Denso Faber HM-G Series General Information Manual Download

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ROBOT

Horizontal articulated

HM-G SERIES

GENERAL INFORMATION ABOUT ROBOT

Summary of Contents for Faber HM-G Series

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

Page 2: ...his 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 ...

Page 3: ...verall arm length HM G Medium sized horizontal articulated HM 4 60 G HM 4 70 G HM 4 85 G HM 4 A0 G Note 2 HMS 4 70 G HMS 4 85 G Note 2 600 mm 700 mm 850 mm 1000 mm NOTE 1 Model names listed above apply to the models of robot systems The model names of robot units are followed by M If the robot system model is HM 4 G2 for example the robot unit model is HM 4 E GM Note 2 For hanging 700 mm or 850 mm...

Page 4: ...lustrates 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 robot positioning time air piping and signal wiring and engineering design notes for robot hands Chapter 4 Specifications of the Robot Controller Lists the specifications of the robot controller and c...

Page 5: ... Robot Unit HM HMS G 14 3 3 Robot Positioning Time HM HMS G series 19 3 4 Notes for Setting the Positioning Speed HM HMS G series 32 3 5 Air Piping and Signal Wiring HM HMS G series 34 3 5 1 Instructions for Using Splash proof Connector Sets 37 3 6 Engineering design Notes for Robot Hands HM HMS G series 38 3 7 Stopping Time and Distance Angle at an Emergency Stop 41 3 7 1 Maximum Payload 10 kg Ty...

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Page 7: ...r encoder cable from the table 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 least be 200 mm Excessively bending will result in broken lead wires Item Part No Standard cable 2 m 410141 4400 Standard cable 4 m 410141 3611 Standard cable 6 m 410141 3621...

Page 8: ...e 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 MD 410141 3721 Programming support tool 7 WINCAPSIII CD ROM common to the languages Japanese English German Korean and Chinese 410090 0980 NPN 410010 3320 Shipped as installed on the controller PNP 410010 3330 NPN 410010 3340 8 Parallel I O board Shipped as in...

Page 9: ...r own optional board etc 16 Optional function for memory extension Extension only upon controller shipment 3 25 MB to 5 5 MB 410006 0320 17 Controller protection box 410181 0091 Optional box 18 I O conversion box For interchangeability with RC5 type controller 410181 0100 CD Manuals 19 Manual Pack CD Contained in the robot package 410002 2661 20 Instruction manual for HM G full set Incl Nos C and ...

Page 10: ...t controller 13 Dowel pins 14 Air regulator excluding the splash proof type 15 Short sockets for robot controller I O conversion box option PLC prepared by customer Optional board I O cable option Personal computer prepared by customer Printer prepared by customer Teach pendant option Mini pendant option Controller protection box option WINCAPSIII option Note 1 Components with numbers in are the s...

Page 11: ...ts 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 Robot Unit Components and Rotation Direction HM G series Robot Unit Components and Rotation Direction HMS G series ...

Page 12: ...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: ...pace 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 activating an emergency stop device or the like Label 2 on UL Listed robot units only When the controller power is on pressing the brake release switch unexpectedly drops or raises the Z axis It is DANGEROUS...

Page 14: ...r the HM 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 connector CN5 Mini I O I O connector CN6 INPUT AC Power supply connector CN7 MOTOR Motor encoder connector CN9 HAND I O HAND I O connector CN10 SAFETY I O SAFETY I O connector Only for global type Names of R...

Page 15: ...flange 8 780 mm s 9 570 mm s 11 450 mm s 11 390 mm s Z 2 760 mm s Composite speed T 2220 s 1540 s 2220 s 1540 s 2220 s 1540 s 2220 s 1540 s J1 J2 0 02 mm 0 025 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 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with...

Page 16: ...2 0 02 mm 0 025 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 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg Position detection Absolute encoder Drive motor and brake AC servomotors f...

Page 17: ...2220 s 1540 s 2220 s 1540 s J1 J2 0 02 mm 0 025 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 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg 0 25 kgm2 with 10 kg 0 45 kgm2 with 20 kg Position detection Absolute encoder Drive ...

