HSR SERIESH S R 0 4 8 / H S R 0 5 5 / H S R 0 6 5

Continuous high-speedperformance

that changes everything

www.densorobotics.com

Outer Dimensions (mm)

Y

X

300 mm

25 mmMotion pattern

X directionHSR065

118

Y direction

149

Cycles/min*

With 1-kg weight

High-speed motionOptimized acceleration and motion profilesImproved high-speed motion results in more cycles per minute (CPM) and therefore higher productivity.

Light weightNewly designed, highly rigid lightweight armThe 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.

Continuous motion

Flexible mounting configuration

Unprecedented high-speed performanceThe performance of a robot cannot always be known from its specifications alone. Can the robot achieve the listed cycle time on a one-time test basis only, or can it run continuously at that speed? To address this challenge, we pushed to the utmost limits the basic parameters of robot performance — acceleration speed, continuous running speed and deceleration speed — and developed the new HSR Series high-speed SCARA robots. These compact, space-saving robots can be deployed in high-speed, high-precision pick-and-place systems to achieve unprecedented levels of performance, not only in conventional assembly processes, but also packaging processes in the food, medical device, pharmaceutical and cosmetics sectors.

Quick Acceleration. Runs continuously at high speed. Stops precisely.

The HSR robot is available in bothfloor and ceiling mount models.

Achieving continuous, non-stop motionImproved heat dissipation in the base unit allows the robot to run continuously at its highest rated speed, a requirement in today’s demanding processes.

*CPMs differ according to current joint locations.

Erro

r

Normal controlOptimal control

Time

Vibration control

Optimized designOptimized arm design allows the robot to achieve continuous high-speed motion.A large-capacity motor is integrated into the base unit. Weight reduction of the arm and an optimized arm design allow the robot to achieve its continuous high-speed performance.

Continuous motion

Flexible mounting configuration

Quick Acceleration. Runs continuously at high speed. Stops precisely.

RC8A controller

Active real-time vibration suppressionThe robot quickly suppresses vibrations by actively reflecting thestatus of the arm to the controller. Vibrations that occur during high-speed transfer as well as residual vibrations are both suppressed, reducing cycle times.

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

Range of motion (°)

J1 (Axis 1) ±155º

J2 (Axis 2) ±143.5º ±150º ±150º

Z (Axis 3) *=10: 100 mm, *=20: 200 mm, *=32: 320 mm

T (Axis 4) ±360º

Axes combination J1 (No.1 axis) + J2 (No. 2 axis) + Z (No. 3 axis) + T (No. 4 axis)

Maximum payload 8 kg

Maximum joint speed (deg/s, mm/s)

J1 450

J2 785

Z 100st: 1700 mm/s, 200st: 2300 mm/s, 320st: 2475 mm/s

T 2500

Cycle time (with 2 kg weight)

(S) 0.28 0.31

Repeatability1J1+J2 ±0.01 mm ±0.012 mm

Z ±0.01 mm

T ±0.004º

Maximum downward force 98 N (1 sec. max.)

Maximum allowable moment of inertia 0.12 kgm2

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 (ø4 × 2, ø6 × 2)

User signal line 19 lines (for proximity sensor signals, etc.), Ethernet (8 lines) (option)

Air sourceNormal pressure 0.05 to 0.35 MPa

Maximum allowable pressure

0.059 MPa

Airborne noise 80 dB max.

Weight Approx. 31 kg Approx. 32 kg

Specifications

300 mm

25 mmThe time taken to complete a

cycle of work from one arrow to the other and back.

Z-axis stroke

Maximum reach

Maximum payload 8 kg

Cycle time

Position repeating accuracy

0.28 to 0.31 sec

±0.01 to ±0.012 mm

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

Options

Protects external wiring to prevent cables from becoming unorganized, avoiding the risk of broken wires.

The encoder backup battery is installed outside the robot, facilitating maintenance and replacement of batteries.

Protects wiring installed through the hole of the bearing located at the top of the Z-axis shaft.

An Ethernet cable is built into the body and is easily connectable to external devices. Ethernet connectors (sold separately) are available as options.

Wiring Protection Kit Built-in Ethernet Kit External Battery Stopper with bearing

HSR Series DENSO 4-axis SCARA robotHSR048/HSR055/HSR065

Best-in-class high-speed, high-throughput performance allows the robot torun continuously at maximum speed in the most challenging applications.

Robot controller supported

Unit : mm

Legend

HSR A1 - - - -N NN NNNNRobot name:HSR: Denso 4-axis robot

Mountingoption:N: Floor typeS: Ceiling type

Z-axis stroke:10: 100 mm20: 200mm17: 170mm *232: 320mm29: 290mm *2

Compatible standard:N: Standard typeU: UL speci�cations

External battery:N: NoA: Yes*1Arm length:

048: 480mm055: 550mm065: 650mm

Environmental resistance:NN: Standard typeW5: Dust & splash proof type (IP65)C3: Cleanroom type (ISO Class 3)JN: Bellows type

Signal wires and Ethernet:N: Standard typeA: Built-in Ethernet typeMechanism type:

A1: Arm length 480 mm, 550 mm, 650 mm*1: External battery units are sold separately.*2: For W5/C3/JN variants

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

Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E

282.

6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L127568

F

E E

449 48

8

179

B

0+0.012( )

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

Model A

HSR048A1-N* 480

HSR055A1-N* 550

HSR065A1-N* 650

B

205

275

375

C

164.4

142.4

194.0

D

287°

300°

300°

E

406.53

364.32

287.62

Z-axis stroke: ST (mm)

* =10:100

* =20:200

* =32:320

L1

555.2

655.2

775.2

L2

120

20

-100 (Note 1)

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.

