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1 Headquarters: DENSO Robotics Europe I DENSO EUROPE B.V. Waldecker Str. 9, Moerfelden-Walldorf, Germany t: +49 () f: +49 () info@densorobotics-europe.com (commercial support@densorobotics-europe.com (technical support) Watch our latest videos EN_Global_EU/rev_5_214 The QR-Code's inventor English

2 The highest evolution of the arm

3 Global companies trust in DENSO robots. Airbus Airbus is a leading aircraft manufacturer, it forms part of EADS, a global leader in aerospace, defence and related services. This group which is comprised of Astrium, Cassidian and Eurocopter, in addition to Airbus has a presence on every continent, and employs a total workforce of more than 119. The Airbus low speed wind tunnel (LSWT) in Bremen enables wind tunnel tests in internal facilities and supplies wind tunnel models with instrumentation for internal and external facilities. Its mission is also the design and monitoring of the manufacture and calibration of new engine simulators for wind tunnels. A continuous control of the probes which are used in wind tunnel tests is required after test campaigns in the different wind tunnels. Multi-hole pressure probes, such as five- and seven-hole probes, are cost-effective devices which provide accurate flow measurements in the different wind tunnel tests. All the probes used are calibrated, and once they have been used in a wind tunnel test campaign, they will be controlled with the DENSO VM-6B1G-V in order to determine the new calibration required, or to follow on with more test campaigns (structural characteristic maintained). This control will be performed by placing the probe in a flowfield with known velocity magnitude and direction. The movements are enabled by the DENSO VM-6B1G-V, and the new characteristic values are compared with the calibration values. The LSWT wind tunnel Airbus utilizes DENSO robots because the control of these robots is very flexible and can be integrated in the wind tunnel measurement environment without changing existing software philosophy. Eva-Maria Mendez Montilla, Aerodynamics Testing, AIRBUS Airbus Operations GmbH, Germany Danfoss Danfoss is a family owned, global company employing 26 staff worldwide. Producing 25 components per day from 93 factories in 25 countries, it has 14 sales companies and over 45 global dealers and distributors. One of Danfoss factories in Denmark, utilizes approximately 4 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 ABOUT DENSO ROBOTICS 6 DENSO. Technology with tradition 7 History of DENSO Robotics 8 Our products. The ultimate answer 9 We care about the environment 1 How we can help you. Increasing your productivity, increasing your success 12 Industries and applications. Flexible. Fast. Effective. 13 Programming DENSO robots and peripheral devices. 16 Product range. A full line-up of small industrial robots DENSO 6-AXIS ROBOTS 18 Overview. DENSO 6-axis robots 2 VP Series (up to 2.5 kg/up to 432 mm) 22 VP-G2 Series (up to 2 kg/up to 432 mm) 26 Overview. The new VS Series 28 The new VS Series - options 3 New VS Series. VS-5/VS-6 (up to 4 kg/up to 65 mm) 32 New VS Series. VS-68/VS-87 (up to 7 kg/up to 95 mm) 34 VS Series (up to 7 kg/up to 854 mm) 36 VM Series (up to 13 kg/up to 1298 mm) DENSO 4-AXIS ROBOTS 38 Overview. DENSO 4-axis robots 4 HS Series (up to 5 kg/up to 55 mm) 42 HM Series (up to 2 kg/up to 1 mm) 44 XR Series PROGRAMMING DENSO ROBOTS 46 Overview. Robot controllers 48 The new RC8 52 RC7 56 Main functionalities of DENSO Robotics 59 DENSO teaching & mini pendants 6 Software 61 DENSO's offline programming, simulation and monitoring software. WINCAPS III 62 Working with common programming languages (C++, VB, etc.). ORiN2 63 I/O Slave 64 Robot stand/maintenance support tools. Robot Tools 65 Enhanced MUlti-robot simulator (EMU) / Virtual Robot Controller (VRC) 66 Control protocol based on TCP/IP. b-cap 67 Vision library for ORiN2. ORiN Vision 68 Configuration tool for vision applications. e.vision 69 Third party software 7 Machine vision and robot programming. HALCON Extension Package 71 Simulation software for complete factory layouts. 3DCreate SERVICE AND SUPPORT 72 Service and Support. We re only satisfied when you are 74 Contact us. Our worldwide network

5 TECHNOLOGY WITH TRADITION HISTORY OF DENSO ROBOTICS We are a company with long history and tradition in innovation. This is why we offer only the best for our customers. Worldwide. ABOUT DENSO ROBOTICS History of DENSO Robotics Global supplier of automotive technology, system and components. [History] High quality of product cultivated from technical skill and knowledge obtained from our long history of experience and our global presence. Robot Controller DENSO Robotics 212 Robot controller RC8 211 DENSO 6-axis robot new VS series 25 Robot controller RC7M When you choose a robotic solution from DENSO you can rest assured that you are investing in a product of the highest calibre. Our commitment to quality and customer satisfaction is, quite simply, second-to-none. DENSO Robotics is proud to be a part of the DENSO Corporation, which is recognised as one of the 5 largest companies worldwide (Fortune Global 5) and is also one of the two largest automotive parts manufacturers in the world. It is this strength in depth that allows DENSO Robotics to be such a pioneering force. In fact, our vision and aptitude have seen the company become the recognised worldwide leader in small robotic design and manufacturing. When industrial robots first appeared in the early 196s, DENSO began to develop and apply the emerging technologies to its own production processes, allowing the company to constantly improve and advance the hardware and software. And now, today, as the established market leader in the small assembly industrial robot segment, DENSO Robotics continues to set the benchmark in reliability, flexibility and functionality. With more than 6 DENSO robots installed across the globe 16 of which are employed in its own manufacturing facilities no other company has more knowledge or expertise. DENSO Robotics is the automatic choice when it comes to industrial robot arms. 24 DENSO 5-and 6-axis robot VP series 22 DENSO 4-axis robot HS/HM series DENSO 6-axis robot VS series 21 DENSO WAVE INCORPORATED established 1998 Robot controller RC Robot controller RC3 Robot sales started 1985 In-house implementation of assembly robots started 1983 Mid-sized 6-axis robot development 1982 Mid-sized 4-axis robot development 197 Manufacture of the first aluminium die-casting operation robot for actual use (implemented at our head factory) 1967 Robot development started 47years 6 DENSO. Technology with tradition History of DENSO Robotics 7

6 THE ULTIMATE ANSWER Whatever challenge you face, DENSO Robotics has the answer. Our product range includes four-axis (SCARAs) and five and six-axis robots. All of which are defined by their outstanding speed, precision and build quality. For the pinnacle in functionality, our robots can manage payloads of up to 2 kg and offer a maximum arm reach of up to 1298 mm and speed up to 11 5 mm/s. Compact, light and requiring only minimal periodic maintenance (e.g. our 6-axis robots have been manufactured with lifetime greasing), our entire robot range also comes with a class leading two-year guarantee. To add to the cost efficiency and ease of use of our robots, there is only one controller type for all robot models, you only need one controller for each robot. DENSO robots have also been designed to operate in virtually any environment including dusty, wet or clinical surroundings. The protection ratings of our robots are classed as follows: ENVIRONMENT Putting the environment first The environment is a crucial consideration during the production of DENSO robots and 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 have been conceived for low energy consumption. For this, they have been provided with standard electric sockets for their use with 23V energy sources. Ultimately, our products and systems can help realise the full potential of your business in an eco-friendly manner. ABOUT DENSO ROBOTICS z Standard z Dust & splash proof (IP65/54) z Protected (IP67) z Clean room classes ISO 5 and 3 z H 2 O 2 resistant (Hydrogen Peroxide); used for sterilization purposes in the pharmaceutical and medical industries z UL specifications (for the USA and Canada) As further testament to DENSO Robotics credentials and reputation in the robotic arm marketplace, important competitors rely on us to supply them with unbranded hardware so they can increase and complete their own product ranges. There is no better answer than DENSO Robotics. Example of product configuration 6-axis robot Teaching pendant 4-axis robot OR RC8 RC7 8 Our products. The ultimate answer We care about the environment 9

7 We can reduce your production costs and increase your speed to market in the following ways ABOUT DENSO ROBOTICS z The unparalleled speed and precision of our robots save you time. Processes are completed faster and more accurately INCREASING YOUR PRODUCTIVITY INCREASING YOUR SUCCESS z Our robots are hugely reliable and durable. And that means your production procedures operate at maximum efficiency z The highly compact and lightweight design of our robots saves space. There is no unnecessary bulk or equipment. Your manufacturing area is utilised to its full capacity z Our robots require the minimum amount of servicing and upkeep. Which means they constantly perform without the time and expenditure incurred by regular maintenance z Because of their low energy consumption, DENSO robots keep power costs to a minimum while also helping the environment DENSO 4 AXIS ROBOTS As a business operating in today s global economy, it is imperative to be as lean and proficient as possible without compromising anything in terms of quality and service. Consumers demand the highest class of 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 TCO? That s where DENSO Robotics can help. 1 How we can help you. Increasing your productivity, increasing your success 11

8 FLEXIBLE. FAST. EFFECTIVE. From general manufacturing through to the pharmaceutical sector, a huge range of industries can benefit from the ways 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 robotic arm is applicable. Whether the requirement is for straightforward pick and place or incredibly complex tasks and routines, such as the fully automated preparation of a medical injection, 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. PROGRAMMING OPTIONS DENSO robots have been conceived and produced so that programming them is as convenient and user friendly as possible. We have developed a range of tools that 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 for attaching to another device such as a PLC or industrial PC. The adaptable choice of ways that you can input instructions into DENSO robots includes the following: Programming DENSO Robots... ABOUT DENSO ROBOTICS Industries: DENSO PROGRAMMING SOFTWARE OTHER PROGRAMMING OPTIONS z Appliances z Automotive z Chemicals z Consumer products z Electronics z Food z General manufacturing z Greenhouse z Machine tools z Medical devices z Pharmaceuticals z Semiconductor z Plastics z And many others Teaching Pendant DENSO s proprietary off-line programming, monitoring and simulation software Enhanced Multi-Robot Simulator Dedicated extension package to conveniently program and control DENSO robots and their vision applications through the same simple graphical interface Program robotics applications using the graphical programming language from National Instruments TM PC-BASED DENSO ROBOTS PLC-BASED Programming language independent (e.g. C++, C#, VB, LabVIEW) Based on TCP/IP or UDP. Platform and programming language independent. OS: Windows, MacOS, Linux, etc. I/O Slave* Most of global networks are supported. *Available only for RC8 Applications:... and Peripheral Devices Devices z Pick & place z Assembly z Packaging z Dispensing z Palletizing z Inspection z Material removal z Material handling z Customised projects RC8 (PacScript)* PC-BASED *DENSO s programming language Virtual Robot Controller (e.g. C++, C#, VB, LabVIEW) RC7 RC8 RC7 Servomotors Cameras Part Feeders Many other Devices NI LabVIEW Software is trademark of National Instruments HALCON and MVTec are registered trademarks 12 Industries and applications. Flexible. Fast. Effective. Programming DENSO robots and peripheral devices 13

9 ABOUT DENSO ROBOTICS DENSO delivers. Every time. Over the following pages you will discover details about the fantastic choice of product ranges and programming software solutions that DENSO offers. Whatever challenge you face, DENSO can help. 14 DENSO delivers. Every time. 15

