ROBOT

Vertical articulated
VS-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

Model
Series
Floor-mount Overhead-mount
Small-sized, vertical articulated
VS-6556G
VS-G Same as left.
VS-6577G
(Models configured with RC7M controller)

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 VS-6556G, for example, the robot unit model is
VS-6556GM.

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 ................................................................................. 15
3.2.1 Models Except UL-Listed Ones............................................................................................................... 15
3.2.2 UL-Listed Models.................................................................................................................................... 27
3.3 Robot Positioning Time....................................................................................................................................... 29
3.4 Air Piping, Signal Wiring, and Solenoid Valve Specifications............................................................................ 36
3.4.1 Air Piping and Signal Wiring................................................................................................................... 36
3.4.2 Instructions for Using Splash-proof Connector Sets................................................................................ 41
3.4.3 Solenoid Valve Specifications (VS-G series)........................................................................................... 42
3.4.4 Existing Internal Threads for Wiring and Piping ..................................................................................... 43
3.5 Precautions When Designing the End-effectors .................................................................................................. 44
3.6 Stopping Time and Distance (Angle) at an Emergency Stop .............................................................................. 47

Chapter 4 Specifications of the Robot Controller........................................................................................................ 49

4.1 Specifications ...................................................................................................................................................... 49
4.2 Outer Dimensions................................................................................................................................................ 51
4.3 Controller Setting Table ...................................................................................................................................... 52

Chapter 5 Warranty ....................................................................................................................................................... 53

Chapter 6 Appendix........................................................................................................................................................ 54
6.1 Conformity with Standards by Robot Model ...................................................................................................... 54
 Chapter 1 Packing List of the Robot

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) 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) 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 2m 410141-4400
Standard cable 4m 410141-3611
Standard cable 6m 410141-3621
Standard cable 12 m 410141-3631
Standard cable 20 m 410141-4440
Splash-proof cable 2m 410141-4420
Splash-proof cable 4m 410141-3681
Splash-proof cable 6m 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.

1
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” (68pins)
(15 m) 410141-2710
I/O cables (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
I/O cable for “SAFETY I/O” (36 pins) (8 m) 410141-3580
3
(Only for global type) (15 m) 410141-3590
(4 m) With cable 410100-1572
4 Teach pendant (8 m) With cable 410100-1582
(12 m) With cable 410100-1592
Japanese indication 410109-0392
(4 m)
English indication 410109-0402
Operation
Mini-pendant kit Japanese indication 410109-0412
devices 5 (8 m)
(Incl. cable and WINCAPSIII Light) English indication 410109-0422
Japanese indication 410109-0432
(12 m)
English indication 410109-0442
(4 m) For TP, MP 410141-3711
6 Pendant extension cable
(8 m) For TP, MP 410141-3721
CD-ROM
Programming (common to the
7 WINCAPSIII 410090-0980
support tool languages--Japanese, English,
German, Korean, and Chinese)
Shipped as installed on the NPN 410010-3320
Parallel I/O controller PNP 410010-3330
8
board Shipped as individual boards NPN 410010-3340
(supply part) PNP 410010-3350
For Slave station 410010-3370
Shipped as installed on the
For Master station 410010-3380
controller
DeviceNet For Master & slave station 410010-3390
9
board For Slave station 410010-3400
Optional Shipped as individual boards
For Master station 410010-3410
boards for the (supply part)
robot controller For Master & slave station 410010-3480
Shipped as installed on the
410010-3430
controller
10 CC-Link board
Shipped as individual boards
410010-3440
(supply part)
Shipped as installed on the
410010-3460
controller
11 Conveyor tracking board
Shipped as individual boards
410010-3470
(supply part)

2
 Chapter 1 Packing List of the Robot

Optional Components (2)

Classification No. Item Remarks Part No.

Shipped after integrated in the
Optional function for RS232C board 410006-0260
controller
12 Board manufacturer: CONTEC CO., LTD.
Added when the board is
Model: COM-2P(PCI)H 410006-0270
purchased as a spare part
Shipped after integrated in the
Optional function for S-LINK V board 410006-0280
controller
13 Board manufacturer: SUNX CO., LTD
Added when the board is
Model: SL-VPCI 410006-0290
purchased as a spare part
Optional
Optional function for PROFIBUS-DP slave Shipped after integrated in the
functions 410006-0300
board controller
(For own 14
optional board Board manufacturer: Hilscher GmbH Added when the board is
410006-0310
etc.) Model: CIF50-DPS\DENSO purchased as a spare part

Shipped after integrated in the

EtherNet/IP function 410006-0800
controller
15 Board manufacturer: Hilscher GmbH
Model: CIFX 50-RE\DENSO Added when the board is
410006-0810
purchased as a spare part
Extension only upon controller
16 Optional function for memory extension 410006-0320
shipment (3.25MB to 5.5 MB)
17 Controller protection box 410181-0091
Optional box For interchangeability with RC5
18 I/O conversion box 410181-0100
type controller
CD Manuals 19 Manual Pack CD Contained in the robot package. 410002-2661
20 Instruction manual for VS-G, full set Includes No. C and No. D 410009-0300
C Instruction manual for VS-G, basic set Includes No. C-1 to No. C-3 410009-0200
C-1 GENERAL INFORMATION ABOUT ROBOT For VS-G 410002-2490
C-2 RC7M CONTROLLER MANUAL For RC7M controller 410002-2430
Optional C-3 ERROR CODE TABLES 410002-3370
manuals D Instruction manual for VS-G, extension set Includes No. D-1 to No. D-7 410009-0080
(Printed D-1 INSTALLATION & MAINTENANCE GUIDE For VS-G 410002-2510
materials, D-2 STARTUP HANDBOOK 410002-2750
English edition) 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
D-7 OPTIONS MANUAL For RC7M controller 410002-2650

3
Chapter 2 Configuration of the Robot System
2.1 Configurators
The figure below shows configurators of the typical robot system.

