www.densorobotics.com HSR SRIS HSR48/HSR55/HSR65 ontinuous high-speed performance that changes everything
Quick cceleration. Runs continuously at High-speed motion Optimized acceleration and motion profiles Improved high-speed motion results in more cycles per minute (PM and therefore higher productivity. ontinuous motion chieving continuous, non-stop motion Improved heat dissipation in the base unit allows the robot to run continuously at its highest rated speed, a requirement in today s demanding processes. HSR65 ycles/min* X direction Y direction 118 149 With 1-kg weight 3 mm Motion pattern 5 mm *PMs differ according to current joint locations. Light weight Newly designed, highly rigid lightweight arm The combination of high rigidity and light weight allow the robot to handle a high payload of 8 kg and achieve high-speed motion at the same time. lexible mounting configuration The HSR robot is available in both floor and ceiling mount models. Unprecedented high-speed performance The performance of a robot cannot always be known from its specifications alone. an the robot achieve the listed cycle time on a one-time test basis only, or can it run continuously at that speed? To address this challenge, we pushed to the utmost limits the basic parameters of robot performance acceleration speed, continuous running speed and deceleration speed and developed the new HSR Series high-speed SR robots. These compact, space-saving robots can be deployed in high-speed, high-precision pick-and-place systems to achieve unprecedented levels of performance, not only in conventional assembly processes, but also packaging processes in the food, medical device, pharmaceutical and cosmetics sectors.
high speed. Stops precisely. Vibration control ctive real-time vibration suppression The robot quickly suppresses vibrations by actively reflecting the status of the arm to the controller. Vibrations that occur during high-speed transfer as well as residual vibrations are both suppressed, reducing cycle times. rror Normal control Optimal control R8 controller Time Optimized design Optimized arm design allows the robot to achieve continuous high-speed motion. large-capacity motor is integrated into the base unit. Weight reduction of the arm and an optimized arm design allow the robot to achieve its continuous high-speed performance.
HSR Series NSO 4-axis SR robot HSR48/HSR55/HSR65 est-in-class high-speed, high-throughput performance allows the robot to run continuously at maximum speed in the most challenging applications. Robot controller supported Maximum reach Z-axis stroke 3 mm Maximum payload ycle time Position repeating accuracy 8 kg.8 to.31 sec ±.1 to ±.1 mm The time taken to complete a cycle of work from one arrow to the other and back. 5 mm Specifications HSR481-N/S* HSR551-N/S* HSR651-N/S* Repeatability 1 Max rm reach ( J1 + J arm 48 (5 + 75 mm 55 (75 + 75 mm 65 (375 + 75 mm J1 (xis 1 ±155º Range of J (xis ±143.5º ±15º ±15º motion ( Z (xis 3 *=1: 1 mm, *=: mm, *=3: 3 mm T (xis 4 ±3º xes combination J1 (No.1 axis + J (No. axis + Z (No. 3 axis + T (No. 4 axis Maximum payload 8 kg J1 45 Maximum joint J 785 speed (deg/s, mm/s Z 1st: 17 mm/s, st: 3 mm/s, 3st: 475 mm/s T 5 ycle time (with kg weight (S.8.31 Z ±.1 mm J1+J ±.1 mm ±.1 mm T ±.4º Maximum downward force 98 N (1 sec. max. Maximum allowable moment of inertia.1 kgm Position detection bsolute encoder rive motors and brakes ll-axis servo motor/z-axis, T-axis with brake ir piping (in-arm integrated 4 systems (ø4, ø6 User signal line 19 lines (for proximity sensor signals, etc., thernet (8 lines (option Normal pressure.5 to.35 MPa ir source Maximum allowable pressure.59 MPa irborne noise 8 d max. Weight pprox. 31 kg pprox. 3 kg *Placeholder for Z-stroke value. 1. t constant ambient temperature. Options Wiring Protection Kit uilt-in thernet Kit xternal attery Stopper with bearing Protects external wiring to prevent cables from becoming unorganized, avoiding the risk of broken wires. n thernet cable is built into the body and is easily connectable to external devices. thernet connectors (sold separately are available as options. The encoder backup battery is installed outside the robot, facilitating maintenance and replacement of batteries. Protects wiring installed through the hole of the bearing located at the top of the Z-axis shaft.
