AR-F Series

http://www.hirata-cn.com/

Two big feature of " AR-F "Productivity improvement
The most suitable acceleration and deceleration are established automatically from the robot arm
posture for smoother movements.
Robot reduces the operation load at the workpiece holding area for accurate movements.

Small footprint
Embedded control units into the robot realizes reduction of controller footprint and saves floor
space.

2

Performance / Specification■ Model Number/ Product Information＜ Sample of Model Number ＞

AR - F 450 HCs
Arm length
450, 500, 650

AR-F450HCs

Model number

AR-F500HCs

Number of operation axes

4-axisPosition detecting method

Absolute

Arm length

Total length

450 mm

500 mm

650 mm

A-axis arm

200 mm

250 mm

400 mm

B-axis arm

250 mm

A-axis±125 deg

B-axis±145 deg

Z-axis200 mmW-axis±360 deg

Operation area

A＆B-axis
Maximum speed

6670 mm/s

7060 mm/s

Z-axis1120 mm/s

W-axis1940 deg/s

A＆B-axis
Repeatability

Weight capacity

AR-F650HCs±0.015 mm±0.02 mm

Z-axis±0.01 mm

W-axis±0.005 deg

Rating

2.0 kgMaximum

5.0 kgZ-axis pressure value

100 N

W-axis allowable inertia moment

0.045 kg・m2

Signal15core×0.2mm2

Air

φ4×2, φ6×2

Application
Total robot weight
Matching controller

33 kg

8240 mm/s

34 kg

35 kg

Integrated type controller (HNC - 92B)

3

Performance / Specification■ Dimensions
AR-F450HCs
5°

12180.5°

4 -φ14 For mounting

145

145°

A

40°
160

140

B

185

190

200

R7025060°

520R45Air for Application φ4×252

Air for Application φ6×2
15I/O for Application

R25044R1

155(M,E)

Stopper※ Option

365.5(587)

364

256

5 Zst=200

200 565(M,E)

436.100

R2265D-SUB 15PIN

692.1

235

2 -φ5H7 For positioning

Need space for cableI/O for Application
D-SUB 15PIN

Air for Application
φ6×2

AR-F500HCs5°

12180.5°145

4 -φ14 For mounting

145°

50°

A

140160

B

185

190

250

R7025070°

52

C

Air for Application
φ4×20R50

Air for Application φ4×2
Air for Application φ6×2

52152355(M,E)

50

R2R25150

R115265Stopper※ Option364

200 56(587)

5(M,E)

436.1
256

5 Zst=200692.1

I/O for Application
D-SUB 15PIN

42-φ5H7 For positioning

365.5

Need space for cableI/O for Application
D-SUB 15PIN
Air for Application
φ4×2
Air for Application
φ6×2CAR-F650HCs
180.5

4 -φ14 For mounting

A°

140190

145
160

R70B

18585°

400105°

250°
145

525°

120R65Air for Application φ4×2
Air for Application φ6×2

52

I/O for Application

15235

5(M,E)

R443R215265364

200 56
Stopper※ Option

I/O for Application
D-SUB 15PIN(587)

5(M,E)

436.1
256

5 Zst=200692.1

D-SUB 15PIN

365.5

0R25002 -φ5H7 For positioning

Air for Application
φ4×2

CAir for Application
φ6×2

Need space for cable【Common】Detailed drawing

16055H7

Detail of A
(Slotted hole for positioning)
Air for Application
φ6×2

Air for Application
φ6×2

I/O for Application
D-SUB 15PIN

I/O for Application
D-SUB 15PIN

Air for Application
φ4×2

Air for Application
φ4×2
Detail of B

Detail of C

5

Performance / Specification【Common】Detailed drawing
2 -φ4H7 深4

2- φ4H7 Dp4

Zst=200

9.5(33.5)818±0.02

135(ME)

13(Don't use in depth more than 8）

38

4 - M x 5 Dp8

φ14φ20h75(99)φ4H7(Dp5)
45°28103890°15±0.14-φ4.5THRU, φ8 S'Face Dp5 P.C.D35

φ10H7(Dp10)

215φ45h7

4H7(Dp5)

6

A-Cal posture (At Home position)

Installationsurface

φ280160( AR-F Common series )(When application is within drawing dimensions, removal of a application is unnecessary during A-CAL.)

The posture of origin：Top view（AR-F450HCs)

140( AR-F Common series )The posture of origin：Front view（AR-F450HCs)

W axis phase Slotted hole of Tool Flange after
A-CAL Homing is 0 deg to body direction.

