www.densorobotics.

com

2017 DENSO Corporation

Information subject to change without notice
D2277.470 www.densorobotics.com
Contents

DENSO ROBOTICS DENSO 4-AXIS ROBOTS

SOLUTIONS 26 4-Axis Robots
02 A Tradition of Technology 28 HS-A1 Series
03 DENSO Robotics History 30 HSR Series
04 Development Strength 32 HM Series
05 Flexibility [Industries and Applications] 34 XR Series
06 Robot Lineup Overview
08 Robot Functions
DENSO ROBOT CONTROLLER
36 RC8A
DENSO 5- AND 6-AXIS ROBOTS
10 5- and 6-Axis Robots
12 VP Series SOFTWARE / PERIPHERALS
14 VS-Series Pharmaceutical Robot
42 Software positioning
16 VS-Series Features
43 WINCAPS
18 VS Series VS-050/060
44 ORiN2 SDK
20 VS Series VS-068/087
45 Robot Tools
22 VS Series VS-6556/6577
24 VM Series

SUPPORT
46 Support
48 Global Network

Contents 1
 77,000

18,000

2 DENSO Robotics Solutions

 ROBOTICS SOLUTIONS
HSR-Series 4-axis robot
2017 HSR-Series
RC8A robot controller 4-axis Robot
RC8A

2014 VS-Series Pharmaceutical robot

VS-Series
Pharmaceutical Robot

50
DENSO Robotics Solutions 3
4 DENSO Robotics Solutions
 ROBOTICS SOLUTIONS

DENSO Robotics Solutions 5

 Robot Lineup
DENSO Industrial Robots

VS-050-S2
p.12 p.14 p.16
Reach: 520 mm
Payload: 4kg
Repeatability3: +
_0.02 mm
Cycle time 4: 0.35 sec
Max. composite speed: 8,570 mm/sec

wrist: IP67, unit: IP65

, UV-resistant

Cleanroom (ISO 5)

HS-A1 Series HSR Series

HS-035A1/045A1/055A1 HSR-048/055/065
p.28 p.30 p.32
Reach: 350/450/550 mm Reach: 480/550/650 mm
Vertical stroke: 100/150/200/320 mm Vertical stroke: 100 / 200 / 320 mm
Max. payload: 5 kg Max. payload: 8 kg
Repeatability: +-0.015/0.020 mm Repeatability: +- 0.01/0.012 mm
Cycle time: 0.29 sec Cycle time: 0.28 sec
Max. composite speed: 7,200/6,300/7,100 mm/sec Max. composite speed: 7,540/8,000/8,850 mm/sec 11,450

Standard protection (IP40) Standard protection (IP40) Standard protection (IP40)

Dust- and splashproof (IP65) Dust- and splashproof (IP65) Dust- and mistproof (IP65)
Cleanroom (ISO 3) Cleanroom (ISO 3) Ceiling-mount
UL specifications7 UL specifications7
Ceiling-mount Ceiling-mount

6 Lineup of DENSO Industrial Robots

 www.densorobotics.com

ROBOTICS SOLUTIONS
p.18 p.20 p.22

COMPACT GANTRY ROBOT

300 mm
25 mm
Cycle time
The time taken to complete a
cycle of work from one arrow to
the other and back.

p.34
1. If downward movement of wrist and neck exceed 45, maximum payload is 2.5 kg.
2. If downward movement of wrist iand neck exceed 45, maximum paylod is 2 kg.
3. Center of tool mounting-face at constant ambient temperature.
4. Time required for robot to move a 1 kg payload between two points 300 mm apart at a height of 25 mm.
5. If downward movement of wrist and neck exceed 45, maximum payload is 6 kg.
6. If payload exceeds 11 kg, downward movement of flange is limited to 10.
7. Cleanroom and UL specifications available for floor-mount models only.

Lineup of DENSO Industrial Robots 7

 Standard Functionalities of DENSO Robots

Operability Making DENSO robots easier to use

Singularity avoidance Collision detection

Result

Linear motion
while moving
down High-speed
rotation of
fourth axis

Function Functions
Allows smooth movement when linear interpretation is required Detects potential collision between robot and peripheral or

to pass a point at which a robots position changes, such as in the workpiece and executes a robot emergency stop.
vicinity of a point of singularity.
Main application
Main application Prevents collision damage to workpiece and hand.

Used with a program that employs a palletize library.

[Supported Robots] [Supported Robots]

VP Series, VS Series, VP Series, VS Series, VM Series,
VM Series HS-A1 Series, HSR Series, HM Series

High-accuracy path control Compliance / Current limiting

Hand

Workpiece Force limitation is

applied to vertical
motion of robot.

Enables robot to have

spring function.

Functions Function
Reduces path changes caused by variation in speed and uses Adjusts press strength to protect workpiece and hand from

arc motion and free-curve interpolation control to improve path excessive loads.
accuracy.
Main application
Main application Product assembly

Sealant and silicone adhesive coatings

[Supported Robots] [Supported Robots]

VP Series, VS Series, VM Series, VP Series, VS Series, VM Series,
HS-A1 Series, HSR Series, HM Series, XR Series HS-A1 Series, HSR Series, HM Series, XR Series

8 Main Functionalities of DENSO Robots

 www.densorobotics.com

ROBOTICS SOLUTIONS
Connectability Link with peripherals for greater results

Conveyer tracking Extended-joint support

[System configuration diagram] [Connection example]
Visual device/sensor Conveyer-tracking board Robot Controller with extended-joint option
Motor conversion cable Motor cable

Controller Motor conversion cable Motor cable

Encoder cable
Robot
Encoder backup battery
Encoder cable

Encoder backup battery

Extended-joint support motor (up to 2 axes)

Conveyer Encoder

Function Function
Synchronize robot with motion of conveyer to handle a workpiece Robot-controller interface can be used to control another axis.

without stopping conveyer.

Main application
Main application Drive axis and servo hand

Pick or place workpiece from or onto moving conveyer.

Motor variations1
Brake 50 W 100 W 200 W 400 W 750 W 1 kW 2
Provided 4 4 4 4 4 4
Standard
Not provided 4 4 4 4 4 4
Provided 4 4 4 4 4
Flat
Not provided 4 4 4 4 4
1. Some robots have a limited total capacity of connectable extended-joint motors.
For details, contact one of our sales representatives.
2. RC8A only.

Cooperative Motion Function Safety Motion Option

Multiple small robots can be used in place of large robots to Safety areas allow humans and robots to work collaboratively.
convey and assemble heavy payloads and long payloads.

Robot Robot

Extended-joint
support motor
Extended-joint
support motor

Motion-Space Monitoring Speed Monitoring

Drive axis

Stop-Position Monitoring

Main application Motion-Space Monitoring

Conveyance and assembly tasks of heavy payloads and long payloads. Conveyance and assembly tasks of heavy payloads and long payloads.

Speed Monitoring
[Supported Robots] Speed restriction allows continuous production.

All RC8A robot models Stop-Position Monitoring

Flexible placement of people and robots.

Main Functionalities of DENSO Robots 9

 DENSO 5- AND 6-AXIS ROBOTS

The DENSO lineup of five- and six-axis articulated robots offers an array of arm
sizes in the VP, VS and VM Series.

Built with joints similar to a human arm, these robots offer greater flexibility than
their four-axis counterparts. Their increased freedom of movement makes them
suited to handle a much wider range of applications.

Typical Applications

z Assembly z Nut and screw driving

z Dispensing z Packaging
z Grinding z Parts finishing
z Insertion z Pick and place
z Inspection z Polishing
z Labeling z Press fitting
z Laser welding z Soldering
z Machine tending* z Spot welding
z Machining z Surface finishing
z Material handling z Test handling
z Material removal z Ultrasonic welding

*Machine tending while machine running available with IP67 models

Main Features

z Cycle times from 0.31 sec to 0.99 sec

z Repeatability from 0.02 to 0.07 mm
z Maximum composite speed from 3,900 to 11,380 mm/sec
z Reaches from 430 mm to 1,298 mm
z Payloads up to 13 kg

Options

z Standard protection (IP30/40)

z Dust- and splashproof (IP67)
z Dust- and mistproof (wrist IP65, unit IP54)
z Cleanroom (ISO 3 and 5)
z UL-listed

10 DENSO 5- AND 6-AXIS ROBOTS

 www.densorobotics.com

VP-5243/6242
VP-5243 VS-6242
Maximum payload (kg) 31 2.52
Maximum arm reach (mm) 430 432

Standard protection 4 4
1. If downward wrist movement exceeds 45, maximum payload is 2.5 kg.
2. If downward wrist movement exceeds 45, maximum payload is 2 kg.

DENSO 5- & 6-AXIS ROBOTS

VS-050-S2
VS-050-S2
Payload (kg) 4
Reach (mm) 520

H2O2-resistant; cleanroom (ISO 5) 4

UL-listed 4

Dust- and
splashproof
VS-050/060, VS-068/087 model

VS-050 VS-060 VS-068 VS-087

Maximum payload (kg) 4 7
Maximum arm reach (mm) 505 605 710 905

Standard protection 4 4 4 4
Dust- and splashproof (IP67) 4 4 4 4
Dust- and mistproof (wrist: IP65, unit: IP54) 4 4 4 4
Cleanroom (ISO 3 and 5) 4 4 4 4

Dust- and
mistproof Cleanroom
VS-6556/6577 model model

VS-6556 VS-6577
Standard With brakes Standard With brakes
(J2 to J4 with brakes) (J2 to J6 with brakes) (J2 to J4 with brakes) (J2 to J6 with brakes)
Maximum payload (kg) 73 73
Maximum arm reach (mm) 653 854

Standard protection 4 4 4 4
Dust- and mistproof (wrist: IP65, unit: IP54) 4 4 4 4
Cleanroom (ISO 5) 4 4 4 4
3. If downward wrist movement exceeds 45, maximum payload is 6 kg.

Dust- and
mistproof Cleanroom
VM model model

VM-6083 VM-60B1
Maximum payload (kg) 134
Maximum arm reach (mm) 1,021 1,298

Standard protection 4 4
Dust- and mistproof (wrist: IP65, unit: IP54) 4 4
Cleanroom type (ISO 5) 4 4
4. If the payload exceeds 11 kg, downward wrist movement is limited to 10.

