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100

35
Point Z

R
RR3R30308082822

100

Point Z
Working Range

230 3071

3499
3499
3499

1100

783
783
783

92

Point Z

R6

1,450 kg

Point Z
Working Range
306
306
4-M24
229 229
B 720
8-23
1100
230HOLE

721

229
306

721 Point Z
A

229
306

721
721
721

229 229
306
306
1671

4-M24
4-M24
4-M24
8-23
HOLE
8-23
HOLE
8-23
HOLE
4-M24
662 C
8-23 HOLE

229
229
229 229
229 642
229
306
306
306
306 662
306
306

229 229
662
306
306

662
662
662

180

662

76 H7

(PCD 160)
DP 14 306
306
306
306 306
306
306 10-M10
306 125)
(PCD
4-M24
229
229
229
229 229
229
229 229
3-9H7 DP
16 HOLE
8-23

1379

235

View 6-M10
B For
Installation
DP 14

6-M10
DP
14
2x2-9H7
DP DP
16 14
6-M10
DP
1414
6-M10
DP
14
6-M10
DP
6-M10
(PCD
160)
(PCD 125/160)
(PCD
160)
(PCD
160)
(PCD
160)
(PCD
160)
12
1212
6-M10
DP
14
10-M10
DP
1414
10-M10
DP
14
10-M10
DP
12 10-M10 DP 14
(PCD
125)
(PCD
125)
(PCD
125)
(PCD
125)
(PCD 125)
3-9H7
DP
1616
3-9H7
DP
16
3-9H7
DP
3-9H7 DP 16
76 H7
76
H7
76 H7
H7
180
76
180
180
180

380 713

783

0 ~ 45C (273 ~ 318 K)

12

180

3499
2178

3428

2079
2079
2079
713

Ambient Temperature

1,300 kg

2079

1100

2178

700

1671
1671
1671

235
235
235

0.2 mm

View A For Tool Attachment

76 H7

HH100SL

Repeatability
Approximate Weight

12

2178
21781671
235 2178
713
1100
230
713
1100 230
230
713
1100

3428
3428
230 3428

1100

2173

3428
642

59

2079

1671

235

1379

R3082

R10

8
62

R308A2 RRR
Point
Point
ZZZ 180
Point
110031303
R12082828
Z
8 ~Point
55 5
6
6
2
6
+80 ~ -65
+160
-35

Point
3
Point
ZZZ
Point
5
6 Working Range DRR R
PointPoint
Z
R
Point
ZZZ Working
Point
Range
Range
Working
Range
Max.
Range
LWorking
= 229 for
HS165 Working
235
312
1671
+235 ~ -135 Point Z
V Up/Downward +265 ~ -135
L = 235 for HS200
Motion
E
R2Z Rotation 2Point
360
Point
ZZZ
Point
Range Point
A
Working
Range
1100
230
Working
Range
Working
Range B 720
WorkingBRange Bending
D
125
235
312
1671
235
312
1671
235
312
1671
B
235
312
1671
EEE
R1
Rotation 1
360
E
AAA B
BBB720
A
B 720
1100
230
1100
720Swivel
1100 230
230
105 /s
1100 S 230720
C
D
D
D
D
E
D
For/Backward
85 /s
H
BBB
C
B
C95 /s
V Up/Downward
Max.
CCC
582
Speed
R2
Rotation 2 DDD
EEE 170 /s Point Z
E
D
765
1022
A
B
Bending
155 /s C
CCC
2372
3082
1956
2666
R1
Rotation
1
270
/s
Point
Z
Point
Z
Point
Z
Point Z
1379
3507
R2
Rotation 2 AAA
105 kgf.m
A
2372
3082
2372
3082
Allowable
2372 3082
3082
R3507
00
B
Bending
105 2372
kgf.m
6
1
Moment
R
1379
3507
1379
3507
1379
3507
3507
R1
Rotation 1
50 kgf.m
642
642
642

