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hm-g series general information about robot

1. 0 9 Load 15 20kg 0 8 Load 13 14kg 0 7 Load 11 12kg Load 10kg O 0 6 o O 2 05 le Ss 5 0 4 Load 1 kg a O a 0 3 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 22 HM4AA02G HM4AA02G W HM4AA02G HM4AA02G W CP operation 1 1 1 Load 9 20kg ba Load47 1 gkg 0 8 Load 15 16kg om Load13 14kg o 0 7 A E Load 11 12kg oO Load 06 10kg 2 Z 0 5 2 E 0 4 Load kg a 0 3 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 30 Chapter 3 Specifications of the Robot Unit 23 HM4AA03G HM4AA03G W 11 o o o o o a o N co o Positioning time sec o gt 0 3 0 2 0 1 HM4AA03G HM4AA03G W CP operation Load47 20kg Load 15 16kg Load 13 14kg Load 1 12kg Load 10kg Load kg 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 24 HM4AA04G HM4AA04G W o w o co Positioning time sec o w o N 0 1 HM4AA04G HM4AA04G W CP operation Load 15 20kg Load 13 14kg Load 1 12ke Load Okg o N o o oa o o P Load 1 kg 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 31 3 4 Notes for Setting the Positioning Speed HM HMS G series m To be applied to all models of the HM G series Floor mou
2. Travel angle deg Chapter 6 Appendix HM40603G Z axis 0 4 Load 10kg 0 3 o Q 2 ZEEE 02 LV E AE D Z 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM40603G T axis 0 9 a Load 10kg 0 7 06 o 05 Load 1 kg E E 5 04 2 a 0 3 02 01 0 100 200 300 400 500 600 700 75 4 HM40603G W HM40603G W J1 axis Load 10kg Load 1 kg 0 8 0 6 Positioning time sec 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg HM40603G W J2 axis 0 9 Load 10kg 0 8 0 7 Load 1 kg 0 6 0 5 0 4 Positioning time sec 0 3 0 2 0 1 0 50 100 150 200 250 Travel angle deg 76 Chapter 6 Appendix Positioning time sec 0 5 0 4 o w o ND 0 1 HM40603G W Z axis 0 05 0 1 0 15 Travel distance m 0 2 Load 10kg Load 1kg 0 3 Positioning time sec 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM40603G W T axis Load 10kg Load 1 kg 100 200 300 400 Travel angle deg 500 600 700 77 5 HM40604G HM40604G J1 axis
3. D 50 100 150 200 250 300 Travel angle deg HM 40604G J2 axis 1 2 1 Load 10kg 08 o E Load 1kg gt 06 E 2 5 o a 0 4 0 2 0 D 50 100 150 200 250 Travel angle deg 78 Chapter 6 Appendix Travel angle deg HM 40604G Z axis 0 6 0 5 ET Load 10kg 0 4 o Z w E 03 Load 1kg KS 5 a o 0 0 2 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM40604G T axis 1 2 1 Load 10kg 0 8 o 5 FR eae D 06 C c 2 S E Load 1kg o 0 0 4 02 0 100 200 300 400 500 600 700 79 6 HM40604G W HM40604G W J1 axis 0 50 100 150 200 250 300 Travel angle deg HM40604G W J2 axis 1 2 1 d 10kg 0 8 aA o a ee pa Load 1 kg E asil 9 06 a EE e E E LEB aa a 0 4 jen a 0 2 0 D 50 100 150 200 250 Travel angle deg 80 Chapter 6 Appendix Positioning time sec o HM40604G W Z axis Load 10kg Load 1kg 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m Positioning time sec HM40604G W T axis Load 10kg 100 200
4. Load 15 20kg Load 13 14kg Load 11 12kg aT ka ka a i Load 1kg 0 2 1G 0 1 D 0 05 1 0 1 0 2 0 25 0 35 04 Travel distance m HM4A704G amp HMS4A704G Positioning time sec T axis ANN aa FEE 200 300 400 Travel angle deg 600 700 Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 139 36 HM4A704G W amp HMS4A704G W HM4A704G W amp HMS4A704G W J1 axis Pasitioning time sec 150 Travel angle deg HM4A704G W amp HMS4A704G W J2 axis Positioning time sec ze 150 Travel angle deg 140 Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Chapter 6 Appendix HM4A704G W amp HMS4A704G W Z axis 0 7 06 Load 15 20kg Load 13 14kg Load 11 12kg 0 5 Load 10kg A Load 1kg E 0 3 ze Ze ag TA i LZ EE 02 WU 0 1 D 0 05 0 1 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM4A704G W amp HMS4A704G W T axis 14 di Load 15 20kg Load 13 14kg Load 11 12kg i AS Load 10kg 5 0 5 FF e Load 1kg 8 KA SE ii 04 LEE e 0 2 Za 0
5. Positioning time sec AN HM4AA02G W Z axis 0 6 Load 19 20kg Load 17 18kg 0 5 Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg 0 4 o 3 E vo E E E Load p3 oad The c 2 5 D a 0 2 0 1 D D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4AA02G W T axis 1 6 1 4 Load 19 20kg Load 17 18kg Load 15 16kg 1 2 Load 13 14kg a Load 11 12ke 1 Ss Load 10kg 0 8 L TEA 0 6 EEE D 100 200 300 400 500 600 700 Travel angle deg 157 45 HM4AA03G HM4AA03G J1 axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Positioning time sec 150 Travel angle deg HM4AA03G J2 axis Load 1 7 20kg Load 15 16kg Load 43 1 4kg Load 11 12kg Load 10kg ol Positioning time sec Travel angle deg 158 Chapter 6 Appendix Positioning time sec 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM4AA03G Z axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg pre Te Load 1kg 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m Positioning time sec 0 8 0 6 0 4 0 2 HM4AA03G T axis Load 17 20kg Load 15 16kg L
6. BATTERY Of ONYH L ORUNO m POWER ERR NEED 000 PB PENDANT CN3 SAFETY BOX SAFETY BOARD Only for global type with safety box Only for global type with safety board I DI Front panel Air intake filters Connectors for the HM G series Encoders connected via bus Connector No Marking Name CN1 RS 232C Serial interface connector CN2 USB USB connector 2 lines CN3 PENDANT Teach pendant connector CN4 LAN Ethernet connector CN5 Mini I O I O connector CN6 INPUT AC Power supply connector CN7 MOTOR Motor encoder connector CN9 HAND I O HAND I O connector CN10 SAFETY I O SAFETY I O connector Only for global type Names of Robot Controller Components Chapter 3 Specifications of the Robot Unit Chapter 3 Specifications of the Robot Unit 3 1 Robot Specifications HM HMS G series The table below lists the specifications of the HM HMS G series of robot units 1 HM G Series Robot Unit Floor mount Standard type Specifications Model name of robot set HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Note 1 G G G G G G G G HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Model name of robot unit Teau E GM EGM E GM E GM E GM _ E
7. J1 J2 Z stopping time HM 4A70 G 33 66 100 of maximum payload 0 9 J1 J2 0 8 Z 0 7 T amp 06 o a a 05 E D 04 Q 8 0 3 n 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A70 G J1 J2 stopping distance HM 4A70 G 33 66 100 of maximum payload 80 J2 70 _ 60 gt J1 ke D 50 o S WD 40 ke O Q 30 Q 2 wn 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A70 G 56 Chapter 3 Specifications of the Robot Unit Z stopping distance HM 4A70 G 33 66 100 of maximum payload 200 180 Z 160 140 120 100 80 60 40 20 10 20 30 40 50 60 70 80 30 100 speed stopping distance mm Z stopping distance vs speed at an emergency stop HM 4A70 G 4 HM 4A70 G W series J1 J2 Z stopping time HM 4A70 G W 33 66 100 of maximum payload 1 J1 J2 0 9 0 8 Z o c 0 7 O E wo 06 o E os 2 a 0 4 Q O vw 03 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A70 G W J1 J2 stopping distance HM 4A70 G W 33 66 100 of maximum payload
8. 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 18 HM4A704G 8 HMS4A704G HM4A704G W 8 HMS4A704G W HM4A704G 8 HMS4A704G HM4A704G W 8 HMS4A704G W CP operation 0 8 Load 15 20kg 0 7 Load 13 14kg Load 11 12kg 0 6 Load 10kg o g 05 o E a 0 4 E Z Load 1kg Ke g 0 3 A 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 28 Chapter 3 Specifications of the Robot Unit 19 HM4A852G amp HMS4A852G HM4A852G W amp HMS4A852G W HM4A852G amp HMS4A852G HM4A852G W amp HMS4A852G W CP operation 0 9 Load 19 20kg 0 8 Load 17 18kg 0 7 Load 15 16kg Load 13 14kg OS 0 6 Load 11 12kg D D Load 10kg 2 05 O c 04 Load 1kg mn O A 03 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 20 HM4A853G amp HMS4A853G HM4A853G W amp HMS4A853G W HM4A853G amp HMS4A853G HM4A853G W amp HMS4A853G W CP operation 0 9 Load47 08 17 20kg Load 15 16kg 0 7 Load 13 14kg Load 11 12kg ER 0 6 Load 10kg oO L 2 0 5 a Si 04 S L Load 1kg 2 a 03 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 29 21 HM4A854G amp HMS4A854G HM4A854G W amp HMS4A854G W HM4A854G amp HMS4A854G HM4A854G W amp HMS4A854G W CP operation
9. Travel angle deg HM4A853G amp HMS4A853G J2 axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg KA Load 1kg o Co Positioning time sec o gt o P 150 Travel angle deg 146 Chapter 6 Appendix Positioning time sec O 0 6 0 5 0 4 0 3 0 2 0 1 HM4A853G amp HMS4A853G Z axis LZ 0 15 Travel distance m 0 2 Load 17 720kg Load 15 16kg Load 13 14kg Load 11 1 2kg Load 10kg Load 1kg 0 3 Positioning time sec 0 8 0 6 0 4 0 2 HM4A853G amp HMS4A853G T axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg l Load 10kg lt 100 200 300 Travel angle deg 400 500 600 700 147 40 HM4A853G W amp HMS4A853G W HM4A853G W amp HMS4A853G W Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg ol Positioning time sec Travel angle deg HM4A853G W amp HMS4A853G W axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg E Positioning time sec 150 Travel angle deg
10. Load 1kg 0 05 0 1 0 2 Travel distance m 0 25 0 3 0 35 0 4 Positioning time sec 0 8 0 6 0 4 0 2 HM40704G amp HMS40704G T axis Load 10kg 100 200 300 400 Travel angle deg 500 600 700 91 12 HM40704G W amp HMS40704G W HM40704G W amp HMS40704G W J1 axis J2 axis o 2 5 a an a D 92 Chapter 6 Appendix Positioning time sec o HO HM40704G W amp HMS40704G W Z axis Load 10kg Load 1kg 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m Positioning time sec HM40704G W amp HMS40704G W T axis Load 10kg 100 200 300 400 500 600 700 Travel angle deg 93 13 HM40852G amp HMS40852G HM40852G amp HMS40852G J1 axis Load 10kg AA Load kg 1 GEDE a 0 8 EEE EEE 2o ni A GA Gp Positioning time sec A D 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM40852G amp HMS40852G J2 axis 1 2 Load 10kg 1 08 Load 1kg o 5 v E 06 5
11. 80 J2 80 70 J1 d a 60 o 2 S 50 S n 5 o 40 a 2 20 2 N 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A70 G W Z stopping distance HM 4A70 G W 33 66 100 of maximum payload 120 Z 100 E E 80 D o E oO Ss 2 60 o O Q 9 40 e 72 20 9 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4A70 G W 58 Chapter 3 Specifications of the Robot Unit 5 HM 4A85 G series J1 J2 Z stopping time HM 4A85 G 33 66 100 of maximum payload 1 B J1 J2 0 8 Z T 0 7 S g os v E os 2 04 a 0 O i 0 3 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A85 G J1 J2 stopping distance HM 4A85 G 33 66 100 of maximum payload 80 80 J2 70 G 02 D 60 J1 2 S 50 2 o om 40 Q 2 30 v 20 10 7 i 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A85 G Z stopping distance HM 4A85 G 33 66 100 of maximum payload 140 Z 120 E 100 E 3 c 80 s G o gt 60 8 2 n 40 20 i i i i i 10 20 30 40
12. 100 200 300 400 Travel angle deg 600 700 141 37 HM4A852G amp HMS4A852G HM4A832G amp HMS4A852G J1 axis Load 9 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg an Positioning time sec 150 Travel angle deg HM4A852G amp HMS4A852G J2 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg P3 Positioning time sec o Co o gt o P 150 Travel angle deg 142 Chapter 6 Appendix HM4A852G amp HMS4A852G Travel angle deg Z axis 0 6 0 5 Load 19 20k oa 20kg EEN Load 17 18kg Load 15 16kg 0 4 Load 13 14kg ANG Load 11 12kg 9 Load 1Ukg E wo E gt 03 T 3 A CIT oake 0 2 0 1 D D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4A852G amp HMS4A852G T axis 1 6 1 4 Load 19 20kg Load 17 18kg Load 15 16kg 1 2 Load 13 14kg a Load 11 12kg 5 ga Load 10kg KLA 03 2 08 L D Load 1kg D L S Z EE 0 0 100 200 300 400 500 600 700 143 38 HM4A852G W amp HMS4A852G W HM4A852G W amp HMS4A852G W J1 axis Load 19 20kg
13. 0 50 100 150 200 250 300 Travel angle deg HM40A03G W J2 axis Load 10kg 1 E Load 1 kg 0 8 ZZ Positioning time sec A 0 6 LA 0 4 0 2 o a o 1 o 0 150 200 250 Travel angle deg 112 Travel angle deg Chapter 6 Appendix HM40A03G W Z axis 0 5 gt HO TAG a n Load 1kg T 8 03 o l P D an ZA ZEEE D 0 2 sx a Z 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM40A03G W T axis 1 2 Load 10kg 1 08 i 3 I 2 t E gt 0 6 5 Load kg E D 0 4 0 2 0 100 200 300 400 500 600 700 113 23 HM40A04G HM40A04G J1 axis 25 Load 10kg 3 O amp 1 5 S Load 1kg 2 a ef g j E Ga 0 0 50 100 150 200 250 300 Travel angle deg HM40A04G J2 axis 1 8 1 6 Load 10kg 14 12 o 8 gt 1 SEES E E 5 08 2 n 0 6 0 4 02 0 0 50 100 150 200 250 Travel angle deg 114 Chapter 6 Appendix Positioning time sec 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM40A04G Z axis TA Ce 0 05 0 1 0 15 0 2 Travel distance m 0 25 0 3 Load 10kg Load 1kg 0 35 0 4 Positioni
