The highest evolution of the arm

Transcription

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2 The highest evolution of the arm

3 Danfoss is a global company with 26,000 employees worldwide. Producing 250,000 products a day in 93 factories located in 25 countries, it has 140 sales companies and over 450 dealers and distributors throughout the world. One of the Danfoss factories in Denmark utilizes approximately 40 DENSO robots. We prefer to use a single brand of robot in our production process and chose DENSO as it could offer the largest range of models. We wanted to use the combined approach to programming for all of our robots, and DENSO uses the same programming and unit for both SCARA and 6-axis robots. Svend Arne Dynnweber, Project Manager for Danfoss, Denmark

4 04 Technology with tradition 05 Meeting your challenges 06 Increasing your productivity 08 Flexible. Fast. Effective. 09 Intelligent interaction 10 We re only satisfied when you are 11 Our worldwide network 12 DENSO delivers. Every time. 14 DENSO 4-axis robots 16 HS Series mm 20 HM Series mm 24 DENSO 5- and 6-axis robots 26 VP Series 430 mm 30 VP Series aseptic 32 VS Series mm 36 VM Series mm 40 The new VS Series 44 New VS Series mm 46 New VS Series mm 48 XR Series 52 The DENSO controller 54 Teaching and mini pendants 56 Programming DENSO robots 57 PC-based options 58 WINCAPS III 60 ORiN2 62 b-cap

5 TECHNOLOGY WITH TRADITION When you choose a robotic solution from DENSO, you can rest assured that you are investing in a product of the highest quality. Our commitment to technological innovation, continuous improvement and customer satisfaction is second to none. DENSO Robotics is part of DENSO Corporation, which is recognized as one of the world s 500 largest companies (Fortune Global 500 List) and is also one of the world s largest automotive parts manufacturers. It is this industrial strength that has allowed DENSO to be such a pioneering force in the robotics field and has resulted in the company becoming the recognized worldwide leader in small-robot design and manufacturing. When industrial robots first appeared in the early 1960s, DENSO began to develop and apply the emerging technologies to its own production processes, allowing the company to constantly improve and advance both hardware and software. And now today, as the established market leader in the important small assembly robot segment, DENSO continues to set the standard for reliability, flexibility and performance. With more than 60,000 DENSO robots installed across the globe 16,000 of which are employed in its own manufacturing facilities no other robot manufacturer has more industry knowledge or expertise. 04 Technology with tradition

6 MEETING YOUR CHALLENGES Whatever robotic challenge you face, DENSO has the solution. Our product range includes four-axis SCARAs and five- and six-axis articulated robots, all of which are defined by their outstanding speed, precision and quality of manufacture. Every DENSO robot is designed to perform to the highest possible standards. Requiring only minimal periodic maintenance, each of our robots comes with one of the best warranties in the industry. DENSO robots have been designed to operate in virtually any industrial environment. The protection ratings of our robots are as follows: z Standard (IP40) z Dust-, mist- and splashproof (IP65 and IP67) z Cleanroom classes 10 and 100 z Aseptic (cleanable with hydrogen peroxide, commonly used for biodecontamination in the pharmaceutical and medical industries) As further testament to our credentials and reputation in the robot-arm marketplace, major competitors rely on us to supply them with unbranded hardware for their own product lines. There is no better way to meet your robotic challenges than with DENSO. Meeting your callenges 05

7 INCREASING YOUR PRODUCTIVITY INCREASING YOUR SUCCESS For a business operating in today s global economy, it is imperative to be as lean and efficient as possible without compromising quality and service. Consumers demand the highest quality products at the most competitive prices. And shareholders expect a positive return on their investments. So how do you establish an advantage while still maintaining integrity? How do you ensure that your systems are delivering the most effective total cost of ownership? That s where DENSO can help. 06 Increasing your productivity, increasing your success

8 Reducing your production costs and shortening your time to market z The unparalleled speed and precision of our robots save you time. Processes are completed faster and more accurately. z Our robots are extremely reliable and durable. There is minimal downtime. And that means your production operates at maximum efficiency. z The highly compact design of our robots saves space. There is no unnecessary bulk or equipment. Your manufacturing area is utilized to its full capacity. z Our robots require minimal servicing and upkeep. This means they constantly perform without the time and expense incurred by frequent maintenance. z Because of their low energy consumption, DENSO robots keep power costs to a minimum while also helping the environment. Putting the environment first The environment is a crucial consideration in the production of DENSO robots. We are completely dedicated to reducing the use of hazardous substances. Our awareness and commitment mean that DENSO robots are an environmentally friendly, ultra-efficient and highly profitable investment. Our robots can help you achieve the full potential of your business in an eco-friendly manner. 07

9 FLEXIBLE. FAST. EFFECTIVE. From general manufacturing to pharmaceuticals, a wide range of industries can benefit from the way DENSO robots streamline and improve processes and procedures. The versatility and advanced functionality of our products allow them to be programmed for virtually any situation where a robot arm is applicable. Whether the requirement is for straightforward pick and place or extremely complex tasks and routines, DENSO robots are at the forefront of today s industrial applications. Here is a brief overview of where and how DENSO Robotics can add value and efficiency to your business: Industries: z Appliances z Automotive z Chemicals z Consumer products z Electronics z Food Applications: z General manufacturing z Machine tools z Medical devices z Pharmaceuticals z Semiconductors z Plastics z And many others z Pick and place z Assembly z Packaging z Dispensing z Palletizing z Inspection z Machine tending z Material removal z Material handling z Test handling z Ultrasonic welding z Custom applications 08 Flexible. Fast. Effective.

