Key Features - gongkongfs.gongkong.com/files/technicalData/201312/...Beijing Hyundai Jingcheng No.2. Nanl i, Luguoqiao Fengtai District, Beijing, China TEL : +86 10 8321 2588 FAX :

Key Features- Enlargement of working envelope by

serial link structure

- Improvement of dynamic performance

Application- Arc Welding- Sealing- Cutting- Assembly

Certificate (ISO 9001, ISO 14001, QS-9000TE, CE)

Overseas

Chicago / U.S.A955 Estes Avenue, Elk Grove Village IL 60007, U.S.ATEL : +1 800 423 8721FAX : +1 847 437 3574

Houston / U.S.A1400 Broadfield, Suite 110, Park 10 Center Houston, Texas 77084, U.S.ATEL : +1 281 578 7097FAX : +1 281 578 8317

London / U.K2ND Floor, The Triangle 5-17, Hammersmith Grove London W6 0LG, U.KTEL : +44 20 8741 0501 FAX : +44 20 8741 5620/8834 7281

Rotterdam / NetherlandFolkert Elsingastraat 73067 NW, Rotterdam, The NetherlandTEL : +31 10 212 1567 FAX : +31 10 212 5134

Beijing / ChinaBeijing Hyundai Jingcheng No.2. Nanl i, LuguoqiaoFengtai District, Beijing, China TEL : +86 10 8321 2588 FAX : +86 10 8321 2188

Mumbai / IndiaHyundai Heavy Industries Co., Ltd.301, 3rd Floor, Sarjan Plaza 100, Annie Besant Road, Worli, Mumbai 400 018, IndiaTEL : +91 22 2498 6022~7 FAX : +91 22 2498 0620

Korea

Head Office1, Jeonha-dong, Dong-gu, UlsanTEL : 82-52-202-7901~10 / FAX : 82-52-202-7900

Seoul Office140-2, Gye-dong, Jongno-gu, Seoul TEL : 82-2-746-4713 / FAX : 82-2-746-4720

Ansan Office1431-2, Sa-dong, Sangnok-gu, Ansan-si, Gyeonggi-doTEL : 82-31-409-4945 / FAX : 82-31-409-4946

Cheonan Office355-15, Daga-dong, Cheonan-si, Chungcheongnam-do TEL : 82-41-576-4294 / FAX : 82-41-576-4296

Daegu Office223-5, Beomeo 2-dong, Suseong-gu, DaeguTEL : 82-53-746-6232~3 / FAX : 82-53-746-6231

Gwangju Office415-2, Nongseong-dong, Seo-gu, GwangjuTEL : 82-62-363-5272 / FAX : 82-62-363-5273 *Materials and specifications are subject to change without notice

http://www.hyundai-engine.comE-mail : [email protected]

■ Manipulator Specifications

Point ZWorking Range

Point Z

620 100

200

13949942388

360

759

1554

2313

560

130

R1394R437

A

E

C

D

B

4-ø18 HOLE

ø50

4-M5 TAP DP9(PCD 40)

4-M6 TAP DP8Air Nipple : 2EA

PT 3/8Air Nipple : 2EA

PT 3/8

ASR1A : 8PinHAN-8D

ASR1A : 8PinHAN-8D

50

60

ø6H7 DP8

ø40

125 310

260

200

260

310

Item Specification

Model HA006

Payload 6 kg

Structure Articulated

Degree of freedom 6 Axes

Max. Motion Range

S Swivel ±180 °

H For/Backward +150 ° ~ -90 °

V Up/Downward +140 ° ~ -160 °

R2 Rotation 2 ±180 °

B Bending ±135 °


Max. Speed

S Swivel 170 °/s

H For/Backward 170 °/s

V Up/Downward 170 °/s

R2 Rotation 2 335 °/s

B Bending 335 °/s


AllowableMoment

R2 Rotation 2 1.0 kgf.m

B Bending 1.0 kgf.m

R1 Rotation 1 0.5 kgf.m

Repeatability ±0.05 mm

Ambient Temperature 0 ~ 45°C (273 ~ 318°K)

Approximate Weight 155 kg

Working Envelope

View “C” For User Application View “D” For User Application(Option) View “E” For Cable Guide

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

■ System ConfigurationOn-line Manual

(Trouble Shooting)Remote Management System - File Management - On-line Monitoring - Remote Diagnostics

Graphic Panel

Robot Controller (Hi5)

Peripheral Equipments (Welding Machine, PLC etc)

Cooperative Control

Sensor Interface (2D, 3D Vision etc)

Off-line Programming

High Speed Serial Network

Ethernet

Fieldbus

Robot

Teaching Pendant

■ Teaching Pendant Specifications

· Easy and simple operation - Easy/convenient programming language similar to BASIC

· Easy maintenance - Excellent maintenance ability using on-line display function

· Advanced control technology - Dynamic control

- Advanced vibration suppression control

- Extended torque-velocity control

· Safety - Compliant with ANSI/RIA15.6_1999 and CE Directives

· Compatibility and connectivity - Embedded soft PLC

- Fieldbus : CC-Link, Profibus-DP, Devicenet, Modbus, etc.

