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VS-G SERIES GENERAL INFORMATION ABOUT ROBOT

1. AC servomotors AC servomotors for all joints AC servomotors for all joints for all joints Drive motor and brake Brakes for joints J2 to J4 Brakes for joints J2 to J6 Brakes for all Use the brake release Note 5 Enter a brake release command with the teach pendant or Brake releasing mini pendant User air piping Note 4 2 position double solenoid contained User signal line 10 for proximity sensor signals etc Operating pressure 0 10 0 39MPa Air source Maximum allowable 0 49MPa pressure IP54 IP54 IP54 Degree of protection IP40 Wrist IP65 oe Wrist IP65 Wrist IP65 a 7 systems 4x6 6x1 3 solenoid valves Airborne noise A weighted equivalent 80 dB or less continuous sound pressure level Weight Approx 36 kg 80 lbs See the name plate on each model The model name of robot set refers to the model name of a complete set including a robot unit and robot controller If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical Position repeatability is the value at constant ambient temperature Only the 44x6 air piping system may be controlled by built in solenoid valves When the controller power is ON use the brake release switch to release the brake of the selected joint Brake releasing with the teach pendant or mini pendant is not possible 10 Chapter 3 Specifications of the Robot Unit 3 VS 6556G P10 VS 6556G
2. Air piping joint M5 n CN20 Pin Assignment B For controller I O unit NPN type source IN sink OUT Sapa CN20 pin No Usedfon OoOo mM Ni AIR 1 Air piping joint PT 1 4 N Solenoid 1A solenoid valve 1 _ AIR 2 Air piping joint PT 1 4 DP Solenoid 1B solenoid valve 1 R Solenoid 2 solenoid valve 2 Solenoid 2B solenoid valve 2 T Solenoid 3A solenoid valve 3 i Solenoid 3B solenoid valve 3 For controller I O unit PNP type sink IN source OUT SPINE i Grounding terminal M5 Connector CN20 for end effector Ca AA Functional ground signal valve control wires P__ Solenoid 1B solenoid valve 1 R Solenoid 2A solenoid valve 2 LS Solenoid 28 solenoid valve 2 _ T Solenoid 3A solenoid valve 3 _ OO ee Solenoid 3B meee valve 3 Note 1 Pins A to K on CN20 and pins 1 to 10 on CN21 are connected with each other as shown below The allowable current per line is 1 A Note 2 Use the attached connector sets for CN20 and CN21 Connector set part No Model and part name Appearance 410877 0120 H M3106A22 14S straight plug for CN20 HIROSE ELECTRIC CO LTD 410877 0130 H MS3057 12A cord clamp PPP GD MIE for CN20 HIROSE ELECTRIC CO LTD 11 4 to 15 9 410889 0010 410877 0140 H MS3057 12A1 cord clamp pa wi for CN20 HIROSE ELECTRIC CO LTD 68 to 116 410877 0070 EBLP1610M L type plug connector for CN21 DDK Electronics I
3. 80 100 Motion angle deg J1 Axes VS 6577G VS6577G J2 3 axis NO o o 0 oO E prar 1 Cc 2 0 O A o D O IN 80 100 Motion angle deg J2 J3 Axes VS 6577G 33 VS6577G J4 5 axis gt Positioning time s O Co D 80 100 Motion angle deg J4 J5 Axes VS 6577G VS6577G J6 axis o o 2 oO E d 2 0 6 Cc 2 0 O A 80 100 Motion angle deg J6 Axis VS 6577G 34 Chapter 3 Specifications of the Robot Unit VS6556G VS6577G CP operation Oo o O IN 0 3 0 oO E O Cc 2 T i O A o No 150 Travel distance mm CP Operation VS 6577G 35 3 4 Air Piping Signal Wiring and Solenoid Valve Specifications The VS G series is equipped with 7 air pipes for air chuck 10 signal lines and 3 solenoid valves in it Caution Supply dry air filtered through an air filter Recommended filtration rating 5 um or below Before piping blow the air tube out with dry air to clean out the inside flushing otherwise any chips cutting oil dust or dirt remaining in the air tube may result in a damaged valve 3 4 1 Air Piping and Signal Wiring 1 VS 6556G B VS 6577G B Connector CN21 Valve Symbols and Air Intake Exhaust States CN21 pin layout View fo
4. a PAPA NUN R 934 mm end effector mounting face R 854 mm Point P J4 J5 J6 center l J1 170 J2 135 100 JI 169 119 Motion range J4 190 J5 41209 J6 360 Maximum payload 7 kg Note 2 Maximum composite speed 7600 mm s at the center of an end effector mounting face Position repeatability Note 3 In each of X Y and Z directions 0 03 mm Maximum allowable inertia Around J4 and J5 0 413 kgm moment Around J6 0 063 kgm Position detection Absolute encoder ARA brke AC servomotors for all joints AC servomotors for all joints Brakes for joints J2 to J4 Brakes for joints J2 to J6 User air piping 6 systems 4x6 3 solenoid valves 2 position double solenoid contained User signal line 10 for proximity sensor signals etc Operating 4 Air source Maximum allowable 0 49MPa pressure Weight Approx 36 kg 80 Ibs See the name plate on each model Clean class for cleanroom type FED STD 209D The model name of robot set refers to the model name of a complete set including a robot unit and robot controller Class 10 0 1 u at point of use If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical Position repeatability is the value at constant ambient temperature 12 Chapter 3 Specifications of the Robot Unit 5 VS 6556G P100 VS 6556G BP100 VS 6556G P100 4 VS 6556G BP100 Specifications Specifications
5. TYPE SUBASSEMBLY 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 ay raSi ER THE SETPRM LIST Dy 13 7 4_ PARAMETER YEUX Ver SOFTWARE Ver sme DATE OF RENEWING BAT TYPE GFT uty SUBASSEMBLY DEDE OTHER MODIFICATIONS Robot Controller MODEL NO PART NO POWER CAPACITY TYP OUTPUT WEIGHT CONDITION SERIAL NO YEAR OF PRODUCTION DENSO WAVE INCORPORATED 4 2 12 TORANOMON MINATO KU TOKYO JAPAN lt Content THE SETPRM LIST The version of the main software for the controller is entered The next replacement dates of the memory backup battery and encoder backup battery are entered The model of the robot system is entered The coding of the set model is described below The type and position of the controller IPM board are described The coding of the set model VS G series VS 6 5 56 G BW Variation None Standard type B Standard type with brakes W Dust amp splash proof type BW Dust amp splash proof type with brakes Arm length 56 560 mm 77 770 mm Standard payload 5 kg Number of axes 6 axes Vertical articulated robot small sized Gi Chapter 5 Warranty DENSO robots are manufactured under strict quality control In case of failure we warranty the robot under the following condit
6. a NP ag Cd Uy a HEN Mp napa a ld TS Outer Dimensions and Workable Space VS 6577G B 23 10 VS 6577G BW Dust 4 splash proof type with brakes Workable space defined by point P pr GG p 4 MB gt A 222 Detailed drawing of end effector mounting face view A Detailed drawing of base mounting face Top view 2 96H7 Reference holej Rd Win sa a sil cree ANI ere 12420 05 337 97 4 Workable space y defined by point P Outer Dimensions and Workable Space VS 6577G BW 24 Chapter 3 Specifications of the Robot Unit 11 VS 6577G P10 P100 cleanroom type Workable space defined by point P po O Db p sih 4 HAN ON Cc 140 230 Point P 4 Na N a 2 So RA AST a 0 O Hp HP es TUT IA Pl Pa ng 7 Ga rie La 190 N Detailed drawing of end effector mounting face view A 4 M5 Depth 8 Detailed drawing of base mounting face Top view PointP olf At 7 A 3H 4 Lr an A pc 27 CU Workable space defined by point P Outer dimensions and workable space VS 6577G P10 P 100 25 12 VS 6577G BP10 BP100 cleanroom type with brakes Workable space defined by point P ga NN w bp 4 e 4 N CG 230 3 A ee Point P TA 0 Onn 2360 7190 Detailed drawing of end effector Ma mounting face view A P G D 31 5 Detailed drawing of ba
7. Position repeatability is the value at constant ambient temperature Only the 54x6 air piping system may be controlled by built in solenoid valves When the controller power is ON use the brake release switch to release the brake of the selected joint Brake releasing with the teach pendant or mini pendant is not possible 2 VS 6577G configured with RC7M controller VS 6577G Specifications Specifications Item Dust amp splash UL Listed type Dust amp splash l Dust amp Standard type With brakes proof type with proof type Pr Kas splash proof type with brakes VS 6577G BW UL Model name of robot unit VS 6577GM _ VS 6577GM W VS 6577GM B_ VS 6577GM BW V5 9958GM BW Overall arm length 365 first arm 405 second arm 770 mm Arm offset J1 swing 75 mm J3 front arm 90 mm Naan KASING aed R 934 mm end effector mounting face R 854 mm Point P J4 J5 J6 center UH J1 170 J2 135 100 J3 169 119 ASMAN J4 190 J5 120 J6 360 Maximum payload 7 kg Note 2 Maximum composite speed 7600 mm s at the center of an end effector mounting face Position repeatability Note 3 In each of X Y and Z directions 0 03 mm at the center of an end effector mounting face Maximum paa inertia 0 413 kgm for around J4 and J5 0 063 kgm for around J6 momen Position detection Absolute encoder Model name of robot system Note 1 VS 6577G VS 6577G W VS 6577G B VS 6577G BW
