XR Series
The XR Series 4-axis, compact gantry robots feature a ceiling mounted, flexible SCARA robot combined with a long-stroke Cartesian robot. As a result of their highly efficient, integrated design, the XR-Series robots use up to 40 percent less valuable factory floor space than a conventional SCARA robot. In addition, they can operate in many applications without the need of a conveyor, saving up to 20 percent in capital-equipment costs. ANSI and CE compliance allows global deployment.
Max Payload |
Reach |
Travel |
Basic Cycle Time |
5kg |
200-300mm |
450-1060mm |
0.56sec |
Overview
- Outstanding speed and repeatability
- Compact, space-saving design
- Ceiling mount allows maximum working area
- Long x-axis stroke allows conveyor-less operation, reducing equipment investment
Arm Length |
Cycle Time* |
Position Repeatability (X+R) |
200 mm |
0.56 sec. |
±0.015 mm |
250 mm |
0.56 sec. |
±0.015 mm |
300 mm |
0.56 sec. |
±0.015 mm |
**With 1 kg payload
Compact Structure
Ceiling-mount configuration for maximum working area
High Speed
17 percent faster than our conventional Cartesian robots with combined move of coordinated slide and swivel motions.
Specifications
| Model name *1 | XR-4341* | XR-4371* | XR-4372* | XR-4373* | XR-43A1* | XR-43A2* | XR-43A3* | |
| No. of axes | 4 | 4 | 4 | 4 | 4 | 4 | 4 | |
| Position detection | Absolute encoder | Absolute encoder | Absolute encoder | 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 | AC servomotors for all joints | AC servomotors for all joints | AC servomotors for all joints | |
| Brakes | Brakes on Z-axis | Brakes on Z-axis | Brakes on Z-axis | Brakes on Z-axis | Brakes on Z-axis | Brakes on Z-axis | Brakes on Z-axis | |
| Overall arm length (first arm + second arm) | 200mm | 200mm | 250mm | 300mm | 200mm | 250mm | 300mm | |
| Motion angle and stroke | X (1st-Axis) | 450mm | 760mm | 760mm | 760mm | 1,060mm | 1,060mm | 1,060mm |
| R (2nd-Axis) | ±168° | ±168° | ±168° | ±168° | ±168° | ±168° | ±168° | |
| Z (3rd-Axis) | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm | *1: 135mm *2: 200mm |
|
| T (4th-Axis) | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | ±360° | |
| Maximum payload | 5kg | 5kg | 5kg | 5kg | 5kg | 5kg | 5kg | |
| Maximum composite speed (at the center of an end-effector mounting face) | 3,650mm/sec | 3,600mm/sec | 3,240mm/sec | |||||
| Z | 1.500mm/sec | 1.500mm/sec | 1.500mm/sec | 1.500mm/sec | 1.500mm/sec | 1.500mm/sec | 1.500mm/sec | |
| T | 720°/sec | 720°/sec | 720°/sec | 720°/sec | 720°/sec | 720°/sec | 720°/sec | |
| Position repeatability(at the center of an end-effector mounting face) *2 | X+R | ±0.015mm | ±0.015mm | ±0.015mm | ±0.015mm | ±0.015mm | ±0.015mm | ±0.015mm |
| Z | ±0.01mm | ±0.01mm | ±0.01mm | ±0.01mm | ±0.01mm | ±0.01mm | ±0.01mm | |
| T | ±0.005° | ±0.005° | ±0.005° | ±0.005° | ±0.005° | ±0.005° | ±0.005° | |
| Maximum allowable inertia moment (inertia) | 0.05kgm² | 0.05kgm² | 0.05kgm² | 0.05kgm² | 0.05kgm² | 0.05kgm² | 0.05kgm² | |
| User air piping | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | 1 system (φ8) (with optional manifold valve: 4 systems (φ4x8)) | |
| 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.) | |
| Air source | Operating pressure | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa | 0.05 - 0.35 MPa |
| Maximum allowable pressure | 0.59 Mpa | 0.59 Mpa | 0.59 Mpa | 0.59 Mpa | 0.59 Mpa | 0.59 Mpa | 0.59 Mpa | |
| Approximate weight *3 | 33kg | 45kg | 46kg | 47kg | 51kg | 52kg | 53kg | |
| *1 An asterisk (*) in model names denotes the Z-axis stroke. | ||||||||
| *2 Measured at the constant ambient temperature. | ||||||||
| *3 In the case of the heaviest model (Z=200mm). | ||||||||
Downloads
Robot Series Product Sheet
Overview of all DENSO robots
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- Create Date June 9, 2022
- Last Updated January 16, 2024
XR Series Product Sheet
Two-page product sheet with features, benefits, dimensions and specifications.
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- File Count 1
- Create Date October 15, 2021
- Last Updated June 9, 2022
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