- Ethernet, Serial Communication

Item SpecificationMicroprocessor 32 bits RISC Processor

Operating System Windows CE

Display 7" Color TFT-LCD

Operation Mode Menu Driven and Code Input / Touch Panel

■ Controller SpecificationsItem Specification

Model Name Hi5Control Hardware Multi Processor System

Execution Mode Teaching & Playback

Interpolation Type Point-to-Point, Linear, Circular

Max. Axes Max. 16 Axes Simultaneously

Number of Step 17,000 Points

External Program Selection Binary 255 / Discrete 8

Position Detector Serial Absolute Encoder

Program Back-up USB Memory

Servo Control Full Digital Servo

Digital Input / Output Max. Input : 256 / Output : 256 Points

Analog Input / Output Input : 4 ch / Output : 4 ch

Conveyor Pulse Counter Differential Input / Open Collector Input, 2ch

Communication

Ethernet 100BaseT (2 Ports)

CAN User1 / User2

Serial RS232C, RS422 (RS485)

Field Bus CC-Link, Profibus-DP, Devicenet, Modbus

Rated Supply Voltage AC220V ± 10%, 50 / 60 Hz

Max. Rated Power 8 kVA (Instant Max. 30 kVA)

Cabinet Dimmension (WxDxH) 650 mm x 600 mm x 1,100 mm (Except Caster)

Weight 150 kg (Without Transformer)

Protection Classification IP54

Ambient Temperature 0 ~ 45 ˚C


serial link structure


Application- Arc welding- Sealing- Cutting- Assembly


Overseas







Korea








Point Z

Point Z



480

360

412

360

150

700

460

150

700

460

1976

960

2196

1233

880 110

250

250

5461265 1765

1025 110

682

19861486

A

A

D

D

E

E

B

B

C

C

2-ø6H7 DP 10(PCD 45)

4-ø18

ø58

60

4-M6 TAP DP 10(PCD 45)

36052

260

310

360

310

User ApplicationAir Nipple

PT3/8 OD. 8 HoseUser ApplicationAir NipplePT3/8 OD. 8 Hose

50 4-M6 TAP THRU

User ApplicationPower(Option)

(HAN 10EE/Size 6B)User Application Signal(HAN 24DD/Size 6B)

User Application ConnectorSingal 5A(HAN 24DD/Size 6B)

User Application ConnectorPower 10A(Option)(HAN 10EE/Size 6B)

■ Manipulator SpecificationsItem Specification

Model HA020 HA010L

Payload 20 kg 10 kg



Max. Motion Range

S Swivel ±180 °

H For/Backward +150 ° ~ -110 ° +160 ° ~ -105 °

V Up/Downward +250 ° ~ -155 ° +240 ° ~ -165 °


B Bending ±135 °


Max. Speed

S Swivel 170 °/s

H For/Backward 165 °/s

V Up/Downward 170 °/s 175 °/s

R2 Rotation 2 335 °/s 350 °/s

B Bending 335 °/s 350 °/s


AllowableMoment

R2 Rotation 2 4 kgf.m 2.5 kgf.m

B Bending 4 kgf.m 2.5 kgf.m

R1 Rotation 1 2 kgf.m 1.1 kgf.m



Approximate Weight 240 kg 245 kg

Working Envelope


View “C” For User Application View “D” For User Application(Option) View “E” For Cable Guide

HA020

HA010L



Graphic Panel



Cooperative Control




Ethernet

Fieldbus

Robot

Teaching Pendant



























Conveyor Pulse Counter Differential Input / Open Collector Input, 2 ch

Communication

Ethernet 100 Base T (2 Ports)

CAN User 1 / User 2










link structure


Application- Material Handling- Assembly- Deburring


Overseas







Korea








■ Manipulator Specifications

101

151

125.5

119.

5

175

ø125

150

991.

524

30

689

750

1589

150

30014951020 175

6-M8 TAP DP 12(PCD 100)

AIR #1

AIR #2

ASR

1A

ASR 2A

CMR 1

CER 1

AIR #1 AIR #2

ASR 1

1589 75

0 2809

1383

2420 1388

1037

689

14201895

30015

0 175

User Application Connector for Signal (ASR 1, HAN 24DD:20PIN)

User Application Connector for Power(ASR 2, HAD 8D:7 PIN)

Air In #1, #2(PT 3/8,

OD.8 HOSE)

Air In #1, #2(PT 3/8,

OD.8 HOSE)

User Application Connector for Power(ASR 2A HAD 8D:7 PIN)

User Application Connector for Signal(ASR 1A, HAN 24DD:20PIN)

6-M6 TAP DP10

115 45

60

AD

E

C

B

AD

E

C

B

2-ø8H7 DP10(PCD 100)

8-ø22 DRILL THRU.

4-M24 TAP THRU.