10 A FULL LINE-UP OF SMALL INDUSTRIAL ROBOTS 6-AXIS ARM REACH ROBOT CONTROLLER SUPPORTED 4 mm 5 mm 6 mm 7 mm 8 mm 9 mm 1 mm 13 mm VP Series VP-G2 Series New VS Series VS Series New VS Series VS Series New VS Series VM Series ABOUT DENSO ROBOTICS 6-AXIS ROBOTS 6-AXIS PAYLOAD VP-5243G VP-6242G Only Standard available VP-6242G2 Options available: z Standard z Cleanroom (ISO 5) + H 2 O 2 z UL specifications VS-5 VS-6 Options available: z Standard z Dust & splash proof (IP65/54) z Protected (IP67) z Cleanroom (ISO 5 & 3) z UL specifications * VS-6556G VS-68 VS-6577G Options available: z Standard z Dust & splash proof (IP65/54) z Cleanroom (ISO 5 & 3) z UL specifications * Options available: z Standard z Dust & splash proof (IP65/54) z Protected (IP67) z Cleanroom (ISO 5 & 3) z UL specifications * Options available: z Standard z Dust & splash proof (IP65/54) z Cleanroom (ISO 5 & 3) z UL specifications * 2 kg - 3 kg 4 kg - 7 kg 13 kg VS-87 Options available: z Standard z Dust & splash proof (IP65/54) z Protected (IP67) z Cleanroom (ISO 5 & 3) z UL specifications * VM-683G VM-6B1G Options available: z Standard z Dust & splash proof (IP65/54) z Cleanroom (ISO 5) *Only RC7 is compatible with UL specifications new robot controller RC8 the The world's smallest robot controller in its class the new robot controller RC8 4-AXIS ARM REACH 35 mm 45 mm 55 mm 6 mm 7 mm 85 mm 1 mm XR Series HS Series HM Series 4-AXIS ROBOTS 4-AXIS PAYLOAD XR HS-4535G HS-4545G HS-4555G HM-46G HM-47G HM-4A85G HM-4AAG Options available: z Standard z Bellows on 3rd axis z Dust & splash proof (IP65) z Cleanroom (ISO 3) 1 z UL specifications* 2 Cleanroom type Ceiling mounted *Only RC7 is compatible with UL specifications 1 Cleanroom type are for floor type only 2 UL specifications are for floor type only Options available: z Standard z Bellows on 3rd axis z Dust & splash proof (IP65) z UL specifications* 2 5 kg 5 kg 1 kg kg - 2 kg Ceiling mounted 16 Product range. A full line-up of small industrial robots 17

11 DENSO 6-AXIS ROBOTS The DENSO range of 6-axis robots includes the VP Series, the New VS Series, the VS Series and the VM Series. These robots provide greater flexibility and improved performance over their 4-axis counterparts. Because of their increased scale of movement, they are suited to handle a far wider range of applications without compromising neither speed nor precision. Our 6-axis robots provide you a large choice of payloads and arm reaches: Mounting Options* Options z Standard z Dust & splash proof (IP65/54) z Protected (IP67) z Clean room class ISO 3 and ISO 5 z Hydrogen peroxide-resistant (H 2 O 2 ) for aseptic environments z UL specifications (for the USA and Canada) DENSO 6-axis robots are the ultimate solution for the following: Applications z Assembly z Material tending z Inspection z Packaging z Matching z Palletizing z Material handling z Customised applications DENSO 6 AXIS ROBOTS *Wall mounted: only new VS Used in a wide array of industries... A: VP Series, B: VP-G2 Series, C: VS Series, D: New VS Series, E: VM Series DENSO 6-axis robots deliver the following industry leading specifications: Main Features z Fastest possible cycle time up to.33 s z Repeatability from ±.2 mm z Maximum composite speed up to 11, mm/s z Arm lengths up to 1,298 mm z Payloads up to 13 kg z All models include internal wiring (the new VS Series up to the end of flange as option) and air piping for maximum efficiency in restricted spaces Automotive Pharmaceutical and medical 3mm One cycle is the time taken to complete a cycle of work from one arrow to the other and back. 25mm Food Gastronomy 18 Overview. DENSO 6-axis robots 19

12 144 ±.5 7 VP SERIES PAYLOAD ARM REACH VP-5243G 3 kg 43 mm VP-6242G 2.5 kg 432 mm Point P A Ø65 z COMPACT & LIGHT. The most compact of all our 6-axis robots is perfect for installations where operational space is very limited and payloads up to 3 kg are needed VP-5243G VP-6242G Mounting Options Workable space defined by point P R432 R R148 2-M R DENSO 6 AXIS ROBOTS Ø 4 h M5, Depth 8 (P.C.D. 31.5) Workable space defined by point P 16 Unit VP-5243G VP-6242G Number of axis 5 6 Mounting configuration Floor, Ceiling Floor, Ceiling +.21 Ø 2 H7 Depth Ø 5H7 Depth 7 R148 Arm configuration Protection degree IP3 Clean room - - Point P 2-M Cabling space UL specification - - Maximum motion area (Point P: Wrist center) mm Payload (2) kg 3 (wrist direction downward) 2.5 (wrist direction downward) J1 ±16 ±16 Motion range J2 ±12 ±12 J3 +136, , +19 deg J4 - ±16 J5 ±12 ±12 2- Ø6H7 (reference hole) ± Ø1 R432 J6 ±36 ±36 Maximum composite speed mm/s 39 (at the center of an end-effector mounting face) 16 Cycle time s Position repeatability (1) mm ±.2 (2) Allowable inertia J4 -.3 J5 kgm^2.4.3 J6.1.7 R1 Unit: mm Weight kg Approx. 13 Approx. 15 User signal line Pneumatic pipe 9 (for proximity sensor signals, etc.) 4 systems (φ4x4) Legend VP - 2 Brakes Brakes for all joints 1. Position repeatability is the value at constant ambient temperature. 2. If the payload exceeds 2.5 kg (for VP-5243G) and 2 kg (for VP-6242G), the robot units must be used with the flange facing down at ±45 degrees from vertical. 3. In every direction. Mini 5- and 6-axis type Axes : 5: 5-axis 6: 6-axis Standard payload : 2: 2 kg (6-axis) 2.5 kg (5-axis) *The maximum payload is 2.5 kg (6-axis) or 3 kg (5-axis) Total arm length : 42: 42 mm 43: 43 mm 2 VP Series (up to 2.5 kg/up to 432 mm) 21

13 VP-G2 SERIES VP-6242G2 VP-6242G2-S1 PAYLOAD ARM REACH 2 kg 432 mm 2 kg 432 mm The robot model VP-G2-S1 for pharmaceutical and medical applications offers: A tailor-made solution Like the VP-G Series, the VP-G2 Series is ideal for compact applications that require small payloads (up to 2 kg). Some industries such as the pharmaceutical and medical require strict sterilization standards at their production facilities. In order to avoid this risk, it is necessary to use certain sterilization chemicals such as H 2 O 2 to keep production facilities free of contamination. The new VP-G2-S1 provides anodized aluminium coverings and a protective outer coating, as well as specially sealed joints that protect the robot against corrosion. z Hydrogen peroxide-washable surface (wipe): anodized aluminium coverings and a protective outer coating, as well as specially sealed joints, protect robot against corrosion (6% H 2 O 2 concentration) z Class ISO 5 clean room performance: designed for clean rooms and other contamination-control environments z Certified by the Fraunhofer IPA: one of Europe s leading and most respected Research Institutes for Manufacturing Engineering and Automation z Ultra compact, space-saving design: 432 mm reach, yet only a 2 mm dia. footprint z Bottom-side cable connection: removes cables from clean room environment, facilitates robot cleaning z Low energy consumption: total capacity of motors less than 3 W z ANSI and CE compliance: allows global deployment. Choose a Safety board / Safety box controller z UL specifications (for the USA and Canada) z Hygienic design based on Good Manufacturing Practice (GMP) and European Hygienic Engineering & Design Group (EHEDG) DENSO 6 AXIS ROBOTS For the pharmaceutical and medical industries, the new VP-G2-S1 22 VP-G2 Series (up to 2 kg/up to 432 mm) 23

14 Cabling space 3 ( 232 ) Ø72 VP-G2 SERIES VP-6242G2 VP-6242G2-S1 PAYLOAD ARM REACH 2 kg 432 mm 2 kg 432 mm Point P 12 A z VP-G2-S1. Specialised robot for pharmaceutical and medical applications 12 VP-6242G2 VP-6242G2-S1 R R222 Mounting Options Use point (Y=1) R432 R XM DENSO 6 AXIS ROBOTS Unit VP-6242G2 VP-6242G2-S1 Number of axis 6 6 Workable space defined by point P Mounting configuration Floor Floor Protection degree IP4 - Arm configuration Class ISO 5 + 6% hydrogen Clean room - peroxide (H 2 O 2 ) wipe UL specification Maximum motion area (Point P: Wrist center) mm Payload kg 2 2 J1 ±16 ±16 J2 ±12 ±12 Motion range J3 +16, , +19 deg J4 ±16 ±16 J5 ±12 ±12 J6 ±36 ±36 Maximum composite speed mm/s 39 (at the center of an end-effector mounting face) Cycle time s Position repeatability (1) mm ±.2 (2) J4.3.3 Allowable inertia J5 kgm^2.3.3 J6.7.7 Weight kg Approx. 24 Approx. 25 User signal line 16 (for proximity sensor signals, etc.) Pneumatic pipe 4 systems (φ4x4) Brakes Brakes for all joints Point P R XM Ø2H7 ( ) Depth XØ6H7 ( ) (Reference hole) 4XM8 Depth 25 Ø155 Ø2 49 AIR1 AIR2 AIR3 AIR4 Brake Release CN XM5 Depth 8 (P.C.D 31.5) CN Ø2H7 ( ) Depth 6 Unit: mm 1. Position repeatability is the value at constant ambient temperature. 2. In every direction. Legend VP G2 - - Mini 5- and 6-axis type Axes : 6: 6-axis Maximum payload : 2: 2 kg Total arm length : 42: 42 mm Series name : G2: G2 series Options : None: Standard type S1: H2O2-resistant Compliant standard : None UL: UL standard 24 VP-G2 Series 25

15 THE NEW VS SERIES Fast motion for improved productivity DENSO proudly presents its new VS Series. These new 6-axis robots are characterized as being extremely: z FAST (up to 11, mm/s) z PRECISE (from ±.2 mm) z Pick & place / maximum composite speed: VS-5 VS-68 Pick & place time [s] at 1 kg (measurement) Maximum composite speed [mm/s] mm One cycle is the time taken to complete a cycle of work from one arrow to the other and back. 25mm z FLEXIBLE (install them on floors, ceilings or walls) z COMPACT (their extremely slim and compact design allows you to save on installation space) 4 arm lengths available. Payloads up to 7 kg Pick & Place time Time required for a robot to lift an object to a height of 2.5 cm and move back and forth between two locations 3 cm apart. Efficient use of dead space DENSO 6 AXIS ROBOTS Mounting Options Base Base Connector panel Connector panel A: VP Series, B: VP-G2 Series, C: VS Series, D: New VS Series, E: VM Series VS-5 VS-6 Can be integrated into compact equipment z Arm width/wrist width/motion area Arm reach: 55 mm Maximum payload: 4 kg Arm reach: 65 mm Maximum payload: 4 kg VS-68 VS-87 1 mm 235 mm 95 mm 193 mm R55 R71 Arm reach: 71 mm Maximum payload: 7 kg Arm reach: 95 mm Maximum payload: 7 kg VS-5 VS Overview. The new VS Series 27