8. place an overseer in a position outside the robot s restricted space and one in which he she can see all of the robot s movements The overseer should prevent workers from entering the robot s restricted space and be devoted solely to that task 3 10 Setting the robot s The area required for the robot to work is called the robot s motion space operating space If the robot s motion space is greater than the operating space it is recommended that you set a smaller motion space to prevent the robot from interfering or disrupting other equipment Refer to the INSTALLATION amp MAINTENANCE GUIDE Chapter 2 3 11 No robot modification allowed 3 12 Cleaning of tools 3 13 Lighting 3 14 Protection from objects thrown by the end effector 3 15 Affixing the warning label 3 16 Posting the moving directions of all axes Never modify the robot unit robot controller teach pendant or other devices If your robot uses welding guns paint spray nozzles or other end effectors requiring cleaning it is recommended that the cleaning process be carried out automatically Sufficient illumination should be assured for safe robot operation If there is any risk of workers being injured in the event that the object being held by the end effector is dropped or thrown by the end effector consider the size weight temperature and chemical nature of the object and take appropriate safeguards to ensure safety Place the warning label
9. 3A solenoid valve 3 Air piping joint PT1 4 olenoi solenoid valve 3 Solenoid 3B solenoid valve 3 For controller I O unit PNP type sink IN source OUT SPINE Ci Solenoid 1A CER valve 1 OO P O Solenoid 1B solenoid valve 1 OO R Solenoid 2A solenoid valve 2 O S o Solenoid 2B solenoid valve 2 Grounding terminal M5 Connector CN20 for end effector ia Solenoid SA saeNaluYakes Functional ground signal valve control wires Le Solenoid 3B solenoid valve 3 Note 1 Pins A to K on CN20 and pins 1 to 10 on CN21 are connected with each other as shown below The allowable current per line is 1 A Cn2o el ee Ee o Se Ee ul Kk cn21 1 2 3 4 5 6 7 8 9 o Note 2 Use the attached connector sets for CN20 and CN21 Connector set part No Model and part name Appearance 410877 0120 H M3106A22 14S straight plug for CN20 HIROSE ELECTRIC CO LTD 410877 0130 H MS3057 12A cord clamp pa eer Mr for CN20 HIROSE ELECTRIC CO LTD 11 4 to 15 9 CN20 pin layout 410889 0010 410877 0140 H MS3057 12A1 cord clamp App aar for CN20 HIROSE ELECTRIC CO LTD 68 to 11 6 410877 0070 EBLP1610M L type plug connector for CN21 DDK Electronics Inc Air Piping and Signal Wiring 39 3 UL Listed models VS 6556G BW UL VS 6577G BW UL ete Connector CN21 CN21 pin layout for end effector control Pah signal wires Air piping Joint M5 CN20 Pin Assignment For controller I O u
10. AN ces cnn aa aa D TE ab leaving ka aka a a Map SN ab an ap Sapa in 15 3ds NINA ore WAY Cae el aka aa maag aaa a kaha NAA a Me merce cen ret ag a a ana ga ana pasak a aaa 27 33 TRODOU P OS ONNE NENA ANAN NG IAN a carotene Da BANGGI A baa aha AS A A ana 29 3 4 Air Piping Signal Wiring and Solenoid Valve Specifications a 36 Sl AIr Piping and Si etal Wie eona aaa a a BE KABILAAN ALAGAAN AA 36 3 4 2 Instructions for Using Splash proof Connector Sets cccccccccccccccccceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeeseeeess 41 3 4 3 Solenoid Valve Specifications CV S G Series mas ANGARA ANAN DAGANG 42 3 4 4 Existing Internal Threads for Wiring and Piping 002222211 a 42 3 5 Precautions When Designing the End effectors 1117777727020 anana nana nana nana n anae anna nenen nenen anana anane n anana anane nee 43 3 6 Stopping Time and Distance Angle at an Emergency Stop aaa aanan anana nana nana anana anana nana n anana nana nane naen 46 Chapter 4 Specifications of the Robot Controller cccccccsssssssssscccccccssssssccccccccessssscccccsssesssssssccsessssssscccsseseees 48 BA GL AA AA 48 Aur DIMENSIONS saa AA ANA aa S an ANAN 50 4 3 Controller Sette Tables Ba naa saa anaa a a a a T a i Oh d aana 51 Chapter 5 Warranty AANGAT ABAKA aa SN KN A a NABAYARAN INA DN a NANA TANAGA NATAN 52 Chapter 1 Packing List of the Robot Chapter 1 Packing List of th
11. Aa Master Input signals 1024 points Option Output signals 1024 points Input signals 256 points Output signals 256 points NE Input signals 384 points GE a Slave Output signals 384 points P 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 memory error input error etc 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 Se I O cable 8m 15m option For Mini I O HAND I O Optional parallel I O and SAFETY I O Power cas 5m External communication Chapter 4 Specifications of the Robot Controller RC7M Controller Specifications 2 VS G series Environmental conditions Temperature 0 to 40 C in operation Humidity 90 RH or less no condensation allowed Dewar soiree Three phase 200 VAC 15 to 230 VAC 10 50 60 Hz 1 85 kVA Single phase 230 VAC 10 to 230 VAC 10 50 60 Hz 1 85 kVA Degree of protection IP20 Standard type Approx 18 kg 40 Ibs Weight Global type with safety board Approx 19 kg 42 Ibs Global type with safety box Approx 22 kg 49 Ibs NWARNING DO NOT touch fins Their hot surfaces may cause severe burns DO NOT i
12. VS 6577G 33 66 100 of maximum payload paa J1 33 66 J2 J3 33 66 mangan J1 100 J2 J3 100 O D O D Q Cc 14 2 O O 5 Q el O 0 60 speed Yo J1 J2 J3 stopping distance vs speed at an emergency stop VS 6577G series 47 Chapter 4 Specifications of the Robot Controller 41 Specifications Table below lists the robot controller specifications RC7M Controller Specifications 1 VS G series em TT Sbebfcadons Language used DENSO robot language conforming to SLIM Memory capacity 3 25 MB equivalent to 10 000 steps 30 000 points Teaching system 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 HAND LO Input signals 8 user open points Output signals 8 user open points SAFETY I O Input signals 6 fixed system points Only for Global type Output signals 5 fixed system points Input signals Additional 80 user open points kn Output signals Additional 96 user open points oar ae Option boad Input signals Additional 40 user open points vO Output signals Additional 48 user open points Input signals 1024 points Master 256 points Slave Master G SlaNe Output signals 1024 points Master 256 points Slave
13. and workable space of the VS G series are shown on the following pages 3 2 1 Models Except UL Listed Ones 1 VS 6556G Standard type Workable space ae defined by point P a p A 470 Lie ae ng Point P JE ka Aa i saan N OS SP pr mies a Va eS Got T E abe wh 2360 24190 E Detailed drawing of end effector mounting face view A 4 M5 Depth amp qt Qt A Detailed drawing of base mounting Na S face Top view 200 2 06H7 160 Reference oer 6620 05 D N E E for M10 screw et pa Ng 4 512 Hola 578 42 575 68 Workable space defined by point P ae B T Outer Dimensions and Workable Space VS 6556G 15 2 VS 6556G W Dust amp splash proof type Workable space defined by point P yo saa Je 1360 12190 tum Detailed drawing of end effector ni mounting face view A y By J Mb Depth E Ba A Detailed drawing of base mounting O CA face Top view Reference hole R20 Lit oS Hi ad 675 65 Point P aT BA 7 Kasi PG A a IG fi NG saa p pa PO a an T i F I UK oS 164 34 Workable space defined by point P e L75 Outer Dimensions and Workable Space VS 6556G W 16 Chapter 3 Specifications of the Robot Unit 3 VS 6556G B with brakes Workable space wa defined by point P sh Db aa aN 4 4 aK Detailed drawing of end
14. of inertia around J6 of 3 from 1 and 5 in the above table z 2 Center of I3 a 1 0 x 0 05 2 7 x 10 kgm 2 gravity 2 Around J6 Center of 3 gravity 3 Moment of inertia around J6 of entire hand lje 1 0kg f ls h k l 0 003 kgm Lab to 90 Unit mm 2 Moment of inertia around J4 and J5 For the end effector shown below the moment of inertia around J4 and J5 can be calculated according to the same formula Moment of inertia around J4 and J5 of 1 from 3 and 5 in the above table _ 0 14 2 2 2 3 2 l4 Tao 0 0154 0 01 0 14 x 0 08 0 005 1 02 x 10 kgm Moment of inertia around J4 and J5 of 2 lo from 2 and 5 in the above table 0 1 0 047 i Pila 0 017 3 0 1x 0 08 0 01 0 02 1 23 x10 kgm Moment of inertia around J4 and J5 of 3 Ig from 2 and 5 in the above table 1 0 PE a 0 02 A 1 0 x 0 08 0 01 0 05 2 0x10 kgm Moment of inertia around J4 and J5 of entire end effector lyy lys I4 ls h bh tlas 2 22x10 kgm End effector Moment of Inertia Calculation Example 45 3 6 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 Robo
