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HSR SERIES
HSR048/HSR055/HSR065

Continuous high-speed
performance
that changes everything

Improved heat dissipation in the base unit allows the robot to run continuously at its highest rated speed. . These compact. Improved high-speed motion results in more cycles per minute non-stop motion (CPM) and therefore higher productivity. Can the robot achieve the listed cycle time on a one-time test basis only. not only in conventional assembly processes. Light weight Newly designed. Flexible mounting configuration The HSR robot is available in both floor and ceiling mount models. 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. Unprecedented high-speed performance The performance of a robot cannot always be known from its specifications alone. medical device. Runs continuously at High-speed motion Continuous motion Optimized acceleration and motion profiles Achieving continuous. a requirement in today’s demanding processes. space-saving robots can be deployed in high-speed. high-precision pick-and-place systems to achieve unprecedented levels of performance. pharmaceutical and cosmetics sectors. or can it run continuously at that speed? To address this challenge. Y Cycles/min* X direction Y direction HSR065 118 149 X With 1-kg weight 300 mm 25 mm Motion pattern *CPMs differ according to current joint locations. continuous running speed and deceleration speed — and developed the new HSR Series high-speed SCARA robots. but also packaging processes in the food.Quick Acceleration. we pushed to the utmost limits the basic parameters of robot performance — acceleration speed.

Error Normal control Optimal control RC8A controller Time Optimized design Optimized arm design allows the robot to achieve continuous high-speed motion. Vibration control Active real-time vibration suppression The robot quickly suppresses vibrations by actively reflecting the status of the arm to the controller. Stops precisely.high speed. A large-capacity motor is integrated into the base unit. Vibrations that occur during high-speed transfer as well as residual vibrations are both suppressed. Weight reduction of the arm and an optimized arm design allow the robot to achieve its continuous high-speed performance. . reducing cycle times.

) Maximum allowable moment of inertia 0. 4 axis) Maximum payload 8 kg J1 450 Maximum joint J2 785 speed (deg/s. At constant ambient temperature. . 2 axis) + Z (No.HSR Series DENSO 4-axis SCARA robot Robot controller supported HSR048/HSR055/HSR065 Best-in-class high-speed. mm/s) Z 100st: 1700 mm/s.01 mm T ±0. 31 kg Approx. 200st: 2300 mm/s. *=20: 200 mm. 32 kg *Placeholder for Z-stroke value.004º Maximum downward force 98 N (1 sec.35 MPa Air source Maximum allowable 0. etc. separately) are available as options. facilitating maintenance of the bearing located at the top of the risk of broken wires.). 320st: 2475 mm/s T 2500 Cycle time (with (S) 0.31 sec cycle of work from one arrow to the other and back. Maximum reach Z-axis stroke 300 mm Maximum payload 8 kg 25 mm The time taken to complete a Cycle time 0. Ethernet connectors (sold and replacement of batteries. 3 axis) + T (No.1 axis) + J2 (No. devices.05 to 0. *=32: 320 mm T (Axis 4) ±360º Axes combination J1 (No. ø6 × 2) User signal line 19 lines (for proximity sensor signals. Ethernet (8 lines) (option) Normal pressure 0. Position repeating accuracy ±0. T-axis with brake Air piping (in-arm integrated) 4 systems (ø4 × 2. Z-axis shaft.01 mm ±0.059 MPa pressure Airborne noise 80 dB max.01 to ±0. Weight Approx. avoiding the and is easily connectable to external outside the robot.28 to 0.12 kgm2 Position detection Absolute encoder Drive motors and brakes All-axis servo motor/Z-axis. high-throughput performance allows the robot to run continuously at maximum speed in the most challenging applications. 1.012 mm Repeatability1 Z ±0.28 0.012 mm Specifications HSR048A1-N/S* HSR055A1-N/S* HSR065A1-N/S* Max Arm reach ( J1 + J2 arm) 480 (205 + 275) mm 550 (275 + 275) mm 650 (375 + 275) mm J1 (Axis 1) ±155º Range of J2 (Axis 2) ±143. max.5º ±150º ±150º motion (°) Z (Axis 3) *=10: 100 mm. Options Wiring Protection Kit Built-in Ethernet Kit External Battery Stopper with bearing Protects external wiring to prevent cables An Ethernet cable is built into the body The encoder backup battery is installed Protects wiring installed through the hole from becoming unorganized.31 2 kg weight) J1+J2 ±0.

