DENSO four-axis robots include the HS and HM Series. z Inspection. z Material handling z Assembly. z Material removal

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

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

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

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

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

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

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

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

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

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

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

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

14 VP-5243G VP-6242G VP-6242G2 VP-6242G2-UL Number of axes 5 6 Overall arm length (mm) Second-arm width (mm) Reach (to center of 5th axis, mm) Minimum motion area (mm) Maximum payload (kg) 2.5 (3.0 with flange pointing down) 2.0 (2.5 with flange pointing down) 2.0 Weight, approx. (kg) Footprint (mm) Cycle time (sec.) 0.99 (with 1-kg weight) Maximum composite speed (mm/sec.) 3,900 Maximum joint speed ( /sec.) J1: 250 J2: 187 J3: 250 J4, J5, J6: 300 Repeatability 1, 2 (mm) ±0.02 ±0.02 Max. allowable J4 - moment of inertia J (kgm 2 ) J J1 ±160 J2 ±120 Range of J3 +136, , +19 motion ( ) J4 - ±160 J5 ±120 J6 ±360 Position detection Absolute encoder Drive motors and brakes AC servomotors and brakes for all axes Air piping (in-arm integrated) 4 systems (ø4 4) Wiring (in-arm integrated) 9 lines (max. 1 A per line) 16 lines (max. 1 A per line) Air source Operating pressure Pa to Pa Maximum allowable pressure Pa Protection class IP30 Ceiling-mount At constant ambient temperature. 2. In every direction. 27

15 70 VP SERIES 430 MM Point P B Ø65 Workable space defined by point P R R222 R R222 2-M Unit: mm 28 VP Series 430 mm

16 144 ± Detail of end-effector mounting face (view A) M5, Depth 8 (P.C.D. 31.5) Workable space defined by point P Ø 40 h Ø 20 h7 Depth 6 Ø 5H7 Depth R148 2-M Point P Cabling space Detail of base mounting face (top view) Ø6H7 (reference hole) ± Ø10 R R10 29

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

18 VP-6242G2-S1 VP-6242G2-S1-UL Number of axes 6 Overall arm length (mm) 210 1st axis nd axis = 420 Reach (to center of 5th axis, mm) 432 Minimum motion area (mm) 148 Maximum payload (kg) 2 Weight, approx. (kg) 25 Footprint (mm dia.) 200 Cycle time (sec.) 0.99 (with 1-kg weight) Maximum composite speed (mm/sec.) 3,900 Maximum joint speed ( /sec.) J1: 250 J2: 187 J3: 250 J4, J5, J6: 300 Repeatability 1, 2 (mm) ±0.02 Maximum allowable moment of inertia (kgm 2 ) J4, J5: J6: 007 Range of motion ( ) J1 ±160 J2 ±120 J3 +160, +19 J4 ±160 J5 ±120 J6 ±360 Position detection Absolute encoder Drive motors and brakes AC servomotors and brakes for all axes Air piping (in-arm integrated) 4 systems (ø4 4) Wiring (in-arm integrated) 16 lines (max. 1 A per line) Air source Operating pressure Pa to Pa Maximum allowable pressure Pa Protection level Washable with 6% hydrogen peroxide (H 2 O 2 ) Cleanroom rating Class 100 (0.3 μm) at point of use 1. At constant ambient temperature. 2. In every direction 31