Denso VP-G SERIES Configuration guide

ROBOT
Vertical articulated
VP-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 carefully to safely get the maximum benefit from your robot
in your assembling operations.
Robot series and/or models covered by this manual
Series Model
Mini-sized, vertical articulated
VP-G
(Models configured with RC7M controller)
VP-6242G (6-axis type)
VP-5243G (5-axis type)
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 VP-6242G, for example, the robot unit model is
VP-6242E/GM.
Important
To ensure operator safety, be sure to read the precautions and instructions in "SAFETY PRECAUTIONS".

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 Robot Unit Components ....................................................................................................................... 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 ............................................................................................................................................. 9
3.2 Outer Dimensions and Workable Space of the Robot Unit ................................................................................. 10
3.3 Robot Positioning Time....................................................................................................................................... 12
3.3.1 VP-6242G robot positioning time............................................................................................................ 13
3.3.2 VP-5243G robot positioning time............................................................................................................ 17
3.4 Air Piping and Signal Wiring.............................................................................................................................. 20
3.5 Precautions When Designing the End-effectors.................................................................................................. 21
3.6 Stopping Time and Distance (Angle) at an Emergency Stop.............................................................................. 24
Chapter 4 Specifications of the Robot Controller........................................................................................................ 26
4.1 Specifications ...................................................................................................................................................... 26
4.2 Outer Dimensions................................................................................................................................................ 28
4.3 Controller Setting Table ...................................................................................................................................... 29
Chapter 5 Warranty ....................................................................................................................................................... 30
Chapter 6 Appendix........................................................................................................................................................ 31
6.1 Conformity with Standards by Robot Model ...................................................................................................... 31

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) 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) Short sockets for robot controller 2
Note 1: Choose 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
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.

2
1.2 Optional Components
The table below lists the optional components.
Optional Components
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” (68pins)
(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
(12 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, MP 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 (3.25MB to 5.5MB) 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 VP-G, full set Includes No. C and No. D 410009-0320
C Instruction manual for VP-G, basic set Includes No. C-1 to No. C-3 410009-0220
C-1 GENERAL INFORMATION ABOUT ROBOT For VP-G 410002-2530
C-2 RC7M CONTROLLER MANUAL For RC7M controller 410002-2430
C-3 ERROR CODE TABLES 410002-3370
D Instruction manual for VP-G, extension set Includes No. D-1 to No. D-7 410009-0100
D-1 INSTALLATION & MAINTENANCE GUIDE For VP-G 410002-2550
D-2 STARTUP HANDBOOK 410002-2750
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

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 controlle
r
(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) Short sockets
for robot controller
I/O conversion box (option)
PLC (prepared by customer)
I/O cable (option)
Optional board
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 when no teach pendant or
mini-pendant is connected.
Configurators of the Robot System (VP-G series)

Chapter 2 Configuration of the Robot System
5
2.2 Names of Robot Unit Components
2.2.1 Robot Unit Components and Rotation Direction
The figure below shows the names of the components of the robot unit and the rotation
direction of each axis.
Names of Components (VP-G series)
NOTE: The flange (tool mounting face) of the robot unit may be coated with rust
preventive oil which does not affect the robot function. If spattering of the
oil could be a problem when the robot is in use, wipe it off before use.

6
2.2.2 Name Plate
The name plate is affixed in the base part, which includes serial number of the robot,
robot model, and day of manufacturer, etc.
The serial number is the figure which identifies the robot of each customer and it is
paired with the figure of the controller.

Chapter 2 Configuration of the Robot System
7
2.2.3 Warning and Caution Labels
The robot unit has warning and caution labels pasted as shown below. They alert the
user to the dangers of the areas on which they are pasted. Be sure to observe the
instructions printed on those labels.
Warning and Caution Labels on the Robot Unit
Location of labels
Warning and caution labels on the
robot unit Additional description
Label 1
Contact with the robot unit which is in motion can cause serious
injuries. Observe the following:
(1) Never enter the robot's restricted space when the robot is in
motion or the motor power is on.
(2) When you need to enter the robot's restricted space for recovery
from robot failures, be sure to cut the power to the robot motors
by activating an emergency stop device or the like.