10 INTELLIGENT INTERACTION DENSO robots have been designed to make programming them as convenient and user friendly as possible. We have developed a range of tools that decrease the learning curve and allow you to interact with our robots in a manner you find the most comfortable and familiar. For ease and simplicity, all DENSO robot controllers have a standard Ethernet connection that allows them to be attached to another device such as a PLC or industrial PC. The many ways you can input instructions into DENSO robots include the following: z DENSO touchscreen teaching pendant z WINCAPS III DENSO s offline programming software z ORiN2 Our innovative middleware enables the use of existing high-level languages such as C++, C#, Visual Basic, and Java to program DENSO robots, eliminating the need to learn any new type of code or input method. z National Instruments LabVIEW software The ImagingLab Robotics Library for DENSO, which was created through collaboration between DENSO Robotics and National Instruments, simplifies robot setup, saving time and development costs. z b-cap Binary Controller Access Protocol (b-cap) is an option available with ORiN2. The b-cap system provides a common interface that connects DENSO robots and peripheral devices via a PC, PLC or any other device that has an Ethernet port. Platform- and programminglanguage independent C++, C#, Visual Basic, Java, etc. DeviceNet Slave DeviceNet Master DeviceNet Master & Slave Profibus Slave CC-Link Slave EtherNet/IP Parallel IO RS-232C Ethernet Intelligent interaction 09

11 WE RE ONLY SATISFIED WHEN YOU ARE Cutting-edge technology, class-leading products and groundbreaking systems are only part of what you can expect when you choose DENSO. Our worldwide customer-support capabilities also lead the way in terms of service and delivery. We provide a highly personalized, professional and friendly resource to help with all of your questions. Whether you need telephone assistance or a site visit, our teams of highly qualified engineers, technicians and system-integrator partners are ready and waiting all over the globe. In the world of robotics, we never forget that the human touch is the most important one of all. 10 We re only satisfied when you are

12 OUR WORLDWIDE NETWORK Our international network of offices provides comprehensive service and support throughout the world. DENSO ROBOTICS 3900 Via Oro Avenue Long Beach, CA USA Tel: ROBOTX ( ) Fax: (310) DENSO WAVE INCORPORATED 1 Yoshiike, Kusaki, Agui-cho Chita-gun, Aichi JAPAN Tel: Fax: faoverseas@denso-wave.co.jp DENSO (CHINA) INVESTMENT CO., LTD. Room No.518, The Beijing Fortune Building, No.5 Dong SanHuan Bei-Lu, ChaoYang District, Beijing CHINA Tel: Fax: fa-support@denso-wave.co.jp DENSO EUROPE B.V. Waldecker Str. 9 D Mörfelden-Walldorf GERMANY Tel: Fax: robotics@denso-auto.de DENSO SALES KOREA CORPORATION 9F, JPlus, 16-13, Yangje-dong Seocho-gu, Seoul, KOREA Tel: Fax: leehd@densokorea.com DENSO INTERNATIONAL ASIA PTE. LTD. 51 Science Park Road Unit + ACM The Aries, Science Park II SINGAPORE Tel: Fax: fa-support@denso-wave.co.jp DENSO TAIWAN CORPORATION No.525, Sec2, Mei Su Rd. Jui Ping Li, Yang Mei Town Taoyuan Hsien TAIWAN, R.O.C. Tel: Fax: fa-support@denso-wave.co.jp DENSO (MALAYSIA) SDN. BHD. Ground Floor, No.14, Jalan Glenmarie (Persiaran Kerjaya) Section U Shah Alam, Selangor Darul Ehsan MALAYSIA Tel: Fax: fa-support@denso-wave.co.jp DENSO SALES (THAILAND) CO., LTD. 888 Moo 1 Bangna - Trad Rd. KM , T. Bangbo, A. Bangbo Samutprakam THAILAND Tel: Fax: fa-support@denso-wave.co.jp DENSO AUTOMOTIVE SYSTEMS AUSTRALIA PTY LTD Merrindale Drive Crydon, Victoria 3136 AUSTRALIA Tel: Fax: fa-support@denso-wave.co.jp Our worldwide network 11

13 12 DENSO delivers. Every time.

14 DENSO delivers. Every time. On the following pages you will find details about the wide range of DENSO robot hardware and software solutions. Whatever robotic challenge you face, DENSO can deliver

15 DENSO 4-axis robots DENSO four-axis robots include the HS and HM Series. Also known as SCARAs (selective compliance articulated robot arms), four-axis robots are the perfect option for a wide range of applications. If you are looking for a high-speed, exceptionally precise arm that can handle payloads up to 20 kg, DENSO four-axis SCARA robots are the ideal choice for the following applications: z Pick and place z Packaging z Inspection z Material handling z Assembly z Dispensing z Material removal z Custom applications Outstanding features include: z Cycle times from 0.35 to 0.29 sec. z Repeatability from ±0.025 to ±0.015 mm z Reaches from 350 to 1,000 mm z Compact design facilitates integration and saves valuable floor space z Internal electrical wiring and air piping prevents interference with peripheral equipment 300 mm One cycle is the time taken to complete a cycle of work from one arrow to the other and back. 25 mm 14 DENSO 4-axis robots

16 Because of their compact dimensions and floor- or ceiling-mount capability, DENSO four-axis SCARA robots are perfectly suited to applications where space is at a premium. They are also very powerful, with a high maximum allowable moment of inertia that enables a wide range of end-effectors. To allow operation in many different industrial environments, DENSO four-axis SCARA robots are available in the following protection classes: z Standard (IP40) z Dust- and mistproof (IP65) z Cleanroom class 10 15