I/O conversion box

(1) Robot unit (option)

PLC (prepared by customer)

(3) Power cable

(2) Robot controller

I/O cable (option)

(4) Motor & encoder cable

(Option) (8) Pendantless
connector (Note 2) Optional board
Personal computer
(prepared by customer)

Teach pendant (option)

Mini pendant Controller protection
(option) box (option)

WINCAPSIII
Printer (prepared by customer) (option) (6) WINCAPSIII install CD
(Trial version)

(7) Spare fuses (12) Spare output IC (14) Short sockets

(5) Manuals for robot controller for robot controller for robot controller

(9) Connector set

for hand control signals (13) Dowel pins
(10) Direction (11) Warning label (for CN20 and CN21)
indicator label

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 (VS-G series)

4
 Chapter 2 Configuration of the Robot System

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.
Note: The UL-Listed robot unit has the motor ON lamps on the 2nd arm, and the brake
release switch and axis selector on the base.

UL-Listed robot unit

Robot Unit Components and Rotation Direction (VS-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.

5
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.

6
 Chapter 2 Configuration of the Robot System

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

Additional description
robot unit
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.

Label 2 When the controller power is on, pressing the brake release switch
(on UL-Listed robot units only) causes the arm to fall. It is DANGEROUS. Observe the following:
(1) Never press the brake release switch except in an emergency.
(2) Before pressing the brake release switch, be sure to check that
there is no danger of injuries or damages on equipment.

Label 3 There is a high voltage part.

This label alerts the user to the dangers of electrical shocks.

Label 4 Instructions on how to hoist the robot unit.

Label 5 Cautions when performing CALSET.

For details, refer to the INSTALLATION & MAINTENANCE GUIDE.

7
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 VS-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

8
 Chapter 3 Specifications of the Robot Unit

Chapter 3 Specifications of the Robot Unit

3.1 Robot Specifications
The following tables list the specifications of the VS-G series.

(1) VS-6556G (configured with RC7M controller)

VS-6556G Specifications

Specifications

Item UL-Listed type

Standard Dust- & splash- Dust- & splash-
With brakes (Dust- & splash-
type proof type proof type with proof type with
brakes brakes)

Model name of robot system (Note 1) VS-6556G VS-6556G-W VS-6556G-B VS-6556G-BW VS-6556G-BW-
UL

Model name of robot unit VS-6556GM VS-6556GM-W VS-6556GM-B VS-6556GM-BW VS-6556GM-BW

-UL
Overall arm length 270 (first arm) + 295 (second arm) = 565 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 733 mm (end-effector mounting face)
Maximum motion area R = 653 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +166, -119
Motion range J4  190, J5  120, J6  360
Maximum payload 7 kg (Note 2)
Maximum composite speed 8200 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 (at the center of an end-effector mounting face)
2 2
Maximum allowable inertia moment 0.413 kgm for around J4 and J5, 0.063 kgm for around J6

Position detection Absolute encoder

AC servomotors
Drive motor and brake AC servomotors for all joints, AC servomotors for all joints, for all joints,
Brakes for joints J2 to J4 Brakes for joints J2 to J6 Brakes for all
joints

Enter a brake release command with the teach pendant or Use the brake
Brake releasing mini-pendant. release switch.
(Note 5)
User air piping (Note 4) 7 systems (4x6, 6x1), 3 solenoid valves (2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating pressure 0.10～0.39MPa
Air source Maximum allowable
pressure 0.49MPa

Degree of protection IP40 IP54 (Wrist: IP40 IP54 (Wrist: IP54 (Wrist:
IP65) IP65) IP65)
Airborne noise (A-weighted
equivalent continuous sound 80 dB or less
pressure level)
Weight Approx. 35 kg (77 lbs) (See the name plate on each model.)
Note 1 The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 2 If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at 45 degrees from
vertical. Also, the maximum payload is 5 kg if the robot controller version is older than Ver.2.60.
Note 3 Position repeatability is the value at constant ambient temperature.
Note 4: Only the 4x6 air piping system may be controlled by built-in solenoid valves.
Note 5: When the controller power is ON, use the brake release switch to release the brake of the selected joint.
Brake releasing with the teach pendant or mini-pendant is not possible.

9
 (2) VS-6577G (configured with RC7M controller)
VS-6577G Specifications

Specifications

UL-Listed type
Item Dust- & splash-
Dust- & splash- (Dust- &
Standard type With brakes proof type with
proof type splash-proof type
brakes
with brakes)

VS-6577G-BW-
Model name of robot system (Note 1) VS-6577G VS-6577G-W VS-6577G-B VS-6577G-BW
UL
VS-6556GM-BW
Model name of robot unit VS-6577GM VS-6577GM-W VS-6577GM-B VS-6577GM-BW
-UL
Overall arm length 365 (first arm) + 405 (second arm) = 770 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 934 mm (end-effector mounting face)
Maximum motion area
R = 854 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +169, -119
Motion range
J4  190, J5  120, J6  360

Maximum payload 7 kg (Note 2)

Maximum composite speed 7600 mm/s (at the center of an end-effector mounting face)
Position repeatability (Note 3) In each of X, Y and Z directions: 0.03 mm (at the center of an end-effector mounting face)
Maximum allowable inertia 2 2
0.413 kgm for around J4 and J5, 0.063 kgm for around J6
moment
Position detection Absolute encoder
AC servomotors
AC servomotors for all joints, AC servomotors for all joints, for all joints,
Drive motor and brake
Brakes for joints J2 to J4 Brakes for joints J2 to J6 Brakes for all
joints
Use the brake
Enter a brake release command with the teach pendant or
Brake releasing release
mini-pendant.
switch.(Note 5)
7 systems (4x6, 6x1), 3 solenoid valves
User air piping (Note 4)
(2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating pressure 0.10～0.39MPa
Air source Maximum allowable
0.49MPa
pressure
IP54 IP54 IP54
Degree of protection IP40 IP40
(Wrist: IP65) (Wrist: IP65) (Wrist: IP65)
Airborne noise (A-weighted equivalent
80 dB or less
continuous sound pressure level)
Weight Approx. 36 kg (80 lbs) (See the name plate on each model.)
Note 1 The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 2 If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at 45 degrees from
vertical. Also, the maximum payload is 5 kg if the robot controller version is older than Ver.2.60.
Note 3 Position repeatability is the value at constant ambient temperature.
Note 4: Only the 4x6 air piping system may be controlled by built-in solenoid valves.
Note 5 When the controller power is ON, use the brake release switch to release the brake of the selected joint. Brake
releasing with the teach pendant or mini-pendant is not possible.

