1

36 R76 36 R2666 R76 36 R2666 R7

R6 5 R6 5 R6 65

Point Z Point Z Point Z Point Z

Working Range Working Range
36 R76 R2666
R6 5
6
■ Manipulator Specifications 312 63
R1250 L R765 312 636 1250R26R6766 L 312
Point Z Point Z R 5
E Working Range E
Item Specification Working Envelope Point Z Point Z Point Z

100
A Working Range A

230

230

11003071 230
Model HS165 HS200 W
D D
Payload 165 kg 200 kg 312 1250 LL = 229 for HS165 L = 229 for HS165
E L = 235 for HS200 L = 235 for HS200

1100

1100
Structure Articulated 312 1250 L
312 1250 L

2173

2173

3071 2173
A

230
Degree of freedom 6 Axes E
B D 36 B R26A66 BE
S Swivel ±180 ° R76
R6

230
5
L = 229 for HS165

230
H For/Backward +80 ° ~ -65 ° L = 235 for HS200
D D
1100

3071
Max. L = 229 Point
for HS165

700

700

700
V Up/Downward +230 ° ~ -135 ° Point Z Z L = 229
2173
Motion L = 235 for HS200
Working Range L = 235

1100

1100
Range R2 Rotation 2 ±360 ° C B C C
59

59

59
2173

2173
582 582 582

380
B Bending ±360 ° ±125 ° B
1022 765 B
R1 Rotation 1 ±360 ° 3121022 1250 765 L 1022 765
700

1956 19562666 E 1956 2666

S Swivel 105 °/s 95 °/s
C

700
59

700
H For/Backward 105 °/s 95 °/s A
230
582

380
V Up/Downward 105 °/s 95 °/s C D C
59

Max. 1022 765

59

3071
582 L = 229 for
582HS165

380
Speed R2 Rotation 2 150 °/s 135 °/s 1956 2666 L = 235 for HS200
1022 765
1100

1022 765
B Bending 145 °/s 120 °/s
2173

1956 1956 2666 2666

R1 Rotation 1 220 °/s 190 °/s B
R2 Rotation 2 105 kgf.m 136 kgf.m
Allowable
B Bending 105 kgf.m 136 kgf.m
700

Moment
R1 Rotation 1 50 kgf.m 72 kgf.m
C
59

Repeatability ±0.2 mm
582

380
Ambient Temperature 0 ~ 45°C (273 ~ 318 K) 1022 765
Approximate Weight 1,250 kg 1,270 kg 19566-M10 2666DP 14
-M10 DP2x2-ø9H7
16 DP 16 6-M102x2-ø9H7
DP 16 DP 16
2x2-ø9H7 16 DP 166-M10 DP
DP6-M10 14
2x2-ø9H7 DP 16 DP 14 DP 16
2x2-ø9H7 6-M10
(PCD 125)(PCD 92/125) (PCD 92/125)
(PCD 125) (PCD 125) (PCD 160)
(PCD 125/160) (PCD 125/160) (PCD(PCD
160)125/160) (PCD 160)
6-M10 DP 16 6-M10 DP 16 6-M10 DP 166-M10 DP 14 6-M10 DP 14 662 DP 14 4-M24
6-M10 662
(PCD 92) 6 (PCD 92)
6 12 (PCD 92) (PCD 125)
12 (PCD12125) (PCD 125) 8-ø23 HOLE
View “A” For Tool Attachment - HS165 View “A” For Tool Attachment - HS200 View “B” For Installation
306
0 DP 16 2x2-ø9H7 DP 16 6-M10 DP 14
306 229 229
ø76 H7
ø50 H7

ø50 H7

ø76 H7

ø76 H7

D 125) (PCD 125/160) (PCD 160)

