specifications7 Ceiling-mount 11,450 Standard protection (IP40) Dust- and mistproof (IP65) Ceiling-mount
www.densorobotics.com ROBOTICS SOLUTIONS p.18 p.20 p.22 COMPACT GANTRY ROBOT 300 mm 25 mm Cycle time The time taken to complete a cycle of work from one arrow to the other and back. p.34 1. If downward movement of wrist and neck exceed 45º, maximum payload is 2.5 kg. 2. If downward movement of wrist iand neck exceed 45º, maximum paylod is 2 kg. 3. Center of tool mounting-face at constant ambient temperature. 4. Time required for robot to move a 1 kg payload between two points 300 mm apart at a height of 25 mm. 5. If downward movement of wrist and neck exceed 45º, maximum payload is 6 kg. 6. If payload exceeds 11 kg, downward movement of flange is limited to 10º. 7. Cleanroom and UL specifications available for floor-mount models only. Lineup of DENSO Industrial Robots 7
Standard Functionalities of DENSO Robots Operability Making DENSO robots easier to use Singularity avoidance Collision detection Result Linear motion while moving down High-speed rotation of fourth axis Function Allows smooth movement when linear interpretation is required to pass a point at which a robot’s position changes, such as in the vicinity of a point of singularity. Main application Used with a program that employs a palletize library. Functions Detects potential collision between robot and peripheral or workpiece and executes a robot emergency stop. Main application Prevents collision damage to workpiece and hand. [Supported Robots] [Supported Robots] VP Series, VS Series, VM Series VP Series, VS Series, VM Series, HS-A1 Series, HSR Series, HM Series High-accuracy path control Compliance / Current limiting Hand Workpiece Force limitation is applied to vertical motion of robot. Enables robot to have spring function. Functions Reduces path changes caused by variation in speed and uses arc motion and free-curve interpolation control to improve path accuracy. Main application Sealant and silicone adhesive coatings Function Adjusts press strength to protect workpiece and hand from excessive loads. Main application Product assembly [Supported Robots] [Supported Robots] VP Series, VS Series, VM Series, HS-A1 Series, HSR Series, HM Series, XR Series VP Series, VS Series, VM Series, HS-A1 Series, HSR Series, HM Series, XR Series 8 Main Functionalities of DENSO Robots
www.densorobotics.com ROBOTICS SOLUTIONS Link with peripherals for greater results Connectability Conveyer tracking Extended-joint support [System configuration diagram] Visual device/sensor [Connection example] Conveyer-tracking board Robot Controller with extended-joint option Motor conversion cable Motor cable Motor conversion cable Motor cable Controller Encoder cable Robot Encoder backup battery Encoder cable Encoder backup battery Conveyer Extended-joint support motor (up to 2 axes) Encoder Function Synchronize robot with motion of conveyer to handle a workpiece without stopping conveyer. Main application Pick or place workpiece from or onto moving conveyer. Function Robot-controller interface can be used to control another axis. Main application Drive axis and servo hand Motor variations1 Standard Flat Brake Provided Not provided Provided Not provided 50 W 100 W 200 W 400 W 750 W 1 kW 2 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 1. Some robots have a limited total capacity of connectable extended-joint motors. For details, contact one of our sales representatives. 