15. on Do not touch inside within 3 minutes of turning off power and disconnecting cable Label 3 Z WARNING Risk of injury Do not turn on power when someone is inside safety fence Lockout and tagout power before servicing Label 4 This section provides safety precautions to be observed for the robot system The installation shall be made by qualified personal and should confirm to all national and local codes The robot unit and controller have warning labels These labels alert the user to the danger of the areas on which they are pasted Be sure to observe the instructions printed on those labels Instructions printed on the label Risk of injury Never enter the restricted space For UL Listed robot units only Risk of injury This label alerts the user that pressing the brake release switch could drop the arm Risk of electrical shock Never open the controller cover when the power is on Never touch the inside of the controller for at least 3 minutes even after turning the power off and disconnecting the power cable Risk of injury Be sure to perform before starting servicing lockout tagout Turning the power ON when a person is inside the safety fence may move the arm Causing injuries SAFETY PRECAUTIONS 3 Installation Precautions 3 1 Insuring the proper installation environment m For standard type and The standard and cleanroom types have not been designed to cleanroom type wi
16. packaged with the robot on the exit entrance of the safety fence or in a position WARN N G where it is easy to see EROERS o Risk iT Do not enter safety fence area Unfallgefahr Nicht den Sicherheitsbereich des Roboters betreten EFFA Tah AB oe HS NG Lol SOHAN B A ANHEE PEEAAREMIPAHEN Post a notice showing axes names and moving directions in a visible location on the robot unit The posted moving directions should match the actual directions No posting or wrong direction posting may result in bodily injuries or property damages due to incorrect operation SAFETY PRECAUTIONS 4 Precautions N Touching the robot while it is in while Robot is Warning Operation can lead to serious WARNING Running injury Please ensure the fol lowing conditions are maintained and that the cautions listed from Section 4 1 and onwards are followed when any work is_ being TROEN TAAREHALA B5 performed Risk of injury Do not enter restricted space Untallgefahr Nicht die Sperrzone betreten 359 Pot GE NG Ast BA Yo EAH LA AMEER AREA A AR AA Do not enter the robot s restricted space when the robot is in operation or when the motor power is on As a precaution against malfunction ensure that an emergency stop device is activated to cut the power to the robot motor upon entry into the robot s restricted space When it is necessary to enter the robot s restricted space to perform teaching or
17. 410006 0260 410006 0270 Shipped after integrated in the controller Added when the board is purchased as a Spare part Shipped after integrated in the controller Added when the board is purchased as a Spare part 410006 0280 410006 0290 410006 0300 410006 0310 Shipped after integrated in the controller 410006 0800 Added when the board is 410006 0810 purchased as a Spare part 410006 0320 Extension only upon controller shipment 3 25MB to 5 5 MB Controller protection box ro ee ee CU 410181 0090 13 14 8 Optional box 1 I O conversion box For interchangeability with RC5 type controller 410181 0100 CD Manuals Manual Pack CD Contained in the robot package 410002 2661 Instruction manual for VS G full set Includes No C and No D 410009 0300 Instruction manual for VS G basic set Includes No C 1 to No C 3 410009 0200 C 1 GENERAL INFORMATION ABOUT ROBOT C 2 RC7M CONTROLLER MANUAL Optional C 3 ERROR CODE TABLES manuals Printed materials English edition INSTALLATION amp MAINTENANCE GUIDE STARTUP HANDBOOK SETTING UP MANUAL PROGRAMMER S MANUAL PROGRAMMER S MANUAL Il Panel Designer USER S MANUAL OPTIONS MANUAL For VS G For RC7M controller 410002 2490 410002 2430 410002 3370 AD Instruction manual for VS G extension set Includes No D 1 to No D 7 410009 0080 410002 2510 410002 2750 410002 3310 410002 3330 410002 3350 410002 6480 For RC7M contro
18. 9 119 Motion range 190 J5 1202 J6 360 Maximum payload 7 kg Note 2 Maximum composite speed 8200 mm s at the center of an end effector mounting face Position repeatability Note 3 In each of X Y and Z directions 0 02 mm at the center of an end effector mounting face Maximum allowable inertia moment 0 413 kgm for around J4 and J5 0 063 kgm for around J6 Position detection Absolute encoder AC servomotors AC servomotors for all joints AC servomotors for all joints for all joints Drive motor and brake Brakes for joints J2 to J4 Brakes for joints J2 to J6 Brakes for all joints Use the brake Brake releasing Enter a brake release command with the teach pendant or recae NCh mini pendant Note 5 User air ae Userairpiping Note 4 4 7 systems 4x6 6x1 3 solenoid valves 2 position double solenoid contained User tse sonaitne line 10 for proximity sensor signals etc Operating pressure pressure 0 10 0 39MPa Air source Maximum allowable Degree of protection IP40 oS IP40 PRS a a Airborne noise A weighted equivalent continuous sound 80 dB or less pressure level Weight Approx 35 kg 77 Ibs See the name plate on each model The model name of robot set refers to the model name of a complete set including a robot unit and robot controller If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical
19. A NUN R 934 mm end effector mounting face R 854 mm Point P J4 J5 J6 center l J1 170 J2 135 100 JI 169 119 Motion range J4 190 J5 41209 J6 360 Maximum payload 7 kg Note 2 Maximum composite speed 7600 mm s at the center of an end effector mounting face Position repeatability Note 3 In each of X Y and Z directions 0 03 mm Maximum allowable inertia Around J4 and J5 0 413 kgm moment Around J6 0 063 kgm Position detection Absolute encoder ARA brke AC servomotors for all joints AC servomotors for all joints Brakes for joints J2 to J4 Brakes for joints J2 to J6 ae 6 systems 4x6 meet all PIDING 3 solenoid valves 2 position double solenoid contained User signal line 10 for proximity sensor signals etc Operating ta Air source Maximum allowable 0 49MPa pressure Weight Approx 36 kg 80 Ibs See the name plate on each model Clean class for cleanroom type TE FED STD 209D Class 100 0 3 p at point of use Note 1 The model name of robot set refers to the model name of a complete set including a robot unit and robot controller Note 2 If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical Note 3 Position repeatability is the value at constant ambient temperature 14 Chapter 3 Specifications of the Robot Unit 3 2 Outer Dimensions and Workable Space of the Robot Unit The outer dimensions
20. ABOUT ROBOT this book Provides the packing list of the robot and outlines of the robot system robot unit and robot controller INSTALLATION amp MAINTENANCE GUIDE Provides instructions for installing the robot components and customizing your robot and maintenance amp inspection procedures STARTUP HANDBOOK Introduces you to the DENSO robot system and guides you through connecting the robot unit and controller with each other running the robot with the teach pendant and making and verifying a program This manual is a comprehensive guide to starting up your robot system SETTING UP MANUAL Describes how to set up or teach your robot with the teach pendant or mini pendant For the panel designer functions refer to the Panel Designer User s Manual SUPPLEMENT WINCAPSIII GUIDE Provides instructions on how to use the programming support tool WINCAPSIII which runs on the PC connected to the robot controller for developing and managing programs PROGRAMMER S MANUAL I Program Design and Commands Describes the PAC programming language program development and command specifications in PAC This manual consists of two parts Part 1 provides the basic programming knowledge and Part 2 details of individual commands PROGRAMMER S MANUAL II PAC Library Describes the program libraries that come with WINCAPSIII as standard RC7M CONTROLLER MANUAL Provides the specifications installation and maintenance of the RC7M control
21. BP10 VS 6556G P10 8 VS 6556G BP10 Specifications Specifications Item Arm offset J1 swing 75 mm J3 front arm 90 mm R 733 mm end effector mounting face R 653 mm Point P J4 J5 J6 center Ha O ee Maximum payload 7 kg Note 2 Maximum allowable inertia Around J4 and J5 0 413 kgm moment Around J6 0 063 kgm Maximum motion area Position detection Absolute encoder AC servomotors for all joints AC servomotors for all joints Brakes for joints J2 to J4 Brakes for joints J2 to J6 6 systems 4x6 User air piping 3 solenoid valves a ae double solenoid contained User Usersignalline line 10 40 for proximity sensor signals ete proximity sensor signals etc Drive motor and brake Ea h E 0 10 0 39MPa Air source Maximum allowable 0 49MPa m Weight Approx 35 kg 77 Approx 35 kg 77 Ibs See the name plate on each model See the name plate on each model Clean class for cleanroom type FED STD 209D Class 10 0 1 4 at point of use The model name of robot set refers to the model name of a complete set including a robot unit and robot controller If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical Position repeatability is the value at constant ambient temperature 11 4 VS 6577G P10 VS 6577G BP10 VS 6577G P 8 VS 6577G BP Specifications Specifications Item Standard type With brakes