HH130L
L

230

Swivel
Point Z
For/Backward
H

R
RR6669922
92

R6
92

Point Z1250

Envelope

3428

130 kg77
100 kg
RR3R353505007
Articulated
312
6 Axes

R6
92

00

Payload
R350660706000
Structure
RR1R1 1
Degree of freedom

Point Z Working
Working Range

7 Z
R350Point

3499

Specification
00
HH130L
R16 HH100SL

Model
R16

2079

Item

R2666

R76

783

3
Manipulator Specifications
R6

3507

1
4 68
2
5 7
3
10

1
84 1
62
95
7
10 3
3

1
4

7 6

7 6

7 6
4

6
4

3
2

3
1
4
5

7 6

70

180

2
3

76
76 H7

7 6

1
8
3

6
7

8
3

8
9

10

10

76

70

10

10

10

10

7 6

2
3

8 8
9

8
9

10

10

76
76
76

10

70
70
70

10

4-M10 DP 15

76

229
306
Air For
Line User Application
User I/O
Servo Motor
View C For User Application User I/O
ViewUser
D
ViewPower
E For Cable Guide
(PT 3/8)
(HAN24DD-6B)
(HAN42DD-10B)
(HAN10EE-6B)
400
100 230 200
User Air Line
(PT 3/8)
Servo
Power
User
Air
Line
User
Air
Line
User
Air
Line
User
I/O
User
I/O
User
I/O
User
I/O
User
I/O Motor
User
I/O
Servo
Motor
Power
Servo
Motor
Power
Servo
Motor
Power
User
Air
Line
User
I/O
User I/O
Servo
Motor
Power
(HAN46EE) (HAN10EE-6B)
(PT
3/8)
(PT
3/8)
(PT
3/8)
(HAN24DD-6B)
(HAN42DD-10B)
(HAN24DD-6B)
(HAN24DD-6B)
(HAN42DD-10B)
(HAN10EE-6B)
200
400
230
100
(HAN10EE-6B)
100
200 400
400
230 200
100230
(PT 3/8)
(HAN24DD-6B)
(HAN42DD-10B) (HAN42DD-10B)
(HAN10EE-6B)
400
100 230 200
User
Air
Line
User
Air
Line
User
Air
Line
User Air Line
(PT
3/8)
(PT
3/8)
(PT
3/8)
Servo
Motor
Power
Motor
Power
Servo
Motor
Power
6-M10 DP 15
(PT 3/8)
Servo Motor Power Servo
(HAN46EE)
(HAN46EE)
(HAN46EE)Servo Motor Encoder
User I/O
(HAN46EE)
Servo Motor Encoder
(HAN24DD-6B)
(HAN42DD)
(HAN8D-3A)
4-M10 DP 15
6-M10
DP
6-M10
DP
1515 160)14
6-M10
DP
15
6-M10
DP
6-M10 DP 15
(PCD
Servo
Gun
Power
User
I/O
User
I/O
User
I/O
Servo
Motor
Encoder
User
I/O
Servo
Motor
Encoder
Servo
Motor
Encoder
Servo
Motor
Encoder
Servo
Motor
Encoder
Servo
Motor
Encoder
12
User I/O
Servo Motor Encoder
Servo Motor Encoder
(HAN10EE-6B)
(HAN24DD-6B)
(HAN24DD-6B)
(HAN24DD-6B)
(HAN42DD)
(HAN24DD-6B)
(HAN8D-3A)
(HAN42DD)
4-M10
DP
1515
(HAN8D-3A)
10-M10 DP 14
100
(HAN42DD)(HAN24DD-6B)
DP
15
(HAN8D-3A)
4-M10
DP
(HAN42DD)
(HAN8D-3A)
4-M10230
DP 15 200 4-M10
(PCD 125)
User Air Line
3-9H7 DP 16
(PT 3/8)
70

229
306

Controller Specifications
Item
Model Name
Control Hardware
Execution Mode
Interpolation Type
Max. Axes
Number of Step
External Program Selection
Position Detector
Program Back-up
Servo Control
Digital Input / Output
Analog Input / Output
Conveyor Pulse Counter
Ethernet
CAN
Communication
Serial
Field Bus
Rated Supply Voltage
Max. Rated Power
Cabinet Dimmension (WxDxH)
Weight
Protection Classification
Ambient Temperature

Teaching Pendant Specifications


Item
Microprocessor
Operating System
Display
Operation Mode

Specification
Hi5
Multi Processor System
Teaching & Playback
Point-to-Point, Linear, Circular