DENSO 5- AND 6-AXIS ROBOTS 11

 VP SERIES 430432 mm Supported Robot Controllers

DENSO VP-Series robots are perfect for installations where operational space is limited.

z Excellent repeatability of 0.02 mm

z Payloads up to 3 kg
z 430 or 432 mm reach
z Ultracompact design saves floor space and facilitates
integration
z Floor- or ceiling-mount, with no special hardware needed
z Exceptionally light weight from only 13 to 24 kg
z Low energy consumption, with all motors combined using
a maximum of only 300 W
z ANSI and CE compliance allows global deployment

VP-5243 VP-6242

Specifications
VP-5243 VP-6242
Number of axes 5 6
Overall arm length (mm) 430 420
Second-arm width (mm) 112
Reach (to center of 5th axis, mm) 430 432
Minimum motion area (mm) 162 148
Maximum payload (kg) 2.5 (3.0 with flange pointing down) 2.0 (2.5 with flange pointing down)
Weight, approx. (kg) 13 15
Footprint (mm) 160 160
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
Repeatability1, 2 (mm) 0.02 0.02
J4 -
Max. allowable 0.03
moment of inertia J5 0.04
(kgm2) J6 0.01 0.007
J1 160
J2 120
Range of J3 +136, -128 +160, +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 (4 4)
Wiring (in-arm integrated) 9 lines (max. 1 A per line)
Operating pressure 1.0 105 Pa to 3.9 105 Pa
Air source Maximum allowable
4.9 105 Pa
pressure
Protection class IP30
Ceiling-mount

1. At constant ambient temperature. 2. In every direction.

12 VP SERIES
 www.densorobotics.com

70 210 101

External Dimensions and Workable Space [ VP-6242 ]

120 Point P

65
A
Workable space

75
defined by point P 120

210

DENSO 5- & 6-AXIS ROBOTS

R14
8

12
12

2
0

R22
R432
15

70
2-M4

280
71

22
R2

155
182
160
Workable space
defined by point P
R1
48

Detailed drawing of end-effector mounting face 2-M4 60 140 190

(View A) Point P Cabling space
4-M5, Depth 8
26

0
(P.C.D. 31.5)
40 h8 -0.039

5H7 +0.012
0
20 H7 +0.021
2

0
Depth 7
R43

Depth 6

Detailed drawing of base mounting face 160

(Top view)
160
135
2- 6H7 +0.012
0 49 0.05 4-10
(Reference hole)
144 0.05

135
160

4 x 10 screw
Unit : mm
Legend
VP - 2

Mini 5- and 6-axis type: Axes: Standard payload: Total arm length:
5: 5-axis 2: 2 kg (6-axis) 2.5 kg (5-axis) 42: 420 mm
6: 6-axis 43: 430 mm
*The maximum payload is 2.5 kg (6-axis) or 3 kg (5-axis)

The data listed on this page is for the standard model. For other options, visit our website at www.densorobotics.com.

VP SERIES 13
 VS-Series Pharmaceutical Robot 520 mm Supported Robot Controllers

The DENSO VS-050-S2 robots are designed for pharmaceutical, medical

and life sciences applications where biocontamination control is required.

z Protective outer coating and specially sealed joints allow sterilization

with hydrogen peroxide and UV light
z ISO 5 (class 100) cleanroom rating
z Smooth, rounded design with no external screws, to prevent
contaminants from adhering to arm or being harbored in crevices
z Wires internally embedded up to the flange, keeping them out of the
cleanroom environment and preventing them from becoming tangled or
interfering with peripheral equipment
z Bottom-side connector panel makes robot cleaning easier and saves
Integrated Servo
valuable floor space Gripper Option
z Encoder backup battery installed outside the robot, facilitating battery
replacement and improving ease of maintenance
z ANSI and CE Compliance allows global deployment
z UL models available for the US and Canada

Specifications
VS-050-S2
Number of axes 6
Overall arm length (mm) 255 (first arm) + 265 (second arm) = 520
Reach (to center of 5th axis, mm) 520
Minimum motion area (mm) 135
Maximum payload (kg) 4
Weight, approx. (kg) 34
Cycle time (sec)1 0.35
J1: 180 3 J2: +120,-115 J3: +141,-115 J4: 270 J5: 115 4
Range of motion ()
J6: 360
Maximum composite speed
8,570
(mm/sec)
Repeatability (mm)
2
0.02
Max allowable moment of
J4 and J5: 0.200, J6: 0.05
inertia (kgm2)
Max. allowable moment
J4 and J5: 6.66, J6: 3.13
(Nm)
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
Air piping (in-arm integrated) option solenoid valves (2-position, double solenoid) x2
Wiring (in-arm integrated) 10 lines (max. 1 A per line) 5, 6
Electric gripper connection flange
25 cores (17+8) 6
specification-A (Option)
Air source (operating pressure, MPa) 0.200.39
Air source (maximum allowable pressure, MPa) 0.49
Hydrogen peroxide environment 35% hydrogen peroxide steam (dry / wet)
Protection class Wrist IP67 / Unit IP65
Cleanroom ISO 5
Ceiling- and wall-mount

1. Time required for a robot to move a 1 kg payload betwen two points 300 mm apart at a height of 25 mm.
2. Position repeatability is the precision at constant ambient temperature.
3. Motion range is limited when mounted to a wall, inquire for details.
4. When electric gripper connection flange specification-A is selected, the J5 motion range is +110, -102.
5. This wire (proximity sensor or other signal wire) is 4-core if electric gripper connection flange specification-A is also selected
6. Allowable current is limited.

14 VS-050-S2
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External Dimensions and Workable Space [ VS-050-S2 ]

Detailed drawing of end-effector mounting face, standard flange (View A)

Detailed drawing of base mounting face, rear connector panel (Top view)
120
C
49 0.05
4M10 Depth 21

B 1:1
C

144 0.05

120
220
Detailed drawing of end-effector mounting face,

DENSO 5- & 6-AXIS ROBOTS

communication-interface flange-A (View A)
Co
2x 6H7 +0.021 Depth 10 nn
0 ec
to
(reference hole) A-A r s 1
pa 50
ce

C B 1:1
VS-050-S2 standard flange VS-050-S2 communication interface flange-A
Workable space Workable space
E
defined by Point P defined by Point P 180
180
E
155 155
29.5 45 29.5 45
4 4
J6 J4 J6 J4
360 270 360 270
57.5
57.5

28

28
40

40
J6 J6
J4
115

J1 J4 J1
115

50
57.5
57.5

(R1
35
(R1
50
35

83 83
.1) .1)
E
Point P E Point P
180
2)

J1=180
20.

accessory accessory 180

)

J2=+120,-115
20.2
(R5

(R 5

J3=+141,-115
J4=270
One-way mounting of the left or right. J5=+110,-102 One-way mounting of the left or right.
The figure shows an example on the left. J6=360 The figure shows an example on the left.

520.2 520.2 520.2 520.2

85 265 115 265
124.5 124.5 Unit: mm
Point P
Point P
115 115
141 2 141
115 10
90 90
.2
.2

65
65

R2
R2

10
10

J5 J5

J3 J3
11
115

0
R 520.2 R520.2
R255 R255
115
115
120

120

J2 J2
14 14
183.1
600

1
R183.1 1
600

R
115
115

R2
R2

345

71.
71.

345
3
3

115 115
181.5

181.5
R2

141 141
R2

65
65
5.2

.2
.2

5.2
R26

R 26

Workable space Workable space

defind by point P defind by point P
47.7

47.7

A A A A

Legend
VS 0 5 0 S 2 - A V 6 - R1 - N N - A N N N
Robot name: Paint and surface finish:
VS: Small articulated robot N: DENSO standard colors2
Axes: A: Unpainted3
Series Name: V6: 6-axis
Total arm length: Pharmaceutical Series Signal lines and air-pipe solenoid valve:
520 mm Flange: A: 2x solenoid valves
Mounting orientation: N: Standard flange (2-position, double solenoid)
Protection: N: Specification without signal lines or
A: All directions C5: Cleanroom (ISO 5) A: Communication-interface flange A1
air-pipe solenoid valve
Connector panel:
Standard Safety Compliance: N: Rear connector panel
A: Bottom connector panel

1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives.

VS-050-S2 15
 VS SERIES FEATURES VS-050/060/068/087 Supported Robot Controllers

Higher Speed, for Improved Productivity

z Cycle time/maximum composite speed

300 mm
VS-050 VS-068

25 mm
Cycle time for 1 kg (sec) 0.35 (RC8A) 0.31 (RC8A) Cycle time
The time taken to complete a
Maximum composite speed 9,080 (RC8A) 11,290 (RC8A) cycle of work from one arrow to
(mm/sec) the other and back.

VS-050
Reach: 505 mm
Maximum payload: 4 kg

Fits into Tight Spaces

z Arm width, wrist width and workable space

VS-060
Reach: 605 mm
Maximum payload: 4 kg

100 mm 235 mm

95 mm 193 mm
05

10
R5

R7

VS-050 VS-068

VS-068
Reach: 710 mm
Efficient Use of Dead Space Maximum payload: 7 kg
Wall

Wall

VS-087
Base Base Reach: 905 mm
Maximum payload: 7 kg
Connector panel Connector panel

Bottom connector panel (option) Standard

16 VS-SERIES FEATURES
 www.densorobotics.com

Improved Usability and Ease of Maintenance

Wires are internally embedded up to the

flange, preventing them from becoming
entangled or broken (communication-
interface flange-A option). Camera

DENSO 5- & 6-AXIS ROBOTS

New VS-Series Options Electric gripper

z Connector panel z Flange z Signal lines and z Paint and surface finish
air pipe solenoid valve
Air-pipe
solenoid
valve

Signal lines
Rear connector Bottom connector Communication-interface flange A DENSO standard Unpainted
panel panel colors

Choose from two mounting
orientations when connecting
cables to the robot (such as for
a motor and encoder, etc.), for
increased installation flexibility.
Optional flange interface has
connectorsfor electrical signal lines
and EtherNet, allowing wiring to be
embedded in the robot unit.
Signal lines and air-pipe solenoid
valves are embedded in the top of
the second arm. Three types are
available for VS-068/087 and one
for VS-050/060.
If IP67 protection level is selected,
unit is left as unpainted anodized
aluminum. (DENSO standard colors
are available as an option.)

z External encoder-battery z Brake-release unit z Air-purge unit z Second-arm cover

backup unit (with tapped holes)

Encoder backup battery installed
outside robot facilitates battery
replacement and improves ease
of maintenance.
Switch allows release of brake on Dust- and splashproof model Cover has tapped holes to secure wires
each axis. maintains IP67 protection level by for the robots second arm.
means of air pressure created inside
the robot.

