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HSR SERIES
HSR048/HSR055/HSR065

Continuous high-speed
performance
that changes everything
Quick Acceleration. Runs continuously at
High-speed motion Continuous motion
Optimized acceleration and motion profiles Achieving continuous,
Improved high-speed motion results in more cycles per minute non-stop motion
(CPM) and therefore higher productivity. Improved heat dissipation in the base unit allows
the robot to run continuously at its highest rated
speed, a requirement in today’s demanding
processes.

Y
Cycles/min*
X direction Y direction
HSR065
118 149
X
With 1-kg weight

300 mm
25 mm

Motion pattern

*CPMs differ according to current joint locations.

Light weight
Newly designed, highly rigid lightweight arm
The combination of high rigidity and light weight allow the robot
to handle a high payload of 8 kg and achieve high-speed motion
at the same time.
Flexible mounting configuration
The HSR robot is available in both
floor and ceiling mount models.

Unprecedented high-speed performance

The performance of a robot cannot always be known from its specifications alone. Can the robot achieve the listed cycle time on a one-time
test basis only, or can it run continuously at that speed? To address this challenge, we pushed to the utmost limits the basic parameters of robot
performance — acceleration speed, continuous running speed and deceleration speed — and developed the new HSR Series high-speed SCARA
robots. These compact, space-saving robots can be deployed in high-speed, high-precision pick-and-place systems to achieve unprecedented
levels of performance, not only in conventional assembly processes, but also packaging processes in the food, medical device, pharmaceutical and
cosmetics sectors.
high speed. Stops precisely.
Vibration control
Active real-time vibration suppression
The robot quickly suppresses vibrations by actively reflecting the
status of the arm to the controller. Vibrations that occur during
high-speed transfer as well as residual vibrations are both
suppressed, reducing cycle times.

Error
Normal control
Optimal control

RC8A controller

Time

Optimized design
Optimized arm design allows
the robot to achieve continuous
high-speed motion.
A large-capacity motor is integrated into the
base unit. Weight reduction of the arm and an
optimized arm design allow the robot to achieve
its continuous high-speed performance.
HSR Series DENSO 4-axis SCARA robot Robot controller supported

HSR048/HSR055/HSR065
Best-in-class high-speed, high-throughput performance allows the robot to
run continuously at maximum speed in the most challenging applications.

Maximum reach

Z-axis stroke 300 mm

Maximum payload 8 kg

25 mm
The time taken to complete a
Cycle time 0.28 to 0.31 sec cycle of work from one arrow to
the other and back.
Position repeating accuracy ±0.01 to ±0.012 mm

Specifications
HSR048A1-N/S* HSR055A1-N/S* HSR065A1-N/S*
Max Arm reach ( J1 + J2 arm) 480 (205 + 275) mm 550 (275 + 275) mm 650 (375 + 275) mm
J1 (Axis 1) ±155º
Range of J2 (Axis 2) ±143.5º ±150º ±150º
motion (°) Z (Axis 3) *=10: 100 mm, *=20: 200 mm, *=32: 320 mm
T (Axis 4) ±360º
Axes combination J1 (No.1 axis) + J2 (No. 2 axis) + Z (No. 3 axis) + T (No. 4 axis)
Maximum payload 8 kg
J1 450
Maximum joint J2 785
speed (deg/s,
mm/s) Z 100st: 1700 mm/s, 200st: 2300 mm/s, 320st: 2475 mm/s
T 2500
Cycle time (with
(S) 0.28 0.31
2 kg weight)
J1+J2 ±0.01 mm ±0.012 mm
Repeatability1 Z ±0.01 mm
T ±0.004º
Maximum downward force 98 N (1 sec. max.)
Maximum allowable moment of inertia 0.12 kgm2
Position detection Absolute encoder
Drive motors and brakes All-axis servo motor/Z-axis, T-axis with brake
Air piping (in-arm integrated) 4 systems (ø4 × 2, ø6 × 2)
User signal line 19 lines (for proximity sensor signals, etc.), Ethernet (8 lines) (option)
Normal pressure 0.05 to 0.35 MPa
Air source Maximum allowable
0.059 MPa
pressure
Airborne noise 80 dB max.
Weight Approx. 31 kg Approx. 32 kg
*Placeholder for Z-stroke value. 1. At constant ambient temperature.
Options
Wiring Protection Kit Built-in Ethernet Kit External Battery Stopper with bearing

