NEW VS SERIES 700-900 MM

The new DENSO VS-Series six-axis articulated robots are ideal for applications where VS068G
operational space is limited. Features of the 700- and 900-mm models include:

z Exceptionally fast cycle times from 0.36 to 0.33 sec.

z Outstanding repeatability of ±0.03 to ±0.02 mm
VS087G
z Payloads up to 7 kg
z Reaches from 700 to 900 mm
z High maximum allowable moment of inertia
z Compact design, with ultraslim arms, saves space and facilitates
integration
z Floor- wall- or ceiling-mount, with no special hardware needed
z Optional IP67 protection resists cutting chips and high-pressure washing
z Optional internal wiring allows easy mounting of Gigabit Ethernet
devices and servo grippers on flange
z Optional bottom-side cable connection saves floor space

VS-068 VS-087

Number of axes 6
Overall arm length (mm) 340 (first arm) + 340 (second arm) = 680 445 (first arm) + 430 (second arm) = 875
Arm offset (mm) J1 (swing): 30 J3 (front arm): 20 J6 (flange): 80
Reach (to center of 5th axis, mm) 710 905
Minimum motion area (mm) 203 235
Maximum payload (kg) 7
Weight, approx. (kg) 49 51
Cycle time (sec.) 0.33 (with 1-kg weight) 0.36 (with 1-kg weight)
J1: ±170 J2: +135, -100 J3: +153, -120 J4: ±270 J5: J1: ±170 J2: +135, -100 J3: +153, -136 J4: ±270 J5:
Range of motion (°)
±120 J6: ±360 ±120 J6: ±360
Maximum payload (kg) 7
Maximum composite speed
11,000
(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
Repeatability1 (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 (ø4 × 6, ø6 × 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)2
Wiring (in-arm integrated) LAN (1000BASE-TX) × 1 (option)3
17-line electrical wire for cameras, etc.3
Option set with LAN3
Air source (operating pressure, MPa) 0.10∼0.39
 ir source (maximum allowable
A
0.49
pressure, MPa)
Protection class Standard: IP40; option: IP67 (dust- and splashproof)
Ceiling- and wall-mount ✓
Scan this QR Code®
1. In every direction. 2. Four lines with LAN option. 3. Option only for IP40 model for more information
 NEW VS SERIES 700-900 MM
Detailed drawing of end-effector mounting
Detailed drawing face (Standard
of end-effector Flange) face (Standard Flange)
mounting Detailed
Detailed drawing of base drawing
mounting face of base
(Rear mountingPanel)
Connector face (Rear Connector Panel)
40 40 160 160
Dep h8 -00 Dep h8 -00
th 5 .039 * th 5 .039 * 66 0.05 66 0.05
4xM5 Depth 6 4xM5 Depth 6
(P.C.D 31.5) (P.C.D 31.5) 4x 4x 4x 12 Hole 4x 12 Hole
R2 R2
*Protected type (IP67) *Protected type (IP67) 0 0 (for M10 screw) (for M10 screw)
does not have it. does not have it.

184 0.05

184 0.05
2 1 2 1
+0.0 +0.0

160
200

160
200
20H7 0 20H7 0
5 5
Depth Depth 5H7+0.012
0 Depth 5 5H7+0.012
0 Depth 5

+0.012 100 +0.012 100

2x 6H7 0 2x 6H7 0
(reference hole) (referenceA-A
hole) A-A

Detailed drawing
Detailed drawing of end-effector of end-effector
mounting mountingInterface
face (Communication face (Communication
Flange-A) Interface Flange-A)
Detailed drawing of base mounting
Detailed face of
drawing (Bottom Connector
base mounting Panel)
face (Bottom Connector Panel)

4xM5 Depth 7 4xM5 Depth 7 160 160

(P.C.D 31.5) (P.C.D 31.5) 66 0.05 66 0.05
4x Ø12 Hole 4x Ø12 Hole
4x 4x
R2 (for
R2 M10 screw) (for M10 screw)
0 0

184 0.05

184 0.05

160
200

160
200
21 21 Ø Ø
+0.0 +0.0 (C 185 (C 185
70 70 on 100 on
20H 3 20H 3 +0.012 +0.012 2x Ø6H7 +0.012
100 +0.012
2x Ø6H7 ne ne
t h t h 5H7 0 Depth 5 5H7 0 Depth 5 0 0 ct c to
Dep Dep (reference hole) (referenceA-A
hole)
or
SpA-A rS
pa
ac ce
e) )

Cable space

Cable space
215

215
Workable space Workable space
defined by point P defined by point P 170˚ 170˚
Workable space Workable space 170 170
defined by point P defined by point P

Point P Point P 195 195

Cable space Cable space 195 195
Cable space Cable space
J6 J4 J6 J4 J6 J4 J6 J4
±360° ±270° ±360° ±270° ±360° ±270° Point P ±360° ±270° Point P
J1 J1 J1 J1
J6 J6 J6 J6
100

100
55 45

55 45

55 45

55 45
100

100

J4 J4 J4 J4

R25 R25
4.5 4.5
5.5 5.5
.6 .6 R90 R90
R2

R2

10 10
08

08

R7 R7
.3

.3

170 170
170° 170°
J1=±170° J1=±170°
J2=+135°,-100° J2=+135°,-100°
J3=+153°,-120° J3=+153°,-120°
J4=±270° J4=±270°
J5=±120° J5=±120°
J6=±360° J6=±360°

680.6 680.6 680.6 680.6 875.5 875.5 875.5 875.5

80 (151) 340 80 (151) 340 80 (151) 430 80 (151) 430
287 287
197 197
0.5

0.5
R43

R43

Point P Point P Point P Point P

3˚

3˚

40
.6
40
.6 0˚ 0˚
15

15

120 120 12 12
R3 R3
136

136
3

3
15

15

20

20
˚

J3 J3
120

120

102

102
20

20

J3 J3
J5 J5
102

102

J5 J5 12 12
(R87 0˚ (R87 0˚
120 120 5.5) 5.5)
5 5
13 R68 13 R340 R340 5˚ 5˚
R680.6 13 13
10

10

0.6
0

R224.5 R224.5
100

100

153˚ 153˚
840

840

15 153 J2 J2
˚

J2 J2 3 R309 R309
R445 R445 .3 .3
735

735

R178.3 R178.3 R32 R32

2 .8 2 .8
395

395
136˚

136˚

R43 R43
0 0 136˚ 0.5 136˚ 0.5
197.5

197.5

12 12
120˚

120˚

395

395

Workable space Workable space A AA A

˚ ˚
R 340

R 340

defined by point P defined by point P

197.5

197.5

153 153
3˚ A 3˚ AA A 30 30
15 15 J1=±170° J1=±170°
.6

.6

J2=+135°,-100° J2=+135°,-100°
0.5

0.5

350.1

350.1

Workable space Workable space J3=+153°,-136° J3=+153°,-136°

R43

R43
.6

.6

defined by point P defined by point P J4=±270° J4=±270°

R340

R340

186

186

J5=±120° J5=±120°
30 30 J6=±360° J6=±360°

() is Communication interface ()Flange-A

is Communication interface Flange-A

DENSO ROBOTICS
3900 Via Oro Avenue, Long Beach, Caliornia 90810, U.S.A
Tel: 888-4-ROBOTX (888-476-2689) | Fax: (310) 952-7502 | info@densorobotics.com
© 2014 DENSO Corporation
Information subject to change without notice
QR Code® is a registered trademark of DENSO WAVE INCORPORATED. All rights reserved.