Hyundai

Robot Series
■ Robot Application

Car body line in China Car body line in Czech

Arc welding robot Inspection robot system

Handling robot for press line Spot welding robot for train
■ 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 : 8 ch / Output : 8 ch ● Advanced control technology
Conveyor Pulse Counter Differential Input / Open Collector Input, 2 ch - Dynamic control
Ethernet 100 Base T (2 Ports) - Advanced vibration suppression control
CAN User 1 / User 2 - 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 Dimension (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)
 Hyundai Robot Series

Model

HA006 HA010L HA020 HH030L

Payload 6 kg 10 kg 20 kg 30 kg
Max. Reach 1,394 mm 1,986 mm 1,765 mm 2,535 mm
Degree of freedom 6 Axes 6 Axes 6 Axes 6 Axes
Installation Floor / Wall / Ceiling Floor / Wall / Ceiling Floor / Wall / Ceiling Floor / Wall / Ceiling
S Swivel ±180 ° ±180 ° ±180 ° ±180 °
H For/Backward +150 ° ~ -90 ° +160 ° ~ -105 ° +150 ° ~ -110 ° +155 ° ~ -90 °
Max. V Up/Downward +200 ° ~ -160 ° +240 ° ~ -165 ° +250 ° ~ -155 ° +230° ~ -180 °
Motion
Range R2 Rotation 2 ±180 ° ±180 ° ±180 ° ±360 °
B Bending ±135 ° ±135 ° ±135 ° ±125 °
R1 Rotation 1 ±360 ° ±360 ° ±360 ° ±360 °
S Swivel 170 °/s 170 °/s 170 °/s 150 °/s
H For/Backward 170 °/s 165 °/s 165 °/s 140 °/s

Max. V Up/Downward 170 °/s 175 °/s 175 °/s 150 °/s
Speed R2 Rotation 2 335 °/s 350 °/s 335 °/s 250 °/s
B Bending 335 °/s 350 °/s 335 °/s 250 °/s
R1 Rotation 1 500 °/s 600 °/s 600 °/s 350 °/s
R2 Rotation 2 1.0 kgf.m 2.5 kgf.m 4 kgf.m 15 kgf.m
Allowable
B Bending 1.0 kgf.m 2.5 kgf.m 4 kgf.m 15 kgf.m
Moment
R1 Rotation 1 0.5 kgf.m 1.1 kgf.m 2 kgf.m 9 kgf.m
Repeatability ±0.05 mm ±0.06 mm ±0.06 mm ±0.1 mm
Ambient Temperature 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K)
Approximate Weight 155 kg 245 kg 240 kg 640 kg
Option Wrist IP67 Wrist IP67
Arc Welding ● ● ●
Spot Welding
Application Handling ● ● ● ●
Sealing ● ● ●
Others
 High Speed

HH050 HR050P YS080 YS100 HH100SL HH130L HS150L

50 kg 50 kg 80 kg 100 kg 100 kg 130 kg 150 kg
2,239 mm 2,041 mm 2,239 mm 1,701 mm 3,507 mm 3,082 mm 3,082 mm
6 Axes 3 Axes 6 Axes 6 Axes 6 Axes 6 Axes 6 Axes
Floor / Wall / Ceiling Floor Floor / Wall / Ceiling Floor Shelf Floor Floor
±180 ° - ±180 ° ±180 ° ±180 ° ±180 ° ±180 °
+155 ° ~ -90 ° +150 ° ~ -77 ° +155 ° ~ -90 ° +250 ° ~ -90 ° +160 ° ~ -35 ° +80 ° ~ -65 ° +80 ° ~ -65 °
+230° ~ -180 ° +134 ° ~ -135 ° +230° ~ -180 ° +10 ° ~ -265 ° +235 ° ~ -135 ° +265 ° ~ -135 ° +230 ° ~ -135 °
±360 ° - ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
±125 ° ±127 ° ±125 ° ±130 ° ±125 ° ±125 ° ±130 °
±360 ° - ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
175 °/s - 170 °/s 105 °/s 105 °/s 105 °/s 95 °/s
175 °/s 130 °/s 140 °/s 103 °/s 85 °/s 85 °/s 95 °/s
175 °/s 170 °/s 160 °/s 115 °/s 95 °/s 95 °/s 95 °/s
250 °/s - 230 °/s 150 °/s 170 °/s 170 °/s 150 °/s
250 °/s 250 °/s 230 °/s 150 °/s 155 °/s 155 °/s 145 °/s
350 °/s - 350 °/s 250 °/s 270 °/s 270 °/s 220 °/s
21 kgf.m - 38.8 kgf.m 75 kgf.m 105 kgf.m 105 kgf.m 105 kgf.m
21 kgf.m 18 kgf.m 38.8 kgf.m 75 kgf.m 105 kgf.m 105 kgf.m 105 kgf.m
13 kgf.m 9 kgf.m 20.4 kgf.m 40 kgf.m 50 kgf.m 50 kgf.m 50 kgf.m
±0.1 mm ±0.07 mm ±0.1 mm ±0.2 mm ±0.3 mm ±0.2 mm ±0.25 mm
0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K)
620 kg 600 kg 620 kg 750 kg 1,450 kg 1,300 kg 1,280 kg
Wrist IP67 Wrist IP67