14. 0 0 4 0 2 0 0 50 100 150 200 250 Travel angle deg 94 Travel angle deg Chapter 6 Appendix HM40852G amp HMS40852G Z axis 0 4 Load 10kg 0 3 pre o 2 ee ES 502 aa Ze i ZB Oo a Zz 0 1 D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM40852G amp HMS40852G T axis 1 Load 10kg 09 0 8 0 7 o 3 08 3 Load gt 0 5 Sale 2 2 04 a 0 3 0 2 0 1 0 100 200 300 400 500 600 700 95 14 HM40852G W amp HMS40852G W Pasitioning time sec HM40852G W amp HMS40852G W J1 axis Load 10kg Load 1kg 0 8 0 6 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg Positioning time sec HM40852G W amp HMS40852G W J2 axis 12 Load 10kg Load 1kg 0 8 0 6 o L 0 4 0 2 o a o 1 o o 150 200 250 Travel angle deg 96 Chapter 6 Appendix HM40852G W amp HMS40852G W Z axis 0 4 Load 10kg Load 1kg Positioning time sec 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM40852G W amp HMS40852G W T axis Load 10kg al Load 1 kg 0 5
15. Load 1kg o Co Positioning time sec o a i 2 A 0 2 0 D 50 100 150 200 250 Travel angle deg 106 Chapter 6 Appendix 0 5 0 4 0 3 Positioning time sec AV 4 0 1 HM40A02G Z axis Load 10kg TA TA ga SEER Load 1kg 0 02 0 0 06 0 08 0 0 12 0 14 0 16 0 18 0 2 Travel distance m 0 9 08 0 7 0 6 0 5 0 4 Positioning time sec 0 3 0 2 0 1 HM40A02G T axis Load 10kg por Load 1kg 100 200 300 400 500 600 700 Travel angle deg 107 20 HM40A02G W HM40A02G W J1 axis 1 8 Load 10kg Load 1kg Positioning time sec 0 8 0 6 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg HM40A02G W J2 axis 1 4 Load 10kg 1 HI Load 1kg EEE ati Positioning time sec 0 2 o a o 1 o D 150 200 250 Travel angle deg 108 Chapter 6 Appendix 0 5 0 4 o w o No Positioning time sec 0 1 HM40A02G W Z axis Load 10kg Load 1kg 0 02 0 04 0 06 0 08 0 1 Travel distance m 0 12 0 14
16. 0 5 Load 10kg o gt Load 1kg o w Positioning time sec o N 0 1 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 2 HM40603G HM40603G W HM40603G HM40603G W CP operation 0 6 0 5 Load 10kg o a Load 1kg o w Positioning time sec o N 0 1 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 20 Chapter 3 Specifications of the Robot Unit 3 HM40604G HM40604G W HM40604G HM40604G W CP operation 0 7 0 6 o o Load Okg o gt o w Load 1kg L Positioning time sec EEE o N 0 1 o o o 05 0 0 15 0 2 0 25 Travel distance mm 0 3 4 HM40702G amp HMS40702G HM40702G W amp HMS40702G W HM40702G amp HMS40702G HM40702G W amp HMS40702G W CP operation 0 6 0 5 o PS Load 10kg o to Load 1 kg o N Positioning time sec 0 1 o o o a o 0 15 0 2 0 25 Travel distance mm 0 3 21 5 HM40703G amp HMS40703G HM40703G W amp HMS40703G W HM40703G amp HMS40703G HM40703G W amp HMS40703G W CP operation 0 6 0 5 Load 10kg o gt Load 1 kg Positioning time sec o os o N 0 1 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distanc
17. 148 Chapter 6 Appendix HM4A853G W amp HMS4A853G W Z axis 0 6 Load 17 20kg Load 15 16kg Load 13 14kg 0 5 Load 11 12kg Load 10kg 0 4 EEE Y EEG Load 1kg wy P S D 0 3 EE EE amp D Ka LEE 0 2 jE 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM4A853G W amp HMS4A853G W T axis 1 6 1 4 Load 17 20kg Load 15 16kg Load 13 14kg 1 2 Load 11 12kg a Load 10kg g ga sa o 2 0 8 L 5 3 es a EA Load 1kg n 06 LE S 04 La Pi 02 FY 0 1 o 0 200 300 400 500 oa 00 700 Travel angle deg 149 41 HM4A854G amp HMS4A854G HM4A854G amp HMS4A854G Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Cn Positioning time sec Travel angle deg HM4A854G amp HMS4A854G Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg az Load 1kg Positioning time sec Travel angle deg 150 Travel distance m Chapter 6 Appendix HM4A854G amp HMS4A854G Z axis 0 7 Load 15 20kg 06 Load 13 14kg Load 11 12kg Load 10kg 0 5 o d T 0 4 E LT load ikg an lt 2 03 w o D 0 2 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Positioning time sec o to o
18. HM40602G T axis 09 08 Load 0kg 07 06 o 8 2 0 5 Load 1kg 5 04 3 0 3 0 2 0 1 0 100 200 300 400 500 600 700 Travel angle deg 71 2 HM40602G W HM40602G W J1 axis Load 10kg Load 1 kg 0 8 0 6 Positioning time sec 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg HM40602G W J2 axis 0 9 Load 10kg 0 8 0 7 Load 1 ke 06 0 5 04 Positioning time sec 0 3 0 2 0 1 Q 50 100 150 200 250 Travel angle deg 72 Chapter 6 Appendix HM40602G W Z axis Load 10kg Load 1 kg Positioning time sec 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM40602G W T axis Load 10kg o n Load 1 kg o P Positioning time sec 0 100 200 300 400 500 600 700 Travel angle deg 73 3 HM40603G HM40603G J1 axis Load 10kg Load 1 kg Positioning time sec Q 50 100 150 200 250 300 Travel angle deg HM40603G J2 axis Load 10kg Load 1 kg Positioning time sec Q 50 100 150 200 250 Travel angle deg 74
19. HM40853G W amp HMS40853G W J2 axis Load 10kg Load 1kg 0 8 ZB 06 Pasitioning time sec a 0 2 o a o 1 o D 150 200 250 Travel angle deg 100 Chapter 6 Appendix HM40853G W amp HMS40853G W Z axis 0 5 Load 10kg Load 1 kg o Z w E E 5 3 D D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM40853G W amp HMS40853G W T axis 12 Load Okg 1 0 8 Co H o ati 0 Lu o E om 06 Load 1kg 2 Y o a 0 4 0 2 0 0 100 200 300 400 500 600 700 Travel angle deg 101 17 HM40854G amp HMS40854G HM40854G amp HMS40854G axis NE ZA Positioning tima sec K h o on o o o 1 a 0 N3 Qo o Bho on o 300 Travel angle deg HM40854G amp HMS40854G J2 axis Load 10kg Load 1 kg Positioning time sec a co Q 50 100 150 200 250 Travel angle deg 102 Chapter 6 Appendix HM40854G amp HMS40854G Travel angle deg Z axis 0 6 Load 10kg 0 5 0 4 ma o 8 Load 1kg 5 0 3 a zz o GE 0 2 Zz 0 1 D D 0 05 0 1
20. 3 HM G UL Series Robot Unit Floor mount UL Listed Specifications Model name of robot set HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Note 1 G UL G UL G UL G UL G UL G UL G UL G UL HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Model name of robot unit GM UL GM UL GM UL GM UL GM UL GM UL GM UL GM UL 250 J1 1st arm 350 J1 1starm 350 J1 1starm 500 J1 1st arm Overall arm length 350 J2 2nd arm 350 J2 2nd arm 500 J2 2nd arm 500 J2 2nd arm 600 mm 700 mm 850 mm 1000 mm MEES 2 a Motion angle Z 3rd axis ce Cx Cx and stroke Vertical stroke 200 mmif 2 300mmif 3 400 mmif 4 T 4th axis a Axis combination J1 1st axis J2 2nd axis Z 3rd axis T 4th axis ENE At the center of Me Darid 8 780 mm s 9 570 mm s 11 450 mm s 11 390 mm s Composite mounting flange 2220 s 1540 s 2220 s 1540 s 2220 s 1540 s 2220 s 1540 s Position repeatability 0 01 mm Note 2 Maximum force fit 98N one second or less Maximum allowable moment of 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm inertia around T axis with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg Position detection Absolute encoder AC servomotors for all axes Drive motor and brake Air balanced cylinder for Z axis 3rd axis Brakes for
21. 606 656 706 756 806 856 906 Z axis coordinate mm HMS G Series Maximum Speed Limit on the J1 and J2 PTP control 33 3 5 Air Piping and Signal Wiring HM HMS G series The HM HMS G series is equipped with 4 air pipes 6 for air chuck and 24 signal lines in the robot unit 1 HM HMS G series Standard type Connector CN21 for hand View in direction of arrow A control signal wires CN21 pin layout Air piping joints PT 1 4 Grounding terminal M5 Functional ground 1234 7 CE CN20 Efes pin layout mad ee Air piping joints Maximum allowable pressure 6 AIR1 2 3 4 0 59 MPa Connector CN20 for hand control signal wires Note 1 Pins 1 to 24 on CN21 and those on CN20 are connected with each other The maximum rated current per line is 1A Note 2 Use the attached connector set for CN20 and CN21 Connector set part No Part No Model and name SRCN6A25 24S 41087720170 Round connector for CN20 Japan Aviation Electronics Industry Ltd 410889 0090 JMSP2524M KR Straight plug DDK Electronics Inc Air Piping and Signal Wiring HM HMS G Standard type 34 Chapter 3 Specifications of the Robot Unit 2 HM HMS G W series Dust amp splash proof type Connector CN21 for hand View in direction of arrow A control signal wires CN21 pin layout g Air piping joints PT1 4 Grounding terminal M5 i
22. Composite mounting flange 2220 s 1540 s 222008 1540 s 2220 s 1540 s 2220 s 15400 s NS J1 J2 0 02 mm 0 025 mm Position Note 2 0 005 Maximum force fit 98N one second or less Maximum allowable moment of 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm inertia around T axis with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg Position detection Absolute encoder AC servomotors for all axes SETT and H Brake for Z axis 3rd axis 1 Enter a brake release command with the teach pendant or mini pendant repeatability 0 01 mm Brake releasing 2 On the 10 kg payload type pressing the brake release switch in the direct teaching mode can release the brake User air piping 4 systems 46 User signal lines 24 for proximity sensor signals etc Operating pressure 0 05 to 0 35 MPa Air source Maximum allowable 0 59 MPa pressure Degree of protection IP65 Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 56 kg 124 Ibs See the name plate on each model Note 1 The model name of robot set refers to the model of a complete set including a robot unit and robot controller An asterisk in model names denotes the Z axis stroke Note 2 Value at the constant ambient temperature 10 Chapter 3 Specifications of the Robot Unit
23. Shipped as installed on the troll 11 Conveyor tracking board Sen Ma EEE Shipped as individual boards supply part For Slave station Optional For Master station boards for the robot controller Shipped as individual boards supply part BUppIY pait For Master amp slave station N Parallel I O board Shipped as installed on the controller Shipped as individual boards supply part 410149 0940 410149 0950 410141 2700 410141 2710 410141 1740 410141 1750 410141 3050 410141 3060 410141 3580 410141 3590 410100 1572 410100 1582 410100 1592 410109 0392 410109 0402 410109 0412 410109 0422 410109 0432 410109 0442 410141 3711 410141 3721 410090 0980 410010 3320 410010 3330 410010 3340 410010 3350 410010 3370 410010 3380 410010 3390 410010 3400 410010 3410 410010 3480 410010 3430 410010 3440 410010 3460 410010 3470 Chapter 1 Packing List of the Robot Optional Components ion Optional function for RS232C board Board manufacturer CONTEC CO LTD Model COM 2P PCI H Optional function for S LINK V board Board manufacturer SUNX CO LTD Model SL VPCI Optional functions For own optional board etc Optional function for PROFIBUS DP slave board Board manufacturer Hilscher GmbH Model CIF50 DPS DENSO 1 19 Beal EtherNet IP function Board manufacturer Hilscher GmbH Model CIFX 50 RE DENSO 6 Optional function for memory extension 7 Optional box C
24. 0 16 0 18 0 2 Positioning time sec o o o o o o o o o P3 a AR a gt Co KO o HM40A02G W T axis Load 10kg or Load 1kg o 100 200 300 400 Travel angle deg 500 600 700 109 21 HM40A03G HM40A03G J1 axis 1 8 Load 10kg ea Load 1kg 1 2 0 8 Positioning time sec 0 6 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg HM40A03G J2 axis Load 10kg Load 1kg 0 8 0 6 Positioning tima sec 0 4 0 2 Q 50 100 150 200 250 Travel angle deg 110 Chapter 6 Appendix Positioning time sec 0 5 0 4 o w o N3 0 1 HM40A03G Z axis pa 0 05 0 1 0 15 Travel distance m 0 2 Load 10kg Load 1kg 0 3 Pasitioning time sec 0 9 o Co oS ng o gt O a s P o Co o La 0 1 HM40A03G T axis al 100 200 300 400 Travel angle deg 500 600 700 Load 10kg Load 1 kg 111 22 HM40A03G W HM40A03G W J1 axis Load 10kg Load 1kg 0 8 Positioning time sec 0 6 0 4 0 2
