The VSG Series 6-axis articulated robots combine high speed and repeatability with powerful load-handling capability. They have a 7 kg maximum payload capacity and a maximum allowable moment of inertia (0.295 kgm²; at J4 and J5, and 0.045 kgm² at J6) that is 2.5 times greater than conventional robots. This enables flexible end-effector designs and a wide range of applications. In addition, the VS Series footprint is only 200 x 200 mm, facilitating integration. The VS Series is ANSI and CE compliant, making it suitable for global deployment. UL-listed models are available for both the U.S. and Canada.
Max Payload |
Reach |
Cycle Time |
Repeatability |
7kg |
850/850mm |
0.49/0.59sec |
±0.020/±0.030mm |
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Overview
Arm Length |
Basic Cycle Time* |
Position Repeatability |
650 mm |
0.49 sec. |
±0.020 mm |
850 mm |
0.59 sec. |
±0.030 mm |
**With 1 kg payload
Overhead Mountable
All models
High Power
One of the highest applicable maximum moments of inertia in its class.
Choice of Configurations
- IP54/65
- Cleanroom (Class 10)
Compact Design
Minimizes interference with surrounding equipment
Lightweight
Less than 30kg
ANSI/CE Compliant and UL Listed
UL listed: VS6556G-BW-UL and VS6577G-BW-UL
Specifications
Standard Models
| Model name | Without Brakes | With Brakes | |||
| VS-6556 | VS-6577 | VS-6556-B | VS-6577-B | ||
| No. of axes | 6 | 6 | 6 | 6 | |
| Position detection | Absolute encoder | Absolute encoder | Absolute encoder | Absolute encoder | |
| Drive motor | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | |
| Brakes | Brakes for joints J2 to J4 | Brakes for joints J2 to J4 | Brakes for joints J2 to J6 | Brakes for joints J2 to J6 | |
| Overall arm length (first arm+second arm) | 565mm (270mm+295mm) | 770mm (365mm+405mm) | 565mm (270mm+295mm) | 770mm (365mm+405mm) |
|
| Arm offset | J1 (swing) | 75mm | 75mm | 75mm | 75mm |
| J3 (front arm) | 90mm | 90mm | 90mm | 90mm | |
| Maximum motion area | End-effector mounting face | R=733mm | R=934mm | R=733mm | R=934mm |
| Point P: J4, J5, J6 center | R=653mm | R=854mm | R=653mm | R=854mm | |
| Motion range | J1 | ±170° | ±170° | ±170° | ±170° |
| J2 | +135°, -100° | +135°, -100° | +135°, -100° | +135°, -100° | |
| J3 | +166°, -119° | +169°, -119° | +166°, -119° | +169°, -119° | |
| J4 | ±190° | ±190° | ±190° | ±190° | |
| J5 | ±120° | ±120° | ±120° | ±120° | |
| J6 | ±360° | ±360° | ±360° | ±360° | |
| Maximum payload | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | |
| Maximum composite speed (at the center of an end-effector mounting face) | 8,200mm/s | 7,600mm/s | 8,200mm/s | 7,600mm/s | |
| Cycle time *1 | 0.4 sec | 0.5 sec | 0.4 sec | 0.5 sec | |
| Position repeatability at the center of an end-effector mounting face and in each of X, Y and Z directions *2 | ±0.02mm | ±0.03mm | ±0.02mm | ±0.03mm | |
| Maximum allowable inertia moment | J4, J5 | 0.41kgm² | 0.41kgm² | 0.41kgm² | 0.41kgm² |
| J6 | 0.063kgm² | 0.063kgm² | 0.063kgm² | 0.063kgm² | |
| Brake releasing | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | |
| User air piping *3 | 7 systems (φ4x6, φ6x1) | 7 systems (φ4x6, φ6x1) | 7 systems (φ4x6, φ6x1) | 7 systems (φ4x6, φ6x1) | |
| 3 solenoid valves (2 position, double solenoid) contained | 3 solenoid valves (2 position, double solenoid) contained | 3 solenoid valves (2 position, double solenoid) contained | 3 solenoid valves (2 position, double solenoid) contained | ||
| User signal line | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | |
| Air source | Operating pressure | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa |
| Maximum allowable pressure | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | |
| IP classification | IP40 | IP40 | IP40 | IP40 | |
| Noise | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | |
| Approximate weight | 35kg | 36kg | 35kg | 36kg | |
| *1 Time required for a robot to move a 1kg payload between two points 300mm apart at a height of 25mm. | |||||
| *2 Position repeatability is the precision at constant ambient temperature. | |||||
| *3 Controllable by use of the embedded solenoid valve only for φ4x6. | |||||
| *4 If wrist downward movement exceeds ±45°, the maximum payload is 6kg. | |||||
Dust & Splash Proof Models
| Model name | VS-6556-W (without Brakes) | VS-6577-W (without Brakes) | VS-6556-BW (with Brakes) | VS-6577-BW (with Brakes) |
|
| No. of axes | 6 | 6 | 6 | 6 | |
| Position detection | Absolute encoder | Absolute encoder | Absolute encoder | Absolute encoder | |
| Drive motor | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | |
| Brakes | Brakes for joints J2 to J4 | Brakes for joints J2 to J4 | Brakes for joints J2 to J6 | Brakes for joints J2 to J6 | |
| Overall arm length (first arm+second arm) | 565mm (270mm+295mm) | 770mm (365mm+405mm) | 565mm (270mm+295mm) | 770mm (365mm+405mm) |
|
| Arm offset | J1 (swing) | 75mm | 75mm | 75mm | 75mm |
| #rowspan# | J3 (front arm) | 90mm | 90mm | 90mm | 90mm |
| Maximum motion area | End-effector mounting face | R=733mm | R=934mm | R=733mm | R=934mm |
| #rowspan# | Point P: J4, J5, J6 center | R=653mm | R=854mm | R=653mm | R=854mm |
| Motion range | J1 | ±170° | ±170° | ±170° | ±170° |
| #rowspan# | J2 | +135°, -100° | +135°, -100° | +135°, -100° | +135°, -100° |
| #rowspan# | J3 | +166°, -119° | +169°, -119° | +169°, -119° | +169°, -119° |
| #rowspan# | J4 | ±190° | ±190° | ±190° | ±190° |
| #rowspan# | J5 | ±120° | ±120° | ±120° | ±120° |
| #rowspan# | J6 | ±360° | ±360° | ±360° | ±360° |
| Maximum payload | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | 7kg (within a downward wrist angle of movement of ±45°) *4 | |
| Maximum composite speed (at the center of an end-effector mounting face) | 8,200mm/s | 7,600mm/s | 8,200mm/s | 7,600mm/s | |
| Cycle time *1 | 0.4 sec | 0.5 sec | 0.4 sec | 0.5 sec | |
| Position repeatability at the center of an end-effector mounting face in each of X, Y and Z directions. *2 | ±0.02mm | ±0.03mm | ±0.02mm | ±0.03mm | |
| Maximum allowable inertia moment | J4, J5 | 0.413kgm² | 0.413kgm² | 0.413kgm² | 0.413kgm² |
| #rowspan# | J6 | 0.063kgm² | 0.063kgm² | 0.063kgm² | 0.063kgm² |
| Brake releasing | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | Enter a brake release command with the teach pendant or mini-pendant. | |
| User air piping *3 | 7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3 | 7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3 | 7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3 | 7 systems (φ4x6, φ6x1) Solenoid Valve (2 Position, Double Solenoids) x3 |
|
| User signal line | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | |
| Air source | Operating pressure | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa |
| #rowspan# | Maximum allowable pressure | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa |
| IP classification | IP54 (Wrist: IP65) | IP54 (Wrist: IP65) | IP54 (Wrist: IP65) | IP54 (Wrist: IP65) | |
| Noise | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | |
| Approximate weight | 35kg | 36kg | 35kg | 36kg | |
| *1 Time required for a robot to move a 1kg payload between two points 300mm apart at a height of 25mm. | |||||
| *2 Position repeatability is the precision at constant ambient temperature. | |||||
| *3 Controllable by use of the embedded solenoid valve only for φ4x6. | |||||
| *4 If wrist downward movement exceeds ±45°, the maximum payload is 6kg. | |||||
Cleanroom Models
| Model name | VS-6556-P10 (without Brakes) | VS-6556-P100 (without Brakes) | VS-6577-P10 (without Brakes) | VS-6577-P100 (without Brakes) | VS-6556-BP10 (with Brakes) | VS-6556-BP100 (with Brakes) | VS-6577-BP10 (with Brakes) | VS-6577-BP100 (with Brakes) |