● ● ● ● ●
● ● ● ● ● ● ●

Palletizing Press Handling Press Handling

 High Reliability

HP160 HS165D/165C HS165 HS165S HS200 HS200S HX200L

160 kg 165 kg 165 kg 165 kg 200 kg 200 kg 200 kg
3,128 mm 1,355 mm / 866 mm 2,666 mm 3,090 mm 2,666 mm 3,090 mm 3,056 mm
4 Axes 6 / 5 Axes 6 Axes 6 Axes 6 Axes 6 Axes 6 Axes
Floor Floor Floor Shelf Floor Shelf Floor
±180 ° ±180 ° / ±30 ° ±180 ° ±180 ° ±180 ° ±180 ° ±180 °
+135 ° ~ -10 ° +120 ° ~ -70 ° / +120 ° ~ -35 ° +80 ° ~ -65 ° +160 ° ~ -35 ° +80 ° ~ -65 ° +160 ° ~ -35 ° ±75 °
+15 ° ~ -125 ° +160 ° ~ -120 ° / - +230 ° ~ -135 ° +200 ° ~ -200 ° +230 ° ~ -135 ° +200 ° ~ -200 ° +30 ° ~ -125 °
- ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
- ±130 ° ±130 ° ±130 ° ±125 ° ±125 ° ±120 °
±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 ° ±360 °
120 °/s 100 °/s 105 °/s 105 °/s 95 °/s 95 °/s 95 °/s
130 °/s 90 °/s / 95 °/s 105 °/s 105 °/s 95 °/s 85 °/s 95 °/s
130 °/s 90 °/s / - 105 °/s 105 °/s 95 °/s 95 °/s 95 °/s
- 150 °/s 150 °/s 150 °/s 135 °/s 135 °/s 120 °/s
- 145 °/s / 140 °/s 145 °/s 145 °/s 120 °/s 120 °/s 120 °/s
300 °/s 220 °/s / 180 °/s 220 °/s 220 °/s 190 °/s 190 °/s 180 °/s
- 100 kgf.m 105 kgf.m 105 kgf.m 136 kgf.m 136 kgf.m 131.5 kgf.m
- 100 kgf.m 105 kgf.m 105 kgf.m 136 kgf.m 136 kgf.m 131.5 kgf.m
50 kgf.m 50 kgf.m 50 kgf.m 50 kgf.m 72 kgf.m 72 kgf.m 61.6 kgf.m
±0.5 mm ±0.25 mm ±0.2 mm ±0.2 mm ±0.2 mm ±0.2 mm ±0.3 mm
0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K)
1,400 kg 810 kg / 510 kg 1,250 kg 1,450 kg 1,270 kg 1,500 kg 2,265 kg
Wrist IP67