2. RC8A only. Cooperative Motion Function Safety Motion Option Multiple small robots can be used in place of large robots to convey and assemble heavy payloads and long payloads. Safety areas allow humans and robots to work collaboratively. Robot Robot Extended-joint support motor Extended-joint support motor Motion-Space Monitoring Speed Monitoring Drive axis Stop-Position Monitoring Main application Conveyance and assembly tasks of heavy payloads and long payloads. Motion-Space Monitoring Conveyance and assembly tasks of heavy payloads and long payloads. [Supported Robots] Speed Monitoring Speed restriction allows continuous production. All RC8A robot models Stop-Position Monitoring Flexible placement of people and robots. Main Functionalities of DENSO Robots 9
DENSO 5- AND 6-AXIS ROBOTS The DENSO lineup of five- and six-axis articulated robots offers an array of arm sizes in the VP, VS and VM Series. Built with joints similar to a human arm, these robots offer greater flexibility than their four-axis counterparts. Their increased freedom of movement makes them suited to handle a much wider range of applications. Typical Applications z Assembly z Dispensing z Grinding z Insertion z Inspection z Labeling z Laser welding z Machine tending* z Machining z Material handling z Material removal z Nut and screw driving z Packaging z Parts finishing z Pick and place z Polishing z Press fitting z Soldering z Spot welding z Surface finishing z Test handling z Ultrasonic welding *Machine tending while machine running available with IP67 models Main Features z Cycle times from 0.31 sec to 0.99 sec z Repeatability from 0.02 to 0.07 mm z Maximum composite speed from 3,900 to 11,380 mm/sec z Reaches from 430 mm to 1,298 mm z Payloads up to 13 kg Options z Standard protection (IP30/40) z Dust- and splashproof (IP67) z Dust- and mistproof (wrist IP65, unit IP54) z Cleanroom (ISO 3 and 5) z UL-listed 10 DENSO 5- AND 6-AXIS ROBOTS
www.densorobotics.com VP-5243/6242 Maximum payload (kg) Maximum arm reach (mm) VP-5243 31 430 VS-6242 2.52 432 4 4 Standard protection 1. If downward wrist movement exceeds 45 , maximum payload is 2.5 kg. 2. If downward wrist movement exceeds 45 , maximum payload is 2 kg. DENSO 5- & 6-AXIS ROBOTS VS-050-S2 VS-050-S2 4 520 Payload (kg) Reach (mm) H2O2-resistant; cleanroom (ISO 5) UL-listed 4 4 VS-050/060, VS-068/087 Dust- and splashproof model VS-050 VS-060 VS-068 505 605 710 905 Standard protection Dust- and splashproof (IP67) Dust- and mistproof (wrist: IP65, unit: IP54) Cleanroom (ISO 3 and 5) 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 VS-6556/6577 4 VS-087 Maximum payload (kg) Maximum arm reach (mm) 7 Dust- and mistproof model Cleanroom model VS-6556 Standard With brakes (J2 to J4 with brakes) (J2 to J6 with brakes) 73 653 Maximum payload (kg) Maximum arm reach (mm) Standard protection Dust- and mistproof (wrist: IP65, unit: IP54) Cleanroom (ISO 5) 4 4 4 4 4 4 VS-6577 Standard With brakes (J2 to J4 with brakes) (J2 to J6 with brakes) 73 854 4 4 4 4 4 4 3. If downward wrist movement exceeds 45 , maximum payload is 6 kg. VM Dust- and mistproof model Cleanroom model VM-6083 Maximum payload (kg) Maximum arm reach (mm) Standard protection Dust- and mistproof (wrist: IP65, unit: IP54) Cleanroom type (ISO 5) VM-60B1 134 1,021 1,298 4 4 4 4 4 4 4. If the payload exceeds 11 kg, downward wrist movement is limited to 10 . DENSO 5- AND 6-AXIS ROBOTS 11