Part Name VS-050/060 VS-068/087

(Dust- and (Dust- and
Category mistproof) Cleanroom Cleanroom Standard mistproof) Cleanroom Cleanroom
Specification /VType Standard IP67 IP67
Wrist: IP65 (ISO 5) (ISO 3) Wrist: IP65 (ISO 5) (ISO 3)
Unit: IP54 Unit: IP54

Connector Rear connector panel 4 4 4 4 4 4 4 4 4 4

panel Bottom connector panel 4 4 4 4 4 4 4 4 4 4
Standard flange 4 4 4 4 4 4 4 4 4 4
Flange
Communication-interface flange A 4 4
Signal 2 solenoid valves (2-position, double solenoid) 4 4 4 4 4
lines and 3 solenoid valves (2-position, double solenoid) 4 4 4 4 4
air-pipe
solenoid 3 solenoid valves (3-position, exhaust center solenoid) 4 4 4 4 4
valve 3 solenoid valves (3 position, closed center solenoid) 4 4 4 4 4
Air-purge unit 4 4
Brake-release unit1 4 4 4 4 4 4 4 4 4 4
Options External encoder-battery backup unit 4 4 4 4 4 4 4 4 4 4
Angled motor and encoder cable 4 4 4 4 4 4 4 4 4 4
Second-arm cover R (with tapped holes) 4 4
1. Brake-release unit has an IP67 protection level

VS-SERIES FEATURES 17
 VS SERIES 505605 mm Supported Robot Controllers

The VS-050/060 six-axis articulated robots offer exceptionally high speed and
repeatability in a compact design.

z Extremely fast cycle time of 0.35 sec

z Outstanding repeatability of 0.02mm
z Payloads up to 4 kg
z Reaches from 505 to 605 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 Standard, dust- and splashproof and cleanroom models
z Optional IP67 protection resists cutting fluids and chips
z Optional internal wiring allows easy mounting of Gigabit Ethernet devices
and servo grippers on flange VS-050 VS-060
z Optional bottom connector panel saves floor space
z UL models available for the US and Canada

Specifications
VS-050 VS-060

Number of axes 6
Overall arm length (mm) 250 (first arm) + 255 (second arm) = 505 305 (first arm) + 300 (second arm) = 605
Arm offset (mm) J1 (swing): 0 J3 (front arm): 10 J6 (flange): 70
Reach (to center of 5th
505 605
axis, mm)
Minimum motion area (mm) 135 140
Maximum payload (kg) 4
Weight, approx. (kg) 34 35
Cycle time (sec)1 0.35
J1: 1705 J2: 120 J3: +151, -120 J4: 270 J5: 120 J1: 1705 J2: 120 J3: +155, -125 J4 : 270 J5: 120
Range of motion ()
J6: 360 J6: 360
Maximum composite speed
9,390
(mm/sec)
Maximum joint speed (/sec) J1: 510 J2: 408 J3: 491 J4: 540 J5: 416 J6: 864
Repeatability2 (mm) 0.02
Max allowable moment of
J4 and J5: 0.200 J6: 0.050
inertia (kgm2)
Max. allowable moment
J4 and J5: 6.66 J6: 3.13
(Nm)
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
Air piping (in-arm integrated)
5 systems (4 4, 4 1); 2 solenoid valves (2-position, double solenoid)
option
10 lines (max. 1 A per line) 3
LAN (1000BASE-TX) 1 (option) 4
Wiring (in-arm integrated)
17-line electrical wire for cameras, etc.4
Option set with LAN 4
Air source (operating pressure,
0.100.39
MPa)
Air source (maximum allowable
0.49
pressure, MPa)
Protection class Standard: IP40; options: IP67 (dust- and splashproof)
Cleanroom ISO 3 and 5
Ceiling- and wall-mount 5
1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only.

18 VS-050/060
 www.densorobotics.com

External Dimensions and Workable Space

Detailed drawing of end-effector mounting face, standard flange (View A)
4
0
Dep h8 -00.0
th5* 39 4xM5 Depth6
(P.C.D 31.5)
*This hole does not exist on
dust- and splashproof (IP67)
model
0.021
7+ 0
20H 5
p t h 5H7 +0.012 Depth5
De 0
Detailed drawing of base mounting face, rear connector panel (Top view)
135
490.05
Detailed drawing of end-effector mounting face, 4x 4 x 10 screw
R5
communication-interface flange A (View A) (for M8 screw)
4xM5 Depth7

1440.05

DENSO 5- & 6-AXIS ROBOTS

(P.C.D 31.5)

160
135
2x6H7 +0.012 80
0
A-A
(Reference hole)

21
+0.0
H7 0
20 th3 5H7 +0.012 Depth5
D e p 0

[VS-060]
[VS-050] Workable space
defined by Point P
Workable space 170
defined by Point P
(R
50

(R
170
5.2

60
195 195
)

5.2
Cabling space J6 Cabling space

)
J6 J4 J4
360 270 Point P 360 270 Point P
50 45

5045
95
95

J6 J4 J1 J6 J4 J1

.9)
.1) 40
36 (R1
(R1 170

170

505.2 505.2
70 [75] (105) 255 605.2 605.2
119.5 70 [75] (105) 300 J1=170
164.5
J2=120
J3=+155, -125
Point P J4=270
Point P
120 12 J5=+120, -120
151 5
5

0 J6=360
12 90
15

90 5.2 2
0

5 0.
R2 R30
12
10

10

J3 J3
87.9
87.9

A J5 A J5 5)
120 30
12
(R
0 20 12
1 0 0 12
12 0
(R250)
J2 R270.5

J2
120

595

151
R136.1
5

650

R2 55.2
R140.9
12

44 R2
R255.2
15
5

R300.2
345

0 R300.2
151
345

12
181.5
2)

A A
05.

181.5

155 A A
(R5

Workable space
.2)

defined by Point P 125

107.7
35.2

05
(R6

Workable space
defined by Point P

Values in brackets
Values [ ][are
in brackets forfor
] are cleanroom models.
cleanroom models.Values
Valuesininparentheses
parentheses(( ))are
are for
for communication-interface flangeA.A.
communication-interface flange Unit : mm
Legend
VS - A V6 - N - N N - NNN
Robot name: Paint and surface finish:
VS: Small articulated robot N: DENSO standard colors2
Axes: A: Unpainted3
Mounting orientation:
A: All directions V6: 6-axis
Signal lines and air-pipe solenoid
Total arm length: Protection: Flange: valve:
050 A3: 505 mm RC8A-supported NN: Standard N: Standard flange A: 2 solenoid valves
060 A3: 605 mm RC8A-supported W7: Dust- and splashproof (IP67) A: Communication-interface flange A1 (2-position, double solenoid)
W4: Dust- and mistproof (wrist: IP65, unit: IP54) N: Specification without signal lines or
C3: Cleanroom (ISO 3) Connector panel: air-pipe solenoid valve
C5: Cleanroom (ISO 5) N: Rear connector panel
1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives.

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

VS-050/060 19
 VS SERIES 710905 mm Supported Robot Controllers

The VS-068/087 six-axis articulated robots offer exceptionally high speed and repeatability
in a compact design.

z Extremely fast cycle times of 0.31 to 0.34 sec

z Outstanding repeatability of 0.02 to 0.03 mm
z Payloads up to 7 kg
z Reaches from 710 to 905 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 Standard, dust- and splashproof and cleanroom models
z Optional IP67 protection resists cutting fluids and chips
z Optional internal wiring allows easy mounting of Gigabit Ethernet
devices and servo grippers on flange
VS-068 VS-087
z Optional bottom connector panel saves floor space
z UL models available for the US and Canada

Specifications
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)1 0.31 0.34
J1: 1705 J2: +135, -100 J3: +153, -120 J4: 270 J1: 1705 J2: +135, -100 J3: +153, -136 J4: 270
Range of motion ()
J5: 120 J6: 360 J5: 120 J6: 360
Maximum payload (kg) 7
Maximum composite speed
11,380
(mm/sec)
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
Repeatability2 (mm) 0.02 0.03
Max. allowable moment of
J4 and J5: 0.450 J6: 0.100
inertia (kgm2)
Max. allowable moment (Nm) J4 and J5: 16.2 J6: 6.86
Position detection Absolute encoder
Drive motors and brakes AC servomotors and brakes for all axes
Air piping (in-arm integrated) 7 systems (4 6, 6 1); 3 solenoid valves (2-position, double solenoid); 3 solenoid valves (3-position, center open); 3 solenoid
option valves (3-positon, center close)
10 lines (max. 1 A per line)3
Wiring (in-arm integrated) LAN (1000BASE-TX) 1 (option)4
17-line electrical wire for cameras, etc.4
Option set with LAN4
Air source (operating pressure, MPa) 0.100.39
 ir source (maximum allowable
A
0.49
pressure, MPa)
Protection class Standard: IP40; option: IP67 (dust- and splashproof)
Ceiling- and wall-mount 5

1. With 1 kg weight. 2. In every direction. 3. Four lines with flange A option. 4. Option only for IP40 model. 5. When wall-mounted, 45 degree motion only.