● ● ● ● ● ●
● ● ● ● ● ● ●

Palletizing
 Wide Working Envelope

Model

HX300 HX300L HX400 HX400S

300 kg 300 kg 400 kg 400 kg Payload
2,573 mm 3,056 mm 2,573 mm 3,106 mm Max. Reach
6 Axes 6 Axes 6 Axes 6 Axes Degree of freedom
Floor Floor Floor Shelf Installation
±180 ° ±180 ° ±180 ° ±180 ° Swivel S
±75 ° ±75 ° ±75 ° +95 ° ~ -50 ° For/Backward H
+30 ° ~ -125 ° +30 ° ~ -125 ° +30 ° ~ -125 ° +120 ° ~ -25 ° Up/Downward V Max.
Motion
±360 ° ±360 ° ±360 ° ±360 ° Rotation 2 R2 Range
±120 ° ±120 ° ±120 ° ±120 ° Bending B
±360 ° ±360 ° ±360 ° ±360 ° Rotation 1 R1
95 °/s 90 °/s 95 °/s 85 °/s Swivel S
95 °/s 90 °/s 95 °/s 85 °/s For/Backward H
95 °/s 85 °/s 95 °/s 85 °/s Up/Downward V Max.
110 °/s 110 °/s 100 °/s 100 °/s Rotation 2 R2 Speed

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

180 °/s 155 °/s 160 °/s 160 °/s Rotation 1 R1
170 kgf.m 170 kgf.m 200 kgf.m 200 kgf.m Rotation 2 R2
Allowable
170 kgf.m 170 kgf.m 200 kgf.m 200 kgf.m Bending B
Moment
70 kgf.m 70 kgf.m 84 kgf.m 84 kgf.m Rotation 1 R1
±0.3 mm ±0.3 mm ±0.3 mm ±0.5 mm Repeatability
0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) 0~45°C(273~318K) Ambient Temperature
2,435 kg 2,685 kg 2,620 kg 2,910 kg Approximate Weight
Option
Arc Welding
Spot Welding
● ● ● ● Handling Application
Sealing
Others
■ Off-Line Programming
Simulate and create robot applications in your office
● ROBCAD Interface
● Teaching Pendant Interface

● File Up / Down Load

● RCS (Robot Control Simulation)

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

copyright ⓒ 2010 Hyundai heavy industries

Korea Overseas
Head Office Chicago/U.S.A Beijing/China
1, Jeonha-dong, Dong-gu, Ulsan 955 Estes Avenue, Elk Grove Village IL Beijing Hyundai Jingcheng
TEL : 82-52-202-7901~10 / FAX : 82-52-202-7900 60007, U.S.A No. 2. Nanl i, Luguoqiao
TEL : +1 800 423 8721 Fengtai District, Beijing, China
Seoul Office FAX : +1 847 437 3574 TEL : +86 10 8321 2588
140-2, Gye-dong, Jongno-gu, Seoul FAX : +86 10 8321 2188
TEL : 82-2-746-4713 / FAX : 82-2-746-4720 Houston/U.S.A
1400 Broadfield, Suite 110, Park 10 Center Mumbai/India
Ansan Office Houston, Texas 77084, U.S.A 5th Floor, East Quadrant, The IL & FS
1431-2, Sa-dong, Sangnok-gu, Ansan-si, Gyeonggi-do TEL : +1 281 578 7097 FinancialCentre Plot no. C-22, G-Block,
TEL : 82-31-409-4945 / FAX : 82-31-409-4946 FAX : +1 281 578 8317 Bandra-Kurla Complex Bandra (E), Mumbai
400-051, India
Cheonan Office London/U.K TEL : +91 22 2653 3420~26
355-15, Daga-dong, Cheonan-si, Chungcheongnam-do 2nd Floor, The Triangle 5-17, FAX : +91 22 2653 3429~30
TEL : 82-41-576-4294 / FAX : 82-41-576-4296 Hammersmith Grove London W6 0LG, U.K
TEL : +44 20 8741 0501
Daegu Office FAX : +44 20 8741 5620/8834 7281
223-5, Beomeo 2-dong, Suseong-gu, Daegu
TEL : 82-53-746-6232~3 / FAX : 82-53-746-6231 Rotterdam/Netherland
Folkert Elsingastraat 7
Gwangju Office 3067 NW, Rotterdam, The Netherland
415-2, Nongseong-dong, Seo-gu, Gwangju TEL : +31 10 212 1567
TEL : 82-62-363-5272 / FAX : 82-62-363-5273 FAX : +31 10 212 5134

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

HHI-EMD November 2010

*Materials and specifications are subject to change without notice