16 THE NEW VS SERIES OPTIONS z Paint / surface finish z Air purge unit z Flange Flange has connectors for electrical signals and Ethernet, allowing wiring to be embedded in the robot unit. Use them to connect a motorized hand, camera, etc. Embedded internally up to end-of-arm flange, wires are prevented from becoming entangled and broken Communication Interface Where Protected type (IP67) is selected, the unit is left as unpainted aluminum. Protected type (IP67) plus standard coloring is available as (optional) extra specification. Contact us for further information DENSO standard colors Unpainted The Protected type (IP67) maintains an IP67 protection level by air pressure produced inside the robot DENSO 6 AXIS ROBOTS Camera No cables tangling around Servo Hand z External battery extension unit Encoder backup battery installed outside the robot facilitates replacement of batteries and improves maintainability z Brake release unit A switch that allows you to release the brake of each axis (wiring of this switch is directly connected to the brake release signal of each axis) z Second arm cover (with tapped holes) This cover has tapped holes to secure wires for the robot s second arm z Connector panel z Signal lines & air piping Choose from two mounting orientations when connecting cables (robot-to-controller cable, etc.) to the robot for increased flexibility accommodating user s robot installation conditions Signal lines and air pipe solenoid valves are embedded in the top area of the second arm. Three varieties are available for VS-68 / 87 and one for VS-5 / 6 Category Part name VS-5 / 6 VS-68 / 87 Air piping Connector Panel Flange Signal lines Standard type (IP4) Dust and splash proof type (IP65/54) Protected type (IP67) Clean room Class ISO 3 Clean room Class ISO 5 Standard type (IP4) Dust and splash proof type (IP65/54) Protected type (IP67) Clean room Class ISO 3 Rear connector panel Bottom connector panel Standard flange Communication interface flange-a x solenoid valves (2 position, double solenoid) x solenoid valves (2 position, double solenoid) x solenoid valves (3 position, exhaust center solenoid) Clean room Class ISO 5 Rear connector panel Bottom connector panel Signal lines Paint / surface finish 3 x solenoid valves (3 position, closed center solenoid) DENSO standard colors 4 4 * *1 4 4 Unpainted External battery extension unit Brake release unit Air purge unit Second arm cover R (with tapped holes) *1. Extra specification (optional). Contact us for further information. 28 The new VS Series - options 29

17 NEW VS SERIES NEW VS-5 NEW VS-6 PAYLOAD ARM REACH 4 kg 55 mm 4 kg 65 mm Detailed drawing of end-effector mounting face (Standard Flange) z COMPACT & FAST. Perfect for installations where operational space is limited & high speed is needed (9 mm/s) z OPTIONAL PROTECTION CLASSES. IP65/54 (dust & water splash), IP67 (cutting chips & high-pressure washing), clean room class ISO 5 & 3 z OPTIONAL INTERNAL WIRING. Internal wiring (up to the 6th axis) for communication interface to connect to Gigabit Ethernet devices such as GigE cameras (with PoE) and Servo Grippers z OPTIONAL BOTTOM-SIDE CABLE CONNECTION. Facilitates robot cleaning and saves space VS-5 VS-6 Mounting Options 4h Depth 5* *Protected type (IP67) does not have it H7 Depth H7 Depth 5 4xM5 Depth 6 (P.C.D 31.5) 5H Depth 5 Detailed drawing of end-effector mounting face (Communication Interface Flange-A ) 4xM5 Depth 7 (P.C.D 31.5) 5H Depth 5 2x Ø 6H (reference hole) Detailed drawing of base mounting face 49 ± ±.5 4x R A-A 4x Ø 1 Hole (for M8 screw) DENSO 6 AXIS ROBOTS Workable space defined by point P Workable space defined by point P 17 Unit VS-5 VS-6 Number of axis 6 6 Mounting configuration Floor, Ceiling, Wall Floor, Ceiling, Wall Arm configuration Protection degree IP4, IP65/54 (IP65 only in J4, J5 and J6), IP67 (1) Clean room Class ISO 5 and 3 UL specification - - Maximum motion area (Point P: Wrist center) mm Payload kg 4 4 Motion range J1 ±17 (2) ±17 (2) J2 ±12 ±12 J3 +151, , -125 deg J4 ±27 ±27 J5 ±12 (installed Communication Interface Flange-A [Option] ) J6 ±36 ±36 Maximum composite speed mm/s 9 9 Cycle time s.37 (with 1 kg weight).37 (with 1 kg weight) Position repeatability (3) mm ±.2 (4) ±.2 (4) Allowable moment Allowable inertia J J5 N.m J J4.2.2 J5 kgm^2.2.2 J6.5.5 Weight kg 29 3 Signal Line 1 line (for proximity sensor signals, etc.) (5), (6) Signal Line & Air Piping (2nd Arm) 5 systems (φ4x4, φ4x1) -2 x solenoid valves Air Piping (2 position, double solenoid) Communication Interface Flange-A [Option] 17 line power wire for cameras, etc. (5) LAN (1BASE-T) x 1 (7) Brakes Brakes for all joints 1. Do not operate the robot in water. 2. Limited motion when wall mounted. 3. Position repeatability is the value at constant ambient temperature. 4. In every direction. 5. Allowable current is limited lines when Communication Interface Flange-A [Option] is installed. 7. LAN cable connected with robot must be shorter than 2 m. J6 ±36 J4 ± Point P 45 5 Point P Workable space defined by point P 12 J (R 55.2 ) (R 136.1) R136.1 R J J1 12 R R Cable space (15) 255 J5 (R 55.2) Legend Robot name : VS: DENSO 5- and 6-axis robots Mounting orientation : A: All directions Total arm length : 5 A1: 55 mm RC7M supported 6 A1: 65 mm RC7M supported 5 A3: 55 mm RC8 supported 6 A3: 65 mm RC8 supported A 9 J2 J3 (R 25) R255.2 A J6 ± J4 ± Point P 12 (R65.2) Workable space defined by point P J6 (R65.2) Point P J4 17 J1 (R14.9) 195 Cable space (15) VS - A V6 - N - N N - NNN Axes : V6: 6-axis Protected : NN: Standard type W7: Protected type (IP67) W4: Dust & splash proof type (wrist: IP65, unit: IP54) C3: Cleanroom type (ISO class 3) C5: Cleanroom type (ISO class 5) 12 J5 R14.9 R A J3 J2 125 R Flange : N: Standard flange A: Communication interface flange-a (*1) Connector panel : N: Rear connector panel A: Bottom connector panel (R35) 125 R27.5 R3.2 A 155 J1=±17 J2=±12 J3=+155,-125 J4=±27 J5=+12,-12 J6=± () is Communication interface flange-a Unit: mm Paint / Surface finish : N: DENSO standard colors (*2) A: Unpainted (*3) Signal lines / Air pipe solenoid valve : A: 2 x solenoid valves (2 position, double solenoid) N: Specification without signal lines / air pipe solenoid valve *1 : Standard flange specification only when protected type (IP67) is selected *2 : When standard type is selected *3 : When protected type (IP67) is selected (DENSO standard colors are a special specification (option).) For details, please contact our sales representative. 3 New VS Series. VS-5/VS-6 (up to 4 kg/up to 65 mm) 31

18 NEW VS SERIES NEW VS-68 NEW VS-87 PAYLOAD ARM REACH 7 kg 71 mm 7 kg 95 mm Detailed drawing of end-effector mounting face (Standard Flange) Detailed drawing of base mounting face(rear Connector Panel) z THE FASTEST OF ALL 6-AXIS ROBOTS. Speed up to 11 mm/s. Fastest possible cycle time:.33 s z OPTIONAL PROTECTION CLASSES. IP65/54 (dust & water splash), IP67 (cutting chips & high-pressure washing), clean room class ISO 5 & 3 4h Depth 5 *Protected type (IP67) does not have it H7 Depth 5 * 4xM5 Depth 6 (P.C.D 31.5) 5H Depth x R2 16 4x 12 Hole (for M1 screw) 16 2 z OPTIONAL INTERNAL WIRING. Internal wiring (up to the 6th axis) for communication interface to connect to Gigabit Ethernet devices such as GigE cameras (with PoE) and Servo Grippers z OPTIONAL BOTTOM-SIDE CABLE CONNECTION. Facilitates robot cleaning and saves space VS-68 VS-87 Mounting Options Detailed drawing of end-effector mounting face (Communication Interface Flange-A ) H7 Depth 3 4xM5 Depth 7 (P.C.D 31.5) 5H Depth 5 2x 6H (reference hole) x R2 1 1 A-A Detailed drawing of base mounting face(bottom Connector Panel) 2x Ø6H (reference hole) 16 A-A 4x Ø12 Hole (for M1 screw) Ø185 (Connector Space) 16 2 DENSO 6 AXIS ROBOTS 215 Cable space Unit VS-68 VS-87 Number of axis 6 6 Mounting configuration Floor, Ceiling, Wall Floor, Ceiling, Wall Arm configuration Protection degree IP4, IP65/54 (IP65 only in J4, J5 and J6), IP67 (1) Clean room Class ISO 5 and 3 UL specification - - Maximum motion area (Point P: Wrist center) mm Payload kg 7 7 Motion range J1 ±17 (2) ±17 (2) J2 +135, , -1 J3 +153, , -136 deg J4 ±27 ±27 J5 ±12 ±12 J6 ±36 ±36 Maximum composite speed mm/s Cycle time s.33 (with 1 kg weight).36 (with 1 kg weight) Position repeatability (3) mm ±.2 (4) ±.3 (4) Allowable moment Allowable inertia J J5 N.m J J J5 kgm^ J6.1.1 Weight kg Signal Line 1 line (for proximity sensor signals, etc.) (5), (6) Signal Line & Air Piping (2nd Arm) Air Piping Communication Interface Flange-A [Option] Brakes 7 systems (φ4x6, φ6x1) -3 x solenoid valves (2 position, double solenoid) -3 x solenoid valves (3 position, Exhaust Center) -3 x solenoid valves (3 position, Closed Center) 17 line power wire for cameras, etc. (5) LAN (1BASE-T) x 1 (7) Brakes for all joints 1. Do not operate the robot in water. 2. Limited motion when wall mounted. 3. Position repeatability is the value at constant ambient temperature. 4. In every direction. 5. Allowable current is limited lines when Communication Interface Flange-A [Option] is installed. 7. LAN cable connected with robot must be shorter than 2 m. Legend Workable space defined by point P J6 ±36 Workable space defined by point P Point P J4 ±27 1 Point P J6 R R Robot name : VS: DENSO 5- and 6-axis robots Total arm length : 68 A2: 68 mm RC7M supported 87 A2: 875 mm RC7M supported 68 A4: 68 mm RC8 supported 87 A4: 875 mm RC8 supported (151) R34.6 J5 R J A 17 J3 J2 J1 3 R R Cable space R A R R 34.6 J1=±17 J2=+135,-1 J3=+153,-12 J4=±27 J5=±12 J6=± Workable space defined by point P Workable space defined by point P J6 J4 ±36 ±27 Point P VS - A V6 - N - N N - NNN Mounting orientation : A: All directions Axes : V6: 6-axis Protected : NN: Standard type W7: Protected type (IP67) W4: Dust & splash proof type (wrist: IP65, unit: IP54) C3: Cleanroom type (ISO class 3) C5: Cleanroom type (ISO class 5) 1 Point P J (R875.5) Connector panel : N: Rear connector panel A: Bottom connector panel R R95.5 R43.5 R224.5 J J1 R Cable space R (151) Flange : N: Standard flange A: Communication interface flange-a (*1) J5 A 3 J3 J2 136 R39.3 A R J1=±17 J2=+135,-1 J3=+153,-136 J4=±27 J5=±12 J6=± () is Communication interface flange-a Unit: mm Paint / Surface finish : N: DENSO standard colors (*2) A: Unpainted (*3) Signal lines / Air pipe solenoid valve : B: 3 x solenoid valves (2 position, double solenoid) C: 3 x solenoid valves (3 position, exhaust center solenoid) D: 3 x solenoid valves (3 position, closed center solenoid) N: Specification without signal lines / air pipe solenoid valve *1: Standard flange specification only when protected type (IP67) is selected *2: When standard type is selected *3: When protected type (IP67) is selected (DENSO standard colors are a special specification (option).) For details, please contact our sales representative. 32 New VS Series. VS-68/VS-87 (up to 7 kg/up to 95 mm) 33