Protects external wiring to prevent cables An Ethernet cable is built into the body The encoder backup battery is installed Protects wiring installed through the hole
from becoming unorganized, avoiding the and is easily connectable to external outside the robot, facilitating maintenance of the bearing located at the top of the
risk of broken wires. devices. Ethernet connectors (sold and replacement of batteries. Z-axis shaft.
separately) are available as options.
External Dimensions and Workable Space (unit mm) Detailed drawing of end-effector mounting face (View G)
Ø46Ø46
68 68 275 275 B B Ø46
68 275 B Ø46
68 275 B Ø46
68 275 B

Ø36 Ø36
Ø36
13 10
Ø36
13131010
13 10Ø36
13 10
.5
55
C0
0. 0.
Ø18 Ø18

.5C C
(( ( )) ) 0 0
Ø18 Ø25h7
Ø25h7 -0.021
0 -0.021

C0
Ø25h70 -0.021

.5
L1

Ø18
L1L1

) (

C0
Ø18
Ø25h7 -0.021 0
G G
Flange (option) mountingØ25h7 ( -0.021 )
drawing
L1

G
F

488
F

488
L1

449
G F

488
449
449
G
F

488
220 325

Ø48Ø48
325

449
F

488
325

Ø48

449
L2L2220 ST220
ST
ST
325

Ø48
220

179
E E E E
179
325

E E Ø48
179
220
ST

L2ST

E E
179

E E
179

6.5
36
6.5
3636
36 6.5
Workable space
L2

Workable space

6.5
205 205 190 190
L2

Workable space

6.5
236
205 190 space
Cable
Cable space

22
Workable space
Workable space 205 205 190 space
Cable
190 Ø34h7
Ø34h7
Cable space Ø34h7

2
Cable space

2
ViewView
F F
Existing View
screwsF for wiring 4×M3 Ø34h7
Ø70Ø70
Existing screws for wiring 4×M3 Ø34h7
Ø70
Existing screws for wiring 4×M3
View Depth
F Depth 6 F6
View

2
±02 2
.0
Ø70 Ø70

28.0 .0

12 0.00.01
Depth 6 for

1212
Existing screws for
Existing wiring
screws 4×M3
wiring 4×M3 0° 0°

2 00

±0
.0282±8±

±±
0°

.0
Depth 6 Depth 6 -360°-360° (Workable space) +360° (Workable space)

2
(Workable space) +360° (Workable space)

2
2
.0

12
-360° (Workable space) +360° (Workable space)

2
±0
50

±0
0°

2
5050

0°

±0

±0
28
4XØ5.5

28
4XØ5.5

.0

. 0
4XØ5.5
-360° (Workable space) space)
+360° (Workable space) space)

2
-360° (Workable +360° (Workable

2
50

50

4XØ5.5 +0.012
4XØ5.5
+0.012
Ø5H70
30 30 180180 Ø5H70
30 180 Ø5H70 +0.012
(275)
(275)
(275) +0.012+0.012
Ø5H70 Ø5H70
30 30 180 180
(275) (275)

45° 45° °

60
60
455°° 45

6060
6060
45° 4
Workable
Workable space
space
Workable space
45° ° 45°

60
60
45

60
60
4XØ12
4XØ12 ° 4
225 5225
E E Base mounting
Workable Workable 80 80face (cross-section E-E)
space space E 4XØ12 225
80
Existing
Existing screws
screws for wiring
for wiring D D 260°260° E 4XØ12 4XØ12 225 225
Existing screws for wiring D 260° E 80
2×M4 2×M4 80
2×M4
Depth 7 133
Depth
Existing screws for 7 133 D 260°
Existing screws for wiring
Depth 7wiring D
133 260°
2×M4
2×M4

176±0.05
176±0.05
Depth 7 133

176±0.05
Depth 7 133
200 161206000
160
202000
180.7
282.6

176±0.05
180.7
282.6
160
136 136

42
160
136

176±0.05
4242

282.6 180.7
180.7282.6
160
160 136

160
200
160
282.6
42

180.7
160
136

42

100 100 124±0.05

124±0.05 2XØ6H7
2XØ6H7 (( ( )) )
0 0
+0.012
+0.012
+0.012
C
CC

100 124±0.05 2XØ6H7 0

( () )
Model Model A A B B 124±0.05
100 C C D D 2XØ6H7 E E +0.012
0
Model A B C D +0.012
E
C