60025

024

324

319

019

0

250

655

243 243190 190

250 250

Point Z


Point Z


R697R2041

R1037R2420

Item Specification

Model HR050 HR030L

Payload 50 kg 30 kg



Max. Motion Range

S Swivel ±180 °

H For/Backward +150 ° ~ -80 ° +150 ° ~ -77 °

V Up/Downward +140 ° ~ -135 ° +134 ° ~ -135 °


B Bending ±127 °


Max. Speed

S Swivel 150 °/s 140 °/s

H For/Backward 170 °/s 150 °/s

V Up/Downward 170 °/s 150 °/s

R2 Rotation 2 235 °/s 210 °/s

B Bending 235 °/s 210 °/s

R1 Rotation 1 300 °/s 300 °/s

AllowableMoment

R2 Rotation 2 18 kgf.m 12 kgf.m

B Bending 18 kgf.m 12 kgf.m

R1 Rotation 1 9 kgf.m 6 kgf.m



Approximate Weight 650 kg 670 kg

Working Envelope

View “C” For User Application View “D” For User Application View “E” For Cable Guide

HR050

HR030L




Graphic Panel



Cooperative Control




Ethernet

Fieldbus

Robot

Teaching Pendant




























Communication


CAN User1 / User2










link structure


Application- Spot welding- Material Handling- Machine loading and unloading


Overseas







Korea








■ Manipulator SpecificationsWorking Envelope

View “A” For Tool Attachment-HX400/300/300L View “B” For Installation-HX200L View “B” For Installation

View “C” For User Application View “D” For User Application (Option) View “E” For Cable Guide

8

Point ZWorking

Range

Point ZWorkingRange

Point Z

Point Z

Point ZWorkingRange

Point ZR625

R118

6

R1317

R3056

R850

(HX4

00)

R766

(HX3

00)

R111(HX400)R960(HX300)

410

300 1300

25731186 1186 30561317950

258

300 1800 258

2723 29

7365

2900

1000

2278

200

900

1000

200

156

AA

DD

B B

E E

CC

R118

6

R1317

R3056

1186 30561317

6-M12 DP20 6-M10 DP14

335100 200

6-M10 DP13

6-M8 DP12 3x4M8 DP12

ø12H7 DP20

Servo Gun Cable for PowerReceptacle:MS3102B20-29PMating:MS3106B20-29S(Option)

Servo Gun Cable for PowerReceptacle:MS3102B24-11PMating:MS3106B24-11S(Option)

Air Nipple 3/8”

Air Nipple 3/8”

User Application Cable for SignalReceptacle:MS3102B32-22PXMating:MS3106B20-22SX(Option)

Servo Gun Cable for PowerReceptacle:MS3102B20-11SMating:MS3106B20-11P(Option)

Servo Gun Cable for SignalReceptacle:MS3102B20-29SMating:MS3106B20-29P(Option)

User Application Cable for SignalReceptacle:MS3102B24-28SXMating:MS3106B24-28PX(Option)

User Application Cable for SignalReceptacle:MS3102B24-28SMating:MS3106B24-28P(Option)

ø9H7 DP202-ø9H7 DP16

8-ø23

2-ø30H9

786

270315360

270315360

4-M24

ø250

H6ø1

25H7

ø76H

7ø1

80

70

116

786 36

036

027

027

0PCD200

PCD125PCD1608

300 1800 236

2973

652

900

1000

200

HX200L

HX400/300 HX300L

Item Specification

Model HX400 HX300 HX300L HX200L

Payload 400 kg 300 kg 300 kg 200 kg



Max. Motion Range

S Swivel ±180 °

H For/Backward ±75 °

V Up/Downward +30 ° ~ -125 °


B Bending ±120 °


Max. Speed

S Swivel 95 °/s 90 °/s 95 °/s

H For/Backward 95 °/s 90 °/s 95 °/s

V Up/Downward 95 °/s 85 °/s 95 °/s

R2 Rotation 2 100 °/s 110 °/s 110 °/s 120 °/s

B Bending 100 °/s 110 °/s 110 °/s 120 °/s

R1 Rotation 1 160 °/s 180 °/s 155 °/s 180 °/s

AllowableMoment

R2 Rotation 2 200 kgf.m 170 kgf.m 170 kgf.m 131.5 kgf.m

B Bending 200 kgf.m 170 kgf.m 170 kgf.m 131.5 kgf.m

R1 Rotation 1 84 kgf.m 70 kgf.m 70 kgf.m 61.6 kgf.m



Approximate Weight 2620 kg 2435 kg 2685 kg 2265 kg



Graphic Panel



Cooperative Control




Ethernet

Fieldbus

Robot

Teaching Pendant




























Communication


CAN User1 / User2









Documents

Key Features - gongkongfs.gongkong.com/files/technicalData/201312/...Beijing Hyundai Jingcheng No.2. Nanl i, Luguoqiao Fengtai District, Beijing, China TEL : +86 10 8321 2588 FAX :