17 KEY FEATURES HS-4535*G HS-4545*G HS-4555*G HS SERIES MM The DENSO HS-Series robots are ideal for applications where size constraints are a key consideration. Their outstanding features include: z Exceptional repeatability of ±0.02 to ±0.015 mm z Fast cycle time of 0.35 sec. z Payloads up to 5 kg z Reaches from 350 to 550 mm z High maximum allowable moment of inertia z Compact design saves floor space, facilitates integration z Floor- or ceiling-mount, with no special hardware needed z Operation in dusty and wet environments (optional IP65 configuration) z Operation in cleanrooms (optional cleanroom class 10 configuration) z ANSI and CE compliance allows global deployment z UL models available for the US and Canada 16 HS Series mm

18 CEILING-MOUNT OPTION HS-4535*G HS-4545*G HS-4555*G Number of axes 4 Maximum arm reach (mm) First-arm reach (mm) Second-arm reach (mm) 225 J1 ±155 Range of J2 ±145 motion ( ) Z (mm) 200, 320 T ±360 Position detection Absolute encoder Minimum motion area (mm) Maximum payload (kg) 5 Weight, approx. (kg) 25 Footprint (mm) Cycle time (sec.) 0.35 (with 2-kg weight) Maximum composite speed (mm/sec.) 7,200 6,300 7,100 J1 ( /sec.) Maximum joint J2 ( /sec.) 720 speed Z (mm/sec.) 2,000 T ( /sec.) 2,400 Repeatability 1 Z (mm) ±0.01 J1+J2 (mm) ±0.015 ±0.02 T ( ) ±0.005 Maximum force fit (1 sec. or less, N) 98 Maximum allowable moment of inertia (kgm 2 ) 0.1 (with 5-kg weight) Wiring (in-arm integrated) 19 lines (max. 1 A per line) Air piping (in-arm integrated) 4 systems (ø4 2, ø6 2) Protection class Standard: IP40 Options: IP40/65, IP65 (dust- and mistproof), cleanroom class 10 (0.1 μm) 2 Ceiling-mount - UL specifications 2 *Placeholder for Z-stroke value. 1. At constant ambient temperature. 2. Floor-mount only. 17

19 L3 S L L HS SERIES MM Flange (option) mounting face B Ø42 Ø34h7 Ø70 4-Ø5.5 28± ±0.02 (workable space) (workable space) D Ø5H workable space 145 (151) 190 (230) cabling space Unit: mm 18 HS Series mm

20 ± S (mm) Type L1 L2 L3 Standard *200 Dust- and mistproof 790 Cleanroom Model A B C HS-4535*G HS-4545*G HS-4555*G Standard *320 Dust- & mistproof Cleanroom With Z-axis stroke of 320 mm, bottom of Z axis may reach below base mounting face. workable space Base mounting dimensions Detail of hand mounting face (viewed from D) Ø12 Ø C C1 A Ø14 2-Ø6H Ø20h7 43± <123> Note: Value in angle brackets denotes dimensions for dust- and mistproof or cleanroom models. 19

21 KEY FEATURES HM SERIES MM The DENSO HM-Series robots offer a longer reach and higher payload capacity than the HS-Series models. Their outstanding features include: z Exceptional repeatability of ±0.02 to ±0.025 mm z Fast cycle times from 0.31 to 0.29 sec. z Large payloads up to 20 kg z Long reaches from 600 to 1,000 mm z High maximum allowable moment of inertia z Compact design saves floor space, facilitates integration z Floor- or ceiling-mount, with no special hardware needed z Operation in dusty and wet environments (optional IP65 configuration) CEILING-MOUNT OPTION z ANSI and CE compliance allows global deployment z UL models available for the US and Canada HM-4A70*G HM-4A85*G HM-4AA0*G 20 HM Series mm

22 HM-4060*G HM-4A60*G HM-4070*G HM-4A70*G HM-4085*G HM-4A85*G HM-40A0*G HM-4AA0*G Number of axes 4 Maximum arm reach (mm) First-arm reach (mm) Second-arm reach (mm) J1 ±165 Range of J2 ±143 ±147 motion ( ) Z (mm) 200, 300, 400 T ±360 Position detection Absolute encoder Minimum motion area (mm) Maximum payload (kg) Weight, approx. (kg) 53 Footprint (mm) Cycle time (sec.) 0.29 (with 2-kg weight) 0.31 (with 2-kg weight) Maximum composite speed (mm/sec.) 8,780 9,570 11,480 11,390 J1 ( /sec.) 450 Maximum joint J2 ( /sec.) 667 speed Z (mm/sec.) 2,780 T ( /sec.) 2,220 for 10-kg models or 1,540 for 20-kg models Repeatability 1 Z (mm) ±0.01 J1+J2 (mm) ±0.02 ±0.025 T ( ) ±0.005 Maximum force fit (1 sec. or less, N) 98 Maximum allowable moment of inertia (kgm 2 ) 0.25 (with 10-kg weight) 0.45 (with 20-kg weight) 0.25 (with 10-kg weight) 0.45 (with 20-kg weight) 0.25 (with 10-kg weight) 0.45 (with 20- kg weight) 0.25 (with 10-kg weight) Wiring (in-arm integrated) 24 lines (max. 1 A per line) Air piping (in-arm integrated) 4 systems (ø6) Protection class Standard: IP40; option: IP65 (dust- and mistproof) Ceiling-mount UL specifications (with 20-kg weight) * Placeholder for Z-stroke value. 1. At constant ambient temperature. 2. Floor-mount only. 21

23 L3 200± S 346 L2 340 L (24.5) HM SERIES MM Detailed drawing of hand mounting face (viewed from E) G 2XR G 70 C B Ø17 (Ø19) (Ø22h7) (Ø26h7) ( ) 3N G - G Base mounting dimensions (viewed from top) E 2XØ8H R20 ( 0 ) (reference hole) ±0.05 R2000 4XØ14.3 workable space (cabling space) Unit: mm R HM Series mm