25. 015 02 025 03 035 04 045 Hand s moment of inertia Kgm When calculating the hand s or tool s moment of inertia around the T axis refer to the moment of inertia formulas on the next page 39 1 Cylinder 1 2 Cylinder 2 Moment of inertia Formulas 4 Sphere Axis of rotation Center axis Axis of rotation Center axis fie 2mr 5 5 Center of gravity not on the axis of rotation The axis of rotation passes through the center of gravity lg Moment of inertia around center of gravity kgm 3 Rectangular parallelepiped The axis of rotation passes through the center of gravity Moment of inertia kgm Mass kg Radius m Length m Calculation example When calculating the moment of inertia of a complicated shape divide it into simple parts as much as possible for easier calculations As shown in the figure below divide the hand into three parts 1 2 3 Moment of inertia around T axis of 1 i from 3 and 5 in the above table pa 1 0 19kg o 19 li Ta 0 12 0 015 0 19 x0 01 2 51 10 KIS her ll Moment of inertia around T axis of 2 l2 from 1 and 5 in the above table _ 0 123 x0 01 0 123 x 0 04 2 03x 10 kgm 2 Moment of inertia around T axis of 3 E from 1 and 5 in the above table 2 x La S jg BARDE 0 98x0 05 2 65 x 10 3 0 98kg kgm Moment of inertia around T axis of entire hand I 114 te
26. 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM40854G amp HMS40854G T axis 1 4 1 2 Load 10kg 1 o a ms 0 8 E 2 6 a 06 Load 1kg a 0 0 100 200 300 400 500 600 700 103 18 HM40854G W amp HMS40854G W HM40854G W amp HMS40854G W J1 axis Load 10kg 1 2 Load 1kg Positioning time sec 0 6 0 4 0 2 0 50 100 150 200 250 300 Travel angle deg HM40854G W amp HMS40854G W J2 axis Load 10kg a Load 1 kg 0 8 Positioning time sec 0 4 0 2 o a o 1 o o 150 200 250 Travel angle deg 104 Chapter 6 Appendix HM40854G W amp HMS40854G W axis Load 10kg Load 1kg Positioning time sec D 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM40854G W amp HMS40854G W T axis 14 12 Load 0kg 1 o a o 08 E bh D amp 5 5 0 6 Load 1kg a 0 4 0 2 0 0 100 200 300 400 500 600 700 Travel angle deg 105 19 HM40A02G HM40A02G J1 axis Load 10kg Load 1 kg P3 o Co Positioning time sec o gt gt P 0 2 0 50 100 150 200 250 300 Travel angle deg HM40A02G J2 axis Load Okg
27. 1A Note 2 Use the attached connector set for CN20 and CN21 Connector set part No Part No Model and name Remarks CE01 6A24 28SC D69 Straight plug DDK Electronics Inc CE01 24BS DS Straight plug DDK Electronics Inc 4410877 0660 CE3057 16A 1 D 410889 0120 f CN20 Cable clamp Applicable wire diameter 615 to 19 1 for DDK Electronics Inc CE3057 16A 4 D 410877 0640 for CN20 410877 0650 for CN20 410877 0670 Cable clamp Applicable wire diameter 19 1 to 21 for CN20 DDK Electronics Inc JMSP2524M 410877 0450 Straight plug for CN21 DDK Electronics Inc Air piping and Signal Wiring HM G UL UL Listed 36 Chapter 3 Specifications of the Robot Unit 3 5 1 Instructions for Using Splash proof Connector Sets The splash proof connector sets for CN20 and CN21 assure the splash proofness as long as they are properly assembled and connected When using those connector sets be sure to observe the following notes 1 The degree of protection of the splash proof robot unit which is specified in Section 3 1 Robot Specifications is assured as long as the splash proof connectors are joined with connectors CN20 and CN21 on the robot unit If there is no connection on CN20 and CN21 the splash proof rating is not assured Use a sheathed cable for a splash proof connector Using an unsheathed cable cannot assure the splash proof rating Each connector
28. 300 400 500 600 700 Travel angle deg 81 7 HM40702 amp HMS40702G HM40702G amp HMS40702G J1 axis Load 10kg Load 1kg Positioning time sec 0 D 50 100 150 200 250 300 Travel angle deg HM40702G amp HMS40702G J2 axis 1 0 9 Load 10kg 0 8 0 7 Load 1kg 0 6 Positioning time sec o CH 0 50 100 150 200 250 Travel angle deg 82 Chapter 6 Appendix HM40702G amp HMS40702G Travel angle deg Z axis 0 4 Ga Load 10kg Ni Di a a e ee KUA ad S ae a Zz 0 1 D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM40702G amp HMS40702G T axis 0 9 08 Load 10kg 0 7 0 6 05 Load 1kg E 5 04 3 0 3 0 2 0 1 0 100 200 300 400 500 600 700 83 8 HM40702G W amp HMS40702G W HM40702G W amp HMS40702G W J1 axis Load 10kg Load 1kg Positioning time sec 0 D 50 100 150 200 250 300 Travel angle deg HM40702G W amp HMS40702G W J2 axis 1 09 Load Okg 08 07 Load 1kg 0 6 Positioning time sec o oa 0 50 100 150 200 250 Travel angle deg
29. 5 Load 19 20kg 0 4 Load 17 18kg Load 15 16kg Load 13 14kg gee L Lag 11 12kg a Load 10kg 8 03 E Load Tkg E E lt s 02 a 0 1 D D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4A602G W T axis 14 12 Load 19 20kg ee e 17 18kg Load 15 16kg 1 Load 13 14kg Lo Load 11 12ke La aba 0 6 WA See Load 1kg i SE Z i h 0 0 100 200 300 400 500 600 700 Travel angle deg 121 27 HM4A603G HM4A603G JI axis 1 8 Load 17 20kg 1 6 Load 15 16kg Load 13 14kg 14 Load 11 12kg Load 10kg 12 Load 1kg 0 8 f U 04 0 2 0 D 50 100 150 200 250 300 Travel angle deg HM4A603G J2 axis 1 4 1 2 Load 17 20kg Load 15 16kg Load 13 1 4kg 1 Load 11 12kg Load 10kg o 8 7 0 8 E 2 Load 1kg Z 2 06 5 a 04 0 2 0 D 50 100 150 200 250 Travel angle deg 122 Chapter 6 Appendix Positioning time sec 0 6 0 5 0 2 0 1 HM4A603G Z axis a Load 13 14kg Load 11 12kg Load 10kg ey Load 1kg Load 17 20kg Load 15 16kg o 0 15 Travel distance m 0 2 Positioning time sec HM4A603G T axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12
30. 84 Chapter 6 Appendix HM40702G W amp HMS40702G W Z axis 0 4 Load 10kg Load 1kg Positioning time sec 0 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM40702G W amp HMS40702G W T axis Load 10kg Load kg Positioning time sec Q 100 200 300 400 500 600 700 Travel angle deg 85 9 HM40703G amp HMS40703G HM40703G amp HMS40703G axis Load Oke Load 1kg Positioning time sec Q 50 100 150 200 250 300 Travel angle deg HM40703G amp HMS40703G J2 axis 09 Load 10kg Load 1kg Positioning time sec a a D 50 100 150 200 250 Travel angle deg 86 Travel angle deg Chapter 6 Appendix HM40703G amp HMS40703G Z axis 0 4 Load 10kg 0 3 SS o 3 ee Cr oO E LEE a 02 e 5 SE ZZ a LE 0 1 D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM40703G amp HMSA40703G T axis 0 9 08 Load 10kg 0 7 0 6 LD Load 1 kg 0 5 E 5 04 5 o 0 0 3 02 01 0 100 200 300 400 500 600 700 87 10 HM40703G W amp HMS40703G W HM40703G W amp HMS40703G W J1 axis Load 1
31. Functional ground CN20 pin layout Air piping joints Maximum allowable pressure AIR1 2 3 4 0 59 MPa control signal wires Connector CN20 for hand Note 1 Pins 1 to 24 on CN21 and those on CN20 are connected with each other The maximum rated current per line is 1A Note 2 Use the attached connector set for CN20 and CN21 Connector set part No Part No Model and name Appearance JLO5 6A24 28S A72 akan Straight plug PN for Japan Aviation Electronics Industry Ltd N JLO5 24EB9B 17 A72 Applicable RE Cord clamp wire diameter for Japan Aviation Electronics Industry Ltd 15 to 17 AP JLO5 24EB9B 21 A72 Applicable gt Kala Cord clamp wire diameter ore Japan Aviation Electronics Industry Ltd 19 5 to 21 EBSP2524M gras re la Straight plug O for DDK Electronics Inc 4 Air piping and Signal Wiring HM HMS G W Dust amp splash proof type 35 3 HM G UL UL Listed Connector CN21 for hand E i control signal wires View in direction of arrow A g Air piping joints PT1 4 Grounding terminal M5 Functional ground 4 air pipes 66 amp 24 signal lines Air piping joints Maximum allowable pressure Connector CN20 for hand AIR1 2 3 4 p6 0 59 MPa 86 psi control signal wires Note 1 Pins 1 to 24 on CN21 and those on CN20 are connected with each other The maximum rated current per line is
32. J1 J2 and Z axes 1 Press the brake release switch when the controller power is ON Brake releasing Hii 2 The teach pendant or mini pendant cannot release the brakes User air piping 4 systems 06 User signal lines 24 for proximity sensor signals etc Operating pressure 0 05 to 0 35 MPa Air source Maximum allowable 0 59 MPa pressure Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 56 kg 124 Ibs See the name plate on each model Note 1 The model name of robot set refers to the model of a complete set including a robot unit and robot controller An asterisk in model names denotes the Z axis stroke Note 2 Value at the constant ambient temperature 11 ma HMS G Series Robot Unit Overhead mount Standard type Specifications Model om set HMS 4070 G HMS 4A70 G HMS 4085 G HMS 4A85 G Model name of robot unit HMS 4070 E GM HMS 4A70 E GM HMS 4085 E GM HMS 4A85 E GM Overall arm tenth 350 J1 1st axis 350 J2 2nd axis 350 J1 1st axis 500 J2 2nd axis Rog 700 mm 850 mm Jt 1st axis Jt 1st axis 165 Motion angle Z on i i i and stroke Vertical stroke 200 mmif 2 300mmif 3 400 mmif T 4th axis 2 J1 1st axis J2 2nd axis Z 3rd axis T 4th axis CC n axis J2 J1 Ist axis J2 2nd axis Z 3rd axis T 4th axis CC n axis Z 3rd axis T 4th axis Maximum payload 10 kg 20 kg 10 kg 20
33. Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg ee Load 1kg Za ol Positioning time sec 150 Travel angle deg HM4A852G W amp HMS4A852G W J2 axis Load 19 20kg Load 17 18ke Load 15 16kg Load 13 14kg Lea Load 11 12kg Load 10kg Load 1kg Positioning time sec 150 Travel angle deg 144 Chapter 6 Appendix 0 6 0 5 Positioning time sec o o ko P o La 0 1 Z axis HM4A852G W amp HMS4A852G W Load 19 20kg Load 17 18kg aaa Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg D D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4A852G W amp HMS4A852G W T axis 1 6 1 4 Load 9 20kg Load 17 18kg Load 15 15kg 1 2 Load 13 14kg Positioning time sec o to zi o 0 4 0 2 M Lee Load 11 12kg Load 10kg Load 1kg Travel angle deg EZ A o mmm as lt 145 39 HM4A853G amp HMS4A853G HM4A833G amp HMS4A853G J1 axis Load 17 20kg Load 15 16kg Load 13 1 4kg Load 41 1 2kg Load 10kg Load 1kg Positioning time sec
34. Load 11 12kg Load 10kg Positioning time sec O 150 Travel angle deg HM4AA02G J2 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg ol Positioning time sec 150 Travel angle deg 154 Chapter 6 Appendix Positioning time sec AN HM4AA02G Z axis 0 6 Load 19 20kg Load 17 18kg 0 5 Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg 0 4 o vo E ee a 03 KE Load 1kg 2 5 o a 0 2 0 1 D D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4AA02G T axis 1 6 1 4 Load 19 20kg Load 17 18kg Load 15 16kg 12 Load 13 14kg a Load 1112kg 1 ga Load 10kg 0 8 L a S sa 0 6 SE Load 1kg EEE D 100 200 300 400 500 600 700 Travel angle deg 155 44 HM4AA02G W HM4AA02G W J1 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg ee Load 10kg ees CZ Load 1kg rt e 200 Travel angle deg HM4AA02G W J2 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Chapter 6 Appendix
35. Positioning time sec 0 100 200 300 400 500 600 700 Travel angle deg 97 15 HM40853G amp HMS40853G HM40853G amp HMS40853G J1 axis Load 10kg 1 2 wee ee Le zz BA Positioning time sec 08 E gt 0 P 0 2 o on o 100 150 200 250 300 Travel angle deg HM40853G amp HMSA40853G J2 axis Load Okg Load 1kg 0 8 0 6 Positioning time sec 0 4 0 2 Q 50 100 150 200 250 Travel angle deg 98 Chapter 6 Appendix Positioning time sec 9 0 5 0 4 0 3 0 2 0 1 HM40853G amp HMS40853G Z axis LE 0 05 0 1 0 15 Travel distance m 0 2 Load 10kg Load 1 kg 0 3 Positioning time sec 0 9 o Co oS ng o o a s P o Co o La 0 1 HM40853G amp HMS40853G T axis al 100 200 300 400 Travel angle deg 500 600 700 Load 10kg Load 1kg 99 16 HM40853G W amp HMS40853G W HM40853G W amp HMS40853G W J1 axis 1 6 Load 10kg Load 1 kg 0 8 Positioning time sec 06 0 4 0 2 Q 50 100 150 200 250 300 Travel angle deg
36. Z 150 Travel angle deg 136 Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Chapter 6 Appendix Positioning time sec 0 6 0 5 o P o HO o La 0 1 HM4A703G W amp HMS4A703G W Z axis Load 174v 20g Load 15 16ke Load 13 14kg Load 11 12kg Load 10kg L Load 1kg 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM4A703G W amp HMS4A703G W T axis Positioning time sec o Co o a 0 4 0 2 Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg NIN Load 1kg TE M ANAN 200 300 400 Travel angle deg 500 600 700 137 35 HM4A704G amp HMS4A704G HM4A704G amp HMS4A704G J1 axis Load 15 20kg Load 13 14ke Load 11 12kg Load 10kg Positioning time sec Travel angle deg HM4A704G amp HMS4A 704G J2 axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg 150 Travel angle deg Chapter 6 Appendix 0 6 0 5 Positioning time sec o wo AN HM4A704G amp HMS Z axis 4A704G