22. CONTROLLER MANUAL GN O uN 6N9 O I GNVH ORUNO pn amp POWER ERR I C ___J1 000 PENDANT CN3 SAFETY BOX SAFETY BOARD Only for global type with safety box Only for global type with safety board TTT IN NIN HA KU Front panel Air intake filters Connectors for the VS G series Encoders connected via bus Connector No Marking Name USB connector 2 lines CN4 Ethernet connector VO 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 The following tables list the specifications of the VS G series For UL Listed robot units see 3 VS 65 G BW UL 1 VS 6556G configured with RC7M controller VS 6556G Specifications Specifications i _ UL Listed type Apm Standard Dust amp splash With brakes Eea Poa Dust amp splash type proof type p A proof type with brakes Model name of robot system Note 1 VS 6556G VS 6556G W VS 6556G B VS 6556G BW VS 8506G BW Model name of robot unit VS 6556GM VS 6556GM W VS 6556GM B vs 6556GM BW VS 8936 M BW Overall arm length 270 first arm 295 second arm 565 mm J1 swing 75 mm J3 front arm 90 mm Maxi ii R 733 mm end effector mounting face aan AA RERAN RA R 653 mm Point P J4 J5 J6 center 170 J2 135 100 J3 166
23. DENSO ROBOT Vertical articulated VS G SERIES GENERAL INFORMATION ABOUT ROBOT Copyright DENSO WAVE INCORPORATED 2005 2010 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 Series Overhead mount Small sized vertical articulated VS 6556G VS G Models configured with RC7M controller VS 6577G Same as left 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 VS 6556G for example the robot unit model is VS 6556GM Important To ensure operator safety be sure to read the precautions and instructions in SAFETY PRECAUTIONS How the documentation set is organized The documentation set consists of the following books If you are unfamiliar with this robot and option s please read all books and understand them fully before operating your robot and option s GENERAL INFORMATION
24. Designing the End effectors Design an end effector such that it is in compliance with items 1 to 3 described below NCAUTION If the end effector design precautions are not observed the clamped parts of the robot unit may become loose rattle or be out of position In the worst case the mechanical parts of the robot and robot controller may become damaged 1 Mass of end effector Design the end effector so that the total mass of the end effector including workpiece will be lighter than the maximum payload capacity of the robot The total mass includes the wiring piping etc Maximum total mass of end effector including workpiece lt Maximum payload capacity 7 kg 1 f the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical 2 Center of gravity position of end effector Design an end effector so that the center of gravity position of the end effector including workpiece is within the range shown in Figure below Allowable Range of Center of Gravity Position of End effector VS G series 43 3 Moment of inertia around J4 J5 and J6 Design an end effector so that its moments of inertia around J4 J5 and J6 including workpiece do not exceed the maximum allowable moment of inertia of the robot Moment of inertia around J4 J5 and J6 of end effector incl mass of workpiece lt Max allowable moment of inertia Mass of Max allowable mome
25. Item Arm offset J1 swing 75 mm J3 front arm 90 mm R 733 mm end effector mounting face R 653 mm Point P J4 J5 J6 center Ha O ee Maximum payload 7 kg Note 2 Maximum allowable inertia Around J4 and J5 0 413 kgm moment Around J6 0 063 kgm Maximum motion area Position detection Absolute encoder AC servomotors for all joints AC servomotors for all joints Brakes for joints J2 to J4 Brakes for joints J2 to J6 6 systems 4x6 User air piping 3 solenoid valves a ae double solenoid contained User Usersignalline line 10 40 for proximity sensor signals ete proximity sensor signals etc Drive motor and brake Ea h E 0 10 0 39MPa Air source Maximum allowable 0 49MPa a Weight Approx 35 kg 77 lbs See the name plate on each model 35 kg Approx 35 kg 77 lbs See the name plate on each model Ibs See the name plate on each model Clean class for cleanroom type par FED STD 209D Class 100 0 3 p at point of use The model name of robot set refers to the model name of a complete set including a robot unit and robot controller If the payload exceeds 6 kg the robot unit must be used with the flange facing down at 45 degrees from vertical Position repeatability is the value at constant ambient temperature 13 6 VS 6577G P100 VS 6577G BP100 VS 6577G P100 4 VS 6577G BP100 Specifications Specifications Item Standard type With brakes a PAP
26. aterproof degree of 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 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 2 Tinning Tin both the core wires and the connector contacts 3 Pass the cable through the heat shrinkab
27. ble space defined by point P Outer dimensions and workable space VS 6556G BP 10 BP 100 20 Chapter 3 Specifications of the Robot Unit 7 VS 6577G Standard type Workable space defined by point P p o aaa a Be 4 d 170 gt 4 T 1877 soli 4 le OR tase 2360 2190 Detailed drawing of end effector mounting face view A Detailed drawing of base mounting face Top view 4 672 Hole Point P Pa ar an ij ala HAKA A SEM it Workable space p defined by point P Outer Dimensions and Workable Space VS 6577G 21 8 VS 6577G W Dust amp splash proof type Workable space defined by point P Point P ae CE 2360 190 Detailed drawing of end effector mounting face view A 4 M5 Depth 8 f P C 0 31 8 HAHA 1 Depih 7 Detailed drawing of base mounting face Top view 18420 05 337 OT Manan Workable space df defined by point P Outer Dimensions and Workable Space VS 6577G W 22 Chapter 3 Specifications of the Robot Unit 9 VS 6577G B With brakes Workable space B ss defined by point P p O JB JA gt 4 1 ik BED 4 Ch Fa 360 190 Detailed drawing of end effector mounting face view A 4 M5 Depth 8 P C D 31 5 Detailed drawing of base mounting face Top view 4 912 Hole lor M10 Screw fit Fi
28. can travel after the software motion limits are set defines the boundaries of the motion space of the robot The motion space is DENSO WAVE proprietary terminology Operating space Refers to the portion of the restricted space that is actually used while performing all motions commanded by the task program Quoted from the ISO 10218 1 2006 Task program Refers to a set of instructions for motion and auxiliary functions that define the specific intended task of the robot system Quoted from the ISO 10218 1 2006 1 Introduction 2 Warning Labels Label 1 DENSO Label 4 Label 3 Sr Label 2 Example Location of labels Warning label NA nG BANDENG THARRAAKASL Risk of injury Do not enter restricted space Unfallgefahr Nicht die Sperrzone betreten 559 FH GS 75 A8 YA YO SN YR Bae ole KEBAR A Label 1 lt Except HM gt ANWARNING P LETEE Moving robot can cause serious injury Durch Roboterbewegungen konnen Verletzungen verursacht werden 2H ARM t F9 TEMAS TF lt HM gt A WARNING SM gt P L xe tA ANG Label 2 Part No 410985 406 Moving robot can cause serious injury Durch Roboterbewegungen k nnen Verletzungen verursacht werden 2 ARM 34 F79 HEME IE Z WARNING Risk of electrical shock Do not open controller cover when power is
29. e i i j i Unialgefshr Nicht die Sperone betreten by activating an emergency stop device or the like 559 PHAS 115 18 BY Uo E07 BA AMER FEA ARG A Label 2 When the controller power is on pressing the brake release switch on UL Listed robot units only causes the arm to fall It is DANGEROUS Observe the following WARNING 1 Never press the brake release switch except in an emergency Moving Chat RRN 2 Before pressing the brake release switch be sure to check that Durch Roboterbewegungen k nnen Te aoa an there is no danger of injuries or damages on equipment HARM st Fe Label 3 There is a high voltage part This label alerts the user to the dangers of electrical shocks Label 4 Instructions on how to hoist the robot unit Label 5 Cautions when performing CALSET N 2 CAUTION For details refer to the INSTALLATION amp MAINTENANCE GUIDE BAED TA AMANTE CE SLOT CES KAMGANALET gt CALSETIC M3 RRA I A gt RIEL TCHS Never rotate the 4th axis beyond the specified motion space using external force in CALSET as this will break the wiring inside the robot unit wiring inside When performing CALSET be sure to follow i ji i ION e instructions given in the 8 MAINTENANCE GUIDE 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