-360° (Workable space) +360° (Workable space)

Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E

282.

6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L1

27568

F

E E

449 48

8

179

B

0+0.012( )

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

Model A

HSR048A1-N* 480

HSR055A1-N* 550

HSR065A1-N* 650

B

205

275

375

C

164.4

142.4

194.0

D

287°

300°

300°

E

406.53

364.32

287.62

Z-axis stroke: ST (mm)

* =10:100

* =20:200

* =32:320

L1

555.2

655.2

775.2

L2

120

20

-100 (Note 1)

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.

-360° (Workable space) +360° (Workable space)

Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E

282.

6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L1

27568

F

E E

449 48

8

179

B

0+0.012( )

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

Model A

HSR048A1-N* 480

HSR055A1-N* 550

HSR065A1-N* 650

B

205

275

375

C

164.4

142.4

194.0

D

287°

300°

300°

E

406.53

364.32

287.62

Z-axis stroke: ST (mm)

* =10:100

* =20:200

* =32:320

L1

555.2

655.2

775.2

L2

120

20

-100 (Note 1)

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.

-360° (Workable space) +360° (Workable space)

Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E

282.

6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L1

27568

F

E E

449 48

8

179

B

0+0.012( )

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

Model A

HSR048A1-N* 480

HSR055A1-N* 550

HSR065A1-N* 650

B

205

275

375

C

164.4

142.4

194.0

D

287°

300°

300°

E

406.53

364.32

287.62

Z-axis stroke: ST (mm)

* =10:100

* =20:200

* =32:320

L1

555.2

655.2

775.2

L2

120

20

-100 (Note 1)

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.

-360° (Workable space) +360° (Workable space)

Existing screws for wiring 4×M3

Depth 6

View F

(275)

18030

50

A

C

133

260°

42

D

E

282.

6

180.

7

Existing screws for wiring 2×M4

Depth 7

Workable space

136

160

Cable space190205Workable space

ST

G

220

L2

325

L1

27568

F

E E

449 48

8

179

B

0+0.012( )

225

061

124±0.05

80

2XØ6H7

002

176±

0.05

100

4XØ12

Ø36

Ø46

Ø25h7 -0.021 0( )

Ø18

1310

C0.5

0°

Ø48

Ø70

36

Ø34h7

26.

5

28±0.02 12±0.02

4XØ5.5

Ø5H70 +0.012

60 6045° 45°

Model A

HSR048A1-N* 480

HSR055A1-N* 550

HSR065A1-N* 650

B

205

275

375

C

164.4

142.4

194.0

D

287°

300°

300°

E

406.53

364.32

287.62

Z-axis stroke: ST (mm)

* =10:100

* =20:200

* =32:320

L1

555.2

655.2

775.2

L2

120

20

-100 (Note 1)

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.

-360° (Workable space) +360° (Workable space)

External Dimensions and Workable Space (unit mm) Detailed drawing of end-effector mounting face (View G)

Flange (option) mounting drawing

Base mounting face (cross-section E-E)

Applicable robots VP-5243/6242

VP-6242G2

VS-050/060

VS-068/087

VM-6083/60B1

HS-45***

HM-4*****

XR-43***1

HSR HS-A1

Power

Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 1.80 2.45 1.80 1.80 1.80

Input voltage rangeThree-phase, 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1)

Single-phase, 230 VAC -10% to 240 VAC +10% N/A Single-phase, 230 VAC -10% to 240 VAC +10%

Power supply frequency 50/60 Hz

Power cable 5 m

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 (HS, HM, HSR and HS-A1 Series only)

External signals (I/O, etc.)

Mini I/OStandard type/Safety motion type Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points

Safety I/O less type Input: User open 8 points + system fix 13 points / Output: 8 open user points + 14 fixed system points

Hand I/O Input: User open 8 points / Output: User open 8 points

Motion I/O (Option) Input: Safety circuit signal: 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 (Option)

Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.Remote register input: 2,048 words max. / Output: 2,048 words3

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 ºC; Humidity: 90% or less RH (no condensation)

Safety category Standard type: (Safety I/O) Category 4, PL eSafety 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.

356.5

319.

6

53.8

93.8

3

319.

6

393

.8

356.5

PLC

PLC

Robot ToolsEMU VRCRC Vision

Software Smart-device applications

RC8-C motor & encoder cable (2 m, 4 m, 6 m, 12 m, 20 m)

Power cable

Three-phase: 200 VSingle-phase: 230 V (100 V)

Mini I/O cable (8 m, 15 m)

Expansion boards

Robot

Peripherals

Control device

High-spec CPU

ConveyerWINCAPS III ORiN2 SDK Mobile Tools

Extended-jointsupport specification

Motion input cable (8 m, 15 m)

Motion output cable (8 m, 15 m)

Safety laser scannerSafety light curtain, etc.

*Must support Pld Category 3 SIL 2.

Safety device*

Multifunctionteach pendant

Mini-pendant

Emergency stop box

- Parallel I/O board

- DeviceNet slave board

- PROFIBUS slave board

- PROFINET I/O device board

- CONTEC serial communications board (RS-232C, RS-422, RS-485)1

- CONTEC motion-control board1

- DeviceNet master board

- CC-Link remote-device board

- EtherNet/IP adapter board

- EtherCAT slave board

- CONTEC analog I/O board1

- CONTEC digital I/O board1

- External axis board1. Boards to be supplied by customer.

RC8A Robot Controller

Safety Motion type

DENSO’s newest and mostadvanced robot controllerDimensions: 356.5 × 319.6 × 93.8 mm

Standard type / Safety I/O-less type

Outer Dimensions (mm)

Specifications

System-configuration options

www.densorobotics.com

©2017 DENSO CorporationInformation subject to change without noticeD2279.470