37. axis 18 Load 15 20kg 1 6 Load 13 14kg Load 11 12kg 1 4 Load 10kg 1 2 i EE EE EE Load 1kg a E E 08 SEE a GL ee T Zz 04 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM4A604G J2 axis 1 4 1 2 Load 15 20kg Load 13 14kg Load 11 12kg 1 Load 10kg T 5 v 0 8 E 2 Load 1kg 5 3 06 3 o 04 0 2 0 Q 50 100 150 200 250 Travel angle deg 126 Chapter 6 Appendix HM4A604G Z axis 0 6 Load 15 20kg Load 13 14kg 0 5 Load 11 12kg Load 10kg A A 0 4 T 3 lu an eee oT load 1kg 03 o S S CC a 01 D 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM4A604G T axis 1 4 1 2 Load 15 20kg Load 13 14kg Load 11 12kg 1 Load 10kg R Lo a oa PDA WA TJ E rr Z r Load 1kg 06 ae i Z ZB U U S 0 2 GE 0 200 300 400 500 600 700 Travel angle deg 127 30 HM4A604G W HM4A604G W Ji axis 2 1 8 Load 15 20kg 1 6 Load 13 14ke Load 11 12kg 1 4 Load 10kg T B12 a E mi Load 1kg 5 08 a 06 0 4 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM4A604G W J2 axis 14 Load 15 20kg 1 2 Load 13 14kg s re Load 11 12kg Load 10kg z 08 E e L BE Load 1kg 5 a 2 os S eee a
38. o 04 0 2 HM4A854G amp HMS4A854G T axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 100 200 300 400 Travel angle deg 500 600 700 151 42 HM4A854G W amp HMS4A854G W HM4A854G W amp HMS4A854G W J1 axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Positioning time sec 150 Travel angle deg HM4A854G W amp HMS4A854G W axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Positioning time sec Ze 150 Travel angle deg 152 Chapter 6 Appendix 0 7 06 0 3 Pasitioning time sec AN 0 2 0 1 HM4A854G W amp HMS4A854G W Z axis Load 15 20kg Load 14 14kg Load 11 12kg Load 10kg Load 1kg h p h VS N L 0 05 0 1 0 5 0 2 0 Travel distance m No a Q to o to a o P Positioning time sec HM4A854G W amp HMS4A854G W T axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Alt lke 300 400 500 800 700 Travel angle deg 153 43 HM4AA02G HM4AA02G J1 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg
39. o Positioning time sec o o wo gt 0 2 0 1 HM4A603G HM4A603G W CP operation Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg GBA E E Load 1kg PT 0 0 25 0 3 o a o 0 15 0 2 Travel distance mm 26 Chapter 3 Specifications of the Robot Unit 15 HM4A604G HM4A604G W Positioning time sec 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM4A604G HM4A604G W CP operation Load 15 20kg Load 13 14kg Load11 12kg Load 0kg E Load kg O O 0 15 0 2 0 25 0 3 Travel distance mm 16 HM4A702G amp HMS4A702G HM4A702G W amp HMS4A702G W Positioning time sec 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM4A702G amp HMS4A702G HM4A702G W amp HMS4A702G W CP operation Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load Oke E Load 1k i 0 15 0 2 0 25 0 3 Travel distance mm 27 17 HM4A703G amp HMS4A703G HM4A703G W amp HMS4A703G W HM4A703G amp HMS4A703G HM4A703G W amp HMS4A703G W CP operation 0 8 Load 17 20kg o7 Load 15 16kg Load 13 14kg 0 6 Load11 12kg Load 10kg 0 5 E Load 1kg cue o w 1 Positioning time sec o gt 0 2 AA VEE 0 1
40. the Robot System HM G series 4 Chapter 2 Configuration of the Robot System 2 2 Names of Axes Joints of the Robot Unit 2 2 1 Robot Unit Components and Rotation Direction The figure below shows the names of the components of the robot unit and the rotation direction of each axis Note The UL Listed robot unit has the motor ON lamp on the 2nd arm 1st axis Robot Unit Components and Rotation Direction HM G series 1st axis J1 O els ot EI 3rd axis Z 4th axis T Robot Unit Components and Rotation Direction HMS G series 2 2 2 Name Plate The name plate is affixed in the base part which includes serial number of the robot robot model and day of manufacturer etc The serial number is the figure which identifies the robot of each customer and it is paired with the figure of the controller Chapter 2 Configuration of the Robot System 2 2 3 Warning and Caution Labels The robot unit has warning and caution labels pasted as shown below They alert the user to the dangers of the areas on which they are pasted Be sure to observe the instructions printed on those labels Warning and Caution Labels on the Robot Unit Location of labels Unfallgefahr Nicht die Sperrzone betreten 559 927 18 75719 99 Yo Sopa TA aE EM ABH AFI RAR Label 2 on UL Listed robot units only _A WARNING T LFR Moving robot can cause serious injury Durch Robot
41. vs speed at an emergency stop HM 4AA0 G W 64 Chapter 4 Specifications of the Robot Controller Chapter 4 Specifications of the Robot Controller 41 Specifications Table below lists the robot controller specifications RC7M Controller Specifications 1 HM G series pte Specifications 1 Remote teaching 2 Numerical input MDI Input signals 8 user open points 11 fixed system points Mini I O Output signals 8 user open points 14 fixed system points Standard I O Note In global type some fixed system points are not used Input signals 8 user open points HAND YO Output signals 8 user open points SAFETY 1 0 Input signals 6 fixed system points Only for Global type Output signals 5 fixed system points Input signals Additional 80 user open points lu a Output signals Additional 96 user open points oar paa Option i board Input signals Additional 40 user open points NO Output signals Additional 48 user open points Master amp slave Input signals 1024 points Master 256 points Slave Output signals 1024 points Master 256 points Slave BUE SE M ster Input signals 1024 points Option Output signals 1024 points Input signals 256 points Output signals 256 points Input signals 384 points Slave Output signals 384 points including remote registers RWw and RWr RS 232C 1 line Ethernet 1 line USB 2 lines Extension slot 3 For an optional board Self diagnosis function Overrun servo error m
42. 0 05 0 1 0 1 0 2 0 25 0 3 0 35 04 Travel distance m HM4AA04G W T axis 1 6 Load 15 20kg Load 13 14kg Load 1 1 12kg i Load 10kg Positioning time sec o Co Load 1kg 300 400 500 800 700 Travel angle deg 165 6 2 Conformity with Standards by Robot Model For information on conformity with standards refer to Conformity with Standards by Robot Model in the Additional Information section of the RC7M controller manual pack CD SUPPLEMENT 166 Horizontal Articulated Robot HM G SERIES GENERAL INFORMATION ABOUT ROBOT First Edition July 2005 Tenth Edition April 2011 Eleventh Edition October 2011 DENSO WAVE INCORPORATED 10N C The purpose of this manual is to provide accurate information in the handling and operating of the robot Please feel free to send your comments regarding any errors or omissions you may have found or any suggestions you may have for generally improving the manual In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages resulting from the application of the information in this manual
43. 0 2 0 8 HM4A702G amp HMS4A 702G T axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Positioning time sec ANAN L Ny AN 100 200 300 400 500 600 700 Travel angle deg 131 32 HM4A702G W amp HMS4A702G W HM4A702G W amp HMS4A702G W J1 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 4kg Load 11 12kg Load 10kg Load 1kg Positioning time sec 150 Travel angle deg HM4A702G W amp HMS4A702G W J2 axis Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Positioning time sec Zl 150 Travel angle deg 132 Chapter 6 Appendix Positioning time sec HM4A702G W amp HMS4A702G W Z axis 0 5 Load 19 20ke 04 Load 17 18kg Load 15 16kg Load 13 14kg E seal ere lina 1112kg Load 10kg F 03 a l 20 T es Load 1kg S ea ae 5 5 a 0 1 D 0 0 02 0 04 0 06 0 08 01 0 12 0 14 0 16 0 18 0 2 Travel distance m HM4A702G W amp HMS4A702G W T axis 14 1 2 Load 19 20kg Load 17 18kg Load 15 16kg 1 Load 13 14kg pee ma i WA 06 NG a e Load 1
44. 0kg Load 1kg N N Positioning time sec O o o on o o o 1 a 0 N3 Qo o Ro on o 300 Travel angle deg HM40703G W amp HMS40703G W J2 axis Load 10kg 0 7 Load 1kg 0 5 Positioning time sec Q 50 100 150 200 250 Travel angle deg Chapter 6 Appendix Positioning time sec HM40703G W amp HMS40703G W Z axis 0 5 Load 10kg Load 1kg 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m Positioning time sec HM40703G W amp HMS40703G W T axis Load 10kg 0 9 0 8 0 7 0 6 05 Load 1kg 0 4 0 3 0 2 0 1 0 100 200 300 400 500 600 700 Travel angle deg 89 11 HM40704G amp HMS40704G HM40704G amp HMS40704G J1 axis Load 10kg Load 1kg 0 0 50 100 150 200 250 300 Travel angle deg HM40704G amp HMS40704G J2 axis 12 i Load 10kg 0 8 B NO Load 1 kg o E a 06 E T 2 2 n 0 4 0 2 0 0 50 100 150 200 250 Travel angle deg 90 Chapter 6 Appendix Positioning time sec 0 6 0 5 0 4 0 3 0 2 0 1 HM40704G amp HMS40704G Z axis Laa Load 10kg
45. 4 A0 G UL 1000 500 500 284 400 Note2 1055 1049 Note 1 Values denote dimensions for the 10kg payload type HM 40 G W and values enclosed in denote dimensions for the 20kg payload type HM 4A G W Unit mm In the case of the Z axis 400mm stroke type the Z axis in the lowermost position may reach lower than the base mounting face Note 2 Outer dimensions and workable space HM G UL 16 Chapter 3 Specifications of the Robot Unit 4 HMS G Series Robot Unit Overhead mount Standard type Detailed drawing of hand mounting face Viewed from E Note 1 Flange option mounting face Note 1 p40 P58 Workable Baa N L3 Note3 L1 Workable space Unit mm T aaa LELEL H HMS 10706 HMS 4A70 G HMS 4085 G HMS 4A85 G a NA E 178 Base mounting dimensions os Viewed from the bottom 0 Note 1 Values denote dimensions for the 10kg payload type HMS 40 G and values enclosed in denote dimensions for the 20kg payload type HMS 4A G Note 2 The workable space is limited so that the unit does not interfere with the cables Note 3 In the case of the overhead mount type the Z axis in the uppermost position may reach higher than the base mounting face Be careful with the interference with surrounding facilities LO o Ce H o o N Outer dimensions and workable space HMS G 17 5 HMS G W Series Robot Unit Overhead mount Dust amp
46. 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4A85 G 6 HM 4A85 G W series J1 J2 Z stopping time HM 4A85 G W 33 66 100 of maximum payload 1 09 J1 J2 0 8 pa Z O 07 S B 06 Q E 05 2 E 04 a 0 o vw 03 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A85 G W Chapter 3 Specifications of the Robot Unit J1 J2 stopping distance HM 4A85 G W 33 66 100 of maximum payload 90 80 J2 70 DB 5 60 o J1 o S 50 ca o o 40 Q 8 30 N 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A85 G W Z stopping distance HM 4A85 G W 33 66 100 of maximum payload 140 Z 120 E 100 E oO 2 so sg 2 o D 60 Q Q 2 n 40 20 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4A85 G W 7 HM 4AA0 G series J1 J2 Z stopping time HM 4AA0 G 33 66 100 of maximum payload 1 J1 J2 09 08 Z T O 0 7 ej o g os oO E os 2 5 04 a G 03 02 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4AA0 G J1 J2 stopping distance HM 4AA0 G 33 66 100 of ma
47. 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A60 G 53 Z stopping distance HM 4A60 G 33 66 100 of maximum payload 200 180 Z 160 140 E g 120 5 D 100 o le 80 Q 5 60 40 20 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4A60 G 2 HM 4A60 G W series J1 J2 Z stopping time HM 4A60 G W 33 66 100 of maximum payload 0 9 J1 J2 0 8 Z 0 7 S amp 06 o 2 D 05 D 0 4 a 8 0 3 n 0 2 0 1 0 10 20 30 40 50 60 70 80 50 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A60 G W Chapter 3 Specifications of the Robot Unit J1 J2 stopping distance HM 4A60 G VWV 33 66 100 of maximum payload 80 J2 70 60 D E J1 2 w 50 o c sa D 40 5 o O 30 a 2 72 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4A60 G W Z stopping distance HM 4A60 G W 33 66 100 of maximum payload 120 Z 100 E E 80 w o oO s B 60 O O Q 2 40 2 n 20 o i i c i 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4A60 G W 55 3 HM 4A70 G series