VP SERIES 430–432 mm Supported Robot Controllers DENSO VP-Series robots are perfect for installations where operational space is limited. z Excellent repeatability of 0.02 mm z Payloads up to 3 kg z 430 or 432 mm reach z Ultracompact design saves floor space and facilitates integration z Floor- or ceiling-mount, with no special hardware needed z Exceptionally light weight from only 13 to 24 kg z Low energy consumption, with all motors combined using a maximum of only 300 W z ANSI and CE compliance allows global deployment VP-5243 VP-6242 Specifications VP-5243 Number of axes Overall arm length (mm) VP-6242 5 6 430 420 Second-arm width (mm) 112 Reach (to center of 5th axis, mm) 430 432 Minimum motion area (mm) 162 148 2.5 (3.0 with flange pointing down) 2.0 (2.5 with flange pointing down) Maximum payload (kg) Weight, approx. (kg) 13 15 Footprint (mm) 160 160 Cycle time (sec) 0.99 (with 1 kg weight) Maximum composite speed (mm/sec) 3,900 Maximum joint speed ( /sec.) J1: 250 J2: 187 J3: 250 J4, J5, J6: 300 Repeatability1, 2 (mm) 0.02 Max. allowable moment of inertia (kgm2) J4 - J5 0.04 J6 0.01 J1 0.007 120 J3 136, -128 J4 - 160, 19 160 J5 120 J6 360 Position detection Absolute encoder Drive motors and brakes AC servomotors and brakes for all axes Air piping (in-arm integrated) Wiring (in-arm integrated) Air source 0.03 160 J2 Range of motion ( ) 0.02 4 systems (ø4 4) 9 lines (max. 1 A per line) Operating pressure 1.0 105 Pa to 3.9 105 Pa Maximum allowable pressure 4.9 105 Pa Protection class IP30 Ceiling-mount 1. At constant ambient temperature. 2. In every direction. 12 VP SERIES
www.densorobotics.com 70 External Dimensions and Workable Space [ VP-6242 ] Point P 75 120 12 12 0 8 0 R432 2-M4 280 70 15 155 182 R2 22 71 160 Workable space defined by point P 48 R1 Detailed drawing of end-effector mounting face (View A) 2-M4 60 Point P R43 2 Ø5H7 0.012 0 Depth 7 Ø20 H7 0.021 0 Depth 6 Detailed drawing of base mounting face (Top view) 160 4-Ø10 135 160 144 0.05 2- Ø6H7 0.012 0 (Reference hole) 160 135 49 0.05 190 Cabling space 26 4-M5, Depth 8 (P.C.D. 31.5) 0 Ø40 h8 -0.039 140 4 x Ø10 screw Unit : mm VP - 2 Legend Mini 5- and 6-axis type: Axes: 5: 5-axis 6: 6-axis Standard payload: 2: 2 kg (6-axis) 2.5 kg (5-axis) *The maximum payload is 2.5 kg (6-axis) or 3 kg (5-axis) Total arm length: 42: 420 mm 43: 430 mm The data listed on this page is for the standard model. For other options, visit our website at www.densorobotics.com. VP SERIES 13 DENSO 5- & 6-AXIS ROBOTS R14 210 R22 2 A 120 101 Ø65 Workable space defined by point P 210
VS-Series Pharmaceutical Robot 520 mm Supported Robot Controllers The DENSO VS-050-S2 robots are designed for pharmaceutical, medical and life sciences applications where biocontamination control is required. z Protective outer coating and specially sealed joints allow sterilization with hydrogen peroxide and UV light z ISO 5 (class 100) cleanroom rating z Smooth, rounded design with no external screws, to prevent contaminants from adhering to arm or being harbored in crevices z Wires internally embedded up to the flange, keeping them out of the cleanroom environment and preventing them from becoming tangled or interfering with peripheral equipment z Bottom-side connector panel makes robot cleaning easier and saves valuable floor space Integrated Servo Gripper Option z Encoder backup battery installed outside the robot, facilitating battery replacement and improving ease of maintenance z ANSI and CE Compliance allows global deployment z UL models available for the US and Canada Specifications VS-050-S2 Number of axes