.0 12 0.0 Depth 6 Depth 6 -360°-360° (Workable space) +360° (Workable space) 2 (Workable space) +360° (Workable space) 2 2 .6 176±0. C3: Cleanroom type (ISO Class 3) *2: For W5/C3/JN variants JN: Bellows type The data on this page is for standard models.4 300°300° 364.4 287° 406.0 300° L2 287.53 A * AA C HSR048A1-N* 480 205 164.5 36 6.62 =10:100 555. Ø18 Ø18 .2 -100-100 (Note(Note 1) 1) * =10:100 * =32:320 775.012 Ø5H70 Ø5H70 30 30 180 180 (275) (275) 45° 45° ° 60 60 455°° 45 6060 6060 45° 4 Workable Workable space space Workable space 45° ° 45° 60 60 45 60 60 4XØ12 4XØ12 ° 4 225 5225 E E Base mounting Workable Workable 80 80face (cross-section E-E) space space E 4XØ12 225 80 Existing Existing screws screws for wiring for wiring D D 260°260° E 4XØ12 4XØ12 225 225 Existing screws for wiring D 260° E 80 2×M4 2×M4 80 2×M4 Depth 7 133 Depth Existing screws for 7 133 D 260° Existing screws for wiring Depth 7wiring D 133 260° 2×M4 2×M4 176±0.01 Depth 6 for 1212 Existing screws for Existing wiring screws 4×M3 wiring 4×M3 0° 0° 2 00 ±0 .6 160 136 136 42 160 136 176±0.32 364.0 Ø70 Ø70 28.62 A HSR065A1-N * HSR048A1-N HSR065A1-N * * 480650 205375 164.021 0 -0.4 D300° E 364.00. point ofPay theattention Z-axis is to lower than interference with peripherals.32 Model HSR055A1-N * 550 B 275 C 142.4 287° 287° 406.External Dimensions and Workable Space (unit mm) Detailed drawing of end-effector mounting face (View G) Ø46Ø46 68 68 275 275 B B Ø46 68 275 B Ø46 68 275 B Ø46 68 275 B Ø36 Ø36 Ø36 13 10 Ø36 13131010 13 10Ø36 13 10 .2 the mounting mounting lowest point position.05 Depth 7 133 200 161206000 160 202000 180.32 HSR048A1-N 480 205 164.012 0 Model A B C D +0.0 194.5 3636 36 6.62 120 stroke: ST (mm) =20:200 L1 655. 0 4XØ5.2775.6 160 160 136 160 200 160 282.012 C CC 100 124±0. 775.2 -100 120 (Note 1) NoteNote 1: If the * =20:200 1: If Z-axis the Z-axis stroke stroke is 320 is 320 mm.0282±8± ±± 0° .2 L220 120 **=32:320 * =32:320 775.7 282.5 28 4XØ5.53 HSR065A1-N ** 650 650 375 375 194.4 2XØ6H7 164.5 205 205 190 190 L2 Workable space 6.5 -360° (Workable space) space) +360° (Workable space) space) 2 -360° (Workable +360° (Workable 2 50 50 4XØ5. 655.05 100 C C D D 2XØ6H7 E E +0. Pay of20 Pay the Z-axis attention -100 attention is 1) to (Note to * lower than the interference interference base withwith mounting position. peripherals.N NN .2 lowest the lowest point point the20Z-axis of Z-axis of the is is Note *1:=20:200 Iflower thelower Z-axis =32:320 than stroke than the the baseisbase 320 mm.5 .6 180.7 282. Pay attention to * =32:320 Note 1: If the Z-axis interference withstroke is 320 775.7282.com.012+0. Legend HSR A1 .2300° 120 HSR065A1-N * * * =10:100 =10:100 *Z-axis 650 375 555.05 176±0.0 555.012 Ø5H70 30 30 180180 Ø5H70 30 180 Ø5H70 +0. 