19 184 ±.5 R38.42 (414.88) 2A 2B 3B VS SERIES VS-6556G-B VS-6577G-B PAYLOAD ARM REACH 7 kg 653 mm 7 kg 854 mm (779.88) (779.88) (485) 295 (45) (218) z PREDECESOR OF THE NEW VS SERIES. The DENSO 6-axis VS Series are a simpler version of the new VS Series. If your application requires more basic features, the VS Series robots are an excellent solution z OPTIONAL PROTECTION CLASSES. IP65/54 (dust and water splash), clean room class ISO 3 and UL specifications (for the USA and Canada) A 15 Ø65 Point P _ J5 + 12º 12º R (779.88) J3 + _ 9 VS-6556G-B VS-6577G-B Mounting Options R (166.34) 29º 76 (79 ) 135º J2 + _ 1º R (323.35) R38.42 (414.88) (143.26) (365) 335 DENSO 6 AXIS ROBOTS Workable space defined by point P (337.97) () is VS-6577 Unit VS-6556G-B VS-6577G-B Number of axis 6 6 Mounting configuration Floor, Ceiling Floor, Ceiling Arm configuration UL specification (1) Protection degree IP4, IP65/54 (IP65 only in J4, J5 and J6) Clean room Class ISO 5 & 3 Maximum motion area (Point P: Wrist center) mm Payload (2) kg 7 7 Motion range Maximum composite speed J1 ±17 ±17 J2 +135, , -1 J3 +166, , -119 deg J4 ±19 ±19 J5 ±12 ±12 J6 ±36 ±36 mm/s 82 (at the center of an end-effector mounting face) 76 (at the center of an end-effector mounting face) Cycle time s.49 (with 1 kg weight).59 (with 1 kg weight) Position repeatability (3) mm ±.2 (4) ±.3 (4) Allowable inertia J J5 kgm^ J Weight kg Approx. 35 Approx. 36 User signal line Pneumatic pipe Brakes 1 (for proximity sensor signals, etc.) Standard and Dust & Splash-proof: 7 systems (φ4x6, φ6x1), 3 solenoid valves (2-position, double solenoid), Clean: 6 systems (φ4x6), 3 solenoid valves (2-position, double solenoid) Brakes for joints J2 to J6 1. Only for Dust & Splash-proof model with brakes. 2. If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at ±45 degrees from vertical. 3. Position repeatability is the value at constant ambient temperature. 4. In every direction. Legend Ø4h Ø2H7 Depth 6 2- Ø6H7 (reference hole) +.12 R2 66 ±.5 Small 5- and 6-axis type Axes : 6: 6-axis 4-M5 Depth 8 (P.C.D 31.5) +.12 Ø5 H7 Depth 7 Workable space defined by point P Detailed drawing of end-effector mounting face (View A) Ø12 Hole (for M1 screw) Detailed drawing of base mounting face (Top view) J6 J4 + + _ 16 2 _ ±36º ±19º Point P VS Standard payload : 5: 6 kg *Maximum payload is 7 kg R R R R Total arm length : 56: 565 mm 77: 77 mm 3A AIR2 CN21 1A1B 17º 17º Options : None: Standard type B: With brake W: Dust & splash proof type (wrist: IP65, unit: IP54) BW: With brake / dust & splash proof type P: Cleanroom type (class 1 / 1) BP: With brake / cleanroom type UL: UL specifications Unit: mm 34 VS Series (up to 7 kg/up to 854 mm) 35

20 155 ± VM SERIES VM-683G VM-6B1G PAYLOAD ARM REACH 13 kg 121 mm 13 kg 1298 mm z LONGEST ARM REACH of all 6-axis robots (445) (145.91) (114.4) z LARGEST PAYLOADS at high speed z OPTIONAL PROTECTION CLASSES. IP65/54 (dust and water splash) and clean room class ISO 5 Workable space defined by point P _ 12 Point P VM-683G VM-6B1G Mounting Options A 114 Ø82 J R (841.9) 2-M6, 14 deep 135 J3 + _ J2 + _ B B R (212.61) R (25) (385) (118) ( ) DENSO 6 AXIS ROBOTS Unit VM-683G VM-6B1G Number of axis 6 6 Mounting configuration Floor, Ceiling Floor, Ceiling Arm configuration Protection degree IP4, IP65/54 (IP65 only in J4, J5 and J6) Clean room Class ISO 5 UL specification - - Maximum motion area mm (Point P: Wrist center) Payload kg J1 ±17 ±17 J2 +135, , -9 Motion range J3 +165, , -8 deg J4 ±185 ±185 J5 ±12 ±12 J6 ±36 ±36 Maximum composite speed mm/s Cycle time s.89 (with 5 kg weight).95 (with 5 kg weight) Position repeatability (1) mm ±.5 (2) ±.7 (2) J Allowable inertia J5 kgm^ J Weight kg Standard: 82, Dust & Splash-proof, Clean: 86 User signal line 1 (for proximity sensor signals, etc.) Standard, Dust & Splash-proof: 7 systems (φ4x6 - ϕ6x1), Pneumatic pipe 3 x solenoid valves (2 position, double solenoid), Clean: 6 systems (φ4x6), 3 x solenoid valves (2 position, double solenoid) Brakes Brakes for joints J2 to J6 1. Position repeatability is the value at constant ambient temperature. 2. In every direction. Legend Ø5h Ø25H7 9.5 deep Reference face ±.1 25 Center of rotation (J1) 15 4-M6, 9 deep (P.C.D.4) Ø3 4-Ø14.5 Hole (for M12 screw) R598.41(456.1) +.12 Ø6H7, 9 deep Workable space defined by point P Point P J6 J4 ±36 ±185 2-M4, 1 deep 18 R (R121.9) R43.45 (R392.61) 2-M6, 14 deep VM (289) 13 (21) Unit: mm Mid-sized 4-axis robot Axes : 6: 6-axis Maximum payload : : 13 kg Total arm length : 83: 83 mm B1: 1,11 mm Options : None: Standard type W: Dust & splash proof type (wrist: IP65, unit: IP54) P: Cleanroom type (class 1) 36 VM Series (up to 13 kg/up to 1298 mm) 37

21 DENSO 4-AXIS ROBOTS To allow operation in virtually any industrial condition, DENSO 4-axis robots are available in the following protection classes: The DENSO range of 4-axis robots includes the HS Series and the HM Series. Because of their extremely compact dimensions, light weight and flexibility to be mounted on both floor and ceiling, DENSO SCARA robots are perfectly suited for environments where space is limited. The circular work envelope of the robots is controlled by movement through 4-axis and, while rigid, the units have increased horizontal flexibility, enhancing the scope of their effectiveness. Options z Standard z Dust & splash proof (IP65) z Clean room class ISO 3 (only HS Series) z UL specifications (for the USA and Canada) z HS Series available with bellows for the 3rd axis Our 4-axis robots provide you a large choice of payloads and arm reaches: Mounting Options Also known as SCARA (Selective Compliance Assembly Robot Arm) they are the perfect option for a wide range of purposes. If you are looking for a high speed, exceptionally precise arm that can handle payloads up to 2 kg then DENSO SCARA robots are the ideal choice for the following: Applications DENSO 4 AXIS ROBOTS A: HS Series, B: HM Series z Pick & place z Inspection z Assembly z Material removal z Packaging z Material handling z Dispensing z Bespoke applications DENSO 4-axis robots deliver the following industry leading specifications: Main Features Used in a wide array of industries... z Fastest possible cycle time:.29 s z Repeatability from ±.15 mm z Maximum composite speed up to 11 5 mm/s z Arm lengths up to 1 mm z Payloads up to 2 kg z All models include internal wiring and air piping for maximum efficiency in restricted spaces 3mm One cycle is the time taken to complete a cycle of work from one arrow to the other and back. 25mm Automotive Food 38 Overview. DENSO 4-axis robots 39

22 L L B D L3 S ± HS SERIES PAYLOAD ARM REACH HS-4535*G 5 kg 35 mm HS-4545*G 5 kg 45 mm HS-4555*G 5 kg 55 mm Model A B C HS-4535*G HS-4545*G HS-4555*G The DENSO HS Series of robots is ideal for circumstances where size constraints are a key consideration. z EXCEPTIONAL PRECISION. From ±.15 mm z FAST. Cycle time:.35 s z OPTIONAL PROTECTION CLASSES. IP65/54 (dust and water splash), clean room class ISO 3 and UL specifications (for the USA and Canada) Ø42 HS-4535*G HS-4545*G HS-4555*G C1 Ø14 Mounting Options Ø2h7 workable space cabling space Unit HS-4535*G HS-4545*G HS-4555*G Number of axis Mounting configuration Floor Floor, Ceiling Floor, Ceiling Arm configuration UL specification (1) Protection degree IP4, IP65 Clean room (1) Class ISO 3 Maximum arm reach mm Payload kg Motion range Maximum composite speed J1 ±155 ±155 (Ceiling ±152) ±155 deg J2 ±145 ±145 (Ceiling ±141) ±145 Z mm 15, 2, 32 (3) 15, 2, 32 (3) 15, 2, 32 (3) T deg ±36 ±36 ±36 At the center of the hand mounting flange mm/s Z T deg/s Cycle time s.35 (with 2 kg weight).35 (with 2 kg weight).35 (with 2 kg weight) J1+J2 mm ±.15 ±.2 ±.2 Position repeatability Z mm ±.1 ±.1 ±.1 (2) T deg ±.5 ±.5 ±.5 Allowable inertia kgm^2.1 (with 5 kg).1 (with 5 kg).1 (with 5 kg) Weight kg User signal line 19 (for proximity sensor signals, etc.) Pneumatic pipe 4 systems (φ4x2, φ6x2) Brakes Brakes for Z axis (3rd axis) and T axis (4th axis) 1. Only for floor-mounted. 2. Position repeatability is the value at constant ambient temperature. 3. Z-axis stroke 15 mm is available only for HS. For details, please contact our sales Ø6H7 workable space ± <123> Robot type : None: Floor S: Ceiling A 4-Ø12 * 1 If the Z-axis stroke is 32 mm, the Z axis in the lowermost position may reach below the base mounting face. Legend Small 4-axis type Axes : 4: 4-axis 31 C Maximum payload : 5: 5 kg 13 HS Total arm length : 35: 35 mm 45: 45 mm 55: 55 mm 4-Ø5.5 28± (workable space) Ø5H Vertical stroke : 2: 2 mm 3: 32 mm 45 Ø42 Ø34h7 Ø ±.2 (workable space) Unit: mm S (mm) Type L1 L2 L3 Standard *=2:2 Dust- & splash-proof 79 Clean room Standard * 1 *=3:32 Dust- & splash-proof 91 Clean room * 1 Options : None: Standard type W: Dust & splash proof type (IP65) P: Cleanroom type (class 1) UL: UL specifications DENSO 4 AXIS ROBOTS 4 HS Series (up to 5 kg/up to 55 mm) 41