Overall arm length (mm) 6 255 (first arm) 265 (second arm) 520 Reach (to center of 5th axis, mm) 520 Minimum motion area (mm) 135 Maximum payload (kg) 4 Weight, approx. (kg) 34 Cycle time (sec)1 Range of motion ( ) 0.35 J1: 180 3 J2: 120,-115 J3: 141,-115 J4: 270 J5: 115 4 J6: 360 Maximum composite speed (mm/sec) 8,570 2 Repeatability (mm) 0.02 Max allowable moment of inertia (kgm2) J4 and J5: 0.200, J6: 0.05 Max. allowable moment (Nm) J4 and J5: 6.66, J6: 3.13 Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Electric gripper connection flange specification-A (Option) Air source (operating pressure, MPa) Air source (maximum allowable pressure, MPa) Hydrogen peroxide environment Protection class Cleanroom Ceiling- and wall-mount Absolute encoder AC servomotors and brakes for all axes solenoid valves (2-position, double solenoid) x2 10 lines (max. 1 A per line) 5, 6 25 cores (17 8) 6 0.20–0.39 0.49 35% hydrogen peroxide steam (dry / wet) Wrist IP67 / Unit IP65 ISO 5 1. Time required for a robot to move a 1 kg payload betwen two points 300 mm apart at a height of 25 mm. 2. Position repeatability is the precision at constant ambient temperature. 3. Motion range is limited when mounted to a wall, inquire for details. 4. When electric gripper connection flange specification-A is selected, the J5 motion range is 110, -102. 5. This wire (proximity sensor or other signal wire) is 4-core if electric gripper connection flange specification-A is also selected 6. Allowable current is limited. 14 VS-050-S2
www.densorobotics.com External Dimensions and Workable Space [ VS-050-S2 ] Detailed drawing of end-effector mounting face, standard flange (View A) Detailed drawing of base mounting face, rear connector panel (Top view) 120 C 49 0.05 4 M10 Depth 21 B 1:1 Co nn 2x Ø 6H7 0.021 Depth 10 0 (reference hole) A-A ec DENSO 5- & 6-AXIS ROBOTS Detailed drawing of end-effector mounting face, communication-interface flange-A (View A) 120 220 144 0.05 C to r s Ø1 pa 50 ce C B 1:1 VS-050-S2 standard flange E 180 E 115 E 520.2 115 520.2 Workable space defind by point P A VS 0 5 0 S 2 - A V 6 - R1 - N N - A N N N 520 mm Axes: Series Name: V6: 6-axis Pharmaceutical Series Mounting orientation: A: All directions Flange: Protection: C5: Cleanroom (ISO 5) Standard Safety Compliance: A 600 345 Paint and surface finish: N: DENSO standard colors2 A: Unpainted3 VS: Small articulated robot Total arm length: 115 5.2 141 14 1 181.5 120 115 345 600 120 10 10 R2 65 .2 181.5 183.1 R255 .2 65 R2 .2 65 R2 R26 5.2 115 R J2 3 71. R2 3 71. R2 Robot name: A J3 115 115 115 A Legend R255 14 1 141 141 90 11 0 R520.2 47.7 115 Workable space defind by point P R183.1 Unit: mm 115 J5 J3 J2 520.2 265 124.5 Point P 2 10 115 J5 R 520.2 40 One-way mounting of the left or right. The figure shows an example on the left. Point P 141 90 180 ) accessory 47.7 520.2 85 265 124.5 (R1 83 .1) E (R 5 20.2 J1 180 J2 120 ,-115 J3 141 ,-115 J4 270 J5 110 ,-102 J6 360 One-way mounting of the left or right. The figure shows an example on the left. 115 J1 Point P 180 (R5 20. 2) accessory J4 57.5 35 50 (R1 83 .1) Point P J6 35 50 40 J1 45 28 J4 J6 360 270 J4 57.5 115 J6 155 29.5 4 45 28 57.5 155 180 57.5 29.5 4 J4 J6 360 270 VS-050-S2 communication interface flange-A Workable space defined by Point P R2 65 .2 Workable space defined by Point P R 26 C N: Standard flange A: Communication-interface flange A1 Connector panel: Signal lines and air-pipe solenoid valve: A: 2x solenoid valves (2-position, double solenoid) N: Specification without signal lines or air-pipe solenoid valve N: Rear connector panel A: Bottom connector panel 1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives. VS-050-S2 15