0.5 L1 Ø18 L1L1 ) ( C0 Ø18 Ø25h7 -0.2 194.5 +0.4 194.6 42 180. . . For other options.012 4XØ5.05 4242 282.5 Workable space L2 Workable space 6. visit our website at www.mm.05 Depth 7 133 176±0. 650 mm NN: Standard type W5: Dust & splash proof type (IP65) *1: External battery units are sold separately.5 236 205 190 space Cable Cable space 22 Workable space Workable space 205 205 190 space Cable 190 Ø34h7 Ø34h7 Cable space Ø34h7 2 Cable space 2 ViewView F F Existing View screwsF for wiring 4×M3 Ø34h7 Ø70Ø70 Existing screws for wiring 4×M3 Ø34h7 Ø70 Existing screws for wiring 4×M3 View Depth F Depth 6 F6 View 2 ±02 2 .0 300°300° 287.5 +0.0 12 -360° (Workable space) +360° (Workable space) 2 ±0 50 ±0 0° 2 5050 0° ±0 ±0 28 4XØ5.2 120 287. the655.7 160 136 42 100 100 124±0.05 2XØ6H7 0 ( () ) Model Model A A B B 124±0.0 .012 +0.530406.05 124±0.NNNN Unit : mm Robot name: External battery: HSR: Denso 4-axis robot Z-axis stroke: Compatible N: No 10: 100 mm standard: A: Yes Arm length: Mounting N: Standard type *1 20: 200mm 048: 480mm option: U: UL specifications 17: 170mm *2 055: 550mm N: Floor type 065: 650mm S: Ceiling type 32: 320mm Signal wires and Ethernet: 29: 290mm *2 N: Standard type Mechanism type: Environmental resistance: A: Built-in Ethernet type A1: Arm length 480 mm. the lowest -100 (Note point 1) Z-axis is of the Note 1: If the Z-axis lower thanisthe stroke 320base mm.0 287° 300° 406.2 20 * =20:200 Z-axis stroke: ST (mm) =10:100 L1655.32 Z-axisZ-axis stroke: ST (mm) L1 L1 300° L2 HSR055A1-N *stroke: HSR065A1-N ST550(mm) 275 142.012 (275) (275) (275) +0.0 .05 205 205 164.62 287.012 +0.5 55 C0 0.4 L2 364. peripherals.2 peripherals.021 ) drawing L1 G F 488 F 488 L1 449 G F 488 449 449 G F 488 220 325 Ø48Ø48 325 449 F 488 325 Ø48 449 L2L2220 ST220 ST ST 325 Ø48 220 179 E E E E 179 325 E E Ø48 179 220 ST L2ST E E 179 E E 179 6.32 Z-axis stroke: ST * (mm) 650 375 L1 194.2 position. Pay attention to interference with peripherals.012 E C HSR048A1-N HSR048A1-N 100 * 480 480124±0.mounting the lowest position. the base mounting position.7 180.05 2XØ6H7 2XØ6H7 (( ( )) ) 0 0 +0.021 0 G G Flange (option) mountingØ25h7 ( -0.05 180.62 A HSR055A1-N * 550 275 142.2555.2 555.2 L2 20 * * =20:200 655.densorobotics.021 C0 Ø25h70 -0.53 287.53 Model HSR055A1-N A 550 B C D E HSR055A1-N * * A 550 275 275 142.4 287° 406.5C C (( ( )) ) 0 0 Ø18 Ø25h7 Ø25h7 -0. 550 mm. mm.021 .4 300° 364.4 142.