23 6.5 L3 346 L2 34 L S 1 2± ( ) 2.5 (24.5) HM SERIES HM-4A6*G HM-4A7*G HM-4A85*G HM-4AA*G PAYLOAD ARM REACH 2 kg 6 mm 2 kg 7 mm 2 kg 85 mm 2 kg 1 mm Type A B C D F HM-46*G, HM-4A6*G º HM-47*G, HM-4A7*G º HM-485*G, HM-4A85*G º HM-4A*G, HM-4AA*G º Note 1: Values denote dimensions for the 1 kg payload type (HM-4**G), and values enclosed in () denote dimensions for the 2 kg payload type (HM-4A**G). The DENSO HM Series of robots offers a higher payload and higher speed than the HS model range and also features a longer arm reach. 7 C B 95 6 z PRECISE. From ±.2 mm z THE FASTEST OF ALL OUR ROBOTS. Speed of up to 11,5 mm/s. Fastest possible cycle time:.29 s z OPTIONAL PROTECTION CLASSES. IP65/54 (dust and water splash) & UL specifications (for the USA and Canada) G 2XR G Ø17 (Ø19) HM-4A6*G HM-4A7*G HM-4A85*G HM-4AA*G (Ø22h7) (Ø26h7) Mounting Options E ( -.29 ) 3N9 -.4 G - G workable space (cabling space) 188 Unit HM-46*G HM-4A6*G HM-47*G HM-4A7*G HM-485*G HM-4A85*G HM-4A*G HM-4AA*G Number of axis Mounting configuration Floor Floor Floor, Ceiling Floor, Ceiling Floor, Ceiling Floor, Ceiling Floor Floor Protection IP4, IP65 Arm degree configuration Clean room UL specification (1) 13 F (38 ±.2) 28±.2 Ø4-36 (working space) ( ) Ø5h7 Ø34h7 Ø7 (Ø95) (φ58) +36 (working space) 12±.2 DENSO 4 AXIS ROBOTS Maximum arm reach mm Payload kg J1 ±165 ±165 ±165 ±165 ±165 ±165 ±165 ±165 A D 4-Ø5.5 (4-Ø6.5) ( ) ( ) Ø5H Ø6H Motion range Maximum composite speed Cycle time Position repeatability (2) Allowable inertia J2 deg Z mm 1, 2, 3, 4 (3) ±143 (Dust & Splash-proof type ±14) 1, 2, 3, 4 (3) ±147 (Ceiling ±145, Dust & Splash-proof type ±146, Ceiling Dust & Splash-proof type ±142) 1, 2, 3, 4 (3) 1, 2, 3, 4 (3) ±147 (Ceiling ±142) ±147 1, 2, 3, 4 (3) 1, 2, 3, 4 (3) 1, 2, 3, 4 (3) 1, 2, 3, 4 (3) T deg ±36 ±36 ±36 ±36 ±36 ±36 ±36 ±36 At the center of the hand mounting mm/s flange Z T deg/s s.29 (with 2 kg weight).29 (with 2 kg weight).29 (with 2 kg weight).29 (with 2 kg weight).31(with 2 kg weight).31(with 2 kg weight).31(with 2 kg weight).31(with 2 kg weight) J1+J2 mm ±.2 ±.2 ±.2 ±.2 ±.25 ±.25 ±.25 ±.25 Z mm ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 T deg ±.5 ±.5 ±.5 ±.5 ±.5 ±.5 ±.5 ±.5 kgm^2.25 (with 1 kg).45 (with 2 kg).25 (with 1 kg).45 (with 2 kg).25 (with 1 kg).45 (with 2 kg).25 (with 1 kg).45 (with 2 kg) workable space ( ) 2XØ8H (reference hole) 4-R2 R2 6± R2 4XØ (8) (8) Unit: mm S L1 L2 L3 (z axis stroke) 1 kg 2 kg (Note 2) Note 2: In the case of the Z axis 4 mm stroke type, the lowermost end of the Z axis may reach a lower position than the base mounting face. Weight kg Standard: 53, Ceiling: 54, Dust & Splash-proof: 56 User signal line 24 (for proximity sensor signals, etc.) Legend HM Pneumatic pipe 4 systems φ6) Brakes Brake for Z axis (3rd axis) 1. Only for floor-mounted. 2. Position repeatability is the value at constant ambient temperature. 3. Z-axis stroke 1 mm is available only for HM (floor-mounted). For details, please contact our sales. Mid-sized 4-axis robot Robot type : None: Floor S: Ceiling Axes : 4: 4-axis Maximum payload : : 1 kg A: 2 kg Total arm length : 6: 6 mm 7: 7 mm 85: 85 mm A: 1 mm Vertical stroke : 2: 2 mm 3: 3 mm 4: 4 mm Options : None: Standard type W: Dust & splash proof type (IP65) UL: UL specifications 42 HM Series (up to 2 kg/up to 1 mm) 43

24 ( ) ( ) Z= XR SERIES ( 127.7) ( 11.7 ) ( 123.5) 192 Workable space Defined by Point P Point P 6 The DENSO XR Series of robots can be mounted on the ceiling (R-Axis stroke) z COMPACT. Operation in restricted spaces. Easily fits into low-height restrictions. Compatible with narrow frontage facility with its compact size z FASTER THAN CARTESIAN ROBOTS. With combined movement of coordinated slide (X-axis) and swivel motions (R-axis) z WIDE RANGE MOTION AREA. Combined compactness and wide range motion area by original X-R structure Workable space Defined by Point P Point P ( ) ( ) ( ) 19 ( 71.2 ) ( ) (Z-Axis stroke) Ø4h8 ( ) -.39 ( ) Ø2H Depth 6 (Cable space) +.12 Ø5H7 ( ) Depth 7 (P.C.D. 31.5) 4XM5 Depth 8 XR-4341*G XR-4371*G XR-4372*G XR-4373*G XR-43A1*G XR-43A2*G XR-43A3*G Number of axis Unit Mounting configuration Ceiling Ceiling Ceiling Ceiling Ceiling Ceiling Ceiling Protection Arm configuration degree IP4 IP4 Clean room XØ6.6 Robot Mounting Hole) XØ6H7 reference hole ( ) 5X1=5 45 (X-Axis stroke) 1 Point P DENSO 4 AXIS ROBOTS UL specification Payload kg X-axis mm (X-Axis stroke) R-axis reach mm Motion range R-axis deg ±168 ±168 ±168 ±168 ±168 ±168 ±168 Z-axis mm *=1: 135, *=2: 2 Maximum composite speed T-axis deg ±36 ±36 ±36 ±36 ±36 ±36 ±36 X + R-axis mm/s Z-axis / T-axis mm/s, deg/s Z: 15, T: 72 X + R-axis mm ±.15 ±.15 ±.15 ±.15 ±.15 ±.15 ±.15 Point P 168 (R-Axis rotation) _ (R-Axis stroke) Position repeatability (1) Z-axis mm ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 ±.1 T-axis deg ±.5 ±.5 ±.5 ±.5 ±.5 ±.5 ±.5 Allowable inertia kgm^2.5 Workable space Defined by Point P _ T-Axis rotation Weight (2) kg User signal line Pneumatic pipe 1 (for proximity sensor signals, etc.) 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) Legend XR Brakes 1. Position repeatability is the value at constant ambient temperature. 2. In the case of the heaviest model (Z=2 mm). Brake for Z-axis Built-in type Axes : 4: 4-axis Maximum payload : 3: 5 kg X-axis stroke : 4: 45 mm 7: 76 mm A: 1,6 mm Total arm length : 1: 2 mm 2: 25 mm 3: 3 mm Z-axis stroke : 1: 135 mm 2: 2 mm 44 XR Series 45

25 ROBOT CONTROLLERS When you purchase a DENSO robot, a robot controller is included. DENSO robot controllers are characterized as being compact and user-friendly. The best thing about it is that you only need one robot controller type for all robot models. In other words, if you have a 4- or 6-axis robot, the controller is practically the same. Due to its modular design, maintenance and adjustment activities can be done easily and quickly. DENSO robot controllers are characterized as being compact and user-friendly. Our controllers are defined by being: z COMPACT. Advanced functionality in a small body. The compact controllers help to save space. z USER-FRIENDLY. Improved functionality coupled with an intiutive interface. User-friendliness is a top priority. z EMPLOYABLE WORLDWIDE. Conforms to safety requirements for industrial robots. Can be deployed anywhere in the world. z FLEXIBLE. Allows for connecting to and controlling a range of devices. Supports flexible customization. RC7 Controller The New RC8 Controller PROGRAMMING DENSO ROBOTS 46 Overview. Robot controllers 47

26 THE NEW RC8 Compact size greatly improves freedom of layout: install anywhere Extensible. Around 8% of the worldwide networks are supported The world's smallest robot controller* With the new RC8 it is possible to connect to multiple devices and applications since it is already equipped with the Open Network (ORiN). Safety I/O z S MALL FOOTPRINT. The size of an A3 paper sheet RC7 RC7(Safety Box) z6 % SIZE REDUCTION. Compared to the current RC7 controller z L IGHT WEIGHT. Only 12 Kg Open Network RC z Possible to connect to multiple devices and applications z Equipped with the Open Network (ORiN) which enables connection to a wide variety of devices/applications Standards z ISO : 211 / CE / UL*1 z PLe / SIL3 (Safety I/O) *1 UL support scheduled for 214 Field Networks *As of April, 213, in-house research. For robot controllers supporting 6-axis robots (3kW class). Around 8% of global networks supported: Advanced functions and usability. Improved ease of use Field bus Industrial EtherNet PROGRAMMING DENSO ROBOTS Improved GUI (Graphical User Interface) for increased efficiency z EASY TO USE. Comprehensive menu structure and improved usability Note: EtherCAT will be supported any time in 214. z REDUCE TIME. Improved GUI and functions reduce time required to operate a robot z ARM 3D VIEW. Teaching pendant equipped with the Arm 3D View. Possible to check the robot motion on the display z SIMILARITY. Very similar menu hierarchy and screen elements as in the RC7 controller Control and connect to many devices CONTROL EXTERNAL DEVICES WITHOUT USING PLC You can access your provider from PacScript to create a control program to allow control from RC8 if a provider that supports external devices is available. EASY-TO-USE TP CONTROL PANEL Use WINCAPS III to customize the multi-functional teaching pendant easily. PacScript WINCAPS III Arm 3D view Variables window I/O window Program window CONTROL MANY DEVICES WITH PROVIDER DEVELOPMENT The custom provider allows additional connection and control over different products. *Contact us for further information about development. 48 The new RC8 49