VS SERIES FEATURES VS-050/060/068/087 Supported Robot Controllers Higher Speed, for Improved Productivity z Cycle time/maximum composite speed VS-068 Cycle time for 1 kg (sec) 0.35 (RC8A) 0.31 (RC8A) Maximum composite speed (mm/sec) 9,080 (RC8A) 11,290 (RC8A) 300 mm 25 mm VS-050 Cycle time The time taken to complete a cycle of work from one arrow to the other and back. VS-050 Reach: 505 mm Maximum payload: 4 kg Fits into Tight Spaces z Arm width, wrist width and workable space VS-060 Reach: 605 mm Maximum payload: 4 kg 235 mm 100 mm 95 mm R7 R5 10 05 193 mm VS-050 VS-068 VS-068 Reach: 710 mm Maximum payload: 7 kg Wall Wall Efficient Use of Dead Space VS-087 Base Base Connector panel Connector panel Bottom connector panel (option) 16 VS-SERIES FEATURES Standard Reach: 905 mm Maximum payload: 7 kg
www.densorobotics.com Improved Usability and Ease of Maintenance Wires are internally embedded up to the flange, preventing them from becoming entangled or broken (communicationinterface flange-A option). Camera z Connector panel Electric gripper z Flange z Signal lines and z Paint and surface finish air pipe solenoid valve Air-pipe solenoid valve Rear connector panel Bottom connector panel Signal lines Communication-interface flange A DENSO standard colors Unpainted Choose from two mounting orientations when connecting cables to the robot (such as for a motor and encoder, etc.), for increased installation flexibility. Optional flange interface has connectorsfor electrical signal lines and EtherNet, allowing wiring to be embedded in the robot unit. Signal lines and air-pipe solenoid valves are embedded in the top of the second arm. Three types are available for VS-068/087 and one for VS-050/060. If IP67 protection level is selected, unit is left as unpainted anodized aluminum. (DENSO standard colors are available as an option.) z External encoder-battery z Brake-release unit z Air-purge unit z Second-arm cover backup unit (with tapped holes) Encoder backup battery installed outside robot facilitates battery replacement and improves ease of maintenance. Switch allows release of brake on each axis. Dust- and splashproof model maintains IP67 protection level by means of air pressure created inside the robot. Part Name Category Specification /VType Standard IP67 VS-050/060 (Dust- and mistproof) Cleanroom Cleanroom Standard Wrist: IP65 Unit: IP54 Connector panel Flange Signal lines and air-pipe solenoid valve (ISO 3) IP67 VS-068/087 (Dust- and mistproof) Cleanroom Cleanroom Wrist: IP65 Unit: IP54 (ISO 5) (ISO 3) Rear connector panel 4 4 4 4 4 4 4 4 4 4 Bottom connector panel 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 4 Standard flange 4 Communication-interface flange A 4 2 solenoid valves (2-position, double solenoid) 4 4 4 4 4 4 3 solenoid valves (2-position, double solenoid) 4 4 4 4 3 solenoid valves (3-position, exhaust center solenoid) 4 4 4 4 4 3 solenoid valves (3 position, closed center solenoid) 4 4 4 4 4 Air-purge unit Options (ISO 5) Cover has tapped holes to secure wires for the robot’s second arm. 4 4 Brake-release unit1 4 4 4 4 4 4 4 4 4 4 External encoder-battery backup unit 4 4 4 4 4 4 4 4 4 4 Angled motor and encoder cable 4 4 4 4 4 4 4 4 4 4 Second-arm cover R (with tapped holes) 4 4 1. Brake-release unit has an IP67 protection level VS-SERIES FEATURES 17 DENSO 5- & 6-AXIS ROBOTS New VS-Series Options
