Denso HS-4535G General Information Manual Download

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Summary of Contents for HS-4535G

Page 1: ...ROBOT Horizontal articulated HS G SERIES GENERAL INFORMATION ABOUT ROBOT...

Page 2: ...is 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 m...

Page 3: ...Series Floor mount Overhead mount Overall arm length HS G Small sized horizontal articulated HS 4535 G HS 4545 G HS 4555 G HSS 4545 G HSS 4555 G 350 mm 450 mm 550 mm NOTE 1 Model names listed above ap...

Page 4: ...ustrates the configuration of the robot system and describes the component names of the robot unit and controller Chapter 3 Specifications of the Robot Unit Describes the specifications motion space r...

Page 5: ...ations HS HSS G 9 3 2 Outer Dimensions and Workable Space of the Robot Unit HS HSS G 11 3 3 Robot Positioning Time HS HSS G 18 3 4 Notes for Setting the Positioning Speed HS HSS G 28 3 5 Air Piping an...

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Page 7: ...able below The 20 m motor encoder cable standard splash proof is not available for controllers equipped with extended joint options or UL Listed robot units The internal cable bending radius shall at...

Page 8: ...and WINCAPSIII Light 12 m English indication 410109 0442 4 m For TP MP 410141 3711 Operation devices 6 Pendant extension cable 8 m For TP MP 410141 3721 Programming support tool 7 WINCAPSIII CD ROM c...

Page 9: ...nal functions For own optional board etc 16 Optional function for memory extension Extension only upon controller shipment 3 25MB to 5 5MB 410006 0320 17 Controller protection box 410181 0091 Optional...

Page 10: ...abel 12 Spare output IC for robot controller 13 Dowel pins 14 Short sockets for robot controller I O conversion box option PLC prepared by customer I O cable option Optional board Personal computer pr...

Page 11: ...d 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 Rob...

Page 12: ...s 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 paire...

Page 13: ...ace when the robot is in motion or the motor power is on 2 When you need to enter the robot s restricted space for recovery from robot failures be sure to cut the power to the robot motors by activati...

Page 14: ...the HS G series Encoders connected via bus Connector No Marking Name CN1 RS 232C Serial interface connector CN2 USB USB connector 2 lines CN3 PENDANT Teach pendant connector CN4 LAN Ethernet connecto...

Page 15: ...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...

Page 16: ...omposite speed Z and T Z 3rd axis 2 000 mm s T 4th axis 2400 s J1 J2 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 o...

Page 17: ...bot cannot work The motion prohibited area of the overhead mount type is set to AREA7 that is specified in the defined interference check area setting Therefore you may define only up to 31 interferen...

Page 18: ...12 1 Outer dimensions and workable space HS G series Floor mount...

Page 19: ...Chapter 3 Specifications of the Robot Unit 13 2 Outer dimensions and workable space HS G UL series UL Listed Floor mount...

Page 20: ...14 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 15 4 Outer dimensions and workable space HSS 4555 G Arm length 550 mm Overhead mount Standard type...

Page 22: ...16 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 17 6 Outer dimensions and workable space HSS 4555 G W Arm length 550 mm Overhead mount Dust splash proof type...

Page 24: ...amping time is of great concern then test the robot carefully beforehand 2 If acceleration begins before residual vibration of the robot stops an overcurrent error code starts from ERROR6120 where the...

Page 25: ...Chapter 3 Specifications of the Robot Unit 19 1 HS 4535 G J1 axis PTP control on the HS 4535 G J2 axis PTP control on the HS 4535 G...

Page 26: ...20 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 21 All axes CP control on the HS 4535 G...

Page 28: ...22 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 23 Z axis PTP control on the HS HSS 4545 G T axis PTP control on the HS HSS 4545 G...

Page 30: ...24 All axes CP control on the HS HSS 4545 G...

Page 31: ...Chapter 3 Specifications of the Robot Unit 25 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: ...26 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 27 All axes CP control on the HS HSS 4555 G...

Page 34: ...he positioning time of J1 and J2 axes becomes longer according to the maximum speed limit shown below Movement time in J1 J2 positioning time graphs sec x 100 sec Max speed limit For example when the...

Page 35: ...ved under PTP control The positioning time of J1 and J2 axes becomes longer according to the maximum speed limit shown below Movement time in J1 J2 positioning time graphs sec x 100 sec Max speed limi...

Page 36: ...mum rated current per line is 1A Note 2 Use the attached connector set for CN20 and CN21 Connector set part No Part No Model and name Appearance 410877 0170 for CN20 SRCN6A25 24S Round connector Japan...

Page 37: ...SE ELECTRIC CO LTD Applicable wire diameter 11 4 to 15 9 410877 0140 for CN20 H MS3057 12A1 Cord clamp HIROSE ELECTRIC CO LTD Applicable wire diameter 8 to 11 6 410889 0080 410877 0440 for CN21 EBSP21...

Page 38: ...set for CN20 and CN21 Connector set part No Part No Model and name Appearance 410877 0120 for CN20 H M3106A22 14S Straight plug HIROSE ELECTRIC CO LTD 410877 0130 for CN20 H MS3057 12A Cord clamp HIR...

Page 39: ...ed according to the instructions specified by the connector manufacturer The table below shows an assembly procedure example of a connector set for CN20 21 The actual assembly procedure should be in a...

Page 40: ...ontroller may be damaged 1 Mass of hand The total mass of a hand or tool including work piece should be less than the maximum allowable payload of the robot Be sure to include the mass of wirings and...

Page 41: ...programmed speed only the controller automatically calculates that of the acceleration according to the formula below Acceleration Speed 100 2 x100 Application sample of hand s moment of inertia To r...

Page 42: ...center of gravity 3 Rectangular parallelepiped The axis of rotation passes through the center of gravity l Moment of inertia kgm 2 m Mass kg r Radius m a b c Length m Calculation example When calcula...

Page 43: ...uired 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 10...

Page 44: ...38 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 39 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: ...40 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 41 Z stopping distance vs speed at an emergency stop HS 4555 G series...

Page 48: ...ignals Additional 80 user open points Output signals Additional 96 user open points Parallel I O board Option 1 board Input signals Additional 40 user open points Output signals Additional 48 user ope...

Page 49: ...G DO NOT touch fins Their hot surfaces may cause severe burns DO NOT insert fingers or foreign objects into openings Doing so may cause bodily injury Before opening the controller cover and accessing...

Page 50: ...44 4 2 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: ...the memory backup battery and encoder backup battery are entered TYPE The model of the robot system is entered The coding of the set model is described below SUBASSEMBLY The type and position of the...

Page 52: ...ered by the warranty even if the robot is under warranty 1 Failures caused by improper repair modification transfer or handling by you or a third party 2 Failures caused by the use of a part or oil fa...

Page 53: ...pendix 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 con...

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Page 55: ...anual 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 m...

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