Slotted hole of Tool Flange7

Controller specification■ Integrated type
The controller can be used in no time after wiring and electrical power application.
Integrated type controller(HNC-92B）

System control board
High ordersystem

Three-phase AC200 ～ 230 Ｖ
Noise filter

Teach pendant

Ｈ -3332（Category3）
Ｈ -3798（multi-language）

Magneticcontact

High order system
Safety circuit

SoftwareHrEditor
HrTransfer
HBDE

Robot

HNC-92B■ Controller specification■ External view

144

Integrated type controller（HNC-92B）

Model number

HNC-92B

Type

Integrated type

Dimensions

W150×D189×H348[mm]

Weight(Maximum)

5.7 kg（control unit)
controlVoltage
source capacitycontrol

160 VApower

1.1 kVA（Single-phase power source）
1.0 kVA（Three-phase power source）

Safety category
Controlaxis numbers

8

Single-phase or Three-phase
AC200 ～ 230V±10％ 50/60 Hz

control

0.8 Apower

4.9 A（Single-phase power source）
3.2 A（Three-phase power source）
B
4-axis15

Rated current

power

349

Input
power source

348

Single-phase AC200 ～ 230V±10％50/60 Hz

189

150190■ Explanation of external connections
Below explains external connections of the controller.
Integrated type controller（HNC-92B）

Monitor LEDSD cardExpansion board ①for Servo A Axis / B Axis
Monitor LED
Analog Monitor

Expansion board ②RS-232C(Serial port)

Servo ID setting switch

EtherNet

Mode change key switch(Manual/Auto)for Servo Z Axis / W Axis
Monitor LED
Analog Monitor

USB miniB(System maintenance port)

Teach pendant(H-3332,H-3798)

AC1(control power: single phase
AC200V ～ 230V±10%)

Emergency Stop Connector 1

Emergency Stop Connector 2-1
Monitor LED (main power charge status)
Emergency Stop Connector 2-2
AC2(main power connector: three/single phase
AC200V ～ 230V±10%)

Application IO(Dsub 15pin)

A board which corresponds to a field-network is installed in the expansion board ① and ② .

Field-network

BoardCC-Link

HPC-913

DeviceNet

HPC-914

PROFINET

HPC-941 + AB6221-C

EtherNet IP

HPC-941 + AB6512-B

When a robot language is used,it's possible to be IO 32 points by using DI/DO two pieces.
In addition, the board for DI/DO and CV Tracking are available in combination with eachfield network.PROFINET, the EtherNet IP with other boards cannot put it together.

9Accessaries■ Accessaries
Standard typewith Safety Category3(H-3332)

Type

Outer dimensions
WeightDisplay
Language

Touch panel typewith Safety Category3(H-3798)

Standard type

Touch panel type with multi-linguage display

W107×D40×H238[mm]W224×D87.1×H174[mm]Approx.1kg

Approx.1kg

LCD(20Digits×4Lines, Monochrome)

TFT Color touch LCD(W640×H480)

EnglishJapanese / English / Chinese(traditional/simplified) etc.
Emergency stop

Operating portion

Enable switch (3 position)-Touch panel
Registry of actual location
Editing registered location data

Teaching function

Adding registered location data
Checking location data

Parameter
setting functionMonitor function

10Setting and checking parameters
Monitoring error of robot motion
Monitoring I/O signal statement

Monitoring I/O signal statement / Registering statement-Servo monitor（location / speed / current）

■ Communication with major field-network standards
is supported.
Communication with major field-network standards is supported by choosing corresponding board.
Connection of SCARA robot to upper stream equipment is easily available.
Field-network

DI/DO

Option

CC-Link

HPC-913

DI/DO(16/16) NPN

HPC-962

DeviceNet

HPC-914

DI/DO(16/16) PNP

HPC-963

PROFINET

HPC-941 + AB6221-C

EtherNet IP

HPC-941 + AB6512-B

CV TrackingHPC-865※ Boards except for PROFINET and EtherNet IP can be used parallel to other Hirata communication boards.

■ Hirata PC Tool
Using each Hirata Tool can save time from installation to start up.
Tact time is checked easily

Editing is available freely

A robot is displayed with a three-dimensional picture on
the monitor of a PC. It moves like an actual productionand emulates robotic system.

Utility software for PCs. It's possible to edit on-line, databackup is also possible.

可以参照 · 编集包含位置数据在内的机械手的参数，使用

可以参照 · 编集包含位置数据在内的机械手的参数，使用

WinHNC9HrEditor

Editing data from PC is available

Efficient development is promoted

Uploading and Downloading of edited data is possible
between PC and robot controller.

A development environment of application program ※ .
Compilation / DL of an executing file and a source file/ Debugging

可以参照 · 编集包含位置数据在内的机械手的参数，使用

可以参照 · 编集包含位置数据在内的机械手的参数，使用

HrTransfer

HBDE※ Program is built by a text editor.

11

Hirata Automated Machinery (Shanghai) Co.,Ltd.

2728 Huan Cheng Xi Road, Feng Xian District, Shanghai, China 201401
TEL：<+86> (21) 3365-5610

FAX：<+86> (21) 3365-5615

Safety Precautions● Complying with relevant laws and regulations and standards, and please take a risk prevention for safety.
● Read instruction manual carefully before use, and please surely use correctly.
● Information in this brochure is subject to change without notice. ● The pictures in this brochure are images, the actual product might be different. ● All rights reserved.