136 1 136 1 4 4 18.7 8.6 18.7 8.6 1 1 1 136 136 4 136 1 4 4 18.7 18.7 8.6 8.6 18.7 8.6 1 176±.5 1 1 1 176±.5 176±.5 176±.5 176±.5 5 5 5 5 5 6.5 36 6.5 36 6.5 6.5 36 36 6.5 36 179 179 179 179 35 35 179 35 35 35 449 449 488 488 449 449 488 449 488 488 13 1 13 13 1 1 13 1 13 1 Ø36 Ø36 Ø36 Ø36 Ø36 xternal imensions and Workable Space (unit mm etailed drawing of end-effector mounting face (View 68 68 68 68 68 75 75 75 75 75 Ø46 Ø46 Ø46 Ø46 Ø46 ST ST ST ST L L L ST.5.5.5.5 Ø18.5 Ø18 Ø18 Ø18 Ø48 Ø5h7 Ø5h7 -.1 -.1 Ø5h7 -.1 Ø5h7 -.1 Ø18 Ø48 Ø48 Ø48 ( ( lange (option mounting drawing Ø48 Ø5h7 -.1 L Workable space L View View xisting xisting View screws screws for wiring for wiring 4 M3 4 M3 xisting screws for wiring 4 M3 View epth epth View 6 xisting screws xisting for epth screws wiring 6 for 4 M3 wiring 4 M3 epth 6 epth 6 5 5 5 5 5 19 19 able able 19 space space 19 able space 19 able space able space Ø34h7 Ø7-3 -3 (Workable ( space +3 +3 (Workable ( space -3 ( +3 ( -3 (Workable -3 ( space +3 (Workable +3 ( space 8±. 8±. 8±. 8±. 4XØ5.5 4XØ5.5 4XØ5.5 8±. Ø34h7 Ø34h7 Ø34h7 Ø7 Ø7 Ø7 Ø34h7 Ø7 1±. 1±. 1±. 1±. 1±. 3 3 3 3 3 (75 18 18 18 (75 (75 (75 18 18 (75 4XØ5.5 Ø5H7 Ø5H7 +.1 Ø5H7 +.1 4XØ5.5 +.1 Ø5H7 +.1 Ø5H7 +.1 Workable space Workable space xisting xisting screws screws for wiring for wiring xisting screws for wiring M4 M4 M4 xisting screws epth epth xisting screws for wiring epth for 7 7 wiring M4 M4 epth 7 epth 7 133 133 133 133 133 4XØ1 4XØ1 4XØ1 4XØ1 4XØ1 8 8 8 8 8 5 5 5 5 5 ase mounting face (cross-section - Legend Robot name: HSR: enso 4-axis robot rm length: 48: 48mm 55: 55mm 65: 65mm HSR 1 - - - N NN - NNNN Mechanism type: 1: rm length 48 mm, 55 mm, 65 mm Mounting option: N: loor type S: eiling type Z-axis stroke: 1: 1 mm : mm 17: 17mm * 3: 3mm 9: 9mm * ompatible standard: N: Standard type U: UL specifications nvironmental resistance: NN: Standard type W5: ust & splash proof type (IP65 3: leanroom type (ISO lass 3 JN: ellows type Model Model Model HSR481-N* HSR481-N* 48 485 5 164.4 164.4 87 87 46.53 46.53 HSR481-N* 48 5 164.4 87 46.53 Model HSR551-N* HSR551-N* 55 55 75 75 14.4 14.4 3 3 364.3 364.3 HSR551-N Model * 55 75 14.4 3 364.3 HSR651-N HSR651-N* HSR481-N* HSR481-N 65 65 48 375 375 5 194. 194. 164.4 3 3 87 87.6 87.6 46.53 HSR651-N * * 4865 5375 164.4 194. 87 3 46.53 87.6 HSR551-N * 55 75 14.4 3 364.3 HSR551-N Z-axis Z-axis * stroke: stroke: ST 55 (mm ST (mm 75 14.4 3 L 364.3 L Z-axis HSR651-N stroke: ST * (mm L HSR651-N =1:1 * 65 375 194. 555. 3 1 87.6 * =1:1 * =1:1 65 375 194. 3 87.6 555. 1 555. 1 Z-axis Z-axis stroke: =: 655. * =: * =: stroke: ST (mm 655. L ST (mm 655. L * =1:1 =3:3 775. -1 (Note 1 * =3:3 * =3:3 =1:1 775. 555. -1 (Note 1 1 555. 775. -1 1(Note 1 Note Note 1: * =: If the 1: If Z-axis the * =: Z-axis stroke stroke is 3 is 3 mm, mm, the lowest the 655. lowest point point of the of Z-axis the Z-axis is Note 1: If lower the lower Z-axis than stroke the base is 3 mounting mm, 655. the position. lowest point Pay attention of the Z-axis to is * * =3:3 interference lower than =3:3 than the base mounting position. 775. Pay attention -1 (Note to 1 interference the with base with peripherals. mounting peripherals. position. Pay attention to Note 775. -1 (Note 1 interference 1: If the Z-axis with stroke peripherals. is 3 mm, the lowest point of the Z-axis is Note 1: If the Z-axis lower stroke than is the 3 base mm, mounting the lowest position. point of Pay the attention Z-axis is to lower than interference the base mounting with peripherals. position. Pay attention to interference with peripherals. 1 1 1 1 1 xternal battery: N: No : Yes *1 Signal wires and thernet: N: Standard type : uilt-in thernet type 14±.5 14±.5 14±.5 14±.5 14±.5 *1: xternal battery units are sold separately. *: or W5/3/JN variants XØ6H7 XØ6H7 XØ6H7 XØ6H7 ( ( +.1 +.1 +.1 +.1 XØ6H7 +.1 Unit : mm The data on this page is for standard models. or other options, visit our website at www.densorobotics.com.