20 VS-068/087
 www.densorobotics.com

External Dimensions and Workable Space

Detailed drawing of end-effector mounting face, standard flange (View A) Detailed drawing of base mounting face, rear connector panel (Top view)
4 160
Dep 0h8 -00.0 660.05
th 5 39 * 4M5 Depth 6 4 412 screw
(P.C.D 31.5) R2
0 (for M10 screw)
*This hole does not exist on

1840.05
protected type (IP67)

160
200
21
+0.0
70
20Hh 5 5H7+0.012 Depth 5
Dept
0

26H7+0.012
0
100
(Reference hole) A-A

Detailed drawing of end-effector mounting face, Detailed drawing of base mounting face, bottom connector panel (Top view)

DENSO 5- & 6-AXIS ROBOTS

communication-interface flange A (View A)
160
4M5 Depth 7 660.05
(P.C.D 31.5) 4 412 screw
R2 (for M10 screw)
0

1840.05

160
200

Cabling space
21
H7
0+0.0 100 (Co 185

215
26H7 +0.012
20 th 3 5H7 +0.012
Depth 5
0
A-A nn
ect
D e p 0 (Reference hole) or
sp
ac
e)

[VS-068] [VS-087]

Workable space
Workable space defined by Point P 170
170
defined by Point P

Point P 195 Point P

Cabling space 195
J6 J4 J6 J4 Cabling space
360 270 360 270
J6 J1 J6 J1
100
100

55 45
55 45

J4 J4
R2
.6 5.5 54
0 R90 .5
71
R2

R
08
.3

J1=170 J1=170
170 J2=+135,-100 J2=+135, -100
170
J3=+153,-120 J3=+153, -136
J4=270 J4=270
J5=120 J5=120
J6=360 J6=360
875.5 875.5
680.6 680.6 80 [85] (115) 430
80 [85] (115) 340 287
197
0.5
R43

Point P .6 Point P 0
3

120 40 12
15

R3
3

136
15

20

J3
102
120

20

J5

J3
102

A J5 (R8 120

120 75.
5)
5 0 5
R680.6 13 R34 3
R224.5 1
10

153
100
0

153 J2
840

J2 R30
R445

R178.3
735

R32 9.3
2.8 R4
395

30
136

136 .5
197.5

Workable space 12
120

395

defined by A A
53
R34

197.5

Point P
3 A A 1 30
15 Workable space
0.6

0.5

350.1

defined by
0.6

R43

Point P
R34

186

30

Values in brackets
Values [ ] are
in brackets [ ]for
arecleanroom models.
for cleanroom Values Values
models. in parentheses ( ) are for( communication-interface
in parentheses flange A. flange A.
) are for communication-interface Unit : mm

Legend
VS - A V6 - N - N N - NNN Paint and surface finish:
N: DENSO standard colors2
A: Unpainted3
Robot name: Mounting
VS: Small articulated robot orientation: Axes: Signal lines / Air pipe solenoid valve:
A: All directions V6: 6-axis Flange: B: 3 solenoid valves
Total arm length: N: Standard flange (2-position, double solenoid)
068 A4: 680 mm RC8A-supported Protection: A: Communication-interface flange A1 C: 3 solenoid valves
087 A4: 875 mm RC8A-supported NN: Standard (3-position, exhaust center solenoid)
W7: Dust- and splashproof (IP67) D: 3 solenoid valves
W4: Dust- and mistproof (wrist: IP65, unit: IP54) Connector panel: (3-position, closed center solenoid)
C3: Cleanroom (ISO 3) N: Rear connector panel N: Specification without signal lines or
C5: Cleanroom (ISO 5) A: Bottom connector panel air-pipe solenoid valve
1. Not available with dust- and splashproof (IP67) model. 2. Standard models. 3. Dust- and splashproof (IP67) models are left as unpainted aluminum; DENSO standard colors are optional. For details, please contact one of our sales representatives.

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

VS-068/087 21
 VS SERIES 653854 mm Supported Robot Controllers

The VS-6556/6577 robots provide high speed and high power in a slim,
compact body. A variety of options are available that allow operation in a
range of environments.

z Fast cycle times from 0.59 to 0.49 sec

z Excellent repeatability from 0.02 to 0.03 mm
z Payloads up to 7 kg
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount, with no special hardware required
z Maximum composite speed : from 7,600 mm/s up to
8,200 mm/s
z Operation in dusty and wet environments (IP65 option)
z Operation in cleanrooms (ISO 4 or 5 option)
z ANSI and CE compliance allows global deployment

Specifications
VS-6556 VS-6577 VS-6556
Number of axes 6
Overall arm length (mm) 565 770
Second-arm width (mm) 110
Reach (to center of 5th axis, mm) 653 854
Minimum motion area (mm) 234 242
Maximum payload (kg)1 7
Weight, approx. (kg) 35 36
VS-6577
Footprint (mm mm) 200 200
Cycle time (sec) 0.49 (with 1 kg weight) 0.59 (with 1 kg weight)
Maximum composite speed (mm/sec) 8,200 7,600
Maximum joint speed (/sec) J1: 375 J2: 300 J3: 375 J4: 410 J5: 410 J6: 660
Repeatability 2,3 (mm) 0.02 0.03
Maximum allowable moment of inertia (kgm ) 2
J4, J5: 0.413 J6: 0.063
Range of motion () J1: 170 J2: +135, -100 J3: +166, -119 J4: 190 J5: 120 J6: 360
Position detection Absolute encoder CEILING-MOUNT OPTION
AC servomotors on all axes;
Drive motors and brakes
brakes on 2nd, 3rd and 4th axis (5th and 6th axis optional)
Air piping (in-arm integrated) 10 lines (max. 1 A per line)
Wiring (in-arm integrated) 7 systems (4 6, 6 x 1), three 2-position double solenoid valves
Standard: IP40
Protection class Options: IP65/54 (wrist/unit) dust- and mistproof,
cleanroom ISO 4 and 5
Ceiling-mount 4

1. If downward movement of wrist and neck exceed 45, maximum payload is 6 kg. 2. At constant ambient temperature. 3. In all directions.
4. All except cleanroom models, which can be floor-mounted only.

22 VS-6556/6577
 www.densorobotics.com

External Dimensions and Workable Space [ VS-6556-B ] 578.42 (779.88) 575.68 (779.88)
375 (485) 115
80 (779.88)
578.42 295 (405) 575.68 (779.88)
375 (485)108 (218) 115
80 295 (405)
Point P 108 (218)
0
Point P_ 12

65
A J5 _ 12

105

90
+ 120

DENSO 5- & 6-AXIS ROBOTS

+ J3

65
A RJ5

105
578 _
.42 1

90
+ (720
79. + J3 5)
R57 88) 3.3
(32

270 (365)
8.4 _
74
2 (7 19.
79. R2 35)
88) 23.

10

270 (365)
135
J2 (3

0
R158.79 9.74
(166.34) R21
+ _

10

135

R3 14.8 (41
J2

(4
R158.79

08 8R)3 4.8
(16609.34)

.42 0 8 8 )
Detailed drawing of end-effector mounting face + _

390.95
2

164.34(337.97) 73.46 (143.26)

335
(View A)

.42
73.46
Detailed drawing of end-effector mounting face 09

203
390.95
4 762
4-M5 Depth 8 (79

(143.26)

335
0h8 (View A)

R308.4
0
-0. (P.C.D 31.5) )

203
039
4 4-M5 Depth 8 76
0h8 (79

2R3(40184.4.8
(P.C.D 31.5) )

164.34
0
-0.
039
Workable space 75
defined by Point P

28(4

(337.97)
) 14.8
5 H7 +0.012
0 Depth 7Workable space 75
defined by Point P
8)
.0 21
+00
7 5 H7 +0.012 Depth 7
0H 0
2 pth 6 21
De +00.0
7
0H
2 pth 6
De

170
Workable space
defined by Point P 170
Workable space
R2 241. (R24
(R

defined by Point P 187.7

33 3R4)2 1.
.79 33 34

187.7
.79 )

Point P
J6 J4
+ + Point P
57 65
57 65 51 59

_ J6_ J4
+ 190
360 +
51 59

Detailed drawing of base mounting face _ _

(Top view) 360 190 .42 )
53 .88
Detailed drawing 200
of base mounting face R6 854
(Top (R .42 )
2- 6H7 +0.012 160view) 4-12 screw 53 .88
0
(Reference hole) 66 0.05
200 (for M10 screw) R6 854
R20 (R
2- 6H7 +0.012
0 160 4-12 screw 170
(Reference hole) 66 0.05 (for M10 screw)
R20
18 4 01.8045 0.0 5

170
200
160
200
160

Values in parentheses ( ) are for VS-6577. The values in parentheses ( ) are for VS-6577G
Unit : mm
Legend
VS - 6 5 - Options:
None: Standard
B: With brake
W: Dust- and splashproof (wrist: IP65, unit: IP54)
VS: Small articulated robot Axes: Standard payload: Total arm length: BW: With brake and dust- and splashproof protection
6: 6-axis 5: 6 kg 56: 650 mm P: Cleanroom (ISO 4 and 5)
*Maximum payload is 7 kg 77: 850 mm BP: With brake and cleanroom configuration

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

VS-6556/6577 23
 VM SERIES 10211298 mm Supported Robot Controllers

The DENSO VM-Series six-axis articulated robots offer

exceptionally long reaches along with high speed, high
precision and a large payload capacity.

z Fast cycle times from 0.89 to 0.95 sec

z Payloads up to 13 kg
z Reaches from 1,000 mm to 1,300 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 required
z Operation in dusty and wet environments (IP65 option)
z Operation in cleanrooms (ISO 5 option)
z ANSI and CE compliance allows global deployment

VM-6083 VM-60B1 CEILING-MOUNT OPTION

Specifications
VM-6083 VM-60B1

Number of axes 6
Overall arm length (mm) 830 1,110
Second-arm width (mm) 130
Reach (to center of 5th axis, mm) 1,021 1,298
Minimum motion area (mm) 393 404
Maximum payload (kg) 13
Weight, approx. (kg) 82
Footprint (mm) 300 300
Cycle time (sec) 0.89 (with 5 kg weight) 0.95 (with 5 kg weight)
Maximum composite speed (mm/sec) 8,300
Maximum joint speed (/sec) J1: 225 J2: 168 J3: 187 J4, J5: 375 J6: 600
Repeatability1, 2 (mm) 0.05 0.07
Maximum allowable moment of inertia (kgm2) J4, J5: 0.36 J6: 0.064
Range of motion () J1: 170 J2: +135, -90 J3: +165, -80 J4: 185 J5: 120 J6: 360
Position detection Absolute encoder
Drive motors and brakes AC servomotors for all axes; brakes on 2nd, 3rd, 4th, 5th and 6th axis
Air piping (in-arm integrated) 7 systems (4 6, 6 x 1), three 2-position double solenoid valves
Wiring (in-arm integrated) 10 lines (max 1 A per line)
Standard: IP40
Protection class
Options: IP65/54 (wrist/unit) dust- and mistproof; cleanroom ISO 5
Ceiling-mount 3

1. At constant ambient temperature. 2. In all directions. 3. All except cleanroom models, which can be floor-mounted only.