27 THE NEW RC8 Specifications External dimensions Term Unit Specifications Applicable robots VP / 6242 VS -5 / 6 VS -68 / 87 VS / 6577 VM -683 / 6B1 HS -45*** HM -4***** XR -43*** Power supply KVA 1. (*1) Power Input voltage range Three-phase, 2 VAC 15% to 24 VAC +1% (1 V specification also available for the VP series) Single-phase, 23 VAC 1% to 24 VAC +1% (*1) Single-phase, 23 VAC 1% to 24 VAC +1% Power supply frequency Hz 5 / 6 Power cable m 5 Controllable axes 5 / Control method PTP, CP 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes) Drive method All axes all digital AC servo Language used DENSO Robotics language (PacScript) Memory capacity User area Variable area : 1.75 MB (32,766 points equivalent), file area : 4 MB (5, steps 256 files) Teaching system 1) Remote teaching 2) Numerical entry (MDI) 3) Direct teaching (HS series and HM series only) External signal (I/O, etc.) Universal / dedicated I/O Mini I/O Hand I/O Parallel I/O boards (option) DeviceNet slave board (option) CC-Link remote device board (option) PROFIBUS slave board (option) Input : User open 8 points + system fix 14 points (the safety I/O less version has system fix 13 points) (*2) Output : User open 8 points + system fix 16 points (the safety I/O less version has system fix 12 points) Input : User open 8 points / Output : User open 8 points Bus : PCI Input : User open 4 points / Output : User open 48 points Bus : PCI Express Input : 256 points / Output : 256 points Bus : PCI Express Input : 128 points / Output : 128 points Remote registers Input : 256 points / Output : 256 points Bus : PCI Express Input : 256 points / Output : 256 points EtherNet / IP adapter board (option) Bus : PCI Express Input : 4,32 points / Output : 4,32 points External communication RS-232C : 1 line, EtherNet : 1 line (GbE : Gigabit EtherNet), USB : 2 lines, VGA : 1 line (option) Expansion slot Self diagnosis function PCI 1 slot PCI Express 1 slot Overrun, servo error, memory error, input error, short circuit detection (user wiring part), etc Unit : mm Environmental condition (in motion) Temperature : to 4 degree C, Humidity : 9% RH or less (no condensation allowed) Safety category Standard specification Category 4, PL = e (ISO : 26) (*2) Protect grade IP2 Weight kg Standard approx. 12 (*3) System configuration diagram *1: Power for the 1 VAC specification is Single-phase 1 VAC 5% to 11 VAC +1% 5/6 Hz, 1 kva. *2: If the built-in safety I/O is not necessary for the standard specification, please specify a safety-i/o-less specification. *3: Does not include the supplied cables. Expansion board slot (PCI Express) Mini I/O universal / dedicated connector Pendant connector Power connector Safety I/O Expansion board slot (PCI) Hand I/O connector Power switch CONTROL DEVICE Teaching pendant Mini pendant CONTROLLER EXPANSION BOARD Parallel I/O board DeviceNet slave board (PCI Express) CC-Link remote device board (PCI Express) PROFIBUS slave board (PCI Express) EtherNet / IP board (PCI Express) Electric gripper controller board RS-232C expansion board (Boards should be supplied by customer) PROFINET 1 EtherCAT 2 CONTEC extension boards 1 to be released in to be released in 214 EXTENDED-JOINT SUPPORT SPECIFICATION Power cable PROGRAMMING DENSO ROBOTS Legend EtherNet (GigE) 2 USB RS-232C Status LED Motor connector VGA (option) Encoder connector RC8 - - NNN - - NNN Motor connector (for extended-joint support) SOFTWARE Mini I/O cable (8m, 15m) Three-phase : 2V Single-phase : 23V (1V) Motor & encoder cable (2m, 4m, 6m, 12m, 2m) Controller name Robot type format: VMA: VM series VSA3: VS-5 / 6 VSA4: VS-68 / 87 VSA: VS-6556 / 6577 VPA: VP-5243 / 6242 HSA: HS series HMA: HM series XRA: XR series I/O type: M: Negative common (NPN) P: Positive common (PNP) Compliant standard: NI: Standard specification (safety I/O, safety category 4 / PLe) NN: Safety I/O less specification (safety I/O less, no safety category) PERIPHERALS ORiN2 SDK WINCAPS III Robot Tools EMU VRC PLC Monitor Camera Conveyor Robot 5 The new RC8 51

28 RC7 The DENSO Controller RC7 is easy to use, extremely light, adaptable and highly intuitive. Key features of the DENSO Controller include: z COMPACT DIMENSIONS. 44 mm x 425 mm x 152 mm spaces. z VERY LIGHT WEIGHT. Less than 2 kg z EXTENSIVE VARIETY OF CONNECTION INTERFACES. z 1 x Ethernet z 1 x RS232C z 2 x USB z Mini I/O z Safety IO z Hand IO z SUPPLEMENTARY INTERFACE OPTIONS INCLUDE. z 2 x RS232C z Profibus z DeviceNet z Parallel I/O extension z Ethernet/IP z LARGE MEMORY CAPACITY MB (1 steps and 3 points) z UTILISES DENSO S PROPRIETARY WINCAPS III SOFTWARE. For off-line programming, simulation and management of variables, I/Os and log-files Options Standard Extended-joint support specification Controller Type Safety Category Requirement I/O Type Standard With safety board 3 Safety specification CE With safety box 4 UL specification (*7) Safety specification Standard With safety board 3 With safety box 4 With safety board 3 With safety box 4 CE+UL *6: Specifications must be specified when placing an order. Changes to specifications cannot be made after shipment. *7: UL specifications are also required for the robot unit. A multi-functional teach pendant or mini pendant is also required. *8: Standard used in Japan. Compliant robot safety standards: ISO : 211, ANSI/RIA R , UL standards UL174, CSA Z434, etc. CE NPN (negative common) (*8) / PNP (positive common) Specifications Term Unit Specifications Applicable robots VP / 6242 VP -6242G2 / 6242G2-S1 VS -5 / 6 VS -68 / 87 VS / 6577 VM -683 / 6B1 HS HM XR XYC G Power supply KVA 1. (*2) 1. (*2) Three-phase, 2 VAC 15% to 23 VAC +1% (1 VAC specification also available for the VP / VP-G2 Series) (*2) Power Input voltage range Single-phase, 23 VAC 1% to 23 VAC +1% Single-phase, 23 VAC 1% to 23 VAC +1% Power supply frequency Hz 5 / 6 Power cable m 5 Controllable axes 5 / Control method PTP, CP 3-dimensional linear, 3-dimensional arc Drive method All axes all digital AC servo Language used DENSO Robotics language (conforming to SLIM) Memory capacity 3.25 MB (equivalent to 1, steps, 32,766 points) (Can be increased to 5.5 MB (option)) (*3) Teaching system External signal (I/O, etc.) Standard I/O Safety I/O (*1) Parallel I/O board (option) DeviceNet board (option) 1) Remote teaching 2) Numerical entry (MDI) 1) Remote teaching 2) Numerical entry (MDI) 3) Direct teaching 1) Remote teaching 2) Numerical entry (MDI) Mini I/O Input : User open 8 points + system fix 11 points / Output : User open 8 points + system fix 14 points (*4) Hand I/O Input : User open 8 points / Output : User open 8 points Input : System fix 6 points / Output : System fix 5 points Mount 2 boards Input : User open 8 points / Output : User open 96 points (expandable) Mount 1 board Input : User open 4 points / Output : User open 48 points (expandable) Master / Slave Input : 1,24 points (master) points (slave) / Output : 1,24 points (master) points (slave) Master Input : 1,24 points / Output : 1,24 points Slave Input : 256 points / Output : 256 points Safety board Safety category 3 Safety box Safety category 4 PROGRAMMING DENSO ROBOTS CC-Link remote device board (option) Remote device Input : 384 points / Output : 384 points (including remote registers RWw and RWr) External communication RS-232C : 1 line, EtherNet : 1 line, USB : 2 lines (Supporting flash memory) Expansion slot 3 (For optional boards) Self diagnosis function Overrun, servo error, memory error, input error, etc. Timer function.2 s to 1 s (1/ 6 s step) Environmental condition (in motion) Temperature : to 4 degree C, Humidity : 9% RH or less (no condensation allowed) Altitude : 1, m or less Protect grade IP2 (IP54 when controller protection box is used) Weight kg Approx. 18 (*5) Approx. 17 (*5) *1: Used with safety specification and UL specifications. (Requires a safety I/O cable) *2: Power for the 1 V specification is Single-phase 1 VAC 1% to 11 VAC +1% 5/6 Hz, 1 kva. *3: Requires additional functionality at controller shipping. *4: The global type of the controller cannot use system-fixed emergency stop I/Os. *5: Does not include the supplied cables. 52 RC7 53

29 Mini I/ Hand I/ RC7 External dimensions System configuration diagram power O N O FF battery CONTROL DEVICE CONTROLLER EXPANSION BOARD Parallel I/O board DeviceNet board (Slave, Master, Master / Slave) CC-Link remote device board μ Vision board Conveyor tracking board OPTIONAL COMMUNICATION FUNCTIONS RS-232C expandable S-LINK V support PROFIBUS support EtherNet / IP support *Boards should be supplied by customer CONTROLLER PROTECTION BOX EXTENDED-JOINT SUPPORT SPECIFICATION power err run RS-232C USB LAN PENDANT ENCODER Teaching pendant Mini pendant Electric gripper controller board MEMORY EXPANSION 19 Safety box (Only for global type with safety box) Extended-Joint Support Controller Max. 2 axes コントローラ設定表 /THE SETPRM LIST 注記 1. 標準値から変更された箇所のみ値を示します Note 1.Only the different value from the defaults of the 空欄のものは標準値が設定されています SETPRM are written. The blank means default. 2. パラメータ値を変更した場合は 必ず下表の値の 2.Write the new values on this list when 書き直し または記入してください you modify the SETPRM values. 1パラメータ /PARAMETER ソフトウェア Ver. パラメ- タ値 SOFTWARE Ver. PARAMETER VALUE 電池交換日 DATE OF RENEWING BAT. 正方向ソフトリミット PLIM 負方向ソフトリミット NLIM RANG TYPE 注意 /CAUTION 指や棒などを入れないことケガのおそれあり DO NOT insert fingers or foreign objects into opening, or personal injury may occur. 設置上の注意事項 2サブアッセンブリ /SUBASSEMBLY コントローラは防塵 防滴 防爆構造にはなっていません 設置の前には取扱説明書を必ずお読みください IPM SLOT5 * SLOT6 * コントローラの上に物を置いたり 衝撃を与えたりしないで下さい BOARD SLOT3 * SLOT4 * SLOT1 * SLOT2* CAUTION IN INSTALLATION This controller does not meet dust-proof, 3その他変更点 /OTHER MODIFICATIONS mist-proof or explosion-proof specifications. Read operation manual before installation. AXISIPM MOTORAXISIPM MOTOR Do not place anything on the controller, 7 ********* 8 ********* and do not impact against the controller. Robot Controller 注意 /CAUTION MODEL NO. RC7M-****** 外部電源を使用する場合 仕様以外の電圧は絶対に印加しないで PART NO. 412-**** ください コントロ -ラ故障の原因になります POWER *PH AC***V~***V 5/6Hz DO NOT input the wrong voltage when using the external power source. CAPACITY ***KVA It may cause the controller failuer. TYP OUTPUT ****KW Item Specification WEIGHT **Kg/**lb TEMP.to4,HUMIDITY.UNDER9%RH Mini I/O D C 21.6 V ~ 26.4 V CONDITION SERIAL NO. ****** Parallel I/ O D C 21.6 V ~ 26.4 V YEAR OF PRODUCTION **** DeviceNet D C 21.6 V ~ 26.4 V DENSO WAVE INCORPORATED I/O Conversion D BOX C 21.6 V ~ 26.4 V , TORANOMON MINATO-KU,TOKYO,JAPAN S-LINK V D C 22.8 V ~ 26.4 V SOFTWARE PERIPHERALS Mini I/O cable (8m, 15m) Motor & encoder cable (2m, 4m, 6m, 12m, 2m) ORiN2 SDK WINCAPS III Robot Tools PLC Monitor Camera Conveyor Robot Protection box Cabling space (Min. 2) PROGRAMMING DENSO ROBOTS Unit: mm 54 RC7 55