032 points max. External (Option) Remote register input: 2.048 words max. 93.6 Protection class IP20 Weight Safety I/O less type. 6 m. etc. 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1) DENSO’s newest and most Power Input voltage range Single-phase. 1 kVA. 356.048 words3 signals (I/O. motors and cabling not included. input error. user area User area-Variable area: 1.) DeviceNet Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. 20 m) Software Smart-device applications Peripherals WINCAPS II EMU Robot Tools RC Vision ORiN2 SDK VRC Mobile Tools PLC Conveyer Robot ©2017 DENSO Corporation Information subject to change without notice D2279. / Output: 4.6 Parallel l/O Expansion Board (Option) Expansion slot: PCI / Input: 40 points / Output: 48 points CC-Link Remote Device Board Expansion slot: PCI Express / Input: 8.6 × 93. 15 m) Mini I/O cable (8 m.192 points max. short-circuit detection (user wiring).DeviceNet master board . PCI Express: 1 slot 3 Self-diagnosis function Overrun. Environmental requirements (when operating) Temperature: 0 to 40 ºC. Up to two additional axes optional. CP 3-dimensional linear.8 356.CC-Link remote-device board . Does not include supplied cables. 230 VAC -10% to 240 VAC +10% advanced robot controller Power supply frequency 50/60 Hz Dimensions: 356. 230 VAC -10% to 240 VAC +10% N/A Single-phase. Boards to be supplied by customer. 2. Power cable High-spec CPU *Must support Pld Category 3 SIL 2.192 points max. / Output: 2.8 Memory capacity.Parallel I/O board . PL e Safety motion type: (Safety I/O) Category 4. VGA: 1 line (Option) Expansion slot PCI: 1 slot. Three-phase: 200 V Single-phase: 230 V (100 V) PLC Motion output cable (8 m.PROFINET I/O device board .CONTEC analog I/O board1 (RS-232C. 4.192 points max. Gigabit Ethernet: 1 line. Power for 100 VAC specification: Single phase 100 VAC -10% to 110 VAC +10% 50/60 Hz. / Output: 8.External axis board 1. EtherCAT Slave Board (Option) Expansion slot: PCI Express / Input: 2. Power modules. 15 m) Safety device* Safety laser scanner Safety light curtain.CONTEC motion-control board1 . RS-485)1 . 10 kg.RC8A Robot Controller Specifications VP VP VS VS VM HS HM XR HSR HS-A1 Applicable robots -5243/6242 -6242G2 -050/060 -068/087 -6083/60B1 -45*** -4***** -43*** 1 Power supply (kVA) 1.80 1. File area : 400 MB (5.5 Control device Expansion boards Extended-joint support specification .048 points max. etc. System-configuration options 3.00.CONTEC serial communications board . USB: 2 lines.DeviceNet slave board .192 points max. Humidity: 90% or less RH (no condensation) Safety category Standard type: (Safety I/O) Category 4. DeviceNet Master Board (Option) Expansion slot: PCI Express / Input: 1. Emergency stop box Motion input cable (8 m. Numerical entry (MDI). 12 m.EtherNet/IP adapter board .470 www.024 points / Output: 1.80 1. / Output: 256 points max.EtherCAT slave board Multifunction Mini-pendant .CONTEC digital I/O board1 teach pendant . etc. HM.com .001 1. / Output: 256 points max.5 × 319. Direct teaching (HS.8 External communication RS-232C: 1 line. PL e / (Motion I/O) Category 3 PL d 319. servo error.45 1. For Version 2.75 MB (equivalent to 32.PROFIBUS slave board .8 mm Power cable 5m Controllable axes 5/62 62 42 Outer Dimensions (mm) Control method PTP. / Output: 8.032 points max.000 steps × 256 files) Teaching system Remote teaching.15 2.024 points EtherNet / IP Adapter Board (Option) Expansion slot: PCI Express / Input: 4. 15 m) RC8-C motor & encoder cable (2 m.densorobotics. RS-422. / Output: 2.001 1.766 points).80 Three-phase. 4 m. 3-dimensional arc (PTP control only for additional axes) Standard type / Safety I/O-less type Drive method Digital AC servo on all axes Language used DENSO Robotics language (PacScript) 93.30 1. 11 kg4 1.5 PROFIBUS Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. safety motion type: approx. Safety Motion type PROFINET I/O Device Board (Option) Expansion slot: PCI Express / Input: 8. memory error.78 3.048 points max. standard type: approx. 53.80 2. HSR and HS-A1 Series only) 3 Standard type/Safety Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points Mini I/O motion type 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: 30 points / Output: Safety circuit signal: 14 points 319.