HSR048A1-N
HSR048A1-N 100 * 480 480124±0.05 205 205 164.4 2XØ6H7
164.4 287° 287° 406.530406.53
A

*
AA

HSR048A1-N* 480 205 164.4 287° 406.53

Model
HSR055A1-N A
550 B C D E
HSR055A1-N * * A 550 275 275 142.4 142.4 300°300° 364.32 364.32
Model
HSR055A1-N * 550 B 275 C 142.4 D300° E
364.32
HSR048A1-N 480 205 164.4 287° 406.53
HSR065A1-N ** 650 650 375 375 194.0 194.0 300°300° 287.62 287.62
A

HSR065A1-N *
HSR048A1-N
HSR065A1-N * * 480650 205375 164.4 194.0 287° 300° 406.53 287.62
A

HSR055A1-N * 550 275 142.4 300° 364.32

Z-axisZ-axis stroke: ST (mm) L1 L1 300° L2
HSR055A1-N *stroke:
HSR065A1-N
ST550(mm) 275 142.4 L2
364.32
Z-axis stroke: ST * (mm) 650 375 L1 194.0 300°
L2 287.62
=10:100 555.2300° 120
HSR065A1-N * *
* =10:100
=10:100
*Z-axis
650 375 555.2
194.0
555.2
120
287.62
120
stroke: ST (mm)
=20:200 L1
655.2 L2
20
*
* =20:200 655.2 20
* =20:200
Z-axis stroke: ST (mm)
=10:100 L1655.2555.2 L220 120
**=32:320
* =32:320 775.2775.2 -100-100
(Note(Note
1) 1)
* =10:100
* =32:320 775.2
555.2 -100
120 (Note 1)
NoteNote
1: If the * =20:200
1: If Z-axis
the Z-axis stroke
stroke is 320
is 320 mm,mm, the655.2
lowest
the lowest point
point the20Z-axis
of Z-axis
of the is is
Note *1:=20:200
Iflower
thelower
Z-axis
=32:320
than stroke
than
the the
baseisbase
320 mm, 655.2
the
mounting
mounting lowest point
position.
775.2
position. Pay of20
Pay the Z-axis
attention
-100
attention is 1)
to
(Note
to
*
lower than the
interference
interference base
withwith mounting position.
peripherals.
peripherals. Pay attention to
* =32:320
Note 1: If the Z-axis
interference withstroke is 320 775.2
peripherals. mm, the lowest -100 (Note
point 1) Z-axis is
of the
Note 1: If the Z-axis lower thanisthe
stroke 320base
mm,mounting
the lowest position.
point ofPay
theattention
Z-axis is to
lower than interference with peripherals.
the base mounting position. Pay attention to
interference with peripherals.
Legend
HSR A1 - - - N NN - NNNN
Unit : mm
Robot name: External battery:
HSR: Denso 4-axis robot Z-axis stroke: Compatible N: No
10: 100 mm standard: A: Yes
Arm length: Mounting N: Standard type *1
20: 200mm
048: 480mm option: U: UL specifications
17: 170mm *2
055: 550mm N: Floor type
065: 650mm S: Ceiling type
32: 320mm Signal wires and Ethernet:
29: 290mm *2 N: Standard type
Mechanism type: Environmental resistance: A: Built-in Ethernet type
A1: Arm length 480 mm, 550 mm, 650 mm NN: Standard type
W5: Dust & splash proof type (IP65) *1: External battery units are sold separately.
C3: Cleanroom type (ISO Class 3) *2: For W5/C3/JN variants
JN: Bellows type

The data on this page is for standard models. For other options, visit our website at www.densorobotics.com.
RC8A Robot Controller
Specifications
VP VP VS VS VM HS HM XR HSR HS-A1
Applicable robots
-5243/6242 -6242G2 -050/060 -068/087 -6083/60B1 -45*** -4***** -43*** 1
Power supply (kVA) 1.001 1.001 1.15 2.78 3.30 1.80 2.45 1.80 1.80 1.80
Three-phase, 200 VAC -15% to 240 VAC +10% (100 V specification also available for VP series1)
DENSO’s newest and most
Power Input voltage range
Single-phase, 230 VAC -10% to 240 VAC +10% N/A Single-phase, 230 VAC -10% to 240 VAC +10% advanced robot controller
Power supply frequency 50/60 Hz Dimensions: 356.5 × 319.6 × 93.8 mm
Power cable 5m
Controllable axes 5/62 62 42 Outer Dimensions (mm)
Control method PTP, CP 3-dimensional linear, 3-dimensional arc (PTP control only for additional axes)
Standard type / Safety I/O-less type
Drive method Digital AC servo on all axes
Language used DENSO Robotics language (PacScript)

