Denso Faber HM-G Series Configuration guide

ROBOT
Horizontal articulated
HM-G SERIES
GENERAL INFORMATION ABOUT ROBOT

Copyright © DENSO WAVE INCORPORATED, 2005-2011
All rights reserved. No part of this publication may be reproduced in any form or by any means without
permission in writing from the publisher.
Specifications are subject to change without prior notice.
All products and company names mentioned are trademarks or registered trademarks of their respective
holders.

Preface
Thank you for purchasing this high-speed, high-accuracy assembly robot.
Before operating your robot, read this manual carefullyto safely getthe maximum benefit from your robot
in your assembling operations.
Robot series and/or models covered by this manual
Model (Note 1)
Series Floor-mount Overhead-mount
Overall arm length
HM-G
(Medium-sized, horizontal articulated)
HM-4*60*G
HM-4*70*G
HM-4*85*G
HM-4*A0*G
(Note 2)
—
HMS-4*70*G
HMS-4*85*G
—
(Note 2)
600 mm
700 mm
850 mm
1000 mm
NOTE 1: Model names listed above apply to the models of robot systems. The model names of robot
units are followed by M. If the robot system model is HM-4****G2, for example, the robot unit model is
HM-4****E/GM.
(Note 2) For hanging, 700 mm or 850 mm only
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETYPRECAUTIONS."

How this book is organized
This book is just one part of the robot documentation set. This book consists of SAFETY PRECAUTIONS,
chapters one through five, and appendix.
Chapter 1 Packing List of the Robot
Lists the standard components contained in the product package and optional components.
Chapter 2 Configuration of the Robot System
Illustrates the configuration of the robot system and describes the component names of the robot unit and
controller.
Chapter 3 Specifications of the Robot Unit
Describes the specifications, motion space, robot positioning time, air piping and signal wiring, and
engineering-design notes for robot hands.
Chapter 4 Specifications of the Robot Controller
Lists the specifications of the robot controller and controller setting table (SETPRM LIST).
Chapter 5 Warranty
Describes the warranty period and coverage.
Appendix How to Use the Manual Pack CD

Contents
Chapter 1 Packing List of the Robot...............................................................................................................................1
1.1 Standard Components ...........................................................................................................................................1
1.2 Optional Components............................................................................................................................................ 2
Chapter 2 Configuration of the Robot System...............................................................................................................4
2.1 Configurators ........................................................................................................................................................ 4
2.2 Names of Axes (Joints) of the Robot Unit ............................................................................................................5
2.2.1 Robot Unit Components and Rotation Direction .........................................................................................5
2.2.2 Name Plate...................................................................................................................................................6
2.2.3 Warning and Caution Labels........................................................................................................................7
2.3 Names of the Robot Controller Components ........................................................................................................ 8
Chapter 3 Specifications of the Robot Unit....................................................................................................................9
3.1 Robot Specifications (HM/HMS-G series) ........................................................................................................... 9
3.2 Outer Dimensions and Workable Space of the Robot Unit (HM/HMS-G) ......................................................... 14
3.3 Robot Positioning Time (HM/HMS-G series).....................................................................................................19
3.4 Notes for Setting the Positioning Speed (HM/HMS-G series)............................................................................ 32
3.5 Air Piping and Signal Wiring (HM/HMS-G series)............................................................................................34
3.5.1 Instructions for Using Splash-proof Connector Sets..................................................................................37
3.6 Engineering-design Notes for Robot Hands (HM/HMS-G series)......................................................................38
3.7 Stopping Time and Distance (Angle) at an Emergency Stop..............................................................................41
3.7.1 Maximum Payload 10 kg Type...................................................................................................................41
3.7.2 Maximum Payload 20 kg Type...................................................................................................................53
Chapter 4 Specifications of the Robot Controller........................................................................................................65
4.1 Specifications...................................................................................................................................................... 65
4.2 Outer Dimensions................................................................................................................................................67
4.3 Controller Setting Table ...................................................................................................................................... 68
Chapter 5 Warranty .......................................................................................................................................................69
Chapter 6Appendix........................................................................................................................................................70
6.1 Operating time of each axis.................................................................................................................................70
6.2 Conformity with Standards by Robot Model .................................................................................................... 166