30. e Robot 1 1 Standard Components The components listed below are contained in the product package Standard Components CU km GO Manuals Manual Pack CD and Safety Precautions 6 a O BU 25 3 4 _ _ D III D D I a gt D g mama wn D parn Dowel pins internally threaded positioning pin and diamond shaped pin 1 set 15 Short sockets for robot controller 14 gt HIN O Note 1 Choose a motor 4 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 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 20m 410141 4460 Note 2 Preserve the initialization floppy disk in a safe place The disk contains CALSET related arm data exclusively prepared for your robot If a memory error appears on the teach pendant due to a memory failure use the disk to load the arm data to the robot controller Refer to t
31. effector mounting face view A 4 U 51542 of 6 08 Wi o CA H IT a Workable space defined by point P Outer Dimensions and Workable Space VS 6556G B 17 4 VS 6556G BW Dust amp splash proof type with brakes Workable space ih O defined by point P o Bb 4 F 227 N oint P 4 i TAS E A aae mang Jat MA Spe Bes MEN Da WP Ty Detailed drawing of end effector mounting face view A 4 360 aa 4 M5 Depin 5 _ Detailed drawing of base mounting ae DH face Top view 57542 575 65 Workable space defined by point P Outer Dimensions and Workable Space VS 6556G BW 18 Chapter 3 Specifications of the Robot Unit 5 VS 6556G P10 P100 cleanroom type Workable space gw O defined by point P 5 baa 2360 2190 Gr i Detailed drawing of end effector mounting face view A 4 M5 Depth 8 ot ce lt I 1 he y Detailed drawing of base mounting face Top view 4 012 Hala 575 68 for M10 screw Point P ex A 3 as Workable space defined by point P Outer dimensions and workable space VS 6556G P10 P100 6 VS 6556G BP10 BP100 cleanroom type with brakes Workable space ali Ng B defined by point P 4 4 140 N foint P A F N NOE as sb ee IL Detailed drawing of end effector mounting face view A 4 M5 Depth 8 Detailed drawing of base mounting face Top view Worka
32. g DENSO Robot uses lithium batteries Discard batteries according to your local and national recycling Ci eS Bite as el UST EU Contents Prefa te AA AA AA AA AA AA AA AA i How the documentation Set 18 organized ATENG AGA li How this DOOK 18 OF SANIZOO sinasaban NANG ANANG A DANA NATA vated NINGNING BAN NG BAGAN GAGA ill SAFETY PRECAUTIONS Chapter 1 Packing List of the RODo bi 4844K 1 bi Standard C OmipO mei Sinai Aanhin kap a Ka A aa a A Ag Aa ak pagnaka kna O eee 1 1 2 2OptiOnal COMPONENT dag KNA A Naga aaa aaa Ana NABA Aa ARA ag a aa 2 Chapter 2 Configuration Of the Robot SYSTEM GNG eaaa nawake sun naa ia anana dawae sad ao aaaa kasan sanan ana 4 el a O CMR aana AA AA Po nese ee nee 4 22 Namesok Robot Unit Components ahas daa pa ana pan aa aa Ba aha bite Ana NG a Na ga anand Ga GANA A nana al A aaa ea Ka ag aa 5 2 2 1 Robot Unit Components and Rotation Direction ccc a 5 Dias HINGIS ARO 6 2 27a MWaknimg and Caution Labels isaka KA i a ch ana a pa ANG maa Apa Go aa a A Oh A nG nai laa ie laid a 7 4 3 Names orihe Robot Controller Components aas aas crs AN ag anaa A an a AA daa a A A Ga aaa an aan Na a BEA aaa aa A ga pa aaa A aaa A aa Aia 8 Chapter 3 Specifications of the Robot UN NIKKI EBA 9 Ji Robot Pe CIC AA 9 3 2 Outer Dimensions and Workable Space of the Robot Unit 11177 7 7 7 72777 anan ene nenen naen nne nenen n anana nane n nenen nane 15 So Models Except UL Listed ONES Foc atin aaa anah
33. he INSTALLATION amp MAINTENANCE GUIDE Using the Initialization Floppy Disk Note 3 After installation attach the direction indicator label in a position on the robot unit that can be easily seen Note 4 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 SN ee E S Incl Nos 1 1 1 2 410149 0940 Standard I O cable set aming Jos gakeh Oe aaa ee 15 om Incl Nos 1 1 and 1 2 410149 0950 m 410141 2700 I O cable for Mini I O 68pins 410141 2710 410141 174 ane 1 2 WO cable for HAND I O 410141 1750 410141 3050 2 I O cable for Parallel I O board 96 pins 410141 3060 I O cable for SAFETY I O 36 pins 410141 3580 EZE for global type 410141 3590 410100 1570 Teach pendant 410100 1580 410100 1590 Japanese indication 410109 0390 English indication 410109 0400 Mini pendant kit Japanese indication 410109 0410 Incl cable and WINCAPSIII Light English indication 410109 0420 Japanese indication 410109 0430 English indication 410109 0440 For TP MP 410141 3710 For TP MP 410141 3720 Operation devices CD ROM P
34. ht and workpiece weight If not a robot failure may result Target positioning point calculated value Target range Vibration dampening time Vibration Dampening Time 29 1 VS 6556G robot positioning time VS6556G J1 axis KEAN Positioning time s O Co D 80 100 Motion angle deg JA Axis VS 6556G VS6556G 0 oO E prar O Cc 2 0 O A 80 100 Motion angle deg J2 Axis VS 6556G 30 Chapter 3 Specifications of the Robot Unit VS6556G J3 axis joo D Positioning time s O IN 80 100 Motion angle deg J3 Axis VS 6556G VS6556G J4 5 axis maa 2 oO E 2 0 8 Cc 2 0 O A o D 80 100 Motion angle deg JA J5 Axis VS 6556G 31 VS6556G J6 axis o Positioning time s O O O IN 80 100 Motion angle deg J6 Axis VS 6556G VS6556G VS6577G CP operation o Ga O IN 0 3 0 oO E O Cc 2 0 O A No 150 Travel distance mm CP Operation VS 6556G 32 Chapter 3 Specifications of the Robot Unit 2 VS 6577G robot positioning time VS6577G J1 axis N a o Positioning time s Oo D O IN
35. ions 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 Not 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 52 Vertical Articulated Robot VS G SERIES GENERAL INFORMATION ABOUT ROBOT First Edition July 2005 Eighth Edition April 2009 Ninth Edition March 2010 DENSO WAVE INCORPORATED 3M C The purpose of this manual is to provide accurate information in the handling and operating of the r
36. le tube for splash proof purpose with adhesive inside 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 H g Heat shrinkable 99 tube with adhesive inside i k Rubber ia aT bushing For L type plug 41 3 4 3 Solenoid Valve Specifications VS G series Note Do not cover the valve exhaust port behind the second arm ten Scans P A B 1 116mm2 0 062 A B R 1 188mm2 0 066 Effective cross section Cv value Operating pressure range 0 1 to 0 7 MPa Note 1 5 to 50 C No dew condensation allowed When dry air is used Operating voltage 24 V 10 Power consumption current 0 5 W 21 mA Note 1 The air source connected to the robot unit must be used within the operating pressure range from 0 10 to 0 39 MPa specified in Chapter 3 Specifications of the Robot Unit Ambient temperature Solenoid 3 4 4 Existing Internal Threads for Wiring and Piping 2 M4 16 DEEP 2 M3 7 DEEP ag f 104 5 VS 6556G B 100 VS 65776 _ f a IN Oi S 5 _ 2 M5 12 DEEP 2 M8 25 DEEP Unit mm Existing Internal Threads for Wiring and Piping VS G series 42 Chapter 3 Specifications of the Robot Unit 3 5 Precautions When
37. ler It also describes interfacing with external devices system and user input output signals and I O circuits ERROR CODE TABLES List error codes that will appear on the teach pendant or mini pendant if an error occurs in the robot system These tables also provide detailed description and recovery ways OPTIONS MANUAL Describes the specifications installation and use of optional devices For the extension board conveyer tracking board refer to the OPTIONS MANUAL SUPPLEMENT 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 five and appendix SAFETY PRECAUTIONS Defines safety terms and related symbols and provides precautions that should be observed Be sure to read this section before operating your robot 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 Chap
38. ller 410002 2650 Chapter 2 Configuration of the Robot System 2 1 Configurators The figure below shows configurators of the typical robot system I O conversion box option 1 Robot unit ca lt PLC prepared by customer 3 Power cable 2 Robot controller lt a SS ey o f wA Pa agit Wes Ka o H o 5 as E Besa TI feu J a i I O cable option 4 Motor amp encoder cable option Personal computer 9 Pendantless prepared by customer connector Note 2 Optional board ty Teach pendant option Printer eee Mini pendant Controller prepared by option protection box customer lt EZ option Ly TF fm Y 8 Initialization WINCAPSII 6 NetwoRC CD option SES a gt NG NG naa 7 Spare fuses for 13 Spare output IC for 15 Short socket for 5 Manuals robot controller robot controller robot controller E DB OD 10 Connector set for 14 Dowel pins hand control signals CN20 21 11 Direction indicator label Note 1 Items 1 to 15 are the standard components listed on page 1 Note 2 The pendantless connector should be attached to the robot controller when no teach pendant or mini pendant is connected Note 3 The components illustrated above are typical models or parts Configurators of the Robot System VS G series Chapter 2 Configuration of the Robot System 2 2 Names of Robot Unit Components 2 2 1 Robot Unit Compone