ø142

ø142

ø180

ø180

ø180
662

662

4-M24
-ø9H7
M10 DPDP1616 6-M10 DP 16DP 16
2x2-ø9H7 6-M10 DP 16 2x2-ø9H7
6-M10DPDP16
14 6-M10
2x2-ø9H7DP DP
14 16 6-M10 DP 14 662
CD 92/125)
(PCD 92) (PCD
(PCD125)
92/125) (PCD12125) (PCD(PCD
125/160)
125) (PCD 125/160)
(PCD 160) (PCD 160) 8-ø23 HOLE
306

6-M10 DP 16 6-M10 DP 14 662 4

6-M10 DP 16 6-M10 DP 14 8
6 (PCD
6 92) (PCD 92) 12 (PCD 125)
12 (PCD 125)
229
ø76 H7

229 229 229

ø180

662

306 306 306 229

ø50 H7

ø76 H7
ø50 H7

ø76 H7

229
ø142

ø180
ø142

306
ø180

662

662

229

229 229
9H7 DP 16 6-M10 DP 16 2x2-ø9H7 DP 16 6-M10 DP 14 306 306
92/125) (PCD 125) (PCD 125/160) (PCD 160) 229 229
6-M10 DP 16 6-M10 DP 14 662 306
306 4-M
6 View
(PCD“C”
92) For User Application View
12 “D” For User Application
(PCD 125) View “E” For Cable Guide 8-ø2
229
ø50 H7

ø76 H7
ø142

ø180

Encoder UserServo Gun Encoder

Air Line User I/O User Air Line Servo GunUser
Power Servo Gun
User Power Servo Gun Power
662

I/O I/O
2DD) (HAN42DD)(HAN24DD-6B) (PT 3/8)
(PT 3/8) (HAN10EE-6B)
(HAN24DD-6B) (HAN10EE-6B)
(HAN24DD-6B) (HAN10EE-6B)
100 230 200 100 230
229

User Air Line User Air Line User Air Line

(PT 3/8) (PT 3/8) (PT 3/8)
229 229
User I/O Servo Gun Power 306 306
(HAN24DD-6B) (HAN10EE-6B) 100 230 200
70

70
76

User Gun
er Servo Air Line
Encoder
ServoUser
GunI/O
Power
User Air LineI/O
User User I/OUser Servo
I/O Gun User I/O
Encoder Servo
User Gun
I/O Power
ServoUser
GunI/OServo Gun Power Servo Gun Encoder 4-M10 DP 15
Encoder 4
(PT 3/8) (HAN42DD-10B)
(HAN42DD) (HAN24DD-6B) User Air Line (HAN10EE-6B)
(HAN46EE) (PT 3/8)
(HAN24DD-6B) (HAN42DD-10B) (HAN24DD-6B)
(HAN8D-3A)
(PT 3/8) (HAN24DD-6B) (HAN8D-3A)(HAN10EE-6B)
(HAN24DD-6B) (HAN8D-3A)4-M10 DP 15100 230 2004-M1010D
User Air Line User Air Line
(PT 3/8) (PT 3/8)
70