10
 Chapter 3 Specifications of the Robot Unit

(3) VS-6556G-P10, VS-6556G-BP10

VS-6556G-P10 & VS-6556G-BP10 Specifications

Specifications
Item
Standard type With brakes

Model name of robot set (Note 1) VS-6556G-P10 VS-6556G-BP10

Model name of robot unit VS-6556GM-P10 VS-6556GM-BP10
Overall arm length 270 (first arm) + 295 (second arm) = 565 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 733 mm (end-effector mounting face)
Maximum motion area
R = 653 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +166, -119
Motion range J4  190, J5  120, J6  360

Maximum payload 7 kg (Note 2)

Maximum composite speed 8200 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
2
Maximum allowable inertia Around J4 and J5: 0.413 kgm
moment Around J6 0.063 kgm
2

Position detection Absolute encoder

AC servomotors for all joints, AC servomotors for all joints,
Drive motor and brake
Brakes for joints J2 to J4 Brakes for joints J2 to J6
6 systems (4x6),
User air piping
3 solenoid valves (2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating
pressure 0.10～0.39MPa
Air source Maximum
allowable 0.49MPa
pressure
Weight Approx. 35 kg (77 lbs) (See the name plate on each model.)
Clean class for cleanroom type
Class 10 (0.1μ) at point-of-use
(FED-STD-209D)
Note 1 The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 2: If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at ±45 degrees from
vertical. Also, the maximum payload is 5 kg if the robot controller version is older than Ver.2.60.
Note 3: Position repeatability is the value at constant ambient temperature.

11
(4) VS-6577G-P10, VS-6577G-BP10

VS-6577G-P & VS-6577G-BP Specifications

Specifications
Item
Standard type With brakes

Model of robot system (Note 1) VS-6577G-P10 VS-6577G-BP10

Model of robot unit VS-6577GM-P10 VS-6577GM-BP10
Overall arm length 365 (first arm) + 405 (second arm) = 770 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 934 mm (end-effector mounting face)
Maximum motion area
R = 854 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +169, -119
Motion range J4  190, J5  120, J6  360

Maximum payload 7 kg (Note 2)

Maximum composite speed 7600 mm/s (at the center of an end-effector mounting face)
Position repeatability (Note 3) In each of X, Y and Z directions: 0.03 mm
2
Maximum allowable inertia Around J4 and J5: 0.413 kgm
moment Around J6 0.063 kgm
2

Position detection Absolute encoder

AC servomotors for all joints, AC servomotors for all joints,
Drive motor and brake
Brakes for joints J2 to J4 Brakes for joints J2 to J6
6 systems (4x6),
User air piping
3 solenoid valves (2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating
0.10～0.39MPa
pressure
Air source Maximum
allowable 0.49MPa
pressure
Weight Approx. 36 kg (80 lbs) (See the name plate on each model.)
Clean class for cleanroom type
Class 10 (0.1μ) at point-of-use
(FED-STD-209D)
Note 1: The model name of robot set refers to the model name of a complete set including a robot
unit and robot controller.
Note 2: If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at ±45
degrees from vertical. Also, the maximum payload is 5 kg if the robot controller version is
older than Ver.2.60.
Note 3: Position repeatability is the value at constant ambient temperature.

12
 Chapter 3 Specifications of the Robot Unit

(5) VS-6556G-P100, VS-6556G-BP100

VS-6556G-P100 & VS-6556G-BP100 Specifications

Specifications
Item
Standard type With brakes

Model name of robot set (Note 1) VS-6556G-P100 VS-6556G-BP100

Model name of robot unit VS-6556GM-P100 VS-6556GM-BP100
Overall arm length 270 (first arm) + 295 (second arm) = 565 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 733 mm (end-effector mounting face)
Maximum motion area
R = 653 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +166, -119
Motion range J4  190, J5  120, J6  360

Maximum payload 7 kg (Note 2)

Maximum composite speed 8200 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
2
Maximum allowable inertia Around J4 and J5: 0.413 kgm
moment Around J6 0.063 kgm
2

Position detection Absolute encoder

AC servomotors for all joints, AC servomotors for all joints,
Drive motor and brake
Brakes for joints J2 to J4 Brakes for joints J2 to J6
6 systems (4x6),
User air piping
3 solenoid valves (2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating
pressure 0.10～0.39MPa
Air source Maximum
allowable 0.49MPa
pressure
Weight Approx. 35 kg (77 lbs) (See the name plate on each model.)
Clean class for cleanroom type
Class 100 (0.3 μ) at point-of-use
(FED-STD-209D)
Note 1: The model name of robot set refers to the model name of a complete set including a robot unit and robot
controller.
Note 2: If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at ±45 degrees from
vertical. Also, the maximum payload is 5 kg if the robot controller version is older than Ver.2.60.
Note 3: Position repeatability is the value at constant ambient temperature.