30 Main functionalities of DENSO Robotics EXAMPLES Connectability Operability NEW MOTION SKIP Sorting and transporting workpieces Supported Robots: All RC8 Robot Models EXTENDED-JOINT SUPPORT SYSTEM SYSTEM Supported Robots: OK Trigger point OK Trigger point System configuration diagram RC8 Available driver units L/S, L/SS, S/S, S/SS, SS/SS All RC8 Robot Models Sensor Sensor Motor Robot NG STOP NG Motor junction cable Motor cable 3, 5, 1, 2, 4, 75, 1W *Brake option available maximum # of extended-joints for 6 axis robot: 2 for 4 axis robot: 4 Encoder backup battery Functions: Battery conversion cable Encoder cable z Robot and extended-joints are controlled through the same interface Select Tracking Method System configuration diagram RC8 Configure the Encoder Encoder HUB set (includes cables between encoder HUBs) Robot Encoder junction cable Motor & encoder cable Main applications: *Overall cable length cannot exceed 16 m. This limitation also applies to the overall cable length for the encoders. z Drive axis and servo hand z Mounting robot on linear slide, controlling rotary axis CONVEYOR TRACKING * Configure the Sensor Camera / Sensor Run Conveyor Calibration Supported Robots: All RC8 Robot Models *The conveyor tracking option can be added for an additional cost Before Functions: Pauses on inspection points and restarts via external command on a corrected course. z Changes the target point and performs actions via external command during automatic operation without stopping z Reduced cycle for applications with dynamic workpiece positioning EXTERNAL TCP Deburring rectangular workpieces via stationary deburring tool Before TOOL mode External TCP mode After Main applications: Moves to the designated point based on inspection results without stopping on the inspection point. z Sorting and transporting various kinds of workpieces Workpiece P3 P P5 Drill P1 P MOVE P,@E P1 MOVE L,@E P... MOVE L,@E P3 MOVE L,@E P... MOVE L,@E P5 After TCP Burr * 1 * 2 P5 P1 P3 A large number of taught positions are required P5 Supported Robots: All RC8 Robot Models * 1 Support for RC8 is to be added in March 214 * 2 Support for RC7 is available as an option PROGRAMMING DENSO ROBOTS Encoder HUB set (includes cables between encoder HUBs) Motor & encoder cable Encoder 1 Encoder 2 Drill P1 P3 P5 P1 P3 Reduces the number of taught positions to 3 Result : better efficiency MOVE P,@E P1 MOVE L,@E P3 MOVE L,@E P5 Functions: Encoder junction cable Encoder cable z Reduces conveyor tracking setup time by utilizing simple conveyor tracking wizard Main applications: z Transferring workpieces from the conveyor belt Functions: z Rotation about a defined center point of the workpiece allows for an easier method of teaching points and reduction of required positions Main applications: z Deburring and sealant coating 56 Main functionalities of DENSO robotics 57

31 Main functionalities of DENSO Robotics EXAMPLES CONTINUED DENSO TEACHING & MINI PENDANTS POWER AT YOUR FINGERTIPS Connectability The DENSO teaching and mini pendants include the following user-friendly features: AUTOFIG EXTENDED JOINT SYSTEM Supported Robots: All RC8 Robot Models Key Advantages z Touch screen display z Very light z Small and compact Point A Before 27 Unable to detect optimal motion profile which resulted in unexpected motion. Point B Point A After 9 Point B Autofig automatically calculates the optimal path between A and B resulting in the most efficient path with no wasted motion. z Easy to use z Safe and secure z 5 languages available: Japanese, English, German, Korean, Chinese Functions: z Automatically calculates the optimal "figure" for motion to a designated position resulting in reduction of setup time Main applications: z When used with a program that employs a palletize library Item Teaching pendant Mini-pendant Programming (1) Functions Operating the robot and teaching SINGULAR POINT AVOIDING FUNCTION During linear motion Supported Robots: VP series VP G2 series VS series: VS 5 / 6 VS 68 / 87 VS 6556 VS 6577 VM series Display Power source Maintaining (2) Liquid crystal display with backlight pixels DC24V (supplied from robot controller) Liquid crystal display pixels Outside dimensions 198 x 29 x 14 mm 242 x 12 x 75 mm Degree of protection Weight 1.3 kg or less Approx..3 kg (excluding cables) Cable length 4 m, 8 m, 12 m (3) IP65 PROGRAMMING DENSO ROBOTS Functions: Move down Hard rotation of the fourth axis z Use for smooth movement when linear interpretation is required to pass a point at which a robot s position changes, such as in the vicinity of a singular point. Main applications: z Used with a program that employs a palletize library 1. Mini-pendant is not able to create and edit programs. WINCAPS III Light included with mini-pendant is available to do that. 2. Mini-pendant is able to use the following maintenance functions. - (1) Performing CALSET - (2) Resetting the motor encoder data - (3) Setting the calendar clock built in the robot controller (Date setting) - (4) Setting the next battery replacement - (5) Releasing and locking brakes 3. Extension cable for teaching pendant available (4 m and 8 m). 58 Main functionalities of DENSO robotics DENSO teaching & mini pendants 59

32 SOFTWARE WINCAPS III Offline Programming WINCAPS III is a software used to both program DENSO robots (PAC language, PacScript) as well as create simulations on a PC. Functions Software Positioning Robot equipment managed by PC Implementation Development Control Maintenance Programming Develop a motion program for a DENSO Robotic WINCAPSⅢ Simulation Create a simulation of multiple DENSO Robotics EMU Utility Supports maintenance and robot handling after DENSO Robotics implementation Robot Tools z Create a program Use a PAC Language Editor for programming tasks. Includes the following functions : z Line No. display z Color support for commands z Command input support (displays input candidates) z Indent display z Comment block z Bookmarks z Program bank z Arm 3D view Displays the robot and peripheral devices in 3D and simulates robot motion on a PC. z Import 3D graphic data (VRML and Direct X formats) z Check for interference with equipment z Measure cycle time of a created project z Click on an object to move it to a robot end object and obtain that position data [3D view teach] Virtual Provides an RC8 virtual environment VRC Development Interface to link devices to a PC environment ORiN2 SDK A program created by a user can be registered for use by other robot applications. Includes the following functions pre-registered as sample programs : z Palletizing z Tool operation z Arm motion z Create TP panel screen and more z Panel screen editor Create a panel screen for a teaching pendant on a PC. z Simple calibration The following 3 types of calibration can be used : CALSET TOOL WORK Overwrites a CALSET value with the correct value based on a standard position when a motor is replaced or when the CALSET value is lost. Corrects the value of the selected TOOL. Use when a hand or other end effector is recreated, replaced, or newly created. Corrects the value of the selected WORK. All WORK coordinates that were set when the robot mounting position changed can be corrected at once. Functions Full Function Version Light Version (*1) Trial Version (*2) Create new program / edit program (*5) Program bank (*3) (*3) 3D CAD data import 3D view teach Simulation function Debug function Monitoring (*4) (*4) Movie save function Print Simple calibration z Log function Users can view the following logs : z Error log z Operation log z Trace log z Control log [command position of each axis, encoder value, current value, payload rate, etc.] z Variables [PRO name and variable name, type, written value, write source, etc.] z I/O log [port, type, status, initial value] z Servo minor axis data log [speed reference value, actual speed, torque command, deviation angle, absolute current value] z Online functions Connect to the robot controller to use the following functions : [ Monitor function ] Monitor robot status z 3D view display z Variables z I/O z Execution program z Log data reception and save [ Debug functions ] Execute programs in the robot controller from the PC z Adjust robot speed z Reset all programs z Start / stop supervisory tasks z Program start z Step stop / cycle stop / suspend, halt / program reset z Step feed z Mock I/O settings of dedicated input and others PROGRAMMING DENSO ROBOTS *1: Included with purchase of mini pendant. System requirements : *2: Supplied with robot. OS: Windows XP SP1 or later / Vista / 7 *3: There are limits to the number of libraries that can be used. PC: CPU Pentium IV 1.5 GHz, Memory 512 MB, HDD5 MB *4: Sampling interval : 1 sec. Languages supported : 5 *5: One program (PRO1) only. Japanese, English, German, Korean, Chinese Windows is a trademark or registered trademark of Microsoft Corporation in the U.S. and / or other countries. 6 Software DENSO's offline programming, simulation and monitoring software. WINCAPS III 61

33 ORiN2 I/O SLAVE Integration Middleware for PC Function for PLC Programming ORiN2 SDK is a software tool kit used to develop an application program or provider based on ORiN2 specifications. It provides a standard communication interface for robots as well as various factory automation peripherals and databases. ORiN2 SDK is equipped with a variety of functions (including a CAO engine, test program, sample program and skeleton provider auto generate tool) to support development. The superior expandability of ORiN2 supports not only industrial robots, but a variety of devices (including PLC, CNC machine tools, bar code readers and RFID) to enable application development that is independent of manufacturer or model. Development tools Application interface Device interface IO-Slave function is a DENSO robot programming library based on IEC PLC programming standard. This dedicated library allows you to program DENSO robots using PLC programming languages. This function is established by connecting a PLC to a DENSO RC8 controller through a de-facto standard field network. This function enables control of a DENSO robot from various PLC manufacturers (Siemens, Rockwell, Omron, etc.) without programming the robot itself. Key Advantages Key Features Robot PLC Sensor Monitor z Provides a standard interface ORiN2 enables easy system development that supports distributed object technologies such as DCOM and SOAP, and provides two standard interfaces: the application interface and device interface. z Recycles applications Equipped with a gateway to reciprocally connect with different standards (OPC and UPnP) and improve reusability of existing applications. z Development tool options Use any of the following development tools that support OLE (COM, ActiveX) : Visual C++ C++ Builder Visual BASIC Delphi LabVIEW Excel and others z Create an original provider With Provider Wizard, a user can create an original provider to expand functions. Purpose Package Type ORiN2 Software Development Kit (ver2.1.13) Provider Development Runtime + Utilities Set Runtime DENSO Products Provider Development + Execution Environment Execution Environment + Expanded Components Execution Environment Camera FA devices Execution Environment (limited to DENSO Products) Application Support Binary Source Support Binary Source Support Binary Source Support Binary Source CAO engine CAO provider development tools CAO provider (quantity) Test and configuration tools CAO-OPC CAO-SQL CAO-UPnP CAO-Script System requirements : OS: Windows XP SP1 or later / Vista / 7 PC: CPU Pentium III 1 GHz or faster, Memory 512 MB or more, HDD 5 MB or more Windows is a trademark or registered trademark of Microsoft Corporation in the U.S. and / or other countries. OPC is a trademark or registered trademark of the OPC Foundation in the U.S. and / or other countries. ORiN is a trademark or registered trademark of Japan Robot Association. z DENSO robots can be directly programmed with a PLC using DENSO s function block library z Reduces costs and saves time z Simplifies the control signal exchange between PLC and the RC8 z Possibility to access the DENSO Robot trouble shooting and debugging functions directly in the PLC z No need to learn DENSO s programming language Example of connection between PLC and the RC8 PLC FIELD NETWORK ROBOT CONTROLLER (RC8) ROBOT FUNCTION FUNCTION FUNCTION BLOCK BLOCK BLOCK PC FIELD NETWORK BOARD PLC SOFTWARE TEACHING PENDANT PROGRAMMING DENSO ROBOTS 62 Working with common programming languages (C++, VB, etc.). ORiN2 I/O Slave 63