93.8
Memory capacity, user area User area-Variable area: 1.75 MB (equivalent to 32,766 points); File area : 400 MB (5,000 steps × 256 files)
Teaching system Remote teaching, Numerical entry (MDI), Direct teaching (HS, HM, HSR and HS-A1 Series only)

3
Standard type/Safety Input: User open 8 points + system fix 14 points / Output: 8 open user points + 17 fixed system points
Mini I/O motion type
Safety I/O less type Input: User open 8 points + system fix 13 points / Output: 8 open user points + 14 fixed system points
Hand I/O Input: User open 8 points / Output: User open 8 points
Motion I/O (Option) Input: Safety circuit signal: 30 points / Output: Safety circuit signal: 14 points

319.6
Parallel l/O Expansion Board (Option) Expansion slot: PCI / Input: 40 points / Output: 48 points
CC-Link Remote Device Board Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.
External (Option) Remote register input: 2,048 words max. / Output: 2,048 words3
signals
(I/O, etc.) DeviceNet Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.
DeviceNet Master Board (Option) Expansion slot: PCI Express / Input: 1,024 points / Output: 1,024 points
EtherNet / IP Adapter Board (Option) Expansion slot: PCI Express / Input: 4,032 points max. / Output: 4,032 points max. 356.5

PROFIBUS Slave Board (Option) Expansion slot: PCI Express / Input: 256 points max. / Output: 256 points max.
Safety Motion type
PROFINET I/O Device Board (Option) Expansion slot: PCI Express / Input: 8,192 points max. / Output: 8,192 points max.
EtherCAT Slave Board (Option) Expansion slot: PCI Express / Input: 2,048 points max. / Output: 2,048 points max.

93.8
External communication RS-232C: 1 line; Gigabit Ethernet: 1 line; USB: 2 lines; VGA: 1 line (Option)
Expansion slot PCI: 1 slot; PCI Express: 1 slot

3
Self-diagnosis function Overrun, servo error, memory error, input error, short-circuit detection (user wiring), etc.
Environmental requirements (when operating) Temperature: 0 to 40 ºC; Humidity: 90% or less RH (no condensation)

Safety category Standard type: (Safety I/O) Category 4, PL e

Safety motion type: (Safety I/O) Category 4, PL e / (Motion I/O) Category 3 PL d

319.6
Protection class IP20
Weight Safety I/O less type, standard type: approx. 10 kg, safety motion type: approx. 11 kg4

1. Power for 100 VAC specification: Single phase 100 VAC -10% to 110 VAC +10% 50/60 Hz, 1 kVA.
2. Up to two additional axes optional. Power modules, motors and cabling not included.
System-configuration options 3. For Version 2.00.
4. Does not include supplied cables.
53.8 356.5

Control device Expansion boards Extended-joint

support specification
- Parallel I/O board - DeviceNet master board
- DeviceNet slave board - CC-Link remote-device board
- PROFIBUS slave board - EtherNet/IP adapter board
- PROFINET I/O device board - EtherCAT slave board
Multifunction Mini-pendant - CONTEC serial communications board - CONTEC analog I/O board1
(RS-232C, RS-422, RS-485)1 - CONTEC digital I/O board1
teach pendant
- CONTEC motion-control board1 - External axis board
1. Boards to be supplied by customer.
Emergency stop box
Motion input cable (8 m, 15 m)
Safety device*
Safety laser scanner
Safety light curtain, etc. Power cable
High-spec CPU *Must support Pld Category 3 SIL 2.
Three-phase: 200 V
Single-phase: 230 V (100 V)
PLC

Motion output cable (8 m, 15 m)

Mini I/O cable (8 m, 15 m)
RC8-C motor & encoder cable (2 m, 4 m, 6 m, 12 m, 20 m)

Software Smart-device
applications

Peripherals

WINCAPS II EMU Robot Tools RC Vision ORiN2 SDK VRC Mobile Tools PLC Conveyer
Robot

©2017 DENSO Corporation

Information subject to change without notice
D2279.470 www.densorobotics.com