24 2 ( 36.5 ) Type A B C D F HM-4060*G, HM-4A60*G º HM-4070*G, HM-4A70*G º HM-4085*G, HM-4A85*G º HM-40A0*G, HM-4AA0*G º F Flange (option) mounting face 2 Ø40 Ø58 D A ( ) Ø50h7 Ø34h7 workable space (38 ±0.02) 28± (working space) Ø70 (Ø95) - (working space) 12±0.02 S L1 L2 L3 4-Ø5.5 (4-Ø6.5) ( 0 ) ( 0 ) Ø5H Ø6H Z-axis stroke 10 kg 20 kg With Z-axis stroke of 400 mm, bottom of Z axis may reach below base mounting face. 60 (80) (80) 2. Values denote dimensions for 10-kg payload models (HM 40**G); values in parentheses denote dimensions for 20-kg payload models (HM-4A**G). 23

25 DENSO 5- and 6-axis robots The DENSO lineup of five- and six-axis articulated robots includes the VP, VS and VM Series, as well as the new VS models. These robots provide greater flexibility than their four-axis counterparts. Because of their increased freedom of movement, they are suited to handle a much wider range of applications. DENSO five- and six-axis articulated robots are ideal for the following industrial applications: z Assembly z Inspection z Machining z Material handling z Machine tending z Packaging z Palletizing z Ultrasonic welding z Custom applications Industry-leading features include: and 6-axis robots z Cycle times from 0.99 to 0.49 sec. z Repeatability from ±0.07mm to ±0.02mm z Reaches from 420 to 1,300 mm z Payloads up to 10 kg z Compact design facilitates integration and saves valuable floor space z Internal electrical wiring and air piping prevents interference with peripheral equipment 300 mm One cycle is the time taken to complete a cycle of work from one arrow to the other and back. 25 mm

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27 KEY FEATURES VP SERIES 430 MM VP-5243G VP-6242G CEILING-MOUNT OPTION DENSO VP-Series robots are perfect for installations where operational space is limited. Their outstanding features include: z Excellent repeatability of ±0.02 mm z Payloads up to 3 kg z 430-mm reach z Ultracompact design, with space-saving footprint of only 160 x 160 mm, facilitates integration in tight spaces z Floor- or ceiling-mount, with no special hardware needed z Exceptionally light weight from only 13 to 24 kg z Space-saving bottom-side cable connection (VP-G2) z Low energy consumption, with all motors combined using a maximum of only 300 W z ANSI and CE compliance alows global deployment z UL models available for the US and Canada (VP-G2) 26 VP Series 430 mm

28 VP-5243G VP-6242G VP-6242G2 VP-6242G2-UL Number of axes 5 6 Overall arm length (mm) Second-arm width (mm) Reach (to center of 5th axis, mm) Minimum motion area (mm) Maximum payload (kg) 2.5 (3.0 with flange pointing down) 2.0 (2.5 with flange pointing down) 2.0 Weight, approx. (kg) Footprint (mm) 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 Repeatability 1, 2 (mm) ±0.02 ±0.02 Max. allowable J4 - moment of inertia J (kgm 2 ) J J1 ±160 J2 ±120 Range of J3 +136, , +19 motion ( ) J4 - ±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) 4 systems (ø4 4) Wiring (in-arm integrated) 9 lines (max. 1 A per line) 16 lines (max. 1 A per line) Air source Operating pressure Pa to Pa Maximum allowable pressure Pa Protection class IP30 Ceiling-mount At constant ambient temperature. 2. In every direction. 27

29 70 VP SERIES 430 MM Point P B Ø65 Workable space defined by point P R R222 R R222 2-M Unit: mm 28 VP Series 430 mm

30 144 ± Detail of end-effector mounting face (view A) M5, Depth 8 (P.C.D. 31.5) Workable space defined by point P Ø 40 h Ø 20 h7 Depth 6 Ø 5H7 Depth R148 2-M Point P Cabling space Detail of base mounting face (top view) Ø6H7 (reference hole) ± Ø10 R R10 29

31 KEY FEATURES VP-SERIES ASEPTIC ROBOTS The DENSO VP-Series aseptic robots are designed for medical and pharmaceutical applications where biocontamination control is required. z Hydrogen peroxide-washable design features anodized aluminium coverings, a protective outer coating and specially sealed joints to protect robot against corrosion z Class-100 cleanroom performance, designed for cleanrooms and other contamination-controlled environments z Ultracompact, space-saving design, with a 432-mm reach yet a footprint diameter of only 200 mm z Bottom-side cable connection removes cables from cleanroom environment, facilitates robot cleaning and saves floor space z Low energy consumption, with all motors combined using a maximum of only 300 W z ANSI and CE Compliance allows global deployment z UL models available for the US and Canada 30 VP-Series aseptic robots

32 VP-6242G2-S1 VP-6242G2-S1-UL Number of axes 6 Overall arm length (mm) 210 1st axis nd axis = 420 Reach (to center of 5th axis, mm) 432 Minimum motion area (mm) 148 Maximum payload (kg) 2 Weight, approx. (kg) 25 Footprint (mm dia.) 200 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 Repeatability 1, 2 (mm) ±0.02 Maximum allowable moment of inertia (kgm 2 ) J4, J5: J6: 007 Range of motion ( ) J1 ±160 J2 ±120 J3 +160, +19 J4 ±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) 4 systems (ø4 4) Wiring (in-arm integrated) 16 lines (max. 1 A per line) Air source Operating pressure Pa to Pa Maximum allowable pressure Pa Protection level Washable with 6% hydrogen peroxide (H 2 O 2 ) Cleanroom rating Class 100 (0.3 μm) at point of use 1. At constant ambient temperature. 2. In every direction 31