34 ROBOT TOOLS EMU / VRC Robot Stand / Maintenance Support Tools Robot Simulations Robot Tools is a fully featured suite of utility tools created for optimum maintenance and operation of DENSO Robotics. EMU (Enhanced MUlti-robot simulator) is a software that allows you to make simulations with multiple DENSO Robots. The software streamlines daily maintenance workflow and reduces the running costs of a robot after installation. EMU allows you to use projects created in WINCAPS III in coordination with peripheral devices (models) and testing functionality in a state that is virtual and real. In this way, EMU helps you achieve vertical startup for preliminary testing and production systems with DENSO robots at the design stage. Key Features Key Advantages Mobile Monitor Control log Analyzer Supported controllers Supported controllers Supported controller Helps to determine causes of sudden errors and incorrect equipment assembly. Takes images before and after problems happen and saves equipment data (I/O, variables, etc.) at the time they happen. Specifies errors caused through image and data validation to help with improving equipment. Monitors controller operating status and enables quick response to an error by sending an error notification to a portable device when an operator is offsite. Contributes to improved maintainability and task efficiency. Obtains the control log from a designated controller and automatically displays it in a graph. This graph can be used to analyze robot control status (such as detection of NG waveforms), or the control log can be entered into a database to be compared with past data. Improves maintainability and visualizes (quantifies) an error occurrence. z Sequence control You can control all operating sequences for each robot by starting up each robot and using variables and I/O from the system controller program. Coordinated operation testing using multiple DENSO Robotics is also possible. z Coordination of peripheral devices EMU enables testing of the operation of all equipment linked to robots and peripheral devices such as workpiece conveyors and loaders without using the actual equipment. z Interference checking The ability to check for interference between devices and preliminarily test operating sequences ensures a higher degree of perfection at the initial stage of design while helping to minimize development times and reduce costs. System requirements : OS: Windows XP SP1 or later / Vista / 7 *Usage of EMU will also require the purchase of WINCAPS III. PC: CPU 2 GHz or faster multi-core processor, Memory 2 GB or more, HDD 1 GB or more Virtual Robot Controller Virtual TP GP Operator Easy Backup Supported controller Supported controllers Supported controller A virtual teaching pendant on the PC works with a controller set on manual mode, allowing various controller settings (GUI) to be configured and monitored even from a remote location. Improves maintainability and helps a user create settings when no mini pendant or teaching pendant is available. Connect a robot controller to a PC and use a mouse or game pad for easy robot operation. Allows teaching to a designated variable (P type, J type or T type) to assist developer teaching in which a PC is used to control a robot. Performs backup and restores all data from multiple controllers in a batch. Automatic Easy Backup reduces task time and Easy Restore enables fast recovery when an error occurs. Contributes to improved maintainability and task efficiency. As an RC8 (robot controller) virtual robot module, VRC provides an RC8 virtual environment on the PC. Application Software When programming in a universal language (Visual C++, Visual BASIC, Delphi, LabVIEW, etc.) on the PC, connecting to the VRC lets you control DENSO Robotics and monitor their statuses in a virtual environment. Being able to simulate the operation of actual robots without actually using them dramatically improves development efficiency. In a PC environment VRC Virtual Robot Controller z Provides GUI As a tool to make VRC states visible, the VRC teaching pendant allows for the same usage and monitoring as the teaching pendant. System requirements : System requirements : OS: Windows XP SP1 or later / Vista / 7 PC: CPU Pentium III 1 GHz or faster, Memory 512 MB or more, HDD 5 MB or more 64 Robot stand/maintenance support tools. Robot Tools OS: Windows XP SP1 or later / Vista / 7 PC: C PU 2 GHz or faster multi-core processor, Memory 2 GB or more, HDD 1 GB or more *Usage of VRC will also require the purchase of ORiN2 SDK. Enhanced MUlti-robot simulator (EMU) / Virtual Robot Controller (VRC) 65 PROGRAMMING DENSO ROBOTS Image Logger

35 b-cap ORiN VISION b-cap is based on Transmission Control Protocol / Internet Protocol (TCP/IP) ORiN Vision This control protocol enables connection to DENSO robots and peripheral devices using a PC, PLC or other device which incorporates Ethernet TCP/IP or UDP. It works completely independently of any incumbent platform (ios, Linux, Windows, etc.) or programming language. With b-cap it is possible to control the robot directly by sending a destination position in short time intervals using your own kinematic calculation in real time. ORiN Vision is the extensive vision library designed exclusively for ORiN2 middleware. ORiN Vision provides many functions for image capturing, image processing (like edge detection, filters, etc.), image analysis (like blob analysis, finding contours, etc.), image interpretation and also for robot and camera calibration. Because it combines ORiN2 and OpenCV the library allows you to directly program DENSO robots and vision applications with standard high-level languages including C++, C# and VB among others through only one interface. Key advantages z Highly flexible and powerful control through PCs, PLCs or other applicable hardware device using TCP/IP or UDP z Platform and programming language independent z No requirement to learn a new robotic programming language z Real time control of robots Key advantages z Built-in processing functions use the OpenCV standard z High-level image processing fuctionality z The system is hardware independent allowing you to connect to any off-the-shelf camera regardless of interface (analogue, USB, IEE 2394, etc.) z Fast and efficient procedures result in short development times OTHER TCP/IP DEVICES (SMART PHONE, ETC.) VISION DEVICE PLC ETHERNET (TCP/IP or UDP) ROBOT CONTROLLER b-cap SERVER PC Development tools Application interface Device interface FA devices Robot PLC Sensor Monitor Camera SAMPLE PROGRAM INTERACTIVE VISION PROGRAMMING TOOL IMAGE PROCESSED WITH GUI OPERATRION EASY CAMERA CALIBRATION FUNCTION MOVING A CHESSBOARD WHILE TAKING PICTURES BASIC STRUCTURE INTERACTIVE PROGRAMMING TOOL QR DECODE MODEL DataBase CAO ENGINE DIRECTSHOW CAMERA USER CUSTOMIZED ORiN2 APPLICATION OPENCV API LAYER: ORiN2, DENSO ORiN2 standard functions (ex.) asynchronous processing, distributed processing, dynamic binding ROBOT VISION LAYER: ORiN VISION, DENSO Robot vision functions (ex.) image model management, calibration, OCR / BarCode / QR Code IMAGE PROCESSING LAYER: OPENCV, INTEL (OPEN SOURCE) Image processing functions Basic vision functions IMAGE ACQUISITION: DIRECTSHOW, MICROSOFT (OS STANDARD) PC camera connection function Quick camera setup PROGRAMMING DENSO ROBOTS 66 Control protocol based on TCP/IP. b-cap Vision library for ORiN2. ORiN Vision 67

36 E.VISION * e.vision e.vision is a configuration tool for setting up vision applications with DENSO robots and Anyfeeds from FlexFactory, which is based on ORiN Vision (an extension of the ORiN2 software package). Using a clear and simple Graphical User Interface, e.vision allows you to directly manipulate and configure the actions of the robot and the Anyfeed from FlexFactory. This incredibly user-friendly and easy to use system is intended for non-experienced users of computer vision. THIRD PARTY SOFTWARE Key advantages z Extremely user-friendly structure and interface z The easy vision configuration tool for pick and place applications is exceptionally fast, simple and effective z It works extensively with Anyfeeds from FlexFactory z It is also possible to directly configure FlexFactory s Anyfeeds z It includes two helpful Wizards that provide step-by-step guidance through core features including camera calibration and your vision applications PROGRAMMING DENSO ROBOTS *For RC8 available soon 68 Configuration tool for vision applications. e.vision Third party software 69

37 HALCON EXTENSION PACKAGE * 3DCREATE HALCON from MVTec with Extension Package for DENSO robots based on ORiN2 3DCreate HALCON software provides an integrated development environment (IDE) for machine vision and has become one of the worldwide industry standards. HALCON offers a complete and powerful solution with more than 1 4 commands for operations including blob analysis, morphology, pattern matching, measuring, identification and 3D vision. Because HALCON is so widely used and highly regarded, DENSO has created a comprehensive, dedicated extension package to enable HALCON and DENSO users to conveniently program DENSO robots and control their vision applications through the same simple graphical interface. This integrated development environment, which is called HDevelop, is intended for engineers with a thorough knowledge of machine vision. With our DENSO extension package for HALCON users can program our robots easily. Implementing a professional robotic solution is a substantial and serious project which can have a major impact on the whole of your business. Whether you are investing in a single arm, or a complete automated production facility, it is vital that you are confident in the potential performance of your installation. Visual Components the world s leading provider of 3D robotic and manufacturing software created 3DCreate which is a simple, quick and cost-effective software tool that enables machine builders, system integrators and manufacturers to simulate complete factory layouts in a virtual environment. This highly innovative and powerful solution provides all of the functions you need to create new simulated components from existing 3D CAD data, allowing you to customise, observe and evaluate your industrial robotic applications in advance. Key advantages Key advantages z DENSO robots can be programmed directly using one clear and practical interface z The DENSO extension package is conveniently and seamlessly incorporated into the HALCON integrated development environment, HDevelop z No previous experience of robotic programming is required z Use ready-made robot models from online ecatalogue z Easy plug n play interface for layout design z Integrate robot cells with factory layouts z Parametric components suit various customer cases z Connect to an external controller by Extension Package for DENSO robots CUSTOM APPLICATION PROGRAMMING DENSO ROBOTS *For RC8 available soon For more information please visit 7 Machine vision and robot programming. HALCON Extension Package Simulation software for complete factory layouts. 3DCreate 71

38 DENSO Robotics provides in Europe the following services: Training 1 z Operator: This training is intended for robot operators or people in charge of performing maintenance on it SERVICE AND SUPPORT WE'RE ONLY SATISFIED WHEN YOU ARE z Basic programming: This training embraces the tasks and procedures that an operator, technician, engineer or programmer needs to set up and program a robot z Advanced programming: This training is offered after Operator Training and Basic Programming has been carried out. Knowledge acquired in these previous trainings will be required in order to develop a more complex scenario z ORiN2: Introduction to PC-based robot applications created with a common high-level programming language (Visual Studio) z Maintenance: This training is directed for maintenance personnel responsible for the installation and maintenance of any system. The training provides detailed instructions and procedures necessary to perform complete disassembly, inspection, repair and reassembly of a DENSO robot mechanical unit...and many more Customer Support Cutting edge technology, class leading products and groundbreaking systems are only part of what you can expect when you choose DENSO Robotics. Our international customer support facility also leads the way in terms of service and delivery. We provide a highly personalised, professional and friendly resource to help with all of your questions and queries. Whether you need one-to-one assistance over the telephone, or a physical site visit, our teams of highly qualified engineers, technicians and partner system integrators are ready and waiting all over the globe. z Programming support: Software development for robot applications z Technical support: This includes: robot application simulations, cycle tests, troubleshooting and technical consulting z Absolute accuracy calibration service: We help you to increase the already precise accuracy of your DENSO robot 1 Our Training Centre is located in Mörfelden-Walldorf, Germany; near Frankfurt airport 2 Our warehouse is located in The Netherlands z Robot repair centre 2 : An expert team of professionals at our repair centre in the Netherlands provides our customers a reliable and fast service z On-site services: z Programming Support z Repair z Maintenance z Troubleshooting z Spare parts delivery 2 : Fast spare part availability through our world s largest warehouse outside Japan 72 Service and Support. We re only satisfied when you are 73 SERVICE AND SUPPORT