Manipulator Specifications

Item Specification Working Envelope

Model HA006
Payload 6Kg
Mechanical Structure Articulated
Max. Reach 1,394mm
Degree of freedom 6
Installation Floor/Wall/Ceiling
S Swivel ±180°
Arm H For/Backward +150° ~ -90°
Max. V Up/Downward +200° ~ -160°
Working
Envelope R2 Rotation 2 ±180°
Wrist B Bending ±135°
R1 Rotation 1 ±360°
S Swivel 170°/s
Arm H For/Backward 170°/s
Max. V Up/Downward 170°/s
Speed R2 Rotation2 335°/s
Wrist B Bending 335°/s
R1 Rotation 1 500°/s
R2 Rotation 2 1.0Kgf·m
Wrist Torque B Bending 1.0Kgf·m
R1 Rotation 1 0.5Kgf·m
Accuracy of position repeatability ±0.05mm
Ambient Temperature 0 ~ 45°C (273~318K)
Relative Humidity 20 ~ 85%RH
Robot’s Weight 155Kg
Working Envelope Section Area 2.71m2

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

View “C” For User Application View “D” For User Application (Option) View “E” For Cable Guide
 Controller Specifications
Item Specification ·Easy and Simple Operation
Type Hi4a
Microprocessor Technology 32 bits RISC CPU
·Powerful Robot Language
Program Execution Mode Teaching & Playback
Operation Mode Menu-Driven & Code input
Interpolation Type Linear, Circular ·Easy Maintenance
Memory Back-up Type Battery back-up IC memory
Encoder Type Serial Absolute encoder -Displaying cause of errors and
Servo Drive Unit 6 Axes/unit, digital servo troubleshooting
Maximum Axes 12 Axes Max. Simultaneously
Step 10,000 Points
Program Selection 255(Binary)/8(Discrete) ·Safety
LCD(40X15), Backlight 57,600 baud rates,
Teach Pendant Display Spec.
3 Position Enable Switch
·Compatibility and Connectivity
Input : 32 points (160 points Max.)
Digital I/O
Output : 32 points (160Points Max.) -Embedded PLC
Input : 4 Points (Option)
Analog I/O -FieldBus : DeviceNet, Profibus-DP, CC-link
Output : 4 Points (Option)
Conveyor Pulse Counter Line Driver / Voltage Output (Option) -Easy I/O board expansion :
Serial Port RS232C : 2 Ports (1Port : Option)
Communication Function (Option) DeviceNet, Profibus-DP, Ethernet, CC-Link Connecting I/O master through Computer
PC Card Function PCMCIA (IC card : Option)
Rated (Supply) Voltage 3-phase 220V (50/60Hz)±10%
·Compact Size Controller
Max. Rated Power 5.5KVA
Dimension (WxHxD) 675mm x 1,190mm x 675mm -Default space for 2 additional axis amp
Weight (Without Transformer) 205Kg
Protection Classification IP54
Ambient Temperature 0~45˚C
Ambient Humidity Normal 75%

LAN(RS232C) HR View
HR Ladder
HR Space(PC OLP)
Robcad OLP
HR Vision
Notebook
Host PC Fieldbus
- DeviceNet
- Profibus-DP
- CC-link
Can
Modbus Vision

Hi4a Controller

PLC Teach Pendant

(TP300) Laser CCD
Vision Vision
 Key Features
- Enlargement of working envelope by
serial link structure
- Improvement of dynamic performance

Application
- Arc welding
- Sealing
- Cutting
- Assembly

Certificate (UL, CSA, CE, ISO, QS)

Head Office
1, Jeonha-dong, Dong-gu, Ulsan, Korea
TEL : 82-52-230-7901 / FAX : 82-52-230-7900

Seoul Office
140-2, Gye-dong, Jongno-gu, Seoul, Korea
TEL : 82-2-746-4711 / FAX : 82-2-746-4720

Ansan Office
1431-2, Sa-dong, Sangnok-gu, Ansan-si,
Gyeonggi-do, Korea
TEL : 82-31-409-4945 / FAX : 82-31-409-4946

Cheonan Office
355-15, Daga-dong, Cheonan-si,
Chungcheongnam-do, Korea
TEL : 82-41-576-4294 / FAX : 82-41-576-4296

Daegu Office
223-5, Beomeo 2-dong, Suseong-gu, Daegu, Korea
TEL : 82-53-746-6232 / FAX : 82-53-746-6231

Gwangju Office
415-2, Nongseong-dong, Seo-gu, Gwangju, Korea
TEL : 82-62-363-5272 / FAX : 82-62-363-5273

http://www.hhi.co.kr
http://www.hyundai-engine.com
E-mail : robot@hhi.co.kr
*Materials and specifications are subject
to change without notice