24 VM SERIES
 www.densorobotics.com

90 590 (445) 84.96 (145.91)

6 84 330.6 259.4
(114.4)
External Dimensions and Workable Space [ VM-60B1 ]
Workable space
defined by point P 90 590 (445) 84.96 (145.91)
6084 Point P 259.4
330.6
12 (114.4)

58
_ 168
J5

82
114
A
Workable space

100
defined by point P + 12 J3
0 + _
Point P
2 0 2-M6, Depth 14 80
_1

100(385)58
168

(1316.09 )
.38

325 (205)
120
J5 R 95

82
114
A 1118.4 R7

DENSO 5- & 6-AXIS ROBOTS

1 (84 J3

520
1153 (1018) 1153 (1018)
+ 12 1.09) + _
0

1953.41
J2 80

90
2-M6, Depth 14

13

+ _ 120

)
.38

(205)
520 (385)

491.11 (253.33) 1953.41 (1316.09

R111 B 95 B

185 290 325185

Detailed drawing of end-effector mounting face 8.41 ( R7
(View A) 841.0
9)

475
2.6 5
5
(21 23.4
131)

90
J2

+ _

R2
50
h8 0 drawing of end-effector mounting face B B
Detailed
-0.0
39
(View A)

R598.41(45

475
2.6 5
(21 23.4
1)

290
R2
50 6H7 +0.012
0
h8 0
9 Depth

6.1)
-0.0
39 180

491.11 (253.33)
R598.41(45
1
.02 ]
7 [
+0 0
7.5
5H 9.5 4-M6,6H7
Depth+0.012
09
2 pth (P.C.D.40)
9 Depth
De
6.1)
180
1
+0
.02
.5]
7 0 [7
2 5H h 9.5 4-M6, Depth 9
pt (P.C.D.40)
De

Workable space
defined by point P

R4
03
Workable space .45
(R 215 190
defined by point P 39
2.6
1)
R4 Depth 14
Point P 2-M6,03 170
.45
(R 215 190
50

J6 J4 39
2.6
1)
19 2
15 0
13 0

90

Detailed drawing of base mounting face

Point185
360 2P-M6, Depth 14 170
(B-B view)
2-M4, )
J6 Depth
J4 10 170
50

250 .09 130

0 21 (21)
(R1
19 2
15 0
13 0

90

1 434 (289)
Detailed drawing of base mounting face 8.4
29
360 185
R1
(B-B view)
2-M4, Depth 10 ) 170
250 .09 130
21
150

0 (21)
1 (R1 434 (289)
8.4
29
250
240

192

J1 rotation center R1
0.1
155150

30
250
240

192

25 J1 rotation center
190 25 4-14.5 hole
Standard face
155 0.1

155 0.1 150 (for M12 screw)

30

25 190 25 4-14.5 hole Values in parentheses ( ) are for VM-6083.

Standard face
Values in parentheses ( ) are for 150
155 0.1 (for M12
VM-6083. Values screw) [ ] are for cleanroom model (ISOValues
in brackets 5). in brackets [ ] are of for cleanroom model (ISOUnit
5) : mm
Legend
VM - 6 0 -

Midsize articulated robot Axes: Maximum payload: Total arm length: Options:
6: 6-axis 0: 13 kg 83: 1000 mm None: Standard W: Dust and mistproof (wrist: IP65, unit: IP54)
B1: 1300 mm P: Cleanroom (ISO 5)

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

VM SERIES 25
 DENSO 4-AXIS ROBOTS

The DENSO four-axis robot lineup consists of the HS-A1, HSR, HM and XR Series,
each with a different range of arm lengths and payload capacities.

Four-axis robots are also known as SCARAs (selective compliance articulated

robot arms). They are suited for tasks that require high speed and precision in
the horizontal direction.

Typical Applications

z Assembly z Nut and screw driving

z Dispensing z Packaging
z Encapsulating and potting z Parts finishing
z Grinding z Pick and place
z Insertion z Polishing
z Inspection z Press fitting
z Labeling z Soldering
z Laser welding z Spot welding
z Machine tending z Surface finishing
z Machining z Test handling
z Material handling z Ultrasonic welding
z Material removal

Main Features

z Cycle times from 0.28 sec to 0.35 sec

z Repeatability from 0.01 to 0.025 mm
z Maximum composite speed from 6,300 to 11,450 mm/sec
z Reaches from 350 to 1,000 mm
z Payloads up to 20 kg

Options

z Standard protection (IP40)

z Dust- and mistproof (wrist IP65, unit IP54)
z Cleanroom (ISO 3)
z UL-listed
z Ceiling-mount

26 DENSO 4-AXIS ROBOTS

 www.densorobotics.com

Dust- and
Cleanroom mistproof UL-listed
HS-A1 model model model

HS-035A1 HS-045A1 HS-055A1

Maximum payload (kg) 5
Total arm length (mm) 350 450 550
Vertical stroke (Z, mm) 100/150/200/320

Floor 4 4 4
Standard (IP40)
Ceiling 4 4
Floor 4 4 4
Dust- and mistproof (IP65)
Ceiling 4 4
Floor 4 4 4
Cleanroom (ISO 4)
Ceiling
Floor 4 4 4
Bellows only
Ceiling 4 4

DENSO 4-AXIS ROBOTS

Ceiling-mount
HSR model

HSR048A1 HSR055A1 HSR065A1

Maximum payload (kg) 8
Total arm length (mm) 480 550 650
Vertical stroke (Z, mm) 100/200/320 **NA/170/290

Floor 4 4 4
Standard (IP40)
Ceiling 4 4 4
Floor 4 4 4
Dust- and mistproof (IP65)
Ceiling 4 4 4
Floor 4 4 4
Cleanroom
Ceiling 4 4 4
Floor 4 4 4
UL-Listed
Ceiling
** Bellows/Dust/Mist/Clean

Dust- and
mistproof UL-listed Ceiling-mount
HM model model model

HM-4060/HM-4A60 HM-4070/HM-4A70

2
3
4
2
3
4
Maximum payload (kg) 10/20 10/20
Total arm length (mm) 600 700
Vertical stroke (Z, mm) 200 300 400 200 300 400

Floor 4 4 4 4 4 4
Standard (IP40)
Ceiling 4 4 4
Floor 4 4 4 4 4 4
Dust- and mistproof (IP65)
Ceiling 4 4 4

HM-4085/HM-4A85 HM-40A0/HM-4AA0

2
3
4
2
3
4
Maximum payload (kg) 10/20 10/20
Total arm length (mm) 850 1000
Vertical stroke (Z, mm) 200 300 400 200 300 400

Floor 4 4 4 4 4 4
Standard (IP40)
Ceiling 4 4 4
Floor 4 4 4 4 4 4
Dust- and mistproof (IP65)
Ceiling 4 4 4
*Placeholder for Z-stroke value.

DENSO 4-AXIS ROBOTS 27

 HS-A1 SERIES 350550 mm Supported Robot Controllers

The new HS-A1 Series robots offer higher speed and accuracy than previous HS models.

z Motor performance optimized for use with the latest RC8A controller,
improving standard cycle time to 0.29 sec., an increase of 20%
z Highly effective vibration damping of tool center-point improves
accuracy in high-speed operations
z Exceptional repeatability of 0.015 to 0.02 mm
z Payloads up to 5 kg
z Reaches from 350 to 550 mm
z Vertical stroke option of 100, 150, 200 or 320 mm
z High maximum allowable moment of inertia enables wide range
of end-effectors and applications
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount models available
z Operation in dusty and wet environments (IP65 option)
z Operation in cleanrooms (ISO 3 option)
z ANSI and CE compliance allows global deployment
z UL models available for the US and Canada

Specifications
HS045A1
HS035A1-N* HS045A1-N/S* HS055A1-N/S*
Number of axes 4
Position detection method Absolute encoder
Drive motor and brake AC servo motor all axes; brakes on Z and T axes
Total length of arm (arm #1 + #2) 350 (125 + 225) mm 450 (225+225) mm 550 (325+225) mm
J1 (Axis 1) 155
Range of J2 (Axis 2) 145
motion () Z (Axis 3) *=10: 100 mm, *=15: 150 mm, *=20: 200 mm, *=32: 320 mm
UL
T (Axis 4) 360
Maximum payload 5 kg

Maximum joint Arm tip 7,200 mm/sec 6,300 mm/sec 7,100 mm/sec
speed (tool Z 2,000 mm/sec
center point)2 T 2,400/sec
Standard cycle time 2 0.29 sec
J1+J2 0.015 mm 0.02 mm CLEAN ROOM
Repeatability1 Z 0.01 mm
T 0.005
Maximum downward force 98 N (1 sec. max.)
Maximum allowable moment of
0.1 kgm2
inertia
Air piping (in-arm integrated) 4 systems (4 2, 6 2)
User signal line 19 lines (for proximity sensor signals, etc.)
Normal pressure 0.05 to 0.35 MPa DUST & SPLASH PROOF
Air source Maximum
allowable 0.059 MPa
pressure
Airborne noise 80 dB max.
Protection level Dust- and splashproof (IP65) optional Cleanroom ISO Class 3 optional
Weight Approx. 25 kg
*Placeholder for Z-stroke value. 1. At constant ambient temperature.
2. Time required for robot to lift an object to a height of 25mm and move it back and forth between two points 300mm apart.

28 HS-A1 SERIES
 www.densorobotics.com

Z-Axis Stroke: ST (mm) L1 L2 L3

External Dimensions and Workable Space * =10 : 100 596 246 146
* =15 : 150 647 246 96
* =20 : 200 697 246 46
* =32 : 320 817 246 -741
Above dimensions are for standard models, please see our website for other variations.
1. Since the lowest point of the Z axis when its strok is 320 mm is lower than the base
mounting surface, care must be taken to avoid interference with peripheral devices.