48. 85 G series J1 J2 Z stopping time HM 4085 G 33 66 100 of maximum payload 0 9 J1 J2 0 8 Z 07 pa Ko amp 06 o o 5 08 D 04 a O 03 se N 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4085 G J1 J2 stopping distance HM 4085 G 33 66 100 of maximum payload 80 70 J2 _ 60 D J1 2 v 50 o E S D 40 5 o a 30 a e DO 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4085 G 47 Z stopping distance HM 4085 G 33 66 100 of maximum payload 180 160 140 120 100 80 60 stopping distance mm 40 20 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4085 G 6 HM 4085 G W series J1 J2 Z stopping time HM 4085 G W 33 66 100 of maximum payload 0 9 J2 0 8 J1 gt Z 0 7 ke amp 06 o E Pa 0 5 E a 0 4 Q 8 0 3 72 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4085 G W 48 Chapter 3 Specifications of the Robot Unit J1 J2 stopping distance HM 4085 G W 33 66 100 of maximum payl
49. 90 410002 1541 410002 3310 410002 3330 410002 3350 410002 6480 410002 2650 410329 0070 410329 0080 For RC7M controller For 10 kg payload For 20 kg payload Chapter 2 Configuration of the Robot System 21 Configurators The figure below shows configurators of the typical robot system AZUL I O conversion box option PLC prepared by customer 3 Power cable 2 Robot controller I O cable option 14 Air regulator excluding the splash proof type HEN 4 Motor amp encoder cable 8 Pendantless Grp Option connector Note 2 Optional board Personal computer prepared by customer Teach pendant ti a ul coe Mini pendant Controller protection box option option lle NG WINCAPSIII 6 WINCAPSIII install CD option Trial version CG 3 SSS e e 7 Spare fuses 12 Spare output IC 15 Short sockets 5 Manuals for robot controller for robot controller for robot controller ANWARNING Gm Printer prepared by customer h Connector set for hand control signals 13 D T for CN20 and CN21 13 Dowel pins gt amp 10 Direction indicator K S 11 Warning label Note 1 Components with numbers in are the standard components contained in the product package listed on page 1 Note 2 The pendantless connector should be attached to the robot controller connector when no teach pendant or mini pendant is connected Configurators of
50. A400 note 2 11055 1049 350 50 reach lower position than the base mounting face Outer dimensions and workable space HM G 14 C hapter3 Specifications of the Robot Uni 2 HM G W Series Robot Unit Floor mount Dust 4 splash proof type t Workable space 7 MANNY Sa KT age A 70 C B 95 Unit mm HM 40A0 G W HM 4AA0 G W 1000 500 925 1025 400 Note2 1125 Note 1 Values denote dimensions for the 10kg payload type HM 40 G W and values enclosed in denote dimensions for the 20kg payload type HM 4A G W Note 2 In the case of the Z axis 400mm stroke type the Z axis in the lowermost position may reach lower than the base mounting face Detailed drawing of hand mounting face Viewed from E Note 1 Base mounting dimensions 26847 0 Viewed from top Reference hole 220 2000 05 Outer dimensions and workable space HM G W 15 3 HM G UL Series Robot Unit Floor mount UL Listed Detailed drawing of hand mounting face Viewed from E Note 1 Base mounting dimensions 2 6587 TS Viewed from top Reference hole 190 Cabling space S L2 HM Ta UL EAJNA 286 2 axis stroke Laal HM 4 70 G UL 204 200 855 849 740 150 200 0 05 HM 4 85 G UL 850350 500 28 300 955 949 840 50 HM
51. After installation attach the direction indicator label in a position on the robot unit that can be easily seen Note 3 Attach the warning label on the robot safety fence or other location where workers will easily notice it If necessary prepare a plate for attaching the seal When placing an order for UL Listed robot systems be sure to order the optional teach pendant or mini pendant also which is essential to UL Listed ones 1 2 Optional Components The table below lists the optional components Optional Components 1 TH E RR A 8 m Incl Nos 1 1 and 1 2 SG tea aaa 15 m Incl Nos 1 1 and 1 2 I O cable for Mini I O 68 pins m I O cables I O cable for HAND I O I O cable for Parallel I O board 96 pins I O cable for SAFETY 1 0 36 pins Be for global type Teach pendant Mini pendant kit Incl cable and WINCAPSIII Light Japanese indication i English indication Operation Japanese indication devices English indication Japanese indication English indication For TP MP Pendant extension cable For TP MD m or TP CD ROM common to the languages Japanese English German Korean and Chinese Shipped as installed on the controller Shipped as individual boards supply part Programming WINCAPSIII support tool For Slave station Shipped as installed For Master station on the controller For Master amp slave station DeviceNet board CC Link board
52. D Manuals 19 I O conversion box O GENERAL INFORMATION ABOUT ROBOT C 2 RC7M CONTROLLER MANUAL Optional C 3 ERROR CODE TABLES manuals Printed materials English edition INSTALLATION amp MAINTENANCE GUIDE BEGINNER S GUIDE SETTING UP MANUAL PROGRAMMER S MANUAL PROGRAMMER S MANUAL II Panel Designer USER S MANUAL OPTIONS MANUAL For robot unit Flange kit Shipped after integrated in the controller Added when the board is purchased as a spare part 410006 0260 410006 0270 Shipped after integrated in the 410006 0280 controller Added when the board is purchased as a spare part 410006 0290 Shipped after integrated in the controller Added when the board is purchased as a spare part 410006 0300 410006 0310 Shipped after integrated in the controller 410006 0800 Added when the board is purchased as a spare part 410006 0810 410006 0320 Extension only upon controller shipment 3 25 MB to 5 5 MB Controller protection box ee 410181 0091 For interchangeability with RC5 type controller Manual Pack CD Contained in the robot package 410002 2661 Instruction manual for HM G full set Incl Nos C and D 410009 0340 C Instruction manual for HM G basic set Incl Nos C 1 to C 3 410009 0240 410181 0100 For HM G For RC7M controller 410002 2570 410002 2430 410002 3370 LD Instruction manual for HM G extension set Incl Nos D 1 to D 7 410009 0120 410002 25
53. DENSO ROBOT Horizontal articulated HM G SERIES GENERAL INFORMATION ABOUT ROBOT Copyright DENSO WAVE INCORPORATED 2005 2011 All rights reserved No part of this publication may be reproduced in any form or by any means without permission in writing from the publisher Specifications are subject to change without prior notice All products and company names mentioned are trademarks or registered trademarks of their respective holders Preface Thank you for purchasing this high speed high accuracy assembly robot Before operating your robot read this manual carefully to safely get the maximum benefit from your robot in your assembling operations Robot series and or models covered by this manual Model Note 1 Series Overall arm length HM 4 60 G 600 mm HM 4 70 G HMS 4 70 G 700 mm HM G HM 4 85 G HMS 4 85 G 850 mm Medium sized horizontal articulated HM 4 A0 G z 1000 mm Note 2 Note 2 NOTE 1 Model names listed above apply to the models of robot systems The model names of robot units are followed by M If the robot system model is HM 4 G2 for example the robot unit model is HM 4 E GM Note 2 For hanging 700 mm or 850 mm only Important To ensure operator safety be sure to read the precautions and instructions in SAFETY PRECAUTIONS How this book is organized This book is just one part of the robot documentation set This book consists of SAFETY PRECAUTIONS chapters one through fiv
54. GM E GM 250 J1 1st axis 350 J1 1st axis 350 J1 1st axis 500 J1 1st axis Overall arm length 350 J2 2nd axis 350 J2 2nd axis 500 J2 2nd axis 500 J2 2nd axis 600 mm 700 mm 850 mm 1000 mm J1 1st axis 165 J2 2nd ais Motion angle 7 3rd axis FE PE sag ca if gt and stroke Vertical stroke 100 mm if 1 150 mm if A 200 mm if 2 300 mm if 3 400 mm if 4 T 4th axis 5 Wrist rotation TIBO J1 1st axis J2 2nd axis Z 3rd axis T 4th axis Maximum payload 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg At the center of the hand 8 780 mm s 9 570 mm s 11 450 mm s 11 390 mm s Composite Mounting flange 222005 1540 s 2220 s 1540 s 2220 s 1540 s 2220 s 1540 s CE J1 J2 0 02 mm 0 025 mm Position z repeatability Z oo E Maximum force fit 98N one second or less Maximum allowable moment of 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm inertia around T axis with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg with 10 kg with 20 kg Position detection Absolute encoder 0 01 mm AC servomotors for all axes Drive motor and brake Air balanced cylinder for Z axis 3rd axis Brake for Z axis 3rd axis Brake releasing Enter a brake release command with the teach pendant or mini pendant User air piping 4 systems 6 User signal lines 24 for proximity sens
55. HO aes Ga HMS 4070 G W HMS 4A70 G w HMS 4085 G W HMS 4A85 G W Model name of robot unit HMS 4070 E GM W HMS 4A70 E GM W HMS 4085 E GM W HMS 4A85 E GM W Over arm length 350 J1 1st arm 350 J2 2nd arm 350 J1 1st arm 500 J2 2nd arm g 700 mm 850 mm J1 1st axis 165 2 is Motion angle 7 3rd axis and stroke vertical stroke 200 mmif 2 300mmif 3 400 mmif T 4th axis 5 Wrist rotation 1590 J1 1st axis J2 2nd axis Z 3rd axis T 4th axis Maximum payload 10 kg 20 kg 10 kg At the center of the hand 9 570 mm s Composite mounting flange speed 11 450 mm s N 1 322 mm s 2220 s 1540 s 2220 s 0 025 mm 1540 s J1 J2 0 02 mm Position repeatability N 0 01 mm T 0 005 Maximum force fit 98N one second or less Maximum allowable moment of 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm inertia around T axis with 10 kg with 20 kg with 10 kg with 20 kg Position detection Absolute encoder Diive m tor nd Brake AC servomotors for all axes Brake for Z axis 3rd axis 1 Enter a brake release command with the teach pendant or mini pendant Brake releasing 2 On the 10 kg payload type pressing the brake release switch in the direct teaching mode can release the brake User air piping 4 systems 66 User signal lines 24 for proximity sensor signals etc Operating pressure 0 05 to 0 35 MPa Maximum allowable pressure 0 59 MPa Degree of prot
56. J2 stopping distance vs speed at an emergency stop HM 4070 G 44 Chapter 3 Specifications of the Robot Unit Z stopping distance HM 4070 G 33 66 100 of maximum payload 180 160 Z 140 pa E 120 o 2 5 100 s 2 5 o 80 Q amp 60 72 40 20 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4070 G 4 HM 4070 G W series J1 J2 Z stopping time HM 4070 G W 33 66 100 of maximum payload 0 9 J1 J2 08 Z 0 7 G amp 06 o oO 2 gt 05 E D 04 a 9 oa wn 02 01 o 10 20 30 40 50 60 70 80 80 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4070 G W J1 J2 stopping distance HM 4070 G W 33 66 100 of maximum payload 70 J2 60 J1 O 50 o 3 o 2 40 L 2 o D 30 a Q Q n 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4070 G W Z stopping distance HM 4070 G W 33 66 100 of maximum payload 70 60 Z E 50 E 3 2 40 kg U 5 D 30 a Q 2 n 20 10 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4070 G W 46 Chapter 3 Specifications of the Robot Unit 5 HM 40
57. Pa 0 4 0 2 0 0 50 100 150 200 250 Travel angle deg 128 Travel angle deg Chapter 6 Appendix HM4A604G W Z axis 0 6 0 5 Load 45 20kg Load 13 14kg Load 11 12kg Load 10kg 0 4 f Fi Load 1kg P E 2 0 3 Z o D a 0 2 0 1 D D 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM4A604G W T axis 1 4 1 2 Load 15 20kg Load 13 14kg Load 11 12kg AS Load 10kg 3 a 08 Q ee 2 WA AZ Load 1k 5 0 6 A eee TS 2 PA oe G ee 0 4 a 0 2 0 0 100 200 300 400 500 600 700 129 31 HM4A702G amp HMS4A702G HM4A702G amp HMS4A702G J1 axis 150 Travel angle deg HM4A702G amp HMS4A702G J2 axis Positioning time sec 150 Travel angle deg Load 19 20kg Load 17 18kg 15 16kg 13 14kg Load 11 12kg Load 10kg Load 1kg 19 20kg Load 17 18kg 15 1 kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Chapter 6 Appendix Positioning time sec 0 5 0 4 o w o No 0 1 HM4A7026 amp HMS4A 702G Z axis 0 02 0 04 0 06 0 08 0 1 Travel distance m 0 12 0 16 Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg
58. RATED 1 Yoshiike Kusagi Agui cho Chita gun Aichi 470 2297 JAPAN lt Content THE SETPRM LIST gt SOFTWARE Ver The version of the main software for the controller is entered DATE OF The next replacement dates of the memory backup battery and encoder backup RENEWING BAT battery are entered TYPE The model of the robot system is entered The coding of the set model is described below SUBASSEMBLY The type and position of the controller IPM board are described The coding of the set model HM HMS G series HM 40852G W L Variation None Standard type UL Listed W Dust amp splash proof type Robot unit IP65 equivalent Z axis stroke 1 100 mm A 150 mm 2 200 mm 3 300 mm 4 400 mm Arm length 60 600 mm 70 700 mm 85 850 mm A0 1000 mm Maximum payload 0 10kg A 20 kg Number of axes 4 axes Horizontal articulated robot medium sized HM Floor mount type HMS Overhead mount type 68 Chapter 5 Warranty Chapter 5 Warranty DENSO robots are manufactured under strict quality control In case of failure we warranty the robot under the following conditions Warranty Period The warranty shall be effective for one year from the date of purchase Warranty Coverage DENSO WAVE shall repair the robot free of charge when a failure occurs and is attributable to the design manufacture or material of the robot within the warranty period in spite of proper use Items No
59. angle deg 118 Positioning time sec 0 5 0 4 0 3 0 2 0 1 Chapter 6 Appendix HM4A602G Z axis Loact 19 20kg Load 17 18kg Load 15 16kg tel Load 13 14kg Load 11 12ke Load 10kg poet Peo load 1kg oe an 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m Positioning time sec 0 8 0 6 0 4 HM4A602G T axis NAM L S Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 100 200 300 400 500 Travel angle deg 600 700 119 26 HM4A602G W HM4A602G W J1 axis 2 1 8 Load 19 20kg 1 6 Load 17 18kg Load 15 16kg 1 4 Load 13 14kg Load 11 12kg 2 12 Load 10kg v Z Load 1kg T 2 2 0 8 a 06 0 4 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM4A602G W J2 axis 14 Load 19 20kg 1 2 Load 17 18kg Load 15 16kg 1 Load 13 14kg Load 11 12kg 3 Load 10kg o 8 oa a E 2 Load 1kg 5 06 g EA 3 ze e 0 4 ee FE ER 0 2 0 0 50 100 150 200 250 Travel angle deg 120 Chapter 6 Appendix Positioning time sec HM4A602G W Z axis 0
60. ation 1 Load 19 20kg 0 9 Load 17 18kg 08 Load 15 16kg Load 13 14kg 8 0 7 2 i Load 11 12kg oO H 06 Load 10kg 2 z 05 9 O 04 Load 1kg ou 0 3 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 24 Chapter 3 Specifications of the Robot Unit 11 HM40A03G HM40A03G W HM4AA03G HM4AA03G W CP operation 1 Load 17 20kg 0 9 Load 15 16kg 0 8 Load 13 14kg Ben Load 11 12kg 8 0 7 Load 10kg L o E 06 2 a 0 5 2 Load 1kg 8 04 A 0 3 0 2 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 12 HM40A04G HM40A04G W HM4AA04G HM4AA04G W CP operation 1 Load 15 20kg 0 9 Load 13 14kg 0 8 Load 1 1 12kg bta Load 10kg 0 7 2 o 0 6 E Z HS S TI aa 3 Te Se ee Pe Load 1kg 0 3 2 EE 2 P7 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 25 13 HM4A602G HM4A602G W 0 8 0 7 0 6 o o o w y Positioning time sec o gt o i 0 1 HM4A602G HM4A602G W CP operation Load 19 20kg Load 17 18kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Se ke 0 15 0 2 0 25 0 3 o o a o Travel distance mm 14 HM4A603G HM4A603G W 0 8 0 7 0 6 o
61. axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg an Positioning time sec 150 Travel angle deg 162 Chapter 6 Appendix 0 8 0 7 0 6 Positioning time sec o o ES oi o to 0 2 0 1 HM4AA04G Z axis E I o a o 15 0 2 Travel distance m 0 3 Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 0 4 0 8 Positioning time sec 0 6 0 4 0 2 HM4AA04G T axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Z 100 200 300 Travel angle deg 400 500 600 163 48 HM4AA04G W Positioning time sec Positioning time sec HM4AA04G W J1 axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg Zz 150 Travel angle deg HM4AA04G W J2 axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 150 Travel angle deg 164 Chapter 6 Appendix HM4AAD4G W Z axis 0 8 Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg 0 6 Le as ae 1kg o BZ E i EDD L g Z L 0 1 D
62. ch AM8 asc da ao ada ov doe ANG aa inec a aan o og aaa ao 70 6 2 Conformity with Standards by Robot Model 166 Chapter 1 Packing List of the Robot Chapter 1 Packing List of the Robot 1 1 Standard Components The components listed below are contained in the product package Standard Components Wo Ta na Ti Cu core Da Pewer cable Sm NY Motor amp encoder cable at Opio Jo Manuals Manual Pack CD and Safety Precautions 1 set njo kl a WINCAPSIII Install CD Trial version peal Spare fuses for robot controller a Pendantless connector Dummy connector not contained in UL Listed robot systems Pili GEN 10 Direction maea aber rae a CI tei ae pa Na Spare output 1C for abala a Note 1 Choose and order a motor amp encoder cable from the table below The 20 m motor amp encoder cable standard splash proof is not available for controllers equipped with extended joint options or UL Listed robot units The internal cable bending radius shall at least be 200 mm Excessively bending will result in broken lead wires BENE kl k l 0 Item Part No Standard cable 2m 410141 4400 Standard cable 4m 410141 3611 Standard cable 6m 410141 3621 Standard cable 12m 410141 3631 Standard cable 20m 410141 4440 Splash proof cable 2m 410141 4420 Splash proof cable 4m 410141 3681 Splash proof cable 6m 410141 3691 Splash proof cable 12m 410141 3701 Splash proof cable 20 m 410141 4460 Note 2
63. cy stop HM 40A0 G 8 HM 40A0 G W series J1 J2 Z stopping time HM 40A0 G W 33 66 100 of maximum payload 1 09 J1 J2 0 8 pa Z 2 0 7 e g os D E os 2 a 04 O in 0 3 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 40A0 G W stopping distance deg 80 40 J1 J2 stopping distance HM 40A0 G W 33 66 100 of maximum payload J2 J1 speed J1 J2 stopping distance vs speed at an emergency stop HM 40A0 G W stopping distance mm Z stopping distance HM 40A0 G W 33 66 100 of maximum payload speed Z stopping distance vs speed at an emergency stop HM 40A0 G W 52 Chapter 3 Specifications of the Robot Unit 3 7 2 Maximum Payload 20 kg Type 1 HM 4A60 G series J1 J2 Z stopping time HM 4A60 G 33 66 100 of maximum payload 09 J1 J2 0 8 Z 0 7 T 5 06 o a pad 0 5 E D 04 Q 8 os N 02 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4A60 G J1 J2 stopping distance HM 4A60 G 33 66 100 of maximum payload 80 J2 70 _ 60 9 J1 o o 50 o c oO D 40 o 2 O 30 Q 9 N 20 10 6 10 20 30 40 50 60
64. d Caution Labels nana aan aaa nana renere reneste aa 7 2 3 Names of the Robot Controller Components sees sees sees eee eee 8 Chapter 3 Specifications of the Robot Unit sssesssssesssoosssocessecssssesssoosssoocssocosssessssosesosossooosssosssssessssosssooosssosssssesssssssoo 9 3 1 Robot Specifications HM HMS G series sese 9 3 2 Outer Dimensions and Workable Space of the Robot Unit HM HMS G sese 14 3 3 Robot Positioning Time HM HMS G Seres 19 3 4 Notes for Setting the Positioning Speed HM HMS G series nana 32 3 5 Air Piping and Signal Wiring HM HMS G series nenea aan nana ana 34 3 5 1 Instructions for Using Splash proof Connector Sets m eee nana nana aaa 37 3 6 Engineering design Notes for Robot Hands HM HMS G series nenea nenea nana 38 3 7 Stopping Time and Distance Angle at an Emergency ROD esse 41 3 7 1 Maximum Payload 10 kg Type sees 41 37 2 Maximum Payload 20 kg Type enrera cdi pa statues LINDA NINA teeta aa iti 53 Chapter 4 Specifications of the Robot Controller sccssccssssssssccssscssscsssssnsssscssscssssssssssnsesessssesssssnsessssssessessnees 65 A T Specifications cee oases eth ata obs cobb TT 65 4 2 Outer DIMENSIONS TTT 67 4 3 Controller Setting Table T 68 Chapter 5 Warranty sisissccccscsicesscecsssisciscccsutecssesensessvassccenseseconiseesdvessedacessvscouadeeusadsoocsasesoneseseaseassesocadcswaeedecebecsesssaccsonsersses 69 Chapter 6 Append AA 70 6 1 Operating time OF ca
65. e and appendix Chapter 1 Packing List of the Robot Lists the standard components contained in the product package and optional components Chapter 2 Configuration of the Robot System Illustrates the configuration of the robot system and describes the component names of the robot unit and controller Chapter 3 Specifications of the Robot Unit Describes the specifications motion space robot positioning time air piping and signal wiring and engineering design notes for robot hands Chapter 4 Specifications of the Robot Controller Lists the specifications of the robot controller and controller setting table SETPRM LIST Chapter 5 Warranty Describes the warranty period and coverage Appendix How to Use the Manual Pack CD Contents Chapter 1 Packing List of the Robot a GANG 1 1 1 Standard Components cea iai acea at dieceza ataca Pac E DAG GAAN ANNE As 1 1 2 Optional Components anna NADIN Doua aa 28 dn dna ata da Dai a oa aa ua oeaan S araea LANGAN GG 2 Chapter 2 Configuration of the Robot System csscccsssssscccscssessssccsscssescsscccssseceescscesesscsessscccsscsccsssesscessssceesescess 4 2A Configurator con iau e oda an cata e Bau se elin data i nt ta a ada oi i i anale te 4 2 2 Names of Axes Joints of the Robot Unit eee 5 2 2 1 Robot Unit Components and Rotation Direction eee aan nana anna a 5 22 2 Name Plate ratie eta al ea eat gen ten PUN Pa it E aaa Da d i Ea dau aaa 6 2 2 3 Warning an
66. e mm 6 HM40704G amp HMS40704G HM40704G W amp HMS40704G W HM40704G amp HMS40704G HM40704G W amp HMS40704G W CP operation 0 7 0 6 Load 10kg o o o gt Load 1 kg iS w Positioning time sec o N 0 1 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 22 Chapter 3 Specifications of the Robot Unit 7 HM40852G amp HMS40852G HM40852G W amp HMS40852G W HM40852G amp HMS40852G HM40852G W amp HMS40852G W CP operation 0 6 Load 10kg 0 5 T 0 4 KZA Load 1kg D 0 3 GE 5 ae lt 2 p 7 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 8 HM40853G amp HMS40853G HM40853G W amp HMS40853G W HM40853G amp HMS40853G HM40853G W amp HMS40853G W CP operation 0 6 Load 10kg 0 5 GS 04 3 Load 1kg 2 E T 03 LL E c 7 amp 02 WM CF 0 1 0 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance mm 23 9 HM40854G amp HMS40854G HM40854G W amp HMS40854G W HM40854G amp HMS40854G HM40854G W amp HMS40854G W CP operation 0 7 Load 10kg 0 6 0 5 0 4 Load 1 kg 0 3 Positioning time sec A 0 2 0 1 o o o a o Sk 0 15 0 2 0 25 0 3 Travel distance mm 10 HM40A02G HM40A02G W HM4AA02G HM4AA02G W CP oper
67. ection IP65 Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 56 kg 124 Ibs See the name plate on each model Note Overhead mount type robots cannot be installed on the floor to work facing upward Note 2 Air source Note 1 The model name of robot set refers to the model of a complete set including a robot unit and robot controller An asterisk in model names denotes the Z axis stroke Note 2 Value at the constant ambient temperature 13 3 2 Outer Dimensions and Workable Space of the Robot Unit HM HMS G The figure below shows the outer dimensions and workable space of the HM HMS G series 1 HM G Series Robot Unit Floor mount Standard type Detailed drawing of hand mounting face Viewed from E Note 1 3NG 0 029 Flange option mounting face Note 1 40 p58 N Va Workable space N 70 L1 190 Cabling space Type ALB C D F Base mounting dimensions HM 4060 G HM 4A60 G 600 250 350 213 286 2 68H79 Viewed from top HM 4070 G HM 4A70 G Reference hole 220 HM 4085 G _ HM 4A85 G aa HM 40A0 G HM 4AA0 G 1000 Bisa WOH S L2 L3 Mae 7 Z axis stroke Note 1 Values denote dimensions for the 10kg GA payload type HM 40 G and values 20kg payload ype MAAC Note 2 In the case of the Z axis 400mm stroke 300 955 949 350 50 type the lowermost end of the Z axis may