33 KEY FEATURES VS SERIES MM The DENSO VS-Series six-axis articulated robots offer longer reaches than the VP Series and can handle higher payloads. They are also available in configurations that allow operation in specific environments. Outstanding features include: z Fast cycle times from 0.59 to 0.49 sec. z Excellent repeatability from ±0.03mm to ±0.02mm z Payloads up to 7 kg z Reaches from 650 to 850 mm z High maximum allowable moment of inertia z Compact design saves floor space, facilitates integration z Floor- or ceiling-mount, with no special hardware required z Operation in dusty and wet environments (optional IP65 configuration) VS-6556G VS-6577G CEILING-MOUNT OPTION z Operation in cleanrooms (optional cleanroom class-10 and class-100 configurations) z ANSI and CE compliance allows global deployment z UL models available for the US and Canada 32 VS Series mm

34 VS-6556G Number of axes 6 VS-6577G Overall arm length (mm) Second-arm width (mm) 110 Reach (to center of 5th axis, mm) Minimum motion area (mm) Maximum payload (kg) 6 (7 with flange pointing down) Weight, approx. (kg) Footprint (mm mm) Cycle time (sec.) 0.49 (with 1-kg weight) 0.59 (with 1-kg weight) Maximum composite speed (mm/sec.) 8,200 7,600 Maximum joint speed ( /sec.) J1: 375 J2: 300 J3: 375 J4: 410 J5: 410 J6: 660 Repeatability 1, 2 (mm) ±0.02 Maximum allowable moment of inertia (kgm 2 ) J4, J5: J6: Range of motion ( ) J1 ±170 J2 +135, -100 J3 +166, -119 J4 ±190 J5 ±120 J6 ±360 Position detection Drive motors and brakes Air piping (in-arm integrated) Wiring (in-arm integrated) Protection class Ceiling-mount 3 UL specifications 4 Absolute encoder AC servomotors for all axes; brakes on 2nd, 3rd and 4th axis (5th and 6th axis optional) 10 lines (max. 1 A per line) 7 systems (ø4 6, ø6 x 1), three 2-position double solenoid valves Standard: IP40 Options: IP54/65 (body/wrist), IP65 (dust- and mistproof), cleanroom class 10 (0.1 μm) 3, cleanroom class 100 (0.3 μm) 3 1. At constant ambient temperature. 2. In all directions. 3. All except cleanroom models, which can be floor-mounted only. 4. Only for dust- and mistproof model with brakes. 33

35 R VS SERIES MM Point P _ 120º A 105 Ø65 J5 + R º J3 + _ 90 R º 135º J2 R _ R º º Workable space defined by point P Unit: mm 34 VS Series mm

36 184 ± Detail of end-effector mounting face (view A) Ø40h M5 Depth 8 (P.C.D 31.5) 170º Workable space defined by point P Ø20h7 Depth Ø5 h7 Depth 7 R Point P J6 J ±360º ±190º 2- Ø6H (reference hole) R20 66 ± Ø12 Hole (for M10 screw) Detailed drawing of base mounting face (top view) R º 35

37 KEY FEATURES VM SERIES ,300 MM The DENSO VM-Series six-axis articulated robots offer exceptionally long reaches along with high speed, high precision and a large payload capacity. The VM-Series robots offer the following outstanding features: z Fast cycle times from 0.95 to 0.89 sec. z Payloads up to 10 kg z Reaches from 1,000 mm to 1,300 mm z High maximum allowable moment of inertia z Compact design saves floor space, facilitates integration z Floor- or ceiling-mount, with no special hardware required z Operation in dusty and wet environments (optional IP65 configuration) z Operation in cleanrooms (optional cleanroom class-100 configuration) z ANSI and CE compliance allows global deployment VM-6083G VM-60B1G CEILING-MOUNT OPTION 36 VM Series 1,000 1,300 mm

38 VM-6083G Number of axes 6 1. At constant ambient temperature. 2. In all directions. 3. All except cleanroom models, which can be floor-mounted only. VM-60B1G Overall arm length (mm) 830 1,110 Second-arm width (mm) 130 Reach (to center of 5th axis, mm) 1,021 1,298 Minimum motion area (mm) Maximum payload (kg) 10 Weight, approx. (kg) 82 Footprint (mm) Cycle time (sec.) 0.89 (with 5-kg weight) 0.95 (with 5-kg weight) Maximum composite speed (mm/sec.) 8,300 Maximum joint speed ( /sec.) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600 Repeatability 1, 2 (mm) ±0.05 ±0.07 Maximum allowable moment of inertia (kgm 2 ) J4, J5: 0.36 J6: Range of motion ( ) J1: ±170 J2: +135, -90 J3: +165, -80 J4: ±185 J5: ±120 J6: ±360 Position detection Drive motors and brakes Air piping (in-arm integrated) Wiring (in-arm integrated) Protection class Ceiling-mount 3 Absolute encoder AC servomotors for all axes; brakes on 2nd, 3rd, 4th, 5th and 6th axis 7 systems (ø4 6, ø6 x 1), three 2-position double solenoid valves 10 lines (max 1 A per line) Standard: IP40 Options: IP54/65 (body/wrist), cleanroom class 100 (0.3 μm) 37

39 R VM SERIES 1,000 1,300 MM Workable space defined by point P _ 120 Point P A 114 Ø82 J J3 + _ M6, 14 deep 80 R J2 + _ 120 R B B R Unit: mm 38 VM Series 1,000 1,300mm

40 155 ± Detail of end-effector mounting face (view A) Ø50h Workable space defined by point P Ø6h7 0, 9 deep R Ø25h7 9.5 deep 4-M6, 9 deep (P.C.D.40) Point P J6 J4 2-M6, 14 deep 170 Detaii of base mounting face (view B-B) ±360 ± M4, 10 deep 170 R Center of rotation (J1) Ø30 Reference face ± Ø14.5 Hole (for M12 screw) 39

