Denso HS-4535G, General Information Manual

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Chapter 3 Specifications of the Robot Unit
9
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.
(1) HS-G Series (Floor-mount type)
Item Specifications
Model name of robot system
(Note 1)
HS-4535*G
(Standard)
HS-4535*G-W
(Dust- & splash-proof)
HS-4535*G-P
(Cleanroom)
HS-4535*G-UL
(UL-Listed)
HS-4545*G
(Standard)
HS-4545*G-W
(Dust- & splash-proof)
HS-4545*G-P
(Cleanroom)
HS-4545*G-UL
(UL-Listed)
HS-4555*G
(Standard)
HS-4555*G-W
(Dust- & splash-proof)
HS-4555*G-P
(Cleanroom)
HS-4555*G-UL
(UL-Listed)
Model name of robot unit
HS-4535*E/GM
(Standard)
HS-4535*E/GM-W
(Dust- & splash-proof)
HS-4535*E/GM-P
(Cleanroom)
HS-4535*GM-UL
(UL-Listed)
HS-4545*E/GM
(Standard)
HS-4545*E/GM-W
(Dust- & splash-proof)
HS-4545*E/GM-P
(Cleanroom)
HS-4545*GM-UL
(UL-Listed)
HS-4555*E/GM
(Standard)
HS-4555*E/GM-W
(Dust- & splash-proof)
HS-4555*E/GM-P
(Cleanroom)
HS-4555*GM-UL
(UL-Listed)
Overall arm length
125 (J1: 1st axis) +
225 (J2: 2nd axis) = 350 mm 225 (J1: 1st axis) +
225 (J2: 2nd axis) = 450 mm 325 (J1: 1st axis) +
225 (J2: 2nd axis) = 550 mm
Motion angle and stroke
J1 (1st axis)
 
155

, J2 (2nd axis)
 
145

,
Z (3rd axis): 200 mm if * = 2, 320 mm if * = 3, T (4th axis):

360

Axis combination J1 (1st axis) + J2 (2nd axis) + Z (3rd axis) + T (4th axis)
Maximum payload 5 kg
At the center of
the hand
mounting flange
7,200 mm/s 6,300 mm/s 7,100 mm/s
Composite
speed
Z and T Z (3rd axis): 2,000 mm/s, T (4th axis): 2400

/s
J1 + J2

0.015 mm

0.02 mm

0.02 mm
Z

0.01 mm
Position
repeatability
(Note 2)
T

0.005

Maximum force-fit 98N (one second or less)
Maximum allowable moment of
inertia around T axis
0.1 kgm
2
(with 5 kg payload)
Position detection Absolute encoder
Drive motor and brake
AC servomotors for all axes
Brakes for Z axis (3rd axis) and T axis (4th axis)
Models except
UL-Listed ones
(1) Press the brake release switch in the direct teaching mode.
(2) Enter a brake release command with the teach pendant or mini-pendant.
Brake
releasing
UL-Listed models
(1) Press the brake release switch when the controller power is ON.
(2) The teach pendant or mini-pendant cannot release the brakes.
User air piping
4 systems (

4x2,

6x2)
User signal lines
19 (for proximity sensor signals, etc.)
Operating pressure 0.05 to 0.35 MPa
Air
source Max. allowable pressure 0.59 MPa
Degree of protection for
dust- & splash-proof type
IP65
(Continued on the following page)
(Note 1) The model name of robot set refers to the model of a complete set including a robot unit and robot controller.
An asterisk (*) in model names denotes the Z-axis stroke.
(Note 2) Value at the constant ambient temperature.