Chapter 1 Packing List of the Robot
1
Chapter 1 Packing List of the Robot
1.1 Standard Components
The components listed below are contained in the product package.
Standard Components
No. Item Q'ty
(1) Robot unit 1
(2) Robot controller 1
(3) Power cable (5 m) 1
(4) Motor & encoder cable (Note 1) (Option) 1
(5) Manuals (“Manual Pack CD” and “Safety Precautions”) 1 set
(6) WINCAPSIII Install CD (Trial version) 1
(7) Spare fuses for robot controller 3
(8) Pendantless connector (Dummy connector) (not contained in UL-Listed robot systems) 1
(9) Connector set for hand control signals (for CN20 and CN21) 1 set
(10) Direction indicator label (Note 2) 1
(11) Warning label (Note 3) 1
(12) Spare output IC for robot controller 1
(13) Dowel pins (internally threaded positioning pin and diamond-shaped pin) 1 set
(14) Air regulator (excluding the splash-proof type) 1
(15) Short sockets for robot controller 2
Note 1: Choose and order a motor & encoder cable from the table below. The 20-m motor & encoder cable
(standard/splash-proof) is not available for controllers equipped with extended-joint options or UL-Listed
robot units. The internal cable bending radius shall at least be 200 mm. Excessively bending will result in
broken lead wires.
Item Part No.
Standard cable 2 m 410141-4400
Standard cable 4 m 410141-3611
Standard cable 6 m 410141-3621
Standard cable 12 m 410141-3631
Standard cable 20 m 410141-4440
Splash-proof cable 2 m 410141-4420
Splash-proof cable 4 m 410141-3681
Splash-proof cable 6 m 410141-3691
Splash-proof cable 12 m 410141-3701
Splash-proof cable 20 m 410141-4460
Note 2: After installation, attach the direction indicator label in a position on the robot unit that can be easily seen.
Note 3: Attach the warning label on the robot safety fence or other location where workers will easily notice it. If
necessary, prepare a plate for attaching the seal.
When placing an order for UL-Listed robot systems, be sure to order the optional teach pendant or mini-pendant also
which is essential to UL-Listed ones.

2
1.2 Optional Components
The table below lists the optional components.
Optional Components (1)
Classification No. Item Remarks Part No.
(8 m) Incl. Nos. 1-1 and 1-2. 410149-0940
1 Standard I/O cable set (15 m) Incl. Nos. 1-1 and 1-2. 410149-0950
(8 m) 410141-2700
1-1 I/O cable for “Mini I/O” (68 pins) (15 m) 410141-2710
(8 m) 410141-1740
1-2 I/O cable for “HAND I/O” (15 m) 410141-1750
(8 m) 410141-3050
2 I/O cable for “Parallel I/O board” (96 pins) (15 m) 410141-3060
(8 m) 410141-3580
I/O cables
3 I/O cable for “SAFETY I/O” (36 pins)
(Only for global type) (15 m) 410141-3590
(4 m) With cable 410100-1572
(8 m) With cable 410100-1582
4 Teach pendant
(15 m) With cable 410100-1592
Japanese indication 410109-0392
(4 m) English indication 410109-0402
Japanese indication 410109-0412
(8 m) English indication 410109-0422
Japanese indication 410109-0432
5 Mini-pendant kit
(Incl. cable and WINCAPSIII Light)
(12 m) English indication 410109-0442
(4 m) For TP, MP 410141-3711
Operation
devices
6 Pendant extension cable (8 m) For TP, MD 410141-3721
Programming
support tool 7 WINCAPSIII
CD-ROM
(common to the
languages--Japanese, English,
German, Korean, and Chinese)
410090-0980
NPN 410010-3320Shipped as installed
on the controller PNP 410010-3330
NPN 410010-3340
8 Parallel I/O board Shipped as individual
boards (supply part) PNP 410010-3350
For Slave station 410010-3370
For Master station 410010-3380
Shipped as installed
on the controller For Master & slave station 410010-3390
For Slave station 410010-3400
For Master station 410010-3410
9 DeviceNet board
Shipped as individual
boards (supply part) For Master & slave station 410010-3480
Shipped as installed on the
controller 410010-3430
10 CC-Link board Shipped as individual boards
(supply part) 410010-3440
Shipped as installed on the
controller 410010-3460
Optional
boards for the
robot controller
11 Conveyor tracking board Shipped as individual boards
(supply part) 410010-3470