41 THE NEW VS SERIES The new DENSO VS-Series six-axis articulated robots are even faster, more compact and more flexible than previous VS models. Their outstanding features include: z Higher speed: Cycle times from to 0.33 sec. z Same high precision: Repeatability from ±0.03 to ±0.02 mm z Same high payload capacity: 7 kg z New, even more compact design and ultraslim arms facilitate integration z New optional bottom-side cable connection saves floor space z Floor- or ceiling-mount, plus new wall-mount, with no special hardware required Connectivity A new internal wiring option allows users to easily connect Gigabit Ethernet devices and servo grippers directly to the robot flange, preventing cables from becoming tangled or interfering with peripheral equipment. Protection A new IP67 protection option provides resistance to cutting chips and high-pressure washing, allowing use in harsh, wet environments. 40 The new VS Series

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43 THE NEW VS SERIES Slim Original VS Series New VS Series 278 mm wide 235 mm wide 189 mm wide VS6556G-B VS050G, VS060G VS068G, VS087G VS6556G-B 110 mm 100 mm VS050G, VS060G : 95 mm VS068G, VS087G : 100 mm 42 The new VS Series

44 Extendable Port for Gigabit Ethernet Communication Interface (Option) z Easily mount Ethernet device (camera, etc.) z Easily mount servo gripper Port for servo gripper Multiple mounting configurations Previously: External wiring for Gigabit Ethernet and servo gripper Now: Internal wiring for Gigabit Ethernet and servo gripper Ceiling Wall Wall Wall Cables protected under base of robot (option) Floor 43

45 KEY FEATURES NEW VS SERIES MM The new DENSO VS-Series six-axis articulated robots are ideal for applications where operational space is limited. Features of the 500- and 600-mm models include: z Exceptionally fast cycle time of 0.37 sec. z Outstanding repeatability of ±0.02mm z Payloads up to 4 kg z Reaches from 500 to 600 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 Optional IP67 protection resists cutting chips and high-pressure washing z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange z Optional bottom-side cable connection saves floor space VS050G VS060G 44 New VS Series mm

46 VS-050 VS-060 Number of axes 6 Overall arm length (mm) 250 (first arm) (second arm) = (first arm) (second arm) = 600 Arm offset (mm) J1 (swing): 0 J3 (front arm): 10 J6 (flange): 70 Reach (to center of 5th axis, mm) Minimum motion area (mm) Maximum payload (kg) 4 Weight, approx. (kg) Cycle time (sec.) 0.37 (with 1-kg weight) Range of motion ( ) J1: ±170 J2: +120, -120 J3: +151, -120 J4: ±270 J5: ±120 J6: ±360 J1: ±170 J2: +120, -120 J3: +151, -125 J4 : ±270 J5: ±120 J6: ±360 Maximum composite speed (mm/sec.) 9,000 Repeatability 1 (mm) ±0.02 Max allowable moment of inertia (kgm 2 ) J4 and J5: J6: Max. allowable moment (Nm) J4 and J5: 8.13 J6: 4.02 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) 2 LAN (1000BASE-TX) 1 (option) 3 17-line electrical wire for cameras, etc. 3 Option set with LAN 3 Air source (operating pressure, MPa) Air source (maximum allowable pressure, MPa) Protection class Ceiling- and wall-mount 1. In every direction. 2. Four lines with LAN option. 3. Option only for IP40 model 0.49 Standard: IP40; option: IP67 (dust- and splashproof) 45

47 KEY FEATURES NEW VS SERIES MM The new DENSO VS-Series six-axis articulated robots are ideal for applications where operational space is limited. Features of the 700- and 900-mm models include: z Exceptionally fast cycle times from 0.36 to 0.33 sec. z Outstanding repeatability of ±0.03 to ±0.02 mm z Payloads up to 7 kg z Reaches from 700 to 900 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 Optional IP67 protection resists cutting chips and high-pressure washing z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange z Optional bottom-side cable connection saves floor space VS068G VS087G 46 New VS Series mm

48 VS-068 VS-087 Number of axes 6 Overall arm length (mm) 340 (first arm) (second arm) = (first arm) (second arm) = 875 Arm offset (mm) J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80 Reach (to center of 5th axis, mm) Minimum motion area (mm) Maximum payload (kg) 7 Weight, approx. (kg) Cycle time (sec.) 0.33 (with 1-kg weight) 0.36 (with 1-kg weight) Range of motion ( ) J1: ±170 J2: +135, -100 J3: +153, -120 J4: ±270 J5: ±120 J6: ±360 J1: ±170 J2: +135, -100 J3: +153, -136 J4: ±270 J5: ±120 J6: ±360 Maximum payload (kg) 7 Maximum composite speed (mm/sec.) 11,000 Maximum joint speed ( /sec.) J1: 450 J2: 360 J3: 510 J4, J5: 540 J6: 864 J1: 360 J2: 300 J3: 408 J4, J5: 540 J6: 864 Repeatability 1 (mm) ±0.02 ±0.03 Max. allowable moment of inertia (kgm 2 ) J4 and J5: J6: Max. allowable moment (Nm) J4 and J5: 16.2 J6: 6.86 Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Air source (operating pressure, MPa) Air source (maximum allowable pressure, MPa) Protection class Ceiling- and wall-mount 1. In every direction. 2. Four lines with LAN option. 3. Option only for IP40 model 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) 2 LAN (1000BASE-TX) 1 (option) 3 17-line electrical wire for cameras, etc. 3 Option set with LAN Standard: IP40; option: IP67 (dust- and splashproof) 47