Page 18: ...e second or less Maximum allowable moment of inertia around T axis 0 25 kgm 2 with 10 kg 0 45 kgm 2 with 20 kg 0 25 kgm 2 with 10 kg 0 45 kgm 2 with 20 kg Position detection Absolute encoder Drive motor and brake AC servomotors for all axes Air balanced cylinder for Z axis 3rd axis Brake for Z axis 3rd axis Brake releasing Enter a brake release command with the teach pendant or mini pendant User a...

Page 19: ...aximum allowable moment of inertia around T axis 0 25 kgm 2 with 10 kg 0 45 kgm 2 with 20 kg 0 25 kgm 2 with 10 kg 0 45 kgm 2 with 20 kg Position detection Absolute encoder Drive motor and brake AC servomotors for all axes Brake for Z axis 3rd axis Brake releasing 1 Enter a brake release command with the teach pendant or mini pendant 2 On the 10 kg payload type pressing the brake release switch in...

Page 20: ... 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 15 2 HM G W Series Robot Unit Floor mount Dust splash proof type Outer dimensions and workable space HM G W ...

Page 22: ...16 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 17 4 HMS G Series Robot Unit Overhead mount Standard type Outer dimensions and workable space HMS G ...

Page 24: ...18 5 HMS G W Series Robot Unit Overhead mount Dust splash proof type Outer dimensions and workable space HMS G W ...

Page 25: ... damping 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 first digit represents the axis number may be displayed In this case take one of the following measures Lower the deceleration of the preceding operation with a DECEL command to reduce residual vib...

Page 26: ...20 1 HM40602G HM40602G W 2 HM40603G HM40603G W Positioning time sec CP operation Travel distance mm Load Load Positioning time sec CP operation Travel distance mm Load Load ...

Page 27: ...ations of the Robot Unit 21 3 HM40604G HM40604G W 4 HM40702G HMS40702G HM40702G W HMS40702G W Positioning time sec CP operation Travel distance mm Load Load Positioning time sec CP operation Travel distance mm Load Load ...

Page 28: ...40703G HMS40703G HM40703G W HMS40703G W 6 HM40704G HMS40704G HM40704G W HMS40704G W Positioning time sec CP operation Travel distance mm Load Load Positioning time sec CP operation Travel distance mm Load Load ...

Page 29: ...he Robot Unit 23 7 HM40852G HMS40852G HM40852G W HMS40852G W 8 HM40853G HMS40853G HM40853G W HMS40853G W Positioning time sec CP operation Travel distance mm Load Load Positioning time sec CP operation Travel distance mm Load Load ...

Page 30: ...854G HMS40854G HM40854G W HMS40854G W 10 HM40A02G HM40A02G W Positioning time sec CP operation Travel distance mm Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Load ...

Page 31: ...of the Robot Unit 25 11 HM40A03G HM40A03G W 12 HM40A04G HM40A04G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load ...

Page 32: ...A602G HM4A602G W 14 HM4A603G HM4A603G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load ...

Page 33: ...nit 27 15 HM4A604G HM4A604G W 16 HM4A702G HMS4A702G HM4A702G W HMS4A702G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Load ...

Page 34: ...M4A703G W HMS4A703G W 18 HM4A704G HMS4A704G HM4A704G W HMS4A704G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load ...

Page 35: ...A852G HMS4A852G HM4A852G W HMS4A852G W 20 HM4A853G HMS4A853G HM4A853G W HMS4A853G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load ...

Page 36: ...S4A854G HM4A854G W HMS4A854G W 22 HM4AA02G HM4AA02G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Load ...

Page 37: ...of the Robot Unit 31 23 HM4AA03G HM4AA03G W 24 HM4AA04G HM4AA04G W Positioning time sec CP operation Travel distance mm Load Load Load Load Load Load Positioning time sec CP operation Travel distance mm Load Load Load Load Load ...

Page 38: ...axis coordinate value only when the robot is moved 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 limit For example when the robot arm moves by SP100 from the start point Z axis coordinate 100 mm to the target point Z axis coordinated 0 mm the maximum spe...

Page 39: ...dinate value only when the robot is moved 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 limit For example when the robot arm moves by SP100 from the start point Z axis coordinate 706 mm to the target point Z axis coordinated 806 mm the maximum speed limi...