68. emory error input error etc 0 02 to 10 sec in units of 1 60 sec Error codes will be outputted on the external I O Error display Error messages will be displayed in English on the teach pendant option Error codes will be displayed on the mini pendant option Motor amp encoder cable 2m 4m 6m 12m 20m option Standard Splash proof Cables I O cable 8m 15m option For Mini lO HAND I O Optional board for parallel I O and SAFETY I O Power cable 5m External communication 65 RC7M Controller Specifications 2 HM G series Environmental conditions Temperature 0 to 40 C in operation Humidity 90 RH or less no condensation allowed Power ss rce Three phase 200 VAC 15 to 230 VAC 10 50 60 Hz 2 45 kVA 2 Single phase 230 VAC 10 to 230 VAC 10 50 60 Hz 2 45 kVA Degree of protection IP20 Standard type Approx 17 kg 38 Ibs Global type with safety board Approx 18 kg 40 Ibs Global type with safety box Approx 21 kg 46 Ibs NWARNING DO NOT touch fins Their hot surfaces may cause severe burns DO NOT insert fingers or foreign objects into openings Doing so may cause bodily injury Before opening the controller cover and accessing the inside of the controller for maintenance be sure to turn off the power switch disconnect the power cable and wait 3 minutes or more This is for protecting you from electric shock DO NOT connect or disconnect connector to from the control
69. erbewegungen k nnen Verletzungen verursacht werden SHARM ZS F79 ERM RIF Para No CO 101 Label 3 Label 4 Label 4 Contact with the robot unit which is in motion can cause serious injuries Observe the following 1 Never enter the robot s restricted space when the robot is in motion or the motor power is on 2 When you need to enter the robot s restricted space for recovery from robot failures be sure to cut the power to the robot motors by activating an emergency stop device or the like When the controller power is on pressing the brake release switch unexpectedly drops or raises the Z axis It is DANGEROUS Observe the following 1 Never press the brake release switch except in an emergency 2 Before pressing the brake release switch be sure to check that there is no danger of injuries or damages on equipment There is a high voltage part This label alerts the user to the dangers of electrical shocks Instructions on how to hoist the robot unit 2 3 Names of the Robot Controller Components The figure below shows the names of the robot controller components Note For warning and caution labels pasted on the controller refer to the RC7M CONTROLLER MANUAL GEA HY suo INPUT AC FGF
70. ion individually within the range specified below If you set the reduced ratio of the programmed speed only the controller automatically calculates that of the acceleration according to the formula below Acceleration Speed 100 x100 Application sample of hand s moment of inertia HM HMS G series 10 kg payload type m To run the robot at 100 of the programmed speed and acceleration The moment of inertia around the T axis should be 0 15 kgm or less m If the moment of inertia around the T axis is 0 17 kgm Run the robot at 90 or less of the programmed speed and at 81 or less of the programmed acceleration lt 10kg payload type gt Speed and acceleration L L L N Acceleration L L o l 0 0025 006 005 01 0125 015 015 02 025 025 Hand s moment of inertia Kgm Application sample of hand s moment of inertia HM HMS G series 20 kg payload type m To run the robot at 100 of the programmed speed and acceleration The moment of inertia around the T axis should be 0 3 kgm or less m If the moment of inertia around the T axis is 0 33 kgm Run the robot at 90 or less of the programmed speed and at 81 or less of the programmed acceleration lt 20kg payload type gt Acceleration Speed and acceleration a o a aaa SP SP SS S O 005 01
71. kg At the center of the hand 9 570 mm s 11 450 mm s Composite mounting flange aa 2 760 mm s 2220 s 1540 s 2220 s 1540 s Position speed Note 2 Maximum force fit Maximum force fit 98N one second or less Maximum allowable moment of 0 25 kgm 0 45 kgm 0 25 kgm 0 45 kgm inertia around T axis with 10 kg with 20 kg with 10 kg with 20 kg Position detection Position detection Absolute encoder AC servomotors for all axes Drive motor and brake Air balanced cylinder for Z axis 3rd axis Brake for Z axis 3rd axis Brake releasing Enter a brake release command with the teach pendant or mini pendant User air piping 4 systems 06 Usersignallines sae lines 24 for proximity sensor signals etc Operating pressure pressure 0 05 to 0 35 MPa Air source Maximum allowable Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 54 kg 121 Ibs See the name plate on each model Note Overhead mount type robots cannot be installed on the floor to work facing upward Note 1 The model name of robot set refers to the model of a complete set including a robot unit and robot controller An asterisk in model names denotes the Z axis stroke Note 2 Value at the constant ambient temperature 12 Chapter 3 Specifications of the Robot Unit 5 HMS G W Series Robot Unit Overhead mount Dust amp splash proof type Model
72. kg Load 10kg M L Load 1kg a ee TE 2 200 300 400 Travel angle deg 500 600 700 123 28 HM4A603G W HM4A603G W J1 axis 2 1 8 Load 17 20kg 1 6 Load 15 16kg Load 13 14kg 1 4 Load 11 12kg Load 10kg 2 1 2 P E 2 1 Load 1kg 2 T 08 0 06 0 4 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM4A603G W J2 axis 14 Load 17 0 20kg 1 2 Load 15 16kg Load 13 14kg 1 Load 11 12kg Load 10kg o x 08 L E E A 2 See Load 1kg 5 Z 06 EE a o Dei AZ 0 2 0 0 50 100 150 200 250 Travel angle deg 124 Chapter 6 Appendix Travel angle deg HM4A603G W Z axis 0 6 0 5 Load 17 20kg oad 45 16kg Load 1314kg load 11 12kg Load 10kg 0 4 o 5 Load 1kg Q d 0 3 ef 2 3 o 0 2 01 D D 0 05 0 1 0 15 0 25 0 3 Travel distance m HM4A603G W T axis 14 12 Load 17 w20kg eee ee 15 16kg Load 13 14kg 1 Load 11 12kg Lo Load 10kg o Z 5 08 5 06 PG ae Load 1kg 0 0 100 200 300 400 500 600 700 125 29 HM4A604G HM4A604G J1
73. kg ee Ze an a D 100 200 300 400 500 600 700 Travel angle deg 133 33 HM4A703G amp HMS4A703G Positioning time sec HM4A703G amp HMS4A703G J1 axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Travel angle deg HM4A703G amp HMS4A703G J2 axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg EEE ZA 134 Chapter 6 Appendix HM4A703G amp HMS4A703G Positioning time sec Z axis 0 6 0 5 Load 17 v20kg Load 15 16kg Load 13 14kg Load 11 12kg 0 4 Load 10kg o 5 A o E 203 C S ee ean Load The a PE e Z eet aa o A 0 2 0 1 D 0 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m HM4A703G amp HMS4A 703G T axis 14 1 2 Load 17 20kg Load 15 16kg Load 13 14kg 1 AS Load 11 128 Load 10kg ANAN Load 1kg 0 4 LE Travel angle deg 135 34 HM4A703G W amp HMS4A703G W HM4A703G W amp HMS4A703G W J1 axis Positioning time sec 150 Travel angle deg HM4A703G W amp HMS4A703G W J2 axis Positioning time sec
74. ler while the power switch is on Doing so may cause electric shock or controller failure AA CAUTION IN INSTALLATION This controller is not designed to be dust proof splash proof or explosion proof Read operation manuals before installation Do not place anything on the controller 66 Chapter 4 Specifications of the Robot Controller 4 2 Outer Dimensions Figure below shows the outer dimensions of the robot controller Outer Dimensions of Robot Controller HM G series Cabling space Q Safety board Only for global type with safety board Safety box i Only for global type with safety box Unit mm Outer Dimensions of RC7M Robot Controller 67 4 3 Controller Setting Table The controller setting table given in Figure below is attached to the controller It shows the software version the next replacement dates of the memory backup battery and encoder backup battery etc IKA 528 THE SETPRM LIST 15532 4 PARAMETER SOFTWARE Ver RE OF RENEWING BAT TYPE HIFYeI SUBASSEMBLY EOth BA OTHER MODIFICATIONS Robot Controller MODEL NO PART NO POWER CAPACITY TYP OUTPUT WEIGHT CONDITION SERIAL NO YEAR OF PRODUCTION DENSO WAVE INCORPO
75. ng time sec 0 8 0 6 0 4 HM40A04G T axis Load 10kg Load 1kg 100 300 400 Travel angle deg 500 600 700 115 24 HM40A04G W 300 250 200 150 100 Load 10kg A 4 250 200 150 116 Chapter 6 Appendix HM40A04G W Z axis 0 7 Load 10kg Load 1kg o Z o E E 5 a O a D D 0 05 0 1 0 15 0 2 0 25 0 3 0 35 0 4 Travel distance m HM40A04G W T axis 14 1 2 Load 10kg 1 o 8 08 a E Lara e 5 06 Load 1kg 0 0 4 0 2 0 0 100 200 300 400 500 600 700 Travel angle deg 117 25 HM4A602G HM4A602G J1 axis 18 Load 19 20kg 1 6 Load 17 18kg load 15 16k 14 i Load 13 14kg Load 11 12kg 1 2 Load 10kg 8 zz mw Bi EE eA EEE BAA ee Loca The 2 S EEE eZ ae a 06 EEE am 04 0 2 0 0 50 100 150 200 250 300 Travel angle deg HM4A602G J2 axis 1 4 12 Load 19 20kg Load 17 18kg Load 15 16kg 1 Load 13 14kg Load 11 12kg Y Load 10kg a v 08 E 2 Load 1kg 5 06 DO 9 o 04 0 2 0 0 50 100 150 200 250 Travel
76. nt type 1 To horizontally traverse the robot arm at high speeds teach the robot so that Z axis comes to be as close as possible to its upper end 2 To stabilize positioning of Z axis near its lower end the following maximum speed limiting control is automatically provided for J1 and J2 axes depending on the Z axis coordinate value only when the robot is moved under PTP control The positioning time of J1 and J2 axes becomes longer according to the maximum speed limit shown below Movement time in J1 J2 positioning time graphs sec x 100 sec Max speed limit For example when the robot arm moves by SP100 from the start point Z axis coordinate 100 mm to the target point Z axis coordinated 0 mm the maximum speed limits are as follows 75 when Z axis coordinate is 100 mm 35 when Z axis coordinate is 0 mm At this time the maximum speed is the smaller value at the lowest end of 35 120 There is no speed limit when the hand moves only along the f axis SP 100 100 CI DZ T ca ho DD U I I I 1 I I I 1 I I I F 1 I I I 1 I F I I I I I I F I I I I U 1 I U U I I I ee ee ee eee NA a t el ee ee PE aa t 4 t LC Max speed limit converted to SP value USR LC 350 300 250 200 150 100 50 0 50 100 Z axis coordinate mm HM G Series Maximum Speed Limit on the J1 and J2 PTP control 32 Chapter 3 Specification
77. oad 80 J2 70 _ 60 D 02 2 J1 o 30 o c s 40 o D E S 30 Q Eg wn 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4085 G W Z stopping distance HM 4085 G W 33 66 100 of maximum payload 80 Z 70 T 60 E E 50 o E 0 Pij VW 40 o 2 3 20 Q O ss W 20 10 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4085 G W 7 HM 40A0 G series stopping time second o o o o o o o o o NI ao A n a mj co wo o J1 J2 Z stopping time HM 40A0 G 33 66 100 of maximum payload J24 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 40A0 G stopping distance deg J1 J2 stopping distance HM 40A0 G 33 66 100 of maximum payload J2 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 40A0 G 50 Chapter 3 Specifications of the Robot Unit Z stopping distance HM 40A0 G 33 66 100 of maximum payload Z 140 120 100 80 60 40 20 10 20 30 40 50 60 70 80 90 100 speed stopping distance mm Z stopping distance vs speed at an emergen
78. oad 13 14kg Load 11 12kg a Load 10kg eee ae 100 200 300 400 500 600 700 Travel angle deg 159 46 HM4AA03G W HM4AA03G W J1 axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg ri EEE ee 2 HC Load 1kg Positioning time sec ii La 150 200 Travel angle deg HM4AA03G W Load 7 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg an Positioning time sec ZZ 150 Travel angle deg 160 Chapter 6 Appendix Positioning time sec 0 7 0 6 0 5 0 4 0 3 0 2 0 1 HM4AA03G W Z axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg Load 10kg Load 1kg 0 05 0 1 0 15 0 2 0 25 0 3 Travel distance m Positioning time sec 0 8 0 6 0 4 0 2 HM4AA03G W T axis Load 17 20kg Load 15 16kg Load 13 14kg Load 11 12kg a Load 10kg eee S 100 200 300 400 500 600 700 Travel angle deg 161 47 HM4AA04G HM4AA04G J1 axis Load 15 20kg Load 13 14kg Load 11 12kg Load 10kg Positioning time sec ZA 150 Travel angle deg HM4AA04G J2