49 KEY FEATURES XR SERIES The XR-Series four-axis, compact gantry robots feature a flexible SCARA robot combined with a ceiling-mounted, long-stroke Cartesian robot. They have a highly efficient, space-saving design yet a wide range of motion. Their features include: z Extremely compact, integrated-gantry design uses up to 40% less valuable factory floor space than a conventional SCARA robot z Ceiling or wall mount maximizes work area z Fast cycle time of 0.53 sec. z Outstanding repeatability of ±0.015 mm z Integrated gantry with long X-axis stroke allows conveyorless operation in many applications, saving up to 20% in capital-equipment costs 48 XR Series

50 XR-43411G XR-43711G XR-43721G XR-43731G XR-43A11G XR-43A21G XR-43A31G Number of axes 4 Arm length (mm) Axis combination X axis + R axis + Z axis + T axis Maximum payload (kg) 5 Weight, approx. (kg) Cycle time (sec.) Range of motion and stroke Maximum composite speed Maximum joint speed Repeatability 0.53 (with 1-kg weight) X axis (mm) R axis ( ) ±168 Z axis (mm) 135 T axis ( ) ±360 At center of hand (X + R, 3,650 3,600 3,240 mm/sec.) Z (mm/sec.) and T ( ) Z: 1,500; T: 720 X: mm/sec. R: /sec. Z: 1,500 mm/sec. T: 720 /sec. X and R (mm) ±0.015 Z (mm) ±0.010 T ( ) ±0.005 Maximum force fit (1 sec. or less, N) 98 Maximum allowable moment of inertia (kg/m 2 ) 0.05 Position detection Absolute encoder Drive motors and brakes Brake releasing AC servo motors for all axes; brake for Z axis Enter brake-release command with Teach Pendant or Mini Pendant Air piping (in-arm integrated) 1 system (ø8); 4 systems with optional manifold valve ( ø4 8) Wiring (in-arm integrated) Air source (MPa) 10 lines (max. 1 A per line) Operating pressure Maximum allowable pressure

51 Z= XR SERIES ( ) ( ) ( ) A 192 A (X-Axis stroke) Workable space Defined by Point P Point P A (Z-Axis stroke) Detail of flange (viewed from A) Ø5H7 ( 0 ) Depth 7 (P.C.D. 31.5) 168 Point P (R-Axis rotation) _ + 0 (R-Axis stroke) Ø40h8 ( ) ( ) Ø20H Depth 6 4XM5 Depth 8 Workable space Defined by Point P _ T-Axis rotation Unit: mm 50 XR Series X series

52 ( ) ( ) ( ) ( ) ( 71.2 ) ( ) ( ) (Cable space) XØ6H7 ( 0 ) Depth 10 Point P 12XØ6.6 Robot Mounting Hole) 5X100= (X-Axis stroke) 192 Workable space Defined by Point P Point P (R-Axis stroke) 51

53 The DENSO Controller Everything you need is RIGHT HERE The DENSO Controller is the smallest controller in its class and provides a wide range of features and functions. The unit is easy to use, extremely light, adaptable and highly intuitive. Key features of the DENSO Controller include: z Compact dimensions: mm z Very light weight: less than 20 kg z Wide variety of connection interfaces: z 1 Ethernet z 1 RS232C z Safety I/O z 2 USB z Mini Parallel I/O z Hand I/O Optional: z 2 RS232C z Profibus z CC-Link z DeviceNet z Parallel I/O z EtherNet/IP z Large memory capacity: 3.25 MB (10,000 steps and 30,000 points) z Memory can be expanded by an additional 2.25 MB 52 The DENSO controller z Utilizes DENSO s proprietary WINCAPS III software for offline programming,3-d simulation, remote monitoring and management of variables, I/Os and log files z Extended-axis option provides up to two additional axes, allowing integrated control of robot and external motors or slides

54 Controller model RC7M Size (mm) Weight, approx. (kg) 20 Control method/drive system User memory capacity Language PTP, CP 3-D linear, 3-D circular; fully digital AC servo for all axes 3.25 MB (10,000 steps and 30,000 points), expandable to 5.5 MB DENSO robot language (conforming to SLIM) No. of teaching programs 255 Mini I/O input: 8 user open points + 11 fixed system points; Output: 8 user open points + 14 fixed system points 1 External signals (I/O) Hand I/O Input: 8 user open points; Output: 8 fixed system points External communication Field buses (option) Safety category Protection class Power source Extension I/O board (option): 40/48 (2-board capability) 1 Ethernet (100 Base-T) 1 RS232C (option: 2 additional) 2 USB (for backup storage on memory stick) Profibus slave board: 256/256 DeviceNet slave: 256/256 DeviceNet master: 1,024/1,024 DeviceNet master and slave: 1,280/1,280 CC-Link: 128/128 EtherNet/IP : 256/256 With safety board: Compliant with safety category 3 With safety box: Compliant with safety category 4 IP20 (protection box IP53 available) All models except VM: 3-phase, 208 V -15% to 230 V +10%, 50/60 Hz or single-phase, 230 V ±10%, 50/60 Hz VM: 3-phase, 208 V -15% to 230 V +10%, 50/60 Hz VP: Also single phase, 110 V ±10%, 50/60 Hz PCI EXTENSION CARDS OPTIONAL USB X2 TEACHING PENDANT MINI PENDANT Safety category 3 ETHERNET RS-232C Extended-axis option PARALLEL I/O SIGNAL 24/24 standard 40/48 optional ProfiBus Device Net RS232 Conveyor Tracking PLC OR SEQUENCER 1. Note: Global type of controller standard cannot use system-fixed emergency-stop I/Os. 53