Detailed drawing of end-effector

mounting face (View from Arrow D)

DENSO 4-AXIS ROBOTS

Flange option

Detailed drawing of base mounting face (Top view)

Model A B C
HS035 350 125 143
HS045 450 225 136
HS055 550 325 191

Unit : mm
Legend
HSA1---NNNNN -NNNN
Safety Specifications:
N: Standard
Arm Length: Environmental U: UL-compliant
NN: Standard Mounting Z-axis Stroke: Protection:
W5: Dust- and splashproof (IP65) Orientation: 10: 100 mm NN: Standard
JN: Bellows N: Floor-mount 15: 150 mm W5: Dust- and splashproof (IP65)
S: Ceiling-mount 20: 200 mm C3: Cleanroom (ISO Class 3)
32: 320 mm JN: Bellows

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

HS-A1 SERIES 29
 HSR SERIES 480650 mm Supported Robot Controllers

The new HSR Series robots use advanced vibration control, a newly designed, highly rigid lightweight arm and
improved heat dissipation to enable continuous high-speed, high-precision operation.

z Continuous operation at maximum rated speed and with

highest repeatability
z Applications include high-speed, high-precision pick and
place in assembly and packaging processes
z Standard cycle time from 0.28 to 0.31 sec.
z Maximum payload capacity 8 kg
z Available reaches of 480, 550 and 650 mm
z Compact, space-saving design facilitates integration
z High maximum moment of inertia allows wide variety of end
effectors and applications
z Floor- or ceiling-mount models available
z Internally embedded electrical wiring and air piping
z ANSI and CE compliance enables global deployment

Specifications
HSR048A1-N/S* HSR055A1-N/S* HSR065A1-N/S* HSR055
Max Arm reach ( J1 + J2 arm) 480 (205 + 275) mm 550 (275 + 275) mm 650 (375 + 275) mm
J1 (Axis 1) 155
Range of J2 (Axis 2) 143.5 150 150
motion () Z (Axis 3) *=10: 100 mm, *=20: 200 mm, *=32: 320 mm
T (Axis 4) 360
Axes combination J1 (No.1 axis) + J2 (No. 2 axis) + Z (No. 3 axis) + T (No. 4 axis)
Maximum payload 8 kg
CEILING-MOUNT
J1 450
Maximum joint OPTION
J2 785
speed (deg/s,
mm/s) Z 100st: 1700 mm/s, 200st: 2300 mm/s, 320st: 2475 mm/s
T 2500
Cycle time (with
(S) 0.28 0.31
2 kg weight)
J1+J2 0.01 mm 0.012 mm
Repeatability1 Z 0.01 mm
T 0.004
Maximum downward force 98 N (1 sec. max.)
Maximum allowable moment of
0.12 kgm2
inertia
Position detection Absolute encoder
Drive motors and brakes All-axis servo motor/Z-axis, T-axis with brake
Air piping (in-arm integrated) 4 systems (4 2, 6 2)
User signal line 19 lines (for proximity sensor signals, etc.), Ethernet (8 lines) (option)
Normal pressure 0.05 to 0.35 MPa

Air source Maximum

allowable 0.059 MPa
pressure
Airborne noise 80 dB max.
Weight Approx. 31 kg Approx. 32 kg
*Placeholder for Z-stroke value. 1. At constant ambient temperature.

30 HSR SERIES
 www.densorobotics.com

Z-Axis Stroke: ST (mm) L1 L2

External Dimensions and Workable Space * =10 : 100 555.2 120

68 275 B
* =20 : 200 555.2 20
* =32 : 320 775.2 -100 (Note 1)
Above dimensions are for standard models, please see our website for
other variations. Note 1: If the Z-axis stroke is 320 mm, the lowest point
of the Z-axis is lower than the base mounting position. Pay attention to
interference with peripherals.
L1

G 46
F

488
449
325
220
ST

36
E E
179

13 10
.5
L2

C0
18
25h7 ( -0.021 )
0

Workable space
205 190
Cable space

Workable space

DENSO 4-AXIS ROBOTS

E

Existing screws for wiring D 260

2M4 48
Depth 7 133

6.5
36
180.7
282.6
160
136

42

2
34h7

70
C

2
.0

12
0

0
A

28

.0
-360 (Workable space) +360 (Workable space)

2
4X5.5

5H70 +0.012
View F
Existing screws for wiring 4M3
4X12 225
Depth 6
80

45 45
60
60
50

30 180
1760.05

(275)
200
160

Model A B C D E
100 1240.05 2X6H7 ( +0.012
0 HSR048A1-N* 480 205 164.4 287 406.53
) HSR055A1-N* 550 275 142.4 300 364.32
HSR065A1-N* 650 375 194.0 300 287.62

Legend
HSR A1 - - - N NN - NNNN
Robot name: External battery: Unit : mm
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, 550 mm, 650 mm NN: Standard type
W5: Dust & splash proof type (IP65) *1: External battery units are sold separately.
C3: Cleanroom type (ISO Class 3) *2: For W5/C3/JN variants
JN: Bellows type

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

HSR SERIES 31
 HM SERIES 600-1000 mm Supported Robot Controllers

The DENSO HM-Series robots offer longer reaches and higher payload
capacities than the HS-Series models.

z Fast cycle times from 0.29 to 0.31 sec

z Exceptional repeatability of 0.02 to 0.025 mm
z Long reaches from 600 to 1,000 mm
z Large payloads up to 20 kg
z High maximum allowable moment of inertia
z Compact design saves floor space, facilitates integration
z Floor- or ceiling-mount models available
z Operation in dusty and wet environments (IP65 option)
z ANSI and CE compliance allows
global deployment HM-4A60 HM-4A70 HM-4A85 HM-4AA0

Specifications
HM- HM- HM- HM- HM- HM- HM- HM-
4060* 4A60* 4070* 4A70* 4085* 4A85* 40A0* 4AA0*
Number of axes 4
Maximum arm reach (mm) 600 700 850 1000
First-arm reach (mm) 250 350 350 500
Second-arm reach (mm) 350 350 500 500
J1 165
Range of J2 143 147
motion () Z (mm) 200, 300, 400
T 360
Position detection Absolute encoder
Minimum motion area (mm) 213 199 281 284
Maximum payload (kg) 10 20 10 20 10 20 10 20
Weight, approx. (kg) 53
Footprint (mm) 220 220
Cycle time (sec) 0.29 (with 2 kg weight) 0.31 (with 2 kg weight)
Maximum composite speed (mm/sec) 8,780 9,570 11,450 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
J1+J2 (mm) 0.02 0.025
Repeatability1 Z (mm) 0.01
T () 0.005
Maximum force fit (1 sec or less, N) 98
0.25 (with 0.45 (with 0.25 (with 0.45 (with 0.25 (with 0.45 (with 0.25 (with 0.45 (with
Maximum allowable moment of inertia (kgm 2) 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg 10 kg 20 kg
weight) weight) weight) weight) weight) weight) weight) weight)
Wiring (in-arm integrated) 24 lines (max. 1 A per line)
Air piping (in-arm integrated) 4 systems (6)
Protection class Standard: IP40; option: IP65 (dust- and mistproof)
Ceiling-mount - - - -

*Placeholder for Z-stroke value. 1. At constant ambient temperature.

32 HM SERIES
 www.densorobotics.com

S L1 L2 L3
External Dimensions and Workable Space
(Z-axis stroke) 10 kg 20 kg
70 C B 95 200 855 849 350 150
60 300 955 949 350 50
400 (*1) 1055 1049 350 -50
*1: If Z-stroke is 400 mm, the lowest point of the Z-axis will achieve a position lower than
the base mounting surface.

Detailed drawing of end-effector

mounting face (View E)2

8.5
181

G G

39.2
L1

27

8 10
R
2X
100

E 17
(19)
22
(26)
464

450
3N9 ( -0.004
-0.029 )
346
L2

340

(24.5)
20.5
L3

Workable space
G-G
128 190 (Cabling space)

DENSO 4-AXIS ROBOTS

188

Flange (option)2

40 (58)

0
2 (36.5)
33

6.5 (50h7)
F 34h7
70 (95)
130

.0 2)
0 0.0
2

0
12
28 8

0
(3

D -360 +360
.0
2
(Workable space) (Workable space)

4-5.5
A

(4-6.5) 5H7 ( +0.012

0 )
(6H7 (+0.012
0 ))

Workable space
45 45
(8 60
60 0)

0)
(8

Detailed drawing of base mounting face (Top view)

220 2. D
 imensions of figure based on 10 kg load capacity
2X8H7 ( +0.015
+0 ) 175 (HM-40 ); dimensions of end-effector mounting-face
(Reference hole) flange (option) in parentheses based on 20 kg load
R2000

600.05 capacity (HM-4A ).

4-R20 4X14.3

Model A B C D F
2000.05

HM-4060, HM-4A60 600 250 350 213 286

175
220

R2000 HM-4070, HM-4A70 700 350 350 199 294

HM-4085 , HM-4A85 850 350 500 281 294
HM-40A0, HM-4AA0 1000 500 500 284 294

Values in parentheses ( ) are for 20 kg models. Unit : mm

Legend
HM - 4 -

Midsize 4-axis robot: Orientation: Axe: Maximum payload: Total arm length: Vertical stroke: Options:
None: Floor 4: 4-axis 0: 10 kg 60: 600 mm 2: 200 mm None: Standard (IP40)
S: Ceiling A: 20 kg 70: 700 mm 3: 300 mm W: Dust- and mistproof (IP65)
85: 850 mm 4: 400 mm UL: UL-listed
90: 1000 mm

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.

HM SERIES 33
 XR SERIES Supported Robot Controllers

The XR-Series four-axis compact gantry robots feature a flexible

SCARA robot combined with a ceiling-mounted, long-stroke
Cartesian robot. They have a highly efficient, space-saving design
yet a wide range of motion.

z Extremely compact, integrated gantry design uses up to

40% less valuable factory floor space than a
conventional SCARA
z Ceiling- or wall-mount maximizes work area
z Fast cycle time of 0.53 sec
z Outstanding repeatability of 0.015 mm
z Integrated gantry with long X-axis stroke
allows conveyorless operation in many
applications, saving up to 20% in
capital-equipment costs

Specifications
XR-43411 XR-43711 XR-43721 XR-43731 XR-43A11 XR-43A21 XR-43A31

Number of axes 4
Arm length (mm) 200 200 250 300 200 250 300
Axis combination X axis + R axis + Z axis + T axis

Maximum payload (kg) 5

Weight, approx. (kg) 33 45 46 47 51 52 53

Cycle time (sec) 0.53 (with 1 kg weight)

X axis (mm) 450 760 1060

Range of motion R axis () 168
and stroke Z axis (mm) 135
T axis () 360
At center of
Maximum hand (X + R, 3,650 3,600 3,240
composite mm/sec)
speed Z (mm/sec) and
T () Z: 1,500; T: 720

Maximum joint speed X: 124165 mm/sec R: 382573/sec Z: 1,500 mm/sec T: 720/sec

X and R (mm) 0.015
Repeatability 1 Z (mm) 0.010
T () 0.005
Maximum force fit (1 sec or less, N) 98
Maximum allowable moment of
0.05
inertia (kg/m2)
Position detection Absolute encoder
Drive motors and brakes AC servo motors for all axes; brake for Z axis
Brake releasing Enter brake-release command with Teach Pendant or Mini Pendant
Air piping (in-arm integrated) 1 system (8); 4 systems with optional manifold valve ( 4 8)
Wiring (in-arm integrated) 10 lines (max. 1 A per line)
Operating
0.050.35
pressure
Air source (MPa)
Maximum
0.59
allowable pressure
1. At constant ambient temperature.

