■ Manipulator Specifications

Item Specification Working Envelope

Model HA006
Payload 6 kg
7
Structure Articulated R43
R1394
Degree of freedom 6 Axes
S Swivel ±180 °
H For/Backward +150 ° ~ -90 °
Max. Point Z
V Up/Downward +140 ° ~ -160 °
Motion
Range R2 Rotation 2 ±180 °
B Bending ±135 °
R1 Rotation 1 ±360 ° E

130
620 100
Point Z
S Swivel 170 °/s D A Working
H For/Backward 170 °/s Range

1554
Max. V Up/Downward 170 °/s
560
B 200
Speed R2 Rotation 2 335 °/s

2313
B Bending 335 °/s
360

R1 Rotation 1 500 °/s

C
R2 Rotation 2 1.0 kgf.m
Allowable
B Bending 1.0 kgf.m
Moment

759
R1 Rotation 1 0.5 kgf.m
Repeatability ±0.05 mm
Ambient Temperature 0 ~ 45°C (273 ~ 318 K) 994 1394
Approximate Weight 155 kg 2388

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

125 310
4-M5 TAP DP9 260
(PCD 40) 4-ø18 HOLE

ø40
ø50

200

260
310

ø6H7 DP8

View “C” For User Application View “D” For User Application(Option) View “E” For Cable Guide
Air Nipple : 2EA Air Nipple : 2EA
PT 3/8 PT 3/8 50 4-M6 TAP DP8
60

ASR1A : 8Pin ASR1A : 8Pin

HAN-8D HAN-8D
■ 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
- Arc Welding
- Sealing
- Cutting
- 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