|
| No. of axes | 6 | 6 | 6 | 6 | 6 | 6 | 6 | 6 | |
| Overall arm length (first arm+second arm) | 565mm (270mm+295mm) | 565mm (270mm+295mm) | 770mm (365mm+405mm) | 770mm (365mm+405mm) | 565mm (270mm+295mm) | 565mm (270mm+295mm) | 770 mm (365mm+405mm) | 770 mm (365mm+405mm) |
|
| Arm offset | J1 (swing) | 75mm | 75mm | 75mm | 75mm | 75mm | 75mm | 75mm | 75mm |
| J3 (front arm) | 90mm | 90mm | 90mm | 90mm | 90mm | 90mm | 90mm | 90mm | |
| Maximum motion area | End-effector mounting face | R=733mm | R=733mm | R=934mm | R=934mm | R=733mm | R=733mm | R=934mm | R=934mm |
| Point P: J4, J5, J6 center | R=653mm | R=653mm | R=854mm | R=854mm | R=653mm | R=653mm | R=854mm | R=854mm | |
| Motion range | J1 | ±170° | ±170° | ±170° | ±170° | ±170° | ±170° | ±170° | ±170° |
| J2 | +135°, -100° | +135°, -100° | +135°, -100° | +135°, -100° | +135°, -100° | +135°, -100° | |||
| J3 | +166°, -119° | +166°, -119° | +169°, -119° | +169°, -119° | +166°, -119° | +166°, -119° | +169°, -119° | +169°, -119° | |
| J4 | ±190° | ±190° | ±190° | ±190° | ±190° | ±190° | ±190° | ±190° | |
| J5 | ±120° | ±120° | ±120° | ±120° | ±120° | ±120° | ±120° | ±120° | |
| J6 | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | |
| Maximum payload | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | 7kg *4 (within a downward wrist angle of movement of ±45°) | |
| Maximum composite speed (at the center of an end-effector mounting face) | 8,200mm/s | 8,200mm/s | 7,600mm/s | 7,600mm/s | 8,200mm/s | 8,200mm/s | 7,600mm/s | 7,600mm/s | |
| Cycle time *1 | 0.4 sec | 0.4 sec | 0.5 sec | 0.5 sec | 0.4 sec | 0.4 sec | 0.5 sec | 0.5 sec | |
| Position repeatability at the center of an end-effector mounting face and in each of X, Y and Z directions. *2 | ±0.02mm | ±0.02mm | ±0.03mm | ±0.03mm | ±0.02mm | ±0.02mm | ±0.03mm | ±0.03mm | |
| Maximum allowable inertia moment | J4, J5 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 | 0.413kgm2 |
| J6 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | 0.063kgm2 | |
| User air piping *3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 | 6 systems (φ4x6) Solenoid Valve (2 Position, Double Solenoids) x3 |
|
| User signal line | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | 10 (for proximity sensor signals, etc.) | |
| Air source | Operating pressure | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa | 1.0x105 Pa - 3.9x105 Pa |
| Maximum allowable pressure | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | 4.9x105 Pa | |
| Cleanroom classification | Class 10 (0.1μ) | Class 100 (0.3μ) | Class 10 (0.1μ) | Class 100 (0.3μ) | Class 10 (0.1μ) | Class 100 (0.3μ) | Class 10 (0.1μ) | Class 100 (0.3μ) | |
| Noise | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | <80 dB(A) | |
| Approximate weight | 35kg | 35kg | 36kg | 36kg | 35kg | 35kg | 36kg | 36kg | |
| *1 Time required for a robot to move a 1kg payload between two points 300mm apart at a height of 25mm. | |||||||||
| *2 Position repeatability is the precision at constant ambient temperature. | |||||||||
| *3 Controllable by use of the embedded solenoid valve only for φ4x6. | |||||||||
| *4 If wrist downward movement exceeds ±45°, the maximum payload is 6kg. | |||||||||
Downloads
Robot Series Product Sheet
Overview of all DENSO robots
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Hoja de producto de la serie VSG (Spanish)
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Folha de produto da série VSG (Portuguese)
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VSG Series Product Sheet
Two-page product sheet with features, specifications and dimensions.
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- Create Date October 15, 2021
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