39. maintenance work while the robot is running ensure that the steps described in Section 4 3 Ensuring safety of workers performing jobs within the robot s restricted space are taken 4 1 Creation of working When entering the robot s restricted space to perform teaching regulations and or maintenance inspections set working regulations for the assuring worker following items and ensure workers adhere to them adherence 1 Operating procedures required to run the robot 2 Robot speed when performing teaching 3 Signaling methods to be used when more than one worker is to perform work 4 Steps that must be taken by the worker in the event of a malfunction according to the contents of the malfunction 5 The necessary steps for checking release and safety of the malfunction status in order to restart the robot after robot movement has been stopped due to activation of the emergency stop device 6 Apart from the above any steps below necessary to prevent danger from unexpected robot movement or malfunction of the robot 1 Display of the control panel See Section 4 2 on the next page 2 Assuring the safety of workers performing jobs within the robot s restricted space See Section 4 3 on the next page 3 Maintaining worker position and stance Position and stance that enables the worker to confirm normal robot operation and to take immediate refuge if a malfunction occurs 4 Implementation of measures for n
40. mum gt Max 0 49 MPa 71 PSI Manufacturer DENSO WAVE INCORPORATED Address 4 2 12 Toranomon Minato ku Tokyo Japan UL mark only on UL Listed robot units Note The design of the name plate has changed to the one shown above in 2006 The conventional name plate is as shown below Conventional name plate sample Robot unit model name VS 6556E GM DENSO 411100 Serial number 08G 004 MADE IN JAPAN Name Plate Sample VS G series 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 Label 3 Label 4 h Motor ON lamp Name plate Lights when the motor power is ON Label2 Brake release switc Only on UL Listed robot units Warning and caution labels on the Additional description robot unit Label 1 Contact with the robot unit which is in motion can cause serious WARNIN 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 CUTINITIIT GE from robot failures be sure to cut the power to the robot motors Risk of injury Do not enter restricted spac
41. n records and keep them for at least 3 years 6 Management of 1 Carefully handle and store the Initial settings floppy disks packaged with the robot which store special data Floppy Disks exclusively prepared for your robot 2 After finishing teaching or making any changes always save the programs and data onto floppy disks Making back ups will help you recover if data stored in the robot controller is lost due to the expired life of the back up battery 3 Write the names of each of the floppy disks used for storing task programs to prevent incorrect disks from loading into the robot controller Store the floppy disks where they will not be exposed to dust humidity and magnetic field which could corrupt the disks or data stored on them 7 Safety Codes The safety standards relating to robot systems are listed below As well as observing the safety precautions given in this manual ensure compliance with all local and national safety and electrical codes for the installation and operation of the robot system Standards Title ANSI RIA R15 06 1999 Industrial Robots and Robot Systems Safety Requirements ANSI UL1740 1998 Safety for Robots and Robotic Equipment CAN CSA 2434 03 Industrial Robots and Robot Systems General Safety Requirements ISO10218 1 2006 Robots for industrial environments Safety requirements Part 1 Robot NFPA 79 2002 Electrical Standard for Industrial Machinery 8 Battery Recyclin
42. nc Air Piping and Signal Wiring VS 6556G B W VS 6577G B W 3 3 VS 6556G P10 B VS 6577G P10 B Valve Symbols Air Intake Exhaust States Connector CN21 1A and 1B are piping joint symbols for end effector control signal wires Air atal joint Valve signal Solenoid an a Exhaust awe A 1B 1 JON GF AIR 1 B LA 1 OFF ON 2A 28 2 ON OFF aa f se 3 Ton OFF ab 3a 3 or Air piping joint M5 AIR 2 Not used for cleanroom type Note for cleanroom type class 10 The cleanroom type requires ventilation inside the robot Exhaust air from the air vent provided in the bottom of the robot base Recommended air inlet volume 115 to 130 liters min Recommended blower VFCO88P Fuji Electric Motor CO LTD CN20 Pin Assignment For controller I O unit NPN type source IN sink OUT CN20 pin No iew AA CM ew Na ai BULA TUN Solenoid 1A solenoid valve 1 Air piping joint PT 1 4 OO P Solenoid 1B solenoid valve 1 OO R O Solenoid 2A solenoid valve 2 OOo O g 1 Solenoid 2B solenoid valve 2 OOO T o Solenoid 3A solenoid valve 3 Solenoid 3B solenoid valve 3 For controller I O unit PNP type sink IN source OUT peo E Solenoid 1A CT valve 1 Grounding terminal M5 Connector CN20 for end effector P_ Solenoid 1B solenoid valve 1 Functional ground signal valve control wires O R Solenoid 2A solenoid valve 2 COS Solenoid 2B solenoid valve 2 O o o Sole
43. nit NPN type source IN sink OUT CN20 pin No AIR 1 Air piping joint PT 1 4 Solenoid 1A solenoid valve 1 a Maan P solenoid 18 solenoid valve 1 f i R Solenoid 2A solenoid valve 2 Solenoid 3B solenoid valve 3 For controller I O unit PNP type sink IN source OUT CN20 pin No olenoid 1A solenoid valve 1 Grounding terminal M5 Connector CN20 for end effector APAN Functional ground signal valve control wires Solenoid 1B solenoid valve 1 R Solenoid2A solenoid valve 2 Solenoid 2B solenoid valve 2 Solenoid 3A solenoid valve 3 Solenoid 3B solenoid valve 3 Note 1 Pins A to K on CN20 and pins 1 to 10 on CN21 are connected with each other as shown below The allowable current per line is 1 A CN20 pin layout Note 2 Use the attached connector sets for CN20 and CN21 H M3106A22 14S 410877 0120 straight plug for CN20 HIROSE ELECTRIC CO LTD H MS3057 12A 410877 0130 cord clamp KS for CN20 HIROSE ELECTRIC CO 411 4 to 15 9 LTD H MS3057 12A1 410877 0140 cord clamp RBP nE wile for CN20 HIROSE ELECTRIC CO 68 to 116 LTD 410889 0130 WEBLP1610M 2 D L type plug connector DDK Electronics Inc 410877 0620 for CN21 Air Piping and Signal Wiring VS 6556G BW UL VS 6577G BW UL 40 Chapter 3 Specifications of the Robot Unit 3 4 2 Instructions for Using Splash proof Connector Sets The splash proof connector sets for CN20 and CN21 assure the w
44. noid 3A solenoid valve 3 L U Solenoid 3B solenoid valve 3 Note 1 Pins A to K on CN20 and pins 1 to 10 on CN21 are connected with each other as shown below The allowable current per line is 1 A xe p jh N gt pn o Note 2 Use the attached connector sets for CN20 and CN21 Connector set part No Model and part name Appearance 410877 0120 H M3106A22 14S straight plug for CN20 HIROSE ELECTRIC CO LTD 410877 0130 H MS3057 12A cord clamp pepe for CN20 HIROSE ELECTRIC CO LTD 611 4 to 15 9 410889 0010 410877 0140 H MS3057 12A1 cord clamp AARIIN for CN20 HIROSE ELECTRIC CO LTD 68 to 11 6 410877 0070 EBLP1610M L type plug connector for CN21 DDK Electronics Inc Air Piping and Signal Wiring 38 Chapter 3 Specifications of the Robot Uni 4 VS 6556G P100 B VS 6577G P100 B Connector CN21 for CN21 pin layout end effector control signal wires Valve Symbols and Air Intake Exhaust States TA and 1B are piping joint symbols i i nal nako xnaust Solero Sooo PN no Air piping joint M5 Ca 3 on o TU aR JNetused for cleanroom type CN20 Pin Assignment For controller I O unit NPN type source IN sink OUT CN20 pin No solenoid 1A solenoid valve 1 P Solenoid 1B solenoid valve 1 vee D R Solenoid 2A solenoid valve 2 Air piping joint PT1 4 eba DONG valve 2 Solenoid 2B solenoid valve 2 Air piping joi Solenoid
45. nsert 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 connectors to from the controller while the power switch is on Doing so may cause electric shock or controller failure N 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 49 4 2 Outer Dimensions Figure below shows the outer dimensions of the robot controller Outer Dimensions of Robot Controller VS G series J d d LO Cy a o f Ja 5 a Ba i af TET EN eE al TEN FF TZ N Ls i AL l p B3 8 np AE NA w O Safety board Only for global ith saf Safety box Only for global type with safety board Only for global type with safety box Unit mm Outer Dimensions of RC7M Robot Controller Example Global type with safety board 50 Chapter 4 Specifications of the Robot Controller 4 3 Controller Setting Table SOFTWARE Ver DATE OF RENEWING BAT
46. nt of inartia kg m Around J4 amp J5 Around J6 payload When calculating the moment of inertia around J4 J5 and J6 of the end effector use the formulas given in Following Table and Figure Moment of Inertia Formulas 1 Cylinder 1 4 Sphere Axis of rotation Center axis Axis of rotation Center axis 2mr ur JE 2 Cylinder 2 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 ID we 2 gt ml 3 Rectangular parallelepiped The axis of rotation passes through the center of gravity bo mna 5 Moment of inertia kgm b Mass kg a Radius m A I 15 b te a ki a 44 Chapter 3 Specifications of the Robot Unit 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 end effector into three parts 1 Moment of inertia around J6 120 1 0 14kg FA ZEN a maa Ki a NA Robot flange cente oe Moment of inertia around J6 of 1 from 3 and 5 in the above table ao Center of gravity 1 LA Jta h OT 0 12 0 018 0 14 x 0 017 1 85 x 10 kgm lb eS a Moment of inertia around J6 of 2 from 1 and 5 in the above table Q 0 1 x 0 01 a 0 1 x 0 04 1 65 x 10 kgm Moment