34 XR SERIES
 www.densorobotics.com

External Dimensions and Workable Space (X-axis = 450 mm)

(1001.7)
(127.7) 874
750.5 (123.5)

84
192

200
210
340
Workable
space

Point P 60

36.2 200
(R-axis stroke)

(Z-axis stroke)
Z=135.200
Point P 5H7(+0.012
0 ) Depth 7
(P.C.D. 31.5)
40h 4XM5 Depth 8
8(-00.0
Workable space 39 )
A th 6
+0.02
1 ) Dep
7(
20H
0

(922.4)
(1011.7)
(821.7) 190
(71.2) (596.7) (Cabling space)

DENSO 4-AXIS ROBOTS

2700.05 147.5

(231.5)
248
291
439.2
45
46

(236.2)
64

Point P
4X6H7( +0.012
0 )
(Reference hole)
12X6.6 100
(Robot mounting hole) 5X100=500 167.5
450 192
(X-axis stroke)

850
450
(X-axis stroke)
195.6
168

168

(R-axis rotation)
_
(R-axis stroke)

0 +
200

Point P

Workable space
_ +
360 360
T-axis rotation
Unit: mm
Legend
XR - 4 3

Integrated gantry Axes: Maximum payload: X-axis stroke: Total arm length: Z-axis stroke:
robot 4: 4-axis 3: 5 kg 4: 450 mm 1: 200 mm 1: 135 mm
7: 760 mm 2: 250 mm 2: 200 mm
A: 1,060 mm 3: 300 mm

XR SERIES 35
 RC8A ROBOT CONTROLLER

Worlds smallest size*

The worlds smallest high-performance 8-axis controller
Compact size saves factory floor space, facilitates integration.
*For robot controllers supporting 6-axis robots (3 kw class).

Advanced functions and usability

Greatly improved ease of use
Improved functionality with easy-to-use interface.
Significant advancements in Teach Pendant usability.

Trusted global standard

Compliant with ISO Safety Requirements for
Industrial Robots (ISO 10218-1:2011)
Allows global deployment.

Optional Safety Motion

Highly flexible and expandable

Improved adaptability to diverse operating environments
Many different devices can be connected and controlled to meet a wide range of needs.

36 RC8A Robot Controller

 www.densorobotics.com

Lightweight (RC7M: 22 kg, RC8A 10 kg)

RC8A

RC7M

320

RC8A
10 kg

410

ROBOT
ROBOT CONTROLLERS
CONTROLLERS

RC8A Robot Controller 37

 RC8A Robot Controller

Fieldbus Industrial EtherNet

Graphical Programming for Advanced Robotics

Expandability

If a provider that supports

external devices is available,
you can access the provider
from PacScript to create a
program that allows control
from the RC8A.

38 RC8A Robot Controller

 www.densorobotics.com

Robot can be directly

controlled by PLC or PAC Flexibility

The RC8A robot controllers I/O command-slave functions allow DENSO robots to be directly
controlled by Rockwell, Omron, Mitsubishi and Siemens PLCs or PACs.

By keeping the programming software for all their devices in a single-platform, master control center,
companies can more easily manage the data they collect and make it readily accessible to the
Industrial Internet of Things.

ROBOT CONTROLLERS
z Easily program, operate and support robot from familiar PLC or PAC interface
z Control robot directly using DENSO PacScript commands in native language of PLC or PAC
z Execute most robot commands, such as palletizing, compliance control, etc.
z Seamless, high-speed connection via Ethernet/IP, CC-Link or Profinet
z Safety Motion Option

RC8A Robot Controller 39

 RC8A Robot Controller

Specifications
VP VP VS VS VM HM XR HSR HS-A1
Applicable robots
-5243/6242 -6242G2 -050/060 -068/087 -6083/60B1 -4* * * * * -43* * * 1
Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 2.45 1.80 1.80 1.80
Three-phase, 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1)
Power Input voltage range
Single-phase, 230 VAC -10% to 240 VAC +10% N/A Single-phase, 230VAC -10% to 240VAC +10%
Power supply frequency 50/60 Hz
Power cable 5m
Controllable axes 5/62 62 42
Control method PTP, CP 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes)
Drive method Digital AC servo on all axes
Language used DENSO Robotics language (PacScript)
Memory capacity, user area User area-Variable area: 1.75 MB (equivalent to 32,766 points); File area : 400 MB (5,000 steps 256 files)
Teaching system Remote teaching, Numerical entry (MDI), Direct teaching (HM, HSR and HS-A1 Series only)
Standard type/Safety
motion type Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points
Mini I/O
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
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: 8,192 points max. / Output: 8,192 points max.
External (Option) Remote register input: 2,048 words max. / Output: 2,048 words3
signals
(I/O, etc.) DeviceNet Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.
DeviceNet Master Board (Option) Expansion slot: PCI Express / Input: 1,024 points / Output: 1,024 points
EtherNet / IP Adapter Board (Option) Expansion slot: PCI Express / Input: 4,032 points max. / Output: 4,032 points max.
PROFIBUS Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.
PROFINET I/O Device Board (Option) Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.
EtherCAT Slave Board (Option) Expansion slot: PCI Express / Input: 2,048 points max. / Output: 2,048 points max.
External communication RS-232C: 1 line; Gigabit Ethernet: 1 line; USB: 2 lines; VGA: 1 line (Option)
Expansion slot PCI: 1 slot; PCI Express: 1 slot
Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring), etc.
Environmental requirements (when operating) Temperature: 0 to 40 C; Humidity: 90% or less RH (no condensation)
Standard type: (Safety I/O) Category 4, PL e
Safety category Safety motion type: (Safety I/O) Category 4, PL e / (Motion I/O) Category 3 PL d
Protection class IP20
Weight Safety I/O less type, standard type: approx. 10 kg, safety motion type: approx. 11 kg4
1. Power for 100 VAC specification: Single phase 100 VAC -10% to 110 VAC +10% 50/60 Hz, 1 kVA.
2. Up to two additional axes optional. Power modules, motors and cabling not included.
3. For Version 2.00.
4. Does not include supplied cables.

Expansion board slot (PCI Express) Mini I/O universal / dedicated connector Power connector
Teaching-pendant connector
Safety Motion I/O (option) Expansion board slot (PCI) Hand I/O connector Power switch

Motor connectors
Gigabit Ethernet RS-232C Status LED Motor connector
USB USB (for extended-joint support)
VGA (option) Encoder connector

40 RC8A Robot Controller

 www.densorobotics.com

Dimensions

93.8
3
319.6

84 Unit : mm

53.8 356.5

ROBOT CONTROLLERS
System configuration diagram

PROFINET
EtherCAT

PLC Monitor Camera

RC8A Robot Controller 41

 DENSO Software Overview
Software solutions that produce results
From implementation to maintenance, we offer a variety of helpful tools to make our robots easy to use.

Manage robots from a PC

Implementation Development Control Maintenance

Programming Simulation Utility

Develop robot application Create a simulated environment Maintain and support
programs for multiple robots installed robots
WINCAPS EMU, VRC Robot Tools

Interface to link devices to

a PC environment

ORiN2 SDK

Connectivity
Robot Control
from a PLC
IO Slave

Software

zW
 INCAPS z E MU
Offline programming and Robot simulation software
monitoring software Enables 3-D simulation of multiple
Software to program robots on a robots (max. 16)
PC using DENSOs PAC language
or PACScript, in a simulated 3-D z V RC
environment Virtual robot controller
for RC8A

z R obot Tools z O RiN2 SDK

Utility software Middleware for PC
Software to support optimum robot Middleware to develop application-
maintenance and operation, to reduce program providers based on ORiN2
running costs and daily maintenance specifications

42 DENSO Software Overview

WINCAPS
Offline programming and
monitoring software
WINCAPS III enables users to program, design,
implement and monitor their robot applications on a PC.

Functions

z Program creation z 3-D arm view

Uses DENSOs PACScript Editor for programming tasks. Displays robot and peripheral devices in 3-D and simulates robot
Includes the following functions: motion on a PC.
Line-number display Color support for commands Import 3-D graphic data (VRML and DirectX formats)
Command input support (displays input candidates) Check for interference with equipment
Indent display Comment block Bookmarks Measure cycle time of a created project

Click on an object to move it to a robot end-object and obtain that

position data (3-D view teach)

z Embedded commands for program bank functions
Programs created by users can be registered for use by other
z Log function
robot applications. Includes pre-registered functions as sample
programs, such as: Users can view the following logs:
Palletizing Tool operation Error log Operation log Trace log
Control log (command position of each axis, encoder value, current value,
Arm motion Create TP panel screen
payload rate, etc.)
Variables (PRO name and variable name, type, written value, write source, etc.)

z Panel screen editor I/O log (port, type, status, initial value)

Servo minor-axis data log (speed reference value, actual speed, torque
Create a panel screen for a Teach Pendant.
command, deviation angle, absolute current value)

z Easy calibration z Online functions

Connect to robot controller to use the following functions:
Three types of calibration can be used:
[ Monitor function ] Monitor robot status
Corrects the CALSET value. Overwrites a CALSET value with the
3-D view display Variables Execution program
CALSET correct value based on a standard position when a motor is replaced
or the CALSET value is lost.
Receive and save log data
Corrects the value of the selected TOOL. Use when a hand or other [ Debug functions ] Execute programs in robot controller from PC
TOOL
end-effector is created, recreated or replaced. Adjust robot speed Reset all programs

SOFTWARE / PERIPHERALS
Corrects the value of the selected WORK. All WORK coordinates Start/stop supervisory tasks Program start
WORK that were set when the robot mounting position changed can be Step stop, cycle stop, suspend (halt), program reset
corrected in a single step.
Step feed Simulate dedicated I/O settings

Functions Full-Function Version Light Version1 Trial Version2 1. Included with Mini Pendant.
2. Included with robot.
Create new program/edit program 4 4 4 5
3. Limited number of libraries can be used.
Program bank 4 43 43 4. Sampling interval 1 sec.
3-D CAD data import 4 5. One program only (PRO1).
3-D view teach 4 4 4
Simulation function 4
Debug function 4
System requirements:
Monitoring 4 44 44
OS: Windows XP, Vista, Windows 7, Windows 8, Windows 10
Movie-save function 4 4 4
PC: CPU Pentium IV, 1.5 GHz, 512 MB RAM, 500 MB HDD
Print 4 Five languages supported :
Simple calibration 4 4 4 English, Chinese, German, Japanese, Korean
Windows is a trademark or registered trademark of Microsoft Corporation in the United States and other countries.

WINCAPS 43
ORiN2 SDKSDK
ORiN2
Integration Middleware for PCs
Development
tools

ORiN2 SDK is a software tool kit used to develop an application

program or provider based on ORiN2 specifications. It provides a
standard communication interface for robots as well as various Application
interface
FA peripherals and databases.