13
(6) VS-6577G-P100, VS-6577G-BP100

VS-6577G-P100 & VS-6577G-BP100 Specifications

Specifications
Item
Standard type With brakes

Model of robot system (Note 1) VS-6577G-P100 VS-6577G-BP100

Model of robot unit VS-6577GM-P100 VS-6577GM-BP100
Overall arm length 365 (first arm) + 405 (second arm) = 770 mm
Arm offset J1 (swing) 75 mm, J3 (front arm) 90 mm
R = 934 mm (end-effector mounting face)
Maximum motion area
R = 854 mm (Point P: J4, J5, J6 center)
J1  170, J2  +135, -100, J3  +169, -119
Motion range J4  190, J5  120, J6  360

Maximum payload 7 kg (Note 2)

Maximum composite speed 7600 mm/s (at the center of an end-effector mounting face)
Position repeatability (Note 3) In each of X, Y and Z directions: 0.03 mm
2
Maximum allowable inertia Around J4 and J5: 0.413 kgm
moment Around J6 0.063 kgm
2

Position detection Absolute encoder

AC servomotors for all joints, AC servomotors for all joints,
Drive motor and brake
Brakes for joints J2 to J4 Brakes for joints J2 to J6
6 systems (4x6),
User air piping
3 solenoid valves (2-position, double solenoid) contained.
User signal line 10 (for proximity sensor signals, etc.)
Operating
0.10～0.39MPa
pressure
Air source Maximum
allowable 0.49MPa
pressure
Weight Approx. 36 kg (80 lbs) (See the name plate on each model.)
Clean class for cleanroom type
Class 100 (0.3 μ) at point-of-use
(FED-STD-209D)
Note 1: The model name of robot set refers to the model name of a complete set including a robot
unit and robot controller.
Note 2: If the payload exceeds 6 kg, the robot unit must be used with the flange facing down at ±45
degrees from vertical. Also, the maximum payload is 5 kg if the robot controller version is
older than Ver.2.60.
Note 3: Position repeatability is the value at constant ambient temperature.

14
 Chapter 3 Specifications of the Robot Unit

3.2 Outer Dimensions and Workable Space of the Robot Unit

The outer dimensions and workable space of the VS-G series are shown on the
following pages.

3.2.1 Models Except UL-Listed Ones

(1) VS-6556G (Standard type)

Outer Dimensions and Workable Space [VS-6556G]

15
(2) VS-6556G-W (Dust- & splash-proof type)

Outer Dimensions and Workable Space [VS-6556G-W]

16
 Chapter 3 Specifications of the Robot Unit

(3) VS-6556G-B (with brakes)

Outer Dimensions and Workable Space [VS-6556G-B]

17
(4) VS-6556G-BW (Dust- & splash-proof type with brakes)

Outer Dimensions and Workable Space [VS-6556G-BW]

18
 Chapter 3 Specifications of the Robot Unit

(5) VS-6556G-P10/P100(cleanroom type)

Outer dimensions and workable space (VS-6556G-P10/P100)

19
(6) VS-6556G-BP10/BP100(cleanroom type with brakes)

Outer dimensions and workable space (VS-6556G-BP10/BP100)

20
 Chapter 3 Specifications of the Robot Unit

(7) VS-6577G (Standard type)

Outer Dimensions and Workable Space [VS-6577G]

21
(8) VS-6577G-W (Dust- & splash-proof type)

Outer Dimensions and Workable Space [VS-6577G-W]

22
 Chapter 3 Specifications of the Robot Unit

(9) VS-6577G-B (With brakes)

Outer Dimensions and Workable Space [VS-6577G-B]

23
(10) VS-6577G-BW (Dust- & splash-proof type with brakes)

Outer Dimensions and Workable Space [VS-6577G-BW]

24
 Chapter 3 Specifications of the Robot Unit

(11) VS-6577G-P10/P100 (cleanroom type)

Outer dimensions and workable space (VS-6577G-P10/P100)

25
(12) VS-6577G-BP10/BP100 (cleanroom type with brakes)

Outer dimensions and workable space (VS-6577G-BP10/BP100)

26
 Chapter 3 Specifications of the Robot Unit

3.2.2 UL-Listed Models

(1) VS-6556G-BW-UL (UL-Listed)

Outer Dimensions and Workable Space [VS-6556G-BW-UL]

27
(2) VS-6577G-BW-UL (UL-Listed)

Outer Dimensions and Workable Space [VS-6577G-BW-UL]

28
 Chapter 3 Specifications of the Robot Unit

3.3 Robot Positioning Time

VS-G series robot positioning time
1. Following figures show the positioning times used to calculate the cycle time.
2. Positioning time means the time from the start of robot operation to the arrival
at the target positioning point.
3. 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

29
(1) VS-6556G robot positioning time

VS6556G
J1 axis
1.6

1.4
7kg

1.2

1
Positioning time (s)

1kg

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J1 Axis [VS-6556G]

VS6556G
J2 axis
1.6

7kg
1.4

1.2

1kg
1
Positioning time (s)

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J2 Axis [VS-6556G]

30
 Chapter 3 Specifications of the Robot Unit

VS6556G
J3 axis
1.4

7kg
1.2

1
Positioning time (s)

0.8 1kg

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J3 Axis [VS-6556G]

VS6556G
J4,5 axis
1.6

1.4

7kg
1.2

1
Positioning time (s)

1kg

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J4, J5 Axis [VS-6556G]

31
 VS6556G
J6 axis
1.2

1
7kg

0.8
Positioning time (s)

1kg

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J6 Axis [VS-6556G]

VS6556G,VS6577G
CP operation

0.7

0.6 7kg

0.5
Positioning time (s)

1kg
0.4

0.3

0.2

0.1

0
0 50 100 150 200 250 300
Travel distance (mm)

CP Operation [VS-6556G]

32
 Chapter 3 Specifications of the Robot Unit

(2) VS-6577G robot positioning time

VS6577G
J1 axis
2

7kg
1.8

1.6

1.4
1kg
Positioning time (s)

1.2

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J1 Axes [VS-6577G]

VS6577G
J2,3 axis
2

1.8
7kg
1.6

1.4

1kg
Positioning time (s)

1.2

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J2, J3 Axes [VS-6577G]

33
 VS6577G
J4,5 axis
1.6

1.4
7kg
1.2

1
Positioning time (s)

1kg

0.8

0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J4, J5 Axes [VS-6577G]

VS6577G
J6 axis
1.2

1
7kg

0.8
Positioning time (s)

1kg
0.6

0.4

0.2

0
0 20 40 60 80 100 120 140 160 180
Motion angle (deg.)

