THE NEW VS SERIES The new DENSO VS-Series six-axis articulated robots are even faster, more compact and more flexible than previous VS models. Their outstanding features include: z Higher speed: Cycle times from 0.037 to 0.33 sec. z Same high precision: Repeatability from ±0.03 to ±0.02 mm z Same high payload capacity: 7 kg z New, even more compact design and ultraslim arms facilitate integration z New optional bottom-side cable connection saves floor space z Floor- or ceiling-mount, plus new wall-mount, with no special hardware required Connectivity A new internal wiring option allows users to easily connect Gigabit Ethernet devices and servo grippers directly to the robot flange, preventing cables from becoming tangled or interfering with peripheral equipment. Protection A new IP67 protection option provides resistance to cutting chips and high-pressure washing, allowing use in harsh, wet environments. 40 The new VS Series
www.densorobotics.com 41
THE NEW VS SERIES Slim Original VS Series New VS Series 278 mm wide 235 mm wide 189 mm wide VS6556G-B VS050G, VS060G VS068G, VS087G VS6556G-B 110 mm 100 mm VS050G, VS060G : 95 mm VS068G, VS087G : 100 mm 42 The new VS Series
www.densorobotics.com Extendable Port for Gigabit Ethernet Communication Interface (Option) z Easily mount Ethernet device (camera, etc.) z Easily mount servo gripper Port for servo gripper Multiple mounting configurations Previously: External wiring for Gigabit Ethernet and servo gripper Now: Internal wiring for Gigabit Ethernet and servo gripper Ceiling Wall Wall Wall Cables protected under base of robot (option) Floor 43
KEY FEATURES NEW VS SERIES 500 600 MM The new DENSO VS-Series six-axis articulated robots are ideal for applications where operational space is limited. Features of the 500- and 600-mm models include: z Exceptionally fast cycle time of 0.37 sec. z Outstanding repeatability of ±0.02mm z Payloads up to 4 kg z Reaches from 500 to 600 mm z High maximum allowable moment of inertia z Compact design, with ultraslim arms, saves space and facilitates integration z Floor- wall- or ceiling-mount, with no special hardware needed z Optional IP67 protection resists cutting chips and high-pressure washing z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange z Optional bottom-side cable connection saves floor space VS050G VS060G 44 New VS Series 500 600 mm
www.densorobotics.com VS-050 VS-060 Number of axes 6 Overall arm length (mm) 250 (first arm) + 250 (second arm) = 500 305 (first arm) + 295 (second arm) = 600 Arm offset (mm) J1 (swing): 0 J3 (front arm): 10 J6 (flange): 70 Reach (to center of 5th axis, mm) 500 600 Minimum motion area (mm) 135 140 Maximum payload (kg) 4 Weight, approx. (kg) 34 35 Cycle time (sec.) 0.37 (with 1-kg weight) Range of motion ( ) J1: ±170 J2: +120, -120 J3: +151, -120 J4: ±270 J5: ±120 J6: ±360 J1: ±170 J2: +120, -120 J3: +151, -125 J4 : ±270 J5: ±120 J6: ±360 Maximum composite speed (mm/sec.) 9,000 Repeatability 1 (mm) ±0.02 Max allowable moment of inertia (kgm 2 ) J4 and J5: 0.200 J6: 0.050 Max. allowable moment (Nm) J4 and J5: 8.13 J6: 4.02 Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Absolute encoder AC servomotors and brakes for all axes 5 systems (ø4 4, ø4 1); 2 solenoid valves (2-position, double solenoid) 10 lines (max. 1 A per line) 2 LAN (1000BASE-TX) 1 (option) 3 17-line electrical wire for cameras, etc. 3 Option set with LAN 3 Air source (operating pressure, MPa) 0.10 0.39 Air source (maximum allowable pressure, MPa) Protection class Ceiling- and wall-mount 1. In every direction. 2. Four lines with LAN option. 3. Option only for IP40 model 0.49 Standard: IP40; option: IP67 (dust- and splashproof) 45
KEY FEATURES NEW VS SERIES 700 900 MM The new DENSO VS-Series six-axis articulated robots are ideal for applications where operational space is limited. Features of the 700- and 900-mm models include: z Exceptionally fast cycle times from 0.36 to 0.33 sec. z Outstanding repeatability of ±0.03 to ±0.02 mm z Payloads up to 7 kg z Reaches from 700 to 900 mm z High maximum allowable moment of inertia z Compact design, with ultraslim arms, saves space and facilitates integration z Floor- wall- or ceiling-mount, with no special hardware needed z Optional IP67 protection resists cutting chips and high-pressure washing z Optional internal wiring allows easy mounting of Gigabit Ethernet devices and servo grippers on flange z Optional bottom-side cable connection saves floor space VS068G VS087G 46 New VS Series 700 900 mm
www.densorobotics.com VS-068 VS-087 Number of axes 6 Overall arm length (mm) 340 (first arm) + 340 (second arm) = 680 445 (first arm) + 430 (second arm) = 875 Arm offset (mm) J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80 Reach (to center of 5th axis, mm) 710 905 Minimum motion area (mm) 203 235 Maximum payload (kg) 7 Weight, approx. (kg) 49 51 Cycle time (sec.) 0.33 (with 1-kg weight) 0.36 (with 1-kg weight) Range of motion ( ) J1: ±170 J2: +135, -100 J3: +153, -120 J4: ±270 J5: ±120 J6: ±360 J1: ±170 J2: +135, -100 J3: +153, -136 J4: ±270 J5: ±120 J6: ±360 Maximum payload (kg) 7 Maximum composite speed (mm/sec.) 11,000 Maximum joint speed ( /sec.) J1: 450 J2: 360 J3: 510 J4, J5: 540 J6: 864 J1: 360 J2: 300 J3: 408 J4, J5: 540 J6: 864 Repeatability 1 (mm) ±0.02 ±0.03 Max. allowable moment of inertia (kgm 2 ) J4 and J5: 0.450 J6: 0.100 Max. allowable moment (Nm) J4 and J5: 16.2 J6: 6.86 Position detection Drive motors and brakes Air piping (in-arm integrated) option Wiring (in-arm integrated) Air source (operating pressure, MPa) Air source (maximum allowable pressure, MPa) Protection class Ceiling- and wall-mount 1. In every direction. 2. Four lines with LAN option. 3. Option only for IP40 model Absolute encoder AC servomotors and brakes for all axes 7 systems (ø4 6, ø6 1); 3 solenoid valves (2-position, double solenoid); 3 solenoid valves (3-position, center open); 3 solenoid valves (3-positon, center close) 10 lines (max. 1 A per line) 2 LAN (1000BASE-TX) 1 (option) 3 17-line electrical wire for cameras, etc. 3 Option set with LAN 3 0.10 0.39 0.49 Standard: IP40; option: IP67 (dust- and splashproof) 47