79. or signals etc Operating pressure 0 05 to 0 35 MPa Air source f Maximum allowable 0 59 MPa pressure Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 53 kg 117 Ibs See the name plate on each model Note 1 The model name of robot set refers to the model of a complete set including a robot unit and robot controller An asterisk in model names denotes the Z axis stroke Note 2 Value at the constant ambient temperature 2 HM G W Series Robot Unit Floor mount Dust amp splash proof type Specifications Model name of robot set HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Note 1 G W G W G W G W G W G W G W G W __ HM 4060 HM 4A60 HM 4070 HM 4A70 HM 4085 HM 4A85 HM 40A0 HM 4AA0 Model name of robot unit E GM wW E GM W E GM W E GM W E GM W E GM W E GM W E GM W 250 J1 1starm 350 J1 1starm 350 J1 Ist arm 500 J1 1st arm Overall arm length 350 J2 2nd arm 350 J2 2nd arm 500 J2 2nd arm 500 J2 2nd arm 600 mm 700 mm 850 mm 1000 mm J1 1st axis 165 32 end as Motion angle Z 3rd axis i i i and stroke Vertical stroke 200 mmif 2 300mmif 3 400 mmif T 4th axis a J1 1st axis J2 2nd axis Z 3rd axis T 4th axis Maximum payload 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg At the center of the hand 8 780 mm s 9 570 mm s 11 450 mm s 11 390 mm s
80. s J1 J2 Z stopping time HM 4060 G W 33 66 100 of maximum payload 0 9 08 J1 J2 0 7 Z ke amp 06 o a pra 0 5 E D oa a 8 0 3 wn 0 2 0 1 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4060 G W 42 Chapter 3 Specifications of the Robot Unit stopping distance deg J1 J2 stopping distance HM 4060 G W 33 66 100 of maximum payload J2 J1 40 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4060 G W stopping distance mm Z stopping distance HM 4060 G W 33 66 100 of maximum payload N 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4060 G W 3 HM 4070 G series J1 J2 Z stopping time HM 4070 G 33 66 100 of maximum payload 0 9 08 J1 J2 07 Z T amp 06 o 9 a 05 a 0 4 Q 8 0 3 72 0 2 0 1 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4070 G J1 J2 stopping distance HM 4070 G 33 66 100 of maximum payload 70 Pa J2 p J1 P 2 40 o 2 o pa Q 5 m 20 10 9 l 10 20 30 40 50 60 70 80 90 100 speed J1
81. s of the Robot Unit m To be applied to all models of the HMS G series Overhead mount type 1 To horizontally traverse the robot arm at high speeds teach the robot so that Z axis comes to be as close as possible to its upper end 2 To stabilize positioning of Z axis near its lower end the following maximum speed limiting control is automatically provided for J1 and J2 axes depending on the Z axis coordinate value only when the robot is moved under PTP control The positioning time of J1 and J2 axes becomes longer according to the maximum speed limit shown below Movement time in J1 J2 positioning time graphs sec x 100 sec Max speed limit For example when the robot arm moves by SP100 from the start point Z axis coordinate 706 mm to the target point Z axis coordinated 806 mm the maximum speed limits are as follows 706 when Z axis coordinate is 57 mm 806 when Z axis coordinate is 33 mm At this time the maximum speed is the smaller value at the lowest end of 33 Q Max speed limit converted to SP value ry GG a en eee siana alpi al ea ree en es Soo pe See eee an pee There is no speed limit when the hand moves only along the Z axis SP100 j b 4 ee et te is Cnt pin ca nnn nos ne asa a san en nn gna La Ya sp aso ce Den gst Wiggs gsi tenga ce i ie ca ani alia inde i a RE al a a AA ta nl GERE EEE IR E al ie 576 506 556
82. scribed below Caution Strictly observe these engineering design notes Otherwise the clamped sections of the robot unit will become loose rattle or be out of position In the worst case the mechanical parts of the robot unit and the robot controller may be damaged 1 Mass of hand The total mass of a hand or tool including workpiece should be less than the maximum allowable payload of the robot Be sure to include the mass of wirings and piping used for a hand or tool Total mass of hand or tool incl workpiece lt Max allowable payload NOTE The maximum allowable payload refers to a mass of payload that you have preset 2 Hand center of gravity The center of gravity of a hand or tool including work piece should be located within the range specified in Figure below Robot model HM HMS 40xxxG 10kg pay oad HM HMS 4AxxxG 20kg payload Unit mm Hand center of gravity HM HMS G 38 Chapter 3 Specifications of the Robot Unit 3 Moment of inertia around the T axis The moment of inertia of a hand or tool including work piece around the T axis should be less than the maximum allowable moment of inertia around the T axis of the robot Hand s moment of inertia incl Work piece around the T axis lt Max allowable moment of inertia Calculate the moment of inertia around the T axis according to the graph given below NOTE You may program the reduced ratio of the speed and accelerat
83. set contains two types of cord clamps for CN20 Use the one that matches the cable diameter Each connector set should be assembled according to the instructions specified by the connector manufacturer The table below shows an assembly procedure example of a connector set for CN21 The actual assembly procedure should be in accordance with the instructions specified by the connector manufacturer Overview of assembly procedure example of connector set for CN21 Components of connector set for CN21 Assembly procedure example 1 Treatment of wire ends Strip the wire ends of the cable prepared by the customer The cable diameter and the lengths A and B should be in accordance with the instructions given by the connector manufacturer K ubber B bushing A For straight plug A 2 Tinning Tin both the core wires and the connector contacts 3 Pass the cable through the heat shrinkable tube for splash proof purpose prepared by the customer and the rubber bushing 4 Solder the core wires onto the connector contacts to connect them each other 5 Press the rubber bushing against the shell to fit the hood Then cover the rubber bushing with the heat shrinkable tube and apply heat to shrink the tube Heat shrinkable U Hood tube Rubber bushing Cable 37 3 6 Engineering design Notes for Robot Hands HM HMS G series Design a hand end effector so that it will satisfy conditions 1 and 3 de
84. splash proof type Detailed drawing of hand mounting face Viewed from E Note 1 Cabling i L3 Note 3 Workable space REE SEE Unit mm cc Type TA B C D IF G H HMS 4070 G W HMS 4A70 G W HMS 4085 G W HMS 4A85 G W 500 311 284 439 237 S L1 L2 L3 Z axis stroke Base mounting dimensions 10015 Viewed from the bottom 2 0 8H7 200 696 496 119 400 896 496 319 Note 1 Values denote dimensions for the 10kg payload type HMS 40 G W and values enclosed in denote dimensions for the 20kg payload type HMS 4A G W Note 2 The workable space is limited so that the unit does not interfere with the cables Note 3 In the case of the overhead mount type the Z axis in the uppermost position may reach higher than the base mounting face Be careful with the interference with surrounding facilities 200 0 05 Outer dimensions and workable space HMS G W 18 Chapter 3 Specifications of the Robot Unit 3 3 Robot Positioning Time HM HMS G series 1 The graphs given on the following pages show the positioning times used to calculate the cycle time See Chapter 6 Appendix for operating time of each axis 2 Positioning time refers to the time length required from the start of robot operation to the arrival at the target positioning point 3 After the robot moves to and passes the target positioning point vibration will be dampened and the robo
85. t 1l3 0 003 kgm Calculation Example of Hand s Moment of Inertia Around the T Axis 40 Chapter 3 Specifications of the Robot Unit 3 7 Stopping Time and Distance Angle at an Emergency Stop Pressing the emergency stop button when the robot is in motion stops the robot The stopping time required from activation of a stop signal and the distance angle for major three joints vary with the robot speed as shown in the graphs below The measuring conditions are Robot arm extended 33 66 and 100 of the maximum payload 3 7 1 Maximum Payload 10 kg Type 1 HM 4060 G series J1 J2 Z stopping time HM 4060 G 33 66 100 of maximum payload 0 8 J1 J2 stopping time second 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4060 G J1 J2 stopping distance HM 4060 G 33 66 100 of maximum payload J2 40 stopping distance deg o 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4060 G Z stopping distance HM 4060 G 33 66 100 of maximum payload 180 160 Z 140 E 120 Q o 5 100 2 o o 80 Q Q o 60 m 40 20 0 10 20 30 40 50 60 70 80 90 100 speed Z stopping distance vs speed at an emergency stop HM 4060 G 2 HM 4060 G W serie
86. t Covered Failures which arise from one of the following shall not be covered by the warranty even if the robot is under warranty 1 Failures caused by improper repair modification transfer or handling by you or a third party 2 Failures caused by the use of a part or oil fat other than those specified in the related manuals 3 Failures caused by a fire salt damage earthquake storm flood or other acts of God 4 Failures caused by the use of the robot in an environment other than the environment specified in the related manuals such as dust and water ingress 5 Failures caused by a worn out consumable such as a fan filter 6 Failures caused by improper performance or non performance of lubrication maintenance or inspections stated in this owner s manual and 7 Damages other than the robot repair costs 69 Chapter 6 Appendix 6 1 Operating time of each axis 1 HM40602G HM40602G J1 axis HM40602G J2 axis 4 Sv o o C S st o eu o SO OOS ss e Ss SG css Chapter 6 Appendix HM40602G Z axis 0 4 03 Load 10kg S E PO e E eat ni Load 1 kg E 0 2 Er S CEE a Zz 0 1 D 0 02 0 04 0 06 0 08 0 1 0 12 0 14 0 16 0 18 0 2 Travel distance m
87. t will be positioned at the target positioning point as shown in the figure below This vibration dampening time is not considered in those graphs Caution 1 The vibration dampening time depends on factors such as the weight of the hand If the robot is to be used in such a way that it overshoots or if the vibration damping time is of great concern then test the robot carefully beforehand If acceleration begins before residual vibration of the robot stops an overcurrent error code starts from ERROR6120 where the first digit represents the axis number may be displayed In this case take one of the following measures e Lower the deceleration of the preceding operation with a DECEL command to reduce residual vibration e Keep the robot in stand by with a DELAY command until residual vibration stops e Lower acceleration with an ACCEL command Run the robot with the optimum payload setting in accordance with weight of the hand and workpiece If not a robot failure may result In the positioning time graphs the Z axis stroke is represented near the upper end Near the lower end the horizontal movement time along the J1 J2 axis increases Refer to Notes for setting the positioning speed Target positioning point calculated value Target range Position Overshoot Vibration dampening time Vibration Dampening Time 19 1 HM40602G HM40602G W HM40602G HM40602G W CP operation 0 6
88. ximum payload 80 J2 70 _ 60 D J1 o O w 50 o S L n 40 5 o o 30 G 9 e N 20 10 o i 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4AA0 G 62 Chapter 3 Specifications of the Robot Unit Z stopping distance HM 4AA0 G 33 66 100 of maximum payload 120 Z 100 80 40 20 10 20 30 40 50 60 70 80 90 100 speed stopping distance mm 3 Z stopping distance vs speed at an emergency stop HM 4AA0 G 8 HM 4AA0 G W series J1 J2 Z stopping time HM 4AA0 G W 33 66 100 of maximum payload 1 J1 J2 0 9 0 8 Z T T 07 o B08 o E os 2 5 04 o o 03 02 0 1 9 10 20 30 40 50 60 70 80 90 100 speed J1 J2 Z stopping time vs speed at an emergency stop HM 4AA0 G W J1 J2 stopping distance HM 4AA0 G W 33 66 100 of maximum payload 80 J2 70 _ 60 D G J1 E v 50 o c Es Da o D Q 30 Q fe m 20 10 0 10 20 30 40 50 60 70 80 90 100 speed J1 J2 stopping distance vs speed at an emergency stop HM 4AA0 G W Z stopping distance HM 4AA0 G W 33 66 100 of maximum payload 140 120 100 80 stopping distance mm 40 speed Z stopping distance

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