J6 Axis [VS-6577G]

34
 Chapter 3 Specifications of the Robot Unit

VS6556G,VS6577G
CP operation

0.7

0.6 7kg

0.5
Positioning time (s)

1kg
0.4

0.3

0.2

0.1

0
0 50 100 150 200 250 300
Travel distance (mm)

CP Operation [VS-6577G]

35
3.4 Air Piping, Signal Wiring, and Solenoid Valve Specifications
The VS-G series is equipped with 7 air pipes for air chuck, 10 signal lines, and 3
solenoid valves in it.

Caution: - Supply dry air filtered through an air filter (Recommended filtration rating:
5 μm or below).
- Before piping, blow the air tube out with dry air to clean out the inside
(flushing); otherwise, any chips, cutting oil, dust or dirt remaining in the air
tube may result in a damaged valve.

3.4.1 Air Piping and Signal Wiring

(1) VS-6556G(-B) / VS-6577G(-B)
Valve Symbols and Air Intake/Exhaust States
(1A and 1B are piping joint symbols.)
Air piping joint Valve signal
Air Solenoid Solenoid
Exhaust valve
intake A B
1A 1B 1 ON OFF
1B 1A 1 OFF ON
AIR1
2A 2B 2 ON OFF
2B 2A 2 OFF ON
3A 3B 3 ON OFF
3B 3A 3 OFF ON
AIR2

CN20 Pin Assignment

For controller I/O unit, NPN type (source IN, sink OUT)
CN20 pin No. Used for:
12 +24V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)

For controller I/O unit, PNP type (sink IN, source OUT)
CN20 pin No. Used for:
12 0V
13 Solenoid 1A (solenoid valve 1)
14 Solenoid 1B (solenoid valve 1)
15 Solenoid 2A (solenoid valve 2)
16 Solenoid 2B (solenoid valve 2)
17 Solenoid 3A (solenoid valve 3)
18 Solenoid 3B (solenoid valve 3)
Note 1: Pins #1 to #10 on CN21 and those on CN20 are connected with each other. The allowable current per line is 1 A.
Note 2: Use the attached connector sets for CN20 and CN21.

Connector set part No. Part No. Model and part name Appearance

SRCN6A25-24S
410887-0170
(round type connector)
(for CN20) Japan Aviation Electronics Industry Ltd.
410889-0030
JMLP1610M
410877-0180
(L type plug connector)
(for CN21) DDK Electronics, Inc.

Air Piping and Signal Wiring [VS-6556G(-B) / VS-6577G(-B)]

36
 Chapter 3 Specifications of the Robot Unit

(2) VS-6556G-(B)W / VS-6577G-(B)W

Valve Symbols and Air Intake/Exhaust States
(1A and 1B are piping joint symbols.)
Air piping joint Valve signal
Air Solenoid Solenoid
Exhaust
intake valve A B
1A 1B 1 ON OFF
1B 1A 1 OFF ON
AIR1
2A 2B 2 ON OFF
2B 2A 2 OFF ON
3A 3B 3 ON OFF
3B 3A 3 OFF ON
AIR2

CN20 Pin Assignment

For controller I/O unit, NPN type (source IN, sink OUT)

CN20 pin No. Used for:

M +24V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
For controller I/O unit, PNP type (sink IN, source OUT)

CN20 pin No. Used for:

M 0V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
Note 1: Pins A to K on CN20 and pins #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A.
CN20 A B C D E F G H J K
CN21 1 2 3 4 5 6 7 8 9 10
Note 2: Use the attached connector sets for CN20 and CN21.
Connector set part No. Part No. Model and part name Appearance

410877-0120 H/M3106A22-14S (straight plug)

(for CN20) HIROSE ELECTRIC CO., LTD.

410877-0130 H/MS3057-12A (cord clamp) Applicable wire

diameter
(for CN20) HIROSE ELECTRIC CO., LTD. 11.4 to 15.9
410889-0010 Applicable wire
410877-0140 H/MS3057-12A1 (cord clamp)
diameter
(for CN20) HIROSE ELECTRIC CO., LTD. 8 to 11.6

410877-0070 EBLP1610M (L type plug connector)

(for CN21) DDK Electronics, Inc.

Air Piping and Signal Wiring [VS-6556G-(B)W / VS-6577G-(B)W]

37
(3) VS-6556G-P10(B)/VS-6577G-P10(B)

CN20 Pin Assignment

For controller I/O unit, NPN type (source IN, sink OUT)
CN20 pin No. Used for:
M +24V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
For controller I/O unit, PNP type (sink IN, source OUT)

CN20 pin No. Used for:

M 0V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
Note 1：Pins A to K on CN20 and pins #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A.
CN20 A B C D E F G H J K
CN21 1 2 3 4 5 6 7 8 9 10
Note 2：Use the attached connector sets for CN20 and CN21.
Connector set part No. Part No. Model and part name Appearance

410877-0120 H/M3106A22-14S (straight plug)

(for CN20) (HIROSE ELECTRIC CO., LTD.)

410877-0130 H/MS3057-12A (cord clamp) Applicable wire

diameter
(for CN20) (HIROSE ELECTRIC CO., LTD.) 11.4 to 15.9
410889-0010 Applicable wire
410877-0140 H/MS3057-12A1 (cord clamp)
diameter
(for CN20) (HIROSE ELECTRIC CO., LTD.) 8 to 11.6

410877-0070 EBLP1610M (L type plug connector)

(for CN21) (DDK Electronics, Inc.)