3 R8 Robot ontroller Specifications pplicable robots xternal signals (I/O, etc. VP -543/64 VP -64 VS -5/ VS -68/87 VM -83/1 HS HM XR HSR HS-1-45 *** -4 ***** -43 ***1 Power supply (kv 1. 1 1. 1 1.15.78 3.3 1.8.45 1.8 1.8 1.8 Three-phase, V -15% to 4 V +1% (1 V specification also available for VP series 1 Power Input voltage range Single-phase, 3 V -1% to 4 V +1% N/ Single-phase, 3 V -1% to 4 V +1% Power supply frequency 5/ Hz Power cable 5 m ontrollable axes 5/6 6 4 ontrol method PTP, P 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes rive method igital servo on all axes Language used NSO Robotics language (PacScript Memory capacity, user area User area-variable area: 1.75 M (equivalent to 3,766 points; ile area : 4 M (5, steps 56 files Teaching system Remote teaching, Numerical entry (MI, irect teaching (HS, HM, HSR and HS-1 Series only Standard type/safety Mini I/O motion type Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points Safety I/O less type Input: User open 8 points + system fix 13 points / Output: 8 open user points + 14 fixed system points Hand I/O Input: User open 8 points / Output: User open 8 points Motion I/O (Option Input: Safety circuit signal: 3 points / Output: Safety circuit signal: 14 points Parallel l/o xpansion oard (Option xpansion slot: PI / Input: 4 points / Output: 48 points -Link Remote evice oard (Option evicenet Slave oard (Option evicenet Master oard (Option thernet / IP dapter oard (Option PROIUS Slave oard (Option xpansion slot: PI xpress / Input: 8,19 points max. / Output: 8,19 points max. Remote register input:,48 words max. / Output:,48 words 3 xpansion slot: PI xpress / Input: 56 points max. / Output: 56 points max. xpansion slot: PI xpress / Input: 1,4 points / Output: 1,4 points xpansion slot: PI xpress / Input: 4,3 points max. / Output: 4,3 points max. xpansion slot: PI xpress / Input: 56 points max. / Output: 56 points max. PROINT I/O evice oard (Option xpansion slot: PI xpress / Input: 8,19 points max. / Output: 8,19 points max. thert Slave oard (Option xpansion slot: PI xpress / Input:,48 points max. / Output:,48 points max. xternal communication RS-3: 1 line; igabit thernet: 1 line; US: lines; V: 1 line (Option xpansion slot PI: 1 slot; PI xpress: 1 slot Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring, etc. nvironmental requirements (when operating Temperature: to 4 º; Humidity: 9% or less RH (no condensation Safety category Standard type: (Safety I/O ategory 4, PL e Safety motion type: (Safety I/O ategory 4, PL e / (Motion I/O ategory 3 PL d Protection class IP Weight Safety I/O less type, standard type: approx. 1 kg, safety motion type: approx. 11 kg 4 319.6 NSO s newest and most advanced robot controller imensions: 356.5 319.6 93.8 mm Outer imensions (mm Standard type / Safety I/O-less type 319.6 356.5 Safety Motion type 93.8 3 93.8 System-configuration options 1. Power for 1 V specification: Single phase 1 V -1% to 11 V +1% 5/ Hz, 1 kv.. Up to two additional axes optional. Power modules, motors and cabling not included. 3. or Version.. 4. oes not include supplied cables. 53.8 356.5 Multifunction teach pendant High-spec PU ontrol device Mini-pendant mergency stop box Motion input cable (8 m, 15 m Safety device* Safety laser scanner Safety light curtain, etc. *Must support Pld ategory 3 SIL. PL Motion output cable (8 m, 15 m - Parallel I/O board - evicenet slave board - PROIUS slave board - PROINT I/O device board - ONT serial communications board (RS-3, RS-4, RS-485 1 - ONT motion-control board 1 xpansion boards Mini I/O cable (8 m, 15 m - evicenet master board - -Link remote-device board - thernet/ip adapter board - thert slave board - ONT analog I/O board 1 - ONT digital I/O board 1 - xternal axis board 1. oards to be supplied by customer. Power cable Three-phase: V Single-phase: 3 V (1 V R8- motor & encoder cable ( m, 4 m, 6 m, 1 m, m xtended-joint support specification Software Smart-device applications Peripherals WINPS I MU Robot Tools R Vision ORiN SK VR Mobile Tools PL onveyer Robot 17 NSO orporation Information subject to change without notice 79.47 www.densorobotics.com