VS SERIES 505–605 mm Supported Robot Controllers The VS-050/060 six-axis articulated robots offer exceptionally high speed and repeatability in a compact design. z Extremely fast cycle time of 0.35 sec z Outstanding repeatability of 0.02mm z Payloads up to 4 kg z Reaches from 505 to 605 mm z High maximum allowable moment of inertia z Compact design, with ultraslim arms; saves space and facilitates integration z Floor-, wall- or ceiling-mount, with no special hardware needed z Standard, dust- and splashproof and cleanroom models z Optional IP67 protection resists cutting fluids and chips z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange VS-050 VS-060 z Optional bottom connector panel saves floor space z UL models available for the US and Canada Specifications VS-050 VS-060 Number of axes Overall arm length (mm) 6 250 (first arm) 255 (second arm) 505 Arm offset (mm) 305 (first arm) 300 (second arm) 605 J1 (swing): 0 J3 (front arm): 10 J6 (flange): 70 Reach (to center of 5th axis, mm) 505 Minimum motion area (mm) 135 605 140 Maximum payload (kg) Weight, approx. (kg) 4 34 35 Cycle time (sec)1 Range of motion ( ) 0.35 J1: 1705 J2: 120 J3: 151, -120 J4: 270 J5: 120 J6: 360 J1: 1705 J2: 120 J3: 155, -125 J4 : 270 J5: 120 J6: 360 Maximum composite speed (mm/sec) 9,390 Maximum joint speed ( /sec) J1: 510 J2: 408 J3: 491 J4: 540 J5: 416 J6: 864 Repeatability2 (mm) 0.02 Max allowable moment of inertia (kgm2) J4 and J5: 0.200 J6: 0.050 Max. allowable moment (Nm) J4 and J5: 6.66 J6: 3.13 Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Absolute encoder AC servomotors and brakes for all axes 5 systems (ø4 4, ø4 1); 2 solenoid valves (2-position, double solenoid) 10 lines (max. 1 A per line) 3 LAN (1000BASE-TX) 1 (option) 4 17-line electrical wire for cameras, etc.4 Option set with LAN 4 Air source (operating pressure, MPa) 0.10–0.39 Air source (maximum allowable pressure, MPa) 0.49 Protection class Cleanroom Ceiling- and wall-mount Standard: IP40; options: IP67 (dust- and splashproof) ISO 3 and 5 5 1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only. 18 VS-050/060
www.densorobotics.com External Dimensions and Workable Space Detailed drawing of end-effector mounting face, standard flange (View A) Ø4 0 Dep h8 -00.0 th5* 39 4xM5 Depth6 (P.C.D 31.5) *This hole does not exist on dust- and splashproof (IP67) model 0.021 Depth5 Ø5H7 0.012 0 Detailed drawing of base mounting face, rear connector panel (Top view) 135 49 0.05 4x R5 Detailed drawing of end-effector mounting face, communication-interface flange A (View A) 144 0.05 DENSO 5- & 6-AXIS ROBOTS 4xM5 Depth7 (P.C.D 31.5) 4 x Ø10 screw (for M8 screw) 135 160 7 0 Ø 20H 5 h t p De 80 2xØ6H7 0.012 0 (Reference hole) A-A 21 0.0 H7 0 Ø 20 th3 p e D Ø5H7 0.012 Depth5 0 [VS-060] [VS-050] Workable space defined by Point P Workable space defined by Point P 170 ) 5.2 170 60 (R 50 (R 195 Cabling space .1) 36 (R1 Point P 95 5045 95 50 45 J4 ) J6 J4 360 270 Point P J6 195 Cabling space 5.2 J4 J6 360 270 J1 J1 J4 J6 .9) 40 (R1 170 170 .2) 05 181.5 A 125 345 5 R300.2 155 A Workable space defined by Point P 650 R270.5 J2 R140.9 R300.2 35.2 Workable space defined by Point P 10 5 15 12 0 A (R5 05. 