Air Piping and Signal Wiring

38
 Chapter 3 Specifications of the Robot Unit

(4) VS-6556G-P100(B)/VS-6577G-P100(B)

CN20 Pin Assignment

For controller I/O unit, NPN type (source IN, sink OUT)

CN20 pin No. Used for:

M +24V
N solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
For controller I/O unit, PNP type (sink IN, source OUT)

CN20 pin No. Used for:

M 0V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
Note 1：Pins A to K on CN20 and pins #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A.
CN20 A B C D E F G H J K
CN21 1 2 3 4 5 6 7 8 9 10
Note 2：Use the attached connector sets for CN20 and CN21.
Connector set part No. Part No. Model and part name Appearance

410877-0120 H/M3106A22-14S (straight plug)

(for CN20) (HIROSE ELECTRIC CO., LTD.)

410877-0130 H/MS3057-12A (cord clamp) Applicable wire

diameter
(for CN20) (HIROSE ELECTRIC CO., LTD.) 11.4 to 15.9
410889-0010 Applicable wire
410877-0140 H/MS3057-12A1 (cord clamp)
diameter
(for CN20) (HIROSE ELECTRIC CO., LTD.) 8 to 11.6

410877-0070 EBLP1610M (L type plug connector)

(for CN21) (DDK Electronics, Inc.)

Air Piping and Signal Wiring

39
(3) UL-Listed models (VS-6556G-BW-UL / VS-6577G-BW-UL)

CN20 Pin Assignment

For controller I/O unit, NPN type (source IN, sink OUT)

CN20 pin No. Used for:

M +24V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
For controller I/O unit, PNP type (sink IN, source OUT)

CN20 pin No. Used for:

M 0V
N Solenoid 1A (solenoid valve 1)
P Solenoid 1B (solenoid valve 1)
R Solenoid 2A (solenoid valve 2)
S Solenoid 2B (solenoid valve 2)
T Solenoid 3A (solenoid valve 3)
U Solenoid 3B (solenoid valve 3)
Note 1: Pins A to K on CN20 and pins #1 to #10 on CN21 are connected with each other as shown below. The allowable current per line is 1 A.
CN20 A B C D E F G H J K
CN21 1 2 3 4 5 6 7 8 9 10
Note 2: Use the attached connector sets for CN20 and CN21.
Connector set part No. Part No. Model and part name Appearance
H/M3106A22-14S
410877-0120 (straight plug)
(for CN20) HIROSE ELECTRIC CO.,
LTD.
H/MS3057-12A
410877-0130 (cord clamp) Applicable wire
diameter
(for CN20) HIROSE ELECTRIC CO., 11.4 to 15.9
LTD.
410889-0130
H/MS3057-12A1
410877-0140 (cord clamp) Applicable wire
diameter
(for CN20) HIROSE ELECTRIC CO., 8 to 11.6
LTD.

WEBLP1610M-2-D
410877-0620
(L type plug connector)
(for CN21)
DDK Electronics, Inc.

Air Piping and Signal Wiring [VS-6556G-BW-UL / VS-6577G-BW-UL]

40
 Chapter 3 Specifications of the Robot Unit

3.4.2 Instructions for Using Splash-proof Connector Sets

The splash-proof connector sets for CN20 and CN21 assure the waterproof degree of
as long as they are properly assembled and connected.
When using those connector sets, be sure to observe the following notes.

(1) The degree of protection of the splash-proof robot unit, which is

specified in Section 3.1 "Robot Specifications," is assured as long as the
splash-proof connectors are joined with connectors CN20 and CN21 on
the robot unit. If there is no connection on CN20 and CN21, the
splash-proof rating is not assured.
(2) Use a sheathed cable for a splash-proof connector. Using an unsheathed
cable cannot assure the splash-proof rating.
(3) Each connector set contains two types of cord clamps for CN20. Use the
one that matches the cable diameter.
(4) Each connector set should be assembled according to the instructions
specified by the connector manufacturer.

The table below shows an assembly procedure example of a connector set for CN20,
21. The actual assembly procedure should be in accordance with the instructions
specified by the connector manufacturer.

Overview of assembly procedure example of connector set for CN20, 21

Components of connector set Assembly procedure example
for CN20, 21

(1) Treatment of wire ends: Strip the wire ends of the cable (prepared
by the customer). The cable diameter and the lengths "A" and "B"
should be in accordance with the instructions given by the
connector manufacturer.

(For straight plug)

(2) Tinning: Tin both the core wires and the connector contacts.
(3) Pass the cable through the heat-shrinkable tube for splash-proof
purpose (with adhesive inside, prepared by the customer) and
the rubber bushing.
(4) Solder the core wires onto the connector contacts to connect
them each other.
(5) Press the rubber bushing against the shell to fit the hood. Then
cover the rubber bushing with the heat-shrinkable tube and apply
heat to shrink the tube.

(For L type plug)

41
3.4.3 Solenoid Valve Specifications (VS-G series)
Note: Do not cover the valve exhaust port behind the second arm.

Item Specifications
Switching system 2-position double
Applicable fluid Air
Operating system Pilot type
P→A･B：1.116mm2(0.062)
Effective cross section (Cv value)
A･B→R：1.188mm2(0.066)
Valve

Lubrication Oilless
Operating pressure range 0.1 to 0.7 MPa (Note 1)
Response time 15 ms or less (at 0.5 MPa)
Maximum operating frequency 10 Hz
-5 to 50C
Ambient temperature
(No dew condensation allowed. When dry air is used)
Operating voltage 24 V 10%
Solenoid

Power consumption (current) 0.5 W (21 mA)

Surge voltage protection circuit Zener diode
Note 1: The air source connected to the robot unit must be used within the operating pressure
range from 0.10 to 0.39 MPa (specified in Chapter 3 "Specifications of the Robot Unit").

42
 Chapter 3 Specifications of the Robot Unit

3.4.4 Existing Internal Threads for Wiring and Piping

NOTE: Maintenance and inspection of the robot unit sometimes requires
removing and installing the covers. Mount the stays for wiring and
piping so that they will not interfere with removal/installation of the
covers.

104.5(VS-6556G)
100 (VS-6577G)

Existing Internal Threads for Wiring and Piping (VS-G series)

43
3.5 Precautions When Designing the End-effectors
Design an end-effector such that it is in compliance with items (1) to (3) described
below.