ORiN2 SDK has a wide variety of functions to support

development, including a CAO engine, test program, sample
program and skeleton-provider auto-generate tool.
Device
The superior expandability of ORiN2 supports not only industrial interface

robots, but a variety of devices, such as PLCs, CNC machine

tools, bar code readers and RFID, to enable application
development independent of manufacturer or model.
FA devices

Robot PLC Sensor Monitor Camera

Features

z Provides standard interfaces

ORiN2 enables easy system development that supports distributed-object technologies such as DCOM and SOAP, and provides two
standard interfaces, one for applications and one for devices.

z Recycles applications
Equipped with a gateway to reciprocally connect with different standards (OPC and UPnP) and improve reusability of existing
applications.

z Development tool options

Use any development tool that supports OLE (COM, ActiveX) , such as:
Visual C++ C++ Builder Visual BASIC Delphi LabVIEW Excel

z Create an original provider

With Provider Wizard, a user can create an original provider to expand functions.

ORiN2 Software Development Kit (ver 2.1.13)

Package Type
Provider Development Runtime + Utilities Set Runtime DENSO Products
Provider Development + Execution Environment + Execution Environment
Purpose Execution Environment
Execution Environment Expanded Components (DENSO Products only)
Application Support Binary Source Support Binary Source Support Binary Source Support Binary Source
CAO engine 4 4 4 4 4 4 4 4
CAO provider development tools 4 4
4 4 4 4 4 4 4 4 4
CAO provider (quantity)
15 97 59 15 97 0 15 97 0 13 17 0
Test and configuration tools 4 4 4 4 4 4 4 4
CAOOPC 4 4 4 4
CAOSQL 4 4 4 4 4 4 4 4
CAOUPnP 4 4
CAOScript 4 4

System requirements: OS: Windows 2000 SP4 or later, Windows XP SP1 or later, Windows Vista , Windows 7, Windows 8, Windows 10; PC: CPU Pentium, 1 GHz, 512 MB RAM, 500 MB HDD

Windows is a trademark or registered trademark of Microsoft Corporation in the United States and other countries.
OPC is a trademark or registered trademark of the OPC Foundation in the United States and other countries. ORiN is a trademark or registered trademark of Japan Robot Association.

44 ORiN2 SDK
Robot
RobotTools
Tools

Robot Support and Maintenance Software

Robot Tools is a fully featured suite of utility tools created for optimum operation
and maintenance of DENSO robots. DENSO FACTORY WARE

The software streamlines daily maintenance workflow and reduces the running
costs of a robot after installation.

Product Features

z GP Operator:
Connect a robot controller to a PC and use a mouse or game pad for easy robot operation. Allows teaching to a designated
variable (P type, J type or T type) to assist developer teaching, in which a PC is used to control a robot.

z Image Logger:
Help to determine causes of sudden error and incorrect assembly of your equipment. Capture images related to the error and
save equipment data (I/O, variable, etc.) at the time of the occurrence. Specify the error cause through validation of the images
and data to contribute to equipment improvement.

z Virtual TP:
A virtual Teach Pendant on the PC works with a controller set to manual mode, allowing various controller settings (GUI) to be
configured and monitored, even from a remote location. Makes maintenance easier and helps the user create settings when
no Teach Pendant or Mini Pendant or is available.

z Mobile Monitor:
Monitors controller operating status and enables quick response to an error by sending an error-notification e-mail to a
portable device when an operator is offsite. Contributes to easier maintenance and task efficiency.

z Control Log Analyzer:

Obtains the control log from a designated
controller and automatically displays it in a graph.
The graph can be used to analyze robot control
status (such as detection of NG waveforms), or
the control log can be entered to a database to
be compared with past data. Makes

SOFTWARE / PERIPHERALS
maintenance easier and visualizes
(quantifies) an error occurrence.

z Easy Backup:
Performs backup and batch-
restores all data from multiple
controllers. Automatic Easy Backup
reduces task time and Easy Restore
enables fast recovery when an error
occurs. Contributes to improved
maintainability and task efficiency.

System requirements: OS : Windows 2000 SP4 or later, Windows XP SP1 or later, Windows Vista, Windows 7, Windows 8, Windows 10; PC: CPU Pentium, 1 GHz, 512 MB RAM, 500 MB HDD

Robot Tools 45
 Support
ORiN2 SDK
Phone

z 888-4-ROBOTX (888-476-2689)

Website

z www.densorobotics.com
Our website offers complete robot and controller specifications, as well as downloadable CAD files, installation and maintenance
guides and other product literature.

Training

l For course descriptions, schedules, costs and locations, visit

our website and click Training.
www.densorobotics.com/training

We understand the importance of product training. That is why we offer you comprehensive operator, programming
and maintenance training for all our robots. Courses are available for both end-users and robot integrators.

We have fully equipped training facilities at our main training and applications center, which is centrally located in
West Chester, Ohio, as well as at our satellite research, development and training center in Long Beach, California.
On-site training at your location can also be arranged.

Our training sites feature:

z Friendly, knowledgeable and experienced trainers

z Dedicated classrooms
z Dedicated training robots (no more than two students per robot)
z Dedicated computer workstations and offline simulation software
Our small class sizes and low student-to-trainer ratios make learning easier and more effective. Students benefit from a
variety of classroom sessions, computer-workstation interaction and hands-on robot training. Students who successfully
complete their courses receive official DENSO factory training certification.

Application Support

We offer complete application feasibility studies for cycle time,

reach and payload. [DENSO Robotics Americas Application Support]
TEL: 888-4-ROBOTX (888-476-2689)
E-mail: robotics_applications@densodrive.com
Western Regional Office
Hours: 8:30 a.m. to 5:00 p.m. Pacific Time
Eastern Regional Office
Hours: 8:30 a.m. to 5:00 p.m. Eastern Time

46 Support
 www.densorobotics.com

Service and Repair

z Customers in the Americas

Service Description
1 Repair (1) On-site repair: Service technician travels to customer site to perform repairs.
(2) DENSO in-house repair: Customer sends parts to DENSO Service Center for repair.

2 Scheduled Inspection Service technician travels to customer site to perform scheduled inspection and maintenance.
and Maintenance

3 Refurbishment (1) Inspection and repair of an idle robot or a robot to be relocated.

(2) Complete disassembly and refurbishment of mechanical and electrical as needed.

4 Full Service Includes the following full range of services:

(Annual Contract) (1) Bi-annual preventative maintenance service.
(2) Scheduled maintenance inspection (one per year).
(3) On-call telephone maintenance and technical support.

5 Maintenance Training (1) Robot maintenance course at DENSO Training Center.

Students learn scheduled maintenance and inspection as well as parts replacement; two days per robot model.
(2) On-site robot maintenance training.
Trainer conducts maintenance course at customer site using customer robots.

z Customers outside the Americas

DENSO offers a comprehensive global service network, available no matter where your robot is located throughout the world.
Service in regions without a DENSO Service Center or local vendor will be handled by a service center or vendor in the closest
region or by the DENSO factory headquarters in Japan.

Regions Supported by DENSO Service Centers

USA (handles North, Central

Americas and South America)

Germany, Italy, Benelux, France,

Europe Great Britain

Japan, Singapore, Malaysia,

Asia South Korea, China, Thailand

Americas Service Center

[DENSO Robotics Americas Service Center]

1643 Robert C. Jackson Drive, Maryville, TN 37801
TEL: 888-4-ROBOTX (888-476-2689)
E-mail: robotics_service@densodrive.com
Hours: 8:00 a.m. to 4:30 p.m. Eastern time
SUPPORT

Service and Repair 47

 Global Network

DENSO EUROPE B. V. Robotics Department

DENSO (CHINA) DENSO WAVE

INVESTMENT CO., LTD. INCORPORATED

DENSO SALES KOREA

CORPORATION

DENSO PRODUCTS & SERVICES AMERICAS, INC.

DENSO TAIWAN CORP.
DENSO SALES
(THAILAND) CO., LTD.

DENSO (MALAYSIA)
SDN. BHD.
DENSO INTERNATIONAL ASIA PTE. LTD.

DENSO Automotive Systems Australia Pty Ltd.

Sales office Service center

Service Centers

DENSO PRODUCTS & SERVICES AMERICAS, INC. 3900 Via Oro Avenue, Long Beach, California 90810, U.S.A. TEL : +1-888-476-2689 FAX: +1-310-952-7502

DENSO WAVE INCORPORATED 1 Yoshiike Kusagi, Agui-cho, Chita-gun, Aichi 470-2297, Japan TEL: +81-569-49-5020 FAX: +81-569-49-5484

DENSO EUROPE B. V. Robotics Department Waldeckerstrasse 9 D-64546 Moerfelden-Walldorf, Germany TEL : +49-6105-27-35-150 FAX: +49-6105-27-35-180

DENSO SALES KOREA CORPORATION 131,Seonggogae-ro,Uiwang-si,Gyeonggi-do, Korea 437-120 TEL : +82-31-340-1783 FAX: +82-31-8033-7210

DENSO (CHINA) INVESTMENT CO., LTD. Maxdo Centre, No. 1901, No.8 Xing Yi Road, Shanghai, China 200336 TEL : +86-21-3223-3212 FAX: +86-21-5208-0062

DENSO TAIWAN CORP. No.525, Sec2, Mei Su Rd., Jui Ping Li, Yang Mei Town, Taoyuan Hsien, Taiwan TEL : +886-3-482-8001 FAX: +886-3-482-8003

DENSO SALES (THAILAND) CO., LTD. 888 Moo 1 Bangna - Trad Rd., KM. 27. 5, T. Bangbo, A. Bangbo, Samutprakam TEL : +66-2-315-9500 FAX: +66-2-315-9556
10560, Thailand

DENSO (MALAYSIA) SDN. BHD. Ground Floor, No.14, Jalan Glenmarie (Persiaran Kerjaya) Section U1, 40150 TEL : +60-3-5569-9933 FAX: +60-3-5567-3301
Shah Alam, Selangor Darul Ehsan, Malaysia

DENSO INTERNATIONAL ASIA PTE. LTD. 51 Science Park Road Unit + ACM-01-19 The Aries, Science Park II, TEL : +65-6771-2423 FAX: +65-6776-8698
Singapore 117586

DENSO Automotive Systems Australia Pty Ltd. 2-46 Merrindale Drive Croydon Victoria Australia 3136 TEL : +61-3-8761-1400 FAX: +61-3-8761-1505

48 Global Network
 www.densorobotics.com

2017 DENSO Corporation

Information subject to change without notice
D2277.470 www.densorobotics.com