■ Manipulator Specifications

Item Specification Working Envelope

Model HA006
Payload 6 kg
7
Structure Articulated R43
R1394
Degree of freedom 6 Axes
S Swivel ±180 °
H For/Backward +150 ° ~ -90 °
Max. Point Z
V Up/Downward +140 ° ~ -160 °
Motion
Range R2 Rotation 2 ±180 °
B Bending ±135 °
R1 Rotation 1 ±360 ° E

130
620 100
Point Z
S Swivel 170 °/s D A Working
H For/Backward 170 °/s Range

1554
Max. V Up/Downward 170 °/s
560
B 200
Speed R2 Rotation 2 335 °/s

2313
B Bending 335 °/s
360

R1 Rotation 1 500 °/s

C
R2 Rotation 2 1.0 kgf.m
Allowable
B Bending 1.0 kgf.m
Moment

759
R1 Rotation 1 0.5 kgf.m
Repeatability ±0.05 mm
Ambient Temperature 0 ~ 45°C (273 ~ 318 K) 994 1394
Approximate Weight 155 kg 2388

View “A” For Tool Attachment View “B” For Installation

125 310
4-M5 TAP DP9 260
(PCD 40) 4-ø18 HOLE

ø40
ø50

200

260
310

ø6H7 DP8

View “C” For User Application View “D” For User Application(Option) View “E” For Cable Guide
Air Nipple : 2EA Air Nipple : 2EA
PT 3/8 PT 3/8 50 4-M6 TAP DP8
60

ASR1A : 8Pin ASR1A : 8Pin

HAN-8D HAN-8D
■ Controller Specifications ■ Teaching Pendant Specifications
Item Specification Item Specification
Model Name Hi5 Microprocessor 32 bits RISC Processor
Control Hardware Multi Processor System Operating System Windows CE
Execution Mode Teaching & Playback Display 7" Color TFT-LCD
Interpolation Type Point-to-Point, Linear, Circular Operation Mode Menu Driven and Code Input / Touch Panel
Max. Axes Max. 16 Axes Simultaneously
Number of Step 17,000 Points
· Easy and simple operation
External Program Selection Binary 255 / Discrete 8
- Easy/convenient programming language similar to BASIC
Position Detector Serial Absolute Encoder
Program Back-up USB Memory
· Easy maintenance
Servo Control Full Digital Servo
- Excellent maintenance ability using on-line display function
Digital Input / Output Max. Input : 256 / Output : 256 Points
Analog Input / Output Input : 4 ch / Output : 4 ch
· Advanced control technology
Conveyor Pulse Counter Differential Input / Open Collector Input, 2ch
- Dynamic control
Ethernet 100BaseT (2 Ports)
- Advanced vibration suppression control
CAN User1 / User2 - Extended torque-velocity control
Communication
Serial RS232C, RS422 (RS485)
Field Bus CC-Link, Profibus-DP, Devicenet, Modbus · Safety
Rated Supply Voltage AC220V ± 10%, 50 / 60 Hz - Compliant with ANSI/RIA15.6_1999 and CE Directives
Max. Rated Power 8 kVA (Instant Max. 30 kVA)
Cabinet Dimmension (WxDxH) 650 mm x 600 mm x 1,100 mm (Except Caster) · Compatibility and connectivity
Weight 150 kg (Without Transformer) - Embedded soft PLC
Protection Classification IP54 - Fieldbus : CC-Link, Profibus-DP, Devicenet, Modbus, etc.
Ambient Temperature 0 ~ 45 ˚C - Ethernet, Serial Communication

■ System Configuration
On-line Manual Remote Management System
(Trouble Shooting) - File Management
- On-line Monitoring
- Remote Diagnostics
Ethernet

Off-line
Robot Programming

Teaching Pendant High Speed Serial Network

Fieldbus

Robot Controller
(Hi5)
Cooperative Sensor Interface
Peripheral Equipments Control (2D, 3D Vision etc)
Graphic Panel (Welding Machine, PLC etc)