Denso RC5 Dokumentacja Strona 1

ROBOT Horizontal articulated HS-G SERIES GENERAL INFORMATION ABOUT ROBOT

4 Chapter 2 Configuration of the Robot System 2.1 Configurators The figure below shows configurators of the typical robot system. (1) Robot unit

Chapter 2 Configuration of the Robot System 5 2.2 Names of Robot Unit Components 2.2.1 Robot Unit Components and Rotation Direction The figure be

6 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.

Chapter 2 Configuration of the Robot System 7 2.2.3 Warning and Caution Labels The robot unit has warning and caution labels pasted as shown below

8 2.3 Names of the Robot Controller Components The figure below shows the names of the robot controller components. Note: For warning and caution la

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 list

10 Item Specifications Clean class for cleanroom type(FED-STD-209D) Class 10 (0.1 μ) at point-of-use Airborne noise (A-weighted equivalent continuous

Chapter 3 Specifications of the Robot Unit 11 3.2 Outer Dimensions and Workable Space of the Robot Unit (HS/HSS-G) The outer dimensions and workabl

12 (1) Outer dimensions and workable space (HS-G series; Floor-mount)

Chapter 3 Specifications of the Robot Unit 13 (2) Outer dimensions and workable space (HS-G-UL series; UL-Listed, Floor-mount)

Copyright © DENSO WAVE INCORPORATED, 2005-2011 All rights reserved. No part of this publication may be reproduced in an

14 (3) Outer dimensions and workable space (HSS-4545*G; Arm length 450 mm, Overhead-mount, Standard type)

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

16 (5) Outer dimensions and workable space (HSS-4545*G-W; Arm length 450 mm, Overhead-mount, Dust- & splash-proof type)

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- &

18 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.

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

20 Z axis (PTP control) on the HS-4535*G T axis (PTP control) on the HS-4535*G

Chapter 3 Specifications of the Robot Unit 21 All axes (CP control) on the HS-4535*G

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

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

Preface Thank you for purchasing this high-speed, high-accuracy assembly robot. Before operating your robot, read this manual carefully to safely

24 All axes (CP control) on the HS/HSS-4545*G

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

26 Z axis (PTP control) on the HS/HSS-4555*G T axis (PTP control) on the HS/HSS-4555*G

Chapter 3 Specifications of the Robot Unit 27 All axes (CP control) on the HS/HSS-4555*G

28 3.4 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 t

Chapter 3 Specifications of the Robot Unit 29 To be applied to all models of the HSS-G series (Overhead-mount type) (1) To horizontally traverse

30 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

Chapter 3 Specifications of the Robot Unit 31 (2) HS/HSS-G-W, HS-G-P (Dust- & splash-proof type or Cleanroom type) Note 1: Pins A to V on

32 (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

Chapter 3 Specifications of the Robot Unit 33 3.5.1 Instructions for Using Splash-proof Connector Sets The splash-proof connector sets for CN20 and

How this book is organized This book is just one part of the robot documentation set. This book consists of SAFETY PRECAUTIONS, chapters one throug

34 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 bel

Chapter 3 Specifications of the Robot Unit 35 (3) Moment of inertia around the T axis The moment of inertia of a hand or tool (including work-piece

36 Moment-of-inertia Formulas 1. Cylinder (1) (Axis of rotation = Center axis) 4. Sphere (Axis of rotation = Center axis) 2. Cylinder (2) (The axis

Chapter 3 Specifications of the Robot Unit 37 3.7 Stopping Time and Distance (Angle) at an Emergency Stop Pressing the emergency stop button when t

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 tim

Chapter 3 Specifications of the Robot Unit 39 J1, J2 stopping distance vs. speed at an emergency stop (HS-4545*G series) Z stopping distanc

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 dis

Chapter 3 Specifications of the Robot Unit 41 Z stopping distance vs. speed at an emergency stop (HS-4555*G series)

42 Chapter 4 Specifications of the Robot Controller 4.1 Specifications The table below lists the specifications of the robot controller. RC7M Contro

Chapter 4 Specifications of the Robot Controller 43 RC7M Controller Specifications (2) (HS-G series) Item Specifications Environmental conditions (i

Contents Chapter 1 Packing List of the Robot...

44 4.2 Outer Dimensions Figure below shows the outer dimensions of the robot controller. Outer Dimensions of Robot Controller (HS-G series) Outer

Chapter 4 Specifications of the Robot Controller 45 4.3 Controller Setting Table The controller setting table given in Figure below is attached to

46 Chapter 5 Warranty DENSO robots are manufactured under strict quality control. In case of failure, we warranty the robot under the following con

Chapter 6 Appendix 47 Chapter 6 Appendix 6.1 Conformity with Standards by Robot Model For information on conformity with standards, refer to "

Horizontal Articulated Robot HS-G SERIES GENERAL INFORMATION ABOUT ROBOT First Edition July 2005 Eleventh Ed

Chapter 1 Packing List of the Robot 1 Chapter 1 Packing List of the Robot 1.1 Standard Components The components listed below are contained i

2 1.2 Optional Components The table below lists the optional components. Optional Components (1) Classification No. Item Remarks Part No. (8 m) I

Chapter 1 Packing List of the Robot 3 Optional Components (2) Classification No. Item Remarks Part No. Shipped after integrated in the controll