2) 0 12 A 12 120 151 0 5 44 55.2 R2 5) 30 12 0 12 151 2 15 R2 5 0. R30 (R (R250) J2 12 90 J3 J5 120 0 1 R136.1 R255.2 87.9 A 12 J1 170 J2 120 J3 155 , -125 J4 270 J5 120 , -120 J6 360 (R6 20 0 5 R2 595 J5 12 5.2 345 87.9 A 605.2 300 164.5 Point P 120 10 151 90 J3 0 12 605.2 70 [75] (105) 181.5 Point P 505.2 107.7 505.2 70 [75] (105) 255 119.5 Values in brackets [ ][are forfor cleanroom models. flangeA.A. Values in brackets ] are cleanroom models.Values Valuesininparentheses parentheses(( ))are are for for communication-interface communication-interface flange Legend Robot name: VS - A V6 - N - N N - NNN A: All directions Total arm length: 050 A3: 505 mm RC8A-supported 060 A3: 605 mm RC8A-supported Protection: Paint and surface finish: N: DENSO standard colors2 A: Unpainted3 VS: Small articulated robot Mounting orientation: Unit : mm Axes: V6: 6-axis Flange: NN: Standard W7: Dust- and splashproof (IP67) W4: Dust- and mistproof (wrist: IP65, unit: IP54) C3: Cleanroom (ISO 3) C5: Cleanroom (ISO 5) N: Standard flange A: Communication-interface flange A1 Connector panel: N: Rear connector panel Signal lines and air-pipe solenoid valve: A: 2 solenoid valves (2-position, double solenoid) N: Specification without signal lines or air-pipe solenoid valve 1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives. The data on this page is for standard models. For other options, visit our website at www.densorobotics.com. VS-050/060 19
VS SERIES 710–905 mm Supported Robot Controllers The VS-068/087 six-axis articulated robots offer exceptionally high speed and repeatability in a compact design. z Extremely fast cycle times of 0.31 to 0.34 sec z Outstanding repeatability of 0.02 to 0.03 mm z Payloads up to 7 kg z Reaches from 710 to 905 mm z High maximum allowable moment of inertia z Compact design, with ultraslim arms; saves space and facilitates integration z Floor-, wall- or ceiling-mount, with no special hardware needed z Standard, dust- and splashproof and cleanroom models z Optional IP67 protection resists cutting fluids and chips z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange VS-068 VS-087 z Optional bottom connector panel saves floor space z UL models available for the US and Canada Specifications VS-068 VS-087 Number of axes Overall arm length (mm) 6 340 (first arm) 340 (second arm) 680 Arm offset (mm) 445 (first arm) 430 (second arm) 875 J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80 Reach (to center of 5th axis, mm) 710 905 Minimum motion area (mm) 203 235 Maximum payload (kg) Weight, approx. (kg) Cycle time (sec)1 Range of motion ( ) 7 49 51 0.31 0.34 J1: 1705 J2: 135, -100 J3: 153, -120 J4: 270 J5: 120 J6: 360 J1: 1705 J2: 135, -100 J3: 153, -136 J4: 270 J5: 120 J6: 360 Maximum payload (kg) 7 Maximum composite speed (mm/sec) Maximum joint speed ( /sec) Repeatability2 (mm) Max. allowable moment of inertia (kgm2) Max. allowable moment (Nm) Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Air source (operating pressure, MPa) ir source (maximum allowable A pressure, MPa) Protection class Ceiling- and wall-mount 11,380 J1: 450 J2: 360 J3: 510 J4, J5: 540 J6: 864 J1: 360 J2: 300 J3: 408 J4, J5: 540 J6: 864 0.02 0.03 J4 and J5: 0.450 J6: 0.100 J4 and J5: 16.2 J6: 6.86 Absolute encoder AC servomotors and brakes for all axes 7 systems (ø4 6, ø6 1); 3 solenoid valves (2-position, double solenoid); 3 solenoid valves (3-position, center open); 3 solenoid valves (3-positon, center close) 10 lines (max. 1 A per line)3 LAN (1000BASE-TX) 1 (option)4 17-line electrical wire for cameras, etc.4 Option set with LAN4 0.10–0.39 0.49 Standard: IP40; option: IP67 (dust- and splashproof) 5 1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only. 20 VS-068/087