Chapter 1 Packing List of the Robot
3
Optional Components
Classification No. Item Remarks Part No.
Shipped after integrated in the
controller 410006-0260
12 Optional function for RS232C board
Board manufacturer: CONTEC CO., LTD.
Model: COM-2P(PCI)H Added when the board is
purchased as a spare part 410006-0270
Shipped after integrated in the
controller 410006-0280
13 Optional function for S-LINK V board
Board manufacturer: SUNX CO., LTD
Model: SL-VPCI Added when the board is
purchased as a spare part 410006-0290
Shipped after integrated in the
controller 410006-0300
14
Optional function for PROFIBUS-DP slave
board
Board manufacturer: Hilscher GmbH
Model: CIF50-DPS\DENSO Added when the board is
purchased as a spare part 410006-0310
Shipped after integrated in the
controller 410006-0800
15 EtherNet/IP function
Board manufacturer: Hilscher GmbH
Model: CIFX 50-RE\DENSO Added when the board is
purchased as a spare part 410006-0810
Optional
functions
(For own
optional board
etc.)
16 Optional function for memory extension Extension only upon controller
shipment (3.25 MB to 5.5 MB) 410006-0320
17 Controller protection box 410181-0091
Optional box 18 I/O conversion box For interchangeability with RC5
type controller 410181-0100
CD Manuals 19 Manual Pack CD Contained in the robot package. 410002-2661
20 Instruction manual for HM-G, full set Incl. Nos. C and D. 410009-0340
C Instruction manual for HM-G, basic set Incl. Nos. C-1 to C-3. 410009-0240
C-1 GENERAL INFORMATION ABOUT ROBOT For HM-G 410002-2570
C-2 RC7M CONTROLLER MANUAL For RC7M controller 410002-2430
C-3 ERROR CODE TABLES 410002-3370
D Instruction manual for HM-G, extension set Incl. Nos. D-1 to D-7. 410009-0120
D-1 INSTALLATION & MAINTENANCE GUIDE For HM-G 410002-2590
D-2 BEGINNER'S GUIDE 410002-1541
D-3 SETTING-UP MANUAL 410002-3310
D-4 PROGRAMMER'S MANUAL (I) 410002-3330
D-5 PROGRAMMER'S MANUAL (II) 410002-3350
D-6 Panel Designer USER’S MANUAL 410002-6480
Optional
manuals
(Printed
materials,
English edition)
D-7 OPTIONS MANUAL For RC7M controller 410002-2650
For 10 kg payload 410329-0070
For robot unit 21 Flange kit For 20 kg payload 410329-0080

4
Chapter 2 Configuration of the Robot System
2.1 Configurators
The figure below shows configurators of the typical robot system.
(1) Robot unit
(2) Robot controller
(3) Power cable
(4) Motor & encoder cable
(Option)
(5) Manuals
(6) WINCAPSIII install CD
(Trial version)
(7) Spare fuses
for robot controller
(8) Pendantless
connector (Note 2)
(9) Connector set
for hand control signals
(for CN20 and CN21)
(10) Direction indicator
label (11) Warning label
(12) Spare output IC
for robot controller
(13) Dowel pins
(14) Air regulator
(excluding the
s
plash-proof type)
(15) Short sockets
for robot controller
I/O conversion box (option) PLC (prepared by customer)
Optional board
I/O cable
(option)
Personal computer
(prepared by customer)
Printer (prepared by customer)
Teach pendant
(option) Mini pendant
(option) Controller protection box
(option)
WINCAPSIII
(option)
Note 1: Components with numbers in () are the standard components contained in the product package listed
on page 1.
Note 2: The pendantless connector should be attached to the robot controller connector when no teach
pendant or mini-pendant is connected.
Configurators of the Robot System (HM-G series)