8
2.3 Names of the Robot Controller Components
The figure below shows the names of the robot controller components.
Note: For warning and caution labels pasted on the controller, refer to the RC7M
CONTROLLER MANUAL.
Connectors for the VP-G series (Encoders connected via bus)
Connector No. Marking Name
CN1 RS-232C Serial interface connector
CN2 USB USB connector (2 lines)
CN3 PENDANT Teach pendant connector
CN4 LAN Ethernet connector
CN5 Mini I/O I/O connector
CN6 INPUT AC Power supply connector
CN7 MOTOR Motor/encoder connector
CN9 HAND I/O HAND I/O connector
CN10 SAFETY I/O SAFETY I/O connector
(Only for global type)
Names of Robot Controller Components

Chapter 3 Specifications of the Robot Unit
9
Chapter 3 Specifications of the Robot Unit
3.1 Robot Specifications
Following table list the robot unit specifications of the VP-G series.
VP-G Series Specifications
Specifications
Item
6-axis type 5-axis type (Note 1)
Model name of robot set (Note 2) VP-6242G VP-5243G
Model name of robot unit VP-6242E/GM VP-5243E/GM
Overall arm length 210 (first arm) + 210 (second arm) =
420 mm
210 (first arm) + 220 (second arm) =
430 mm
Arm offset J3 (front arm)75 mm -
Maximum motion area
R = 502 mm (end-effector mounting face)
R = 432 mm (Point P: J4, J5, J6 center)
R = 500 mm (end-effector mounting face)
R = 430 mm (Point P: J5, J6 center)
Motion range
J1 160
J2 120
J3 +160, +19
J4 160
J5 120
J6 360
J1 160
J2 120
J3 +136, -128
J4 none
J5 120
J6 360
Maximum payload 2 kg (2.5 kg at wrist direction
downward)
2.5 kg (3 kg at wrist direction
downward)
Maximum composite speed 3900 mm/s (at the center of an end-effector mounting face)
Position repeatability (Note 3) In each of X, Y and Z directions: 0.02 mm
Maximum allowable inertia
moment
Around J4 and J5: 0.030 kgm2
Around J60.007 kgm2
Around J5: 0.040 kgm2
Around J60.010 kgm2
Position detection Absolute encoder
Drive motor and brake AC servomotors for all joints,
Brakes for all joints
User air piping 4 systems (4x4)
User signal line 9 (for proximity sensor signals, etc.)
Operating
pressure 0.10MPa to 0.39MPa
Air source Maximum
allowable
pressure
0.49MPa
Degree of protection IP30
Airborne noise (A-weighted equivalent
continuous sound pressure level) 80 dB or less
Weight Approx. 15 kg (32 lbs) Approx. 13 kg (29 lbs)
Note 1The 5-axis type robot has not the 4th axis (J4).
Note 2The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 3Position repeatability is the value at constant ambient temperature.

10
3.2 Outer Dimensions and Workable Space of the Robot Unit
The outer dimensions and workable space of the VP-G series are shown on the
following pages.
(1) VP-6242G (6-axis type)
Outer Dimensions and Workable Space [VP-6242G]

Chapter 3 Specifications of the Robot Unit
11
(2) VP-5243G (5-axis type)
Outer Dimensions and Workable Space [VP-5243G]

12
3.3 Robot Positioning Time
1. Positioning time means the time from the start of robot operation to the arrival
at the target positioning point.
2. After the robot moves to and passes the target positioning point, vibration will
be dampened and the robot positioned at the target positioning point as
shown in Figure below. This vibration dampening time is not considered in the
graph.
Caution (1) The vibration dampening time depends on factors such as
the weight of the end-effector. If the robot is to be used in
such a way that it overshoots or if the vibration damping
time is of great concern, test the robot carefully beforehand.
(2) If acceleration begins before residual vibration of the robot
stops, an overcurrent error (code starts from ERROR6120;
the first digit represents the axis number) may be displayed.
In this case, take one of the following measures:
Lower the deceleration of the preceding operation with a
DECEL command to reduce residual vibration.
Keep the robot in stand-by with a DELAY command until
residual vibration stops.
Lower acceleration with an ACCEL command.
(3) Operate the robot with the optimum load setting in
accordance with the end-effector weight and workpiece
weight. If not, a robot failure may result.
Vibration Dampening Time

Chapter 3 Specifications of the Robot Unit
13
3.3.1 VP-6242G robot positioning time
J1 Axis [VP-6242G]
J2 Axis [VP-6242G]

14
J3 Axis [VP-6242G]
J4 Axis [VP-6242G]