CAUTION If the end-effector design precautions are not observed,

the clamped parts of the robot unit may become loose,
rattle or be out of position. In the worst case, the
mechanical parts of the robot and robot controller may
become damaged.

(1) Mass of end-effector

Design the end-effector so that the total mass of the end-effector (including
workpiece) will be lighter than the maximum payload capacity of the robot.
The total mass includes the wiring, piping, etc.

Maximum total mass of end-effector (including workpiece)  Maximum

payload capacity (7 kg) *1
* 1: If the payload exceeds 6 kg, the robot unit must be used with the flange facing
down at 45 degrees from vertical. Also, the maximum payload is 5 kg if the
robot controller version is older than Ver.2.60.

(2) Center of gravity position of end-effector

Design an end-effector so that the center of gravity position of the
end-effector (including workpiece) is within the range shown in Figure below.

Allowable Range of Center of Gravity Position of End-effector (VS-G series)

44
 Chapter 3 Specifications of the Robot Unit

(3) Moment of inertia around J4, J5 and J6

Design an end-effector so that its moments of inertia around J4, J5 and J6
(including workpiece) do not exceed the maximum allowable moment of
inertia of the robot.

Moment of inertia around J4, J5 and J6 of end-effector (incl. mass of

workpiece)  Max. allowable moment of inertia
Mass of 2
Max allowable moment of inartia (kg･m )
payload
（kg) Around J4 & J5 Around J6
～1 0.059 0.009
～2 0.118 0.018
～3 0.177 0.027
～4 0.236 0.036
～5 0.295 0.045
～6 0.354 0.054
～7 0.413 0.063

When calculating the moment of inertia around J4, J5 and J6 of the

end-effector, use the formulas given in Following Table and Figure.

Moment-of-Inertia Formulas

1. Cylinder (1) 4. Sphere

(Axis of rotation = Center axis) (Axis of rotation = Center axis)

2. Cylinder (2) 5. Center of gravity not on the axis of rotation

(The axis of rotation passes through the center of gravity.)

3. Rectangular parallelepiped
(The axis of rotation passes through the center of gravity.) 2
l: Moment of inertia kgm
m: Mass kg
r: Radius m
a, b, c, : Length m

45
Calculation example : When calculating the moment of inertia of a complicated shape, divide it into simple
parts as much as possible for easier calculations.
As shown in the figure below, divide the end-effector into three parts (, , ).

(1) Moment of inertia around J6

Around J6
A d J6

(2) Moment of inertia around J4 and J5 For the end-effector shown below, the moment of
inertia around J4 and J5 can be calculated according
to the same formula.

End-effector Moment of Inertia Calculation Example

46
 Chapter 3 Specifications of the Robot Unit

3.6 Stopping Time and Distance (Angle) at an Emergency Stop

Pressing the emergency stop button when the robot is in motion stops the robot. The
stopping time required from activation of a stop signal and the distance (angle) for
major three joints vary with the robot speed as shown in the graphs below. The
measuring conditions are: Robot arm extended, 33%, 66% and 100% of the maximum
payload.
Note : The acceleration differs depending upon the mass of payload setting. The
graphs below show the cases where the stopping distance or stopping time
comes to be the maximum.
(1) VS-6556G series

J1, J2, J3 stopping time (VS-6556G)

33%, 66%, 100% of maximum payload

0.9
J1(33%,66%)
0.8 J2,J3(33%,66%)
0.7 J1(100%)
stopping time (second)

0.6 J2,J3(100%)

0.5

0.4

0.3

0.2

0.1

0
0 20 40 60 80 100 120
speed (%)

J1, J2, J3 stopping time vs. speed at an emergency stop (VS-6556G series)

J1, J2, J3 stopping distance (VS-6556G)

33%, 66%, 100% of maximum payload

70

60 J1,J2(33%,66%)
J3(33%,66%)
stopping distance (deg)

50
J1,J2(100%)
40 J3(100%)

30

20

10

0
0 20 40 60 80 100 120
speed (%)

J1, J2, J3 stopping distance vs. speed at an emergency stop (VS-6556G series)

47
(2) VS-6577G series

J1, J2, J3 stopping time (VS-6577G)

33%, 66%, 100% of maximum payload

0.9
J1(33%,66%)
0.8
J2,J3(33%,66%)
0.7
stopping time (second)

J1(100%)
0.6 J2,J3(100%)
0.5

0.4

0.3

0.2

0.1

0
0 20 40 60 80 100 120
speed (%)

J1, J2, J3 stopping time vs. speed at an emergency stop (VS-6577G series)

J1, J 2, J3 stopping distance (VS-6577G)

33%, 66%, 100% of maximum payload

40

35
J1(33%,66%)
30 J2,J3(33%,66%)
stopping distance (deg)

25 J1(100%)
J2,J3(100%)
20

15

10

0
0 20 40 60 80 100 120
speed (%)

J1, J2, J3 stopping distance vs. speed at an emergency stop (VS-6577G series)

48
 Chapter 4 Specifications of the Robot Controller

Chapter 4
Specifications of the Robot Controller
4.1 Specifications
Table below lists the robot controller specifications.