55 DENSO Teaching and Mini Pendants Power at your fingertips The DENSO Teaching and Mini Pendants include the following outstanding features: z Lightweight and compact z User-friendly operation z Easy-to-read displays z Single format for both devices z Teaching Pendant has full online programming capabilities; Mini Pendant comes with WINCAPS III Light offline programming software z Functions include program writing and editing (Teaching Pendant), parameter setting, robot movement operation, program start, teach-check mode, I/O manager, variable manager, maintenance, communication settings, error display z Durable construction, with dust- and mistproof protection z 5 languages available: English, German, Chinese, Korean, Japanese 54 Teaching and mini pendants

56 Display Power source Safety Item Teaching Pendant Mini Pendant Customizable, 7.5-in. TFT color LCD touchscreen with backlight, pixels DC 24 V (supplied by robot controller) Liquid-crystal display, pixels Emergency stop, 3-position dead man s switch, mode-select switch with key Size mm mm Protection class IP65 (dust- and mistproof) Weight, approx. 1.3 kg 0.3 kg Cable length 4, 8 or 12 m 55

57 Programming DENSO robots Control made simple Programming robots can be an extremely time-consuming and challenging task, which is why we have developed a suite of tools designed to make the process as quick, easy and results-oriented as possible I VP Programming series DENSO robots

58 PC-based options for programming DENSO robots z WINCAPS III DENSO s proprietary offline programming and monitoring language z ORiN2 DENSO s pioneering middleware that allows the use of common, high-level languages such as C++, C#, Visual Basic and Java, etc., to program DENSO robots. To simplify the programming process, ORiN2 provides two independent interfaces for accessing network devices. z b-cap Binary Controller Access Protocol (b-cap) is an option available with ORiN2. The system, which is based on Transmission Control Protocol/Internet Protocol (TCP/IP), provides a common interface between DENSO robots and peripheral devices via a PC, PLC or any other device with an Ethernet port. b-cap binary Controller Acess Protocol z National Instruments LabVIEW NI LabVIEW is available with a comprehensive ImagingLab Robotics Library for DENSO. The library lets users control and program DENSO robots and peripheral devices from within a single LabVIEW application, simplifying robot setup and saving time and development costs. National Instruments, NI and LabVIEW are trademarks of National Instruments. PC-based options 57

59 WINCAPS III Offline programming and monitoring software Based on DENSO s PAC programming language, WINCAPS III enables users to conveniently program, design, implement and monitor their robotic applications. The software provides a simple and intuitive system that saves time and expense. 58 WINCAPS III z Offline programming allows robot to be programmed through a PC without the need for a physical connection to either robot or controller z Easily input information and change variables z Import CAD drawings in standard VRML and DirectX formats z 3-D simulation of robots and peripherals z Plan layout of automated workcells in a virtual environment z Verify arm reach z Determine obstacle clearances and detect potential collisions z Troubleshoot and debug programs z Confirm process cycle times z Remote monitoring z Monitor workcell operation using 3-D simulation, realtime I/O status indicators and detailed control logs z Panel Designer z Customize teaching-pendant display

60 Everything you need in a single screen: Project Window Store programs for easy retrieval Program Window Create and edit programs offline 3-D Simulation Window Preview cell layout, monitor operation from remote location Output Window View compilation and search results, debug information Parameter Window Record positions, edit variables I/O Window Monitor realtime I/O status, manipulate settings 59

61 ORiN2 DENSO s middleware for programming DENSO robots, peripheral devices and all your factory-automation processes DENSO s pioneering software ORiN2 includes two separate and distinctive interfaces for accessing and controlling devices on a network. One interface is used for the development of applications and case studies and the other is used for actually connecting to specific devices. The Application Programming Interface (API) provides a common object model for all of your network devices, each of which can then be plugged into ORiN2 by creating a dedicated provider. This separation of processes simplifies and streamlines the implementation of programming procedures. ORiN2 also provides extensive protocols for Internet connection. z ORiN2 provides unified access from a PC to many other devices, such as an industrial robot, PLC, etc. z ORiN2 enables easy use of distributed object technologies such as DCOM and SOAP, and provides two standardized software interfaces, Application Interface and Device Interface z ORiN2 SDK enables the use of many different development tools, such as Visual Basic, Visual C++, C#, etc. z ORiN2 SDK provides a range of utility tools that make it easy to create an application and provider, including Provider Wizard and CAO Tester 60 ORiN2

62 Package type ORiN2 SDK Full Set ORiN2 SDK Runtime ORiN2 SDK Bundle Item Support Binary Source Support Binary Source Support Binary Source CAO Engine Provider Development Tools 3 3 Sample Programs Number of Providers Test and Configuration Tools CAO-OPC CAO-SQL CAO-UpnP 3 3 The different versions of ORiN2 currently available include: z Bundle version: Includes providers for the DENSO Controller and allows program code to be written in standard languages z Runtime version: Similar to the Bundle version but includes additional interfaces for device options z SDK version: The same as the Runtime version but with the functionality to create custom interfaces System Requirements: OS: Windows 2000/XP Professional/Vista PC: CPU Pentium III 1 GHz; RAM: 512 MB; HDD: 500 MB Windows is a trademark or registered trademark of Microsoft Corporation. Pentium is a registered trademark of Intel Corporation. 61

63 b-cap b-cap is based on Transmission Control Protocol/Internet Protocol (TCP/IP) The b-cap control protocol enables connection to DENSO robots and peripheral devices using a PC, PLC or other device which incorporates Ethernet TCP/IP or UDP. OTHER TCP/IP DEVICES (SMART PHONE, ETC.) VISION DEVICE PLC PC The protocol works completely independently of any platform or programming language. ETHERNET (TCP/IP or UDP) Key advantages: ROBOT CONTROLLER z Highly flexible and powerful control through PCs, PLCs or other applicable hardware device using TCP/IP or UDP b-cap SERVER z Indepedendent of platform and programming language z No requirement to learn a new robot programming language z OS-independent 62 b-cap

64 Version Americas