DENSO 4-Axis (SCARA) Robots HSR065A1-N/S*




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DENSO 4-Axis (SCARA) Robots

DENSO 機器手臂 HS-A1
DENSO 機器手臂 HS-A1
Technical Drawings

Speedy start, speedy continuation of motion, and accurate stopping.

Total arm length: 480 x 550 x 650 mm
Vertical stroke(Z): 100 x 200 x 320 mm
Maximum payload: 8kg
Cycle time: 0.28 / 0.31sec

True High Speed performance never seen before has been achieved.

Sometimes, the performance of a robot cannot be known only from its specifications. You may not be confident whether it can complete the motion within the listed cycle time, or whether it can actually continue its motion. To address those challenges, we have pursued the basic performances of robots—quick acceleration; runs continuously at high speed; stops precisely—that have been requested from fields to the utmost limits, and have developed new high-speed SCARA robots, the HSR Series, that can achieve "True high-speed performance." As a result of pursuing high-speed performance, high-speed picking systems can be realized with small, space-saving robots not only in conventional parts assembly processes, but also in packaging processes of food, medical supplies, and cosmetics, which is bringing about a revolution in performance.

Technical Feature

  • High-speed motion
    High acceleration & motion profiles. Improved CPM ( cycle per minute ) allows the robot to move at high speed continuously.

  • Continuous motion
    Achieving Non-Stop continuous motion. Improved heat dissipation performance at the base unit allows the robot to achieve continuous motion, which is required in actual processes.

  • Vibration control
    The robot can suppress vibrations in a short time by actively reflecting the status of the arm to vibration control. This can suppress vibrations that occur with high-speed transfer and residual vibrations, reducing the cycle time.

  • Light weight
    Newly designed, highly rigid,lightweight arm. The combination of between high rigidity and light weight allows the robot to achieve a high payload ( 8kg ) and high-speed motion at the same time

  • Improved flexibility in mounting direction
    The mounting direction can be switched. Floor and ceiling mount models available.

  • Optimum layout
    A large-capacity motor is integrated into the base unit. Weight reduction at the tip of the arm and optimized arm structure allow the robot to improve its high-speed performance.


  • Wiring sub-arm protection kit
    Protects external wiring to prevent cables from becoming unorganized and avoid the risk of broken wires.

  • Built-in Ethernet
    An Ethernet cable is built into the body. Easily connectable to external devices.
    *Ethernet connectors (sold separately) are available as options.
  • External battery
    The encoder backup battery installed outside the robot facilitates easy replacement of batteries and makes maintenance.
  • Stopper with wiring protector
    This stopper can protect wiring that is installed through the hole of the bearing located at the top of the Z-axis shaft.
Overall arm length (first arm + second arm)
1st arm
2nd arm
Z-axis stroke
Mounting orientation
Floor-mount / Overhead-mount
Position repeatability(at the center of an end-effector mounting face(1))
J1+J2 ±0.012mm
Z ±0.01mm
T ±0.004deg
Overall arm length
375 (J1: 1st axis)+275 (J2: 2nd axis)=650mm
Motion angle and stroke
J1 (1st axis) ±130°
J2 (2nd axis) ±150°
Z (3rd axis)(*)
T (4th axis) ±360°
Axis combination
J1 (1st axis)+J2 (2nd axis)+Z (3rd axis)+T (4th axis)
Maximum payload
Maximum composite speed
At the center of the hand mounting flange : 8,850mm/s
Z and T:Z (3rd axis):
T(4th axis):2,500°/s
Position repeatability (Value at the constant ambient temperature.)
J1+J2 ±0.012mm
Z ±0.01mm
T ±0.004°
Maximum force-fit
98N (1 second or less)
Maximum allowable inertia moment
Position detection
Absolute encoder
Drive motor and brake
AC servomotors for all axes Brakes for Z axis (3rd axis) and T axis (4th axis)
Brake releasing
Models except UL-Listed ones
1. Press the brake release switch in the direct teaching mode.
2. Enter a brake release command with the teach pendant or mini-pendant.

UL-Listed models
1. Press the brake release switch when the controller power is ON.
2. The teach pendant or mini-pendant cannot release the brakes.
User air piping
4 systems (φ4×2、φ6×2)
User signal lines
・19 (for proximity sensor signals, etc.)
Air source
Operating pressure 0.05~0.35MPa
Max. allowable pressure 0.59MPa
Airborne noise (A-weighted equivalent continuous sound pressure level)
80dB or less
Approximately 32 kg (70.6 lb)
Technical Drawings