www.densorobotics.com External Dimensions and Workable Space Detailed drawing of end-effector mounting face, standard flange (View A) 21 0.0 4 Ø12 screw (for M10 screw) Ø5H7 0.012 Depth 5 0 100 2 Ø6H7 0.012 0 (Reference hole) A-A Detailed drawing of end-effector mounting face, communication-interface flange A (View A) 160 66 0.05 4 R2 0 21 0.0 Ø5H7 0.012 0 2 Ø6H7 0.012 0 (Reference hole) Depth 5 [VS-068] Workable space defined by Point P Point P J1 .6 30 15 0.5 Workable space defined by Point P 20 3 R43 153 R30 9.3 136 735 J2 1 53 136 A A 30 840 20 0.6 R34 A 15 197.5 395 0 12 R445 R43 3 120 2.8 5 100 0 0.6 875.5 J3 J5 3 R224.5 1 153 R32 3 A R34 0 R34 10 J2 12 (R8 120 75. 5) 186 102 15 5 0 Point P 120 Workable space defined by Point P .6 40 R3 13 R178.3 875.5 80 [85] (115) 430 287 680.6 J3 J5 136 120 J1 170 J2 135 , -100 J3 153 , -136 J4 270 J5 120 J6 360 170 0.5 680.6 80 [85] (115) 340 197 120 R680.6 .5 .3 A 54 J1 170 J2 135 ,-100 J3 153 ,-120 J4 270 J5 120 J6 360 170 Point P R2 5.5 R90 08 R J1 J4 R2 0 71 55 45 J4 e) 195 Cabling space J6 J4 360 270 J6 100 J6 ac 170 102 55 45 100 Workable space defined by Point P 195 Cabling space Point P sp [VS-087] 170 J6 J4 360 270 Ø (Co 185 nn ect or 100 A-A R4 30 .5 350.1 0 H7 Ø20 th 3 p e D 160 200 184 0.05 4 Ø12 screw (for M10 screw) 215 Cabling space 4 M5 Depth 7 (P.C.D 31.5) Values in brackets [ ] are models. Values Values in parentheses ( ) are for( communication-interface flange A. flange A. Values in brackets [ ]for arecleanroom for cleanroom models. in parentheses ) are for communication-interface Legend VS - A V6 - N - N N - NNN Robot name: VS: Small articulated robot Total arm length: 068 A4: 680 mm RC8A-supported 087 A4: 875 mm RC8A-supported DENSO 5- & 6-AXIS ROBOTS Detailed drawing of base mounting face, bottom connector panel (Top view) 197.5 395 70 Ø20Hh 5 Dept 160 66 0.05 4 R2 0 4 M5 Depth 6 (P.C.D 31.5) 184 0.05 *This hole does not exist on protected type (IP67) Detailed drawing of base mounting face, rear connector panel (Top view) 160 200 Ø4 Dep 0h8 -00.0 th 5 39 * Mounting orientation: A: All directions Protection: Axes: Flange: V6: 6-axis NN: Standard W7: Dust- and splashproof (IP
4-axis Robot RC8A 50 DENSO Robotics Solutions 3 ROBOTICS SOLUTIONS. 4 DENSO Robotics Solutions. DENSO Robotics Solutions 5 ROBOTICS SOLUTIONS. p.12 p.28 p.14 p.16 p.18 p.34 p.20 p.22 p.30 p.32 Reach: 520 mm Payload: 4kg Repeatability3: _ 0.02 mm Cycle time4: 0.35 sec
TRAINING BROCHURE - ENGLISH www.densorobotics-europe.com www.densorobotics-europe.com EN_TRAINING_EU_REV_1_2019_V2 English Headquarters: DENSO Robotics Europe I DENSO EUROPE B.V. Waldecker Str. 9, 64546 Moerfelden-Walldorf, Germany
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Tyvek Fluid Applied products should be applied when air and surface temperatures are between 25 F – 100 F. 5. Skin time of fluid applied product is 1-2 hrs. at 70 F and 50% RH. Wait 24 hrs. between coats of Fluid applied product and before applying facade. 6. Unopened fluid applied product should be stored at temperatures between 50 FFile Size: 2MBPage Count: 12Explore furtherTyvek Fluid Applied WB - Home DuPontwww.dupont.comTyvek Fluid Applied WB - Home DuPontwww.dupont.comDuPont Weather Barrier Commercial Installation Guidelinessweets.construction.comDuPont Tyvek Water-Resistive and Air Barriers Residing .www.dupont.comDuPont Tyvek StuccoWrap Data Sheet - Construction .constructioninstruction.comRecommended to you b
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