Max. 16 Axes Simultaneously
17,000 Points
Binary 255 / Discrete 8
Serial Absolute Encoder
USB Memory
Full Digital Servo
Max. Input : 256 / Output : 256 Points
Input : 4 ch / Output : 4 ch
Differential Input / Open Collector Input, 2ch
100BaseT (2 Ports)
User1 / User2
RS232C, RS422 (RS485)
CC-Link, Profibus-DP, Devicenet, Modbus
AC220V 10%, 50 / 60 Hz
8 kVA (Instant Max. 30 kVA)
650 mm x 600 mm x 1,100 mm (Except Caster)
150 kg (Without Transformer)
IP54
0 ~ 45 C

Specification
32 bits RISC Processor
Windows CE
7" Color TFT-LCD
Menu Driven and Code Input / Touch Panel

Easy and simple operation


- Easy/convenient programming language similar to BASIC
Easy maintenance
- Excellent maintenance ability using on-line display function
Advanced control technology
- Dynamic control
- Advanced vibration suppression control
- Extended torque-velocity control
Safety
- Compliant with ANSI/RIA15.6_1999 and CE Directives
Compatibility and connectivity
- Embedded soft PLC
- Fieldbus : CC-Link, Profibus-DP, Devicenet, Modbus, etc.
- Ethernet, Serial Communication

System Configuration
On-line Manual
(Trouble Shooting)

Remote Management System


- File Management
- On-line Monitoring
- Remote Diagnostics
Ethernet

Off-line
Programming

Robot
Teaching Pendant

High Speed Serial Network


Fieldbus
Robot Controller
(Hi5)

Graphic Panel

Peripheral Equipments
(Welding Machine, PLC etc)

Cooperative
Control

Sensor Interface
(2D, 3D Vision etc)

Key Features
- Enlargement of working envelope by
serial link structure
- Improvement of dynamic performance

Application
- Press Handling
- Material Handling
- Spot Welding

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

Korea

Overseas

Head Office

Chicago / U.S.A

1, Jeonha-dong, Dong-gu, Ulsan


TEL : 82-52-202-7901~10 / FAX : 82-52-202-7900

Seoul Office

140-2, Gye-dong, Jongno-gu, Seoul


TEL : 82-2-746-4713 / FAX : 82-2-746-4720

955 Estes Avenue, Elk Grove Village IL


60007, U.S.A
TEL : +1 800 423 8721
FAX : +1 847 437 3574

Houston / U.S.A

1431-2, Sa-dong, Sangnok-gu, Ansan-si, Gyeonggi-do


TEL : 82-31-409-4945 / FAX : 82-31-409-4946

1400 Broadfield, Suite 110, Park 10


Center Houston, Texas 77084, U.S.A
TEL : +1 281 578 7097
FAX : +1 281 578 8317

Cheonan Office

London / U.K

Ansan Office

355-15, Daga-dong, Cheonan-si, Chungcheongnam-do


TEL : 82-41-576-4294 / FAX : 82-41-576-4296

Daegu Office

223-5, Beomeo 2-dong, Suseong-gu, Daegu


TEL : 82-53-746-6232~3 / FAX : 82-53-746-6231

Gwangju Office

415-2, Nongseong-dong, Seo-gu, Gwangju


TEL : 82-62-363-5272 / FAX : 82-62-363-5273

2ND Floor, The Triangle 5-17,


Hammersmith Grove London W6 0LG,
U.K
TEL : +44 20 8741 0501
FAX : +44 20 8741 5620/8834 7281

Rotterdam / Netherland

Folkert Elsingastraat 7
3067 NW, Rotterdam, The Netherland
TEL : +31 10 212 1567
FAX : +31 10 212 5134

Beijing / China

Beijing Hyundai Jingcheng


No.2. Nanl i, Luguoqiao
Fengtai District, Beijing, China
TEL : +86 10 8321 2588
FAX : +86 10 8321 2188

Mumbai / India

Hyundai Heavy Industries Co., Ltd.


301, 3rd Floor, Sarjan Plaza 100, Annie
Besant Road, Worli, Mumbai 400 018,
India
TEL : +91 22 2498 6022~7
FAX : +91 22 2498 0620
http://www.hyundai-engine.com
E-mail : robot@hhi.co.kr

*Materials and specifications are subject to change without notice