Page 40: ...nd 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 Model and name Appearance 410877 0170 for CN20 SRCN6A25 24S Round connector Japan Aviation Electronics Industry Ltd 410889 0090 410877 0450 for CN21 JMSP2524M Straight plug DDK Electronics Inc Air Piping and Signal Wiring HM H...

Page 41: ...d name Appearance 410877 0480 for CN20 JL05 6A24 28S A72 Straight plug Japan Aviation Electronics Industry Ltd 410877 0490 for CN20 JL05 24EB9B 17 A72 Cord clamp Japan Aviation Electronics Industry Ltd Applicable wire diameter 15 to 17 410877 0500 for CN20 JL05 24EB9B 21 A72 Cord clamp Japan Aviation Electronics Industry Ltd Applicable wire diameter 19 5 to 21 410889 0100 410877 0470 for CN21 EBSP...

Page 42: ... for CN20 CE01 6A24 28SC D69 Straight plug DDK Electronics Inc 410877 0650 for CN20 CE01 24BS DS Straight plug DDK Electronics Inc 410877 0660 for CN20 CE3057 16A 1 D Cable clamp DDK Electronics Inc Applicable wire diameter 15 to 19 1 410877 0670 for CN20 CE3057 16A 4 D Cable clamp DDK Electronics Inc Applicable wire diameter 19 1 to 21 410889 0120 410877 0450 for CN21 JMSP2524M Straight plug DDK ...

Page 43: ...hould be assembled according to the instructions specified by the connector manufacturer The table below shows an assembly procedure example of a connector set for CN21 The actual assembly procedure should be in accordance with the instructions specified by the connector manufacturer Overview of assembly procedure example of connector set for CN21 Components of connector set for CN21 Assembly proc...

Page 44: ...e damaged 1 Mass of hand The total mass of a hand or tool including workpiece should be less than the maximum allowable payload of the robot Be sure to include the mass of wirings and piping used for a hand or tool Total mass of hand or tool incl workpiece Max allowable payload NOTE The maximum allowable payload refers to a mass of payload that you have preset 2 Hand center of gravity The center o...

Page 45: ...cceleration Speed 100 2 x100 Application sample of hand s moment of inertia HM HMS G series 10 kg payload type To run the robot at 100 of the programmed speed and acceleration The moment of inertia around the T axis should be 0 15 kgm2 or less If the moment of inertia around the T axis is 0 17 kgm2 Run the robot at 90 or less of the programmed speed and at 81 or less of the programmed acceleration...

Page 46: ...d 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 calculating the moment of inertia of a complicated shape divide it into simple parts as much as possible for easier calculations As shown in the figure below divide the hand into three parts 1 2 3 Calculati...

Page 47: ...equired 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 3 7 1 Maximum Payload 10 kg Type 1 HM 4060 G series J1 J2 Z stopping time vs speed at an emergency stop HM 4060 G J1 J2 stopping distance vs speed at an emergency stop HM 40...

Page 48: ...42 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 43 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: ...44 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 45 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: ...46 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 47 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: ...48 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 49 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: ...50 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 51 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: ...52 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: ...pecifications of the Robot Unit 53 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: ...54 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 55 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: ...56 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 57 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: ...58 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 59 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: ...60 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 61 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: ...62 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 63 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: ...64 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: ...nts 2 boards Input signals 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 open points Master slave Input signals 1024 points Master 256 points Slave Output signals 1024 points Master 256 points Slave Master Input signals 1024 points Output signals 1024 poin...

Page 72: ...ir 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 the inside of the controller for maintenance be sure to turn off the power switch disconnect the power cable and wait 3 minutes or more This is for protecting you from electric shock DO NOT connect or disconnect connector t...

Page 73: ...cifications of the Robot Controller 67 4 2 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: ...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 controller IPM board are described The coding of the set model HM HMS G series HM 4 0 85 2 G W Variation None Standard type UL Listed W Dust splash proof type Robot unit IP65 equivalent Z axis stroke 1 100 mm A 150 mm 2 200 mm ...

Page 75: ...not be covered 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 fat other than those specified in the related manuals 3 Failures caused by a fire salt damage earthquake storm flood or other acts of God 4 Failures caused by the use of the robot in an enviro...

Page 76: ...70 Chapter 6 Appendix 6 1 Operating time of each axis 1 HM40602G ...

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Page 172: ...mity 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: ...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 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 10N C ...

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