47. nts 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 lamps on the 2nd arm and the brake release switch and axis selector on the base 3rd axis motor cover rear side Ath axis J4 Ath axis cover Second arm cover CZ Wa 6th axis J6 7 Na pa 3rd axis J3 WA oth axis J5 First arm 2nd axis motor cover rear side 2nd axis J2 UL Listed robot unit Brake release switch Axis selector Motor ON lamp Robot Unit Components and Rotation Direction VS G series 2 2 2 Name Plate The robot unit has a name plate pasted on the base The serial number printed on the name plate which is the same as that printed on the controller s name label identifies an individual robot Name plate sample VS 6556G Robot unit model name gt Model VS 6556GM Robot unit part number gt Part No 411100 1050 Serial number Serial No 09H 0020 Manufacture date Manufactured 09 2006 Motor capacity Motor Power AXIS 1 750W AXIS 2 400W AXIS 3 200W AXIS 4 100W AXIS 5 80W AXIS6 50W Mass gt Weight 34 kg 74 Ib Maximum payload Max payload 7 kg 15 Ib Air pressure Air Pressure Regular operation Operation 0 1 0 39 MPa 15 56 PSI Maxi
48. obot 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
49. oise prevention 5 Signaling methods for workers of related equipment 6 Types of malfunctions and how to distinguish them Please ensure working regulations are appropriate to the robot type the place of installation and to the content of the work Be sure to consult the opinions of related workers engineers at the equipment manufacturer and that of a labor safety consultant when creating these working regulations 4 2 Display of operation To prevent anyone other than the worker from accessing the start panel switch or the changeover switch by accident during operation display something to indicate it is in operation on the operation panel or teach pendant Take any other steps as appropriate such as locking the cover 4 3 Ensuring safety of When performing jobs within the robot s restricted space take workers performing any of the following steps to ensure that robot operation can be jobs within the robot s stopped immediately upon a malfunction restricted space 1 Ensure an overseer is placed in a position outside the robot s restricted space and one in which he she can see all robot movements and that he she is devoted solely to that task An emergency stop device should be activated immediately upon a malfunction Do not permit anyone other than the worker engaged for that job to enter the robot s restricted space 2 Ensure a worker within the robot s restricted space carries the portable emergency stop switch
50. r end effector control 1A and 1B are piping joint symbols l LA s signal wires Air piping joint Valve signal Air Solenoid intake Exhaust Valve A B AIR1 UKIT Pr z la is P_i a e NAN o Air piping joint M5 3 CT om Ek 4 CN20 Pin Assignment For controller I O unit NPN type source IN sink OUT pao Solenoid 1B solenoid valve 1 AT 2 Air piping joint PT 1 4 Solenoid 2B solenoid valve 2 CN20 pin layout Bb Solenoid 3B solenoid valve 3 For controller I O unit PNP type sink IN source OUT Grounding terminal M5 Connector CN20 for end effector Functional ground signal valve control wires Solenoid 3B solenoid valve 3 Note 1 Pins 1 to 10 on CN21 and those on CN20 are connected with each other The allowable current per line is 1 A Note 2 Use the attached connector sets for CN20 and CN21 410887 0170 SRCN6A25 24S round type connector for CN20 Japan Aviation Electronics Industry Ltd 410889 0030 loy ap a Ng eee 410877 0180 JMLP1610M L type plug connector POENA DDK Electronics Inc Air Piping and Signal Wiring VS 6556G B VS 6577G B 36 Chapter 3 Specifications of the Robot Unit 2 VS 6556G B W VS 6577G B W Valve Symbols and Air Intake Exhaust States 1A and 1B are piping joint symbols Connector CN21 Air piping joint Valve signal for end effector control Air Solenoid Solenoid Exhaust signal wires intake CN21 pin layout
51. rgency stop switches should be separate from the power switch Operating status indicators should be positioned in such a way where workers can easily see whether the robot is on a temporary halt or on an emergency or abnormal stop Note The UL Listed robot units have motor ON lamps on their robot arms SAFETY PRECAUTIONS 3 9 Setting up a safety A safety fence should be set up so that no one can easily enter fence the robot s restricted space 1 The fence should be constructed so that it cannot be easily moved or removed 2 The fence should be constructed so that it cannot be easily damaged or deformed through external force 3 Establish the exit entrance to the fence Construct the fence so that no one can easily get past it by climbing over the fence 4 The fence should be constructed to ensure that it is not possible for hands or any other parts of the body to get through it 5 Take any one of the following protections for the entrance exit of the fence 1 Place a door rope or chain across the entrance exit of KHA 4 the fence and fit it with an interlock that ensures the KIN y emergency stop device operates automatically if it is opened or removed 2 Post a warning notice at the entrance exit of the fence stating In operation Entry forbidden or Work in progress Do not operate and ensure that workers follow these instructions at all times When making a test run before setting up the fence
52. rogramming 7 common to the support tool languages Japanese English German Korean and Chinese 410090 0980 410010 3320 410010 3330 Shipped as individual boards 410010 3340 supply part 410010 3350 For Slave station 410010 3370 Shipped as installed on the KANA For Master station 410010 3380 DeviceNet For Master 8 slave station 410010 3390 For Slave station 410010 3400 For Master station 410010 3410 For Master amp slave station 410010 3480 Shipped as installed on the controller Shipped as individual boards supply part Shipped as installed on the controller Shipped as individual boards supply part Optional Shipped as individual boards boards for the supply part robot controller 410010 3430 CC Link board 410010 3440 410010 3460 Conveyor tracking board 410010 3470 Chapter 1 Packing List of the Robot Optional Components 2 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 Optional function for PROFIBUS DP slave board Board manufacturer Hilscher GmbH Model CIF50 DPSIDENSO For own optional board etc EtherNet IP function Board manufacturer Hilscher GmbH Model CIFX 50 RE DENSO Optional function for memory extension Shipped after integrated in the controller Added when the board is purchased as a Spare part
53. ron Oil No 4C non soluble is specified 7 there is sulfuric cutting or grinding oil mist 3 2 Service space The robot and peripheral equipment should be installed so that sufficient service space is maintained for safe teaching maintenance and inspection 3 3 3 4 3 5 3 6 3 7 3 8 Control devices outside the robot s restricted space Positioning of gauges Protection of electrical wiring and hydraulic pneumatic piping Grounding resistance Positioning of emergency stop switches Positioning of operating status indicators The robot controller teach pendant and mini pendant should be installed outside the robot s restricted space and in a place where you can observe all of the robots movements and operate the robot easily Pressure gauges oil pressure gauges and other gauges should be installed in an easy to check location If there is any possibility of the electrical wiring or hydraulic pneumatic piping being damaged protect them with a cover or similar item The protective grounding resistance of the robot power supply should not be more than 100Q Emergency stop switches should be provided in a position where they can be reached easily should it be necessary to stop the robot immediately 1 The emergency stop switches should be red 2 Emergency stop switches should be designed so that they will not be released after pressed automatically or mistakenly by any other person 3 Eme