76

User I/O Servo Gun Encoder 4-M10 DP 15

70

76

(HAN24DD-6B) (HAN8D-3A) 4-M10 DP 15

ervo GunUser I/O
Power User I/O User I/O Servo Gun Encoder 4-M10 DP 15
■ Controller Specifications ■ Teaching Pendant Specifications
Item Specification Item Specification
Model Name Hi5 Microprocessor 32 bits RISC Processor
Control Hardware Multi Processor System Operating System Windows CE
Execution Mode Teaching & Playback Display 7" Color TFT-LCD
Interpolation Type Point-to-Point, Linear, Circular Operation Mode Menu Driven and Code Input / Touch Panel
Max. Axes Max. 16 Axes Simultaneously
Number of Step 17,000 Points
· Easy and simple operation
External Program Selection Binary 255 / Discrete 8
- Easy/convenient programming language similar to BASIC
Position Detector Serial Absolute Encoder
Program Back-up USB Memory
· Easy maintenance
Servo Control Full Digital Servo
- Excellent maintenance ability using on-line display function
Digital Input / Output Max. Input : 256 / Output : 256 Points
Analog Input / Output Input : 4 ch / Output : 4 ch
· Advanced control technology
Conveyor Pulse Counter Differential Input / Open Collector Input, 2ch
- Dynamic control
Ethernet 100BaseT (2 Ports)
- Advanced vibration suppression control
CAN User1 / User2 - Extended torque-velocity control
Communication
Serial RS232C, RS422 (RS485)
Field Bus CC-Link, Profibus-DP, Devicenet, Modbus · Safety
Rated Supply Voltage AC220V ± 10%, 50 / 60 Hz - Compliant with ANSI/RIA15.6_1999 and CE Directives
Max. Rated Power 8 kVA (Instant Max. 30 kVA)
Cabinet Dimmension (WxDxH) 650 mm x 600 mm x 1,100 mm (Except Caster) · Compatibility and connectivity
Weight 150 kg (Without Transformer) - Embedded soft PLC
Protection Classification IP54 - Fieldbus : CC-Link, Profibus-DP, Devicenet, Modbus, etc.
Ambient Temperature 0 ~ 45 ˚C - Ethernet, Serial Communication

■ System Configuration
On-line Manual Remote Management System
(Trouble Shooting) - File Management
- On-line Monitoring
- Remote Diagnostics
Ethernet

Off-line
Robot Programming

Teaching Pendant High Speed Serial Network

Fieldbus

Robot Controller
(Hi5)
Cooperative Sensor Interface
Peripheral Equipments Control (2D, 3D Vision etc)
Graphic Panel (Welding Machine, PLC etc)
 Key Features
- Enlargement of working envelope by
serial link structure
- Improvement of dynamic performance

Application
- Spot welding
- Material Handling
- Assembly

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

Korea Overseas Rotterdam / Netherland

Folkert Elsingastraat 7
Head Office Chicago / U.S.A 3067 NW, Rotterdam, The Netherland
1, Jeonha-dong, Dong-gu, Ulsan 955 Estes Avenue, Elk Grove Village IL TEL : +31 10 212 1567
TEL : 82-52-202-7901~10 / FAX : 82-52-202-7900 60007, U.S.A FAX : +31 10 212 5134
TEL : +1 800 423 8721
Seoul Office FAX : +1 847 437 3574 Beijing / China
140-2, Gye-dong, Jongno-gu, Seoul Beijing Hyundai Jingcheng
TEL : 82-2-746-4713 / FAX : 82-2-746-4720 Houston / U.S.A No.2. Nanl i, Luguoqiao
1400 Broadfield, Suite 110, Park 10 Fengtai District, Beijing, China
Ansan Office Center Houston, Texas 77084, U.S.A TEL : +86 10 8321 2588
1431-2, Sa-dong, Sangnok-gu, Ansan-si, Gyeonggi-do TEL : +1 281 578 7097 FAX : +86 10 8321 2188
TEL : 82-31-409-4945 / FAX : 82-31-409-4946 FAX : +1 281 578 8317
Mumbai / India
Cheonan Office London / U.K Hyundai Heavy Industries Co., Ltd.
355-15, Daga-dong, Cheonan-si, Chungcheongnam-do 2ND Floor, The Triangle 5-17, 301, 3rd Floor, Sarjan Plaza 100, Annie
TEL : 82-41-576-4294 / FAX : 82-41-576-4296 Hammersmith Grove London W6 0LG, Besant Road, Worli, Mumbai 400 018,
U.K India
Daegu Office
223-5, Beomeo 2-dong, Suseong-gu, Daegu TEL : +44 20 8741 0501 TEL : +91 22 2498 6022~7
TEL : 82-53-746-6232~3 / FAX : 82-53-746-6231 FAX : +44 20 8741 5620/8834 7281 FAX : +91 22 2498 0620

Gwangju Office http://www.hyundai-engine.com

415-2, Nongseong-dong, Seo-gu, Gwangju E-mail : [email protected]
TEL : 82-62-363-5272 / FAX : 82-62-363-5273 *Materials and specifications are subject to change without notice