RC7M Controller Specifications (1) (VS-G series)

Item Specifications
Applicable robot Small-sized, vertical articulated type (VS-G series)
Controller model RC7M-VSG6***-**
Control system PTP, CP 3-dimensional linear, 3-dimensional circular
No. of controllable axes Up to six axes simultaneously
Drive system All axes: Full-digital AC servo
Language used DENSO robot language (conforming to SLIM)
Memory capacity 3.25 MB (equivalent to 10,000 steps, 30,000 points)
Teaching system 1) Remote teaching 2) Numerical input (MDI)
Input signals: 8 user open points + 11 fixed system points
Mini I/O Output signals: 8 user open points + 14 fixed system points
Standard I/O Note: In global type, some fixed system points are not used.
Input signals: 8 user open points
HAND I/O
Output signals: 8 user open points
SAFETY I/O Input signals: 6 fixed system points
(Only for Global type) Output signals: 5 fixed system points
Input signals: Additional 80 user open points
Parallel I/O 2 boards
Output signals: Additional 96 user open points
External board
(Option) Input signals: Additional 40 user open points
signals 1 board
Output signals: Additional 48 user open points
(I/O)
Input signals: 1024 points (Master) + 256 points (Slave)
Master & slave
Output signals: 1024 points (Master) + 256 points (Slave)
DeviceNet
Input signals: 1024 points
board Master
Output signals: 1024 points
(Option)
Input signals: 256 points
Slave
Output signals: 256 points
Input signals: 384 points
CC-Link board
Slave Output signals: 384 points
(option)
(including remote registers RWw and RWr)
RS-232C: 1 line
External
Ethernet: 1 line
communication
USB: 2 lines
Extension slot 3 (For an optional board)
Self-diagnosis function Overrun, servo error, memory error, input error, etc.
Timer function 0.02 to 10 sec. (in units of 1/60 sec.)
Error codes will be outputted on the external I/O.
Error display Error messages will be displayed in English on the teach pendant (option).
Error codes will be displayed on the mini pendant (option).
Motor & encoder cable 2 m, 4 m, 6 m, 12 m, 20 m
(option) (Standard / Splash-proof)
Cables
I/O cable 8 m, 15 m
(option) (For Mini I/O, HAND I/O, Optional parallel I/O) and SAFETY I/O
Power cable 5m

49
 RC7M Controller Specifications (2) (VS-G series)
Item Specifications
Environmental conditions Temperature: 0 to 40C
(in operation) Humidity: 90% RH or less (no condensation allowed)
Three-phase, 200 VAC-15% to 230 VAC+10%, 50/60 Hz, 1.85 kVA
Power source
Single-phase, 230 VAC-10% to 230 VAC+10%, 50/60 Hz, 1.85 kVA
Degree of protection IP20
Standard type: Approx. 18 kg (40 lbs)
Weight Global type with safety board: Approx. 19 kg (42 lbs)
Global type with safety box: Approx. 22 kg (49 lbs)

WARNING
  DO NOT touch fins. Their hot surfaces may cause severe
burns.
  DO NOT insert fingers or foreign objects into openings.
Doing so may cause bodily injury.
  Before opening the controller cover and accessing the inside
of the controller for maintenance, be sure to turn off the
power switch, disconnect the power cable, and wait 3
minutes or more. This is for protecting you from electric
shock.
  DO NOT connect or disconnect connectors to/from the
controller while the power switch is on. Doing so may cause
electric shock or controller failure.

CAUTION IN INSTALLATION
  This controller is not designed to be dust-proof,
splash-proof, or explosion-proof.
  Read operation manuals before installation.
  Do not place anything on the controller.

50
 Chapter 4 Specifications of the Robot Controller

4.2 Outer Dimensions

Figure below shows the outer dimensions of the robot controller.

Outer Dimensions of Robot Controller (VS-G series)

Outer Dimensions of RC7M Robot Controller (Example: Global type with safety board)

51
4.3 Controller Setting Table
The controller setting table given in Figure below is attached to the controller.
It shows the software version, the next replacement dates of the memory backup
battery and encoder backup battery, etc.

<Content THE SETPRM LIST>

SOFTWARE Ver. The version of the main software for the controller is entered.
DATE OF The next replacement dates of the memory backup battery and encoder backup
RENEWING BAT. battery are entered.
TYPE The model of the robot system is entered.
The coding of the set model is described below:
SUBASSEMBLY The type and position of the controller IPM board are described.

The coding of the set model (VS-G series)

VS -6 5 56 G-BW/

Variation
None: Standard type
B: Standard type with brakes
W: Dust- & splash-proof type
BW: Dust- & splash-proof type with brakes
Arm length
56: 560 mm
77: 770 mm
Standard payload (5 kg)
Number of axes (6 axes)
Vertical articulated robot, small-sized

52
 Chapter 5 Warranty

Chapter 5 Warranty
DENSO robots are manufactured under strict quality control. In case of failure, we
warranty the robot under the following conditions:

Warranty Period
The warranty shall be effective for one year from the date of purchase.

Warranty Coverage
DENSO WAVE shall repair the robot free of charge when a failure occurs and is
attributable to the design, manufacture or material of the robot within the warranty
period in spite of proper use.

Items Not Covered

Failures, which arise from one of the following, shall not be covered by the warranty
even if the robot is under warranty:
(1) Failures caused by improper repair, modification, transfer or handling by you or a
third party;
(2) Failures caused by the use of a part or oil/fat other than those specified in the
related manuals;
(3) Failures caused by a fire, salt damage, earthquake, storm/flood or other acts of
God;
(4) Failures caused by the use of the robot in an environment other than the
environment specified in the related manuals, such as dust and water ingress;
(5) Failures caused by a worn-out consumable, such as a fan filter;
(6) Failures caused by improper performance or non-performance of lubrication,
maintenance or inspections stated in this owner's manual; and
(7) Damages other than the robot repair costs.

53
 Chapter 6 Appendix
6.1 Conformity with Standards by Robot Model
For information on conformity with standards, refer to "Conformity with Standards by
Robot Model" in the Additional Information section of the RC7M controller manual pack
CD SUPPLEMENT.

54
 Vertical Articulated Robot
VS-G SERIES

GENERAL INFORMATION ABOUT ROBOT

First Edition July 2005
Eleventh Edition April 2011
Twelfth Edition October 2011
DENSO WAVE INCORPORATED

10N**C

The purpose of this manual is to provide accurate information in the handling and operating of the
robot. Please feel free to send your comments regarding any errors or omissions you may have
found, or any suggestions you may have for generally improving the manual.
In no event will DENSO WAVE INCORPORATED be liable for any direct or indirect damages
resulting from the application of the information in this manual.