54. s and Workable Space VS 6577G BW UL 28 Chapter 3 Specifications of the Robot Unit 3 3 Robot Positioning Time VS G series robot positioning time 1 Following figures show the positioning times used to calculate the cycle time 2 Positioning time means the time 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 robot positioned at the target positioning point as shown in Figure below This vibration dampening time is not considered in the graph Caution 1 2 Position O lt D g gt O O The vibration dampening time depends on factors such as the weight of the end effector If the robot is to be used in such a way that it overshoots or if the vibration damping time is of great concern test the robot carefully beforehand If acceleration begins before residual vibration of the robot stops an overcurrent error code starts from ERROR6120 the first digit represents the axis number may be displayed In this case take one of the following measures Lower the deceleration of the preceding operation with a DECEL command to reduce residual vibration Keep the robot in stand by with a DELAY command until residual vibration stops Lower acceleration with an ACCEL command Operate the robot with the optimum load setting in accordance with the end effector weig
55. se mounting face Top view AG ic GB s5 Pisan Use point Y 0 275 Workable space defined by point P Outer dimensions and workable space VS 6577G BP 10 BP 100 26 Chapter 3 Specifications of the Robot Unit 32 2 UL Listed Models 1 VS 6556G BW UL UL Listed Workable space defined by point P bng i F 3 pA N il ig ko kN sa P 5 4 Ng JA N s360 tton i 1 TA 1 NHA i ff an NEE Pa a lt pk A Detailed drawing of end effector 4 ap HA A mounting face view A M Depin 58 PC D 315 a n EAEN Ng SH E Depth y gt na PS at Detailed drawing of base mounting face Top view E7 B42 575 88 si 200 Ka LL PRE 160 Reference hole 660 05 _ 4 012 Hole Reo for M10 screw fi 005 184 _ Workable space a F 5 defined by point P 3 Outer Dimensions and Workable Space VS 6556G BW UL 2 2 VS 6577G BW UL UL Listed Workable space pee aa defined by point P a kot sf ot y Detailed drawing of end effector f Ci mounting face view A 2 i r 4 M Depth 58 s PL D31 5 In nj Ft annie Sle Nag3H7 1 Depth7 Detailed drawing of base mounting face Top view ba Se 200 BHT on 160 ra 4 012 Hole E 779 88 Reference hole 60 05 337 97 KON Workable space ON N defined by point P Outer Dimension
56. so he she can press it the emergency button on the teach pendant immediately if it should be necessary to do so 4 4 Inspections before Before starting work such as teaching inspect the following commencing work items carry out any repairs immediately upon detection of a such as teaching malfunction and perform any other necessary measures 1 Check for any damage to the sheath or cover of the external wiring or to the external devices 2 Check that the robot is functioning normally or not any unusual noise or vibration during operation 3 Check the functioning of the emergency stop device 4 Check there is no leakage of air or oil from any pipes 5 Check there are no obstructive objects in or near the robot s restricted space SAFETY PRECAUTIONS 45 Release of residual air pressure 4 6 Precautions for test runs 4 7 Precautions for automatic operation 4 8 Precautions in repairs Before disassembling or replacing pneumatic parts first release any residual air pressure in the drive cylinder Whenever possible have the worker stay outside of the robot s restricted space when performing test runs 1 At start up 4 Stay out of the safeguarded space with a safety fence when starting the robot in particular take extra caution in Internal automatic operation Before starting the robot check the following items as well as setting the signals to be used and perform signaling practice with all related
57. t arm extended 33 66 and 100 of the maximum payload Note The acceleration differs depending upon the mass of payload setting The graphs below show the cases where the stopping distance or stopping time comes to be the maximum 1 VS 6556G series J1 J2 J3 stopping time VS 6556G 33 66 100 of maximum payload gt Oo co 0 133 66 paan J2 J3 33 66 J1 100 J2 J3 100 o Co Oo N fe O IN o wo stopping time second O O1 60 speed J1 J2 J3 stopping time vs speed at an emergency stop VS 6556G series J1 J2 J3 stopping distance VS 6556G 33 66 100 of maximum payload mapa JA J2 33 66 J3 33 66 J1 J2 100 magaan J3 100 O w O D O C D O O C o Q O ie 60 speed J1 J2 J3 stopping distance vs speed at an emergency stop VS 6556G series 46 Chapter 4 Specifications of the Robot Controller 2 VS 6577G series J1 J2 J3 stopping time VS 6577G 33 66 100 of maximum payload 0 133 66 n m J2 J3 33 66 J1 100 N D E J2 J3 100 O IN stopping time second o1 7 w 60 speed J1 J2 J3 stopping time vs speed at an emergency stop VS 6577G series J1 J2 J3 stopping distance
58. ter 5 Warranty Describes the warranty period and coverage Appendix How to Use the Manual Pack CD SAFETY PRECAUTIONS SAFETY PRECAUTIONS Be sure to observe all of the following safety precautions Strict observance of these warning and caution indications are a MUST for preventing accidents which could result in bodily injury and substantial property damage Make sure you fully understand all definitions of these terms and related symbols given below before you proceed to the text itself N WARNING Alerts you to those conditions which could result in serious bodily injury or death if the instructions are not followed correctly N CAUTION Alerts you to those conditions which could result in minor bodily injury or substantial property damage if the instructions are not followed correctly Terminology and Definitions Maximum space Refers to the space which can be swept by the moving parts of the robot as defined by the manufacturer plus the space which can be swept by the end effector and the workpiece Quoted from the ISO 10218 1 2006 Restricted space Refers to the portion of the maximum space restricted by limiting devices i e mechanical stops that establish limits which will not be exceeded Quoted from the ISO 10218 1 2006 Motion space Refers to the portion of the restricted space to which a robot is restricted by software motion limits The maximum distance that the robot end effector and workpiece
59. thstand explosions dust proof nor is it splash proof Therefore it should not be installed in any environment where 1 there are flammable gases or liquids 2 there are any shavings from metal processing or other conductive material flying about 3 there are any acidic alkaline or other corrosive material 4 there is a mist 5 there are any large sized inverters high output high frequency transmitters large contactors welders or other sources of electrical noise E For dust amp splash proof The dust 8 splash proof type has an IP54 equivalent structure type but it has not been designed to withstand explosions The HM HS G W and the wrist of the VM VS G W are an IP65 equivalent dust and splash proof structure Note that the robot controller is not a dust or splash proof structure Therefore when using the robot controller in an environment exposed to mist put it in an optional protective box The dust amp splash proof type should not be installed in any environment where 1 there are any flammable gases or liquids 2 there are any acidic alkaline or other corrosive material 3 there are any large sized inverters high output high frequency transmitters large contactors welders or other sources of electrical noise 4 it may likely be submerged in fluid 5 there are any grinding or machining chips or shavings 6 any machining oil not specified in this manual is in use or Note Yushi
60. workers 1 Check that there is no one inside the safeguarded space with a safety fence 2 Check that the teach pendant and tools are in their designated places 3 Check that no lamps indicating a malfunction on the robot or related equipment are lit Check that the display lamp indicating automatic operation is lit during automatic operation Steps to be taken when a malfunction occurs Stop the robot s operation by activating the emergency stop device when it is necessary to enter the safeguarded space with a safety fence to perform emergency maintenance in the case of malfunction of the robots or related equipment Take any necessary steps such as posting a notice on the start switch to indicate work is in progress to prevent anyone from accessing the robot Do not perform repairs outside of the designated range Under no circumstances should the interlock mechanism be removed When opening the robot controller s cover for battery replacement or any other reasons always turn the robot controller power off and disconnect the power cable Use only spare tools specified in this manual 5 Daily and Periodical 1 Be sure to perform daily and periodical inspections Before In tion starting jobs always check that there is no problem with the FPE CTSS robot and related equipment If any problems are found take any necessary measures to correct them 2 When carrying out periodical inspections or any repairs maintai

VS-G SERIES GENERAL INFORMATION ABOUT ROBOT

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